+ python -m lidar_slam /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.5 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters 0.059766240352334035 Centerline is valid? [0, True] SLAMing on 0.079254154 meters 0.05956326802587113 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99997686e-01 -2.15100594e-03 -1.30685814e-05 6.07466070e-02] [ 2.15100593e-03 9.99997687e-01 -8.07598016e-07 -7.67354331e-03] [ 1.30702883e-05 7.79485551e-07 1.00000000e+00 -1.24315988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters 0.05969176685584902 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 9.99978610e-01 -6.53965356e-03 -1.12367607e-04 1.20924599e-01] [ 6.53965286e-03 9.99978616e-01 -6.57903475e-06 -5.24867804e-03] [ 1.12408228e-04 5.84404889e-06 9.99999994e-01 -1.81126286e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199254154 meters 0.05828279616019064 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 9.99855153e-01 -1.70169820e-02 3.09513152e-04 1.81348514e-01] [ 1.70169773e-02 9.99855201e-01 1.79445386e-05 -9.21071360e-03] [-3.09773697e-04 -1.26749611e-05 9.99999952e-01 -7.20402774e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259254154 meters 0.058020123344208585 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-0.00 [[ 9.99534802e-01 -3.04789713e-02 1.10109294e-03 2.42664491e-01] [ 3.04789194e-02 9.99535408e-01 6.38704025e-05 -1.70842294e-02] [-1.10252809e-03 -3.02805669e-05 9.99999392e-01 -1.09107594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.319254154 meters 0.05753608656676667 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99234296e-01 -3.91114457e-02 1.05680909e-03 3.02052223e-01] [ 3.91114028e-02 9.99234854e-01 6.12759360e-05 -1.48345554e-02] [-1.05839707e-03 -1.98957305e-05 9.99999440e-01 1.62297832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.379254154 meters 0.057491526512558615 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:0.00 [[ 9.98730352e-01 -5.03572035e-02 1.35526583e-03 3.63498227e-01] [ 5.03571432e-02 9.98731271e-01 7.85754403e-05 -2.13566262e-02] [-1.35750320e-03 -1.02283617e-05 9.99999079e-01 1.42405104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439254154 meters 0.05676816638892428 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.02, Z:0.00 [[ 9.98257662e-01 -5.89931028e-02 1.20601811e-03 4.24635810e-01] [ 5.89930626e-02 9.98258390e-01 6.89348913e-05 -2.47098406e-02] [-1.20798438e-03 2.33191820e-06 9.99999270e-01 2.22720367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.499254154 meters 0.05599349390034306 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.02, Z:0.00 [[ 9.98027240e-01 -6.27757189e-02 9.15089586e-04 4.87335996e-01] [ 6.27756976e-02 9.98027659e-01 5.19360731e-05 -2.34618313e-02] [-9.16545042e-04 5.61177146e-06 9.99999580e-01 1.38073398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.559254154 meters 0.056282323181983486 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.02, Z:0.00 [[ 9.97996876e-01 -6.32563135e-02 9.34535179e-04 5.49855369e-01] [ 6.32562918e-02 9.97997314e-01 5.28018860e-05 -1.84187400e-02] [-9.36003651e-04 6.41911267e-06 9.99999562e-01 2.08822634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619254154 meters 0.0564118240839456 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.01, Z:0.00 [[ 9.98318348e-01 -5.79647271e-02 7.52410645e-04 6.10762957e-01] [ 5.79647116e-02 9.98318632e-01 4.24331752e-05 -9.21760594e-03] [-7.53605193e-04 1.25144869e-06 9.99999716e-01 2.59106891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters 0.056445080977475436 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:0.01 [[ 9.98663593e-01 -5.16101453e-02 2.72430605e-03 6.71965983e-01] [ 5.16099108e-02 9.98667308e-01 1.56353643e-04 2.09296005e-03] [-2.72874483e-03 -1.55434980e-05 9.99996277e-01 6.49078106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999999 meters 0.05631306457177199 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:0.00 [[ 9.98805895e-01 -4.87577410e-02 3.07677494e-03 7.34090593e-01] [ 4.87574286e-02 9.98810634e-01 1.76496017e-04 8.79803710e-03] [-3.08172108e-03 -2.62696277e-05 9.99995251e-01 4.49314804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.799254154 meters 0.05643467658608639 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:0.01 [[ 9.98877244e-01 -4.73051850e-02 2.54384667e-03 7.94782735e-01] [ 4.73049692e-02 9.98880483e-01 1.44973578e-04 1.57780970e-02] [-2.54785679e-03 -2.44742199e-05 9.99996754e-01 6.37072950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999999 meters 0.0563983427096105 Centerline is valid? [True, True] Translation: X:0.85, Y:0.03, Z:0.01 [[ 9.99063203e-01 -4.32742015e-02 2.44980428e-04 8.54983299e-01] [ 4.32741994e-02 9.99063233e-01 1.39118310e-05 2.68974969e-02] [-2.45352961e-04 -3.29746657e-06 9.99999970e-01 6.22702896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters 0.05752358938409357 Centerline is valid? [True, True] Translation: X:0.92, Y:0.04, Z:0.01 [[ 9.99225550e-01 -3.93484511e-02 1.64748019e-05 9.16000022e-01] [ 3.93484511e-02 9.99225550e-01 7.90824276e-07 3.68040393e-02] [-1.64931607e-05 -1.41953885e-07 1.00000000e+00 5.44221713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999999 meters 0.05796009963372528 Centerline is valid? [True, True] Translation: X:0.98, Y:0.05, Z:0.00 [[ 9.99330761e-01 -3.65778741e-02 -2.98298958e-04 9.77241226e-01] [ 3.65778706e-02 9.99330806e-01 -1.72880309e-05 4.50549253e-02] [ 2.98731698e-04 6.36532044e-06 9.99999955e-01 4.25823583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.039254154 meters 0.058206003075683244 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99437991e-01 -3.35191621e-02 -4.09208463e-04 1.03828779e+00] [ 3.35191552e-02 9.99438075e-01 -2.35677349e-05 5.31914463e-02] [ 4.09768490e-04 9.83816760e-06 9.99999916e-01 4.74688951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.099254154 meters 0.05749881826347094 Centerline is valid? [True, True] Translation: X:1.10, Y:0.05, Z:0.00 [[ 9.99627922e-01 -2.72757557e-02 2.26602484e-04 1.09842557e+00] [ 2.72757536e-02 9.99627947e-01 1.26620829e-05 5.03265719e-02] [-2.26863544e-04 -6.47661812e-06 9.99999974e-01 2.45518149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters 0.05961850103533705 Centerline is valid? [True, True] Translation: X:1.16, Y:0.07, Z:0.00 [[ 9.99739052e-01 -2.27512798e-02 2.05107847e-03 1.15889303e+00] [ 2.27510872e-02 9.99741154e-01 1.17174633e-04 6.63283542e-02] [-2.05321342e-03 -7.04797912e-05 9.99997890e-01 4.68092183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.219254154 meters 0.0613871406234135 Centerline is valid? [True, True] Translation: X:1.22, Y:0.08, Z:0.01 [[ 9.99759161e-01 -2.17187440e-02 3.14912796e-03 1.22091957e+00] [ 2.17182857e-02 9.99764114e-01 1.79669255e-04 7.54077032e-02] [-3.15228732e-03 -1.11232323e-04 9.99995025e-01 5.86528846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279254154 meters 0.06254714664036458 Centerline is valid? [True, True] Translation: X:1.28, Y:0.07, Z:0.00 [[ 9.99689662e-01 -2.47040615e-02 3.20771523e-03 1.28061252e+00] [ 2.47035998e-02 9.99694803e-01 1.83463804e-04 7.23050821e-02] [-3.21126855e-03 -1.04164754e-04 9.99994838e-01 4.73324765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters 0.06645875399993514 Centerline is valid? [True, True] Translation: X:1.34, Y:0.08, Z:0.01 [[ 9.99389475e-01 -3.47458430e-02 3.66112899e-03 1.34099685e+00] [ 3.47453092e-02 9.99396178e-01 2.09303586e-04 8.01994258e-02] [-3.66619074e-03 -8.19687425e-05 9.99993276e-01 8.25790039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters 0.0684566784054455 Centerline is valid? [True, True] Translation: X:1.40, Y:0.07, Z:0.00 [[ 9.99095279e-01 -4.23304186e-02 4.09385512e-03 1.40157261e+00] [ 4.23298145e-02 9.99103664e-01 2.34147552e-04 7.04703116e-02] [-4.10009722e-03 -6.06435856e-05 9.99991593e-01 3.46451546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.459254154 meters 0.07766856954233596 Centerline is valid? [True, True] Translation: X:1.46, Y:0.07, Z:0.01 [[ 9.98723053e-01 -5.01851300e-02 5.80659381e-03 1.46291410e+00] [ 5.01840496e-02 9.98739932e-01 3.31709280e-04 7.00474580e-02] [-5.81592398e-03 -3.98873128e-05 9.99983087e-01 6.60841298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.519254154 meters 0.09135228878651208 Centerline is valid? [True, True] Translation: X:1.53, Y:0.07, Z:0.01 [[ 9.98626034e-01 -5.20099414e-02 6.40384577e-03 1.52500568e+00] [ 5.20086672e-02 9.98646567e-01 3.65457773e-04 6.79530293e-02] [-6.41418603e-03 -3.19001628e-05 9.99979428e-01 7.61297893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.579254154 meters 0.10577754238058609 Centerline is valid? [True, False] Translation: X:1.53, Y:0.06, Z:0.01 [[ 0.99850741 -0.05427244 0.00611938 1.52831592] [ 0.05428322 0.99852428 -0.00160885 0.06309803] [-0.00602303 0.00193862 0.99997998 0.0051856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6392541539999999 meters 0.11708008586176374 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.00 [[ 9.98494986e-01 -5.45111148e-02 6.02502700e-03 1.52942127e+00] [ 5.45165856e-02 9.98512585e-01 -7.47405804e-04 5.77157298e-02] [-5.97532337e-03 1.07474485e-03 9.99981570e-01 3.68367379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.699254154 meters 0.13126932722017962 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.00 [[ 0.99829448 -0.05808688 0.00583508 1.53158462] [ 0.0581061 0.99830535 -0.00318101 0.05139044] [-0.00564042 0.00351464 0.99997792 0.00179306] [ 0. 0. 0. 1. ]] SLAMing on 1.759254154 meters 0.1439386401510373 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.00 [[ 9.97904789e-01 -6.44376337e-02 5.81574620e-03 1.53402398e+00] [ 6.44899213e-02 9.97875005e-01 -9.30187011e-03 4.59629199e-02] [-5.20399727e-03 9.65743775e-03 9.99939824e-01 4.55653794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8192541539999998 meters 0.1538891090203683 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.00 [[ 9.97741516e-01 -6.69438830e-02 5.51221654e-03 1.53692499e+00] [ 6.70022673e-02 9.97690038e-01 -1.11930440e-02 3.93780116e-02] [-4.75017770e-03 1.15370957e-02 9.99922163e-01 -1.37233296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8792541539999998 meters 0.16254278728519383 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.00 [[ 0.99777573 -0.06644754 0.00532201 1.53799219] [ 0.06650062 0.99773103 -0.01050968 0.03097699] [-0.00461159 0.01084022 0.99993061 -0.00155344] [ 0. 0. 0. 1. ]] SLAMing on 1.939254154 meters 0.16790708947966032 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.00 [[ 9.97767082e-01 -6.65781875e-02 5.30996097e-03 1.53751064e+00] [ 6.66295488e-02 9.97725990e-01 -1.01662647e-02 2.57546823e-02] [-4.62103458e-03 1.04973646e-02 9.99934224e-01 -7.72004418e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.999254154 meters 0.17613733594052003 Centerline is valid? [False, False] Translation: X:1.54, Y:0.02, Z:0.00 [[ 9.97640337e-01 -6.84578448e-02 5.22319208e-03 1.53741475e+00] [ 6.85165644e-02 9.97577304e-01 -1.20416810e-02 2.04475755e-02] [-4.38619034e-03 1.23711419e-02 9.99913854e-01 3.65119666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.059254154 meters 0.18411805755120095 Centerline is valid? [False, False] Translation: X:1.54, Y:0.01, Z:0.00 [[ 9.97725787e-01 -6.72226938e-02 4.93596073e-03 1.53899459e+00] [ 6.72733943e-02 9.97674530e-01 -1.09463585e-02 1.28781466e-02] [-4.18863860e-03 1.12535230e-02 9.99927904e-01 4.18593867e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.119254154 meters 0.19152663871823258 Centerline is valid? [False, False] Translation: X:1.54, Y:0.01, Z:0.00 [[ 9.98082504e-01 -6.17299630e-02 4.55275270e-03 1.53991409e+00] [ 6.17567033e-02 9.98073275e-01 -5.98730314e-03 5.79768496e-03] [-4.17438480e-03 6.25698551e-03 9.99971712e-01 2.27071396e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.179254154 meters 0.1982138859249395 Centerline is valid? [False, False] Translation: X:1.54, Y:0.00, Z:0.00 [[ 9.98409097e-01 -5.62364004e-02 4.09163993e-03 1.54131854e+00] [ 5.62416323e-02 9.98416495e-01 -1.17497042e-03 2.11273272e-03] [-4.01908469e-03 1.40322166e-03 9.99990939e-01 3.13306083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2392541539999997 meters 0.20571255954485437 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.01, Z:0.00 [[ 9.98974040e-01 -4.51402470e-02 3.63662371e-03 1.54269973e+00] [ 4.51113272e-02 9.98952471e-01 7.67647544e-03 -5.91196475e-03] [-3.97933224e-03 -7.50454677e-03 9.99963923e-01 8.48419614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2992541539999998 meters 0.2093994493463658 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:0.00 [[ 9.99243758e-01 -3.87565651e-02 3.13694440e-03 1.54536369e+00] [ 3.87124342e-02 9.99164762e-01 1.30814900e-02 -9.92037109e-03] [-3.64131792e-03 -1.29501584e-02 9.99909513e-01 8.51441987e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.359254154 meters 0.21466097631141842 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.00 [[ 9.99497136e-01 -3.16134385e-02 2.46280371e-03 1.54967870e+00] [ 3.15643956e-02 9.99341355e-01 1.79037780e-02 -1.60486986e-02] [-3.02718158e-03 -1.78170379e-02 9.99836681e-01 -7.33417481e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.419254154 meters 0.2170214902720107 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.00 [[ 0.99953018 -0.03058559 0.00198275 1.55305459] [ 0.03054316 0.99935787 0.01873378 -0.02032749] [-0.00255447 -0.01866442 0.99982254 -0.00229806] [ 0. 0. 0. 1. ]] SLAMing on 2.479254154 meters 0.2164491626167433 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.00 [[ 9.99349040e-01 -3.60439513e-02 1.52659430e-03 1.55685867e+00] [ 3.60192202e-02 9.99253841e-01 1.39419207e-02 -2.36598703e-02] [-2.02797713e-03 -1.38778583e-02 9.99901641e-01 -4.07607414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.539254154 meters 0.21458175614591468 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.00 [[ 9.99149854e-01 -4.12092094e-02 1.17065473e-03 1.55863746e+00] [ 4.11956076e-02 9.99101859e-01 9.91958169e-03 -2.52070779e-02] [-1.57838143e-03 -9.86292276e-03 9.99950114e-01 -4.56954256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.599254154 meters 0.21087851372140606 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.00 [[ 9.98686663e-01 -5.12290663e-02 7.29774961e-04 1.56081430e+00] [ 5.12278420e-02 9.98685698e-01 1.60769944e-03 -2.47249068e-02] [-8.11176758e-04 -1.56820320e-03 9.99998441e-01 -4.61026379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6592541539999996 meters 0.20364052039192784 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.01 [[ 9.98194299e-01 -6.00653948e-02 5.38413337e-04 1.56398173e+00] [ 6.00675793e-02 9.98175127e-01 -6.18879024e-03 -2.31256890e-02] [-1.65698673e-04 6.20995632e-03 9.99980704e-01 -6.06164012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7192541539999997 meters 0.2009800418942782 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.02, Z:-0.01 [[ 9.98127621e-01 -6.11657392e-02 7.20665948e-05 1.56746443e+00] [ 6.11647685e-02 9.98103613e-01 -6.93166607e-03 -2.27495070e-02] [ 3.52050550e-04 6.92309530e-03 9.99975973e-01 -8.22560346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7792541539999998 meters 0.1922214028963605 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.02, Z:-0.01 [[ 9.97968000e-01 -6.37145813e-02 -5.68161653e-04 1.57295632e+00] [ 6.37070191e-02 9.97928938e-01 -8.90227062e-03 -1.93635250e-02] [ 1.13418940e-03 8.84798532e-03 9.99960213e-01 -1.16619872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.839254154 meters 0.18575899540415608 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.02, Z:-0.01 [[ 9.97996770e-01 -6.32577210e-02 -9.53029483e-04 1.57576955e+00] [ 6.32474734e-02 9.97962210e-01 -8.43713023e-03 -1.56910310e-02] [ 1.48480104e-03 8.35995201e-03 9.99963953e-01 -1.34869347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899254154 meters 0.17511072694591676 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.01, Z:-0.02 [[ 9.98275662e-01 -5.86829291e-02 -1.42017897e-03 1.57935734e+00] [ 5.86763941e-02 9.98267910e-01 -4.27333751e-03 -8.54788572e-03] [ 1.66849106e-03 4.18263785e-03 9.99989861e-01 -1.64321163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.959254154 meters 0.16888286429232496 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.01, Z:-0.02 [[ 9.98453024e-01 -5.55717411e-02 -1.82749623e-03 1.58299210e+00] [ 5.55687572e-02 9.98453508e-01 -1.64494509e-03 -5.27291473e-03] [ 1.91608248e-03 1.54084870e-03 9.99996977e-01 -1.91833961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.019254154 meters 0.16173697408992863 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.02 [[ 9.98686780e-01 -5.11749064e-02 -2.41756316e-03 1.58686646e+00] [ 5.11792089e-02 9.98687948e-01 1.75262007e-03 3.29988064e-04] [ 2.32470102e-03 -1.87404747e-03 9.99995542e-01 -2.16155069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079254154 meters 0.15680387682855532 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.02 [[ 0.99889698 -0.04686663 -0.00288778 1.58832162] [ 0.04688206 0.99888513 0.00552823 0.00325259] [ 0.00262547 -0.00565752 0.99998055 -0.02222935] [ 0. 0. 0. 1. ]] SLAMing on 3.139254154 meters 0.15169908310579697 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99921216 -0.03954614 -0.00334018 1.59113163] [ 0.03958327 0.99914545 0.01189713 0.00649644] [ 0.00286684 -0.01201997 0.99992365 -0.02413772] [ 0. 0. 0. 1. ]] SLAMing on 3.1992541539999997 meters 0.14508161315919949 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99941086 -0.03412077 -0.0037023 1.59268657] [ 0.03417586 0.99928762 0.01600844 0.00926078] [ 0.00315344 -0.01612554 0.999865 -0.02449711] [ 0. 0. 0. 1. ]] SLAMing on 3.2592541539999997 meters 0.13949064673718747 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99945932 -0.03268189 -0.0036005 1.59220885] [ 0.03273598 0.99933341 0.016158 0.01151035] [ 0.00307003 -0.01626713 0.99986297 -0.0233685 ] [ 0. 0. 0. 1. ]] SLAMing on 3.319254154 meters 0.13329923542459393 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99936239 -0.03551204 -0.00370195 1.59320167] [ 0.03555523 0.99929153 0.01233955 0.013373 ] [ 0.00326112 -0.01246331 0.99991701 -0.02305561] [ 0. 0. 0. 1. ]] SLAMing on 3.379254154 meters 0.1301044602291845 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99921775 -0.03936187 -0.00381218 1.59409714] [ 0.03939277 0.99918848 0.00840133 0.01349514] [ 0.0034784 -0.00854493 0.99995744 -0.02307584] [ 0. 0. 0. 1. ]] SLAMing on 3.439254154 meters 0.12415468334309822 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99902242 -0.04405327 -0.00367529 1.59305483] [ 0.04406815 0.99902023 0.00407109 0.01300135] [ 0.00349235 -0.00422907 0.99998496 -0.02152563] [ 0. 0. 0. 1. ]] SLAMing on 3.499254154 meters 0.11840265319840779 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 9.98838810e-01 -4.80330145e-02 -3.72317741e-03 1.59315670e+00] [ 4.80350758e-02 9.98845541e-01 4.66165760e-04 1.11483867e-02] [ 3.69648781e-03 -6.44467562e-04 9.99992960e-01 -2.07961225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.559254154 meters 0.11454302605373998 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 9.98837932e-01 -4.80376948e-02 -3.89437778e-03 1.59344083e+00] [ 4.80428867e-02 9.98844491e-01 1.25070597e-03 7.99587007e-03] [ 3.82979676e-03 -1.43634971e-03 9.99991635e-01 -2.08240327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters 0.10908729131405549 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.02 [[ 0.99886329 -0.04747384 -0.00428397 1.59458027] [ 0.04748536 0.99886848 0.00262705 0.00359003] [ 0.00415441 -0.00282749 0.99998737 -0.02119475] [ 0. 0. 0. 1. ]] SLAMing on 3.6792541539999997 meters 0.10499675285474454 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.00, Z:-0.02 [[ 0.9989235 -0.04612553 -0.00492719 1.59717001] [ 0.0461488 0.99892343 0.00471901 -0.00164787] [ 0.00470422 -0.00494131 0.99997673 -0.02255303] [ 0. 0. 0. 1. ]] SLAMing on 3.7392541539999997 meters 0.10135801731916586 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:-0.02 [[ 0.99897176 -0.04501969 -0.00535216 1.59894018] [ 0.04505339 0.99896439 0.00635152 -0.00553456] [ 0.00506067 -0.00658612 0.99996551 -0.02349049] [ 0. 0. 0. 1. ]] SLAMing on 3.7992541539999998 meters 0.09758848121230151 Centerline is valid? [False, True] Translation: X:1.60, Y:-0.01, Z:-0.02 [[ 0.99911475 -0.04170239 -0.00553386 1.59904994] [ 0.04175545 0.99907934 0.00984612 -0.01215365] [ 0.00511816 -0.01006847 0.99993621 -0.02301991] [ 0. 0. 0. 1. ]] SLAMing on 3.859254154 meters 0.09577009212722233 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.01, Z:-0.02 [[ 9.99277472e-01 -3.77107377e-02 -4.73655533e-03 1.65854856e+00] [ 3.77098031e-02 9.99288691e-01 -2.86513299e-04 -8.36336649e-03] [ 4.74399080e-03 1.07691716e-04 9.99988741e-01 -1.89293869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919254154 meters 0.09187762598817326 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.02, Z:-0.02 [[ 9.99402994e-01 -3.37718960e-02 -7.28799308e-03 1.71972386e+00] [ 3.37695786e-02 9.99429548e-01 -4.40840866e-04 -1.67774094e-02] [ 7.29872366e-03 1.94465226e-04 9.99973345e-01 -1.93446941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979254154 meters 0.08933829982214092 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.02, Z:-0.02 [[ 9.99388787e-01 -3.39349687e-02 -8.39469519e-03 1.78187790e+00] [ 3.39319013e-02 9.99424018e-01 -5.07599886e-04 -1.87476906e-02] [ 8.40708538e-03 2.22441666e-04 9.99964635e-01 -2.13568355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters 0.08655153372861799 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.03, Z:-0.02 [[ 9.99270602e-01 -3.65796898e-02 -1.09631472e-02 1.84402855e+00] [ 3.65746205e-02 9.99330705e-01 -6.62606119e-04 -2.72830930e-02] [ 1.09800476e-02 2.61149866e-04 9.99939683e-01 -2.13925193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0992541540000005 meters 0.0840105955461015 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.04, Z:-0.02 [[ 9.99044892e-01 -4.21770154e-02 -1.14194439e-02 1.90494205e+00] [ 4.21718820e-02 9.99110132e-01 -6.90060546e-04 -3.72057086e-02] [ 1.14383868e-02 2.07822022e-04 9.99934558e-01 -2.05617679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters 0.08311897377658704 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.04, Z:-0.02 [[ 9.98813488e-01 -4.74975294e-02 -1.07517521e-02 1.96555659e+00] [ 4.74932873e-02 9.98871346e-01 -6.49680646e-04 -4.04755234e-02] [ 1.07704753e-02 1.38273742e-04 9.99941987e-01 -2.11236002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154000001 meters 0.07981651264523955 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.05, Z:-0.02 [[ 9.98449225e-01 -5.42515196e-02 -1.24866916e-02 2.02751217e+00] [ 5.42463282e-02 9.98527299e-01 -7.54317832e-04 -5.12515666e-02] [ 1.25092253e-02 7.57908845e-05 9.99921754e-01 -2.29911895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters 0.07849019388752057 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.06, Z:-0.02 [[ 9.98239021e-01 -5.76369239e-02 -1.40300579e-02 2.09065059e+00] [ 5.76307101e-02 9.98337610e-01 -8.47130498e-04 -5.72791103e-02] [ 1.40555604e-02 3.70765215e-05 9.99901215e-01 -2.25375247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154000001 meters 0.07800549454589359 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.06, Z:-0.02 [[ 9.97976156e-01 -6.13719666e-02 -1.66455117e-02 2.15304470e+00] [ 6.13637486e-02 9.98114964e-01 -1.00449161e-03 -6.49589742e-02] [ 1.66757820e-02 -1.89723235e-05 9.99860949e-01 -1.69495315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254154 meters 0.07618860208133361 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.07, Z:-0.02 [[ 9.97776694e-01 -6.43360970e-02 -1.73935514e-02 2.21571564e+00] [ 6.43275862e-02 9.97928285e-01 -1.04893058e-03 -7.19299774e-02] [ 1.74250010e-02 -7.22866936e-05 9.99848171e-01 -1.96948630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters 0.07409446221996457 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.07, Z:-0.02 [[ 9.97711301e-01 -6.55136517e-02 -1.67368294e-02 2.27820510e+00] [ 6.55059472e-02 9.97851669e-01 -1.00872198e-03 -7.39818655e-02] [ 1.67669582e-02 -8.99485431e-05 9.99859421e-01 -1.73283542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519254154 meters 0.07404852872612931 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.08, Z:-0.02 [[ 9.97635657e-01 -6.67162427e-02 -1.64936119e-02 2.33915600e+00] [ 6.67089325e-02 9.97771984e-01 -9.93605437e-04 -7.62875782e-02] [ 1.65231535e-02 -1.09015029e-04 9.99863477e-01 -1.65787133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters 0.07253112008070942 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.08, Z:-0.02 [[ 9.97654673e-01 -6.60948917e-02 -1.77938113e-02 2.40079191e+00] [ 6.60862919e-02 9.97813336e-01 -1.07152253e-03 -7.59093687e-02] [ 1.78257243e-02 -1.06917549e-04 9.99841103e-01 -1.76013476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6392541540000005 meters 0.07208251475363123 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.07, Z:-0.02 [[ 9.97677936e-01 -6.58260108e-02 -1.74835062e-02 2.46251127e+00] [ 6.58176738e-02 9.97831111e-01 -1.05245739e-03 -7.25515732e-02] [ 1.75148655e-02 -1.00710190e-04 9.99846598e-01 -1.63402857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters 0.07124950287154705 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.07, Z:-0.01 [[ 9.97649491e-01 -6.65269601e-02 -1.64212277e-02 2.52363857e+00] [ 6.65197061e-02 9.97784622e-01 -9.88161055e-04 -7.12587462e-02] [ 1.64505878e-02 -1.06496866e-04 9.99864674e-01 -1.41263435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154000001 meters 0.07139151853042437 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.07, Z:-0.01 [[ 9.97545127e-01 -6.84015089e-02 -1.49984361e-02 2.58583882e+00] [ 6.83956754e-02 9.97657866e-01 -9.02144940e-04 -7.03815376e-02] [ 1.50250159e-02 -1.25897880e-04 9.99887110e-01 -1.26988040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254154 meters 0.07055827066197186 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.07, Z:-0.01 [[ 9.97353292e-01 -7.13489496e-02 -1.39906831e-02 2.64803769e+00] [ 7.13441690e-02 9.97451403e-01 -8.41136061e-04 -6.84500225e-02] [ 1.40150406e-02 -1.59243838e-04 9.99901772e-01 -1.16314989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters 0.0687646326061148 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.07, Z:-0.01 [[ 9.97364770e-01 -7.10061703e-02 -1.48875683e-02 2.71061337e+00] [ 7.10007270e-02 9.97475863e-01 -8.94520725e-04 -6.51487214e-02] [ 1.49135065e-02 -1.64864716e-04 9.99888774e-01 -1.43526644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.939254154 meters 0.06815208037704058 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.06, Z:-0.01 [[ 9.97507214e-01 -6.89841075e-02 -1.48509475e-02 2.77201900e+00] [ 6.89784728e-02 9.97617750e-01 -8.91919337e-04 -5.74793705e-02] [ 1.48770970e-02 -1.34699702e-04 9.99889321e-01 -1.32096705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters 0.06739337658565163 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:-0.01 [[ 9.97717594e-01 -6.61081444e-02 -1.37592042e-02 2.83271314e+00] [ 6.61030374e-02 9.97812460e-01 -8.26116040e-04 -4.61804062e-02] [ 1.37837184e-02 -8.52946848e-05 9.99904996e-01 -1.04731731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0592541540000004 meters 0.06688286830577461 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.03, Z:-0.00 [[ 9.97788079e-01 -6.50280369e-02 -1.37950546e-02 2.89426401e+00] [ 6.50228059e-02 9.97883435e-01 -8.27847976e-04 -3.26358733e-02] [ 1.38196898e-02 -7.09763191e-05 9.99904501e-01 -4.97618486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters 0.06658384519258646 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.03, Z:-0.01 [[ 9.97729306e-01 -6.59695651e-02 -1.35738123e-02 2.95553648e+00] [ 6.59645937e-02 9.97821632e-01 -8.14128268e-04 -2.72271295e-02] [ 1.35979512e-02 -8.31113801e-05 9.99907540e-01 -8.89248109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1792541540000006 meters 0.06531340627866818 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.02, Z:-0.01 [[ 9.97545000e-01 -6.84512348e-02 -1.47784077e-02 3.01740788e+00] [ 6.84456210e-02 9.97654455e-01 -8.85909355e-04 -1.92121246e-02] [ 1.48043859e-02 -1.27782847e-04 9.99890401e-01 -9.96578571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254154 meters 0.06470399926941937 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.01, Z:-0.01 [[ 9.97339923e-01 -7.11858817e-02 -1.56732008e-02 3.07860774e+00] [ 7.11799132e-02 9.97463051e-01 -9.39030545e-04 -9.44043688e-03] [ 1.57002844e-02 -1.79084421e-04 9.99876727e-01 -8.82204064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters 0.06475771238476527 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.00, Z:-0.01 [[ 9.97300441e-01 -7.20345545e-02 -1.42426672e-02 3.13981504e+00] [ 7.20297177e-02 9.97402122e-01 -8.52947173e-04 -2.55375396e-03] [ 1.42671082e-02 -1.75250710e-04 9.99898204e-01 -8.48310841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254154 meters 0.06366830662501433 Centerline is valid? [True, True] Translation: X:3.20, Y:0.01, Z:-0.00 [[ 9.97391190e-01 -7.11517071e-02 -1.21757046e-02 3.20132920e+00] [ 7.11481106e-02 9.97465496e-01 -7.28829162e-04 1.13926720e-02] [ 1.21967026e-02 -1.39350591e-04 9.99925608e-01 -4.74703113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters 0.06335060894839556 Centerline is valid? [True, True] Translation: X:3.26, Y:0.03, Z:-0.00 [[ 9.97810403e-01 -6.51980736e-02 -1.11180262e-02 3.26186471e+00] [ 6.51947083e-02 9.97872340e-01 -6.65236318e-04 2.92900819e-02] [ 1.11377429e-02 -6.10567535e-05 9.99937972e-01 -3.88005137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479254154 meters 0.06271832081448228 Centerline is valid? [True, True] Translation: X:3.32, Y:0.04, Z:-0.00 [[ 9.98205914e-01 -5.88121314e-02 -1.12287878e-02 3.32211383e+00] [ 5.88082975e-02 9.98269068e-01 -6.71594191e-04 4.41009116e-02] [ 1.12488494e-02 1.00433997e-05 9.99936730e-01 -4.58552750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters 0.06184664055868999 Centerline is valid? [True, True] Translation: X:3.38, Y:0.06, Z:-0.00 [[ 9.98722854e-01 -4.90284706e-02 -1.22012302e-02 3.38203705e+00] [ 4.90232164e-02 9.98797373e-01 -7.29523511e-04 6.42873491e-02] [ 1.22223241e-02 1.30448256e-04 9.99925296e-01 -4.00751022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5992541540000005 meters 0.06230894629373781 Centerline is valid? [True, True] Translation: X:3.44, Y:0.08, Z:-0.00 [[ 9.99024781e-01 -4.26680656e-02 -1.13544184e-02 3.44132970e+00] [ 4.26631059e-02 9.99089285e-01 -6.78775648e-04 8.30103736e-02] [ 1.13730398e-02 1.93698940e-04 9.99935306e-01 -3.13961431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254154 meters 0.06233390189252397 Centerline is valid? [True, True] Translation: X:3.50, Y:0.09, Z:-0.00 [[ 9.99102640e-01 -4.08246351e-02 -1.12811568e-02 3.50173797e+00] [ 4.08196266e-02 9.99166304e-01 -6.73966513e-04 8.92232973e-02] [ 1.12992661e-02 2.12869116e-04 9.99936139e-01 -1.40984984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154000001 meters 0.06173350987194939 Centerline is valid? [True, True] Translation: X:3.56, Y:0.10, Z:-0.00 [[ 9.99085617e-01 -4.07906326e-02 -1.28083459e-02 3.56361682e+00] [ 4.07841797e-02 9.99167687e-01 -7.64707794e-04 9.83558410e-02] [ 1.28288783e-02 2.41630677e-04 9.99917677e-01 -1.62766408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254154 meters 0.06116054230275351 Centerline is valid? [True, True] Translation: X:3.63, Y:0.11, Z:-0.00 [[ 9.99021661e-01 -4.18764778e-02 -1.42155643e-02 3.62545449e+00] [ 4.18686447e-02 9.99122764e-01 -8.48314896e-04 1.08495511e-01] [ 1.42386183e-02 2.52298546e-04 9.99898594e-01 -2.56009384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters 0.0609192291266077 Centerline is valid? [True, True] Translation: X:3.69, Y:0.11, Z:0.00 [[ 9.98928749e-01 -4.38032348e-02 -1.49208588e-02 3.68778389e+00] [ 4.37948276e-02 9.99040150e-01 -8.89890956e-04 1.11851039e-01] [ 1.49455171e-02 2.35481221e-04 9.99888282e-01 5.94004964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254154 meters 0.06092374662559892 Centerline is valid? [True, True] Translation: X:3.75, Y:0.12, Z:0.00 [[ 9.98719249e-01 -4.85679083e-02 -1.41781820e-02 3.74819698e+00] [ 4.85608001e-02 9.98819871e-01 -8.45386623e-04 1.18593967e-01] [ 1.42025085e-02 1.55800033e-04 9.99899127e-01 3.13048759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters 0.06044514323945642 Centerline is valid? [True, True] Translation: X:3.81, Y:0.13, Z:0.00 [[ 9.98459694e-01 -5.39282530e-02 -1.30377477e-02 3.80932035e+00] [ 5.39227013e-02 9.98544810e-01 -7.77229989e-04 1.25384259e-01] [ 1.30606900e-02 7.30022400e-05 9.99914703e-01 3.41990758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019254154 meters 0.059592730605967696 Centerline is valid? [True, True] Translation: X:3.87, Y:0.13, Z:-0.00 [[ 9.98409968e-01 -5.50342688e-02 -1.21968985e-02 3.87070570e+00] [ 5.50294973e-02 9.98484465e-01 -7.26718620e-04 1.33927528e-01] [ 1.22184081e-02 5.43739198e-05 9.99925351e-01 -1.00127675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254154 meters 0.05925901100662793 Centerline is valid? [True, True] Translation: X:3.93, Y:0.15, Z:-0.00 [[ 9.98613259e-01 -5.16203003e-02 -1.03394100e-02 3.93166574e+00] [ 5.16166915e-02 9.98666780e-01 -6.15756356e-04 1.45477580e-01] [ 1.03574108e-02 8.12163239e-05 9.99946357e-01 -1.70724013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1392541540000005 meters 0.05941770814224563 Centerline is valid? [True, True] Translation: X:3.99, Y:0.15, Z:0.00 [[ 9.98905842e-01 -4.57669216e-02 -9.61811930e-03 3.99247618e+00] [ 4.57635291e-02 9.98952137e-01 -5.72623358e-04 1.53740199e-01] [ 9.63424803e-03 1.31837735e-04 9.99953581e-01 1.95943925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254154 meters 0.05947905505704085 Centerline is valid? [True, True] Translation: X:4.05, Y:0.17, Z:0.00 [[ 9.99097373e-01 -4.11243262e-02 -1.06409423e-02 4.05296010e+00] [ 4.11199124e-02 9.99154018e-01 -6.33342116e-04 1.65659855e-01] [ 1.06579861e-02 1.95215827e-04 9.99943183e-01 6.68652352e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154000001 meters 0.05936861183774496 Centerline is valid? [True, True] Translation: X:4.11, Y:0.16, Z:0.00 [[ 9.99134147e-01 -3.98563322e-02 -1.19343588e-02 4.11445905e+00] [ 3.98506928e-02 9.99205393e-01 -7.10060482e-04 1.63310389e-01] [ 1.19531761e-02 2.33853208e-04 9.99928531e-01 2.81653238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254154 meters 0.05863496380671645 Centerline is valid? [True, True] Translation: X:4.18, Y:0.17, Z:-0.00 [[ 9.99113095e-01 -3.96480141e-02 -1.41795257e-02 4.17631849e+00] [ 3.96400394e-02 9.99213669e-01 -8.43130120e-04 1.74434567e-01] [ 1.42018043e-02 2.80305385e-04 9.99899110e-01 -1.78913751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters 0.05856869604656457 Centerline is valid? [True, True] Translation: X:4.24, Y:0.17, Z:0.00 [[ 9.99032318e-01 -4.13489326e-02 -1.49897782e-02 4.23783852e+00] [ 4.13402181e-02 9.99144731e-01 -8.90888820e-04 1.74632984e-01] [ 1.50137952e-02 2.70346021e-04 9.99887250e-01 1.03787606e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439254154 meters 0.058997830438008735 Centerline is valid? [True, True] Translation: X:4.30, Y:0.18, Z:-0.00 [[ 9.98923524e-01 -4.40144087e-02 -1.46466589e-02 4.29900893e+00] [ 4.40063800e-02 9.99030871e-01 -8.70160782e-04 1.82986974e-01] [ 1.46707640e-02 2.24677639e-04 9.99892353e-01 -2.14563225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254154 meters 0.05769944172355197 Centerline is valid? [True, True] Translation: X:4.36, Y:0.18, Z:0.00 [[ 9.98768850e-01 -4.78030477e-02 -1.32533932e-02 4.35972422e+00] [ 4.77968093e-02 9.98856769e-01 -7.87233388e-04 1.80336702e-01] [ 1.32758736e-02 1.52794279e-04 9.99911860e-01 2.92523451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5592541540000004 meters 0.05718920449834773 Centerline is valid? [True, True] Translation: X:4.42, Y:0.18, Z:0.00 [[ 9.98401624e-01 -5.55320442e-02 -1.05066624e-02 4.42059051e+00] [ 5.55285528e-02 9.98456905e-01 -6.23959094e-04 1.84272131e-01] [ 1.05250993e-02 3.95420143e-05 9.99944609e-01 1.38450844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254154 meters 0.05661868596979474 Centerline is valid? [True, True] Translation: X:4.48, Y:0.18, Z:0.00 [[ 9.98116730e-01 -6.06269100e-02 -9.34728892e-03 4.48301810e+00] [ 6.06243719e-02 9.98160497e-01 -5.54891700e-04 1.84994443e-01] [ 9.36373593e-03 -1.28268314e-05 9.99956159e-01 2.83862444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6792541540000006 meters 0.05737021562361569 Centerline is valid? [True, True] Translation: X:4.55, Y:0.18, Z:0.00 [[ 9.97695723e-01 -6.72939146e-02 -8.64717021e-03 4.54535852e+00] [ 6.72919953e-02 9.97733193e-01 -5.13040440e-04 1.83044425e-01] [ 8.66209325e-03 -7.00270847e-05 9.99962481e-01 2.03830870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254154 meters 0.05704792810431989 Centerline is valid? [True, True] Translation: X:4.61, Y:0.18, Z:0.00 [[ 9.97418929e-01 -7.12195563e-02 -9.12441343e-03 4.60696450e+00] [ 7.12175861e-02 9.97460657e-01 -5.41077512e-04 1.84739822e-01] [ 9.13977872e-03 -1.10137747e-04 9.99958225e-01 1.41261398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters 0.05674495920209771 Centerline is valid? [True, True] Translation: X:4.67, Y:0.19, Z:-0.00 [[ 9.97180380e-01 -7.42557276e-02 -1.08340760e-02 4.66800310e+00] [ 7.42531313e-02 9.97239219e-01 -6.42247177e-04 1.87903895e-01] [ 1.08518560e-02 -1.64027781e-04 9.99941103e-01 -1.18571782e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254154 meters 0.05674550845192652 Centerline is valid? [True, True] Translation: X:4.73, Y:0.20, Z:-0.00 [[ 9.97202878e-01 -7.38424887e-02 -1.15631571e-02 4.73085592e+00] [ 7.38395082e-02 9.97269902e-01 -6.85053439e-04 1.95081017e-01] [ 1.15821746e-02 -1.70680568e-04 9.99932910e-01 -9.23600251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254154 meters 0.0566923888233077 Centerline is valid? [True, True] Translation: X:4.79, Y:0.21, Z:-0.00 [[ 9.97475494e-01 -7.01303889e-02 -1.11519916e-02 4.79168288e+00] [ 7.01273877e-02 9.97537826e-01 -6.60409685e-04 2.06724653e-01] [ 1.11708483e-02 -1.23317563e-04 9.99937597e-01 -6.24776981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979254154 meters 0.05629825490501273 Centerline is valid? [True, True] Translation: X:4.85, Y:0.22, Z:-0.00 [[ 9.97763562e-01 -6.60334442e-02 -1.03662201e-02 4.85279488e+00] [ 6.60306325e-02 9.97817408e-01 -6.13624029e-04 2.17393365e-01] [ 1.03841145e-02 -7.22363701e-05 9.99946081e-01 -5.51874127e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254154 meters 0.05645767563073853 Centerline is valid? [True, True] Translation: X:4.91, Y:0.23, Z:0.00 [[ 9.98070244e-01 -6.12742706e-02 -1.00624170e-02 4.91437399e+00] [ 6.12713825e-02 9.98120966e-01 -5.95334233e-04 2.31682885e-01] [ 1.00799881e-02 -2.23528210e-05 9.99949195e-01 1.10471457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0992541540000005 meters 0.055670592261612355 Centerline is valid? [True, True] Translation: X:4.98, Y:0.24, Z:0.00 [[ 9.98125902e-01 -6.04260829e-02 -9.66296460e-03 4.97631003e+00] [ 6.04233827e-02 9.98172675e-01 -5.71407932e-04 2.41894113e-01] [ 9.67983516e-03 -1.35319502e-05 9.99953149e-01 1.31910825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254154 meters 0.05573814281257053 Centerline is valid? [True, True] Translation: X:5.04, Y:0.25, Z:0.00 [[ 9.98086537e-01 -6.10694132e-02 -9.68463302e-03 5.03908403e+00] [ 6.10667349e-02 9.98133521e-01 -5.72300682e-04 2.48800004e-01] [ 9.70150692e-03 -2.02033109e-05 9.99952939e-01 1.86000357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters 0.05489502374484235 Centerline is valid? [True, True] Translation: X:5.10, Y:0.26, Z:0.00 [[ 9.98147716e-01 -6.01167640e-02 -9.33333731e-03 5.10121761e+00] [ 6.01142384e-02 9.98191352e-01 -5.51157940e-04 2.60131909e-01] [ 9.34959041e-03 -1.09294242e-05 9.99956292e-01 3.12907493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254154 meters 0.05519434188144906 Centerline is valid? [True, True] Translation: X:5.16, Y:0.27, Z:0.00 [[ 9.98274804e-01 -5.81101690e-02 -8.40384263e-03 5.16275359e+00] [ 5.81080529e-02 9.98310176e-01 -4.95962477e-04 2.71707068e-01] [ 8.41846208e-03 6.77591245e-06 9.99964564e-01 2.73089845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254154 meters 0.05539743260738635 Centerline is valid? [True, True] Translation: X:5.23, Y:0.28, Z:0.00 [[ 9.98332207e-01 -5.71141074e-02 -8.41329991e-03 5.22550161e+00] [ 5.71119542e-02 9.98367657e-01 -4.96163572e-04 2.80389030e-01] [ 8.42790446e-03 1.48360742e-05 9.99964484e-01 3.54172261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254154 meters 0.055139073090844475 Centerline is valid? [True, True] Translation: X:5.29, Y:0.29, Z:0.00 [[ 9.98241589e-01 -5.86894447e-02 -8.32344337e-03 5.28760738e+00] [ 5.86873946e-02 9.98276289e-01 -4.90551173e-04 2.87030413e-01] [ 8.33788633e-03 1.20737660e-06 9.99965239e-01 2.37728796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254154 meters 0.054479025215269164 Centerline is valid? [True, True] Translation: X:5.35, Y:0.29, Z:0.00 [[ 9.98105612e-01 -6.10210516e-02 -7.84977719e-03 5.35044996e+00] [ 6.10193026e-02 9.98136479e-01 -4.62343284e-04 2.92724875e-01] [ 7.86336164e-03 -1.75205026e-05 9.99969083e-01 1.54432376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519254154 meters 0.05450900842048096 Centerline is valid? [True, True] Translation: X:5.41, Y:0.29, Z:0.00 [[ 9.97890849e-01 -6.45209167e-02 -7.13476534e-03 5.41293176e+00] [ 6.45195631e-02 9.97916354e-01 -4.19968576e-04 2.94160064e-01] [ 7.14699577e-03 -4.12491435e-05 9.99974459e-01 2.59304785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254154 meters 0.05525383585080812 Centerline is valid? [True, True] Translation: X:5.47, Y:0.29, Z:0.00 [[ 9.97418603e-01 -7.15594673e-02 -5.94748615e-03 5.47433860e+00] [ 7.15586525e-02 9.97436332e-01 -3.49952123e-04 2.90337065e-01] [ 5.95728116e-03 -7.65453367e-05 9.99982252e-01 3.63243296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6392541540000005 meters 0.05673203608172103 Centerline is valid? [True, True] Translation: X:5.54, Y:0.29, Z:0.00 [[ 9.96977998e-01 -7.73839852e-02 -6.82578085e-03 5.53583016e+00] [ 7.73830491e-02 9.97001355e-01 -4.01541531e-04 2.85441161e-01] [ 6.83638564e-03 -1.27871663e-04 9.99976623e-01 6.04224170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254154 meters 0.05692613973147736 Centerline is valid? [True, True] Translation: X:5.60, Y:0.28, Z:-0.00 [[ 9.96593241e-01 -8.20810922e-02 -8.03785887e-03 5.59693696e+00] [ 8.20799472e-02 9.96625636e-01 -4.72784937e-04 2.82326257e-01] [ 8.04954291e-03 -1.88572760e-04 9.99967584e-01 -1.89850346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254154 meters 0.05720456802736605 Centerline is valid? [True, True] Translation: X:5.66, Y:0.29, Z:-0.00 [[ 9.96568848e-01 -8.23421602e-02 -8.38452244e-03 5.65857158e+00] [ 8.23409274e-02 9.96604098e-01 -4.92719227e-04 2.85200186e-01] [ 8.39662099e-03 -1.99360721e-04 9.99964728e-01 -1.66564586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254154 meters 0.05765480121557235 Centerline is valid? [True, True] Translation: X:5.72, Y:0.29, Z:-0.00 [[ 9.96675476e-01 -8.09672751e-02 -9.07171433e-03 5.72050296e+00] [ 8.09657836e-02 9.96716739e-01 -5.32155403e-04 2.89524680e-01] [ 9.08501670e-03 -2.04112219e-04 9.99958710e-01 -1.51454284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254154 meters 0.057679070068255636 Centerline is valid? [True, True] Translation: X:5.78, Y:0.29, Z:-0.00 [[ 9.96733278e-01 -8.03915307e-02 -7.74426733e-03 5.78299705e+00] [ 8.03904321e-02 9.96763348e-01 -4.53541776e-04 2.91093617e-01] [ 7.75566276e-03 -1.70504817e-04 9.99969910e-01 -2.05678747e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939254154 meters 0.05791518339579126 Centerline is valid? [True, True] Translation: X:5.85, Y:0.29, Z:-0.00 [[ 9.96708310e-01 -8.06703558e-02 -8.05218964e-03 5.84521643e+00] [ 8.06691842e-02 9.96740819e-01 -4.70721109e-04 2.93518496e-01] [ 8.06391934e-03 -1.80391927e-04 9.99967470e-01 -3.12532830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254154 meters 0.05822739964589615 Centerline is valid? [True, True] Translation: X:5.91, Y:0.30, Z:-0.00 [[ 9.96635446e-01 -8.15429430e-02 -8.27862120e-03 5.90728365e+00] [ 8.15417418e-02 9.96669810e-01 -4.83085082e-04 2.96064805e-01] [ 8.29044400e-03 -1.93593476e-04 9.99965615e-01 -8.07217428e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters 0.05892758827091863 Centerline is valid? [True, True] Translation: X:5.97, Y:0.30, Z:-0.00 [[ 9.96490712e-01 -8.31124035e-02 -9.92920289e-03 5.96947745e+00] [ 8.31107606e-02 9.96540148e-01 -5.78690546e-04 2.96518310e-01] [ 9.94294567e-03 -2.48563849e-04 9.99950537e-01 -3.96811583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters 0.05932443565286959 Centerline is valid? [True, True] Translation: X:6.03, Y:0.30, Z:-0.00 [[ 9.96476820e-01 -8.32767129e-02 -9.94666751e-03 6.03206739e+00] [ 8.32750800e-02 9.96526430e-01 -5.78934755e-04 2.99463430e-01] [ 9.96032885e-03 -2.51414469e-04 9.99950363e-01 -4.80986980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254154 meters 0.05854580548847122 Centerline is valid? [True, True] Translation: X:6.09, Y:0.31, Z:-0.00 [[ 9.96577737e-01 -8.20137808e-02 -1.03225036e-02 6.09431185e+00] [ 8.20119609e-02 9.96631164e-01 -6.00191371e-04 3.05292278e-01] [ 1.03369527e-02 -2.48431401e-04 9.99946541e-01 -4.45930356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters 0.057993180688342534 Centerline is valid? [True, True] Translation: X:6.16, Y:0.31, Z:-0.00 [[ 9.96776470e-01 -7.97655492e-02 -8.60967351e-03 6.15574404e+00] [ 7.97642011e-02 9.96813634e-01 -5.00397245e-04 3.11946320e-01] [ 8.62215440e-03 -1.87959530e-04 9.99962811e-01 -1.60951112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters 0.05715369317253071 Centerline is valid? [True, True] Translation: X:6.22, Y:0.32, Z:0.00 [[ 9.97010708e-01 -7.69275817e-02 -7.19691480e-03 6.21739631e+00] [ 7.69265668e-02 9.97036674e-01 -4.18140391e-04 3.18473240e-01] [ 7.20775452e-03 -1.36743501e-04 9.99974014e-01 4.17937083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254154 meters 0.056488262145760575 Centerline is valid? [True, True] Translation: X:6.28, Y:0.33, Z:0.00 [[ 9.97278733e-01 -7.34489743e-02 -6.35422948e-03 6.27907283e+00] [ 7.34481135e-02 9.97298971e-01 -3.69030217e-04 3.26230795e-01] [ 6.36417142e-03 -9.86801815e-05 9.99979744e-01 1.26094563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254154 meters 0.05527417312388363 Centerline is valid? [True, True] Translation: X:6.34, Y:0.33, Z:0.00 [[ 9.97485515e-01 -7.05873909e-02 -6.32992951e-03 6.34032666e+00] [ 7.05864801e-02 9.97505596e-01 -3.67465358e-04 3.33690602e-01] [ 6.34007853e-03 -8.02660712e-05 9.99979898e-01 1.64031153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters 0.05467833845650504 Centerline is valid? [True, True] Translation: X:6.40, Y:0.34, Z:0.00 [[ 9.97694839e-01 -6.75359121e-02 -6.62635468e-03 6.40263775e+00] [ 6.75348481e-02 9.97716842e-01 -3.84456638e-04 3.41823337e-01] [ 6.63719030e-03 -6.39394533e-05 9.99977972e-01 9.94148974e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters 0.05449759050559078 Centerline is valid? [True, True] Translation: X:6.47, Y:0.35, Z:0.00 [[ 9.97814386e-01 -6.57579497e-02 -6.50709944e-03 6.46504401e+00] [ 6.57568880e-02 9.97835602e-01 -3.77218381e-04 3.46914424e-01] [ 6.51782060e-03 -5.14926815e-05 9.99978757e-01 1.19426434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254154 meters 0.054407586909073186 Centerline is valid? [True, True] Translation: X:6.53, Y:0.35, Z:0.00 [[ 9.97880067e-01 -6.47474457e-02 -6.56810201e-03 6.52745736e+00] [ 6.47463436e-02 9.97901682e-01 -3.80524830e-04 3.50396870e-01] [ 6.57895805e-03 -4.55424469e-05 9.99978357e-01 1.07279224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154000001 meters 0.054427488158307474 Centerline is valid? [True, True] Translation: X:6.59, Y:0.35, Z:-0.00 [[ 9.97938766e-01 -6.37141134e-02 -7.66361115e-03 6.59027073e+00] [ 6.37125870e-02 9.97968191e-01 -4.43400308e-04 3.54454498e-01] [ 7.67629101e-03 -4.57821356e-05 9.99970536e-01 -1.17723461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters 0.05377343297022529 Centerline is valid? [True, True] Translation: X:6.65, Y:0.36, Z:-0.00 [[ 9.98097436e-01 -6.11113561e-02 -8.17989515e-03 6.65237706e+00] [ 6.11095349e-02 9.98130954e-01 -4.72631946e-04 3.61894257e-01] [ 8.19348973e-03 -2.81368544e-05 9.99966432e-01 -2.12171687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254154 meters 0.05354821859503856 Centerline is valid? [True, True] Translation: X:6.71, Y:0.37, Z:0.00 [[ 9.98292145e-01 -5.80703900e-02 -6.37357304e-03 6.71373213e+00] [ 5.80692234e-02 9.98312491e-01 -3.68096723e-04 3.71165768e-01] [ 6.38419310e-03 -2.64036925e-06 9.99979621e-01 2.07896461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254154 meters 0.05420403275651715 Centerline is valid? [True, True] Translation: X:6.78, Y:0.38, Z:0.00 [[ 9.98339919e-01 -5.72706606e-02 -6.12196675e-03 6.77684463e+00] [ 5.72695710e-02 9.98358689e-01 -3.53268550e-04 3.75106650e-01] [ 6.13215062e-03 2.07968612e-06 9.99981198e-01 3.19670930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters 0.05341317663627949 Centerline is valid? [True, True] Translation: X:6.84, Y:0.37, Z:0.01 [[ 9.98225187e-01 -5.93776947e-02 -4.55689041e-03 6.84058449e+00] [ 5.93771143e-02 9.98235588e-01 -2.62659084e-04 3.73363136e-01] [ 4.56444626e-03 -8.38208908e-06 9.99989583e-01 5.83485818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters 0.05438081165804282 Centerline is valid? [True, True] Translation: X:6.90, Y:0.37, Z:0.01 [[ 9.97985856e-01 -6.32793793e-02 -4.46678363e-03 6.90309184e+00] [ 6.32788624e-02 9.97995851e-01 -2.57111217e-04 3.67596668e-01] [ 4.47410138e-03 -2.60596291e-05 9.99989991e-01 5.67742746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254154 meters 0.05563594729611506 Centerline is valid? [True, True] Translation: X:6.97, Y:0.36, Z:0.00 [[ 9.97614863e-01 -6.88515594e-02 -4.90383679e-03 6.96530261e+00] [ 6.88510051e-02 9.97626914e-01 -2.81976700e-04 3.62035593e-01] [ 4.91161410e-03 -5.63299448e-05 9.99987936e-01 4.63662658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154000001 meters 0.05748765668386446 Centerline is valid? [True, True] Translation: X:7.03, Y:0.35, Z:0.00 [[ 9.97356322e-01 -7.24701384e-02 -5.33355506e-03 7.02794924e+00] [ 7.24695357e-02 9.97370579e-01 -3.06431516e-04 3.52322733e-01] [ 5.34173804e-03 -8.08988492e-05 9.99985730e-01 3.86112136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters 0.058484045144124204 Centerline is valid? [True, True] Translation: X:7.09, Y:0.35, Z:0.00 [[ 9.97016043e-01 -7.69077102e-02 -6.64930505e-03 7.08933435e+00] [ 7.69068733e-02 9.97038207e-01 -3.81838271e-04 3.52210875e-01] [ 6.65897750e-03 -1.30678379e-04 9.99977820e-01 2.56879121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254154 meters 0.06237441456758209 Centerline is valid? [True, True] Translation: X:7.15, Y:0.34, Z:-0.00 [[ 9.96773702e-01 -7.97423302e-02 -9.12945827e-03 7.15132084e+00] [ 7.97408729e-02 9.96815489e-01 -5.24103214e-04 3.41842331e-01] [ 9.14217862e-03 -2.05578671e-04 9.99958188e-01 -3.42371587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254154 meters 0.06409652443334715 Centerline is valid? [True, True] Translation: X:7.21, Y:0.34, Z:-0.01 [[ 9.96620273e-01 -8.15209218e-02 -1.01178005e-02 7.21375405e+00] [ 8.15192259e-02 9.96671600e-01 -5.80594991e-04 3.39889695e-01] [ 1.01314550e-02 -2.46162524e-04 9.99948645e-01 -5.54846101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters 0.05363198925782336 Centerline is valid? [True, True] Translation: X:7.27, Y:0.38, Z:0.01 [[ 9.96471099e-01 -8.33667270e-02 -9.76414023e-03 7.27357508e+00] [ 8.33652396e-02 9.96518903e-01 -5.59947471e-04 3.79190177e-01] [ 9.77683129e-03 -2.56018418e-04 9.99952173e-01 5.50101009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters 0.05366905201864566 Centerline is valid? [True, True] Translation: X:7.34, Y:0.38, Z:0.01 [[ 9.96477259e-01 -8.34446493e-02 -8.37040848e-03 7.33515312e+00] [ 8.34435648e-02 9.96512389e-01 -4.79330079e-04 3.82563345e-01] [ 8.38121328e-03 -2.20815199e-04 9.99964853e-01 8.02472212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254154 meters 0.06860830278584004 Centerline is valid? [True, True] Translation: X:7.40, Y:0.34, Z:0.00 [[ 9.96421363e-01 -8.41958360e-02 -7.45176013e-03 7.39899361e+00] [ 8.41950023e-02 9.96449206e-01 -4.26076730e-04 3.40973900e-01] [ 7.46117435e-03 -2.02849005e-04 9.99972144e-01 4.63984069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254154 meters 0.05447710086290201 Centerline is valid? [True, True] Translation: X:7.46, Y:0.38, Z:0.01 [[ 9.96304973e-01 -8.55627521e-02 -7.44417001e-03 7.45909736e+00] [ 8.55619607e-02 9.96332761e-01 -4.25300593e-04 3.80385202e-01] [ 7.45326035e-03 -2.13208686e-04 9.99972201e-01 9.17777805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters 0.07110184977364167 Centerline is valid? [True, True] Translation: X:7.52, Y:0.34, Z:-0.00 [[ 9.96177987e-01 -8.67875467e-02 -9.86613097e-03 7.52354727e+00] [ 8.67862200e-02 9.96226799e-01 -5.63341268e-04 3.38794615e-01] [ 9.87779508e-03 -2.95056043e-04 9.99951170e-01 -3.00739437e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254154 meters 0.05473320844662759 Centerline is valid? [True, True] Translation: X:7.58, Y:0.39, Z:0.01 [[ 9.96125622e-01 -8.72961810e-02 -1.06358424e-02 7.58271834e+00] [ 8.72946722e-02 9.96182349e-01 -6.06904915e-04 3.89521518e-01] [ 1.06482189e-02 -3.23898837e-04 9.99943254e-01 9.64724097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254154 meters 0.0548438925999628 Centerline is valid? [True, True] Translation: X:7.64, Y:0.39, Z:0.01 [[ 9.96124902e-01 -8.73108730e-02 -1.05825669e-02 7.64468772e+00] [ 8.73093900e-02 9.96181061e-01 -6.02935082e-04 3.89565618e-01] [ 1.05947955e-02 -3.23358806e-04 9.99943821e-01 1.04439582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters 0.05569469184475014 Centerline is valid? [True, True] Translation: X:7.71, Y:0.39, Z:0.01 [[ 9.96278346e-01 -8.55834666e-02 -1.02433693e-02 7.70506046e+00] [ 8.55819909e-02 9.96330960e-01 -5.83115913e-04 3.86777807e-01] [ 1.02556910e-02 -2.95702176e-04 9.99947365e-01 1.01775256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters 0.05566084935620957 Centerline is valid? [True, True] Translation: X:7.77, Y:0.39, Z:0.01 [[ 9.96635819e-01 -8.12470761e-02 -1.07683098e-02 7.76599504e+00] [ 8.12451933e-02 9.96693956e-01 -6.12902257e-04 3.91034427e-01] [ 1.07825058e-02 -2.64033070e-04 9.99941832e-01 9.82991570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254154 meters 0.05484945415020733 Centerline is valid? [True, True] Translation: X:7.83, Y:0.40, Z:0.01 [[ 9.96989381e-01 -7.68710691e-02 -1.01495238e-02 7.82665599e+00] [ 7.68691706e-02 9.97041021e-01 -5.77601885e-04 3.99276391e-01] [ 1.01638925e-02 -2.04322534e-04 9.99948325e-01 1.10732890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254154 meters 0.05474217803915056 Centerline is valid? [True, True] Translation: X:7.89, Y:0.40, Z:0.01 [[ 9.97245839e-01 -7.35212932e-02 -9.76500006e-03 7.88782158e+00] [ 7.35193769e-02 9.97293634e-01 -5.55558927e-04 4.03824090e-01] [ 9.77941780e-03 -1.63887891e-04 9.99952167e-01 1.16011664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters 0.05405526198480719 Centerline is valid? [True, True] Translation: X:7.95, Y:0.41, Z:0.01 [[ 9.97488098e-01 -7.02660735e-02 -8.95396663e-03 7.94942315e+00] [ 7.02643335e-02 9.97528277e-01 -5.09147241e-04 4.11124143e-01] [ 8.96761069e-03 -1.21276185e-04 9.99959783e-01 1.34077086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254154 meters 0.05483872581707756 Centerline is valid? [True, True] Translation: X:8.01, Y:0.42, Z:0.01 [[ 9.97852360e-01 -6.49437349e-02 -8.54279361e-03 8.01045012e+00] [ 6.49419578e-02 9.97888925e-01 -4.85548986e-04 4.15893070e-01] [ 8.55629250e-03 -7.02795412e-05 9.99963392e-01 1.34320843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254154 meters 0.05485257031878262 Centerline is valid? [True, True] Translation: X:8.07, Y:0.42, Z:0.01 [[ 9.98289537e-01 -5.77188681e-02 -9.30226740e-03 8.07193648e+00] [ 5.77164499e-02 9.98332876e-01 -5.28419248e-04 4.19332421e-01] [ 9.31725913e-03 -9.37844434e-06 9.99956593e-01 1.14593085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters 0.055308889274907826 Centerline is valid? [True, True] Translation: X:8.13, Y:0.42, Z:0.01 [[ 9.98646827e-01 -5.12556022e-02 -8.79651614e-03 8.13378417e+00] [ 5.12531923e-02 9.98685567e-01 -4.99322643e-04 4.23964360e-01] [ 8.81054679e-03 4.77974393e-05 9.99961185e-01 1.25480172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters 0.055719009748796455 Centerline is valid? [True, True] Translation: X:8.19, Y:0.43, Z:0.01 [[ 9.99100293e-01 -4.15250665e-02 -8.61816485e-03 8.19359572e+00] [ 4.15223926e-02 9.99137454e-01 -4.89030795e-04 4.31667744e-01] [ 8.63103832e-03 1.30743986e-04 9.99962743e-01 1.25230155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254154 meters 0.056116558426566106 Centerline is valid? [True, True] Translation: X:8.26, Y:0.43, Z:0.01 [[ 9.99301361e-01 -3.64482879e-02 -8.26514822e-03 8.25504170e+00] [ 3.64456559e-02 9.99335526e-01 -4.68887329e-04 4.33291977e-01] [ 8.27674639e-03 1.67330998e-04 9.99965733e-01 1.28025496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254154 meters 0.056189508164094425 Centerline is valid? [True, True] Translation: X:8.32, Y:0.44, Z:0.01 [[ 9.99327781e-01 -3.56325924e-02 -8.62000452e-03 8.31575068e+00] [ 3.56297012e-02 9.99364941e-01 -4.88791135e-04 4.40984903e-01] [ 8.63194721e-03 1.81334375e-04 9.99962728e-01 1.16659427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters 0.05612938910518882 Centerline is valid? [True, True] Translation: X:8.38, Y:0.44, Z:0.01 [[ 9.99248018e-01 -3.77505070e-02 -8.84864762e-03 8.37656978e+00] [ 3.77475463e-02 9.99287182e-01 -5.01419692e-04 4.37968615e-01] [ 8.86126898e-03 1.67027898e-04 9.99960724e-01 1.13158478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254154 meters 0.055521994312459334 Centerline is valid? [True, True] Translation: X:8.44, Y:0.43, Z:0.01 [[ 9.99123100e-01 -4.09619023e-02 -8.66916304e-03 8.43870650e+00] [ 4.09591843e-02 9.99160700e-01 -4.90907247e-04 4.33905029e-01] [ 8.68199551e-03 1.35394924e-04 9.99962302e-01 1.24137802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254154 meters 0.05485232565176434 Centerline is valid? [True, True] Translation: X:8.50, Y:0.43, Z:0.01 [[ 9.98853980e-01 -4.70554759e-02 -8.74689929e-03 8.50107744e+00] [ 4.70529448e-02 9.98892274e-01 -4.95050082e-04 4.28879286e-01] [ 8.76050495e-03 8.29153752e-05 9.99961623e-01 1.27530554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters 0.05464348258136065 Centerline is valid? [True, True] Translation: X:8.56, Y:0.42, Z:0.01 [[ 9.98444443e-01 -5.51906644e-02 -7.91737303e-03 8.56250824e+00] [ 5.51888476e-02 9.98475834e-01 -4.47937457e-04 4.23234731e-01] [ 7.93002761e-03 1.02899718e-05 9.99968557e-01 1.38475442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters 0.05445460585289558 Centerline is valid? [True, True] Translation: X:8.62, Y:0.42, Z:0.01 [[ 9.98103882e-01 -6.11469753e-02 -7.04902952e-03 8.62389121e+00] [ 6.11456865e-02 9.98128772e-01 -3.98396274e-04 4.19849257e-01] [ 7.06019991e-03 -3.33768820e-05 9.99975076e-01 1.35612022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254154 meters 0.05438136585206635 Centerline is valid? [True, True] Translation: X:8.69, Y:0.42, Z:0.01 [[ 9.97370146e-01 -7.22328161e-02 -5.93399626e-03 8.68523395e+00] [ 7.22321011e-02 9.97387794e-01 -3.34989831e-04 4.15214540e-01] [ 5.94269270e-03 -9.45161610e-05 9.99982338e-01 1.37902580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254154 meters 0.054826455834258145 Centerline is valid? [True, True] Translation: X:8.75, Y:0.41, Z:0.01 [[ 9.96589402e-01 -8.22079484e-02 -7.17059767e-03 8.74583959e+00] [ 8.22071627e-02 9.96615181e-01 -4.04741201e-04 4.10188517e-01] [ 7.17959944e-03 -1.86113698e-04 9.99974209e-01 1.32779668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters 0.054111324647054586 Centerline is valid? [True, True] Translation: X:8.81, Y:0.42, Z:0.01 [[ 9.96146240e-01 -8.74195125e-02 -7.10609490e-03 8.80642358e+00] [ 8.74188738e-02 9.96171561e-01 -4.01034739e-04 4.17063005e-01] [ 7.11394791e-03 -2.21717566e-04 9.99974671e-01 1.33018962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254154 meters 0.057494609577773984 Centerline is valid? [True, True] Translation: X:8.87, Y:0.40, Z:0.01 [[ 9.95812181e-01 -9.09944726e-02 -8.83778014e-03 8.86688861e+00] [ 9.09936262e-02 9.95851350e-01 -4.98655793e-04 4.02112940e-01] [ 8.84649021e-03 -3.07614150e-04 9.99960822e-01 1.11098619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254154 meters 0.054912932906845444 Centerline is valid? [True, True] Translation: X:8.93, Y:0.42, Z:0.01 [[ 9.95758204e-01 -9.15196134e-02 -9.47419869e-03 8.92848871e+00] [ 9.15186708e-02 9.95803217e-01 -5.33899642e-04 4.15756269e-01] [ 9.48329982e-03 -3.35431122e-04 9.99954976e-01 1.21952652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254154 meters 0.05424751662683054 Centerline is valid? [True, True] Translation: X:8.99, Y:0.43, Z:0.01 [[ 9.95922860e-01 -8.97528948e-02 -9.05947971e-03 8.98962291e+00] [ 8.97519656e-02 9.95964018e-01 -5.09895935e-04 4.29033839e-01] [ 9.06868045e-03 -3.05289094e-04 9.99958832e-01 1.38025917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters 0.055508880330425996 Centerline is valid? [True, True] Translation: X:9.05, Y:0.42, Z:0.01 [[ 9.96054872e-01 -8.82910770e-02 -8.90941816e-03 9.05079697e+00] [ 8.82901221e-02 9.96094676e-01 -5.01201269e-04 4.23338154e-01] [ 8.91887560e-03 -2.87389652e-04 9.99960185e-01 1.19831047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254154 meters 0.055570114949104465 Centerline is valid? [True, True] Translation: X:9.11, Y:0.43, Z:0.01 [[ 9.96148009e-01 -8.71051554e-02 -1.00913885e-02 9.11221368e+00] [ 8.71038744e-02 9.96199073e-01 -5.67217684e-04 4.27461881e-01] [ 1.01024394e-02 -3.13966268e-04 9.99948920e-01 1.17254798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254154 meters 0.054642498144581476 Centerline is valid? [True, True] Translation: X:9.17, Y:0.44, Z:0.01 [[ 9.96099820e-01 -8.76709581e-02 -9.94740410e-03 9.17360941e+00] [ 8.76697510e-02 9.96149438e-01 -5.58176821e-04 4.42884526e-01] [ 9.95803690e-03 -3.16086610e-04 9.99950368e-01 1.38717231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters 0.05778074489769816 Centerline is valid? [True, True] Translation: X:9.24, Y:0.43, Z:0.01 [[ 9.96079034e-01 -8.79172170e-02 -9.85500370e-03 9.23530172e+00] [ 8.79160550e-02 9.96127734e-01 -5.51907744e-04 4.30972156e-01] [ 9.86536470e-03 -3.16669314e-04 9.99951286e-01 1.19364482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254154 meters 0.05501244245519705 Centerline is valid? [True, True] Translation: X:9.30, Y:0.45, Z:0.01 [[ 9.96083716e-01 -8.79757463e-02 -8.80334807e-03 9.29750640e+00] [ 8.79748298e-02 9.96122576e-01 -4.92041031e-04 4.47166004e-01] [ 8.81250144e-03 -2.84358990e-04 9.99961129e-01 1.43776414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254154 meters 0.05438460917351289 Centerline is valid? [True, True] Translation: X:9.36, Y:0.46, Z:0.02 [[ 9.96118558e-01 -8.76290911e-02 -8.30430029e-03 9.35928240e+00] [ 8.76282715e-02 9.96153137e-01 -4.63191696e-04 4.61773833e-01] [ 8.31294385e-03 -2.66297637e-04 9.99965411e-01 1.55325021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254154 meters 0.055095144155427614 Centerline is valid? [True, True] Translation: X:9.42, Y:0.46, Z:0.02 [[ 9.96209974e-01 -8.66360073e-02 -7.73886740e-03 9.42039551e+00] [ 8.66352708e-02 9.96240003e-01 -4.30982317e-04 4.63280773e-01] [ 7.74710787e-03 -2.41109990e-04 9.99969962e-01 1.58228789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters 0.055378863395940454 Centerline is valid? [True, True] Translation: X:9.48, Y:0.47, Z:0.02 [[ 9.96262839e-01 -8.59877263e-02 -8.15265611e-03 9.48177293e+00] [ 8.59868916e-02 9.96296165e-01 -4.53490864e-04 4.66476436e-01] [ 8.16145466e-03 -2.49225462e-04 9.99966664e-01 1.60423719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254154 meters 0.05440853363837422 Centerline is valid? [True, True] Translation: X:9.54, Y:0.48, Z:0.02 [[ 9.96101543e-01 -8.78584236e-02 -7.91290412e-03 9.54227269e+00] [ 8.78576984e-02 9.96132939e-01 -4.39883839e-04 4.78729882e-01] [ 7.92095194e-03 -2.57040573e-04 9.99968596e-01 1.69612420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254154 meters 0.05434976223291653 Centerline is valid? [True, True] Translation: X:9.60, Y:0.48, Z:0.02 [[ 9.95891957e-01 -9.02921264e-02 -6.82214724e-03 9.60359957e+00] [ 9.02916451e-02 9.95915295e-01 -3.79151029e-04 4.81129736e-01] [ 6.82851514e-03 -2.38389437e-04 9.99976657e-01 1.69298414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters 0.05429871351865816 Centerline is valid? [True, True] Translation: X:9.66, Y:0.48, Z:0.02 [[ 9.95467386e-01 -9.48545525e-02 -6.87736884e-03 9.66398738e+00] [ 9.48541728e-02 9.95491105e-01 -3.82110479e-04 4.82355460e-01] [ 6.88260442e-03 -2.71968612e-04 9.99976278e-01 1.77982821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254154 meters 0.057290540427494076 Centerline is valid? [True, True] Translation: X:9.72, Y:0.48, Z:0.02 [[ 9.95104045e-01 -9.85401090e-02 -7.60179761e-03 9.72416817e+00] [ 9.85397531e-02 9.95133026e-01 -4.22273556e-04 4.77957291e-01] [ 7.60641074e-03 -3.28873136e-04 9.99971017e-01 1.79039553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254154 meters 0.05426826983624851 Centerline is valid? [True, True] Translation: X:9.78, Y:0.49, Z:0.02 [[ 9.94892829e-01 -1.00781113e-01 -5.60584542e-03 9.78402143e+00] [ 1.00780956e-01 9.94908590e-01 -3.11321782e-04 4.92825436e-01] [ 5.60867911e-03 -2.55230649e-04 9.99984239e-01 1.98903563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254154 meters 0.054379644216813475 Centerline is valid? [True, True] Translation: X:9.85, Y:0.50, Z:0.02 [[ 9.94867870e-01 -1.01064117e-01 -4.89549178e-03 9.84536649e+00] [ 1.01064001e-01 9.94879889e-01 -2.71710953e-04 5.03680342e-01] [ 4.89788654e-03 -2.24441488e-04 9.99987980e-01 2.06614269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters 0.054763986184559466 Centerline is valid? [True, True] Translation: X:9.91, Y:0.50, Z:0.02 [[ 9.95016528e-01 -9.95636354e-02 -5.40298214e-03 9.90669408e+00] [ 9.95634748e-02 9.95031168e-01 -2.99367153e-04 5.00377693e-01] [ 5.40594171e-03 -2.40064412e-04 9.99985359e-01 2.02221485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254154 meters 0.05452226154746608 Centerline is valid? [True, True] Translation: X:9.97, Y:0.51, Z:0.02 [[ 9.95419956e-01 -9.54428564e-02 -5.45640189e-03 9.96692540e+00] [ 9.54426310e-02 9.95434886e-01 -3.02264922e-04 5.09056041e-01] [ 5.46034182e-03 -2.19892817e-04 9.99985068e-01 2.02600403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254154 meters 0.054630883017014666 Centerline is valid? [True, True] Translation: X:10.03, Y:0.51, Z:0.02 [[ 9.95762610e-01 -9.17988120e-02 -5.45911893e-03 1.00270346e+01] [ 9.17985317e-02 9.95777555e-01 -3.02416530e-04 5.12988947e-01] [ 5.46382958e-03 -2.00004030e-04 9.99985053e-01 2.04378964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters 0.05337076045340077 Centerline is valid? [True, True] Translation: X:10.09, Y:0.53, Z:0.02 [[ 9.96299668e-01 -8.57467659e-02 -5.87059275e-03 1.00865371e+01] [ 8.57463369e-02 9.96316948e-01 -3.25191616e-04 5.32884574e-01] [ 5.87685518e-03 -1.79393525e-04 9.99982715e-01 2.10240714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254154 meters 0.054728301623694055 Centerline is valid? [True, True] Translation: X:10.15, Y:0.53, Z:0.02 [[ 9.96734548e-01 -8.02804860e-02 -8.67668198e-03 1.01465774e+01] [ 8.02793419e-02 9.96772289e-01 -4.80621051e-04 5.30220222e-01] [ 8.68726065e-03 -2.17506713e-04 9.99962241e-01 1.93530354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254154 meters 0.05399620124854281 Centerline is valid? [True, True] Translation: X:10.21, Y:0.54, Z:0.02 [[ 9.96826487e-01 -7.89778716e-02 -9.97251663e-03 1.02089218e+01] [ 7.89762972e-02 9.96876341e-01 -5.52196770e-04 5.39238354e-01] [ 9.98497722e-03 -2.37148071e-04 9.99950121e-01 1.92513670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254154 meters 0.05383609988250994 Centerline is valid? [True, True] Translation: X:10.27, Y:0.55, Z:0.02 [[ 9.96831046e-01 -7.87823026e-02 -1.10097410e-02 1.02718886e+01] [ 7.87803837e-02 9.96891810e-01 -6.08546424e-04 5.45903820e-01] [ 1.10234633e-02 -2.60733654e-04 9.99939206e-01 1.94890211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters 0.05501332035303888 Centerline is valid? [True, True] Translation: X:10.33, Y:0.55, Z:0.02 [[ 9.96737445e-01 -7.98814110e-02 -1.15510109e-02 1.03326348e+01] [ 7.98793801e-02 9.96804333e-01 -6.37809073e-04 5.47596924e-01] [ 1.15650468e-02 -2.86959405e-04 9.99933081e-01 1.90764287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254154 meters 0.054159152567107086 Centerline is valid? [True, True] Translation: X:10.39, Y:0.55, Z:0.02 [[ 9.96500095e-01 -8.29355142e-02 -1.04528014e-02 1.03938223e+01] [ 8.29340207e-02 9.96554873e-01 -5.77008382e-04 5.54623817e-01] [ 1.04646447e-02 -2.91903944e-04 9.99945202e-01 2.10967216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254154 meters 0.05365088169017862 Centerline is valid? [True, True] Translation: X:10.45, Y:0.57, Z:0.02 [[ 9.96189642e-01 -8.66608707e-02 -9.80260550e-03 1.04543517e+01] [ 8.66597389e-02 9.96237822e-01 -5.40956282e-04 5.68025761e-01] [ 9.81260609e-03 -3.10596188e-04 9.99951807e-01 2.36918189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254154 meters 0.05371553908458289 Centerline is valid? [True, True] Translation: X:10.51, Y:0.57, Z:0.02 [[ 9.95933736e-01 -8.96185727e-02 -9.19260591e-03 1.05142287e+01] [ 8.96177037e-02 9.95976109e-01 -5.07229532e-04 5.65787667e-01] [ 9.20107306e-03 -3.18653231e-04 9.99957618e-01 2.41389983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254154 meters 0.054409018629535295 Centerline is valid? [True, True] Translation: X:10.58, Y:0.57, Z:0.03 [[ 9.95838610e-01 -9.07851487e-02 -7.96994416e-03 1.05757571e+01] [ 9.07845362e-02 9.95870461e-01 -4.39348076e-04 5.67731525e-01] [ 7.97691824e-03 -2.86027907e-04 9.99968143e-01 2.51805484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254154 meters 0.05326936868595568 Centerline is valid? [True, True] Translation: X:10.64, Y:0.58, Z:0.03 [[ 9.95654290e-01 -9.28681386e-02 -6.93130179e-03 1.06362646e+01] [ 9.28677285e-02 9.95678381e-01 -3.81687216e-04 5.77186257e-01] [ 6.93679392e-03 -2.63665738e-04 9.99975905e-01 2.58767864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254154 meters 0.05291631957397146 Centerline is valid? [True, True] Translation: X:10.70, Y:0.58, Z:0.03 [[ 9.95634241e-01 -9.29785047e-02 -8.21310758e-03 1.06974703e+01] [ 9.29779372e-02 9.95668067e-01 -4.51724914e-04 5.82318199e-01] [ 8.21952965e-03 -3.13885009e-04 9.99966170e-01 2.59830722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters 0.05357130392638555 Centerline is valid? [True, True] Translation: X:10.76, Y:0.58, Z:0.02 [[ 9.95740907e-01 -9.17514202e-02 -9.04003015e-03 1.07577289e+01] [ 9.17506869e-02 9.95781886e-01 -4.96689308e-04 5.82093017e-01] [ 9.04747022e-03 -3.34855113e-04 9.99959015e-01 2.48026244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254154 meters 0.0533124979064858 Centerline is valid? [True, True] Translation: X:10.82, Y:0.59, Z:0.03 [[ 9.95863451e-01 -9.04209040e-02 -8.94695748e-03 1.08186974e+01] [ 9.04201334e-02 9.95903589e-01 -4.91422374e-04 5.92024362e-01] [ 8.95474192e-03 -3.19595508e-04 9.99959854e-01 2.53699858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254154 meters 0.05311782031589018 Centerline is valid? [True, True] Translation: X:10.88, Y:0.60, Z:0.03 [[ 9.96153343e-01 -8.70853959e-02 -9.72891933e-03 1.08791597e+01] [ 8.70843272e-02 9.96200800e-01 -5.34219588e-04 6.02611552e-01] [ 9.73847995e-03 -3.15071767e-04 9.99952530e-01 2.55279734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254154 meters 0.054323371650171544 Centerline is valid? [True, True] Translation: X:10.94, Y:0.60, Z:0.02 [[ 9.96690928e-01 -8.04225104e-02 -1.18073444e-02 1.09391708e+01] [ 8.04204699e-02 9.96760818e-01 -6.48276457e-04 6.03595334e-01] [ 1.18212343e-02 -3.03420922e-04 9.99930081e-01 2.44481257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254154 meters 0.0532481916460304 Centerline is valid? [True, True] Translation: X:11.00, Y:0.62, Z:0.03 [[ 9.97206351e-01 -7.39577925e-02 -1.04756306e-02 1.09993479e+01] [ 7.39558299e-02 9.97261352e-01 -5.75128650e-04 6.15981289e-01] [ 1.04894768e-02 -2.01212014e-04 9.99944964e-01 2.61401116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254154 meters 0.053825535386962074 Centerline is valid? [True, True] Translation: X:11.06, Y:0.62, Z:0.03 [[ 9.97535721e-01 -6.95612818e-02 -9.14952688e-03 1.10594984e+01] [ 6.95595999e-02 9.97577671e-01 -5.02314326e-04 6.19457546e-01] [ 9.16230535e-03 -1.35360945e-04 9.99958016e-01 2.61810316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254154 meters 0.053696112429881614 Centerline is valid? [True, True] Translation: X:11.12, Y:0.63, Z:0.03 [[ 9.97942002e-01 -6.35985475e-02 -8.18446364e-03 1.11202403e+01] [ 6.35970016e-02 9.97975561e-01 -4.49264408e-04 6.27481186e-01] [ 8.19646725e-03 -7.21675243e-05 9.99966406e-01 2.72501445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters 0.05387408082689189 Centerline is valid? [True, True] Translation: X:11.18, Y:0.63, Z:0.03 [[ 9.98128056e-01 -6.05277395e-02 -8.76222708e-03 1.11819791e+01] [ 6.05258546e-02 9.98166514e-01 -4.80372653e-04 6.34095497e-01] [ 8.77523753e-03 -5.08678597e-05 9.99961496e-01 2.78888189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254154 meters 0.05395016670911022 Centerline is valid? [True, True] Translation: X:11.24, Y:0.63, Z:0.03 [[ 9.98027979e-01 -6.20597583e-02 -9.42018191e-03 1.12433175e+01] [ 6.20576578e-02 9.98072433e-01 -5.15404717e-04 6.34955356e-01] [ 9.43400977e-03 -7.02060976e-05 9.99955496e-01 2.68410606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254154 meters 0.05390842031757302 Centerline is valid? [True, True] Translation: X:11.30, Y:0.63, Z:0.03 [[ 9.97604353e-01 -6.85843938e-02 -9.04078277e-03 1.13044362e+01] [ 6.85827307e-02 9.97645310e-01 -4.94215198e-04 6.34782149e-01] [ 9.05338998e-03 -1.27010337e-04 9.99959009e-01 2.78651821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254154 meters 0.053540143924294716 Centerline is valid? [True, True] Translation: X:11.37, Y:0.64, Z:0.03 [[ 9.97179760e-01 -7.44876626e-02 -9.17138777e-03 1.13650257e+01] [ 7.44862014e-02 9.97221918e-01 -5.01278378e-04 6.35719507e-01] [ 9.18324796e-03 -1.83277184e-04 9.99957816e-01 2.89978989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254154 meters 0.053833425136222794 Centerline is valid? [True, True] Translation: X:11.42, Y:0.63, Z:0.03 [[ 9.96801855e-01 -7.94183194e-02 -8.87650229e-03 1.14248690e+01] [ 7.94171470e-02 9.96841352e-01 -4.85045642e-04 6.33954766e-01] [ 8.88698605e-03 -2.21452091e-04 9.99960485e-01 2.91605554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254154 meters 0.05400562972317052 Centerline is valid? [True, True] Translation: X:11.48, Y:0.63, Z:0.03 [[ 9.96630985e-01 -8.15774803e-02 -8.47318551e-03 1.14849820e+01] [ 8.15764905e-02 9.96666976e-01 -4.62943403e-04 6.31760819e-01] [ 8.48270994e-03 -2.29828997e-04 9.99963995e-01 2.90267421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254154 meters 0.05310667350678812 Centerline is valid? [True, True] Translation: X:11.55, Y:0.64, Z:0.03 [[ 9.96606874e-01 -8.19949150e-02 -7.18134307e-03 1.15471310e+01] [ 8.19942174e-02 9.96632728e-01 -3.91997889e-04 6.39674202e-01] [ 7.18930336e-03 -1.98160814e-04 9.99974137e-01 3.14850901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters 0.053732896093230155 Centerline is valid? [True, True] Translation: X:11.61, Y:0.64, Z:0.03 [[ 9.96874173e-01 -7.87672526e-02 -6.13215011e-03 1.16082793e+01] [ 7.87666853e-02 9.96893022e-01 -3.34335424e-04 6.42792279e-01] [ 6.13943234e-03 -1.49718788e-04 9.99981142e-01 3.27000682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254154 meters 0.05323752592307965 Centerline is valid? [True, True] Translation: X:11.67, Y:0.65, Z:0.03 [[ 9.97474391e-01 -7.07132402e-02 -6.66915425e-03 1.16673311e+01] [ 7.07123893e-02 9.97496680e-01 -3.63587207e-04 6.45932041e-01] [ 6.67816965e-03 -1.08922904e-04 9.99977695e-01 3.16541477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254154 meters 0.05411127323533352 Centerline is valid? [True, True] Translation: X:11.73, Y:0.65, Z:0.03 [[ 9.98005124e-01 -6.27264623e-02 -7.15289703e-03 1.17269257e+01] [ 6.27252783e-02 9.98030755e-01 -3.89961468e-04 6.52135601e-01] [ 7.16327213e-03 -5.94839146e-05 9.99974342e-01 3.14313243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254154 meters 0.054464505545020046 Centerline is valid? [True, True] Translation: X:11.79, Y:0.66, Z:0.03 [[ 9.98799213e-01 -4.85463554e-02 -6.58663530e-03 1.17885722e+01] [ 4.85450440e-02 9.98820930e-01 -3.58924378e-04 6.63873464e-01] [ 6.59629367e-03 3.87448855e-05 9.99978243e-01 3.28700585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254154 meters 0.0545319259556193 Centerline is valid? [True, True] Translation: X:11.85, Y:0.67, Z:0.03 [[ 9.99200216e-01 -3.94882293e-02 -6.29354223e-03 1.18490801e+01] [ 3.94868540e-02 9.99220031e-01 -3.42678111e-04 6.71267599e-01] [ 6.30216522e-03 9.38918595e-05 9.99980137e-01 3.41815207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254154 meters 0.055100157281816296 Centerline is valid? [True, True] Translation: X:11.91, Y:0.67, Z:0.03 [[ 9.99488000e-01 -3.12834256e-02 -6.71453221e-03 1.19093422e+01] [ 3.12816755e-02 9.99510542e-01 -3.65526414e-04 6.74889492e-01] [ 6.72268064e-03 1.55297447e-04 9.99977390e-01 3.48931546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254154 meters 0.05533238002342076 Centerline is valid? [True, True] Translation: X:11.97, Y:0.68, Z:0.03 [[ 9.99484525e-01 -3.11620451e-02 -7.72078326e-03 1.19717060e+01] [ 3.11597288e-02 9.99514329e-01 -4.20139475e-04 6.78956599e-01] [ 7.73012591e-03 1.79345391e-04 9.99970106e-01 3.39258590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters 0.055013283757877667 Centerline is valid? [True, True] Translation: X:12.03, Y:0.68, Z:0.03 [[ 9.99229807e-01 -3.84393205e-02 -7.88740635e-03 1.20314670e+01] [ 3.84371308e-02 9.99260928e-01 -4.29069691e-04 6.78502604e-01] [ 7.89807014e-03 1.25569955e-04 9.99968802e-01 3.36659342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254154 meters 0.05507212195116988 Centerline is valid? [True, True] Translation: X:12.09, Y:0.67, Z:0.04 [[ 9.98890549e-01 -4.65500374e-02 -7.12494682e-03 1.20929346e+01] [ 4.65484569e-02 9.98915958e-01 -3.87593124e-04 6.70725739e-01] [ 7.13526555e-03 5.55078289e-05 9.99974542e-01 3.63529089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254154 meters 0.05425996656592342 Centerline is valid? [True, True] Translation: X:12.15, Y:0.67, Z:0.04 [[ 9.98429338e-01 -5.56543884e-02 -6.43790365e-03 1.21542913e+01] [ 5.56532885e-02 9.98450093e-01 -3.50009177e-04 6.68408795e-01] [ 6.44740504e-03 -8.83107774e-06 9.99979215e-01 3.60416314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254154 meters 0.05472683311984273 Centerline is valid? [True, True] Translation: X:12.22, Y:0.66, Z:0.04 [[ 9.97849897e-01 -6.53144861e-02 -5.44070209e-03 1.22159794e+01] [ 6.53138455e-02 9.97864727e-01 -2.95532987e-04 6.64833078e-01] [ 5.44838729e-03 -6.04556149e-05 9.99985156e-01 3.62108943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254154 meters 0.054875941966661256 Centerline is valid? [True, True] Translation: X:12.28, Y:0.66, Z:0.04 [[ 9.96851216e-01 -7.91280087e-02 -5.13919800e-03 1.22763237e+01] [ 7.91276208e-02 9.96864455e-01 -2.79082870e-04 6.58069623e-01] [ 5.14516708e-03 -1.28448413e-04 9.99986755e-01 3.60878034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254154 meters 0.05547056275724417 Centerline is valid? [True, True] Translation: X:12.34, Y:0.65, Z:0.04 [[ 9.96051228e-01 -8.86335125e-02 -5.10400891e-03 1.23360785e+01] [ 8.86332548e-02 9.96064290e-01 -2.77104587e-04 6.52783305e-01] [ 5.10848176e-03 -1.76374558e-04 9.99986936e-01 3.60152499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254154 meters 0.05406064827354742 Centerline is valid? [True, True] Translation: X:12.40, Y:0.66, Z:0.04 [[ 9.95788897e-01 -9.15554076e-02 -4.69898796e-03 1.23967258e+01] [ 9.15552221e-02 9.95799968e-01 -2.55011427e-04 6.60874104e-01] [ 4.70259974e-03 -1.76279339e-04 9.99988927e-01 3.61346785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters 0.054331817170221765 Centerline is valid? [True, True] Translation: X:12.46, Y:0.66, Z:0.04 [[ 9.95750314e-01 -9.19895781e-02 -4.38516561e-03 1.24588051e+01] [ 9.19894211e-02 9.95759956e-01 -2.37911959e-04 6.63830778e-01] [ 4.38845774e-03 -1.66487939e-04 9.99990357e-01 3.65875703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254154 meters 0.057443718007282873 Centerline is valid? [True, True] Translation: X:12.52, Y:0.65, Z:0.04 [[ 9.95834164e-01 -9.09946779e-02 -5.85551059e-03 1.25207679e+01] [ 9.09943855e-02 9.95851355e-01 -3.16890049e-04 6.54099776e-01] [ 5.86005346e-03 -2.17248651e-04 9.99982806e-01 3.52638192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254154 meters 0.05612192612872059 Centerline is valid? [True, True] Translation: X:12.58, Y:0.66, Z:0.03 [[ 9.96001146e-01 -8.89506102e-02 -8.33707895e-03 1.25822896e+01] [ 8.89499518e-02 9.96035995e-01 -4.50468864e-04 6.64278608e-01] [ 8.34410021e-03 -2.92915267e-04 9.99965144e-01 3.34794217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254154 meters 0.05485560362275423 Centerline is valid? [True, True] Translation: X:12.64, Y:0.67, Z:0.03 [[ 9.96268068e-01 -8.56498737e-02 -1.06787787e-02 1.26431414e+01] [ 8.56486063e-02 9.96325240e-01 -5.76788804e-04 6.74717564e-01] [ 1.06889386e-02 -3.39986242e-04 9.99942814e-01 3.28739014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254154 meters 0.05472898295472801 Centerline is valid? [True, True] Translation: X:12.70, Y:0.68, Z:0.03 [[ 9.96450426e-01 -8.35653465e-02 -1.01676423e-02 1.27046687e+01] [ 8.35640910e-02 9.96502254e-01 -5.49001492e-04 6.84985553e-01] [ 1.01779560e-02 -3.02597017e-04 9.99948157e-01 3.48276315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254154 meters 0.054965858306805455 Centerline is valid? [True, True] Translation: X:12.76, Y:0.69, Z:0.04 [[ 9.96760485e-01 -7.98929854e-02 -9.25455119e-03 1.27644420e+01] [ 7.98917878e-02 9.96803417e-01 -4.99620518e-04 6.87192001e-01] [ 9.26488443e-03 -2.41360650e-04 9.99957051e-01 3.57357500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254154 meters 0.05399183694584571 Centerline is valid? [True, True] Translation: X:12.82, Y:0.70, Z:0.04 [[ 9.97045257e-01 -7.64147899e-02 -7.84446911e-03 1.28244034e+01] [ 7.64138221e-02 9.97076100e-01 -4.23467667e-04 6.99042435e-01] [ 7.85389186e-03 -1.77209439e-04 9.99969142e-01 3.74894493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254154 meters 0.05486520774418848 Centerline is valid? [True, True] Translation: X:12.88, Y:0.70, Z:0.04 [[ 9.97355409e-01 -7.22444951e-02 -7.93232054e-03 1.28841965e+01] [ 7.22433738e-02 9.97386942e-01 -4.28177146e-04 7.02633495e-01] [ 7.94252637e-03 -1.46012805e-04 9.99968447e-01 3.69964308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254154 meters 0.05493393747516549 Centerline is valid? [True, True] Translation: X:12.95, Y:0.71, Z:0.04 [[ 9.97555763e-01 -6.93678293e-02 -8.40260819e-03 1.29452082e+01] [ 6.93664697e-02 9.97591142e-01 -4.53491606e-04 7.07861059e-01] [ 8.41382523e-03 -1.30476101e-04 9.99964595e-01 3.76139232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254154 meters 0.054853548394375146 Centerline is valid? [True, True] Translation: X:13.01, Y:0.71, Z:0.04 [[ 9.97799513e-01 -6.59188717e-02 -7.12985698e-03 1.30069681e+01] [ 6.59178058e-02 9.97824982e-01 -3.84638298e-04 7.14000336e-01] [ 7.13970434e-03 -8.61926215e-05 9.99974508e-01 3.83523542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254154 meters 0.05439084714185822 Centerline is valid? [True, True] Translation: X:13.07, Y:0.72, Z:0.04 [[ 9.97942042e-01 -6.37823126e-02 -6.59526259e-03 1.30688460e+01] [ 6.37813568e-02 9.97963833e-01 -3.55368092e-04 7.19595701e-01] [ 6.60449974e-03 -6.60180378e-05 9.99978188e-01 3.92636965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254154 meters 0.05491631873320855 Centerline is valid? [True, True] Translation: X:13.13, Y:0.72, Z:0.04 [[ 9.98019536e-01 -6.25396252e-02 -6.76768793e-03 1.31303260e+01] [ 6.25385953e-02 9.98042480e-01 -3.63894246e-04 7.21154740e-01] [ 6.77719785e-03 -6.00681305e-05 9.99977033e-01 3.80215440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254154 meters 0.0543615951145761 Centerline is valid? [True, True] Translation: X:13.19, Y:0.72, Z:0.04 [[ 9.98020220e-01 -6.25462044e-02 -6.60404685e-03 1.31933836e+01] [ 6.25452276e-02 9.98042068e-01 -3.54540770e-04 7.23391086e-01] [ 6.61329176e-03 -5.92127564e-05 9.99978130e-01 3.72940588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254154 meters 0.055351190594495385 Centerline is valid? [True, True] Translation: X:13.26, Y:0.73, Z:0.04 [[ 9.97904955e-01 -6.42688722e-02 -7.43054629e-03 1.32559673e+01] [ 6.42676860e-02 9.97932616e-01 -3.98554767e-04 7.25733423e-01] [ 7.44079916e-03 -7.98242393e-05 9.99972314e-01 3.62964362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254154 meters 0.054802860011089964 Centerline is valid? [True, True] Translation: X:13.32, Y:0.72, Z:0.04 [[ 9.97691321e-01 -6.73964694e-02 -8.35127337e-03 1.33176345e+01] [ 6.73950837e-02 9.97726266e-01 -4.47563816e-04 7.23708884e-01] [ 8.36244902e-03 -1.16304232e-04 9.99965027e-01 3.54094517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254154 meters 0.05429407094983656 Centerline is valid? [True, True] Translation: X:13.38, Y:0.73, Z:0.04 [[ 9.97476403e-01 -7.06764193e-02 -6.75794412e-03 1.33798892e+01] [ 7.06755889e-02 9.97499288e-01 -3.61913236e-04 7.27750546e-01] [ 6.76662318e-03 -1.16621768e-04 9.99977099e-01 3.71426610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254154 meters 0.05399413975387519 Centerline is valid? [True, True] Translation: X:13.44, Y:0.73, Z:0.04 [[ 9.97395180e-01 -7.19184446e-02 -5.53095099e-03 1.34416419e+01] [ 7.19179091e-02 9.97410511e-01 -2.95912835e-04 7.30804311e-01] [ 5.53791024e-03 -1.02632395e-04 9.99984660e-01 3.75228950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254154 meters 0.05396384585518572 Centerline is valid? [True, True] Translation: X:13.50, Y:0.73, Z:0.04 [[ 9.97388267e-01 -7.20701671e-02 -4.74716653e-03 1.35038408e+01] [ 7.20697767e-02 9.97399560e-01 -2.53484829e-04 7.29713811e-01] [ 4.75309051e-03 -8.93044372e-05 9.99988700e-01 3.78530062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999999 meters 0.05468173843888212 Centerline is valid? [True, True] Translation: X:13.57, Y:0.73, Z:0.04 [[ 9.97484223e-01 -7.07895722e-02 -3.74976720e-03 1.35652391e+01] [ 7.07893210e-02 9.97491269e-01 -1.99852861e-04 7.27142933e-01] [ 3.75450755e-03 -6.60933986e-05 9.99992950e-01 3.78426087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254154 meters 0.05433247202343915 Centerline is valid? [True, True] Translation: X:13.63, Y:0.73, Z:0.04 [[ 9.97551107e-01 -6.98222152e-02 -4.08014400e-03 1.36272308e+01] [ 6.98219109e-02 9.97559449e-01 -2.17164396e-04 7.33937548e-01] [ 4.08534910e-03 -6.82508665e-05 9.99991653e-01 3.76839976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254154 meters 0.05473181094388859 Centerline is valid? [True, True] Translation: X:13.69, Y:0.73, Z:0.04 [[ 9.97543757e-01 -6.97327079e-02 -6.61835284e-03 1.36894200e+01] [ 6.97319123e-02 9.97565706e-01 -3.51173563e-04 7.31464678e-01] [ 6.62673010e-03 -1.11199404e-04 9.99978037e-01 3.56618588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254154 meters 0.05385065962690818 Centerline is valid? [True, True] Translation: X:13.75, Y:0.74, Z:0.03 [[ 9.97432173e-01 -7.10691844e-02 -8.84481773e-03 1.37517803e+01] [ 7.10678269e-02 9.97471375e-01 -4.68082354e-04 7.36991290e-01] [ 8.85571874e-03 -1.61701576e-04 9.99960774e-01 3.45332584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254154 meters 0.054702296774316476 Centerline is valid? [True, True] Translation: X:13.81, Y:0.74, Z:0.03 [[ 9.97446626e-01 -7.07255115e-02 -9.90608231e-03 1.38142333e+01] [ 7.07238041e-02 9.97495799e-01 -5.22997443e-04 7.36623036e-01] [ 9.91826476e-03 -1.78933790e-04 9.99950797e-01 3.35027521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254154 meters 0.055209037250730966 Centerline is valid? [True, True] Translation: X:13.88, Y:0.74, Z:0.03 [[ 9.97531745e-01 -6.95964677e-02 -9.31391974e-03 1.38763621e+01] [ 6.95949150e-02 9.97575214e-01 -4.91104545e-04 7.41517765e-01] [ 9.32551461e-03 -1.58309078e-04 9.99956504e-01 3.44633354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254154 meters 0.05432996351572172 Centerline is valid? [True, True] Translation: X:13.94, Y:0.75, Z:0.04 [[ 9.97611263e-01 -6.87318923e-02 -6.90618217e-03 1.39386770e+01] [ 6.87310201e-02 9.97635161e-01 -3.63842308e-04 7.48623422e-01] [ 6.91485774e-03 -1.11695762e-04 9.99976086e-01 3.71020699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999999 meters 0.05421997211391039 Centerline is valid? [True, True] Translation: X:14.00, Y:0.75, Z:0.04 [[ 9.97441552e-01 -7.13224340e-02 -4.84357469e-03 1.40003556e+01] [ 7.13220370e-02 9.97453308e-01 -2.54879775e-04 7.53104735e-01] [ 4.84941825e-03 -9.12259348e-05 9.99988237e-01 3.83246774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254154 meters 0.05462302413813297 Centerline is valid? [True, True] Translation: X:14.06, Y:0.75, Z:0.04 [[ 9.97021257e-01 -7.69099829e-02 -5.78512421e-03 1.40603099e+01] [ 7.69095135e-02 9.97038031e-01 -3.03901143e-04 7.53292800e-01] [ 5.79136188e-03 -1.41935189e-04 9.99983220e-01 3.69162450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999998 meters 0.055019090718668125 Centerline is valid? [True, True] Translation: X:14.12, Y:0.75, Z:0.04 [[ 9.96872811e-01 -7.87559675e-02 -6.48817149e-03 1.41218515e+01] [ 7.87554181e-02 9.96893910e-01 -3.40533213e-04 7.52941093e-01] [ 6.49483767e-03 -1.71510356e-04 9.99978894e-01 3.64584650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters 0.053382825635719965 Centerline is valid? [True, True] Translation: X:14.18, Y:0.76, Z:0.04 [[ 9.96406687e-01 -8.44074053e-02 -7.00739171e-03 1.41826175e+01] [ 8.44069073e-02 9.96431302e-01 -3.67315049e-04 7.63565106e-01] [ 7.01338856e-03 -2.25477091e-04 9.99975380e-01 3.64447362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254154 meters 0.057863816698545886 Centerline is valid? [True, True] Translation: X:14.24, Y:0.75, Z:0.04 [[ 9.96203095e-01 -8.67331923e-02 -7.53302641e-03 1.42434992e+01] [ 8.67326835e-02 9.96231542e-01 -3.94814247e-04 7.48620347e-01] [ 7.53888202e-03 -2.60044420e-04 9.99971548e-01 3.50277059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters 0.05509896955551162 Centerline is valid? [True, True] Translation: X:14.31, Y:0.76, Z:0.04 [[ 9.96131894e-01 -8.76258028e-02 -6.55498406e-03 1.43052544e+01] [ 8.76254375e-02 9.96153434e-01 -3.43455149e-04 7.63591191e-01] [ 6.55986541e-03 -2.32256718e-04 9.99978457e-01 3.67374127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters 0.05473391687783271 Centerline is valid? [True, True] Translation: X:14.37, Y:0.77, Z:0.04 [[ 9.96154078e-01 -8.74244727e-02 -5.83216227e-03 1.43667554e+01] [ 8.74241820e-02 9.96171129e-01 -3.05247819e-04 7.71051910e-01] [ 5.83651780e-03 -2.05798155e-04 9.99982946e-01 3.75529495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254154 meters 0.054127422503732765 Centerline is valid? [True, True] Translation: X:14.43, Y:0.78, Z:0.04 [[ 9.96294118e-01 -8.58795503e-02 -4.76790349e-03 1.44281869e+01] [ 8.58793401e-02 9.96305514e-01 -2.49176663e-04 7.79425662e-01] [ 4.77168772e-03 -1.61211162e-04 9.99988602e-01 3.84035894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters 0.05323228564581708 Centerline is valid? [True, True] Translation: X:14.49, Y:0.79, Z:0.04 [[ 9.96415963e-01 -8.44789687e-02 -4.30503529e-03 1.44894055e+01] [ 8.44787848e-02 9.96425253e-01 -2.24867259e-04 7.88862239e-01] [ 4.30864243e-03 -1.39622823e-04 9.99990708e-01 3.91836515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters 0.052876476503907775 Centerline is valid? [True, True] Translation: X:14.55, Y:0.80, Z:0.04 [[ 9.96491456e-01 -8.36068878e-02 -3.82979618e-03 1.45518312e+01] [ 8.36067361e-02 9.96498808e-01 -1.99963956e-04 7.95881514e-01] [ 3.83310570e-03 -1.20934385e-04 9.99992646e-01 4.00546752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254154 meters 0.054243591944037266 Centerline is valid? [True, True] Translation: X:14.61, Y:0.79, Z:0.04 [[ 9.96691311e-01 -8.11811047e-02 -4.00728721e-03 1.46116829e+01] [ 8.11809197e-02 9.96699360e-01 -2.09063532e-04 7.93722611e-01] [ 4.01103261e-03 -1.16943456e-04 9.99991949e-01 3.88526308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters 0.05425006277119531 Centerline is valid? [True, True] Translation: X:14.67, Y:0.80, Z:0.04 [[ 9.96929169e-01 -7.82057520e-02 -4.01147590e-03 1.46719255e+01] [ 7.82055426e-02 9.96937234e-01 -2.09282059e-04 8.00078355e-01] [ 4.01555675e-03 -1.05080260e-04 9.99991932e-01 3.90006654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254154 meters 0.05445489081655743 Centerline is valid? [True, True] Translation: X:14.73, Y:0.80, Z:0.04 [[ 9.97599227e-01 -6.91331764e-02 -4.04798041e-03 1.47317529e+01] [ 6.91328884e-02 9.97607437e-01 -2.11185740e-04 8.04817896e-01] [ 4.05289531e-03 -6.91698478e-05 9.99991785e-01 3.98016574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254154 meters 0.0551111731461076 Centerline is valid? [True, True] Translation: X:14.79, Y:0.81, Z:0.04 [[ 9.98394332e-01 -5.65028947e-02 -4.02258502e-03 1.47916525e+01] [ 5.65025079e-02 9.98402435e-01 -2.09831852e-04 8.14749977e-01] [ 4.02801479e-03 -1.77912100e-05 9.99991887e-01 4.01149557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters 0.055184081346391786 Centerline is valid? [True, True] Translation: X:14.85, Y:0.82, Z:0.04 [[ 9.98823574e-01 -4.84130827e-02 -2.76433133e-03 1.48536033e+01] [ 4.84128689e-02 9.98827399e-01 -1.44223172e-04 8.21626228e-01] [ 2.76807216e-03 1.02242938e-05 9.99996169e-01 4.02347546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254154 meters 0.05484894165846731 Centerline is valid? [True, True] Translation: X:14.91, Y:0.83, Z:0.04 [[ 9.99199295e-01 -3.99540802e-02 -2.10738093e-03 1.49141664e+01] [ 3.99539373e-02 9.99201517e-01 -1.09839258e-04 8.27381161e-01] [ 2.11008675e-03 2.55531436e-05 9.99997773e-01 4.08737007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999998 meters 0.05520964825252699 Centerline is valid? [True, True] Translation: X:14.98, Y:0.83, Z:0.04 [[ 9.99283188e-01 -3.78466711e-02 -8.60065732e-04 1.49760907e+01] [ 3.78466465e-02 9.99283558e-01 -4.49437834e-05 8.29711070e-01] [ 8.61150517e-04 1.23609634e-05 9.99999629e-01 4.18470634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters 0.055224663300779575 Centerline is valid? [True, True] Translation: X:15.04, Y:0.83, Z:0.04 [[ 9.99212021e-01 -3.96800440e-02 -9.11588352e-04 1.50372731e+01] [ 3.96800169e-02 9.99212437e-01 -4.77913583e-05 8.31922042e-01] [ 9.12766781e-04 1.15818584e-05 9.99999583e-01 4.24095882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254154 meters 0.05495541477017331 Centerline is valid? [True, True] Translation: X:15.10, Y:0.83, Z:0.04 [[ 9.98920861e-01 -4.64289760e-02 -1.20967698e-03 1.50995182e+01] [ 4.64289338e-02 9.98921594e-01 -6.29486869e-05 8.25086895e-01] [ 1.21129510e-03 6.71674409e-06 9.99999266e-01 4.08422534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters 0.054255153507021675 Centerline is valid? [True, True] Translation: X:15.16, Y:0.82, Z:0.04 [[ 9.98512080e-01 -5.44645390e-02 -2.69087635e-03 1.51622640e+01] [ 5.44643599e-02 9.98515705e-01 -1.39856833e-04 8.19670625e-01] [ 2.69449953e-03 -6.90812078e-06 9.99996370e-01 3.90152927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters 0.054478431837673015 Centerline is valid? [True, True] Translation: X:15.22, Y:0.81, Z:0.04 [[ 9.98077205e-01 -6.18529058e-02 -4.01390964e-03 1.52239181e+01] [ 6.18525699e-02 9.98085275e-01 -2.07888997e-04 8.13462029e-01] [ 4.01908265e-03 -4.07813577e-05 9.99991923e-01 3.82450691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254154 meters 0.054137351550106426 Centerline is valid? [True, True] Translation: X:15.29, Y:0.81, Z:0.04 [[ 9.97706303e-01 -6.75957759e-02 -3.59775383e-03 1.52855720e+01] [ 6.75955447e-02 9.97712788e-01 -1.85944369e-04 8.09263349e-01] [ 3.60209406e-03 -5.76742610e-05 9.99993511e-01 3.80609747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters 0.05407581270337669 Centerline is valid? [True, True] Translation: X:15.35, Y:0.81, Z:0.04 [[ 9.97560732e-01 -6.97436730e-02 -2.89932561e-03 1.53477154e+01] [ 6.97435320e-02 9.97564944e-01 -1.49829701e-04 8.09730175e-01] [ 2.90271526e-03 -5.27449823e-05 9.99995786e-01 3.87991406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254154 meters 0.054733166358734 Centerline is valid? [True, True] Translation: X:15.41, Y:0.80, Z:0.04 [[ 9.97417433e-01 -7.17717419e-02 -2.69823719e-03 1.54087788e+01] [ 7.17716275e-02 9.97421082e-01 -1.39335804e-04 8.04913424e-01] [ 2.70127903e-03 -5.46809136e-05 9.99996350e-01 3.94737721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254154 meters 0.05545180621442999 Centerline is valid? [True, True] Translation: X:15.47, Y:0.80, Z:0.04 [[ 9.97188729e-01 -7.48261748e-02 -3.96008318e-03 1.54701450e+01] [ 7.48259527e-02 9.97196588e-01 -2.04400356e-04 8.02171838e-01] [ 3.96427593e-03 -9.24912654e-05 9.99992138e-01 3.89430959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters 0.05529058262396498 Centerline is valid? [True, True] Translation: X:15.53, Y:0.80, Z:0.04 [[ 9.97043968e-01 -7.66072769e-02 -5.88657050e-03 1.55319370e+01] [ 7.66068188e-02 9.97061334e-01 -3.03589089e-04 7.98336476e-01] [ 5.89252897e-03 -1.48259770e-04 9.99982628e-01 3.77572007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254154 meters 0.054358960833137064 Centerline is valid? [True, True] Translation: X:15.59, Y:0.81, Z:0.04 [[ 9.96844391e-01 -7.89939233e-02 -7.82436590e-03 1.55922588e+01] [ 7.89931919e-02 9.96875074e-01 -4.02956034e-04 8.06249995e-01] [ 7.83174641e-03 -2.16387175e-04 9.99969308e-01 3.76874302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999998 meters 0.056317848399565766 Centerline is valid? [True, True] Translation: X:15.65, Y:0.80, Z:0.04 [[ 9.96710273e-01 -8.05544626e-02 -8.92250871e-03 1.56535180e+01] [ 8.05535768e-02 9.96750175e-01 -4.59189487e-04 7.95287235e-01] [ 8.93050188e-03 -2.61061112e-04 9.99960088e-01 3.55707623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters 0.05684369547615131 Centerline is valid? [True, True] Translation: X:15.72, Y:0.79, Z:0.04 [[ 9.96673689e-01 -8.09577821e-02 -9.34848558e-03 1.57157439e+01] [ 8.09568312e-02 9.96717493e-01 -4.80715426e-04 7.94106210e-01] [ 9.35671676e-03 -2.77707352e-04 9.99956186e-01 3.55819701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254154 meters 0.05466388191938348 Centerline is valid? [True, True] Translation: X:15.78, Y:0.81, Z:0.04 [[ 9.96635337e-01 -8.16486673e-02 -7.17631613e-03 1.57766766e+01] [ 8.16481279e-02 9.96661150e-01 -3.68588903e-04 8.11181022e-01] [ 7.18245027e-03 -2.18584051e-04 9.99974182e-01 3.92515425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999998 meters 0.05659855789349497 Centerline is valid? [True, True] Translation: X:15.84, Y:0.80, Z:0.04 [[ 9.96563796e-01 -8.25829480e-02 -6.37624817e-03 1.58384780e+01] [ 8.25825453e-02 9.96584174e-01 -3.26875745e-04 8.04707331e-01] [ 6.38146238e-03 -2.00814270e-04 9.99979618e-01 3.92268006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters 0.05638768364551298 Centerline is valid? [True, True] Translation: X:15.90, Y:0.80, Z:0.04 [[ 9.96463005e-01 -8.38203544e-02 -5.96887745e-03 1.59004771e+01] [ 8.38200263e-02 9.96480863e-01 -3.05548160e-04 8.04882413e-01] [ 5.97348331e-03 -1.95844027e-04 9.99982139e-01 3.99476545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254154 meters 0.05460719206077674 Centerline is valid? [True, True] Translation: X:15.96, Y:0.82, Z:0.04 [[ 9.96250758e-01 -8.63487257e-02 -5.32210608e-03 1.59604773e+01] [ 8.63485016e-02 9.96264956e-01 -2.72312319e-04 8.18525799e-01] [ 5.32574160e-03 -1.88264531e-04 9.99985800e-01 4.04634693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters 0.05437662304073322 Centerline is valid? [True, True] Translation: X:16.02, Y:0.82, Z:0.04 [[ 9.96117411e-01 -8.77303429e-02 -7.31367939e-03 1.60215973e+01] [ 8.77299579e-02 9.96144224e-01 -3.74071080e-04 8.21954628e-01] [ 7.31829687e-03 -2.69010070e-04 9.99973185e-01 3.94548289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters 0.05423435510800435 Centerline is valid? [True, True] Translation: X:16.08, Y:0.83, Z:0.04 [[ 9.96105918e-01 -8.78229715e-02 -7.75411519e-03 1.60832370e+01] [ 8.78225439e-02 9.96136057e-01 -3.96293223e-04 8.25124567e-01] [ 7.75895738e-03 -2.86236097e-04 9.99969858e-01 3.96162895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254154 meters 0.05372740575130322 Centerline is valid? [True, True] Translation: X:16.15, Y:0.83, Z:0.04 [[ 9.96197158e-01 -8.68196687e-02 -7.31898610e-03 1.61454527e+01] [ 8.68192639e-02 9.96224009e-01 -3.73612391e-04 8.34051412e-01] [ 7.32378658e-03 -2.63237384e-04 9.99973146e-01 4.05568538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters 0.05398399129018051 Centerline is valid? [True, True] Translation: X:16.21, Y:0.84, Z:0.04 [[ 9.96338620e-01 -8.52353882e-02 -6.65455024e-03 1.62070114e+01] [ 8.52350204e-02 9.96360816e-01 -3.39362617e-04 8.39135623e-01] [ 6.65925882e-03 -2.29080644e-04 9.99977801e-01 4.13745811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254154 meters 0.054293222177684446 Centerline is valid? [True, True] Translation: X:16.27, Y:0.84, Z:0.04 [[ 9.96420657e-01 -8.42725359e-02 -6.63429996e-03 1.62685679e+01] [ 8.42721513e-02 9.96442718e-01 -3.37990267e-04 8.37047962e-01] [ 6.63918318e-03 -2.22306246e-04 9.99977936e-01 4.03539512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254154 meters 0.05539671437997399 Centerline is valid? [True, True] Translation: X:16.33, Y:0.84, Z:0.04 [[ 9.96399374e-01 -8.44934871e-02 -7.00983822e-03 1.63295112e+01] [ 8.44930674e-02 9.96424003e-01 -3.56525801e-04 8.36381726e-01] [ 7.01489517e-03 -2.37040648e-04 9.99975367e-01 4.02145327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters 0.053222037005747395 Centerline is valid? [True, True] Translation: X:16.39, Y:0.85, Z:0.04 [[ 9.96202294e-01 -8.68593766e-02 -6.03644349e-03 1.63899137e+01] [ 8.68591110e-02 9.96220558e-01 -3.06638120e-04 8.53994201e-01] [ 6.04026350e-03 -2.18846517e-04 9.99981733e-01 4.24812256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254154 meters 0.05362090490084648 Centerline is valid? [True, True] Translation: X:16.45, Y:0.86, Z:0.04 [[ 9.95917153e-01 -9.01665370e-02 -4.36126649e-03 1.64498830e+01] [ 9.01664302e-02 9.95926687e-01 -2.21491288e-04 8.56428783e-01] [ 4.36347279e-03 -1.72652858e-04 9.99990465e-01 4.33814805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999998 meters 0.05423663337647484 Centerline is valid? [True, True] Translation: X:16.51, Y:0.85, Z:0.04 [[ 9.95692397e-01 -9.26035744e-02 -4.60751052e-03 1.65103899e+01] [ 9.26034816e-02 9.95703038e-01 -2.33940574e-04 8.54376556e-01] [ 4.60937595e-03 -1.93738665e-04 9.99989358e-01 4.37439258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters 0.053703146676982325 Centerline is valid? [True, True] Translation: X:16.57, Y:0.87, Z:0.04 [[ 9.95640220e-01 -9.31436740e-02 -4.98084758e-03 1.65718936e+01] [ 9.31435731e-02 9.95652656e-01 -2.52746547e-04 8.66491903e-01] [ 4.98273586e-03 -2.12289313e-04 9.99987564e-01 4.34951323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254154 meters 0.05487886734327105 Centerline is valid? [True, True] Translation: X:16.63, Y:0.86, Z:0.04 [[ 9.95682392e-01 -9.26414550e-02 -5.84254289e-03 1.66334575e+01] [ 9.26413115e-02 9.95699503e-01 -2.95759736e-04 8.64262375e-01] [ 5.84481666e-03 -2.46778075e-04 9.99982888e-01 4.30621608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999998 meters 0.05333367987096847 Centerline is valid? [True, True] Translation: X:16.70, Y:0.88, Z:0.04 [[ 9.95733889e-01 -9.20824780e-02 -5.90247265e-03 1.66950134e+01] [ 9.20823256e-02 9.95751353e-01 -2.98163880e-04 8.76322909e-01] [ 5.90485080e-03 -2.46621528e-04 9.99982536e-01 4.38499242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters 0.0530840259431322 Centerline is valid? [True, True] Translation: X:16.76, Y:0.88, Z:0.04 [[ 9.95825887e-01 -9.10251790e-02 -6.72458707e-03 1.67573214e+01] [ 9.10249625e-02 9.95848553e-01 -3.38882234e-04 8.80720515e-01] [ 6.72751713e-03 -2.74637585e-04 9.99977332e-01 4.42947139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254154 meters 0.05273865754782982 Centerline is valid? [True, True] Translation: X:16.82, Y:0.89, Z:0.04 [[ 9.96099887e-01 -8.79292434e-02 -7.31186139e-03 1.68175398e+01] [ 8.79289077e-02 9.96126685e-01 -3.67987242e-04 8.89343673e-01] [ 7.31589709e-03 -2.76371935e-04 9.99973200e-01 4.44864309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters 0.05315359176939206 Centerline is valid? [True, True] Translation: X:16.88, Y:0.90, Z:0.04 [[ 9.96562267e-01 -8.24874058e-02 -7.71201077e-03 1.68780825e+01] [ 8.24868701e-02 9.96592076e-01 -3.88050243e-04 8.95532170e-01] [ 7.71773808e-03 -2.49423401e-04 9.99970187e-01 4.44368015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters 0.053683415895371935 Centerline is valid? [True, True] Translation: X:16.94, Y:0.90, Z:0.04 [[ 9.97079366e-01 -7.58530473e-02 -8.89118761e-03 1.69378131e+01] [ 7.58520722e-02 9.97118981e-01 -4.47313513e-04 8.98052783e-01] [ 8.89950203e-03 -2.28407930e-04 9.99960373e-01 4.40785463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254154 meters 0.05424909923250172 Centerline is valid? [True, True] Translation: X:17.00, Y:0.91, Z:0.04 [[ 9.97502022e-01 -6.99456654e-02 -9.86510204e-03 1.69984383e+01] [ 6.99441761e-02 9.97550784e-01 -4.96318119e-04 9.07159028e-01] [ 9.87565557e-03 -1.94928107e-04 9.99951216e-01 4.46251017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters 0.053879984083539965 Centerline is valid? [True, True] Translation: X:17.06, Y:0.91, Z:0.04 [[ 9.97719400e-01 -6.67056974e-02 -1.03126034e-02 1.70593290e+01] [ 6.67038979e-02 9.97772680e-01 -5.18734306e-04 9.13672830e-01] [ 1.03242365e-02 -1.70339567e-04 9.99946689e-01 4.44842131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254154 meters 0.05391806186483073 Centerline is valid? [True, True] Translation: X:17.12, Y:0.92, Z:0.05 [[ 9.97878404e-01 -6.41522979e-02 -1.10983204e-02 1.71209486e+01] [ 6.41500660e-02 9.97940108e-01 -5.57346186e-04 9.23971146e-01] [ 1.11112141e-02 -1.55794261e-04 9.99938256e-01 4.65656745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999998 meters 0.05434380027921179 Centerline is valid? [True, True] Translation: X:17.18, Y:0.93, Z:0.05 [[ 9.97907007e-01 -6.37101001e-02 -1.10737697e-02 1.71820511e+01] [ 6.37078646e-02 9.97968436e-01 -5.54872197e-04 9.28216960e-01] [ 1.10866236e-02 -1.51775365e-04 9.99938530e-01 4.70844898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters 0.054137383175866874 Centerline is valid? [True, True] Translation: X:17.24, Y:0.93, Z:0.05 [[ 9.97779821e-01 -6.58489215e-02 -9.96738593e-03 1.72443367e+01] [ 6.58472278e-02 9.97829592e-01 -4.98351422e-04 9.32931142e-01] [ 9.97856853e-03 -1.59079740e-04 9.99950200e-01 4.79962395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254154 meters 0.05311359597487669 Centerline is valid? [True, True] Translation: X:17.30, Y:0.94, Z:0.05 [[ 9.97464832e-01 -7.05919238e-02 -8.98274292e-03 1.73048480e+01] [ 7.05907445e-02 9.97505261e-01 -4.48668910e-04 9.36741064e-01] [ 8.99200573e-03 -1.86567052e-04 9.99959554e-01 4.92123189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999998 meters 0.05304139859378438 Centerline is valid? [True, True] Translation: X:17.37, Y:0.94, Z:0.05 [[ 9.96975716e-01 -7.71647889e-02 -9.22041863e-03 1.73661323e+01] [ 7.71638280e-02 9.97018321e-01 -4.60444125e-04 9.39081856e-01] [ 9.22845637e-03 -2.52431186e-04 9.99957385e-01 4.96617970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters 0.05341330328287117 Centerline is valid? [True, True] Translation: X:17.43, Y:0.94, Z:0.05 [[ 9.96403876e-01 -8.41636362e-02 -9.78770786e-03 1.74267368e+01] [ 8.41628912e-02 9.96451890e-01 -4.88709138e-04 9.41956535e-01] [ 9.79411153e-03 -3.36810112e-04 9.99951980e-01 4.95467165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254154 meters 0.05362333235194022 Centerline is valid? [True, True] Translation: X:17.49, Y:0.94, Z:0.05 [[ 9.96382738e-01 -8.42906378e-02 -1.07947628e-02 1.74877720e+01] [ 8.42897471e-02 9.96441142e-01 -5.38257660e-04 9.41660120e-01] [ 1.08017159e-02 -3.73577188e-04 9.99941590e-01 4.70598867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999998 meters 0.05380120724505233 Centerline is valid? [True, True] Translation: X:17.55, Y:0.94, Z:0.05 [[ 9.96678498e-01 -8.08276970e-02 -9.94262499e-03 1.75475439e+01] [ 8.08267731e-02 9.96728041e-01 -4.95369560e-04 9.43317187e-01] [ 9.95013270e-03 -3.09906105e-04 9.99950448e-01 4.69897944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters 0.05390058625959554 Centerline is valid? [True, True] Translation: X:17.61, Y:0.95, Z:0.05 [[ 9.97304565e-01 -7.28491616e-02 -8.75242029e-03 1.76064839e+01] [ 7.28481384e-02 9.97342949e-01 -4.36079143e-04 9.53031384e-01] [ 8.76093267e-03 -2.02693805e-04 9.99961602e-01 4.92985438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254154 meters 0.05332898861572522 Centerline is valid? [True, True] Translation: X:17.67, Y:0.96, Z:0.05 [[ 9.97787844e-01 -6.60115417e-02 -7.86726451e-03 1.76667340e+01] [ 6.60105024e-02 9.97818851e-01 -3.91990127e-04 9.63128780e-01] [ 7.87598070e-03 -1.28199099e-04 9.99968976e-01 4.94627582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters 0.053239303808713 Centerline is valid? [True, True] Translation: X:17.73, Y:0.97, Z:0.05 [[ 9.97998445e-01 -6.26338884e-02 -8.72350074e-03 1.77277880e+01] [ 6.26324825e-02 9.98036564e-01 -4.34538556e-04 9.67266056e-01] [ 8.73358955e-03 -1.12705704e-04 9.99961855e-01 4.85410705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254154 meters 0.05377862895209174 Centerline is valid? [True, True] Translation: X:17.79, Y:0.97, Z:0.05 [[ 9.98046277e-01 -6.17081591e-02 -9.78425069e-03 1.77899129e+01] [ 6.17063535e-02 9.98094229e-01 -4.86604353e-04 9.72198230e-01] [ 9.79563161e-03 -1.18096770e-04 9.99952015e-01 4.86297572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254154 meters 0.05303709613143253 Centerline is valid? [True, True] Translation: X:17.85, Y:0.97, Z:0.05 [[ 9.97962620e-01 -6.27813680e-02 -1.13625850e-02 1.78515456e+01] [ 6.27790173e-02 9.98027293e-01 -5.63792116e-04 9.74789652e-01] [ 1.13755656e-02 -1.50688461e-04 9.99935285e-01 4.83398769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters 0.053915616119599594 Centerline is valid? [True, True] Translation: X:17.91, Y:0.98, Z:0.05 [[ 9.97766855e-01 -6.55616694e-02 -1.27659953e-02 1.79138872e+01] [ 6.55589392e-02 9.97848498e-01 -6.32676186e-04 9.75359996e-01] [ 1.27800085e-02 -2.05661779e-04 9.99918311e-01 4.76879532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254154 meters 0.054717967139683146 Centerline is valid? [True, True] Translation: X:17.98, Y:0.97, Z:0.05 [[ 9.97614739e-01 -6.78722410e-02 -1.25774459e-02 1.79756921e+01] [ 6.78697872e-02 9.97693994e-01 -6.22315366e-04 9.72219327e-01] [ 1.25906801e-02 -2.32797594e-04 9.99920707e-01 4.63149883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999998 meters 0.05392094508657697 Centerline is valid? [True, True] Translation: X:18.04, Y:0.98, Z:0.05 [[ 9.97609295e-01 -6.81609552e-02 -1.13920486e-02 1.80382139e+01] [ 6.81589761e-02 9.97674314e-01 -5.62334934e-04 9.79362342e-01] [ 1.14038835e-02 -2.15479809e-04 9.99934950e-01 4.92457860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters 0.05393368550413814 Centerline is valid? [True, True] Translation: X:18.10, Y:0.98, Z:0.05 [[ 9.97609008e-01 -6.85667010e-02 -8.65302173e-03 1.81007441e+01] [ 6.85655795e-02 9.97646520e-01 -4.26551605e-04 9.84331792e-01] [ 8.66190425e-03 -1.67767726e-04 9.99962471e-01 5.16882750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254154 meters 0.053997029367330016 Centerline is valid? [True, True] Translation: X:18.16, Y:0.98, Z:0.05 [[ 9.97537858e-01 -6.98318364e-02 -6.46043085e-03 1.81619802e+01] [ 6.98312403e-02 9.97558769e-01 -3.18079372e-04 9.81855388e-01] [ 6.46687151e-03 -1.33843684e-04 9.99979081e-01 5.20226647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999998 meters 0.05379509635306324 Centerline is valid? [True, True] Translation: X:18.22, Y:0.99, Z:0.05 [[ 9.97364681e-01 -7.23148161e-02 -5.85317650e-03 1.82234630e+01] [ 7.23143723e-02 9.97381847e-01 -2.87701657e-04 9.88996733e-01] [ 5.85865708e-03 -1.36325313e-04 9.99982829e-01 5.25715183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters 0.05573165694237485 Centerline is valid? [True, True] Translation: X:18.28, Y:0.98, Z:0.05 [[ 9.97292384e-01 -7.32319660e-02 -6.70669902e-03 1.82848204e+01] [ 7.32314060e-02 9.97314922e-01 -3.29371070e-04 9.76739418e-01] [ 6.71281150e-03 -1.62661739e-04 9.99977456e-01 5.14423907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254154 meters 0.05334581947900308 Centerline is valid? [True, True] Translation: X:18.34, Y:0.99, Z:0.05 [[ 9.97079057e-01 -7.60703956e-02 -6.82996009e-03 1.83448695e+01] [ 7.60698822e-02 9.97102432e-01 -3.35300670e-04 9.90169145e-01] [ 6.83567628e-03 -1.85232984e-04 9.99976619e-01 5.13710319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999997 meters 0.053812292353790675 Centerline is valid? [True, True] Translation: X:18.41, Y:0.99, Z:0.05 [[ 9.96953486e-01 -7.75122057e-02 -8.69508942e-03 1.84064754e+01] [ 7.75114305e-02 9.96991372e-01 -4.26611773e-04 9.86186490e-01] [ 8.70199675e-03 -2.48656724e-04 9.99962106e-01 4.93784412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters 0.05372801617568529 Centerline is valid? [True, True] Translation: X:18.47, Y:0.99, Z:0.05 [[ 9.97069104e-01 -7.58945977e-02 -9.65463213e-03 1.84682892e+01] [ 7.58935738e-02 9.97115812e-01 -4.72911238e-04 9.92271887e-01] [ 9.66267776e-03 -2.61199352e-04 9.99953281e-01 5.02682869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254154 meters 0.05412747958834147 Centerline is valid? [True, True] Translation: X:18.53, Y:0.99, Z:0.05 [[ 9.97455708e-01 -7.07603039e-02 -8.66549643e-03 1.85278184e+01] [ 7.07592885e-02 9.97493330e-01 -4.24099141e-04 9.93789853e-01] [ 8.67378427e-03 -1.90144252e-04 9.99962364e-01 5.11368549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters 0.05412373660412833 Centerline is valid? [True, True] Translation: X:18.59, Y:1.00, Z:0.05 [[ 9.97962296e-01 -6.32189030e-02 -8.63867804e-03 1.85882659e+01] [ 6.32176113e-02 9.97999677e-01 -4.22774976e-04 1.00134457e+00] [ 8.64812526e-03 -1.24203105e-04 9.99962597e-01 5.15486537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254154 meters 0.054264282462442325 Centerline is valid? [True, True] Translation: X:18.65, Y:1.01, Z:0.05 [[ 9.98377507e-01 -5.61511694e-02 -9.45514690e-03 1.86481744e+01] [ 5.61493058e-02 9.98422276e-01 -4.62651657e-04 1.00808392e+00] [ 9.46620773e-03 -6.89989276e-05 9.99955192e-01 5.26734390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999998 meters 0.05490273985653022 Centerline is valid? [True, True] Translation: X:18.71, Y:1.02, Z:0.05 [[ 9.99015874e-01 -4.34568823e-02 -8.87599661e-03 1.87096681e+01] [ 4.34547408e-02 9.99055302e-01 -4.34074967e-04 1.01753264e+00] [ 8.88647502e-03 4.79436508e-05 9.99960513e-01 5.37716585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters 0.05563287811525864 Centerline is valid? [True, True] Translation: X:18.77, Y:1.03, Z:0.05 [[ 9.99383179e-01 -3.40094593e-02 -8.75321465e-03 1.87693081e+01] [ 3.40070156e-02 9.99421503e-01 -4.27906325e-04 1.02741403e+00] [ 8.76270380e-03 1.29971676e-04 9.99961598e-01 5.36187847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254154 meters 0.055668863281054956 Centerline is valid? [True, True] Translation: X:18.83, Y:1.03, Z:0.06 [[ 9.99711735e-01 -2.20727664e-02 -9.44671465e-03 1.88293921e+01] [ 2.20693874e-02 9.99756335e-01 -4.61800102e-04 1.03053382e+00] [ 9.45460602e-03 2.53183776e-04 9.99955272e-01 5.56380040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999998 meters 0.0570266306389082 Centerline is valid? [True, True] Translation: X:18.89, Y:1.04, Z:0.06 [[ 9.99813646e-01 -1.69137120e-02 -9.30593643e-03 1.88893079e+01] [ 1.69102102e-02 9.99856909e-01 -4.54859192e-04 1.04020691e+00] [ 9.31229819e-03 2.97409086e-04 9.99956595e-01 5.64170361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters 0.056199866460810176 Centerline is valid? [True, True] Translation: X:18.95, Y:1.04, Z:0.06 [[ 9.99774950e-01 -1.88962459e-02 -9.64264274e-03 1.89506788e+01] [ 1.88925796e-02 9.99821408e-01 -4.71177072e-04 1.03903623e+00] [ 9.64982412e-03 2.88896639e-04 9.99953398e-01 5.81869045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254154 meters 0.056011288092472446 Centerline is valid? [True, True] Translation: X:19.01, Y:1.03, Z:0.06 [[ 9.99382818e-01 -3.36383022e-02 -1.01216516e-02 1.90108140e+01] [ 3.36350185e-02 9.99434060e-01 -4.94518240e-04 1.03134215e+00] [ 1.01325581e-02 1.53771094e-04 9.99948652e-01 5.63643140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999998 meters 0.055305753357058056 Centerline is valid? [True, True] Translation: X:19.07, Y:1.02, Z:0.06 [[ 9.98918532e-01 -4.52243881e-02 -1.07945282e-02 1.90722433e+01] [ 4.52213300e-02 9.98976853e-01 -5.27340343e-04 1.02201060e+00] [ 1.08073325e-02 3.86271177e-05 9.99941598e-01 5.87118542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters 0.05496191293145632 Centerline is valid? [True, True] Translation: X:19.13, Y:1.01, Z:0.06 [[ 9.97969735e-01 -6.26789408e-02 -1.13030157e-02 1.91331906e+01] [ 6.26767071e-02 9.98033730e-01 -5.52085730e-04 1.01077674e+00] [ 1.13153951e-02 -1.57470954e-04 9.99935966e-01 5.88710773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254154 meters 0.054796372133840435 Centerline is valid? [True, True] Translation: X:19.19, Y:1.00, Z:0.06 [[ 9.97020309e-01 -7.63462577e-02 -1.10341014e-02 1.91942550e+01] [ 7.63449653e-02 9.97081319e-01 -5.38901558e-04 1.00437200e+00] [ 1.10430395e-02 -3.05102290e-04 9.99938977e-01 6.03571588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999997 meters 0.055009768774492616 Centerline is valid? [True, True] Translation: X:19.26, Y:1.00, Z:0.06 [[ 9.96516808e-01 -8.26832134e-02 -1.08506851e-02 1.92558771e+01] [ 8.26823406e-02 9.96575812e-01 -5.29778417e-04 1.00239334e+00] [ 1.08573341e-02 -3.69226944e-04 9.99940989e-01 6.08976900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters 0.05568424014123121 Centerline is valid? [True, True] Translation: X:19.32, Y:1.00, Z:0.06 [[ 9.96031483e-01 -8.83997991e-02 -1.03324748e-02 1.93156465e+01] [ 8.83993171e-02 9.96084990e-01 -5.04247148e-04 9.96920844e-01] [ 1.03365984e-02 -4.11137681e-04 9.99946491e-01 6.16095433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254154 meters 0.054839723216749924 Centerline is valid? [True, True] Translation: X:19.38, Y:1.00, Z:0.06 [[ 9.95747953e-01 -9.15653482e-02 -1.00896421e-02 1.93761863e+01] [ 9.15650517e-02 9.95798975e-01 -4.92296164e-04 1.00225451e+00] [ 1.00923326e-02 -4.33655708e-04 9.99948977e-01 6.33473127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters 0.05541211684444139 Centerline is valid? [True, True] Translation: X:19.44, Y:1.00, Z:0.06 [[ 9.95534046e-01 -9.37948085e-02 -1.07002977e-02 1.94363632e+01] [ 9.37946034e-02 9.95591432e-01 -5.22103729e-04 9.96649821e-01] [ 1.07020953e-02 -4.83858137e-04 9.99942614e-01 6.22357409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254154 meters 0.056788310802567306 Centerline is valid? [True, True] Translation: X:19.50, Y:0.99, Z:0.06 [[ 9.95414375e-01 -9.49307725e-02 -1.17630577e-02 1.94964901e+01] [ 9.49306037e-02 9.95483727e-01 -5.73972792e-04 9.92461029e-01] [ 1.17644202e-02 -5.45333399e-04 9.99930648e-01 6.09334616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999998 meters 0.0574946738065515 Centerline is valid? [True, True] Translation: X:19.56, Y:0.99, Z:0.06 [[ 9.95282385e-01 -9.61018752e-02 -1.33192628e-02 1.95574096e+01] [ 9.61017643e-02 9.95371302e-01 -6.49836442e-04 9.92508196e-01] [ 1.33200625e-02 -6.33233895e-04 9.99911084e-01 5.94769535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters 0.05536519724303273 Centerline is valid? [True, True] Translation: X:19.62, Y:1.01, Z:0.06 [[ 9.95270678e-01 -9.61478663e-02 -1.38515791e-02 1.96191194e+01] [ 9.61477666e-02 9.95366843e-01 -6.74675915e-04 1.00660163e+00] [ 1.38522712e-02 -6.60313237e-04 9.99903835e-01 6.10290580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254154 meters 0.055351591027018095 Centerline is valid? [True, True] Translation: X:19.68, Y:1.01, Z:0.06 [[ 9.95294953e-01 -9.59191077e-02 -1.36924038e-02 1.96809622e+01] [ 9.59190095e-02 9.95388919e-01 -6.65400426e-04 1.01431751e+00] [ 1.36930917e-02 -6.51092128e-04 9.99906033e-01 6.29088588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999998 meters 0.05750243253135992 Centerline is valid? [True, True] Translation: X:19.74, Y:1.00, Z:0.06 [[ 9.95312901e-01 -9.58065897e-02 -1.31653237e-02 1.97428609e+01] [ 9.58065072e-02 9.95399772e-01 -6.38410018e-04 1.00187450e+00] [ 1.31659241e-02 -6.25905955e-04 9.99913130e-01 6.04522468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters 0.05418469608578035 Centerline is valid? [True, True] Translation: X:19.80, Y:1.02, Z:0.06 [[ 9.95258251e-01 -9.65524678e-02 -1.17743591e-02 1.98040883e+01] [ 9.65524618e-02 9.95327733e-01 -5.70281081e-04 1.02060947e+00] [ 1.17744082e-02 -5.69266407e-04 9.99930517e-01 6.36772629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254154 meters 0.05452645334653844 Centerline is valid? [True, True] Translation: X:19.87, Y:1.02, Z:0.06 [[ 9.95233992e-01 -9.70654288e-02 -9.35966243e-03 1.98653340e+01] [ 9.70654540e-02 9.95277897e-01 -4.52635891e-04 1.02259644e+00] [ 9.35940044e-03 -4.58021259e-04 9.99956095e-01 6.47866398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999997 meters 0.05379259282304153 Centerline is valid? [True, True] Translation: X:19.93, Y:1.03, Z:0.07 [[ 9.95205708e-01 -9.74112063e-02 -8.75528312e-03 1.99267152e+01] [ 9.74112496e-02 9.95244126e-01 -4.22511538e-04 1.03070861e+00] [ 8.75480145e-03 -4.32377175e-04 9.99961583e-01 6.57224271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters 0.054777675818766455 Centerline is valid? [True, True] Translation: X:19.99, Y:1.02, Z:0.07 [[ 9.95127910e-01 -9.82799633e-02 -7.84167738e-03 1.99885231e+01] [ 9.82800311e-02 9.95158727e-01 -3.77634089e-04 1.02387452e+00] [ 7.84082755e-03 -3.94886076e-04 9.99969182e-01 6.53286743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254154 meters 0.05608128071017777 Centerline is valid? [True, True] Translation: X:20.05, Y:1.02, Z:0.07 [[ 9.94963013e-01 -9.99494103e-02 -7.66277813e-03 2.00485610e+01] [ 9.99495284e-02 9.94992440e-01 -3.68499751e-04 1.02070384e+00] [ 7.66123764e-03 -3.99247438e-04 9.99970573e-01 6.52232967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999997 meters 0.05447125479667037 Centerline is valid? [True, True] Translation: X:20.11, Y:1.03, Z:0.07 [[ 9.94843626e-01 -1.01156212e-01 -7.31983329e-03 2.01091102e+01] [ 1.01156354e-01 9.94870478e-01 -3.51868640e-04 1.02900725e+00] [ 7.31787974e-03 -3.90393371e-04 9.99973148e-01 6.51093908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254154 meters 0.05405540888556748 Centerline is valid? [True, True] Translation: X:20.17, Y:1.03, Z:0.07 [[ 9.94950468e-01 -1.00093132e-01 -7.41152289e-03 2.01709037e+01] [ 1.00093249e-01 9.94977997e-01 -3.56123414e-04 1.03349035e+00] [ 7.40994771e-03 -3.87518245e-04 9.99972471e-01 6.53024118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999998 meters 0.05548732430110068 Centerline is valid? [True, True] Translation: X:20.23, Y:1.03, Z:0.07 [[ 9.95338344e-01 -9.61492501e-02 -7.54341986e-03 2.02313443e+01] [ 9.61492589e-02 9.95366861e-01 -3.62323925e-04 1.02978984e+00] [ 7.54330732e-03 -3.64659333e-04 9.99971482e-01 6.59241264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters 0.0551094256403314 Centerline is valid? [True, True] Translation: X:20.29, Y:1.04, Z:0.07 [[ 9.95574812e-01 -9.37002195e-02 -7.14577996e-03 2.02916777e+01] [ 9.37001645e-02 9.95600402e-01 -3.43216904e-04 1.03518972e+00] [ 7.14650090e-03 -3.27862653e-04 9.99974410e-01 6.57785283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254154 meters 0.054873047064562294 Centerline is valid? [True, True] Translation: X:20.35, Y:1.03, Z:0.06 [[ 9.95951036e-01 -8.95896802e-02 -7.43126531e-03 2.03528084e+01] [ 8.95895064e-02 9.95978711e-01 -3.56937422e-04 1.03352562e+00] [ 7.43335996e-03 -3.10271196e-04 9.99972324e-01 6.47115203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999998 meters 0.05524752996444598 Centerline is valid? [True, True] Translation: X:20.41, Y:1.04, Z:0.06 [[ 9.96368032e-01 -8.48272693e-02 -7.42158620e-03 2.04131776e+01] [ 8.48269639e-02 9.96395634e-01 -3.56499451e-04 1.03911019e+00] [ 7.42507696e-03 -2.74345968e-04 9.99972396e-01 6.46947557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters 0.056520464153294946 Centerline is valid? [True, True] Translation: X:20.47, Y:1.03, Z:0.06 [[ 9.96914234e-01 -7.82115461e-02 -6.70548363e-03 2.04732668e+01] [ 7.82111471e-02 9.96936765e-01 -3.22106337e-04 1.03415548e+00] [ 6.71013559e-03 -2.03331174e-04 9.99977466e-01 6.44848150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254154 meters 0.054978714755037225 Centerline is valid? [True, True] Translation: X:20.53, Y:1.04, Z:0.06 [[ 9.97297489e-01 -7.32393292e-02 -5.80684796e-03 2.05335580e+01] [ 7.32389458e-02 9.97314383e-01 -2.78941580e-04 1.04449714e+00] [ 5.81168249e-03 -1.47099686e-04 9.99983101e-01 6.49197372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999998 meters 0.05503290339233823 Centerline is valid? [True, True] Translation: X:20.60, Y:1.05, Z:0.06 [[ 9.97423487e-01 -7.14720992e-02 -6.17462602e-03 2.05952844e+01] [ 7.14716321e-02 9.97442589e-01 -2.96551874e-04 1.04993376e+00] [ 6.18003014e-03 -1.45522795e-04 9.99980893e-01 6.43734854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters 0.055658328144158456 Centerline is valid? [True, True] Translation: X:20.66, Y:1.05, Z:0.06 [[ 9.97470655e-01 -7.07428753e-02 -6.90927894e-03 2.06579882e+01] [ 7.07422746e-02 9.97494572e-01 -3.31607083e-04 1.05132033e+00] [ 6.91542708e-03 -1.58009774e-04 9.99976076e-01 6.35314498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254154 meters 0.05469553465722075 Centerline is valid? [True, True] Translation: X:20.72, Y:1.05, Z:0.06 [[ 9.97417550e-01 -7.14934230e-02 -6.84998686e-03 2.07201650e+01] [ 7.14928536e-02 9.97441058e-01 -3.28263137e-04 1.05481436e+00] [ 6.85592680e-03 -1.62309695e-04 9.99976485e-01 6.29669745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999997 meters 0.05446145044557237 Centerline is valid? [True, True] Translation: X:20.78, Y:1.06, Z:0.06 [[ 9.97367212e-01 -7.20749043e-02 -7.99083223e-03 2.07813486e+01] [ 7.20741559e-02 9.97399203e-01 -3.81959725e-04 1.05653427e+00] [ 7.99757941e-03 -1.94978383e-04 9.99968000e-01 6.25524176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters 0.055998434789853856 Centerline is valid? [True, True] Translation: X:20.84, Y:1.05, Z:0.06 [[ 9.97260678e-01 -7.34928054e-02 -8.36342562e-03 2.08429675e+01] [ 7.34920431e-02 9.97295724e-01 -3.98862081e-04 1.05194318e+00] [ 8.37012210e-03 -2.16875767e-04 9.99964946e-01 6.16151952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254154 meters 0.05471810692306584 Centerline is valid? [True, True] Translation: X:20.90, Y:1.06, Z:0.06 [[ 9.97110821e-01 -7.56633981e-02 -6.71271540e-03 2.09043145e+01] [ 7.56629589e-02 9.97133399e-01 -3.19717024e-04 1.06415041e+00] [ 6.71766360e-03 -1.89110605e-04 9.99977418e-01 6.29339555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999997 meters 0.05468383956326008 Centerline is valid? [True, True] Translation: X:20.96, Y:1.07, Z:0.06 [[ 9.96884233e-01 -7.86330575e-02 -6.21844493e-03 2.09638336e+01] [ 7.86327395e-02 9.96903609e-01 -2.95981026e-04 1.06658743e+00] [ 6.22246409e-03 -1.93914543e-04 9.99980621e-01 6.30374677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254154 meters 0.054238510835260316 Centerline is valid? [True, True] Translation: X:21.02, Y:1.07, Z:0.06 [[ 9.96624997e-01 -8.19412164e-02 -4.92474168e-03 2.10246113e+01] [ 8.19410579e-02 9.96637150e-01 -2.34289647e-04 1.06889488e+00] [ 4.92737849e-03 -1.70039625e-04 9.99987846e-01 6.32890232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999998 meters 0.05417177953134103 Centerline is valid? [True, True] Translation: X:21.09, Y:1.07, Z:0.06 [[ 9.96289872e-01 -8.58204373e-02 -6.42987658e-03 2.10852503e+01] [ 8.58202482e-02 9.96310590e-01 -3.05826183e-04 1.07394470e+00] [ 6.43240027e-03 -2.47122075e-04 9.99979281e-01 6.33597361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters 0.05360851140103766 Centerline is valid? [True, True] Translation: X:21.15, Y:1.08, Z:0.06 [[ 9.95832108e-01 -9.09020399e-02 -7.43187370e-03 2.11453650e+01] [ 9.09019288e-02 9.95859787e-01 -3.53442571e-04 1.07951826e+00] [ 7.43323280e-03 -3.23602193e-04 9.99972321e-01 6.29706487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254154 meters 0.054700588180070335 Centerline is valid? [True, True] Translation: X:21.21, Y:1.08, Z:0.06 [[ 9.95612052e-01 -9.32414068e-02 -7.91714301e-03 2.12050342e+01] [ 9.32413546e-02 9.95643464e-01 -3.76499852e-04 1.07872836e+00] [ 7.91775707e-03 -3.63357349e-04 9.99968588e-01 6.25749261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999998 meters 0.053711187870807725 Centerline is valid? [True, True] Translation: X:21.27, Y:1.09, Z:0.06 [[ 9.95517740e-01 -9.43451437e-02 -6.58965591e-03 2.12663307e+01] [ 9.43451334e-02 9.95539501e-01 -3.13103660e-04 1.08880905e+00] [ 6.58980257e-03 -3.10001718e-04 9.99978239e-01 6.36300220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters 0.05640585490391427 Centerline is valid? [True, True] Translation: X:21.33, Y:1.08, Z:0.06 [[ 9.95637271e-01 -9.31480661e-02 -5.46468284e-03 2.13270514e+01] [ 9.31480431e-02 9.95652236e-01 -2.59293471e-04 1.08377761e+00] [ 5.46507638e-03 -2.50862269e-04 9.99985035e-01 6.42003117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254154 meters 0.05384192285883074 Centerline is valid? [True, True] Translation: X:21.39, Y:1.11, Z:0.07 [[ 9.95684562e-01 -9.26968355e-02 -4.42155535e-03 2.13886259e+01] [ 9.26968163e-02 9.95694359e-01 -2.09717093e-04 1.10548006e+00] [ 4.42195783e-03 -2.01052031e-04 9.99990203e-01 6.51541652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999997 meters 0.053318179037790306 Centerline is valid? [True, True] Translation: X:21.45, Y:1.11, Z:0.07 [[ 9.95531453e-01 -9.43081297e-02 -4.80649814e-03 2.14493762e+01] [ 9.43081281e-02 9.95543030e-01 -2.27470495e-04 1.11274449e+00] [ 4.80652805e-03 -2.26837811e-04 9.99988423e-01 6.58496322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters 0.053803549808472684 Centerline is valid? [True, True] Translation: X:21.51, Y:1.12, Z:0.07 [[ 9.95235911e-01 -9.72389265e-02 -7.07616051e-03 2.15087176e+01] [ 9.72389980e-02 9.95261004e-01 -3.34756464e-04 1.11616146e+00] [ 7.07517797e-03 -3.54917104e-04 9.99974908e-01 6.64261508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254154 meters 0.05300727106683856 Centerline is valid? [True, True] Translation: X:21.57, Y:1.12, Z:0.07 [[ 9.95005099e-01 -9.95759387e-02 -7.03459226e-03 2.15691403e+01] [ 9.95760682e-02 9.95029897e-01 -3.32715717e-04 1.12317803e+00] [ 7.03276009e-03 -3.69423203e-04 9.99975202e-01 6.56720070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999997 meters 0.05343861486484523 Centerline is valid? [True, True] Translation: X:21.63, Y:1.12, Z:0.07 [[ 9.95047292e-01 -9.91385203e-02 -7.24153560e-03 2.16302422e+01] [ 9.91386488e-02 9.95073571e-01 -3.42105618e-04 1.12219174e+00] [ 7.23977653e-03 -3.77504785e-04 9.99973721e-01 6.70140642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254154 meters 0.05404659880701563 Centerline is valid? [True, True] Translation: X:21.69, Y:1.13, Z:0.07 [[ 9.95199339e-01 -9.76791337e-02 -6.08786092e-03 2.16905292e+01] [ 9.76791996e-02 9.95217912e-01 -2.87217077e-04 1.13211892e+00] [ 6.08680335e-03 -3.08819137e-04 9.99981428e-01 6.80003623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999998 meters 0.05292910547127668 Centerline is valid? [True, True] Translation: X:21.75, Y:1.14, Z:0.07 [[ 9.95172257e-01 -9.80280105e-02 -4.76321904e-03 2.17526191e+01] [ 9.80280555e-02 9.95183626e-01 -2.24578764e-04 1.14414189e+00] [ 4.76229260e-03 -2.43434545e-04 9.99988631e-01 6.85096640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999997 meters 0.05434931533296316 Centerline is valid? [True, True] Translation: X:21.81, Y:1.14, Z:0.07 [[ 9.95109144e-01 -9.86273317e-02 -5.51740142e-03 2.18139005e+01] [ 9.86274047e-02 9.95124398e-01 -2.59520453e-04 1.13506555e+00] [ 5.51609657e-03 -2.85915807e-04 9.99984745e-01 6.94345626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254154 meters 0.053498935227707406 Centerline is valid? [True, True] Translation: X:21.88, Y:1.15, Z:0.07 [[ 9.95140489e-01 -9.83094609e-02 -5.53683391e-03 2.18755321e+01] [ 9.83095317e-02 9.95155851e-01 -2.60027695e-04 1.14722800e+00] [ 5.53557585e-03 -2.85559462e-04 9.99984638e-01 6.99811944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999998 meters 0.05371664302395041 Centerline is valid? [True, True] Translation: X:21.94, Y:1.15, Z:0.07 [[ 9.95286046e-01 -9.67697297e-02 -6.42696551e-03 2.19352676e+01] [ 9.67697965e-02 9.95306745e-01 -3.01315330e-04 1.14738247e+00] [ 6.42596033e-03 -3.22041202e-04 9.99979301e-01 6.97774506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters 0.053815669491091574 Centerline is valid? [True, True] Translation: X:22.00, Y:1.15, Z:0.07 [[ 9.95416561e-01 -9.53585673e-02 -7.25359555e-03 2.19956885e+01] [ 9.53586161e-02 9.95442926e-01 -3.39914201e-04 1.14881189e+00] [ 7.25295411e-03 -3.53336609e-04 9.99973635e-01 7.00879527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254154 meters 0.0531948409659904 Centerline is valid? [True, True] Translation: X:22.06, Y:1.16, Z:0.07 [[ 9.95600286e-01 -9.34546152e-02 -6.80479566e-03 2.20561608e+01] [ 9.34546151e-02 9.95623490e-01 -3.18685751e-04 1.15522127e+00] [ 6.80479705e-03 -3.18655935e-04 9.99976796e-01 6.95373240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999998 meters 0.05325889876185528 Centerline is valid? [True, True] Translation: X:22.12, Y:1.16, Z:0.07 [[ 9.95876053e-01 -9.04844022e-02 -6.59245994e-03 2.21167902e+01] [ 9.04843373e-02 9.95897831e-01 -3.08707739e-04 1.15752981e+00] [ 6.59334979e-03 -2.89079725e-04 9.99978222e-01 6.95530929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters 0.05332379346731366 Centerline is valid? [True, True] Translation: X:22.18, Y:1.16, Z:0.07 [[ 9.96022491e-01 -8.88433615e-02 -6.78640376e-03 2.21779714e+01] [ 8.88432552e-02 9.96045569e-01 -3.17738617e-04 1.16028814e+00] [ 6.78779636e-03 -2.86451393e-04 9.99976922e-01 6.98372805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254154 meters 0.05427902177196617 Centerline is valid? [True, True] Translation: X:22.24, Y:1.16, Z:0.07 [[ 9.96166118e-01 -8.72010489e-02 -7.00300487e-03 2.22385905e+01] [ 8.72008957e-02 9.96190693e-01 -3.27788840e-04 1.15631572e+00] [ 7.00491181e-03 -2.84136161e-04 9.99975425e-01 6.94899515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999997 meters 0.05352287241180523 Centerline is valid? [True, True] Translation: X:22.30, Y:1.16, Z:0.07 [[ 9.96058224e-01 -8.84185603e-02 -7.08322340e-03 2.23000504e+01] [ 8.84184369e-02 9.96083365e-01 -3.31178884e-04 1.16329407e+00] [ 7.08476336e-03 -2.96414090e-04 9.99974859e-01 6.96704669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters 0.05445359777212733 Centerline is valid? [True, True] Translation: X:22.36, Y:1.16, Z:0.07 [[ 9.95865365e-01 -9.04421320e-02 -8.50852992e-03 2.23604306e+01] [ 9.04420319e-02 9.95901642e-01 -3.97319462e-04 1.16043592e+00] [ 8.50959334e-03 -3.73852044e-04 9.99963723e-01 6.95784788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254154 meters 0.05376859460009422 Centerline is valid? [True, True] Translation: X:22.42, Y:1.17, Z:0.07 [[ 9.95766729e-01 -9.15095495e-02 -8.63850478e-03 2.24225231e+01] [ 9.15094881e-02 9.95804123e-01 -4.03194647e-04 1.16839951e+00] [ 8.63915483e-03 -3.89017335e-04 9.99962606e-01 6.98834661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999997 meters 0.05331079201735583 Centerline is valid? [True, True] Translation: X:22.48, Y:1.17, Z:0.07 [[ 9.95702476e-01 -9.21667877e-02 -9.04782159e-03 2.24834948e+01] [ 9.21667539e-02 9.95743497e-01 -4.21580153e-04 1.16832212e+00] [ 9.04816520e-03 -4.14139944e-04 9.99958979e-01 7.04610917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254154 meters 0.054783359992628934 Centerline is valid? [True, True] Translation: X:22.54, Y:1.17, Z:0.07 [[ 9.95789448e-01 -9.12449236e-02 -8.81693380e-03 2.25438487e+01] [ 9.12448595e-02 9.95828402e-01 -4.10370559e-04 1.16642630e+00] [ 8.81759733e-03 -3.95857212e-04 9.99961046e-01 7.06701821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999998 meters 0.053380799224251554 Centerline is valid? [True, True] Translation: X:22.60, Y:1.17, Z:0.07 [[ 9.95953412e-01 -8.94859646e-02 -8.31048190e-03 2.26039460e+01] [ 8.94858468e-02 9.95988019e-01 -3.86768652e-04 1.17287305e+00] [ 8.31175077e-03 -3.58466951e-04 9.99965393e-01 7.16309007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999997 meters 0.05477553091899818 Centerline is valid? [True, True] Translation: X:22.66, Y:1.17, Z:0.07 [[ 9.96085380e-01 -8.80999522e-02 -7.23287604e-03 2.26646459e+01] [ 8.80998266e-02 9.96111594e-01 -3.36590797e-04 1.16786375e+00] [ 7.23440532e-03 -3.01941954e-04 9.99973786e-01 7.12887771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254154 meters 0.05385355129704477 Centerline is valid? [True, True] Translation: X:22.73, Y:1.18, Z:0.07 [[ 9.96063689e-01 -8.83113201e-02 -7.63144186e-03 2.27266548e+01] [ 8.83111898e-02 9.96092871e-01 -3.54702710e-04 1.17686766e+00] [ 7.63294910e-03 -3.20635221e-04 9.99970817e-01 7.21956025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999998 meters 0.05554651571713111 Centerline is valid? [True, True] Translation: X:22.79, Y:1.17, Z:0.07 [[ 9.95727704e-01 -9.19491026e-02 -8.46766209e-03 2.27869421e+01] [ 9.19490777e-02 9.95763633e-01 -3.93072452e-04 1.17189942e+00] [ 8.46793262e-03 -3.87200589e-04 9.99964071e-01 7.25334570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters 0.05357135053153013 Centerline is valid? [True, True] Translation: X:22.85, Y:1.19, Z:0.07 [[ 9.95266534e-01 -9.66345253e-02 -1.03099093e-02 2.28468940e+01] [ 9.66347395e-02 9.95319797e-01 -4.78551724e-04 1.18767022e+00] [ 1.03079015e-02 -5.20008884e-04 9.99946737e-01 7.37427346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254154 meters 0.053060981037924206 Centerline is valid? [True, True] Translation: X:22.91, Y:1.19, Z:0.07 [[ 9.95006112e-01 -9.91566506e-02 -1.14366181e-02 2.29079054e+01] [ 9.91570814e-02 9.95071651e-01 -5.30756067e-04 1.18777434e+00] [ 1.14328825e-02 -6.05916145e-04 9.99934459e-01 7.34162702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999997 meters 0.053052097689231976 Centerline is valid? [True, True] Translation: X:22.97, Y:1.19, Z:0.07 [[ 9.95016999e-01 -9.91040170e-02 -1.09345663e-02 2.29702704e+01] [ 9.91044173e-02 9.95076911e-01 -5.06568048e-04 1.18932794e+00] [ 1.09309373e-02 -5.79619999e-04 9.99940088e-01 7.39680697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters 0.054600375635424137 Centerline is valid? [True, True] Translation: X:23.03, Y:1.18, Z:0.07 [[ 9.95217153e-01 -9.71346710e-02 -1.03766246e-02 2.30307081e+01] [ 9.71349300e-02 9.95271106e-01 -4.80218769e-04 1.18166469e+00] [ 1.03742006e-02 -5.30010751e-04 9.99946046e-01 7.43987125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254154 meters 0.05514749093030036 Centerline is valid? [True, True] Translation: X:23.09, Y:1.19, Z:0.08 [[ 9.95786884e-01 -9.13527992e-02 -7.94656584e-03 2.30906696e+01] [ 9.13527675e-02 9.95818526e-01 -3.67721528e-04 1.18827087e+00] [ 7.94692987e-03 -3.59768506e-04 9.99968358e-01 7.66561338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999997 meters 0.05724842145498641 Centerline is valid? [True, True] Translation: X:23.15, Y:1.18, Z:0.08 [[ 9.96150889e-01 -8.73971822e-02 -6.71860072e-03 2.31510489e+01] [ 8.73970699e-02 9.96173507e-01 -3.10875302e-04 1.18121534e+00] [ 6.72006167e-03 -2.77507309e-04 9.99977382e-01 7.63866739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254154 meters 0.05444241269981634 Centerline is valid? [True, True] Translation: X:23.21, Y:1.19, Z:0.08 [[ 9.96681055e-01 -8.09526911e-02 -8.57533563e-03 2.32115722e+01] [ 8.09522704e-02 9.96717900e-01 -3.96723291e-04 1.19340465e+00] [ 8.57930634e-03 -2.98786300e-04 9.99963152e-01 7.62432545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999998 meters 0.05501231276915617 Centerline is valid? [True, True] Translation: X:23.27, Y:1.20, Z:0.08 [[ 9.96960403e-01 -7.73608023e-02 -9.23368652e-03 2.32725636e+01] [ 7.73601610e-02 9.97003121e-01 -4.27135209e-04 1.19738555e+00] [ 9.23905780e-03 -2.88482586e-04 9.99957277e-01 7.65269246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999997 meters 0.05519273816947738 Centerline is valid? [True, True] Translation: X:23.33, Y:1.20, Z:0.08 [[ 9.97371575e-01 -7.17479807e-02 -1.01078032e-02 2.33325900e+01] [ 7.17469241e-02 9.97422759e-01 -4.67568286e-04 1.19523277e+00] [ 1.01153000e-02 -2.58864469e-04 9.99948806e-01 7.64707170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254154 meters 0.055087813076926846 Centerline is valid? [True, True] Translation: X:23.39, Y:1.20, Z:0.08 [[ 9.97616982e-01 -6.82378687e-02 -1.01955864e-02 2.33931826e+01] [ 6.82366110e-02 9.97669055e-01 -4.71568009e-04 1.19876478e+00] [ 1.02039998e-02 -2.25268008e-04 9.99947912e-01 7.66856023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999998 meters 0.05503457126487053 Centerline is valid? [True, True] Translation: X:23.45, Y:1.20, Z:0.08 [[ 9.97679392e-01 -6.74183230e-02 -9.51846243e-03 2.34548455e+01] [ 6.74171953e-02 9.97724776e-01 -4.39648106e-04 1.19884538e+00] [ 9.52644613e-03 -2.03080185e-04 9.99954602e-01 7.75620499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999997 meters 0.05589199640732337 Centerline is valid? [True, True] Translation: X:23.52, Y:1.20, Z:0.08 [[ 9.97534717e-01 -6.94557017e-02 -1.00196341e-02 2.35169828e+01] [ 6.94545615e-02 9.97585009e-01 -4.62129165e-04 1.20205362e+00] [ 1.00275343e-02 -2.34919410e-04 9.99949695e-01 7.80821158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254154 meters 0.05509890345887816 Centerline is valid? [True, True] Translation: X:23.58, Y:1.20, Z:0.08 [[ 9.97042649e-01 -7.60526475e-02 -1.10431760e-02 2.35784380e+01] [ 7.60516697e-02 9.97103748e-01 -5.09063671e-04 1.20053179e+00] [ 1.10499078e-02 -3.32293784e-04 9.99938893e-01 7.86699686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999998 meters 0.05466549841412952 Centerline is valid? [True, True] Translation: X:23.64, Y:1.20, Z:0.08 [[ 9.96717227e-01 -8.01509774e-02 -1.14275681e-02 2.36387498e+01] [ 8.01502001e-02 9.96782658e-01 -5.26715230e-04 1.20004130e+00] [ 1.14330184e-02 -3.90935724e-04 9.99934564e-01 7.93002245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters 0.05582304014552123 Centerline is valid? [True, True] Translation: X:23.70, Y:1.19, Z:0.08 [[ 9.96411542e-01 -8.39068114e-02 -1.11214263e-02 2.36990841e+01] [ 8.39063084e-02 9.96473516e-01 -5.12644383e-04 1.19360685e+00] [ 1.11252211e-02 -4.22353045e-04 9.99938024e-01 7.85486163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254154 meters 0.05674165172492788 Centerline is valid? [True, True] Translation: X:23.76, Y:1.19, Z:0.08 [[ 9.96096409e-01 -8.77094819e-02 -9.94946064e-03 2.37593130e+01] [ 8.77092680e-02 9.96146010e-01 -4.58671503e-04 1.18835909e+00] [ 9.95134536e-03 -4.15778874e-04 9.99950398e-01 7.80460793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999997 meters 0.05474946653903538 Centerline is valid? [True, True] Translation: X:23.82, Y:1.20, Z:0.08 [[ 9.95953718e-01 -8.93033918e-02 -1.00546387e-02 2.38202726e+01] [ 8.93032553e-02 9.96004374e-01 -4.63440457e-04 1.20316466e+00] [ 1.00558510e-02 -4.36346725e-04 9.99949343e-01 8.01974462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters 0.05481958966142752 Centerline is valid? [True, True] Translation: X:23.88, Y:1.20, Z:0.08 [[ 9.95902347e-01 -8.97677947e-02 -1.09662081e-02 2.38810680e+01] [ 8.97676691e-02 9.95962605e-01 -5.04665393e-04 1.20213690e+00] [ 1.09672358e-02 -4.81813487e-04 9.99939742e-01 7.97937618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254154 meters 0.056552346800745015 Centerline is valid? [True, True] Translation: X:23.94, Y:1.20, Z:0.08 [[ 9.95974148e-01 -8.88070314e-02 -1.21986880e-02 2.39422963e+01] [ 8.88068200e-02 9.96048711e-01 -5.60088673e-04 1.19572094e+00] [ 1.22002273e-02 -5.25492849e-04 9.99925436e-01 7.76701540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999997 meters 0.05590860544723756 Centerline is valid? [True, True] Translation: X:24.00, Y:1.20, Z:0.08 [[ 9.95971240e-01 -8.87627638e-02 -1.27460373e-02 2.40037674e+01] [ 8.87625466e-02 9.96052644e-01 -5.83868123e-04 1.20386757e+00] [ 1.27475499e-02 -5.49854873e-04 9.99918596e-01 7.88234431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254154 meters 0.055169039470443174 Centerline is valid? [True, True] Translation: X:24.07, Y:1.21, Z:0.08 [[ 9.95790160e-01 -9.07380348e-02 -1.29833080e-02 2.40650029e+01] [ 9.07379843e-02 9.95874623e-01 -5.94173264e-04 1.20980974e+00] [ 1.29836610e-02 -5.86407305e-04 9.99915537e-01 8.03576253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999998 meters 0.05562667770719272 Centerline is valid? [True, True] Translation: X:24.13, Y:1.21, Z:0.08 [[ 9.95534315e-01 -9.33873509e-02 -1.37923831e-02 2.41256343e+01] [ 9.33875487e-02 9.95629634e-01 -6.31116537e-04 1.21213684e+00] [ 1.37910436e-02 -6.59738677e-04 9.99904681e-01 8.02444415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999997 meters 0.05479427664591244 Centerline is valid? [True, True] Translation: X:24.19, Y:1.22, Z:0.08 [[ 9.95472189e-01 -9.40423790e-02 -1.38257391e-02 2.41877549e+01] [ 9.40426451e-02 9.95567969e-01 -6.32326580e-04 1.21642992e+00] [ 1.38239285e-02 -6.70745551e-04 9.99904220e-01 8.09168784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254154 meters 0.05616498074114568 Centerline is valid? [True, True] Translation: X:24.25, Y:1.21, Z:0.08 [[ 9.95548530e-01 -9.35091536e-02 -1.17967242e-02 2.42482824e+01] [ 9.35093119e-02 9.95618259e-01 -5.39362598e-04 1.21219557e+00] [ 1.17954693e-02 -5.66141918e-04 9.99930271e-01 8.14407454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999998 meters 0.0559203525141952 Centerline is valid? [True, True] Translation: X:24.31, Y:1.22, Z:0.08 [[ 9.95626238e-01 -9.28173192e-02 -1.06461310e-02 2.43102864e+01] [ 9.28174165e-02 9.95683027e-01 -4.86021349e-04 1.21845928e+00] [ 1.06452831e-02 -5.04250767e-04 9.99943210e-01 8.35980772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999997 meters 0.055327230087421374 Centerline is valid? [True, True] Translation: X:24.37, Y:1.23, Z:0.08 [[ 9.95718463e-01 -9.19226616e-02 -9.74513126e-03 2.43711046e+01] [ 9.19227053e-02 9.95766046e-01 -4.44374272e-04 1.22547070e+00] [ 9.74471889e-03 -4.53327162e-04 9.99952416e-01 8.46979266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254154 meters 0.05637765447273131 Centerline is valid? [True, True] Translation: X:24.43, Y:1.23, Z:0.08 [[ 9.95683532e-01 -9.21811515e-02 -1.08138154e-02 2.44327521e+01] [ 9.21812291e-02 9.95742125e-01 -4.92317543e-04 1.22541668e+00] [ 1.08131539e-02 -5.06638324e-04 9.99941408e-01 8.39795630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999997 meters 0.05622314453348004 Centerline is valid? [True, True] Translation: X:24.49, Y:1.22, Z:0.08 [[ 9.95595815e-01 -9.30531907e-02 -1.14051628e-02 2.44945200e+01] [ 9.30533414e-02 9.95660990e-01 -5.18600342e-04 1.22498810e+00] [ 1.14039331e-02 -5.44972178e-04 9.99934825e-01 8.27235703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters 0.054783693993699846 Centerline is valid? [True, True] Translation: X:24.56, Y:1.23, Z:0.08 [[ 9.95444157e-01 -9.46438354e-02 -1.15531528e-02 2.45551067e+01] [ 9.46440990e-02 9.95511034e-01 -5.25150138e-04 1.23430797e+00] [ 1.15509934e-02 -5.70680105e-04 9.99933122e-01 8.36958931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254154 meters 0.0618655009353137 Centerline is valid? [True, True] Translation: X:24.62, Y:1.21, Z:0.08 [[ 9.95426802e-01 -9.48405128e-02 -1.14349740e-02 2.46171479e+01] [ 9.48407931e-02 9.95492318e-01 -5.18985038e-04 1.21445094e+00] [ 1.14326495e-02 -5.67890382e-04 9.99934484e-01 8.09290383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999997 meters 0.05491458771710677 Centerline is valid? [True, True] Translation: X:24.68, Y:1.24, Z:0.08 [[ 9.95247050e-01 -9.68882275e-02 -9.79702228e-03 2.46767632e+01] [ 9.68885363e-02 9.95295139e-01 -4.44211239e-04 1.23619007e+00] [ 9.79396750e-03 -5.07119225e-04 9.99951909e-01 8.48406077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters 0.05842143467771988 Centerline is valid? [True, True] Translation: X:24.74, Y:1.23, Z:0.08 [[ 9.95131632e-01 -9.80898998e-02 -9.56068804e-03 2.47374041e+01] [ 9.80902502e-02 9.95177429e-01 -4.33392493e-04 1.22738681e+00] [ 9.55709237e-03 -5.06527704e-04 9.99954202e-01 8.48429800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999998 meters 0.05969437426562716 Centerline is valid? [True, True] Translation: X:24.80, Y:1.22, Z:0.08 [[ 9.94996165e-01 -9.95287275e-02 -8.75579767e-03 2.47988788e+01] [ 9.95290778e-02 9.95034575e-01 -3.96807747e-04 1.22460713e+00] [ 8.75181518e-03 -4.76634280e-04 9.99961589e-01 8.49842111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999997 meters 0.05766633829086055 Centerline is valid? [True, True] Translation: X:24.86, Y:1.23, Z:0.09 [[ 9.94885492e-01 -1.00657991e-01 -8.41589901e-03 2.48596640e+01] [ 1.00658356e-01 9.94920977e-01 -3.81280581e-04 1.23349140e+00] [ 8.41153340e-03 -4.67800042e-04 9.99964513e-01 8.60009639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254154 meters 0.05588051211289491 Centerline is valid? [True, True] Translation: X:24.92, Y:1.24, Z:0.09 [[ 9.94913133e-01 -1.00410138e-01 -8.10323571e-03 2.49219139e+01] [ 1.00410472e-01 9.94946030e-01 -3.66605193e-04 1.24332508e+00] [ 8.09909308e-03 -4.48909402e-04 9.99967101e-01 8.65041489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999998 meters 0.05739953148973888 Centerline is valid? [True, True] Translation: X:24.98, Y:1.24, Z:0.09 [[ 9.95168092e-01 -9.78794574e-02 -7.75110420e-03 2.49814882e+01] [ 9.78796896e-02 9.95198193e-01 -3.50293579e-04 1.24155105e+00] [ 7.74817144e-03 -4.10074680e-04 9.99969898e-01 8.65115905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999997 meters 0.056469037123105914 Centerline is valid? [True, True] Translation: X:25.04, Y:1.25, Z:0.09 [[ 9.95573154e-01 -9.37445637e-02 -6.78622022e-03 2.50423700e+01] [ 9.37446457e-02 9.95596227e-01 -3.06709103e-04 1.24857803e+00] [ 6.78508756e-03 -3.30820461e-04 9.99976926e-01 8.75130538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254154 meters 0.0541729140590801 Centerline is valid? [True, True] Translation: X:25.10, Y:1.26, Z:0.09 [[ 9.95825975e-01 -9.09925227e-02 -7.14055904e-03 2.51021845e+01] [ 9.09925430e-02 9.95851522e-01 -3.22711151e-04 1.26396124e+00] [ 7.14030089e-03 -3.28373478e-04 9.99974454e-01 8.79269199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999998 meters 0.05467220368507241 Centerline is valid? [True, True] Translation: X:25.16, Y:1.27, Z:0.09 [[ 9.96092450e-01 -8.78052077e-02 -9.49087925e-03 2.51630362e+01] [ 8.78050992e-02 9.96137581e-01 -4.28918174e-04 1.26825141e+00] [ 9.49188275e-03 -4.06105440e-04 9.99954869e-01 8.74534465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999996 meters 0.054478429462482054 Centerline is valid? [True, True] Translation: X:25.23, Y:1.27, Z:0.09 [[ 9.96113301e-01 -8.75027155e-02 -1.00780000e-02 2.52251096e+01] [ 8.75025847e-02 9.96164189e-01 -4.54759888e-04 1.27246398e+00] [ 1.00791354e-02 -4.28858675e-04 9.99949112e-01 8.75442881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254154 meters 0.05558025873802197 Centerline is valid? [True, True] Translation: X:25.29, Y:1.27, Z:0.09 [[ 9.96117951e-01 -8.74163565e-02 -1.03638133e-02 2.52873762e+01] [ 8.74162261e-02 9.96171765e-01 -4.66443335e-04 1.27118361e+00] [ 1.03649130e-02 -4.41332870e-04 9.99946185e-01 8.67659797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999997 meters 0.05485546370607085 Centerline is valid? [True, True] Translation: X:25.35, Y:1.28, Z:0.09 [[ 9.96177577e-01 -8.66390277e-02 -1.11316286e-02 2.53497077e+01] [ 8.66388382e-02 9.96239661e-01 -5.00158024e-04 1.27785346e+00] [ 1.11331031e-02 -4.66185164e-04 9.99937916e-01 8.76597740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters 0.05451616968575882 Centerline is valid? [True, True] Translation: X:25.41, Y:1.29, Z:0.09 [[ 9.96263471e-01 -8.57894038e-02 -9.96363508e-03 2.54106633e+01] [ 8.57892122e-02 9.96313209e-01 -4.47412576e-04 1.28703121e+00] [ 9.96528450e-03 -4.09031598e-04 9.99950262e-01 8.96479395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254154 meters 0.05552411132064406 Centerline is valid? [True, True] Translation: X:25.47, Y:1.29, Z:0.09 [[ 9.96243502e-01 -8.60681924e-02 -9.54728899e-03 2.54715115e+01] [ 8.60680331e-02 9.96289170e-01 -4.28312262e-04 1.28723835e+00] [ 9.54872469e-03 -3.95013078e-04 9.99954332e-01 9.03067866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999997 meters 0.05672500714750976 Centerline is valid? [True, True] Translation: X:25.53, Y:1.28, Z:0.09 [[ 9.96132606e-01 -8.73823140e-02 -9.17397556e-03 2.55318487e+01] [ 8.73822266e-02 9.96174773e-01 -4.11125694e-04 1.27968212e+00] [ 9.17480813e-03 -3.92106701e-04 9.99957834e-01 9.03865364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254154 meters 0.054258585363367716 Centerline is valid? [True, True] Translation: X:25.59, Y:1.30, Z:0.09 [[ 9.95930330e-01 -8.98073968e-02 -7.57683633e-03 2.55921771e+01] [ 8.98074084e-02 9.95959093e-01 -3.39393487e-04 1.29780973e+00] [ 7.57669908e-03 -3.42443766e-04 9.99971238e-01 9.25195285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999998 meters 0.05440505436124732 Centerline is valid? [True, True] Translation: X:25.65, Y:1.30, Z:0.09 [[ 9.95707964e-01 -9.21839408e-02 -8.23234830e-03 2.56525121e+01] [ 9.21840359e-02 9.95741918e-01 -3.68709309e-04 1.30070156e+00] [ 8.23128336e-03 -3.91764296e-04 9.99966046e-01 9.22684497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999997 meters 0.054339490799309983 Centerline is valid? [True, True] Translation: X:25.71, Y:1.31, Z:0.09 [[ 9.95611242e-01 -9.31814537e-02 -8.68748424e-03 2.57141762e+01] [ 9.31815989e-02 9.95649054e-01 -3.88927221e-04 1.30832475e+00] [ 8.68592627e-03 -4.22293359e-04 9.99962187e-01 9.22639696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254154 meters 0.054603561739498714 Centerline is valid? [True, True] Translation: X:25.78, Y:1.31, Z:0.09 [[ 9.95648376e-01 -9.27577598e-02 -8.96151706e-03 2.57751096e+01] [ 9.27579032e-02 9.95688611e-01 -4.00535639e-04 1.30895174e+00] [ 8.96003327e-03 -4.32458873e-04 9.99959765e-01 9.22071123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999998 meters 0.057831131182129625 Centerline is valid? [True, True] Translation: X:25.84, Y:1.30, Z:0.09 [[ 9.95761050e-01 -9.14454781e-02 -9.88207501e-03 2.58359235e+01] [ 9.14455929e-02 9.95809976e-01 -4.41175892e-04 1.29748399e+00] [ 9.88101242e-03 -4.64366439e-04 9.99951074e-01 9.08003646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999997 meters 0.05416028133556846 Centerline is valid? [True, True] Translation: X:25.90, Y:1.32, Z:0.09 [[ 9.95943752e-01 -8.94861430e-02 -9.39535174e-03 2.58957458e+01] [ 8.94861604e-02 9.95987977e-01 -4.19377435e-04 1.31984926e+00] [ 9.39518585e-03 -4.23077617e-04 9.99955775e-01 9.23407332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254154 meters 0.05708245016876345 Centerline is valid? [True, True] Translation: X:25.96, Y:1.31, Z:0.09 [[ 9.96140336e-01 -8.71525149e-02 -1.04340694e-02 2.59564672e+01] [ 8.71524089e-02 9.96194881e-01 -4.65710772e-04 1.31172970e+00] [ 1.04349544e-02 -4.45440999e-04 9.99945455e-01 9.03437928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999997 meters 0.05607945531515782 Centerline is valid? [True, True] Translation: X:26.02, Y:1.32, Z:0.09 [[ 9.96309223e-01 -8.51730230e-02 -1.06530526e-02 2.60164029e+01] [ 8.51727996e-02 9.96366081e-01 -4.75484795e-04 1.32496565e+00] [ 1.06548388e-02 -4.33620427e-04 9.99943142e-01 9.13324622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999996 meters 0.05457538098602639 Centerline is valid? [True, True] Translation: X:26.08, Y:1.33, Z:0.09 [[ 9.96339189e-01 -8.48220197e-02 -1.06510784e-02 2.60786800e+01] [ 8.48217792e-02 9.96396026e-01 -4.75128808e-04 1.33434443e+00] [ 1.06529936e-02 -4.30053970e-04 9.99943163e-01 9.22880859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254154 meters 0.05367927936520751 Centerline is valid? [True, True] Translation: X:26.14, Y:1.34, Z:0.09 [[ 9.96215333e-01 -8.63887133e-02 -9.59168298e-03 2.61394448e+01] [ 8.63885930e-02 9.96261426e-01 -4.27635561e-04 1.34498683e+00] [ 9.59276665e-03 -4.02594895e-04 9.99953907e-01 9.38183758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999997 meters 0.054474936862308726 Centerline is valid? [True, True] Translation: X:26.20, Y:1.34, Z:0.09 [[ 9.96028910e-01 -8.85103033e-02 -9.60923403e-03 2.61994603e+01] [ 8.85102834e-02 9.96075171e-01 -4.28177295e-04 1.34121664e+00] [ 9.60941753e-03 -4.24039063e-04 9.99953739e-01 9.36506688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters 0.05574539885994475 Centerline is valid? [True, True] Translation: X:26.26, Y:1.34, Z:0.09 [[ 9.95806340e-01 -9.10134502e-02 -9.28895601e-03 2.62597531e+01] [ 9.10135419e-02 9.95849569e-01 -4.13731808e-04 1.33779499e+00] [ 9.28805800e-03 -4.33424029e-04 9.99956771e-01 9.30978491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999998 meters 0.05378621101258214 Centerline is valid? [True, True] Translation: X:26.32, Y:1.35, Z:0.09 [[ 9.95665353e-01 -9.26431932e-02 -8.23065766e-03 2.63207137e+01] [ 9.26433215e-02 9.95699292e-01 -3.66491463e-04 1.34823415e+00] [ 8.22921295e-03 -3.97612612e-04 9.99966060e-01 9.46630615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999997 meters 0.055475720016476784 Centerline is valid? [True, True] Translation: X:26.38, Y:1.35, Z:0.09 [[ 9.95658536e-01 -9.28410407e-02 -6.67988264e-03 2.63819168e+01] [ 9.28411318e-02 9.95680891e-01 -2.97121206e-04 1.34506492e+00] [ 6.67861654e-03 -3.24336600e-04 9.99977645e-01 9.48217506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254154 meters 0.054533098610068026 Centerline is valid? [True, True] Translation: X:26.44, Y:1.35, Z:0.10 [[ 9.95667692e-01 -9.27964928e-02 -5.88703090e-03 2.64446554e+01] [ 9.27965654e-02 9.95685055e-01 -2.61410551e-04 1.35232501e+00] [ 5.88588667e-03 -2.86018208e-04 9.99982637e-01 9.61226514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999998 meters 0.05509271656556297 Centerline is valid? [True, True] Translation: X:26.51, Y:1.36, Z:0.10 [[ 9.95542303e-01 -9.41002117e-02 -6.37760141e-03 2.65060362e+01] [ 9.41003253e-02 9.95562679e-01 -2.82926996e-04 1.35519559e+00] [ 6.37592544e-03 -3.18468573e-04 9.99979623e-01 9.59603208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999997 meters 0.053573310052263956 Centerline is valid? [True, True] Translation: X:26.57, Y:1.36, Z:0.10 [[ 9.95363607e-01 -9.59638514e-02 -6.49842027e-03 2.65664811e+01] [ 9.59640095e-02 9.95384763e-01 -2.88204658e-04 1.36144289e+00] [ 6.49608574e-03 -3.36746036e-04 9.99978844e-01 9.63142109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254154 meters 0.05421907044189396 Centerline is valid? [True, True] Translation: X:26.63, Y:1.36, Z:0.10 [[ 9.95264438e-01 -9.69847394e-02 -6.53137422e-03 2.66264936e+01] [ 9.69849212e-02 9.95285809e-01 -2.89634882e-04 1.35897135e+00] [ 6.52867424e-03 -3.45181516e-04 9.99978628e-01 9.64715628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999998 meters 0.053803428655095756 Centerline is valid? [True, True] Translation: X:26.69, Y:1.37, Z:0.10 [[ 9.95306317e-01 -9.65709042e-02 -6.27658565e-03 2.66886292e+01] [ 9.65710655e-02 9.95326053e-01 -2.78078652e-04 1.36583297e+00] [ 6.27410353e-03 -3.29363125e-04 9.99980263e-01 9.66947708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999996 meters 0.055532156508872874 Centerline is valid? [True, True] Translation: X:26.75, Y:1.35, Z:0.10 [[ 9.95474802e-01 -9.47865711e-02 -6.73978791e-03 2.67493643e+01] [ 9.47867197e-02 9.95497558e-01 -2.98105392e-04 1.35337569e+00] [ 6.73769879e-03 -3.42085981e-04 9.99977243e-01 9.56323950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254154 meters 0.058912623107157815 Centerline is valid? [True, True] Translation: X:26.81, Y:1.35, Z:0.10 [[ 9.95834032e-01 -9.08693832e-02 -7.57200522e-03 2.68091386e+01] [ 9.08694578e-02 9.95862756e-01 -3.34900014e-04 1.34515953e+00] [ 7.57111015e-03 -3.54559177e-04 9.99971276e-01 9.53710175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999997 meters 0.05453785589223943 Centerline is valid? [True, True] Translation: X:26.87, Y:1.36, Z:0.10 [[ 9.96317122e-01 -8.54905509e-02 -6.59990355e-03 2.68685873e+01] [ 8.54904895e-02 9.96338944e-01 -2.91928960e-04 1.36361969e+00] [ 6.60069810e-03 -2.73375164e-04 9.99978178e-01 9.65442524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999996 meters 0.054908741643693984 Centerline is valid? [True, True] Translation: X:26.93, Y:1.36, Z:0.10 [[ 9.96675793e-01 -8.12152128e-02 -6.43831342e-03 2.69289411e+01] [ 8.12150654e-02 9.96696560e-01 -2.84764439e-04 1.36456464e+00] [ 6.44017204e-03 -2.39070223e-04 9.99979233e-01 9.66575590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254154 meters 0.05435366123888763 Centerline is valid? [True, True] Translation: X:26.99, Y:1.37, Z:0.10 [[ 9.97190637e-01 -7.46060102e-02 -6.69154261e-03 2.69898572e+01] [ 7.46057026e-02 9.97213067e-01 -2.95922500e-04 1.37345908e+00] [ 6.69497133e-03 -2.04136092e-04 9.99977568e-01 9.78678965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999997 meters 0.05606064440275793 Centerline is valid? [True, True] Translation: X:27.05, Y:1.37, Z:0.10 [[ 9.97607835e-01 -6.87671437e-02 -7.04897260e-03 2.70495667e+01] [ 6.87666569e-02 9.97632723e-01 -3.11691108e-04 1.37031032e+00] [ 7.05371984e-03 -1.73788789e-04 9.99975107e-01 9.75826475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters 0.0557745840688703 Centerline is valid? [True, True] Translation: X:27.11, Y:1.37, Z:0.10 [[ 9.97758057e-01 -6.65973745e-02 -6.60673618e-03 2.71105910e+01] [ 6.65968998e-02 9.97779919e-01 -2.92074849e-04 1.37197345e+00] [ 6.61152011e-03 -1.48568113e-04 9.99978133e-01 9.81074789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999998 meters 0.05550546601679519 Centerline is valid? [True, True] Translation: X:27.17, Y:1.37, Z:0.10 [[ 9.97672000e-01 -6.79146899e-02 -6.17859599e-03 2.71729948e+01] [ 6.79143009e-02 9.97691121e-01 -2.72990444e-04 1.37287459e+00] [ 6.18287042e-03 -1.47260105e-04 9.99980875e-01 9.82863360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999997 meters 0.054839431564795385 Centerline is valid? [True, True] Translation: X:27.23, Y:1.37, Z:0.10 [[ 9.97479279e-01 -7.06790091e-02 -6.29010697e-03 2.72341345e+01] [ 7.06786618e-02 9.97499098e-01 -2.77772477e-04 1.37459003e+00] [ 6.29400871e-03 -1.67504054e-04 9.99980179e-01 9.82429977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254154 meters 0.055496805814446826 Centerline is valid? [True, True] Translation: X:27.29, Y:1.37, Z:0.10 [[ 9.97137268e-01 -7.52501986e-02 -7.39437141e-03 2.72940413e+01] [ 7.52498443e-02 9.97164658e-01 -3.26521737e-04 1.37054580e+00] [ 7.39797666e-03 -2.30838305e-04 9.99972608e-01 9.74027793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999998 meters 0.055320788876552174 Centerline is valid? [True, True] Translation: X:27.35, Y:1.37, Z:0.10 [[ 9.96886859e-01 -7.83999858e-02 -8.36856001e-03 2.73544206e+01] [ 7.83996427e-02 9.96921943e-01 -3.69545370e-04 1.37029749e+00] [ 8.37177345e-03 -2.87697191e-04 9.99964915e-01 9.67797323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999997 meters 0.05439172668752237 Centerline is valid? [True, True] Translation: X:27.42, Y:1.38, Z:0.10 [[ 9.96904460e-01 -7.82584514e-02 -7.55733344e-03 2.74175108e+01] [ 7.82581712e-02 9.96933071e-01 -3.33242703e-04 1.37760276e+00] [ 7.56023469e-03 -2.59211958e-04 9.99971387e-01 9.80040465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254154 meters 0.054728968296090356 Centerline is valid? [True, True] Translation: X:27.48, Y:1.38, Z:0.10 [[ 9.97053101e-01 -7.63760675e-02 -7.19797737e-03 2.74784370e+01] [ 7.63757681e-02 9.97079055e-01 -3.16865703e-04 1.37712074e+00] [ 7.20115343e-03 -2.33819119e-04 9.99974044e-01 9.80412489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999997 meters 0.054737903926015984 Centerline is valid? [True, True] Translation: X:27.54, Y:1.38, Z:0.10 [[ 9.97392759e-01 -7.17955667e-02 -7.28560881e-03 2.75383565e+01] [ 7.17951383e-02 9.97419348e-01 -3.20661373e-04 1.38204700e+00] [ 7.28982925e-03 -2.03245959e-04 9.99973408e-01 9.85999630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999996 meters 0.05527455546663448 Centerline is valid? [True, True] Translation: X:27.60, Y:1.38, Z:0.10 [[ 9.97790569e-01 -6.60005810e-02 -7.60940584e-03 2.75978143e+01] [ 6.59999450e-02 9.97819570e-01 -3.34944090e-04 1.38144167e+00] [ 7.61492057e-03 -1.68016312e-04 9.99970992e-01 9.82862472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254154 meters 0.05525038830461106 Centerline is valid? [True, True] Translation: X:27.66, Y:1.39, Z:0.10 [[ 9.98055304e-01 -6.18491088e-02 -7.76514285e-03 2.76589330e+01] [ 6.18483208e-02 9.98085502e-01 -3.41801635e-04 1.38614338e+00] [ 7.77141663e-03 -1.39124111e-04 9.99969792e-01 9.81554648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999997 meters 0.05538713063927167 Centerline is valid? [True, True] Translation: X:27.72, Y:1.39, Z:0.10 [[ 9.98272713e-01 -5.81813135e-02 -8.15630549e-03 2.77207651e+01] [ 5.81803231e-02 9.98306026e-01 -3.58845808e-04 1.39143105e+00] [ 8.16336704e-03 -1.16310511e-04 9.99966672e-01 9.80244135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999996 meters 0.054498761157839866 Centerline is valid? [True, True] Translation: X:27.78, Y:1.40, Z:0.10 [[ 9.98510907e-01 -5.38506868e-02 -8.72191331e-03 2.77824768e+01] [ 5.38493917e-02 9.98548995e-01 -3.83429439e-04 1.39658784e+00] [ 8.72990572e-03 -8.68112489e-05 9.99961890e-01 9.72939253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999998 meters 0.054728513500133594 Centerline is valid? [True, True] Translation: X:27.85, Y:1.40, Z:0.10 [[ 9.98614424e-01 -5.18637190e-02 -8.90995445e-03 2.78450572e+01] [ 5.18622913e-02 9.98654169e-01 -3.91368099e-04 1.40122877e+00] [ 8.91826097e-03 -7.12648243e-05 9.99960229e-01 9.77376648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999997 meters 0.05507030013099954 Centerline is valid? [True, True] Translation: X:27.91, Y:1.40, Z:0.10 [[ 9.98566220e-01 -5.29136466e-02 -8.10254626e-03 2.79062690e+01] [ 5.29125024e-02 9.98599089e-01 -3.55666502e-04 1.40188763e+00] [ 8.11001492e-03 -7.35694439e-05 9.99967111e-01 9.81490913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254154 meters 0.05498700811560624 Centerline is valid? [True, True] Translation: X:27.97, Y:1.40, Z:0.10 [[ 9.98366534e-01 -5.66489039e-02 -7.42738463e-03 2.79679486e+01] [ 5.66480470e-02 9.98394157e-01 -3.25865853e-04 1.40015393e+00] [ 7.43391736e-03 -9.54132714e-05 9.99972364e-01 9.83373692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999998 meters 0.0546539375121332 Centerline is valid? [True, True] Translation: X:28.03, Y:1.40, Z:0.10 [[ 9.98024438e-01 -6.23524241e-02 -7.70686647e-03 2.80289942e+01] [ 6.23516726e-02 9.98054184e-01 -3.37972685e-04 1.39981017e+00] [ 7.71294375e-03 -1.43231016e-04 9.99970245e-01 9.87178750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999997 meters 0.05493117560765869 Centerline is valid? [True, True] Translation: X:28.09, Y:1.40, Z:0.10 [[ 9.97740869e-01 -6.67147648e-02 -7.89288302e-03 2.80899506e+01] [ 6.67141138e-02 9.97772072e-01 -3.46033947e-04 1.40026428e+00] [ 7.89838382e-03 -1.81314485e-04 9.99968791e-01 9.92451538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254154 meters 0.05565698677154611 Centerline is valid? [True, True] Translation: X:28.15, Y:1.40, Z:0.10 [[ 9.97261576e-01 -7.35672960e-02 -7.56321321e-03 2.81508239e+01] [ 7.35668957e-02 9.97290230e-01 -3.31501492e-04 1.39641233e+00] [ 7.56710631e-03 -2.25808417e-04 9.99971344e-01 9.83310784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999998 meters 0.055071078645065906 Centerline is valid? [True, True] Translation: X:28.21, Y:1.40, Z:0.10 [[ 9.96868228e-01 -7.87572487e-02 -7.14360019e-03 2.82112409e+01] [ 7.87570251e-02 9.96893792e-01 -3.13043472e-04 1.39991190e+00] [ 7.14606513e-03 -2.50545608e-04 9.99974435e-01 9.87620113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999996 meters 0.0594574564417755 Centerline is valid? [True, True] Translation: X:28.27, Y:1.38, Z:0.10 [[ 9.96280847e-01 -8.59415909e-02 -6.20623670e-03 2.82714182e+01] [ 8.59415613e-02 9.96300143e-01 -2.71961426e-04 1.38437013e+00] [ 6.20664731e-03 -2.62423712e-04 9.99980704e-01 9.93892491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254154 meters 0.05466295376855563 Centerline is valid? [True, True] Translation: X:28.33, Y:1.40, Z:0.10 [[ 9.95766207e-01 -9.17781606e-02 -5.14098708e-03 2.83309952e+01] [ 9.17782179e-02 9.95779447e-01 -2.25283711e-04 1.40066845e+00] [ 5.13996539e-03 -2.47500726e-04 9.99986760e-01 1.00417888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999997 meters 0.05874706601086741 Centerline is valid? [True, True] Translation: X:28.39, Y:1.39, Z:0.10 [[ 9.95387460e-01 -9.57063835e-02 -6.64019240e-03 2.83918451e+01] [ 9.57065667e-02 9.95409548e-01 -2.90899157e-04 1.38957063e+00] [ 6.63755183e-03 -3.45952644e-04 9.99977911e-01 9.89083546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999996 meters 0.057421723868337146 Centerline is valid? [True, True] Translation: X:28.45, Y:1.39, Z:0.10 [[ 9.95072979e-01 -9.88068572e-02 -8.18359833e-03 2.84523689e+01] [ 9.88072409e-02 9.95106527e-01 -3.58400767e-04 1.39372062e+00] [ 8.17896457e-03 -4.51963853e-04 9.99966450e-01 9.77137544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254154 meters 0.055093152904122734 Centerline is valid? [True, True] Translation: X:28.51, Y:1.41, Z:0.10 [[ 9.94951462e-01 -9.99561788e-02 -8.96383381e-03 2.85132607e+01] [ 9.99566869e-02 9.94991712e-01 -3.92428836e-04 1.40708216e+00] [ 8.95816603e-03 -5.05547485e-04 9.99959747e-01 9.81317292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999997 meters 0.054842043182642464 Centerline is valid? [True, True] Translation: X:28.57, Y:1.41, Z:0.10 [[ 9.95076880e-01 -9.87097829e-02 -8.85332717e-03 2.85748049e+01] [ 9.87102309e-02 9.95116144e-01 -3.87417732e-04 1.41194578e+00] [ 8.84833072e-03 -4.88403542e-04 9.99960733e-01 9.88725965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999996 meters 0.05548433103318344 Centerline is valid? [True, True] Translation: X:28.63, Y:1.42, Z:0.10 [[ 9.95699485e-01 -9.23035002e-02 -7.91204107e-03 2.86340363e+01] [ 9.23036567e-02 9.95730845e-01 -3.46163315e-04 1.41562896e+00] [ 7.91021542e-03 -3.85635688e-04 9.99968639e-01 9.96923427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999998 meters 0.055513129127779115 Centerline is valid? [True, True] Translation: X:28.69, Y:1.43, Z:0.10 [[ 9.96678093e-01 -8.11305137e-02 -7.11464212e-03 2.86942847e+01] [ 8.11303558e-02 9.96703451e-01 -3.11287800e-04 1.42521075e+00] [ 7.11644329e-03 -2.66959715e-04 9.99974642e-01 1.00740523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999997 meters 0.05611758813995821 Centerline is valid? [True, True] Translation: X:28.75, Y:1.43, Z:0.10 [[ 9.97433654e-01 -7.12691993e-02 -6.84156674e-03 2.87535465e+01] [ 7.12688214e-02 9.97457100e-01 -2.99324171e-04 1.42869686e+00] [ 6.84550191e-03 -1.89034396e-04 9.99976551e-01 1.01148719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254154 meters 0.05511626635405312 Centerline is valid? [True, True] Translation: X:28.81, Y:1.45, Z:0.10 [[ 9.98425247e-01 -5.55685872e-02 -7.69145323e-03 2.88130902e+01] [ 5.55676438e-02 9.98454868e-01 -3.36466292e-04 1.44592828e+00] [ 7.69826588e-03 -9.14594923e-05 9.99970364e-01 1.00855277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999998 meters 0.05509930541598816 Centerline is valid? [True, True] Translation: X:28.87, Y:1.46, Z:0.10 [[ 9.99092906e-01 -4.17939728e-02 -8.16266800e-03 2.88741383e+01] [ 4.17924516e-02 9.99126250e-01 -3.56914099e-04 1.46346280e+00] [ 8.17045272e-03 1.54524371e-05 9.99966621e-01 1.02036056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999997 meters 0.05501982776390783 Centerline is valid? [True, True] Translation: X:28.94, Y:1.47, Z:0.10 [[ 9.99473325e-01 -3.17856172e-02 -6.53811322e-03 2.89350948e+01] [ 3.17844281e-02 9.99494707e-01 -2.85737729e-04 1.47043705e+00] [ 6.54389190e-03 7.77770488e-05 9.99978585e-01 1.03515006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254154 meters 0.05575844224818184 Centerline is valid? [True, True] Translation: X:29.00, Y:1.48, Z:0.10 [[ 9.99581535e-01 -2.84081564e-02 -5.45266038e-03 2.89963383e+01] [ 2.84072796e-02 9.99596403e-01 -2.38207429e-04 1.48036423e+00] [ 5.45722674e-03 8.32125001e-05 9.99985106e-01 1.04037957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999997 meters 0.05521255805943665 Centerline is valid? [True, True] Translation: X:29.06, Y:1.48, Z:0.10 [[ 9.99417792e-01 -3.38236034e-02 -4.47678535e-03 2.90577187e+01] [ 3.38230672e-02 9.99427817e-01 -1.95467717e-04 1.47941037e+00] [ 4.48083523e-03 4.39353024e-05 9.99989960e-01 1.04327940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999996 meters 0.05543303067669971 Centerline is valid? [True, True] Translation: X:29.12, Y:1.47, Z:0.10 [[ 9.99094715e-01 -4.22893527e-02 -4.62178605e-03 2.91192779e+01] [ 4.22888721e-02 9.99105405e-01 -2.01694063e-04 1.47350239e+00] [ 4.62618094e-03 6.06135344e-06 9.99989299e-01 1.03998311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254154 meters 0.05551334413958814 Centerline is valid? [True, True] Translation: X:29.18, Y:1.46, Z:0.10 [[ 9.98216141e-01 -5.94864350e-02 -5.08923700e-03 2.91797493e+01] [ 5.94860759e-02 9.98229111e-01 -2.22031782e-04 1.45911230e+00] [ 5.09343241e-03 -8.11030301e-05 9.99987025e-01 1.02752077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999997 meters 0.056457928398668186 Centerline is valid? [True, True] Translation: X:29.24, Y:1.45, Z:0.10 [[ 9.96949483e-01 -7.79078414e-02 -4.70062887e-03 2.92406273e+01] [ 7.79077393e-02 9.96960552e-01 -2.05099760e-04 1.44674855e+00] [ 4.70232044e-03 -1.61741269e-04 9.99988931e-01 1.02681543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999996 meters 0.058307668673456235 Centerline is valid? [True, True] Translation: X:29.30, Y:1.44, Z:0.10 [[ 9.95762828e-01 -9.18725342e-02 -3.97830293e-03 2.93019282e+01] [ 9.18725722e-02 9.95770757e-01 -1.73575661e-04 1.43733217e+00] [ 3.97742455e-03 -1.92656731e-04 9.99992071e-01 1.03001262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999998 meters 0.05716011382348877 Centerline is valid? [True, True] Translation: X:29.36, Y:1.44, Z:0.10 [[ 9.95077681e-01 -9.90697848e-02 -2.36364894e-03 2.93626352e+01] [ 9.90698184e-02 9.95080479e-01 -1.03128695e-04 1.43651968e+00] [ 2.36223786e-03 -1.31545208e-04 9.99997201e-01 1.04220498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999997 meters 0.05548160412295708 Centerline is valid? [True, True] Translation: X:29.42, Y:1.44, Z:0.10 [[ 9.94989006e-01 -9.99821438e-02 -6.69263317e-04 2.94238134e+01] [ 9.99821467e-02 9.94989231e-01 -2.92551488e-05 1.44328107e+00] [ 6.68834785e-04 -3.78058317e-05 9.99999776e-01 1.04943528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254154 meters 0.05948808298546266 Centerline is valid? [True, True] Translation: X:29.48, Y:1.43, Z:0.11 [[ 9.95189418e-01 -9.79655198e-02 -8.82993032e-04 2.94838078e+01] [ 9.79655241e-02 9.95189808e-01 -3.84887558e-05 1.43363341e+00] [ 8.82516238e-04 -4.81992727e-05 9.99999609e-01 1.05226300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999998 meters 0.05631997378580438 Centerline is valid? [True, True] Translation: X:29.54, Y:1.44, Z:0.10 [[ 9.95643441e-01 -9.31897805e-02 -3.13115647e-03 2.95442286e+01] [ 9.31898107e-02 9.95648352e-01 -1.36553177e-04 1.44210962e+00] [ 3.13025614e-03 -1.55833604e-04 9.99995089e-01 1.02476949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999997 meters 0.05549555613411401 Centerline is valid? [True, True] Translation: X:29.60, Y:1.45, Z:0.10 [[ 9.96031589e-01 -8.88488838e-02 -5.19129934e-03 2.96041091e+01] [ 8.88489082e-02 9.96045089e-01 -2.26370375e-04 1.45299637e+00] [ 5.19088097e-03 -2.35769234e-04 9.99986499e-01 1.01062238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254154 meters 0.05700513395363757 Centerline is valid? [True, True] Translation: X:29.66, Y:1.45, Z:0.10 [[ 9.96798341e-01 -7.95695985e-02 -7.85782991e-03 2.96640554e+01] [ 7.95693666e-02 9.96829272e-01 -3.42626243e-04 1.45057424e+00] [ 7.86017750e-03 -2.83713279e-04 9.99969068e-01 9.84671816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999998 meters 0.05682501371332063 Centerline is valid? [True, True] Translation: X:29.72, Y:1.46, Z:0.10 [[ 9.97371908e-01 -7.20184363e-02 -7.91342554e-03 2.97248171e+01] [ 7.20179627e-02 9.97403275e-01 -3.45161465e-04 1.45787704e+00] [ 7.91773454e-03 -2.25654436e-04 9.99968629e-01 9.91632947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999996 meters 0.05583826289661487 Centerline is valid? [True, True] Translation: X:29.78, Y:1.47, Z:0.10 [[ 9.97963146e-01 -6.33536430e-02 -7.47495970e-03 2.97849248e+01] [ 6.33529769e-02 9.97991129e-01 -3.26108375e-04 1.46905667e+00] [ 7.48060363e-03 -1.48116809e-04 9.99972009e-01 1.00101912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254154 meters 0.05470769595648687 Centerline is valid? [True, True] Translation: X:29.84, Y:1.49, Z:0.10 [[ 9.99068905e-01 -4.27896941e-02 -5.51053182e-03 2.98442700e+01] [ 4.27890190e-02 9.99084102e-01 -2.40403471e-04 1.49224359e+00] [ 5.51577152e-03 4.38938205e-06 9.99984788e-01 1.03846607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999997 meters 0.05482186216324966 Centerline is valid? [True, True] Translation: X:29.91, Y:1.50, Z:0.11 [[ 9.99421053e-01 -3.38006061e-02 -3.88303751e-03 2.99057646e+01] [ 3.38002030e-02 9.99428596e-01 -1.69406099e-04 1.49986765e+00] [ 3.88654475e-03 3.80605657e-05 9.99992447e-01 1.05007811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999996 meters 0.055596065092250666 Centerline is valid? [True, True] Translation: X:29.97, Y:1.51, Z:0.11 [[ 9.99625908e-01 -2.69997079e-02 -4.36566261e-03 2.99664104e+01] [ 2.69991341e-02 9.99635439e-01 -1.90334343e-04 1.50849002e+00] [ 4.36921003e-03 7.23940298e-05 9.99990452e-01 1.05826500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254154 meters 0.055203022078004434 Centerline is valid? [True, True] Translation: X:30.03, Y:1.51, Z:0.11 [[ 9.99556271e-01 -2.93985462e-02 -4.79434932e-03 3.00277912e+01] [ 2.93978822e-02 9.99567767e-01 -2.08936537e-04 1.50819058e+00] [ 4.79841948e-03 6.79001090e-05 9.99988485e-01 1.05385770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999997 meters 0.05486475849479693 Centerline is valid? [True, True] Translation: X:30.09, Y:1.51, Z:0.10 [[ 9.99391636e-01 -3.43908721e-02 -5.79875974e-03 3.00887983e+01] [ 3.43899857e-02 9.99408458e-01 -2.52529468e-04 1.50761246e+00] [ 5.80401423e-03 5.29565735e-05 9.99983155e-01 1.04803606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999996 meters 0.054882012205697744 Centerline is valid? [True, True] Translation: X:30.15, Y:1.50, Z:0.10 [[ 9.99057275e-01 -4.30047769e-02 -5.92874607e-03 3.01504749e+01] [ 4.30040026e-02 9.99074867e-01 -2.58082824e-04 1.50272009e+00] [ 5.93435998e-03 2.87971164e-06 9.99982392e-01 1.04270262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999998 meters 0.05565097189303941 Centerline is valid? [True, True] Translation: X:30.21, Y:1.49, Z:0.10 [[ 9.98712740e-01 -5.03862281e-02 -5.83869505e-03 3.02127890e+01] [ 5.03856041e-02 9.98729806e-01 -2.54013959e-04 1.49483844e+00] [ 5.84407758e-03 -4.04992005e-05 9.99982922e-01 1.04415222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999997 meters 0.055009704219904906 Centerline is valid? [True, True] Translation: X:30.27, Y:1.49, Z:0.11 [[ 9.98419305e-01 -5.59776280e-02 -5.03958292e-03 3.02745131e+01] [ 5.59772349e-02 9.98432021e-01 -2.19124558e-04 1.48844522e+00] [ 5.04394704e-03 -6.33237283e-05 9.99987277e-01 1.06427096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254154 meters 0.05571395374760786 Centerline is valid? [True, True] Translation: X:30.34, Y:1.48, Z:0.11 [[ 9.98182064e-01 -6.00878247e-02 -4.69253205e-03 3.03357389e+01] [ 6.00875297e-02 9.98193091e-01 -2.03958533e-04 1.48489035e+00] [ 4.69630850e-03 -7.83749097e-05 9.99988969e-01 1.07202458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254154 meters 0.05642231759518932 Centerline is valid? [True, True] Translation: X:30.40, Y:1.48, Z:0.11 [[ 9.98111174e-01 -6.12316615e-02 -4.97680934e-03 3.03986353e+01] [ 6.12313445e-02 9.98123577e-01 -2.16171516e-04 1.47945634e+00] [ 4.98070728e-03 -8.89735222e-05 9.99987592e-01 1.05990986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154000004 meters 0.05534845728163696 Centerline is valid? [True, True] Translation: X:30.46, Y:1.48, Z:0.10 [[ 9.98167937e-01 -6.01519006e-02 -6.52061905e-03 3.04605776e+01] [ 6.01513360e-02 9.98189229e-01 -2.82850749e-04 1.47952127e+00] [ 6.52582571e-03 -1.09891398e-04 9.99978701e-01 1.03954122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters 0.05605461590584864 Centerline is valid? [True, True] Translation: X:30.52, Y:1.48, Z:0.10 [[ 9.98320458e-01 -5.73635166e-02 -8.10489975e-03 3.05221845e+01] [ 5.73625546e-02 9.98353351e-01 -3.51295858e-04 1.48185653e+00] [ 8.11170539e-03 -1.14211913e-04 9.99967093e-01 1.02384400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254154 meters 0.05543530406922862 Centerline is valid? [True, True] Translation: X:30.58, Y:1.49, Z:0.10 [[ 9.98414651e-01 -5.55361108e-02 -9.16111274e-03 3.05846257e+01] [ 5.55348075e-02 9.98456673e-01 -3.96776267e-04 1.48743601e+00] [ 9.16900955e-03 -1.12613394e-04 9.99957957e-01 1.02180353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254154 meters 0.055690826742944316 Centerline is valid? [True, True] Translation: X:30.65, Y:1.49, Z:0.10 [[ 9.98247100e-01 -5.84515931e-02 -9.28109592e-03 3.06461852e+01] [ 5.84503841e-02 9.98290234e-01 -4.01691811e-04 1.49249944e+00] [ 9.28870694e-03 -1.41495936e-04 9.99956849e-01 1.03781492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters 0.055269741972572416 Centerline is valid? [True, True] Translation: X:30.71, Y:1.49, Z:0.10 [[ 9.98030990e-01 -6.18753227e-02 -1.02756192e-02 3.07074600e+01] [ 6.18740242e-02 9.98083868e-01 -4.44528380e-04 1.49304145e+00] [ 1.02834351e-02 -1.92140812e-04 9.99947106e-01 1.03116732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters 0.055828633294452194 Centerline is valid? [True, True] Translation: X:30.77, Y:1.49, Z:0.10 [[ 9.97680157e-01 -6.70126658e-02 -1.19836188e-02 3.07674560e+01] [ 6.70112718e-02 9.97752084e-01 -5.18278103e-04 1.49192514e+00] [ 1.19914118e-02 -2.85961755e-04 9.99928060e-01 1.01265605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254154 meters 0.05633092378576014 Centerline is valid? [True, True] Translation: X:30.83, Y:1.49, Z:0.10 [[ 9.97396791e-01 -7.11101192e-02 -1.19579724e-02 3.08274722e+01] [ 7.11090251e-02 9.97468415e-01 -5.17184367e-04 1.49156909e+00] [ 1.19644768e-02 -3.34481729e-04 9.99928367e-01 1.01759554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters 0.056278210043485405 Centerline is valid? [True, True] Translation: X:30.89, Y:1.50, Z:0.10 [[ 9.97084107e-01 -7.56997986e-02 -9.63456400e-03 3.08882892e+01] [ 7.56993022e-02 9.97130604e-01 -4.16707742e-04 1.49629387e+00] [ 9.63846331e-03 -3.13837105e-04 9.99953500e-01 1.04433204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters 0.057907685304675265 Centerline is valid? [True, True] Translation: X:30.95, Y:1.49, Z:0.10 [[ 9.96912780e-01 -7.79689546e-02 -9.26019112e-03 3.09485144e+01] [ 7.79685956e-02 9.96955735e-01 -4.00327556e-04 1.49146549e+00] [ 9.26321376e-03 -3.22912439e-04 9.99957043e-01 1.04201473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254154 meters 0.05537503012952904 Centerline is valid? [True, True] Translation: X:31.01, Y:1.51, Z:0.11 [[ 9.96835952e-01 -7.90492602e-02 -8.32461016e-03 3.10096626e+01] [ 7.90490124e-02 9.96870666e-01 -3.59306480e-04 1.50790179e+00] [ 8.32696259e-03 -2.99882596e-04 9.99965285e-01 1.05822447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters 0.05578099670150279 Centerline is valid? [True, True] Translation: X:31.07, Y:1.51, Z:0.11 [[ 9.97023178e-01 -7.66858029e-02 -8.00435281e-03 3.10700615e+01] [ 7.66855009e-02 9.97055272e-01 -3.45091998e-04 1.51312642e+00] [ 8.00724582e-03 -2.69753084e-04 9.99967905e-01 1.05570437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters 0.055969817036280255 Centerline is valid? [True, True] Translation: X:31.13, Y:1.52, Z:0.10 [[ 9.97396951e-01 -7.15482346e-02 -8.95393573e-03 3.11289887e+01] [ 7.15476494e-02 9.97437108e-01 -3.86073075e-04 1.51846168e+00] [ 8.95861061e-03 -2.55564947e-04 9.99959838e-01 1.04874811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254154 meters 0.054923687230801675 Centerline is valid? [True, True] Translation: X:31.19, Y:1.53, Z:0.10 [[ 9.97851050e-01 -6.47718688e-02 -9.89376721e-03 3.11894125e+01] [ 6.47708204e-02 9.97900075e-01 -4.26682543e-04 1.53215960e+00] [ 9.90062806e-03 -2.15061796e-04 9.99950964e-01 1.04472014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters 0.055492567674837845 Centerline is valid? [True, True] Translation: X:31.25, Y:1.54, Z:0.10 [[ 9.98163818e-01 -5.98381434e-02 -9.40158461e-03 3.12496342e+01] [ 5.98369780e-02 9.98208080e-01 -4.05445387e-04 1.54218934e+00] [ 9.40899882e-03 -1.57861496e-04 9.99955722e-01 1.04685788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters 0.05542999977129873 Centerline is valid? [True, True] Translation: X:31.31, Y:1.56, Z:0.11 [[ 9.98563553e-01 -5.27288132e-02 -9.51333065e-03 3.13095327e+01] [ 5.27272981e-02 9.98608864e-01 -4.10174473e-04 1.55669626e+00] [ 9.52172433e-03 -9.20269415e-05 9.99954663e-01 1.06515408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254154 meters 0.05448082988222037 Centerline is valid? [True, True] Translation: X:31.37, Y:1.56, Z:0.11 [[ 9.98760490e-01 -4.89768240e-02 -8.87431614e-03 3.13704018e+01] [ 4.89753608e-02 9.98799914e-01 -3.82259625e-04 1.56392951e+00] [ 8.88238806e-03 -5.28370245e-05 9.99960549e-01 1.06151369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154000004 meters 0.055035087519621634 Centerline is valid? [True, True] Translation: X:31.43, Y:1.57, Z:0.11 [[ 9.98932444e-01 -4.57473387e-02 -6.41501970e-03 3.14325544e+01] [ 4.57465092e-02 9.98953042e-01 -2.76056051e-04 1.57363138e+00] [ 6.42093227e-03 -1.77034117e-05 9.99979385e-01 1.09069085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters 0.054731246619705326 Centerline is valid? [True, True] Translation: X:31.49, Y:1.58, Z:0.11 [[ 9.98938320e-01 -4.57679599e-02 -5.24667651e-03 3.14948751e+01] [ 4.57674061e-02 9.98952098e-01 -2.25628254e-04 1.58003014e+00] [ 5.25150505e-03 -1.47380664e-05 9.99986211e-01 1.11332135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254154 meters 0.05500529099023873 Centerline is valid? [True, True] Translation: X:31.56, Y:1.58, Z:0.11 [[ 9.98857677e-01 -4.74960948e-02 -5.24051342e-03 3.15566086e+01] [ 4.74955670e-02 9.98871423e-01 -2.25189721e-04 1.58331890e+00] [ 5.24529473e-03 -2.39686746e-05 9.99986243e-01 1.11045743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154000004 meters 0.05481509177927051 Centerline is valid? [True, True] Translation: X:31.62, Y:1.58, Z:0.11 [[ 9.98633279e-01 -5.18829245e-02 -6.30371705e-03 3.16172246e+01] [ 5.18822494e-02 9.98653172e-01 -2.70679796e-04 1.58397094e+00] [ 6.30927068e-03 -5.67411682e-05 9.99980095e-01 1.10133078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters 0.055354103631171526 Centerline is valid? [True, True] Translation: X:31.68, Y:1.58, Z:0.11 [[ 9.98471640e-01 -5.48521897e-02 -6.75440646e-03 3.16781998e+01] [ 5.48514850e-02 9.98494482e-01 -2.89671323e-04 1.58372803e+00] [ 6.76012669e-03 -8.12606233e-05 9.99977147e-01 1.09587809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254154 meters 0.054774375453702395 Centerline is valid? [True, True] Translation: X:31.74, Y:1.59, Z:0.11 [[ 9.98305922e-01 -5.78421584e-02 -6.29052258e-03 3.17404256e+01] [ 5.78416094e-02 9.98325736e-01 -2.69322972e-04 1.58539537e+00] [ 6.29556881e-03 -9.49872314e-05 9.99980178e-01 1.10585371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154000004 meters 0.05509363972474703 Centerline is valid? [True, True] Translation: X:31.80, Y:1.59, Z:0.11 [[ 9.98353666e-01 -5.69781029e-02 -6.59197234e-03 3.18023760e+01] [ 5.69774826e-02 9.98375424e-01 -2.82011240e-04 1.58877566e+00] [ 6.59733164e-03 -9.40470344e-05 9.99978233e-01 1.11618462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters 0.055565128464920024 Centerline is valid? [True, True] Translation: X:31.86, Y:1.59, Z:0.11 [[ 9.98636386e-01 -5.19085512e-02 -5.55622268e-03 3.18633626e+01] [ 5.19080327e-02 9.98651841e-01 -2.37566088e-04 1.59049867e+00] [ 5.56106372e-03 -5.11704493e-05 9.99984536e-01 1.12736430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254154 meters 0.05512093898597325 Centerline is valid? [True, True] Translation: X:31.93, Y:1.59, Z:0.11 [[ 9.98890028e-01 -4.69295149e-02 -4.04125774e-03 3.19256317e+01] [ 4.69292001e-02 9.98898203e-01 -1.72741181e-04 1.59452750e+00] [ 4.04491176e-03 -1.71035502e-05 9.99991819e-01 1.13479552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154000004 meters 0.05521004335864122 Centerline is valid? [True, True] Translation: X:31.99, Y:1.60, Z:0.11 [[ 9.99210446e-01 -3.95726248e-02 -3.53428821e-03 3.19866851e+01] [ 3.95723383e-02 9.99216697e-01 -1.50972681e-04 1.59872967e+00] [ 3.53749417e-03 1.09934317e-05 9.99993743e-01 1.14636010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters 0.05569252340801116 Centerline is valid? [True, True] Translation: X:32.05, Y:1.60, Z:0.11 [[ 9.99329246e-01 -3.62020182e-02 -5.52006693e-03 3.20483794e+01] [ 3.62012696e-02 9.99344491e-01 -2.35506157e-04 1.60016148e+00] [ 5.52497428e-03 3.55147597e-05 9.99984737e-01 1.13883828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254154 meters 0.055532039429367006 Centerline is valid? [True, True] Translation: X:32.11, Y:1.60, Z:0.11 [[ 9.99271978e-01 -3.75389092e-02 -6.80766884e-03 3.21104626e+01] [ 3.75378044e-02 9.99295166e-01 -2.90033728e-04 1.60057270e+00] [ 6.81375811e-03 3.42776354e-05 9.99976785e-01 1.12563428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254154 meters 0.055887757699240835 Centerline is valid? [True, True] Translation: X:32.17, Y:1.60, Z:0.11 [[ 9.98995633e-01 -4.40262251e-02 -8.33166346e-03 3.21725892e+01] [ 4.40248018e-02 9.99030376e-01 -3.54246924e-04 1.59697967e+00] [ 8.33918103e-03 -1.29087019e-05 9.99965228e-01 1.12975727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters 0.056185154773988714 Centerline is valid? [True, True] Translation: X:32.23, Y:1.59, Z:0.11 [[ 9.98732327e-01 -4.96735033e-02 -8.14137414e-03 3.22342276e+01] [ 4.96723392e-02 9.98765508e-01 -3.45253590e-04 1.59458610e+00] [ 8.14847363e-03 -5.95851763e-05 9.99966799e-01 1.13185257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254154 meters 0.05478520598983194 Centerline is valid? [True, True] Translation: X:32.30, Y:1.59, Z:0.11 [[ 9.98191050e-01 -5.96313841e-02 -7.66330536e-03 3.22951088e+01] [ 5.96306490e-02 9.98220457e-01 -3.24577591e-04 1.59123504e+00] [ 7.66902319e-03 -1.32977425e-04 9.99970584e-01 1.14014859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254154 meters 0.0546454007725975 Centerline is valid? [True, True] Translation: X:32.36, Y:1.59, Z:0.11 [[ 9.97426444e-01 -7.14086386e-02 -6.42610593e-03 3.23558698e+01] [ 7.14083660e-02 9.97447127e-01 -2.72145104e-04 1.58747875e+00] [ 6.42913441e-03 -1.87433001e-04 9.99979315e-01 1.14894742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters 0.05571320272872674 Centerline is valid? [True, True] Translation: X:32.42, Y:1.58, Z:0.12 [[ 9.96457039e-01 -8.39059631e-02 -5.75840278e-03 3.24162610e+01] [ 8.39059527e-02 9.96473648e-01 -2.43822330e-04 1.57932219e+00] [ 5.75855477e-03 -2.40205794e-04 9.99983391e-01 1.15905058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters 0.054256627570576685 Centerline is valid? [True, True] Translation: X:32.48, Y:1.59, Z:0.12 [[ 9.95788598e-01 -9.14847166e-02 -5.96780693e-03 3.24767094e+01] [ 9.14848412e-02 9.95806437e-01 -2.52664761e-04 1.58583534e+00] [ 5.96589552e-03 -2.94363181e-04 9.99982161e-01 1.16706521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254154 meters 0.055647899092770445 Centerline is valid? [True, True] Translation: X:32.54, Y:1.57, Z:0.12 [[ 9.95060572e-01 -9.90185968e-02 -7.05521961e-03 3.25365664e+01] [ 9.90189605e-02 9.95085502e-01 -2.98606384e-04 1.57367231e+00] [ 7.05011433e-03 -4.01469072e-04 9.99975067e-01 1.16243099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters 0.054644167422640035 Centerline is valid? [True, True] Translation: X:32.60, Y:1.58, Z:0.12 [[ 9.94740029e-01 -1.02021929e-01 -9.15423970e-03 3.25972197e+01] [ 1.02022669e-01 9.94781999e-01 -3.87270088e-04 1.58169077e+00] [ 9.14598291e-03 -5.48706910e-04 9.99958024e-01 1.15184812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters 0.05583431692689736 Centerline is valid? [True, True] Translation: X:32.66, Y:1.58, Z:0.11 [[ 9.94975434e-01 -9.95279876e-02 -1.08658077e-02 3.26573700e+01] [ 9.95288831e-02 9.95034567e-01 -4.59647773e-04 1.58259293e+00] [ 1.08576021e-02 -6.24123465e-04 9.99940860e-01 1.14396515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254154 meters 0.056476437498152496 Centerline is valid? [True, True] Translation: X:32.72, Y:1.58, Z:0.11 [[ 9.95441089e-01 -9.47470297e-02 -1.09561959e-02 3.27171253e+01] [ 9.47476514e-02 9.95501214e-01 -4.63471321e-04 1.58307465e+00] [ 1.09508189e-02 -5.76715435e-04 9.99939872e-01 1.14550316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters 0.05741884362895044 Centerline is valid? [True, True] Translation: X:32.78, Y:1.59, Z:0.12 [[ 9.96273572e-01 -8.57499980e-02 -9.26863569e-03 3.27771091e+01] [ 8.57500542e-02 9.96316604e-01 -3.92070478e-04 1.58587106e+00] [ 9.26811567e-03 -4.04176557e-04 9.99956968e-01 1.16485952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters 0.0555784200294158 Centerline is valid? [True, True] Translation: X:32.84, Y:1.60, Z:0.12 [[ 9.96903887e-01 -7.83430383e-02 -6.70883056e-03 3.28376561e+01] [ 7.83429003e-02 9.96926431e-01 -2.83763996e-04 1.60060688e+00] [ 6.71044144e-03 -2.42703813e-04 9.99977455e-01 1.19616202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254154 meters 0.05686983844918845 Centerline is valid? [True, True] Translation: X:32.90, Y:1.60, Z:0.12 [[ 9.97319577e-01 -7.28548194e-02 -6.77034021e-03 3.28971929e+01] [ 7.28545527e-02 9.97342535e-01 -2.86328173e-04 1.60280082e+00] [ 6.77320866e-03 -2.07689416e-04 9.99977040e-01 1.18924204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154000004 meters 0.05625017416407939 Centerline is valid? [True, True] Translation: X:32.96, Y:1.61, Z:0.12 [[ 9.97548555e-01 -6.95703750e-02 -7.53942409e-03 3.29580922e+01] [ 6.95699510e-02 9.97577025e-01 -3.18807623e-04 1.61215465e+00] [ 7.54333581e-03 -2.06491280e-04 9.99971527e-01 1.18329350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters 0.055714882758401876 Centerline is valid? [True, True] Translation: X:33.02, Y:1.62, Z:0.12 [[ 9.98052441e-01 -6.17263862e-02 -9.00994714e-03 3.30175751e+01] [ 6.17254614e-02 9.98093093e-01 -3.80959026e-04 1.61694655e+00] [ 9.01628123e-03 -1.75926058e-04 9.99959337e-01 1.17541881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254154 meters 0.05501284924019625 Centerline is valid? [True, True] Translation: X:33.08, Y:1.63, Z:0.12 [[ 9.98703161e-01 -5.01625323e-02 -8.70155114e-03 3.30781720e+01] [ 5.01612299e-02 9.98741065e-01 -3.67993824e-04 1.62622606e+00] [ 8.70905595e-03 -6.89639119e-05 9.99962073e-01 1.18921942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154000004 meters 0.0562168176564502 Centerline is valid? [True, True] Translation: X:33.14, Y:1.63, Z:0.12 [[ 9.99276248e-01 -3.72715287e-02 -7.60344678e-03 3.31404779e+01] [ 3.72701617e-02 9.99305174e-01 -3.21447298e-04 1.63296613e+00] [ 7.61014454e-03 3.78329583e-05 9.99971042e-01 1.19690161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters 0.056550461853390785 Centerline is valid? [True, True] Translation: X:33.20, Y:1.64, Z:0.12 [[ 9.99535635e-01 -2.97133063e-02 -6.75521047e-03 3.32016740e+01] [ 2.97120560e-02 9.99558459e-01 -2.85386038e-04 1.63801674e+00] [ 6.76070753e-03 8.45423229e-05 9.99977143e-01 1.20371199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254154 meters 0.05769827305980285 Centerline is valid? [True, True] Translation: X:33.26, Y:1.65, Z:0.12 [[ 9.99743622e-01 -2.14523731e-02 -7.24471649e-03 3.32614021e+01] [ 2.14507186e-02 9.99769860e-01 -3.06016080e-04 1.64534045e+00] [ 7.24961397e-03 1.50533249e-04 9.99973710e-01 1.20113376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154000004 meters 0.05751836164470925 Centerline is valid? [True, True] Translation: X:33.32, Y:1.64, Z:0.12 [[ 9.99772191e-01 -1.97681231e-02 -8.04900298e-03 3.33238778e+01] [ 1.97660271e-02 9.99804575e-01 -3.39879966e-04 1.63987400e+00] [ 8.05414879e-03 1.80705727e-04 9.99967548e-01 1.20778819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters 0.05675787103285043 Centerline is valid? [True, True] Translation: X:33.39, Y:1.64, Z:0.12 [[ 9.99717167e-01 -2.22471186e-02 -8.40543358e-03 3.33855006e+01] [ 2.22449229e-02 9.99752488e-01 -3.54638062e-04 1.64157371e+00] [ 8.41124281e-03 1.67559537e-04 9.99964611e-01 1.20366017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254154 meters 0.05706972683083123 Centerline is valid? [True, True] Translation: X:33.45, Y:1.64, Z:0.12 [[ 9.99539495e-01 -2.91411609e-02 -8.46110943e-03 3.34458490e+01] [ 2.91391841e-02 9.99575300e-01 -3.56852507e-04 1.63550446e+00] [ 8.46791509e-03 1.10138350e-04 9.99964140e-01 1.20796564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154000004 meters 0.056541989267247274 Centerline is valid? [True, True] Translation: X:33.51, Y:1.63, Z:0.12 [[ 9.99341899e-01 -3.54408958e-02 -7.72729354e-03 3.35082454e+01] [ 3.54394360e-02 9.99371773e-01 -3.25804833e-04 1.62812275e+00] [ 7.73398585e-03 5.17394960e-05 9.99970091e-01 1.21798159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters 0.05712428643319891 Centerline is valid? [True, True] Translation: X:33.57, Y:1.62, Z:0.12 [[ 9.99095936e-01 -4.18195375e-02 -7.64444814e-03 3.35702821e+01] [ 4.18182997e-02 9.99125180e-01 -3.21767531e-04 1.62280906e+00] [ 7.65121679e-03 1.79880926e-06 9.99970729e-01 1.21586608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254154 meters 0.05641235562112115 Centerline is valid? [True, True] Translation: X:33.63, Y:1.61, Z:0.12 [[ 9.98665715e-01 -5.09302452e-02 -8.53813615e-03 3.36317676e+01] [ 5.09290426e-02 9.98702210e-01 -3.58354978e-04 1.61212245e+00] [ 8.54530655e-03 -7.69622696e-05 9.99963485e-01 1.20614016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254154 meters 0.056736026318475935 Centerline is valid? [True, True] Translation: X:33.69, Y:1.60, Z:0.12 [[ 9.98068972e-01 -6.13976081e-02 -9.41601949e-03 3.36927701e+01] [ 6.13966155e-02 9.98113370e-01 -3.94715115e-04 1.60366883e+00] [ 9.42248951e-03 -1.84158820e-04 9.99955590e-01 1.20535303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters 0.056602173829248446 Centerline is valid? [True, True] Translation: X:33.75, Y:1.60, Z:0.12 [[ 9.97161494e-01 -7.45118756e-02 -1.08136243e-02 3.37536691e+01] [ 7.45113367e-02 9.97220064e-01 -4.53267627e-04 1.60258306e+00] [ 1.08173370e-02 -3.53756580e-04 9.99941428e-01 1.21488570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254154 meters 0.05796221185097412 Centerline is valid? [True, True] Translation: X:33.81, Y:1.59, Z:0.12 [[ 9.96501391e-01 -8.28284283e-02 -1.11547645e-02 3.38140253e+01] [ 8.28283748e-02 9.96563717e-01 -4.67575660e-04 1.59302761e+00] [ 1.11551621e-02 -4.57991220e-04 9.99937674e-01 1.19868772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254154 meters 0.056173964544789866 Centerline is valid? [True, True] Translation: X:33.87, Y:1.60, Z:0.12 [[ 9.95675210e-01 -9.21987856e-02 -1.14131434e-02 3.38746792e+01] [ 9.21993434e-02 9.95740454e-01 -4.78397882e-04 1.59682287e+00] [ 1.14086363e-02 -5.75955418e-04 9.99934754e-01 1.20929562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters 0.056913328609947834 Centerline is valid? [True, True] Translation: X:33.93, Y:1.60, Z:0.12 [[ 9.95252766e-01 -9.65745048e-02 -1.20539335e-02 3.39343937e+01] [ 9.65754480e-02 9.95325539e-01 -5.05169657e-04 1.59599406e+00] [ 1.20463744e-02 -6.61342533e-04 9.99927221e-01 1.20946438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599254154 meters 0.056100147896945896 Centerline is valid? [True, True] Translation: X:34.00, Y:1.60, Z:0.12 [[ 9.95206523e-01 -9.70923767e-02 -1.17066958e-02 3.39963120e+01] [ 9.70933128e-02 9.95275162e-01 -4.89697411e-04 1.60453549e+00] [ 1.16989294e-02 -6.49291817e-04 9.99931354e-01 1.22021463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254154 meters 0.05538853733005009 Centerline is valid? [True, True] Translation: X:34.06, Y:1.61, Z:0.12 [[ 9.95329284e-01 -9.60775316e-02 -9.41938600e-03 3.40577718e+01] [ 9.60780969e-02 9.95373721e-01 -3.93522821e-04 1.60928973e+00] [ 9.41361799e-03 -5.13311894e-04 9.99955559e-01 1.23686739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters 0.056357526465202055 Centerline is valid? [True, True] Translation: X:34.12, Y:1.61, Z:0.12 [[ 9.95678570e-01 -9.24596388e-02 -8.68339952e-03 3.41177754e+01] [ 9.24599827e-02 9.95716335e-01 -3.62689004e-04 1.60988202e+00] [ 8.67973684e-03 -4.41745300e-04 9.99962233e-01 1.24585472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters 0.05672092942791108 Centerline is valid? [True, True] Translation: X:34.18, Y:1.62, Z:0.12 [[ 9.96027516e-01 -8.85632489e-02 -9.25948138e-03 3.41782995e+01] [ 8.85634722e-02 9.96070460e-01 -3.86716727e-04 1.61515877e+00] [ 9.25734476e-03 -4.34871321e-04 9.99957055e-01 1.24214803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254154 meters 0.05841479613999174 Centerline is valid? [True, True] Translation: X:34.24, Y:1.62, Z:0.12 [[ 9.96651386e-01 -8.10804504e-02 -1.05818189e-02 3.42378371e+01] [ 8.10803212e-02 9.96707473e-01 -4.41920255e-04 1.61500608e+00] [ 1.05828091e-02 -4.17536840e-04 9.99943913e-01 1.22593350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters 0.056819864413550865 Centerline is valid? [True, True] Translation: X:34.30, Y:1.63, Z:0.12 [[ 9.97374221e-01 -7.16994271e-02 -1.01909232e-02 3.42979156e+01] [ 7.16988179e-02 9.97426237e-01 -4.25593408e-04 1.63286589e+00] [ 1.01952090e-02 -3.06201255e-04 9.99947981e-01 1.24141526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters 0.05604088209997017 Centerline is valid? [True, True] Translation: X:34.36, Y:1.65, Z:0.12 [[ 9.97961469e-01 -6.29171320e-02 -1.06929934e-02 3.43577254e+01] [ 6.29159571e-02 9.98018729e-01 -4.46562258e-04 1.64868608e+00] [ 1.06999041e-02 -2.27107986e-04 9.99942729e-01 1.24992436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254154 meters 0.056382857826846426 Centerline is valid? [True, True] Translation: X:34.42, Y:1.66, Z:0.12 [[ 9.98290932e-01 -5.73048633e-02 -1.14616045e-02 3.44171620e+01] [ 5.73031435e-02 9.98356710e-01 -4.78664805e-04 1.65516547e+00] [ 1.14701995e-02 -1.78939231e-04 9.99934199e-01 1.24804202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters 0.05544304587874779 Centerline is valid? [True, True] Translation: X:34.48, Y:1.66, Z:0.13 [[ 9.98756872e-01 -4.87773998e-02 -1.02701649e-02 3.44773616e+01] [ 4.87755688e-02 9.98809672e-01 -4.28835471e-04 1.66401098e+00] [ 1.02788575e-02 -7.26307594e-05 9.99947169e-01 1.25555252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters 0.05600976846820961 Centerline is valid? [True, True] Translation: X:34.54, Y:1.67, Z:0.13 [[ 9.99150581e-01 -4.03902305e-02 -8.16978559e-03 3.45389814e+01] [ 4.03887931e-02 9.99183982e-01 -3.40919705e-04 1.67201042e+00] [ 8.17688872e-03 1.06623409e-05 9.99966569e-01 1.27704652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254154 meters 0.05603016960315485 Centerline is valid? [True, True] Translation: X:34.60, Y:1.68, Z:0.13 [[ 9.99387623e-01 -3.44018563e-02 -6.39467182e-03 3.45998723e+01] [ 3.44008543e-02 9.99408080e-01 -2.66653672e-04 1.67795303e+00] [ 6.40006007e-03 4.65082062e-05 9.99979518e-01 1.29455808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154000004 meters 0.056074775080721666 Centerline is valid? [True, True] Translation: X:34.66, Y:1.68, Z:0.13 [[ 9.99422942e-01 -3.34315247e-02 -6.00962047e-03 3.46620955e+01] [ 3.34306232e-02 9.99441009e-01 -2.50431859e-04 1.67832987e+00] [ 6.01463347e-03 4.93819874e-05 9.99981911e-01 1.29659495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters 0.0565357459770401 Centerline is valid? [True, True] Translation: X:34.72, Y:1.68, Z:0.13 [[ 9.99283916e-01 -3.69039392e-02 -8.35195160e-03 3.47239027e+01] [ 3.69023220e-02 9.99318817e-01 -3.47697728e-04 1.67727073e+00] [ 8.35909381e-03 3.92423395e-05 9.99965061e-01 1.27255036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254154 meters 0.05577787540670723 Centerline is valid? [True, True] Translation: X:34.79, Y:1.67, Z:0.13 [[ 9.98960432e-01 -4.43744041e-02 -1.04387066e-02 3.47861447e+01] [ 4.43722903e-02 9.99014971e-01 -4.34127267e-04 1.67404015e+00] [ 1.04476883e-02 -2.95133553e-05 9.99945421e-01 1.26093826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154000004 meters 0.056544530421225224 Centerline is valid? [True, True] Translation: X:34.85, Y:1.67, Z:0.13 [[ 9.98558216e-01 -5.26788995e-02 -1.03161625e-02 3.48473706e+01] [ 5.26772868e-02 9.98611496e-01 -4.28175130e-04 1.67002661e+00] [ 1.03243942e-02 -1.15869655e-04 9.99946695e-01 1.26613996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters 0.055890720090702804 Centerline is valid? [True, True] Translation: X:34.91, Y:1.67, Z:0.13 [[ 9.98281257e-01 -5.79288012e-02 -8.87609091e-03 3.49080237e+01] [ 5.79278183e-02 9.98320706e-01 -3.67995259e-04 1.67070924e+00] [ 8.88250287e-03 -1.46809812e-04 9.99960539e-01 1.28896293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254154 meters 0.05671092383522391 Centerline is valid? [True, True] Translation: X:34.97, Y:1.67, Z:0.13 [[ 9.97776003e-01 -6.62019729e-02 -7.76829824e-03 3.49681036e+01] [ 6.62014719e-02 9.97806224e-01 -3.21895661e-04 1.66558077e+00] [ 7.77256646e-03 -1.93093011e-04 9.99969775e-01 1.29447871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154000004 meters 0.056266533542980675 Centerline is valid? [True, True] Translation: X:35.03, Y:1.67, Z:0.13 [[ 9.97163129e-01 -7.48754577e-02 -7.70455726e-03 3.50289368e+01] [ 7.48752248e-02 9.97192859e-01 -3.19070792e-04 1.66544323e+00] [ 7.70682006e-03 -2.58714828e-04 9.99970269e-01 1.30049016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters 0.05734730023474294 Centerline is valid? [True, True] Translation: X:35.09, Y:1.66, Z:0.13 [[ 9.96438239e-01 -8.38535200e-02 -8.91193044e-03 3.50892500e+01] [ 8.38535672e-02 9.96478019e-01 -3.69022519e-04 1.65779621e+00] [ 8.91148663e-03 -3.79589008e-04 9.99960220e-01 1.28476690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254154 meters 0.05604112404855947 Centerline is valid? [True, True] Translation: X:35.15, Y:1.67, Z:0.13 [[ 9.95882594e-01 -9.00855662e-02 -1.01217166e-02 3.51489899e+01] [ 9.00859483e-02 9.95933907e-01 -4.19091728e-04 1.66945024e+00] [ 1.01183149e-02 -4.94458283e-04 9.99948686e-01 1.29225969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254154 meters 0.056140128133815186 Centerline is valid? [True, True] Translation: X:35.21, Y:1.67, Z:0.13 [[ 9.95014644e-01 -9.89725882e-02 -1.22591088e-02 3.52090960e+01] [ 9.89738219e-02 9.95089908e-01 -5.07507847e-04 1.66636745e+00] [ 1.22491448e-02 -7.08353113e-04 9.99924726e-01 1.27789247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters 0.05726723244937225 Centerline is valid? [True, True] Translation: X:35.27, Y:1.67, Z:0.13 [[ 9.94504697e-01 -1.03902782e-01 -1.28304100e-02 3.52686360e+01] [ 1.03904541e-01 9.94587132e-01 -5.31194343e-04 1.66677918e+00] [ 1.28161533e-02 -8.04862604e-04 9.99917546e-01 1.27290641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254154 meters 0.055166606161349656 Centerline is valid? [True, True] Translation: X:35.33, Y:1.69, Z:0.13 [[ 9.94520750e-01 -1.03833204e-01 -1.21302885e-02 3.53303714e+01] [ 1.03834784e-01 9.94594433e-01 -5.01137465e-04 1.69342780e+00] [ 1.21167522e-02 -7.61154283e-04 9.99926300e-01 1.30633323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254154 meters 0.05461691035697287 Centerline is valid? [True, True] Translation: X:35.39, Y:1.70, Z:0.13 [[ 9.94881836e-01 -1.00384530e-01 -1.15359947e-02 3.53898839e+01] [ 1.00385734e-01 9.94948480e-01 -4.76088991e-04 1.70028652e+00] [ 1.15255123e-02 -6.84397007e-04 9.99933345e-01 1.32072663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters 0.05630592313390788 Centerline is valid? [True, True] Translation: X:35.45, Y:1.69, Z:0.13 [[ 9.95053168e-01 -9.86309577e-02 -1.18797308e-02 3.54499635e+01] [ 9.86321099e-02 9.95123845e-01 -4.90278507e-04 1.69086339e+00] [ 1.18701600e-02 -6.83869732e-04 9.99929313e-01 1.30820884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099254154 meters 0.055665463175176955 Centerline is valid? [True, True] Translation: X:35.51, Y:1.70, Z:0.13 [[ 9.95476845e-01 -9.42899893e-02 -1.16296824e-02 3.55101739e+01] [ 9.42907984e-02 9.95544582e-01 -4.79932688e-04 1.70430972e+00] [ 1.16231201e-02 -6.18810157e-04 9.99932258e-01 1.31349594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254154 meters 0.05520177845620185 Centerline is valid? [True, True] Translation: X:35.57, Y:1.71, Z:0.13 [[ 9.95822966e-01 -9.06849295e-02 -1.06237796e-02 3.55701553e+01] [ 9.06854001e-02 9.95879494e-01 -4.38414186e-04 1.71271425e+00] [ 1.06197618e-02 -5.26838788e-04 9.99943470e-01 1.32982085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters 0.05502103734692117 Centerline is valid? [True, True] Translation: X:35.63, Y:1.73, Z:0.13 [[ 9.96387082e-01 -8.44179532e-02 -9.29472944e-03 3.56301422e+01] [ 8.44180413e-02 9.96430352e-01 -3.83552137e-04 1.72545094e+00] [ 9.29392922e-03 -4.02476459e-04 9.99956730e-01 1.34911541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279254154 meters 0.0556118880182919 Centerline is valid? [True, True] Translation: X:35.69, Y:1.73, Z:0.13 [[ 9.96896895e-01 -7.82078407e-02 -8.95061203e-03 3.56904276e+01] [ 7.82076730e-02 9.96937021e-01 -3.69288317e-04 1.73258275e+00] [ 8.95207774e-03 -3.31864162e-04 9.99959874e-01 1.34719781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254154 meters 0.0560390977604354 Centerline is valid? [True, True] Translation: X:35.75, Y:1.74, Z:0.13 [[ 9.97687087e-01 -6.73402955e-02 -9.26076122e-03 3.57496382e+01] [ 6.73396483e-02 9.97730037e-01 -3.82039453e-04 1.74010257e+00] [ 9.26546628e-03 -2.42460574e-04 9.99957045e-01 1.34240809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters 0.056350437555542934 Centerline is valid? [True, True] Translation: X:35.81, Y:1.75, Z:0.13 [[ 9.98317738e-01 -5.72522265e-02 -9.15842581e-03 3.58092538e+01] [ 5.72511689e-02 9.98359735e-01 -3.77818861e-04 1.74514780e+00] [ 9.16503453e-03 -1.47147313e-04 9.99957989e-01 1.33598721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters 0.05673791038998678 Centerline is valid? [True, True] Translation: X:35.87, Y:1.76, Z:0.14 [[ 9.98637695e-01 -5.14935764e-02 -8.43594669e-03 3.58695786e+01] [ 5.14924738e-02 9.98673322e-01 -3.47995781e-04 1.76049705e+00] [ 8.44267445e-03 -8.68660589e-05 9.99964356e-01 1.36368793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254154 meters 0.05655654626292095 Centerline is valid? [True, True] Translation: X:35.93, Y:1.77, Z:0.14 [[ 9.99132293e-01 -4.07203714e-02 -8.74710404e-03 3.59309278e+01] [ 4.07187744e-02 9.99170582e-01 -3.60654068e-04 1.77010137e+00] [ 8.75453500e-03 4.16976986e-06 9.99961678e-01 1.35623321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters 0.05619024329314293 Centerline is valid? [True, True] Translation: X:35.99, Y:1.79, Z:0.14 [[ 9.99561264e-01 -2.85193633e-02 -7.99532893e-03 3.59903615e+01] [ 2.85176395e-02 9.99593235e-01 -3.29538767e-04 1.78506475e+00] [ 8.00147495e-03 1.01386279e-04 9.99967983e-01 1.35172403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters 0.05711658632582042 Centerline is valid? [True, True] Translation: X:36.05, Y:1.79, Z:0.14 [[ 9.99798373e-01 -1.93874627e-02 -5.22873156e-03 3.60510225e+01] [ 1.93866007e-02 9.99812039e-01 -2.15496641e-04 1.78825592e+00] [ 5.23192670e-03 1.14085860e-04 9.99986307e-01 1.37958152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254154 meters 0.0572807674993601 Centerline is valid? [True, True] Translation: X:36.11, Y:1.79, Z:0.14 [[ 9.99834273e-01 -1.74570319e-02 -5.16522189e-03 3.61128229e+01] [ 1.74561653e-02 9.99847607e-01 -2.12807296e-04 1.78650936e+00] [ 5.16814973e-03 1.22607061e-04 9.99986638e-01 1.38507950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154000004 meters 0.05727733258733355 Centerline is valid? [True, True] Translation: X:36.17, Y:1.79, Z:0.14 [[ 9.99736890e-01 -2.19798945e-02 -6.56004107e-03 3.61727655e+01] [ 2.19785949e-02 9.99758405e-01 -2.70139654e-04 1.79082791e+00] [ 6.56439384e-03 1.25888092e-04 9.99978446e-01 1.36757426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters 0.056476249835554757 Centerline is valid? [True, True] Translation: X:36.23, Y:1.78, Z:0.14 [[ 9.99390395e-01 -3.39787488e-02 -8.01772759e-03 3.62335282e+01] [ 3.39771934e-02 9.99422554e-01 -3.30167682e-04 1.77978067e+00] [ 8.02431647e-03 5.75465289e-05 9.99967803e-01 1.35853518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254154 meters 0.05591875299283512 Centerline is valid? [True, True] Translation: X:36.30, Y:1.77, Z:0.14 [[ 9.98760731e-01 -4.92706696e-02 -7.02874185e-03 3.62964326e+01] [ 4.92698552e-02 9.98785461e-01 -2.89079029e-04 1.76663305e+00] [ 7.03444829e-03 -5.75843107e-05 9.99975256e-01 1.36096474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154000004 meters 0.0555995511545305 Centerline is valid? [True, True] Translation: X:36.36, Y:1.76, Z:0.14 [[ 9.98249251e-01 -5.89408304e-02 -4.94078582e-03 3.63573139e+01] [ 5.89405479e-02 9.98261474e-01 -2.02877682e-04 1.76479213e+00] [ 4.94415391e-03 -8.86901293e-05 9.99987774e-01 1.38126224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters 0.05577661583532969 Centerline is valid? [True, True] Translation: X:36.42, Y:1.75, Z:0.14 [[ 9.97520842e-01 -7.02384560e-02 -4.32780023e-03 3.64173753e+01] [ 7.02383455e-02 9.97530222e-01 -1.77699889e-04 1.75331144e+00] [ 4.32959289e-03 -1.26718185e-04 9.99990619e-01 1.38841190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254154 meters 0.05720123489611719 Centerline is valid? [True, True] Translation: X:36.48, Y:1.75, Z:0.14 [[ 9.97162164e-01 -7.51676708e-02 -4.17607020e-03 3.64790559e+01] [ 7.51676112e-02 9.97170899e-01 -1.71445648e-04 1.74763137e+00] [ 4.17714284e-03 -1.42946108e-04 9.99991265e-01 1.38503290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154000004 meters 0.05677793803732349 Centerline is valid? [True, True] Translation: X:36.54, Y:1.74, Z:0.14 [[ 9.96841341e-01 -7.92860471e-02 -4.58950494e-03 3.65395722e+01] [ 7.92860191e-02 9.96851891e-01 -1.88336911e-04 1.74497647e+00] [ 4.58998916e-03 -1.76141557e-04 9.99989450e-01 1.37817361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters 0.055502980801461016 Centerline is valid? [True, True] Translation: X:36.60, Y:1.75, Z:0.14 [[ 9.96733261e-01 -8.04225358e-02 -7.41765657e-03 3.66014931e+01] [ 8.04224949e-02 9.96760819e-01 -3.04275551e-04 1.75182556e+00] [ 7.41810005e-03 -2.93264885e-04 9.99972443e-01 1.36427318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254154 meters 0.055712448350174644 Centerline is valid? [True, True] Translation: X:36.66, Y:1.75, Z:0.14 [[ 9.96740324e-01 -8.00493496e-02 -1.00412727e-02 3.66646483e+01] [ 8.00492661e-02 9.96790824e-01 -4.10876341e-04 1.75442257e+00] [ 1.00419389e-02 -3.94259492e-04 9.99949501e-01 1.35841637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254154 meters 0.06088175190419259 Centerline is valid? [True, True] Translation: X:36.73, Y:1.73, Z:0.13 [[ 9.96755089e-01 -7.96981152e-02 -1.12916980e-02 3.67272103e+01] [ 7.96979989e-02 9.96818949e-01 -4.60992164e-04 1.73310580e+00] [ 1.12925188e-02 -4.40429452e-04 9.99936140e-01 1.31881882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters 0.05556124385680181 Centerline is valid? [True, True] Translation: X:36.79, Y:1.76, Z:0.14 [[ 9.96753550e-01 -7.98715987e-02 -1.01433469e-02 3.67896705e+01] [ 7.98715196e-02 9.96805081e-01 -4.13539495e-04 1.75660050e+00] [ 1.01439698e-02 -3.97967569e-04 9.99948469e-01 1.36390504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254154 meters 0.05595846417557967 Centerline is valid? [True, True] Translation: X:36.85, Y:1.76, Z:0.14 [[ 9.96850145e-01 -7.88361222e-02 -8.64028578e-03 3.68511429e+01] [ 7.88360290e-02 9.96887535e-01 -3.51912148e-04 1.76214383e+00] [ 8.64113658e-03 -3.30362145e-04 9.99962610e-01 1.37524414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254154 meters 0.055976279465600465 Centerline is valid? [True, True] Translation: X:36.91, Y:1.77, Z:0.14 [[ 9.97015969e-01 -7.68569984e-02 -7.22217309e-03 3.69104721e+01] [ 7.68568820e-02 9.97042092e-01 -2.94066688e-04 1.76569918e+00] [ 7.22341165e-03 -2.61884521e-04 9.99973877e-01 1.38430448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters 0.05572558188685278 Centerline is valid? [True, True] Translation: X:36.97, Y:1.77, Z:0.14 [[ 9.97002586e-01 -7.70788567e-02 -6.68533890e-03 3.69725327e+01] [ 7.70787638e-02 9.97024970e-01 -2.71937146e-04 1.77001543e+00] [ 6.68641042e-03 -2.44175620e-04 9.99977616e-01 1.39577069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599254154 meters 0.054996943592304226 Centerline is valid? [True, True] Translation: X:37.03, Y:1.78, Z:0.14 [[ 9.96730275e-01 -8.05254378e-02 -6.66430567e-03 3.70331678e+01] [ 8.05254253e-02 9.96752518e-01 -2.70646288e-04 1.77948581e+00] [ 6.66445737e-03 -2.66884699e-04 9.99977757e-01 1.39517331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254154 meters 0.056658366866057526 Centerline is valid? [True, True] Translation: X:37.09, Y:1.78, Z:0.14 [[ 9.96475934e-01 -8.34573678e-02 -8.40125263e-03 3.70932734e+01] [ 8.34574517e-02 9.96511283e-01 -3.41203193e-04 1.77693970e+00] [ 8.40041896e-03 -3.61146365e-04 9.99964651e-01 1.39019765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters 0.05591297307022668 Centerline is valid? [True, True] Translation: X:37.16, Y:1.78, Z:0.14 [[ 9.96473417e-01 -8.34763763e-02 -8.51024031e-03 3.71553222e+01] [ 8.34764672e-02 9.96509689e-01 -3.45154235e-04 1.78133643e+00] [ 8.50934915e-03 -3.66467777e-04 9.99963728e-01 1.38957989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779254154 meters 0.056484622106087706 Centerline is valid? [True, True] Translation: X:37.21, Y:1.79, Z:0.14 [[ 9.96743768e-01 -8.02468744e-02 -7.89304144e-03 3.72147325e+01] [ 8.02468544e-02 9.96774970e-01 -3.19753043e-04 1.78590771e+00] [ 7.89324532e-03 -3.14679895e-04 9.99968798e-01 1.38970387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254154 meters 0.05765312489739804 Centerline is valid? [True, True] Translation: X:37.27, Y:1.79, Z:0.14 [[ 9.97347339e-01 -7.24602409e-02 -6.91372049e-03 3.72747433e+01] [ 7.24600385e-02 9.97371277e-01 -2.80086088e-04 1.78980186e+00] [ 6.91584134e-03 -2.21625339e-04 9.99976061e-01 1.39049616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters 0.05647661315758172 Centerline is valid? [True, True] Translation: X:37.34, Y:1.80, Z:0.14 [[ 9.97583452e-01 -6.91771965e-02 -6.46316250e-03 3.73357944e+01] [ 6.91769510e-02 9.97604371e-01 -2.61789318e-04 1.79545210e+00] [ 6.46578901e-03 -1.85945184e-04 9.99979079e-01 1.39144646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959254154 meters 0.05554898920937631 Centerline is valid? [True, True] Translation: X:37.40, Y:1.82, Z:0.14 [[ 9.98243004e-01 -5.89689794e-02 -5.79349488e-03 3.73955466e+01] [ 5.89686104e-02 9.98259810e-01 -2.34639896e-04 1.81604167e+00] [ 5.79724958e-03 -1.07406708e-04 9.99983190e-01 1.40994042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254154 meters 0.05531694827099577 Centerline is valid? [True, True] Translation: X:37.46, Y:1.82, Z:0.14 [[ 9.98725242e-01 -5.01713096e-02 -5.54357787e-03 3.74558921e+01] [ 5.01708361e-02 9.98740625e-01 -2.24522586e-04 1.82388636e+00] [ 5.54786103e-03 -5.38895631e-05 9.99984609e-01 1.41462939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters 0.05509843171933584 Centerline is valid? [True, True] Translation: X:37.52, Y:1.83, Z:0.14 [[ 9.98958298e-01 -4.51645049e-02 -6.51821913e-03 3.75181390e+01] [ 4.51637444e-02 9.98979563e-01 -2.63896599e-04 1.83059021e+00] [ 6.52348646e-03 -3.07654849e-05 9.99978721e-01 1.40482034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters 0.055134010311828054 Centerline is valid? [True, True] Translation: X:37.58, Y:1.83, Z:0.14 [[ 9.99000048e-01 -4.41488593e-02 -7.05560743e-03 3.75789580e+01] [ 4.41479447e-02 9.99024963e-01 -2.85400121e-04 1.83425808e+00] [ 7.06132804e-03 -2.63758316e-05 9.99975068e-01 1.39948678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254154 meters 0.055386955529435705 Centerline is valid? [True, True] Translation: X:37.64, Y:1.84, Z:0.14 [[ 9.98967394e-01 -4.48947926e-02 -6.97160421e-03 3.76409798e+01] [ 4.48939210e-02 9.98991720e-01 -2.81542121e-04 1.83628707e+00] [ 6.97721466e-03 -3.17312493e-05 9.99975658e-01 1.39399387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154000004 meters 0.054647920506653305 Centerline is valid? [True, True] Translation: X:37.70, Y:1.84, Z:0.14 [[ 9.98768269e-01 -4.91861212e-02 -6.53221148e-03 3.77034051e+01] [ 4.91854526e-02 9.98789629e-01 -2.63062944e-04 1.83963173e+00] [ 6.53724413e-03 -5.85508564e-05 9.99978630e-01 1.40972503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters 0.055015094203650916 Centerline is valid? [True, True] Translation: X:37.76, Y:1.84, Z:0.14 [[ 9.98433151e-01 -5.55559737e-02 -6.69151321e-03 3.77646089e+01] [ 5.55554184e-02 9.98455569e-01 -2.68978437e-04 1.84182202e+00] [ 6.69612199e-03 -1.03192827e-04 9.99977575e-01 1.40796041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254154 meters 0.0562763153907603 Centerline is valid? [True, True] Translation: X:37.82, Y:1.84, Z:0.14 [[ 9.98009100e-01 -6.27702327e-02 -6.14284306e-03 3.78245715e+01] [ 6.27699016e-02 9.98027995e-01 -2.46878761e-04 1.83672185e+00] [ 6.14622598e-03 -1.39198404e-04 9.99981102e-01 1.39748910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154000004 meters 0.05555947354245589 Centerline is valid? [True, True] Translation: X:37.89, Y:1.84, Z:0.14 [[ 9.97739516e-01 -6.69524127e-02 -5.76472550e-03 3.78853576e+01] [ 6.69521907e-02 9.97756158e-01 -2.31701131e-04 1.83955167e+00] [ 5.76730331e-03 -1.54783626e-04 9.99983357e-01 1.40566197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters 0.055063058007874754 Centerline is valid? [True, True] Translation: X:37.95, Y:1.84, Z:0.14 [[ 9.97400566e-01 -7.18550541e-02 -5.38173796e-03 3.79463300e+01] [ 7.18549319e-02 9.97415070e-01 -2.16291738e-04 1.84196102e+00] [ 5.38336820e-03 -1.70974913e-04 9.99985495e-01 1.39779433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254154 meters 0.054300519936395425 Centerline is valid? [True, True] Translation: X:38.01, Y:1.84, Z:0.14 [[ 9.97201668e-01 -7.45871034e-02 -5.05938190e-03 3.80068579e+01] [ 7.45870306e-02 9.97214487e-01 -2.03317681e-04 1.84424536e+00] [ 5.06045381e-03 -1.74615542e-04 9.99987181e-01 1.40123222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154000004 meters 0.05432233653483985 Centerline is valid? [True, True] Translation: X:38.07, Y:1.85, Z:0.14 [[ 9.96921100e-01 -7.82521816e-02 -4.99160249e-03 3.80668987e+01] [ 7.82521569e-02 9.96933578e-01 -2.00556628e-04 1.84734053e+00] [ 4.99199013e-03 -1.90664527e-04 9.99987522e-01 1.40242278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters 0.054091310745232275 Centerline is valid? [True, True] Translation: X:38.13, Y:1.85, Z:0.14 [[ 9.96648449e-01 -8.15761221e-02 -6.09961997e-03 3.81276188e+01] [ 8.15761475e-02 9.96667082e-01 -2.45039385e-04 1.85224681e+00] [ 6.09927980e-03 -2.53365375e-04 9.99981367e-01 1.40442984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254154 meters 0.05360827214642395 Centerline is valid? [True, True] Translation: X:38.19, Y:1.86, Z:0.14 [[ 9.96399514e-01 -8.43927837e-02 -8.11586933e-03 3.81885930e+01] [ 8.43929222e-02 9.96432501e-01 -3.26011380e-04 1.85653878e+00] [ 8.11442898e-03 -3.60084348e-04 9.99967013e-01 1.39585168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254154 meters 0.05497239181298888 Centerline is valid? [True, True] Translation: X:38.25, Y:1.86, Z:0.14 [[ 9.96273261e-01 -8.57869342e-02 -8.95494225e-03 3.82499404e+01] [ 8.57871599e-02 9.96313422e-01 -3.59622947e-04 1.85826464e+00] [ 8.95278010e-03 -4.09936337e-04 9.99959839e-01 1.39299833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters 0.053838328014516754 Centerline is valid? [True, True] Translation: X:38.31, Y:1.86, Z:0.14 [[ 9.96228977e-01 -8.62709076e-02 -9.22794174e-03 3.83119832e+01] [ 8.62711740e-02 9.96271623e-01 -3.69934174e-04 1.86264541e+00] [ 9.22545106e-03 -4.27566223e-04 9.99957353e-01 1.39651944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254154 meters 0.05400145227412125 Centerline is valid? [True, True] Translation: X:38.37, Y:1.87, Z:0.14 [[ 9.96433715e-01 -8.39383092e-02 -8.61459238e-03 3.83727354e+01] [ 8.39384581e-02 9.96470881e-01 -3.44907804e-04 1.87131225e+00] [ 8.61314144e-03 -3.79417838e-04 9.99962834e-01 1.40460373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254154 meters 0.05308428084363732 Centerline is valid? [True, True] Translation: X:38.43, Y:1.88, Z:0.14 [[ 9.96887119e-01 -7.85700027e-02 -6.54419731e-03 3.84330131e+01] [ 7.85699732e-02 9.96908567e-01 -2.61988817e-04 1.88064499e+00] [ 6.54455083e-03 -2.53004131e-04 9.99978552e-01 1.41707978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters 0.05377582187225203 Centerline is valid? [True, True] Translation: X:38.49, Y:1.88, Z:0.14 [[ 9.97299262e-01 -7.32625606e-02 -5.17479994e-03 3.84923168e+01] [ 7.32624708e-02 9.97312673e-01 -2.07169895e-04 1.88163389e+00] [ 5.17607136e-03 -1.72508246e-04 9.99986589e-01 1.43255339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099254154 meters 0.054246528992564304 Centerline is valid? [True, True] Translation: X:38.55, Y:1.89, Z:0.14 [[ 9.97830790e-01 -6.56716746e-02 -4.57657393e-03 3.85515172e+01] [ 6.56715243e-02 9.97841279e-01 -1.83258894e-04 1.88613889e+00] [ 4.57872930e-03 -1.17689219e-04 9.99989511e-01 1.44067506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254154 meters 0.054464113346140534 Centerline is valid? [True, True] Translation: X:38.61, Y:1.89, Z:0.14 [[ 9.98265284e-01 -5.84978397e-02 -6.66526330e-03 3.86121922e+01] [ 5.84973605e-02 9.98287527e-01 -2.66996517e-04 1.89328830e+00] [ 6.66946793e-03 -1.23366956e-04 9.99977751e-01 1.42369889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters 0.05523096058360911 Centerline is valid? [True, True] Translation: X:38.67, Y:1.90, Z:0.14 [[ 9.98529872e-01 -5.36181157e-02 -7.94935043e-03 3.86731456e+01] [ 5.36172792e-02 9.98561508e-01 -3.18467333e-04 1.89895593e+00] [ 7.95499098e-03 -1.08223396e-04 9.99968353e-01 1.41902306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279254154 meters 0.055125389555221595 Centerline is valid? [True, True] Translation: X:38.73, Y:1.91, Z:0.14 [[ 9.98948045e-01 -4.51943747e-02 -7.76351166e-03 3.87334694e+01] [ 4.51933225e-02 9.98978211e-01 -3.10991566e-04 1.90705155e+00] [ 7.76963406e-03 -4.01944692e-05 9.99969815e-01 1.42991644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254154 meters 0.05484782168241084 Centerline is valid? [True, True] Translation: X:38.80, Y:1.91, Z:0.14 [[ 9.99239634e-01 -3.84447355e-02 -6.49280820e-03 3.87957742e+01] [ 3.84438578e-02 9.99260728e-01 -2.59983353e-04 1.91264119e+00] [ 6.49800324e-03 1.01770756e-05 9.99978888e-01 1.44145837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters 0.05562994708251906 Centerline is valid? [True, True] Translation: X:38.86, Y:1.91, Z:0.14 [[ 9.99384104e-01 -3.46402695e-02 -5.60936407e-03 3.88582947e+01] [ 3.46395556e-02 9.99399845e-01 -2.24396955e-04 1.91485701e+00] [ 5.61377076e-03 2.99528711e-05 9.99984242e-01 1.44340466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459254154 meters 0.055952837335657354 Centerline is valid? [True, True] Translation: X:38.92, Y:1.92, Z:0.14 [[ 9.99390219e-01 -3.44089687e-02 -5.93403858e-03 3.89202255e+01] [ 3.44081673e-02 9.99407836e-01 -2.37126379e-04 1.91664189e+00] [ 5.93868393e-03 3.28023913e-05 9.99982365e-01 1.44819891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254154 meters 0.05562080387969146 Centerline is valid? [True, True] Translation: X:38.98, Y:1.91, Z:0.14 [[ 9.99265566e-01 -3.76962180e-02 -6.87928096e-03 3.89812626e+01] [ 3.76952223e-02 9.99289245e-01 -2.74395168e-04 1.91392556e+00] [ 6.88473513e-03 1.48776177e-05 9.99976300e-01 1.44190771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters 0.0549317307697323 Centerline is valid? [True, True] Translation: X:39.04, Y:1.91, Z:0.14 [[ 9.98981886e-01 -4.44206743e-02 -7.87375666e-03 3.90442034e+01] [ 4.44195859e-02 9.99012914e-01 -3.13143884e-04 1.90828525e+00] [ 7.87989465e-03 -3.69239426e-05 9.99968952e-01 1.43437535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639254154 meters 0.05541758270820939 Centerline is valid? [True, True] Translation: X:39.11, Y:1.90, Z:0.14 [[ 9.98539004e-01 -5.34272257e-02 -8.08634658e-03 3.91058497e+01] [ 5.34263771e-02 9.98571740e-01 -3.21077255e-04 1.90395608e+00] [ 8.09195144e-03 -1.11416039e-04 9.99967253e-01 1.44097358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254154 meters 0.05540198183247157 Centerline is valid? [True, True] Translation: X:39.17, Y:1.90, Z:0.15 [[ 9.98192265e-01 -5.97023370e-02 -6.91611488e-03 3.91667085e+01] [ 5.97018673e-02 9.98216215e-01 -2.74532541e-04 1.90194050e+00] [ 6.92016825e-03 -1.38868714e-04 9.99976046e-01 1.45008844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154000004 meters 0.05492655499162475 Centerline is valid? [True, True] Translation: X:39.23, Y:1.90, Z:0.15 [[ 9.97652896e-01 -6.82680178e-02 -5.30823086e-03 3.92263654e+01] [ 6.82678623e-02 9.97667006e-01 -2.10692365e-04 1.89611512e+00] [ 5.31023034e-03 -1.52183725e-04 9.99985889e-01 1.45658136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters 0.05468810166073213 Centerline is valid? [True, True] Translation: X:39.29, Y:1.90, Z:0.15 [[ 9.97457633e-01 -7.11219097e-02 -4.46594053e-03 3.92873354e+01] [ 7.11218282e-02 9.97467621e-01 -1.77272725e-04 1.89873596e+00] [ 4.46723905e-03 -1.40803822e-04 9.99990012e-01 1.46196551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254154 meters 0.05732182189760227 Centerline is valid? [True, True] Translation: X:39.35, Y:1.88, Z:0.15 [[ 9.96902825e-01 -7.85433575e-02 -3.96202259e-03 3.93472278e+01] [ 7.85433520e-02 9.96910687e-01 -1.57212875e-04 1.88318442e+00] [ 3.96213069e-03 -1.54464575e-04 9.99992139e-01 1.46694801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154000004 meters 0.055719523391942166 Centerline is valid? [True, True] Translation: X:39.41, Y:1.89, Z:0.15 [[ 9.96387089e-01 -8.47583334e-02 -5.36598423e-03 3.94079697e+01] [ 8.47584141e-02 9.96401508e-01 -2.12774274e-04 1.88816643e+00] [ 5.36470917e-03 -2.42806774e-04 9.99985580e-01 1.45814836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters 0.0550418603807974 Centerline is valid? [True, True] Translation: X:39.47, Y:1.89, Z:0.15 [[ 9.96059240e-01 -8.84067689e-02 -7.08763300e-03 3.94690805e+01] [ 8.84070022e-02 9.96084396e-01 -2.80984487e-04 1.88980511e+00] [ 7.08472156e-03 -3.46719192e-04 9.99974843e-01 1.45394522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254154 meters 0.05480137756748354 Centerline is valid? [True, True] Translation: X:39.53, Y:1.89, Z:0.15 [[ 9.96019125e-01 -8.88365993e-02 -7.34581141e-03 3.95316763e+01] [ 8.88368648e-02 9.96046147e-01 -2.90792291e-04 1.88961617e+00] [ 7.34260015e-03 -3.62944173e-04 9.99972977e-01 1.45685110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154000004 meters 0.054845414932785046 Centerline is valid? [True, True] Translation: X:39.59, Y:1.90, Z:0.15 [[ 9.96250606e-01 -8.61913689e-02 -7.46840044e-03 3.95919527e+01] [ 8.61915725e-02 9.96278538e-01 -2.95196927e-04 1.89564419e+00] [ 7.46605050e-03 -3.49623061e-04 9.99972068e-01 1.46058322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters 0.055239444023527595 Centerline is valid? [True, True] Translation: X:39.65, Y:1.90, Z:0.15 [[ 9.96874060e-01 -7.86732930e-02 -7.25401410e-03 3.96528705e+01] [ 7.86732866e-02 9.96900412e-01 -2.86686849e-04 1.90181466e+00] [ 7.25408424e-03 -2.84906447e-04 9.99973648e-01 1.46174491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254154 meters 0.05526067965025898 Centerline is valid? [True, True] Translation: X:39.71, Y:1.90, Z:0.15 [[ 9.97405066e-01 -7.16272011e-02 -7.25796310e-03 3.97120745e+01] [ 7.16270084e-02 9.97431446e-01 -2.86813414e-04 1.90427901e+00] [ 7.25986428e-03 -2.33797032e-04 9.99973620e-01 1.46657298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254154 meters 0.055638888590286796 Centerline is valid? [True, True] Translation: X:39.77, Y:1.91, Z:0.15 [[ 9.98159481e-01 -6.02502540e-02 -6.89618733e-03 3.97711164e+01] [ 6.02498084e-02 9.98183293e-01 -2.72541727e-04 1.90952412e+00] [ 6.90007968e-03 -1.43453857e-04 9.99976184e-01 1.47439711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters 0.055255522217581246 Centerline is valid? [True, True] Translation: X:39.83, Y:1.92, Z:0.15 [[ 9.98819586e-01 -4.81031436e-02 -6.74706737e-03 3.98310276e+01] [ 4.81024397e-02 9.98842372e-01 -2.66671243e-04 1.91761337e+00] [ 6.75208450e-03 -5.81939409e-05 9.99977203e-01 1.48058767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254154 meters 0.05598276637153951 Centerline is valid? [True, True] Translation: X:39.89, Y:1.92, Z:0.15 [[ 9.99178081e-01 -3.98324765e-02 -7.51899755e-03 3.98918084e+01] [ 3.98313690e-02 9.99206372e-01 -2.97043173e-04 1.92324474e+00] [ 7.52486223e-03 -2.69293800e-06 9.99971688e-01 1.47092266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254154 meters 0.0564070170307745 Centerline is valid? [True, True] Translation: X:39.95, Y:1.93, Z:0.15 [[ 9.99543809e-01 -2.92018073e-02 -7.70902152e-03 3.99537614e+01] [ 2.92003291e-02 9.99573533e-01 -3.04255162e-04 1.93034788e+00] [ 7.71461868e-03 7.90103975e-05 9.99970239e-01 1.47377780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters 0.05660386226805596 Centerline is valid? [True, True] Translation: X:40.01, Y:1.94, Z:0.15 [[ 9.99704256e-01 -2.30022786e-02 -7.89272556e-03 4.00135999e+01] [ 2.30005373e-02 9.99735404e-01 -3.11332506e-04 1.93633604e+00] [ 7.89779853e-03 1.29703503e-04 9.99968803e-01 1.47558163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599254154 meters 0.056075517440969856 Centerline is valid? [True, True] Translation: X:40.08, Y:1.93, Z:0.15 [[ 9.99700374e-01 -2.35670306e-02 -6.61500542e-03 4.00763826e+01] [ 2.35658206e-02 9.99722253e-01 -2.60803976e-04 1.93235047e+00] [ 6.61931450e-03 1.04837801e-04 9.99978087e-01 1.49524825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254154 meters 0.05630272538258873 Centerline is valid? [True, True] Translation: X:40.14, Y:1.93, Z:0.15 [[ 9.99567659e-01 -2.87187118e-02 -6.30329662e-03 4.01382792e+01] [ 2.87177172e-02 9.99587530e-01 -2.48252906e-04 1.93022694e+00] [ 6.30782621e-03 6.71292864e-05 9.99980103e-01 1.49189131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters 0.055868978825966184 Centerline is valid? [True, True] Translation: X:40.20, Y:1.93, Z:0.15 [[ 9.99436594e-01 -3.29891930e-02 -6.18125324e-03 4.02009960e+01] [ 3.29883197e-02 9.99455708e-01 -2.43215665e-04 1.92736602e+00] [ 6.18591232e-03 3.91694780e-05 9.99980866e-01 1.49231201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779254154 meters 0.056421479087785144 Centerline is valid? [True, True] Translation: X:40.26, Y:1.92, Z:0.15 [[ 9.99220114e-01 -3.89822210e-02 -6.28890860e-03 4.02627459e+01] [ 3.89814384e-02 9.99239904e-01 -2.47016140e-04 1.92307742e+00] [ 6.29375766e-03 1.67279300e-06 9.99980194e-01 1.49566564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254154 meters 0.0561384403515413 Centerline is valid? [True, True] Translation: X:40.32, Y:1.92, Z:0.15 [[ 9.99058663e-01 -4.28550573e-02 -6.72549003e-03 4.03242013e+01] [ 4.28542552e-02 9.99081300e-01 -2.63393214e-04 1.91955960e+00] [ 6.73059906e-03 -2.50705938e-05 9.99977349e-01 1.48838889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters 0.05587001971998496 Centerline is valid? [True, True] Translation: X:40.39, Y:1.91, Z:0.15 [[ 9.98794614e-01 -4.85347150e-02 -7.32802842e-03 4.03864212e+01] [ 4.85339198e-02 9.98821494e-01 -2.86418020e-04 1.91244629e+00] [ 7.33329351e-03 -6.95851678e-05 9.99973109e-01 1.47533430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959254154 meters 0.05640919371852457 Centerline is valid? [True, True] Translation: X:40.45, Y:1.91, Z:0.15 [[ 9.98675150e-01 -5.07897126e-02 -8.26742286e-03 4.04476060e+01] [ 5.07887797e-02 9.98709365e-01 -3.22891479e-04 1.90755071e+00] [ 8.27315220e-03 -9.74286215e-05 9.99965772e-01 1.46534020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254154 meters 0.05530590856307547 Centerline is valid? [True, True] Translation: X:40.51, Y:1.91, Z:0.15 [[ 9.98867842e-01 -4.69046185e-02 -7.93668200e-03 4.05086473e+01] [ 4.69036376e-02 9.98899371e-01 -3.09788262e-04 1.90993475e+00] [ 7.94247715e-03 -6.28217226e-05 9.99968456e-01 1.47910835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters 0.05590488546139614 Centerline is valid? [True, True] Translation: X:40.57, Y:1.91, Z:0.15 [[ 9.99113857e-01 -4.13269825e-02 -7.97373576e-03 4.05706200e+01] [ 4.13258168e-02 9.99145675e-01 -3.10972353e-04 1.91311803e+00] [ 7.97977515e-03 -1.88243560e-05 9.99968161e-01 1.48601389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139254154 meters 0.05682587804837688 Centerline is valid? [True, True] Translation: X:40.63, Y:1.92, Z:0.15 [[ 9.99411086e-01 -3.33273431e-02 -8.17123471e-03 4.06329113e+01] [ 3.33258540e-02 9.99444489e-01 -3.18361236e-04 1.91680306e+00] [ 8.17730563e-03 4.58603734e-05 9.99966564e-01 1.48965421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254154 meters 0.056831941043628674 Centerline is valid? [True, True] Translation: X:40.69, Y:1.92, Z:0.15 [[ 9.99541678e-01 -2.87957842e-02 -9.34007105e-03 4.06945758e+01] [ 2.87936440e-02 9.99585311e-01 -3.63557003e-04 1.91796363e+00] [ 9.34666673e-03 9.44556967e-05 9.99956314e-01 1.47796531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters 0.05681405598279497 Centerline is valid? [True, True] Translation: X:40.76, Y:1.92, Z:0.15 [[ 9.99539428e-01 -2.85721279e-02 -1.02257020e-02 4.07560804e+01] [ 2.85695541e-02 9.99591728e-01 -3.97716709e-04 1.91730385e+00] [ 1.02328908e-02 1.05389785e-04 9.99947637e-01 1.47052667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319254154 meters 0.05670601114380942 Centerline is valid? [True, True] Translation: X:40.82, Y:1.92, Z:0.15 [[ 9.99482810e-01 -3.05050621e-02 -1.01760879e-02 4.08176140e+01] [ 3.05026160e-02 9.99534609e-01 -3.95527212e-04 1.91540678e+00] [ 1.01834176e-02 8.49253485e-05 9.99948144e-01 1.48861675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254154 meters 0.05664952686614968 Centerline is valid? [True, True] Translation: X:40.88, Y:1.91, Z:0.15 [[ 9.99308968e-01 -3.60818954e-02 -8.92657288e-03 4.08801083e+01] [ 3.60802383e-02 9.99348836e-01 -3.46658482e-04 1.91113689e+00] [ 8.93326831e-03 2.43460532e-05 9.99960097e-01 1.49823874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154000004 meters 0.057138715372235534 Centerline is valid? [True, True] Translation: X:40.94, Y:1.91, Z:0.15 [[ 9.99061163e-01 -4.26479116e-02 -7.61239281e-03 4.09426309e+01] [ 4.26469018e-02 9.99090163e-01 -2.95003816e-04 1.90556717e+00] [ 7.61804807e-03 -2.99181134e-05 9.99970982e-01 1.49743399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters 0.05628394866745275 Centerline is valid? [True, True] Translation: X:41.00, Y:1.90, Z:0.15 [[ 9.98842968e-01 -4.76309505e-02 -6.63465999e-03 4.10044655e+01] [ 4.76302967e-02 9.98865000e-01 -2.56604185e-04 1.90242814e+00] [ 6.63935196e-03 -5.97035383e-05 9.99977957e-01 1.51314515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254154 meters 0.05673117062600569 Centerline is valid? [True, True] Translation: X:41.07, Y:1.90, Z:0.15 [[ 9.98372551e-01 -5.68733285e-02 -4.20410596e-03 4.10650578e+01] [ 5.68731481e-02 9.98381399e-01 -1.62538139e-04 1.89683808e+00] [ 4.20654528e-03 -7.68271243e-05 9.99991149e-01 1.52254223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154000004 meters 0.05664196642441442 Centerline is valid? [True, True] Translation: X:41.13, Y:1.89, Z:0.15 [[ 9.97699391e-01 -6.76719086e-02 -4.05446688e-03 4.11261204e+01] [ 6.76718299e-02 9.97707622e-01 -1.56746824e-04 1.89094063e+00] [ 4.05577987e-03 -1.17986983e-04 9.99991768e-01 1.52368541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters 0.056993208313013244 Centerline is valid? [True, True] Translation: X:41.19, Y:1.89, Z:0.15 [[ 9.96868088e-01 -7.89001294e-02 -5.36512117e-03 4.11864905e+01] [ 7.89001540e-02 9.96882502e-01 -2.07401804e-04 1.88710615e+00] [ 5.36475944e-03 -2.16556647e-04 9.99985586e-01 1.51037276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254154 meters 0.055668009652615626 Centerline is valid? [True, True] Translation: X:41.25, Y:1.89, Z:0.15 [[ 9.96605754e-01 -8.21520928e-02 -5.29187886e-03 4.12472666e+01] [ 8.21521626e-02 9.96619777e-01 -2.04550395e-04 1.89368402e+00] [ 5.29079537e-03 -2.30883191e-04 9.99985977e-01 1.50768165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254154 meters 0.0568625590033857 Centerline is valid? [True, True] Translation: X:41.31, Y:1.89, Z:0.15 [[ 9.96098885e-01 -8.80822299e-02 -5.34160281e-03 4.13067429e+01] [ 8.80823861e-02 9.96113172e-01 -2.06458420e-04 1.88959313e+00] [ 5.33902623e-03 -2.64848119e-04 9.99985712e-01 1.50683130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters 0.0570160705818135 Centerline is valid? [True, True] Translation: X:41.37, Y:1.89, Z:0.15 [[ 9.96031002e-01 -8.88648935e-02 -5.02733047e-03 4.13682305e+01] [ 8.88650425e-02 9.96043657e-01 -1.94177303e-04 1.88623345e+00] [ 5.02469617e-03 -2.53347322e-04 9.99987344e-01 1.50558235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254154 meters 0.05551172254594877 Centerline is valid? [True, True] Translation: X:41.43, Y:1.90, Z:0.15 [[ 9.96330924e-01 -8.53358713e-02 -6.51765628e-03 4.14280577e+01] [ 8.53360499e-02 9.96352195e-01 -2.51199245e-04 1.89993725e+00] [ 6.51531745e-03 -3.05913466e-04 9.99978728e-01 1.50892804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254154 meters 0.05792407078592852 Centerline is valid? [True, True] Translation: X:41.49, Y:1.89, Z:0.15 [[ 9.96650092e-01 -8.15307711e-02 -6.42864443e-03 4.14876021e+01] [ 8.15308658e-02 9.96670786e-01 -2.47771518e-04 1.89315170e+00] [ 6.42744310e-03 -2.77191440e-04 9.99979305e-01 1.50710362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters 0.05642655461460137 Centerline is valid? [True, True] Translation: X:41.55, Y:1.90, Z:0.15 [[ 9.97145664e-01 -7.53530266e-02 -4.73769046e-03 4.15473391e+01] [ 7.53530084e-02 9.97156904e-01 -1.82599789e-04 1.90471771e+00] [ 4.73798019e-03 -1.74920641e-04 9.99988760e-01 1.52497079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099254154 meters 0.05703125126630414 Centerline is valid? [True, True] Translation: X:41.61, Y:1.91, Z:0.15 [[ 9.97653290e-01 -6.83462269e-02 -4.08740968e-03 4.16071316e+01] [ 6.83461545e-02 9.97661655e-01 -1.57534262e-04 1.90721187e+00] [ 4.08861878e-03 -1.22194158e-04 9.99991634e-01 1.52715376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254154 meters 0.05611949354226364 Centerline is valid? [True, True] Translation: X:41.67, Y:1.92, Z:0.15 [[ 9.98037178e-01 -6.24903708e-02 -4.09195956e-03 4.16669576e+01] [ 6.24902490e-02 9.98045562e-01 -1.57731041e-04 1.92022885e+00] [ 4.09381875e-03 -9.82861292e-05 9.99991615e-01 1.52711583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters 0.05665190032935773 Centerline is valid? [True, True] Translation: X:41.73, Y:1.93, Z:0.15 [[ 9.98584388e-01 -5.28584935e-02 -5.93301411e-03 4.17259604e+01] [ 5.28580674e-02 9.98602009e-01 -2.28704275e-04 1.92785924e+00] [ 5.93680877e-03 -8.52271415e-05 9.99982373e-01 1.51366306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279254154 meters 0.055700876295203997 Centerline is valid? [True, True] Translation: X:41.79, Y:1.94, Z:0.15 [[ 9.98965810e-01 -4.49456092e-02 -6.87041874e-03 4.17861781e+01] [ 4.49448504e-02 9.98989435e-01 -2.64869638e-04 1.94080525e+00] [ 6.87538046e-03 -4.41942305e-05 9.99976363e-01 1.51366079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254154 meters 0.056202746138088296 Centerline is valid? [True, True] Translation: X:41.85, Y:1.95, Z:0.15 [[ 9.99234795e-01 -3.85021798e-02 -6.88518105e-03 4.18474413e+01] [ 3.85012663e-02 9.99258516e-01 -2.65228450e-04 1.94962653e+00] [ 6.89028767e-03 -6.26930839e-08 9.99976262e-01 1.51850161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters 0.05637059043656483 Centerline is valid? [True, True] Translation: X:41.91, Y:1.95, Z:0.15 [[ 9.99360822e-01 -3.51643297e-02 -6.43561359e-03 4.19090843e+01] [ 3.51634644e-02 9.99381543e-01 -2.47583091e-04 1.95442977e+00] [ 6.44033953e-03 2.11263724e-05 9.99979261e-01 1.54256617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459254154 meters 0.05591533048643511 Centerline is valid? [True, True] Translation: X:41.97, Y:1.96, Z:0.15 [[ 9.99475779e-01 -3.18167047e-02 -5.98874534e-03 4.19707858e+01] [ 3.18158966e-02 9.99493720e-01 -2.30191858e-04 1.96153319e+00] [ 5.99303731e-03 3.95338839e-05 9.99982041e-01 1.53456341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254154 meters 0.05598467335279051 Centerline is valid? [True, True] Translation: X:42.03, Y:1.96, Z:0.16 [[ 9.99451808e-01 -3.27218384e-02 -5.03631008e-03 4.20325852e+01] [ 3.27212792e-02 9.99464497e-01 -1.93414332e-04 1.96304713e+00] [ 5.03994199e-03 2.85137955e-05 9.99987299e-01 1.55140368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters 0.055924561070441116 Centerline is valid? [True, True] Translation: X:42.10, Y:1.96, Z:0.16 [[ 9.99181114e-01 -4.01824701e-02 -4.74035524e-03 4.20950039e+01] [ 4.01820596e-02 9.99192358e-01 -1.81832261e-04 1.95995194e+00] [ 4.74383320e-03 -8.79387576e-06 9.99988748e-01 1.56209909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639254154 meters 0.055282718425939376 Centerline is valid? [True, True] Translation: X:42.16, Y:1.95, Z:0.15 [[ 9.98552798e-01 -5.33784227e-02 -6.56159075e-03 4.21558661e+01] [ 5.33779251e-02 9.98574351e-01 -2.51048489e-04 1.95195972e+00] [ 6.56563680e-03 -9.95589289e-05 9.99978441e-01 1.54526295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254154 meters 0.05634765477204873 Centerline is valid? [True, True] Translation: X:42.22, Y:1.95, Z:0.15 [[ 9.97658103e-01 -6.79177153e-02 -8.09279344e-03 4.22169874e+01] [ 6.79174363e-02 9.97690897e-01 -3.09608130e-04 1.94708843e+00] [ 8.09513422e-03 -2.40758723e-04 9.99967205e-01 1.53125909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters 0.05627836822158001 Centerline is valid? [True, True] Translation: X:42.28, Y:1.94, Z:0.15 [[ 9.96904226e-01 -7.82545850e-02 -7.62786454e-03 4.22774286e+01] [ 7.82546394e-02 9.96933361e-01 -2.91795565e-04 1.94279689e+00] [ 7.62730698e-03 -3.06023557e-04 9.99970865e-01 1.53984192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819254154 meters 0.05543623247439399 Centerline is valid? [True, True] Translation: X:42.34, Y:1.95, Z:0.16 [[ 9.96629263e-01 -8.17458722e-02 -6.90830314e-03 4.23378019e+01] [ 8.17460006e-02 9.96653160e-01 -2.64252172e-04 1.94707635e+00] [ 6.90678368e-03 -3.01364705e-04 9.99976102e-01 1.55186915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254154 meters 0.05648363230876512 Centerline is valid? [True, True] Translation: X:42.40, Y:1.94, Z:0.16 [[ 9.96567046e-01 -8.25704191e-02 -6.02068684e-03 4.23993652e+01] [ 8.25705331e-02 9.96585197e-01 -2.30063668e-04 1.94451269e+00] [ 6.01912383e-03 -2.67857452e-04 9.99981849e-01 1.55514294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154000004 meters 0.0566379210407238 Centerline is valid? [True, True] Translation: X:42.46, Y:1.95, Z:0.16 [[ 9.96679610e-01 -8.12477037e-02 -5.34467367e-03 4.24611945e+01] [ 8.12477768e-02 9.96693914e-01 -2.03810277e-04 1.95001378e+00] [ 5.34356284e-03 -2.31109306e-04 9.99985696e-01 1.56126556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999254154 meters 0.05703674605448304 Centerline is valid? [True, True] Translation: X:42.52, Y:1.95, Z:0.16 [[ 9.96684679e-01 -8.11366267e-02 -6.04141846e-03 4.25229069e+01] [ 8.11367203e-02 9.96702955e-01 -2.30012133e-04 1.94816374e+00] [ 6.04016204e-03 -2.60931311e-04 9.99981724e-01 1.55349052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254154 meters 0.05826919952574823 Centerline is valid? [True, True] Translation: X:42.58, Y:1.95, Z:0.15 [[ 9.96593256e-01 -8.21288219e-02 -7.53249552e-03 4.25838741e+01] [ 8.21290006e-02 9.96621666e-01 -2.86126038e-04 1.94625236e+00] [ 7.53054743e-03 -3.33485049e-04 9.99971589e-01 1.54384523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154000004 meters 0.057295561863625895 Centerline is valid? [True, True] Translation: X:42.65, Y:1.96, Z:0.15 [[ 9.96504096e-01 -8.29689832e-02 -9.78440737e-03 4.26453966e+01] [ 8.29693315e-02 9.96552032e-01 -3.71011803e-04 1.95618233e+00] [ 9.78145352e-03 -4.42090958e-04 9.99952063e-01 1.53807942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters 0.05798149900225534 Centerline is valid? [True, True] Translation: X:42.71, Y:1.96, Z:0.15 [[ 9.96679732e-01 -8.07953265e-02 -1.00810057e-02 4.27056858e+01] [ 8.07955899e-02 9.96730619e-01 -3.81793910e-04 1.96086792e+00] [ 1.00788943e-02 -4.33974554e-04 9.99949112e-01 1.53000661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254154 meters 0.05613306683418985 Centerline is valid? [True, True] Translation: X:42.77, Y:1.97, Z:0.16 [[ 9.97341965e-01 -7.25022401e-02 -7.24086372e-03 4.27662824e+01] [ 7.25021579e-02 9.97368218e-01 -2.74197116e-04 1.97479260e+00] [ 7.24168725e-03 -2.51509954e-04 9.99973747e-01 1.55728524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254154 meters 0.05634575232052878 Centerline is valid? [True, True] Translation: X:42.83, Y:1.98, Z:0.16 [[ 9.98342639e-01 -5.73270889e-02 -5.05771139e-03 4.28254776e+01] [ 5.73268539e-02 9.98355445e-01 -1.91532238e-04 1.98490454e+00] [ 5.06037370e-03 -9.87278821e-05 9.99987191e-01 1.57145957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters 0.055457397112018816 Centerline is valid? [True, True] Translation: X:42.89, Y:2.00, Z:0.16 [[ 9.98909060e-01 -4.65124976e-02 -4.15663941e-03 4.28859779e+01] [ 4.65122452e-02 9.98917707e-01 -1.57435660e-04 1.99705507e+00] [ 4.15946344e-03 -3.60707236e-05 9.99991349e-01 1.58737533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254154 meters 0.056152320211559366 Centerline is valid? [True, True] Translation: X:42.95, Y:2.01, Z:0.16 [[ 9.99439587e-01 -3.32870167e-02 -3.53371045e-03 4.29474722e+01] [ 3.32867517e-02 9.99445834e-01 -1.33803498e-04 2.01045172e+00] [ 3.53620610e-03 1.61027708e-05 9.99993747e-01 1.59029168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254154 meters 0.056573719375650026 Centerline is valid? [True, True] Translation: X:43.01, Y:2.01, Z:0.16 [[ 9.99625695e-01 -2.69101977e-02 -4.93053719e-03 4.30095121e+01] [ 2.69096052e-02 9.99637854e-01 -1.86485827e-04 2.01145848e+00] [ 4.93376998e-03 5.37372155e-05 9.99987827e-01 1.57605531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters 0.05625890497003775 Centerline is valid? [True, True] Translation: X:43.07, Y:2.02, Z:0.16 [[ 9.99623363e-01 -2.66433153e-02 -6.57774472e-03 4.30711155e+01] [ 2.66422569e-02 9.99645001e-01 -2.48487887e-04 2.01807163e+00] [ 6.58203017e-03 7.31483322e-05 9.99978336e-01 1.56903293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599254154 meters 0.056663450142768426 Centerline is valid? [True, True] Translation: X:43.13, Y:2.02, Z:0.16 [[ 9.99506330e-01 -3.06289582e-02 -6.99739364e-03 4.31336003e+01] [ 3.06278622e-02 9.99530822e-01 -2.63757220e-04 2.01619184e+00] [ 7.00218923e-03 4.93118029e-05 9.99975483e-01 1.56413370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254154 meters 0.05640516686541126 Centerline is valid? [True, True] Translation: X:43.19, Y:2.02, Z:0.16 [[ 9.99442005e-01 -3.25463892e-02 -7.51072166e-03 4.31949647e+01] [ 3.25451852e-02 9.99470225e-01 -2.82497004e-04 2.01657745e+00] [ 7.51593693e-03 3.79015446e-05 9.99971754e-01 1.57194937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters 0.05618919554739915 Centerline is valid? [True, True] Translation: X:43.26, Y:2.01, Z:0.16 [[ 9.99160627e-01 -4.05266906e-02 -5.96901030e-03 4.32571163e+01] [ 4.05260738e-02 9.99178456e-01 -2.24298631e-04 2.01402335e+00] [ 5.97319658e-03 -1.77901910e-05 9.99982160e-01 1.58510790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779254154 meters 0.05562817104053565 Centerline is valid? [True, True] Translation: X:43.32, Y:2.01, Z:0.16 [[ 9.98766159e-01 -4.93834758e-02 -5.23760428e-03 4.33176906e+01] [ 4.93831239e-02 9.98779890e-01 -1.96562724e-04 2.00605137e+00] [ 5.24092077e-03 -6.23290645e-05 9.99986264e-01 1.59101191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254154 meters 0.05661138453462537 Centerline is valid? [True, True] Translation: X:43.38, Y:2.00, Z:0.16 [[ 9.98215848e-01 -5.94693068e-02 -5.34054801e-03 4.33782689e+01] [ 5.94690857e-02 9.98230128e-01 -2.00325056e-04 1.99681692e+00] [ 5.34300911e-03 -1.17629861e-04 9.99985719e-01 1.58587568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters 0.056309853055836655 Centerline is valid? [True, True] Translation: X:43.44, Y:2.00, Z:0.16 [[ 9.97798510e-01 -6.60493748e-02 -5.96766259e-03 4.34396847e+01] [ 6.60492166e-02 9.97816341e-01 -2.23801213e-04 1.99786426e+00] [ 5.96941318e-03 -1.70850922e-04 9.99982168e-01 1.58605600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959254154 meters 0.05796288292172497 Centerline is valid? [True, True] Translation: X:43.50, Y:1.99, Z:0.16 [[ 9.97249461e-01 -7.39003155e-02 -5.67949944e-03 4.34999275e+01] [ 7.39002997e-02 9.97265612e-01 -2.12939881e-04 1.98850151e+00] [ 5.67970581e-03 -2.07362530e-04 9.99983849e-01 1.58448837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254154 meters 0.055265787040604454 Centerline is valid? [True, True] Translation: X:43.56, Y:2.00, Z:0.16 [[ 9.96955520e-01 -7.78086931e-02 -5.04960901e-03 4.35596344e+01] [ 7.78087307e-02 9.96968287e-01 -1.89301688e-04 2.00166741e+00] [ 5.04902936e-03 -2.04178305e-04 9.99987233e-01 1.57766608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters 0.05546072883992871 Centerline is valid? [True, True] Translation: X:43.62, Y:2.00, Z:0.16 [[ 9.96974020e-01 -7.75305988e-02 -5.63997445e-03 4.36218723e+01] [ 7.75306418e-02 9.96989947e-01 -2.11336462e-04 2.00482550e+00] [ 5.63938287e-03 -2.26573877e-04 9.99984073e-01 1.57922841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139254154 meters 0.056151591829485946 Centerline is valid? [True, True] Translation: X:43.68, Y:2.00, Z:0.16 [[ 9.97118132e-01 -7.55800482e-02 -6.56406537e-03 4.36823769e+01] [ 7.55800657e-02 9.97139706e-01 -2.45750519e-04 2.00219508e+00] [ 6.56386405e-03 -2.51070193e-04 9.99978426e-01 1.57479680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254154 meters 0.05576581695815459 Centerline is valid? [True, True] Translation: X:43.74, Y:2.01, Z:0.16 [[ 9.97223608e-01 -7.40390914e-02 -7.95542841e-03 4.37436794e+01] [ 7.40390692e-02 9.97255297e-01 -2.97708166e-04 2.00937239e+00] [ 7.95563517e-03 -2.92130903e-04 9.99968311e-01 1.56651627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters 0.058545468362790565 Centerline is valid? [True, True] Translation: X:43.80, Y:2.00, Z:0.15 [[ 9.97188430e-01 -7.43561205e-02 -9.29527417e-03 4.38047961e+01] [ 7.43561100e-02 9.97231692e-01 -3.47195493e-04 2.00295310e+00] [ 9.29535810e-03 -3.44941100e-04 9.99956738e-01 1.54962617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319254154 meters 0.058388549223020086 Centerline is valid? [True, True] Translation: X:43.87, Y:2.01, Z:0.15 [[ 9.97151955e-01 -7.47450837e-02 -1.00574189e-02 4.38663941e+01] [ 7.47450973e-02 9.97202602e-01 -3.75046507e-04 2.01018967e+00] [ 1.00573172e-02 -3.77764398e-04 9.99949353e-01 1.54753443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254154 meters 0.05676423722660291 Centerline is valid? [True, True] Translation: X:43.93, Y:2.02, Z:0.16 [[ 9.97153964e-01 -7.47427968e-02 -9.87353333e-03 4.39286653e+01] [ 7.47428141e-02 9.97202776e-01 -3.67757630e-04 2.02163439e+00] [ 9.87340208e-03 -3.71264687e-04 9.99951188e-01 1.56191074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154000004 meters 0.05632214258825409 Centerline is valid? [True, True] Translation: X:43.99, Y:2.03, Z:0.16 [[ 9.97147161e-01 -7.50267314e-02 -8.27821660e-03 4.39897904e+01] [ 7.50267583e-02 9.97181473e-01 -3.07733155e-04 2.02830829e+00] [ 8.27797244e-03 -3.14232514e-04 9.99965688e-01 1.58320641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499254154 meters 0.05809870971819731 Centerline is valid? [True, True] Translation: X:44.05, Y:2.03, Z:0.16 [[ 9.97002501e-01 -7.71488067e-02 -5.83742864e-03 4.40510274e+01] [ 7.71488581e-02 9.97019562e-01 -2.16711412e-04 2.02894799e+00] [ 5.83674957e-03 -2.34289134e-04 9.99982939e-01 1.60151277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254154 meters 0.05617484703606381 Centerline is valid? [True, True] Translation: X:44.11, Y:2.04, Z:0.16 [[ 9.96517085e-01 -8.32277360e-02 -5.18107723e-03 4.41109909e+01] [ 8.32278587e-02 9.96530525e-01 -1.92306178e-04 2.04111168e+00] [ 5.17910682e-03 -2.39573572e-04 9.99986560e-01 1.60531669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154000004 meters 0.057244486174826185 Centerline is valid? [True, True] Translation: X:44.17, Y:2.04, Z:0.16 [[ 9.96063894e-01 -8.84749459e-02 -5.37618154e-03 4.41703441e+01] [ 8.84751546e-02 9.96078364e-01 -1.99468525e-04 2.04002410e+00] [ 5.37274608e-03 -2.76975097e-04 9.99985528e-01 1.59998577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679254154 meters 0.052360239208894106 Centerline is valid? [True, True] Translation: X:44.23, Y:2.07, Z:0.16 [[ 9.95425017e-01 -9.53762149e-02 -5.69322060e-03 4.42301793e+01] [ 9.53765620e-02 9.95441242e-01 -2.11116504e-04 2.06529957e+00] [ 5.68740208e-03 -3.32849158e-04 9.99983771e-01 1.60341176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254154 meters 0.053503716737601396 Centerline is valid? [True, True] Translation: X:44.29, Y:2.06, Z:0.16 [[ 9.95215893e-01 -9.75036297e-02 -6.19419728e-03 4.42902365e+01] [ 9.75040817e-02 9.95235099e-01 -2.29689523e-04 2.06421916e+00] [ 6.18707811e-03 -3.75368854e-04 9.99980789e-01 1.60101685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254154 meters 0.05302068261295474 Centerline is valid? [True, True] Translation: X:44.35, Y:2.08, Z:0.16 [[ 9.95312384e-01 -9.65076550e-02 -6.28735719e-03 4.43507826e+01] [ 9.65081013e-02 9.95332172e-01 -2.33081217e-04 2.07989979e+00] [ 6.28050301e-03 -3.74792283e-04 9.99980207e-01 1.59563900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters 0.05329602826637568 Centerline is valid? [True, True] Translation: X:44.41, Y:2.08, Z:0.16 [[ 9.95851025e-01 -9.07307371e-02 -6.97639025e-03 4.44100222e+01] [ 9.07311461e-02 9.95875390e-01 -2.58496199e-04 2.08458312e+00] [ 6.97106891e-03 -3.75552179e-04 9.99975631e-01 1.59235483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254154 meters 0.05439224756309672 Centerline is valid? [True, True] Translation: X:44.47, Y:2.08, Z:0.16 [[ 9.96315790e-01 -8.55378471e-02 -6.17444176e-03 4.44698502e+01] [ 8.55380676e-02 9.96334877e-01 -2.28831654e-04 2.07838660e+00] [ 6.17138544e-03 -3.00161226e-04 9.99980912e-01 1.59238973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254154 meters 0.053444944206270883 Centerline is valid? [True, True] Translation: X:44.53, Y:2.09, Z:0.16 [[ 9.96871711e-01 -7.88853694e-02 -4.88782503e-03 4.45303607e+01] [ 7.88854277e-02 9.96883672e-01 -1.81167549e-04 2.09291545e+00] [ 4.88688444e-03 -2.04977363e-04 9.99988038e-01 1.60570187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters 0.05598281870752345 Centerline is valid? [True, True] Translation: X:44.59, Y:2.09, Z:0.16 [[ 9.97181247e-01 -7.48789477e-02 -4.76492749e-03 4.45897671e+01] [ 7.48789575e-02 9.97192615e-01 -1.76602922e-04 2.08828644e+00] [ 4.76477435e-03 -1.80687681e-04 9.99988632e-01 1.60647810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099254154 meters 0.05755757018600117 Centerline is valid? [True, True] Translation: X:44.65, Y:2.09, Z:0.16 [[ 9.97272910e-01 -7.36393322e-02 -4.89818963e-03 4.46508109e+01] [ 7.36393275e-02 9.97284922e-01 -1.81561846e-04 2.08685038e+00] [ 4.89826075e-03 -1.79632679e-04 9.99987987e-01 1.59833735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254154 meters 0.05379605192855436 Centerline is valid? [True, True] Translation: X:44.71, Y:2.11, Z:0.16 [[ 9.97156729e-01 -7.50036006e-02 -7.27448401e-03 4.47107934e+01] [ 7.50036273e-02 9.97183225e-01 -2.69530926e-04 2.10827070e+00] [ 7.27420921e-03 -2.76848111e-04 9.99973504e-01 1.59019789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters 0.05425941204775615 Centerline is valid? [True, True] Translation: X:44.77, Y:2.11, Z:0.16 [[ 9.97130187e-01 -7.50949205e-02 -9.59907587e-03 4.47728166e+01] [ 7.50949774e-02 9.97176323e-01 -3.55008482e-04 2.10939881e+00] [ 9.59863051e-03 -3.66852711e-04 9.99953865e-01 1.56371169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279254154 meters 0.055982760823187934 Centerline is valid? [True, True] Translation: X:44.83, Y:2.11, Z:0.15 [[ 9.97211616e-01 -7.38349536e-02 -1.08348274e-02 4.48334377e+01] [ 7.38349577e-02 9.97270394e-01 -4.00176893e-04 2.10622494e+00] [ 1.08347996e-02 -4.00927974e-04 9.99941221e-01 1.54820510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254154 meters 0.053246827731164396 Centerline is valid? [True, True] Translation: X:44.89, Y:2.12, Z:0.16 [[ 9.97432786e-01 -7.11898104e-02 -7.73622388e-03 4.48934556e+01] [ 7.11897333e-02 9.97462751e-01 -2.85693494e-04 2.12343162e+00] [ 7.73693363e-03 -2.65779657e-04 9.99970034e-01 1.59201512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters 0.05303442666836391 Centerline is valid? [True, True] Translation: X:44.95, Y:2.13, Z:0.16 [[ 9.97598679e-01 -6.89918639e-02 -6.08262654e-03 4.49545890e+01] [ 6.89917756e-02 9.97617203e-01 -2.24596372e-04 2.12792067e+00] [ 6.08362820e-03 -1.95594162e-04 9.99981475e-01 1.60572895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459254154 meters 0.05324447039516957 Centerline is valid? [True, True] Translation: X:45.02, Y:2.13, Z:0.16 [[ 9.97750256e-01 -6.68568172e-02 -4.95899959e-03 4.50156431e+01] [ 6.68567323e-02 9.97762569e-01 -1.83065123e-04 2.13355963e+00] [ 4.96014332e-03 -1.48889235e-04 9.99987687e-01 1.61657304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254154 meters 0.056265280826509126 Centerline is valid? [True, True] Translation: X:45.08, Y:2.12, Z:0.16 [[ 9.97778797e-01 -6.63859691e-02 -5.51132457e-03 4.50779623e+01] [ 6.63858585e-02 9.97794005e-01 -2.03206579e-04 2.11911025e+00] [ 5.51265668e-03 -1.63118797e-04 9.99984792e-01 1.61041813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters 0.054835938769335936 Centerline is valid? [True, True] Translation: X:45.14, Y:2.13, Z:0.16 [[ 9.97761326e-01 -6.66612392e-02 -5.34928056e-03 4.51397956e+01] [ 6.66611421e-02 9.97775653e-01 -1.96654014e-04 2.12848960e+00] [ 5.35049110e-03 -1.60375381e-04 9.99985673e-01 1.61716283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639254154 meters 0.054480758268387185 Centerline is valid? [True, True] Translation: X:45.20, Y:2.13, Z:0.16 [[ 9.97774711e-01 -6.63899421e-02 -6.16459802e-03 4.52032066e+01] [ 6.63898124e-02 9.97793737e-01 -2.25891468e-04 2.12849002e+00] [ 6.16599422e-03 -1.83877713e-04 9.99980973e-01 1.61535097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254154 meters 0.05475437681892845 Centerline is valid? [True, True] Translation: X:45.26, Y:2.13, Z:0.16 [[ 9.97863675e-01 -6.49666725e-02 -6.88598261e-03 4.52649251e+01] [ 6.49664809e-02 9.97887415e-01 -2.51738907e-04 2.12993527e+00] [ 6.88779003e-03 -1.96156947e-04 9.99976260e-01 1.61129101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters 0.05343842393159372 Centerline is valid? [True, True] Translation: X:45.33, Y:2.14, Z:0.16 [[ 9.98042030e-01 -6.21888865e-02 -6.68190763e-03 4.53253072e+01] [ 6.21886448e-02 9.98064383e-01 -2.44148411e-04 2.14239522e+00] [ 6.68415733e-03 -1.71868404e-04 9.99977646e-01 1.61910768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819254154 meters 0.054842138980106696 Centerline is valid? [True, True] Translation: X:45.39, Y:2.14, Z:0.16 [[ 9.98347135e-01 -5.70285939e-02 -7.12306994e-03 4.53854764e+01] [ 5.70281882e-02 9.98372535e-01 -2.60216069e-04 2.13746012e+00] [ 7.12631715e-03 -1.46429807e-04 9.99974597e-01 1.60825096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254154 meters 0.053744271809745274 Centerline is valid? [True, True] Translation: X:45.45, Y:2.15, Z:0.16 [[ 9.98583340e-01 -5.28287089e-02 -6.35930836e-03 4.54463334e+01] [ 5.28283005e-02 9.98603583e-01 -2.32293986e-04 2.14688451e+00] [ 6.36269991e-03 -1.03986549e-04 9.99979752e-01 1.62406100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154000004 meters 0.054072588301049905 Centerline is valid? [True, True] Translation: X:45.51, Y:2.15, Z:0.16 [[ 9.98938318e-01 -4.57303284e-02 -5.56549896e-03 4.55058783e+01] [ 4.57299057e-02 9.98953820e-01 -2.03255007e-04 2.14753336e+00] [ 5.56897136e-03 -5.14705281e-05 9.99984492e-01 1.62383351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999254154 meters 0.053634679767858136 Centerline is valid? [True, True] Translation: X:45.57, Y:2.15, Z:0.16 [[ 9.99060863e-01 -4.28415322e-02 -6.48032764e-03 4.55681893e+01] [ 4.28408987e-02 9.99081879e-01 -2.36600639e-04 2.15351745e+00] [ 6.48451425e-03 -4.12446217e-05 9.99978974e-01 1.62158968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254154 meters 0.054028459203420955 Centerline is valid? [True, True] Translation: X:45.63, Y:2.15, Z:0.16 [[ 9.98989791e-01 -4.41024010e-02 -8.62414549e-03 4.56305797e+01] [ 4.41013291e-02 9.99027014e-01 -3.14510550e-04 2.15460859e+00] [ 8.62962499e-03 -6.61434502e-05 9.99962762e-01 1.60309153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154000004 meters 0.054105318464045725 Centerline is valid? [True, True] Translation: X:45.69, Y:2.16, Z:0.16 [[ 9.98878917e-01 -4.61935498e-02 -1.03472258e-02 4.56928022e+01] [ 4.61921228e-02 9.98932503e-01 -3.76987175e-04 2.15519026e+00] [ 1.03535946e-02 -1.01395785e-04 9.99946395e-01 1.59386112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179254154 meters 0.05425898417086704 Centerline is valid? [True, True] Translation: X:45.75, Y:2.15, Z:0.16 [[ 9.98774419e-01 -4.83243434e-02 -1.06965945e-02 4.57544042e+01] [ 4.83229437e-02 9.98831688e-01 -3.89421310e-04 2.15444921e+00] [ 1.07029161e-02 -1.27946892e-04 9.99942714e-01 1.59151174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254154 meters 0.053626185529040526 Centerline is valid? [True, True] Translation: X:45.82, Y:2.16, Z:0.16 [[ 9.98600729e-01 -5.22299946e-02 -8.28316499e-03 4.58166175e+01] [ 5.22292913e-02 9.98635074e-01 -3.01345334e-04 2.15636223e+00] [ 8.28759835e-03 -1.31700167e-04 9.99965649e-01 1.62154316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254154 meters 0.05469502187460035 Centerline is valid? [True, True] Translation: X:45.88, Y:2.15, Z:0.16 [[ 9.98406190e-01 -5.61890345e-02 -5.27938467e-03 4.58765465e+01] [ 5.61888046e-02 9.98420143e-01 -1.91986028e-04 2.15143880e+00] [ 5.28183151e-03 -1.04962274e-04 9.99986046e-01 1.64346151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters 0.05475842853294257 Centerline is valid? [True, True] Translation: X:45.94, Y:2.15, Z:0.17 [[ 9.98075470e-01 -6.19474359e-02 -2.80552876e-03 4.59375000e+01] [ 6.19473937e-02 9.98079411e-01 -1.02025386e-04 2.14895403e+00] [ 2.80646070e-03 -7.19661598e-05 9.99996059e-01 1.65844989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254154 meters 0.05430322540545805 Centerline is valid? [True, True] Translation: X:46.00, Y:2.15, Z:0.17 [[ 9.97761116e-01 -6.68525996e-02 -1.86684305e-03 4.59976625e+01] [ 6.68525894e-02 9.97762861e-01 -6.78899909e-05 2.15348492e+00] [ 1.86720528e-03 -5.70652986e-05 9.99998255e-01 1.65517579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254154 meters 0.05455429487216037 Centerline is valid? [True, True] Translation: X:46.06, Y:2.15, Z:0.16 [[ 9.97166650e-01 -7.51311825e-02 -3.73878743e-03 4.60579494e+01] [ 7.51312001e-02 9.97173648e-01 -1.35949328e-04 2.14656432e+00] [ 3.73843434e-03 -1.45335450e-04 9.99993001e-01 1.63304750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters 0.05322739857763359 Centerline is valid? [True, True] Translation: X:46.12, Y:2.16, Z:0.16 [[ 9.96712195e-01 -8.07916818e-02 -6.12402863e-03 4.61185378e+01] [ 8.07918358e-02 9.96730972e-01 -2.22633796e-04 2.15522510e+00] [ 6.12199596e-03 -2.72869695e-04 9.99981223e-01 1.62719387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599254154 meters 0.052462846168234815 Centerline is valid? [True, True] Translation: X:46.18, Y:2.16, Z:0.16 [[ 9.96235127e-01 -8.62994220e-02 -8.24512778e-03 4.61793364e+01] [ 8.62998899e-02 9.96269160e-01 -2.99684265e-04 2.15979276e+00] [ 8.24022911e-03 -4.12997628e-04 9.99965963e-01 1.62031232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254154 meters 0.05497219895709523 Centerline is valid? [True, True] Translation: X:46.24, Y:2.15, Z:0.16 [[ 9.96360755e-01 -8.47188351e-02 -9.37892771e-03 4.62403778e+01] [ 8.47193720e-02 9.96404793e-01 -3.40755986e-04 2.14777072e+00] [ 9.37407698e-03 -4.55060974e-04 9.99955959e-01 1.60281392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters 0.052780337948335886 Centerline is valid? [True, True] Translation: X:46.30, Y:2.17, Z:0.16 [[ 9.96769316e-01 -7.99200302e-02 -7.98242721e-03 4.63004918e+01] [ 7.99202662e-02 9.96801217e-01 -2.89932650e-04 2.16764771e+00] [ 7.98006459e-03 -3.48961738e-04 9.99968098e-01 1.62045021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779254154 meters 0.05526322826901419 Centerline is valid? [True, True] Translation: X:46.36, Y:2.16, Z:0.16 [[ 9.97716808e-01 -6.71700720e-02 -7.02513216e-03 4.63603002e+01] [ 6.71699390e-02 9.97741517e-01 -2.55128567e-04 2.16062511e+00] [ 7.02640302e-03 -2.17331640e-04 9.99975291e-01 1.62258129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254154 meters 0.05436947048960628 Centerline is valid? [True, True] Translation: X:46.42, Y:2.18, Z:0.17 [[ 9.98559090e-01 -5.35194879e-02 -3.92524019e-03 4.64207780e+01] [ 5.35193409e-02 9.98566803e-01 -1.42546092e-04 2.17659915e+00] [ 3.92724354e-03 -6.77355721e-05 9.99992286e-01 1.65439136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters 0.0532813657909424 Centerline is valid? [True, True] Translation: X:46.48, Y:2.19, Z:0.17 [[ 9.99084808e-01 -4.26900590e-02 -2.66551761e-03 4.64813508e+01] [ 4.26899527e-02 9.99088364e-01 -9.68030021e-05 2.18980578e+00] [ 2.66722015e-03 -1.70764120e-05 9.99996443e-01 1.66154209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959254154 meters 0.05346082243974438 Centerline is valid? [True, True] Translation: X:46.54, Y:2.19, Z:0.17 [[ 9.99297303e-01 -3.72737388e-02 -3.94582532e-03 4.65425405e+01] [ 3.72734636e-02 9.99305093e-01 -1.43292840e-04 2.19475828e+00] [ 3.94842440e-03 -3.88242787e-06 9.99992205e-01 1.66174834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254154 meters 0.053993699851864634 Centerline is valid? [True, True] Translation: X:46.60, Y:2.20, Z:0.16 [[ 9.99484862e-01 -3.15799878e-02 -5.71963110e-03 4.66034487e+01] [ 3.15793200e-02 9.99501227e-01 -2.07047371e-04 2.20103715e+00] [ 5.72331686e-03 2.63186520e-05 9.99983621e-01 1.62959084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters 0.05382244845563799 Centerline is valid? [True, True] Translation: X:46.67, Y:2.20, Z:0.16 [[ 9.99566063e-01 -2.86573512e-02 -6.81479266e-03 4.66650596e+01] [ 2.86563367e-02 9.99589292e-01 -2.46481955e-04 2.20439751e+00] [ 6.81905729e-03 5.10880040e-05 9.99976749e-01 1.62432544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139254154 meters 0.054485066072990786 Centerline is valid? [True, True] Translation: X:46.73, Y:2.21, Z:0.16 [[ 9.99646606e-01 -2.57737804e-02 -6.50968198e-03 4.67275079e+01] [ 2.57727949e-02 9.99667799e-01 -2.35252996e-04 2.20521548e+00] [ 6.51358281e-03 6.73971603e-05 9.99978784e-01 1.63483046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254154 meters 0.05488859610504941 Centerline is valid? [True, True] Translation: X:46.79, Y:2.21, Z:0.16 [[ 9.99628540e-01 -2.64495198e-02 -6.57298282e-03 4.67886554e+01] [ 2.64485311e-02 9.99650148e-01 -2.37309342e-04 2.20603250e+00] [ 6.57695997e-03 6.33754510e-05 9.99978370e-01 1.63557468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters 0.05410550482059705 Centerline is valid? [True, True] Translation: X:46.85, Y:2.20, Z:0.16 [[ 9.99498113e-01 -3.09715592e-02 -6.65471298e-03 4.68507782e+01] [ 3.09706473e-02 9.99520266e-01 -2.40054072e-04 2.20234410e+00] [ 6.65895533e-03 3.38328233e-05 9.99977828e-01 1.63059312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319254154 meters 0.05393425416539737 Centerline is valid? [True, True] Translation: X:46.91, Y:2.19, Z:0.16 [[ 9.99222758e-01 -3.89522927e-02 -6.04963903e-03 4.69118725e+01] [ 3.89516875e-02 9.99241071e-01 -2.17872307e-04 2.19437426e+00] [ 6.05353441e-03 -1.79406813e-05 9.99981677e-01 1.63258485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254154 meters 0.053883387112567356 Centerline is valid? [True, True] Translation: X:46.97, Y:2.19, Z:0.16 [[ 9.98884086e-01 -4.69395210e-02 -5.22153703e-03 4.69736903e+01] [ 4.69391814e-02 9.98897732e-01 -1.87634930e-04 2.19126432e+00] [ 5.22458899e-03 -5.76691285e-05 9.99986350e-01 1.64549265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154000004 meters 0.05406237792041719 Centerline is valid? [True, True] Translation: X:47.03, Y:2.19, Z:0.16 [[ 9.98665955e-01 -5.13233863e-02 -5.67633817e-03 4.70341105e+01] [ 5.13230571e-02 9.98682083e-01 -2.03737469e-04 2.18637045e+00] [ 5.67931372e-03 -8.78613538e-05 9.99983869e-01 1.64767447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499254154 meters 0.05304162443045698 Centerline is valid? [True, True] Translation: X:47.10, Y:2.18, Z:0.16 [[ 9.97857118e-01 -6.50922188e-02 -6.64650745e-03 4.70952403e+01] [ 6.50920729e-02 9.97879234e-01 -2.38485210e-04 2.18205395e+00] [ 6.64793529e-03 -1.94660784e-04 9.99977883e-01 1.64177693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254154 meters 0.0537354167932064 Centerline is valid? [True, True] Translation: X:47.16, Y:2.17, Z:0.16 [[ 9.97050638e-01 -7.63762177e-02 -7.52978597e-03 4.71550380e+01] [ 7.63763523e-02 9.97079024e-01 -2.70097072e-04 2.16929606e+00] [ 7.52842064e-03 -3.05797128e-04 9.99971614e-01 1.63476252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154000004 meters 0.05544881431234269 Centerline is valid? [True, True] Translation: X:47.21, Y:2.16, Z:0.16 [[ 9.96717348e-01 -8.06244453e-02 -7.36392788e-03 4.72149452e+01] [ 8.06246898e-02 9.96744496e-01 -2.64142856e-04 2.16461808e+00] [ 7.36125095e-03 -3.30438635e-04 9.99972851e-01 1.64167316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679254154 meters 0.05507036728807819 Centerline is valid? [True, True] Translation: X:47.28, Y:2.17, Z:0.16 [[ 9.96682511e-01 -8.10818109e-02 -7.05063547e-03 4.72775183e+01] [ 8.10820471e-02 9.96707398e-01 -2.52808006e-04 2.16565554e+00] [ 7.04791867e-03 -3.19710639e-04 9.99975112e-01 1.64699104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254154 meters 0.05352526942974527 Centerline is valid? [True, True] Translation: X:47.34, Y:2.18, Z:0.17 [[ 9.96891049e-01 -7.84964217e-02 -6.82262377e-03 4.73374812e+01] [ 7.84965834e-02 9.96914353e-01 -2.44478200e-04 2.17669196e+00] [ 6.82076223e-03 -2.91834527e-04 9.99976696e-01 1.65687827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254154 meters 0.054331040878891027 Centerline is valid? [True, True] Translation: X:47.40, Y:2.18, Z:0.17 [[ 9.97402319e-01 -7.15650664e-02 -8.18871874e-03 4.73973747e+01] [ 7.15650662e-02 9.97435890e-01 -2.93414192e-04 2.17675948e+00] [ 8.18872017e-03 -2.93374203e-04 9.99966429e-01 1.65649345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859254154 meters 0.05374166844360545 Centerline is valid? [True, True] Translation: X:47.46, Y:2.18, Z:0.17 [[ 9.97961336e-01 -6.30965306e-02 -9.59168680e-03 4.74578804e+01] [ 6.30961399e-02 9.98007394e-01 -3.43634550e-04 2.18355905e+00] [ 9.59425650e-03 -2.62264417e-04 9.99953940e-01 1.66319431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254154 meters 0.05500181192046972 Centerline is valid? [True, True] Translation: X:47.52, Y:2.18, Z:0.17 [[ 9.98320012e-01 -5.71504024e-02 -9.53864425e-03 4.75175094e+01] [ 5.71497446e-02 9.98365559e-01 -3.41744302e-04 2.18468549e+00] [ 9.54258473e-03 -2.03960907e-04 9.99954448e-01 1.66262123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254154 meters 0.05451211433229958 Centerline is valid? [True, True] Translation: X:47.58, Y:2.19, Z:0.17 [[ 9.99048085e-01 -4.28098836e-02 -8.38076104e-03 4.75766680e+01] [ 4.28088707e-02 9.99083235e-01 -3.00292581e-04 2.19151738e+00] [ 8.38593334e-03 -5.87641879e-05 9.99964836e-01 1.66492292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters 0.0542639655770377 Centerline is valid? [True, True] Translation: X:47.64, Y:2.20, Z:0.17 [[ 9.99377131e-01 -3.43889382e-02 -7.92159154e-03 4.76382929e+01] [ 3.43877696e-02 9.99408525e-01 -2.83721247e-04 2.19994842e+00] [ 7.92666299e-03 1.11386606e-05 9.99968583e-01 1.68337765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099254154 meters 0.05521068034783884 Centerline is valid? [True, True] Translation: X:47.70, Y:2.21, Z:0.17 [[ 9.99616285e-01 -2.67006668e-02 -7.37271613e-03 4.76997789e+01] [ 2.66994469e-02 9.99643471e-01 -2.63844976e-04 2.20576476e+00] [ 7.37713238e-03 6.68962918e-05 9.99972786e-01 1.69343262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254154 meters 0.05580451487802336 Centerline is valid? [True, True] Translation: X:47.76, Y:2.21, Z:0.17 [[ 9.99809042e-01 -1.81452533e-02 -7.25461957e-03 4.77594234e+01] [ 1.81438481e-02 9.99835353e-01 -2.59471277e-04 2.20652677e+00] [ 7.25813329e-03 1.27795013e-04 9.99973651e-01 1.70321586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters 0.05633240133818163 Centerline is valid? [True, True] Translation: X:47.82, Y:2.21, Z:0.17 [[ 9.99880053e-01 -1.35129779e-02 -7.56825260e-03 4.78203733e+01] [ 1.35113163e-02 9.99908681e-01 -2.70630911e-04 2.20836389e+00] [ 7.57121850e-03 1.68341395e-04 9.99971324e-01 1.69945096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279254154 meters 0.05620939961649791 Centerline is valid? [True, True] Translation: X:47.88, Y:2.21, Z:0.17 [[ 9.99888599e-01 -1.29659224e-02 -7.39423054e-03 4.78806884e+01] [ 1.29643218e-02 9.99915925e-01 -2.64358398e-04 2.20514128e+00] [ 7.39703651e-03 1.68467764e-04 9.99972627e-01 1.70785930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254154 meters 0.05588431759520022 Centerline is valid? [True, True] Translation: X:47.94, Y:2.20, Z:0.17 [[ 9.99852411e-01 -1.54900717e-02 -7.43064440e-03 4.79415208e+01] [ 1.54885255e-02 9.99880010e-01 -2.65578250e-04 2.20147899e+00] [ 7.43386663e-03 1.50449328e-04 9.99972357e-01 1.70515728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters 0.0559527175481701 Centerline is valid? [True, True] Translation: X:48.00, Y:2.20, Z:0.17 [[ 9.99792376e-01 -1.92330611e-02 -6.73004781e-03 4.80030039e+01] [ 1.92318786e-02 9.99815021e-01 -2.40379908e-04 2.20127374e+00] [ 6.73342614e-03 1.10898536e-04 9.99977324e-01 1.70506264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459254154 meters 0.05524902719199671 Centerline is valid? [True, True] Translation: X:48.06, Y:2.19, Z:0.17 [[ 9.99639488e-01 -2.60558848e-02 -6.47954745e-03 4.80631986e+01] [ 2.60549329e-02 9.99660486e-01 -2.31290109e-04 2.19271853e+00] [ 6.48337402e-03 6.23825515e-05 9.99978981e-01 1.70714899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254154 meters 0.05472565663929256 Centerline is valid? [True, True] Translation: X:48.12, Y:2.18, Z:0.17 [[ 9.99501785e-01 -3.09314167e-02 -6.27932921e-03 4.81248456e+01] [ 3.09306193e-02 9.99521509e-01 -2.24089318e-04 2.18483490e+00] [ 6.28325601e-03 2.97541317e-05 9.99980260e-01 1.71194153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters 0.05565136456957391 Centerline is valid? [True, True] Translation: X:48.19, Y:2.17, Z:0.17 [[ 9.99294222e-01 -3.70663895e-02 -6.09438190e-03 4.81873219e+01] [ 3.70657535e-02 9.99312805e-01 -2.17308599e-04 2.17400188e+00] [ 6.09824872e-03 -8.73762972e-06 9.99981405e-01 1.70659131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639254154 meters 0.055512111716350586 Centerline is valid? [True, True] Translation: X:48.25, Y:2.17, Z:0.17 [[ 9.99168459e-01 -4.02596796e-02 -6.44580151e-03 4.82492765e+01] [ 4.02590362e-02 9.99189250e-01 -2.29595980e-04 2.16507075e+00] [ 6.44981904e-03 -3.00966945e-05 9.99979199e-01 1.70872878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254154 meters 0.05608375507790583 Centerline is valid? [True, True] Translation: X:48.31, Y:2.16, Z:0.17 [[ 9.99138314e-01 -4.08933925e-02 -7.09645413e-03 4.83120701e+01] [ 4.08926304e-02 9.99163515e-01 -2.52525017e-04 2.16139687e+00] [ 7.10084465e-03 -3.78852560e-05 9.99974788e-01 1.71137843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters 0.05595080900759724 Centerline is valid? [True, True] Translation: X:48.37, Y:2.16, Z:0.17 [[ 9.99242667e-01 -3.77745896e-02 -9.33665464e-03 4.83730573e+01] [ 3.77731375e-02 9.99286285e-01 -3.31881035e-04 2.15745388e+00] [ 9.34252760e-03 -2.10450481e-05 9.99956357e-01 1.69463467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819254154 meters 0.05612623054249129 Centerline is valid? [True, True] Translation: X:48.43, Y:2.16, Z:0.17 [[ 9.99391161e-01 -3.34823452e-02 -9.81019885e-03 4.84343410e+01] [ 3.34805378e-02 9.99439309e-01 -3.48459106e-04 2.15726450e+00] [ 9.81636559e-03 1.97962174e-05 9.99951818e-01 1.69994329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254154 meters 0.056763191287541766 Centerline is valid? [True, True] Translation: X:48.49, Y:2.16, Z:0.17 [[ 9.99625040e-01 -2.55327553e-02 -9.89227656e-03 4.84943287e+01] [ 2.55305314e-02 9.99673981e-01 -3.51041651e-04 2.15772082e+00] [ 9.89801456e-03 9.83549471e-05 9.99951009e-01 1.71383627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154000004 meters 0.05685804334541022 Centerline is valid? [True, True] Translation: X:48.56, Y:2.16, Z:0.17 [[ 9.99768344e-01 -1.89491596e-02 -1.02072121e-02 4.85552530e+01] [ 1.89464514e-02 9.99820434e-01 -3.61955393e-04 2.15866308e+00] [ 1.02122380e-02 1.68481095e-04 9.99947840e-01 1.71266778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999254154 meters 0.0573727132292732 Centerline is valid? [True, True] Translation: X:48.61, Y:2.15, Z:0.17 [[ 9.99803659e-01 -1.67655614e-02 -1.05621345e-02 4.86149039e+01] [ 1.67625400e-02 9.99859429e-01 -3.74528576e-04 2.15357395e+00] [ 1.05669290e-02 1.97406838e-04 9.99944149e-01 1.72676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254154 meters 0.05757052154754063 Centerline is valid? [True, True] Translation: X:48.68, Y:2.15, Z:0.17 [[ 9.99724222e-01 -2.07995578e-02 -1.09022288e-02 4.86752515e+01] [ 2.07965781e-02 9.99783653e-01 -3.86621690e-04 2.14923572e+00] [ 1.09079117e-02 1.59786017e-04 9.99940494e-01 1.72498372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154000004 meters 0.05720845967306942 Centerline is valid? [True, True] Translation: X:48.74, Y:2.15, Z:0.17 [[ 9.99617181e-01 -2.55029962e-02 -1.07279055e-02 4.87353162e+01] [ 2.55003818e-02 9.99674740e-01 -3.80439728e-04 2.14602083e+00] [ 1.07341185e-02 1.06728403e-04 9.99942382e-01 1.72605874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179254154 meters 0.057548582827152875 Centerline is valid? [True, True] Translation: X:48.80, Y:2.14, Z:0.17 [[ 9.99381108e-01 -3.36641482e-02 -1.02042542e-02 4.87959917e+01] [ 3.36622085e-02 9.99433202e-01 -3.61822997e-04 2.13696715e+00] [ 1.02106509e-02 1.81013342e-05 9.99947870e-01 1.73821925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254154 meters 0.057508414485057745 Centerline is valid? [True, True] Translation: X:48.86, Y:2.13, Z:0.17 [[ 9.99245758e-01 -3.74176102e-02 -1.03845019e-02 4.88568796e+01] [ 3.74158086e-02 9.99299716e-01 -3.67788132e-04 2.13260317e+00] [ 1.03909916e-02 -2.10338058e-05 9.99946012e-01 1.73603734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254154 meters 0.058248257222168344 Centerline is valid? [True, True] Translation: X:48.92, Y:2.13, Z:0.18 [[ 9.99055135e-01 -4.26970255e-02 -8.11179020e-03 4.89195625e+01] [ 4.26961031e-02 9.99088064e-01 -2.86927588e-04 2.12676281e+00] [ 8.11664372e-03 -5.96853504e-05 9.99967058e-01 1.75948823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359254154 meters 0.057120744162634435 Centerline is valid? [True, True] Translation: X:48.98, Y:2.13, Z:0.18 [[ 9.99019700e-01 -4.34511680e-02 -8.46375818e-03 4.89805587e+01] [ 4.34501934e-02 9.99055550e-01 -2.99084900e-04 2.12643430e+00] [ 8.46876017e-03 -6.89602228e-05 9.99964137e-01 1.75914974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254154 meters 0.05785457577189235 Centerline is valid? [True, True] Translation: X:49.04, Y:2.12, Z:0.18 [[ 9.98859254e-01 -4.70593907e-02 -8.09969860e-03 4.90426198e+01] [ 4.70586185e-02 9.98892089e-01 -2.85995828e-04 2.12427953e+00] [ 8.10418364e-03 -9.54910475e-05 9.99967156e-01 1.75659925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254154 meters 0.05874255345263322 Centerline is valid? [True, True] Translation: X:49.10, Y:2.12, Z:0.17 [[ 9.98587486e-01 -5.24017997e-02 -8.77976483e-03 4.91040611e+01] [ 5.24011007e-02 9.98626070e-01 -3.09793315e-04 2.11801921e+00] [ 8.78393578e-03 -1.50713614e-04 9.99961409e-01 1.74416703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539254154 meters 0.057574209126271716 Centerline is valid? [True, True] Translation: X:49.17, Y:2.12, Z:0.18 [[ 9.98063748e-01 -6.16295084e-02 -8.39995630e-03 4.91651677e+01] [ 6.16291964e-02 9.98099070e-01 -2.96222754e-04 2.12493082e+00] [ 8.40224463e-03 -2.22033364e-04 9.99964676e-01 1.77102589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599254154 meters 0.05750873692685974 Centerline is valid? [True, True] Translation: X:49.23, Y:2.13, Z:0.18 [[ 9.97809985e-01 -6.55448132e-02 -8.89448081e-03 4.92254269e+01] [ 6.55446198e-02 9.97849590e-01 -3.13551192e-04 2.12567483e+00] [ 8.89590569e-03 -2.70120853e-04 9.99960394e-01 1.76748581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254154 meters 0.05874140772894839 Centerline is valid? [True, True] Translation: X:49.29, Y:2.12, Z:0.18 [[ 9.97721726e-01 -6.68200548e-02 -9.29714222e-03 4.92862788e+01] [ 6.68199019e-02 9.97764999e-01 -3.27414978e-04 2.11892542e+00] [ 9.29824099e-03 -2.94565094e-04 9.99956727e-01 1.75096993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters 0.058022959600017666 Centerline is valid? [True, True] Translation: X:49.35, Y:2.13, Z:0.18 [[ 9.97533675e-01 -6.96928254e-02 -8.33536501e-03 4.93466324e+01] [ 6.96928047e-02 9.97568457e-01 -2.93297157e-04 2.12993322e+00] [ 8.33553792e-03 -2.88341175e-04 9.99965217e-01 1.76993140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779254154 meters 0.05789647949929317 Centerline is valid? [True, True] Translation: X:49.41, Y:2.14, Z:0.18 [[ 9.97537039e-01 -6.97135359e-02 -7.73813512e-03 4.94097989e+01] [ 6.97135206e-02 9.97567016e-01 -2.72025366e-04 2.13585229e+00] [ 7.73827221e-03 -2.68097264e-04 9.99970023e-01 1.77723246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254154 meters 0.05825881630448703 Centerline is valid? [True, True] Translation: X:49.47, Y:2.14, Z:0.18 [[ 9.97701490e-01 -6.73370389e-02 -7.58024934e-03 4.94699753e+01] [ 6.73369576e-02 9.97730256e-01 -2.66244731e-04 2.13747609e+00] [ 7.58097224e-03 -2.44798163e-04 9.99971234e-01 1.78043973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters 0.05860945190448535 Centerline is valid? [True, True] Translation: X:49.53, Y:2.14, Z:0.18 [[ 9.97919055e-01 -6.41357802e-02 -6.64545342e-03 4.95300958e+01] [ 6.41356467e-02 9.97941163e-01 -2.33411446e-04 2.14239827e+00] [ 6.64674153e-03 -1.93284723e-04 9.99977891e-01 1.78676797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959254154 meters 0.05753583996927725 Centerline is valid? [True, True] Translation: X:49.59, Y:2.16, Z:0.18 [[ 9.98152590e-01 -6.04180032e-02 -6.40880919e-03 4.95907506e+01] [ 6.04178026e-02 9.98173151e-01 -2.25080070e-04 2.15775445e+00] [ 6.41070015e-03 -1.62541914e-04 9.99979438e-01 1.79284468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254154 meters 0.056935791396126485 Centerline is valid? [True, True] Translation: X:49.65, Y:2.17, Z:0.18 [[ 9.98460125e-01 -5.49997488e-02 -7.23925799e-03 4.96516504e+01] [ 5.49993508e-02 9.98486358e-01 -2.54198809e-04 2.16597995e+00] [ 7.24228122e-03 -1.44347115e-04 9.99973764e-01 1.78204637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters 0.057684141040555276 Centerline is valid? [True, True] Translation: X:49.71, Y:2.17, Z:0.18 [[ 9.98729938e-01 -4.96746771e-02 -8.42240518e-03 4.97114606e+01] [ 4.96739492e-02 9.98765444e-01 -2.95727643e-04 2.16977103e+00] [ 8.42669742e-03 -1.23022076e-04 9.99964487e-01 1.77228998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139254154 meters 0.05681483648926147 Centerline is valid? [True, True] Translation: X:49.77, Y:2.18, Z:0.18 [[ 9.98999834e-01 -4.39719355e-02 -8.11170126e-03 4.97731442e+01] [ 4.39710734e-02 9.99032764e-01 -2.84678172e-04 2.18133983e+00] [ 8.11637318e-03 -7.22867642e-05 9.99967059e-01 1.78900644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254154 meters 0.05679067667873701 Centerline is valid? [True, True] Translation: X:49.83, Y:2.19, Z:0.18 [[ 9.99294991e-01 -3.67542427e-02 -7.65812143e-03 4.98328714e+01] [ 3.67532636e-02 9.99324334e-01 -2.68603784e-04 2.19029434e+00] [ 7.66281943e-03 -1.30465394e-05 9.99970640e-01 1.79630370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters 0.057163478531109306 Centerline is valid? [True, True] Translation: X:49.89, Y:2.19, Z:0.18 [[ 9.99349603e-01 -3.52632434e-02 -7.54152487e-03 4.98948914e+01] [ 3.52622525e-02 9.99378058e-01 -2.64362815e-04 2.19489228e+00] [ 7.54615678e-03 -1.74028047e-06 9.99971527e-01 1.82095893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319254154 meters 0.0566920543879493 Centerline is valid? [True, True] Translation: X:49.96, Y:2.20, Z:0.18 [[ 9.99278070e-01 -3.73578752e-02 -6.90854099e-03 4.99567044e+01] [ 3.73570954e-02 9.99301951e-01 -2.41926851e-04 2.19688156e+00] [ 6.91275636e-03 -1.63308284e-05 9.99976106e-01 1.80721714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254154 meters 0.0568254190475528 Centerline is valid? [True, True] Translation: X:50.02, Y:2.20, Z:0.18 [[ 9.98993820e-01 -4.42342586e-02 -7.39451892e-03 5.00172422e+01] [ 4.42335553e-02 9.99021184e-01 -2.58703433e-04 2.20039220e+00] [ 7.39872460e-03 -6.86427311e-05 9.99972627e-01 1.82600908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters 0.05690551434630443 Centerline is valid? [True, True] Translation: X:50.08, Y:2.19, Z:0.18 [[ 9.98522718e-01 -5.37213568e-02 -8.14847196e-03 5.00781438e+01] [ 5.37208195e-02 9.98555954e-01 -2.84964166e-04 2.19182682e+00] [ 8.15201385e-03 -1.53199397e-04 9.99966760e-01 1.80435960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499254154 meters 0.05686213550582416 Centerline is valid? [True, True] Translation: X:50.14, Y:2.19, Z:0.18 [[ 9.98120898e-01 -6.08793439e-02 -6.95548762e-03 5.01384921e+01] [ 6.08791263e-02 9.98145116e-01 -2.43205531e-04 2.19164601e+00] [ 6.95739219e-03 -1.80695487e-04 9.99975781e-01 1.81692715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254154 meters 0.05679563829147452 Centerline is valid? [True, True] Translation: X:50.20, Y:2.19, Z:0.18 [[ 9.97966735e-01 -6.33907294e-02 -6.63402816e-03 5.01981993e+01] [ 6.33905877e-02 9.97988767e-01 -2.31848683e-04 2.19086543e+00] [ 6.63538264e-03 -1.89157670e-04 9.99977968e-01 1.81926547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154000004 meters 0.05824758071113491 Centerline is valid? [True, True] Translation: X:50.26, Y:2.18, Z:0.18 [[ 9.97927804e-01 -6.40134925e-02 -6.50927960e-03 5.02598051e+01] [ 6.40133707e-02 9.97949015e-01 -2.27267836e-04 2.18473479e+00] [ 6.51047738e-03 -1.89884035e-04 9.99978789e-01 1.81537124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679254154 meters 0.05784256828345316 Centerline is valid? [True, True] Translation: X:50.32, Y:2.19, Z:0.18 [[ 9.98040056e-01 -6.22960090e-02 -5.93754413e-03 5.03216995e+01] [ 6.22958781e-02 9.98057704e-01 -2.07158625e-04 2.18754566e+00] [ 5.93891681e-03 -1.63131919e-04 9.99982351e-01 1.81711020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254154 meters 0.057052896651294885 Centerline is valid? [True, True] Translation: X:50.38, Y:2.20, Z:0.18 [[ 9.98194146e-01 -5.98153032e-02 -5.52962484e-03 5.03825308e+01] [ 5.98151525e-02 9.98209452e-01 -1.92776062e-04 2.19995983e+00] [ 5.53125474e-03 -1.38327416e-04 9.99984693e-01 1.82972435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254154 meters 0.05651723300944508 Centerline is valid? [True, True] Translation: X:50.44, Y:2.22, Z:0.18 [[ 9.98466460e-01 -5.50392568e-02 -5.95056177e-03 5.04422992e+01] [ 5.50389981e-02 9.98484184e-01 -2.07346937e-04 2.21512961e+00] [ 5.95295404e-03 -1.20483996e-04 9.99982274e-01 1.83827916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859254154 meters 0.05672453956032387 Centerline is valid? [True, True] Translation: X:50.50, Y:2.21, Z:0.18 [[ 9.98560869e-01 -5.32041445e-02 -6.74614500e-03 5.05044269e+01] [ 5.32037710e-02 9.98583649e-01 -2.34955283e-04 2.20909983e+00] [ 6.74909068e-03 -1.24303201e-04 9.99977217e-01 1.82676387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254154 meters 0.056603966389916105 Centerline is valid? [True, True] Translation: X:50.57, Y:2.21, Z:0.18 [[ 9.98501779e-01 -5.40308151e-02 -8.65270536e-03 5.05667157e+01] [ 5.40302347e-02 9.98539255e-01 -3.00997493e-04 2.21355071e+00] [ 8.65632910e-03 -1.66961168e-04 9.99962519e-01 1.81455358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254154 meters 0.05599634975528485 Centerline is valid? [True, True] Translation: X:50.63, Y:2.22, Z:0.18 [[ 9.98417924e-01 -5.52223436e-02 -1.05897357e-02 5.06278143e+01] [ 5.52215446e-02 9.98474059e-01 -3.68062268e-04 2.22250596e+00] [ 1.05939016e-02 -2.17301596e-04 9.99943859e-01 1.82914298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039254154 meters 0.056665657982888196 Centerline is valid? [True, True] Translation: X:50.69, Y:2.22, Z:0.18 [[ 9.98203797e-01 -5.88998564e-02 -1.09538313e-02 5.06890442e+01] [ 5.88992250e-02 9.98263861e-01 -3.80503525e-04 2.22075071e+00] [ 1.09572255e-02 -2.65352110e-04 9.99939933e-01 1.81800305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099254154 meters 0.05660676549489186 Centerline is valid? [True, True] Translation: X:50.75, Y:2.22, Z:0.18 [[ 9.98014088e-01 -6.22042674e-02 -9.92520238e-03 5.07504441e+01] [ 6.22039139e-02 9.98063402e-01 -3.44611857e-04 2.22489297e+00] [ 9.92741758e-03 -2.73458946e-04 9.99950685e-01 1.84480675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254154 meters 0.05665789008248017 Centerline is valid? [True, True] Translation: X:50.81, Y:2.22, Z:0.19 [[ 9.97683128e-01 -6.76224332e-02 -7.45533472e-03 5.08097985e+01] [ 6.76223850e-02 9.97710953e-01 -2.58830415e-04 2.22466784e+00] [ 7.45577185e-03 -2.45916776e-04 9.99972175e-01 1.86507310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219254154 meters 0.05703941704017212 Centerline is valid? [True, True] Translation: X:50.87, Y:2.22, Z:0.19 [[ 9.97492961e-01 -7.05119892e-02 -5.98767159e-03 5.08699776e+01] [ 7.05120100e-02 9.97510909e-01 -2.07899136e-04 2.22392580e+00] [ 5.98742711e-03 -2.14824834e-04 9.99982052e-01 1.87078195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279254154 meters 0.060959213270876084 Centerline is valid? [True, True] Translation: X:50.93, Y:2.21, Z:0.19 [[ 9.97287352e-01 -7.33529011e-02 -6.10647466e-03 5.09295042e+01] [ 7.33529758e-02 9.97306019e-01 -2.12036774e-04 2.21412113e+00] [ 6.10557745e-03 -2.36466495e-04 9.99981333e-01 1.86854898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254154 meters 0.05568190536842429 Centerline is valid? [True, True] Translation: X:50.99, Y:2.24, Z:0.19 [[ 9.96919680e-01 -7.81794678e-02 -6.25476436e-03 5.09891078e+01] [ 7.81796409e-02 9.96939264e-01 -2.17205155e-04 2.23895775e+00] [ 6.25260116e-03 -2.72459138e-04 9.99980415e-01 1.88742143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters 0.057377597966177446 Centerline is valid? [True, True] Translation: X:51.05, Y:2.24, Z:0.19 [[ 9.96802184e-01 -7.95618371e-02 -7.43778067e-03 5.10495294e+01] [ 7.95621205e-02 9.96829876e-01 -2.58249768e-04 2.23695720e+00] [ 7.43474881e-03 -3.34341669e-04 9.99972306e-01 1.87627880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459254154 meters 0.058781531283401904 Centerline is valid? [True, True] Translation: X:51.11, Y:2.24, Z:0.19 [[ 9.96939803e-01 -7.78134170e-02 -7.49013026e-03 5.11092517e+01] [ 7.78136554e-02 9.96967887e-01 -2.60035084e-04 2.23885026e+00] [ 7.48765356e-03 -3.23595089e-04 9.99971915e-01 1.87302920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254154 meters 0.0585766840396665 Centerline is valid? [True, True] Translation: X:51.17, Y:2.24, Z:0.19 [[ 9.97182689e-01 -7.45628348e-02 -8.18949299e-03 5.11692985e+01] [ 7.45630103e-02 9.97216264e-01 -2.84313308e-04 2.24465684e+00] [ 8.18789481e-03 -3.27120942e-04 9.99966425e-01 1.86395826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters 0.05584533048040792 Centerline is valid? [True, True] Translation: X:51.23, Y:2.27, Z:0.19 [[ 9.97713127e-01 -6.69591431e-02 -9.21897403e-03 5.12285814e+01] [ 6.69590417e-02 9.97755674e-01 -3.20006115e-04 2.26927020e+00] [ 9.21971098e-03 -2.98019364e-04 9.99957453e-01 1.86694318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639254154 meters 0.05634999000767345 Centerline is valid? [True, True] Translation: X:51.29, Y:2.28, Z:0.19 [[ 9.98265698e-01 -5.82489785e-02 -8.52369446e-03 5.12884012e+01] [ 5.82485747e-02 9.98302067e-01 -2.95835562e-04 2.27555415e+00] [ 8.52645391e-03 -2.01170559e-04 9.99963629e-01 1.86750425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254154 meters 0.05539963179227228 Centerline is valid? [True, True] Translation: X:51.35, Y:2.29, Z:0.19 [[ 9.98614966e-01 -5.22765276e-02 -5.94253037e-03 5.13489182e+01] [ 5.22762257e-02 9.98632642e-01 -2.06228269e-04 2.28771270e+00] [ 5.94518570e-03 -1.04710423e-04 9.99982322e-01 1.88862461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters 0.056070881465599166 Centerline is valid? [True, True] Translation: X:51.41, Y:2.29, Z:0.19 [[ 9.98778052e-01 -4.91641256e-02 -5.02900340e-03 5.14090465e+01] [ 4.91638701e-02 9.98790711e-01 -1.74484696e-04 2.29106276e+00] [ 5.03150027e-03 -7.29737854e-05 9.99987339e-01 1.88923202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819254154 meters 0.05553076791151621 Centerline is valid? [True, True] Translation: X:51.47, Y:2.30, Z:0.19 [[ 9.98852351e-01 -4.76131343e-02 -5.19325837e-03 5.14709801e+01] [ 4.76128413e-02 9.98865849e-01 -1.80110815e-04 2.29676082e+00] [ 5.19594407e-03 -6.73616753e-05 9.99986499e-01 1.88078818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254154 meters 0.05528971027639118 Centerline is valid? [True, True] Translation: X:51.53, Y:2.30, Z:0.19 [[ 9.98966568e-01 -4.50944474e-02 -5.68222936e-03 5.15325418e+01] [ 4.50940569e-02 9.98982726e-01 -1.96882134e-04 2.30437265e+00] [ 5.68532726e-03 -5.95561043e-05 9.99983837e-01 1.87182087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters 0.05544779433983147 Centerline is valid? [True, True] Translation: X:51.59, Y:2.31, Z:0.19 [[ 9.98991495e-01 -4.43525668e-02 -6.98874462e-03 5.15947756e+01] [ 4.43519597e-02 9.99015938e-01 -2.41907203e-04 2.31160729e+00] [ 6.99259647e-03 -6.83012818e-05 9.99975549e-01 1.86021996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999254154 meters 0.055071005156623824 Centerline is valid? [True, True] Translation: X:51.66, Y:2.32, Z:0.19 [[ 9.98947521e-01 -4.54468819e-02 -6.19923296e-03 5.16570446e+01] [ 4.54464264e-02 9.98966754e-01 -2.14394694e-04 2.31880562e+00] [ 6.20257120e-03 -6.75639357e-05 9.99980762e-01 1.85674415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254154 meters 0.05457326984359908 Centerline is valid? [True, True] Translation: X:51.72, Y:2.32, Z:0.19 [[ 9.98914675e-01 -4.62667976e-02 -5.37171644e-03 5.17189284e+01] [ 4.62664683e-02 9.98929116e-01 -1.85615269e-04 2.32150805e+00] [ 5.37455178e-03 -6.31165320e-05 9.99985555e-01 1.85808464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154000004 meters 0.05417624395184746 Centerline is valid? [True, True] Translation: X:51.78, Y:2.32, Z:0.19 [[ 9.98802567e-01 -4.87467855e-02 -4.14512831e-03 5.17802064e+01] [ 4.87466113e-02 9.98811167e-01 -1.43109351e-04 2.32410704e+00] [ 4.14717657e-03 -5.91229712e-05 9.99991399e-01 1.86205205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179254154 meters 0.05468686697495053 Centerline is valid? [True, True] Translation: X:51.84, Y:2.33, Z:0.19 [[ 9.98568526e-01 -5.33059688e-02 -4.40145453e-03 5.18413240e+01] [ 5.33058187e-02 9.98578223e-01 -1.51508947e-04 2.32676058e+00] [ 4.40327297e-03 -8.33310707e-05 9.99990302e-01 1.85735876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254154 meters 0.054869833269213214 Centerline is valid? [True, True] Translation: X:51.90, Y:2.33, Z:0.19 [[ 9.98454924e-01 -5.53736045e-02 -4.63986189e-03 5.19021006e+01] [ 5.53734603e-02 9.98465700e-01 -1.59643538e-04 2.32575347e+00] [ 4.64158299e-03 -9.75283310e-05 9.99989223e-01 1.85165854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254154 meters 0.054057544928184695 Centerline is valid? [True, True] Translation: X:51.96, Y:2.33, Z:0.18 [[ 9.97917407e-01 -6.43455269e-02 -4.52786539e-03 5.19627498e+01] [ 6.43454827e-02 9.97927670e-01 -1.55573144e-04 2.33298994e+00] [ 4.52849259e-03 -1.36098536e-04 9.99989737e-01 1.84762338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359254154 meters 0.05549271166413622 Centerline is valid? [True, True] Translation: X:52.02, Y:2.32, Z:0.18 [[ 9.97281545e-01 -7.34682403e-02 -5.65131903e-03 5.20229125e+01] [ 7.34683179e-02 9.97297533e-01 -1.94138064e-04 2.32325636e+00] [ 5.65030951e-03 -2.21582595e-04 9.99984012e-01 1.83926297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254154 meters 0.05513373101616233 Centerline is valid? [True, True] Translation: X:52.08, Y:2.33, Z:0.18 [[ 9.96983551e-01 -7.74150473e-02 -5.54157843e-03 5.20842660e+01] [ 7.74151831e-02 9.96998923e-01 -1.90323679e-04 2.32840409e+00] [ 5.53968165e-03 -2.39252731e-04 9.99984627e-01 1.83971662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254154 meters 0.0533191959966741 Centerline is valid? [True, True] Translation: X:52.14, Y:2.34, Z:0.19 [[ 9.96878848e-01 -7.88245992e-02 -4.38702273e-03 5.21449915e+01] [ 7.88246981e-02 9.96888481e-01 -1.50621443e-04 2.34354300e+00] [ 4.38524510e-03 -1.95654412e-04 9.99990366e-01 1.85005139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539254154 meters 0.056505440539986976 Centerline is valid? [True, True] Translation: X:52.21, Y:2.34, Z:0.19 [[ 9.97009619e-01 -7.71922904e-02 -3.62907496e-03 5.22061244e+01] [ 7.71923475e-02 9.97016211e-01 -1.24551136e-04 2.33624770e+00] [ 3.62786095e-03 -1.55958134e-04 9.99993407e-01 1.86374791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599254154 meters 0.05342560608312693 Centerline is valid? [True, True] Translation: X:52.27, Y:2.35, Z:0.19 [[ 9.97076083e-01 -7.62732465e-02 -4.65587805e-03 5.22673545e+01] [ 7.62733309e-02 9.97086934e-01 -1.59691435e-04 2.35308659e+00] [ 4.65449535e-03 -1.95894817e-04 9.99989149e-01 1.85527407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254154 meters 0.053274727138345655 Centerline is valid? [True, True] Translation: X:52.33, Y:2.36, Z:0.19 [[ 9.97027665e-01 -7.68338680e-02 -5.69132730e-03 5.23292760e+01] [ 7.68340051e-02 9.97043880e-01 -1.94872737e-04 2.36095928e+00] [ 5.68947588e-03 -2.42993961e-04 9.99983785e-01 1.85374841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719254154 meters 0.054518875041915806 Centerline is valid? [True, True] Translation: X:52.39, Y:2.37, Z:0.19 [[ 9.96967794e-01 -7.75585714e-02 -6.31544757e-03 5.23898690e+01] [ 7.75587580e-02 9.96987759e-01 -2.15730189e-04 2.36612626e+00] [ 6.31315565e-03 -2.74742219e-04 9.99980034e-01 1.85573854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779254154 meters 0.053484364238690324 Centerline is valid? [True, True] Translation: X:52.45, Y:2.38, Z:0.19 [[ 9.96999376e-01 -7.72063077e-02 -5.60629718e-03 5.24520773e+01] [ 7.72064505e-02 9.97015109e-01 -1.91268345e-04 2.37598045e+00] [ 5.60433012e-03 -2.42147885e-04 9.99984266e-01 1.86297991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254154 meters 0.05295783559961712 Centerline is valid? [True, True] Translation: X:52.51, Y:2.38, Z:0.19 [[ 9.97375201e-01 -7.22324331e-02 -5.01839493e-03 5.25128067e+01] [ 7.22324866e-02 9.97387808e-01 -1.70811839e-04 2.38419506e+00] [ 5.01762407e-03 -1.92127652e-04 9.99987393e-01 1.86576300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899254154 meters 0.0538713501099843 Centerline is valid? [True, True] Translation: X:52.57, Y:2.38, Z:0.19 [[ 9.97653172e-01 -6.83367561e-02 -4.27037888e-03 5.25727487e+01] [ 6.83367593e-02 9.97662301e-01 -1.45329556e-04 2.38198482e+00] [ 4.27032737e-03 -1.46835361e-04 9.99990871e-01 1.87378929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959254154 meters 0.05353936842593371 Centerline is valid? [True, True] Translation: X:52.63, Y:2.39, Z:0.19 [[ 9.97858058e-01 -6.52771072e-02 -4.26557188e-03 5.26335117e+01] [ 6.52770823e-02 9.97867166e-01 -1.45193806e-04 2.39186300e+00] [ 4.26595196e-03 -1.33561277e-04 9.99990892e-01 1.87159044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254154 meters 0.053028404314989716 Centerline is valid? [True, True] Translation: X:52.70, Y:2.40, Z:0.19 [[ 9.97863333e-01 -6.50142677e-02 -6.47415139e-03 5.26959175e+01] [ 6.50142075e-02 9.97884314e-01 -2.19977102e-04 2.39947673e+00] [ 6.47475577e-03 -2.01404738e-04 9.99979018e-01 1.86226575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters 0.05547761150766556 Centerline is valid? [True, True] Translation: X:52.76, Y:2.39, Z:0.18 [[ 9.97895547e-01 -6.43263789e-02 -8.16048075e-03 5.27576837e+01] [ 6.43262692e-02 9.97928883e-01 -2.76187641e-04 2.38865670e+00] [ 8.16134559e-03 -2.49326864e-04 9.99966665e-01 1.84729589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139254154 meters 0.05349878654144572 Centerline is valid? [True, True] Translation: X:52.82, Y:2.40, Z:0.19 [[ 9.97983512e-01 -6.31568904e-02 -6.33386373e-03 5.28196992e+01] [ 6.31568045e-02 9.98003593e-01 -2.13784531e-04 2.40274322e+00] [ 6.33472073e-03 -1.86673157e-04 9.99979918e-01 1.86725340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254154 meters 0.05419496181410517 Centerline is valid? [True, True] Translation: X:52.88, Y:2.40, Z:0.19 [[ 9.98126598e-01 -6.09876263e-02 -4.87888221e-03 5.28800295e+01] [ 6.09875510e-02 9.98138513e-01 -1.64336281e-04 2.40234694e+00] [ 4.87982272e-03 -1.33522665e-04 9.99988085e-01 1.87624446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters 0.05461327801430148 Centerline is valid? [True, True] Translation: X:52.94, Y:2.40, Z:0.19 [[ 9.98271910e-01 -5.86897837e-02 -2.95007175e-03 5.29409970e+01] [ 5.86897462e-02 9.98276266e-01 -9.93641355e-05 2.40274875e+00] [ 2.95081827e-03 -7.39465371e-05 9.99995644e-01 1.89712297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319254154 meters 0.05446944047728184 Centerline is valid? [True, True] Translation: X:53.00, Y:2.40, Z:0.19 [[ 9.98309070e-01 -5.80801227e-02 -2.38768998e-03 5.30036905e+01] [ 5.80800964e-02 9.98311923e-01 -8.04319018e-05 2.40444755e+00] [ 2.38833087e-03 -5.83813673e-05 9.99997146e-01 1.89915642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254154 meters 0.05458099538549929 Centerline is valid? [True, True] Translation: X:53.07, Y:2.41, Z:0.19 [[ 9.98317449e-01 -5.78577577e-02 -3.84073943e-03 5.30654888e+01] [ 5.78576887e-02 9.98324832e-01 -1.29152271e-04 2.40502568e+00] [ 3.84177801e-03 -9.32813407e-05 9.99992616e-01 1.88940622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters 0.05425306680074734 Centerline is valid? [True, True] Translation: X:53.13, Y:2.40, Z:0.19 [[ 9.98272266e-01 -5.85375131e-02 -5.08364938e-03 5.31264895e+01] [ 5.85374044e-02 9.98285201e-01 -1.70290627e-04 2.40193412e+00] [ 5.08490034e-03 -1.27587230e-04 9.99987064e-01 1.88121943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499254154 meters 0.05428444057448927 Centerline is valid? [True, True] Translation: X:53.19, Y:2.41, Z:0.19 [[ 9.98295619e-01 -5.81093882e-02 -5.39960248e-03 5.31888799e+01] [ 5.81092618e-02 9.98310213e-01 -1.80428821e-04 2.40511169e+00] [ 5.40096291e-03 -1.33645612e-04 9.99985406e-01 1.87551221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254154 meters 0.054397335597998 Centerline is valid? [True, True] Translation: X:53.25, Y:2.41, Z:0.19 [[ 9.98431717e-01 -5.56951033e-02 -5.67109555e-03 5.32499497e+01] [ 5.56949257e-02 9.98447815e-01 -1.89351083e-04 2.41013973e+00] [ 5.67283889e-03 -1.26797118e-04 9.99983901e-01 1.86810732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154000004 meters 0.053963487070695704 Centerline is valid? [True, True] Translation: X:53.31, Y:2.41, Z:0.19 [[ 9.98547491e-01 -5.35512346e-02 -5.93070130e-03 5.33110621e+01] [ 5.35510032e-02 9.98565096e-01 -1.97925558e-04 2.41320430e+00] [ 5.93279047e-03 -1.19956935e-04 9.99982394e-01 1.86916603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679254154 meters 0.054178520239702266 Centerline is valid? [True, True] Translation: X:53.37, Y:2.41, Z:0.19 [[ 9.98638182e-01 -5.19141700e-02 -5.16733166e-03 5.33727677e+01] [ 5.19139729e-02 9.98651546e-01 -1.72359755e-04 2.41439162e+00] [ 5.16931167e-03 -9.61316833e-05 9.99986634e-01 1.88002628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254154 meters 0.05434204873065035 Centerline is valid? [True, True] Translation: X:53.43, Y:2.41, Z:0.19 [[ 9.98530221e-01 -5.39698946e-02 -4.96467264e-03 5.34343929e+01] [ 5.39697387e-02 9.98542558e-01 -1.65461451e-04 2.41308001e+00] [ 4.96636686e-03 -1.02723825e-04 9.99987662e-01 1.89159387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254154 meters 0.05416590662426666 Centerline is valid? [True, True] Translation: X:53.50, Y:2.42, Z:0.19 [[ 9.98223533e-01 -5.92543652e-02 -6.22076997e-03 5.34952714e+01] [ 5.92542237e-02 9.98242903e-01 -2.07209834e-04 2.41674299e+00] [ 6.22211757e-03 -1.61765163e-04 9.99980629e-01 1.88341813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859254154 meters 0.05337088890475409 Centerline is valid? [True, True] Translation: X:53.56, Y:2.42, Z:0.19 [[ 9.97849949e-01 -6.51064005e-02 -7.52562389e-03 5.35563952e+01] [ 6.51063601e-02 9.97878299e-01 -2.50616239e-04 2.41717233e+00] [ 7.52597349e-03 -2.39888578e-04 9.99971651e-01 1.87499842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254154 meters 0.053578361032708965 Centerline is valid? [True, True] Translation: X:53.62, Y:2.42, Z:0.19 [[ 9.97695679e-01 -6.75027094e-02 -6.83490329e-03 5.36174494e+01] [ 6.75027327e-02 9.97719063e-01 -2.27541034e-04 2.41766530e+00] [ 6.83467294e-03 -2.34357943e-04 9.99976616e-01 1.88011405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254154 meters 0.05348601112737611 Centerline is valid? [True, True] Translation: X:53.68, Y:2.42, Z:0.19 [[ 9.97777903e-01 -6.64127436e-02 -5.34821477e-03 5.36788559e+01] [ 6.64127425e-02 9.97792221e-01 -1.78001685e-04 2.42023387e+00] [ 5.34822868e-03 -1.77583463e-04 9.99985682e-01 1.89837211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039254154 meters 0.05482010405694175 Centerline is valid? [True, True] Translation: X:53.74, Y:2.42, Z:0.19 [[ 9.97998940e-01 -6.31257933e-02 -3.64007165e-03 5.37383498e+01] [ 6.31257711e-02 9.98005572e-01 -1.21105773e-04 2.41545791e+00] [ 3.64045669e-03 -1.08918897e-04 9.99993368e-01 1.91731253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099254154 meters 0.053372970675575386 Centerline is valid? [True, True] Translation: X:53.80, Y:2.42, Z:0.19 [[ 9.98170905e-01 -6.04037929e-02 -2.49516976e-03 5.37988387e+01] [ 6.04037739e-02 9.98174022e-01 -8.30529908e-05 2.42409090e+00] [ 2.49563035e-03 -6.78165910e-05 9.99996884e-01 1.91455212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254154 meters 0.05357493802662239 Centerline is valid? [True, True] Translation: X:53.86, Y:2.43, Z:0.19 [[ 9.98430095e-01 -5.59372226e-02 -2.89358934e-03 5.38597179e+01] [ 5.59371783e-02 9.98434286e-01 -9.62869330e-05 2.42871523e+00] [ 2.89444483e-03 -6.57234514e-05 9.99995809e-01 1.89965617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219254154 meters 0.053438028683756224 Centerline is valid? [True, True] Translation: X:53.92, Y:2.43, Z:0.19 [[ 9.98661106e-01 -5.15407308e-02 -4.42146753e-03 5.39203497e+01] [ 5.15405847e-02 9.98670890e-01 -1.47052503e-04 2.43264620e+00] [ 4.42317010e-03 -8.10294063e-05 9.99990214e-01 1.89993575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279254154 meters 0.05374136206149017 Centerline is valid? [True, True] Translation: X:53.98, Y:2.43, Z:0.19 [[ 9.98846696e-01 -4.77076499e-02 -5.40901938e-03 5.39811488e+01] [ 4.77073754e-02 9.98861339e-01 -1.79835702e-04 2.43303371e+00] [ 5.41143987e-03 -7.84218209e-05 9.99985355e-01 1.88917965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254154 meters 0.05345559941665809 Centerline is valid? [True, True] Translation: X:54.04, Y:2.44, Z:0.19 [[ 9.99012479e-01 -4.39858963e-02 -6.26958137e-03 5.40420259e+01] [ 4.39854549e-02 9.99032150e-01 -2.08336712e-04 2.44042083e+00] [ 6.27267723e-03 -6.76394141e-05 9.99980324e-01 1.88828660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399254154 meters 0.05364588023156754 Centerline is valid? [True, True] Translation: X:54.10, Y:2.44, Z:0.19 [[ 9.99118169e-01 -4.12840906e-02 -7.64903459e-03 5.41046496e+01] [ 4.12833562e-02 9.99147447e-01 -2.53946472e-04 2.44341886e+00] [ 7.65299733e-03 -6.20552853e-05 9.99970713e-01 1.88375321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459254154 meters 0.05411364972296041 Centerline is valid? [True, True] Translation: X:54.17, Y:2.45, Z:0.19 [[ 9.99235206e-01 -3.83018191e-02 -7.87234488e-03 5.41666024e+01] [ 3.83009509e-02 9.99266215e-01 -2.61066215e-04 2.44608953e+00] [ 7.87656759e-03 -4.06517417e-05 9.99968979e-01 1.88703871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254154 meters 0.05403324429832031 Centerline is valid? [True, True] Translation: X:54.23, Y:2.45, Z:0.19 [[ 9.99273613e-01 -3.75607536e-02 -6.43711416e-03 5.42282795e+01] [ 3.75601589e-02 9.99294346e-01 -2.13283121e-04 2.44691682e+00] [ 6.44058286e-03 -2.86508364e-05 9.99979259e-01 1.89680552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579254154 meters 0.053773980921092965 Centerline is valid? [True, True] Translation: X:54.29, Y:2.44, Z:0.19 [[ 9.99099760e-01 -4.21328312e-02 -4.94908891e-03 5.42889883e+01] [ 4.21325365e-02 9.99112017e-01 -1.63825448e-04 2.44467704e+00] [ 4.95159663e-03 -4.48397030e-05 9.99987740e-01 1.91256377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639254154 meters 0.054031586131125374 Centerline is valid? [True, True] Translation: X:54.35, Y:2.44, Z:0.19 [[ 9.98649057e-01 -5.18177802e-02 -3.87019982e-03 5.43494408e+01] [ 5.18176734e-02 9.98656554e-01 -1.27942281e-04 2.43760109e+00] [ 3.87163010e-03 -7.27753119e-05 9.99992503e-01 1.91817484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254154 meters 0.05509039461184643 Centerline is valid? [True, True] Translation: X:54.41, Y:2.43, Z:0.19 [[ 9.98248759e-01 -5.90802557e-02 -2.98984472e-03 5.44108838e+01] [ 5.90802245e-02 9.98253233e-01 -9.88478206e-05 2.43398646e+00] [ 2.99046212e-03 -7.79659833e-05 9.99995526e-01 1.91952028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters 0.053695621968791823 Centerline is valid? [True, True] Translation: X:54.47, Y:2.43, Z:0.19 [[ 9.97793150e-01 -6.63652053e-02 -2.11870829e-03 5.44715747e+01] [ 6.63652061e-02 9.97795397e-01 -7.00178454e-05 2.43306855e+00] [ 2.11868413e-03 -7.07451858e-05 9.99997753e-01 1.91536926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819254154 meters 0.054715372745879794 Centerline is valid? [True, True] Translation: X:54.53, Y:2.43, Z:0.19 [[ 9.97666578e-01 -6.82450191e-02 -2.00425069e-03 5.45314754e+01] [ 6.82450235e-02 9.97668588e-01 -6.62877671e-05 2.42699277e+00] [ 2.00410177e-03 -7.06470460e-05 9.99997989e-01 1.90728929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254154 meters 0.05387614121203 Centerline is valid? [True, True] Translation: X:54.59, Y:2.43, Z:0.19 [[ 9.97574389e-01 -6.95634049e-02 -2.50435288e-03 5.45932802e+01] [ 6.95634159e-02 9.97577528e-01 -8.27936435e-05 2.42928564e+00] [ 2.50404556e-03 -9.16185227e-05 9.99996861e-01 1.90309940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters 0.05457086400371453 Centerline is valid? [True, True] Translation: X:54.65, Y:2.43, Z:0.19 [[ 9.97544425e-01 -6.99004542e-02 -4.36418610e-03 5.46542028e+01] [ 6.99004941e-02 9.97553959e-01 -1.43576482e-04 2.42516930e+00] [ 4.36354719e-03 -1.61834845e-04 9.99990467e-01 1.88611681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999254154 meters 0.05397059592684515 Centerline is valid? [True, True] Translation: X:54.72, Y:2.43, Z:0.19 [[ 9.97626285e-01 -6.87785896e-02 -3.36180886e-03 5.47156023e+01] [ 6.87786074e-02 9.97631942e-01 -1.10446333e-04 2.42683069e+00] [ 3.36144425e-03 -1.21036367e-04 9.99994343e-01 1.89061720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254154 meters 0.05371859021975374 Centerline is valid? [True, True] Translation: X:54.78, Y:2.43, Z:0.19 [[ 9.97698130e-01 -6.77048843e-02 -3.80652541e-03 5.47776385e+01] [ 6.77048996e-02 9.97705383e-01 -1.24997874e-04 2.43288259e+00] [ 3.80625386e-03 -1.33010275e-04 9.99992747e-01 1.89075313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154000004 meters 0.052834124302988575 Centerline is valid? [True, True] Translation: X:54.84, Y:2.44, Z:0.19 [[ 9.97914937e-01 -6.42942185e-02 -5.65969033e-03 5.48376699e+01] [ 6.42941994e-02 9.97930970e-01 -1.85500768e-04 2.44476156e+00] [ 5.65990689e-03 -1.78771271e-04 9.99983967e-01 1.88496253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179254154 meters 0.05276859849543584 Centerline is valid? [True, True] Translation: X:54.90, Y:2.44, Z:0.19 [[ 9.98001247e-01 -6.27933452e-02 -7.10682373e-03 5.48991268e+01] [ 6.27932795e-02 9.98026528e-01 -2.32604070e-04 2.44200212e+00] [ 7.10740460e-03 -2.14121617e-04 9.99974719e-01 1.87227301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254154 meters 0.05298966478468105 Centerline is valid? [True, True] Translation: X:54.96, Y:2.45, Z:0.19 [[ 9.97960384e-01 -6.32546962e-02 -8.59740498e-03 5.49610367e+01] [ 6.32546259e-02 9.97997382e-01 -2.80374086e-04 2.44669773e+00] [ 8.59792264e-03 -2.64023405e-04 9.99963002e-01 1.86984431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254154 meters 0.053967023070450884 Centerline is valid? [True, True] Translation: X:55.02, Y:2.44, Z:0.19 [[ 9.97907323e-01 -6.39829491e-02 -9.33583890e-03 5.50220395e+01] [ 6.39829032e-02 9.97950949e-01 -3.03894350e-04 2.44020377e+00] [ 9.33615334e-03 -2.94075679e-04 9.99956374e-01 1.85691479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359254154 meters 0.05318368935106803 Centerline is valid? [True, True] Translation: X:55.08, Y:2.45, Z:0.19 [[ 9.97920231e-01 -6.39961396e-02 -7.72705700e-03 5.50835131e+01] [ 6.39961102e-02 9.97950116e-01 -2.51319763e-04 2.45409352e+00] [ 7.72730093e-03 -2.43704516e-04 9.99970114e-01 1.88858710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254154 meters 0.05286420663902133 Centerline is valid? [True, True] Translation: X:55.14, Y:2.45, Z:0.19 [[ 9.97948249e-01 -6.36347883e-02 -7.06437104e-03 5.51447787e+01] [ 6.36347580e-02 9.97973229e-01 -2.29286466e-04 2.45481735e+00] [ 7.06464377e-03 -2.20723514e-04 9.99975021e-01 1.89103162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254154 meters 0.05351354165212461 Centerline is valid? [True, True] Translation: X:55.21, Y:2.46, Z:0.19 [[ 9.97867485e-01 -6.50204624e-02 -5.72907807e-03 5.52056416e+01] [ 6.50204674e-02 9.97883913e-01 -1.85578359e-04 2.45523925e+00] [ 5.72902123e-03 -1.87324723e-04 9.99983571e-01 1.90121563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539254154 meters 0.05287297633142962 Centerline is valid? [True, True] Translation: X:55.27, Y:2.46, Z:0.19 [[ 9.97714793e-01 -6.74284116e-02 -4.31288983e-03 5.52669149e+01] [ 6.74284371e-02 9.97724103e-01 -1.39651377e-04 2.46366082e+00] [ 4.31249061e-03 -1.51479175e-04 9.99990690e-01 1.91474589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599254154 meters 0.05450908704781381 Centerline is valid? [True, True] Translation: X:55.33, Y:2.46, Z:0.19 [[ 9.97921124e-01 -6.42453221e-02 -5.09598349e-03 5.53265557e+01] [ 6.42453166e-02 9.97934122e-01 -1.64939452e-04 2.46300178e+00] [ 5.09605240e-03 -1.62796510e-04 9.99987002e-01 1.90310592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254154 meters 0.05396105260572213 Centerline is valid? [True, True] Translation: X:55.39, Y:2.47, Z:0.19 [[ 9.98024179e-01 -6.26297920e-02 -5.02467190e-03 5.53884345e+01] [ 6.26297663e-02 9.98036816e-01 -1.62606940e-04 2.46612040e+00] [ 5.02499159e-03 -1.52408369e-04 9.99987363e-01 1.90211017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719254154 meters 0.05328125341755499 Centerline is valid? [True, True] Translation: X:55.45, Y:2.46, Z:0.19 [[ 9.97881323e-01 -6.48305066e-02 -5.46547938e-03 5.54494766e+01] [ 6.48305098e-02 9.97896274e-01 -1.76762588e-04 2.46490486e+00] [ 5.46544112e-03 -1.77941729e-04 9.99985049e-01 1.88777372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779254154 meters 0.05336921857021357 Centerline is valid? [True, True] Translation: X:55.51, Y:2.47, Z:0.19 [[ 9.97791443e-01 -6.62558289e-02 -4.73310491e-03 5.55110173e+01] [ 6.62558476e-02 9.97802655e-01 -1.53025863e-04 2.46798386e+00] [ 4.73284351e-03 -1.60907981e-04 9.99988787e-01 1.88887523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254154 meters 0.052232409692847204 Centerline is valid? [True, True] Translation: X:55.57, Y:2.47, Z:0.19 [[ 9.97803236e-01 -6.60828754e-02 -4.66438646e-03 5.55736582e+01] [ 6.60828924e-02 9.97814125e-01 -1.50654290e-04 2.46994688e+00] [ 4.66414637e-03 -1.57912811e-04 9.99989110e-01 1.89191187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899254154 meters 0.05274858808785629 Centerline is valid? [True, True] Translation: X:55.64, Y:2.47, Z:0.19 [[ 9.97842543e-01 -6.54578408e-02 -5.05284790e-03 5.56357308e+01] [ 6.54578541e-02 9.97855322e-01 -1.62908748e-04 2.47490419e+00] [ 5.05267482e-03 -1.68191302e-04 9.99987221e-01 1.89099963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959254154 meters 0.05398133106378472 Centerline is valid? [True, True] Translation: X:55.70, Y:2.47, Z:0.19 [[ 9.97938617e-01 -6.39150502e-02 -5.77786060e-03 5.56964352e+01] [ 6.39150453e-02 9.97955326e-01 -1.85691517e-04 2.47125966e+00] [ 5.77791524e-03 -1.83983487e-04 9.99983291e-01 1.88113597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254154 meters 0.053440652753652076 Centerline is valid? [True, True] Translation: X:55.76, Y:2.48, Z:0.19 [[ 9.98035783e-01 -6.23662270e-02 -5.91858227e-03 5.57576786e+01] [ 6.23661960e-02 9.98053316e-01 -1.89973623e-04 2.47702589e+00] [ 5.91890860e-03 -1.79518988e-04 9.99982467e-01 1.87974112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079254154 meters 0.05333772262279341 Centerline is valid? [True, True] Translation: X:55.82, Y:2.49, Z:0.19 [[ 9.98190267e-01 -5.97736046e-02 -6.58078402e-03 5.58192429e+01] [ 5.97735112e-02 9.98211943e-01 -2.11056096e-04 2.48611926e+00] [ 6.58163279e-03 -1.82682427e-04 9.99978324e-01 1.87670557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139254154 meters 0.053455758510535925 Centerline is valid? [True, True] Translation: X:55.88, Y:2.48, Z:0.19 [[ 9.98413394e-01 -5.57089434e-02 -8.19812792e-03 5.58795760e+01] [ 5.57086625e-02 9.98447032e-01 -2.62802731e-04 2.48443751e+00] [ 8.20003695e-03 -1.94320975e-04 9.99966360e-01 1.86232230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254154 meters 0.05384562649303252 Centerline is valid? [True, True] Translation: X:55.94, Y:2.49, Z:0.19 [[ 9.98605315e-01 -5.21507280e-02 -8.22959748e-03 5.59389965e+01] [ 5.21503241e-02 9.98639211e-01 -2.63811533e-04 2.48696870e+00] [ 8.23215670e-03 -1.65732577e-04 9.99966101e-01 1.86422239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259254154 meters 0.05302768349917526 Centerline is valid? [True, True] Translation: X:56.00, Y:2.49, Z:0.19 [[ 9.98665248e-01 -5.12009130e-02 -6.79624589e-03 5.60015677e+01] [ 5.12006167e-02 9.98688365e-01 -2.17690569e-04 2.49331058e+00] [ 6.79847765e-03 -1.30571975e-04 9.99976882e-01 1.88506955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319254154 meters 0.05435058779642337 Centerline is valid? [True, True] Translation: X:56.06, Y:2.49, Z:0.19 [[ 9.98608233e-01 -5.24431109e-02 -5.59608689e-03 5.60625497e+01] [ 5.24429312e-02 9.98623907e-01 -1.78958667e-04 2.48822955e+00] [ 5.59777130e-03 -1.14765601e-04 9.99984326e-01 1.89093169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254154 meters 0.05380387179326333 Centerline is valid? [True, True] Translation: X:56.12, Y:2.49, Z:0.19 [[ 9.98444028e-01 -5.55761377e-02 -4.56244746e-03 5.61236791e+01] [ 5.55760517e-02 9.98454446e-01 -1.45718142e-04 2.48763735e+00] [ 4.56349441e-03 -1.08071408e-04 9.99989581e-01 1.89790082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters 0.054723526228456054 Centerline is valid? [True, True] Translation: X:56.18, Y:2.48, Z:0.19 [[ 9.98046854e-01 -6.23068204e-02 -4.50959684e-03 5.61842729e+01] [ 6.23068052e-02 9.98057033e-01 -1.43999870e-04 2.48359022e+00] [ 4.50980701e-03 -1.37259955e-04 9.99989821e-01 1.90133654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499254154 meters 0.05172583508220298 Centerline is valid? [True, True] Translation: X:56.24, Y:2.49, Z:0.19 [[ 9.97679022e-01 -6.80090661e-02 -3.36703664e-03 5.62448317e+01] [ 6.80090900e-02 9.97684696e-01 -1.07514180e-04 2.49280939e+00] [ 3.36655286e-03 -1.21724455e-04 9.99994326e-01 1.89883772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254154 meters 0.05193118338303045 Centerline is valid? [True, True] Translation: X:56.31, Y:2.49, Z:0.19 [[ 9.97360601e-01 -7.25297229e-02 -3.35719034e-03 5.63062563e+01] [ 7.25297723e-02 9.97366242e-01 -1.07185456e-04 2.49266089e+00] [ 3.35612245e-03 -1.36593700e-04 9.99994359e-01 1.89556298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters 0.052200708427147476 Centerline is valid? [True, True] Translation: X:56.37, Y:2.49, Z:0.19 [[ 9.97165994e-01 -7.51523718e-02 -3.47863104e-03 5.63666928e+01] [ 7.51524410e-02 9.97172050e-01 -1.11015230e-04 2.48841441e+00] [ 3.47713671e-03 -1.50727002e-04 9.99993943e-01 1.89357780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679254154 meters 0.052931252754064975 Centerline is valid? [True, True] Translation: X:56.43, Y:2.48, Z:0.19 [[ 9.97043410e-01 -7.67766778e-02 -3.12745835e-03 5.64273211e+01] [ 7.67767417e-02 9.97048305e-01 -9.97730660e-05 2.48166283e+00] [ 3.12588729e-03 -1.40637984e-04 9.99995105e-01 1.88043877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254154 meters 0.051625720504672026 Centerline is valid? [True, True] Translation: X:56.49, Y:2.48, Z:0.19 [[ 9.97127564e-01 -7.55932030e-02 -4.72100587e-03 5.64884579e+01] [ 7.55933358e-02 9.97138719e-01 -1.50549509e-04 2.48449475e+00] [ 4.71887827e-03 -2.06759517e-04 9.99988845e-01 1.87179313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254154 meters 0.053066410086616646 Centerline is valid? [True, True] Translation: X:56.55, Y:2.48, Z:0.19 [[ 9.97211407e-01 -7.43436409e-02 -6.51408410e-03 5.65486384e+01] [ 7.43438686e-02 9.97232644e-01 -2.07516019e-04 2.48211409e+00] [ 6.51148480e-03 -2.77344871e-04 9.99978762e-01 1.87133814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859254154 meters 0.05245257155033751 Centerline is valid? [True, True] Translation: X:56.61, Y:2.48, Z:0.19 [[ 9.97244136e-01 -7.38669705e-02 -6.91399658e-03 5.66107489e+01] [ 7.38672178e-02 9.97268061e-01 -2.19935739e-04 2.48354000e+00] [ 6.91135395e-03 -2.91388065e-04 9.99976074e-01 1.86499872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254154 meters 0.05559098649948014 Centerline is valid? [True, True] Translation: X:56.67, Y:2.47, Z:0.18 [[ 9.97261694e-01 -7.35332933e-02 -7.87203893e-03 5.66720190e+01] [ 7.35336081e-02 9.97292708e-01 -2.49828593e-04 2.47022451e+00] [ 7.86909774e-03 -3.29714939e-04 9.99968984e-01 1.84945614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254154 meters 0.051549284864282216 Centerline is valid? [True, True] Translation: X:56.73, Y:2.49, Z:0.19 [[ 9.97237231e-01 -7.38787138e-02 -7.73568012e-03 5.67334978e+01] [ 7.38790325e-02 9.97267180e-01 -2.44940431e-04 2.49303133e+00] [ 7.73263578e-03 -3.27240846e-04 9.99970049e-01 1.86495799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039254154 meters 0.05291586672618723 Centerline is valid? [True, True] Translation: X:56.79, Y:2.49, Z:0.19 [[ 9.97202908e-01 -7.42242806e-02 -8.78156112e-03 5.67943551e+01] [ 7.42247071e-02 9.97241503e-01 -2.77783492e-04 2.48662989e+00] [ 8.77795549e-03 -3.74802296e-04 9.99961403e-01 1.85470674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099254154 meters 0.052736864597252464 Centerline is valid? [True, True] Translation: X:56.85, Y:2.49, Z:0.18 [[ 9.97005416e-01 -7.65364898e-02 -1.10619549e-02 5.68548090e+01] [ 7.65373097e-02 9.97066657e-01 -3.49818812e-04 2.48889176e+00] [ 1.10562803e-02 -4.97881020e-04 9.99938754e-01 1.84812349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254154 meters 0.05300834105603777 Centerline is valid? [True, True] Translation: X:56.91, Y:2.49, Z:0.18 [[ 9.96842306e-01 -7.85795370e-02 -1.14312260e-02 5.69148563e+01] [ 7.85805467e-02 9.96907702e-01 -3.61488772e-04 2.48824303e+00] [ 1.14242829e-02 -5.37924688e-04 9.99934596e-01 1.84800539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219254154 meters 0.05186708286082479 Centerline is valid? [True, True] Translation: X:56.98, Y:2.49, Z:0.19 [[ 9.96910739e-01 -7.78305358e-02 -1.05539460e-02 5.69765453e+01] [ 7.78313562e-02 9.96966483e-01 -3.33590578e-04 2.49495875e+00] [ 1.05478940e-02 -4.88867901e-04 9.99944250e-01 1.86601447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279254154 meters 0.06266693017643336 Centerline is valid? [True, True] Translation: X:57.04, Y:2.47, Z:0.18 [[ 9.97177821e-01 -7.44163530e-02 -9.92977992e-03 5.70369822e+01] [ 7.44169107e-02 9.97227168e-01 -3.13823543e-04 2.46952765e+00] [ 9.92559992e-03 -4.26005669e-04 9.99950649e-01 1.83719882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254154 meters 0.05182027350191648 Centerline is valid? [True, True] Translation: X:57.10, Y:2.51, Z:0.19 [[ 9.97327089e-01 -7.26283887e-02 -7.98720536e-03 5.70966140e+01] [ 7.26286925e-02 9.97359017e-01 -2.52389533e-04 2.51087497e+00] [ 7.98444193e-03 -3.28385364e-04 9.99968070e-01 1.88950612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399254154 meters 0.05177911174676683 Centerline is valid? [True, True] Translation: X:57.16, Y:2.51, Z:0.19 [[ 9.97496072e-01 -7.03868215e-02 -6.87612739e-03 5.71570431e+01] [ 7.03869939e-02 9.97519736e-01 -2.17224547e-04 2.50758357e+00] [ 6.87436253e-03 -2.67309304e-04 9.99976336e-01 1.88727803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459254154 meters 0.05195979375835851 Centerline is valid? [True, True] Translation: X:57.22, Y:2.51, Z:0.19 [[ 9.97437576e-01 -7.12949376e-02 -5.94249031e-03 5.72192545e+01] [ 7.12950829e-02 9.97455250e-01 -1.87647639e-04 2.51454666e+00] [ 5.94074649e-03 -2.36503534e-04 9.99982326e-01 1.89257884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254154 meters 0.052417148396365465 Centerline is valid? [True, True] Translation: X:57.28, Y:2.51, Z:0.19 [[ 9.97234777e-01 -7.39616007e-02 -7.24439653e-03 5.72788213e+01] [ 7.39618887e-02 9.97261042e-01 -2.28515573e-04 2.51293203e+00] [ 7.24145581e-03 -3.07925573e-04 9.99973733e-01 1.88227108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579254154 meters 0.05144006807022318 Centerline is valid? [True, True] Translation: X:57.34, Y:2.52, Z:0.19 [[ 9.97084387e-01 -7.57268207e-02 -9.39006146e-03 5.73395718e+01] [ 7.57273842e-02 9.97128515e-01 -2.96033134e-04 2.52067986e+00] [ 9.38551568e-03 -4.15914776e-04 9.99955869e-01 1.88064263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639254154 meters 0.054186629193282446 Centerline is valid? [True, True] Translation: X:57.40, Y:2.51, Z:0.18 [[ 9.96961052e-01 -7.69919084e-02 -1.18704205e-02 5.73999024e+01] [ 7.69928996e-02 9.97031571e-01 -3.74142543e-04 2.50969826e+00] [ 1.18639900e-02 -5.40932551e-04 9.99929474e-01 1.84963713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254154 meters 0.057977041262406846 Centerline is valid? [True, True] Translation: X:57.46, Y:2.50, Z:0.18 [[ 9.96978338e-01 -7.68741116e-02 -1.11608290e-02 5.74616601e+01] [ 7.68749882e-02 9.97040678e-01 -3.51085276e-04 2.49910840e+00] [ 1.11547899e-02 -5.07964184e-04 9.99937654e-01 1.84580430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759254154 meters 0.05226548633855309 Centerline is valid? [True, True] Translation: X:57.52, Y:2.52, Z:0.19 [[ 9.97055239e-01 -7.62130625e-02 -8.50998369e-03 5.75224273e+01] [ 7.62135510e-02 9.97091482e-01 -2.67337706e-04 2.52326948e+00] [ 8.50560687e-03 -3.82025616e-04 9.99963754e-01 1.89913217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819254154 meters 0.05122135320402076 Centerline is valid? [True, True] Translation: X:57.58, Y:2.53, Z:0.19 [[ 9.97190505e-01 -7.45951436e-02 -6.83086845e-03 5.75833338e+01] [ 7.45954210e-02 9.97213857e-01 -2.14515980e-04 2.52835495e+00] [ 6.82783853e-03 -2.95638209e-04 9.99976646e-01 1.90532496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254154 meters 0.051494446408995906 Centerline is valid? [True, True] Translation: X:57.65, Y:2.53, Z:0.19 [[ 9.97246924e-01 -7.38726485e-02 -6.43467107e-03 5.76459920e+01] [ 7.38728807e-02 9.97267645e-01 -2.01894735e-04 2.52984599e+00] [ 6.43200376e-03 -2.74008785e-04 9.99979277e-01 1.90396009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939254154 meters 0.0515064226059569 Centerline is valid? [True, True] Translation: X:57.71, Y:2.53, Z:0.19 [[ 9.97144340e-01 -7.51492972e-02 -7.46650228e-03 5.77075779e+01] [ 7.51496482e-02 9.97172240e-01 -2.33939468e-04 2.52796569e+00] [ 7.46296918e-03 -3.27833603e-04 9.99972098e-01 1.90090491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999254154 meters 0.05212756289674787 Centerline is valid? [True, True] Translation: X:57.77, Y:2.53, Z:0.19 [[ 9.96968273e-01 -7.73174756e-02 -8.73333546e-03 5.77675033e+01] [ 7.73180401e-02 9.97006442e-01 -2.73473754e-04 2.52578943e+00] [ 8.72833602e-03 -4.02599725e-04 9.99961826e-01 1.88967420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254154 meters 0.05747480960828192 Centerline is valid? [True, True] Translation: X:57.83, Y:2.51, Z:0.19 [[ 9.97022503e-01 -7.63349742e-02 -1.09133117e-02 5.78297484e+01] [ 7.63358057e-02 9.97082107e-01 -3.40943495e-04 2.50594843e+00] [ 1.09074938e-02 -4.93148107e-04 9.99940390e-01 1.85351773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters 0.052574067784873835 Centerline is valid? [True, True] Translation: X:57.89, Y:2.53, Z:0.19 [[ 9.97378553e-01 -7.17624123e-02 -9.28320503e-03 5.78902464e+01] [ 7.17628195e-02 9.97421683e-01 -2.89659446e-04 2.52553891e+00] [ 9.28005665e-03 -3.77288848e-04 9.99956868e-01 1.89439238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179254154 meters 0.05208146772479466 Centerline is valid? [True, True] Translation: X:57.95, Y:2.53, Z:0.19 [[ 9.97804139e-01 -6.57974234e-02 -7.58936751e-03 5.79502499e+01] [ 6.57975234e-02 9.97832967e-01 -2.36785468e-04 2.53163181e+00] [ 7.58850097e-03 -2.63096065e-04 9.99971172e-01 1.91112793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254154 meters 0.052673957653440996 Centerline is valid? [True, True] Translation: X:58.01, Y:2.54, Z:0.19 [[ 9.98491315e-01 -5.45087577e-02 -6.62488149e-03 5.80103368e+01] [ 5.45085856e-02 9.98513281e-01 -2.06665869e-04 2.53768458e+00] [ 6.62629725e-03 -1.54758845e-04 9.99978034e-01 1.92247389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254154 meters 0.0518776344568455 Centerline is valid? [True, True] Translation: X:58.07, Y:2.54, Z:0.19 [[ 9.99051684e-01 -4.29124496e-02 -7.36577110e-03 5.80694706e+01] [ 4.29119220e-02 9.99078833e-01 -2.29731076e-04 2.54211837e+00] [ 7.36884431e-03 -8.65661767e-05 9.99972846e-01 1.91647836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359254154 meters 0.0525477904224368 Centerline is valid? [True, True] Translation: X:58.13, Y:2.55, Z:0.19 [[ 9.99368457e-01 -3.43815619e-02 -8.97754053e-03 5.81305679e+01] [ 3.43804352e-02 9.99408779e-01 -2.79850899e-04 2.54640273e+00] [ 8.98185453e-03 -2.89775890e-05 9.99959662e-01 1.91093006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254154 meters 0.05267907266345974 Centerline is valid? [True, True] Translation: X:58.19, Y:2.55, Z:0.19 [[ 9.99516513e-01 -2.89894937e-02 -1.12405621e-02 5.81923131e+01] [ 2.89873912e-02 9.99579716e-01 -3.49959850e-04 2.54888703e+00] [ 1.12459831e-02 2.39560774e-05 9.99936762e-01 1.89392790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254154 meters 0.05257225765066432 Centerline is valid? [True, True] Translation: X:58.25, Y:2.55, Z:0.19 [[ 9.99562430e-01 -2.65292988e-02 -1.30822497e-02 5.82531572e+01] [ 2.65262487e-02 9.99648034e-01 -4.06642489e-04 2.55217467e+00] [ 1.30884331e-02 5.94415457e-05 9.99914341e-01 1.88163428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539254154 meters 0.053654909155010956 Centerline is valid? [True, True] Translation: X:58.31, Y:2.55, Z:0.19 [[ 9.99608798e-01 -2.47574399e-02 -1.30123099e-02 5.83146100e+01] [ 2.47542766e-02 9.99693484e-01 -4.04131819e-04 2.55357574e+00] [ 1.30183267e-02 8.18634043e-05 9.99915255e-01 1.89622509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599254154 meters 0.053192705682718 Centerline is valid? [True, True] Translation: X:58.38, Y:2.55, Z:0.19 [[ 9.99581845e-01 -2.66958644e-02 -1.11114959e-02 5.83760795e+01] [ 2.66936832e-02 9.99643601e-01 -3.44592033e-04 2.55290617e+00] [ 1.11167349e-02 4.78411898e-05 9.99938206e-01 1.91243247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254154 meters 0.05266991498826299 Centerline is valid? [True, True] Translation: X:58.44, Y:2.55, Z:0.19 [[ 9.99411986e-01 -3.34339255e-02 -7.60628645e-03 5.84371208e+01] [ 3.34331016e-02 9.99440930e-01 -2.35475191e-04 2.54980840e+00] [ 7.60990686e-03 -1.89650197e-05 9.99971044e-01 1.94773082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719254154 meters 0.05249928043182133 Centerline is valid? [True, True] Translation: X:58.50, Y:2.54, Z:0.20 [[ 9.99003720e-01 -4.42894373e-02 -5.47849316e-03 5.84979824e+01] [ 4.42891742e-02 9.99018739e-01 -1.69403191e-04 2.53972950e+00] [ 5.48062010e-03 -7.34035202e-05 9.99984979e-01 1.97184895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779254154 meters 0.05285475410102763 Centerline is valid? [True, True] Translation: X:58.56, Y:2.53, Z:0.20 [[ 9.98385339e-01 -5.66176982e-02 -4.59893902e-03 5.85582556e+01] [ 5.66176436e-02 9.98395925e-01 -1.42178749e-04 2.53493415e+00] [ 4.59961181e-03 -1.18431912e-04 9.99989415e-01 1.97884346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254154 meters 0.05380380048151087 Centerline is valid? [True, True] Translation: X:58.62, Y:2.53, Z:0.20 [[ 9.97972030e-01 -6.34415482e-02 -5.19584125e-03 5.86185149e+01] [ 6.34415709e-02 9.97985542e-01 -1.60617530e-04 2.52742741e+00] [ 5.19556427e-03 -1.69340529e-04 9.99986489e-01 1.97481754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899254154 meters 0.05436762008529078 Centerline is valid? [True, True] Translation: X:58.68, Y:2.52, Z:0.20 [[ 9.97799082e-01 -6.60568441e-02 -5.78662799e-03 5.86790932e+01] [ 6.60569165e-02 9.97815841e-01 -1.78819446e-04 2.52357899e+00] [ 5.78580132e-03 -2.03820923e-04 9.99983241e-01 1.96791161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959254154 meters 0.052519720202188785 Centerline is valid? [True, True] Translation: X:58.74, Y:2.53, Z:0.20 [[ 9.97477340e-01 -7.06048548e-02 -7.34236197e-03 5.87403346e+01] [ 7.06050953e-02 9.97504320e-01 -2.26772462e-04 2.52932357e+00] [ 7.34004902e-03 -2.92207774e-04 9.99973019e-01 1.96300937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254154 meters 0.05375544777695641 Centerline is valid? [True, True] Translation: X:58.80, Y:2.52, Z:0.20 [[ 9.97617104e-01 -6.83948268e-02 -9.06982116e-03 5.88006494e+01] [ 6.83951032e-02 9.97658274e-01 -2.80062670e-04 2.52450861e+00] [ 9.06773696e-03 -3.40936044e-04 9.99958829e-01 1.95539725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079254154 meters 0.054186999523446 Centerline is valid? [True, True] Translation: X:58.86, Y:2.53, Z:0.19 [[ 9.98189959e-01 -5.92289456e-02 -1.04276978e-02 5.88599887e+01] [ 5.92288105e-02 9.98244381e-01 -3.22048674e-04 2.52557423e+00] [ 1.04284654e-02 -2.96154386e-04 9.99945578e-01 1.94604539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139254154 meters 0.053757064378179856 Centerline is valid? [True, True] Translation: X:58.92, Y:2.54, Z:0.20 [[ 9.98837199e-01 -4.71888694e-02 -9.87216554e-03 5.89201893e+01] [ 4.71881599e-02 9.98885972e-01 -3.04921844e-04 2.53786658e+00] [ 9.87555659e-03 -1.61282045e-04 9.99951222e-01 1.97222284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254154 meters 0.053315885736296455 Centerline is valid? [True, True] Translation: X:58.98, Y:2.54, Z:0.20 [[ 9.99131230e-01 -4.05136047e-02 -9.76900163e-03 5.89795510e+01] [ 4.05125904e-02 9.99178982e-01 -3.01781273e-04 2.54241969e+00] [ 9.77320735e-03 -9.42484668e-05 9.99952237e-01 1.97701169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259254154 meters 0.053342942611097725 Centerline is valid? [True, True] Translation: X:59.04, Y:2.55, Z:0.20 [[ 9.99303867e-01 -3.60256675e-02 -9.69188001e-03 5.90410699e+01] [ 3.60244595e-02 9.99350864e-01 -2.99244361e-04 2.54615205e+00] [ 9.69636914e-03 -5.01086915e-05 9.99952988e-01 1.98345922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319254154 meters 0.05302567138337107 Centerline is valid? [True, True] Translation: X:59.10, Y:2.54, Z:0.20 [[ 9.99172565e-01 -3.94292133e-02 -9.97608635e-03 5.91030534e+01] [ 3.94281063e-02 9.99222363e-01 -3.07692527e-04 2.54414027e+00] [ 9.98046065e-03 -8.59002620e-05 9.99950190e-01 1.98784877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254154 meters 0.05391124339312646 Centerline is valid? [True, True] Translation: X:59.16, Y:2.54, Z:0.20 [[ 9.98756485e-01 -4.86245408e-02 -1.10062288e-02 5.91639496e+01] [ 4.86237531e-02 9.98817108e-01 -3.39303523e-04 2.54172778e+00] [ 1.10097081e-02 -1.96282561e-04 9.99939372e-01 1.99783394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439254154 meters 0.05444403545291219 Centerline is valid? [True, True] Translation: X:59.22, Y:2.53, Z:0.20 [[ 9.98000382e-01 -6.22934130e-02 -1.07129930e-02 5.92239988e+01] [ 6.22934542e-02 9.98057822e-01 -3.30156295e-04 2.53257028e+00] [ 1.07127531e-02 -3.37853233e-04 9.99942560e-01 2.00276651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499254154 meters 0.0540320274281943 Centerline is valid? [True, True] Translation: X:59.29, Y:2.53, Z:0.20 [[ 9.97688840e-01 -6.71918806e-02 -1.01108845e-02 5.92850179e+01] [ 6.71921700e-02 9.97740004e-01 -3.11457426e-04 2.53323467e+00] [ 1.01089613e-02 -3.68634669e-04 9.99948835e-01 2.01498817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254154 meters 0.053976552256777596 Centerline is valid? [True, True] Translation: X:59.35, Y:2.53, Z:0.20 [[ 9.97545859e-01 -6.94603478e-02 -8.80449744e-03 5.93462583e+01] [ 6.94606565e-02 9.97584655e-01 -2.71086359e-04 2.53394887e+00] [ 8.80206130e-03 -3.41145098e-04 9.99961203e-01 2.02729779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619254154 meters 0.05462215735346115 Centerline is valid? [True, True] Translation: X:59.41, Y:2.53, Z:0.20 [[ 9.97649758e-01 -6.81441963e-02 -7.16440665e-03 5.94073404e+01] [ 6.81443678e-02 9.97675446e-01 -2.20459204e-04 2.53312021e+00] [ 7.16277562e-03 -2.68272891e-04 9.99974311e-01 2.03417008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679254154 meters 0.054432338926317894 Centerline is valid? [True, True] Translation: X:59.47, Y:2.54, Z:0.20 [[ 9.98020757e-01 -6.26005798e-02 -5.97800936e-03 5.94666565e+01] [ 6.26006002e-02 9.98038642e-01 -1.83890730e-04 2.53672219e+00] [ 5.97779601e-03 -1.90700208e-04 9.99982115e-01 2.03357971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254154 meters 0.05460403129537555 Centerline is valid? [True, True] Translation: X:59.53, Y:2.54, Z:0.20 [[ 9.98499475e-01 -5.44912566e-02 -5.43146837e-03 5.95275517e+01] [ 5.44911534e-02 9.98514239e-01 -1.67104295e-04 2.54346143e+00] [ 5.43250423e-03 -1.29113425e-04 9.99985236e-01 2.03593049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254154 meters 0.05402203638444626 Centerline is valid? [True, True] Translation: X:59.59, Y:2.55, Z:0.20 [[ 9.98842129e-01 -4.76470868e-02 -6.64505422e-03 5.95875527e+01] [ 4.76467811e-02 9.98864226e-01 -2.04401274e-04 2.54981750e+00] [ 6.64724606e-03 -1.12450840e-04 9.99977900e-01 2.02924790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859254154 meters 0.05336658461994138 Centerline is valid? [True, True] Translation: X:59.65, Y:2.56, Z:0.20 [[ 9.99005501e-01 -4.37101035e-02 -8.79980617e-03 5.96491708e+01] [ 4.37094164e-02 9.99044250e-01 -2.70478840e-04 2.55646919e+00] [ 8.80321841e-03 -1.14424543e-04 9.99961244e-01 2.02248807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254154 meters 0.053879986109076586 Centerline is valid? [True, True] Translation: X:59.71, Y:2.56, Z:0.20 [[ 9.99033633e-01 -4.27968748e-02 -1.00113344e-02 5.97117725e+01] [ 4.27959436e-02 9.99083787e-01 -3.07317386e-04 2.56007558e+00] [ 1.00153141e-02 -1.21424098e-04 9.99949838e-01 2.01833083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254154 meters 0.053237814465013675 Centerline is valid? [True, True] Translation: X:59.77, Y:2.56, Z:0.20 [[ 9.98962638e-01 -4.41571926e-02 -1.11260779e-02 5.97740456e+01] [ 4.41561315e-02 9.99024584e-01 -3.41118717e-04 2.56205374e+00] [ 1.11302882e-02 -1.50519708e-04 9.99938045e-01 2.00981418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039254154 meters 0.053759146240070284 Centerline is valid? [True, True] Translation: X:59.84, Y:2.56, Z:0.20 [[ 9.98805851e-01 -4.74908322e-02 -1.14670067e-02 5.98363679e+01] [ 4.74899291e-02 9.98871655e-01 -3.51192093e-04 2.56453622e+00] [ 1.14707463e-02 -1.93794616e-04 9.99934190e-01 2.01537165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099254154 meters 0.054011385622642745 Centerline is valid? [True, True] Translation: X:59.90, Y:2.57, Z:0.20 [[ 9.98417644e-01 -5.50356694e-02 -1.15447974e-02 5.98967752e+01] [ 5.50352595e-02 9.98484349e-01 -3.53434925e-04 2.56700472e+00] [ 1.15467510e-02 -2.82495253e-04 9.99933294e-01 2.02843152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254154 meters 0.053923145087084165 Centerline is valid? [True, True] Translation: X:59.96, Y:2.56, Z:0.20 [[ 9.97820087e-01 -6.52338343e-02 -9.98101954e-03 5.99565099e+01] [ 6.52340375e-02 9.97869945e-01 -3.05547738e-04 2.56368771e+00] [ 9.97969147e-03 -3.46220532e-04 9.99950142e-01 2.03274553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219254154 meters 0.05310408124314406 Centerline is valid? [True, True] Translation: X:60.02, Y:2.57, Z:0.21 [[ 9.97342303e-01 -7.22807279e-02 -9.15576311e-03 6.00164756e+01] [ 7.22811955e-02 9.97384254e-01 -2.80252298e-04 2.56969421e+00] [ 9.15207080e-03 -3.82282031e-04 9.99958046e-01 2.05070448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279254154 meters 0.05188399666537281 Centerline is valid? [True, True] Translation: X:60.08, Y:2.58, Z:0.21 [[ 9.96621227e-01 -8.16797444e-02 -8.63419192e-03 6.00766623e+01] [ 8.16805123e-02 9.96658529e-01 -2.64249700e-04 2.57830742e+00] [ 8.62692487e-03 -4.41888359e-04 9.99962690e-01 2.05972907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254154 meters 0.05267182945565918 Centerline is valid? [True, True] Translation: X:60.14, Y:2.57, Z:0.21 [[ 9.96146232e-01 -8.73481491e-02 -7.93637644e-03 6.01362912e+01] [ 8.73489781e-02 9.96177744e-01 -2.42771379e-04 2.57495867e+00] [ 7.92724720e-03 -4.51398577e-04 9.99968477e-01 2.05861905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399254154 meters 0.05197555922675973 Centerline is valid? [True, True] Translation: X:60.20, Y:2.59, Z:0.21 [[ 9.95960292e-01 -8.94614764e-02 -7.72924541e-03 6.01966335e+01] [ 8.94623269e-02 9.95990179e-01 -2.36322228e-04 2.58599486e+00] [ 7.71939426e-03 -4.56108725e-04 9.99970101e-01 2.06942912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459254154 meters 0.05475942901849832 Centerline is valid? [True, True] Translation: X:60.26, Y:2.57, Z:0.21 [[ 9.96042259e-01 -8.84211640e-02 -9.02863206e-03 6.02581292e+01] [ 8.84222829e-02 9.96083041e-01 -2.75955464e-04 2.57050485e+00] [ 9.01766758e-03 -5.23468954e-04 9.99959203e-01 2.05392505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254154 meters 0.054317684917612595 Centerline is valid? [True, True] Translation: X:60.32, Y:2.58, Z:0.20 [[ 9.96585486e-01 -8.18156666e-02 -1.11160443e-02 6.03185080e+01] [ 8.18169540e-02 9.96647315e-01 -3.39658593e-04 2.57766562e+00] [ 1.11065651e-02 -5.70982060e-04 9.99938157e-01 2.03807284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579254154 meters 0.05321378103737115 Centerline is valid? [True, True] Translation: X:60.38, Y:2.60, Z:0.20 [[ 9.97470568e-01 -7.00354352e-02 -1.21450810e-02 6.03787014e+01] [ 7.00360990e-02 9.97544389e-01 -3.71168743e-04 2.59627627e+00] [ 1.21412524e-02 -4.80364199e-04 9.99926177e-01 2.04743349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639254154 meters 0.053152614780587366 Centerline is valid? [True, True] Translation: X:60.44, Y:2.61, Z:0.21 [[ 9.98340152e-01 -5.63766645e-02 -1.17734134e-02 6.04387964e+01] [ 5.63763384e-02 9.98409525e-01 -3.59845311e-04 2.61085804e+00] [ 1.17749750e-02 -3.04493916e-04 9.99930626e-01 2.05371517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254154 meters 0.05331885624665654 Centerline is valid? [True, True] Translation: X:60.50, Y:2.62, Z:0.21 [[ 9.98830477e-01 -4.71071429e-02 -1.08901519e-02 6.04982754e+01] [ 4.71063129e-02 9.98889826e-01 -3.32854386e-04 2.61960512e+00] [ 1.08937417e-02 -1.80529797e-04 9.99940645e-01 2.06013062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759254154 meters 0.05280923539578059 Centerline is valid? [True, True] Translation: X:60.56, Y:2.63, Z:0.21 [[ 9.99238655e-01 -3.76945809e-02 -1.00612993e-02 6.05589712e+01] [ 3.76933958e-02 9.99289304e-01 -3.07456721e-04 2.63116669e+00] [ 1.00657383e-02 -7.20218983e-05 9.99949337e-01 2.07420265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819254154 meters 0.05342317493172088 Centerline is valid? [True, True] Translation: X:60.62, Y:2.64, Z:0.21 [[ 9.99601809e-01 -2.62277298e-02 -1.04081587e-02 6.06207492e+01] [ 2.62258425e-02 9.99655993e-01 -3.17797493e-04 2.64412577e+00] [ 1.04129133e-02 4.47082185e-05 9.99945783e-01 2.08387394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254154 meters 0.053244846749507024 Centerline is valid? [True, True] Translation: X:60.68, Y:2.65, Z:0.21 [[ 9.99688565e-01 -2.26858441e-02 -1.03983806e-02 6.06826245e+01] [ 2.26837723e-02 9.99742640e-01 -3.17154620e-04 2.65080631e+00] [ 1.04028994e-02 8.11813498e-05 9.99945885e-01 2.08888943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939254154 meters 0.05297280723726497 Centerline is valid? [True, True] Translation: X:60.74, Y:2.65, Z:0.21 [[ 9.99623888e-01 -2.53445891e-02 -1.04753756e-02 6.07446273e+01] [ 2.53426368e-02 9.99678773e-01 -3.19097845e-04 2.65111965e+00] [ 1.04800981e-02 5.35041889e-05 9.99945081e-01 2.07767392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999254154 meters 0.053033935119076586 Centerline is valid? [True, True] Translation: X:60.81, Y:2.65, Z:0.21 [[ 9.99467889e-01 -3.04195754e-02 -1.17723690e-02 6.08066788e+01] [ 3.04174753e-02 9.99537218e-01 -3.57437312e-04 2.65043876e+00] [ 1.17777941e-02 -8.38628110e-07 9.99930639e-01 2.07251019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254154 meters 0.052644626351471706 Centerline is valid? [True, True] Translation: X:60.87, Y:2.65, Z:0.21 [[ 9.99136975e-01 -4.01662494e-02 -1.05819330e-02 6.08676482e+01] [ 4.01651049e-02 9.99193005e-01 -3.20739351e-04 2.64567959e+00] [ 1.05862763e-02 -1.04561902e-04 9.99943958e-01 2.07793732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119254154 meters 0.05295970925523051 Centerline is valid? [True, True] Translation: X:60.93, Y:2.64, Z:0.21 [[ 9.98666874e-01 -5.08132633e-02 -9.08222400e-03 6.09284196e+01] [ 5.08128607e-02 9.98708154e-01 -2.75220859e-04 2.63946591e+00] [ 9.08447603e-03 -1.86639828e-04 9.99958718e-01 2.09555902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179254154 meters 0.05471671290483169 Centerline is valid? [True, True] Translation: X:60.99, Y:2.63, Z:0.21 [[ 9.98135084e-01 -6.05169037e-02 -8.00363561e-03 6.09887108e+01] [ 6.05169025e-02 9.98167143e-01 -2.42557314e-04 2.62587458e+00] [ 8.00364491e-03 -2.42250271e-04 9.99967941e-01 2.09139081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254154 meters 0.053298327613695184 Centerline is valid? [True, True] Translation: X:61.05, Y:2.63, Z:0.21 [[ 9.97785704e-01 -6.60975736e-02 -7.40274440e-03 6.10497260e+01] [ 6.60977259e-02 9.97813129e-01 -2.24337647e-04 2.62938081e+00] [ 7.40138373e-03 -2.65463673e-04 9.99972574e-01 2.11257463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254154 meters 0.0538108114779757 Centerline is valid? [True, True] Translation: X:61.11, Y:2.63, Z:0.21 [[ 9.97386854e-01 -7.19924787e-02 -6.04532088e-03 6.11102421e+01] [ 7.19926886e-02 9.97405143e-01 -1.83163120e-04 2.62852479e+00] [ 6.04282051e-03 -2.52534416e-04 9.99981710e-01 2.11849252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359254154 meters 0.05629962233326889 Centerline is valid? [True, True] Translation: X:61.17, Y:2.61, Z:0.21 [[ 9.97220846e-01 -7.42961470e-02 -5.53783017e-03 6.11711750e+01] [ 7.42963588e-02 9.97236192e-01 -1.67760950e-04 2.61296169e+00] [ 5.53498866e-03 -2.44145901e-04 9.99984652e-01 2.11068435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254154 meters 0.05310657212289189 Centerline is valid? [True, True] Translation: X:61.23, Y:2.63, Z:0.21 [[ 9.97257017e-01 -7.38422711e-02 -5.07552595e-03 6.12332224e+01] [ 7.38424435e-02 9.97269908e-01 -1.53684584e-04 2.62504837e+00] [ 5.07301771e-03 -2.21526208e-04 9.99987108e-01 2.11892478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254154 meters 0.05365017906566291 Centerline is valid? [True, True] Translation: X:61.29, Y:2.63, Z:0.21 [[ 9.97629329e-01 -6.85728441e-02 -5.78682164e-03 6.12938316e+01] [ 6.85729807e-02 9.97646087e-01 -1.75033948e-04 2.62909145e+00] [ 5.78520254e-03 -2.22200609e-04 9.99983241e-01 2.12233946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539254154 meters 0.05608413768966367 Centerline is valid? [True, True] Translation: X:61.35, Y:2.62, Z:0.21 [[ 9.98194388e-01 -5.95334963e-02 -7.98286961e-03 6.13537012e+01] [ 5.95334674e-02 9.98226281e-01 -2.41455173e-04 2.61999223e+00] [ 7.98308492e-03 -2.34228709e-04 9.99968107e-01 2.08939783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599254154 meters 0.053842625161941625 Centerline is valid? [True, True] Translation: X:61.41, Y:2.64, Z:0.21 [[ 9.98840855e-01 -4.66434526e-02 -1.18884149e-02 6.14137171e+01] [ 4.66424756e-02 9.98911583e-01 -3.59577878e-04 2.63868697e+00] [ 1.18922473e-02 -1.95344029e-04 9.99929266e-01 2.08267956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254154 meters 0.05339911939390496 Centerline is valid? [True, True] Translation: X:61.47, Y:2.64, Z:0.21 [[ 9.99223495e-01 -3.72396325e-02 -1.28692367e-02 6.14735458e+01] [ 3.72377080e-02 9.99306360e-01 -3.89212383e-04 2.64383187e+00] [ 1.28748042e-02 -9.03107191e-05 9.99917112e-01 2.05838544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719254154 meters 0.05402506285559987 Centerline is valid? [True, True] Translation: X:61.54, Y:2.65, Z:0.21 [[ 9.99585003e-01 -2.69005909e-02 -1.03043347e-02 6.15351917e+01] [ 2.68988083e-02 9.99638113e-01 -3.11570560e-04 2.65289569e+00] [ 1.03089872e-02 3.42669347e-05 9.99946860e-01 2.11728324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779254154 meters 0.05336268264556511 Centerline is valid? [True, True] Translation: X:61.60, Y:2.65, Z:0.21 [[ 9.99615588e-01 -2.60160428e-02 -9.58337328e-03 6.15977308e+01] [ 2.60144631e-02 9.99661525e-01 -2.89470327e-04 2.65471479e+00] [ 9.58766042e-03 4.00527406e-05 9.99954037e-01 2.12617334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254154 meters 0.05336268264556511 Centerline is valid? [True, True] Translation: X:61.66, Y:2.66, Z:0.21 [[ 9.99616473e-01 -2.59820334e-02 -9.58338456e-03 6.16593877e+01] [ 2.59804558e-02 9.99662409e-01 -2.89096645e-04 2.65654089e+00] [ 9.58766062e-03 4.00050702e-05 9.99954037e-01 2.12860551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899254154 meters 0.053815611896183176 Centerline is valid? [True, True] Translation: X:61.72, Y:2.66, Z:0.21 [[ 9.99674529e-01 -2.40526276e-02 -8.50333855e-03 6.17201989e+01] [ 2.40513190e-02 9.99710692e-01 -2.56139677e-04 2.65933058e+00] [ 8.50703931e-03 5.15398025e-05 9.99963813e-01 2.12999450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959254154 meters 0.0542533051707392 Centerline is valid? [True, True] Translation: X:61.78, Y:2.66, Z:0.21 [[ 9.99689005e-01 -2.39020300e-02 -7.11243252e-03 6.17820336e+01] [ 2.39011127e-02 9.99714305e-01 -2.13962480e-04 2.65826377e+00] [ 7.11551467e-03 4.39008875e-05 9.99974683e-01 2.14392641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254154 meters 0.053805661619999 Centerline is valid? [True, True] Translation: X:61.84, Y:2.65, Z:0.21 [[ 9.99612983e-01 -2.68289214e-02 -7.35485606e-03 6.18446462e+01] [ 2.68280216e-02 9.99640039e-01 -2.21002285e-04 2.65376770e+00] [ 7.35813786e-03 2.36005167e-05 9.99972928e-01 2.14666259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079254154 meters 0.05393952781207907 Centerline is valid? [True, True] Translation: X:61.91, Y:2.65, Z:0.21 [[ 9.99514328e-01 -3.02241424e-02 -7.59011454e-03 6.19073654e+01] [ 3.02232864e-02 9.99543146e-01 -2.27488919e-04 2.64956749e+00] [ 7.59352263e-03 -2.01977165e-06 9.99971169e-01 2.14884592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139254154 meters 0.05404011798650338 Centerline is valid? [True, True] Translation: X:61.97, Y:2.64, Z:0.21 [[ 9.99313443e-01 -3.58838680e-02 -9.21901122e-03 6.19684390e+01] [ 3.58828539e-02 9.99355965e-01 -2.75427769e-04 2.64243602e+00] [ 9.22295727e-03 -5.55657607e-05 9.99957466e-01 2.13453028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254154 meters 0.054795603500780894 Centerline is valid? [True, True] Translation: X:62.03, Y:2.64, Z:0.21 [[ 9.99189443e-01 -3.93297979e-02 -8.58047933e-03 6.20310897e+01] [ 3.93290498e-02 9.99226281e-01 -2.55972805e-04 2.63994309e+00] [ 8.58390781e-03 -8.16967745e-05 9.99963154e-01 2.14035917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259254154 meters 0.054749955077165485 Centerline is valid? [True, True] Translation: X:62.09, Y:2.63, Z:0.21 [[ 9.99084821e-01 -4.19839187e-02 -8.17751944e-03 6.20926720e+01] [ 4.19833300e-02 9.99118282e-01 -2.43722949e-04 2.63329357e+00] [ 8.18054162e-03 -9.98195986e-05 9.99966534e-01 2.14051819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319254154 meters 0.05430454130993921 Centerline is valid? [True, True] Translation: X:62.15, Y:2.63, Z:0.22 [[ 9.99058367e-01 -4.28059600e-02 -7.07307438e-03 6.21541399e+01] [ 4.28055412e-02 9.99083401e-01 -2.10648423e-04 2.62678718e+00] [ 7.07560821e-03 -9.23167070e-05 9.99974963e-01 2.15420016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254154 meters 0.053905562662763355 Centerline is valid? [True, True] Translation: X:62.22, Y:2.63, Z:0.22 [[ 9.99081953e-01 -4.21870804e-02 -7.44989538e-03 6.22162110e+01] [ 4.21866002e-02 9.99109725e-01 -2.21662875e-04 2.62643913e+00] [ 7.45261423e-03 -9.28263803e-05 9.99972225e-01 2.15876827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439254154 meters 0.054317878031540937 Centerline is valid? [True, True] Translation: X:62.28, Y:2.62, Z:0.22 [[ 9.99228220e-01 -3.86093362e-02 -7.23079643e-03 6.22763200e+01] [ 3.86087912e-02 9.99254380e-01 -2.14997486e-04 2.62399023e+00] [ 7.23370591e-03 -6.43407550e-05 9.99973834e-01 2.15248361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499254154 meters 0.0549109441939654 Centerline is valid? [True, True] Translation: X:62.34, Y:2.63, Z:0.22 [[ 9.99380956e-01 -3.45158967e-02 -6.80858367e-03 6.23387433e+01] [ 3.45153197e-02 9.99404148e-01 -2.02270750e-04 2.62712231e+00] [ 6.81150832e-03 -3.28549062e-05 9.99976801e-01 2.16425104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254154 meters 0.05461779385488334 Centerline is valid? [True, True] Translation: X:62.40, Y:2.63, Z:0.22 [[ 9.99594869e-01 -2.71830234e-02 -8.43690508e-03 6.23994123e+01] [ 2.71818794e-02 9.99630473e-01 -2.50250541e-04 2.62928157e+00] [ 8.44058998e-03 2.08182208e-05 9.99964377e-01 2.16175957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619254154 meters 0.055710643001807676 Centerline is valid? [True, True] Translation: X:62.46, Y:2.63, Z:0.22 [[ 9.99673657e-01 -2.38697795e-02 -9.10018807e-03 6.24613266e+01] [ 2.38683142e-02 9.99715075e-01 -2.69605883e-04 2.62822382e+00] [ 9.10403063e-03 5.23117501e-05 9.99958556e-01 2.15737310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679254154 meters 0.0550980125137979 Centerline is valid? [True, True] Translation: X:62.52, Y:2.63, Z:0.21 [[ 9.99634559e-01 -2.51340089e-02 -9.95137481e-03 6.25225251e+01] [ 2.51323223e-02 9.99684090e-01 -2.94521458e-04 2.62610853e+00] [ 9.95563357e-03 4.43126680e-05 9.99950440e-01 2.14274343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254154 meters 0.05422382325634808 Centerline is valid? [True, True] Translation: X:62.59, Y:2.62, Z:0.22 [[ 9.99528409e-01 -2.91658188e-02 -9.60801780e-03 6.25852919e+01] [ 2.91644404e-02 9.99574587e-01 -2.83575850e-04 2.62132508e+00] [ 9.61220115e-03 3.22965596e-06 9.99953802e-01 2.15665648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799254154 meters 0.05536106742381571 Centerline is valid? [True, True] Translation: X:62.65, Y:2.62, Z:0.22 [[ 9.99337848e-01 -3.50073977e-02 -9.91704144e-03 6.26463116e+01] [ 3.50062282e-02 9.99387052e-01 -2.91542046e-04 2.61697966e+00] [ 9.92116894e-03 -5.58092150e-05 9.99950782e-01 2.15072874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859254154 meters 0.05548419601372952 Centerline is valid? [True, True] Translation: X:62.71, Y:2.61, Z:0.22 [[ 9.98861402e-01 -4.64429884e-02 -1.09063159e-02 6.27075844e+01] [ 4.64422605e-02 9.98920925e-01 -3.20133936e-04 2.60996063e+00] [ 1.09094152e-02 -1.86744533e-04 9.99940473e-01 2.16112638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254154 meters 0.055916320003875294 Centerline is valid? [True, True] Translation: X:62.77, Y:2.60, Z:0.22 [[ 9.98145511e-01 -6.00508762e-02 -9.97148196e-03 6.27686372e+01] [ 6.00509458e-02 9.98195271e-01 -2.92697395e-04 2.60305970e+00] [ 9.97106287e-03 -3.06642331e-04 9.99950241e-01 2.17605176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254154 meters 0.0551863263445042 Centerline is valid? [True, True] Translation: X:62.83, Y:2.60, Z:0.22 [[ 9.97345540e-01 -7.22545973e-02 -9.00816757e-03 6.28289880e+01] [ 7.22551508e-02 9.97386146e-01 -2.64419335e-04 2.59908896e+00] [ 9.00372705e-03 -3.87169062e-04 9.99959391e-01 2.18920121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters 0.0561064423498022 Centerline is valid? [True, True] Translation: X:62.89, Y:2.60, Z:0.22 [[ 9.96939389e-01 -7.77365423e-02 -8.29966521e-03 6.28883717e+01] [ 7.77372020e-02 9.96973855e-01 -2.43580171e-04 2.59500168e+00] [ 8.29348430e-03 -4.02358083e-04 9.99965528e-01 2.19055228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099254154 meters 0.05701158289781698 Centerline is valid? [True, True] Translation: X:62.95, Y:2.59, Z:0.22 [[ 9.96646975e-01 -8.15268695e-02 -6.94096002e-03 6.29486541e+01] [ 8.15274231e-02 9.96671078e-01 -2.03625290e-04 2.59176018e+00] [ 6.93445503e-03 -3.62936054e-04 9.99975891e-01 2.19746195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159254154 meters 0.05745463438612258 Centerline is valid? [True, True] Translation: X:63.01, Y:2.59, Z:0.22 [[ 9.96740805e-01 -8.04329062e-02 -6.18987566e-03 6.30092295e+01] [ 8.04333259e-02 9.96759975e-01 -1.81495529e-04 2.59350555e+00] [ 6.18441852e-03 -3.16968287e-04 9.99980826e-01 2.20762357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219254154 meters 0.05553887661042317 Centerline is valid? [True, True] Translation: X:63.07, Y:2.61, Z:0.22 [[ 9.96904467e-01 -7.82770855e-02 -7.36080362e-03 6.30694451e+01] [ 7.82776213e-02 9.96931576e-01 -2.15724503e-04 2.60644756e+00] [ 7.35510384e-03 -3.61129478e-04 9.99972886e-01 2.19803199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters 0.05505459542947886 Centerline is valid? [True, True] Translation: X:63.13, Y:2.62, Z:0.22 [[ 9.96975991e-01 -7.70037677e-02 -1.04543645e-02 6.31302802e+01] [ 7.70047804e-02 9.97030677e-01 -3.06230692e-04 2.61630076e+00] [ 1.04469031e-02 -4.99731396e-04 9.99945305e-01 2.19082550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters 0.0555079089488464 Centerline is valid? [True, True] Translation: X:63.19, Y:2.62, Z:0.22 [[ 9.97085003e-01 -7.54418769e-02 -1.14025957e-02 6.31910707e+01] [ 7.54429819e-02 9.97150061e-01 -3.33813198e-04 2.61653676e+00] [ 1.13952825e-02 -5.27405686e-04 9.99934933e-01 2.17421915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters 0.05653110226038033 Centerline is valid? [True, True] Translation: X:63.25, Y:2.62, Z:0.22 [[ 9.97512827e-01 -6.96066615e-02 -1.10938551e-02 6.32501749e+01] [ 6.96073472e-02 9.97574414e-01 -3.24765706e-04 2.61844292e+00] [ 1.10895519e-02 -4.48255869e-04 9.99938409e-01 2.17226851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399999 meters 0.05392626077852361 Centerline is valid? [True, True] Translation: X:63.31, Y:2.64, Z:0.22 [[ 9.97932968e-01 -6.36058956e-02 -9.16961137e-03 6.33100760e+01] [ 6.36061109e-02 9.97975045e-01 -2.68441668e-04 2.64103689e+00] [ 9.16811779e-03 -3.15356526e-04 9.99957922e-01 2.20691090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519254154 meters 0.05467439652864703 Centerline is valid? [True, True] Translation: X:63.37, Y:2.64, Z:0.22 [[ 9.98554552e-01 -5.30100690e-02 -8.87348522e-03 6.33698314e+01] [ 5.30098526e-02 9.98593956e-01 -2.59744087e-04 2.64376272e+00] [ 8.87477775e-03 -2.11013502e-04 9.99960596e-01 2.20458212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579254154 meters 0.05414799540887333 Centerline is valid? [True, True] Translation: X:63.43, Y:2.66, Z:0.22 [[ 9.99040622e-01 -4.30660977e-02 -7.94655766e-03 6.34297746e+01] [ 4.30656098e-02 9.99072219e-01 -2.32579285e-04 2.65535283e+00] [ 7.94920127e-03 -1.09867198e-04 9.99968399e-01 2.21638715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639254154 meters 0.054782795893828264 Centerline is valid? [True, True] Translation: X:63.49, Y:2.66, Z:0.22 [[ 9.99349921e-01 -3.52833597e-02 -7.40411181e-03 6.34889599e+01] [ 3.52827225e-02 9.99377347e-01 -2.16713020e-04 2.66203619e+00] [ 7.40714798e-03 -4.46650825e-05 9.99972566e-01 2.21671486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters 0.05432675036909512 Centerline is valid? [True, True] Translation: X:63.55, Y:2.67, Z:0.22 [[ 9.99504857e-01 -3.03838609e-02 -8.17691488e-03 6.35506719e+01] [ 3.03829204e-02 9.99538304e-01 -2.39238125e-04 2.66902861e+00] [ 8.18040861e-03 -9.31888643e-06 9.99966540e-01 2.21039372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters 0.05479224222841743 Centerline is valid? [True, True] Translation: X:63.61, Y:2.67, Z:0.22 [[ 9.99546727e-01 -2.91192804e-02 -7.64246359e-03 6.36128777e+01] [ 2.91184239e-02 9.99575944e-01 -2.23332303e-04 2.67225105e+00] [ 7.64572603e-03 6.94578030e-07 9.99970771e-01 2.22413013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters 0.05404194513542176 Centerline is valid? [True, True] Translation: X:63.67, Y:2.67, Z:0.22 [[ 9.99531880e-01 -2.96357521e-02 -7.59883346e-03 6.36743872e+01] [ 2.96349223e-02 9.99560765e-01 -2.21800541e-04 2.67240036e+00] [ 7.60206901e-03 -3.49412716e-06 9.99971104e-01 2.22429793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879254154 meters 0.054730643868091046 Centerline is valid? [True, True] Translation: X:63.74, Y:2.67, Z:0.22 [[ 9.99440409e-01 -3.28328361e-02 -6.39330307e-03 6.37354118e+01] [ 3.28323151e-02 9.99460857e-01 -1.86469074e-04 2.67034959e+00] [ 6.39597847e-03 -2.35422132e-05 9.99979545e-01 2.23612541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939254154 meters 0.054665890902052296 Centerline is valid? [True, True] Translation: X:63.80, Y:2.67, Z:0.22 [[ 9.99350185e-01 -3.54595723e-02 -6.46738808e-03 6.37970057e+01] [ 3.54590951e-02 9.99371111e-01 -1.88472186e-04 2.66768658e+00] [ 6.47000396e-03 -4.09780156e-05 9.99979068e-01 2.23614495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999254154 meters 0.054751094803371696 Centerline is valid? [True, True] Translation: X:63.86, Y:2.67, Z:0.22 [[ 9.99227310e-01 -3.84063243e-02 -8.35089700e-03 6.38591599e+01] [ 3.84056337e-02 9.99262202e-01 -2.43103598e-04 2.66503250e+00] [ 8.35407244e-03 -7.78057369e-05 9.99965101e-01 2.22282304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters 0.054815908630167096 Centerline is valid? [True, True] Translation: X:63.92, Y:2.67, Z:0.22 [[ 9.99191026e-01 -3.91608126e-02 -9.15009155e-03 6.39209930e+01] [ 3.91600183e-02 9.99232917e-01 -2.66025685e-04 2.66631564e+00] [ 9.15349045e-03 -9.25072756e-05 9.99958102e-01 2.22265510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters 0.054719139612811725 Centerline is valid? [True, True] Translation: X:63.98, Y:2.67, Z:0.22 [[ 9.99209873e-01 -3.87281108e-02 -8.93106940e-03 6.39829461e+01] [ 3.87273396e-02 9.99249782e-01 -2.59338988e-04 2.66613642e+00] [ 8.93441286e-03 -8.67424806e-05 9.99960084e-01 2.23188640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters 0.05502211392306954 Centerline is valid? [True, True] Translation: X:64.04, Y:2.67, Z:0.22 [[ 9.99308140e-01 -3.62513594e-02 -8.31142990e-03 6.40440174e+01] [ 3.62506091e-02 9.99342702e-01 -2.40962126e-04 2.66549722e+00] [ 8.31470201e-03 -6.04989827e-05 9.99965430e-01 2.23533114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239254154 meters 0.054797550567917 Centerline is valid? [True, True] Translation: X:64.11, Y:2.67, Z:0.23 [[ 9.99441225e-01 -3.26484026e-02 -7.16379876e-03 6.41066307e+01] [ 3.26477550e-02 9.99466898e-01 -2.07349962e-04 2.67082687e+00] [ 7.16674937e-03 -2.66478470e-05 9.99974318e-01 2.25809197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299254154 meters 0.05519961286645572 Centerline is valid? [True, True] Translation: X:64.17, Y:2.68, Z:0.23 [[ 9.99650817e-01 -2.53404900e-02 -7.49020627e-03 6.41677510e+01] [ 2.53395791e-02 9.99678878e-01 -2.16508352e-04 2.67533145e+00] [ 7.49328743e-03 2.66340764e-05 9.99971925e-01 2.25465454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359254154 meters 0.05561549166245714 Centerline is valid? [True, True] Translation: X:64.23, Y:2.68, Z:0.23 [[ 9.99755432e-01 -2.05247006e-02 -8.23487823e-03 6.42279820e+01] [ 2.05234376e-02 9.99789344e-01 -2.37858732e-04 2.67547341e+00] [ 8.23802549e-03 6.87925497e-05 9.99966065e-01 2.26186891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters 0.05507706817599095 Centerline is valid? [True, True] Translation: X:64.29, Y:2.67, Z:0.23 [[ 9.99701166e-01 -2.24965080e-02 -9.56483771e-03 6.42905087e+01] [ 2.24949000e-02 9.99746920e-01 -2.75685125e-04 2.67385831e+00] [ 9.56861899e-03 6.04426738e-05 9.99954218e-01 2.26128917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters 0.05596059269065597 Centerline is valid? [True, True] Translation: X:64.35, Y:2.67, Z:0.23 [[ 9.99560857e-01 -2.76213583e-02 -1.07310115e-02 6.43523441e+01] [ 2.76196360e-02 9.99618457e-01 -3.08683661e-04 2.67212654e+00] [ 1.07354435e-02 1.21614710e-05 9.99942373e-01 2.26089387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters 0.0549533035794714 Centerline is valid? [True, True] Translation: X:64.41, Y:2.67, Z:0.22 [[ 9.99255980e-01 -3.64600943e-02 -1.25757280e-02 6.44144289e+01] [ 3.64584338e-02 9.99335105e-01 -3.61340242e-04 2.66591025e+00] [ 1.25805410e-02 -9.74199501e-05 9.99920857e-01 2.23447101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599254154 meters 0.05581201272935853 Centerline is valid? [True, True] Translation: X:64.48, Y:2.66, Z:0.23 [[ 9.99085055e-01 -4.10605638e-02 -1.19617095e-02 6.44763564e+01] [ 4.10594033e-02 9.99156648e-01 -3.42684532e-04 2.66416303e+00] [ 1.19656923e-02 -1.48769657e-04 9.99928397e-01 2.25030983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659254154 meters 0.056153580572304254 Centerline is valid? [True, True] Translation: X:64.54, Y:2.66, Z:0.23 [[ 9.98978514e-01 -4.37408551e-02 -1.13430749e-02 6.45377178e+01] [ 4.37399911e-02 9.99042896e-01 -3.24360468e-04 2.66081308e+00] [ 1.13464062e-02 -1.72116857e-04 9.99935613e-01 2.25593532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719254154 meters 0.05567507304455273 Centerline is valid? [True, True] Translation: X:64.60, Y:2.66, Z:0.23 [[ 9.98954168e-01 -4.48115898e-02 -9.08254194e-03 6.45992940e+01] [ 4.48110820e-02 9.98995445e-01 -2.59515783e-04 2.65895753e+00] [ 9.08504734e-03 -1.47754158e-04 9.99958719e-01 2.27510837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters 0.05599504918708866 Centerline is valid? [True, True] Translation: X:64.66, Y:2.66, Z:0.23 [[ 9.98997260e-01 -4.39642265e-02 -8.46297054e-03 6.46613996e+01] [ 4.39637571e-02 9.99033097e-01 -2.41580082e-04 2.66073340e+00] [ 8.46540855e-03 -1.30726141e-04 9.99964159e-01 2.28227997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters 0.055729640620330145 Centerline is valid? [True, True] Translation: X:64.72, Y:2.66, Z:0.23 [[ 9.99186193e-01 -3.95583309e-02 -7.87969265e-03 6.47220280e+01] [ 3.95577884e-02 9.99217259e-01 -2.24750961e-04 2.66176611e+00] [ 7.88241566e-03 -8.71351576e-05 9.99968929e-01 2.28096556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters 0.05633670219959607 Centerline is valid? [True, True] Translation: X:64.78, Y:2.67, Z:0.23 [[ 9.99458746e-01 -3.18024826e-02 -8.41535215e-03 6.47828499e+01] [ 3.18015900e-02 9.99494173e-01 -2.39894036e-04 2.66992682e+00] [ 8.41872466e-03 -2.78573867e-05 9.99964562e-01 2.28878339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399999 meters 0.0556371083323311 Centerline is valid? [True, True] Translation: X:64.84, Y:2.67, Z:0.23 [[ 9.99603311e-01 -2.67776365e-02 -8.72807430e-03 6.48449325e+01] [ 2.67764870e-02 9.99641415e-01 -2.48557760e-04 2.67462211e+00] [ 8.73160033e-03 1.47519918e-05 9.99961879e-01 2.28257341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019254154 meters 0.055858901306263094 Centerline is valid? [True, True] Translation: X:64.91, Y:2.68, Z:0.23 [[ 9.99719653e-01 -2.17416073e-02 -9.37646329e-03 6.49059658e+01] [ 2.17400616e-02 9.99763621e-01 -2.66759915e-04 2.67579081e+00] [ 9.38004668e-03 6.28402408e-05 9.99956004e-01 2.29968219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079254154 meters 0.05607076989345373 Centerline is valid? [True, True] Translation: X:64.97, Y:2.68, Z:0.23 [[ 9.99729529e-01 -2.06779730e-02 -1.06438352e-02 6.49660265e+01] [ 2.06759224e-02 9.99786184e-01 -3.02678134e-04 2.67636877e+00] [ 1.06478182e-02 8.25251580e-05 9.99943307e-01 2.28256952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139254154 meters 0.055844297386701 Centerline is valid? [True, True] Translation: X:65.03, Y:2.67, Z:0.23 [[ 9.99688309e-01 -2.25940672e-02 -1.06203967e-02 6.50262689e+01] [ 2.25921311e-02 9.99744720e-01 -3.02256481e-04 2.67464281e+00] [ 1.06245147e-02 6.22248764e-05 9.99943556e-01 2.28815398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters 0.05589316689387976 Centerline is valid? [True, True] Translation: X:65.09, Y:2.67, Z:0.23 [[ 9.99533590e-01 -2.86998663e-02 -1.04364525e-02 6.50870530e+01] [ 2.86983279e-02 9.99588074e-01 -2.97164294e-04 2.66927968e+00] [ 1.04406820e-02 -2.48304140e-06 9.99945495e-01 2.29933696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters 0.05616301707304452 Centerline is valid? [True, True] Translation: X:65.15, Y:2.66, Z:0.23 [[ 9.99358487e-01 -3.42638055e-02 -1.04214528e-02 6.51487815e+01] [ 3.42625785e-02 9.99412822e-01 -2.96303506e-04 2.66458966e+00] [ 1.04254860e-02 -6.09524223e-05 9.99945651e-01 2.29518445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399999 meters 0.056300239576939325 Centerline is valid? [True, True] Translation: X:65.21, Y:2.66, Z:0.23 [[ 9.99008352e-01 -4.35661458e-02 -9.18172502e-03 6.52100478e+01] [ 4.35655885e-02 9.99050535e-01 -2.60787466e-04 2.65706071e+00] [ 9.18436880e-03 -1.39478398e-04 9.99957813e-01 2.31675214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379254154 meters 0.057571796373409076 Centerline is valid? [True, True] Translation: X:65.27, Y:2.65, Z:0.23 [[ 9.98690133e-01 -5.06715571e-02 -7.10017132e-03 6.52694516e+01] [ 5.06714031e-02 9.98715359e-01 -2.01686004e-04 2.64534260e+00] [ 7.10126990e-03 -1.58353821e-04 9.99974773e-01 2.32341266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439254154 meters 0.05955651767337474 Centerline is valid? [True, True] Translation: X:65.33, Y:2.64, Z:0.23 [[ 9.98429032e-01 -5.56592616e-02 -6.44318291e-03 6.53307596e+01] [ 5.56592382e-02 9.98449806e-01 -1.83071111e-04 2.63548806e+00] [ 6.44338433e-03 -1.75839141e-04 9.99979226e-01 2.32105864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499254154 meters 0.0574709134318715 Centerline is valid? [True, True] Translation: X:65.39, Y:2.64, Z:0.23 [[ 9.98366394e-01 -5.67006134e-02 -7.04159698e-03 6.53928480e+01] [ 5.67006122e-02 9.98391206e-01 -1.99972837e-04 2.64302655e+00] [ 7.04160708e-03 -1.99616699e-04 9.99975188e-01 2.32312609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters 0.05714727623441844 Centerline is valid? [True, True] Translation: X:65.46, Y:2.65, Z:0.23 [[ 9.98411021e-01 -5.57919206e-02 -7.91795056e-03 6.54552120e+01] [ 5.57918927e-02 9.98442394e-01 -2.24577640e-04 2.64559934e+00] [ 7.91814713e-03 -2.17536657e-04 9.99968627e-01 2.32324031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters 0.05772516653906634 Centerline is valid? [True, True] Translation: X:65.52, Y:2.64, Z:0.23 [[ 9.98541667e-01 -5.35258008e-02 -7.03766656e-03 6.55166636e+01] [ 5.35257240e-02 9.98566451e-01 -1.99410018e-04 2.64253728e+00] [ 7.03825130e-03 -1.77576986e-04 9.99975215e-01 2.32607935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters 0.05676697582244972 Centerline is valid? [True, True] Translation: X:65.58, Y:2.65, Z:0.23 [[ 9.98714986e-01 -5.02440974e-02 -6.62628101e-03 6.55776246e+01] [ 5.02439577e-02 9.98736957e-01 -1.87648276e-04 2.65170190e+00] [ 6.62733995e-03 -1.45523438e-04 9.99978028e-01 2.33704128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739254154 meters 0.0573587813733967 Centerline is valid? [True, True] Translation: X:65.64, Y:2.65, Z:0.23 [[ 9.98771049e-01 -4.91088108e-02 -6.68710240e-03 6.56403025e+01] [ 4.91086442e-02 9.98793425e-01 -1.89213220e-04 2.65278717e+00] [ 6.68832595e-03 -1.39413846e-04 9.99977623e-01 2.33114070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799254154 meters 0.0565939970298673 Centerline is valid? [True, True] Translation: X:65.70, Y:2.66, Z:0.23 [[ 9.98740720e-01 -4.92965753e-02 -9.31785893e-03 6.57021399e+01] [ 4.92962639e-02 9.98784165e-01 -2.63226746e-04 2.65843603e+00] [ 9.31950613e-03 -1.96440363e-04 9.99956553e-01 2.32044364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859254154 meters 0.056726344930828544 Centerline is valid? [True, True] Translation: X:65.76, Y:2.66, Z:0.23 [[ 9.98662603e-01 -5.06294396e-02 -1.04721372e-02 6.57636259e+01] [ 5.06291233e-02 9.98717480e-01 -2.95479118e-04 2.66361299e+00] [ 1.04736664e-02 -2.35111179e-04 9.99945122e-01 2.32906809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters 0.057036291795562626 Centerline is valid? [True, True] Translation: X:65.82, Y:2.66, Z:0.23 [[ 9.98533972e-01 -5.31591052e-02 -1.01988033e-02 6.58242842e+01] [ 5.31589388e-02 9.98586023e-01 -2.87588631e-04 2.66194635e+00] [ 1.01996704e-02 -2.54990541e-04 9.99947949e-01 2.33776129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters 0.056467074820977216 Centerline is valid? [True, True] Translation: X:65.88, Y:2.67, Z:0.24 [[ 9.98377480e-01 -5.62067788e-02 -9.12165083e-03 6.58843431e+01] [ 5.62067730e-02 9.98419117e-01 -2.57185754e-04 2.66583805e+00] [ 9.12168615e-03 -2.55930093e-04 9.99958364e-01 2.35804755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters 0.05958093082868987 Centerline is valid? [True, True] Translation: X:65.95, Y:2.66, Z:0.23 [[ 9.98287270e-01 -5.79388576e-02 -8.10035830e-03 6.59453584e+01] [ 5.79389108e-02 9.98320104e-01 -2.28293069e-04 2.65628436e+00] [ 8.09997758e-03 -2.41423873e-04 9.99967165e-01 2.34733369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099254154 meters 0.05760391767707311 Centerline is valid? [True, True] Translation: X:66.01, Y:2.67, Z:0.24 [[ 9.98344164e-01 -5.70459504e-02 -7.39529799e-03 6.60072986e+01] [ 5.70459717e-02 9.98371531e-01 -2.08228566e-04 2.66630476e+00] [ 7.39513358e-03 -2.13988187e-04 9.99972633e-01 2.36050942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159254154 meters 0.05725632969927449 Centerline is valid? [True, True] Translation: X:66.07, Y:2.67, Z:0.24 [[ 9.98457451e-01 -5.49775809e-02 -7.75784432e-03 6.60675744e+01] [ 5.49775432e-02 9.98487567e-01 -2.18275477e-04 2.67280929e+00] [ 7.75811136e-03 -2.08568444e-04 9.99969884e-01 2.36563605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219254154 meters 0.05688281372309338 Centerline is valid? [True, True] Translation: X:66.13, Y:2.68, Z:0.24 [[ 9.98443714e-01 -5.51696280e-02 -8.15243814e-03 6.61298939e+01] [ 5.51695943e-02 9.98476972e-01 -2.29191035e-04 2.67816545e+00] [ 8.15266613e-03 -2.20932356e-04 9.99966742e-01 2.37202103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters 0.056827588180881544 Centerline is valid? [True, True] Translation: X:66.19, Y:2.68, Z:0.24 [[ 9.98274421e-01 -5.79130285e-02 -9.70883752e-03 6.61907286e+01] [ 5.79131130e-02 9.98321590e-01 -2.72681239e-04 2.68107397e+00] [ 9.70833390e-03 -2.90058298e-04 9.99952831e-01 2.36416569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters 0.05758386537548454 Centerline is valid? [True, True] Translation: X:66.25, Y:2.68, Z:0.23 [[ 9.98020041e-01 -6.19325566e-02 -1.09707330e-02 6.62504902e+01] [ 6.19329072e-02 9.98080267e-01 -3.08098371e-04 2.68114164e+00] [ 1.09687534e-02 -3.71961037e-04 9.99939772e-01 2.34590327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters 0.057367659828709436 Centerline is valid? [True, True] Translation: X:66.31, Y:2.69, Z:0.24 [[ 9.97830550e-01 -6.49254195e-02 -1.09033535e-02 6.63108263e+01] [ 6.49259446e-02 9.97890038e-01 -3.06165467e-04 2.68705193e+00] [ 1.09002258e-02 -4.02409270e-04 9.99940510e-01 2.35480181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399999 meters 0.0576584395233622 Centerline is valid? [True, True] Translation: X:66.37, Y:2.69, Z:0.23 [[ 9.97775878e-01 -6.57426702e-02 -1.10090262e-02 6.63722330e+01] [ 6.57432575e-02 9.97836524e-01 -3.08932131e-04 2.68585340e+00] [ 1.10055185e-02 -4.15524219e-04 9.99939351e-01 2.34914469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519254154 meters 0.055711680869463674 Centerline is valid? [True, True] Translation: X:66.43, Y:2.70, Z:0.24 [[ 9.97637609e-01 -6.78267336e-02 -1.08966181e-02 6.64325870e+01] [ 6.78274346e-02 9.97697021e-01 -3.05632203e-04 2.70180968e+00] [ 1.08922535e-02 -4.34179473e-04 9.99940583e-01 2.37781954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579254154 meters 0.05553241134265549 Centerline is valid? [True, True] Translation: X:66.49, Y:2.71, Z:0.24 [[ 9.97567471e-01 -6.90731604e-02 -9.38297143e-03 6.64946254e+01] [ 6.90737376e-02 9.97611522e-01 -2.62921131e-04 2.70879486e+00] [ 9.37872120e-03 -3.85835339e-04 9.99955944e-01 2.39269461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639254154 meters 0.05776005917828596 Centerline is valid? [True, True] Translation: X:66.55, Y:2.71, Z:0.24 [[ 9.97724024e-01 -6.69622630e-02 -7.92631512e-03 6.65540593e+01] [ 6.69626092e-02 9.97755461e-01 -2.21997629e-04 2.70517709e+00] [ 7.92338966e-03 -3.09274373e-04 9.99968562e-01 2.38852442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters 0.05768192624050918 Centerline is valid? [True, True] Translation: X:66.62, Y:2.71, Z:0.24 [[ 9.97864084e-01 -6.48477772e-02 -7.87629405e-03 6.66151603e+01] [ 6.48480533e-02 9.97895125e-01 -2.20599697e-04 2.71012548e+00] [ 7.87402084e-03 -2.90633822e-04 9.99968957e-01 2.39029578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters 0.056404940010009966 Centerline is valid? [True, True] Translation: X:66.68, Y:2.72, Z:0.24 [[ 9.98293170e-01 -5.78256241e-02 -8.18186925e-03 6.66753663e+01] [ 5.78256867e-02 9.98326669e-01 -2.29114361e-04 2.72405963e+00] [ 8.18142695e-03 -2.44398905e-04 9.99966502e-01 2.38765181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399999 meters 0.054867967185825414 Centerline is valid? [True, True] Translation: X:66.74, Y:2.74, Z:0.24 [[ 9.98532621e-01 -5.35201608e-02 -8.25811995e-03 6.67355914e+01] [ 5.35200776e-02 9.98566747e-01 -2.31219877e-04 2.73865642e+00] [ 8.25865890e-03 -2.11094631e-04 9.99965874e-01 2.39771601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879254154 meters 0.05697310519668914 Centerline is valid? [True, True] Translation: X:66.80, Y:2.73, Z:0.24 [[ 9.98607094e-01 -5.18984545e-02 -9.50905704e-03 6.67967316e+01] [ 5.18982722e-02 9.98652341e-01 -2.66090277e-04 2.73124562e+00] [ 9.51005175e-03 -2.27783993e-04 9.99954752e-01 2.36567495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939254154 meters 0.054825491943926344 Centerline is valid? [True, True] Translation: X:66.86, Y:2.74, Z:0.24 [[ 9.98574198e-01 -5.24275816e-02 -1.00458750e-02 6.68586352e+01] [ 5.24274084e-02 9.98624698e-01 -2.80767471e-04 2.74388887e+00] [ 1.00467788e-02 -2.46312040e-04 9.99949500e-01 2.37891262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999254154 meters 0.05588839988465357 Centerline is valid? [True, True] Translation: X:66.92, Y:2.74, Z:0.24 [[ 9.98505365e-01 -5.36658196e-02 -1.03448193e-02 6.69195638e+01] [ 5.36657056e-02 9.98558916e-01 -2.88808239e-04 2.74399123e+00] [ 1.03454107e-02 -2.66785451e-04 9.99946449e-01 2.35974367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters 0.057227150062656884 Centerline is valid? [True, True] Translation: X:66.98, Y:2.75, Z:0.24 [[ 9.98430968e-01 -5.49121745e-02 -1.09660929e-02 6.69807522e+01] [ 5.49121266e-02 9.98491144e-01 -3.05692185e-04 2.74617981e+00] [ 1.09663329e-02 -2.96958940e-04 9.99939824e-01 2.35868891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters 0.05685530266070102 Centerline is valid? [True, True] Translation: X:67.04, Y:2.75, Z:0.24 [[ 9.98399370e-01 -5.55908101e-02 -1.04096244e-02 6.70427316e+01] [ 5.55908078e-02 9.98453593e-01 -2.89789602e-04 2.74833994e+00] [ 1.04096365e-02 -2.89353671e-04 9.99945776e-01 2.36641946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters 0.056153365197168625 Centerline is valid? [True, True] Translation: X:67.11, Y:2.75, Z:0.24 [[ 9.98415060e-01 -5.54524646e-02 -9.61206178e-03 6.71050765e+01] [ 5.54524590e-02 9.98461293e-01 -2.67303800e-04 2.75182967e+00] [ 9.61209429e-03 -2.66132322e-04 9.99953767e-01 2.38307653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239254154 meters 0.054628888389676375 Centerline is valid? [True, True] Translation: X:67.17, Y:2.76, Z:0.24 [[ 9.98582896e-01 -5.26974611e-02 -7.42814477e-03 6.71659402e+01] [ 5.26973824e-02 9.98610506e-01 -2.06463947e-04 2.76395140e+00] [ 7.42870354e-03 -1.85272419e-04 9.99972390e-01 2.41223731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299254154 meters 0.05661881266163183 Centerline is valid? [True, True] Translation: X:67.23, Y:2.76, Z:0.24 [[ 9.98835057e-01 -4.77231928e-02 -7.14321442e-03 6.72260799e+01] [ 4.77229928e-02 9.98860589e-01 -1.98542736e-04 2.76074592e+00] [ 7.14455045e-03 -1.42584125e-04 9.99974467e-01 2.40869761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359254154 meters 0.054822179847186854 Centerline is valid? [True, True] Translation: X:67.29, Y:2.78, Z:0.24 [[ 9.99210265e-01 -3.91173530e-02 -6.97699425e-03 6.72861847e+01] [ 3.91169525e-02 9.99234620e-01 -1.93914468e-04 2.77627044e+00] [ 6.97923962e-03 -7.91574257e-05 9.99975642e-01 2.41590014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters 0.0546723529638629 Centerline is valid? [True, True] Translation: X:67.35, Y:2.78, Z:0.24 [[ 9.99425348e-01 -3.28999425e-02 -8.15892269e-03 6.73466050e+01] [ 3.28991884e-02 9.99458649e-01 -2.26656912e-04 2.77983322e+00] [ 8.16196285e-03 -4.18952714e-05 9.99966690e-01 2.39718136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters 0.05495789602939145 Centerline is valid? [True, True] Translation: X:67.41, Y:2.78, Z:0.24 [[ 9.99479253e-01 -3.12726092e-02 -7.95280003e-03 6.74089187e+01] [ 3.12718428e-02 9.99510892e-01 -2.20733431e-04 2.78361283e+00] [ 7.95581316e-03 -2.80802281e-05 9.99968352e-01 2.41079394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters 0.05560635661647836 Centerline is valid? [True, True] Translation: X:67.47, Y:2.78, Z:0.24 [[ 9.99477418e-01 -3.12252465e-02 -8.35915159e-03 6.74704731e+01] [ 3.12244014e-02 9.99512373e-01 -2.31625524e-04 2.78381267e+00] [ 8.36230800e-03 -2.95050232e-05 9.99965035e-01 2.40218846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599254154 meters 0.05515406792723874 Centerline is valid? [True, True] Translation: X:67.53, Y:2.79, Z:0.24 [[ 9.99358923e-01 -3.44290761e-02 -9.81744126e-03 6.75314587e+01] [ 3.44280688e-02 9.99407141e-01 -2.71635905e-04 2.78533670e+00] [ 9.82097308e-03 -6.65337771e-05 9.99951771e-01 2.42295741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659254154 meters 0.055690715227578506 Centerline is valid? [True, True] Translation: X:67.59, Y:2.78, Z:0.24 [[ 9.99222634e-01 -3.79317700e-02 -1.07381618e-02 6.75938675e+01] [ 3.79307713e-02 9.99280325e-01 -2.96729170e-04 2.78187671e+00] [ 1.07416893e-02 -1.10808257e-04 9.99942300e-01 2.39928637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719254154 meters 0.05516131938422442 Centerline is valid? [True, True] Translation: X:67.65, Y:2.78, Z:0.24 [[ 9.98916679e-01 -4.50955861e-02 -1.14828942e-02 6.76536897e+01] [ 4.50949214e-02 9.98982656e-01 -3.16928917e-04 2.77748257e+00] [ 1.14855043e-02 -2.01234631e-04 9.99934019e-01 2.39856435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters 0.05521646908150067 Centerline is valid? [True, True] Translation: X:67.71, Y:2.78, Z:0.24 [[ 9.98645174e-01 -5.07076331e-02 -1.16855753e-02 6.77141027e+01] [ 5.07073308e-02 9.98713504e-01 -3.22335768e-04 2.77667101e+00] [ 1.16868868e-02 -2.70645276e-04 9.99931669e-01 2.41143053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters 0.0562010746734904 Centerline is valid? [True, True] Translation: X:67.77, Y:2.76, Z:0.24 [[ 9.98212569e-01 -5.87088817e-02 -1.11774138e-02 6.77743516e+01] [ 5.87091069e-02 9.98275085e-01 -3.08253451e-04 2.76433855e+00] [ 1.11762309e-02 -3.48513512e-04 9.99937483e-01 2.40867306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters 0.05605553567077878 Centerline is valid? [True, True] Translation: X:67.83, Y:2.76, Z:0.24 [[ 9.97653940e-01 -6.75887765e-02 -1.08799952e-02 6.78348682e+01] [ 6.75895173e-02 9.97713169e-01 -3.00017622e-04 2.76473834e+00] [ 1.08753923e-02 -4.36059860e-04 9.99940766e-01 2.42795380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399999 meters 0.054772864112197325 Centerline is valid? [True, True] Translation: X:67.90, Y:2.78, Z:0.25 [[ 9.97010650e-01 -7.63628143e-02 -1.17679363e-02 6.78954318e+01] [ 7.63642907e-02 9.97079932e-01 -3.24483021e-04 2.77546875e+00] [ 1.17583515e-02 -5.75137078e-04 9.99930703e-01 2.45069861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019254154 meters 0.054351295604595715 Centerline is valid? [True, True] Translation: X:67.96, Y:2.77, Z:0.24 [[ 9.96637947e-01 -8.09803867e-02 -1.24490707e-02 6.79564116e+01] [ 8.09823993e-02 9.96715473e-01 -3.43177023e-04 2.77361413e+00] [ 1.24359720e-02 -6.66132370e-04 9.99922448e-01 2.44726096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079254154 meters 0.05414841622522859 Centerline is valid? [True, True] Translation: X:68.02, Y:2.78, Z:0.25 [[ 9.96298016e-01 -8.50844199e-02 -1.22843670e-02 6.80166408e+01] [ 8.50866915e-02 9.96373494e-01 -3.38548502e-04 2.77825147e+00] [ 1.22686229e-02 -7.07940944e-04 9.99924487e-01 2.46633013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139254154 meters 0.05270568020851176 Centerline is valid? [True, True] Translation: X:68.08, Y:2.79, Z:0.25 [[ 9.96200563e-01 -8.62488658e-02 -1.20653340e-02 6.80771593e+01] [ 8.62511433e-02 9.96273371e-01 -3.32418390e-04 2.79056828e+00] [ 1.20490417e-02 -7.09493462e-04 9.99927156e-01 2.48672320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters 0.05892569073876032 Centerline is valid? [True, True] Translation: X:68.14, Y:2.76, Z:0.24 [[ 9.96276243e-01 -8.51610143e-02 -1.34628618e-02 6.81386254e+01] [ 8.51637539e-02 9.96366899e-01 -3.70720412e-04 2.76404809e+00] [ 1.34455208e-02 -7.77207910e-04 9.99909303e-01 2.43740485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters 0.05593654551243959 Centerline is valid? [True, True] Translation: X:68.20, Y:2.78, Z:0.25 [[ 9.96442101e-01 -8.29175079e-02 -1.50939279e-02 6.81987656e+01] [ 8.29206981e-02 9.96556062e-01 -4.15436182e-04 2.78075286e+00] [ 1.50763923e-02 -8.37640940e-04 9.99885994e-01 2.45243833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399999 meters 0.06510600573794319 Centerline is valid? [True, True] Translation: X:68.26, Y:2.76, Z:0.24 [[ 9.96805719e-01 -7.82977418e-02 -1.57423499e-02 6.82588419e+01] [ 7.83006368e-02 9.96929698e-01 -4.33318721e-04 2.76213092e+00] [ 1.57279440e-02 -8.00701446e-04 9.99875988e-01 2.40330730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379254154 meters 0.05516716798426134 Centerline is valid? [True, True] Translation: X:68.32, Y:2.80, Z:0.25 [[ 9.96948238e-01 -7.66176892e-02 -1.49646443e-02 6.83186271e+01] [ 7.66201186e-02 9.97060273e-01 -4.11761915e-04 2.79578033e+00] [ 1.49522005e-02 -7.36087503e-04 9.99887939e-01 2.47923879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439254154 meters 0.05414315168637786 Centerline is valid? [True, True] Translation: X:68.38, Y:2.81, Z:0.25 [[ 9.97502760e-01 -6.92732640e-02 -1.37644033e-02 6.83788941e+01] [ 6.92746225e-02 9.97597556e-01 -3.78635866e-04 2.80818972e+00] [ 1.37575645e-02 -5.75833523e-04 9.99905194e-01 2.50317595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499254154 meters 0.054831849554438566 Centerline is valid? [True, True] Translation: X:68.44, Y:2.82, Z:0.25 [[ 9.98177243e-01 -5.90818014e-02 -1.23098415e-02 6.84380338e+01] [ 5.90821140e-02 9.98253069e-01 -3.38587067e-04 2.81552257e+00] [ 1.23083414e-02 -3.89321556e-04 9.99924174e-01 2.51123363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters 0.055369648184707826 Centerline is valid? [True, True] Translation: X:68.50, Y:2.82, Z:0.25 [[ 9.98636278e-01 -5.07765430e-02 -1.21378355e-02 6.84973920e+01] [ 5.07762332e-02 9.98709999e-01 -3.33889457e-04 2.81870014e+00] [ 1.21391314e-02 -2.82879442e-04 9.99926278e-01 2.49280745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters 0.05483840744029859 Centerline is valid? [True, True] Translation: X:68.56, Y:2.84, Z:0.25 [[ 9.99190249e-01 -3.81983298e-02 -1.26385772e-02 6.85580358e+01] [ 3.81969878e-02 9.99270168e-01 -3.47640400e-04 2.83520234e+00] [ 1.26426325e-02 -1.35396682e-04 9.99920070e-01 2.49860604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399999 meters 0.05452844200430243 Centerline is valid? [True, True] Translation: X:68.62, Y:2.85, Z:0.25 [[ 9.99510076e-01 -2.88158972e-02 -1.22168501e-02 6.86191789e+01] [ 2.88139441e-02 9.99584736e-01 -3.35893504e-04 2.84781626e+00] [ 1.22214559e-02 -1.62866927e-05 9.99925315e-01 2.51453646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739254154 meters 0.05468678662561338 Centerline is valid? [True, True] Translation: X:68.68, Y:2.85, Z:0.25 [[ 9.99651680e-01 -2.38359639e-02 -1.13298828e-02 6.86807993e+01] [ 2.38339674e-02 9.99715882e-01 -3.11225700e-04 2.85471586e+00] [ 1.13340821e-02 4.10812369e-05 9.99935766e-01 2.53035552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799254154 meters 0.054950975959422374 Centerline is valid? [True, True] Translation: X:68.74, Y:2.86, Z:0.25 [[ 9.99651146e-01 -2.37718252e-02 -1.15102424e-02 6.87427176e+01] [ 2.37697644e-02 9.99717409e-01 -3.15832220e-04 2.85720384e+00] [ 1.15144976e-02 4.21262920e-05 9.99933705e-01 2.53425243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859254154 meters 0.05433946393770837 Centerline is valid? [True, True] Translation: X:68.80, Y:2.86, Z:0.25 [[ 9.99574945e-01 -2.65776307e-02 -1.19815954e-02 6.88048070e+01] [ 2.65756048e-02 9.99646752e-01 -3.28289404e-04 2.85696721e+00] [ 1.19860880e-02 9.73171933e-06 9.99928164e-01 2.49910322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters 0.05493004169246959 Centerline is valid? [True, True] Translation: X:68.87, Y:2.85, Z:0.25 [[ 9.99315738e-01 -3.49163499e-02 -1.22026057e-02 6.88668426e+01] [ 3.49148842e-02 9.99390234e-01 -3.33188442e-04 2.85432433e+00] [ 1.22067987e-02 -9.30921110e-05 9.99925490e-01 2.54389292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters 0.054687204317953944 Centerline is valid? [True, True] Translation: X:68.93, Y:2.85, Z:0.25 [[ 9.99029315e-01 -4.21655234e-02 -1.27474163e-02 6.89275552e+01] [ 4.21645210e-02 9.99110621e-01 -3.47502965e-04 2.84753886e+00] [ 1.27507316e-02 -1.90323051e-04 9.99918688e-01 2.51981520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters 0.05520563357311328 Centerline is valid? [True, True] Translation: X:68.99, Y:2.84, Z:0.25 [[ 9.98529723e-01 -5.31077624e-02 -1.08608441e-02 6.89869222e+01] [ 5.31076810e-02 9.98588747e-01 -2.96101557e-04 2.83899887e+00] [ 1.08612420e-02 -2.81128037e-04 9.99940975e-01 2.52529853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099254154 meters 0.05843544851447206 Centerline is valid? [True, True] Translation: X:69.05, Y:2.82, Z:0.25 [[ 9.98115873e-01 -6.06506271e-02 -9.28464463e-03 6.90478181e+01] [ 6.06508933e-02 9.98159008e-01 -2.53152101e-04 2.82202597e+00] [ 9.28290551e-03 -3.10446860e-04 9.99956865e-01 2.51481670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159254154 meters 0.05603838464481491 Centerline is valid? [True, True] Translation: X:69.11, Y:2.83, Z:0.25 [[ 9.97824606e-01 -6.54654618e-02 -7.76711258e-03 6.91088381e+01] [ 6.54657941e-02 9.97854792e-01 -2.11725709e-04 2.83154179e+00] [ 7.76431123e-03 -2.97215071e-04 9.99969813e-01 2.53987145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219254154 meters 0.05473835978928182 Centerline is valid? [True, True] Translation: X:69.17, Y:2.84, Z:0.25 [[ 9.97704239e-01 -6.73749032e-02 -6.84650209e-03 6.91699726e+01] [ 6.73752069e-02 9.97727692e-01 -1.86543501e-04 2.83598033e+00] [ 6.84351308e-03 -2.75169253e-04 9.99976545e-01 2.54128260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters 0.055399802810224656 Centerline is valid? [True, True] Translation: X:69.23, Y:2.83, Z:0.25 [[ 9.97509962e-01 -7.01270034e-02 -7.48861773e-03 6.92295555e+01] [ 7.01274445e-02 9.97538019e-01 -2.03995517e-04 2.83023117e+00] [ 7.48448649e-03 -3.21670064e-04 9.99971939e-01 2.53132114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters 0.05533091870419587 Centerline is valid? [True, True] Translation: X:69.29, Y:2.83, Z:0.25 [[ 9.97132266e-01 -7.51026009e-02 -9.31898758e-03 6.92901335e+01] [ 7.51035005e-02 9.97175712e-01 -2.53878347e-04 2.83483206e+00] [ 9.31173499e-03 -4.46738297e-04 9.99956545e-01 2.52473951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters 0.0535321523306621 Centerline is valid? [True, True] Translation: X:69.35, Y:2.84, Z:0.25 [[ 9.96805900e-01 -7.91938800e-02 -1.03114654e-02 6.93510456e+01] [ 7.91952004e-02 9.96859088e-01 -2.80848386e-04 2.84494775e+00] [ 1.03013194e-02 -5.36667236e-04 9.99946796e-01 2.52623517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399999 meters 0.05238682958388253 Centerline is valid? [True, True] Translation: X:69.41, Y:2.86, Z:0.25 [[ 9.96505445e-01 -8.28682210e-02 -1.04764497e-02 6.94111387e+01] [ 8.28697870e-02 9.96560343e-01 -2.85283829e-04 2.85671130e+00] [ 1.04640552e-02 -5.83894264e-04 9.99945080e-01 2.51866615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519254154 meters 0.05312122415641977 Centerline is valid? [True, True] Translation: X:69.47, Y:2.86, Z:0.25 [[ 9.96633568e-01 -8.13312790e-02 -1.03321692e-02 6.94713656e+01] [ 8.13327199e-02 9.96686967e-01 -2.81343275e-04 2.85918448e+00] [ 1.03208204e-02 -5.59947275e-04 9.99946582e-01 2.52274091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579254154 meters 0.054538119571467786 Centerline is valid? [True, True] Translation: X:69.53, Y:2.85, Z:0.25 [[ 9.97101315e-01 -7.54823760e-02 -9.55922510e-03 6.95309137e+01] [ 7.54833407e-02 9.97147029e-01 -2.60347935e-04 2.85217928e+00] [ 9.55160459e-03 -4.61968976e-04 9.99954276e-01 2.52390316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters 0.05338609437211277 Centerline is valid? [True, True] Translation: X:69.59, Y:2.87, Z:0.25 [[ 9.97454254e-01 -7.07355703e-02 -9.02720841e-03 6.95915270e+01] [ 7.07362365e-02 9.97495025e-01 -2.45867496e-04 2.86521491e+00] [ 9.02198705e-03 -3.93309169e-04 9.99959224e-01 2.53353221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters 0.05343934849061659 Centerline is valid? [True, True] Translation: X:69.65, Y:2.87, Z:0.25 [[ 9.97638020e-01 -6.80836666e-02 -9.11019013e-03 6.96522268e+01] [ 6.80842349e-02 9.97679545e-01 -2.48100271e-04 2.87072306e+00] [ 9.10594193e-03 -3.72746062e-04 9.99958471e-01 2.53369972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters 0.05319328797843218 Centerline is valid? [True, True] Translation: X:69.71, Y:2.88, Z:0.25 [[ 9.97999720e-01 -6.25622133e-02 -9.08453618e-03 6.97125662e+01] [ 6.25625503e-02 9.98041014e-01 -2.47359528e-04 2.87853473e+00] [ 9.08221506e-03 -3.21487012e-04 9.99958704e-01 2.53947257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399999 meters 0.053527071305883744 Centerline is valid? [True, True] Translation: X:69.77, Y:2.88, Z:0.25 [[ 9.98330846e-01 -5.71011806e-02 -8.65892323e-03 6.97720680e+01] [ 5.71012814e-02 9.98368363e-01 -2.35784309e-04 2.88146616e+00] [ 8.65825857e-03 -2.59044863e-04 9.99962483e-01 2.53824926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879254154 meters 0.05336898747364389 Centerline is valid? [True, True] Translation: X:69.83, Y:2.89, Z:0.25 [[ 9.98940563e-01 -4.54231680e-02 -7.38150533e-03 6.98319506e+01] [ 4.54229223e-02 9.98967826e-01 -2.01003766e-04 2.89143509e+00] [ 7.38301656e-03 -1.34498728e-04 9.99972736e-01 2.53921288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939254154 meters 0.053218054974355763 Centerline is valid? [True, True] Translation: X:69.89, Y:2.91, Z:0.26 [[ 9.99510020e-01 -3.05587946e-02 -6.77347822e-03 6.98917860e+01] [ 3.05582466e-02 9.99532971e-01 -1.84413219e-04 2.90582357e+00] [ 6.77595025e-03 -2.26627579e-05 9.99977043e-01 2.55120094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999254154 meters 0.0529998600948666 Centerline is valid? [True, True] Translation: X:69.95, Y:2.92, Z:0.26 [[ 9.99763587e-01 -2.04832039e-02 -7.29439270e-03 6.99528971e+01] [ 2.04823008e-02 9.99790196e-01 -1.98504095e-04 2.91661352e+00] [ 7.29692831e-03 4.90512207e-05 9.99973376e-01 2.55661811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters 0.053646816977531035 Centerline is valid? [True, True] Translation: X:70.01, Y:2.93, Z:0.25 [[ 9.99905218e-01 -1.11594521e-02 -8.06360285e-03 7.00132279e+01] [ 1.11580465e-02 9.99937723e-01 -2.19279793e-04 2.92666050e+00] [ 8.06554771e-03 1.29284953e-04 9.99967465e-01 2.54016616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters 0.05435096307304482 Centerline is valid? [True, True] Translation: X:70.07, Y:2.93, Z:0.25 [[ 9.99898155e-01 -1.14104684e-02 -8.57204302e-03 7.00737889e+01] [ 1.14088907e-02 9.99934889e-01 -2.32931174e-04 2.93167369e+00] [ 8.57414274e-03 1.35109949e-04 9.99963232e-01 2.52723668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399999 meters 0.05340012295445922 Centerline is valid? [True, True] Translation: X:70.14, Y:2.93, Z:0.25 [[ 9.99732734e-01 -2.18717260e-02 -7.48921691e-03 7.01352365e+01] [ 2.18708160e-02 9.99760784e-01 -2.03387108e-04 2.92595981e+00] [ 7.49187380e-03 3.95374643e-05 9.99971935e-01 2.53319931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239254154 meters 0.053093957900997475 Centerline is valid? [True, True] Translation: X:70.20, Y:2.92, Z:0.25 [[ 9.99314055e-01 -3.64563212e-02 -6.50821106e-03 7.01969422e+01] [ 3.64559444e-02 9.99335246e-01 -1.76558770e-04 2.91901540e+00] [ 6.51032138e-03 -6.08253204e-05 9.99978806e-01 2.53605137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299254154 meters 0.05369195054754208 Centerline is valid? [True, True] Translation: X:70.26, Y:2.91, Z:0.25 [[ 9.99145470e-01 -4.08991817e-02 -5.96548170e-03 7.02578673e+01] [ 4.08989463e-02 9.99163275e-01 -1.61502712e-04 2.91486852e+00] [ 5.96709556e-03 -8.26172122e-05 9.99982193e-01 2.54238255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359254154 meters 0.05446100487729857 Centerline is valid? [True, True] Translation: X:70.32, Y:2.91, Z:0.26 [[ 9.98628021e-01 -5.22492395e-02 -3.47751081e-03 7.03188596e+01] [ 5.22492287e-02 9.98634072e-01 -9.40230128e-05 2.90707348e+00] [ 3.47767341e-03 -8.78032422e-05 9.99993949e-01 2.55956073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters 0.05436621466806254 Centerline is valid? [True, True] Translation: X:70.38, Y:2.90, Z:0.26 [[ 9.98307106e-01 -5.80904640e-02 -2.90173357e-03 7.03797670e+01] [ 5.80904811e-02 9.98311319e-01 -7.84498783e-05 2.90247708e+00] [ 2.90139066e-03 -9.02460281e-05 9.99995787e-01 2.56178706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters 0.05550175201185622 Centerline is valid? [True, True] Translation: X:70.44, Y:2.90, Z:0.26 [[ 9.98239778e-01 -5.91964941e-02 -3.62227625e-03 7.04416742e+01] [ 5.91965281e-02 9.98246343e-01 -9.79375121e-05 2.89665474e+00] [ 3.62172158e-03 -1.16661058e-04 9.99993435e-01 2.55470467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters 0.05349762465367197 Centerline is valid? [True, True] Translation: X:70.50, Y:2.91, Z:0.25 [[ 9.98298672e-01 -5.81406270e-02 -4.40793267e-03 7.05035792e+01] [ 5.81406691e-02 9.98308393e-01 -1.18706030e-04 2.90563650e+00] [ 4.40737782e-03 -1.37776082e-04 9.99990278e-01 2.54147420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599254154 meters 0.052736332899225684 Centerline is valid? [True, True] Translation: X:70.56, Y:2.91, Z:0.25 [[ 9.98663285e-01 -5.14335678e-02 -5.12164835e-03 7.05642869e+01] [ 5.14335371e-02 9.98676410e-01 -1.37792142e-04 2.91236361e+00] [ 5.12195653e-03 -1.25816537e-04 9.99986875e-01 2.53473481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659254154 meters 0.05323100430685589 Centerline is valid? [True, True] Translation: X:70.63, Y:2.92, Z:0.25 [[ 9.99068233e-01 -4.26462177e-02 -6.63069667e-03 7.06252264e+01] [ 4.26459727e-02 9.99090231e-01 -1.78400642e-04 2.91631949e+00] [ 6.63227237e-03 -1.04538094e-04 9.99978001e-01 2.52173334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719254154 meters 0.05342759735220327 Centerline is valid? [True, True] Translation: X:70.69, Y:2.92, Z:0.25 [[ 9.99251839e-01 -3.79028679e-02 -7.68990652e-03 7.06854215e+01] [ 3.79023983e-02 9.99281425e-01 -2.06850076e-04 2.91874111e+00] [ 7.69222095e-03 -8.47705813e-05 9.99970411e-01 2.51412157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters 0.053737997308134125 Centerline is valid? [True, True] Translation: X:70.75, Y:2.92, Z:0.25 [[ 9.99333627e-01 -3.52909384e-02 -9.31942687e-03 7.07479536e+01] [ 3.52901371e-02 9.99377078e-01 -2.50471035e-04 2.92208780e+00] [ 9.32246095e-03 -7.85797240e-05 9.99956542e-01 2.51185437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters 0.053328675509456226 Centerline is valid? [True, True] Translation: X:70.81, Y:2.92, Z:0.25 [[ 9.99216189e-01 -3.83810196e-02 -9.69044216e-03 7.08101526e+01] [ 3.83803061e-02 9.99263171e-01 -2.59655949e-04 2.92320004e+00] [ 9.69326782e-03 -1.12469708e-04 9.99953013e-01 2.51844313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters 0.05322287672967353 Centerline is valid? [True, True] Translation: X:70.87, Y:2.92, Z:0.25 [[ 9.99002496e-01 -4.35060177e-02 -1.00618199e-02 7.08706466e+01] [ 4.35055135e-02 9.99053151e-01 -2.69090422e-04 2.92118428e+00] [ 1.00639999e-02 -1.68922637e-04 9.99949342e-01 2.52588034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399999 meters 0.05338875329613971 Centerline is valid? [True, True] Translation: X:70.93, Y:2.92, Z:0.25 [[ 9.98561416e-01 -5.28377751e-02 -9.12517354e-03 7.09314715e+01] [ 5.28377500e-02 9.98603081e-01 -2.44009166e-04 2.91803951e+00] [ 9.12531931e-03 -2.38495499e-04 9.99958335e-01 2.53360565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019254154 meters 0.0531833398733838 Centerline is valid? [True, True] Translation: X:70.99, Y:2.92, Z:0.26 [[ 9.98036776e-01 -6.22531656e-02 -6.86571125e-03 7.09920013e+01] [ 6.22533738e-02 9.98060361e-01 -1.83582776e-04 2.91801394e+00] [ 6.86382285e-03 -2.44191327e-04 9.99976414e-01 2.55618641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079254154 meters 0.05356929021806974 Centerline is valid? [True, True] Translation: X:71.05, Y:2.91, Z:0.26 [[ 9.97572358e-01 -6.94550651e-02 -5.03830421e-03 7.10520131e+01] [ 6.94552689e-02 9.97585058e-01 -1.34708926e-04 2.90919584e+00] [ 5.03549321e-03 -2.15554873e-04 9.99987299e-01 2.56937602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters 0.055145290342729615 Centerline is valid? [True, True] Translation: X:71.11, Y:2.90, Z:0.26 [[ 9.97326767e-01 -7.29300773e-02 -4.53028536e-03 7.11125831e+01] [ 7.29302780e-02 9.97337034e-01 -1.21101596e-04 2.89983158e+00] [ 4.52705332e-03 -2.09617108e-04 9.99989731e-01 2.57936913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters 0.054190369454037726 Centerline is valid? [True, True] Translation: X:71.17, Y:2.90, Z:0.26 [[ 9.97201546e-01 -7.45903781e-02 -5.03505288e-03 7.11732194e+01] [ 7.45906475e-02 9.97214228e-01 -1.34509127e-04 2.90106385e+00] [ 5.03105946e-03 -2.41435145e-04 9.99987315e-01 2.58717198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters 0.05625329413873572 Centerline is valid? [True, True] Translation: X:71.23, Y:2.89, Z:0.26 [[ 9.97302512e-01 -7.31389246e-02 -6.19657402e-03 7.12343976e+01] [ 7.31393053e-02 9.97321721e-01 -1.65467937e-04 2.89485723e+00] [ 6.19208001e-03 -2.88191530e-04 9.99980787e-01 2.57241598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399999 meters 0.052874274067607974 Centerline is valid? [True, True] Translation: X:71.29, Y:2.91, Z:0.26 [[ 9.97660016e-01 -6.78954681e-02 -8.04348937e-03 7.12947501e+01] [ 6.78959404e-02 9.97692385e-01 -2.14644341e-04 2.91387948e+00] [ 8.03950147e-03 -3.31978198e-04 9.99967628e-01 2.57275992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379254154 meters 0.054265423639837544 Centerline is valid? [True, True] Translation: X:71.35, Y:2.91, Z:0.26 [[ 9.98252523e-01 -5.83432483e-02 -9.37897654e-03 7.13541141e+01] [ 5.83434700e-02 9.98296538e-01 -2.50206199e-04 2.91352431e+00] [ 9.37759765e-03 -2.97433067e-04 9.99955985e-01 2.56207890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439254154 meters 0.054491267714982035 Centerline is valid? [True, True] Translation: X:71.41, Y:2.92, Z:0.26 [[ 9.98645611e-01 -5.10326429e-02 -1.01298307e-02 7.14140152e+01] [ 5.10325260e-02 9.98696955e-01 -2.70190077e-04 2.91527655e+00] [ 1.01304195e-02 -2.47126711e-04 9.99948655e-01 2.56741414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499254154 meters 0.05332498128753544 Centerline is valid? [True, True] Translation: X:71.47, Y:2.92, Z:0.26 [[ 9.99100952e-01 -4.14496707e-02 -8.90013333e-03 7.14745911e+01] [ 4.14492007e-02 9.99140584e-01 -2.37329757e-04 2.92369960e+00] [ 8.90232165e-03 -1.31787027e-04 9.99960365e-01 2.59030124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters 0.053721485969319804 Centerline is valid? [True, True] Translation: X:71.53, Y:2.93, Z:0.26 [[ 9.99396439e-01 -3.38424725e-02 -7.83872183e-03 7.15347386e+01] [ 3.38418741e-02 9.99427178e-01 -2.09000844e-04 2.92941124e+00] [ 7.84130474e-03 -5.64023382e-05 9.99969255e-01 2.61378274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters 0.054656655735323176 Centerline is valid? [True, True] Translation: X:71.60, Y:2.93, Z:0.26 [[ 9.99541045e-01 -2.93447577e-02 -7.52229423e-03 7.15968088e+01] [ 2.93440802e-02 9.99569350e-01 -2.00443393e-04 2.93049683e+00] [ 7.52493672e-03 -2.03834063e-05 9.99971687e-01 2.61676436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399999 meters 0.05416781431143448 Centerline is valid? [True, True] Translation: X:71.66, Y:2.93, Z:0.26 [[ 9.99572107e-01 -2.81617713e-02 -7.90683835e-03 7.16601486e+01] [ 2.81609881e-02 9.99603379e-01 -2.10388882e-04 2.93143859e+00] [ 7.90962725e-03 -1.23655231e-05 9.99968718e-01 2.62067326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739254154 meters 0.05504199678921523 Centerline is valid? [True, True] Translation: X:71.72, Y:2.93, Z:0.26 [[ 9.99566292e-01 -2.81880168e-02 -8.52428097e-03 7.17226291e+01] [ 2.81871106e-02 9.99602639e-01 -2.26459732e-04 2.93012806e+00] [ 8.52727721e-03 -1.39133360e-05 9.99963642e-01 2.60191699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799254154 meters 0.053909886587549284 Centerline is valid? [True, True] Translation: X:71.78, Y:2.93, Z:0.26 [[ 9.99554871e-01 -2.83446084e-02 -9.30821448e-03 7.17834604e+01] [ 2.83435374e-02 9.99598211e-01 -2.46981929e-04 2.92979021e+00] [ 9.31147515e-03 -1.69557349e-05 9.99956647e-01 2.59707161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859254154 meters 0.05390160695460217 Centerline is valid? [True, True] Translation: X:71.85, Y:2.93, Z:0.26 [[ 9.99589485e-01 -2.71941226e-02 -9.01888823e-03 7.18454344e+01] [ 2.71930727e-02 9.99630171e-01 -2.39043547e-04 2.92943416e+00] [ 9.02205337e-03 -6.30586674e-06 9.99959300e-01 2.61283498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters 0.05479220207237834 Centerline is valid? [True, True] Translation: X:71.91, Y:2.93, Z:0.26 [[ 9.99628294e-01 -2.58027710e-02 -8.80292909e-03 7.19064750e+01] [ 2.58017190e-02 9.99667053e-01 -2.33071157e-04 2.92912146e+00] [ 8.80601207e-03 5.85382046e-06 9.99961226e-01 2.61238279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters 0.05502849644583575 Centerline is valid? [True, True] Translation: X:71.97, Y:2.93, Z:0.26 [[ 9.99671634e-01 -2.45534981e-02 -7.33148724e-03 7.19681844e+01] [ 2.45527359e-02 9.99698517e-01 -1.93951681e-04 2.92699350e+00] [ 7.33403912e-03 1.38799232e-05 9.99973105e-01 2.62698518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399999 meters 0.05543916690049934 Centerline is valid? [True, True] Translation: X:72.03, Y:2.93, Z:0.26 [[ 9.99654549e-01 -2.52132105e-02 -7.42136331e-03 7.20299530e+01] [ 2.52124492e-02 9.99682096e-01 -1.96129799e-04 2.92513369e+00] [ 7.42394909e-03 8.95129988e-06 9.99972442e-01 2.63258950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099254154 meters 0.05580999432823658 Centerline is valid? [True, True] Translation: X:72.09, Y:2.92, Z:0.26 [[ 9.99546401e-01 -2.91374629e-02 -7.61574291e-03 7.20935729e+01] [ 2.91367787e-02 9.99575414e-01 -2.00789451e-04 2.91936872e+00] [ 7.61835987e-03 -2.11998431e-05 9.99970980e-01 2.64413160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159254154 meters 0.0552969039680732 Centerline is valid? [True, True] Translation: X:72.15, Y:2.91, Z:0.26 [[ 9.99417875e-01 -3.31833827e-02 -7.92296297e-03 7.21549772e+01] [ 3.31827745e-02 9.99449278e-01 -2.08235959e-04 2.91478957e+00] [ 7.92550959e-03 -5.47911540e-05 9.99968591e-01 2.64240653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219254154 meters 0.05515840589834855 Centerline is valid? [True, True] Translation: X:72.22, Y:2.91, Z:0.26 [[ 9.99321222e-01 -3.60230366e-02 -7.70946591e-03 7.22169365e+01] [ 3.60225482e-02 9.99350957e-01 -2.02251646e-04 2.91372365e+00] [ 7.71174785e-03 -7.56002452e-05 9.99970261e-01 2.64310975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters 0.05639401313031085 Centerline is valid? [True, True] Translation: X:72.28, Y:2.90, Z:0.26 [[ 9.98711128e-01 -4.99492773e-02 -9.00852345e-03 7.22767522e+01] [ 4.99491782e-02 9.98751733e-01 -2.36125817e-04 2.89895889e+00] [ 9.00907272e-03 -2.14146862e-04 9.99959395e-01 2.63185693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters 0.056157149915596324 Centerline is valid? [True, True] Translation: X:72.34, Y:2.90, Z:0.26 [[ 9.98300590e-01 -5.74583061e-02 -9.71979946e-03 7.23375948e+01] [ 5.74585472e-02 9.98347860e-01 -2.54677472e-04 2.89591079e+00] [ 9.71837433e-03 -3.04240885e-04 9.99952729e-01 2.63130789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters 0.055979946443432176 Centerline is valid? [True, True] Translation: X:72.40, Y:2.89, Z:0.26 [[ 9.97543719e-01 -6.94806566e-02 -8.88629391e-03 7.23983869e+01] [ 6.94813342e-02 9.97583225e-01 -2.32816959e-04 2.89058721e+00] [ 8.88099401e-03 -3.85186462e-04 9.99960489e-01 2.64159575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399999 meters 0.055264252787190785 Centerline is valid? [True, True] Translation: X:72.46, Y:2.89, Z:0.27 [[ 9.96793126e-01 -7.96992149e-02 -7.17628913e-03 7.24586784e+01] [ 7.96999208e-02 9.96818884e-01 -1.88013141e-04 2.88933773e+00] [ 7.16844502e-03 -3.84539468e-04 9.99974232e-01 2.66056850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519254154 meters 0.05781568721793765 Centerline is valid? [True, True] Translation: X:72.52, Y:2.88, Z:0.27 [[ 9.96349658e-01 -8.50781212e-02 -7.00514732e-03 7.25187906e+01] [ 8.50789265e-02 9.96374198e-01 -1.83505317e-04 2.87801307e+00] [ 6.99536033e-03 -4.13154954e-04 9.99975447e-01 2.65445003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579254154 meters 0.05723024539251574 Centerline is valid? [True, True] Translation: X:72.58, Y:2.88, Z:0.27 [[ 9.96295425e-01 -8.56728915e-02 -7.45533775e-03 7.25805988e+01] [ 8.56738229e-02 9.96323220e-01 -1.94931475e-04 2.88043568e+00] [ 7.44462645e-03 -4.44517949e-04 9.99972190e-01 2.65758358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters 0.05781753579597894 Centerline is valid? [True, True] Translation: X:72.64, Y:2.88, Z:0.27 [[ 9.96494864e-01 -8.31980183e-02 -8.72217053e-03 7.26408378e+01] [ 8.31992027e-02 9.96532910e-01 -2.27600517e-04 2.88060728e+00] [ 8.71086589e-03 -4.98874888e-04 9.99961935e-01 2.65178421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters 0.061889805509614225 Centerline is valid? [True, True] Translation: X:72.70, Y:2.87, Z:0.26 [[ 9.96944009e-01 -7.74766481e-02 -1.00006413e-02 7.27009185e+01] [ 7.74779180e-02 9.96994034e-01 -2.60969640e-04 2.87153583e+00] [ 9.99079877e-03 -5.14656747e-04 9.99949958e-01 2.62773782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters 0.05582899280276548 Centerline is valid? [True, True] Translation: X:72.76, Y:2.90, Z:0.27 [[ 9.97341834e-01 -7.21318921e-02 -1.03080834e-02 7.27608278e+01] [ 7.21329562e-02 9.97394989e-01 -2.69001261e-04 2.89979160e+00] [ 1.03006343e-02 -4.75266316e-04 9.99946834e-01 2.66215801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399999 meters 0.05642198936724889 Centerline is valid? [True, True] Translation: X:72.82, Y:2.91, Z:0.27 [[ 9.98189694e-01 -5.93408462e-02 -9.79789722e-03 7.28197876e+01] [ 5.93411919e-02 9.98237726e-01 -2.55687731e-04 2.90628717e+00] [ 9.79580337e-03 -3.26194041e-04 9.99951967e-01 2.66623902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879254154 meters 0.055819914844733844 Centerline is valid? [True, True] Translation: X:72.88, Y:2.91, Z:0.27 [[ 9.98970731e-01 -4.45097818e-02 -8.73833815e-03 7.28787875e+01] [ 4.45094893e-02 9.99008936e-01 -2.28035302e-04 2.91486857e+00] [ 8.73982769e-03 -1.61138376e-04 9.99961794e-01 2.66735028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939254154 meters 0.055626360174717296 Centerline is valid? [True, True] Translation: X:72.94, Y:2.93, Z:0.27 [[ 9.99494632e-01 -3.08253147e-02 -7.76409111e-03 7.29392566e+01] [ 3.08246703e-02 9.99524786e-01 -2.02672334e-04 2.92880122e+00] [ 7.76664895e-03 -3.67556385e-05 9.99969838e-01 2.68359627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999254154 meters 0.0559632086744406 Centerline is valid? [True, True] Translation: X:73.00, Y:2.94, Z:0.27 [[ 9.99756247e-01 -2.08162711e-02 -7.35721949e-03 7.30011830e+01] [ 2.08154218e-02 9.99783317e-01 -1.91996700e-04 2.93820534e+00] [ 7.35962197e-03 3.88062730e-05 9.99972917e-01 2.68990334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters 0.05631835404548272 Centerline is valid? [True, True] Translation: X:73.06, Y:2.94, Z:0.27 [[ 9.99810926e-01 -1.79075881e-02 -7.57831326e-03 7.30618327e+01] [ 1.79066049e-02 9.99839644e-01 -1.97568689e-04 2.94036202e+00] [ 7.58063601e-03 6.18294718e-05 9.99971265e-01 2.69223478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters 0.05569609823718729 Centerline is valid? [True, True] Translation: X:73.12, Y:2.94, Z:0.27 [[ 9.99749211e-01 -2.02632067e-02 -9.53510684e-03 7.31235790e+01] [ 2.02617594e-02 9.99794679e-01 -2.48369425e-04 2.94202630e+00] [ 9.53818184e-03 5.51090952e-05 9.99954509e-01 2.65594094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399999 meters 0.05590186207583661 Centerline is valid? [True, True] Translation: X:73.19, Y:2.94, Z:0.27 [[ 9.99668892e-01 -2.36183073e-02 -1.02118641e-02 7.31854080e+01] [ 2.36168244e-02 9.99721049e-01 -2.65799486e-04 2.93880183e+00] [ 1.02152932e-02 2.45396776e-05 9.99947822e-01 2.67119784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239254154 meters 0.056141515473514016 Centerline is valid? [True, True] Translation: X:73.25, Y:2.94, Z:0.27 [[ 9.99580542e-01 -2.73453733e-02 -9.53788222e-03 7.32478090e+01] [ 2.73442532e-02 9.99626045e-01 -2.47847656e-04 2.93702553e+00] [ 9.54109297e-03 -1.30625721e-05 9.99954483e-01 2.67941937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299254154 meters 0.05590382734114661 Centerline is valid? [True, True] Translation: X:73.31, Y:2.93, Z:0.27 [[ 9.99437856e-01 -3.23938607e-02 -8.63772266e-03 7.33101860e+01] [ 3.23931372e-02 9.99475180e-01 -2.23684334e-04 2.93371808e+00] [ 8.64043541e-03 -5.62443445e-05 9.99962669e-01 2.69021694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359254154 meters 0.05557331230492784 Centerline is valid? [True, True] Translation: X:73.37, Y:2.93, Z:0.27 [[ 9.99269306e-01 -3.73733607e-02 -8.00532669e-03 7.33714456e+01] [ 3.73729043e-02 9.99301368e-01 -2.06650207e-04 2.92995601e+00] [ 8.00745713e-03 -9.26830999e-05 9.99967936e-01 2.69565416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters 0.05590519552610348 Centerline is valid? [True, True] Translation: X:73.43, Y:2.92, Z:0.27 [[ 9.99060836e-01 -4.25509595e-02 -8.17686446e-03 7.34317973e+01] [ 4.25506592e-02 9.99094288e-01 -2.10761515e-04 2.92476728e+00] [ 8.17842668e-03 -1.37367398e-04 9.99966547e-01 2.69363229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters 0.055850951062690904 Centerline is valid? [True, True] Translation: X:73.49, Y:2.92, Z:0.27 [[ 9.98822547e-01 -4.78326608e-02 -8.09665495e-03 7.34923136e+01] [ 4.78325410e-02 9.98855347e-01 -2.08549809e-04 2.91845965e+00] [ 8.09736259e-03 -1.78979328e-04 9.99967200e-01 2.68613159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399999 meters 0.05566850061215496 Centerline is valid? [True, True] Translation: X:73.55, Y:2.92, Z:0.27 [[ 9.98682573e-01 -5.06750987e-02 -8.07167982e-03 7.35535407e+01] [ 5.06750737e-02 9.98715171e-01 -2.07743564e-04 2.92166011e+00] [ 8.07183652e-03 -2.01563092e-04 9.99967402e-01 2.69940804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599254154 meters 0.0568177501313303 Centerline is valid? [True, True] Translation: X:73.62, Y:2.91, Z:0.27 [[ 9.98591805e-01 -5.23269776e-02 -8.73471131e-03 7.36152947e+01] [ 5.23270135e-02 9.98629978e-01 -2.24581097e-04 2.91310805e+00] [ 8.73449621e-03 -2.32796514e-04 9.99961826e-01 2.69328920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659254154 meters 0.057041218275274246 Centerline is valid? [True, True] Translation: X:73.68, Y:2.91, Z:0.27 [[ 9.98601906e-01 -5.21975436e-02 -8.34564251e-03 7.36767535e+01] [ 5.21975749e-02 9.98636754e-01 -2.14214890e-04 2.91112333e+00] [ 8.34544684e-03 -2.21706903e-04 9.99965152e-01 2.69485799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719254154 meters 0.05593524789693428 Centerline is valid? [True, True] Translation: X:73.74, Y:2.92, Z:0.27 [[ 9.98561669e-01 -5.30267726e-02 -7.92173950e-03 7.37388489e+01] [ 5.30268297e-02 9.98593067e-01 -2.02978505e-04 2.91663733e+00] [ 7.92135745e-03 -2.17378177e-04 9.99968602e-01 2.70303601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters 0.05712707285566901 Centerline is valid? [True, True] Translation: X:73.80, Y:2.92, Z:0.27 [[ 9.98379985e-01 -5.61203523e-02 -9.37610499e-03 7.38002778e+01] [ 5.61205708e-02 9.98423970e-01 -2.40007409e-04 2.91688354e+00] [ 9.37479727e-03 -2.86573770e-04 9.99956015e-01 2.70253650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters 0.056055108004073824 Centerline is valid? [True, True] Translation: X:73.86, Y:2.92, Z:0.27 [[ 9.98130886e-01 -6.03348849e-02 -9.71783002e-03 7.38606523e+01] [ 6.03353198e-02 9.98178134e-01 -2.48681094e-04 2.91918190e+00] [ 9.71512958e-03 -3.38112101e-04 9.99952750e-01 2.70597268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters 0.056655189164770824 Centerline is valid? [True, True] Translation: X:73.92, Y:2.91, Z:0.27 [[ 9.97516479e-01 -6.97610513e-02 -9.70926344e-03 7.39202816e+01] [ 6.97619306e-02 9.97563638e-01 -2.48493171e-04 2.91472999e+00] [ 9.70294330e-03 -4.29460930e-04 9.99952833e-01 2.71812713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399999 meters 0.055750240264007246 Centerline is valid? [True, True] Translation: X:73.98, Y:2.92, Z:0.27 [[ 9.97312609e-01 -7.27573075e-02 -8.59846769e-03 7.39803680e+01] [ 7.27581081e-02 9.97349592e-01 -2.20079184e-04 2.92487068e+00] [ 8.59169061e-03 -4.06120496e-04 9.99963008e-01 2.73891148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019254154 meters 0.059237314208510986 Centerline is valid? [True, True] Translation: X:74.04, Y:2.91, Z:0.27 [[ 9.97331994e-01 -7.25816770e-02 -7.79709282e-03 7.40417891e+01] [ 7.25823333e-02 9.97362404e-01 -1.99141560e-04 2.90847118e+00] [ 7.79098127e-03 -3.67320941e-04 9.99969582e-01 2.73480100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079254154 meters 0.06565264142038052 Centerline is valid? [True, True] Translation: X:74.10, Y:2.89, Z:0.27 [[ 9.97428608e-01 -7.12060198e-02 -8.11627859e-03 7.41039506e+01] [ 7.12066898e-02 9.97461560e-01 -2.06752617e-04 2.89480328e+00] [ 8.11039794e-03 -3.71712357e-04 9.99967041e-01 2.72616871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters 0.056138053455732355 Centerline is valid? [True, True] Translation: X:74.16, Y:2.94, Z:0.28 [[ 9.97816802e-01 -6.57257714e-02 -6.46169937e-03 7.41631557e+01] [ 6.57260819e-02 9.97837690e-01 -1.64522659e-04 2.93514847e+00] [ 6.45854055e-03 -2.60538708e-04 9.99979109e-01 2.76478574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters 0.05778761721015519 Centerline is valid? [True, True] Translation: X:74.22, Y:2.93, Z:0.28 [[ 9.98369712e-01 -5.66419007e-02 -7.04371286e-03 7.42234071e+01] [ 5.66420439e-02 9.98394535e-01 -1.79309513e-04 2.92767349e+00] [ 7.04256085e-03 -2.19953106e-04 9.99975177e-01 2.75297109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters 0.05614185579869416 Centerline is valid? [True, True] Translation: X:74.28, Y:2.94, Z:0.28 [[ 9.98886362e-01 -4.65496824e-02 -7.69178543e-03 7.42836375e+01] [ 4.65495542e-02 9.98915963e-01 -1.95789733e-04 2.94135180e+00] [ 7.69256120e-03 -1.62477490e-04 9.99970399e-01 2.75877712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399999 meters 0.05613193309260213 Centerline is valid? [True, True] Translation: X:74.34, Y:2.95, Z:0.28 [[ 9.99201063e-01 -3.90785699e-02 -8.37267606e-03 7.43445076e+01] [ 3.90781557e-02 9.99236134e-01 -2.13115135e-04 2.94940208e+00] [ 8.37460869e-03 -1.14243869e-04 9.99964926e-01 2.75376233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379254154 meters 0.05606159173285924 Centerline is valid? [True, True] Translation: X:74.40, Y:2.96, Z:0.27 [[ 9.99545460e-01 -2.82312443e-02 -1.05768813e-02 7.44039363e+01] [ 2.82299760e-02 9.99601419e-01 -2.69213251e-04 2.95719786e+00] [ 1.05802657e-02 -2.94942211e-05 9.99944027e-01 2.73643534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439254154 meters 0.05678810871756591 Centerline is valid? [True, True] Translation: X:74.47, Y:2.97, Z:0.27 [[ 9.99713396e-01 -2.13055003e-02 -1.09179772e-02 7.44651227e+01] [ 2.13037377e-02 9.99773011e-01 -2.77725402e-04 2.96521168e+00] [ 1.09214160e-02 4.50520823e-05 9.99940359e-01 2.73575458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499254154 meters 0.05574264621591467 Centerline is valid? [True, True] Translation: X:74.53, Y:2.97, Z:0.28 [[ 9.99755565e-01 -1.99444745e-02 -9.54087989e-03 7.45260435e+01] [ 1.99430687e-02 9.99801088e-01 -2.42474061e-04 2.96623951e+00] [ 9.54381811e-03 5.21403689e-05 9.99954455e-01 2.76333937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters 0.055885501883259525 Centerline is valid? [True, True] Translation: X:74.59, Y:2.96, Z:0.28 [[ 9.99700357e-01 -2.28522071e-02 -8.77343640e-03 7.45870001e+01] [ 2.28511322e-02 9.99738854e-01 -2.22761842e-04 2.96378679e+00] [ 8.77623586e-03 2.22121380e-05 9.99961488e-01 2.79375423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters 0.056465964458578745 Centerline is valid? [True, True] Translation: X:74.65, Y:2.96, Z:0.28 [[ 9.99442661e-01 -3.20507097e-02 -9.33372866e-03 7.46489520e+01] [ 3.20499004e-02 9.99486242e-01 -2.36305577e-04 2.95579001e+00] [ 9.33650715e-03 -6.29711995e-05 9.99956412e-01 2.76161430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399999 meters 0.05649586002199397 Centerline is valid? [True, True] Translation: X:74.71, Y:2.95, Z:0.28 [[ 9.98908061e-01 -4.55237586e-02 -1.05010777e-02 7.47099223e+01] [ 4.55234835e-02 9.98963234e-01 -2.65345865e-04 2.94747826e+00] [ 1.05022701e-02 -2.12989513e-04 9.99944827e-01 2.76884150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739254154 meters 0.05658117684281038 Centerline is valid? [True, True] Translation: X:74.77, Y:2.94, Z:0.28 [[ 9.98465109e-01 -5.43954155e-02 -1.04194439e-02 7.47705652e+01] [ 5.43956275e-02 9.98519427e-01 -2.63261591e-04 2.94403431e+00] [ 1.04183373e-02 -3.03914673e-04 9.99945681e-01 2.78022752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799254154 meters 0.05720441616082088 Centerline is valid? [True, True] Translation: X:74.83, Y:2.94, Z:0.28 [[ 9.97824602e-01 -6.51079379e-02 -1.03450282e-02 7.48308150e+01] [ 6.51087217e-02 9.97878142e-01 -2.61367037e-04 2.94127107e+00] [ 1.03400946e-02 -4.12753104e-04 9.99946455e-01 2.79219248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859254154 meters 0.057089215478166096 Centerline is valid? [True, True] Translation: X:74.89, Y:2.94, Z:0.28 [[ 9.97332667e-01 -7.22485997e-02 -1.03774634e-02 7.48916157e+01] [ 7.22497744e-02 9.97386536e-01 -2.62139238e-04 2.93902706e+00] [ 1.03692815e-02 -4.88329367e-04 9.99946118e-01 2.78820768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters 0.05611108937833918 Centerline is valid? [True, True] Translation: X:74.95, Y:2.95, Z:0.28 [[ 9.96988004e-01 -7.70554459e-02 -8.79651523e-03 7.49516210e+01] [ 7.70564768e-02 9.97026705e-01 -2.22178314e-04 2.94705119e+00] [ 8.78748064e-03 -4.56319358e-04 9.99961285e-01 2.80629711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters 0.06068970235528769 Centerline is valid? [True, True] Translation: X:75.01, Y:2.93, Z:0.28 [[ 9.96696776e-01 -8.07361514e-02 -8.78698828e-03 7.50119052e+01] [ 8.07373235e-02 9.96735389e-01 -2.21837991e-04 2.92998569e+00] [ 8.77621253e-03 -4.88332705e-04 9.99961369e-01 2.79244783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399999 meters 0.05620885263937229 Centerline is valid? [True, True] Translation: X:75.07, Y:2.95, Z:0.28 [[ 9.96527628e-01 -8.28022158e-02 -8.74528784e-03 7.50720643e+01] [ 8.28034571e-02 9.96565873e-01 -2.20661889e-04 2.95183585e+00] [ 8.73352670e-03 -5.04244398e-04 9.99961735e-01 2.80895742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099254154 meters 0.05595834831431397 Centerline is valid? [True, True] Translation: X:75.13, Y:2.96, Z:0.28 [[ 9.96413978e-01 -8.41146659e-02 -9.16008038e-03 7.51330329e+01] [ 8.41160841e-02 9.96455935e-01 -2.31004055e-04 2.95597405e+00] [ 9.14704729e-03 -5.40334423e-04 9.99958019e-01 2.80766918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159254154 meters 0.05532963398030102 Centerline is valid? [True, True] Translation: X:75.19, Y:2.96, Z:0.28 [[ 9.96558675e-01 -8.23151288e-02 -9.74812590e-03 7.51925306e+01] [ 8.23166499e-02 9.96606195e-01 -2.45766096e-04 2.96217200e+00] [ 9.73527293e-03 -5.57512731e-04 9.99952456e-01 2.81034608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219254154 meters 0.05599097675274139 Centerline is valid? [True, True] Translation: X:75.25, Y:2.97, Z:0.28 [[ 9.97070114e-01 -7.57511091e-02 -1.06281225e-02 7.52516511e+01] [ 7.57525448e-02 9.97126612e-01 -2.67987361e-04 2.96634411e+00] [ 1.06178841e-02 -5.37905138e-04 9.99943484e-01 2.81407241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters 0.056450569065291334 Centerline is valid? [True, True] Translation: X:75.31, Y:2.97, Z:0.28 [[ 9.97569655e-01 -6.87575538e-02 -1.12775270e-02 7.53108057e+01] [ 6.87587233e-02 9.97633278e-01 -2.84450881e-04 2.97263324e+00] [ 1.12703943e-02 -4.91668789e-04 9.99936366e-01 2.81572962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters 0.05543089806139197 Centerline is valid? [True, True] Translation: X:75.37, Y:2.99, Z:0.28 [[ 9.98320750e-01 -5.70167431e-02 -1.02357893e-02 7.53713076e+01] [ 5.70170892e-02 9.98373169e-01 -2.58229330e-04 2.98778629e+00] [ 1.02338608e-02 -3.25819213e-04 9.99947580e-01 2.83442947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399999 meters 0.055765644953358645 Centerline is valid? [True, True] Translation: X:75.43, Y:2.99, Z:0.28 [[ 9.98943564e-01 -4.51717124e-02 -8.44231175e-03 7.54312362e+01] [ 4.51715250e-02 9.98979223e-01 -2.12974587e-04 2.99409546e+00] [ 8.44331446e-03 -1.68602503e-04 9.99964340e-01 2.83920628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399999 meters 0.055335108906785245 Centerline is valid? [True, True] Translation: X:75.49, Y:3.00, Z:0.28 [[ 9.99272636e-01 -3.73204372e-02 -7.83482608e-03 7.54902119e+01] [ 3.73200343e-02 9.99303345e-01 -1.97661677e-04 3.00149706e+00] [ 7.83674473e-03 -9.48780729e-05 9.99969288e-01 2.84823157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519254154 meters 0.055868792409142234 Centerline is valid? [True, True] Translation: X:75.55, Y:3.01, Z:0.29 [[ 9.99584187e-01 -2.77594948e-02 -7.80152091e-03 7.55507172e+01] [ 2.77588042e-02 9.99614631e-01 -1.96820658e-04 3.01431001e+00] [ 7.80397808e-03 -1.98220733e-05 9.99969548e-01 2.86510443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579254154 meters 0.05584667558376493 Centerline is valid? [True, True] Translation: X:75.61, Y:3.02, Z:0.28 [[ 9.99680944e-01 -2.36674094e-02 -8.82408270e-03 7.56128859e+01] [ 2.36663685e-02 9.99719888e-01 -2.22379246e-04 3.01842305e+00] [ 8.82687410e-03 1.34743024e-05 9.99961042e-01 2.83928155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters 0.05666846236132786 Centerline is valid? [True, True] Translation: X:75.68, Y:3.02, Z:0.28 [[ 9.99619373e-01 -2.59302580e-02 -9.41973925e-03 7.56753445e+01] [ 2.59291760e-02 9.99663754e-01 -2.36997078e-04 3.01913977e+00] [ 9.42271730e-03 -7.33920685e-06 9.99955605e-01 2.83697406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters 0.05600633305827568 Centerline is valid? [True, True] Translation: X:75.74, Y:3.02, Z:0.29 [[ 9.99469666e-01 -3.15050935e-02 -8.23509270e-03 7.57370691e+01] [ 3.15044607e-02 9.99503590e-01 -2.06587807e-04 3.01761943e+00] [ 8.23751329e-03 -5.29639080e-05 9.99966070e-01 2.85079966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters 0.05571239439917597 Centerline is valid? [True, True] Translation: X:75.80, Y:3.01, Z:0.29 [[ 9.99339761e-01 -3.55652641e-02 -7.42664178e-03 7.57983574e+01] [ 3.55648672e-02 9.99367353e-01 -1.85543006e-04 3.01455633e+00] [ 7.42854223e-03 -7.87070256e-05 9.99972405e-01 2.85718891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399999 meters 0.05579922284833592 Centerline is valid? [True, True] Translation: X:75.86, Y:3.01, Z:0.29 [[ 9.99091681e-01 -4.21083621e-02 -6.53446792e-03 7.58599170e+01] [ 4.21081974e-02 9.99113043e-01 -1.62838842e-04 3.01113021e+00] [ 6.53552901e-03 -1.12463733e-04 9.99978637e-01 2.87166067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879254154 meters 0.05599178919142184 Centerline is valid? [True, True] Translation: X:75.92, Y:3.01, Z:0.29 [[ 9.98808920e-01 -4.83858359e-02 -6.28908354e-03 7.59210009e+01] [ 4.83858081e-02 9.98828709e-01 -1.56662283e-04 3.00875920e+00] [ 6.28929742e-03 -1.47826703e-04 9.99980211e-01 2.87610112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939254154 meters 0.05713646182371797 Centerline is valid? [True, True] Translation: X:75.98, Y:3.00, Z:0.29 [[ 9.98585428e-01 -5.27712398e-02 -6.50689970e-03 7.59804521e+01] [ 5.27713033e-02 9.98606611e-01 -1.62059149e-04 3.00226740e+00] [ 6.50638512e-03 -1.81547673e-04 9.99978817e-01 2.86704463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999254154 meters 0.05669320706186849 Centerline is valid? [True, True] Translation: X:76.04, Y:3.01, Z:0.29 [[ 9.98550233e-01 -5.34120296e-02 -6.67739554e-03 7.60422396e+01] [ 5.34121115e-02 9.98572541e-01 -1.66183537e-04 3.00663919e+00] [ 6.67674003e-03 -1.90711186e-04 9.99977692e-01 2.87165045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters 0.055879794951937845 Centerline is valid? [True, True] Translation: X:76.10, Y:3.01, Z:0.29 [[ 9.98624453e-01 -5.19241193e-02 -7.28607221e-03 7.61040701e+01] [ 5.19241788e-02 9.98651014e-01 -1.81118145e-04 3.00978994e+00] [ 7.28564780e-03 -1.97454308e-04 9.99973440e-01 2.86789019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters 0.05593870613545285 Centerline is valid? [True, True] Translation: X:76.16, Y:3.01, Z:0.29 [[ 9.99008984e-01 -4.37076891e-02 -8.40763271e-03 7.61646316e+01] [ 4.37074783e-02 9.99044350e-01 -2.08892483e-04 3.01329674e+00] [ 8.40872817e-03 -1.58790957e-04 9.99964633e-01 2.85698059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399999 meters 0.056164332997601304 Centerline is valid? [True, True] Translation: X:76.23, Y:3.02, Z:0.29 [[ 9.99479512e-01 -3.11239865e-02 -8.48545149e-03 7.62254795e+01] [ 3.11233175e-02 9.99515530e-01 -2.10913016e-04 3.02212938e+00] [ 8.48790499e-03 -5.32921626e-05 9.99963976e-01 2.86339860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239254154 meters 0.0558401212645695 Centerline is valid? [True, True] Translation: X:76.29, Y:3.03, Z:0.29 [[ 9.99755279e-01 -2.01743398e-02 -9.07628239e-03 7.62864334e+01] [ 2.01731250e-02 9.99796476e-01 -2.25381104e-04 3.03002476e+00] [ 9.07898207e-03 4.22289697e-05 9.99958784e-01 2.85734303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299254154 meters 0.055922684564214925 Centerline is valid? [True, True] Translation: X:76.35, Y:3.03, Z:0.29 [[ 9.99819957e-01 -1.65494515e-02 -9.28276783e-03 7.63476236e+01] [ 1.65480275e-02 9.99863046e-01 -2.30194465e-04 3.03202340e+00] [ 9.28530611e-03 7.65415228e-05 9.99956888e-01 2.86995681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359254154 meters 0.05652772163193306 Centerline is valid? [True, True] Translation: X:76.41, Y:3.03, Z:0.29 [[ 9.99821803e-01 -1.63294163e-02 -9.47169207e-03 7.64091421e+01] [ 1.63279253e-02 9.99866663e-01 -2.34731149e-04 3.03109245e+00] [ 9.47426217e-03 8.00362402e-05 9.99955115e-01 2.88068249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters 0.05684976883382602 Centerline is valid? [True, True] Translation: X:76.47, Y:3.03, Z:0.29 [[ 9.99705343e-01 -2.17805722e-02 -1.07160673e-02 7.64698380e+01] [ 2.17789780e-02 9.99762775e-01 -2.65446979e-04 3.02648883e+00] [ 1.07193067e-02 3.19837691e-05 9.99942546e-01 2.89608689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters 0.05650322321151408 Centerline is valid? [True, True] Translation: X:76.53, Y:3.02, Z:0.29 [[ 9.99536922e-01 -2.84310314e-02 -1.08451424e-02 7.65316228e+01] [ 2.84297922e-02 9.99595756e-01 -2.68438980e-04 3.02380113e+00] [ 1.08483903e-02 -4.00104729e-05 9.99941154e-01 2.87606599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399999 meters 0.056112735655100124 Centerline is valid? [True, True] Translation: X:76.59, Y:3.02, Z:0.29 [[ 9.99161076e-01 -3.96131149e-02 -1.03896809e-02 7.65916482e+01] [ 3.96125829e-02 9.99215081e-01 -2.57070113e-04 3.01682317e+00] [ 1.03917091e-02 -1.54707643e-04 9.99945993e-01 2.87777853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599254154 meters 0.057490039351572896 Centerline is valid? [True, True] Translation: X:76.65, Y:3.00, Z:0.29 [[ 9.98724021e-01 -4.96135570e-02 -9.42464201e-03 7.66518968e+01] [ 4.96135640e-02 9.98768462e-01 -2.33205429e-04 3.00395450e+00] [ 9.42460535e-03 -2.34682215e-04 9.99955560e-01 2.87974294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659254154 meters 0.05788789024509382 Centerline is valid? [True, True] Translation: X:76.71, Y:3.00, Z:0.29 [[ 9.98392617e-01 -5.61261604e-02 -7.87626232e-03 7.67125747e+01] [ 5.61263677e-02 9.98423654e-01 -1.94879736e-04 3.00214576e+00] [ 7.87478445e-03 -2.47499506e-04 9.99968963e-01 2.89129934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719254154 meters 0.05930745566652526 Centerline is valid? [True, True] Translation: X:76.77, Y:2.99, Z:0.29 [[ 9.97813296e-01 -6.56449483e-02 -7.70506662e-03 7.67729550e+01] [ 6.56454303e-02 9.97842994e-01 -1.90614292e-04 2.99163965e+00] [ 7.70095962e-03 -3.15604939e-04 9.99970297e-01 2.88660782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters 0.0559825780311932 Centerline is valid? [True, True] Translation: X:76.83, Y:3.00, Z:0.29 [[ 9.97247631e-01 -7.38492176e-02 -6.59209849e-03 7.68327207e+01] [ 7.38497493e-02 9.97269366e-01 -1.63066967e-04 3.00361930e+00] [ 6.58614025e-03 -3.24206674e-04 9.99978259e-01 2.90573677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters 0.05519077190218085 Centerline is valid? [True, True] Translation: X:76.89, Y:3.01, Z:0.29 [[ 9.96828020e-01 -7.92468228e-02 -7.33750523e-03 7.68927309e+01] [ 7.92476273e-02 9.96854945e-01 -1.81488246e-04 3.01237516e+00] [ 7.32881074e-03 -4.00567311e-04 9.99973064e-01 2.90951155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399999 meters 0.06039636486361833 Centerline is valid? [True, True] Translation: X:76.95, Y:2.99, Z:0.29 [[ 9.96648802e-01 -8.13700984e-02 -8.37092425e-03 7.69523794e+01] [ 8.13712201e-02 9.96683842e-01 -2.07065386e-04 2.99159491e+00] [ 8.36001388e-03 -4.74780851e-04 9.99964942e-01 2.89715610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399999 meters 0.05645013872737034 Centerline is valid? [True, True] Translation: X:77.01, Y:3.01, Z:0.29 [[ 9.96447398e-01 -8.37140639e-02 -9.19451836e-03 7.70121449e+01] [ 8.37155164e-02 9.96489669e-01 -2.27456446e-04 3.00859667e+00] [ 9.18128386e-03 -5.43075469e-04 9.99957704e-01 2.89965219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019254154 meters 0.05582562234811557 Centerline is valid? [True, True] Translation: X:77.07, Y:3.02, Z:0.29 [[ 9.96615107e-01 -8.16523226e-02 -9.55127952e-03 7.70726182e+01] [ 8.16537959e-02 9.96660726e-01 -2.36255682e-04 3.02116132e+00] [ 9.53867600e-03 -5.44442247e-04 9.99954358e-01 2.90620285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079254154 meters 0.055279918866801725 Centerline is valid? [True, True] Translation: X:77.13, Y:3.03, Z:0.29 [[ 9.97063463e-01 -7.61839843e-02 -7.77508479e-03 7.71333961e+01] [ 7.61847950e-02 9.97093697e-01 -1.92281455e-04 3.03124029e+00] [ 7.76713681e-03 -4.00626428e-04 9.99969755e-01 2.91743880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters 0.05933218072317399 Centerline is valid? [True, True] Translation: X:77.19, Y:3.01, Z:0.29 [[ 9.97817707e-01 -6.57152219e-02 -6.42914850e-03 7.71930672e+01] [ 6.57155594e-02 9.97838384e-01 -1.58967989e-04 3.01393947e+00] [ 6.42569776e-03 -2.63874015e-04 9.99979320e-01 2.91860938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters 0.05813704900410329 Centerline is valid? [True, True] Translation: X:77.25, Y:3.02, Z:0.29 [[ 9.98321830e-01 -5.76185759e-02 -5.79864782e-03 7.72534814e+01] [ 5.76187141e-02 9.98338652e-01 -1.43361257e-04 3.02417632e+00] [ 5.79727452e-03 -1.90989959e-04 9.99983177e-01 2.93372127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters 0.0565408809049275 Centerline is valid? [True, True] Translation: X:77.31, Y:3.04, Z:0.29 [[ 9.98966343e-01 -4.50789280e-02 -5.84259578e-03 7.73135017e+01] [ 4.50788539e-02 9.98983421e-01 -1.44424683e-04 3.03667712e+00] [ 5.84316683e-03 -1.19102124e-04 9.99982921e-01 2.93434462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399999 meters 0.05647221311248526 Centerline is valid? [True, True] Translation: X:77.37, Y:3.05, Z:0.29 [[ 9.99399127e-01 -3.39325570e-02 -7.06865299e-03 7.73734388e+01] [ 3.39321699e-02 9.99424123e-01 -1.74724572e-04 3.05133979e+00] [ 7.07051116e-03 -6.52351490e-05 9.99975001e-01 2.93230578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379254154 meters 0.056913508657310236 Centerline is valid? [True, True] Translation: X:77.43, Y:3.06, Z:0.29 [[ 9.99629980e-01 -2.59932569e-02 -8.01585932e-03 7.74348213e+01] [ 2.59925043e-02 9.99662118e-01 -1.98061237e-04 3.05831647e+00] [ 8.01829916e-03 -1.03643080e-05 9.99967853e-01 2.92822417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439254154 meters 0.056536949313986805 Centerline is valid? [True, True] Translation: X:77.50, Y:3.06, Z:0.29 [[ 9.99709242e-01 -2.30274675e-02 -7.15319314e-03 7.74966636e+01] [ 2.30267937e-02 9.99734833e-01 -1.76561791e-04 3.06175838e+00] [ 7.15536212e-03 1.17953515e-05 9.99974400e-01 2.93899162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499254154 meters 0.057120258224718314 Centerline is valid? [True, True] Translation: X:77.56, Y:3.06, Z:0.29 [[ 9.99781076e-01 -1.97846329e-02 -6.80939658e-03 7.75586724e+01] [ 1.97839487e-02 9.99804264e-01 -1.67826529e-04 3.06361584e+00] [ 6.81138412e-03 3.30730353e-05 9.99976802e-01 2.94891282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters 0.05687248921016041 Centerline is valid? [True, True] Translation: X:77.62, Y:3.06, Z:0.29 [[ 9.99795200e-01 -1.89483522e-02 -7.10761018e-03 7.76195777e+01] [ 1.89475872e-02 9.99820463e-01 -1.74966098e-04 3.06455517e+00] [ 7.10964942e-03 4.02582019e-05 9.99974725e-01 2.94265915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters 0.05639716652021884 Centerline is valid? [True, True] Translation: X:77.68, Y:3.06, Z:0.29 [[ 9.99703120e-01 -2.32574199e-02 -7.26390453e-03 7.76824416e+01] [ 2.32567367e-02 9.99729510e-01 -1.78523979e-04 3.05877156e+00] [ 7.26609172e-03 9.53626370e-06 9.99973602e-01 2.94378733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399999 meters 0.056081981510077 Centerline is valid? [True, True] Translation: X:77.74, Y:3.05, Z:0.29 [[ 9.99559574e-01 -2.86831796e-02 -7.61142689e-03 7.77443138e+01] [ 2.86825918e-02 9.99588552e-01 -1.86402350e-04 3.05396637e+00] [ 7.61364180e-03 -3.19951972e-05 9.99971015e-01 2.93745327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739254154 meters 0.05659812478578325 Centerline is valid? [True, True] Translation: X:77.81, Y:3.05, Z:0.29 [[ 9.99228293e-01 -3.84579592e-02 -7.98770414e-03 7.78050733e+01] [ 3.84576281e-02 9.99260213e-01 -1.95109343e-04 3.04634114e+00] [ 7.98929844e-03 -1.12229379e-04 9.99968079e-01 2.93953154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799254154 meters 0.057290444087719605 Centerline is valid? [True, True] Translation: X:77.87, Y:3.03, Z:0.29 [[ 9.98845237e-01 -4.73357383e-02 -8.21704833e-03 7.78657945e+01] [ 4.73356884e-02 9.98879018e-01 -2.00659930e-04 3.03436019e+00] [ 8.21733555e-03 -1.88531424e-04 9.99966219e-01 2.92681371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859254154 meters 0.05729473958805392 Centerline is valid? [True, True] Translation: X:77.93, Y:3.03, Z:0.29 [[ 9.98561223e-01 -5.30340490e-02 -7.92934285e-03 7.79258703e+01] [ 5.30341822e-02 9.98592679e-01 -1.93608809e-04 3.03252163e+00] [ 7.92845158e-03 -2.27195964e-04 9.99968544e-01 2.93369585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters 0.056905073425444916 Centerline is valid? [True, True] Translation: X:77.99, Y:3.03, Z:0.29 [[ 9.98267338e-01 -5.83799587e-02 -7.35547417e-03 7.79864290e+01] [ 5.83802188e-02 9.98294404e-01 -1.79526486e-04 3.03415274e+00] [ 7.35340945e-03 -2.50198765e-04 9.99972932e-01 2.94056645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters 0.05672728707422461 Centerline is valid? [True, True] Translation: X:78.05, Y:3.03, Z:0.29 [[ 9.97922091e-01 -6.39776421e-02 -7.63946436e-03 7.80474107e+01] [ 6.39780875e-02 9.97951286e-01 -1.86321126e-04 3.03384195e+00] [ 7.63573367e-03 -3.02824352e-04 9.99970802e-01 2.94516273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399999 meters 0.05995110181395076 Centerline is valid? [True, True] Translation: X:78.11, Y:3.02, Z:0.29 [[ 9.97375698e-01 -7.18468699e-02 -8.92997675e-03 7.81078762e+01] [ 7.18477938e-02 9.97415584e-01 -2.17715351e-04 3.01866204e+00] [ 8.92254015e-03 -4.24455129e-04 9.99960103e-01 2.93446319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099254154 meters 0.057603785360571716 Centerline is valid? [True, True] Translation: X:78.17, Y:3.03, Z:0.30 [[ 9.96912510e-01 -7.80065621e-02 -8.96792862e-03 7.81679916e+01] [ 7.80077426e-02 9.96952729e-01 -2.18617574e-04 3.03077684e+00] [ 8.95765452e-03 -4.81625273e-04 9.99959763e-01 2.95809011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159254154 meters 0.05999531067109939 Centerline is valid? [True, True] Translation: X:78.23, Y:3.02, Z:0.29 [[ 9.96751210e-01 -7.99746763e-02 -9.54341258e-03 7.82278628e+01] [ 7.99761029e-02 9.96796754e-01 -2.32661763e-04 3.02090478e+00] [ 9.53144973e-03 -5.31339052e-04 9.99954434e-01 2.94896525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219254154 meters 0.056954671900885274 Centerline is valid? [True, True] Translation: X:78.29, Y:3.04, Z:0.30 [[ 9.96783442e-01 -7.96032264e-02 -9.27881141e-03 7.82894314e+01] [ 7.96045616e-02 9.96826496e-01 -2.25925376e-04 3.03845059e+00] [ 9.26734946e-03 -5.13437041e-04 9.99956925e-01 2.96063187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters 0.05741569450188615 Centerline is valid? [True, True] Translation: X:78.35, Y:3.04, Z:0.30 [[ 9.96972825e-01 -7.71076894e-02 -9.97949907e-03 7.83498038e+01] [ 7.71091117e-02 9.97022631e-01 -2.42739416e-04 3.04209692e+00] [ 9.96850349e-03 -5.27505708e-04 9.99950174e-01 2.96244808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters 0.05594178465688113 Centerline is valid? [True, True] Translation: X:78.41, Y:3.05, Z:0.30 [[ 9.97363480e-01 -7.19076458e-02 -9.76626322e-03 7.84098921e+01] [ 7.19087592e-02 9.97411186e-01 -2.37551747e-04 3.05430171e+00] [ 9.75806197e-03 -4.65354433e-04 9.99952281e-01 2.97102608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399999 meters 0.0556727222892262 Centerline is valid? [True, True] Translation: X:78.47, Y:3.07, Z:0.30 [[ 9.97636429e-01 -6.81706891e-02 -8.62053707e-03 7.84699404e+01] [ 6.81714173e-02 9.97673601e-01 -2.09686428e-04 3.06759934e+00] [ 8.61477672e-03 -3.78483410e-04 9.99962820e-01 2.99244829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399999 meters 0.05796282171729614 Centerline is valid? [True, True] Translation: X:78.53, Y:3.06, Z:0.30 [[ 9.98101794e-01 -6.10079318e-02 -8.41676229e-03 7.85299330e+01] [ 6.10083713e-02 9.98137233e-01 -2.04772487e-04 3.06010061e+00] [ 8.41357657e-03 -3.09109171e-04 9.99964557e-01 2.98010263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519254154 meters 0.05684674712004451 Centerline is valid? [True, True] Translation: X:78.59, Y:3.07, Z:0.30 [[ 9.98483016e-01 -5.42416630e-02 -9.46089605e-03 7.85897631e+01] [ 5.42419141e-02 9.98527797e-01 -2.30238350e-04 3.07448137e+00] [ 9.45945620e-03 -2.83288029e-04 9.99955218e-01 2.97930039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579254154 meters 0.057074249845593325 Centerline is valid? [True, True] Translation: X:78.65, Y:3.08, Z:0.30 [[ 9.98907187e-01 -4.57708285e-02 -9.45847254e-03 7.86490873e+01] [ 4.57707000e-02 9.98951946e-01 -2.30163228e-04 3.08313222e+00] [ 9.45909431e-03 -2.03009206e-04 9.99955241e-01 2.97098066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters 0.056294953319735885 Centerline is valid? [True, True] Translation: X:78.71, Y:3.10, Z:0.30 [[ 9.99288953e-01 -3.68001452e-02 -8.20600510e-03 7.87095310e+01] [ 3.67997462e-02 9.99322640e-01 -1.99660489e-04 3.10032634e+00] [ 8.20779421e-03 -1.02460384e-04 9.99966310e-01 3.00399908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters 0.05569854873660134 Centerline is valid? [True, True] Translation: X:78.77, Y:3.11, Z:0.30 [[ 9.99463130e-01 -3.17824172e-02 -7.95805971e-03 7.87700032e+01] [ 3.17818832e-02 9.99494810e-01 -1.93589176e-04 3.10615236e+00] [ 7.96019211e-03 -5.94368801e-05 9.99968315e-01 3.00866903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters 0.056359017331265776 Centerline is valid? [True, True] Translation: X:78.83, Y:3.11, Z:0.30 [[ 9.99583157e-01 -2.79062720e-02 -7.39942547e-03 7.88318580e+01] [ 2.79057055e-02 9.99610544e-01 -1.79822643e-04 3.11306901e+00] [ 7.40156189e-03 -2.67385020e-05 9.99972608e-01 3.01831152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399999 meters 0.05610425045676698 Centerline is valid? [True, True] Translation: X:78.89, Y:3.11, Z:0.30 [[ 9.99538782e-01 -2.93207947e-02 -7.90657705e-03 7.88931906e+01] [ 2.93201942e-02 9.99570052e-01 -1.91869304e-04 3.11440061e+00] [ 7.90880340e-03 -4.00415645e-05 9.99968724e-01 3.01240679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879254154 meters 0.05558179419799578 Centerline is valid? [True, True] Translation: X:78.95, Y:3.12, Z:0.30 [[ 9.99422359e-01 -3.31691677e-02 -7.39966503e-03 7.89547340e+01] [ 3.31687506e-02 9.99449750e-01 -1.79111758e-04 3.11528999e+00] [ 7.40153435e-03 -6.64293487e-05 9.99972606e-01 3.02290149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939254154 meters 0.05626009434938903 Centerline is valid? [True, True] Translation: X:79.01, Y:3.11, Z:0.30 [[ 9.99097399e-01 -4.19088877e-02 -6.93049433e-03 7.90140669e+01] [ 4.19087347e-02 9.99121429e-01 -1.67363250e-04 3.10888855e+00] [ 6.93141940e-03 -1.23236060e-04 9.99975970e-01 3.02385887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999254154 meters 0.05622633108136765 Centerline is valid? [True, True] Translation: X:79.07, Y:3.10, Z:0.30 [[ 9.98837214e-01 -4.76615571e-02 -7.25236019e-03 7.90735213e+01] [ 4.76615413e-02 9.98863528e-01 -1.75108075e-04 3.10499849e+00] [ 7.25246401e-03 -1.70754203e-04 9.99973686e-01 3.02034602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters 0.057843170518842524 Centerline is valid? [True, True] Translation: X:79.14, Y:3.10, Z:0.30 [[ 9.98553814e-01 -5.31750915e-02 -7.91765278e-03 7.91350352e+01] [ 5.31752464e-02 9.98585177e-01 -1.91100058e-04 3.09606791e+00] [ 7.91661247e-03 -2.30199446e-04 9.99968637e-01 3.00298513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters 0.057369906707791185 Centerline is valid? [True, True] Translation: X:79.20, Y:3.10, Z:0.30 [[ 9.98593481e-01 -5.24076712e-02 -8.03088527e-03 7.91968497e+01] [ 5.24078070e-02 9.98625748e-01 -1.93668004e-04 3.10075449e+00] [ 8.02999850e-03 -2.27485480e-04 9.99967733e-01 3.00785738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399999 meters 0.056417964403127685 Centerline is valid? [True, True] Translation: X:79.26, Y:3.10, Z:0.30 [[ 9.98882578e-01 -4.67426949e-02 -6.97971997e-03 7.92570020e+01] [ 4.67426601e-02 9.98906950e-01 -1.68195106e-04 3.10384953e+00] [ 6.97995268e-03 -1.58243517e-04 9.99975627e-01 3.01652543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239254154 meters 0.056333119807306674 Centerline is valid? [True, True] Translation: X:79.32, Y:3.11, Z:0.30 [[ 9.99272194e-01 -3.76380199e-02 -6.20181734e-03 7.93170236e+01] [ 3.76378174e-02 9.99291435e-01 -1.49407454e-04 3.11278333e+00] [ 6.20304635e-03 -8.41241541e-05 9.99980757e-01 3.03187247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299254154 meters 0.05626714356579197 Centerline is valid? [True, True] Translation: X:79.38, Y:3.12, Z:0.30 [[ 9.99538315e-01 -2.96345133e-02 -6.70473457e-03 7.93783397e+01] [ 2.96340972e-02 9.99560801e-01 -1.61424528e-04 3.11693862e+00] [ 6.70657359e-03 -3.73387548e-05 9.99977510e-01 3.02753611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359254154 meters 0.05536504804682034 Centerline is valid? [True, True] Translation: X:79.44, Y:3.12, Z:0.30 [[ 9.99626628e-01 -2.61679587e-02 -7.86402113e-03 7.94392031e+01] [ 2.61672806e-02 9.99657560e-01 -1.89126486e-04 3.11798173e+00] [ 7.86627723e-03 -1.67241756e-05 9.99969060e-01 3.02092709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters 0.05587797050775829 Centerline is valid? [True, True] Translation: X:79.50, Y:3.12, Z:0.30 [[ 9.99634783e-01 -2.54856771e-02 -8.98783244e-03 7.95012048e+01] [ 2.54847666e-02 9.99675187e-01 -2.15832004e-04 3.11699162e+00] [ 8.99041370e-03 -1.32996339e-05 9.99959585e-01 3.02685597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters 0.05618010640434189 Centerline is valid? [True, True] Translation: X:79.56, Y:3.11, Z:0.30 [[ 9.99502978e-01 -2.94177140e-02 -1.13311472e-02 7.95629855e+01] [ 2.94165310e-02 9.99567203e-01 -2.71092458e-04 3.11182296e+00] [ 1.13342180e-02 -6.23653229e-05 9.99935764e-01 3.01461594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399999 meters 0.05662226266061763 Centerline is valid? [True, True] Translation: X:79.62, Y:3.11, Z:0.30 [[ 9.99297817e-01 -3.56368059e-02 -1.15711229e-02 7.96249983e+01] [ 3.56360037e-02 9.99364798e-01 -2.75565457e-04 3.10634156e+00] [ 1.15735932e-02 -1.36976619e-04 9.99933014e-01 3.02107264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599254154 meters 0.05624336585128794 Centerline is valid? [True, True] Translation: X:79.69, Y:3.10, Z:0.30 [[ 9.99195840e-01 -3.86804663e-02 -1.05590888e-02 7.96858876e+01] [ 3.86799735e-02 9.99251618e-01 -2.50963349e-04 3.10003143e+00] [ 1.05608939e-02 -1.57663741e-04 9.99944220e-01 3.01989237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659254154 meters 0.05566815471980034 Centerline is valid? [True, True] Translation: X:79.75, Y:3.10, Z:0.30 [[ 9.99150639e-01 -4.02123293e-02 -8.99829657e-03 7.97483395e+01] [ 4.02120354e-02 9.99191146e-01 -2.13657126e-04 3.09625391e+00] [ 8.99960992e-03 -1.48364167e-04 9.99959492e-01 3.04397215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719254154 meters 0.05628724463680125 Centerline is valid? [True, True] Translation: X:79.81, Y:3.10, Z:0.31 [[ 9.99217053e-01 -3.87747678e-02 -7.86113382e-03 7.98109959e+01] [ 3.87745010e-02 9.99247969e-01 -1.86397801e-04 3.09536373e+00] [ 7.86244953e-03 -1.18559680e-04 9.99969083e-01 3.05450875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters 0.05634010942960951 Centerline is valid? [True, True] Translation: X:79.87, Y:3.09, Z:0.31 [[ 9.99267465e-01 -3.74119608e-02 -8.05467542e-03 7.98735322e+01] [ 3.74116391e-02 9.99299921e-01 -1.90667803e-04 3.09365039e+00] [ 8.05616977e-03 -1.10810477e-04 9.99967542e-01 3.05476402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters 0.0566788561557923 Centerline is valid? [True, True] Translation: X:79.94, Y:3.09, Z:0.31 [[ 9.99297881e-01 -3.66397976e-02 -7.82747821e-03 7.99356677e+01] [ 3.66394722e-02 9.99328532e-01 -1.85010643e-04 3.09461528e+00] [ 7.82900106e-03 -1.01913927e-04 9.99969348e-01 3.06139656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399999 meters 0.056731593871314934 Centerline is valid? [True, True] Translation: X:80.00, Y:3.09, Z:0.31 [[ 9.99337916e-01 -3.53974154e-02 -8.41150980e-03 7.99966684e+01] [ 3.53969978e-02 9.99373310e-01 -1.98564708e-04 3.09212520e+00] [ 8.41326707e-03 -9.93089526e-05 9.99964603e-01 3.05403618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399999 meters 0.057624033530141276 Centerline is valid? [True, True] Translation: X:80.06, Y:3.09, Z:0.30 [[ 9.99456684e-01 -3.17820329e-02 -8.73155102e-03 8.00576368e+01] [ 3.17814472e-02 9.99494821e-01 -2.05864109e-04 3.08966683e+00] [ 8.73368280e-03 -7.17490682e-05 9.99961858e-01 3.04722844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019254154 meters 0.056998852372299603 Centerline is valid? [True, True] Translation: X:80.12, Y:3.09, Z:0.31 [[ 9.99611935e-01 -2.64319813e-02 -8.79378408e-03 8.01195402e+01] [ 2.64311826e-02 9.99650614e-01 -2.07039699e-04 3.09146087e+00] [ 8.79618412e-03 -2.54707590e-05 9.99961312e-01 3.05642004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079254154 meters 0.05760895150220236 Centerline is valid? [True, True] Translation: X:80.18, Y:3.09, Z:0.30 [[ 9.99696391e-01 -2.22394640e-02 -1.06080844e-02 8.01809205e+01] [ 2.22380693e-02 9.99752672e-01 -2.49427926e-04 3.09088628e+00] [ 1.06110079e-02 1.34488813e-05 9.99943702e-01 3.04445246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters 0.057227534058531905 Centerline is valid? [True, True] Translation: X:80.24, Y:3.09, Z:0.31 [[ 9.99729040e-01 -2.08517463e-02 -1.03465286e-02 8.02426147e+01] [ 2.08503473e-02 9.99782578e-01 -2.43080490e-04 3.08983698e+00] [ 1.03493477e-02 2.72859111e-05 9.99946444e-01 3.05701262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters 0.05784079244926368 Centerline is valid? [True, True] Translation: X:80.30, Y:3.09, Z:0.31 [[ 9.99743383e-01 -2.05233344e-02 -9.58966978e-03 8.03027402e+01] [ 2.05221184e-02 9.99789374e-01 -2.25196879e-04 3.08677335e+00] [ 9.59227174e-03 2.83387501e-05 9.99953993e-01 3.07993998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399999 meters 0.057593060117190245 Centerline is valid? [True, True] Translation: X:80.36, Y:3.08, Z:0.31 [[ 9.99717865e-01 -2.21893218e-02 -8.47494166e-03 8.03635534e+01] [ 2.21884327e-02 9.99753787e-01 -1.98923371e-04 3.08366541e+00] [ 8.47726899e-03 1.08215747e-05 9.99964067e-01 3.07230178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399999 meters 0.058169945256295874 Centerline is valid? [True, True] Translation: X:80.42, Y:3.08, Z:0.31 [[ 9.99653424e-01 -2.53405787e-02 -7.13357275e-03 8.04246297e+01] [ 2.53400298e-02 9.99678876e-01 -1.67330603e-04 3.07728294e+00] [ 7.13552224e-03 -1.34923360e-05 9.99974542e-01 3.08459487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379254154 meters 0.05756323867689108 Centerline is valid? [True, True] Translation: X:80.49, Y:3.07, Z:0.31 [[ 9.99578085e-01 -2.81464619e-02 -7.17137567e-03 8.04865275e+01] [ 2.81459806e-02 9.99603809e-01 -1.68038781e-04 3.07371713e+00] [ 7.17326414e-03 -3.38775176e-05 9.99974271e-01 3.08834534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439254154 meters 0.05847439372600485 Centerline is valid? [True, True] Translation: X:80.55, Y:3.07, Z:0.31 [[ 9.99392940e-01 -3.38562417e-02 -8.21622821e-03 8.05475493e+01] [ 3.38558061e-02 9.99426709e-01 -1.92132687e-04 3.06526658e+00] [ 8.21802282e-03 -8.61509784e-05 9.99966228e-01 3.08306237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499254154 meters 0.058439577378776746 Centerline is valid? [True, True] Translation: X:80.61, Y:3.06, Z:0.31 [[ 9.99185479e-01 -3.93842382e-02 -8.78977395e-03 8.06080683e+01] [ 3.93839559e-02 9.99224130e-01 -2.05270387e-04 3.05576586e+00] [ 8.79103865e-03 -1.41072880e-04 9.99961348e-01 3.07441623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters 0.05911194463485355 Centerline is valid? [True, True] Translation: X:80.67, Y:3.05, Z:0.31 [[ 9.99070425e-01 -4.21824002e-02 -8.88426273e-03 8.06704120e+01] [ 4.21822241e-02 9.99109912e-01 -2.07293763e-04 3.05221029e+00] [ 8.88509911e-03 -1.67656893e-04 9.99960513e-01 3.08438010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters 0.05818206423081175 Centerline is valid? [True, True] Translation: X:80.73, Y:3.05, Z:0.31 [[ 9.98952250e-01 -4.50173036e-02 -8.23674945e-03 8.07313783e+01] [ 4.50172497e-02 9.98986191e-01 -1.92038368e-04 3.05430052e+00] [ 8.23704401e-03 -1.78958647e-04 9.99966059e-01 3.10731239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399999 meters 0.059468729596925354 Centerline is valid? [True, True] Translation: X:80.79, Y:3.04, Z:0.31 [[ 9.98797029e-01 -4.80957483e-02 -9.55483174e-03 8.07918707e+01] [ 4.80958188e-02 9.98842702e-01 -2.22540203e-04 3.04363793e+00] [ 9.55447719e-03 -2.37274963e-04 9.99954327e-01 3.09097582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739254154 meters 0.060317843781128165 Centerline is valid? [True, True] Translation: X:80.85, Y:3.04, Z:0.31 [[ 9.98675110e-01 -5.05461409e-02 -9.64952192e-03 8.08527002e+01] [ 5.05463288e-02 9.98721692e-01 -2.24565619e-04 3.04004976e+00] [ 9.64853779e-03 -2.63479813e-04 9.99953417e-01 3.08768102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799254154 meters 0.059130184234997794 Centerline is valid? [True, True] Translation: X:80.91, Y:3.04, Z:0.31 [[ 9.98411526e-01 -5.55975776e-02 -9.12873602e-03 8.09132355e+01] [ 5.55979570e-02 9.98453215e-01 -2.12410191e-04 3.04169053e+00] [ 9.12642532e-03 -2.95466290e-04 9.99958310e-01 3.10764594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859254154 meters 0.06002736108881961 Centerline is valid? [True, True] Translation: X:80.97, Y:3.04, Z:0.31 [[ 9.98188880e-01 -5.95252384e-02 -8.70092261e-03 8.09735625e+01] [ 5.95257322e-02 9.98226751e-01 -2.02444198e-04 3.03917297e+00] [ 8.69754424e-03 -3.15851241e-04 9.99962126e-01 3.11513590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters 0.05898633233657491 Centerline is valid? [True, True] Translation: X:81.03, Y:3.04, Z:0.31 [[ 9.97924264e-01 -6.37657065e-02 -9.00547487e-03 8.10346571e+01] [ 6.37664084e-02 9.97964830e-01 -2.09462588e-04 3.04004016e+00] [ 9.00050373e-03 -3.65218989e-04 9.99959428e-01 3.11358180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters 0.057165392543356515 Centerline is valid? [True, True] Translation: X:81.10, Y:3.05, Z:0.31 [[ 9.97887173e-01 -6.43911118e-02 -8.65884405e-03 8.10963650e+01] [ 6.43917859e-02 9.97924675e-01 -2.01201407e-04 3.05414382e+00] [ 8.65382972e-03 -3.56782129e-04 9.99962491e-01 3.12896509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399999 meters 0.05694512118818307 Centerline is valid? [True, True] Translation: X:81.16, Y:3.06, Z:0.31 [[ 9.98096252e-01 -6.11589631e-02 -7.96569292e-03 8.11566997e+01] [ 6.11594318e-02 9.98127993e-01 -1.84979299e-04 3.05786354e+00] [ 7.96209423e-03 -3.02550108e-04 9.99968256e-01 3.13319026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099254154 meters 0.05831399974459283 Centerline is valid? [True, True] Translation: X:81.22, Y:3.06, Z:0.31 [[ 9.98330289e-01 -5.72065218e-02 -8.00301155e-03 8.12159315e+01] [ 5.72068676e-02 9.98362329e-01 -1.85879186e-04 3.05723240e+00] [ 8.00053875e-03 -2.72258401e-04 9.99967958e-01 3.13180412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159254154 meters 0.0581481097340872 Centerline is valid? [True, True] Translation: X:81.28, Y:3.05, Z:0.31 [[ 9.98760678e-01 -4.91255225e-02 -7.98692099e-03 8.12756894e+01] [ 4.91256085e-02 9.98792591e-01 -1.85534882e-04 3.05448238e+00] [ 7.98639200e-03 -2.07057409e-04 9.99968087e-01 3.12750816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219254154 meters 0.05854378300686703 Centerline is valid? [True, True] Translation: X:81.34, Y:3.06, Z:0.31 [[ 9.99097218e-01 -4.18100565e-02 -7.52776535e-03 8.13354621e+01] [ 4.18099253e-02 9.99125567e-01 -1.74869470e-04 3.05733910e+00] [ 7.52849413e-03 -1.40023706e-04 9.99971651e-01 3.12880238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters 0.05786617086206151 Centerline is valid? [True, True] Translation: X:81.40, Y:3.06, Z:0.31 [[ 9.99262179e-01 -3.75915651e-02 -7.87219723e-03 8.13963166e+01] [ 3.75912912e-02 9.99293181e-01 -1.82815636e-04 3.06195131e+00] [ 7.87350533e-03 -1.13245307e-04 9.99968997e-01 3.12652488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters 0.057641727377517014 Centerline is valid? [True, True] Translation: X:81.46, Y:3.06, Z:0.31 [[ 9.99292244e-01 -3.66691439e-02 -8.38962230e-03 8.14587265e+01] [ 3.66688023e-02 9.99327454e-01 -1.94587173e-04 3.06182453e+00] [ 8.39111524e-03 -1.13187949e-04 9.99964788e-01 3.11558051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399999 meters 0.05807134522775436 Centerline is valid? [True, True] Translation: X:81.52, Y:3.06, Z:0.31 [[ 9.99260877e-01 -3.73344650e-02 -9.15625061e-03 8.15203613e+01] [ 3.73340889e-02 9.99302817e-01 -2.12061849e-04 3.06179646e+00] [ 9.15778425e-03 -1.29935165e-04 9.99958058e-01 3.11139897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399999 meters 0.05804683982323412 Centerline is valid? [True, True] Translation: X:81.58, Y:3.06, Z:0.31 [[ 9.99145025e-01 -4.05904873e-02 -7.85060707e-03 8.15829433e+01] [ 4.05903128e-02 9.99175857e-01 -1.81622970e-04 3.05820935e+00] [ 7.85150921e-03 -1.37190910e-04 9.99969167e-01 3.12138426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519254154 meters 0.05842946267174453 Centerline is valid? [True, True] Translation: X:81.64, Y:3.05, Z:0.31 [[ 9.98990790e-01 -4.44758129e-02 -6.26925152e-03 8.16441065e+01] [ 4.44757789e-02 9.99010452e-01 -1.44902870e-04 3.05467387e+00] [ 6.26949247e-03 -1.34073212e-04 9.99980338e-01 3.13356193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579254154 meters 0.058569059423733805 Centerline is valid? [True, True] Translation: X:81.71, Y:3.05, Z:0.31 [[ 9.98905669e-01 -4.63985924e-02 -5.88511964e-03 8.17063101e+01] [ 4.63985965e-02 9.98922996e-01 -1.35899474e-04 3.05326601e+00] [ 5.88508689e-03 -1.37310536e-04 9.99982673e-01 3.13656954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters 0.05949888892290795 Centerline is valid? [True, True] Translation: X:81.77, Y:3.05, Z:0.31 [[ 9.98791714e-01 -4.88314853e-02 -5.53146581e-03 8.17677744e+01] [ 4.88315270e-02 9.98807021e-01 -1.27598899e-04 3.05098274e+00] [ 5.53109774e-03 -1.42665199e-04 9.99984693e-01 3.13221065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters 0.057628272460192184 Centerline is valid? [True, True] Translation: X:81.83, Y:3.06, Z:0.31 [[ 9.98713150e-01 -5.04866314e-02 -4.81085647e-03 8.18300213e+01] [ 5.04866825e-02 9.98724728e-01 -1.10889477e-04 3.05732575e+00] [ 4.81031976e-03 -1.32137404e-04 9.99988422e-01 3.13361257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399999 meters 0.06032752793069467 Centerline is valid? [True, True] Translation: X:81.89, Y:3.05, Z:0.31 [[ 9.98695980e-01 -5.08296622e-02 -4.76280226e-03 8.18916186e+01] [ 5.08297170e-02 9.98707328e-01 -1.09601017e-04 3.04573982e+00] [ 4.76221650e-03 -1.32633795e-04 9.99988652e-01 3.13002564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399999 meters 0.06044784592183514 Centerline is valid? [True, True] Translation: X:81.95, Y:3.05, Z:0.31 [[ 9.98821509e-01 -4.82892582e-02 -4.87241041e-03 8.19533868e+01] [ 4.82892860e-02 9.98833386e-01 -1.12002343e-04 3.04763974e+00] [ 4.87213470e-03 -1.23414871e-04 9.99988123e-01 3.13065930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879254154 meters 0.05832195939343823 Centerline is valid? [True, True] Translation: X:82.01, Y:3.06, Z:0.31 [[ 9.99010346e-01 -4.42557553e-02 -4.44482820e-03 8.20137267e+01] [ 4.42557390e-02 9.99020230e-01 -1.02087128e-04 3.05862568e+00] [ 4.44499123e-03 -9.47230589e-05 9.99990116e-01 3.12996720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939254154 meters 0.0582871883068839 Centerline is valid? [True, True] Translation: X:82.07, Y:3.06, Z:0.31 [[ 9.99099620e-01 -4.21726740e-02 -4.62761055e-03 8.20738692e+01] [ 4.21726341e-02 9.99110333e-01 -1.06247422e-04 3.05724572e+00] [ 4.62797426e-03 -8.90067675e-05 9.99989287e-01 3.12862770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999254154 meters 0.059223507850276455 Centerline is valid? [True, True] Translation: X:82.14, Y:3.06, Z:0.31 [[ 9.99147665e-01 -4.09880994e-02 -4.89072827e-03 8.21356673e+01] [ 4.09880409e-02 9.99159631e-01 -1.12219527e-04 3.05676954e+00] [ 4.89121792e-03 -8.83374919e-05 9.99988034e-01 3.12022044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters 0.05873685294882218 Centerline is valid? [True, True] Translation: X:82.20, Y:3.06, Z:0.31 [[ 9.99121358e-01 -4.15969637e-02 -5.11906244e-03 8.21973493e+01] [ 4.15969087e-02 9.99134467e-01 -1.17260268e-04 3.06107662e+00] [ 5.11950940e-03 -9.57799351e-05 9.99986891e-01 3.12350288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters 0.05836671546674525 Centerline is valid? [True, True] Translation: X:82.26, Y:3.06, Z:0.31 [[ 9.99054205e-01 -4.31882851e-02 -5.04661450e-03 8.22592110e+01] [ 4.31882527e-02 9.99066945e-01 -1.15435507e-04 3.06229230e+00] [ 5.04689119e-03 -1.02628133e-04 9.99987259e-01 3.12480187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399999 meters 0.05848151710156463 Centerline is valid? [True, True] Translation: X:82.32, Y:3.06, Z:0.31 [[ 9.99006648e-01 -4.43317330e-02 -4.51832316e-03 8.23212538e+01] [ 4.43317195e-02 9.99016861e-01 -1.03191199e-04 3.06223766e+00] [ 4.51845566e-03 -9.72163414e-05 9.99989787e-01 3.12411318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239254154 meters 0.05841088271882793 Centerline is valid? [True, True] Translation: X:82.38, Y:3.06, Z:0.31 [[ 9.98920177e-01 -4.63150169e-02 -3.66046563e-03 8.23821397e+01] [ 4.63150218e-02 9.98926880e-01 -8.34727354e-05 3.06109569e+00] [ 3.66040355e-03 -8.61519457e-05 9.99993297e-01 3.12683312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299254154 meters 0.059730544950384566 Centerline is valid? [True, True] Translation: X:82.44, Y:3.05, Z:0.31 [[ 9.98748366e-01 -4.98658823e-02 -3.88529735e-03 8.24426833e+01] [ 4.98659149e-02 9.98755917e-01 -8.85318562e-05 3.05479881e+00] [ 3.88487844e-03 -1.05322860e-04 9.99992448e-01 3.13004110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359254154 meters 0.060734940324137274 Centerline is valid? [True, True] Translation: X:82.50, Y:3.05, Z:0.31 [[ 9.98520824e-01 -5.42831065e-02 -3.08369591e-03 8.25032487e+01] [ 5.42831483e-02 9.98525580e-01 -7.02226258e-05 3.05269789e+00] [ 3.08296115e-03 -9.72739680e-05 9.99995243e-01 3.13080672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters 0.06136086883398032 Centerline is valid? [True, True] Translation: X:82.56, Y:3.05, Z:0.31 [[ 9.98359744e-01 -5.71817962e-02 -2.83974643e-03 8.25643289e+01] [ 5.71818433e-02 9.98363778e-01 -6.46509437e-05 3.05222638e+00] [ 2.83879683e-03 -9.78370359e-05 9.99995966e-01 3.13468415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters 0.061305985779352194 Centerline is valid? [True, True] Translation: X:82.63, Y:3.05, Z:0.31 [[ 9.98230321e-01 -5.93731972e-02 -3.32402793e-03 8.26250086e+01] [ 5.93732741e-02 9.98235848e-01 -7.56137829e-05 3.05280678e+00] [ 3.32265327e-03 -1.21878451e-04 9.99994473e-01 3.13326812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399999 meters 0.06009618038233589 Centerline is valid? [True, True] Translation: X:82.69, Y:3.06, Z:0.31 [[ 9.98142683e-01 -6.08230492e-02 -3.42659547e-03 8.26858931e+01] [ 6.08231396e-02 9.98148556e-01 -7.79240615e-05 3.06029623e+00] [ 3.42499090e-03 -1.30636963e-04 9.99994126e-01 3.12615277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599254154 meters 0.060952718793441024 Centerline is valid? [True, True] Translation: X:82.75, Y:3.06, Z:0.31 [[ 9.98071231e-01 -6.19326811e-02 -4.26155589e-03 8.27471569e+01] [ 6.19328314e-02 9.98080315e-01 -9.68267119e-05 3.06094441e+00] [ 4.25937178e-03 -1.67290267e-04 9.99990915e-01 3.11779093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659254154 meters 0.05969735283697482 Centerline is valid? [True, True] Translation: X:82.81, Y:3.07, Z:0.31 [[ 9.98002419e-01 -6.30753191e-02 -3.56042653e-03 8.28089788e+01] [ 6.30754315e-02 9.98008759e-01 -8.08300633e-05 3.06878024e+00] [ 3.55843525e-03 -1.43906841e-04 9.99993658e-01 3.12722044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719254154 meters 0.05914911325986235 Centerline is valid? [True, True] Translation: X:82.87, Y:3.07, Z:0.31 [[ 9.97930091e-01 -6.41673515e-02 -4.25254660e-03 8.28711730e+01] [ 6.41675224e-02 9.97939136e-01 -9.63780414e-05 3.07428776e+00] [ 4.24996700e-03 -1.76696832e-04 9.99990953e-01 3.13574686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters 0.05747442279454197 Centerline is valid? [True, True] Translation: X:82.93, Y:3.09, Z:0.31 [[ 9.97743408e-01 -6.70297190e-02 -3.88689105e-03 8.29310322e+01] [ 6.70298842e-02 9.97750964e-01 -8.78989753e-05 3.08799457e+00] [ 3.88404114e-03 -1.72837234e-04 9.99992442e-01 3.13841750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters 0.057801796587849244 Centerline is valid? [True, True] Translation: X:82.99, Y:3.09, Z:0.31 [[ 9.97530064e-01 -7.01866341e-02 -2.75818086e-03 8.29919039e+01] [ 7.01867293e-02 9.97533869e-01 -6.23751087e-05 3.08916948e+00] [ 2.75575672e-03 -1.31366647e-04 9.99996194e-01 3.13992144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399999 meters 0.05856994016437091 Centerline is valid? [True, True] Translation: X:83.05, Y:3.09, Z:0.31 [[ 9.97371134e-01 -7.23898519e-02 -3.24498311e-03 8.30523137e+01] [ 7.23899955e-02 9.97376400e-01 -7.33439693e-05 3.08886233e+00] [ 3.24177893e-03 -1.61753155e-04 9.99994732e-01 3.14689354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399999 meters 0.060974769596140586 Centerline is valid? [True, True] Translation: X:83.11, Y:3.09, Z:0.31 [[ 9.97317205e-01 -7.30899112e-02 -4.03213480e-03 8.31135863e+01] [ 7.30901387e-02 9.97325335e-01 -9.10911024e-05 3.08611507e+00] [ 4.02800803e-03 -2.03862568e-04 9.99991867e-01 3.14202519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019254154 meters 0.058569121745685716 Centerline is valid? [True, True] Translation: X:83.17, Y:3.10, Z:0.31 [[ 9.97410375e-01 -7.18117521e-02 -3.95163570e-03 8.31744588e+01] [ 7.18119615e-02 9.97418184e-01 -8.90646775e-05 3.09832891e+00] [ 3.94782919e-03 -1.94940677e-04 9.99992188e-01 3.14373680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079254154 meters 0.059075293208024515 Centerline is valid? [True, True] Translation: X:83.24, Y:3.11, Z:0.31 [[ 9.97797944e-01 -6.62139296e-02 -3.87025257e-03 8.32351172e+01] [ 6.62140886e-02 9.97805435e-01 -8.71706109e-05 3.10755803e+00] [ 3.86753095e-03 -1.69286590e-04 9.99992507e-01 3.14784859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters 0.058649607748025016 Centerline is valid? [True, True] Translation: X:83.29, Y:3.12, Z:0.32 [[ 9.98252937e-01 -5.89675586e-02 -3.72825792e-03 8.32942021e+01] [ 5.89676558e-02 9.98259890e-01 -8.39414559e-05 3.11673101e+00] [ 3.72672016e-03 -1.36051825e-04 9.99993046e-01 3.15328263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters 0.05838570360156146 Centerline is valid? [True, True] Translation: X:83.35, Y:3.13, Z:0.32 [[ 9.98526199e-01 -5.41821964e-02 -3.11758298e-03 8.33549012e+01] [ 5.41822410e-02 9.98531061e-01 -7.02127354e-05 3.12764290e+00] [ 3.11680772e-03 -9.88083767e-05 9.99995138e-01 3.15711341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399999 meters 0.0576875877508343 Centerline is valid? [True, True] Translation: X:83.41, Y:3.13, Z:0.32 [[ 9.98873232e-01 -4.73461423e-02 -3.25707635e-03 8.34149196e+01] [ 4.73461546e-02 9.98878539e-01 -7.33964037e-05 3.13421524e+00] [ 3.25689870e-03 -8.08963371e-05 9.99994693e-01 3.16283502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399999 meters 0.05697751433552373 Centerline is valid? [True, True] Translation: X:83.47, Y:3.15, Z:0.32 [[ 9.99169719e-01 -4.05709058e-02 -3.72478097e-03 8.34748500e+01] [ 4.05708747e-02 9.99176660e-01 -8.39402232e-05 3.14898371e+00] [ 3.72511974e-03 -6.72470928e-05 9.99993059e-01 3.16410796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379254154 meters 0.05695658596469832 Centerline is valid? [True, True] Translation: X:83.53, Y:3.16, Z:0.32 [[ 9.99381002e-01 -3.50038543e-02 -3.51331727e-03 8.35341716e+01] [ 3.50037923e-02 9.99387176e-01 -7.91610963e-05 3.15704030e+00] [ 3.51393517e-03 -4.38673322e-05 9.99993825e-01 3.17248278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439254154 meters 0.05621705549387431 Centerline is valid? [True, True] Translation: X:83.60, Y:3.17, Z:0.32 [[ 9.99504778e-01 -3.12993347e-02 -3.24824430e-03 8.35957649e+01] [ 3.12992619e-02 9.99510055e-01 -7.32365707e-05 3.16678907e+00] [ 3.24894509e-03 -2.84673466e-05 9.99994722e-01 3.17601067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters 0.056613375608993155 Centerline is valid? [True, True] Translation: X:83.66, Y:3.17, Z:0.32 [[ 9.99544805e-01 -3.00540420e-02 -2.63374219e-03 8.36577382e+01] [ 3.00539899e-02 9.99548275e-01 -5.93416212e-05 3.16967480e+00] [ 2.63433592e-03 -1.98398522e-05 9.99996530e-01 3.17397176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters 0.056622402319613095 Centerline is valid? [True, True] Translation: X:83.72, Y:3.18, Z:0.32 [[ 9.99603729e-01 -2.78887561e-02 -3.82126329e-03 8.37187044e+01] [ 2.78886316e-02 9.99611033e-01 -8.58726541e-05 3.17583497e+00] [ 3.82217183e-03 -2.07311790e-05 9.99992695e-01 3.16526578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399999 meters 0.056552513444837194 Centerline is valid? [True, True] Translation: X:83.78, Y:3.18, Z:0.32 [[ 9.99612694e-01 -2.75959750e-02 -3.59513609e-03 8.37805174e+01] [ 2.75958632e-02 9.99619158e-01 -8.07168711e-05 3.17607058e+00] [ 3.59599437e-03 -1.85252749e-05 9.99993534e-01 3.16412857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399999 meters 0.05623167793063685 Centerline is valid? [True, True] Translation: X:83.84, Y:3.18, Z:0.32 [[ 9.99633105e-01 -2.68804595e-02 -3.33117127e-03 8.38423478e+01] [ 2.68803599e-02 9.99638655e-01 -7.46552407e-05 3.17860673e+00] [ 3.33197433e-03 -1.49152326e-05 9.99994449e-01 3.16213523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739254154 meters 0.055880142966260204 Centerline is valid? [True, True] Translation: X:83.90, Y:3.18, Z:0.32 [[ 9.99657995e-01 -2.60007345e-02 -2.80253828e-03 8.39036908e+01] [ 2.60006608e-02 9.99661924e-01 -6.27283919e-05 3.18023395e+00] [ 2.80322180e-03 -1.01609087e-05 9.99996071e-01 3.17479926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799254154 meters 0.05622226191344817 Centerline is valid? [True, True] Translation: X:83.97, Y:3.18, Z:0.32 [[ 9.99660786e-01 -2.59277917e-02 -2.46230042e-03 8.39658815e+01] [ 2.59277347e-02 9.99663818e-01 -5.50855893e-05 3.18032100e+00] [ 2.46290089e-03 -8.77496853e-06 9.99996967e-01 3.17656821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859254154 meters 0.05585031098379279 Centerline is valid? [True, True] Translation: X:84.03, Y:3.18, Z:0.32 [[ 9.99600490e-01 -2.81412029e-02 -2.63314322e-03 8.40282651e+01] [ 2.81411457e-02 9.99603958e-01 -5.87886936e-05 3.17811046e+00] [ 2.63375477e-03 -1.53344601e-05 9.99996532e-01 3.16924069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters 0.056545388043154565 Centerline is valid? [True, True] Translation: X:84.09, Y:3.17, Z:0.32 [[ 9.99430174e-01 -3.35376312e-02 -3.81501824e-03 8.40907188e+01] [ 3.35375510e-02 9.99437454e-01 -8.50104699e-05 3.17436604e+00] [ 3.81572317e-03 -4.29843401e-05 9.99992719e-01 3.15649906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters 0.05654209117317777 Centerline is valid? [True, True] Translation: X:84.15, Y:3.17, Z:0.32 [[ 9.99217456e-01 -3.93017982e-02 -4.45472588e-03 8.41506536e+01] [ 3.93017469e-02 9.99227383e-01 -9.90774189e-05 3.16994384e+00] [ 4.45517800e-03 -7.60786227e-05 9.99990073e-01 3.15893962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399999 meters 0.0571750014550569 Centerline is valid? [True, True] Translation: X:84.21, Y:3.17, Z:0.32 [[ 9.99087243e-01 -4.24663561e-02 -4.61409811e-03 8.42104990e+01] [ 4.24663348e-02 9.99097893e-01 -1.02622012e-04 3.16614760e+00] [ 4.61429368e-03 -9.34154925e-05 9.99989350e-01 3.16013471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099254154 meters 0.058085258126232844 Centerline is valid? [True, True] Translation: X:84.27, Y:3.16, Z:0.32 [[ 9.98765213e-01 -4.94879791e-02 -4.35772652e-03 8.42711423e+01] [ 4.94880270e-02 9.98774712e-01 -9.69131598e-05 3.15968989e+00] [ 4.35718309e-03 -1.18861795e-04 9.99990500e-01 3.16495096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159254154 meters 0.05829414348871651 Centerline is valid? [True, True] Translation: X:84.33, Y:3.16, Z:0.32 [[ 9.98521836e-01 -5.41876231e-02 -4.22418050e-03 8.43320976e+01] [ 5.41877103e-02 9.98530762e-01 -9.38792519e-05 3.15786023e+00] [ 4.22306127e-03 -1.35158187e-04 9.99991074e-01 3.16504174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219254154 meters 0.058475012489580064 Centerline is valid? [True, True] Translation: X:84.39, Y:3.16, Z:0.32 [[ 9.98023499e-01 -6.27347756e-02 -3.66664027e-03 8.43925385e+01] [ 6.27348989e-02 9.98030223e-01 -8.14859813e-05 3.15620366e+00] [ 3.66452981e-03 -1.48701383e-04 9.99993275e-01 3.17463527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters 0.06021388106765522 Centerline is valid? [True, True] Translation: X:84.45, Y:3.15, Z:0.32 [[ 9.97356445e-01 -7.25393572e-02 -4.26174140e-03 8.44527568e+01] [ 7.25396132e-02 9.97365528e-01 -9.46803505e-05 3.15081637e+00] [ 4.25738201e-03 -2.14715015e-04 9.99990914e-01 3.17100040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters 0.06284059260335519 Centerline is valid? [True, True] Translation: X:84.51, Y:3.14, Z:0.32 [[ 9.96956497e-01 -7.77650820e-02 -5.50771874e-03 8.45131540e+01] [ 7.77655892e-02 9.96971664e-01 -1.22341608e-04 3.14497035e+00] [ 5.50055342e-03 -3.06341732e-04 9.99984825e-01 3.16609181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399999 meters 0.05546322021379219 Centerline is valid? [True, True] Translation: X:84.57, Y:3.17, Z:0.32 [[ 9.96605502e-01 -8.21050120e-02 -6.01995339e-03 8.45733775e+01] [ 8.21056970e-02 9.96623618e-01 -1.33686934e-04 3.17417601e+00] [ 6.01060410e-03 -3.61039335e-04 9.99981871e-01 3.16384016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399999 meters 0.05468512307704512 Centerline is valid? [True, True] Translation: X:84.63, Y:3.19, Z:0.32 [[ 9.96642906e-01 -8.16008889e-02 -6.64932219e-03 8.46348035e+01] [ 8.16017158e-02 9.96665008e-01 -1.47301189e-04 3.19337869e+00] [ 6.63916666e-03 -3.95789415e-04 9.99977882e-01 3.17155844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519254154 meters 0.05391212254552024 Centerline is valid? [True, True] Translation: X:84.69, Y:3.19, Z:0.32 [[ 9.96900990e-01 -7.83862100e-02 -6.63463560e-03 8.46948107e+01] [ 7.83869654e-02 9.96922997e-01 -1.46498483e-04 3.19400067e+00] [ 6.62570427e-03 -3.74024469e-04 9.99977980e-01 3.17029352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579254154 meters 0.05571959366821628 Centerline is valid? [True, True] Translation: X:84.75, Y:3.19, Z:0.32 [[ 9.97551803e-01 -6.96892881e-02 -5.81405168e-03 8.47542694e+01] [ 6.96897209e-02 9.97568708e-01 -1.28354806e-04 3.19371032e+00] [ 5.80886097e-03 -2.77139071e-04 9.99983090e-01 3.17819928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters 0.057355344314371955 Centerline is valid? [True, True] Translation: X:84.81, Y:3.20, Z:0.32 [[ 9.98377313e-01 -5.67688451e-02 -4.47658093e-03 8.48134070e+01] [ 5.67689720e-02 9.98387337e-01 -9.88159392e-05 3.19593094e+00] [ 4.47497138e-03 -1.55475306e-04 9.99989975e-01 3.19025320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters 0.05670418411116851 Centerline is valid? [True, True] Translation: X:84.87, Y:3.21, Z:0.32 [[ 9.99080487e-01 -4.27000549e-02 -3.85831893e-03 8.48727109e+01] [ 4.27000443e-02 9.99087934e-01 -8.51714010e-05 3.20640524e+00] [ 3.85843671e-03 -7.96573044e-05 9.99992553e-01 3.19640207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399999 meters 0.05638707796617538 Centerline is valid? [True, True] Translation: X:84.93, Y:3.22, Z:0.32 [[ 9.99373139e-01 -3.51475491e-02 -4.24025909e-03 8.49324906e+01] [ 3.51474682e-02 9.99382132e-01 -9.36062166e-05 3.22060447e+00] [ 4.24092920e-03 -5.54868330e-05 9.99991006e-01 3.19350058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399999 meters 0.055744392789991576 Centerline is valid? [True, True] Translation: X:84.99, Y:3.23, Z:0.32 [[ 9.99605762e-01 -2.75700308e-02 -5.31172521e-03 8.49924996e+01] [ 2.75697970e-02 9.99619874e-01 -1.17240519e-04 3.23132882e+00] [ 5.31293841e-03 -2.92488871e-05 9.99985886e-01 3.17677834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879254154 meters 0.05542323738634438 Centerline is valid? [True, True] Translation: X:85.05, Y:3.24, Z:0.32 [[ 9.99659488e-01 -2.51040660e-02 -7.12000702e-03 8.50545045e+01] [ 2.51035847e-02 9.99684843e-01 -1.56965826e-04 3.23931467e+00] [ 7.12170358e-03 -2.18253226e-05 9.99974640e-01 3.17420966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939254154 meters 0.05497379339801175 Centerline is valid? [True, True] Translation: X:85.12, Y:3.24, Z:0.32 [[ 9.99625859e-01 -2.64289235e-02 -7.04656363e-03 8.51169488e+01] [ 2.64284867e-02 9.99650695e-01 -1.55109343e-04 3.24319745e+00] [ 7.04820160e-03 -3.11787036e-05 9.99975161e-01 3.18579096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters 0.05529845122237964 Centerline is valid? [True, True] Translation: X:85.18, Y:3.24, Z:0.32 [[ 9.99562503e-01 -2.90621377e-02 -5.49496607e-03 8.51786060e+01] [ 2.90619134e-02 9.99577606e-01 -1.20678756e-04 3.24244813e+00] [ 5.49615221e-03 -3.90682686e-05 9.99984895e-01 3.19388783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters 0.05516868646662393 Centerline is valid? [True, True] Translation: X:85.24, Y:3.24, Z:0.32 [[ 9.99484974e-01 -3.17664197e-02 -4.54773422e-03 8.52405292e+01] [ 3.17662958e-02 9.99495319e-01 -9.94968035e-05 3.24210879e+00] [ 4.54859972e-03 -4.50191104e-05 9.99989654e-01 3.20169863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399999 meters 0.05548564703623392 Centerline is valid? [True, True] Translation: X:85.30, Y:3.25, Z:0.32 [[ 9.99345680e-01 -3.59368264e-02 -4.09342564e-03 8.53028130e+01] [ 3.59367615e-02 9.99354062e-01 -8.94422206e-05 3.24535346e+00] [ 4.09399581e-03 -5.77207642e-05 9.99991618e-01 3.20344730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399999 meters 0.055505607976172315 Centerline is valid? [True, True] Translation: X:85.36, Y:3.24, Z:0.32 [[ 9.99256846e-01 -3.81973004e-02 -5.16923880e-03 8.53635399e+01] [ 3.81972280e-02 9.99270213e-01 -1.12763471e-04 3.24188780e+00] [ 5.16977361e-03 -8.47709224e-05 9.99986633e-01 3.19485709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239254154 meters 0.05651574393731248 Centerline is valid? [True, True] Translation: X:85.42, Y:3.24, Z:0.32 [[ 9.99150537e-01 -4.08511094e-02 -5.42145754e-03 8.54249536e+01] [ 4.08510696e-02 9.99165240e-01 -1.18121810e-04 3.23744604e+00] [ 5.42175733e-03 -1.03450870e-04 9.99985297e-01 3.18776946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299254154 meters 0.05595078906024138 Centerline is valid? [True, True] Translation: X:85.49, Y:3.24, Z:0.32 [[ 9.99187452e-01 -4.00002316e-02 -4.94139169e-03 8.54874746e+01] [ 4.00001892e-02 9.99199666e-01 -1.07447974e-04 3.23894804e+00] [ 4.94173487e-03 -9.02959346e-05 9.99987785e-01 3.18750391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359254154 meters 0.05562503788151806 Centerline is valid? [True, True] Translation: X:85.55, Y:3.24, Z:0.32 [[ 9.99323435e-01 -3.63459200e-02 -5.62545578e-03 8.55490825e+01] [ 3.63458082e-02 9.99339265e-01 -1.22136298e-04 3.24210120e+00] [ 5.62617800e-03 -8.24080722e-05 9.99984170e-01 3.17507483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters 0.05581277320657465 Centerline is valid? [True, True] Translation: X:85.61, Y:3.25, Z:0.32 [[ 9.99458897e-01 -3.23573263e-02 -5.90902132e-03 8.56101573e+01] [ 3.23571342e-02 9.99476363e-01 -1.28136533e-04 3.24842340e+00] [ 5.91007330e-03 -6.31317979e-05 9.99982533e-01 3.17597343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters 0.05474055443718114 Centerline is valid? [True, True] Translation: X:85.67, Y:3.25, Z:0.32 [[ 9.99648609e-01 -2.59185772e-02 -5.55751684e-03 8.56703500e+01] [ 2.59183081e-02 9.99664057e-01 -1.20443156e-04 3.25339744e+00] [ 5.55877155e-03 -2.36406002e-05 9.99984550e-01 3.18894863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399999 meters 0.05562952798118929 Centerline is valid? [True, True] Translation: X:85.73, Y:3.25, Z:0.32 [[ 9.99711114e-01 -2.35246298e-02 -4.92757249e-03 8.57321124e+01] [ 2.35243896e-02 9.99723258e-01 -1.06722549e-04 3.25467341e+00] [ 4.92871943e-03 -9.22641692e-06 9.99987854e-01 3.19716944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599254154 meters 0.055451941402417854 Centerline is valid? [True, True] Translation: X:85.79, Y:3.25, Z:0.32 [[ 9.99721313e-01 -2.28835398e-02 -5.80007465e-03 8.57944918e+01] [ 2.28831976e-02 9.99738137e-01 -1.25367285e-04 3.25417276e+00] [ 5.80142468e-03 -7.39190780e-06 9.99983172e-01 3.19550933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659254154 meters 0.05551830942690765 Centerline is valid? [True, True] Translation: X:85.86, Y:3.25, Z:0.32 [[ 9.99664361e-01 -2.45393824e-02 -8.30567464e-03 8.58557952e+01] [ 2.45387401e-02 9.99698864e-01 -1.79241760e-04 3.25040863e+00] [ 8.30757198e-03 -2.46291918e-05 9.99965491e-01 3.16486362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719254154 meters 0.05534466286984583 Centerline is valid? [True, True] Translation: X:85.92, Y:3.25, Z:0.32 [[ 9.99527075e-01 -2.89438247e-02 -1.03865518e-02 8.59183665e+01] [ 2.89430669e-02 9.99581037e-01 -2.23297130e-04 3.24805467e+00] [ 1.03886633e-02 -7.74271348e-05 9.99946033e-01 3.17391812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters 0.05554653808929816 Centerline is valid? [True, True] Translation: X:85.98, Y:3.24, Z:0.32 [[ 9.99270152e-01 -3.65401845e-02 -1.11345391e-02 8.59799929e+01] [ 3.65397917e-02 9.99332170e-01 -2.38777576e-04 3.24350505e+00] [ 1.11358281e-02 -1.68250435e-04 9.99937981e-01 3.17918047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters 0.05562769068713637 Centerline is valid? [True, True] Translation: X:86.04, Y:3.24, Z:0.32 [[ 9.99073979e-01 -4.17678913e-02 -1.03261019e-02 8.60413510e+01] [ 4.17678343e-02 9.99127319e-01 -2.21273426e-04 3.24344338e+00] [ 1.03263327e-02 -2.10230392e-04 9.99946660e-01 3.19664306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399999 meters 0.056964584278441165 Centerline is valid? [True, True] Translation: X:86.10, Y:3.23, Z:0.32 [[ 9.98811688e-01 -4.79349921e-02 -8.80049368e-03 8.61009712e+01] [ 4.79351900e-02 9.98850430e-01 -1.88559068e-04 3.22934488e+00] [ 8.79941548e-03 -2.33518336e-04 9.99961257e-01 3.18891946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399999 meters 0.055356014300375844 Centerline is valid? [True, True] Translation: X:86.16, Y:3.23, Z:0.32 [[ 9.98555073e-01 -5.32242689e-02 -7.41233864e-03 8.61609980e+01] [ 5.32245547e-02 9.98582556e-01 -1.58831777e-04 3.23454106e+00] [ 7.41028577e-03 -2.35916147e-04 9.99972516e-01 3.20307273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019254154 meters 0.05729101881538135 Centerline is valid? [True, True] Translation: X:86.22, Y:3.22, Z:0.32 [[ 9.98307857e-01 -5.78183856e-02 -6.20141013e-03 8.62205367e+01] [ 5.78186742e-02 9.98327092e-01 -1.32890487e-04 3.22475148e+00] [ 6.19871926e-03 -2.25891695e-04 9.99980762e-01 3.20252432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079254154 meters 0.057380893796050526 Centerline is valid? [True, True] Translation: X:86.28, Y:3.23, Z:0.32 [[ 9.98133574e-01 -6.07273300e-02 -6.44671447e-03 8.62815532e+01] [ 6.07277022e-02 9.98154360e-01 -1.38168787e-04 3.22622492e+00] [ 6.44320678e-03 -2.53583252e-04 9.99979210e-01 3.20122549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters 0.05636488247444825 Centerline is valid? [True, True] Translation: X:86.34, Y:3.23, Z:0.32 [[ 9.97901421e-01 -6.42418239e-02 -8.10808822e-03 8.63427844e+01] [ 6.42425290e-02 9.97934300e-01 -1.73722661e-04 3.22913599e+00] [ 8.10249960e-03 -3.47526002e-04 9.99967114e-01 3.19223335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters 0.05580492804397565 Centerline is valid? [True, True] Translation: X:86.40, Y:3.23, Z:0.32 [[ 9.97934953e-01 -6.36856331e-02 -8.36481254e-03 8.64048497e+01] [ 6.36863659e-02 9.97969947e-01 -1.79003089e-04 3.23414467e+00] [ 8.35923145e-03 -3.54091074e-04 9.99964998e-01 3.19510170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399999 meters 0.056488724797667006 Centerline is valid? [True, True] Translation: X:86.46, Y:3.24, Z:0.32 [[ 9.98190761e-01 -5.94913826e-02 -8.71666854e-03 8.64647132e+01] [ 5.94920201e-02 9.98228764e-01 -1.86373416e-04 3.23679716e+00] [ 8.71231688e-03 -3.32535998e-04 9.99961992e-01 3.18661319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399999 meters 0.05622161574471637 Centerline is valid? [True, True] Translation: X:86.52, Y:3.24, Z:0.32 [[ 9.98483332e-01 -5.41892003e-02 -9.72456000e-03 8.65246731e+01] [ 5.41897424e-02 9.98530635e-01 -2.07930644e-04 3.24235402e+00] [ 9.72153866e-03 -3.19356119e-04 9.99952694e-01 3.17551112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379254154 meters 0.05447661836131709 Centerline is valid? [True, True] Translation: X:86.59, Y:3.26, Z:0.32 [[ 9.98650391e-01 -5.10223825e-02 -9.70118388e-03 8.65852317e+01] [ 5.10227731e-02 9.98697469e-01 -2.07389266e-04 3.25654902e+00] [ 9.69912928e-03 -2.87871933e-04 9.99952921e-01 3.19125640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439254154 meters 0.05463934457473385 Centerline is valid? [True, True] Translation: X:86.64, Y:3.26, Z:0.32 [[ 9.98901259e-01 -4.58654880e-02 -9.62455820e-03 8.66447008e+01] [ 4.58656331e-02 9.98947597e-01 -2.05766234e-04 3.26330306e+00] [ 9.62386685e-03 -2.35896304e-04 9.99953662e-01 3.20590850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters 0.055322118335183586 Centerline is valid? [True, True] Translation: X:86.71, Y:3.27, Z:0.32 [[ 9.99122420e-01 -4.11030398e-02 -8.05786727e-03 8.67050904e+01] [ 4.11029866e-02 9.99154900e-01 -1.72276330e-04 3.27020653e+00] [ 8.05813865e-03 -1.59077266e-04 9.99967520e-01 3.22114425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters 0.05390637016714269 Centerline is valid? [True, True] Translation: X:86.77, Y:3.27, Z:0.32 [[ 9.99235428e-01 -3.84600929e-02 -7.02718396e-03 8.67650715e+01] [ 3.84599874e-02 9.99260130e-01 -1.50197414e-04 3.27378247e+00] [ 7.02776136e-03 -1.20182830e-04 9.99975298e-01 3.22519754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399999 meters 0.05509242613313708 Centerline is valid? [True, True] Translation: X:86.83, Y:3.28, Z:0.32 [[ 9.99371246e-01 -3.47573722e-02 -7.00263978e-03 8.68251969e+01] [ 3.47571769e-02 9.99395776e-01 -1.49616148e-04 3.27738534e+00] [ 7.00360888e-03 -9.38699134e-05 9.99975470e-01 3.21978920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399999 meters 0.054590783587319655 Centerline is valid? [True, True] Translation: X:86.89, Y:3.29, Z:0.32 [[ 9.99503684e-01 -3.07432934e-02 -6.87276378e-03 8.68868423e+01] [ 3.07430111e-02 9.99527311e-01 -1.46743476e-04 3.28709918e+00] [ 6.87402647e-03 -6.46188078e-05 9.99976372e-01 3.23081168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739254154 meters 0.05384308948746026 Centerline is valid? [True, True] Translation: X:86.95, Y:3.29, Z:0.32 [[ 9.99579852e-01 -2.83339426e-02 -6.10794084e-03 8.69489995e+01] [ 2.83336757e-02 9.99598512e-01 -1.30244057e-04 3.29484392e+00] [ 6.10917890e-03 -4.28710797e-05 9.99981338e-01 3.24812585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799254154 meters 0.054538484263997 Centerline is valid? [True, True] Translation: X:87.01, Y:3.30, Z:0.32 [[ 9.99592148e-01 -2.78570099e-02 -6.28679389e-03 8.70099391e+01] [ 2.78567191e-02 9.99611917e-01 -1.33831033e-04 3.29564655e+00] [ 6.28808222e-03 -4.13530020e-05 9.99980229e-01 3.23486033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859254154 meters 0.05522869556920791 Centerline is valid? [True, True] Translation: X:87.07, Y:3.30, Z:0.32 [[ 9.99555469e-01 -2.90201575e-02 -6.83341895e-03 8.70712570e+01] [ 2.90198423e-02 9.99578825e-01 -1.45294023e-04 3.29593186e+00] [ 6.83475734e-03 -5.30753057e-05 9.99976641e-01 3.22476286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters 0.054612786408468984 Centerline is valid? [True, True] Translation: X:87.13, Y:3.30, Z:0.32 [[ 9.99465443e-01 -3.20296714e-02 -6.55203803e-03 8.71333061e+01] [ 3.20294474e-02 9.99486916e-01 -1.39140214e-04 3.29974298e+00] [ 6.55313290e-03 -7.07923217e-05 9.99978525e-01 3.23889864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399999 meters 0.053774477135740927 Centerline is valid? [True, True] Translation: X:87.19, Y:3.30, Z:0.32 [[ 9.99296258e-01 -3.69936644e-02 -6.20134045e-03 8.71947557e+01] [ 3.69935603e-02 9.99315495e-01 -1.31536117e-04 3.29956602e+00] [ 6.20196161e-03 -9.79661119e-05 9.99980763e-01 3.24369541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399999 meters 0.055324011316032214 Centerline is valid? [True, True] Translation: X:87.25, Y:3.29, Z:0.32 [[ 9.99093864e-01 -4.19369324e-02 -7.26249965e-03 8.72549009e+01] [ 4.19369207e-02 9.99120249e-01 -1.53969702e-04 3.28981030e+00] [ 7.26256747e-03 -1.50736687e-04 9.99973616e-01 3.22405178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099254154 meters 0.053846052572434085 Centerline is valid? [True, True] Translation: X:87.32, Y:3.30, Z:0.32 [[ 9.98734594e-01 -4.94886381e-02 -8.94909151e-03 8.73153205e+01] [ 4.94889234e-02 9.98774655e-01 -1.89698488e-04 3.29858940e+00] [ 8.94751370e-03 -2.53422463e-04 9.99959938e-01 3.22686610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159254154 meters 0.05344735477259751 Centerline is valid? [True, True] Translation: X:87.37, Y:3.30, Z:0.32 [[ 9.98434520e-01 -5.50040535e-02 -1.01520436e-02 8.73749961e+01] [ 5.50047055e-02 9.98486072e-01 -2.15191959e-04 3.29592986e+00] [ 1.01485105e-02 -3.43555085e-04 9.99948444e-01 3.22438043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219254154 meters 0.053882978895208745 Centerline is valid? [True, True] Translation: X:87.44, Y:3.30, Z:0.32 [[ 9.98227077e-01 -5.86301220e-02 -1.02572660e-02 8.74351915e+01] [ 5.86309787e-02 9.98279701e-01 -2.17425451e-04 3.30388913e+00] [ 1.02523681e-02 -3.84353573e-04 9.99947369e-01 3.23878207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters 0.05351724024849287 Centerline is valid? [True, True] Translation: X:87.50, Y:3.31, Z:0.32 [[ 9.98093721e-01 -6.10064806e-02 -9.33457610e-03 8.74964696e+01] [ 6.10072947e-02 9.98137301e-01 -1.97773983e-04 3.30733183e+00] [ 9.32925408e-03 -3.72080264e-04 9.99956412e-01 3.24606208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters 0.05538052034463608 Centerline is valid? [True, True] Translation: X:87.56, Y:3.30, Z:0.32 [[ 9.97868378e-01 -6.47195451e-02 -8.37142757e-03 8.75566508e+01] [ 6.47203305e-02 9.97903426e-01 -1.77336188e-04 3.29996012e+00] [ 8.36535337e-03 -3.64843385e-04 9.99964943e-01 3.24636454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399999 meters 0.05291566550100753 Centerline is valid? [True, True] Translation: X:87.62, Y:3.31, Z:0.33 [[ 9.97648012e-01 -6.80720531e-02 -8.03991695e-03 8.76172512e+01] [ 6.80728863e-02 9.97680336e-01 -1.70291049e-04 3.31219839e+00] [ 8.03285910e-03 -3.77409826e-04 9.99967665e-01 3.25695126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399999 meters 0.05320736809670563 Centerline is valid? [True, True] Translation: X:87.68, Y:3.31, Z:0.33 [[ 9.97610251e-01 -6.85710637e-02 -8.47321366e-03 8.76787876e+01] [ 6.85720115e-02 9.97646153e-01 -1.78951824e-04 3.31321786e+00] [ 8.46553993e-03 -4.02501130e-04 9.99964086e-01 3.25603878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519254154 meters 0.05422652318552392 Centerline is valid? [True, True] Translation: X:87.74, Y:3.31, Z:0.32 [[ 9.97543358e-01 -6.92776280e-02 -1.03854846e-02 8.77401329e+01] [ 6.92791022e-02 9.97597293e-01 -2.18175737e-04 3.30936081e+00] [ 1.03756460e-02 -5.01857294e-04 9.99946046e-01 3.23450901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579254154 meters 0.05413236563461551 Centerline is valid? [True, True] Translation: X:87.80, Y:3.32, Z:0.32 [[ 9.97612890e-01 -6.79197836e-02 -1.24669494e-02 8.78013105e+01] [ 6.79218108e-02 9.97690613e-01 -2.61215734e-04 3.31845776e+00] [ 1.24559001e-02 -5.86185598e-04 9.99922250e-01 3.23644415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters 0.054418662200119754 Centerline is valid? [True, True] Translation: X:87.86, Y:3.32, Z:0.32 [[ 9.97997182e-01 -6.18830444e-02 -1.31192073e-02 8.78608522e+01] [ 6.18847689e-02 9.98083263e-01 -2.74856445e-04 3.32232436e+00] [ 1.31110702e-02 -5.37573156e-04 9.99913902e-01 3.23434630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters 0.0537086465246676 Centerline is valid? [True, True] Translation: X:87.92, Y:3.33, Z:0.33 [[ 9.98408388e-01 -5.52191372e-02 -1.14690025e-02 8.79212765e+01] [ 5.52200155e-02 9.98474182e-01 -2.40312029e-04 3.33366276e+00] [ 1.14647727e-02 -3.93388948e-04 9.99934200e-01 3.25638224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399999 meters 0.05339037067233546 Centerline is valid? [True, True] Translation: X:87.98, Y:3.34, Z:0.33 [[ 9.99089217e-01 -4.16767670e-02 -9.15331284e-03 8.79802185e+01] [ 4.16767583e-02 9.99131128e-01 -1.91778799e-04 3.34152576e+00] [ 9.15335251e-03 -1.89876276e-04 9.99958089e-01 3.27281661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399999 meters 0.05353654235775065 Centerline is valid? [True, True] Translation: X:88.04, Y:3.35, Z:0.33 [[ 9.99544545e-01 -2.91834812e-02 -7.68293336e-03 8.80396998e+01] [ 2.91831062e-02 9.99574070e-01 -1.60941623e-04 3.35246165e+00] [ 7.68435780e-03 -6.33435382e-05 9.99970473e-01 3.28419388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879254154 meters 0.05394971021244743 Centerline is valid? [True, True] Translation: X:88.10, Y:3.36, Z:0.33 [[ 9.99712073e-01 -2.27721516e-02 -7.56302906e-03 8.81015485e+01] [ 2.27716058e-02 9.99740681e-01 -1.58288255e-04 3.36013912e+00] [ 7.56467238e-03 -1.39796362e-05 9.99971387e-01 3.29323944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939254154 meters 0.05344315880394074 Centerline is valid? [True, True] Translation: X:88.16, Y:3.37, Z:0.33 [[ 9.99812578e-01 -1.69168796e-02 -9.41422860e-03 8.81624067e+01] [ 1.69157784e-02 9.99856899e-01 -1.96594300e-04 3.36611745e+00] [ 9.41620717e-03 3.73084494e-05 9.99955666e-01 3.27908728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters 0.05437055349226088 Centerline is valid? [True, True] Translation: X:88.22, Y:3.37, Z:0.33 [[ 9.99843522e-01 -1.46511814e-02 -9.91334512e-03 8.82240631e+01] [ 1.46498541e-02 9.99892664e-01 -2.06502390e-04 3.36841166e+00] [ 9.91530656e-03 6.12410175e-05 9.99950840e-01 3.27362712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters 0.054603875779834714 Centerline is valid? [True, True] Translation: X:88.29, Y:3.37, Z:0.33 [[ 9.99852274e-01 -1.48533110e-02 -8.64924654e-03 8.82855802e+01] [ 1.48523103e-02 9.99889682e-01 -1.79918443e-04 3.36723449e+00] [ 8.65096476e-03 5.14305711e-05 9.99962578e-01 3.27932381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399999 meters 0.05475838216460598 Centerline is valid? [True, True] Translation: X:88.35, Y:3.37, Z:0.33 [[ 9.99836694e-01 -1.62511698e-02 -7.90475540e-03 8.83466305e+01] [ 1.62503789e-02 9.99867940e-01 -1.64278191e-04 3.36613063e+00] [ 7.90638121e-03 3.57960929e-05 9.99968743e-01 3.27696398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399999 meters 0.0545753145045948 Centerline is valid? [True, True] Translation: X:88.41, Y:3.36, Z:0.33 [[ 9.99767702e-01 -2.02406294e-02 -7.40668602e-03 8.84090809e+01] [ 2.02400479e-02 9.99795137e-01 -1.53467311e-04 3.36041929e+00] [ 7.40827494e-03 3.51998162e-06 9.99972558e-01 3.29932917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239254154 meters 0.05396657956827684 Centerline is valid? [True, True] Translation: X:88.47, Y:3.35, Z:0.33 [[ 9.99633822e-01 -2.64203015e-02 -5.84719844e-03 8.84710660e+01] [ 2.64200472e-02 9.99650922e-01 -1.20747860e-04 3.35309976e+00] [ 5.84834750e-03 -3.37796137e-05 9.99982898e-01 3.30006755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299254154 meters 0.05421746480785728 Centerline is valid? [True, True] Translation: X:88.53, Y:3.34, Z:0.33 [[ 9.99418610e-01 -3.34358570e-02 -6.66981669e-03 8.85317646e+01] [ 3.34356836e-02 9.99440862e-01 -1.37541615e-04 3.34306006e+00] [ 6.67068616e-03 -8.55482303e-05 9.99977747e-01 3.29099419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359254154 meters 0.053972339791345476 Centerline is valid? [True, True] Translation: X:88.59, Y:3.34, Z:0.33 [[ 9.99148316e-01 -4.05949527e-02 -7.39542314e-03 8.85920747e+01] [ 4.05949357e-02 9.99175674e-01 -1.52466348e-04 3.33526600e+00] [ 7.39551626e-03 -1.47880233e-04 9.99972642e-01 3.28199021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters 0.054662569890209164 Centerline is valid? [True, True] Translation: X:88.65, Y:3.33, Z:0.33 [[ 9.98948710e-01 -4.53757105e-02 -6.52069315e-03 8.86530708e+01] [ 4.53757991e-02 9.98969979e-01 -1.34420429e-04 3.33328739e+00] [ 6.52007612e-03 -1.61602549e-04 9.99978731e-01 3.29040550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399999 meters 0.055473373464117626 Centerline is valid? [True, True] Translation: X:88.71, Y:3.32, Z:0.33 [[ 9.98896646e-01 -4.65359454e-02 -6.31632573e-03 8.87143755e+01] [ 4.65360522e-02 9.98916603e-01 -1.30140768e-04 3.32499963e+00] [ 6.31553886e-03 -1.63939687e-04 9.99980043e-01 3.29465059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399999 meters 0.05538741187287332 Centerline is valid? [True, True] Translation: X:88.78, Y:3.32, Z:0.33 [[ 9.98797236e-01 -4.87701436e-02 -5.05516135e-03 8.87753023e+01] [ 4.87702410e-02 9.98810018e-01 -1.04064890e-04 3.31931752e+00] [ 5.05422106e-03 -1.42601713e-04 9.99987217e-01 3.30290473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599254154 meters 0.05616897171656771 Centerline is valid? [True, True] Translation: X:88.84, Y:3.31, Z:0.33 [[ 9.98539941e-01 -5.37399694e-02 -5.47743774e-03 8.88350821e+01] [ 5.37401592e-02 9.98554947e-01 -1.12640574e-04 3.31110545e+00] [ 5.47557585e-03 -1.81882264e-04 9.99984992e-01 3.29774280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659254154 meters 0.05619284427818987 Centerline is valid? [True, True] Translation: X:88.90, Y:3.31, Z:0.33 [[ 9.98183354e-01 -5.97274841e-02 -7.91328282e-03 8.88958013e+01] [ 5.97280696e-02 9.98214672e-01 -1.62531815e-04 3.30882832e+00] [ 7.90886263e-03 -3.10408556e-04 9.99968676e-01 3.27811122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719254154 meters 0.053882785439235845 Centerline is valid? [True, True] Translation: X:88.96, Y:3.32, Z:0.33 [[ 9.97972979e-01 -6.30964314e-02 -8.29303268e-03 8.89557096e+01] [ 6.30971903e-02 9.98007372e-01 -1.70354623e-04 3.31849002e+00] [ 8.28725653e-03 -3.53257751e-04 9.99965598e-01 3.28693696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters 0.055957288873527855 Centerline is valid? [True, True] Translation: X:89.02, Y:3.31, Z:0.33 [[ 9.97906713e-01 -6.41802525e-02 -7.94281634e-03 8.90169965e+01] [ 6.41809843e-02 9.97938262e-01 -1.62976823e-04 3.30664776e+00] [ 7.93690023e-03 -3.47142106e-04 9.99968442e-01 3.28129393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters 0.053932139745142986 Centerline is valid? [True, True] Translation: X:89.08, Y:3.32, Z:0.33 [[ 9.97845178e-01 -6.50754863e-02 -8.37750829e-03 8.90784501e+01] [ 6.50763377e-02 9.97880274e-01 -1.71207965e-04 3.32440162e+00] [ 8.37089171e-03 -3.74338517e-04 9.99964893e-01 3.29600271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399999 meters 0.05553687404238519 Centerline is valid? [True, True] Translation: X:89.14, Y:3.31, Z:0.33 [[ 9.97919741e-01 -6.37370178e-02 -9.68416084e-03 8.91393069e+01] [ 6.37380983e-02 9.97966641e-01 -1.97333437e-04 3.31267134e+00] [ 9.67704690e-03 -4.20327062e-04 9.99953088e-01 3.28064534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399999 meters 0.05367871491638433 Centerline is valid? [True, True] Translation: X:89.20, Y:3.33, Z:0.33 [[ 9.98053506e-01 -6.18356677e-02 -8.09622254e-03 8.91999892e+01] [ 6.18363610e-02 9.98086287e-01 -1.64902883e-04 3.32942306e+00] [ 8.09092558e-03 -3.36059040e-04 9.99967211e-01 3.30360635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019254154 meters 0.05594985550532313 Centerline is valid? [True, True] Translation: X:89.26, Y:3.32, Z:0.33 [[ 9.98486263e-01 -5.45856450e-02 -6.75208808e-03 8.92602240e+01] [ 5.45859617e-02 9.98509065e-01 -1.37510031e-04 3.31805905e+00] [ 6.74952723e-03 -2.31267345e-04 9.99977195e-01 3.31573278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079254154 meters 0.0562162452291663 Centerline is valid? [True, True] Translation: X:89.32, Y:3.32, Z:0.33 [[ 9.99025105e-01 -4.38421855e-02 -5.16747852e-03 8.93205725e+01] [ 4.38422274e-02 9.99038462e-01 -1.05229608e-04 3.32222183e+00] [ 5.16712329e-03 -1.21426748e-04 9.99986643e-01 3.32972893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters 0.05594793129683905 Centerline is valid? [True, True] Translation: X:89.38, Y:3.34, Z:0.33 [[ 9.99494391e-01 -3.12227237e-02 -6.00866658e-03 8.93813246e+01] [ 3.12225525e-02 9.99512450e-01 -1.22325537e-04 3.33781664e+00] [ 6.00955639e-03 -6.53422195e-05 9.99981940e-01 3.32137348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters 0.055565030443446115 Centerline is valid? [True, True] Translation: X:89.44, Y:3.35, Z:0.33 [[ 9.99724557e-01 -2.23374139e-02 -7.20073486e-03 8.94425640e+01] [ 2.23369378e-02 9.99750489e-01 -1.46539885e-04 3.34851719e+00] [ 7.20221152e-03 -1.43428452e-05 9.99974064e-01 3.32793255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399999 meters 0.05578966637782725 Centerline is valid? [True, True] Translation: X:89.50, Y:3.36, Z:0.33 [[ 9.99904518e-01 -1.09783261e-02 -8.39228316e-03 8.95035833e+01] [ 1.09772802e-02 9.99939733e-01 -1.70674449e-04 3.35521451e+00] [ 8.39365110e-03 7.85337084e-05 9.99964770e-01 3.31687483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399999 meters 0.0555104857100618 Centerline is valid? [True, True] Translation: X:89.56, Y:3.36, Z:0.33 [[ 9.99949793e-01 -4.72000593e-03 -8.83927303e-03 8.95631217e+01] [ 4.71860103e-03 9.99988851e-01 -1.79786457e-04 3.36128959e+00] [ 8.84002307e-03 1.38068428e-04 9.99960917e-01 3.31444200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379254154 meters 0.055991243345620466 Centerline is valid? [True, True] Translation: X:89.62, Y:3.36, Z:0.33 [[ 9.99962551e-01 -3.22570182e-04 -8.64826307e-03 8.96234296e+01] [ 3.21060185e-04 9.99999933e-01 -1.75989028e-04 3.36191592e+00] [ 8.64831926e-03 1.73205824e-04 9.99962588e-01 3.32826548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439254154 meters 0.05553332773557445 Centerline is valid? [True, True] Translation: X:89.68, Y:3.37, Z:0.33 [[ 9.99966103e-01 7.76438561e-04 -8.19698079e-03 8.96820756e+01] [-7.77834636e-04 9.99999684e-01 -1.67129132e-04 3.36526937e+00] [ 8.19684843e-03 1.73499362e-04 9.99966390e-01 3.33478979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters 0.055563761823470025 Centerline is valid? [True, True] Translation: X:89.74, Y:3.35, Z:0.34 [[ 9.99939525e-01 -7.02926855e-03 -8.45789145e-03 8.97417552e+01] [ 7.02805856e-03 9.99975288e-01 -1.72774882e-04 3.35371137e+00] [ 8.45889692e-03 1.13321877e-04 9.99964216e-01 3.36490041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters 0.054836159693767615 Centerline is valid? [True, True] Translation: X:89.80, Y:3.35, Z:0.33 [[ 9.99701116e-01 -2.27313363e-02 -8.99810976e-03 8.98022051e+01] [ 2.27306022e-02 9.99741610e-01 -1.83853656e-04 3.34643525e+00] [ 8.99996398e-03 -2.07337488e-05 9.99959499e-01 3.34469024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399999 meters 0.05502819063253636 Centerline is valid? [True, True] Translation: X:89.86, Y:3.34, Z:0.34 [[ 9.99351121e-01 -3.46538709e-02 -9.82073407e-03 8.98629770e+01] [ 3.46535724e-02 9.99399364e-01 -2.00614388e-04 3.33838791e+00] [ 9.82178745e-03 -1.39839306e-04 9.99951755e-01 3.35447531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399999 meters 0.05500752413858074 Centerline is valid? [True, True] Translation: X:89.92, Y:3.33, Z:0.34 [[ 9.98689478e-01 -5.01248930e-02 -1.03354581e-02 8.99241977e+01] [ 5.01253907e-02 9.98742910e-01 -2.11044271e-04 3.32907185e+00] [ 1.03330441e-02 -3.07301182e-04 9.99946565e-01 3.36958969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739254154 meters 0.05682929150159223 Centerline is valid? [True, True] Translation: X:89.98, Y:3.32, Z:0.34 [[ 9.98092894e-01 -6.09195816e-02 -9.96892384e-03 8.99840096e+01] [ 6.09205827e-02 9.98142596e-01 -2.03496794e-04 3.31766251e+00] [ 9.96280445e-03 -4.04203945e-04 9.99950288e-01 3.37783233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799254154 meters 0.05963648156917626 Centerline is valid? [True, True] Translation: X:90.04, Y:3.30, Z:0.34 [[ 9.97663729e-01 -6.76655760e-02 -9.40495529e-03 9.00438179e+01] [ 6.76667671e-02 9.97707959e-01 -1.91870862e-04 3.30459931e+00] [ 9.39638181e-03 -4.44980320e-04 9.99955754e-01 3.37748945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859254154 meters 0.056866456194605064 Centerline is valid? [True, True] Translation: X:90.10, Y:3.31, Z:0.34 [[ 9.97402382e-01 -7.13678924e-02 -9.75252596e-03 9.01047909e+01] [ 7.13693508e-02 9.97449937e-01 -1.98848721e-04 3.31396872e+00] [ 9.74184782e-03 -4.97699258e-04 9.99952423e-01 3.39616195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters 0.06239690723190398 Centerline is valid? [True, True] Translation: X:90.17, Y:3.30, Z:0.34 [[ 9.97359833e-01 -7.16196285e-02 -1.19996938e-02 9.01660212e+01] [ 7.16218573e-02 9.97431827e-01 -2.44449859e-04 3.29602331e+00] [ 1.19863839e-02 -6.15635888e-04 9.99927971e-01 3.36103767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399999 meters 0.057251074420421114 Centerline is valid? [True, True] Translation: X:90.23, Y:3.31, Z:0.34 [[ 9.97455524e-01 -7.00112414e-02 -1.34500256e-02 9.02277484e+01] [ 7.00139009e-02 9.97545978e-01 -2.73608629e-04 3.31314447e+00] [ 1.34361746e-02 -6.68776321e-04 9.99909507e-01 3.37536303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399999 meters 0.05548595356842112 Centerline is valid? [True, True] Translation: X:90.29, Y:3.33, Z:0.34 [[ 9.97767243e-01 -6.50265982e-02 -1.52338426e-02 9.02880971e+01] [ 6.50294330e-02 9.97883298e-01 -3.09716656e-04 3.32764730e+00] [ 1.52217370e-02 -6.81623016e-04 9.99883910e-01 3.39383744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099254154 meters 0.055733844469023935 Centerline is valid? [True, True] Translation: X:90.35, Y:3.33, Z:0.34 [[ 9.98271630e-01 -5.66328828e-02 -1.56993168e-02 9.03472950e+01] [ 5.66348553e-02 9.98394907e-01 -3.19276904e-04 3.33340748e+00] [ 1.56921995e-02 -5.70403458e-04 9.99876707e-01 3.40446864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159254154 meters 0.0558243815141057 Centerline is valid? [True, True] Translation: X:90.41, Y:3.34, Z:0.34 [[ 9.98850141e-01 -4.57318049e-02 -1.43874150e-02 9.04071404e+01] [ 4.57323311e-02 9.98953687e-01 -2.92598576e-04 3.33893785e+00] [ 1.43857423e-02 -3.65707897e-04 9.99896453e-01 3.41151222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219254154 meters 0.05532768017459903 Centerline is valid? [True, True] Translation: X:90.47, Y:3.35, Z:0.34 [[ 9.99328423e-01 -3.43264089e-02 -1.28218470e-02 9.04663376e+01] [ 3.43258882e-02 9.99410659e-01 -2.60746472e-04 3.35123660e+00] [ 1.28232410e-02 -1.79549925e-04 9.99917763e-01 3.44177710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters 0.05542431110962648 Centerline is valid? [True, True] Translation: X:90.53, Y:3.36, Z:0.34 [[ 9.99530801e-01 -2.78706633e-02 -1.27045255e-02 9.05279113e+01] [ 2.78696341e-02 9.99611533e-01 -2.58084317e-04 3.35733598e+00] [ 1.27067832e-02 -9.61072524e-05 9.99919261e-01 3.44243963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399999 meters 0.05625027454055136 Centerline is valid? [True, True] Translation: X:90.59, Y:3.37, Z:0.35 [[ 9.99679987e-01 -2.15190465e-02 -1.32986253e-02 9.05891598e+01] [ 2.15173605e-02 9.99768438e-01 -2.69871009e-04 3.36632789e+00] [ 1.33013532e-02 -1.63666668e-05 9.99911533e-01 3.49899596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399999 meters 0.055966340129674885 Centerline is valid? [True, True] Translation: X:90.65, Y:3.37, Z:0.35 [[ 9.99716596e-01 -2.00219089e-02 -1.28783329e-02 9.06498632e+01] [ 2.00202062e-02 9.99799541e-01 -2.61133905e-04 3.36956832e+00] [ 1.28809797e-02 3.23301923e-06 9.99917037e-01 3.45009693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399999 meters 0.05569157535186519 Centerline is valid? [True, True] Translation: X:90.71, Y:3.37, Z:0.35 [[ 9.99717738e-01 -2.02043987e-02 -1.24990408e-02 9.07101281e+01] [ 2.02028107e-02 9.99795870e-01 -2.53311128e-04 3.37145801e+00] [ 1.25016074e-02 7.23872502e-07 9.99921852e-01 3.45277187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519254154 meters 0.055731573783350086 Centerline is valid? [True, True] Translation: X:90.77, Y:3.37, Z:0.35 [[ 9.99709594e-01 -2.07421892e-02 -1.22673973e-02 9.07712571e+01] [ 2.07407019e-02 9.99784858e-01 -2.48461728e-04 3.37315722e+00] [ 1.22699117e-02 -6.04485744e-06 9.99924722e-01 3.50477890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579254154 meters 0.05596611880893123 Centerline is valid? [True, True] Translation: X:90.83, Y:3.37, Z:0.35 [[ 9.99689044e-01 -2.16959933e-02 -1.22922248e-02 9.08322329e+01] [ 2.16945752e-02 9.99764614e-01 -2.48709112e-04 3.37262765e+00] [ 1.22947274e-02 -1.80428205e-05 9.99924417e-01 3.48619024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters 0.05620245212963174 Centerline is valid? [True, True] Translation: X:90.89, Y:3.37, Z:0.35 [[ 9.99602524e-01 -2.48124239e-02 -1.33842588e-02 9.08933444e+01] [ 2.48110263e-02 9.99692123e-01 -2.70479860e-04 3.36922398e+00] [ 1.33868493e-02 -6.17048464e-05 9.99910390e-01 3.48930688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters 0.056399637103983144 Centerline is valid? [True, True] Translation: X:90.95, Y:3.37, Z:0.35 [[ 9.99516272e-01 -2.79623771e-02 -1.36135358e-02 9.09547796e+01] [ 2.79612277e-02 9.99608971e-01 -2.74799328e-04 3.36521077e+00] [ 1.36158965e-02 -1.05984774e-04 9.99907294e-01 3.47278403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399999 meters 0.05629470477088168 Centerline is valid? [True, True] Translation: X:91.02, Y:3.36, Z:0.35 [[ 9.99387293e-01 -3.22853639e-02 -1.35164443e-02 9.10167500e+01] [ 3.22846400e-02 9.99478678e-01 -2.71803401e-04 3.36045520e+00] [ 1.35181731e-02 -1.64736673e-04 9.99908612e-01 3.49945727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399999 meters 0.05671183039037766 Centerline is valid? [True, True] Translation: X:91.08, Y:3.35, Z:0.35 [[ 9.99247211e-01 -3.68566018e-02 -1.21079761e-02 9.10776069e+01] [ 3.68563614e-02 9.99320544e-01 -2.43068603e-04 3.35438168e+00] [ 1.21087079e-02 -2.03370318e-04 9.99926666e-01 3.51395099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879254154 meters 0.05619591295305757 Centerline is valid? [True, True] Translation: X:91.14, Y:3.35, Z:0.35 [[ 9.99036545e-01 -4.22829847e-02 -1.17529278e-02 9.11384482e+01] [ 4.22831351e-02 9.99105641e-01 -2.35803772e-04 3.35294064e+00] [ 1.17523870e-02 -2.61374049e-04 9.99930904e-01 3.53405510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939254154 meters 0.05697355650426781 Centerline is valid? [True, True] Translation: X:91.20, Y:3.34, Z:0.35 [[ 9.98688004e-01 -4.95360393e-02 -1.29788495e-02 9.11979697e+01] [ 4.95368374e-02 9.98772263e-01 -2.60180341e-04 3.34348370e+00] [ 1.29758032e-02 -3.83092171e-04 9.99915737e-01 3.51264587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters 0.05847555823859539 Centerline is valid? [True, True] Translation: X:91.26, Y:3.34, Z:0.35 [[ 9.98380693e-01 -5.51656735e-02 -1.38830798e-02 9.12581263e+01] [ 5.51671311e-02 9.98477095e-01 -2.78241380e-04 3.33742926e+00] [ 1.38772866e-02 -4.88098864e-04 9.99903587e-01 3.50096698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters 0.0566455686417661 Centerline is valid? [True, True] Translation: X:91.32, Y:3.34, Z:0.35 [[ 9.97907127e-01 -6.31744826e-02 -1.37967276e-02 9.13187244e+01] [ 6.31766862e-02 9.98002320e-01 -2.76491926e-04 3.34219496e+00] [ 1.37866334e-02 -5.95718269e-04 9.99904782e-01 3.52611882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399999 meters 0.05595750159861853 Centerline is valid? [True, True] Translation: X:91.38, Y:3.34, Z:0.35 [[ 9.97567642e-01 -6.83790603e-02 -1.35315530e-02 9.13793732e+01] [ 6.83816579e-02 9.97659198e-01 -2.71156337e-04 3.34428162e+00] [ 1.35184197e-02 -6.54813240e-04 9.99908408e-01 3.53722326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399999 meters 0.058637893729734776 Centerline is valid? [True, True] Translation: X:91.44, Y:3.33, Z:0.35 [[ 9.97595831e-01 -6.80762721e-02 -1.29684070e-02 9.14406912e+01] [ 6.80786400e-02 9.97679924e-01 -2.59294545e-04 3.33170104e+00] [ 1.29559711e-02 -6.24200354e-04 9.99915873e-01 3.51814911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239254154 meters 0.05787215963400202 Centerline is valid? [True, True] Translation: X:91.50, Y:3.34, Z:0.35 [[ 9.97731802e-01 -6.61606047e-02 -1.24106843e-02 9.15016123e+01] [ 6.61626294e-02 9.97808822e-01 -2.47816590e-04 3.33998116e+00] [ 1.23998860e-02 -5.73869014e-04 9.99922954e-01 3.53027464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299254154 meters 0.056589110820684255 Centerline is valid? [True, True] Translation: X:91.56, Y:3.35, Z:0.35 [[ 9.97847434e-01 -6.43603800e-02 -1.25793263e-02 9.15620202e+01] [ 6.43623179e-02 9.97926565e-01 -2.51142732e-04 3.34838235e+00] [ 1.25694076e-02 -5.59032469e-04 9.99920846e-01 3.54151255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359254154 meters 0.0563344834565211 Centerline is valid? [True, True] Translation: X:91.62, Y:3.35, Z:0.35 [[ 9.97943881e-01 -6.27358788e-02 -1.31232581e-02 9.16235731e+01] [ 6.27378505e-02 9.98030006e-01 -2.61789178e-04 3.35226138e+00] [ 1.31138290e-02 -5.62074098e-04 9.99913852e-01 3.54165202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters 0.057608502094653534 Centerline is valid? [True, True] Translation: X:91.68, Y:3.35, Z:0.35 [[ 9.98057555e-01 -6.08163641e-02 -1.35087444e-02 9.16834770e+01] [ 6.08182790e-02 9.98148819e-01 -2.69384874e-04 3.35147748e+00] [ 1.35001203e-02 -5.52716979e-04 9.99908716e-01 3.52781582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399999 meters 0.05636528463710241 Centerline is valid? [True, True] Translation: X:91.74, Y:3.37, Z:0.35 [[ 9.98417130e-01 -5.49199935e-02 -1.21255602e-02 9.17434239e+01] [ 5.49211019e-02 9.98490668e-01 -2.41806870e-04 3.36532583e+00] [ 1.21205388e-02 -4.24525007e-04 9.99926453e-01 3.54510800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399999 meters 0.056153179614595636 Centerline is valid? [True, True] Translation: X:91.80, Y:3.37, Z:0.35 [[ 9.98778002e-01 -4.82430992e-02 -1.07287104e-02 9.18028452e+01] [ 4.82435818e-02 9.98835578e-01 -2.13965164e-04 3.36934147e+00] [ 1.07265400e-02 -3.03887722e-04 9.99942423e-01 3.54892595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599254154 meters 0.057046396567256095 Centerline is valid? [True, True] Translation: X:91.86, Y:3.37, Z:0.35 [[ 9.99242602e-01 -3.77832584e-02 -9.30842849e-03 9.18625485e+01] [ 3.77831675e-02 9.99285944e-01 -1.85686163e-04 3.37399589e+00] [ 9.30879758e-03 -1.66156388e-04 9.99956658e-01 3.54367386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659254154 meters 0.05605042714548492 Centerline is valid? [True, True] Translation: X:91.92, Y:3.39, Z:0.35 [[ 9.99455294e-01 -3.14364793e-02 -1.00430531e-02 9.19233772e+01] [ 3.14360531e-02 9.99505745e-01 -2.00325971e-04 3.38641305e+00] [ 1.00443868e-02 -1.15497098e-04 9.99949547e-01 3.54905429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719254154 meters 0.05615090869677243 Centerline is valid? [True, True] Translation: X:91.99, Y:3.39, Z:0.35 [[ 9.99477480e-01 -3.01864871e-02 -1.15560749e-02 9.19856535e+01] [ 3.01858433e-02 9.99544277e-01 -2.30167632e-04 3.39050892e+00] [ 1.15577565e-02 -1.18782501e-04 9.99933200e-01 3.53724375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters 0.055668805329633815 Centerline is valid? [True, True] Translation: X:92.05, Y:3.39, Z:0.35 [[ 9.99411454e-01 -3.27503904e-02 -1.02057573e-02 9.20468166e+01] [ 3.27500249e-02 9.99463553e-01 -2.02983679e-04 3.38992277e+00] [ 1.02069303e-02 -1.31374593e-04 9.99947899e-01 3.52929326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399999 meters 0.05613882652033401 Centerline is valid? [True, True] Translation: X:92.11, Y:3.39, Z:0.35 [[ 9.99377797e-01 -3.41937763e-02 -8.64896365e-03 9.21085613e+01] [ 3.41935697e-02 9.99415214e-01 -1.71797189e-04 3.39115706e+00] [ 8.64978025e-03 -1.24048646e-04 9.99962582e-01 3.54090831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399999 meters 0.05586137637032682 Centerline is valid? [True, True] Translation: X:92.17, Y:3.40, Z:0.36 [[ 9.99355550e-01 -3.51713537e-02 -7.17363744e-03 9.21707205e+01] [ 3.51712382e-02 9.99381290e-01 -1.42291654e-04 3.39612034e+00] [ 7.17420364e-03 -1.10105757e-04 9.99974259e-01 3.55098657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399999 meters 0.05641406080517293 Centerline is valid? [True, True] Translation: X:92.23, Y:3.40, Z:0.35 [[ 9.99266734e-01 -3.75808350e-02 -7.32638561e-03 9.22314359e+01] [ 3.75807806e-02 9.99293582e-01 -1.45142693e-04 3.39595939e+00] [ 7.32666471e-03 -1.30295025e-04 9.99973151e-01 3.54746314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019254154 meters 0.05527824401688475 Centerline is valid? [True, True] Translation: X:92.29, Y:3.40, Z:0.36 [[ 9.99082050e-01 -4.22636843e-02 -6.98848519e-03 9.22927142e+01] [ 4.22637500e-02 9.99106479e-01 -1.38343022e-04 3.40362067e+00] [ 6.98808772e-03 -1.57143561e-04 9.99975571e-01 3.55594464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079254154 meters 0.05523660669606471 Centerline is valid? [True, True] Translation: X:92.35, Y:3.40, Z:0.36 [[ 9.98922148e-01 -4.58077026e-02 -7.49645081e-03 9.23539046e+01] [ 4.58078789e-02 9.98950257e-01 -1.48278724e-04 3.40135447e+00] [ 7.49537377e-03 -1.95277609e-04 9.99971890e-01 3.55143297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters 0.05778443157006911 Centerline is valid? [True, True] Translation: X:92.41, Y:3.40, Z:0.35 [[ 9.98883046e-01 -4.64856730e-02 -8.47014956e-03 9.24148867e+01] [ 4.64859238e-02 9.98918931e-01 -1.67365311e-04 3.39702729e+00] [ 8.46877284e-03 -2.26564356e-04 9.99964114e-01 3.53775853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters 0.05648373292083133 Centerline is valid? [True, True] Translation: X:92.48, Y:3.40, Z:0.36 [[ 9.98994482e-01 -4.43969665e-02 -6.23971653e-03 9.24759870e+01] [ 4.43970628e-02 9.99013957e-01 -1.23152009e-04 3.40395500e+00] [ 6.23903148e-03 -1.53996909e-04 9.99980525e-01 3.55929362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399999 meters 0.05636721376767665 Centerline is valid? [True, True] Translation: X:92.54, Y:3.41, Z:0.36 [[ 9.99082024e-01 -4.24928000e-02 -5.42879821e-03 9.25369549e+01] [ 4.24928455e-02 9.99096765e-01 -1.07013871e-04 3.40676044e+00] [ 5.42844205e-03 -1.23769449e-04 9.99985258e-01 3.56397263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399999 meters 0.05535531434985875 Centerline is valid? [True, True] Translation: X:92.60, Y:3.41, Z:0.36 [[ 9.99180590e-01 -4.00265271e-02 -6.00220016e-03 9.25982698e+01] [ 4.00265390e-02 9.99198610e-01 -1.18204725e-04 3.41341275e+00] [ 6.00212138e-03 -1.22139432e-04 9.99981980e-01 3.56091109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379254154 meters 0.054916203569882555 Centerline is valid? [True, True] Translation: X:92.66, Y:3.42, Z:0.35 [[ 9.99205241e-01 -3.91212231e-02 -7.64302253e-03 9.26603005e+01] [ 3.91212176e-02 9.99234461e-01 -1.50285396e-04 3.42394585e+00] [ 7.64305085e-03 -1.48838392e-04 9.99970780e-01 3.54897308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439254154 meters 0.05453865262393409 Centerline is valid? [True, True] Translation: X:92.72, Y:3.43, Z:0.35 [[ 9.99189863e-01 -3.89656113e-02 -1.00647302e-02 9.27226860e+01] [ 3.89655976e-02 9.99240533e-01 -1.97532293e-04 3.42778429e+00] [ 1.00647834e-02 -1.94805963e-04 9.99949330e-01 3.54327559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters 0.05510836147894525 Centerline is valid? [True, True] Translation: X:92.78, Y:3.43, Z:0.35 [[ 9.99190680e-01 -3.84172885e-02 -1.19204743e-02 9.27838907e+01] [ 3.84172344e-02 9.99261758e-01 -2.33603469e-04 3.42845704e+00] [ 1.19206485e-02 -2.24537245e-04 9.99928921e-01 3.53227580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters 0.0544385420711694 Centerline is valid? [True, True] Translation: X:92.85, Y:3.43, Z:0.36 [[ 9.99235007e-01 -3.79049255e-02 -9.62376888e-03 9.28463120e+01] [ 3.79048690e-02 9.99281334e-01 -1.88333563e-04 3.43352552e+00] [ 9.62399138e-03 -1.76598209e-04 9.99953673e-01 3.55002316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399999 meters 0.057067335842944066 Centerline is valid? [True, True] Translation: X:92.91, Y:3.42, Z:0.35 [[ 9.99305934e-01 -3.59659490e-02 -9.70057649e-03 9.29083060e+01] [ 3.59658034e-02 9.99353003e-01 -1.89522892e-04 3.42427609e+00] [ 9.70111661e-03 -1.59497676e-04 9.99952930e-01 3.53072128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399999 meters 0.054780359750242695 Centerline is valid? [True, True] Translation: X:92.97, Y:3.44, Z:0.36 [[ 9.99325935e-01 -3.63947708e-02 -4.80585728e-03 9.29697464e+01] [ 3.63947404e-02 9.99337488e-01 -9.37996561e-05 3.44165623e+00] [ 4.80608715e-03 -8.11714991e-05 9.99988447e-01 3.58316967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739254154 meters 0.05562612257170387 Centerline is valid? [True, True] Translation: X:93.03, Y:3.44, Z:0.36 [[ 9.99226186e-01 -3.91217233e-02 -4.06436700e-03 9.30302791e+01] [ 3.91217247e-02 9.99234449e-01 -7.92062506e-05 3.43927266e+00] [ 4.06435421e-03 -7.98600871e-05 9.99991737e-01 3.58723911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799254154 meters 0.05440428952765306 Centerline is valid? [True, True] Translation: X:93.09, Y:3.44, Z:0.36 [[ 9.98903591e-01 -4.64505838e-02 -5.82752990e-03 9.30910430e+01] [ 4.64507118e-02 9.98920577e-01 -1.13457306e-04 3.43856022e+00] [ 5.82650968e-03 -1.57360001e-04 9.99983013e-01 3.58130763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859254154 meters 0.05296581213215135 Centerline is valid? [True, True] Translation: X:93.15, Y:3.45, Z:0.36 [[ 9.98489705e-01 -5.45076877e-02 -6.87175864e-03 9.31516101e+01] [ 5.45080567e-02 9.98513322e-01 -1.33705142e-04 3.44534646e+00] [ 6.86883050e-03 -2.41063001e-04 9.99976380e-01 3.56624052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters 0.054268128816386395 Centerline is valid? [True, True] Translation: X:93.21, Y:3.44, Z:0.36 [[ 9.98288073e-01 -5.77457224e-02 -9.29272427e-03 9.32113310e+01] [ 5.77465374e-02 9.98331260e-01 -1.80822354e-04 3.44083421e+00] [ 9.28765884e-03 -3.56109850e-04 9.99956805e-01 3.55355916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399999 meters 0.053510216754605815 Centerline is valid? [True, True] Translation: X:93.27, Y:3.45, Z:0.36 [[ 9.98498029e-01 -5.40950447e-02 -8.68406216e-03 9.32717272e+01] [ 5.40956182e-02 9.98535746e-01 -1.69002389e-04 3.44572134e+00] [ 8.68048868e-03 -3.01021159e-04 9.99962279e-01 3.55551346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399999 meters 0.054163948624105354 Centerline is valid? [True, True] Translation: X:93.33, Y:3.45, Z:0.36 [[ 9.98910730e-01 -4.62775920e-02 -5.97814554e-03 9.33326940e+01] [ 4.62777240e-02 9.98928605e-01 -1.16321705e-04 3.45160373e+00] [ 5.97712367e-03 -1.60459970e-04 9.99982124e-01 3.57055027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099254154 meters 0.05591055667351607 Centerline is valid? [True, True] Translation: X:93.39, Y:3.44, Z:0.36 [[ 9.99130489e-01 -4.13269087e-02 -5.50922930e-03 9.33919850e+01] [ 4.13269457e-02 9.99145671e-01 -1.07172780e-04 3.44280719e+00] [ 5.50895173e-03 -1.20600028e-04 9.99984818e-01 3.58152751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159254154 meters 0.05543044386271634 Centerline is valid? [True, True] Translation: X:93.45, Y:3.45, Z:0.36 [[ 9.99301308e-01 -3.71889161e-02 -3.72568663e-03 9.34521504e+01] [ 3.71889042e-02 9.99308251e-01 -7.24956743e-05 3.45087906e+00] [ 3.72580543e-03 -6.61091814e-05 9.99993057e-01 3.59253334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219254154 meters 0.055164735226925186 Centerline is valid? [True, True] Translation: X:93.51, Y:3.46, Z:0.36 [[ 9.99510386e-01 -3.10409539e-02 -3.93037516e-03 9.35124525e+01] [ 3.10408932e-02 9.99518112e-01 -7.64475922e-05 3.45500348e+00] [ 3.93085416e-03 -4.55921933e-05 9.99992273e-01 3.58575392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters 0.05484677943105768 Centerline is valid? [True, True] Translation: X:93.57, Y:3.46, Z:0.36 [[ 9.99669435e-01 -2.51234781e-02 -5.46187577e-03 9.35734385e+01] [ 2.51232730e-02 9.99684355e-01 -1.06160553e-04 3.45901072e+00] [ 5.46281887e-03 -3.10947357e-05 9.99985078e-01 3.56834689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399999 meters 0.05456775848380096 Centerline is valid? [True, True] Translation: X:93.64, Y:3.46, Z:0.36 [[ 9.99755538e-01 -2.14510008e-02 -5.35902397e-03 9.36355853e+01] [ 2.14507515e-02 9.99769901e-01 -1.04015701e-04 3.46315574e+00] [ 5.36002211e-03 -1.09648178e-05 9.99985635e-01 3.56592600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399999 meters 0.05507896455622289 Centerline is valid? [True, True] Translation: X:93.70, Y:3.46, Z:0.36 [[ 9.99841555e-01 -1.65874618e-02 -6.45919694e-03 9.36972020e+01] [ 1.65869997e-02 9.99862418e-01 -1.25111721e-04 3.46383058e+00] [ 6.46038356e-03 1.79531999e-05 9.99979131e-01 3.56260455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399999 meters 0.05465429351841661 Centerline is valid? [True, True] Translation: X:93.76, Y:3.46, Z:0.36 [[ 9.99871363e-01 -1.46389845e-02 -6.55417527e-03 9.37587179e+01] [ 1.46384680e-02 9.99892844e-01 -1.26771391e-04 3.46406216e+00] [ 6.55532876e-03 3.08119980e-05 9.99978513e-01 3.56096085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519254154 meters 0.05492313073636215 Centerline is valid? [True, True] Translation: X:93.82, Y:3.46, Z:0.36 [[ 9.99862558e-01 -1.58470573e-02 -4.87188003e-03 9.38208038e+01] [ 1.58467868e-02 9.99874427e-01 -9.41130509e-05 3.46140083e+00] [ 4.87275967e-03 1.68964714e-05 9.99988128e-01 3.57251693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579254154 meters 0.055013930507101065 Centerline is valid? [True, True] Translation: X:93.88, Y:3.46, Z:0.36 [[ 9.99829493e-01 -1.77832028e-02 -4.97428589e-03 9.38822233e+01] [ 1.77829459e-02 9.99841866e-01 -9.58687758e-05 3.45927521e+00] [ 4.97520414e-03 7.39497241e-06 9.99987624e-01 3.57833815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters 0.05531576325599474 Centerline is valid? [True, True] Translation: X:93.94, Y:3.45, Z:0.36 [[ 9.99730771e-01 -2.29829980e-02 -3.18856881e-03 9.39444782e+01] [ 2.29829196e-02 9.99735856e-01 -6.12344899e-05 3.45455657e+00] [ 3.18913392e-03 -1.20646166e-05 9.99994915e-01 3.58617242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters 0.05492540628848666 Centerline is valid? [True, True] Translation: X:94.01, Y:3.45, Z:0.36 [[ 9.99538502e-01 -3.00182345e-02 -4.65704166e-03 9.40054367e+01] [ 3.00181447e-02 9.99549350e-01 -8.92148937e-05 3.44524388e+00] [ 4.65762104e-03 -5.06220290e-05 9.99989152e-01 3.57587160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399999 meters 0.0553950804605042 Centerline is valid? [True, True] Translation: X:94.07, Y:3.44, Z:0.36 [[ 9.99295914e-01 -3.70723322e-02 -5.77215742e-03 9.40663541e+01] [ 3.70723122e-02 9.99312579e-01 -1.10499935e-04 3.43968928e+00] [ 5.77228602e-03 -1.03565089e-04 9.99983335e-01 3.56082739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399999 meters 0.05585547996424957 Centerline is valid? [True, True] Translation: X:94.13, Y:3.44, Z:0.36 [[ 9.99160680e-01 -4.05132554e-02 -6.05080444e-03 9.41271082e+01] [ 4.05132966e-02 9.99178993e-01 -1.15808975e-04 3.44022340e+00] [ 6.05052849e-03 -1.29426261e-04 9.99981687e-01 3.56684541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879254154 meters 0.05492572253203068 Centerline is valid? [True, True] Translation: X:94.19, Y:3.44, Z:0.36 [[ 9.99175786e-01 -4.01059814e-02 -6.26570356e-03 9.41895617e+01] [ 4.01060184e-02 9.99195423e-01 -1.19796457e-04 3.44178231e+00] [ 6.26546687e-03 -1.31594703e-04 9.99980363e-01 3.57489377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939254154 meters 0.05574977806553734 Centerline is valid? [True, True] Translation: X:94.25, Y:3.44, Z:0.36 [[ 9.99319517e-01 -3.65895947e-02 -4.65879920e-03 9.42502517e+01] [ 3.65895775e-02 9.99330373e-01 -8.89440001e-05 3.43610359e+00] [ 4.65893397e-03 -8.15800193e-05 9.99989144e-01 3.58303255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters 0.05490275423755612 Centerline is valid? [True, True] Translation: X:94.31, Y:3.44, Z:0.36 [[ 9.99463581e-01 -3.24734238e-02 -4.24577882e-03 9.43119290e+01] [ 3.24733727e-02 9.99472598e-01 -8.09939475e-05 3.44235329e+00] [ 4.24616974e-03 -5.69242572e-05 9.99990983e-01 3.59177039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters 0.05569452806303758 Centerline is valid? [True, True] Translation: X:94.37, Y:3.44, Z:0.36 [[ 9.99525817e-01 -3.00809529e-02 -6.57855214e-03 9.43745115e+01] [ 3.00807801e-02 9.99547463e-01 -1.25238920e-04 3.44101714e+00] [ 6.57934241e-03 -7.27084466e-05 9.99978353e-01 3.57872085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399999 meters 0.05491899386283595 Centerline is valid? [True, True] Translation: X:94.44, Y:3.44, Z:0.36 [[ 9.99512986e-01 -3.01640203e-02 -7.99520256e-03 9.44371536e+01] [ 3.01637707e-02 9.99544958e-01 -1.51834165e-04 3.44258323e+00] [ 7.99614434e-03 -8.94052367e-05 9.99968026e-01 3.57074408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399999 meters 0.05493274672491942 Centerline is valid? [True, True] Translation: X:94.50, Y:3.44, Z:0.36 [[ 9.99465400e-01 -3.09219079e-02 -1.06183967e-02 9.44989209e+01] [ 3.09215150e-02 9.99521795e-01 -2.01215904e-04 3.44417177e+00] [ 1.06195409e-02 -1.27228578e-04 9.99943603e-01 3.57975672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239254154 meters 0.055107389121573716 Centerline is valid? [True, True] Translation: X:94.56, Y:3.45, Z:0.36 [[ 9.99452216e-01 -3.11757162e-02 -1.11059450e-02 9.45601129e+01] [ 3.11753055e-02 9.99513910e-01 -2.10138191e-04 3.44543882e+00] [ 1.11070978e-02 -1.36208149e-04 9.99938305e-01 3.59116821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299254154 meters 0.05467238595361015 Centerline is valid? [True, True] Translation: X:94.62, Y:3.45, Z:0.36 [[ 9.99401135e-01 -3.32003724e-02 -9.75221238e-03 9.46211610e+01] [ 3.32001544e-02 9.99448706e-01 -1.84296356e-04 3.44501664e+00] [ 9.75295475e-03 -1.39588969e-04 9.99952429e-01 3.60755906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359254154 meters 0.05620592736049025 Centerline is valid? [True, True] Translation: X:94.68, Y:3.44, Z:0.36 [[ 9.99274250e-01 -3.72252788e-02 -8.07781209e-03 9.46820356e+01] [ 3.72252615e-02 9.99306888e-01 -1.52541104e-04 3.44390729e+00] [ 8.07789165e-03 -1.48268270e-04 9.99967362e-01 3.62399164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters 0.05572618462283735 Centerline is valid? [True, True] Translation: X:94.74, Y:3.45, Z:0.36 [[ 9.99137724e-01 -4.08142599e-02 -7.61608142e-03 9.47430822e+01] [ 4.08143492e-02 9.99166737e-01 -1.43762222e-04 3.44513169e+00] [ 7.61560276e-03 -1.67207147e-04 9.99970987e-01 3.64310439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399999 meters 0.05654685448377362 Centerline is valid? [True, True] Translation: X:94.80, Y:3.43, Z:0.36 [[ 9.98768790e-01 -4.90070832e-02 -7.69476081e-03 9.48033382e+01] [ 4.90074175e-02 9.98798404e-01 -1.45214174e-04 3.43367630e+00] [ 7.69263134e-03 -2.32064971e-04 9.99970384e-01 3.64914776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399999 meters 0.05450689512844572 Centerline is valid? [True, True] Translation: X:94.86, Y:3.44, Z:0.37 [[ 9.98544050e-01 -5.33735132e-02 -7.81331034e-03 9.48631549e+01] [ 5.33739912e-02 9.98574582e-01 -1.47476645e-04 3.44365748e+00] [ 7.81004445e-03 -2.69765631e-04 9.99969465e-01 3.65965114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599254154 meters 0.055649139541995955 Centerline is valid? [True, True] Translation: X:94.92, Y:3.44, Z:0.36 [[ 9.98326750e-01 -5.70883351e-02 -9.19908343e-03 9.49232591e+01] [ 5.70891545e-02 9.98369069e-01 -1.73699596e-04 3.43819443e+00] [ 9.19399659e-03 -3.51758943e-04 9.99957672e-01 3.64926739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659254154 meters 0.05667446618111692 Centerline is valid? [True, True] Translation: X:94.98, Y:3.44, Z:0.37 [[ 9.98422675e-01 -5.53047403e-02 -9.67198622e-03 9.49836941e+01] [ 5.53055628e-02 9.98469459e-01 -1.82611667e-04 3.43630684e+00] [ 9.66728214e-03 -3.52591013e-04 9.99953209e-01 3.65017132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719254154 meters 0.05493013532040366 Centerline is valid? [True, True] Translation: X:95.04, Y:3.45, Z:0.37 [[ 9.98631644e-01 -5.13788835e-02 -9.74930580e-03 9.50436924e+01] [ 5.13795326e-02 9.98679183e-01 -1.84037193e-04 3.44631310e+00] [ 9.74588437e-03 -3.17129410e-04 9.99952457e-01 3.66583887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters 0.055298175021386696 Centerline is valid? [True, True] Translation: X:95.10, Y:3.45, Z:0.37 [[ 9.99028456e-01 -4.31417783e-02 -8.99614278e-03 9.51028319e+01] [ 4.31419969e-02 9.99068936e-01 -1.69847536e-04 3.44637456e+00] [ 8.99509432e-03 -2.18429042e-04 9.99959519e-01 3.65773679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399999 meters 0.055632751202547626 Centerline is valid? [True, True] Translation: X:95.16, Y:3.45, Z:0.37 [[ 9.99361027e-01 -3.48698029e-02 -7.85078885e-03 9.51631104e+01] [ 3.48697140e-02 9.99391856e-01 -1.48245942e-04 3.45376159e+00] [ 7.85118374e-03 -1.25603546e-04 9.99969171e-01 3.66595556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399999 meters 0.05525519237492999 Centerline is valid? [True, True] Translation: X:95.22, Y:3.46, Z:0.37 [[ 9.99594064e-01 -2.77765416e-02 -6.33808066e-03 9.52242996e+01] [ 2.77763413e-02 9.99614156e-01 -1.19645995e-04 3.46011873e+00] [ 6.33895850e-03 -5.64512652e-05 9.99979907e-01 3.67154983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399999 meters 0.05562545749840868 Centerline is valid? [True, True] Translation: X:95.28, Y:3.47, Z:0.37 [[ 9.99756608e-01 -2.13969328e-02 -5.37559133e-03 9.52849202e+01] [ 2.13966970e-02 9.99771059e-01 -1.01390327e-04 3.46648263e+00] [ 5.37653008e-03 -1.36542488e-05 9.99985546e-01 3.67057591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019254154 meters 0.055807084470987395 Centerline is valid? [True, True] Translation: X:95.35, Y:3.47, Z:0.37 [[ 9.99837312e-01 -1.70977059e-02 -5.74607641e-03 9.53468637e+01] [ 1.70973663e-02 9.99853823e-01 -1.08222483e-04 3.47190222e+00] [ 5.74708683e-03 9.96210397e-06 9.99983485e-01 3.66967673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079254154 meters 0.05594858101323187 Centerline is valid? [True, True] Translation: X:95.41, Y:3.48, Z:0.37 [[ 9.99897184e-01 -1.30765919e-02 -5.88422055e-03 9.54083224e+01] [ 1.30761671e-02 9.99914497e-01 -1.10669089e-04 3.47660150e+00] [ 5.88516461e-03 3.37146591e-05 9.99982682e-01 3.66997926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters 0.05562317566764669 Centerline is valid? [True, True] Translation: X:95.47, Y:3.48, Z:0.37 [[ 9.99957069e-01 -8.12244719e-03 -4.45948430e-03 9.54695890e+01] [ 8.12215415e-03 9.99967011e-01 -8.38183878e-05 3.47599043e+00] [ 4.46001800e-03 4.75941704e-05 9.99990053e-01 3.67739125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399999 meters 0.05595496595944423 Centerline is valid? [True, True] Translation: X:95.53, Y:3.48, Z:0.37 [[ 9.99971748e-01 -6.56606935e-03 -3.65914930e-03 9.55299591e+01] [ 6.56586182e-03 9.99978442e-01 -6.87245980e-05 3.47993373e+00] [ 3.65952167e-03 4.46971877e-05 9.99993303e-01 3.68645469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399999 meters 0.05546366536017512 Centerline is valid? [True, True] Translation: X:95.59, Y:3.47, Z:0.37 [[ 9.99960063e-01 -8.23798091e-03 -3.46521495e-03 9.55911815e+01] [ 8.23780492e-03 9.99966067e-01 -6.50598812e-05 3.47381079e+00] [ 3.46563333e-03 3.65115181e-05 9.99993994e-01 3.68377032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399999 meters 0.05574389632665776 Centerline is valid? [True, True] Translation: X:95.65, Y:3.47, Z:0.37 [[ 9.99885322e-01 -1.47164991e-02 -3.57325126e-03 9.56522348e+01] [ 1.47163536e-02 9.99891706e-01 -6.70263252e-05 3.46788970e+00] [ 3.57385070e-03 1.44334097e-05 9.99993614e-01 3.67759240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379254154 meters 0.056134632387309445 Centerline is valid? [True, True] Translation: X:95.72, Y:3.46, Z:0.37 [[ 9.99724312e-01 -2.32365843e-02 -3.37058386e-03 9.57153099e+01] [ 2.32365029e-02 9.99729994e-01 -6.33120254e-05 3.45917229e+00] [ 3.37114494e-03 -1.50260107e-05 9.99994318e-01 3.67702622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439254154 meters 0.055919296359975446 Centerline is valid? [True, True] Translation: X:95.78, Y:3.45, Z:0.37 [[ 9.99466279e-01 -3.25287250e-02 -3.00637617e-03 9.57756574e+01] [ 3.25287037e-02 9.99470800e-01 -5.59980493e-05 3.44872055e+00] [ 3.00660674e-03 -4.18253576e-05 9.99995479e-01 3.67332576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters 0.05562200346129548 Centerline is valid? [True, True] Translation: X:95.84, Y:3.45, Z:0.37 [[ 9.99274284e-01 -3.79581093e-02 -3.17589820e-03 9.58360274e+01] [ 3.79581129e-02 9.99279329e-01 -5.91618118e-05 3.44504804e+00] [ 3.17585509e-03 -6.14322252e-05 9.99994955e-01 3.66202268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters 0.057788449207244005 Centerline is valid? [True, True] Translation: X:95.90, Y:3.43, Z:0.37 [[ 9.99051920e-01 -4.33671939e-02 -3.81424584e-03 9.58955793e+01] [ 4.33672387e-02 9.99059196e-01 -7.10152832e-05 3.43051565e+00] [ 3.81373712e-03 -9.44653547e-05 9.99992723e-01 3.66168838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399999 meters 0.05670115753777293 Centerline is valid? [True, True] Translation: X:95.96, Y:3.43, Z:0.37 [[ 9.98877070e-01 -4.72860592e-02 -2.93734209e-03 9.59558603e+01] [ 4.72861027e-02 9.98881385e-01 -5.46861383e-05 3.42941539e+00] [ 2.93664223e-03 -8.42707301e-05 9.99995685e-01 3.66667287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399999 meters 0.05846837860021191 Centerline is valid? [True, True] Translation: X:96.02, Y:3.42, Z:0.37 [[ 9.98696125e-01 -5.09861595e-02 -2.54179997e-03 9.60154823e+01] [ 5.09862041e-02 9.98699357e-01 -4.73072580e-05 3.41891181e+00] [ 2.54090601e-03 -8.23511569e-05 9.99996768e-01 3.66701702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739254154 meters 0.06129320545335981 Centerline is valid? [True, True] Translation: X:96.08, Y:3.41, Z:0.37 [[ 9.98489003e-01 -5.48777347e-02 -2.85381398e-03 9.60766126e+01] [ 5.48778067e-02 9.98493076e-01 -5.31429194e-05 3.40909917e+00] [ 2.85242987e-03 -1.03548431e-04 9.99995926e-01 3.66254778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799254154 meters 0.05568607537847978 Centerline is valid? [True, True] Translation: X:96.14, Y:3.43, Z:0.36 [[ 9.98362191e-01 -5.71503144e-02 -2.60315415e-03 9.61374754e+01] [ 5.71503820e-02 9.98365580e-01 -4.84925044e-05 3.43400194e+00] [ 2.60167087e-03 -1.00358171e-04 9.99996611e-01 3.64859871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859254154 meters 0.05587937938111847 Centerline is valid? [True, True] Translation: X:96.20, Y:3.43, Z:0.36 [[ 9.98211523e-01 -5.96627831e-02 -3.75593834e-03 9.61973091e+01] [ 5.96629418e-02 9.98218578e-01 -6.98790606e-05 3.43095218e+00] [ 3.75341661e-03 -1.54336247e-04 9.99992944e-01 3.64263029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters 0.057185849503213634 Centerline is valid? [True, True] Translation: X:96.26, Y:3.42, Z:0.36 [[ 9.98110076e-01 -6.12602609e-02 -4.84320481e-03 9.62571599e+01] [ 6.12605444e-02 9.98121805e-01 -8.99283012e-05 3.42103487e+00] [ 4.83961736e-03 -2.06939020e-04 9.99988268e-01 3.63772955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399999 meters 0.05641656650009264 Centerline is valid? [True, True] Translation: X:96.32, Y:3.43, Z:0.36 [[ 9.98140028e-01 -6.07123076e-02 -5.52274648e-03 9.63188000e+01] [ 6.07126692e-02 9.98155279e-01 -1.02312942e-04 3.43111656e+00] [ 5.51877021e-03 -2.33178036e-04 9.99984744e-01 3.63261753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399999 meters 0.05791439834684461 Centerline is valid? [True, True] Translation: X:96.38, Y:3.43, Z:0.36 [[ 9.98237739e-01 -5.90733558e-02 -5.63523159e-03 9.63794595e+01] [ 5.90737072e-02 9.98253618e-01 -1.04212921e-04 3.42619866e+00] [ 5.63154653e-03 -2.28864750e-04 9.99984117e-01 3.63603028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099254154 meters 0.05501371127943976 Centerline is valid? [True, True] Translation: X:96.44, Y:3.44, Z:0.36 [[ 9.98470292e-01 -5.51956838e-02 -3.24229244e-03 9.64396339e+01] [ 5.51957798e-02 9.98475549e-01 -5.99249925e-05 3.44327852e+00] [ 3.24065733e-03 -1.19127535e-04 9.99994742e-01 3.64568010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159254154 meters 0.05472783213441374 Centerline is valid? [True, True] Translation: X:96.50, Y:3.45, Z:0.37 [[ 9.98777172e-01 -4.93955859e-02 -2.05845554e-03 9.65006338e+01] [ 4.93956123e-02 9.98779291e-01 -3.80576243e-05 3.44823166e+00] [ 2.05782265e-03 -6.36675856e-05 9.99997881e-01 3.65614787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219254154 meters 0.05542941453457963 Centerline is valid? [True, True] Translation: X:96.56, Y:3.45, Z:0.37 [[ 9.99131845e-01 -4.16133804e-02 -1.97031483e-03 9.65605921e+01] [ 4.16133895e-02 9.99133787e-01 -3.63975853e-05 3.44859852e+00] [ 1.97012275e-03 -4.56254921e-05 9.99998058e-01 3.66590252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters 0.05573537427249777 Centerline is valid? [True, True] Translation: X:96.62, Y:3.46, Z:0.37 [[ 9.99428811e-01 -3.36610933e-02 -2.99715885e-03 9.66208553e+01] [ 3.36610786e-02 9.99433304e-01 -5.53783434e-05 3.45630725e+00] [ 2.99732446e-03 -4.55408875e-05 9.99995507e-01 3.66295286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399999 meters 0.05650187231783632 Centerline is valid? [True, True] Translation: X:96.68, Y:3.46, Z:0.37 [[ 9.99572632e-01 -2.90017259e-02 -3.66793226e-03 9.66826974e+01] [ 2.90016726e-02 9.99579361e-01 -6.77434557e-05 3.46016150e+00] [ 3.66835406e-03 -3.86616662e-05 9.99993271e-01 3.65889391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399999 meters 0.05565161908873041 Centerline is valid? [True, True] Translation: X:96.74, Y:3.46, Z:0.37 [[ 9.99712267e-01 -2.36761202e-02 -3.85016321e-03 9.67436725e+01] [ 2.36760224e-02 9.99719681e-01 -7.09753257e-05 3.46497353e+00] [ 3.85076435e-03 -2.02016467e-05 9.99992586e-01 3.65487024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399999 meters 0.054941288008588655 Centerline is valid? [True, True] Translation: X:96.81, Y:3.47, Z:0.37 [[ 9.99789662e-01 -2.01450103e-02 -3.84832238e-03 9.68054722e+01] [ 2.01448867e-02 9.99797069e-01 -7.08803311e-05 3.46813678e+00] [ 3.84896932e-03 -6.65859609e-06 9.99992593e-01 3.65972503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519254154 meters 0.056329345106079426 Centerline is valid? [True, True] Translation: X:96.87, Y:3.47, Z:0.37 [[ 9.99821328e-01 -1.86085441e-02 -3.32171666e-03 9.68664516e+01] [ 1.86084440e-02 9.99826846e-01 -6.10534575e-05 3.46883701e+00] [ 3.32227761e-03 -7.69429525e-07 9.99994481e-01 3.66722740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579254154 meters 0.05620563447706189 Centerline is valid? [True, True] Translation: X:96.93, Y:3.47, Z:0.37 [[ 9.99815748e-01 -1.89625520e-02 -2.98195339e-03 9.69280224e+01] [ 1.89624730e-02 9.99820195e-01 -5.47719882e-05 3.46840366e+00] [ 2.98245583e-03 -1.78331415e-06 9.99995552e-01 3.67603596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters 0.05558632304666182 Centerline is valid? [True, True] Translation: X:96.99, Y:3.46, Z:0.37 [[ 9.99743117e-01 -2.25577317e-02 -2.20177266e-03 9.69906324e+01] [ 2.25576975e-02 9.99745542e-01 -4.03541664e-05 3.46476610e+00] [ 2.20212270e-03 -9.32312147e-06 9.99997575e-01 3.67681088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399999 meters 0.0564012575298339 Centerline is valid? [True, True] Translation: X:97.05, Y:3.46, Z:0.37 [[ 9.99545534e-01 -2.98515659e-02 -4.19635386e-03 9.70507902e+01] [ 2.98515074e-02 9.99554342e-01 -7.65967878e-05 3.45668565e+00] [ 4.19677026e-03 -4.87055112e-05 9.99991192e-01 3.67365488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399999 meters 0.055289232197439114 Centerline is valid? [True, True] Translation: X:97.11, Y:3.45, Z:0.37 [[ 9.99251419e-01 -3.83774874e-02 -4.87541224e-03 9.71113729e+01] [ 3.83775098e-02 9.99263308e-01 -8.89907260e-05 3.44998575e+00] [ 4.87523581e-03 -9.81820722e-05 9.99988111e-01 3.65810141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399999 meters 0.05648001673549449 Centerline is valid? [True, True] Translation: X:97.17, Y:3.44, Z:0.37 [[ 9.98978744e-01 -4.48882038e-02 -5.14949888e-03 9.71707171e+01] [ 4.48883151e-02 9.98992007e-01 -9.40059679e-05 3.44207059e+00] [ 5.14852798e-03 -1.37242365e-04 9.99986737e-01 3.65602612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879254154 meters 0.05669380238392848 Centerline is valid? [True, True] Translation: X:97.23, Y:3.44, Z:0.37 [[ 9.98838374e-01 -4.79890960e-02 -4.35311584e-03 9.72321701e+01] [ 4.79892049e-02 9.98847851e-01 -7.95083993e-05 3.44030320e+00] [ 4.35191594e-03 -1.29486528e-04 9.99990522e-01 3.65948719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939254154 meters 0.05542592322131976 Centerline is valid? [True, True] Translation: X:97.29, Y:3.45, Z:0.37 [[ 9.98717428e-01 -5.04920486e-02 -3.74871570e-03 9.72933636e+01] [ 5.04921471e-02 9.98724456e-01 -6.84208945e-05 3.44880347e+00] [ 3.74738876e-03 -1.20947565e-04 9.99992971e-01 3.66261256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters 0.05507877355583482 Centerline is valid? [True, True] Translation: X:97.35, Y:3.45, Z:0.37 [[ 9.98602391e-01 -5.27392271e-02 -3.44058846e-03 9.73541492e+01] [ 5.27393236e-02 9.98608312e-01 -6.27432848e-05 3.45216626e+00] [ 3.43910926e-03 -1.18798714e-04 9.99994079e-01 3.65788614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters 0.05704443448652775 Centerline is valid? [True, True] Translation: X:97.42, Y:3.44, Z:0.37 [[ 9.98539578e-01 -5.38693617e-02 -4.09909446e-03 9.74153414e+01] [ 5.38695084e-02 9.98547981e-01 -7.47028999e-05 3.44467956e+00] [ 4.09716669e-03 -1.46222401e-04 9.99991596e-01 3.65515772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399999 meters 0.06237251126923847 Centerline is valid? [True, True] Translation: X:97.48, Y:3.43, Z:0.36 [[ 9.98377152e-01 -5.66532588e-02 -5.78538801e-03 9.74753318e+01] [ 5.66535994e-02 9.98393890e-01 -1.05124474e-04 3.42648169e+00] [ 5.78205168e-03 -2.22809181e-04 9.99983259e-01 3.64259716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399999 meters 0.05432536503560676 Centerline is valid? [True, True] Translation: X:97.53, Y:3.46, Z:0.36 [[ 9.98145353e-01 -6.06030612e-02 -5.75520403e-03 9.75348918e+01] [ 6.06034637e-02 9.98161915e-01 -1.04593793e-04 3.45730556e+00] [ 5.75096418e-03 -2.44385489e-04 9.99983433e-01 3.64369511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239254154 meters 0.05441396515694398 Centerline is valid? [True, True] Translation: X:97.59, Y:3.46, Z:0.37 [[ 9.98015327e-01 -6.26483378e-02 -6.37126704e-03 9.75945543e+01] [ 6.26488727e-02 9.98035623e-01 -1.15785229e-04 3.46054978e+00] [ 6.36600522e-03 -2.83597264e-04 9.99979697e-01 3.65175628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299254154 meters 0.05386433698318056 Centerline is valid? [True, True] Translation: X:97.66, Y:3.46, Z:0.37 [[ 9.98038557e-01 -6.24002365e-02 -5.02481330e-03 9.76558318e+01] [ 6.24005666e-02 9.98051182e-01 -9.12018439e-05 3.46439470e+00] [ 5.02071186e-03 -2.22528240e-04 9.99987371e-01 3.65537229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359254154 meters 0.053803058364443206 Centerline is valid? [True, True] Translation: X:97.72, Y:3.47, Z:0.37 [[ 9.98095738e-01 -6.15355979e-02 -4.27417977e-03 9.77178499e+01] [ 6.15358305e-02 9.98104872e-01 -7.72127656e-05 3.47205156e+00] [ 4.27083099e-03 -1.85949469e-04 9.99990863e-01 3.65803014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters 0.05402646394793675 Centerline is valid? [True, True] Translation: X:97.78, Y:3.48, Z:0.37 [[ 9.98109088e-01 -6.13283793e-02 -4.13247962e-03 9.77796928e+01] [ 6.13285954e-02 9.98117627e-01 -7.45236154e-05 3.47775101e+00] [ 4.12927116e-03 -1.79056473e-04 9.99991458e-01 3.65910972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399999 meters 0.055741248838035336 Centerline is valid? [True, True] Translation: X:97.84, Y:3.47, Z:0.37 [[ 9.98023539e-01 -6.25989218e-02 -5.51277959e-03 9.78395897e+01] [ 6.25993269e-02 9.98038734e-01 -9.91971822e-05 3.47470216e+00] [ 5.50817720e-03 -2.46095169e-04 9.99984800e-01 3.65571700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399999 meters 0.054269776869858045 Centerline is valid? [True, True] Translation: X:97.90, Y:3.49, Z:0.37 [[ 9.97779439e-01 -6.63257597e-02 -6.08967780e-03 9.79001147e+01] [ 6.63263235e-02 9.97797979e-01 -1.09540762e-04 3.48858259e+00] [ 6.08353357e-03 -2.94608420e-04 9.99981452e-01 3.66133132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599254154 meters 0.05397505421344747 Centerline is valid? [True, True] Translation: X:97.96, Y:3.50, Z:0.37 [[ 9.97531558e-01 -7.00152031e-02 -5.35368301e-03 9.79611238e+01] [ 7.00156923e-02 9.97545885e-01 -9.62225493e-05 3.50131634e+00] [ 5.34728150e-03 -2.78856793e-04 9.99985664e-01 3.66400537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659254154 meters 0.05412194579951196 Centerline is valid? [True, True] Translation: X:98.02, Y:3.50, Z:0.37 [[ 9.97470073e-01 -7.09085742e-02 -5.04266681e-03 9.80224964e+01] [ 7.09090204e-02 9.97482783e-01 -9.04644464e-05 3.50386469e+00] [ 5.03638803e-03 -2.67334986e-04 9.99987282e-01 3.66971830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719254154 meters 0.05239819056183866 Centerline is valid? [True, True] Translation: X:98.08, Y:3.51, Z:0.37 [[ 9.97530340e-01 -7.00655895e-02 -4.90244794e-03 9.80838831e+01] [ 7.00660032e-02 9.97542354e-01 -8.75229363e-05 3.51001905e+00] [ 4.89653180e-03 -2.56188149e-04 9.99987979e-01 3.67621795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters 0.054232303215790256 Centerline is valid? [True, True] Translation: X:98.14, Y:3.51, Z:0.37 [[ 9.97717796e-01 -6.74013974e-02 -4.03138413e-03 9.81438663e+01] [ 6.74016557e-02 9.97725920e-01 -7.19186170e-05 3.51443596e+00] [ 4.02706385e-03 -1.99967481e-04 9.99991871e-01 3.68278277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399999 meters 0.054412924580425764 Centerline is valid? [True, True] Translation: X:98.20, Y:3.52, Z:0.37 [[ 9.98014448e-01 -6.29109080e-02 -3.06269066e-03 9.82039473e+01] [ 6.29110359e-02 9.98019137e-01 -5.46300738e-05 3.51916023e+00] [ 3.06006072e-03 -1.38155439e-04 9.99995308e-01 3.68940386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399999 meters 0.05354749657191186 Centerline is valid? [True, True] Translation: X:98.26, Y:3.53, Z:0.37 [[ 9.98295685e-01 -5.82807785e-02 -3.01269678e-03 9.82646893e+01] [ 5.82808813e-02 9.98300223e-01 -5.37490023e-05 3.52798189e+00] [ 3.01070840e-03 -1.21925226e-04 9.99995460e-01 3.68784091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399999 meters 0.055023492801691005 Centerline is valid? [True, True] Translation: X:98.32, Y:3.53, Z:0.37 [[ 9.98598777e-01 -5.28118732e-02 -3.37477665e-03 9.83248098e+01] [ 5.28119710e-02 9.98604472e-01 -6.01760987e-05 3.52623210e+00] [ 3.37324507e-03 -1.18136828e-04 9.99994304e-01 3.69599538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019254154 meters 0.055004982297761566 Centerline is valid? [True, True] Translation: X:98.39, Y:3.53, Z:0.37 [[ 9.98816447e-01 -4.84892841e-02 -3.80729800e-03 9.83856348e+01] [ 4.84893773e-02 9.98823696e-01 -6.78933543e-05 3.53263098e+00] [ 3.80611156e-03 -1.16800510e-04 9.99992750e-01 3.69530454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079254154 meters 0.05442007489650837 Centerline is valid? [True, True] Translation: X:98.45, Y:3.54, Z:0.37 [[ 9.98974578e-01 -4.50545532e-02 -4.45858144e-03 9.84463065e+01] [ 4.50546469e-02 9.98984521e-01 -7.94704420e-05 3.53994554e+00] [ 4.45763435e-03 -1.21490862e-04 9.99990057e-01 3.68458468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters 0.05488149631421863 Centerline is valid? [True, True] Translation: X:98.51, Y:3.54, Z:0.37 [[ 9.99148225e-01 -4.09645892e-02 -4.97264869e-03 9.85063204e+01] [ 4.09646553e-02 9.99160592e-01 -8.86013372e-05 3.54053778e+00] [ 4.97210413e-03 -1.15176971e-04 9.99987632e-01 3.68120506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399999 meters 0.055427465615791496 Centerline is valid? [True, True] Translation: X:98.57, Y:3.54, Z:0.37 [[ 9.99250322e-01 -3.83700458e-02 -5.15114477e-03 9.85673959e+01] [ 3.83700824e-02 9.99263593e-01 -9.17603513e-05 3.54311273e+00] [ 5.15087228e-03 -1.05958289e-04 9.99986729e-01 3.68314227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399999 meters 0.054705058922642255 Centerline is valid? [True, True] Translation: X:98.63, Y:3.55, Z:0.37 [[ 9.99373797e-01 -3.50835329e-02 -4.59997725e-03 9.86288833e+01] [ 3.50835277e-02 9.99384380e-01 -8.18426423e-05 3.54914117e+00] [ 4.60001674e-03 -7.95920371e-05 9.99989417e-01 3.69117349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399999 meters 0.054136896867794916 Centerline is valid? [True, True] Translation: X:98.69, Y:3.55, Z:0.37 [[ 9.99468129e-01 -3.23406232e-02 -4.18857243e-03 9.86907121e+01] [ 3.23405954e-02 9.99476903e-01 -7.44017694e-05 3.55128332e+00] [ 4.18878760e-03 -6.10987291e-05 9.99991225e-01 3.68866770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379254154 meters 0.053890502690654415 Centerline is valid? [True, True] Translation: X:98.75, Y:3.55, Z:0.37 [[ 9.99532157e-01 -3.02606577e-02 -4.44524568e-03 9.87533497e+01] [ 3.02606063e-02 9.99542040e-01 -7.88474940e-05 3.55432611e+00] [ 4.44559591e-03 -5.57052235e-05 9.99990117e-01 3.68379193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439254154 meters 0.05400750436587456 Centerline is valid? [True, True] Translation: X:98.81, Y:3.55, Z:0.37 [[ 9.99540948e-01 -2.98520514e-02 -5.17185485e-03 9.88145099e+01] [ 2.98519774e-02 9.99554326e-01 -9.15294775e-05 3.55326810e+00] [ 5.17228223e-03 -6.29026333e-05 9.99986622e-01 3.67128832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters 0.05413972553921972 Centerline is valid? [True, True] Translation: X:98.88, Y:3.56, Z:0.37 [[ 9.99537340e-01 -2.99498092e-02 -5.30232269e-03 9.88777118e+01] [ 2.99497336e-02 9.99551402e-01 -9.36796961e-05 3.55633146e+00] [ 5.30274977e-03 -6.51667978e-05 9.99985938e-01 3.67123337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399999 meters 0.054228502959328816 Centerline is valid? [True, True] Translation: X:98.94, Y:3.55, Z:0.37 [[ 9.99500437e-01 -3.11786241e-02 -5.17387261e-03 9.89388711e+01] [ 3.11785697e-02 9.99513826e-01 -9.11971253e-05 3.55416599e+00] [ 5.17420061e-03 -7.01623812e-05 9.99986611e-01 3.67762176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399999 meters 0.0536927963726291 Centerline is valid? [True, True] Translation: X:99.00, Y:3.55, Z:0.37 [[ 9.99390505e-01 -3.47475480e-02 -3.35054422e-03 9.90002863e+01] [ 3.47475454e-02 9.99396120e-01 -5.90066895e-05 3.55318842e+00] [ 3.35057123e-03 -5.74524622e-05 9.99994385e-01 3.68342765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399999 meters 0.05470646889827081 Centerline is valid? [True, True] Translation: X:99.06, Y:3.55, Z:0.37 [[ 9.99276601e-01 -3.79241110e-02 -2.83486048e-03 9.90607952e+01] [ 3.79241220e-02 9.99280620e-01 -4.98819611e-05 3.54985249e+00] [ 2.83471287e-03 -5.76637182e-05 9.99995981e-01 3.69064029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739254154 meters 0.05426368282316037 Centerline is valid? [True, True] Translation: X:99.12, Y:3.54, Z:0.37 [[ 9.99111549e-01 -4.20455144e-02 -2.87889934e-03 9.91204177e+01] [ 4.20455430e-02 9.99115694e-01 -5.06260442e-05 3.54491660e+00] [ 2.87848211e-03 -7.04638209e-05 9.99995855e-01 3.68929970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799254154 meters 0.054509465178775335 Centerline is valid? [True, True] Translation: X:99.18, Y:3.54, Z:0.37 [[ 9.98998420e-01 -4.46337207e-02 -3.16049069e-03 9.91816020e+01] [ 4.46337681e-02 9.99003415e-01 -5.55839912e-05 3.54415404e+00] [ 3.15982191e-03 -8.55362890e-05 9.99995004e-01 3.68537177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859254154 meters 0.05435862333555213 Centerline is valid? [True, True] Translation: X:99.24, Y:3.54, Z:0.37 [[ 9.98921459e-01 -4.63143305e-02 -3.30170954e-03 9.92435064e+01] [ 4.63143912e-02 9.98926911e-01 -5.80985879e-05 3.54239124e+00] [ 3.30085731e-03 -9.48807413e-05 9.99994548e-01 3.67742842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters 0.05436350596651772 Centerline is valid? [True, True] Translation: X:99.31, Y:3.54, Z:0.37 [[ 9.98918712e-01 -4.63080425e-02 -4.11959211e-03 9.93061578e+01] [ 4.63081390e-02 9.98927200e-01 -7.20117078e-05 3.54358144e+00] [ 4.11850733e-03 -1.18836802e-04 9.99991512e-01 3.66477627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399999 meters 0.05409104818294867 Centerline is valid? [True, True] Translation: X:99.37, Y:3.54, Z:0.37 [[ 9.99012870e-01 -4.42678409e-02 -3.69376952e-03 9.93674171e+01] [ 4.42679051e-02 9.99019694e-01 -6.44163828e-05 3.54453447e+00] [ 3.69300007e-03 -9.91626432e-05 9.99993176e-01 3.66501158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399999 meters 0.05395741236381844 Centerline is valid? [True, True] Translation: X:99.43, Y:3.55, Z:0.37 [[ 9.99213522e-01 -3.95349894e-02 -3.05313939e-03 9.94275581e+01] [ 3.95350114e-02 9.99218184e-01 -5.31730675e-05 3.55142145e+00] [ 3.05285459e-03 -6.75746524e-05 9.99995338e-01 3.67857193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099254154 meters 0.05384799067290891 Centerline is valid? [True, True] Translation: X:99.49, Y:3.55, Z:0.37 [[ 9.99366434e-01 -3.54355857e-02 -3.32406982e-03 9.94878293e+01] [ 3.54355891e-02 9.99371961e-01 -5.78841919e-05 3.55135589e+00] [ 3.32403333e-03 -5.99428538e-05 9.99994474e-01 3.67766978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159254154 meters 0.05401464556200073 Centerline is valid? [True, True] Translation: X:99.55, Y:3.56, Z:0.37 [[ 9.99406552e-01 -3.42754995e-02 -3.42550892e-03 9.95496294e+01] [ 3.42754963e-02 9.99412421e-01 -5.96667841e-05 3.55662547e+00] [ 3.42554127e-03 -5.77796434e-05 9.99994131e-01 3.66763033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219254154 meters 0.05393545353821642 Centerline is valid? [True, True] Translation: X:99.61, Y:3.56, Z:0.37 [[ 9.99364044e-01 -3.52431214e-02 -5.42490841e-03 9.96120250e+01] [ 3.52431289e-02 9.99378764e-01 -9.42371510e-05 3.56121831e+00] [ 5.42485947e-03 -9.70135258e-05 9.99985281e-01 3.65493731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters 0.053804921829716024 Centerline is valid? [True, True] Translation: X:99.67, Y:3.56, Z:0.36 [[ 9.99304377e-01 -3.66753276e-02 -6.75894511e-03 9.96733430e+01] [ 3.66753739e-02 9.99327225e-01 -1.17139251e-04 3.55940113e+00] [ 6.75869398e-03 -1.30829072e-04 9.99977151e-01 3.64899057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399999 meters 0.05364292138965765 Centerline is valid? [True, True] Translation: X:99.74, Y:3.56, Z:0.37 [[ 9.99217319e-01 -3.89472502e-02 -6.91822580e-03 9.97352194e+01] [ 3.89473559e-02 9.99241257e-01 -1.19489253e-04 3.56130652e+00] [ 6.91763042e-03 -1.50050872e-04 9.99976062e-01 3.65032958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399999 meters 0.05357831241319225 Centerline is valid? [True, True] Translation: X:99.80, Y:3.56, Z:0.37 [[ 9.99143684e-01 -4.10424734e-02 -5.23594044e-03 9.97973699e+01] [ 4.10425646e-02 9.99157395e-01 -9.00798675e-05 3.56332236e+00] [ 5.23522571e-03 -1.24893693e-04 9.99986288e-01 3.65850036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399999 meters 0.05513524154678862 Centerline is valid? [True, True] Translation: X:99.86, Y:3.56, Z:0.37 [[ 9.99177782e-01 -4.03637353e-02 -3.81156399e-03 9.98590700e+01] [ 4.03637790e-02 9.99185048e-01 -6.54955920e-05 3.55783149e+00] [ 3.81110139e-03 -8.84073861e-05 9.99992734e-01 3.67460676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519254154 meters 0.05422861159499822 Centerline is valid? [True, True] Translation: X:99.92, Y:3.56, Z:0.37 [[ 9.99251875e-01 -3.86388477e-02 -1.65241792e-03 9.99204617e+01] [ 3.86388538e-02 9.99253240e-01 -2.82507090e-05 3.56310866e+00] [ 1.65227554e-03 -3.56179606e-05 9.99998634e-01 3.69349606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579254154 meters 0.05467141840413786 Centerline is valid? [True, True] Translation: X:99.98, Y:3.57, Z:0.37 [[ 9.99275745e-01 -3.80451394e-02 -7.43120824e-04 9.99829427e+01] [ 3.80451404e-02 9.99276021e-01 -1.27748505e-05 3.56519820e+00] [ 7.43068841e-04 -1.55065378e-05 9.99999724e-01 3.70481574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters 0.05591130808478094 Centerline is valid? [True, True] Translation: X:100.04, Y:3.56, Z:0.37 [[ 9.99250830e-01 -3.86446586e-02 -2.09047179e-03 1.00044009e+02] [ 3.86446686e-02 9.99253015e-01 -3.56437342e-05 3.55806416e+00] [ 2.09028768e-03 -4.51685586e-05 9.99997814e-01 3.70605137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399999 meters 0.05424655133496958 Centerline is valid? [True, True] Translation: X:100.11, Y:3.56, Z:0.37 [[ 9.99122635e-01 -4.17440166e-02 -3.37602242e-03 1.00105338e+02] [ 4.17440607e-02 9.99128335e-01 -5.74280294e-05 3.56396668e+00] [ 3.37547693e-03 -8.35512408e-05 9.99994300e-01 3.68134344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399999 meters 0.05320168250714351 Centerline is valid? [True, True] Translation: X:100.17, Y:3.57, Z:0.37 [[ 9.99009561e-01 -4.41562225e-02 -5.48853993e-03 1.00166320e+02] [ 4.41563761e-02 9.99024627e-01 -9.32434210e-05 3.56652118e+00] [ 5.48730383e-03 -1.49202964e-04 9.99984934e-01 3.66439881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399999 meters 0.05332244034726021 Centerline is valid? [True, True] Translation: X:100.23, Y:3.57, Z:0.37 [[ 9.99029836e-01 -4.35323142e-02 -6.65765783e-03 1.00228037e+02] [ 4.35325275e-02 9.99052004e-01 -1.12944425e-04 3.56964242e+00] [ 6.65626313e-03 -1.76989822e-04 9.99977831e-01 3.66525101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879254154 meters 0.05253735041889544 Centerline is valid? [True, True] Translation: X:100.29, Y:3.57, Z:0.37 [[ 9.99097562e-01 -4.20292362e-02 -6.13224503e-03 1.00289611e+02] [ 4.20293898e-02 9.99116369e-01 -1.03864041e-04 3.57340041e+00] [ 6.13119172e-03 -1.53964207e-04 9.99981192e-01 3.67623811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939254154 meters 0.053929885761109415 Centerline is valid? [True, True] Translation: X:100.35, Y:3.57, Z:0.37 [[ 9.99214907e-01 -3.92993725e-02 -5.01291322e-03 1.00350110e+02] [ 3.92994413e-02 9.99227475e-01 -8.48199279e-05 3.57353028e+00] [ 5.01237399e-03 -1.12251353e-04 9.99987432e-01 3.68337754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters 0.05416015036121636 Centerline is valid? [True, True] Translation: X:100.41, Y:3.58, Z:0.37 [[ 9.99319026e-01 -3.66163466e-02 -4.55282404e-03 1.00411131e+02] [ 3.66163757e-02 9.99329393e-01 -7.69967758e-05 3.57612960e+00] [ 4.55259023e-03 -8.97635726e-05 9.99989633e-01 3.69242847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399999 meters 0.05523822054310925 Centerline is valid? [True, True] Translation: X:100.47, Y:3.57, Z:0.37 [[ 9.99372371e-01 -3.49836697e-02 -5.56832678e-03 1.00472333e+02] [ 3.49836885e-02 9.99387879e-01 -9.40559535e-05 3.57323006e+00] [ 5.56820871e-03 -1.00803688e-04 9.99984492e-01 3.69163151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399999 meters 0.05483173773898282 Centerline is valid? [True, True] Translation: X:100.53, Y:3.57, Z:0.37 [[ 9.99345137e-01 -3.56195277e-02 -6.36756979e-03 1.00534135e+02] [ 3.56195663e-02 9.99365416e-01 -1.07376841e-04 3.57434443e+00] [ 6.36735375e-03 -1.19503550e-04 9.99979721e-01 3.69007663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399999 meters 0.05442727969433317 Centerline is valid? [True, True] Translation: X:100.60, Y:3.57, Z:0.37 [[ 9.99302950e-01 -3.67144605e-02 -6.75747568e-03 1.00595833e+02] [ 3.67145303e-02 9.99325788e-01 -1.13763684e-04 3.57434202e+00] [ 6.75709648e-03 -1.34413160e-04 9.99977162e-01 3.68865550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239254154 meters 0.054775570380941274 Centerline is valid? [True, True] Translation: X:100.66, Y:3.57, Z:0.37 [[ 9.99212259e-01 -3.92116075e-02 -6.10833182e-03 1.00656640e+02] [ 3.92117118e-02 9.99230920e-01 -1.02739420e-04 3.57091873e+00] [ 6.10766260e-03 -1.36859659e-04 9.99981339e-01 3.69290441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299254154 meters 0.0539860149541385 Centerline is valid? [True, True] Translation: X:100.72, Y:3.58, Z:0.37 [[ 9.99177023e-01 -4.01761427e-02 -5.58161531e-03 1.00719150e+02] [ 4.01762453e-02 9.99192604e-01 -9.38022441e-05 3.57611580e+00] [ 5.58087735e-03 -1.30523299e-04 9.99984418e-01 3.70621567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters 0.05351630810552129 Centerline is valid? [True, True] Translation: X:100.78, Y:3.58, Z:0.37 [[ 9.99230323e-01 -3.87908564e-02 -5.83369062e-03 1.00781181e+02] [ 3.87909460e-02 9.99247343e-01 -9.78346435e-05 3.57582498e+00] [ 5.83309494e-03 -1.28535035e-04 9.99982979e-01 3.70946066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters 0.05566992737041953 Centerline is valid? [True, True] Translation: X:100.84, Y:3.57, Z:0.37 [[ 9.99296552e-01 -3.69879857e-02 -6.18784743e-03 1.00843001e+02] [ 3.69880534e-02 9.99315702e-01 -1.03539041e-04 3.57079519e+00] [ 6.18744281e-03 -1.25410225e-04 9.99980850e-01 3.70428929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399999 meters 0.054443338272212746 Centerline is valid? [True, True] Translation: X:100.90, Y:3.57, Z:0.37 [[ 9.99390020e-01 -3.44130076e-02 -5.94420007e-03 1.00904978e+02] [ 3.44130255e-02 9.99407691e-01 -9.92989034e-05 3.57220729e+00] [ 5.94409645e-03 -1.05319576e-04 9.99982328e-01 3.70491007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399999 meters 0.05430241151225011 Centerline is valid? [True, True] Translation: X:100.97, Y:3.58, Z:0.37 [[ 9.99492869e-01 -3.12450753e-02 -6.14404443e-03 1.00966692e+02] [ 3.12450354e-02 9.99511749e-01 -1.02496023e-04 3.57603569e+00] [ 6.14424710e-03 -8.95268421e-05 9.99981120e-01 3.70825996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599254154 meters 0.05403063115789206 Centerline is valid? [True, True] Translation: X:101.03, Y:3.58, Z:0.37 [[ 9.99657019e-01 -2.52587094e-02 -6.91676363e-03 1.01028237e+02] [ 2.52585168e-02 9.99680946e-01 -1.15207790e-04 3.58035399e+00] [ 6.91746681e-03 -5.95389148e-05 9.99976072e-01 3.70089085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659254154 meters 0.05444310306426912 Centerline is valid? [True, True] Translation: X:101.09, Y:3.58, Z:0.37 [[ 9.99773542e-01 -2.00176572e-02 -7.22206534e-03 1.01090628e+02] [ 2.00173123e-02 9.99799626e-01 -1.20048551e-04 3.58465365e+00] [ 7.22302132e-03 -2.45449724e-05 9.99973913e-01 3.71056905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719254154 meters 0.05401206346421977 Centerline is valid? [True, True] Translation: X:101.15, Y:3.59, Z:0.37 [[ 9.99810639e-01 -1.80243302e-02 -7.33552628e-03 1.01152875e+02] [ 1.80239227e-02 9.99837549e-01 -1.21656174e-04 3.58532776e+00] [ 7.33652738e-03 -1.05818215e-05 9.99973087e-01 3.71772139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters 0.05426581175120882 Centerline is valid? [True, True] Translation: X:101.21, Y:3.59, Z:0.37 [[ 9.99808657e-01 -1.79552913e-02 -7.76247960e-03 1.01213811e+02] [ 1.79548348e-02 9.99838791e-01 -1.28502832e-04 3.58505237e+00] [ 7.76353553e-03 -1.08957953e-05 9.99969863e-01 3.70956715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399999 meters 0.05405579054365983 Centerline is valid? [True, True] Translation: X:101.28, Y:3.58, Z:0.37 [[ 9.99751148e-01 -2.10656166e-02 -7.34048034e-03 1.01276032e+02] [ 2.10652939e-02 9.99778095e-01 -1.21284765e-04 3.58273713e+00] [ 7.34140639e-03 -3.33747922e-05 9.99973051e-01 3.72476254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399999 meters 0.054251368881462605 Centerline is valid? [True, True] Translation: X:101.34, Y:3.58, Z:0.37 [[ 9.99664273e-01 -2.47244804e-02 -7.74864468e-03 1.01337190e+02] [ 2.47242352e-02 9.99694301e-01 -1.27451143e-04 3.57771535e+00] [ 7.74942709e-03 -6.41709597e-05 9.99969971e-01 3.71568643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399999 meters 0.054566790180540864 Centerline is valid? [True, True] Translation: X:101.40, Y:3.57, Z:0.37 [[ 9.99370950e-01 -3.43065226e-02 -8.98706917e-03 1.01398255e+02] [ 3.43065845e-02 9.99411345e-01 -1.47325869e-04 3.56979457e+00] [ 8.98683313e-03 -1.61082454e-04 9.99959605e-01 3.71523861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019254154 meters 0.05463126133426643 Centerline is valid? [True, True] Translation: X:101.46, Y:3.57, Z:0.37 [[ 9.99244566e-01 -3.78921024e-02 -8.63047100e-03 1.01459418e+02] [ 3.78922937e-02 9.99281819e-01 -1.41400742e-04 3.56821234e+00] [ 8.62963073e-03 -1.85734419e-04 9.99962747e-01 3.72362931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079254154 meters 0.05426960822302612 Centerline is valid? [True, True] Translation: X:101.52, Y:3.57, Z:0.37 [[ 9.99187392e-01 -3.95974155e-02 -7.52330505e-03 1.01521702e+02] [ 3.95976105e-02 9.99215699e-01 -1.23089405e-04 3.56754466e+00] [ 7.52227854e-03 -1.74915522e-04 9.99971692e-01 3.74581633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters 0.0542228048544017 Centerline is valid? [True, True] Translation: X:101.58, Y:3.57, Z:0.37 [[ 9.99266464e-01 -3.77640554e-02 -6.35691114e-03 1.01582723e+02] [ 3.77641585e-02 9.99286674e-01 -1.03857772e-04 3.56505166e+00] [ 6.35629868e-03 -1.36281810e-04 9.99979789e-01 3.74683111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399999 meters 0.05523806649799792 Centerline is valid? [True, True] Translation: X:101.64, Y:3.56, Z:0.37 [[ 9.99388520e-01 -3.44342387e-02 -6.07208401e-03 1.01643002e+02] [ 3.44342718e-02 9.99406960e-01 -9.91261677e-05 3.55917274e+00] [ 6.07189635e-03 -1.10022237e-04 9.99981560e-01 3.74205956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399999 meters 0.05449171816579327 Centerline is valid? [True, True] Translation: X:101.71, Y:3.56, Z:0.37 [[ 9.99438241e-01 -3.29510521e-02 -6.11800333e-03 1.01705086e+02] [ 3.29510585e-02 9.99456961e-01 -9.97780764e-05 3.56109915e+00] [ 6.11796881e-03 -1.01872660e-04 9.99981280e-01 3.74351397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399999 meters 0.05593019464055256 Centerline is valid? [True, True] Translation: X:101.77, Y:3.56, Z:0.37 [[ 9.99458775e-01 -3.19654368e-02 -7.76967474e-03 1.01767715e+02] [ 3.19654194e-02 9.99488967e-01 -1.26446436e-04 3.55936558e+00] [ 7.76974610e-03 -1.21982911e-04 9.99969808e-01 3.73502482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379254154 meters 0.054599916596441075 Centerline is valid? [True, True] Translation: X:101.83, Y:3.56, Z:0.37 [[ 9.99411788e-01 -3.29876011e-02 -9.37531317e-03 1.01829315e+02] [ 3.29876234e-02 9.99455749e-01 -1.52299776e-04 3.56303301e+00] [ 9.37523465e-03 -1.57059109e-04 9.99956039e-01 3.73965436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439254154 meters 0.054608512123683416 Centerline is valid? [True, True] Translation: X:101.89, Y:3.56, Z:0.37 [[ 9.99357190e-01 -3.44129340e-02 -1.00477734e-02 1.01891292e+02] [ 3.44130352e-02 9.99407683e-01 -1.62866084e-04 3.56037424e+00] [ 1.00474266e-02 -1.83012987e-04 9.99949507e-01 3.73436294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters 0.05531196564505004 Centerline is valid? [True, True] Translation: X:101.95, Y:3.56, Z:0.37 [[ 9.99356668e-01 -3.46857400e-02 -9.11858519e-03 1.01953001e+02] [ 3.46858380e-02 9.99398254e-01 -1.47439202e-04 3.55644955e+00] [ 9.11821216e-03 -1.68941419e-04 9.99958414e-01 3.73820757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399999 meters 0.05459970636653007 Centerline is valid? [True, True] Translation: X:102.01, Y:3.56, Z:0.38 [[ 9.99392033e-01 -3.40303740e-02 -7.58279131e-03 1.02014628e+02] [ 3.40304256e-02 9.99420790e-01 -1.22256595e-04 3.55507227e+00] [ 7.58255971e-03 -1.35863348e-04 9.99971243e-01 3.75166188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399999 meters 0.05453637641883287 Centerline is valid? [True, True] Translation: X:102.08, Y:3.56, Z:0.38 [[ 9.99414346e-01 -3.35981523e-02 -6.49075181e-03 1.02076714e+02] [ 3.35981828e-02 9.99435416e-01 -1.04370840e-04 3.55590416e+00] [ 6.49059390e-03 -1.13767751e-04 9.99978929e-01 3.76957720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399999 meters 0.05591381672734684 Centerline is valid? [True, True] Translation: X:102.14, Y:3.55, Z:0.38 [[ 9.99361942e-01 -3.50688188e-02 -6.77402545e-03 1.02138361e+02] [ 3.50688872e-02 9.99384891e-01 -1.08726920e-04 3.54810194e+00] [ 6.77367161e-03 -1.28899988e-04 9.99977050e-01 3.76254354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739254154 meters 0.05541296344258809 Centerline is valid? [True, True] Translation: X:102.20, Y:3.55, Z:0.38 [[ 9.99235860e-01 -3.83916600e-02 -7.33330551e-03 1.02199292e+02] [ 3.83918305e-02 9.99262755e-01 -1.17575859e-04 3.54812522e+00] [ 7.33241300e-03 -1.64053007e-04 9.99973104e-01 3.76359607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799254154 meters 0.05483688524582417 Centerline is valid? [True, True] Translation: X:102.26, Y:3.55, Z:0.38 [[ 9.99141044e-01 -4.08134367e-02 -7.17197024e-03 1.02260683e+02] [ 4.08136628e-02 9.99166769e-01 -1.14883374e-04 3.54785939e+00] [ 7.17068312e-03 -1.77929681e-04 9.99974274e-01 3.77049507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters 0.05486503820006732 Centerline is valid? [True, True] Translation: X:102.32, Y:3.55, Z:0.38 [[ 9.99039878e-01 -4.30719095e-02 -8.00835237e-03 1.02321518e+02] [ 4.30722656e-02 9.99071951e-01 -1.28083281e-04 3.54822729e+00] [ 8.00643702e-03 -2.16977575e-04 9.99967924e-01 3.76993500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399999 meters 0.054230783960299615 Centerline is valid? [True, True] Translation: X:102.38, Y:3.55, Z:0.38 [[ 9.99034637e-01 -4.29990206e-02 -8.99324784e-03 1.02383831e+02] [ 4.29994691e-02 9.99075085e-01 -1.43569081e-04 3.54724517e+00] [ 8.99110317e-03 -2.43274398e-04 9.99959550e-01 3.76995926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399999 meters 0.0554738647617134 Centerline is valid? [True, True] Translation: X:102.44, Y:3.54, Z:0.38 [[ 9.99120338e-01 -4.09111302e-02 -9.21033806e-03 1.02444805e+02] [ 4.09115140e-02 9.99162763e-01 -1.46817261e-04 3.54495371e+00] [ 9.20863328e-03 -2.30120762e-04 9.99957573e-01 3.76958433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399999 meters 0.05458244513448574 Centerline is valid? [True, True] Translation: X:102.51, Y:3.55, Z:0.38 [[ 9.99332859e-01 -3.56103461e-02 -8.10805110e-03 1.02505748e+02] [ 3.56104699e-02 9.99365738e-01 -1.29150950e-04 3.54752800e+00] [ 8.10750758e-03 -1.59666721e-04 9.99967121e-01 3.77000393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099254154 meters 0.05510358366315237 Centerline is valid? [True, True] Translation: X:102.57, Y:3.55, Z:0.38 [[ 9.99525882e-01 -2.98079520e-02 -7.71346978e-03 1.02565777e+02] [ 2.98078916e-02 9.99555639e-01 -1.22830781e-04 3.54847226e+00] [ 7.71370355e-03 -1.07149726e-04 9.99970243e-01 3.76681385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159254154 meters 0.05497586093411172 Centerline is valid? [True, True] Translation: X:102.63, Y:3.56, Z:0.38 [[ 9.99752465e-01 -2.09142993e-02 -7.58946005e-03 1.02626386e+02] [ 2.09139847e-02 9.99781271e-01 -1.20828080e-04 3.55789383e+00] [ 7.59032705e-03 -3.79276809e-05 9.99971192e-01 3.78817329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219254154 meters 0.05482887860446316 Centerline is valid? [True, True] Translation: X:102.69, Y:3.56, Z:0.38 [[ 9.99853471e-01 -1.53266407e-02 -7.62433908e-03 1.02688004e+02] [ 1.53261615e-02 9.99882540e-01 -1.21285577e-04 3.56103272e+00] [ 7.62530242e-03 4.41595375e-06 9.99970927e-01 3.78550446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters 0.055451909145380084 Centerline is valid? [True, True] Translation: X:102.75, Y:3.56, Z:0.38 [[ 9.99879597e-01 -1.35400344e-02 -7.58015693e-03 1.02748394e+02] [ 1.35395106e-02 9.99908329e-01 -1.20416468e-04 3.56183272e+00] [ 7.58109250e-03 1.77703545e-05 9.99971263e-01 3.78645506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399999 meters 0.05481313640836803 Centerline is valid? [True, True] Translation: X:102.81, Y:3.56, Z:0.38 [[ 9.99859687e-01 -1.42259243e-02 -8.84468635e-03 1.02808696e+02] [ 1.42252394e-02 9.99898806e-01 -1.40344896e-04 3.55964975e+00] [ 8.84578786e-03 1.45074233e-05 9.99960875e-01 3.78183579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399999 meters 0.05520912283281432 Centerline is valid? [True, True] Translation: X:102.87, Y:3.56, Z:0.38 [[ 9.99824699e-01 -1.55478078e-02 -1.04324543e-02 1.02869291e+02] [ 1.55469273e-02 9.99879126e-01 -1.65501114e-04 3.55913203e+00] [ 1.04337665e-02 3.27949306e-06 9.99945567e-01 3.77228338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399999 meters 0.05574309894771604 Centerline is valid? [True, True] Translation: X:102.93, Y:3.56, Z:0.38 [[ 9.99797083e-01 -1.67868906e-02 -1.11352534e-02 1.02929918e+02] [ 1.67859642e-02 9.99859090e-01 -1.76650363e-04 3.55861663e+00] [ 1.11366497e-02 -1.03014472e-05 9.99937986e-01 3.76841269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519254154 meters 0.054809431378184205 Centerline is valid? [True, True] Translation: X:102.99, Y:3.56, Z:0.38 [[ 9.99765044e-01 -1.88354690e-02 -1.07276233e-02 1.02990565e+02] [ 1.88347272e-02 9.99822596e-01 -1.70183693e-04 3.55702410e+00] [ 1.07289256e-02 -3.19081498e-05 9.99942443e-01 3.77809058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579254154 meters 0.0558811242271144 Centerline is valid? [True, True] Translation: X:103.05, Y:3.56, Z:0.38 [[ 9.99792704e-01 -1.84386659e-02 -8.63505314e-03 1.03051255e+02] [ 1.84381708e-02 9.99829993e-01 -1.36949155e-04 3.55708630e+00] [ 8.63611028e-03 -2.22938188e-05 9.99962708e-01 3.79481052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters 0.05644219436197623 Centerline is valid? [True, True] Translation: X:103.11, Y:3.56, Z:0.38 [[ 9.99889748e-01 -1.28930605e-02 -7.36623544e-03 1.03111381e+02] [ 1.28925501e-02 9.99916881e-01 -1.16772226e-04 3.56060725e+00] [ 7.36712872e-03 2.17897918e-05 9.99972862e-01 3.81228056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399999 meters 0.05537990464018287 Centerline is valid? [True, True] Translation: X:103.17, Y:3.56, Z:0.38 [[ 9.99923680e-01 -1.01898922e-02 -6.98567488e-03 1.03171927e+02] [ 1.01893675e-02 9.99948081e-01 -1.10710233e-04 3.56212895e+00] [ 6.98644031e-03 3.95221750e-05 9.99975594e-01 3.82087970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399999 meters 0.05551312442232439 Centerline is valid? [True, True] Translation: X:103.23, Y:3.56, Z:0.38 [[ 9.99979447e-01 -2.17800227e-03 -6.03000632e-03 1.03232257e+02] [ 2.17746550e-03 9.99997625e-01 -9.55794985e-05 3.56492824e+00] [ 6.03020016e-03 8.24474034e-05 9.99981815e-01 3.83149747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399999 meters 0.05605236795541 Centerline is valid? [True, True] Translation: X:103.29, Y:3.57, Z:0.38 [[ 9.99978869e-01 1.09845331e-03 -6.40741540e-03 1.03290990e+02] [-1.09912714e-03 9.99999391e-01 -1.01644199e-04 3.56871480e+00] [ 6.40729985e-03 1.08684615e-04 9.99979467e-01 3.83058946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879254154 meters 0.05637764420687257 Centerline is valid? [True, True] Translation: X:103.35, Y:3.57, Z:0.38 [[ 9.99965896e-01 -9.89548731e-04 -8.19930087e-03 1.03349514e+02] [ 9.88513843e-04 9.99999503e-01 -1.30268283e-04 3.56545683e+00] [ 8.19942570e-03 1.22158718e-04 9.99966377e-01 3.82432694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939254154 meters 0.056114652380083146 Centerline is valid? [True, True] Translation: X:103.41, Y:3.56, Z:0.38 [[ 9.99938262e-01 -5.86335725e-03 -9.43889057e-03 1.03409645e+02] [ 5.86220197e-03 9.99982806e-01 -1.50059220e-04 3.56063632e+00] [ 9.43960813e-03 9.47172724e-05 9.99955441e-01 3.81828269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters 0.05595095774588042 Centerline is valid? [True, True] Translation: X:103.47, Y:3.56, Z:0.38 [[ 9.99831998e-01 -1.41988394e-02 -1.15917211e-02 1.03468019e+02] [ 1.41976556e-02 9.99899191e-01 -1.84413478e-04 3.55697932e+00] [ 1.15931710e-02 1.98072329e-05 9.99932797e-01 3.77100283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399999 meters 0.05542621309933449 Centerline is valid? [True, True] Translation: X:103.53, Y:3.55, Z:0.38 [[ 9.99687162e-01 -2.15016339e-02 -1.27772787e-02 1.03527804e+02] [ 2.15007892e-02 9.99768811e-01 -2.03485613e-04 3.55107632e+00] [ 1.27787000e-02 -7.12996212e-05 9.99918347e-01 3.79338027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399999 meters 0.055635282989828845 Centerline is valid? [True, True] Translation: X:103.59, Y:3.55, Z:0.38 [[ 9.99554137e-01 -2.78131898e-02 -1.08606758e-02 1.03588180e+02] [ 2.78129514e-02 9.99613130e-01 -1.73014924e-04 3.54537416e+00] [ 1.08612862e-02 -1.29129664e-04 9.99941006e-01 3.81890638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399999 meters 0.05594091535346468 Centerline is valid? [True, True] Translation: X:103.65, Y:3.54, Z:0.38 [[ 9.99464440e-01 -3.15549715e-02 -8.66705147e-03 1.03650253e+02] [ 3.15549619e-02 9.99502009e-01 -1.37893876e-04 3.54305444e+00] [ 8.66708659e-03 -1.35668453e-04 9.99962431e-01 3.83630397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239254154 meters 0.05638735006612855 Centerline is valid? [True, True] Translation: X:103.71, Y:3.54, Z:0.38 [[ 9.99308458e-01 -3.65333421e-02 -6.92247177e-03 1.03711161e+02] [ 3.65334564e-02 9.99332424e-01 -1.09974655e-04 3.53770979e+00] [ 6.92186824e-03 -1.43003218e-04 9.99976033e-01 3.84827980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299254154 meters 0.056454835823439076 Centerline is valid? [True, True] Translation: X:103.77, Y:3.53, Z:0.39 [[ 9.99027625e-01 -4.36018762e-02 -6.53310596e-03 1.03772265e+02] [ 4.36021296e-02 9.99048970e-01 -1.03699417e-04 3.53341823e+00] [ 6.53141426e-03 -1.81258751e-04 9.99978654e-01 3.85408974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters 0.05818681636274389 Centerline is valid? [True, True] Translation: X:103.83, Y:3.53, Z:0.38 [[ 9.98407305e-01 -5.58421807e-02 -8.03139220e-03 1.03833160e+02] [ 5.58429596e-02 9.98439556e-01 -1.27415948e-04 3.52639955e+00] [ 8.02597485e-03 -3.21283696e-04 9.99967740e-01 3.84249205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399999 meters 0.0551621081336991 Centerline is valid? [True, True] Translation: X:103.89, Y:3.55, Z:0.39 [[ 9.98085922e-01 -6.12805917e-02 -8.31753701e-03 1.03893684e+02] [ 6.12816159e-02 9.98120507e-01 -1.31910043e-04 3.54521028e+00] [ 8.30998778e-03 -3.78054551e-04 9.99965400e-01 3.85308749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399999 meters 0.0555376567324506 Centerline is valid? [True, True] Translation: X:103.95, Y:3.54, Z:0.38 [[ 9.97796361e-01 -6.55115825e-02 -1.05192253e-02 1.03953694e+02] [ 6.55134572e-02 9.97851672e-01 -1.66637773e-04 3.53804851e+00] [ 1.05075433e-02 -5.22880252e-04 9.99944658e-01 3.83796403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399999 meters 0.054454444109850494 Centerline is valid? [True, True] Translation: X:104.02, Y:3.55, Z:0.38 [[ 9.97785987e-01 -6.55612566e-02 -1.11733978e-02 1.04015733e+02] [ 6.55633786e-02 9.97848391e-01 -1.76665726e-04 3.54672229e+00] [ 1.11609395e-02 -5.56291125e-04 9.99937560e-01 3.83505667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599254154 meters 0.05474445289139731 Centerline is valid? [True, True] Translation: X:104.08, Y:3.55, Z:0.38 [[ 9.98040458e-01 -6.15848060e-02 -1.10705173e-02 1.04075225e+02] [ 6.15866457e-02 9.98101726e-01 -1.74971759e-04 3.54833461e+00] [ 1.10602781e-02 -5.07167135e-04 9.99938705e-01 3.83911405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659254154 meters 0.05483159945866542 Centerline is valid? [True, True] Translation: X:104.14, Y:3.56, Z:0.39 [[ 9.98374291e-01 -5.63722974e-02 -8.42255511e-03 1.04136180e+02] [ 5.63731773e-02 9.98409759e-01 -1.33089597e-04 3.55718235e+00] [ 8.41666378e-03 -3.41932960e-04 9.99964521e-01 3.86064691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719254154 meters 0.05501497672048388 Centerline is valid? [True, True] Translation: X:104.20, Y:3.56, Z:0.39 [[ 9.98650539e-01 -5.14943135e-02 -6.74071461e-03 1.04195996e+02] [ 5.14947664e-02 9.98673259e-01 -1.06475164e-04 3.55844913e+00] [ 6.73725429e-03 -2.40780044e-04 9.99977275e-01 3.86879181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters 0.05476402576384467 Centerline is valid? [True, True] Translation: X:104.26, Y:3.57, Z:0.39 [[ 9.98908675e-01 -4.63920181e-02 -5.40733976e-03 1.04256130e+02] [ 4.63922349e-02 9.98923297e-01 -8.54045710e-05 3.56667205e+00] [ 5.40547975e-03 -1.65547209e-04 9.99985377e-01 3.87391182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399999 meters 0.05596014993640389 Centerline is valid? [True, True] Translation: X:104.32, Y:3.57, Z:0.39 [[ 9.99089045e-01 -4.21738336e-02 -6.51517880e-03 1.04316091e+02] [ 4.21740588e-02 9.99110273e-01 -1.02879497e-04 3.56592563e+00] [ 6.51372089e-03 -1.71985756e-04 9.99978771e-01 3.86447379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399999 meters 0.054956999728483696 Centerline is valid? [True, True] Translation: X:104.38, Y:3.57, Z:0.39 [[ 9.99141213e-01 -4.07296537e-02 -7.61126609e-03 1.04378249e+02] [ 4.07299199e-02 9.99170185e-01 -1.20101181e-04 3.57043255e+00] [ 7.60984183e-03 -1.90008218e-04 9.99971027e-01 3.85340893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399999 meters 0.05619350287994578 Centerline is valid? [True, True] Translation: X:104.44, Y:3.57, Z:0.38 [[ 9.99116589e-01 -4.08660864e-02 -9.79819821e-03 1.04440179e+02] [ 4.08665377e-02 9.99164602e-01 -1.54237602e-04 3.57232218e+00] [ 9.79631590e-03 -2.46317089e-04 9.99951985e-01 3.83986594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019254154 meters 0.056109613182122355 Centerline is valid? [True, True] Translation: X:104.50, Y:3.58, Z:0.38 [[ 9.99115045e-01 -4.09694176e-02 -9.52021942e-03 1.04502176e+02] [ 4.09698513e-02 9.99160372e-01 -1.49550229e-04 3.57589216e+00] [ 9.51835296e-03 -2.40624091e-04 9.99954670e-01 3.84595627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079254154 meters 0.05472110407738021 Centerline is valid? [True, True] Translation: X:104.56, Y:3.58, Z:0.39 [[ 9.99186547e-01 -3.96678290e-02 -7.25997529e-03 1.04564001e+02] [ 3.96680481e-02 9.99212907e-01 -1.13878763e-04 3.58007577e+00] [ 7.25877834e-03 -1.74202922e-04 9.99973640e-01 3.86531949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters 0.05515638268098091 Centerline is valid? [True, True] Translation: X:104.63, Y:3.59, Z:0.39 [[ 9.99212923e-01 -3.92851503e-02 -5.49643990e-03 1.04625656e+02] [ 3.92852707e-02 9.99228032e-01 -8.60993712e-05 3.58729778e+00] [ 5.49557925e-03 -1.29897525e-04 9.99984891e-01 3.87990186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399999 meters 0.05529606502757109 Centerline is valid? [True, True] Translation: X:104.69, Y:3.58, Z:0.39 [[ 9.99137004e-01 -4.12087943e-02 -5.20414674e-03 1.04686700e+02] [ 4.12089293e-02 9.99150548e-01 -8.13373905e-05 3.58440663e+00] [ 5.20307789e-03 -1.33190119e-04 9.99986455e-01 3.88394232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399999 meters 0.05693870267938419 Centerline is valid? [True, True] Translation: X:104.75, Y:3.58, Z:0.39 [[ 9.98847800e-01 -4.76030818e-02 -6.08437988e-03 1.04747270e+02] [ 4.76033863e-02 9.98866312e-01 -9.48436703e-05 3.58160202e+00] [ 6.08199694e-03 -1.94902695e-04 9.99981485e-01 3.88201016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399999 meters 0.05676212216676454 Centerline is valid? [True, True] Translation: X:104.81, Y:3.58, Z:0.39 [[ 9.98460609e-01 -5.50706927e-02 -6.60534305e-03 1.04808181e+02] [ 5.50712149e-02 9.98482424e-01 -1.02933902e-04 3.58297174e+00] [ 6.60098758e-03 -2.60988821e-04 9.99978179e-01 3.87714971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379254154 meters 0.05465722602453491 Centerline is valid? [True, True] Translation: X:104.87, Y:3.59, Z:0.39 [[ 9.98256921e-01 -5.85823880e-02 -7.15710657e-03 1.04868163e+02] [ 5.85830911e-02 9.98282530e-01 -1.11542558e-04 3.59198759e+00] [ 7.15134888e-03 -3.07937295e-04 9.99974381e-01 3.87875095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439254154 meters 0.056195511601043906 Centerline is valid? [True, True] Translation: X:104.93, Y:3.59, Z:0.39 [[ 9.98172643e-01 -5.99715664e-02 -7.40179081e-03 1.04928307e+02] [ 5.99723573e-02 9.98200032e-01 -1.15251342e-04 3.59107197e+00] [ 7.39537962e-03 -3.28862106e-04 9.99972600e-01 3.87294008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters 0.054620143826973507 Centerline is valid? [True, True] Translation: X:104.99, Y:3.60, Z:0.39 [[ 9.98381223e-01 -5.64487436e-02 -6.96229876e-03 1.04988610e+02] [ 5.64493589e-02 9.98405458e-01 -1.08270538e-04 3.60132397e+00] [ 6.95730881e-03 -2.84922029e-04 9.99975757e-01 3.88126638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399999 meters 0.05808622848519302 Centerline is valid? [True, True] Translation: X:105.05, Y:3.59, Z:0.39 [[ 9.98513461e-01 -5.40927144e-02 -6.69669602e-03 1.05048584e+02] [ 5.40932306e-02 9.98535884e-01 -1.04141256e-04 3.59139633e+00] [ 6.69252456e-03 -2.58259476e-04 9.99977571e-01 3.87949709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399999 meters 0.05489514362246694 Centerline is valid? [True, True] Translation: X:105.11, Y:3.61, Z:0.39 [[ 9.98938208e-01 -4.57715691e-02 -5.23646568e-03 1.05108550e+02] [ 4.57717705e-02 9.98951920e-01 -8.14284801e-05 3.60793880e+00] [ 5.23470456e-03 -1.58340285e-04 9.99986286e-01 3.90500803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399999 meters 0.05489758171560624 Centerline is valid? [True, True] Translation: X:105.17, Y:3.61, Z:0.39 [[ 9.99300070e-01 -3.69142651e-02 -6.05859965e-03 1.05168514e+02] [ 3.69143722e-02 9.99318428e-01 -9.41900432e-05 3.61283604e+00] [ 6.05794723e-03 -1.29525286e-04 9.99981642e-01 3.89473723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739254154 meters 0.05489662201288063 Centerline is valid? [True, True] Translation: X:105.23, Y:3.63, Z:0.39 [[ 9.99593792e-01 -2.77127592e-02 -6.65232895e-03 1.05229136e+02] [ 2.77126848e-02 9.99615924e-01 -1.03384832e-04 3.62591991e+00] [ 6.65263904e-03 -8.10110593e-05 9.99977868e-01 3.88311238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799254154 meters 0.05449368039057607 Centerline is valid? [True, True] Translation: X:105.29, Y:3.64, Z:0.39 [[ 9.99841597e-01 -1.62189428e-02 -7.32983751e-03 1.05289478e+02] [ 1.62185440e-02 9.99868464e-01 -1.13851526e-04 3.63530972e+00] [ 7.33071992e-03 -5.04579999e-06 9.99973130e-01 3.88376760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters 0.054644112641735555 Centerline is valid? [True, True] Translation: X:105.35, Y:3.64, Z:0.39 [[ 9.99933875e-01 -8.99449600e-03 -7.16552159e-03 1.05350128e+02] [ 8.99392995e-03 9.99959548e-01 -1.11216643e-04 3.64373918e+00] [ 7.16623206e-03 4.67630892e-05 9.99974321e-01 3.88905711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399999 meters 0.05474421714657267 Centerline is valid? [True, True] Translation: X:105.41, Y:3.65, Z:0.39 [[ 9.99976921e-01 -5.32773463e-04 -6.77307117e-03 1.05409678e+02] [ 5.32073822e-04 9.99999853e-01 -1.05099059e-04 3.65148496e+00] [ 6.77312617e-03 1.01492860e-04 9.99977057e-01 3.90214413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399999 meters 0.055435536340009986 Centerline is valid? [True, True] Translation: X:105.47, Y:3.65, Z:0.39 [[ 9.99978212e-01 2.54390808e-03 -6.09137053e-03 1.05469308e+02] [-2.54453192e-03 9.99996758e-01 -9.46662437e-05 3.65017258e+00] [ 6.09110997e-03 1.10163868e-04 9.99981443e-01 3.91407812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399999 meters 0.054946826759422085 Centerline is valid? [True, True] Translation: X:105.53, Y:3.65, Z:0.39 [[ 9.99982496e-01 1.29152734e-04 -5.91531342e-03 1.05528200e+02] [-1.29700202e-04 9.99999987e-01 -9.21674438e-05 3.64970097e+00] [ 5.91530144e-03 9.29330478e-05 9.99982500e-01 3.91245561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099254154 meters 0.053767127567523956 Centerline is valid? [True, True] Translation: X:105.59, Y:3.64, Z:0.39 [[ 9.99941987e-01 -8.30878235e-03 -6.85474098e-03 1.05587659e+02] [ 8.30824425e-03 9.99965480e-01 -1.06972669e-04 3.64473085e+00] [ 6.85539317e-03 5.00156011e-05 9.99976500e-01 3.90904688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159254154 meters 0.054032283850006066 Centerline is valid? [True, True] Translation: X:105.65, Y:3.64, Z:0.39 [[ 9.99833091e-01 -1.67796790e-02 -7.22716319e-03 1.05648629e+02] [ 1.67793018e-02 9.99859211e-01 -1.12828826e-04 3.63928607e+00] [ 7.22803891e-03 -8.45675867e-06 9.99973877e-01 3.91040392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219254154 meters 0.055018011734518806 Centerline is valid? [True, True] Translation: X:105.71, Y:3.63, Z:0.39 [[ 9.99529322e-01 -2.95561248e-02 -8.22005885e-03 1.05708393e+02] [ 2.95560690e-02 9.99563116e-01 -1.28292538e-04 3.62899354e+00] [ 8.22025947e-03 -1.14720473e-04 9.99966207e-01 3.90565618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399999 meters 0.054604262344622824 Centerline is valid? [True, True] Translation: X:105.77, Y:3.62, Z:0.39 [[ 9.99166715e-01 -4.01002136e-02 -7.60586069e-03 1.05769221e+02] [ 4.01004711e-02 9.99195646e-01 -1.18710575e-04 3.62144899e+00] [ 7.60450320e-03 -1.86386941e-04 9.99971068e-01 3.90003051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399999 meters 0.05321125130820054 Centerline is valid? [True, True] Translation: X:105.83, Y:3.62, Z:0.39 [[ 9.98965505e-01 -4.49344650e-02 -6.98661058e-03 1.05830121e+02] [ 4.49348004e-02 9.98989916e-01 -1.09044963e-04 3.62481317e+00] [ 6.98445339e-03 -2.05009795e-04 9.99975587e-01 3.91325910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399999 meters 0.054778100944079776 Centerline is valid? [True, True] Translation: X:105.89, Y:3.62, Z:0.39 [[ 9.98870998e-01 -4.70638292e-02 -6.45959304e-03 1.05890800e+02] [ 4.70641606e-02 9.98891863e-01 -1.00794006e-04 3.61568395e+00] [ 6.45717868e-03 -2.03335115e-04 9.99979132e-01 3.91228971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399999 meters 0.055306362904781026 Centerline is valid? [True, True] Translation: X:105.95, Y:3.62, Z:0.39 [[ 9.98950532e-01 -4.53061036e-02 -6.72242190e-03 1.05951919e+02] [ 4.53064233e-02 9.98973131e-01 -1.04800031e-04 3.61736146e+00] [ 6.72026693e-03 -1.99878845e-04 9.99977399e-01 3.91420642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519254154 meters 0.05523667889567261 Centerline is valid? [True, True] Translation: X:106.01, Y:3.62, Z:0.39 [[ 9.99079430e-01 -4.22581870e-02 -7.38498775e-03 1.06012476e+02] [ 4.22584903e-02 9.99106704e-01 -1.15032070e-04 3.61800757e+00] [ 7.38325182e-03 -1.97152259e-04 9.99972724e-01 3.90595616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579254154 meters 0.05453051825856829 Centerline is valid? [True, True] Translation: X:106.07, Y:3.62, Z:0.39 [[ 9.99141034e-01 -4.06927810e-02 -7.82891108e-03 1.06074340e+02] [ 4.06930745e-02 9.99171686e-01 -1.21859198e-04 3.62296501e+00] [ 7.82738507e-03 -1.96827937e-04 9.99969346e-01 3.91053295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters 0.0548086683470998 Centerline is valid? [True, True] Translation: X:106.14, Y:3.63, Z:0.39 [[ 9.99282326e-01 -3.68525252e-02 -8.75921035e-03 1.06135233e+02] [ 3.68527464e-02 9.99320698e-01 -1.36202094e-04 3.63223801e+00] [ 8.75827959e-03 -1.86696612e-04 9.99961628e-01 3.90876578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399999 meters 0.05334715750309789 Centerline is valid? [True, True] Translation: X:106.20, Y:3.64, Z:0.39 [[ 9.99460732e-01 -3.08221729e-02 -1.13242651e-02 1.06196243e+02] [ 3.08221575e-02 9.99524869e-01 -1.75925657e-04 3.64005533e+00] [ 1.13243070e-02 -1.73207496e-04 9.99935863e-01 3.90380724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399999 meters 0.053615915272686894 Centerline is valid? [True, True] Translation: X:106.26, Y:3.65, Z:0.39 [[ 9.99629894e-01 -2.43534546e-02 -1.21237309e-02 1.06256875e+02] [ 2.43529637e-02 9.99703405e-01 -1.88140480e-04 3.64672677e+00] [ 1.21247169e-02 -1.07177929e-04 9.99926487e-01 3.89860520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399999 meters 0.05364317722357078 Centerline is valid? [True, True] Translation: X:106.32, Y:3.65, Z:0.39 [[ 9.99745583e-01 -1.94197777e-02 -1.14735112e-02 1.06316927e+02] [ 1.94190146e-02 9.99811417e-01 -1.77927347e-04 3.65137599e+00] [ 1.14748028e-02 -4.49222014e-05 9.99934161e-01 3.89043543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879254154 meters 0.05406257456570856 Centerline is valid? [True, True] Translation: X:106.38, Y:3.66, Z:0.39 [[ 9.99892679e-01 -1.17304895e-02 -8.77642781e-03 1.06377109e+02] [ 1.17297470e-02 9.99931195e-01 -1.36077452e-04 3.66065434e+00] [ 8.77742020e-03 3.31175703e-05 9.99961477e-01 3.92942945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939254154 meters 0.05405576440724357 Centerline is valid? [True, True] Translation: X:106.44, Y:3.67, Z:0.40 [[ 9.99976842e-01 -4.05008527e-03 -5.46920935e-03 1.06436435e+02] [ 4.04968197e-03 9.99991796e-01 -8.48125568e-05 3.66858671e+00] [ 5.46950798e-03 6.26620342e-05 9.99985040e-01 3.95675635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters 0.05439275066226103 Centerline is valid? [True, True] Translation: X:106.49, Y:3.68, Z:0.40 [[ 9.99989960e-01 2.62087761e-05 -4.48097978e-03 1.06494916e+02] [-2.65206023e-05 9.99999997e-01 -6.95294823e-05 3.67645321e+00] [ 4.48097794e-03 6.96476225e-05 9.99989958e-01 3.97036457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399999 meters 0.05395044286691011 Centerline is valid? [True, True] Translation: X:106.55, Y:3.67, Z:0.40 [[ 9.99972838e-01 -5.32025758e-03 -5.10081443e-03 1.06554871e+02] [ 5.31992232e-03 9.99985846e-01 -7.92923168e-05 3.67200242e+00] [ 5.10116409e-03 5.21542265e-05 9.99986988e-01 3.95971851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399999 meters 0.05422441303617745 Centerline is valid? [True, True] Translation: X:106.62, Y:3.67, Z:0.40 [[ 9.99893259e-01 -1.34150810e-02 -5.78842405e-03 1.06615384e+02] [ 1.34147843e-02 9.99910014e-01 -9.00941716e-05 3.66522138e+00] [ 5.78911179e-03 1.24340950e-05 9.99983243e-01 3.95651483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399999 meters 0.05413123003428577 Centerline is valid? [True, True] Translation: X:106.68, Y:3.65, Z:0.39 [[ 9.99612814e-01 -2.68704987e-02 -7.22487954e-03 1.06675912e+02] [ 2.68703879e-02 9.99638920e-01 -1.12424826e-04 3.65441957e+00] [ 7.22529169e-03 -8.17540191e-05 9.99973894e-01 3.93650771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239254154 meters 0.05357389136887955 Centerline is valid? [True, True] Translation: X:106.74, Y:3.65, Z:0.39 [[ 9.99228976e-01 -3.86614188e-02 -6.83724800e-03 1.06737016e+02] [ 3.86615959e-02 9.99252355e-01 -1.06317937e-04 3.65167110e+00] [ 6.83624657e-03 -1.58102956e-04 9.99976620e-01 3.94543732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299254154 meters 0.05339019379562439 Centerline is valid? [True, True] Translation: X:106.80, Y:3.65, Z:0.40 [[ 9.98949315e-01 -4.54759100e-02 -5.67512511e-03 1.06796687e+02] [ 4.54761421e-02 9.98965421e-01 -8.82030914e-05 3.64566647e+00] [ 5.67326486e-03 -1.69972378e-04 9.99983892e-01 3.95166136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters 0.05478830644331563 Centerline is valid? [True, True] Translation: X:106.86, Y:3.63, Z:0.39 [[ 9.98740028e-01 -4.98234560e-02 -5.99829679e-03 1.06856782e+02] [ 4.98237934e-02 9.98758019e-01 -9.32533181e-05 3.63423745e+00] [ 5.99549322e-03 -2.05722078e-04 9.99982006e-01 3.94532362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399999 meters 0.05351283373396224 Centerline is valid? [True, True] Translation: X:106.92, Y:3.64, Z:0.40 [[ 9.98578722e-01 -5.30113383e-02 -5.50765154e-03 1.06917104e+02] [ 5.30116711e-02 9.98593889e-01 -8.56459774e-05 3.64389775e+00] [ 5.50444738e-03 -2.06445561e-04 9.99984829e-01 3.95264577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399999 meters 0.05576240055919456 Centerline is valid? [True, True] Translation: X:106.98, Y:3.63, Z:0.39 [[ 9.98417481e-01 -5.59160242e-02 -5.99430084e-03 1.06976474e+02] [ 5.59164708e-02 9.98435446e-01 -9.31875094e-05 3.63463867e+00] [ 5.99013311e-03 -2.42140110e-04 9.99982030e-01 3.94912204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399999 meters 0.05305882954078282 Centerline is valid? [True, True] Translation: X:107.04, Y:3.65, Z:0.40 [[ 9.98191419e-01 -5.98903600e-02 -5.19961074e-03 1.07036883e+02] [ 5.98907501e-02 9.98204935e-01 -8.07863732e-05 3.64652420e+00] [ 5.19511543e-03 -2.30768323e-04 9.99986479e-01 3.95181656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599254154 meters 0.05570752897447102 Centerline is valid? [True, True] Translation: X:107.10, Y:3.64, Z:0.39 [[ 9.98153977e-01 -6.04550936e-02 -5.81553161e-03 1.07098673e+02] [ 6.04555927e-02 9.98170884e-01 -9.00997832e-05 3.63518328e+00] [ 5.81034132e-03 -2.61647954e-04 9.99983086e-01 3.94688278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659254154 meters 0.05269915134853386 Centerline is valid? [True, True] Translation: X:107.16, Y:3.65, Z:0.39 [[ 9.98152169e-01 -6.04977852e-02 -5.68032908e-03 1.07160201e+02] [ 6.04982654e-02 9.98168299e-01 -8.74124737e-05 3.64960364e+00] [ 5.67521268e-03 -2.56399106e-04 9.99983863e-01 3.94630585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719254154 meters 0.05325415654944353 Centerline is valid? [True, True] Translation: X:107.22, Y:3.65, Z:0.39 [[ 9.98225079e-01 -5.90809785e-02 -7.49201377e-03 1.07221871e+02] [ 5.90817789e-02 9.98253139e-01 -1.14640091e-04 3.65366390e+00] [ 7.48569931e-03 -3.28204887e-04 9.99971928e-01 3.93868686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399999 meters 0.055059278954878534 Centerline is valid? [True, True] Translation: X:107.28, Y:3.65, Z:0.39 [[ 9.98334697e-01 -5.68870946e-02 -9.57560365e-03 1.07282132e+02] [ 5.68883029e-02 9.98380538e-01 -1.46358605e-04 3.64809468e+00] [ 9.56842224e-03 -3.98624968e-04 9.99954142e-01 3.93471307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399999 meters 0.0543316110108257 Centerline is valid? [True, True] Translation: X:107.34, Y:3.65, Z:0.39 [[ 9.98661183e-01 -5.07388339e-02 -1.00704016e-02 1.07341890e+02] [ 5.07398577e-02 9.98711892e-01 -1.53960645e-04 3.65340393e+00] [ 1.00652416e-02 -3.57216225e-04 9.99949280e-01 3.93866238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399999 meters 0.0535725044769451 Centerline is valid? [True, True] Translation: X:107.40, Y:3.67, Z:0.40 [[ 9.99119314e-01 -4.10262441e-02 -8.80023947e-03 1.07401932e+02] [ 4.10266495e-02 9.99158044e-01 -1.34529702e-04 3.66553550e+00] [ 8.79834930e-03 -2.26633116e-04 9.99961268e-01 3.96067736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399999 meters 0.05525496023106235 Centerline is valid? [True, True] Translation: X:107.46, Y:3.66, Z:0.40 [[ 9.99426756e-01 -3.29723740e-02 -7.67997454e-03 1.07462096e+02] [ 3.29724453e-02 9.99456254e-01 -1.17360555e-04 3.66489977e+00] [ 7.67966824e-03 -1.35934262e-04 9.99970502e-01 3.95951957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019254154 meters 0.05344069610249431 Centerline is valid? [True, True] Translation: X:107.52, Y:3.68, Z:0.40 [[ 9.99849699e-01 -1.62265673e-02 -6.10551055e-03 1.07522379e+02] [ 1.62263003e-02 9.99868341e-01 -9.32688890e-05 3.68409164e+00] [ 6.10622013e-03 -5.81497719e-06 9.99981357e-01 3.98031528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079254154 meters 0.05407417259728893 Centerline is valid? [True, True] Translation: X:107.58, Y:3.69, Z:0.40 [[ 9.99950159e-01 -8.33699231e-03 -5.49313552e-03 1.07584018e+02] [ 8.33665747e-03 9.99965246e-01 -8.38501040e-05 3.69019275e+00] [ 5.49364367e-03 3.80515355e-05 9.99984909e-01 3.98400739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters 0.054429308103500613 Centerline is valid? [True, True] Translation: X:107.64, Y:3.69, Z:0.40 [[ 9.99976252e-01 2.13882246e-03 -6.55134567e-03 1.07643619e+02] [-2.13952292e-03 9.99997706e-01 -9.99108556e-05 3.69181283e+00] [ 6.55111695e-03 1.13925237e-04 9.99978535e-01 4.00225173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399999 meters 0.054448493686185886 Centerline is valid? [True, True] Translation: X:107.70, Y:3.70, Z:0.40 [[ 9.99956710e-01 6.38028135e-03 -6.77270371e-03 1.07703947e+02] [-6.38112729e-03 9.99979635e-01 -1.03302627e-04 3.70487092e+00] [ 6.77190668e-03 1.46515639e-04 9.99977060e-01 3.99265863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399999 meters 0.05511183512981091 Centerline is valid? [True, True] Translation: X:107.76, Y:3.70, Z:0.40 [[ 9.99946344e-01 7.00700826e-03 -7.62957780e-03 1.07761929e+02] [-7.00810091e-03 9.99975436e-01 -1.16486275e-04 3.69855987e+00] [ 7.62857417e-03 1.69948876e-04 9.99970888e-01 3.99739617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399999 meters 0.055460857130301036 Centerline is valid? [True, True] Translation: X:107.82, Y:3.70, Z:0.40 [[ 9.99960038e-01 1.77855200e-03 -8.76119157e-03 1.07822565e+02] [-1.77979362e-03 9.99998407e-01 -1.33923112e-04 3.70147994e+00] [ 8.76093943e-03 1.49510873e-04 9.99961611e-01 3.96498393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379254154 meters 0.05420556800155982 Centerline is valid? [True, True] Translation: X:107.88, Y:3.69, Z:0.40 [[ 9.99935802e-01 -7.62668426e-03 -8.38004411e-03 1.07882843e+02] [ 7.62587895e-03 9.99970914e-01 -1.28047831e-04 3.69045679e+00] [ 8.38077695e-03 6.41344087e-05 9.99964879e-01 3.98591112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439254154 meters 0.0541794552841667 Centerline is valid? [True, True] Translation: X:107.94, Y:3.68, Z:0.40 [[ 9.99853261e-01 -1.47305085e-02 -8.74468653e-03 1.07942907e+02] [ 1.47299028e-02 9.99891500e-01 -1.33673667e-04 3.68493977e+00] [ 8.74570682e-03 4.84566925e-06 9.99961756e-01 3.99366943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters 0.054640218758593 Centerline is valid? [True, True] Translation: X:108.00, Y:3.67, Z:0.40 [[ 9.99634428e-01 -2.55476910e-02 -8.85022911e-03 1.08003714e+02] [ 2.55474941e-02 9.99673600e-01 -1.35314149e-04 3.67377989e+00] [ 8.85079737e-03 -9.08364941e-05 9.99960827e-01 3.97819866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399999 meters 0.05500495236104939 Centerline is valid? [True, True] Translation: X:108.06, Y:3.67, Z:0.40 [[ 9.99330281e-01 -3.57414980e-02 -7.84439602e-03 1.08064451e+02] [ 3.57416575e-02 9.99361056e-01 -1.19892211e-04 3.66500198e+00] [ 7.84366902e-03 -1.60559799e-04 9.99969225e-01 3.99365071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399999 meters 0.05560396840138449 Centerline is valid? [True, True] Translation: X:108.13, Y:3.66, Z:0.40 [[ 9.99107771e-01 -4.16329455e-02 -7.09646053e-03 1.08125407e+02] [ 4.16332249e-02 9.99132956e-01 -1.08420213e-04 3.65831942e+00] [ 7.09482144e-03 -1.87125059e-04 9.99974814e-01 3.99387242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399999 meters 0.05526750105345405 Centerline is valid? [True, True] Translation: X:108.19, Y:3.66, Z:0.40 [[ 9.98737849e-01 -4.97754986e-02 -6.71630050e-03 1.08186217e+02] [ 4.97759329e-02 9.98760405e-01 -1.02574712e-04 3.65531109e+00] [ 6.71308071e-03 -2.31864876e-04 9.99977440e-01 3.99770374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739254154 meters 0.05495893143570656 Centerline is valid? [True, True] Translation: X:108.25, Y:3.66, Z:0.40 [[ 9.98389705e-01 -5.60444697e-02 -8.77577802e-03 1.08247232e+02] [ 5.60454532e-02 9.98428209e-01 -1.34011831e-04 3.65720381e+00] [ 8.76949496e-03 -3.58046423e-04 9.99961483e-01 4.00174006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799254154 meters 0.05548938311657487 Centerline is valid? [True, True] Translation: X:108.31, Y:3.65, Z:0.40 [[ 9.98219227e-01 -5.88283545e-02 -9.87929994e-03 1.08306541e+02] [ 5.88297366e-02 9.98268020e-01 -1.50895143e-04 3.65253486e+00] [ 9.87106610e-03 -4.30570180e-04 9.99951187e-01 3.99371205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters 0.05462888000685612 Centerline is valid? [True, True] Translation: X:108.37, Y:3.66, Z:0.40 [[ 9.98059352e-01 -6.14088360e-02 -1.03191602e-02 1.08366913e+02] [ 6.14104815e-02 9.98112583e-01 -1.57631040e-04 3.65819033e+00] [ 1.03093636e-02 -4.76379461e-04 9.99946744e-01 3.99512065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399999 meters 0.05454792790445926 Centerline is valid? [True, True] Translation: X:108.43, Y:3.66, Z:0.40 [[ 9.98057212e-01 -6.09826719e-02 -1.27638107e-02 1.08430408e+02] [ 6.09851608e-02 9.98138654e-01 -1.94495422e-04 3.65659955e+00] [ 1.27519136e-02 -5.84285487e-04 9.99918520e-01 3.98237970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399999 meters 0.05593689227016137 Centerline is valid? [True, True] Translation: X:108.49, Y:3.66, Z:0.40 [[ 9.98246899e-01 -5.75788783e-02 -1.37040525e-02 1.08490436e+02] [ 5.75814307e-02 9.98340791e-01 -2.08573281e-04 3.65620536e+00] [ 1.36933240e-02 -5.80891316e-04 9.99906073e-01 3.97058887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399999 meters 0.05583955190034162 Centerline is valid? [True, True] Translation: X:108.55, Y:3.66, Z:0.40 [[ 9.98733349e-01 -4.85123416e-02 -1.33510107e-02 1.08550886e+02] [ 4.85139549e-02 9.98822484e-01 -2.03199147e-04 3.66197237e+00] [ 1.33451474e-02 -4.44768568e-04 9.99910851e-01 3.97646785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099254154 meters 0.05429123117494764 Centerline is valid? [True, True] Translation: X:108.61, Y:3.67, Z:0.40 [[ 9.99261340e-01 -3.63956437e-02 -1.23341996e-02 1.08609929e+02] [ 3.63960979e-02 9.99337425e-01 -1.87717560e-04 3.67285916e+00] [ 1.23328593e-02 -2.61337834e-04 9.99923913e-01 3.99827566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159254154 meters 0.05467155198178935 Centerline is valid? [True, True] Translation: X:108.67, Y:3.69, Z:0.40 [[ 9.99680919e-01 -2.31147458e-02 -1.01866651e-02 1.08670366e+02] [ 2.31143661e-02 9.99732815e-01 -1.55014747e-04 3.68674338e+00] [ 1.01875265e-02 -8.04930214e-05 9.99948103e-01 4.03198765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219254154 meters 0.054572539848575734 Centerline is valid? [True, True] Translation: X:108.73, Y:3.69, Z:0.40 [[ 9.99857615e-01 -1.41040760e-02 -9.26413724e-03 1.08731826e+02] [ 1.41033764e-02 9.99900533e-01 -1.40839446e-04 3.69446157e+00] [ 9.26520217e-03 1.01637779e-05 9.99957077e-01 4.04106861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399999 meters 0.05526728936886055 Centerline is valid? [True, True] Translation: X:108.79, Y:3.71, Z:0.40 [[ 9.99952778e-01 -1.44266571e-03 -9.61048764e-03 1.08791112e+02] [ 1.44132819e-03 9.99998951e-01 -1.46097236e-04 3.70555144e+00] [ 9.61068833e-03 1.32238470e-04 9.99953808e-01 4.04090128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399999 meters 0.05591392792456774 Centerline is valid? [True, True] Translation: X:108.85, Y:3.71, Z:0.41 [[ 9.99934846e-01 7.03852037e-03 -8.98682797e-03 1.08851087e+02] [-7.04003285e-03 9.99975209e-01 -1.36676183e-04 3.71161833e+00] [ 8.98564318e-03 1.99934843e-04 9.99959608e-01 4.05724982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399999 meters 0.05534224764195303 Centerline is valid? [True, True] Translation: X:108.91, Y:3.71, Z:0.41 [[ 9.99921487e-01 8.57338939e-03 -9.13880191e-03 1.08909139e+02] [-8.57501954e-03 9.99963224e-01 -1.39207238e-04 3.71378558e+00] [ 9.13727235e-03 2.17561714e-04 9.99958231e-01 4.06350216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399999 meters 0.05563974488957917 Centerline is valid? [True, True] Translation: X:108.97, Y:3.71, Z:0.41 [[ 9.99933965e-01 7.17159512e-03 -8.97968185e-03 1.08968180e+02] [-7.17311535e-03 9.99974263e-01 -1.37101127e-04 3.71341897e+00] [ 8.97846751e-03 2.01504367e-04 9.99959672e-01 4.06800271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519254154 meters 0.05600069767924277 Centerline is valid? [True, True] Translation: X:109.03, Y:3.71, Z:0.41 [[ 9.99960913e-01 2.01793749e-03 -8.60811176e-03 1.09028011e+02] [-2.01914480e-03 9.99997953e-01 -1.31563826e-04 3.71146324e+00] [ 8.60782865e-03 1.48939708e-04 9.99962941e-01 4.06065077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579254154 meters 0.054800748041947206 Centerline is valid? [True, True] Translation: X:109.09, Y:3.70, Z:0.41 [[ 9.99900904e-01 -1.10527169e-02 -8.71889537e-03 1.09088903e+02] [ 1.10519748e-02 9.99938916e-01 -1.33281735e-04 3.69615386e+00] [ 8.71983592e-03 3.69075147e-05 9.99961981e-01 4.05997921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters 0.05446814780052815 Centerline is valid? [True, True] Translation: X:109.15, Y:3.68, Z:0.40 [[ 9.99618925e-01 -2.58725345e-02 -9.62372859e-03 1.09149139e+02] [ 2.58723170e-02 9.99665245e-01 -1.47120380e-04 3.67960628e+00] [ 9.62431337e-03 -1.01923841e-04 9.99953680e-01 4.03900161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399999 meters 0.055178884511382205 Centerline is valid? [True, True] Translation: X:109.21, Y:3.67, Z:0.40 [[ 9.99317605e-01 -3.54973460e-02 -1.02109487e-02 1.09210228e+02] [ 3.54976040e-02 9.99369749e-01 -1.56026578e-04 3.66948927e+00] [ 1.02100518e-02 -2.06544109e-04 9.99947855e-01 4.03985489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399999 meters 0.056386473583654326 Centerline is valid? [True, True] Translation: X:109.27, Y:3.66, Z:0.40 [[ 9.98807930e-01 -4.77206514e-02 -1.02693017e-02 1.09270606e+02] [ 4.77215581e-02 9.98860665e-01 -1.56873838e-04 3.65692936e+00] [ 1.02650877e-02 -3.33380245e-04 9.99947257e-01 4.04171320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399999 meters 0.053805074638065116 Centerline is valid? [True, True] Translation: X:109.33, Y:3.66, Z:0.41 [[ 9.98305673e-01 -5.75221003e-02 -8.77449924e-03 1.09331327e+02] [ 5.75231402e-02 9.98344164e-01 -1.34026146e-04 3.66420147e+00] [ 8.76767958e-03 -3.70937688e-04 9.99961494e-01 4.06176279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879254154 meters 0.05419024738130048 Centerline is valid? [True, True] Translation: X:109.39, Y:3.66, Z:0.41 [[ 9.98010941e-01 -6.26068711e-02 -7.38520853e-03 1.09391550e+02] [ 6.26077467e-02 9.98038204e-01 -1.12793017e-04 3.65985446e+00] [ 7.37778187e-03 -3.49802600e-04 9.99972723e-01 4.05999483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939254154 meters 0.052763988734642366 Centerline is valid? [True, True] Translation: X:109.45, Y:3.67, Z:0.41 [[ 9.97929951e-01 -6.39263342e-02 -7.01689237e-03 1.09452953e+02] [ 6.39271576e-02 9.97954562e-01 -1.07113006e-04 3.66730717e+00] [ 7.00938709e-03 -3.41678707e-04 9.99975376e-01 4.05907895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters 0.055133933154280196 Centerline is valid? [True, True] Translation: X:109.51, Y:3.65, Z:0.40 [[ 9.97955037e-01 -6.33267228e-02 -8.68734929e-03 1.09514900e+02] [ 6.33279677e-02 9.97992761e-01 -1.31979263e-04 3.65293932e+00] [ 8.67826952e-03 -4.18442805e-04 9.99962256e-01 4.03861889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399999 meters 0.05436701884642528 Centerline is valid? [True, True] Translation: X:109.58, Y:3.66, Z:0.40 [[ 9.97947604e-01 -6.33044790e-02 -9.64997957e-03 1.09577150e+02] [ 6.33060212e-02 9.97994151e-01 -1.45868579e-04 3.66016563e+00] [ 9.63985731e-03 -4.65332613e-04 9.99953427e-01 4.04023157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399999 meters 0.05580659775797679 Centerline is valid? [True, True] Translation: X:109.64, Y:3.65, Z:0.40 [[ 9.97973456e-01 -6.26757836e-02 -1.09875548e-02 1.09638106e+02] [ 6.26777549e-02 9.98033803e-01 -1.65186678e-04 3.65430598e+00] [ 1.09763043e-02 -5.23823345e-04 9.99939621e-01 4.02370625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399999 meters 0.055509893680426824 Centerline is valid? [True, True] Translation: X:109.70, Y:3.66, Z:0.40 [[ 9.98107596e-01 -6.02528067e-02 -1.22811270e-02 1.09699117e+02] [ 6.02550926e-02 9.98182994e-01 -1.84137563e-04 3.65641392e+00] [ 1.22699069e-02 -5.56211343e-04 9.99924567e-01 4.01013168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239254154 meters 0.05534749156333783 Centerline is valid? [True, True] Translation: X:109.76, Y:3.66, Z:0.40 [[ 9.98461158e-01 -5.37517626e-02 -1.36405220e-02 1.09759217e+02] [ 5.37539771e-02 9.98554189e-01 -2.04501482e-04 3.66341774e+00] [ 1.36317927e-02 -5.29045522e-04 9.99906943e-01 4.00555087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299254154 meters 0.05490391389486089 Centerline is valid? [True, True] Translation: X:109.82, Y:3.67, Z:0.40 [[ 9.98771478e-01 -4.78715967e-02 -1.28001660e-02 1.09819763e+02] [ 4.78730647e-02 9.98853409e-01 -1.91867019e-04 3.67487473e+00] [ 1.27946744e-02 -4.21151869e-04 9.99918056e-01 4.02648773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters 0.0543258398410129 Centerline is valid? [True, True] Translation: X:109.88, Y:3.68, Z:0.41 [[ 9.99258502e-01 -3.70056841e-02 -1.06313369e-02 1.09878853e+02] [ 3.70060815e-02 9.99315028e-01 -1.59404838e-04 3.68248978e+00] [ 1.06299536e-02 -2.34137478e-04 9.99943473e-01 4.05031188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399999 meters 0.054805398298005376 Centerline is valid? [True, True] Translation: X:109.94, Y:3.69, Z:0.41 [[ 9.99668901e-01 -2.44844758e-02 -7.91195595e-03 1.09938143e+02] [ 2.44843031e-02 9.99700207e-01 -1.18691849e-04 3.69145721e+00] [ 7.91249011e-03 -7.50661771e-05 9.99968693e-01 4.06703685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399999 meters 0.05417691669307806 Centerline is valid? [True, True] Translation: X:110.00, Y:3.70, Z:0.41 [[ 9.99908684e-01 -1.19947172e-02 -6.22504401e-03 1.09999886e+02] [ 1.19943685e-02 9.99928061e-01 -9.33402786e-05 3.70448213e+00] [ 6.22571578e-03 1.86662832e-05 9.99980620e-01 4.07553235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399999 meters 0.05488087169908612 Centerline is valid? [True, True] Translation: X:110.06, Y:3.71, Z:0.41 [[ 9.99961688e-01 -5.20787850e-03 -7.03571705e-03 1.10059871e+02] [ 5.20726612e-03 9.99986437e-01 -1.05355197e-04 3.70796268e+00] [ 7.03617030e-03 6.87143097e-05 9.99975243e-01 4.08389302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599254154 meters 0.05501592934099754 Centerline is valid? [True, True] Translation: X:110.12, Y:3.71, Z:0.41 [[ 9.99975322e-01 2.54885777e-05 -7.02535008e-03 1.10118880e+02] [-2.62286593e-05 9.99999994e-01 -1.05252355e-04 3.71455064e+00] [ 7.02534735e-03 1.05434023e-04 9.99975316e-01 4.08425800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659254154 meters 0.0547869716371245 Centerline is valid? [True, True] Translation: X:110.18, Y:3.72, Z:0.41 [[ 9.99975218e-01 -5.20561988e-04 -7.02079374e-03 1.10177142e+02] [ 5.19834933e-04 9.99999859e-01 -1.05381928e-04 3.71528215e+00] [ 7.02084761e-03 1.01729662e-04 9.99975348e-01 4.08237353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719254154 meters 0.055057254758925867 Centerline is valid? [True, True] Translation: X:110.24, Y:3.72, Z:0.41 [[ 9.99965790e-01 -2.40819847e-03 -7.91319122e-03 1.10235216e+02] [ 2.40733120e-03 9.99997095e-01 -1.19120743e-04 3.71641230e+00] [ 7.91345510e-03 1.00066996e-04 9.99968683e-01 4.07181607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399999 meters 0.05441335745486135 Centerline is valid? [True, True] Translation: X:110.30, Y:3.71, Z:0.41 [[ 9.99951434e-01 -7.02272178e-03 -6.91458824e-03 1.10295498e+02] [ 7.02216817e-03 9.99975339e-01 -1.04340128e-04 3.71239527e+00] [ 6.91515047e-03 5.57796591e-05 9.99976089e-01 4.07402015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399999 meters 0.05468507539730472 Centerline is valid? [True, True] Translation: X:110.35, Y:3.71, Z:0.41 [[ 9.99899206e-01 -1.24402985e-02 -6.84229671e-03 1.10354949e+02] [ 1.24398824e-02 9.99922616e-01 -1.03359335e-04 3.70629110e+00] [ 6.84305305e-03 1.82315501e-05 9.99976586e-01 4.07728419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399999 meters 0.05461791921850266 Centerline is valid? [True, True] Translation: X:110.42, Y:3.70, Z:0.41 [[ 9.99817982e-01 -1.81219593e-02 -5.96628785e-03 1.10415844e+02] [ 1.81217446e-02 9.99835784e-01 -9.00588628e-05 3.69808346e+00] [ 5.96694013e-03 -1.80770739e-05 9.99982197e-01 4.08875472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399999 meters 0.05459557287394898 Centerline is valid? [True, True] Translation: X:110.48, Y:3.69, Z:0.41 [[ 9.99750589e-01 -2.16689666e-02 -5.40514498e-03 1.10478318e+02] [ 2.16688432e-02 9.99765200e-01 -8.14002225e-05 3.69137708e+00] [ 5.40563971e-03 -3.57433189e-05 9.99985389e-01 4.09797209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019254154 meters 0.05410127871199776 Centerline is valid? [True, True] Translation: X:110.54, Y:3.69, Z:0.41 [[ 9.99760737e-01 -2.12081997e-02 -5.35551648e-03 1.10540551e+02] [ 2.12080745e-02 9.99775080e-01 -8.01762736e-05 3.68937843e+00] [ 5.35601231e-03 -3.34231023e-05 9.99985656e-01 4.09883445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079254154 meters 0.05478872853349904 Centerline is valid? [True, True] Translation: X:110.60, Y:3.69, Z:0.41 [[ 9.99848995e-01 -1.65101970e-02 -5.42223223e-03 1.10603085e+02] [ 1.65100006e-02 9.99863697e-01 -8.09766656e-05 3.68739898e+00] [ 5.42283010e-03 -8.55661984e-06 9.99985296e-01 4.09037928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399999 meters 0.05515221594798331 Centerline is valid? [True, True] Translation: X:110.66, Y:3.69, Z:0.41 [[ 9.99935874e-01 -9.18681617e-03 -6.62192839e-03 1.10663703e+02] [ 9.18636462e-03 9.99957800e-01 -9.86036427e-05 3.68860538e+00] [ 6.62255479e-03 3.77658710e-05 9.99978070e-01 4.07669556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399999 meters 0.05484320007126943 Centerline is valid? [True, True] Translation: X:110.72, Y:3.69, Z:0.41 [[ 9.99965886e-01 -5.47311967e-03 -6.18644058e-03 1.10723031e+02] [ 5.47265491e-03 9.99985021e-01 -9.20507293e-05 3.68660633e+00] [ 6.18685172e-03 5.81913346e-05 9.99980860e-01 4.08504549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399999 meters 0.05505659383973603 Centerline is valid? [True, True] Translation: X:110.78, Y:3.68, Z:0.41 [[ 9.99967870e-01 -3.32595415e-03 -7.29357029e-03 1.10781757e+02] [ 3.32525011e-03 9.99994465e-01 -1.08653673e-04 3.68341238e+00] [ 7.29389130e-03 8.43972371e-05 9.99973396e-01 4.07970579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399999 meters 0.055859488864847054 Centerline is valid? [True, True] Translation: X:110.84, Y:3.68, Z:0.41 [[ 9.99963780e-01 -3.73282177e-03 -7.64879970e-03 1.10839879e+02] [ 3.73205726e-03 9.99993029e-01 -1.14222645e-04 3.68297898e+00] [ 7.64917276e-03 8.56727498e-05 9.99970741e-01 4.07762414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379254154 meters 0.05548375580897017 Centerline is valid? [True, True] Translation: X:110.90, Y:3.68, Z:0.41 [[ 9.99940192e-01 -6.42012940e-03 -8.85404372e-03 1.10897767e+02] [ 6.41920659e-03 9.99979388e-01 -1.32639464e-04 3.67872680e+00] [ 8.85471278e-03 7.57955954e-05 9.99960793e-01 4.06997470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439254154 meters 0.05522016699401619 Centerline is valid? [True, True] Translation: X:110.96, Y:3.67, Z:0.41 [[ 9.99891873e-01 -1.10725120e-02 -9.67683154e-03 1.10956785e+02] [ 1.10716238e-02 9.99938697e-01 -1.45345878e-04 3.67170403e+00] [ 9.67784767e-03 3.81919233e-05 9.99953168e-01 4.07566353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters 0.0558479032725059 Centerline is valid? [True, True] Translation: X:111.02, Y:3.66, Z:0.41 [[ 9.99821371e-01 -1.67738505e-02 -8.70998013e-03 1.11016946e+02] [ 1.67733456e-02 9.99859309e-01 -1.31024395e-04 3.66436619e+00] [ 8.71095250e-03 -1.50945160e-05 9.99962059e-01 4.08651194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399999 meters 0.05487001776054974 Centerline is valid? [True, True] Translation: X:111.08, Y:3.66, Z:0.41 [[ 9.99760713e-01 -2.09552363e-02 -6.27652222e-03 1.11077158e+02] [ 2.09550567e-02 9.99780414e-01 -9.43795139e-05 3.65748588e+00] [ 6.27712173e-03 -3.71679492e-05 9.99980298e-01 4.11123191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399999 meters 0.05594245552279106 Centerline is valid? [True, True] Translation: X:111.14, Y:3.65, Z:0.41 [[ 9.99764254e-01 -2.10308637e-02 -5.39805503e-03 1.11138651e+02] [ 2.10307328e-02 9.99778826e-01 -8.10095739e-05 3.65449158e+00] [ 5.39856482e-03 -3.25345768e-05 9.99985427e-01 4.12403956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399999 meters 0.05579253478440612 Centerline is valid? [True, True] Translation: X:111.20, Y:3.65, Z:0.41 [[ 9.99836871e-01 -1.75703468e-02 -4.18511689e-03 1.11200069e+02] [ 1.75702381e-02 9.99845629e-01 -6.27189579e-05 3.65443706e+00] [ 4.18557282e-03 -1.08247738e-05 9.99991240e-01 4.13376893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739254154 meters 0.055747738809677524 Centerline is valid? [True, True] Translation: X:111.26, Y:3.65, Z:0.41 [[ 9.99885906e-01 -1.43375188e-02 -4.75511895e-03 1.11261804e+02] [ 1.43373433e-02 9.99897212e-01 -7.09924415e-05 3.65353789e+00] [ 4.75564804e-03 2.80856878e-06 9.99988692e-01 4.13306797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799254154 meters 0.056027015267718146 Centerline is valid? [True, True] Translation: X:111.32, Y:3.65, Z:0.41 [[ 9.99921972e-01 -1.04760602e-02 -6.80460289e-03 1.11323431e+02] [ 1.04756126e-02 9.99945124e-01 -1.01421661e-04 3.65149392e+00] [ 6.80529198e-03 3.01313630e-05 9.99976843e-01 4.12482400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters 0.05666065582838171 Centerline is valid? [True, True] Translation: X:111.38, Y:3.65, Z:0.41 [[ 9.99909732e-01 -1.01733612e-02 -8.77671714e-03 1.11383334e+02] [ 1.01726055e-02 9.99948249e-01 -1.30748347e-04 3.64938301e+00] [ 8.77759309e-03 4.14544636e-05 9.99961475e-01 4.12197849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399999 meters 0.05655057602804265 Centerline is valid? [True, True] Translation: X:111.44, Y:3.65, Z:0.41 [[ 9.99885645e-01 -1.19283714e-02 -9.29576151e-03 1.11442059e+02] [ 1.19275982e-02 9.99928854e-01 -1.38609114e-04 3.64548581e+00] [ 9.29675353e-03 2.77171548e-05 9.99956784e-01 4.10682130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399999 meters 0.05693773056445473 Centerline is valid? [True, True] Translation: X:111.50, Y:3.64, Z:0.41 [[ 9.99852081e-01 -1.48092541e-02 -8.74656544e-03 1.11501859e+02] [ 1.48086784e-02 9.99890337e-01 -1.30582911e-04 3.64183395e+00] [ 8.74754010e-03 1.03852085e-06 9.99961740e-01 4.13379862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399999 meters 0.05733691948723054 Centerline is valid? [True, True] Translation: X:111.56, Y:3.63, Z:0.41 [[ 9.99723451e-01 -2.18841331e-02 -8.60848257e-03 1.11560682e+02] [ 2.18838365e-02 9.99760512e-01 -1.28662579e-04 3.63324712e+00] [ 8.60923661e-03 -5.97596272e-05 9.99962938e-01 4.12951538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099254154 meters 0.05621433891106408 Centerline is valid? [True, True] Translation: X:111.62, Y:3.62, Z:0.41 [[ 9.99490699e-01 -3.09104613e-02 -7.93005331e-03 1.11621185e+02] [ 3.09104934e-02 9.99522150e-01 -1.18550521e-04 3.62185083e+00] [ 7.92992838e-03 -1.26631717e-04 9.99968550e-01 4.14428375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159254154 meters 0.05732838809241827 Centerline is valid? [True, True] Translation: X:111.68, Y:3.61, Z:0.42 [[ 9.99250721e-01 -3.79897941e-02 -7.40088518e-03 1.11682288e+02] [ 3.79900163e-02 9.99278113e-01 -1.10607362e-04 3.61338558e+00] [ 7.39974453e-03 -1.70635262e-04 9.99972607e-01 4.15993492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219254154 meters 0.05734490060042552 Centerline is valid? [True, True] Translation: X:111.74, Y:3.61, Z:0.42 [[ 9.99106262e-01 -4.17701056e-02 -6.47570635e-03 1.11743214e+02] [ 4.17703553e-02 9.99127233e-01 -9.67365805e-05 3.61462927e+00] [ 6.47409527e-03 -1.73842432e-04 9.99979028e-01 4.17245119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399999 meters 0.058280531853300226 Centerline is valid? [True, True] Translation: X:111.80, Y:3.61, Z:0.42 [[ 9.99076471e-01 -4.24789492e-02 -6.46102919e-03 1.11804266e+02] [ 4.24792135e-02 9.99097346e-01 -9.63901429e-05 3.60976992e+00] [ 6.45929167e-03 -1.78158314e-04 9.99979123e-01 4.17200943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399999 meters 0.05850169711300405 Centerline is valid? [True, True] Translation: X:111.87, Y:3.61, Z:0.42 [[ 9.99071082e-01 -4.22391446e-02 -8.53386552e-03 1.11865623e+02] [ 4.22395989e-02 9.99107502e-01 -1.27073395e-04 3.60799463e+00] [ 8.53161653e-03 -2.33511702e-04 9.99963578e-01 4.16288846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399999 meters 0.05828629985378188 Centerline is valid? [True, True] Translation: X:111.93, Y:3.61, Z:0.42 [[ 9.99055883e-01 -4.22442950e-02 -1.01372108e-02 1.11928274e+02] [ 4.22449400e-02 9.99107273e-01 -1.50594232e-04 3.60692982e+00] [ 1.01345228e-02 -2.77793808e-04 9.99948606e-01 4.15102781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399999 meters 0.05791357656309076 Centerline is valid? [True, True] Translation: X:111.99, Y:3.61, Z:0.42 [[ 9.99022129e-01 -4.29992271e-02 -1.02884151e-02 1.11989490e+02] [ 4.29999345e-02 9.99075063e-01 -1.52538028e-04 3.60743341e+00] [ 1.02854579e-02 -2.90012308e-04 9.99947061e-01 4.15886672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519254154 meters 0.05720832692044058 Centerline is valid? [True, True] Translation: X:112.05, Y:3.61, Z:0.42 [[ 9.98928726e-01 -4.50401935e-02 -1.06198281e-02 1.12050972e+02] [ 4.50410644e-02 9.98985124e-01 -1.57266234e-04 3.61211428e+00] [ 1.06161336e-02 -3.21230605e-04 9.99943596e-01 4.17491767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579254154 meters 0.05705571771666202 Centerline is valid? [True, True] Translation: X:112.11, Y:3.61, Z:0.42 [[ 9.98751708e-01 -4.87243810e-02 -1.09981600e-02 1.12111596e+02] [ 4.87255396e-02 9.98812192e-01 -1.62744862e-04 3.61295435e+00] [ 1.09930259e-02 -3.73349572e-04 9.99939505e-01 4.17909116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399999 meters 0.05769756649952934 Centerline is valid? [True, True] Translation: X:112.17, Y:3.61, Z:0.42 [[ 9.98623323e-01 -5.11777483e-02 -1.15020450e-02 1.12171437e+02] [ 5.11791811e-02 9.98689473e-01 -1.69932364e-04 3.60969515e+00] [ 1.14956680e-02 -4.18966824e-04 9.99933835e-01 4.17604978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399999 meters 0.05779728021011793 Centerline is valid? [True, True] Translation: X:112.23, Y:3.61, Z:0.42 [[ 9.98522879e-01 -5.32513846e-02 -1.07865979e-02 1.12232544e+02] [ 5.32527672e-02 9.98581052e-01 -1.59194818e-04 3.61305515e+00] [ 1.07797696e-02 -4.15456518e-04 9.99941810e-01 4.18985747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399999 meters 0.059975472813911884 Centerline is valid? [True, True] Translation: X:112.29, Y:3.61, Z:0.42 [[ 9.98598520e-01 -5.19287993e-02 -1.02174609e-02 1.12293575e+02] [ 5.19299721e-02 9.98650717e-01 -1.50662686e-04 3.60816686e+00] [ 1.02114984e-02 -3.80140926e-04 9.99947789e-01 4.18718141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399999 meters 0.05884895274623336 Centerline is valid? [True, True] Translation: X:112.35, Y:3.62, Z:0.42 [[ 9.98706482e-01 -4.99294682e-02 -9.61306217e-03 1.12354713e+02] [ 4.99304149e-02 9.98752689e-01 -1.41645741e-04 3.61550403e+00] [ 9.60814399e-03 -3.38521663e-04 9.99953783e-01 4.20192655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879254154 meters 0.059847261868019155 Centerline is valid? [True, True] Translation: X:112.41, Y:3.62, Z:0.42 [[ 9.98860308e-01 -4.67631171e-02 -9.55486352e-03 1.12414191e+02] [ 4.67639078e-02 9.98905960e-01 -1.40769878e-04 3.61810937e+00] [ 9.55099296e-03 -3.06213313e-04 9.99954341e-01 4.19895869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939254154 meters 0.05709730493055698 Centerline is valid? [True, True] Translation: X:112.48, Y:3.64, Z:0.42 [[ 9.98925396e-01 -4.49532352e-02 -1.12809650e-02 1.12475633e+02] [ 4.49542240e-02 9.98989034e-01 -1.66027888e-04 3.63576918e+00] [ 1.12770238e-02 -3.41277554e-04 9.99936354e-01 4.21149865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters 0.05655880410547321 Centerline is valid? [True, True] Translation: X:112.54, Y:3.64, Z:0.42 [[ 9.98927573e-01 -4.47529261e-02 -1.18692464e-02 1.12537368e+02] [ 4.47540111e-02 9.98998022e-01 -1.74313946e-04 3.63988155e+00] [ 1.18651548e-02 -3.57069379e-04 9.99929543e-01 4.21287665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399999 meters 0.05679261020556789 Centerline is valid? [True, True] Translation: X:112.60, Y:3.64, Z:0.42 [[ 9.98892027e-01 -4.56079714e-02 -1.16030456e-02 1.12599277e+02] [ 4.56090712e-02 9.98959350e-01 -1.69949061e-04 3.64205399e+00] [ 1.15987219e-02 -3.59443371e-04 9.99932668e-01 4.21072015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399999 meters 0.057794351300251484 Centerline is valid? [True, True] Translation: X:112.66, Y:3.64, Z:0.42 [[ 9.98948900e-01 -4.45983435e-02 -1.05868890e-02 1.12660060e+02] [ 4.45992058e-02 9.99004948e-01 -1.54743775e-04 3.64465237e+00] [ 1.05832558e-02 -3.17585717e-04 9.99943945e-01 4.22384509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399999 meters 0.05630853775968816 Centerline is valid? [True, True] Translation: X:112.72, Y:3.65, Z:0.42 [[ 9.98984981e-01 -4.38721198e-02 -1.02100469e-02 1.12720929e+02] [ 4.38728864e-02 9.99037110e-01 -1.48988889e-04 3.65045359e+00] [ 1.02067522e-02 -2.99106567e-04 9.99947865e-01 4.23751054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239254154 meters 0.05721890299077638 Centerline is valid? [True, True] Translation: X:112.78, Y:3.65, Z:0.42 [[ 9.99133510e-01 -4.08175941e-02 -8.13349381e-03 1.12780580e+02] [ 4.08179803e-02 9.99166592e-01 -1.18579407e-04 3.64749561e+00] [ 8.13155542e-03 -2.13516131e-04 9.99966916e-01 4.23976844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299254154 meters 0.05841243525984739 Centerline is valid? [True, True] Translation: X:112.84, Y:3.65, Z:0.42 [[ 9.99246513e-01 -3.80820486e-02 -7.49420635e-03 1.12842416e+02] [ 3.80823004e-02 9.99274600e-01 -1.09150300e-04 3.65283015e+00] [ 7.49292672e-03 -1.76328560e-04 9.99971912e-01 4.24353333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters 0.056652921313088425 Centerline is valid? [True, True] Translation: X:112.90, Y:3.66, Z:0.42 [[ 9.99338490e-01 -3.55949262e-02 -7.45538434e-03 1.12903794e+02] [ 3.55951075e-02 9.99366287e-01 -1.08412488e-04 3.66099756e+00] [ 7.45451870e-03 -1.57034435e-04 9.99972202e-01 4.24649728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399999 meters 0.056826896976205916 Centerline is valid? [True, True] Translation: X:112.96, Y:3.67, Z:0.43 [[ 9.99496676e-01 -3.07574643e-02 -7.76995836e-03 1.12964726e+02] [ 3.07575162e-02 9.99526869e-01 -1.12850288e-04 3.66942310e+00] [ 7.76975314e-03 -1.26191132e-04 9.99969807e-01 4.25155473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399999 meters 0.05642720546259412 Centerline is valid? [True, True] Translation: X:113.03, Y:3.67, Z:0.42 [[ 9.99615597e-01 -2.66505894e-02 -7.64224405e-03 1.13025084e+02] [ 2.66505201e-02 9.99644806e-01 -1.10925658e-04 3.67043567e+00] [ 7.64248580e-03 -9.27867613e-05 9.99970791e-01 4.24685448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399999 meters 0.05624671501067356 Centerline is valid? [True, True] Translation: X:113.09, Y:3.67, Z:0.43 [[ 9.99641506e-01 -2.56705283e-02 -7.60806642e-03 1.13087319e+02] [ 2.56704323e-02 9.99670454e-01 -1.10284007e-04 3.67407116e+00] [ 7.60839026e-03 -8.50578837e-05 9.99971052e-01 4.25545899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599254154 meters 0.05529946302268665 Centerline is valid? [True, True] Translation: X:113.15, Y:3.68, Z:0.43 [[ 9.99592497e-01 -2.74372553e-02 -7.87636237e-03 1.13149268e+02] [ 2.74372092e-02 9.99623522e-01 -1.13921321e-04 3.67714674e+00] [ 7.87652279e-03 -1.02230504e-04 9.99968974e-01 4.26482916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659254154 meters 0.05698702938425284 Centerline is valid? [True, True] Translation: X:113.21, Y:3.67, Z:0.42 [[ 9.99407897e-01 -3.32143474e-02 -8.98120483e-03 1.13209453e+02] [ 3.32145220e-02 9.99448237e-01 -1.29759788e-04 3.66826520e+00] [ 8.98055922e-03 -1.68623469e-04 9.99959660e-01 4.24596018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719254154 meters 0.05779720237051643 Centerline is valid? [True, True] Translation: X:113.27, Y:3.66, Z:0.42 [[ 9.99235717e-01 -3.79503345e-02 -9.36771708e-03 1.13270101e+02] [ 3.79507329e-02 9.99279602e-01 -1.35291388e-04 3.66081164e+00] [ 9.36610296e-03 -2.20323742e-04 9.99956113e-01 4.23945382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399999 meters 0.05649584103873464 Centerline is valid? [True, True] Translation: X:113.33, Y:3.67, Z:0.43 [[ 9.98956360e-01 -4.48532478e-02 -8.62425746e-03 1.13331294e+02] [ 4.48538433e-02 9.98993552e-01 -1.24457209e-04 3.66788849e+00] [ 8.62115990e-03 -2.62503772e-04 9.99962803e-01 4.27607131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399999 meters 0.05705931499077287 Centerline is valid? [True, True] Translation: X:113.39, Y:3.66, Z:0.43 [[ 9.98731855e-01 -4.97088351e-02 -7.98201441e-03 1.13392604e+02] [ 4.97095011e-02 9.98763712e-01 -1.15064443e-04 3.66176099e+00] [ 7.97786606e-03 -2.81863429e-04 9.99968137e-01 4.27622729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399999 meters 0.05862630627430597 Centerline is valid? [True, True] Translation: X:113.45, Y:3.66, Z:0.43 [[ 9.98730586e-01 -4.97107223e-02 -8.12781272e-03 1.13454713e+02] [ 4.97114145e-02 9.98763616e-01 -1.16966308e-04 3.65738204e+00] [ 8.12357811e-03 -2.87227238e-04 9.99966962e-01 4.27016649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399999 meters 0.05628897877331072 Centerline is valid? [True, True] Translation: X:113.52, Y:3.67, Z:0.43 [[ 9.98831794e-01 -4.77474726e-02 -7.43142109e-03 1.13515786e+02] [ 4.77479982e-02 9.98859408e-01 -1.06784074e-04 3.67031076e+00] [ 7.42804354e-03 -2.48176153e-04 9.99972381e-01 4.28672293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019254154 meters 0.05704204300854492 Centerline is valid? [True, True] Translation: X:113.58, Y:3.67, Z:0.43 [[ 9.99107552e-01 -4.14729960e-02 -8.00567089e-03 1.13575606e+02] [ 4.14734053e-02 9.99139602e-01 -1.14946239e-04 3.66908767e+00] [ 8.00354999e-03 -2.17178778e-04 9.99967947e-01 4.27993329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079254154 meters 0.057177730357870306 Centerline is valid? [True, True] Translation: X:113.63, Y:3.67, Z:0.43 [[ 9.99362519e-01 -3.47138690e-02 -8.33682386e-03 1.13634784e+02] [ 3.47140777e-02 9.99397278e-01 -1.19713309e-04 3.67240416e+00] [ 8.33595478e-03 -1.69768157e-04 9.99965241e-01 4.27660476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399999 meters 0.05647184565876756 Centerline is valid? [True, True] Translation: X:113.70, Y:3.68, Z:0.43 [[ 9.99469182e-01 -3.13298471e-02 -8.93281053e-03 1.13696506e+02] [ 3.13299523e-02 9.99509088e-01 -1.28192535e-04 3.67665377e+00] [ 8.93244156e-03 -1.51740040e-04 9.99960093e-01 4.27695293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399999 meters 0.05563877917159556 Centerline is valid? [True, True] Translation: X:113.76, Y:3.69, Z:0.43 [[ 9.99509493e-01 -2.96360433e-02 -1.01231815e-02 1.13758523e+02] [ 2.96360945e-02 9.99560744e-01 -1.44979382e-04 3.68514208e+00] [ 1.01230315e-02 -1.55103296e-04 9.99948749e-01 4.27582926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399999 meters 0.056720527009751186 Centerline is valid? [True, True] Translation: X:113.82, Y:3.69, Z:0.43 [[ 9.99417415e-01 -3.19947825e-02 -1.18812833e-02 1.13820395e+02] [ 3.19950237e-02 9.99488014e-01 -1.69827910e-04 3.68698433e+00] [ 1.18806339e-02 -2.10412970e-04 9.99929401e-01 4.26474769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399999 meters 0.05659076642542055 Centerline is valid? [True, True] Translation: X:113.88, Y:3.69, Z:0.43 [[ 9.99201532e-01 -3.79933317e-02 -1.23614729e-02 1.13881124e+02] [ 3.79940528e-02 9.99277950e-01 -1.76581240e-04 3.68850157e+00] [ 1.23592562e-02 -2.93222210e-04 9.99923578e-01 4.27589315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379254154 meters 0.05745296857161315 Centerline is valid? [True, True] Translation: X:113.94, Y:3.68, Z:0.43 [[ 9.98850468e-01 -4.65730396e-02 -1.13443585e-02 1.13941107e+02] [ 4.65741991e-02 9.98914820e-01 -1.62097105e-04 3.68492768e+00] [ 1.13395972e-02 -3.66443642e-04 9.99935638e-01 4.28738730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439254154 meters 0.056269524466047376 Centerline is valid? [True, True] Translation: X:114.00, Y:3.70, Z:0.43 [[ 9.98517966e-01 -5.34973222e-02 -9.99544786e-03 1.14001162e+02] [ 5.34985685e-02 9.98567916e-01 -1.42840390e-04 3.69789690e+00] [ 9.98877512e-03 -3.92113457e-04 9.99950034e-01 4.31671058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399998 meters 0.05933283058335022 Centerline is valid? [True, True] Translation: X:114.06, Y:3.68, Z:0.43 [[ 9.97990681e-01 -6.26187211e-02 -9.66931373e-03 1.14061334e+02] [ 6.26203148e-02 9.98037413e-01 -1.38146292e-04 3.68207564e+00] [ 9.65898740e-03 -4.67626758e-04 9.99953242e-01 4.30239576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399999 meters 0.0540810323856762 Centerline is valid? [True, True] Translation: X:114.12, Y:3.71, Z:0.43 [[ 9.97554513e-01 -6.92604344e-02 -9.38003933e-03 1.14121758e+02] [ 6.92622273e-02 9.97598479e-01 -1.33971471e-04 3.70977015e+00] [ 9.36679189e-03 -5.16038570e-04 9.99955997e-01 4.32865981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399999 meters 0.05461978918953322 Centerline is valid? [True, True] Translation: X:114.18, Y:3.72, Z:0.43 [[ 9.97389980e-01 -7.16190612e-02 -9.16176290e-03 1.14181937e+02] [ 7.16208710e-02 9.97431919e-01 -1.30826426e-04 3.71824399e+00] [ 9.14760442e-03 -5.25688472e-04 9.99958022e-01 4.33770731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399999 meters 0.05512913956400415 Centerline is valid? [True, True] Translation: X:114.24, Y:3.71, Z:0.43 [[ 9.97278410e-01 -7.31296465e-02 -9.37169410e-03 1.14241885e+02] [ 7.31316071e-02 9.97322290e-01 -1.33769877e-04 3.71488828e+00] [ 9.35638197e-03 -5.51961241e-04 9.99956076e-01 4.33421119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739254154 meters 0.05402625598962124 Centerline is valid? [True, True] Translation: X:114.30, Y:3.73, Z:0.43 [[ 9.97300923e-01 -7.25993090e-02 -1.09640078e-02 1.14304040e+02] [ 7.26019700e-02 9.97360983e-01 -1.55642331e-04 3.72548599e+00] [ 1.09463731e-02 -6.40786323e-04 9.99939881e-01 4.32969522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799254154 meters 0.05933022501350113 Centerline is valid? [True, True] Translation: X:114.36, Y:3.71, Z:0.43 [[ 9.97496715e-01 -6.94759365e-02 -1.31680603e-02 1.14363898e+02] [ 6.94795100e-02 9.97583361e-01 -1.86458477e-04 3.70587235e+00] [ 1.31491922e-02 -7.28918659e-04 9.99913280e-01 4.27841957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters 0.054960042488874816 Centerline is valid? [True, True] Translation: X:114.42, Y:3.73, Z:0.43 [[ 9.97684718e-01 -6.68399531e-02 -1.25548797e-02 1.14424173e+02] [ 6.68429938e-02 9.97763490e-01 -1.77742848e-04 3.73193050e+00] [ 1.25386809e-02 -6.61874422e-04 9.99921169e-01 4.31396499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399999 meters 0.053917338324596546 Centerline is valid? [True, True] Translation: X:114.48, Y:3.75, Z:0.43 [[ 9.98007470e-01 -6.21439827e-02 -1.09185486e-02 1.14484155e+02] [ 6.21460021e-02 9.98067057e-01 -1.54557314e-04 3.74804021e+00] [ 1.09070485e-02 -5.24294790e-04 9.99940379e-01 4.33928172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399999 meters 0.055063033159831486 Centerline is valid? [True, True] Translation: X:114.54, Y:3.75, Z:0.43 [[ 9.98311460e-01 -5.74442065e-02 -8.62506899e-03 1.14543607e+02] [ 5.74452911e-02 9.98348648e-01 -1.22138712e-04 3.74810088e+00] [ 8.61784212e-03 -3.73537123e-04 9.99962796e-01 4.34328554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399999 meters 0.059728598513030196 Centerline is valid? [True, True] Translation: X:114.60, Y:3.74, Z:0.43 [[ 9.98500232e-01 -5.42165406e-02 -7.60620508e-03 1.14603206e+02] [ 5.42172901e-02 9.98529155e-01 -1.07772134e-04 3.73792202e+00] [ 7.60086056e-03 -3.04777327e-04 9.99971067e-01 4.33454912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099254154 meters 0.056415079142488375 Centerline is valid? [True, True] Translation: X:114.67, Y:3.75, Z:0.43 [[ 9.98528023e-01 -5.37144652e-02 -7.51948183e-03 1.14665087e+02] [ 5.37151841e-02 9.98556292e-01 -1.06467607e-04 3.74969866e+00] [ 7.51434474e-03 -2.97599462e-04 9.99971723e-01 4.33868645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159254154 meters 0.05586944165373634 Centerline is valid? [True, True] Translation: X:114.73, Y:3.76, Z:0.43 [[ 9.98533713e-01 -5.33305694e-02 -9.28841734e-03 1.14727053e+02] [ 5.33316525e-02 9.98576846e-01 -1.31209975e-04 3.75790638e+00] [ 9.28219600e-03 -3.64349063e-04 9.99956853e-01 4.33024964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters 0.05654527112528989 Centerline is valid? [True, True] Translation: X:114.79, Y:3.76, Z:0.43 [[ 9.98464584e-01 -5.39891787e-02 -1.23953241e-02 1.14788837e+02] [ 5.39911635e-02 9.98541398e-01 -1.74698445e-04 3.75951408e+00] [ 1.23866761e-02 -4.94807759e-04 9.99923160e-01 4.30820199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399999 meters 0.05603490424372658 Centerline is valid? [True, True] Translation: X:114.85, Y:3.77, Z:0.43 [[ 9.98449146e-01 -5.42897333e-02 -1.23258741e-02 1.14851113e+02] [ 5.42917232e-02 9.98525102e-01 -1.73354889e-04 3.76653290e+00] [ 1.23171061e-02 -4.96106904e-04 9.99924018e-01 4.31573868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399999 meters 0.05496606382460168 Centerline is valid? [True, True] Translation: X:114.91, Y:3.77, Z:0.43 [[ 9.98557051e-01 -5.28395887e-02 -9.58088710e-03 1.14911463e+02] [ 5.28407252e-02 9.98602944e-01 -1.34656574e-04 3.77287091e+00] [ 9.57461726e-03 -3.71798751e-04 9.99954093e-01 4.32948964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399999 meters 0.05468440182393479 Centerline is valid? [True, True] Translation: X:114.97, Y:3.78, Z:0.43 [[ 9.98653312e-01 -5.13524399e-02 -7.38168060e-03 1.14973400e+02] [ 5.13530745e-02 9.98680555e-01 -1.03668924e-04 3.77908759e+00] [ 7.37726453e-03 -2.75542680e-04 9.99972750e-01 4.34609691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399999 meters 0.05512839684478431 Centerline is valid? [True, True] Translation: X:115.03, Y:3.78, Z:0.44 [[ 9.98766398e-01 -4.94028802e-02 -5.00379955e-03 1.15032720e+02] [ 4.94031477e-02 9.98778917e-01 -7.02207388e-05 3.78329954e+00] [ 5.00115860e-03 -1.77069334e-04 9.99987478e-01 4.35246857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519254154 meters 0.05550205907352975 Centerline is valid? [True, True] Translation: X:115.09, Y:3.79, Z:0.43 [[ 9.98873569e-01 -4.70072075e-02 -6.47419813e-03 1.15093523e+02] [ 4.70076048e-02 9.98894527e-01 -9.08753261e-05 3.78640917e+00] [ 6.47131288e-03 -2.13563586e-04 9.99979038e-01 4.34344561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579254154 meters 0.055079265048022075 Centerline is valid? [True, True] Translation: X:115.16, Y:3.79, Z:0.43 [[ 9.98876267e-01 -4.68790927e-02 -6.96809422e-03 1.15155556e+02] [ 4.68795507e-02 9.98900545e-01 -9.76880843e-05 3.78609029e+00] [ 6.96501265e-03 -2.29082817e-04 9.99975718e-01 4.33845903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399999 meters 0.05419874320384748 Centerline is valid? [True, True] Translation: X:115.22, Y:3.80, Z:0.43 [[ 9.98861475e-01 -4.72560583e-02 -6.52837305e-03 1.15217766e+02] [ 4.72564700e-02 9.98882785e-01 -9.12681394e-05 3.79574544e+00] [ 6.52539242e-03 -2.17343637e-04 9.99978686e-01 4.34575163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399999 meters 0.05412309276255619 Centerline is valid? [True, True] Translation: X:115.28, Y:3.79, Z:0.43 [[ 9.98894981e-01 -4.65382081e-02 -6.55842026e-03 1.15279432e+02] [ 4.65386103e-02 9.98916488e-01 -9.13627001e-05 3.79089123e+00] [ 6.55556599e-03 -2.13958022e-04 9.99978489e-01 4.32952551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399999 meters 0.054466016268471716 Centerline is valid? [True, True] Translation: X:115.34, Y:3.79, Z:0.43 [[ 9.98916463e-01 -4.61613244e-02 -5.91872961e-03 1.15341467e+02] [ 4.61616468e-02 9.98933980e-01 -8.21994359e-05 3.79464820e+00] [ 5.91621456e-03 -1.91107936e-04 9.99982481e-01 4.33536986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399999 meters 0.05501277023065771 Centerline is valid? [True, True] Translation: X:115.40, Y:3.79, Z:0.43 [[ 9.98938489e-01 -4.57083057e-02 -5.71371899e-03 1.15403195e+02] [ 4.57086003e-02 9.98954813e-01 -7.90744593e-05 3.79064962e+00] [ 5.71136144e-03 -1.82175577e-04 9.99983673e-01 4.33642777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879254154 meters 0.054367805505926785 Centerline is valid? [True, True] Translation: X:115.47, Y:3.79, Z:0.43 [[ 9.98925233e-01 -4.59768514e-02 -5.87431331e-03 1.15465340e+02] [ 4.59771685e-02 9.98942488e-01 -8.11137919e-05 3.79076900e+00] [ 5.87183051e-03 -1.89057680e-04 9.99982743e-01 4.33338980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939254154 meters 0.05545561895973843 Centerline is valid? [True, True] Translation: X:115.53, Y:3.79, Z:0.43 [[ 9.98788091e-01 -4.87493882e-02 -6.77099508e-03 1.15526285e+02] [ 4.87498742e-02 9.98811014e-01 -9.33500725e-05 3.78725812e+00] [ 6.76749522e-03 -2.36848217e-04 9.99977072e-01 4.32722167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399998 meters 0.05492210460766499 Centerline is valid? [True, True] Translation: X:115.59, Y:3.79, Z:0.43 [[ 9.98600856e-01 -5.21690842e-02 -8.64395112e-03 1.15586817e+02] [ 5.21700044e-02 9.98638211e-01 -1.19146236e-04 3.78683914e+00] [ 8.63839563e-03 -3.31975435e-04 9.99962633e-01 4.31380735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399999 meters 0.05413935564297553 Centerline is valid? [True, True] Translation: X:115.65, Y:3.79, Z:0.43 [[ 9.98452857e-01 -5.48713872e-02 -9.00125144e-03 1.15647088e+02] [ 5.48724948e-02 9.98493362e-01 -1.24055417e-04 3.79281494e+00] [ 8.99449691e-03 -3.70057637e-04 9.99959480e-01 4.32692460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399999 meters 0.05325787642805632 Centerline is valid? [True, True] Translation: X:115.71, Y:3.80, Z:0.43 [[ 9.98423359e-01 -5.55937648e-02 -7.75428547e-03 1.15709149e+02] [ 5.55946120e-02 9.98453418e-01 -1.06423539e-04 3.80044610e+00] [ 7.74820932e-03 -3.24840744e-04 9.99969929e-01 4.34540269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399999 meters 0.05541739985673089 Centerline is valid? [True, True] Translation: X:115.77, Y:3.78, Z:0.44 [[ 9.98452130e-01 -5.52523822e-02 -6.36539276e-03 1.15770686e+02] [ 5.52529501e-02 9.98472385e-01 -8.67330781e-05 3.78354354e+00] [ 6.36046110e-03 -2.65107902e-04 9.99979737e-01 4.35007120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239254154 meters 0.05603167184784457 Centerline is valid? [True, True] Translation: X:115.83, Y:3.78, Z:0.44 [[ 9.98405505e-01 -5.62320346e-02 -4.94017196e-03 1.15832314e+02] [ 5.62323904e-02 9.98417705e-01 -6.69607947e-05 3.78062548e+00] [ 4.93612049e-03 -2.10943652e-04 9.99987795e-01 4.36204572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299254154 meters 0.05603674649440909 Centerline is valid? [True, True] Translation: X:115.89, Y:3.78, Z:0.44 [[ 9.98288962e-01 -5.82404007e-02 -5.21577016e-03 1.15893557e+02] [ 5.82408254e-02 9.98302560e-01 -7.05643815e-05 3.77985764e+00] [ 5.21102640e-03 -2.33327116e-04 9.99986395e-01 4.35619476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters 0.05560911133130197 Centerline is valid? [True, True] Translation: X:115.95, Y:3.78, Z:0.43 [[ 9.98101770e-01 -6.12093989e-02 -6.80195101e-03 1.15954611e+02] [ 6.12101903e-02 9.98124894e-01 -9.19582728e-05 3.77761326e+00] [ 6.79482535e-03 -3.24565001e-04 9.99976862e-01 4.33424597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399999 meters 0.05593113310966731 Centerline is valid? [True, True] Translation: X:116.01, Y:3.77, Z:0.43 [[ 9.98015940e-01 -6.24684503e-02 -7.86617168e-03 1.16014484e+02] [ 6.24695492e-02 9.98046865e-01 -1.06164632e-04 3.77421419e+00] [ 7.85743992e-03 -3.85442203e-04 9.99969056e-01 4.33186680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399999 meters 0.05427484280891719 Centerline is valid? [True, True] Translation: X:116.08, Y:3.78, Z:0.43 [[ 9.97994733e-01 -6.27786686e-02 -8.08398564e-03 1.16076346e+02] [ 6.27798424e-02 9.98027394e-01 -1.08727854e-04 3.78094456e+00] [ 8.07486491e-03 -3.99001518e-04 9.99967318e-01 4.33591605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399999 meters 0.05524951456502958 Centerline is valid? [True, True] Translation: X:116.14, Y:3.78, Z:0.43 [[ 9.98056705e-01 -6.17486076e-02 -8.36203489e-03 1.16137671e+02] [ 6.17498300e-02 9.98091652e-01 -1.12167828e-04 3.78050898e+00] [ 8.35300343e-03 -4.04404380e-04 9.99965031e-01 4.33288459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599254154 meters 0.053698819144169824 Centerline is valid? [True, True] Translation: X:116.20, Y:3.79, Z:0.43 [[ 9.98153670e-01 -6.01578010e-02 -8.38389620e-03 1.16197829e+02] [ 6.01589743e-02 9.98188802e-01 -1.12399801e-04 3.78876437e+00] [ 8.37547303e-03 -3.92174322e-04 9.99964848e-01 4.34631467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659254154 meters 0.05422635139023285 Centerline is valid? [True, True] Translation: X:116.26, Y:3.78, Z:0.43 [[ 9.98415743e-01 -5.57974527e-02 -7.25586994e-03 1.16257819e+02] [ 5.57982167e-02 9.98442061e-01 -9.72528787e-05 3.78087479e+00] [ 7.24999220e-03 -3.07765798e-04 9.99973671e-01 4.34868437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters 0.05515121898501549 Centerline is valid? [True, True] Translation: X:116.32, Y:3.78, Z:0.44 [[ 9.98616507e-01 -5.22924695e-02 -5.52890459e-03 1.16316954e+02] [ 5.22928595e-02 9.98631790e-01 -7.40969204e-05 3.78058781e+00] [ 5.52521459e-03 -2.15127823e-04 9.99984713e-01 4.36564924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399999 meters 0.05617752916923724 Centerline is valid? [True, True] Translation: X:116.38, Y:3.78, Z:0.44 [[ 9.98674296e-01 -5.10855394e-02 -6.31814250e-03 1.16377148e+02] [ 5.10860244e-02 9.98694253e-01 -8.46924963e-05 3.77624516e+00] [ 6.31421916e-03 -2.38188563e-04 9.99980037e-01 4.35709395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399999 meters 0.05596329830711471 Centerline is valid? [True, True] Translation: X:116.44, Y:3.78, Z:0.43 [[ 9.98654492e-01 -5.12083097e-02 -8.18010767e-03 1.16439399e+02] [ 5.12091283e-02 9.98687946e-01 -1.09487645e-04 3.77726562e+00] [ 8.17498160e-03 -3.09555854e-04 9.99966536e-01 4.34830178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399999 meters 0.05501359040611727 Centerline is valid? [True, True] Translation: X:116.50, Y:3.78, Z:0.43 [[ 9.98610538e-01 -5.17048972e-02 -1.01782877e-02 1.16501178e+02] [ 5.17061937e-02 9.98662331e-01 -1.35896606e-04 3.78324959e+00] [ 1.01716991e-02 -3.90572734e-04 9.99948191e-01 4.33710255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399999 meters 0.05483156386844808 Centerline is valid? [True, True] Translation: X:116.56, Y:3.78, Z:0.43 [[ 9.98689227e-01 -5.01873484e-02 -1.00527369e-02 1.16563180e+02] [ 5.01885390e-02 9.98739752e-01 -1.33959863e-04 3.78362750e+00] [ 1.00467911e-02 -3.70747907e-04 9.99949461e-01 4.34248847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019254154 meters 0.05344476634996317 Centerline is valid? [True, True] Translation: X:116.62, Y:3.79, Z:0.44 [[ 9.98744515e-01 -4.92288618e-02 -9.26891684e-03 1.16624081e+02] [ 4.92298343e-02 9.98787469e-01 -1.23344864e-04 3.79093395e+00] [ 9.26375012e-03 -3.33117234e-04 9.99957035e-01 4.35891177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079254154 meters 0.054602577209437 Centerline is valid? [True, True] Translation: X:116.68, Y:3.79, Z:0.44 [[ 9.99006102e-01 -4.39739119e-02 -7.28718950e-03 1.16683570e+02] [ 4.39743734e-02 9.99032655e-01 -9.69523151e-05 3.78772862e+00] [ 7.28440364e-03 -2.23593638e-04 9.99973443e-01 4.36895911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399999 meters 0.055146401466311494 Centerline is valid? [True, True] Translation: X:116.74, Y:3.79, Z:0.44 [[ 9.99230031e-01 -3.87520184e-02 -6.13398934e-03 1.16743139e+02] [ 3.87522470e-02 9.99248846e-01 -8.16319653e-05 3.78773319e+00] [ 6.13254517e-03 -1.56136759e-04 9.99981184e-01 4.37883986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399999 meters 0.055172493473672805 Centerline is valid? [True, True] Translation: X:116.80, Y:3.78, Z:0.44 [[ 9.99326635e-01 -3.61135267e-02 -6.48768404e-03 1.16803608e+02] [ 3.61137270e-02 9.99347683e-01 -8.63070516e-05 3.78474636e+00] [ 6.48656886e-03 -1.48045515e-04 9.99978951e-01 4.36521370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399999 meters 0.054759908835923396 Centerline is valid? [True, True] Translation: X:116.87, Y:3.79, Z:0.44 [[ 9.99344349e-01 -3.56683061e-02 -6.21638121e-03 1.16865821e+02] [ 3.56684820e-02 9.99363674e-01 -8.26011331e-05 3.78744233e+00] [ 6.21537180e-03 -1.39181906e-04 9.99980675e-01 4.37187098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399999 meters 0.05429024236592266 Centerline is valid? [True, True] Translation: X:116.93, Y:3.79, Z:0.44 [[ 9.99308644e-01 -3.63279622e-02 -7.90648557e-03 1.16928222e+02] [ 3.63282696e-02 9.99339905e-01 -1.04785133e-04 3.79147922e+00] [ 7.90507316e-03 -1.82516250e-04 9.99968738e-01 4.36800926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379254154 meters 0.054969219896566356 Centerline is valid? [True, True] Translation: X:116.99, Y:3.79, Z:0.44 [[ 9.99214848e-01 -3.85458831e-02 -9.15980401e-03 1.16989237e+02] [ 3.85463908e-02 9.99256804e-01 -1.21167163e-04 3.79375352e+00] [ 9.15766698e-03 -2.32005356e-04 9.99958041e-01 4.36538875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439254154 meters 0.05451318477830221 Centerline is valid? [True, True] Translation: X:117.05, Y:3.79, Z:0.44 [[ 9.99165794e-01 -4.00455772e-02 -8.00419735e-03 1.17051527e+02] [ 4.00460146e-02 9.99197831e-01 -1.05690444e-04 3.79176607e+00] [ 8.00200907e-03 -2.14933927e-04 9.99967960e-01 4.37274865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399998 meters 0.05520794143439439 Centerline is valid? [True, True] Translation: X:117.11, Y:3.78, Z:0.44 [[ 9.99207608e-01 -3.90810734e-02 -7.53832913e-03 1.17112836e+02] [ 3.90814365e-02 9.99236024e-01 -9.91809152e-05 3.78359940e+00] [ 7.53644612e-03 -1.95506406e-04 9.99971581e-01 4.37303414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399999 meters 0.05660117009699106 Centerline is valid? [True, True] Translation: X:117.17, Y:3.78, Z:0.44 [[ 9.99334040e-01 -3.58124019e-02 -6.99637783e-03 1.17173605e+02] [ 3.58126365e-02 9.99358518e-01 -9.17877743e-05 3.78108739e+00] [ 6.99517692e-03 -1.58832089e-04 9.99975521e-01 4.37756153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399999 meters 0.055207608802057447 Centerline is valid? [True, True] Translation: X:117.23, Y:3.79, Z:0.44 [[ 9.99418815e-01 -3.32951356e-02 -7.31204003e-03 1.17234542e+02] [ 3.32953253e-02 9.99445552e-01 -9.58199640e-05 3.78836981e+00] [ 7.31117622e-03 -1.47692476e-04 9.99973262e-01 4.38747789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399999 meters 0.05443454952661105 Centerline is valid? [True, True] Translation: X:117.30, Y:3.79, Z:0.44 [[ 9.99392497e-01 -3.39887575e-02 -7.70718178e-03 1.17296250e+02] [ 3.39889903e-02 9.99422202e-01 -1.00809975e-04 3.78886811e+00] [ 7.70615500e-03 -1.61210594e-04 9.99970294e-01 4.38545751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739254154 meters 0.05465211889125504 Centerline is valid? [True, True] Translation: X:117.36, Y:3.78, Z:0.44 [[ 9.99293660e-01 -3.65432947e-02 -8.76176351e-03 1.17355998e+02] [ 3.65436947e-02 9.99332050e-01 -1.14494873e-04 3.78434184e+00] [ 8.76009511e-03 -2.05773209e-04 9.99961608e-01 4.37696440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799254154 meters 0.05492062068659544 Centerline is valid? [True, True] Translation: X:117.42, Y:3.78, Z:0.44 [[ 9.99195768e-01 -3.89645650e-02 -9.46467569e-03 1.17416677e+02] [ 3.89651407e-02 9.99240563e-01 -1.23636225e-04 3.78317562e+00] [ 9.46230529e-03 -2.45255628e-04 9.99955201e-01 4.37389838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399998 meters 0.05581557177662717 Centerline is valid? [True, True] Translation: X:117.48, Y:3.78, Z:0.44 [[ 9.99036414e-01 -4.25735410e-02 -1.06647822e-02 1.17476224e+02] [ 4.25744787e-02 9.99093286e-01 -1.39192396e-04 3.77869177e+00] [ 1.06610382e-02 -3.14989271e-04 9.99943120e-01 4.36910604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399999 meters 0.05526668763967352 Centerline is valid? [True, True] Translation: X:117.54, Y:3.78, Z:0.44 [[ 9.98883110e-01 -4.61642565e-02 -1.00695037e-02 1.17536643e+02] [ 4.61652759e-02 9.98933807e-01 -1.31302751e-04 3.78365438e+00] [ 1.00648291e-02 -3.33705314e-04 9.99949293e-01 4.39390026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399999 meters 0.05466184291411157 Centerline is valid? [True, True] Translation: X:117.60, Y:3.78, Z:0.44 [[ 9.98630044e-01 -5.14628256e-02 -9.46636912e-03 1.17597583e+02] [ 5.14639655e-02 9.98674845e-01 -1.23297735e-04 3.78289935e+00] [ 9.46016996e-03 -3.64048071e-04 9.99955185e-01 4.41689033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399999 meters 0.057650046410983286 Centerline is valid? [True, True] Translation: X:117.66, Y:3.76, Z:0.44 [[ 9.98446572e-01 -5.49222901e-02 -9.37997888e-03 1.17657651e+02] [ 5.49235626e-02 9.98490554e-01 -1.22077353e-04 3.76446332e+00] [ 9.37252508e-03 -3.93294142e-04 9.99956000e-01 4.40374546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099254154 meters 0.05637717001189192 Centerline is valid? [True, True] Translation: X:117.72, Y:3.77, Z:0.44 [[ 9.98280286e-01 -5.78867865e-02 -9.25147621e-03 1.17717627e+02] [ 5.78881518e-02 9.98323068e-01 -1.20361424e-04 3.77005847e+00] [ 9.24292945e-03 -4.15396422e-04 9.99957197e-01 4.41426495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159254154 meters 0.056039089514723334 Centerline is valid? [True, True] Translation: X:117.78, Y:3.77, Z:0.44 [[ 9.98200781e-01 -5.91921907e-02 -9.56482670e-03 1.17778510e+02] [ 5.91937104e-02 9.98246507e-01 -1.24377141e-04 3.76993445e+00] [ 9.55541700e-03 -4.42024222e-04 9.99954248e-01 4.41591625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters 0.06956639221745717 Centerline is valid? [True, True] Translation: X:117.84, Y:3.74, Z:0.44 [[ 9.98206013e-01 -5.88930581e-02 -1.07872017e-02 1.17840494e+02] [ 5.88949757e-02 9.98264175e-01 -1.40085074e-04 3.73575695e+00] [ 1.07767271e-02 -4.95478220e-04 9.99941807e-01 4.36837555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399999 meters 0.05623916360567652 Centerline is valid? [True, True] Translation: X:117.90, Y:3.77, Z:0.44 [[ 9.98293733e-01 -5.75947292e-02 -9.61608652e-03 1.17901699e+02] [ 5.75961956e-02 9.98339953e-01 -1.24600733e-04 3.77347394e+00] [ 9.60729972e-03 -4.29461870e-04 9.99953757e-01 4.42831093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399999 meters 0.05501627242811398 Centerline is valid? [True, True] Translation: X:117.96, Y:3.78, Z:0.44 [[ 9.98586664e-01 -5.24377552e-02 -8.65774923e-03 1.17962340e+02] [ 5.24387514e-02 9.98624136e-01 -1.12055782e-04 3.78002620e+00] [ 8.65171329e-03 -3.42104149e-04 9.99962515e-01 4.43015910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399999 meters 0.05591774299691179 Centerline is valid? [True, True] Translation: X:118.02, Y:3.78, Z:0.44 [[ 9.98836851e-01 -4.75298979e-02 -8.11502900e-03 1.18022399e+02] [ 4.75306113e-02 9.98869776e-01 -1.05031052e-04 3.78247024e+00] [ 8.11084932e-03 -2.80803404e-04 9.99967067e-01 4.43333622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399999 meters 0.055179313321516654 Centerline is valid? [True, True] Translation: X:118.08, Y:3.79, Z:0.44 [[ 9.99184479e-01 -3.97458462e-02 -7.11645172e-03 1.18083338e+02] [ 3.97461975e-02 9.99209803e-01 -9.21116129e-05 3.79387007e+00] [ 7.11448938e-03 -1.90815402e-04 9.99974673e-01 4.44860184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519254154 meters 0.055810929546637446 Centerline is valid? [True, True] Translation: X:118.14, Y:3.79, Z:0.44 [[ 9.99400498e-01 -3.37786626e-02 -7.59253510e-03 1.18143449e+02] [ 3.37788903e-02 9.99429326e-01 -9.82763249e-05 3.78699152e+00] [ 7.59152188e-03 -1.58250002e-04 9.99971171e-01 4.43907441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579254154 meters 0.0569644378880292 Centerline is valid? [True, True] Translation: X:118.21, Y:3.79, Z:0.44 [[ 9.99452251e-01 -3.21743721e-02 -7.74649239e-03 1.18205443e+02] [ 3.21745618e-02 9.99482260e-01 -1.00152902e-04 3.78608918e+00] [ 7.74570407e-03 -1.49141955e-04 9.99969990e-01 4.44319562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399999 meters 0.05583346519681115 Centerline is valid? [True, True] Translation: X:118.27, Y:3.79, Z:0.45 [[ 9.99415306e-01 -3.32000707e-02 -8.17316805e-03 1.18267160e+02] [ 3.32003183e-02 9.99448712e-01 -1.05412316e-04 3.79081927e+00] [ 8.17216198e-03 -1.66001099e-04 9.99966594e-01 4.45034280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399999 meters 0.05791869581467394 Centerline is valid? [True, True] Translation: X:118.33, Y:3.78, Z:0.44 [[ 9.99341602e-01 -3.51146418e-02 -9.12821384e-03 1.18328571e+02] [ 3.51150329e-02 9.99383270e-01 -1.17472816e-04 3.77760455e+00] [ 9.12670922e-03 -2.03142057e-04 9.99958330e-01 4.41667337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399999 meters 0.05651755747164278 Centerline is valid? [True, True] Translation: X:118.39, Y:3.78, Z:0.44 [[ 9.99226468e-01 -3.80811920e-02 -9.81270610e-03 1.18389574e+02] [ 3.80817883e-02 9.99274618e-01 -1.26138852e-04 3.78236737e+00] [ 9.81039165e-03 -2.47644117e-04 9.99951846e-01 4.43795059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399999 meters 0.054852752409370154 Centerline is valid? [True, True] Translation: X:118.45, Y:3.79, Z:0.45 [[ 9.99167485e-01 -3.97795008e-02 -9.05140058e-03 1.18451224e+02] [ 3.97800792e-02 9.99208453e-01 -1.16197964e-04 3.79030517e+00] [ 9.04885826e-03 -2.43964205e-04 9.99959028e-01 4.46471027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879254154 meters 0.057376141726543144 Centerline is valid? [True, True] Translation: X:118.51, Y:3.78, Z:0.45 [[ 9.99122303e-01 -4.10417127e-02 -8.37863575e-03 1.18512186e+02] [ 4.10422540e-02 9.99157406e-01 -1.07396859e-04 3.77567327e+00] [ 8.37598371e-03 -2.36575500e-04 9.99964893e-01 4.46051884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939254154 meters 0.05689941335963726 Centerline is valid? [True, True] Translation: X:118.57, Y:3.78, Z:0.45 [[ 9.99101922e-01 -4.16180392e-02 -7.95537847e-03 1.18574657e+02] [ 4.16185469e-02 9.99133568e-01 -1.01787535e-04 3.77849123e+00] [ 7.95272187e-03 -2.29395170e-04 9.99968350e-01 4.46780558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399998 meters 0.056188632128268405 Centerline is valid? [True, True] Translation: X:118.64, Y:3.78, Z:0.45 [[ 9.99084850e-01 -4.19471194e-02 -8.36072727e-03 1.18636992e+02] [ 4.19476939e-02 9.99119802e-01 -1.06711485e-04 3.77818247e+00] [ 8.35784442e-03 -2.44099400e-04 9.99965043e-01 4.46683078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399999 meters 0.05619011225370076 Centerline is valid? [True, True] Translation: X:118.70, Y:3.78, Z:0.45 [[ 9.99112471e-01 -4.12684003e-02 -8.43739998e-03 1.18699484e+02] [ 4.12689634e-02 9.99148068e-01 -1.07428409e-04 3.77765048e+00] [ 8.43464528e-03 -2.40869688e-04 9.99964399e-01 4.46783943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399999 meters 0.0576472696067149 Centerline is valid? [True, True] Translation: X:118.76, Y:3.77, Z:0.45 [[ 9.99195810e-01 -3.92022970e-02 -8.42097616e-03 1.18759760e+02] [ 3.92027859e-02 9.99231270e-01 -1.07063312e-04 3.76826412e+00] [ 8.41869983e-03 -2.23148512e-04 9.99964537e-01 4.46191792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399999 meters 0.05571396375721757 Centerline is valid? [True, True] Translation: X:118.82, Y:3.78, Z:0.45 [[ 9.99185050e-01 -3.92308300e-02 -9.49615098e-03 1.18822269e+02] [ 3.92314549e-02 9.99230143e-01 -1.20527016e-04 3.77543631e+00] [ 9.49356867e-03 -2.52119027e-04 9.99954903e-01 4.46897176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239254154 meters 0.055600165675492266 Centerline is valid? [True, True] Translation: X:118.88, Y:3.77, Z:0.45 [[ 9.99130962e-01 -4.02630861e-02 -1.07797991e-02 1.18883937e+02] [ 4.02639548e-02 9.99189069e-01 -1.36522129e-04 3.77406428e+00] [ 1.07765543e-02 -2.97633859e-04 9.99941887e-01 4.45653742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299254154 meters 0.05614460899147481 Centerline is valid? [True, True] Translation: X:118.95, Y:3.77, Z:0.44 [[ 9.99062878e-01 -4.14633531e-02 -1.24159541e-02 1.18945599e+02] [ 4.14646018e-02 9.99139961e-01 -1.56942729e-04 3.77194656e+00] [ 1.24117833e-02 -3.58026938e-04 9.99922907e-01 4.44227497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399998 meters 0.05561360589723699 Centerline is valid? [True, True] Translation: X:119.01, Y:3.78, Z:0.45 [[ 9.99121432e-01 -3.98765924e-02 -1.28927005e-02 1.19007190e+02] [ 3.98778110e-02 9.99204551e-01 -1.62644933e-04 3.77876798e+00] [ 1.28889307e-02 -3.51630635e-04 9.99916872e-01 4.46130520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399999 meters 0.05594996302805681 Centerline is valid? [True, True] Translation: X:119.07, Y:3.78, Z:0.45 [[ 9.99191020e-01 -3.82078219e-02 -1.25486045e-02 1.19067881e+02] [ 3.82088478e-02 9.99269763e-01 -1.58062455e-04 3.77649728e+00] [ 1.25454802e-02 -3.21533133e-04 9.99921251e-01 4.46045670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399999 meters 0.05567548728833514 Centerline is valid? [True, True] Translation: X:119.13, Y:3.78, Z:0.45 [[ 9.99272918e-01 -3.63769593e-02 -1.14171488e-02 1.19129656e+02] [ 3.63776920e-02 9.99338102e-01 -1.43564051e-04 3.78221469e+00] [ 1.14148143e-02 -2.71869854e-04 9.99934812e-01 4.48438366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399999 meters 0.055289257713877 Centerline is valid? [True, True] Translation: X:119.19, Y:3.78, Z:0.45 [[ 9.99401112e-01 -3.28963109e-02 -1.07354931e-02 1.19189533e+02] [ 3.28967589e-02 9.99458746e-01 -1.34899889e-04 3.78033216e+00] [ 1.07341201e-02 -2.18343828e-04 9.99942364e-01 4.48396012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599254154 meters 0.05540921996451328 Centerline is valid? [True, True] Translation: X:119.25, Y:3.78, Z:0.45 [[ 9.99577417e-01 -2.75269016e-02 -9.34112117e-03 1.19249685e+02] [ 2.75270064e-02 9.99621053e-01 -1.17378513e-04 3.78168764e+00] [ 9.34081245e-03 -1.39804192e-04 9.99956364e-01 4.48671804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659254154 meters 0.0561008663324114 Centerline is valid? [True, True] Translation: X:119.31, Y:3.78, Z:0.45 [[ 9.99668146e-01 -2.40552550e-02 -9.21642064e-03 1.19310890e+02] [ 2.40552102e-02 9.99710625e-01 -1.15729091e-04 3.78352153e+00] [ 9.21653753e-03 -1.06012250e-04 9.99957521e-01 4.48771582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters 0.05543450238149231 Centerline is valid? [True, True] Translation: X:119.37, Y:3.78, Z:0.45 [[ 9.99724080e-01 -2.11904081e-02 -1.01356339e-02 1.19371385e+02] [ 2.11902079e-02 9.99775454e-01 -1.27155507e-04 3.78448779e+00] [ 1.01360524e-02 -8.76557672e-05 9.99948625e-01 4.49155226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399999 meters 0.055427778454315325 Centerline is valid? [True, True] Translation: X:119.43, Y:3.79, Z:0.45 [[ 9.99712353e-01 -2.15566242e-02 -1.05129932e-02 1.19432597e+02] [ 2.15564310e-02 9.99767624e-01 -1.31696648e-04 3.78508918e+00] [ 1.05133892e-02 -9.49638472e-05 9.99944728e-01 4.49679082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399999 meters 0.05573568570880173 Centerline is valid? [True, True] Translation: X:119.49, Y:3.78, Z:0.45 [[ 9.99661433e-01 -2.35974677e-02 -1.09625743e-02 1.19493793e+02] [ 2.35973828e-02 9.99721534e-01 -1.37109961e-04 3.78263593e+00] [ 1.09627571e-02 -1.21624522e-04 9.99939900e-01 4.49521126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399999 meters 0.05535653371599524 Centerline is valid? [True, True] Translation: X:119.56, Y:3.78, Z:0.45 [[ 9.99598633e-01 -2.58544240e-02 -1.15811116e-02 1.19555006e+02] [ 2.58544912e-02 9.99665706e-01 -1.43944345e-04 3.77866079e+00] [ 1.15809617e-02 -1.55537176e-04 9.99932926e-01 4.48523508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399999 meters 0.05540492979820795 Centerline is valid? [True, True] Translation: X:119.62, Y:3.78, Z:0.45 [[ 9.99575379e-01 -2.68131027e-02 -1.14069866e-02 1.19616811e+02] [ 2.68132379e-02 9.99640451e-01 -1.41105703e-04 3.77848250e+00] [ 1.14066687e-02 -1.64812460e-04 9.99934928e-01 4.49515027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019254154 meters 0.05587456483854282 Centerline is valid? [True, True] Translation: X:119.68, Y:3.78, Z:0.45 [[ 9.99601025e-01 -2.62027596e-02 -1.05454205e-02 1.19677633e+02] [ 2.62028437e-02 9.99656638e-01 -1.30214412e-04 3.77728270e+00] [ 1.05452115e-02 -1.46157544e-04 9.99944387e-01 4.50073476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079254154 meters 0.05601068938694883 Centerline is valid? [True, True] Translation: X:119.74, Y:3.78, Z:0.45 [[ 9.99659898e-01 -2.43744026e-02 -9.27240547e-03 1.19738543e+02] [ 2.43743903e-02 9.99702894e-01 -1.14348906e-04 3.77580326e+00] [ 9.27243777e-03 -1.11699215e-04 9.99957004e-01 4.50858942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399999 meters 0.0560017957105421 Centerline is valid? [True, True] Translation: X:119.80, Y:3.78, Z:0.45 [[ 9.99714889e-01 -2.25983583e-02 -7.71065983e-03 1.19798588e+02] [ 2.25982977e-02 9.99744621e-01 -9.50046324e-05 3.77533361e+00] [ 7.71083764e-03 -7.92702403e-05 9.99970268e-01 4.51938832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399999 meters 0.05613004324498443 Centerline is valid? [True, True] Translation: X:119.86, Y:3.78, Z:0.45 [[ 9.99784586e-01 -1.96870082e-02 -6.57292006e-03 1.19860010e+02] [ 1.96869017e-02 9.99806191e-01 -8.09202876e-05 3.77762565e+00] [ 6.57323924e-03 -4.84975746e-05 9.99978395e-01 4.54038818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399999 meters 0.056623945242034915 Centerline is valid? [True, True] Translation: X:119.92, Y:3.78, Z:0.45 [[ 9.99826975e-01 -1.73310917e-02 -6.75679392e-03 1.19921939e+02] [ 1.73309264e-02 9.99849805e-01 -8.30294615e-05 3.77522324e+00] [ 6.75721807e-03 -3.40864026e-05 9.99977169e-01 4.52956393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399999 meters 0.05617929392067014 Centerline is valid? [True, True] Translation: X:119.98, Y:3.77, Z:0.45 [[ 9.99852792e-01 -1.55345144e-02 -7.28508736e-03 1.19982744e+02] [ 1.55342757e-02 9.99879332e-01 -8.93505317e-05 3.77273651e+00] [ 7.28559630e-03 -2.38311769e-05 9.99973459e-01 4.52191768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379254154 meters 0.056054719443371086 Centerline is valid? [True, True] Translation: X:120.04, Y:3.77, Z:0.45 [[ 9.99833932e-01 -1.64409232e-02 -7.86159266e-03 1.20043045e+02] [ 1.64406738e-02 9.99864838e-01 -9.63533599e-05 3.77073543e+00] [ 7.86211422e-03 -3.29125221e-05 9.99969093e-01 4.52529189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439254154 meters 0.05668104459558944 Centerline is valid? [True, True] Translation: X:120.10, Y:3.76, Z:0.45 [[ 9.99744234e-01 -2.09594651e-02 -8.49517079e-03 1.20103341e+02] [ 2.09593376e-02 9.99780324e-01 -1.04045581e-04 3.76399107e+00] [ 8.49548534e-03 -7.40341833e-05 9.99963910e-01 4.51928421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399998 meters 0.05631217344320926 Centerline is valid? [True, True] Translation: X:120.16, Y:3.76, Z:0.45 [[ 9.99609061e-01 -2.65851577e-02 -8.65760671e-03 1.20164684e+02] [ 2.65852373e-02 9.99646545e-01 -1.05920856e-04 3.75867620e+00] [ 8.65736255e-03 -1.24285081e-04 9.99962517e-01 4.52227076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399999 meters 0.057681447009038066 Centerline is valid? [True, True] Translation: X:120.22, Y:3.75, Z:0.45 [[ 9.99508595e-01 -2.99947293e-02 -9.10411357e-03 1.20224876e+02] [ 2.99949612e-02 9.99550044e-01 -1.11095629e-04 3.74873629e+00] [ 9.10334940e-03 -1.62036498e-04 9.99958551e-01 4.51254253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399999 meters 0.05839781033358899 Centerline is valid? [True, True] Translation: X:120.29, Y:3.74, Z:0.45 [[ 9.99336982e-01 -3.55618766e-02 -7.80694997e-03 1.20285400e+02] [ 3.55622180e-02 9.99367460e-01 -9.51176904e-05 3.74117395e+00] [ 7.80539433e-03 -1.82577832e-04 9.99969521e-01 4.52414817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399999 meters 0.057250612097428315 Centerline is valid? [True, True] Translation: X:120.35, Y:3.74, Z:0.45 [[ 9.99115870e-01 -4.16771147e-02 -5.52242010e-03 1.20345811e+02] [ 4.16773789e-02 9.99131118e-01 -6.72767253e-05 3.74295040e+00] [ 5.52042567e-03 -1.62942751e-04 9.99984749e-01 4.54849179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739254154 meters 0.057577502722841574 Centerline is valid? [True, True] Translation: X:120.41, Y:3.74, Z:0.45 [[ 9.98941786e-01 -4.57236057e-02 -4.96596495e-03 1.20406811e+02] [ 4.57238694e-02 9.98954115e-01 -6.04832729e-05 3.73681122e+00] [ 4.96353663e-03 -1.66643864e-04 9.99987668e-01 4.54884479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799254154 meters 0.059211596030342095 Centerline is valid? [True, True] Translation: X:120.47, Y:3.73, Z:0.45 [[ 9.98722221e-01 -5.02717617e-02 -5.16471517e-03 1.20467090e+02] [ 5.02721079e-02 9.98735556e-01 -6.28594622e-05 3.73017598e+00] [ 5.16134473e-03 -1.96861976e-04 9.99986661e-01 4.54649286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399998 meters 0.055902227448773115 Centerline is valid? [True, True] Translation: X:120.53, Y:3.74, Z:0.45 [[ 9.98456496e-01 -5.53267891e-02 -4.85502219e-03 1.20527789e+02] [ 5.53271548e-02 9.98468278e-01 -5.90688983e-05 3.74073257e+00] [ 4.85085374e-03 -2.09636839e-04 9.99988213e-01 4.54597444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399999 meters 0.05802256232092429 Centerline is valid? [True, True] Translation: X:120.59, Y:3.73, Z:0.45 [[ 9.98107162e-01 -6.11116348e-02 -6.88922263e-03 1.20587289e+02] [ 6.11125089e-02 9.98130880e-01 -8.37651520e-05 3.73080668e+00] [ 6.88146487e-03 -3.37411081e-04 9.99976266e-01 4.53626718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399999 meters 0.05751949410141749 Centerline is valid? [True, True] Translation: X:120.65, Y:3.73, Z:0.45 [[ 9.97972164e-01 -6.32752907e-02 -6.91357250e-03 1.20647714e+02] [ 6.32762229e-02 9.97996048e-01 -8.40304181e-05 3.73212050e+00] [ 6.90503509e-03 -3.53604736e-04 9.99976097e-01 4.53916596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399999 meters 0.056610487671811816 Centerline is valid? [True, True] Translation: X:120.71, Y:3.74, Z:0.45 [[ 9.97955766e-01 -6.35503467e-02 -6.75587857e-03 1.20709296e+02] [ 6.35512437e-02 9.97978573e-01 -8.20335423e-05 3.73714484e+00] [ 6.74743531e-03 -3.47478639e-04 9.99977175e-01 4.54995599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099254154 meters 0.060240176773888786 Centerline is valid? [True, True] Translation: X:120.77, Y:3.72, Z:0.45 [[ 9.98141648e-01 -6.04559305e-02 -7.63751705e-03 1.20769374e+02] [ 6.04569874e-02 9.98170799e-01 -9.26283564e-05 3.72346046e+00] [ 7.62914643e-03 -3.69285052e-04 9.99970829e-01 4.53820921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159254154 meters 0.05822291457729026 Centerline is valid? [True, True] Translation: X:120.83, Y:3.73, Z:0.45 [[ 9.98319657e-01 -5.74597240e-02 -7.49954478e-03 1.20830175e+02] [ 5.74606581e-02 9.98347767e-01 -9.10280381e-05 3.73371108e+00] [ 7.49238423e-03 -3.40053699e-04 9.99971874e-01 4.54708579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399998 meters 0.059090102146881554 Centerline is valid? [True, True] Translation: X:120.89, Y:3.74, Z:0.46 [[ 9.98694023e-01 -5.05231801e-02 -7.59320133e-03 1.20889328e+02] [ 5.05239366e-02 9.98722846e-01 -9.22783563e-05 3.73822338e+00] [ 7.58816584e-03 -2.91480580e-04 9.99971167e-01 4.55216003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399999 meters 0.0563953747028411 Centerline is valid? [True, True] Translation: X:120.95, Y:3.75, Z:0.46 [[ 9.99061572e-01 -4.27384943e-02 -7.02831222e-03 1.20949423e+02] [ 4.27389498e-02 9.99086270e-01 -8.54461334e-05 3.75234239e+00] [ 7.02554208e-03 -2.15016735e-04 9.99975297e-01 4.56106579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399999 meters 0.05627861624700159 Centerline is valid? [True, True] Translation: X:121.01, Y:3.75, Z:0.46 [[ 9.99308780e-01 -3.64536226e-02 -7.28666434e-03 1.21008533e+02] [ 3.64539450e-02 9.99335330e-01 -8.86169443e-05 3.75460059e+00] [ 7.28505152e-03 -1.77071970e-04 9.99973448e-01 4.56018847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399999 meters 0.05709594232565304 Centerline is valid? [True, True] Translation: X:121.07, Y:3.76, Z:0.46 [[ 9.99627046e-01 -2.66746513e-02 -5.85072031e-03 1.21067808e+02] [ 2.66746915e-02 9.99644165e-01 -7.11828341e-05 3.75813590e+00] [ 5.85053719e-03 -8.49098730e-05 9.99982882e-01 4.56542721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399999 meters 0.05646810648741572 Centerline is valid? [True, True] Translation: X:121.13, Y:3.77, Z:0.46 [[ 9.99814693e-01 -1.87302567e-02 -4.44496883e-03 1.21128222e+02] [ 1.87302014e-02 9.99824573e-01 -5.40778476e-05 3.76906236e+00] [ 4.44520195e-03 -2.91873346e-05 9.99990120e-01 4.58104388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519254154 meters 0.05582725139226429 Centerline is valid? [True, True] Translation: X:121.19, Y:3.77, Z:0.46 [[ 9.99862139e-01 -1.57826423e-02 -5.15867411e-03 1.21189526e+02] [ 1.57825289e-02 9.99875446e-01 -6.26921993e-05 3.77019944e+00] [ 5.15902102e-03 -1.87333665e-05 9.99986692e-01 4.57704588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579254154 meters 0.056137105578689506 Centerline is valid? [True, True] Translation: X:121.25, Y:3.77, Z:0.46 [[ 9.99839907e-01 -1.71107705e-02 -5.23270639e-03 1.21252057e+02] [ 1.71106727e-02 9.99853600e-01 -6.34521735e-05 3.76941175e+00] [ 5.23302604e-03 -2.60931113e-05 9.99986307e-01 4.57972894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399999 meters 0.05662149843948396 Centerline is valid? [True, True] Translation: X:121.31, Y:3.77, Z:0.46 [[ 9.99775547e-01 -2.07434067e-02 -4.30899725e-03 1.21313150e+02] [ 2.07433747e-02 9.99784832e-01 -5.21427085e-05 3.76831954e+00] [ 4.30915170e-03 -3.72521393e-05 9.99990715e-01 4.59129885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399999 meters 0.05682534854443949 Centerline is valid? [True, True] Translation: X:121.37, Y:3.76, Z:0.46 [[ 9.99633059e-01 -2.66551915e-02 -4.82163712e-03 1.21373013e+02] [ 2.66552208e-02 9.99644685e-01 -5.81985447e-05 3.75880738e+00] [ 4.82147521e-03 -7.03446126e-05 9.99988374e-01 4.58412230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399999 meters 0.0581625550560948 Centerline is valid? [True, True] Translation: X:121.43, Y:3.76, Z:0.46 [[ 9.99505470e-01 -3.09708712e-02 -5.44255758e-03 1.21434153e+02] [ 3.09709735e-02 9.99520282e-01 -6.55003612e-05 3.75655205e+00] [ 5.44197530e-03 -1.03093337e-04 9.99985187e-01 4.58021595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399999 meters 0.05682165152807851 Centerline is valid? [True, True] Translation: X:121.50, Y:3.75, Z:0.46 [[ 9.99365948e-01 -3.50647306e-02 -6.17797001e-03 1.21495522e+02] [ 3.50649411e-02 9.99385033e-01 -7.42786603e-05 3.75459810e+00] [ 6.17677533e-03 -1.42398591e-04 9.99980913e-01 4.57725988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879254154 meters 0.056888055122070895 Centerline is valid? [True, True] Translation: X:121.56, Y:3.76, Z:0.46 [[ 9.99328172e-01 -3.62390372e-02 -5.47151167e-03 1.21557568e+02] [ 3.62392205e-02 9.99343142e-01 -6.56763876e-05 3.75665358e+00] [ 5.47029771e-03 -1.32651054e-04 9.99985029e-01 4.58632996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939254154 meters 0.059083661826018506 Centerline is valid? [True, True] Translation: X:121.62, Y:3.74, Z:0.46 [[ 9.99277019e-01 -3.75284672e-02 -6.08720669e-03 1.21618801e+02] [ 3.75287194e-02 9.99295547e-01 -7.28176932e-05 3.74486456e+00] [ 6.08565128e-03 -1.55680025e-04 9.99981470e-01 4.57828548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399998 meters 0.056925273264130986 Centerline is valid? [True, True] Translation: X:121.68, Y:3.75, Z:0.46 [[ 9.99118418e-01 -4.15905723e-02 -5.71055306e-03 1.21679776e+02] [ 4.15908617e-02 9.99134723e-01 -6.81175621e-05 3.75223357e+00] [ 5.70844490e-03 -1.69449312e-04 9.99983692e-01 4.58340840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399999 meters 0.05641945695304718 Centerline is valid? [True, True] Translation: X:121.74, Y:3.75, Z:0.46 [[ 9.98942959e-01 -4.55582049e-02 -6.11669994e-03 1.21740124e+02] [ 4.55586115e-02 9.98961665e-01 -7.29121962e-05 3.75497730e+00] [ 6.11367051e-03 -2.05833231e-04 9.99981290e-01 4.58167910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399999 meters 0.057140209266783384 Centerline is valid? [True, True] Translation: X:121.80, Y:3.75, Z:0.46 [[ 9.98639448e-01 -5.17838164e-02 -6.13915005e-03 1.21799600e+02] [ 5.17843434e-02 9.98658288e-01 -7.31925451e-05 3.75142132e+00] [ 6.13470327e-03 -2.44818892e-04 9.99981153e-01 4.58003153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399999 meters 0.05879784014344058 Centerline is valid? [True, True] Translation: X:121.86, Y:3.74, Z:0.46 [[ 9.98441507e-01 -5.54644364e-02 -6.18495331e-03 1.21858812e+02] [ 5.54650419e-02 9.98460627e-01 -7.37144890e-05 3.74135612e+00] [ 6.17952089e-03 -2.69449089e-04 9.99980870e-01 4.58575217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239254154 meters 0.056824560140086265 Centerline is valid? [True, True] Translation: X:121.92, Y:3.76, Z:0.46 [[ 9.98111278e-01 -6.11008149e-02 -6.36925587e-03 1.21919090e+02] [ 6.11015723e-02 9.98131551e-01 -7.57770408e-05 3.75658090e+00] [ 6.36198528e-03 -3.13537629e-04 9.99979713e-01 4.60176230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299254154 meters 0.05857062766612956 Centerline is valid? [True, True] Translation: X:121.98, Y:3.74, Z:0.46 [[ 9.97931707e-01 -6.39176139e-02 -6.84449005e-03 1.21978736e+02] [ 6.39185549e-02 9.97955115e-01 -8.14081856e-05 3.74326481e+00] [ 6.83569727e-03 -3.56250103e-04 9.99976573e-01 4.59233311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399998 meters 0.05506054301899224 Centerline is valid? [True, True] Translation: X:122.04, Y:3.76, Z:0.46 [[ 9.97625413e-01 -6.84465294e-02 -7.65555691e-03 1.22039299e+02] [ 6.84478392e-02 9.97654692e-01 -9.10811522e-05 3.76194630e+00] [ 7.64383647e-03 -4.33141457e-04 9.99970692e-01 4.59720701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399999 meters 0.05677299728209315 Centerline is valid? [True, True] Translation: X:122.10, Y:3.76, Z:0.46 [[ 9.97452649e-01 -7.07315536e-02 -9.23367203e-03 1.22099813e+02] [ 7.07335573e-02 9.97495239e-01 -1.09796743e-04 3.76261246e+00] [ 9.21830998e-03 -5.43613418e-04 9.99957363e-01 4.59612979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399999 meters 0.05575377457122573 Centerline is valid? [True, True] Translation: X:122.16, Y:3.77, Z:0.46 [[ 9.97227863e-01 -7.37863793e-02 -9.59999309e-03 1.22159661e+02] [ 7.37886864e-02 9.97273893e-01 -1.14129104e-04 3.76707103e+00] [ 9.58224365e-03 -5.94558157e-04 9.99953912e-01 4.59737462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399999 meters 0.05728041145970284 Centerline is valid? [True, True] Translation: X:122.22, Y:3.76, Z:0.46 [[ 9.97183107e-01 -7.45170897e-02 -8.54713354e-03 1.22220472e+02] [ 7.45189457e-02 9.97219593e-01 -1.01548051e-04 3.76272769e+00] [ 8.53093610e-03 -5.35661380e-04 9.99963467e-01 4.60116269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599254154 meters 0.0569982958703619 Centerline is valid? [True, True] Translation: X:122.28, Y:3.77, Z:0.46 [[ 9.97282931e-01 -7.33303018e-02 -7.03005619e-03 1.22280829e+02] [ 7.33315284e-02 9.97307616e-01 -8.34707637e-05 3.76901442e+00] [ 7.01724951e-03 -4.32280797e-04 9.99975285e-01 4.61488963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659254154 meters 0.05569642173114944 Centerline is valid? [True, True] Translation: X:122.34, Y:3.78, Z:0.46 [[ 9.97622754e-01 -6.86913263e-02 -5.50848420e-03 1.22341095e+02] [ 6.86920089e-02 9.97637912e-01 -6.54056009e-05 3.78064818e+00] [ 5.49996547e-03 -3.13138730e-04 9.99984826e-01 4.62556893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399998 meters 0.06038842069162173 Centerline is valid? [True, True] Translation: X:122.40, Y:3.77, Z:0.46 [[ 9.97771454e-01 -6.65138674e-02 -5.29437030e-03 1.22400836e+02] [ 6.65144673e-02 9.97785459e-01 -6.28750221e-05 3.77163150e+00] [ 5.28682776e-03 -2.89417318e-04 9.99985983e-01 4.62320506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399999 meters 0.056381339102721466 Centerline is valid? [True, True] Translation: X:122.46, Y:3.79, Z:0.46 [[ 9.98042782e-01 -6.22766045e-02 -5.67721439e-03 1.22461587e+02] [ 6.22772259e-02 9.98058887e-01 -6.74413179e-05 3.79106231e+00] [ 5.67039430e-03 -2.86251843e-04 9.99983882e-01 4.62720396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399999 meters 0.057269884188668935 Centerline is valid? [True, True] Translation: X:122.52, Y:3.79, Z:0.46 [[ 9.98424517e-01 -5.57048463e-02 -6.74199830e-03 1.22521549e+02] [ 5.57055731e-02 9.98447236e-01 -8.00698274e-05 3.79102013e+00] [ 6.73598984e-03 -2.95623201e-04 9.99977269e-01 4.62003627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399999 meters 0.05822033869080227 Centerline is valid? [True, True] Translation: X:122.58, Y:3.79, Z:0.46 [[ 9.98617996e-01 -5.19437935e-02 -7.99631981e-03 1.22581069e+02] [ 5.19446953e-02 9.98649958e-01 -9.50047238e-05 3.79407956e+00] [ 7.99045935e-03 -3.20492970e-04 9.99968024e-01 4.61343153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399999 meters 0.05584634550640415 Centerline is valid? [True, True] Translation: X:122.64, Y:3.82, Z:0.46 [[ 9.98859544e-01 -4.68665314e-02 -9.11808695e-03 1.22641815e+02] [ 4.68674922e-02 9.98901109e-01 -1.08395746e-04 3.81552542e+00] [ 9.11314730e-03 -3.19069743e-04 9.99958424e-01 4.61773401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019254154 meters 0.05805064792236874 Centerline is valid? [True, True] Translation: X:122.70, Y:3.81, Z:0.46 [[ 9.99019652e-01 -4.32011775e-02 -9.66405197e-03 1.22701199e+02] [ 4.32020849e-02 9.99066347e-01 -1.14938379e-04 3.80561897e+00] [ 9.65999458e-03 -3.02681495e-04 9.99953295e-01 4.59800567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079254154 meters 0.055421201843703194 Centerline is valid? [True, True] Translation: X:122.76, Y:3.83, Z:0.46 [[ 9.99173185e-01 -3.99794826e-02 -7.38832055e-03 1.22762124e+02] [ 3.99799251e-02 9.99200479e-01 -8.78490640e-05 3.82655773e+00] [ 7.38592559e-03 -2.07608073e-04 9.99972702e-01 4.63402238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399999 meters 0.05509899384489247 Centerline is valid? [True, True] Translation: X:122.82, Y:3.83, Z:0.46 [[ 9.99213035e-01 -3.90795622e-02 -6.78954624e-03 1.22823681e+02] [ 3.90799159e-02 9.99236085e-01 -8.06189827e-05 3.82503542e+00] [ 6.78751016e-03 -1.84779358e-04 9.99976948e-01 4.63683380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399999 meters 0.05863395450044781 Centerline is valid? [True, True] Translation: X:122.88, Y:3.82, Z:0.46 [[ 9.99100048e-01 -4.18991530e-02 -6.59965158e-03 1.22884679e+02] [ 4.18995495e-02 9.99121825e-01 -7.82313999e-05 3.81862308e+00] [ 6.59713376e-03 -1.98361433e-04 9.99978219e-01 4.63546216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399999 meters 0.056418492983917316 Centerline is valid? [True, True] Translation: X:122.95, Y:3.83, Z:0.46 [[ 9.98901164e-01 -4.63595318e-02 -6.87449193e-03 1.22945476e+02] [ 4.63600680e-02 9.98924791e-01 -8.14244889e-05 3.82791333e+00] [ 6.87087521e-03 -2.37366896e-04 9.99976367e-01 4.64470797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399999 meters 0.057020063972415276 Centerline is valid? [True, True] Translation: X:123.01, Y:3.83, Z:0.46 [[ 9.98570597e-01 -5.29188185e-02 -7.50738020e-03 1.23005121e+02] [ 5.29196432e-02 9.98598770e-01 -8.88969682e-05 3.82691289e+00] [ 7.50156495e-03 -3.08517983e-04 9.99971815e-01 4.64212618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379254154 meters 0.055571633122047735 Centerline is valid? [True, True] Translation: X:123.07, Y:3.83, Z:0.46 [[ 9.98449106e-01 -5.51701006e-02 -7.45945189e-03 1.23066098e+02] [ 5.51709780e-02 9.98476918e-01 -8.82579586e-05 3.83200315e+00] [ 7.45295973e-03 -3.23424176e-04 9.99972174e-01 4.64325572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439254154 meters 0.054687723916121055 Centerline is valid? [True, True] Translation: X:123.13, Y:3.84, Z:0.47 [[ 9.98515774e-01 -5.39229683e-02 -7.65260198e-03 1.23127593e+02] [ 5.39238563e-02 9.98545046e-01 -9.03956625e-05 3.84371998e+00] [ 7.64634220e-03 -3.22396314e-04 9.99970714e-01 4.65062785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399998 meters 0.05644664093436306 Centerline is valid? [True, True] Translation: X:123.19, Y:3.84, Z:0.47 [[ 9.98696678e-01 -5.04690217e-02 -7.60411678e-03 1.23186713e+02] [ 5.04697990e-02 9.98725584e-01 -8.97587634e-05 3.83964983e+00] [ 7.59895601e-03 -2.94136467e-04 9.99971084e-01 4.65414715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399999 meters 0.055448246796612304 Centerline is valid? [True, True] Translation: X:123.25, Y:3.85, Z:0.47 [[ 9.98962909e-01 -4.49464267e-02 -7.27491908e-03 1.23247414e+02] [ 4.49469920e-02 9.98989370e-01 -8.58547471e-05 3.84514712e+00] [ 7.27142569e-03 -2.41220022e-04 9.99973534e-01 4.65940363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399999 meters 0.05539122193234688 Centerline is valid? [True, True] Translation: X:123.31, Y:3.85, Z:0.47 [[ 9.99105870e-01 -4.15572965e-02 -7.77509073e-03 1.23307979e+02] [ 4.15578404e-02 9.99136096e-01 -9.16678459e-05 3.84897168e+00] [ 7.77218326e-03 -2.31530096e-04 9.99969769e-01 4.65568739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399999 meters 0.054404934799900745 Centerline is valid? [True, True] Translation: X:123.37, Y:3.86, Z:0.47 [[ 9.99228813e-01 -3.82418207e-02 -8.90748942e-03 1.23368694e+02] [ 3.82424036e-02 9.99268486e-01 -1.04944295e-04 3.86207741e+00] [ 8.90498673e-03 -2.35780442e-04 9.99960322e-01 4.66233122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739254154 meters 0.054977697777736194 Centerline is valid? [True, True] Translation: X:123.43, Y:3.86, Z:0.46 [[ 9.99284039e-01 -3.64143805e-02 -1.02665873e-02 1.23430221e+02] [ 3.64150631e-02 9.99336744e-01 -1.20503309e-04 3.85788501e+00] [ 1.02641660e-02 -2.53441392e-04 9.99947290e-01 4.64122890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799254154 meters 0.054818359762830796 Centerline is valid? [True, True] Translation: X:123.49, Y:3.86, Z:0.46 [[ 9.99313421e-01 -3.55532098e-02 -1.04237742e-02 1.23492369e+02] [ 3.55538715e-02 9.99367754e-01 -1.21883870e-04 3.86153868e+00] [ 1.04215172e-02 -2.48805342e-04 9.99945664e-01 4.64725428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399998 meters 0.05400705056608162 Centerline is valid? [True, True] Translation: X:123.55, Y:3.87, Z:0.47 [[ 9.99298076e-01 -3.62464964e-02 -9.46289207e-03 1.23554731e+02] [ 3.62470756e-02 9.99342853e-01 -1.10356522e-04 3.86908330e+00] [ 9.46067359e-03 -2.32723104e-04 9.99955220e-01 4.66651809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399999 meters 0.05388081384145665 Centerline is valid? [True, True] Translation: X:123.62, Y:3.87, Z:0.47 [[ 9.99260773e-01 -3.73809985e-02 -8.97603346e-03 1.23616488e+02] [ 3.73815679e-02 9.99301059e-01 -1.04390555e-04 3.87355885e+00] [ 8.97366197e-03 -2.31224817e-04 9.99959709e-01 4.67983841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399999 meters 0.05489785925995433 Centerline is valid? [True, True] Translation: X:123.68, Y:3.87, Z:0.47 [[ 9.99150200e-01 -4.03130416e-02 -8.58697026e-03 1.23676487e+02] [ 4.03136719e-02 9.99187069e-01 -9.97415550e-05 3.86931187e+00] [ 8.58401053e-03 -2.46515507e-04 9.99963126e-01 4.67014076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399999 meters 0.05400664182095875 Centerline is valid? [True, True] Translation: X:123.74, Y:3.87, Z:0.47 [[ 9.98771337e-01 -4.87572895e-02 -8.86243700e-03 1.23737340e+02] [ 4.87582929e-02 9.98810602e-01 -1.02942597e-04 3.87024249e+00] [ 8.85691523e-03 -3.29301184e-04 9.99960723e-01 4.66919588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099254154 meters 0.054184633922811386 Centerline is valid? [True, True] Translation: X:123.80, Y:3.87, Z:0.47 [[ 9.98379550e-01 -5.61773264e-02 -9.07646218e-03 1.23797824e+02] [ 5.61786849e-02 9.98420725e-01 -1.05421263e-04 3.87441757e+00] [ 9.06805023e-03 -4.04653275e-04 9.99958803e-01 4.67544107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159254154 meters 0.052623803859169066 Centerline is valid? [True, True] Translation: X:123.86, Y:3.88, Z:0.47 [[ 9.97825670e-01 -6.53577085e-02 -8.50307551e-03 1.23857961e+02] [ 6.53592333e-02 9.97861794e-01 -9.87370739e-05 3.88186216e+00] [ 8.49134742e-03 -4.57232109e-04 9.99963843e-01 4.68342183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399998 meters 0.053652340688275776 Centerline is valid? [True, True] Translation: X:123.92, Y:3.88, Z:0.47 [[ 9.97612142e-01 -6.86131206e-02 -7.89009195e-03 1.23917790e+02] [ 6.86145362e-02 9.97643241e-01 -9.14584556e-05 3.87605640e+00] [ 7.87777216e-03 -4.50134934e-04 9.99968869e-01 4.67913989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399999 meters 0.06271316043749281 Centerline is valid? [True, True] Translation: X:123.98, Y:3.84, Z:0.47 [[ 9.97533658e-01 -6.97784684e-02 -7.58729874e-03 1.23978492e+02] [ 6.97798123e-02 9.97562414e-01 -8.77799405e-05 3.84299081e+00] [ 7.57492920e-03 -4.41876837e-04 9.99971212e-01 4.65856319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399999 meters 0.053134971955049834 Centerline is valid? [True, True] Translation: X:124.04, Y:3.88, Z:0.47 [[ 9.97633661e-01 -6.83711522e-02 -7.24314536e-03 1.24039161e+02] [ 6.83723406e-02 9.97659870e-01 -8.37169467e-05 3.87634377e+00] [ 7.23191928e-03 -4.11711958e-04 9.99973765e-01 4.67437894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399999 meters 0.05327709256939101 Centerline is valid? [True, True] Translation: X:124.10, Y:3.88, Z:0.47 [[ 9.97973339e-01 -6.31442973e-02 -7.87482650e-03 1.24098357e+02] [ 6.31455400e-02 9.98004325e-01 -9.09840507e-05 3.87888644e+00] [ 7.86485603e-03 -4.06460514e-04 9.99968989e-01 4.67687906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399999 meters 0.05281440946537779 Centerline is valid? [True, True] Translation: X:124.16, Y:3.89, Z:0.47 [[ 9.98419278e-01 -5.57227463e-02 -7.34311581e-03 1.24158864e+02] [ 5.57236262e-02 9.98446228e-01 -8.48760011e-05 3.89095503e+00] [ 7.33643581e-03 -3.24443205e-04 9.99973035e-01 4.68997856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519254154 meters 0.05445898006066009 Centerline is valid? [True, True] Translation: X:124.22, Y:3.89, Z:0.47 [[ 9.98780640e-01 -4.88872022e-02 -6.87571367e-03 1.24218358e+02] [ 4.88878119e-02 9.98804273e-01 -7.94776183e-05 3.88635106e+00] [ 6.87137764e-03 -2.56757890e-04 9.99976359e-01 4.68862554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579254154 meters 0.053706619350285374 Centerline is valid? [True, True] Translation: X:124.28, Y:3.89, Z:0.47 [[ 9.99319612e-01 -3.63459628e-02 -6.26766696e-03 1.24277947e+02] [ 3.63462228e-02 9.99339255e-01 -7.24504444e-05 3.89358677e+00] [ 6.26615891e-03 -1.55404870e-04 9.99980355e-01 4.69395082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399999 meters 0.0541178732290633 Centerline is valid? [True, True] Translation: X:124.34, Y:3.89, Z:0.47 [[ 9.99480160e-01 -3.15944826e-02 -6.41863974e-03 1.24337867e+02] [ 3.15946573e-02 9.99500761e-01 -7.41992210e-05 3.89277561e+00] [ 6.41777960e-03 -1.28634074e-04 9.99979398e-01 4.69065052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399999 meters 0.05463614309992049 Centerline is valid? [True, True] Translation: X:124.40, Y:3.90, Z:0.47 [[ 9.99738646e-01 -2.22032796e-02 -5.44564302e-03 1.24398588e+02] [ 2.22032660e-02 9.99753475e-01 -6.29539645e-05 3.90065806e+00] [ 5.44569832e-03 -5.79735494e-05 9.99985170e-01 4.69395503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399999 meters 0.05418050825621947 Centerline is valid? [True, True] Translation: X:124.46, Y:3.91, Z:0.47 [[ 9.99931717e-01 -1.02304929e-02 -5.64785540e-03 1.24460489e+02] [ 1.02302876e-02 9.99947667e-01 -6.52389142e-05 3.91059018e+00] [ 5.64822725e-03 7.45527455e-06 9.99984049e-01 4.69835702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399999 meters 0.05479567148375186 Centerline is valid? [True, True] Translation: X:124.52, Y:3.91, Z:0.47 [[ 9.99974732e-01 -4.61175772e-03 -5.40993485e-03 1.24520871e+02] [ 4.61148784e-03 9.99989365e-01 -6.23592996e-05 3.91445618e+00] [ 5.41016490e-03 3.74098751e-05 9.99985364e-01 4.70137133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879254154 meters 0.05413981503207327 Centerline is valid? [True, True] Translation: X:124.58, Y:3.92, Z:0.47 [[ 9.99984620e-01 -1.54235011e-03 -5.32737647e-03 1.24580444e+02] [ 1.54204495e-03 9.99998809e-01 -6.13872855e-05 3.91576365e+00] [ 5.32746481e-03 5.31712873e-05 9.99985808e-01 4.70488588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939254154 meters 0.053781283158653576 Centerline is valid? [True, True] Translation: X:124.64, Y:3.91, Z:0.47 [[ 9.99983344e-01 -3.69725938e-03 -4.43191850e-03 1.24638901e+02] [ 3.69706921e-03 9.99993165e-01 -5.11016648e-05 3.91331280e+00] [ 4.43207714e-03 3.47157042e-05 9.99990178e-01 4.70716218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399998 meters 0.05387844811733858 Centerline is valid? [True, True] Translation: X:124.70, Y:3.90, Z:0.47 [[ 9.99905859e-01 -1.31276942e-02 -3.99209849e-03 1.24698210e+02] [ 1.31276149e-02 9.99913828e-01 -4.60741545e-05 3.90164702e+00] [ 3.99235933e-03 -6.33691440e-06 9.99992030e-01 4.70962172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399999 meters 0.05409159987948139 Centerline is valid? [True, True] Translation: X:124.76, Y:3.89, Z:0.47 [[ 9.99742942e-01 -2.24309872e-02 -3.30159642e-03 1.24759558e+02] [ 2.24309835e-02 9.99748393e-01 -3.81401966e-05 3.89374033e+00] [ 3.30162124e-03 -3.59276627e-05 9.99994549e-01 4.70870168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399999 meters 0.05427802309001465 Centerline is valid? [True, True] Translation: X:124.82, Y:3.88, Z:0.47 [[ 9.99325313e-01 -3.64949094e-02 -4.12798056e-03 1.24820092e+02] [ 3.64950239e-02 9.99333834e-01 -4.76090598e-05 3.88259159e+00] [ 4.12696813e-03 -1.03073811e-04 9.99991479e-01 4.70949850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399999 meters 0.05666165078897136 Centerline is valid? [True, True] Translation: X:124.88, Y:3.87, Z:0.47 [[ 9.99003180e-01 -4.44347358e-02 -4.26631531e-03 1.24879541e+02] [ 4.44349304e-02 9.99012279e-01 -4.91942878e-05 3.86845065e+00] [ 4.26428732e-03 -1.40428174e-04 9.99990898e-01 4.70794352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239254154 meters 0.05495224813158217 Centerline is valid? [True, True] Translation: X:124.94, Y:3.87, Z:0.47 [[ 9.98566920e-01 -5.34509088e-02 -2.66593009e-03 1.24939791e+02] [ 5.34510169e-02 9.98570472e-01 -3.07183043e-05 3.86522934e+00] [ 2.66376099e-03 -1.11822392e-04 9.99996446e-01 4.70936898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299254154 meters 0.05382968231403493 Centerline is valid? [True, True] Translation: X:125.00, Y:3.86, Z:0.47 [[ 9.98356449e-01 -5.72811595e-02 -1.80812521e-03 1.25001088e+02] [ 5.72812155e-02 9.98358083e-01 -2.08571084e-05 3.86456537e+00] [ 1.80635114e-03 -8.27487809e-05 9.99998365e-01 4.70367343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399998 meters 0.0555685317078881 Centerline is valid? [True, True] Translation: X:125.06, Y:3.85, Z:0.47 [[ 9.98242937e-01 -5.92114463e-02 -2.24575518e-03 1.25060918e+02] [ 5.92115376e-02 9.98245457e-01 -2.58353188e-05 3.85152826e+00] [ 2.24334465e-03 -1.07184693e-04 9.99997478e-01 4.69406165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399999 meters 0.05566068503601865 Centerline is valid? [True, True] Translation: X:125.12, Y:3.85, Z:0.47 [[ 9.98282275e-01 -5.85043921e-02 -3.12003695e-03 1.25123229e+02] [ 5.85045649e-02 9.98287140e-01 -3.59183381e-05 3.84933776e+00] [ 3.11679415e-03 -1.46679764e-04 9.99995132e-01 4.68617879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399999 meters 0.0539201692707674 Centerline is valid? [True, True] Translation: X:125.18, Y:3.85, Z:0.47 [[ 9.98388520e-01 -5.65510081e-02 -4.72729406e-03 1.25184375e+02] [ 5.65513839e-02 9.98399689e-01 -5.42331103e-05 3.85141928e+00] [ 4.72279585e-03 -2.13189306e-04 9.99988825e-01 4.67497953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399999 meters 0.054983378394951744 Centerline is valid? [True, True] Translation: X:125.25, Y:3.85, Z:0.47 [[ 9.98469572e-01 -5.49523775e-02 -6.22498354e-03 1.25246071e+02] [ 5.49529988e-02 9.98488940e-01 -7.13244097e-05 3.85022021e+00] [ 6.21949666e-03 -2.70866260e-04 9.99980622e-01 4.66111515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599254154 meters 0.05585036746500942 Centerline is valid? [True, True] Translation: X:125.31, Y:3.84, Z:0.46 [[ 9.98538875e-01 -5.33101632e-02 -8.83974140e-03 1.25306532e+02] [ 5.33113551e-02 9.98577933e-01 -1.00908548e-04 3.84340873e+00] [ 8.83255015e-03 -3.70497485e-04 9.99960924e-01 4.64064710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659254154 meters 0.05479400632125494 Centerline is valid? [True, True] Translation: X:125.37, Y:3.85, Z:0.47 [[ 9.98527904e-01 -5.33472136e-02 -9.80305862e-03 1.25368147e+02] [ 5.33486852e-02 9.98575939e-01 -1.11506515e-04 3.85286715e+00] [ 9.79504703e-03 -4.11637922e-04 9.99951943e-01 4.65441888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399998 meters 0.054190193202551876 Centerline is valid? [True, True] Translation: X:125.43, Y:3.85, Z:0.46 [[ 9.98477157e-01 -5.42088775e-02 -1.02354310e-02 1.25428935e+02] [ 5.42105293e-02 9.98529521e-01 -1.16194337e-04 3.84941161e+00] [ 1.02266788e-02 -4.38850743e-04 9.99947610e-01 4.64868483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399999 meters 0.05400074065898337 Centerline is valid? [True, True] Translation: X:125.49, Y:3.86, Z:0.47 [[ 9.98342686e-01 -5.67135109e-02 -9.77033499e-03 1.25489076e+02] [ 5.67151364e-02 9.98390395e-01 -1.10839084e-04 3.85962792e+00] [ 9.76089469e-03 -4.43470493e-04 9.99952263e-01 4.67567870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399999 meters 0.054581890947547 Centerline is valid? [True, True] Translation: X:125.55, Y:3.85, Z:0.47 [[ 9.98158169e-01 -6.01152590e-02 -8.15019115e-03 1.25548778e+02] [ 6.01165045e-02 9.98191363e-01 -9.23012694e-05 3.85434283e+00] [ 8.14099913e-03 -3.97829737e-04 9.99966782e-01 4.69141774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399999 meters 0.05655543126053821 Centerline is valid? [True, True] Translation: X:125.61, Y:3.84, Z:0.47 [[ 9.97988527e-01 -6.29606716e-02 -7.40635026e-03 1.25608285e+02] [ 6.29617793e-02 9.98015935e-01 -8.37397899e-05 3.84484298e+00] [ 7.39692789e-03 -3.82745640e-04 9.99972569e-01 4.69271985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399999 meters 0.052591032332128404 Centerline is valid? [True, True] Translation: X:125.67, Y:3.87, Z:0.47 [[ 9.97740549e-01 -6.69152604e-02 -6.01210925e-03 1.25668654e+02] [ 6.69160619e-02 9.97758606e-01 -6.79631204e-05 3.86615801e+00] [ 6.00318151e-03 -3.34497114e-04 9.99981925e-01 4.70371629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019254154 meters 0.05687064229172118 Centerline is valid? [True, True] Translation: X:125.73, Y:3.85, Z:0.47 [[ 9.97359282e-01 -7.23675610e-02 -6.11541669e-03 1.25728308e+02] [ 7.23684923e-02 9.97377961e-01 -6.91451496e-05 3.84511273e+00] [ 6.10438570e-03 -3.73600929e-04 9.99981298e-01 4.69412661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079254154 meters 0.061924635261614076 Centerline is valid? [True, True] Translation: X:125.79, Y:3.83, Z:0.47 [[ 9.97126790e-01 -7.54432731e-02 -6.81742705e-03 1.25788549e+02] [ 7.54445020e-02 9.97149999e-01 -7.71056545e-05 3.83031931e+00] [ 6.80381448e-03 -4.37453275e-04 9.99976758e-01 4.69149664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399999 meters 0.05223805109425732 Centerline is valid? [True, True] Translation: X:125.85, Y:3.86, Z:0.47 [[ 9.96913605e-01 -7.82186221e-02 -6.71655918e-03 1.25849237e+02] [ 7.82198781e-02 9.96936129e-01 -7.58822587e-05 3.86357420e+00] [ 6.70191591e-03 -4.49720384e-04 9.99977441e-01 4.70307703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399999 meters 0.05298429856264669 Centerline is valid? [True, True] Translation: X:125.91, Y:3.86, Z:0.47 [[ 9.96859060e-01 -7.88404669e-02 -7.49638021e-03 1.25910132e+02] [ 7.88420511e-02 9.96887117e-01 -8.44076815e-05 3.86230601e+00] [ 7.47969960e-03 -5.06887430e-04 9.99971898e-01 4.69547099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399999 meters 0.05453315638850729 Centerline is valid? [True, True] Translation: X:125.97, Y:3.86, Z:0.47 [[ 9.97006216e-01 -7.70013659e-02 -7.02820795e-03 1.25970641e+02] [ 7.70027145e-02 9.97030880e-01 -7.89109921e-05 3.86387603e+00] [ 7.01341661e-03 -4.62516341e-04 9.99975299e-01 4.69328874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399999 meters 0.05326034456586487 Centerline is valid? [True, True] Translation: X:126.03, Y:3.87, Z:0.47 [[ 9.97162862e-01 -7.50240244e-02 -6.13374569e-03 1.26031061e+02] [ 7.50250146e-02 9.97181650e-01 -6.88220702e-05 3.87123457e+00] [ 6.12162195e-03 -3.91557547e-04 9.99981186e-01 4.69814684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379254154 meters 0.06184714622471888 Centerline is valid? [True, True] Translation: X:126.09, Y:3.85, Z:0.47 [[ 9.97352754e-01 -7.24437189e-02 -6.27625905e-03 1.26090723e+02] [ 7.24447049e-02 9.97372428e-01 -7.04073279e-05 3.84830568e+00] [ 6.26486829e-03 -3.84460792e-04 9.99980302e-01 4.69726635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439254154 meters 0.05196781307846372 Centerline is valid? [True, True] Translation: X:126.15, Y:3.88, Z:0.47 [[ 9.97328810e-01 -7.29069547e-02 -4.45209411e-03 1.26152694e+02] [ 7.29074554e-02 9.97338709e-01 -4.99461313e-05 3.88477516e+00] [ 4.44388721e-03 -2.74778137e-04 9.99990088e-01 4.70350934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399998 meters 0.055646236693001595 Centerline is valid? [True, True] Translation: X:126.21, Y:3.87, Z:0.47 [[ 9.97269467e-01 -7.36893392e-02 -4.84676789e-03 1.26213561e+02] [ 7.36899427e-02 9.97281199e-01 -5.41816256e-05 3.86633597e+00] [ 4.83758310e-03 -3.03124367e-04 9.99988253e-01 4.70466004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399999 meters 0.0512118170885217 Centerline is valid? [True, True] Translation: X:126.27, Y:3.90, Z:0.47 [[ 9.97140682e-01 -7.54558467e-02 -4.10802629e-03 1.26273870e+02] [ 7.54562954e-02 9.97149109e-01 -4.58659828e-05 3.89841012e+00] [ 4.09977561e-03 -2.64241608e-04 9.99991561e-01 4.70708386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399999 meters 0.06512565832653334 Centerline is valid? [True, True] Translation: X:126.33, Y:3.85, Z:0.47 [[ 9.97041842e-01 -7.66342677e-02 -5.89520272e-03 1.26334134e+02] [ 7.66352128e-02 9.97059196e-01 -6.57520169e-05 3.84678851e+00] [ 5.88290494e-03 -3.86222603e-04 9.99982621e-01 4.69527232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399999 meters 0.05574259393253281 Centerline is valid? [True, True] Translation: X:126.39, Y:3.87, Z:0.47 [[ 9.96889088e-01 -7.85595276e-02 -6.36760545e-03 1.26394661e+02] [ 7.85606694e-02 9.96909332e-01 -7.09989401e-05 3.87121544e+00] [ 6.35350294e-03 -4.29465278e-04 9.99979724e-01 4.68923218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739254154 meters 0.05205303789771844 Centerline is valid? [True, True] Translation: X:126.46, Y:3.89, Z:0.47 [[ 9.96836069e-01 -7.91525094e-02 -7.26160624e-03 1.26456323e+02] [ 7.91540115e-02 9.96862396e-01 -8.07523446e-05 3.88896923e+00] [ 7.24521394e-03 -4.94288414e-04 9.99973631e-01 4.69091571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799254154 meters 0.052304388612405696 Centerline is valid? [True, True] Translation: X:126.52, Y:3.90, Z:0.47 [[ 9.96929488e-01 -7.80137235e-02 -6.74199863e-03 1.26517120e+02] [ 7.80149940e-02 9.96952183e-01 -7.47352959e-05 3.89897342e+00] [ 6.72728063e-03 -4.51471162e-04 9.99977270e-01 4.70050052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399998 meters 0.054005608523767935 Centerline is valid? [True, True] Translation: X:126.58, Y:3.89, Z:0.47 [[ 9.97494893e-01 -7.05317825e-02 -5.40433623e-03 1.26576818e+02] [ 7.05324898e-02 9.97509481e-01 -5.98472661e-05 3.88876539e+00] [ 5.39509777e-03 -3.21483948e-04 9.99985395e-01 4.70687877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399999 meters 0.056224521841945624 Centerline is valid? [True, True] Translation: X:126.64, Y:3.89, Z:0.47 [[ 9.98008561e-01 -6.29309789e-02 -4.31324183e-03 1.26636063e+02] [ 6.29313586e-02 9.98017856e-01 -4.77528700e-05 3.88503517e+00] [ 4.30769750e-03 -2.23780395e-04 9.99990697e-01 4.71526900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399999 meters 0.055234843797832396 Centerline is valid? [True, True] Translation: X:126.70, Y:3.89, Z:0.47 [[ 9.98733106e-01 -5.01898153e-02 -3.62846807e-03 1.26696595e+02] [ 5.01900000e-02 9.98739687e-01 -4.02033780e-05 3.89214299e+00] [ 3.62591287e-03 -1.41960368e-04 9.99993416e-01 4.71967023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399999 meters 0.05277987431181476 Centerline is valid? [True, True] Translation: X:126.76, Y:3.91, Z:0.47 [[ 9.99085164e-01 -4.25620025e-02 -4.16058320e-03 1.26757156e+02] [ 4.25621793e-02 9.99093819e-01 -4.60883233e-05 3.91206408e+00] [ 4.15877457e-03 -1.31037328e-04 9.99991344e-01 4.72399184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099254154 meters 0.05284240869695132 Centerline is valid? [True, True] Translation: X:126.82, Y:3.91, Z:0.47 [[ 9.99389448e-01 -3.43692249e-02 -6.28394484e-03 1.26817002e+02] [ 3.43694663e-02 9.99409193e-01 -6.95910158e-05 3.91428067e+00] [ 6.28262403e-03 -1.46427304e-04 9.99980253e-01 4.70869344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159254154 meters 0.05288681157270285 Centerline is valid? [True, True] Translation: X:126.88, Y:3.92, Z:0.47 [[ 9.99490630e-01 -3.12241775e-02 -6.59781655e-03 1.26878783e+02] [ 3.12243760e-02 9.99512398e-01 -7.29422062e-05 3.92011026e+00] [ 6.59687700e-03 -1.33107653e-04 9.99978232e-01 4.71053150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399998 meters 0.0541715059729334 Centerline is valid? [True, True] Translation: X:126.94, Y:3.92, Z:0.47 [[ 9.99573311e-01 -2.84298848e-02 -6.70354437e-03 1.26939831e+02] [ 2.84300282e-02 9.99595782e-01 -7.39289997e-05 3.91739732e+00] [ 6.70293647e-03 -1.16684500e-04 9.99977528e-01 4.70789199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399999 meters 0.05303544347031211 Centerline is valid? [True, True] Translation: X:127.00, Y:3.92, Z:0.47 [[ 9.99587326e-01 -2.80420299e-02 -6.23068888e-03 1.27001822e+02] [ 2.80421472e-02 9.99606739e-01 -6.85632021e-05 3.91971165e+00] [ 6.23016124e-03 -1.06186986e-04 9.99980587e-01 4.71054429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399999 meters 0.05366585609981131 Centerline is valid? [True, True] Translation: X:127.06, Y:3.92, Z:0.47 [[ 9.99557970e-01 -2.90306029e-02 -6.41002738e-03 1.27063983e+02] [ 2.90307488e-02 9.99578517e-01 -7.02966890e-05 3.92019038e+00] [ 6.40936642e-03 -1.15822279e-04 9.99979453e-01 4.70590524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399999 meters 0.054063392975175886 Centerline is valid? [True, True] Translation: X:127.13, Y:3.92, Z:0.47 [[ 9.99506975e-01 -3.07915610e-02 -6.13893331e-03 1.27125378e+02] [ 3.07917291e-02 9.99525820e-01 -6.71507785e-05 3.91873464e+00] [ 6.13809003e-03 -1.21910700e-04 9.99981154e-01 4.70724032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399999 meters 0.053425052661917945 Centerline is valid? [True, True] Translation: X:127.19, Y:3.92, Z:0.47 [[ 9.99340714e-01 -3.58331860e-02 -5.84127696e-03 1.27185576e+02] [ 3.58334248e-02 9.99357775e-01 -6.38030074e-05 3.91855334e+00] [ 5.83981181e-03 -1.45552016e-04 9.99982938e-01 4.71300681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519254154 meters 0.054303932622260374 Centerline is valid? [True, True] Translation: X:127.24, Y:3.91, Z:0.47 [[ 9.99148533e-01 -4.08166040e-02 -6.01771331e-03 1.27244795e+02] [ 4.08169481e-02 9.99166639e-01 -6.56739003e-05 3.91409473e+00] [ 6.01537897e-03 -1.80006711e-04 9.99981891e-01 4.71378789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579254154 meters 0.05431692152313928 Centerline is valid? [True, True] Translation: X:127.31, Y:3.91, Z:0.47 [[ 9.98772738e-01 -4.91292571e-02 -6.27171558e-03 1.27305372e+02] [ 4.91297951e-02 9.98792400e-01 -6.83417412e-05 3.90930457e+00] [ 6.26749943e-03 -2.39870233e-04 9.99980330e-01 4.70746154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399999 meters 0.054197174881211556 Centerline is valid? [True, True] Translation: X:127.37, Y:3.91, Z:0.47 [[ 9.98539680e-01 -5.37179355e-02 -5.73504453e-03 1.27366204e+02] [ 5.37184610e-02 9.98556119e-01 -6.24851352e-05 3.90740062e+00] [ 5.73012039e-03 -2.45683879e-04 9.99983553e-01 4.71383723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399999 meters 0.0529409686866043 Centerline is valid? [True, True] Translation: X:127.43, Y:3.91, Z:0.47 [[ 9.98332479e-01 -5.75373943e-02 -4.65929275e-03 1.27427237e+02] [ 5.75377827e-02 9.98343328e-01 -5.07526858e-05 3.91297106e+00] [ 4.65449401e-03 -2.17417319e-04 9.99989144e-01 4.72010254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399999 meters 0.05493032351704356 Centerline is valid? [True, True] Translation: X:127.49, Y:3.91, Z:0.47 [[ 9.98361474e-01 -5.70245767e-02 -4.75021483e-03 1.27488544e+02] [ 5.70249753e-02 9.98372751e-01 -5.16113034e-05 3.90501577e+00] [ 4.74542816e-03 -2.19354146e-04 9.99988716e-01 4.72014472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399999 meters 0.05281108330919599 Centerline is valid? [True, True] Translation: X:127.55, Y:3.91, Z:0.47 [[ 9.98500803e-01 -5.45250252e-02 -4.81330807e-03 1.27549330e+02] [ 5.45254073e-02 9.98512382e-01 -5.18953763e-05 3.91380441e+00] [ 4.80897730e-03 -2.10630008e-04 9.99988415e-01 4.72453032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879254154 meters 0.05441172043196359 Centerline is valid? [True, True] Translation: X:127.61, Y:3.91, Z:0.47 [[ 9.98663541e-01 -5.13578973e-02 -5.78782582e-03 1.27608872e+02] [ 5.13583966e-02 9.98680285e-01 -6.24166491e-05 3.90765270e+00] [ 5.78339313e-03 -2.34920222e-04 9.99983248e-01 4.71904018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939254154 meters 0.05326839979620903 Centerline is valid? [True, True] Translation: X:127.67, Y:3.92, Z:0.47 [[ 9.98927724e-01 -4.57284501e-02 -7.23257712e-03 1.27669830e+02] [ 4.57290824e-02 9.98953875e-01 -7.80067807e-05 3.91799223e+00] [ 7.22857807e-03 -2.52815979e-04 9.99973842e-01 4.70861003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399998 meters 0.05277933963084871 Centerline is valid? [True, True] Translation: X:127.73, Y:3.92, Z:0.47 [[ 9.99127391e-01 -4.09766655e-02 -8.08510280e-03 1.27730338e+02] [ 4.09773006e-02 9.99160074e-01 -8.71591673e-05 3.92307674e+00] [ 8.08188340e-03 -2.44222577e-04 9.99967311e-01 4.71505288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters 0.053175058403647855 Centerline is valid? [True, True] Translation: X:127.79, Y:3.93, Z:0.47 [[ 9.99409265e-01 -3.31547238e-02 -9.04903609e-03 1.27789799e+02] [ 3.31551989e-02 9.99450211e-01 -9.75482862e-05 3.92508425e+00] [ 9.04729521e-03 -2.02531930e-04 9.99959052e-01 4.71260355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters 0.05226878847073023 Centerline is valid? [True, True] Translation: X:127.85, Y:3.93, Z:0.47 [[ 9.99584394e-01 -2.73886909e-02 -8.99436183e-03 1.27850448e+02] [ 2.73889270e-02 9.99624848e-01 -9.69395080e-05 3.93060163e+00] [ 8.99364262e-03 -1.49446700e-04 9.99959545e-01 4.72159922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179254154 meters 0.05294919010295923 Centerline is valid? [True, True] Translation: X:127.91, Y:3.94, Z:0.47 [[ 9.99807078e-01 -1.81689663e-02 -7.46299114e-03 1.27911509e+02] [ 1.81688723e-02 9.99834929e-01 -8.04064952e-05 3.93586932e+00] [ 7.46322013e-03 -5.52031498e-05 9.99972148e-01 4.73690949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239254154 meters 0.05316017202050577 Centerline is valid? [True, True] Translation: X:127.97, Y:3.94, Z:0.48 [[ 9.99901579e-01 -1.25350637e-02 -6.30115390e-03 1.27971462e+02] [ 1.25348851e-02 9.99921433e-01 -6.78365432e-05 3.93852618e+00] [ 6.30150917e-03 -1.11543735e-05 9.99980145e-01 4.75006619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299254154 meters 0.05302832156328679 Centerline is valid? [True, True] Translation: X:128.03, Y:3.94, Z:0.48 [[ 9.99951430e-01 -8.01805461e-03 -5.73136583e-03 1.28031747e+02] [ 8.01783308e-03 9.99967855e-01 -6.16278285e-05 3.94189050e+00] [ 5.73167573e-03 1.56717006e-05 9.99983574e-01 4.75196554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359254154 meters 0.05373832042982431 Centerline is valid? [True, True] Translation: X:128.09, Y:3.94, Z:0.48 [[ 9.99966955e-01 -5.92925824e-03 -5.56173128e-03 1.28092431e+02] [ 5.92901750e-03 9.99982421e-01 -5.97721371e-05 3.94061883e+00] [ 5.56198791e-03 2.67945599e-05 9.99984532e-01 4.75814472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41925415400001 meters 0.05310200591269882 Centerline is valid? [True, True] Translation: X:128.15, Y:3.94, Z:0.48 [[ 9.99948001e-01 -8.07275612e-03 -6.23099567e-03 1.28152494e+02] [ 8.07249546e-03 9.99967415e-01 -6.69826765e-05 3.93790372e+00] [ 6.23133336e-03 1.66795092e-05 9.99980585e-01 4.75326455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47925415400002 meters 0.053453155409885024 Centerline is valid? [True, True] Translation: X:128.21, Y:3.93, Z:0.47 [[ 9.99902505e-01 -1.19685995e-02 -7.19256982e-03 1.28212087e+02] [ 1.19683525e-02 9.99928374e-01 -7.73806781e-05 3.93273757e+00] [ 7.19298079e-03 -8.71007709e-06 9.99974130e-01 4.73358631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters 0.05317472086705042 Centerline is valid? [True, True] Translation: X:128.27, Y:3.93, Z:0.47 [[ 9.99814013e-01 -1.76255762e-02 -7.82803571e-03 1.28272560e+02] [ 1.76254567e-02 9.99844656e-01 -8.42509432e-05 3.92698362e+00] [ 7.82830465e-03 -5.37374312e-05 9.99969357e-01 4.74756661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters 0.053906301831843695 Centerline is valid? [True, True] Translation: X:128.33, Y:3.91, Z:0.47 [[ 9.99641080e-01 -2.57681288e-02 -7.32906819e-03 1.28332535e+02] [ 2.57682428e-02 9.99667941e-01 -7.88806963e-05 3.91378000e+00] [ 7.32866711e-03 -1.10004824e-04 9.99973139e-01 4.74353110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters 0.053950600497007735 Centerline is valid? [True, True] Translation: X:128.39, Y:3.91, Z:0.48 [[ 9.99504168e-01 -3.08219450e-02 -6.43628714e-03 1.28393165e+02] [ 3.08221378e-02 9.99524883e-01 -6.92520074e-05 3.91330652e+00] [ 6.43536363e-03 -1.29162459e-04 9.99979284e-01 4.75730424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters 0.0534793175424622 Centerline is valid? [True, True] Translation: X:128.45, Y:3.91, Z:0.48 [[ 9.99283442e-01 -3.74320469e-02 -5.60756882e-03 1.28453797e+02] [ 3.74322974e-02 9.99299164e-01 -6.03056659e-05 3.90810823e+00] [ 5.60589620e-03 -1.49641730e-04 9.99984276e-01 4.76172609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters 0.05424833291143579 Centerline is valid? [True, True] Translation: X:128.51, Y:3.90, Z:0.48 [[ 9.99043814e-01 -4.34447313e-02 -4.90032918e-03 1.28514007e+02] [ 4.34449949e-02 9.99055819e-01 -5.26904644e-05 3.89989107e+00] [ 4.89799151e-03 -1.60254694e-04 9.99987992e-01 4.76740332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters 0.059309715779030395 Centerline is valid? [True, True] Translation: X:128.57, Y:3.88, Z:0.48 [[ 9.98846210e-01 -4.77161962e-02 -5.42341851e-03 1.28573306e+02] [ 4.77165819e-02 9.98860913e-01 -5.83132089e-05 3.87744269e+00] [ 5.42002325e-03 -2.00541066e-04 9.99985291e-01 4.75938976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899254154 meters 0.05589523176397741 Centerline is valid? [True, True] Translation: X:128.63, Y:3.89, Z:0.48 [[ 9.98545680e-01 -5.35045956e-02 -6.61691148e-03 1.28634206e+02] [ 5.35052963e-02 9.98567563e-01 -7.12078917e-05 3.88516486e+00] [ 6.61124312e-03 -2.82935477e-04 9.99978105e-01 4.75604467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959254154 meters 0.05490912241139001 Centerline is valid? [True, True] Translation: X:128.69, Y:3.89, Z:0.47 [[ 9.98444096e-01 -5.53857361e-02 -6.46593990e-03 1.28694966e+02] [ 5.53864448e-02 9.98464990e-01 -6.95364333e-05 3.88644088e+00] [ 6.45986594e-03 -2.88697182e-04 9.99979093e-01 4.74968470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019254154 meters 0.057456816694851746 Centerline is valid? [True, True] Translation: X:128.76, Y:3.88, Z:0.48 [[ 9.98363364e-01 -5.67352147e-02 -7.19083590e-03 1.28755299e+02] [ 5.67361269e-02 9.98389206e-01 -7.72361076e-05 3.87538295e+00] [ 7.18363495e-03 -3.30870478e-04 9.99974143e-01 4.75222911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079254154 meters 0.05778498522517569 Centerline is valid? [True, True] Translation: X:128.82, Y:3.88, Z:0.47 [[ 9.98400014e-01 -5.60298428e-02 -7.62026047e-03 1.28818031e+02] [ 5.60308480e-02 9.98429035e-01 -8.16815200e-05 3.87513241e+00] [ 7.61286590e-03 -3.45418825e-04 9.99970962e-01 4.74694743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139254154 meters 0.0531301363891311 Centerline is valid? [True, True] Translation: X:128.88, Y:3.90, Z:0.48 [[ 9.98496488e-01 -5.41264189e-02 -8.66570107e-03 1.28878776e+02] [ 5.41276494e-02 9.98534020e-01 -9.26457809e-05 3.89517209e+00] [ 8.65801191e-03 -3.76547542e-04 9.99962448e-01 4.75819369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19925415400002 meters 0.05356610323828961 Centerline is valid? [True, True] Translation: X:128.94, Y:3.90, Z:0.47 [[ 9.98834713e-01 -4.69713943e-02 -1.10862470e-02 1.28939205e+02] [ 4.69729691e-02 9.98896154e-01 -1.18442314e-04 3.89738292e+00] [ 1.10795729e-02 -4.02449644e-04 9.99938539e-01 4.74962033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25925415400002 meters 0.0544484163701447 Centerline is valid? [True, True] Translation: X:129.00, Y:3.90, Z:0.47 [[ 9.99225537e-01 -3.77188121e-02 -1.12079219e-02 1.28999923e+02] [ 3.77198406e-02 9.99288346e-01 -1.19686756e-04 3.90083950e+00] [ 1.12044602e-02 -3.03166963e-04 9.99937182e-01 4.74921271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters 0.05368739115711378 Centerline is valid? [True, True] Translation: X:129.06, Y:3.90, Z:0.48 [[ 9.99477641e-01 -3.05067359e-02 -1.06669485e-02 1.29059083e+02] [ 3.05072566e-02 9.99534539e-01 -1.13940076e-04 3.90411431e+00] [ 1.06654594e-02 -2.11538776e-04 9.99943100e-01 4.75718419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters 0.05375462680432497 Centerline is valid? [True, True] Translation: X:129.12, Y:3.91, Z:0.48 [[ 9.99713470e-01 -2.19071076e-02 -9.64655165e-03 1.29118996e+02] [ 2.19071332e-02 9.99760005e-01 -1.03024092e-04 3.90731919e+00] [ 9.64649348e-03 -1.08333720e-04 9.99953466e-01 4.75746430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters 0.054347249301441886 Centerline is valid? [True, True] Translation: X:129.18, Y:3.92, Z:0.48 [[ 9.99929412e-01 -8.16937855e-03 -8.62745527e-03 1.29179715e+02] [ 8.16888820e-03 9.99966630e-01 -9.20739114e-05 3.91820028e+00] [ 8.62791956e-03 2.15906945e-05 9.99962779e-01 4.79117267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters 0.05474693453493197 Centerline is valid? [True, True] Translation: X:129.24, Y:3.92, Z:0.48 [[ 9.99967533e-01 -7.91534249e-04 -8.01911149e-03 1.29238928e+02] [ 7.90873120e-04 9.99999684e-01 -8.56149739e-05 3.92421227e+00] [ 8.01917672e-03 7.92700945e-05 9.99967843e-01 4.78155170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters 0.05483769243409048 Centerline is valid? [True, True] Translation: X:129.30, Y:3.93, Z:0.48 [[ 9.99968866e-01 3.93361835e-03 -6.84056558e-03 1.29297980e+02] [-3.93421065e-03 9.99992258e-01 -7.31330490e-05 3.92724823e+00] [ 6.84022495e-03 1.00042998e-04 9.99976600e-01 4.79259320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters 0.05444036196116144 Centerline is valid? [True, True] Translation: X:129.36, Y:3.92, Z:0.48 [[ 9.99971680e-01 3.08371953e-03 -6.86509804e-03 1.29356559e+02] [-3.08429726e-03 9.99995241e-01 -7.35690352e-05 3.92355194e+00] [ 6.86483851e-03 9.47409548e-05 9.99976432e-01 4.80096494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679254154 meters 0.053806883672245426 Centerline is valid? [True, True] Translation: X:129.42, Y:3.92, Z:0.48 [[ 9.99962589e-01 -3.16858971e-03 -8.04861759e-03 1.29415697e+02] [ 3.16799616e-03 9.99994978e-01 -8.64948950e-05 3.91990336e+00] [ 8.04885124e-03 6.09936696e-05 9.99967606e-01 4.79975925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739254154 meters 0.054039663858678685 Centerline is valid? [True, True] Translation: X:129.47, Y:3.91, Z:0.48 [[ 9.99916863e-01 -9.31381333e-03 -8.91740590e-03 1.29474827e+02] [ 9.31332767e-03 9.99956625e-01 -9.59881989e-05 3.91498577e+00] [ 8.91791312e-03 1.29294957e-05 9.99960235e-01 4.80315383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799254154 meters 0.0540475994359015 Centerline is valid? [True, True] Translation: X:129.53, Y:3.91, Z:0.48 [[ 9.99773792e-01 -1.95806546e-02 -8.30436174e-03 1.29534268e+02] [ 1.95805867e-02 9.99808278e-01 -8.94815019e-05 3.90584019e+00] [ 8.30452172e-03 -7.31430149e-05 9.99965514e-01 4.78774203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859254154 meters 0.05410166030473008 Centerline is valid? [True, True] Translation: X:129.59, Y:3.90, Z:0.48 [[ 9.99635910e-01 -2.57764216e-02 -7.97643224e-03 1.29594583e+02] [ 2.57765562e-02 9.99667726e-01 -8.59460124e-05 3.89927929e+00] [ 7.97599726e-03 -1.19690234e-04 9.99968184e-01 4.78956398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91925415400001 meters 0.055040935029655846 Centerline is valid? [True, True] Translation: X:129.65, Y:3.89, Z:0.48 [[ 9.99402978e-01 -3.34768450e-02 -8.54330474e-03 1.29654450e+02] [ 3.34772810e-02 9.99439475e-01 -9.20114957e-05 3.89050331e+00] [ 8.54159626e-03 -1.94050050e-04 9.99963501e-01 4.78796874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97925415400002 meters 0.05527953548106038 Centerline is valid? [True, True] Translation: X:129.72, Y:3.89, Z:0.48 [[ 9.99257928e-01 -3.76445866e-02 -8.15338952e-03 1.29715704e+02] [ 3.76451226e-02 9.99291167e-01 -8.77725122e-05 3.89107097e+00] [ 8.15091429e-03 -2.19227970e-04 9.99966757e-01 4.79568728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters 0.0547199392462139 Centerline is valid? [True, True] Translation: X:129.78, Y:3.89, Z:0.48 [[ 9.99081433e-01 -4.22688466e-02 -7.04518774e-03 1.29775987e+02] [ 4.22693619e-02 9.99106248e-01 -7.58117778e-05 3.89043756e+00] [ 7.04209557e-03 -2.22053451e-04 9.99975179e-01 4.80278235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters 0.05634824886125473 Centerline is valid? [True, True] Translation: X:129.84, Y:3.88, Z:0.48 [[ 9.98921234e-01 -4.58265340e-02 -7.50318877e-03 1.29835507e+02] [ 4.58272186e-02 9.98949378e-01 -8.07578179e-05 3.88008052e+00] [ 7.49900661e-03 -2.63179573e-04 9.99971847e-01 4.79831434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters 0.056132297184679845 Centerline is valid? [True, True] Translation: X:129.90, Y:3.88, Z:0.48 [[ 9.98771197e-01 -4.89296568e-02 -7.87300525e-03 1.29896405e+02] [ 4.89305066e-02 9.98802182e-01 -8.47595986e-05 3.88267403e+00] [ 7.86772208e-03 -3.00574690e-04 9.99969004e-01 4.80970968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters 0.05597564021417724 Centerline is valid? [True, True] Translation: X:129.96, Y:3.88, Z:0.48 [[ 9.98435084e-01 -5.53248121e-02 -8.15771393e-03 1.29956447e+02] [ 5.53259377e-02 9.98468343e-01 -8.78019244e-05 3.87698065e+00] [ 8.15007674e-03 -3.63668651e-04 9.99966721e-01 4.80339850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters 0.05486909983530657 Centerline is valid? [True, True] Translation: X:130.02, Y:3.88, Z:0.48 [[ 9.98187641e-01 -5.94249610e-02 -9.49246997e-03 1.30017402e+02] [ 5.94266706e-02 9.98232668e-01 -1.02102168e-04 3.88460872e+00] [ 9.48176105e-03 -4.62188764e-04 9.99954940e-01 4.80653881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters 0.054982298617245885 Centerline is valid? [True, True] Translation: X:130.08, Y:3.88, Z:0.48 [[ 9.98088495e-01 -6.10502284e-02 -9.60342172e-03 1.30077369e+02] [ 6.10520554e-02 9.98134578e-01 -1.03077684e-04 3.88051501e+00] [ 9.59180020e-03 -4.83427984e-04 9.99953881e-01 4.80080747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399254154 meters 0.055896758959664845 Centerline is valid? [True, True] Translation: X:130.14, Y:3.88, Z:0.48 [[ 9.97889188e-01 -6.41577576e-02 -1.00474425e-02 1.30137920e+02] [ 6.41599161e-02 9.97939624e-01 -1.07683591e-04 3.88192699e+00] [ 1.00336497e-02 -5.37186777e-04 9.99949517e-01 4.80777257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459254154 meters 0.05412058152080823 Centerline is valid? [True, True] Translation: X:130.20, Y:3.89, Z:0.48 [[ 9.97877241e-01 -6.44231547e-02 -9.52203297e-03 1.30199999e+02] [ 6.44251073e-02 9.97922540e-01 -1.01853658e-04 3.88917760e+00] [ 9.50881306e-03 -5.11820548e-04 9.99954659e-01 4.81482003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519254154 meters 0.05515222344940423 Centerline is valid? [True, True] Translation: X:130.26, Y:3.89, Z:0.48 [[ 9.98108215e-01 -6.06625528e-02 -1.00022906e-02 1.30260011e+02] [ 6.06645206e-02 9.98158206e-01 -1.06824678e-04 3.88617143e+00] [ 9.99034875e-03 -5.00161579e-04 9.99949970e-01 4.81912571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579254154 meters 0.05719623712204439 Centerline is valid? [True, True] Translation: X:130.32, Y:3.88, Z:0.48 [[ 9.98390388e-01 -5.59688810e-02 -9.17159446e-03 1.30319593e+02] [ 5.59703381e-02 9.98432427e-01 -9.79175246e-05 3.88387292e+00] [ 9.16269765e-03 -4.15577328e-04 9.99957935e-01 4.82645450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639254154 meters 0.05691477939801663 Centerline is valid? [True, True] Translation: X:130.38, Y:3.89, Z:0.48 [[ 9.98862202e-01 -4.69922909e-02 -8.12569166e-03 1.30379384e+02] [ 4.69931381e-02 9.98895208e-01 -8.67400740e-05 3.88710430e+00] [ 8.12079058e-03 -2.95210369e-04 9.99966982e-01 4.84109469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69925415400002 meters 0.056455165312427176 Centerline is valid? [True, True] Translation: X:130.44, Y:3.89, Z:0.48 [[ 9.99166991e-01 -4.01290412e-02 -7.41511008e-03 1.30439777e+02] [ 4.01295579e-02 9.99194482e-01 -7.91460008e-05 3.89132377e+00] [ 7.41231313e-03 -2.18485018e-04 9.99972505e-01 4.84624281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75925415400002 meters 0.055069785918058736 Centerline is valid? [True, True] Translation: X:130.50, Y:3.91, Z:0.49 [[ 9.99547697e-01 -2.92571800e-02 -6.95842239e-03 1.30500598e+02] [ 2.92573713e-02 9.99571909e-01 -7.43312471e-05 3.90841363e+00] [ 6.95761827e-03 -1.29287521e-04 9.99975787e-01 4.85978581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters 0.05478808844526438 Centerline is valid? [True, True] Translation: X:130.56, Y:3.91, Z:0.48 [[ 9.99705786e-01 -2.31421470e-02 -7.26510197e-03 1.30559964e+02] [ 2.31421941e-02 9.99732181e-01 -7.75953008e-05 3.91113791e+00] [ 7.26495195e-03 -9.05579289e-05 9.99973606e-01 4.84814784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters 0.054469757548340804 Centerline is valid? [True, True] Translation: X:130.62, Y:3.92, Z:0.49 [[ 9.99778372e-01 -1.90034991e-02 -9.05950800e-03 1.30621352e+02] [ 1.90034050e-02 9.99819414e-01 -9.64764665e-05 3.92079688e+00] [ 9.05970537e-03 -7.57064152e-05 9.99958957e-01 4.85028406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters 0.05472130765019637 Centerline is valid? [True, True] Translation: X:130.68, Y:3.92, Z:0.48 [[ 9.99749615e-01 -1.96619974e-02 -1.06823899e-02 1.30682447e+02] [ 1.96619091e-02 9.99806680e-01 -1.13289420e-04 3.92181288e+00] [ 1.06825523e-02 -9.67751262e-05 9.99942935e-01 4.83914292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters 0.0548862058025839 Centerline is valid? [True, True] Translation: X:130.74, Y:3.92, Z:0.48 [[ 9.99633276e-01 -2.47653004e-02 -1.09541878e-02 1.30743454e+02] [ 2.47655169e-02 9.99693281e-01 -1.15900956e-04 3.92010594e+00] [ 1.09536983e-02 -1.55427670e-04 9.99939994e-01 4.84093282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters 0.05580657532921877 Centerline is valid? [True, True] Translation: X:130.80, Y:3.92, Z:0.48 [[ 9.99517424e-01 -2.92426253e-02 -1.04779432e-02 1.30803462e+02] [ 2.92430696e-02 9.99572324e-01 -1.10830806e-04 3.91577255e+00] [ 1.04767030e-02 -1.95629900e-04 9.99945099e-01 4.84251172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119254154 meters 0.05567598738041686 Centerline is valid? [True, True] Translation: X:130.86, Y:3.92, Z:0.49 [[ 9.99388471e-01 -3.37865618e-02 -9.00845919e-03 1.30864345e+02] [ 3.37870756e-02 9.99429049e-01 -9.51948450e-05 3.91789992e+00] [ 9.00653211e-03 -2.09232861e-04 9.99959418e-01 4.87049689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179254154 meters 0.055660731950403455 Centerline is valid? [True, True] Translation: X:130.92, Y:3.91, Z:0.49 [[ 9.99222639e-01 -3.86178181e-02 -7.92349601e-03 1.30924315e+02] [ 3.86183681e-02 9.99254029e-01 -8.36267097e-05 3.90878389e+00] [ 7.92081480e-03 -2.22430784e-04 9.99968605e-01 4.87254484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239254154 meters 0.05714969071064228 Centerline is valid? [True, True] Translation: X:130.99, Y:3.90, Z:0.49 [[ 9.99129766e-01 -4.10455620e-02 -7.41429013e-03 1.30985687e+02] [ 4.10461111e-02 9.99157250e-01 -7.81633441e-05 3.90347941e+00] [ 7.41124999e-03 -2.26232452e-04 9.99972511e-01 4.88222884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299254154 meters 0.05515733126629528 Centerline is valid? [True, True] Translation: X:131.05, Y:3.91, Z:0.49 [[ 9.99119472e-01 -4.13386444e-02 -7.16920396e-03 1.31047374e+02] [ 4.13391664e-02 9.99145168e-01 -7.54223193e-05 3.90860067e+00] [ 7.16619336e-03 -2.21013008e-04 9.99974298e-01 4.89149629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359254154 meters 0.05611897343943806 Centerline is valid? [True, True] Translation: X:131.11, Y:3.90, Z:0.49 [[ 9.99290483e-01 -3.68382868e-02 -7.84030802e-03 1.31106568e+02] [ 3.68387735e-02 9.99321219e-01 -8.23768075e-05 3.90353982e+00] [ 7.83802078e-03 -2.06508971e-04 9.99969261e-01 4.87743676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41925415400001 meters 0.055529933836254375 Centerline is valid? [True, True] Translation: X:131.17, Y:3.91, Z:0.49 [[ 9.99518721e-01 -2.98233613e-02 -8.53772980e-03 1.31167039e+02] [ 2.98236824e-02 9.99555171e-01 -8.97372193e-05 3.91361119e+00] [ 8.53660824e-03 -1.64932511e-04 9.99963549e-01 4.88507052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47925415400002 meters 0.055728790364103546 Centerline is valid? [True, True] Translation: X:131.23, Y:3.92, Z:0.49 [[ 9.99853685e-01 -1.48113605e-02 -8.55762472e-03 1.31227568e+02] [ 1.48111334e-02 9.99890305e-01 -8.99155111e-05 3.92129752e+00] [ 8.55801776e-03 -3.68457662e-05 9.99963379e-01 4.89610518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters 0.05550788187226309 Centerline is valid? [True, True] Translation: X:131.29, Y:3.93, Z:0.49 [[ 9.99964669e-01 -2.10335703e-03 -8.13853287e-03 1.31286550e+02] [ 2.10273040e-03 9.99997786e-01 -8.55506242e-05 3.92749448e+00] [ 8.13869479e-03 6.84344611e-05 9.99966878e-01 4.89046832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters 0.05559723527558444 Centerline is valid? [True, True] Translation: X:131.35, Y:3.93, Z:0.49 [[ 9.99962238e-01 2.37614088e-03 -8.35919456e-03 1.31345837e+02] [-2.37695982e-03 9.99997171e-01 -8.80342502e-05 3.92669245e+00] [ 8.35896173e-03 1.07900395e-04 9.99965057e-01 4.90032251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters 0.05506542049663109 Centerline is valid? [True, True] Translation: X:131.40, Y:3.92, Z:0.49 [[ 9.99961935e-01 1.63639368e-03 -8.57033042e-03 1.31403422e+02] [-1.63722933e-03 9.99998656e-01 -9.04907832e-05 3.92480039e+00] [ 8.57017082e-03 1.04518935e-04 9.99963270e-01 4.89225260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters 0.055705516614564736 Centerline is valid? [True, True] Translation: X:131.46, Y:3.92, Z:0.49 [[ 9.99949727e-01 -3.71869031e-03 -9.31204701e-03 1.31462814e+02] [ 3.71793353e-03 9.99993084e-01 -9.85791453e-05 3.91709542e+00] [ 9.31234919e-03 6.39526177e-05 9.99956637e-01 4.90497161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters 0.05559176610072809 Centerline is valid? [True, True] Translation: X:131.52, Y:3.91, Z:0.49 [[ 9.99815304e-01 -1.63075308e-02 -1.01696809e-02 1.31522008e+02] [ 1.63072747e-02 9.99867022e-01 -1.08111137e-04 3.90612196e+00] [ 1.01700915e-02 -5.77486107e-05 9.99948282e-01 4.90403551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters 0.05526934816780306 Centerline is valid? [True, True] Translation: X:131.58, Y:3.90, Z:0.49 [[ 9.99610423e-01 -2.60644263e-02 -9.98241618e-03 1.31581537e+02] [ 2.60646654e-02 9.99660253e-01 -1.06164807e-04 3.90056819e+00] [ 9.98179181e-03 -1.54064891e-04 9.99950169e-01 4.91383853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899254154 meters 0.056649808297485546 Centerline is valid? [True, True] Translation: X:131.64, Y:3.89, Z:0.49 [[ 9.99197018e-01 -3.88839194e-02 -9.66231051e-03 1.31640692e+02] [ 3.88847430e-02 9.99243697e-01 -1.02684469e-04 3.88533621e+00] [ 9.65899565e-03 -2.73114446e-04 9.99953314e-01 4.90960319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959254154 meters 0.0569854429494735 Centerline is valid? [True, True] Translation: X:131.70, Y:3.88, Z:0.49 [[ 9.98923569e-01 -4.54336831e-02 -9.35325412e-03 1.31701191e+02] [ 4.54347416e-02 9.98967304e-01 -9.93883199e-05 3.88299730e+00] [ 9.34811063e-03 -3.25681349e-04 9.99956252e-01 4.92234402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019254154 meters 0.057618251371621146 Centerline is valid? [True, True] Translation: X:131.76, Y:3.87, Z:0.49 [[ 9.98515450e-01 -5.37592522e-02 -8.76582845e-03 1.31760784e+02] [ 5.37605029e-02 9.98553854e-01 -9.30653224e-05 3.87352222e+00] [ 8.75815490e-03 -3.78328183e-04 9.99961575e-01 4.92448524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079254154 meters 0.05925701369294547 Centerline is valid? [True, True] Translation: X:131.82, Y:3.87, Z:0.49 [[ 9.98122659e-01 -6.06963520e-02 -8.19204081e-03 1.31821049e+02] [ 6.06976778e-02 9.98156192e-01 -8.69213319e-05 3.86871693e+00] [ 8.18221207e-03 -4.10479702e-04 9.99966441e-01 4.94172069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139254154 meters 0.05959998478601407 Centerline is valid? [True, True] Translation: X:131.88, Y:3.87, Z:0.49 [[ 9.97837511e-01 -6.51939038e-02 -8.36997205e-03 1.31881089e+02] [ 6.51954454e-02 9.97872510e-01 -8.88297085e-05 3.86530558e+00] [ 8.35795618e-03 -4.57046441e-04 9.99964967e-01 4.94729400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19925415400002 meters 0.056820565435470004 Centerline is valid? [True, True] Translation: X:131.94, Y:3.87, Z:0.50 [[ 9.97583093e-01 -6.89293513e-02 -8.75877719e-03 1.31941505e+02] [ 6.89311827e-02 9.97621413e-01 -9.29802804e-05 3.87384525e+00] [ 8.74435274e-03 -5.10997315e-04 9.99961637e-01 4.96087845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25925415400002 meters 0.059000954969148096 Centerline is valid? [True, True] Translation: X:132.00, Y:3.87, Z:0.50 [[ 9.97409114e-01 -7.12933310e-02 -9.60830266e-03 1.32001424e+02] [ 7.12956439e-02 9.97455222e-01 -1.02033674e-04 3.86799690e+00] [ 9.59112599e-03 -5.83260808e-04 9.99953834e-01 4.95505936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters 0.05596614189490828 Centerline is valid? [True, True] Translation: X:132.06, Y:3.88, Z:0.50 [[ 9.97358617e-01 -7.18238999e-02 -1.08220833e-02 1.32063582e+02] [ 7.18268680e-02 9.97417108e-01 -1.14666491e-04 3.88494458e+00] [ 1.08023668e-02 -6.62952734e-04 9.99941433e-01 4.96790708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters 0.05558236554288754 Centerline is valid? [True, True] Translation: X:132.12, Y:3.89, Z:0.50 [[ 9.97478761e-01 -6.97478266e-02 -1.30905457e-02 1.32123905e+02] [ 6.97519940e-02 9.97564354e-01 -1.38504051e-04 3.88996372e+00] [ 1.30683221e-02 -7.74936816e-04 9.99914306e-01 4.96767555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters 0.056185603340868376 Centerline is valid? [True, True] Translation: X:132.18, Y:3.89, Z:0.50 [[ 9.97642924e-01 -6.70304583e-02 -1.46803733e-02 1.32183169e+02] [ 6.70354050e-02 9.97750585e-01 -1.55413394e-04 3.88778160e+00] [ 1.46577685e-02 -8.29057697e-04 9.99892225e-01 4.96023339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters 0.05617675074839283 Centerline is valid? [True, True] Translation: X:132.24, Y:3.90, Z:0.50 [[ 9.98103133e-01 -5.96467582e-02 -1.52446555e-02 1.32243707e+02] [ 5.96512329e-02 9.98219267e-01 -1.61420515e-04 3.89538960e+00] [ 1.52271370e-02 -7.48248171e-04 9.99883780e-01 4.97234305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters 0.05583208963228891 Centerline is valid? [True, True] Translation: X:132.30, Y:3.90, Z:0.50 [[ 9.98541018e-01 -5.21009454e-02 -1.41889523e-02 1.32304242e+02] [ 5.21040611e-02 9.98641650e-01 -1.50243481e-04 3.90058349e+00] [ 1.41775065e-02 -5.89277757e-04 9.99899320e-01 4.98369354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619254154 meters 0.056028984741204824 Centerline is valid? [True, True] Translation: X:132.36, Y:3.91, Z:0.50 [[ 9.99207708e-01 -3.75698277e-02 -1.31325493e-02 1.32363657e+02] [ 3.75712416e-02 9.99293942e-01 -1.39123943e-04 3.90952347e+00] [ 1.31285038e-02 -3.54392465e-04 9.99913755e-01 5.00008040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679254154 meters 0.05680326655627413 Centerline is valid? [True, True] Translation: X:132.42, Y:3.92, Z:0.50 [[ 9.99518115e-01 -2.85114605e-02 -1.22733213e-02 1.32424154e+02] [ 2.85120131e-02 9.99593441e-01 -1.29985926e-04 3.91635251e+00] [ 1.22720376e-02 -2.20013811e-04 9.99924672e-01 5.00705628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739254154 meters 0.05607075554364447 Centerline is valid? [True, True] Translation: X:132.48, Y:3.92, Z:0.50 [[ 9.99757242e-01 -1.89264786e-02 -1.12802793e-02 1.32484038e+02] [ 1.89263349e-02 9.99820874e-01 -1.19497553e-04 3.92447265e+00] [ 1.12805204e-02 -9.40258004e-05 9.99936368e-01 5.01940805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799254154 meters 0.05606535860962962 Centerline is valid? [True, True] Translation: X:132.54, Y:3.93, Z:0.50 [[ 9.99810713e-01 -1.57463488e-02 -1.14276230e-02 1.32544365e+02] [ 1.57459940e-02 9.99876017e-01 -1.21025140e-04 3.92896347e+00] [ 1.14281118e-02 -5.89370513e-05 9.99934695e-01 5.02158361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859254154 meters 0.05537032989766707 Centerline is valid? [True, True] Translation: X:132.60, Y:3.93, Z:0.50 [[ 9.99782292e-01 -1.64824894e-02 -1.27944077e-02 1.32602654e+02] [ 1.64821026e-02 9.99864152e-01 -1.35688691e-04 3.92961182e+00] [ 1.27949061e-02 -7.52195905e-05 9.99918139e-01 5.01586439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91925415400001 meters 0.056778071235658735 Centerline is valid? [True, True] Translation: X:132.66, Y:3.93, Z:0.50 [[ 9.99720476e-01 -1.97076690e-02 -1.30605754e-02 1.32661300e+02] [ 1.97075368e-02 9.99805778e-01 -1.38839908e-04 3.92775152e+00] [ 1.30607749e-02 -1.18590670e-04 9.99914697e-01 5.00318314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97925415400002 meters 0.0560824947930121 Centerline is valid? [True, True] Translation: X:132.72, Y:3.93, Z:0.50 [[ 9.99670592e-01 -2.24081371e-02 -1.25133112e-02 1.32720938e+02] [ 2.24082243e-02 9.99748895e-01 -1.33257970e-04 3.92773725e+00] [ 1.25131551e-02 -1.47187011e-04 9.99921697e-01 5.01959823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters 0.056275130630602715 Centerline is valid? [True, True] Translation: X:132.78, Y:3.92, Z:0.50 [[ 9.99577337e-01 -2.69325484e-02 -1.09446337e-02 1.32780951e+02] [ 2.69328856e-02 9.99637237e-01 -1.16609906e-04 3.91965955e+00] [ 1.09438040e-02 -1.78209948e-04 9.99940099e-01 5.00991068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters 0.05733470513561169 Centerline is valid? [True, True] Translation: X:132.84, Y:3.92, Z:0.50 [[ 9.99490164e-01 -3.02811656e-02 -1.01224417e-02 1.32841838e+02] [ 3.02816262e-02 9.99541401e-01 -1.07802403e-04 3.91534689e+00] [ 1.01210639e-02 -1.98776553e-04 9.99948761e-01 5.02030231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters 0.056671623311768705 Centerline is valid? [True, True] Translation: X:132.90, Y:3.91, Z:0.50 [[ 9.99319495e-01 -3.56466248e-02 -9.47967450e-03 1.32902374e+02] [ 3.56472703e-02 9.99364429e-01 -1.00921248e-04 3.91098655e+00] [ 9.47724700e-03 -2.37071949e-04 9.99955062e-01 5.02996806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters 0.05609345188712663 Centerline is valid? [True, True] Translation: X:132.96, Y:3.91, Z:0.50 [[ 9.99174427e-01 -3.95846563e-02 -9.13890990e-03 1.32963689e+02] [ 3.95854214e-02 9.99216185e-01 -9.72199689e-05 3.91230266e+00] [ 9.13559511e-03 -2.64627893e-04 9.99958235e-01 5.04191580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters 0.05749366980766641 Centerline is valid? [True, True] Translation: X:133.02, Y:3.90, Z:0.50 [[ 9.98965325e-01 -4.45897118e-02 -8.94636536e-03 1.33023848e+02] [ 4.45906468e-02 9.99005338e-01 -9.50312954e-05 3.90419898e+00] [ 8.94170417e-03 -3.03991249e-04 9.99959976e-01 5.03256776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters 0.05577001705262126 Centerline is valid? [True, True] Translation: X:133.08, Y:3.91, Z:0.50 [[ 9.98770503e-01 -4.84570949e-02 -1.04590485e-02 1.33084426e+02] [ 4.84585855e-02 9.98825186e-01 -1.11008270e-04 3.91202369e+00] [ 1.04521402e-02 -3.95958910e-04 9.99945296e-01 5.02938708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399254154 meters 0.05628913288083196 Centerline is valid? [True, True] Translation: X:133.15, Y:3.91, Z:0.50 [[ 9.98691660e-01 -4.96900255e-02 -1.20776239e-02 1.33145083e+02] [ 4.96921041e-02 9.98764576e-01 -1.28112827e-04 3.90805402e+00] [ 1.20690689e-02 -4.72217333e-04 9.99927055e-01 5.01661131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459254154 meters 0.05773719525206897 Centerline is valid? [True, True] Translation: X:133.21, Y:3.90, Z:0.50 [[ 9.98700435e-01 -4.95051826e-02 -1.21110564e-02 1.33207359e+02] [ 4.95072633e-02 9.98773755e-01 -1.28120037e-04 3.89695707e+00] [ 1.21025479e-02 -4.71631722e-04 9.99926650e-01 4.99273647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519254154 meters 0.05583845339134041 Centerline is valid? [True, True] Translation: X:133.27, Y:3.91, Z:0.50 [[ 9.98729467e-01 -4.91008266e-02 -1.13384194e-02 1.33269384e+02] [ 4.91026287e-02 9.98793731e-01 -1.19558128e-04 3.90972673e+00] [ 1.13306127e-02 -4.37339975e-04 9.99935711e-01 5.01846351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579254154 meters 0.056164703966053636 Centerline is valid? [True, True] Translation: X:133.33, Y:3.91, Z:0.50 [[ 9.98740557e-01 -4.90485981e-02 -1.05609618e-02 1.33332045e+02] [ 4.90501627e-02 9.98796310e-01 -1.10962332e-04 3.91103095e+00] [ 1.05536922e-02 -4.07194313e-04 9.99944225e-01 5.02371799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639254154 meters 0.05579688270151339 Centerline is valid? [True, True] Translation: X:133.39, Y:3.91, Z:0.50 [[ 9.98704873e-01 -4.98579374e-02 -1.01371602e-02 1.33394148e+02] [ 4.98594243e-02 9.98756240e-01 -1.06145628e-04 3.91190536e+00] [ 1.01298442e-02 -3.99424816e-04 9.99948612e-01 5.02637051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69925415400002 meters 0.0553156765666386 Centerline is valid? [True, True] Translation: X:133.45, Y:3.91, Z:0.50 [[ 9.98618931e-01 -5.15786392e-02 -9.99368450e-03 1.33454440e+02] [ 5.15801722e-02 9.98668851e-01 -1.04464023e-04 3.91109031e+00] [ 9.98576953e-03 -4.11156217e-04 9.99950056e-01 5.02863477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75925415400002 meters 0.0561414868241753 Centerline is valid? [True, True] Translation: X:133.52, Y:3.91, Z:0.50 [[ 9.98542595e-01 -5.29746803e-02 -1.03135014e-02 1.33515756e+02] [ 5.29763887e-02 9.98595759e-01 -1.07671433e-04 3.90976976e+00] [ 1.03047227e-02 -4.38857549e-04 9.99946809e-01 5.01941007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters 0.05594331132397025 Centerline is valid? [True, True] Translation: X:133.58, Y:3.92, Z:0.50 [[ 9.98579031e-01 -5.21092276e-02 -1.11600389e-02 1.33577647e+02] [ 5.21111774e-02 9.98641283e-01 -1.16207076e-04 3.91582680e+00] [ 1.11509311e-02 -4.65520820e-04 9.99937718e-01 5.03404012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters 0.057265730505670444 Centerline is valid? [True, True] Translation: X:133.64, Y:3.91, Z:0.50 [[ 9.98800928e-01 -4.78945199e-02 -1.01400994e-02 1.33637473e+02] [ 4.78959143e-02 9.98852327e-01 -1.05424378e-04 3.91318262e+00] [ 1.01335111e-02 -3.80371363e-04 9.99948582e-01 5.02939332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters 0.05585270990618591 Centerline is valid? [True, True] Translation: X:133.70, Y:3.93, Z:0.51 [[ 9.99037758e-01 -4.29998953e-02 -8.63524001e-03 1.33697607e+02] [ 4.30007241e-02 9.99075037e-01 -8.97562080e-05 3.92613710e+00] [ 8.63111224e-03 -2.81651732e-04 9.99962712e-01 5.05435867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters 0.05589932512220318 Centerline is valid? [True, True] Translation: X:133.76, Y:3.93, Z:0.51 [[ 9.99384715e-01 -3.41812674e-02 -7.86338065e-03 1.33757261e+02] [ 3.41816818e-02 9.99415632e-01 -8.17287476e-05 3.92940106e+00] [ 7.86157913e-03 -1.87105114e-04 9.99969080e-01 5.05082018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters 0.055860363849081156 Centerline is valid? [True, True] Translation: X:133.82, Y:3.93, Z:0.50 [[ 9.99543540e-01 -2.90609229e-02 -8.25672223e-03 1.33817504e+02] [ 2.90612052e-02 9.99577630e-01 -8.58100520e-05 3.93173777e+00] [ 8.25572856e-03 -1.54179416e-04 9.99965909e-01 5.04338794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119254154 meters 0.05488849760674825 Centerline is valid? [True, True] Translation: X:133.88, Y:3.94, Z:0.50 [[ 9.99617408e-01 -2.63420708e-02 -8.43402493e-03 1.33879248e+02] [ 2.63422698e-02 9.99652978e-01 -8.75019321e-05 3.93981302e+00] [ 8.43340313e-03 -1.34702906e-04 9.99964429e-01 5.04718692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179254154 meters 0.055868846227131966 Centerline is valid? [True, True] Translation: X:133.94, Y:3.94, Z:0.50 [[ 9.99603457e-01 -2.66714823e-02 -9.03106429e-03 1.33940082e+02] [ 2.66717265e-02 9.99644242e-01 -9.34259911e-05 3.93973998e+00] [ 9.03034322e-03 -1.47485133e-04 9.99959215e-01 5.04606379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239254154 meters 0.055743008166170255 Centerline is valid? [True, True] Translation: X:134.00, Y:3.94, Z:0.50 [[ 9.99446047e-01 -3.20662930e-02 -8.90797035e-03 1.34000589e+02] [ 3.20667463e-02 9.99485725e-01 -9.19701343e-05 3.94036950e+00] [ 8.90633835e-03 -1.93730438e-04 9.99960319e-01 5.04614006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299254154 meters 0.05564519089904161 Centerline is valid? [True, True] Translation: X:134.06, Y:3.93, Z:0.50 [[ 9.99258875e-01 -3.72344303e-02 -9.76207954e-03 1.34059757e+02] [ 3.72352234e-02 9.99306524e-01 -1.00560346e-04 3.93466395e+00] [ 9.75905408e-03 -2.63007394e-04 9.99952345e-01 5.03995845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359254154 meters 0.05548357067025376 Centerline is valid? [True, True] Translation: X:134.12, Y:3.93, Z:0.50 [[ 9.99015977e-01 -4.33262472e-02 -9.48226804e-03 1.34120646e+02] [ 4.33272714e-02 9.99060928e-01 -9.74859854e-05 3.93270682e+00] [ 9.47758721e-03 -3.13450744e-04 9.99955038e-01 5.04311426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41925415400001 meters 0.05884013684761613 Centerline is valid? [True, True] Translation: X:134.18, Y:3.92, Z:0.50 [[ 9.98605956e-01 -5.20814832e-02 -8.58279563e-03 1.34180723e+02] [ 5.20826456e-02 9.98642774e-01 -8.81732918e-05 3.92001664e+00] [ 8.57573903e-03 -3.58964328e-04 9.99963163e-01 5.04122664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47925415400002 meters 0.05912671360278723 Centerline is valid? [True, True] Translation: X:134.24, Y:3.92, Z:0.51 [[ 9.98168297e-01 -6.00682443e-02 -7.20110543e-03 1.34241106e+02] [ 6.00692699e-02 9.98194208e-01 -7.39672731e-05 3.91770097e+00] [ 7.19254482e-03 -3.58733359e-04 9.99974069e-01 5.05955310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters 0.05954618584915469 Centerline is valid? [True, True] Translation: X:134.30, Y:3.92, Z:0.51 [[ 9.97936553e-01 -6.38459263e-02 -6.80693095e-03 1.34302159e+02] [ 6.38469306e-02 9.97959701e-01 -6.98886083e-05 3.91818033e+00] [ 6.79750488e-03 -3.64857251e-04 9.99976830e-01 5.07296677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters 0.05823922842782705 Centerline is valid? [True, True] Translation: X:134.36, Y:3.93, Z:0.51 [[ 9.97798630e-01 -6.60086127e-02 -6.38415713e-03 1.34362475e+02] [ 6.60095405e-02 9.97818990e-01 -6.55155188e-05 3.92633874e+00] [ 6.37455781e-03 -3.56043983e-04 9.99979619e-01 5.08028731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters 0.05480381488166213 Centerline is valid? [True, True] Translation: X:134.42, Y:3.94, Z:0.51 [[ 9.97745166e-01 -6.68440093e-02 -6.03832817e-03 1.34424259e+02] [ 6.68448557e-02 9.97763379e-01 -6.17523549e-05 3.93715237e+00] [ 6.02895049e-03 -3.42018062e-04 9.99981767e-01 5.07633929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters 0.05864779600477464 Centerline is valid? [True, True] Translation: X:134.48, Y:3.93, Z:0.51 [[ 9.97815138e-01 -6.55707914e-02 -8.08833866e-03 1.34484612e+02] [ 6.55722730e-02 9.97847819e-01 -8.21577496e-05 3.92651406e+00] [ 8.07631824e-03 -4.48392504e-04 9.99967285e-01 5.05825284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters 0.05338243374987602 Centerline is valid? [True, True] Translation: X:134.55, Y:3.96, Z:0.51 [[ 9.97901688e-01 -6.42570227e-02 -7.95332916e-03 1.34546087e+02] [ 6.42584150e-02 9.97933289e-01 -8.06255049e-05 3.95679129e+00] [ 7.94207268e-03 -4.30611998e-04 9.99968369e-01 5.07423936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters 0.05656912480024195 Centerline is valid? [True, True] Translation: X:134.61, Y:3.94, Z:0.51 [[ 9.98079787e-01 -6.13459679e-02 -8.56801318e-03 1.34606093e+02] [ 6.13474776e-02 9.98116466e-01 -8.67567022e-05 3.94208307e+00] [ 8.55719721e-03 -4.39035886e-04 9.99963290e-01 5.06370798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899254154 meters 0.059361822809273324 Centerline is valid? [True, True] Translation: X:134.67, Y:3.94, Z:0.51 [[ 9.98499698e-01 -5.42101532e-02 -7.72084605e-03 1.34665627e+02] [ 5.42111658e-02 9.98529490e-01 -7.82319165e-05 3.93738010e+00] [ 7.71373344e-03 -3.40441520e-04 9.99970191e-01 5.07013121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959254154 meters 0.05629315499155892 Centerline is valid? [True, True] Translation: X:134.73, Y:3.96, Z:0.51 [[ 9.98990582e-01 -4.44876077e-02 -6.21855947e-03 1.34726293e+02] [ 4.44880761e-02 9.99009913e-01 -6.30527330e-05 3.95601173e+00] [ 6.21520763e-03 -2.13662660e-04 9.99980663e-01 5.09192910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019254154 meters 0.055772841251570414 Centerline is valid? [True, True] Translation: X:134.79, Y:3.96, Z:0.51 [[ 9.99271982e-01 -3.76867782e-02 -5.93396110e-03 1.34786980e+02] [ 3.76870847e-02 9.99289588e-01 -6.01946873e-05 3.96248534e+00] [ 5.93201408e-03 -1.63482830e-04 9.99982392e-01 5.09423296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079254154 meters 0.05665391950066265 Centerline is valid? [True, True] Translation: X:134.85, Y:3.97, Z:0.51 [[ 9.99559930e-01 -2.90213335e-02 -6.14071580e-03 1.34847328e+02] [ 2.90214984e-02 9.99578786e-01 -6.22727621e-05 3.96646785e+00] [ 6.13993648e-03 -1.15967416e-04 9.99981144e-01 5.08212521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139254154 meters 0.0549206389834423 Centerline is valid? [True, True] Translation: X:134.91, Y:3.97, Z:0.51 [[ 9.99648661e-01 -2.55621027e-02 -7.00953809e-03 1.34908806e+02] [ 2.55622331e-02 9.99673230e-01 -7.10053240e-05 3.97448769e+00] [ 7.00906263e-03 -1.08199069e-04 9.99975430e-01 5.07969117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19925415400002 meters 0.054703465773220876 Centerline is valid? [True, True] Translation: X:134.97, Y:3.98, Z:0.51 [[ 9.99698005e-01 -2.29190312e-02 -8.86656353e-03 1.34970942e+02] [ 2.29191384e-02 9.99737318e-01 -8.95331759e-05 3.97742224e+00] [ 8.86628646e-03 -1.13707859e-04 9.99960687e-01 5.06531042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25925415400002 meters 0.05466196020515956 Centerline is valid? [True, True] Translation: X:135.03, Y:3.98, Z:0.51 [[ 9.99699553e-01 -2.30696655e-02 -8.28215303e-03 1.35032919e+02] [ 2.30697664e-02 9.99733854e-01 -8.33755453e-05 3.98258234e+00] [ 8.28187221e-03 -1.07716840e-04 9.99965699e-01 5.08341321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters 0.05488450654995481 Centerline is valid? [True, True] Translation: X:135.09, Y:3.98, Z:0.51 [[ 9.99679032e-01 -2.41354533e-02 -7.70146689e-03 1.35094278e+02] [ 2.41355737e-02 9.99708692e-01 -7.73149158e-05 3.97757495e+00] [ 7.70108942e-03 -1.08589222e-04 9.99970340e-01 5.08561030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters 0.055505177105363734 Centerline is valid? [True, True] Translation: X:135.16, Y:3.97, Z:0.51 [[ 9.99627982e-01 -2.61276662e-02 -7.82580654e-03 1.35156792e+02] [ 2.61278533e-02 9.99658606e-01 -7.83460407e-05 3.97407173e+00] [ 7.82518186e-03 -1.26154631e-04 9.99969375e-01 5.09025066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters 0.056201760801764575 Centerline is valid? [True, True] Translation: X:135.22, Y:3.97, Z:0.51 [[ 9.99485429e-01 -3.11843033e-02 -7.51104778e-03 1.35217842e+02] [ 3.11846194e-02 9.99513639e-01 -7.50532009e-05 3.96973206e+00] [ 7.50973517e-03 -1.59214585e-04 9.99971789e-01 5.09725794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters 0.05439908896039059 Centerline is valid? [True, True] Translation: X:135.28, Y:3.97, Z:0.51 [[ 9.99324756e-01 -3.59547758e-02 -7.56875595e-03 1.35278079e+02] [ 3.59552338e-02 9.99353399e-01 -7.55936074e-05 3.97376076e+00] [ 7.56657993e-03 -1.96593826e-04 9.99971354e-01 5.11277222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters 0.057531724317696334 Centerline is valid? [True, True] Translation: X:135.34, Y:3.96, Z:0.51 [[ 9.99009208e-01 -4.38099578e-02 -7.82876809e-03 1.35337905e+02] [ 4.38106890e-02 9.99039848e-01 -7.81504267e-05 3.95553210e+00] [ 7.82467505e-03 -2.64910728e-04 9.99969352e-01 5.10233913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619254154 meters 0.05646694177051744 Centerline is valid? [True, True] Translation: X:135.40, Y:3.96, Z:0.51 [[ 9.98759885e-01 -4.91790364e-02 -7.75338691e-03 1.35398806e+02] [ 4.91799156e-02 9.98789933e-01 -7.73357389e-05 3.96344517e+00] [ 7.74780809e-03 -3.04071080e-04 9.99969939e-01 5.11094914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679254154 meters 0.05378015938516887 Centerline is valid? [True, True] Translation: X:135.46, Y:3.97, Z:0.51 [[ 9.98455638e-01 -5.47780289e-02 -9.25782403e-03 1.35459365e+02] [ 5.47795232e-02 9.98498470e-01 -9.22801563e-05 3.96987740e+00] [ 9.24897806e-03 -4.15001544e-04 9.99957141e-01 5.11176631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739254154 meters 0.05370785260106247 Centerline is valid? [True, True] Translation: X:135.52, Y:3.97, Z:0.51 [[ 9.98362816e-01 -5.63664074e-02 -9.72195269e-03 1.35519189e+02] [ 5.63681307e-02 9.98410048e-01 -9.68865270e-05 3.97418258e+00] [ 9.71195640e-03 -4.51280394e-04 9.99952736e-01 5.11250817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799254154 meters 0.053992327500473745 Centerline is valid? [True, True] Translation: X:135.58, Y:3.97, Z:0.51 [[ 9.98406141e-01 -5.56523544e-02 -9.38050173e-03 1.35581097e+02] [ 5.56539289e-02 9.98450115e-01 -9.33080888e-05 3.97464711e+00] [ 9.37115584e-03 -4.28902407e-04 9.99955998e-01 5.12057881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859254154 meters 0.05351745484672065 Centerline is valid? [True, True] Translation: X:135.64, Y:3.97, Z:0.51 [[ 9.98616735e-01 -5.18445398e-02 -8.76131746e-03 1.35640384e+02] [ 5.18457677e-02 9.98655100e-01 -8.70712333e-05 3.97452713e+00] [ 8.75404854e-03 -3.67286439e-04 9.99961615e-01 5.12649141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91925415400001 meters 0.05630380020115869 Centerline is valid? [True, True] Translation: X:135.70, Y:3.97, Z:0.51 [[ 9.98818555e-01 -4.76696264e-02 -9.43933707e-03 1.35699931e+02] [ 4.76708647e-02 9.98863094e-01 -9.38923363e-05 3.96563026e+00] [ 9.43308124e-03 -3.56199953e-04 9.99955444e-01 5.11244418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97925415400002 meters 0.05442806271686876 Centerline is valid? [True, True] Translation: X:135.76, Y:3.98, Z:0.51 [[ 9.99000351e-01 -4.34488302e-02 -1.05117981e-02 1.35760753e+02] [ 4.34501322e-02 9.99055592e-01 -1.04596201e-04 3.98254255e+00] [ 1.05064153e-02 -3.52247376e-04 9.99944744e-01 5.13200714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters 0.0547214520161016 Centerline is valid? [True, True] Translation: X:135.82, Y:3.98, Z:0.51 [[ 9.99101517e-01 -4.09037203e-02 -1.10925122e-02 1.35821265e+02] [ 4.09050141e-02 9.99163034e-01 -1.10314702e-04 3.98328728e+00] [ 1.10877404e-02 -3.43523782e-04 9.99938470e-01 5.12871774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters 0.054715949836194655 Centerline is valid? [True, True] Translation: X:135.88, Y:3.99, Z:0.51 [[ 9.99426295e-01 -3.17752004e-02 -1.17225206e-02 1.35880970e+02] [ 3.17760176e-02 9.99495008e-01 -1.16577371e-04 3.98832547e+00] [ 1.17203051e-02 -2.55984532e-04 9.99931282e-01 5.13175457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters 0.05457179043741862 Centerline is valid? [True, True] Translation: X:135.94, Y:4.00, Z:0.51 [[ 9.99668357e-01 -2.30973620e-02 -1.13880802e-02 1.35941212e+02] [ 2.30975708e-02 9.99733209e-01 -1.13208145e-04 3.99582810e+00] [ 1.13876568e-02 -1.49866389e-04 9.99935147e-01 5.14344870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters 0.054506935617648765 Centerline is valid? [True, True] Translation: X:136.00, Y:4.00, Z:0.51 [[ 9.99767806e-01 -1.86274980e-02 -1.08327995e-02 1.36002748e+02] [ 1.86274267e-02 9.99826489e-01 -1.07489036e-04 3.99952071e+00] [ 1.08329221e-02 -9.43231012e-05 9.99941318e-01 5.14207027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters 0.054850864351760724 Centerline is valid? [True, True] Translation: X:136.06, Y:4.00, Z:0.52 [[ 9.99855242e-01 -1.40057675e-02 -9.66090597e-03 1.36062990e+02] [ 1.40054958e-02 9.99901914e-01 -9.57743771e-05 4.00376469e+00] [ 9.66129976e-03 -3.95452652e-05 9.99953328e-01 5.15186393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters 0.05530839396817662 Centerline is valid? [True, True] Translation: X:136.12, Y:4.01, Z:0.52 [[ 9.99898773e-01 -1.14285501e-02 -8.47532353e-03 1.36123000e+02] [ 1.14282484e-02 9.99934692e-01 -8.40209846e-05 4.00508777e+00] [ 8.47573026e-03 -1.28456234e-05 9.99964080e-01 5.15317504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399254154 meters 0.05481248053704175 Centerline is valid? [True, True] Translation: X:136.18, Y:4.01, Z:0.52 [[ 9.99912253e-01 -1.10470793e-02 -7.31081854e-03 1.36183801e+02] [ 1.10468447e-02 9.99938979e-01 -7.24765456e-05 4.00605003e+00] [ 7.31117308e-03 -8.29129072e-06 9.99973273e-01 5.17618449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459254154 meters 0.0547389890160751 Centerline is valid? [True, True] Translation: X:136.24, Y:4.00, Z:0.52 [[ 9.99882561e-01 -1.35456441e-02 -7.16790446e-03 1.36244366e+02] [ 1.35454830e-02 9.99908253e-01 -7.10351729e-05 4.00268570e+00] [ 7.16820905e-03 -2.60658972e-05 9.99974308e-01 5.17692782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519254154 meters 0.05496298914495314 Centerline is valid? [True, True] Translation: X:136.31, Y:4.00, Z:0.52 [[ 9.99766728e-01 -1.98426520e-02 -8.52986006e-03 1.36305401e+02] [ 1.98426538e-02 9.99803112e-01 -8.44208445e-05 3.99729130e+00] [ 8.52985577e-03 -8.48539091e-05 9.99963617e-01 5.16618430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579254154 meters 0.05550165045576234 Centerline is valid? [True, True] Translation: X:136.37, Y:4.00, Z:0.52 [[ 9.99666840e-01 -2.41251212e-02 -9.17534206e-03 1.36367188e+02] [ 2.41253095e-02 9.99708938e-01 -9.01741590e-05 3.99691871e+00] [ 9.17484694e-03 -1.31213851e-04 9.99957902e-01 5.17237182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639254154 meters 0.05435638063229417 Centerline is valid? [True, True] Translation: X:136.43, Y:3.99, Z:0.52 [[ 9.99552127e-01 -2.83564735e-02 -9.56330005e-03 1.36427941e+02] [ 2.83568767e-02 9.99597859e-01 -9.34519133e-05 3.99094297e+00] [ 9.56210421e-03 -1.77775262e-04 9.99954266e-01 5.16188453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69925415400002 meters 0.05729555955222401 Centerline is valid? [True, True] Translation: X:136.49, Y:3.97, Z:0.51 [[ 9.99363542e-01 -3.43819171e-02 -9.50756711e-03 1.36487855e+02] [ 3.43825891e-02 9.99408740e-01 -9.28053072e-05 3.97410166e+00] [ 9.50513649e-03 -2.34148533e-04 9.99954798e-01 5.13937268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75925415400002 meters 0.055650699655602584 Centerline is valid? [True, True] Translation: X:136.55, Y:3.98, Z:0.52 [[ 9.99143334e-01 -4.04691406e-02 -8.65135517e-03 1.36549151e+02] [ 4.04699257e-02 9.99180753e-01 -8.43648901e-05 3.98122861e+00] [ 8.64768175e-03 -2.65827084e-04 9.99962573e-01 5.17060261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters 0.058012195195645024 Centerline is valid? [True, True] Translation: X:136.61, Y:3.97, Z:0.52 [[ 9.98993309e-01 -4.40588161e-02 -8.43737412e-03 1.36609335e+02] [ 4.40596915e-02 9.99028897e-01 -8.21910335e-05 3.96912489e+00] [ 8.43280180e-03 -2.89639808e-04 9.99964401e-01 5.16319830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters 0.05490015610938169 Centerline is valid? [True, True] Translation: X:136.67, Y:3.98, Z:0.52 [[ 9.98694559e-01 -5.05684282e-02 -7.21189446e-03 1.36669393e+02] [ 5.05692375e-02 9.98720555e-01 -7.02131932e-05 3.97917105e+00] [ 7.20621781e-03 -2.94578470e-04 9.99973991e-01 5.18234322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters 0.055871684866357345 Centerline is valid? [True, True] Translation: X:136.73, Y:3.97, Z:0.52 [[ 9.98468336e-01 -5.47426670e-02 -8.01390563e-03 1.36729180e+02] [ 5.47438005e-02 9.98500431e-01 -7.80181757e-05 3.97107898e+00] [ 8.00615915e-03 -3.60812973e-04 9.99967885e-01 5.17253390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters 0.05450767760482813 Centerline is valid? [True, True] Translation: X:136.79, Y:3.98, Z:0.52 [[ 9.98177623e-01 -5.98143108e-02 -7.98006541e-03 1.36789286e+02] [ 5.98155966e-02 9.98209441e-01 -7.76603669e-05 3.97854078e+00] [ 7.97042183e-03 -3.99813532e-04 9.99968156e-01 5.17913299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters 0.05379563964696249 Centerline is valid? [True, True] Translation: X:136.85, Y:3.98, Z:0.52 [[ 9.98077301e-01 -6.13563650e-02 -8.78054002e-03 1.36849813e+02] [ 6.13579820e-02 9.98115820e-01 -8.53692914e-05 3.98217818e+00] [ 8.76923385e-03 -4.53551064e-04 9.99961447e-01 5.17724723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119254154 meters 0.054105899672153256 Centerline is valid? [True, True] Translation: X:136.91, Y:3.98, Z:0.52 [[ 9.98128366e-01 -6.03089160e-02 -1.01291673e-02 1.36910309e+02] [ 6.03110149e-02 9.98179629e-01 -9.83949449e-05 3.98354974e+00] [ 1.01166626e-02 -5.12689575e-04 9.99948694e-01 5.18108125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179254154 meters 0.053659490292619925 Centerline is valid? [True, True] Translation: X:136.97, Y:3.99, Z:0.52 [[ 9.98289662e-01 -5.75810383e-02 -1.01081338e-02 1.36971166e+02] [ 5.75829892e-02 9.98340718e-01 -9.81662527e-05 3.99084887e+00] [ 1.00970141e-02 -4.84058205e-04 9.99948907e-01 5.19146652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239254154 meters 0.055187371117986675 Centerline is valid? [True, True] Translation: X:137.03, Y:3.99, Z:0.52 [[ 9.98650166e-01 -5.08541736e-02 -1.05687479e-02 1.37030471e+02] [ 5.08559296e-02 9.98705995e-01 -1.02704825e-04 3.99209823e+00] [ 1.05602948e-02 -4.34917307e-04 9.99944144e-01 5.18459197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299254154 meters 0.055822822738028445 Centerline is valid? [True, True] Translation: X:137.09, Y:3.99, Z:0.52 [[ 9.98923066e-01 -4.51294159e-02 -1.07723671e-02 1.37090559e+02] [ 4.51309080e-02 9.98981076e-01 -1.04660776e-04 3.99303875e+00] [ 1.07661142e-02 -3.81618646e-04 9.99941971e-01 5.18183570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359254154 meters 0.05507499223292954 Centerline is valid? [True, True] Translation: X:137.15, Y:4.00, Z:0.52 [[ 9.99277920e-01 -3.66618081e-02 -9.97752552e-03 1.37151496e+02] [ 3.66626667e-02 9.99327694e-01 -9.68990993e-05 4.00291867e+00] [ 9.97437006e-03 -2.68973563e-04 9.99950219e-01 5.20022656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41925415400001 meters 0.05574716237625373 Centerline is valid? [True, True] Translation: X:137.21, Y:4.01, Z:0.52 [[ 9.99452080e-01 -3.19846112e-02 -8.51613108e-03 1.37211976e+02] [ 3.19850669e-02 9.99488343e-01 -8.27065621e-05 4.00709231e+00] [ 8.51441908e-03 -1.89727777e-04 9.99963734e-01 5.21420913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47925415400002 meters 0.05564593226271056 Centerline is valid? [True, True] Translation: X:137.27, Y:4.01, Z:0.52 [[ 9.99630758e-01 -2.59434905e-02 -8.07974410e-03 1.37271921e+02] [ 2.59437033e-02 9.99663402e-01 -7.84981700e-05 4.00981194e+00] [ 8.07906099e-03 -1.31149298e-04 9.99967355e-01 5.22021421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters 0.0552389385358705 Centerline is valid? [True, True] Translation: X:137.33, Y:4.01, Z:0.52 [[ 9.99696759e-01 -2.33568461e-02 -7.80050909e-03 1.37333514e+02] [ 2.33569660e-02 9.99727186e-01 -7.57509141e-05 4.01289576e+00] [ 7.80015030e-03 -1.06468282e-04 9.99969573e-01 5.21697205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters 0.055226503046779896 Centerline is valid? [True, True] Translation: X:137.39, Y:4.02, Z:0.52 [[ 9.99799619e-01 -1.82521954e-02 -8.22061690e-03 1.37394970e+02] [ 1.82521573e-02 9.99833412e-01 -7.96624144e-05 4.02224781e+00] [ 8.22070146e-03 -7.03975413e-05 9.99966207e-01 5.22764313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters 0.05464253320980213 Centerline is valid? [True, True] Translation: X:137.46, Y:4.02, Z:0.52 [[ 9.99861335e-01 -1.39008759e-02 -9.16930097e-03 1.37455715e+02] [ 1.39006474e-02 9.99903377e-01 -8.86620929e-05 4.02431867e+00] [ 9.16964749e-03 -3.88094208e-05 9.99957957e-01 5.21328554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters 0.05503868466624468 Centerline is valid? [True, True] Translation: X:137.52, Y:4.03, Z:0.52 [[ 9.99914993e-01 -9.27157543e-03 -9.16755376e-03 1.37516261e+02] [ 9.27115336e-03 9.99957018e-01 -8.85366888e-05 4.02976489e+00] [ 9.16798060e-03 3.53536573e-06 9.99957973e-01 5.23818112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters 0.055265181764290794 Centerline is valid? [True, True] Translation: X:137.57, Y:4.03, Z:0.52 [[ 9.99927254e-01 -7.12072709e-03 -9.73562675e-03 1.37574809e+02] [ 7.12014806e-03 9.99974647e-01 -9.41341138e-05 4.03149868e+00] [ 9.73605022e-03 2.48081620e-05 9.99952603e-01 5.21948394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839254154 meters 0.055086326704932256 Centerline is valid? [True, True] Translation: X:137.63, Y:4.03, Z:0.52 [[ 9.99919368e-01 -7.79838584e-03 -1.00221204e-02 1.37632840e+02] [ 7.79780286e-03 9.99969592e-01 -9.72454145e-05 4.03072554e+00] [ 1.00225740e-02 1.90870544e-05 9.99949773e-01 5.23838112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899254154 meters 0.05537412782676529 Centerline is valid? [True, True] Translation: X:137.69, Y:4.03, Z:0.53 [[ 9.99897126e-01 -1.12118623e-02 -8.94604954e-03 1.37691341e+02] [ 1.12115320e-02 9.99937145e-01 -8.70687951e-05 4.02890736e+00] [ 8.94646344e-03 -1.32390827e-05 9.99959980e-01 5.25473196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959254154 meters 0.05546162232557177 Centerline is valid? [True, True] Translation: X:137.75, Y:4.02, Z:0.52 [[ 9.99742365e-01 -2.08056201e-02 -9.07360757e-03 1.37751157e+02] [ 2.08056741e-02 9.99783535e-01 -8.84546240e-05 4.01850491e+00] [ 9.07348380e-03 -1.00350687e-04 9.99958830e-01 5.24923943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019254154 meters 0.05618052145531858 Centerline is valid? [True, True] Translation: X:137.81, Y:4.02, Z:0.53 [[ 9.99645877e-01 -2.49863380e-02 -9.15441575e-03 1.37811950e+02] [ 2.49865683e-02 9.99687783e-01 -8.92367051e-05 4.01526379e+00] [ 9.15378729e-03 -1.39532330e-04 9.99958093e-01 5.25219222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079254154 meters 0.05573084296809854 Centerline is valid? [True, True] Translation: X:137.87, Y:4.00, Z:0.52 [[ 9.99384098e-01 -3.37311365e-02 -9.67650116e-03 1.37872802e+02] [ 3.37318044e-02 9.99430916e-01 -9.42217248e-05 4.00490202e+00] [ 9.67417263e-03 -2.32242151e-04 9.99953177e-01 5.24676414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139254154 meters 0.05422250314830623 Centerline is valid? [True, True] Translation: X:137.93, Y:4.01, Z:0.53 [[ 9.98899168e-01 -4.61104027e-02 -8.61876364e-03 1.37933131e+02] [ 4.61113931e-02 9.98936300e-01 -8.38721280e-05 4.00942132e+00] [ 8.61346324e-03 -3.13643399e-04 9.99962854e-01 5.26873336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19925415400002 meters 0.05532233047837274 Centerline is valid? [True, True] Translation: X:137.99, Y:3.99, Z:0.53 [[ 9.98567117e-01 -5.29049628e-02 -8.04842792e-03 1.37992519e+02] [ 5.29060469e-02 9.98599491e-01 -7.83012145e-05 3.99461358e+00] [ 8.04129855e-03 -3.47621487e-04 9.99967608e-01 5.25945693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25925415400002 meters 0.057182120274776725 Centerline is valid? [True, True] Translation: X:138.05, Y:3.99, Z:0.53 [[ 9.98491257e-01 -5.43356133e-02 -7.92786294e-03 1.38053384e+02] [ 5.43367108e-02 9.98522667e-01 -7.70517531e-05 3.98989678e+00] [ 7.92033750e-03 -3.53838494e-04 9.99968571e-01 5.25614463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters 0.055804817654864856 Centerline is valid? [True, True] Translation: X:138.12, Y:3.99, Z:0.53 [[ 9.98519723e-01 -5.36785862e-02 -8.77334932e-03 1.38115782e+02] [ 5.36799068e-02 9.98558191e-01 -8.50534421e-05 3.99262285e+00] [ 8.76526537e-03 -3.86025034e-04 9.99961510e-01 5.26066587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters 0.055578252191438346 Centerline is valid? [True, True] Translation: X:138.18, Y:4.00, Z:0.53 [[ 9.98578285e-01 -5.25562292e-02 -8.90232726e-03 1.38177465e+02] [ 5.25575465e-02 9.98617893e-01 -8.60659440e-05 3.99541172e+00] [ 8.89454660e-03 -3.81940897e-04 9.99960370e-01 5.26068599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters 0.0573864654076864 Centerline is valid? [True, True] Translation: X:138.24, Y:3.99, Z:0.53 [[ 9.98642149e-01 -5.12598463e-02 -9.28905436e-03 1.38238049e+02] [ 5.12612259e-02 9.98685275e-01 -8.96684693e-05 3.98918247e+00] [ 9.28143820e-03 -3.86621601e-04 9.99956852e-01 5.25818537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters 0.058073966928697006 Centerline is valid? [True, True] Translation: X:138.30, Y:3.99, Z:0.53 [[ 9.98661888e-01 -5.08575625e-02 -9.37778075e-03 1.38300778e+02] [ 5.08589530e-02 9.98705842e-01 -9.02937195e-05 3.98504174e+00] [ 9.37023654e-03 -3.86771214e-04 9.99956024e-01 5.25201237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters 0.056267820245604484 Centerline is valid? [True, True] Translation: X:138.36, Y:4.00, Z:0.53 [[ 9.98602765e-01 -5.15647538e-02 -1.15583187e-02 1.38362589e+02] [ 5.15669182e-02 9.98669535e-01 -1.10878132e-04 3.99590704e+00] [ 1.15486581e-02 -4.85303665e-04 9.99933194e-01 5.25899036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619254154 meters 0.05619238758145474 Centerline is valid? [True, True] Translation: X:138.42, Y:4.00, Z:0.53 [[ 9.98523090e-01 -5.29781841e-02 -1.20395706e-02 1.38423657e+02] [ 5.29806373e-02 9.98595533e-01 -1.15308838e-04 3.99510119e+00] [ 1.20287702e-02 -5.22725585e-04 9.99927515e-01 5.25477179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679254154 meters 0.05461354790646177 Centerline is valid? [True, True] Translation: X:138.49, Y:4.01, Z:0.53 [[ 9.98463477e-01 -5.42591480e-02 -1.12529670e-02 1.38485784e+02] [ 5.42613760e-02 9.98526761e-01 -1.07443757e-04 4.00674197e+00] [ 1.12422185e-02 -5.03322808e-04 9.99936678e-01 5.28443680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739254154 meters 0.054924129488870335 Centerline is valid? [True, True] Translation: X:138.55, Y:4.00, Z:0.53 [[ 9.98537564e-01 -5.31678295e-02 -9.79367929e-03 1.38546679e+02] [ 5.31694675e-02 9.98585499e-01 -9.32219108e-05 4.00464326e+00] [ 9.78478253e-03 -4.27639133e-04 9.99952036e-01 5.29592257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799254154 meters 0.057048527125283355 Centerline is valid? [True, True] Translation: X:138.61, Y:4.00, Z:0.53 [[ 9.98887229e-01 -4.64204737e-02 -8.33327634e-03 1.38606381e+02] [ 4.64214255e-02 9.98921941e-01 -7.92751870e-05 3.99754815e+00] [ 8.32797258e-03 -3.07655595e-04 9.99965275e-01 5.29956741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859254154 meters 0.057542601024264374 Centerline is valid? [True, True] Translation: X:138.67, Y:4.00, Z:0.53 [[ 9.99143000e-01 -4.06961572e-02 -7.55568927e-03 1.38667286e+02] [ 4.06967761e-02 9.99171540e-01 -7.18817761e-05 4.00031840e+00] [ 7.55235500e-03 -2.35672021e-04 9.99971453e-01 5.30789845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91925415400001 meters 0.05676166355116902 Centerline is valid? [True, True] Translation: X:138.73, Y:4.01, Z:0.53 [[ 9.99356312e-01 -3.50888591e-02 -7.46553963e-03 1.38727619e+02] [ 3.50893072e-02 9.99384178e-01 -7.09970154e-05 4.00574017e+00] [ 7.46343339e-03 -1.91009298e-04 9.99972130e-01 5.31086108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97925415400002 meters 0.055405742347765644 Centerline is valid? [True, True] Translation: X:138.79, Y:4.01, Z:0.53 [[ 9.99393642e-01 -3.37932855e-02 -8.38826910e-03 1.38789715e+02] [ 3.37938067e-02 9.99428823e-01 -7.96407965e-05 4.01101185e+00] [ 8.38616924e-03 -2.03879039e-04 9.99964815e-01 5.30413276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters 0.05556733607718935 Centerline is valid? [True, True] Translation: X:138.85, Y:4.02, Z:0.53 [[ 9.99318936e-01 -3.53968767e-02 -1.04271700e-02 1.38851835e+02] [ 3.53977729e-02 9.99373298e-01 -9.86491751e-05 4.01541418e+00] [ 1.04241272e-02 -2.70516609e-04 9.99945631e-01 5.30164719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters 0.054361403000089376 Centerline is valid? [True, True] Translation: X:138.91, Y:4.02, Z:0.53 [[ 9.99193551e-01 -3.84297164e-02 -1.16363559e-02 1.38912749e+02] [ 3.84310404e-02 9.99261249e-01 -1.09889189e-04 4.01934667e+00] [ 1.16319826e-02 -3.37396695e-04 9.99932289e-01 5.30651359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters 0.05474901903102595 Centerline is valid? [True, True] Translation: X:138.97, Y:4.02, Z:0.53 [[ 9.99099894e-01 -4.09480997e-02 -1.10749913e-02 1.38973845e+02] [ 4.09494555e-02 9.99161214e-01 -1.04407604e-04 4.01887305e+00] [ 1.10699770e-02 -3.49201236e-04 9.99938665e-01 5.30901252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters 0.055935952113421034 Centerline is valid? [True, True] Translation: X:139.03, Y:4.02, Z:0.53 [[ 9.98990178e-01 -4.36169416e-02 -1.07790374e-02 1.39033887e+02] [ 4.36183844e-02 9.99048260e-01 -1.01314231e-04 4.01732819e+00] [ 1.07731975e-02 -3.68952274e-04 9.99941899e-01 5.31251556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters 0.054783501669594725 Centerline is valid? [True, True] Translation: X:139.09, Y:4.03, Z:0.53 [[ 9.98886570e-01 -4.60720890e-02 -1.01480834e-02 1.39094515e+02] [ 4.60734966e-02 9.98938048e-01 -9.51589217e-05 4.02601778e+00] [ 1.01416908e-02 -3.72504717e-04 9.99948502e-01 5.33287249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339254154 meters 0.054757290437295894 Centerline is valid? [True, True] Translation: X:139.15, Y:4.03, Z:0.53 [[ 9.98704505e-01 -4.99478340e-02 -9.72245344e-03 1.39154601e+02] [ 4.99493102e-02 9.98751750e-01 -9.10785917e-05 4.02869026e+00] [ 9.71486656e-03 -3.94669242e-04 9.99952732e-01 5.33587291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399254154 meters 0.05478259944909849 Centerline is valid? [True, True] Translation: X:139.21, Y:4.02, Z:0.53 [[ 9.98286934e-01 -5.76629673e-02 -9.90854541e-03 1.39214548e+02] [ 5.76648801e-02 9.98335992e-01 -9.27834805e-05 4.02087215e+00] [ 9.89740769e-03 -4.78750547e-04 9.99950905e-01 5.32697855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459254154 meters 0.05426870855251853 Centerline is valid? [True, True] Translation: X:139.28, Y:4.03, Z:0.53 [[ 9.97870163e-01 -6.45544967e-02 -9.37312559e-03 1.39275525e+02] [ 6.45565116e-02 9.97914049e-01 -8.77487537e-05 4.02508620e+00] [ 9.35923829e-03 -5.17534428e-04 9.99956067e-01 5.33478615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519254154 meters 0.05302034558661888 Centerline is valid? [True, True] Translation: X:139.34, Y:4.04, Z:0.54 [[ 9.97687505e-01 -6.73875611e-02 -8.86336078e-03 1.39336111e+02] [ 6.73894747e-02 9.97726742e-01 -8.29148805e-05 4.04139914e+00] [ 8.84879950e-03 -5.14574087e-04 9.99960716e-01 5.35170564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579254154 meters 0.05442432134308474 Centerline is valid? [True, True] Translation: X:139.40, Y:4.03, Z:0.53 [[ 9.97625089e-01 -6.83742303e-02 -8.31540504e-03 1.39396040e+02] [ 6.83759506e-02 9.97659623e-01 -7.75638451e-05 4.02988374e+00] [ 8.30124722e-03 -4.91194086e-04 9.99965423e-01 5.34149834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639254154 meters 0.05525877693567257 Centerline is valid? [True, True] Translation: X:139.46, Y:4.03, Z:0.53 [[ 9.97656907e-01 -6.78461358e-02 -8.80901012e-03 1.39458055e+02] [ 6.78480500e-02 9.97695663e-01 -8.17108046e-05 4.02792828e+00] [ 8.79425496e-03 -5.16154810e-04 9.99961197e-01 5.33934428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69925415400002 meters 0.053635483353546995 Centerline is valid? [True, True] Translation: X:139.52, Y:4.04, Z:0.53 [[ 9.97793971e-01 -6.57086191e-02 -9.46404428e-03 1.39518128e+02] [ 6.57107352e-02 9.97838710e-01 -8.75223976e-05 4.03887202e+00] [ 9.44934072e-03 -5.34559987e-04 9.99955211e-01 5.33672709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters 0.053062125045840895 Centerline is valid? [True, True] Translation: X:139.58, Y:4.04, Z:0.53 [[ 9.98018498e-01 -6.21259659e-02 -9.97209209e-03 1.39579042e+02] [ 6.21281380e-02 9.98068177e-01 -9.21110579e-05 4.04474928e+00] [ 9.95855027e-03 -5.27618975e-04 9.99950273e-01 5.34305931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters 0.05457366816954961 Centerline is valid? [True, True] Translation: X:139.64, Y:4.04, Z:0.53 [[ 9.98522387e-01 -5.34251420e-02 -9.93968622e-03 1.39638653e+02] [ 5.34268703e-02 9.98571761e-01 -9.17524755e-05 4.04241817e+00] [ 9.93039186e-03 -4.39429426e-04 9.99950596e-01 5.34047881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters 0.05638804980512585 Centerline is valid? [True, True] Translation: X:139.70, Y:4.04, Z:0.53 [[ 9.98711380e-01 -4.97669537e-02 -9.94136647e-03 1.39698116e+02] [ 4.97685017e-02 9.98760776e-01 -9.17728855e-05 4.03618045e+00] [ 9.93361415e-03 -4.03112289e-04 9.99950579e-01 5.33750058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters 0.054153556303910555 Centerline is valid? [True, True] Translation: X:139.76, Y:4.06, Z:0.54 [[ 9.99068207e-01 -4.21992376e-02 -9.05222421e-03 1.39758699e+02] [ 4.22002107e-02 9.99109171e-01 -8.35606221e-05 4.05552764e+00] [ 9.04768642e-03 -2.98523008e-04 9.99959024e-01 5.36777948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters 0.05511295113154309 Centerline is valid? [True, True] Translation: X:139.82, Y:4.05, Z:0.53 [[ 9.99483285e-01 -3.07883902e-02 -9.23247298e-03 1.39818547e+02] [ 3.07889158e-02 9.99525905e-01 -8.52252345e-05 4.05212580e+00] [ 9.23071986e-03 -1.99076636e-04 9.99957376e-01 5.34616798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters 0.05458243012429146 Centerline is valid? [True, True] Translation: X:139.88, Y:4.06, Z:0.54 [[ 9.99752262e-01 -2.03974329e-02 -8.90835030e-03 1.39879543e+02] [ 2.03975101e-02 9.99791946e-01 -8.22017723e-05 4.05901505e+00] [ 8.90817359e-03 -9.95267570e-05 9.99960316e-01 5.35036171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119254154 meters 0.054525645284329106 Centerline is valid? [True, True] Translation: X:139.94, Y:4.06, Z:0.54 [[ 9.99871774e-01 -1.37796377e-02 -8.15823135e-03 1.39940307e+02] [ 1.37794829e-02 9.99905056e-01 -7.51851117e-05 4.06362174e+00] [ 8.15849279e-03 -3.72407386e-05 9.99966718e-01 5.36628624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179254154 meters 0.05492845261402605 Centerline is valid? [True, True] Translation: X:140.00, Y:4.07, Z:0.54 [[ 9.99955166e-01 -5.12394415e-03 -7.96309085e-03 1.39999838e+02] [ 5.12352271e-03 9.99986872e-01 -7.33234965e-05 4.06616864e+00] [ 7.96336201e-03 3.25211323e-05 9.99968291e-01 5.35953632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239254154 meters 0.055001637268348405 Centerline is valid? [True, True] Translation: X:140.06, Y:4.07, Z:0.54 [[ 9.99968588e-01 -1.52650266e-03 -7.77767612e-03 1.40058512e+02] [ 1.52598858e-03 9.99998833e-01 -7.20316242e-05 4.06667455e+00] [ 7.77777701e-03 6.01607166e-05 9.99969751e-01 5.36579180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299254154 meters 0.05590734001230374 Centerline is valid? [True, True] Translation: X:140.12, Y:4.06, Z:0.54 [[ 9.99965207e-01 1.39576348e-04 -8.34063919e-03 1.40117547e+02] [-1.40233295e-04 9.99999987e-01 -7.81797401e-05 4.06102145e+00] [ 8.34062817e-03 7.93466553e-05 9.99965213e-01 5.36840693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359254154 meters 0.055691425091509046 Centerline is valid? [True, True] Translation: X:140.18, Y:4.06, Z:0.53 [[ 9.99956331e-01 2.06662250e-05 -9.34539481e-03 1.40176182e+02] [-2.14914628e-05 9.99999996e-01 -8.82038284e-05 4.05899449e+00] [ 9.34539295e-03 8.84008228e-05 9.99956327e-01 5.34991468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41925415400001 meters 0.055682359911993926 Centerline is valid? [True, True] Translation: X:140.24, Y:4.05, Z:0.54 [[ 9.99948519e-01 -1.71472179e-03 -1.00009146e-02 1.40235283e+02] [ 1.71386095e-03 9.99998527e-01 -9.46451453e-05 4.05069011e+00] [ 1.00010621e-02 7.75000960e-05 9.99949985e-01 5.35456129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47925415400002 meters 0.05623364638737676 Centerline is valid? [True, True] Translation: X:140.29, Y:4.04, Z:0.54 [[ 9.99944845e-01 -5.06065192e-03 -9.20310707e-03 1.40294229e+02] [ 5.06006215e-03 9.99987194e-01 -8.73671599e-05 4.04229514e+00] [ 9.20343135e-03 4.07940474e-05 9.99957647e-01 5.36303185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters 0.05543166964058194 Centerline is valid? [True, True] Translation: X:140.35, Y:4.04, Z:0.54 [[ 9.99923365e-01 -8.68989850e-03 -8.81753906e-03 1.40352644e+02] [ 8.68949563e-03 9.99962242e-01 -8.39997379e-05 4.03561602e+00] [ 8.81793607e-03 7.37333348e-06 9.99961121e-01 5.35934306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters 0.05485511009237866 Centerline is valid? [True, True] Translation: X:140.41, Y:4.03, Z:0.54 [[ 9.99892417e-01 -1.25332742e-02 -7.62046883e-03 1.40411535e+02] [ 1.25330831e-02 9.99921455e-01 -7.28312076e-05 4.02789454e+00] [ 7.62078309e-03 -2.26845968e-05 9.99970961e-01 5.37445565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters 0.055643186191289724 Centerline is valid? [True, True] Translation: X:140.47, Y:4.02, Z:0.54 [[ 9.99843700e-01 -1.61685717e-02 -7.15217136e-03 1.40472297e+02] [ 1.61684963e-02 9.99869279e-01 -6.83650884e-05 4.01767991e+00] [ 7.15234179e-03 -4.72854531e-05 9.99974421e-01 5.37616707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters 0.05553862097376819 Centerline is valid? [True, True] Translation: X:140.53, Y:4.01, Z:0.54 [[ 9.99838608e-01 -1.58150900e-02 -8.52295872e-03 1.40534020e+02] [ 1.58149722e-02 9.99874932e-01 -8.12311998e-05 4.01113376e+00] [ 8.52317745e-03 -5.35722652e-05 9.99963676e-01 5.36648433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters 0.05548272361336873 Centerline is valid? [True, True] Translation: X:140.59, Y:4.01, Z:0.54 [[ 9.99850912e-01 -1.41270446e-02 -9.92877594e-03 1.40594981e+02] [ 1.41268027e-02 9.99900207e-01 -9.45058342e-05 4.00813807e+00] [ 9.92912020e-03 -4.57701138e-05 9.99950704e-01 5.36182269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839254154 meters 0.05618889780831066 Centerline is valid? [True, True] Translation: X:140.65, Y:4.00, Z:0.53 [[ 9.99879443e-01 -1.16379710e-02 -1.02789509e-02 1.40654284e+02] [ 1.16375799e-02 9.99932276e-01 -9.78581546e-05 4.00356015e+00] [ 1.02793936e-02 -2.17757551e-05 9.99947165e-01 5.34957200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899254154 meters 0.05636400914508063 Centerline is valid? [True, True] Translation: X:140.71, Y:4.00, Z:0.54 [[ 9.99886231e-01 -1.11781354e-02 -1.01279323e-02 1.40712943e+02] [ 1.11777244e-02 9.99937523e-01 -9.71882072e-05 4.00054584e+00] [ 1.01283859e-02 -1.60300862e-05 9.99948706e-01 5.36070343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959254154 meters 0.05647188844926807 Centerline is valid? [True, True] Translation: X:140.77, Y:3.99, Z:0.54 [[ 9.99873063e-01 -1.24673976e-02 -9.92078757e-03 1.40772280e+02] [ 1.24670601e-02 9.99922279e-01 -9.58644269e-05 3.99467340e+00] [ 9.92121169e-03 -2.78307965e-05 9.99950783e-01 5.36428144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019254154 meters 0.05663984376473844 Centerline is valid? [True, True] Translation: X:140.83, Y:3.99, Z:0.54 [[ 9.99853719e-01 -1.36292172e-02 -1.03337313e-02 1.40831873e+02] [ 1.36289104e-02 9.99907117e-01 -1.00104597e-04 3.99145791e+00] [ 1.03341358e-02 -4.07475439e-05 9.99946601e-01 5.36596701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079254154 meters 0.057066045668238835 Centerline is valid? [True, True] Translation: X:140.89, Y:3.98, Z:0.54 [[ 9.99808773e-01 -1.71836667e-02 -9.33483211e-03 1.40891494e+02] [ 1.71835699e-02 9.99852347e-01 -9.05814626e-05 3.98480259e+00] [ 9.33501032e-03 -6.98415990e-05 9.99956425e-01 5.37496757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139254154 meters 0.05677255865202039 Centerline is valid? [True, True] Translation: X:140.95, Y:3.98, Z:0.54 [[ 9.99746638e-01 -2.10863479e-02 -7.87565976e-03 1.40951858e+02] [ 2.10863996e-02 9.99777654e-01 -7.64794073e-05 3.98041474e+00] [ 7.87552131e-03 -8.96092784e-05 9.99968984e-01 5.38836262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19925415400002 meters 0.05676376546277316 Centerline is valid? [True, True] Translation: X:141.01, Y:3.97, Z:0.54 [[ 9.99534040e-01 -2.94835673e-02 -7.90078169e-03 1.41011992e+02] [ 2.94838818e-02 9.99565253e-01 -7.66908391e-05 3.96740388e+00] [ 7.89960797e-03 -1.56290609e-04 9.99968785e-01 5.38925052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters 0.05787780107764838 Centerline is valid? [True, True] Translation: X:141.07, Y:3.96, Z:0.54 [[ 9.99318497e-01 -3.61651820e-02 -7.39064909e-03 1.41072697e+02] [ 3.61656403e-02 9.99345807e-01 -7.16697072e-05 3.95805069e+00] [ 7.38840612e-03 -1.95666692e-04 9.99972686e-01 5.38680632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters 0.05863495511780976 Centerline is valid? [True, True] Translation: X:141.13, Y:3.95, Z:0.54 [[ 9.98915686e-01 -4.59654493e-02 -7.39116536e-03 1.41133454e+02] [ 4.59661760e-02 9.98942994e-01 -7.16153625e-05 3.95062739e+00] [ 7.38664469e-03 -2.68205899e-04 9.99972682e-01 5.39158943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters 0.0575279889300362 Centerline is valid? [True, True] Translation: X:141.19, Y:3.95, Z:0.54 [[ 9.98614047e-01 -5.20790747e-02 -7.59972265e-03 1.41194099e+02] [ 5.20800199e-02 9.98642912e-01 -7.36128633e-05 3.95064516e+00] [ 7.59324285e-03 -3.22282868e-04 9.99971119e-01 5.39794924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters 0.0589327165095519 Centerline is valid? [True, True] Translation: X:141.25, Y:3.95, Z:0.54 [[ 9.98163331e-01 -6.00721988e-02 -7.82914576e-03 1.41254486e+02] [ 6.00734471e-02 9.98193957e-01 -7.58294878e-05 3.94594753e+00] [ 7.81956123e-03 -3.94633560e-04 9.99969349e-01 5.39475376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters 0.057592795224037166 Centerline is valid? [True, True] Translation: X:141.31, Y:3.95, Z:0.54 [[ 9.97894030e-01 -6.43853910e-02 -7.87563372e-03 1.41314599e+02] [ 6.43867882e-02 9.97925015e-01 -7.62727578e-05 3.94998661e+00] [ 7.86420275e-03 -4.30974630e-04 9.99968984e-01 5.39627442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters 0.057778427657949744 Centerline is valid? [True, True] Translation: X:141.38, Y:3.95, Z:0.54 [[ 9.97676921e-01 -6.76429877e-02 -8.07389091e-03 1.41375997e+02] [ 6.76445633e-02 9.97709480e-01 -7.80945138e-05 3.94748047e+00] [ 8.06068005e-03 -4.68241731e-04 9.99967403e-01 5.39208850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619254154 meters 0.05787243838225576 Centerline is valid? [True, True] Translation: X:141.44, Y:3.95, Z:0.54 [[ 9.97670534e-01 -6.77455940e-02 -8.00255225e-03 1.41438002e+02] [ 6.77471477e-02 9.97702520e-01 -7.70857314e-05 3.94625217e+00] [ 7.98938876e-03 -4.65243926e-04 9.99967976e-01 5.39494771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679254154 meters 0.05974586740231589 Centerline is valid? [True, True] Translation: X:141.50, Y:3.94, Z:0.54 [[ 9.97845673e-01 -6.51619691e-02 -7.61123424e-03 1.41497302e+02] [ 6.51633010e-02 9.97874611e-01 -7.31308143e-05 3.94023100e+00] [ 7.59982275e-03 -4.22999881e-04 9.99971031e-01 5.39746966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739254154 meters 0.056399172541350504 Centerline is valid? [True, True] Translation: X:141.56, Y:3.96, Z:0.54 [[ 9.98041825e-01 -6.20864842e-02 -7.60162632e-03 1.41557677e+02] [ 6.20877235e-02 9.98070694e-01 -7.30733488e-05 3.95864396e+00] [ 7.59149732e-03 -3.99037415e-04 9.99971105e-01 5.40905000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799254154 meters 0.05884718369421116 Centerline is valid? [True, True] Translation: X:141.62, Y:3.95, Z:0.54 [[ 9.98297718e-01 -5.77591447e-02 -8.09610148e-03 1.41617342e+02] [ 5.77604084e-02 9.98330471e-01 -7.78417720e-05 3.95244708e+00] [ 8.08708088e-03 -3.89924865e-04 9.99967223e-01 5.40523875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859254154 meters 0.057462547631058514 Centerline is valid? [True, True] Translation: X:141.68, Y:3.97, Z:0.54 [[ 9.98540857e-01 -5.35051030e-02 -7.30479358e-03 1.41677573e+02] [ 5.35060182e-02 9.98567525e-01 -7.02199573e-05 3.96748393e+00] [ 7.29808677e-03 -3.20732922e-04 9.99973317e-01 5.41531818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91925415400001 meters 0.0589769762109016 Centerline is valid? [True, True] Translation: X:141.74, Y:3.96, Z:0.54 [[ 9.98820429e-01 -4.79541928e-02 -7.62535414e-03 1.41737210e+02] [ 4.79550289e-02 9.98849493e-01 -7.32546674e-05 3.95880025e+00] [ 7.62009399e-03 -2.92505820e-04 9.99970924e-01 5.40374522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97925415400002 meters 0.05797524803463087 Centerline is valid? [True, True] Translation: X:141.80, Y:3.98, Z:0.54 [[ 9.99243166e-01 -3.81432108e-02 -7.62823630e-03 1.41797237e+02] [ 3.81437622e-02 9.99272259e-01 -7.32496821e-05 3.97627174e+00] [ 7.62547890e-03 -2.17775387e-04 9.99970902e-01 5.41329248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters 0.0562899348362052 Centerline is valid? [True, True] Translation: X:141.86, Y:3.99, Z:0.54 [[ 9.99619993e-01 -2.62164700e-02 -8.51856223e-03 1.41857985e+02] [ 2.62167239e-02 9.99656279e-01 -8.18713343e-05 3.99057588e+00] [ 8.51778060e-03 -1.41488572e-04 9.99963713e-01 5.41672295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters 0.05694076925626509 Centerline is valid? [True, True] Translation: X:141.92, Y:4.00, Z:0.54 [[ 9.99796031e-01 -1.79052858e-02 -9.34325786e-03 1.41917440e+02] [ 1.79052292e-02 9.99839685e-01 -8.97177915e-05 3.99545223e+00] [ 9.34336641e-03 -7.75936814e-05 9.99956347e-01 5.40107715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters 0.05689522902376424 Centerline is valid? [True, True] Translation: X:141.98, Y:4.01, Z:0.54 [[ 9.99935192e-01 -7.42577830e-03 -8.62956501e-03 1.41977122e+02] [ 7.42534032e-03 9.99972428e-01 -8.27921941e-05 4.00586367e+00] [ 8.62994187e-03 1.87093715e-05 9.99962761e-01 5.41980002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters 0.056674427158782445 Centerline is valid? [True, True] Translation: X:142.03, Y:4.01, Z:0.54 [[ 9.99963425e-01 -2.59505024e-03 -8.14947522e-03 1.42034783e+02] [ 2.59449755e-03 9.99996631e-01 -7.83899729e-05 4.01136726e+00] [ 8.14965119e-03 5.72433123e-05 9.99966789e-01 5.42713433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters 0.05648129133314353 Centerline is valid? [True, True] Translation: X:142.09, Y:4.01, Z:0.54 [[ 9.99972307e-01 -1.01598562e-03 -7.37238407e-03 1.42093160e+02] [ 1.01548653e-03 9.99999482e-01 -7.14401220e-05 4.01324470e+00] [ 7.37245283e-03 6.39515869e-05 9.99972821e-01 5.43311718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339254154 meters 0.05741735625041311 Centerline is valid? [True, True] Translation: X:142.15, Y:4.01, Z:0.54 [[ 9.99962605e-01 -3.04771027e-03 -8.09317598e-03 1.42151380e+02] [ 3.04717006e-03 9.99995354e-01 -7.90781888e-05 4.01126706e+00] [ 8.09337939e-03 5.44139481e-05 9.99967247e-01 5.44323196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399254154 meters 0.056525319657143136 Centerline is valid? [True, True] Translation: X:142.21, Y:4.01, Z:0.54 [[ 9.99907245e-01 -1.04610596e-02 -8.72162111e-03 1.42210033e+02] [ 1.04607120e-02 9.99945282e-01 -8.54730945e-05 4.00935550e+00] [ 8.72203802e-03 -5.76920052e-06 9.99961962e-01 5.41762615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459254154 meters 0.05656988958314326 Centerline is valid? [True, True] Translation: X:142.27, Y:4.00, Z:0.54 [[ 9.99758921e-01 -2.05160378e-02 -7.82256445e-03 1.42270712e+02] [ 2.05160657e-02 9.99789520e-01 -7.66857130e-05 4.00136567e+00] [ 7.82249125e-03 -8.38210202e-05 9.99969400e-01 5.43268984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519254154 meters 0.057047920093692625 Centerline is valid? [True, True] Translation: X:142.33, Y:3.99, Z:0.54 [[ 9.99594739e-01 -2.73993506e-02 -7.72223387e-03 1.42331310e+02] [ 2.73995836e-02 9.99624558e-01 -7.56399925e-05 3.99096197e+00] [ 7.72140711e-03 -1.35976654e-04 9.99970180e-01 5.42598072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579254154 meters 0.05705630708960165 Centerline is valid? [True, True] Translation: X:142.39, Y:3.99, Z:0.54 [[ 9.99310880e-01 -3.63491574e-02 -7.51690035e-03 1.42392115e+02] [ 3.63496318e-02 9.99339131e-01 -7.35412855e-05 3.99040399e+00] [ 7.51460583e-03 -1.99745953e-04 9.99971745e-01 5.44138139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639254154 meters 0.058141471168469974 Centerline is valid? [True, True] Translation: X:142.45, Y:3.98, Z:0.54 [[ 9.99120239e-01 -4.12052351e-02 -7.80228498e-03 1.42451385e+02] [ 4.12058954e-02 9.99150674e-01 -7.61703047e-05 3.98099652e+00] [ 7.79879691e-03 -2.45396846e-04 9.99969559e-01 5.42954125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69925415400002 meters 0.05618264466182917 Centerline is valid? [True, True] Translation: X:142.51, Y:3.99, Z:0.54 [[ 9.98834761e-01 -4.76552119e-02 -7.62242755e-03 1.42511991e+02] [ 4.76560304e-02 9.98863803e-01 -7.43178111e-05 3.99072365e+00] [ 7.61730860e-03 -2.89023426e-04 9.99970946e-01 5.44230817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters 0.055621253395954424 Centerline is valid? [True, True] Translation: X:142.57, Y:3.99, Z:0.54 [[ 9.98609206e-01 -5.22444754e-02 -7.08290691e-03 1.42573027e+02] [ 5.22452976e-02 9.98634279e-01 -6.90159803e-05 3.99360816e+00] [ 7.07683934e-03 -3.01128586e-04 9.99974914e-01 5.44974314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters 0.05699736134341425 Centerline is valid? [True, True] Translation: X:142.63, Y:3.99, Z:0.55 [[ 9.98181474e-01 -5.98994122e-02 -6.76796804e-03 1.42632960e+02] [ 5.99003390e-02 9.98204360e-01 -6.58592608e-05 3.98507091e+00] [ 6.75976014e-03 -3.39664086e-04 9.99977095e-01 5.45245448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters 0.05918376883208122 Centerline is valid? [True, True] Translation: X:142.69, Y:3.97, Z:0.54 [[ 9.97893579e-01 -6.44194395e-02 -7.65116969e-03 1.42692364e+02] [ 6.44207572e-02 9.97922823e-01 -7.43629886e-05 3.97404736e+00] [ 7.64006728e-03 -4.18687796e-04 9.99970727e-01 5.44750471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters 0.055518320615646786 Centerline is valid? [True, True] Translation: X:142.75, Y:3.99, Z:0.55 [[ 9.97652857e-01 -6.79230146e-02 -8.67413076e-03 1.42753357e+02] [ 6.79248408e-02 9.97690437e-01 -8.42218245e-05 3.99010855e+00] [ 8.65981791e-03 -5.05164807e-04 9.99962375e-01 5.45602567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters 0.056743253305191074 Centerline is valid? [True, True] Translation: X:142.81, Y:3.99, Z:0.55 [[ 9.97746618e-01 -6.64473961e-02 -9.29673417e-03 1.42813173e+02] [ 6.64494305e-02 9.97789790e-01 -9.02289574e-05 3.98926488e+00] [ 9.28218191e-03 -5.27737053e-04 9.99956780e-01 5.45863578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters 0.05572279100363186 Centerline is valid? [True, True] Translation: X:142.87, Y:4.00, Z:0.55 [[ 9.97991659e-01 -6.27529451e-02 -8.64382824e-03 1.42873888e+02] [ 6.27545657e-02 9.98028986e-01 -8.38887440e-05 3.99994692e+00] [ 8.63205540e-03 -4.58719420e-04 9.99962638e-01 5.47075651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119254154 meters 0.05727706116010456 Centerline is valid? [True, True] Translation: X:142.93, Y:4.00, Z:0.55 [[ 9.98560954e-01 -5.31228732e-02 -7.34727508e-03 1.42933792e+02] [ 5.31237839e-02 9.98587932e-01 -7.12865172e-05 4.00242981e+00] [ 7.34068717e-03 -3.19131121e-04 9.99973006e-01 5.48258430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179254154 meters 0.05949329988197741 Centerline is valid? [True, True] Translation: X:142.99, Y:4.00, Z:0.55 [[ 9.98949881e-01 -4.53603665e-02 -6.44762239e-03 1.42993848e+02] [ 4.53609066e-02 9.98970662e-01 -6.25279233e-05 3.99895555e+00] [ 6.44382190e-03 -2.30007735e-04 9.99979212e-01 5.48867494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239254154 meters 0.05771911835017959 Centerline is valid? [True, True] Translation: X:143.05, Y:4.02, Z:0.55 [[ 9.99404979e-01 -3.40191969e-02 -5.69061381e-03 1.43053980e+02] [ 3.40194340e-02 9.99421170e-01 -5.51638866e-05 4.01535511e+00] [ 5.68919654e-03 -1.38460398e-04 9.99983807e-01 5.50288831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299254154 meters 0.056143191260189546 Centerline is valid? [True, True] Translation: X:143.11, Y:4.03, Z:0.55 [[ 9.99599530e-01 -2.78078837e-02 -5.24422909e-03 1.43114154e+02] [ 2.78079996e-02 9.99613282e-01 -5.08277747e-05 4.02756724e+00] [ 5.24361446e-03 -9.50241010e-05 9.99986248e-01 5.50557320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359254154 meters 0.05667378774852959 Centerline is valid? [True, True] Translation: X:143.17, Y:4.04, Z:0.55 [[ 9.99731748e-01 -2.22638452e-02 -6.38388530e-03 1.43173758e+02] [ 2.22639039e-02 9.99752127e-01 -6.18777572e-05 4.03745905e+00] [ 6.38368055e-03 -8.02690507e-05 9.99979621e-01 5.51187273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41925415400001 meters 0.05699209990484725 Centerline is valid? [True, True] Translation: X:143.24, Y:4.04, Z:0.55 [[ 9.99827219e-01 -1.69443131e-02 -7.64346659e-03 1.43235192e+02] [ 1.69442424e-02 9.99856433e-01 -7.40029922e-05 4.03756380e+00] [ 7.64362317e-03 -5.55225450e-05 9.99970786e-01 5.49385899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47925415400002 meters 0.05687961076833153 Centerline is valid? [True, True] Translation: X:143.30, Y:4.04, Z:0.55 [[ 9.99843941e-01 -1.56935201e-02 -8.11219740e-03 1.43296220e+02] [ 1.56934010e-02 9.99876848e-01 -7.83492209e-05 4.03933512e+00] [ 8.11242794e-03 -4.89709728e-05 9.99967093e-01 5.49021985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters 0.056200030613219217 Centerline is valid? [True, True] Translation: X:143.36, Y:4.04, Z:0.55 [[ 9.99821237e-01 -1.70819982e-02 -8.10557164e-03 1.43357218e+02] [ 1.70819262e-02 9.99854090e-01 -7.81230411e-05 4.04033601e+00] [ 8.10572345e-03 -6.03497006e-05 9.99967146e-01 5.49733367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters 0.05620145781112659 Centerline is valid? [True, True] Translation: X:143.42, Y:4.04, Z:0.55 [[ 9.99756256e-01 -2.05888882e-02 -7.97030173e-03 1.43418034e+02] [ 2.05889323e-02 9.99788023e-01 -7.65164730e-05 4.03582352e+00] [ 7.97018760e-03 -8.76021804e-05 9.99968234e-01 5.49281631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters 0.05650720931767743 Centerline is valid? [True, True] Translation: X:143.48, Y:4.03, Z:0.55 [[ 9.99728622e-01 -2.21245118e-02 -7.29309679e-03 1.43480325e+02] [ 2.21245922e-02 9.99755219e-01 -6.96725430e-05 4.03418987e+00] [ 7.29285305e-03 -9.17031568e-05 9.99973403e-01 5.49768133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters 0.056708380739579275 Centerline is valid? [True, True] Translation: X:143.54, Y:4.04, Z:0.55 [[ 9.99681803e-01 -2.44603538e-02 -6.16317475e-03 1.43542622e+02] [ 2.44604568e-02 9.99700797e-01 -5.86760546e-05 4.03503072e+00] [ 6.16276594e-03 -9.20966855e-05 9.99981006e-01 5.51970413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters 0.055996612201436695 Centerline is valid? [True, True] Translation: X:143.60, Y:4.03, Z:0.55 [[ 9.99633321e-01 -2.63874875e-02 -6.07652007e-03 1.43603701e+02] [ 2.63876246e-02 9.99651784e-01 -5.76242498e-05 4.03163652e+00] [ 6.07592468e-03 -1.02741810e-04 9.99981536e-01 5.52491214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839254154 meters 0.05695084186515254 Centerline is valid? [True, True] Translation: X:143.67, Y:4.03, Z:0.55 [[ 9.99663531e-01 -2.52038408e-02 -6.13122158e-03 1.43666024e+02] [ 2.52039598e-02 9.99682328e-01 -5.78734501e-05 4.02869312e+00] [ 6.13073249e-03 -9.66770845e-05 9.99981202e-01 5.52460552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899254154 meters 0.056221944502189064 Centerline is valid? [True, True] Translation: X:143.73, Y:4.03, Z:0.55 [[ 9.99709724e-01 -2.32322302e-02 -6.38202833e-03 1.43727714e+02] [ 2.32323202e-02 9.99730091e-01 -6.00441308e-05 4.02939725e+00] [ 6.38170072e-03 -8.82426242e-05 9.99979633e-01 5.52181925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959254154 meters 0.05700419840891837 Centerline is valid? [True, True] Translation: X:143.79, Y:4.03, Z:0.55 [[ 9.99778786e-01 -1.98447856e-02 -6.96872119e-03 1.43789614e+02] [ 1.98448116e-02 9.99803070e-01 -6.54251747e-05 4.03061530e+00] [ 6.96864719e-03 -7.28822575e-05 9.99975716e-01 5.50958010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019254154 meters 0.056097815468878064 Centerline is valid? [True, True] Translation: X:143.85, Y:4.03, Z:0.55 [[ 9.99838665e-01 -1.61269642e-02 -7.90982276e-03 1.43849853e+02] [ 1.61268832e-02 9.99869951e-01 -7.40168619e-05 4.03224944e+00] [ 7.90998776e-03 -5.35558676e-05 9.99968714e-01 5.50562761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079254154 meters 0.05628960897252889 Centerline is valid? [True, True] Translation: X:143.91, Y:4.03, Z:0.55 [[ 9.99883481e-01 -1.29007451e-02 -8.16059258e-03 1.43910762e+02] [ 1.29005531e-02 9.99916782e-01 -7.61597013e-05 4.03442959e+00] [ 8.16089599e-03 -2.91253310e-05 9.99966699e-01 5.51965879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139254154 meters 0.05680101811027728 Centerline is valid? [True, True] Translation: X:143.97, Y:4.03, Z:0.55 [[ 9.99936995e-01 -8.44947383e-03 -7.39005570e-03 1.43969996e+02] [ 8.44919449e-03 9.99964303e-01 -6.90204713e-05 4.03410567e+00] [ 7.39037508e-03 6.57610469e-06 9.99972691e-01 5.52287409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19925415400002 meters 0.05671077776704919 Centerline is valid? [True, True] Translation: X:144.03, Y:4.03, Z:0.55 [[ 9.99945457e-01 -7.24186548e-03 -7.52591413e-03 1.44028515e+02] [ 7.24153821e-03 9.99973777e-01 -7.07353966e-05 4.03306858e+00] [ 7.52622904e-03 1.62323437e-05 9.99971677e-01 5.51616265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters 0.05665324526716646 Centerline is valid? [True, True] Translation: X:144.09, Y:4.03, Z:0.55 [[ 9.99936003e-01 -8.00470557e-03 -7.99467956e-03 1.44086973e+02] [ 8.00435445e-03 9.99967962e-01 -7.59154579e-05 4.03084398e+00] [ 7.99503110e-03 1.19183506e-05 9.99968039e-01 5.50853382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters 0.05712394063393275 Centerline is valid? [True, True] Translation: X:144.15, Y:4.03, Z:0.55 [[ 9.99890604e-01 -1.22932039e-02 -8.22534306e-03 1.44145717e+02] [ 1.22929730e-02 9.99924435e-01 -7.86311951e-05 4.02501529e+00] [ 8.22568815e-03 -2.24913266e-05 9.99966168e-01 5.50863013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters 0.056633701980150344 Centerline is valid? [True, True] Translation: X:144.21, Y:4.02, Z:0.55 [[ 9.99773919e-01 -1.95607321e-02 -8.33595720e-03 1.44205646e+02] [ 1.95607465e-02 9.99808667e-01 -7.98092151e-05 4.01841158e+00] [ 8.33592339e-03 -8.32663740e-05 9.99965252e-01 5.51121751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters 0.057230934621781464 Centerline is valid? [True, True] Translation: X:144.27, Y:4.01, Z:0.55 [[ 9.99659677e-01 -2.47671820e-02 -8.19255061e-03 1.44265848e+02] [ 2.47673721e-02 9.99693239e-01 -7.82689950e-05 4.01217926e+00] [ 8.19197596e-03 -1.24665591e-04 9.99966437e-01 5.51175058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters 0.059605677971403766 Centerline is valid? [True, True] Translation: X:144.33, Y:4.00, Z:0.55 [[ 9.99471333e-01 -3.17786170e-02 -6.86830181e-03 1.44325468e+02] [ 3.17789168e-02 9.99494921e-01 -6.55067563e-05 3.99850494e+00] [ 6.86691449e-03 -1.52795067e-04 9.99976411e-01 5.51984892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters 0.05861528307841308 Centerline is valid? [True, True] Translation: X:144.39, Y:4.00, Z:0.55 [[ 9.99372882e-01 -3.49994203e-02 -5.37428227e-03 1.44386037e+02] [ 3.49996503e-02 9.99387323e-01 -5.12667834e-05 3.99993080e+00] [ 5.37278388e-03 -1.36863367e-04 9.99985557e-01 5.53609258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619254154 meters 0.057523935621327967 Centerline is valid? [True, True] Translation: X:144.45, Y:4.00, Z:0.55 [[ 9.99316594e-01 -3.68130659e-02 -3.33809645e-03 1.44448237e+02] [ 3.68131647e-02 9.99322165e-01 -3.18429959e-05 4.00403582e+00] [ 3.33700601e-03 -9.10646602e-05 9.99994428e-01 5.54934450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679254154 meters 0.05882840603528778 Centerline is valid? [True, True] Translation: X:144.51, Y:4.00, Z:0.56 [[ 9.99366287e-01 -3.54777874e-02 -2.88978972e-03 1.44509683e+02] [ 3.54778561e-02 9.99370462e-01 -2.74918478e-05 3.99669363e+00] [ 2.88894584e-03 -7.50491180e-05 9.99995824e-01 5.55403112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739254154 meters 0.05745766084005396 Centerline is valid? [True, True] Translation: X:144.57, Y:4.00, Z:0.55 [[ 9.99512807e-01 -3.11399014e-02 -2.11062699e-03 1.44570615e+02] [ 3.11399286e-02 9.99515035e-01 -2.00056908e-05 4.00372578e+00] [ 2.11022639e-03 -4.57288296e-05 9.99997772e-01 5.54948174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799254154 meters 0.05605578014336404 Centerline is valid? [True, True] Translation: X:144.63, Y:4.01, Z:0.55 [[ 9.99676767e-01 -2.53005744e-02 -2.49840748e-03 1.44630549e+02] [ 2.53005943e-02 9.99679888e-01 -2.36398960e-05 4.00664777e+00] [ 2.49820582e-03 -3.95789393e-05 9.99996879e-01 5.54000324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859254154 meters 0.05583424698503555 Centerline is valid? [True, True] Translation: X:144.69, Y:4.01, Z:0.55 [[ 9.99758633e-01 -2.16790413e-02 -3.56309989e-03 1.44692468e+02] [ 2.16790588e-02 9.99764981e-01 -3.37409094e-05 4.00920242e+00] [ 3.56299396e-03 -4.35118863e-05 9.99993652e-01 5.52894961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91925415400001 meters 0.05713644040630827 Centerline is valid? [True, True] Translation: X:144.75, Y:4.01, Z:0.55 [[ 9.99830765e-01 -1.74000385e-02 -5.97323403e-03 1.44754119e+02] [ 1.74000125e-02 9.99848607e-01 -5.63324285e-05 4.01040257e+00] [ 5.97330991e-03 -4.76114515e-05 9.99982158e-01 5.50860206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97925415400002 meters 0.056930898177516294 Centerline is valid? [True, True] Translation: X:144.82, Y:4.01, Z:0.55 [[ 9.99841642e-01 -1.63350790e-02 -7.06093244e-03 1.44815547e+02] [ 1.63350172e-02 9.99866573e-01 -6.64252872e-05 4.00951976e+00] [ 7.06107538e-03 -4.89256845e-05 9.99975069e-01 5.49947496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters 0.056211520202645505 Centerline is valid? [True, True] Translation: X:144.88, Y:4.01, Z:0.55 [[ 9.99829997e-01 -1.70626373e-02 -6.98883286e-03 1.44876462e+02] [ 1.70625954e-02 9.99854421e-01 -6.56233237e-05 4.00982579e+00] [ 6.98893514e-03 -5.36354597e-05 9.99975576e-01 5.51137783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters 0.056910277893238936 Centerline is valid? [True, True] Translation: X:144.94, Y:4.01, Z:0.55 [[ 9.99796082e-01 -1.92876920e-02 -5.98161145e-03 1.44937111e+02] [ 1.92877017e-02 9.99813973e-01 -5.60737871e-05 4.00694898e+00] [ 5.98158025e-03 -5.93091849e-05 9.99982108e-01 5.52269871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters 0.05756977836749298 Centerline is valid? [True, True] Translation: X:145.00, Y:4.00, Z:0.55 [[ 9.99674919e-01 -2.51895143e-02 -3.94273864e-03 1.44997066e+02] [ 2.51895646e-02 9.99682692e-01 -3.69165867e-05 4.00352730e+00] [ 3.94241749e-03 -6.24112838e-05 9.99992227e-01 5.54145994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters 0.059224740785953196 Centerline is valid? [True, True] Translation: X:145.06, Y:3.99, Z:0.56 [[ 9.99437288e-01 -3.34425386e-02 -2.58906095e-03 1.45057488e+02] [ 3.34425880e-02 9.99440640e-01 -2.42585321e-05 3.99178776e+00] [ 2.58842400e-03 -6.23400172e-05 9.99996648e-01 5.55463595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters 0.0575899750895391 Centerline is valid? [True, True] Translation: X:145.12, Y:3.99, Z:0.56 [[ 9.99186543e-01 -4.02571973e-02 -2.36872319e-03 1.45118382e+02] [ 4.02572578e-02 9.99189348e-01 -2.21583194e-05 3.99348742e+00] [ 2.36769501e-03 -7.32180056e-05 9.99997194e-01 5.55298977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339254154 meters 0.058593961611494966 Centerline is valid? [True, True] Translation: X:145.18, Y:3.99, Z:0.55 [[ 9.98832548e-01 -4.81989172e-02 -3.22586117e-03 1.45179391e+02] [ 4.81990709e-02 9.98837749e-01 -3.01482074e-05 3.98801724e+00] [ 3.22356502e-03 -1.25370500e-04 9.99994796e-01 5.54296667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399254154 meters 0.05825031929818987 Centerline is valid? [True, True] Translation: X:145.24, Y:3.98, Z:0.55 [[ 9.98128550e-01 -6.09750436e-02 -4.63058949e-03 1.45240010e+02] [ 6.09754973e-02 9.98139262e-01 -4.32637913e-05 3.98457069e+00] [ 4.62461119e-03 -2.39169672e-04 9.99989278e-01 5.52445860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459254154 meters 0.055575636212076666 Centerline is valid? [True, True] Translation: X:145.30, Y:4.01, Z:0.55 [[ 9.97696288e-01 -6.76245213e-02 -5.38894066e-03 1.45300851e+02] [ 6.76252325e-02 9.97710792e-01 -5.03308322e-05 4.00634460e+00] [ 5.38000786e-03 -3.14213481e-04 9.99985478e-01 5.52766056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519254154 meters 0.06004752005411274 Centerline is valid? [True, True] Translation: X:145.36, Y:3.98, Z:0.55 [[ 9.97476473e-01 -7.06543742e-02 -6.97460774e-03 1.45360630e+02] [ 7.06556395e-02 9.97500765e-01 -6.51285612e-05 3.98288985e+00] [ 6.96177818e-03 -4.27831162e-04 9.99975675e-01 5.51615736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579254154 meters 0.054688075851855436 Centerline is valid? [True, True] Translation: X:145.42, Y:4.01, Z:0.55 [[ 9.97620316e-01 -6.86514355e-02 -6.37859706e-03 1.45420629e+02] [ 6.86524529e-02 9.97640635e-01 -5.95762054e-05 4.01020210e+00] [ 6.36763762e-03 -3.78471901e-04 9.99979655e-01 5.52628022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639254154 meters 0.05922795589777421 Centerline is valid? [True, True] Translation: X:145.48, Y:3.99, Z:0.55 [[ 9.97762644e-01 -6.65311718e-02 -6.58103805e-03 1.45480365e+02] [ 6.65322087e-02 9.97784276e-01 -6.14816416e-05 3.99227039e+00] [ 6.57054674e-03 -3.76506912e-04 9.99978343e-01 5.51980605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69925415400002 meters 0.055616114621126374 Centerline is valid? [True, True] Translation: X:145.54, Y:4.01, Z:0.55 [[ 9.98192454e-01 -5.98378608e-02 -5.59056512e-03 1.45541278e+02] [ 5.98385042e-02 9.98208070e-01 -5.22496005e-05 4.01284731e+00] [ 5.58367372e-03 -2.82375897e-04 9.99984371e-01 5.52738989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters 0.056021228097289696 Centerline is valid? [True, True] Translation: X:145.60, Y:4.02, Z:0.55 [[ 9.98466768e-01 -5.50010066e-02 -6.24522471e-03 1.45600559e+02] [ 5.50017150e-02 9.98486258e-01 -5.83990030e-05 4.01661768e+00] [ 6.23898306e-03 -2.85188606e-04 9.99980497e-01 5.52610300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters 0.05685141102304894 Centerline is valid? [True, True] Translation: X:145.66, Y:4.02, Z:0.55 [[ 9.98546241e-01 -5.34956596e-02 -6.60452113e-03 1.45661992e+02] [ 5.34964189e-02 9.98568039e-01 -6.17641806e-05 4.02100217e+00] [ 6.59836784e-03 -2.91643839e-04 9.99978188e-01 5.52711801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters 0.05563632814427358 Centerline is valid? [True, True] Translation: X:145.72, Y:4.04, Z:0.55 [[ 9.98692192e-01 -5.06156100e-02 -7.20878588e-03 1.45722633e+02] [ 5.06164405e-02 9.98718164e-01 -6.73080548e-05 4.03653439e+00] [ 7.20295224e-03 -2.97663053e-04 9.99974014e-01 5.53325522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters 0.05521240621712669 Centerline is valid? [True, True] Translation: X:145.78, Y:4.04, Z:0.55 [[ 9.98895331e-01 -4.65159349e-02 -6.66231551e-03 1.45782736e+02] [ 4.65165535e-02 9.98917517e-01 -6.21543583e-05 4.04245549e+00] [ 6.65799484e-03 -2.47822258e-04 9.99977805e-01 5.53790839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters 0.05519155560026241 Centerline is valid? [True, True] Translation: X:145.84, Y:4.06, Z:0.56 [[ 9.99376534e-01 -3.48285505e-02 -5.78922563e-03 1.45842577e+02] [ 3.48288217e-02 9.99393291e-01 -5.39939858e-05 4.05693531e+00] [ 5.78759378e-03 -1.47671585e-04 9.99983241e-01 5.55218775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059254154 meters 0.05596478596013345 Centerline is valid? [True, True] Translation: X:145.90, Y:4.06, Z:0.56 [[ 9.99790763e-01 -1.99190544e-02 -4.65418706e-03 1.45903073e+02] [ 1.99190682e-02 9.99801595e-01 -4.33934283e-05 4.05870485e+00] [ 4.65412800e-03 -4.93227206e-05 9.99989168e-01 5.55121423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119254154 meters 0.05544551450522273 Centerline is valid? [True, True] Translation: X:145.96, Y:4.07, Z:0.56 [[ 9.99927129e-01 -1.14315402e-02 -3.88037710e-03 1.45964200e+02] [ 1.14314859e-02 9.99934658e-01 -3.61585292e-05 4.06872603e+00] [ 3.88053690e-03 -8.20258195e-06 9.99992471e-01 5.55634117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179254154 meters 0.05489936642813786 Centerline is valid? [True, True] Translation: X:146.02, Y:4.08, Z:0.56 [[ 9.99973036e-01 -5.69304078e-03 -4.63867808e-03 1.46024670e+02] [ 5.69290211e-03 9.99983794e-01 -4.30976213e-05 4.07577967e+00] [ 4.63884826e-03 1.66889189e-05 9.99989240e-01 5.55903946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239254154 meters 0.055658096139501345 Centerline is valid? [True, True] Translation: X:146.09, Y:4.08, Z:0.56 [[ 9.99975807e-01 -4.52182062e-03 -5.28570572e-03 1.46085483e+02] [ 4.52162441e-03 9.99989776e-01 -4.90707155e-05 4.07823324e+00] [ 5.28587357e-03 2.51695523e-05 9.99986029e-01 5.55012120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299254154 meters 0.05450226676403962 Centerline is valid? [True, True] Translation: X:146.14, Y:4.08, Z:0.55 [[ 9.99952876e-01 -7.91929645e-03 -5.61528055e-03 1.46143850e+02] [ 7.91912834e-03 9.99968642e-01 -5.21715971e-05 4.07818415e+00] [ 5.61551763e-03 7.70101117e-06 9.99984233e-01 5.54280043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359254154 meters 0.055438381767359615 Centerline is valid? [True, True] Translation: X:146.20, Y:4.07, Z:0.55 [[ 9.99850738e-01 -1.62557064e-02 -5.85273190e-03 1.46203074e+02] [ 1.62556659e-02 9.99867866e-01 -5.44948230e-05 4.07373099e+00] [ 5.85284441e-03 -4.06533652e-05 9.99982871e-01 5.54080417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41925415400001 meters 0.055135232240728145 Centerline is valid? [True, True] Translation: X:146.26, Y:4.07, Z:0.55 [[ 9.99711183e-01 -2.32084709e-02 -6.23838883e-03 1.46264582e+02] [ 2.32085602e-02 9.99730643e-01 -5.80841266e-05 4.07083641e+00] [ 6.23805652e-03 -8.67166720e-05 9.99980539e-01 5.54294581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47925415400002 meters 0.055732908967981 Centerline is valid? [True, True] Translation: X:146.32, Y:4.06, Z:0.55 [[ 9.99445558e-01 -3.26483033e-02 -6.53178370e-03 1.46324733e+02] [ 3.26486032e-02 9.99466890e-01 -6.07376919e-05 4.06312009e+00] [ 6.53028452e-03 -1.52549598e-04 9.99978666e-01 5.54154404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters 0.055784761337722436 Centerline is valid? [True, True] Translation: X:146.38, Y:4.06, Z:0.55 [[ 9.99250747e-01 -3.82895136e-02 -5.64430922e-03 1.46384857e+02] [ 3.82898276e-02 9.99266674e-01 -5.24648207e-05 4.06247615e+00] [ 5.64217895e-03 -1.63694115e-04 9.99984069e-01 5.54757448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters 0.05376413714066745 Centerline is valid? [True, True] Translation: X:146.45, Y:4.07, Z:0.56 [[ 9.98888086e-01 -4.68754089e-02 -5.02871668e-03 1.46445673e+02] [ 4.68757668e-02 9.98900726e-01 -4.67342683e-05 4.07434562e+00] [ 5.02537943e-03 -1.89042646e-04 9.99987355e-01 5.55287615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters 0.05836084650987607 Centerline is valid? [True, True] Translation: X:146.51, Y:4.05, Z:0.55 [[ 9.98442503e-01 -5.54784176e-02 -5.89184781e-03 1.46505109e+02] [ 5.54790585e-02 9.98459850e-01 -5.47245107e-05 4.05289762e+00] [ 5.88580951e-03 -2.72234892e-04 9.99982641e-01 5.53997571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters 0.05516204208151587 Centerline is valid? [True, True] Translation: X:146.57, Y:4.07, Z:0.55 [[ 9.98174055e-01 -6.01248921e-02 -5.79245971e-03 1.46565696e+02] [ 6.01255899e-02 9.98190819e-01 -5.37554069e-05 4.06690890e+00] [ 5.78521213e-03 -2.94617804e-04 9.99983222e-01 5.54225935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters 0.05419035076847514 Centerline is valid? [True, True] Translation: X:146.63, Y:4.07, Z:0.55 [[ 9.97956285e-01 -6.36008534e-02 -6.17939145e-03 1.46626874e+02] [ 6.36017142e-02 9.97975360e-01 -5.73123636e-05 4.06911050e+00] [ 6.17052552e-03 -3.35824655e-04 9.99980906e-01 5.54353548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839254154 meters 0.0544464573321354 Centerline is valid? [True, True] Translation: X:146.69, Y:4.07, Z:0.55 [[ 9.97942467e-01 -6.37768356e-02 -6.58394920e-03 1.46689378e+02] [ 6.37778177e-02 9.97964121e-01 -6.09060193e-05 4.07015694e+00] [ 6.57442947e-03 -3.59129209e-04 9.99978324e-01 5.54410647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899254154 meters 0.05352930514468987 Centerline is valid? [True, True] Translation: X:146.75, Y:4.08, Z:0.55 [[ 9.98018060e-01 -6.24326236e-02 -7.88161542e-03 1.46751353e+02] [ 6.24339914e-02 9.98049093e-01 -7.26315126e-05 4.07816019e+00] [ 7.87077369e-03 -4.19593148e-04 9.99968937e-01 5.54020758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959254154 meters 0.05322973125756353 Centerline is valid? [True, True] Translation: X:146.81, Y:4.09, Z:0.55 [[ 9.98129102e-01 -6.04437726e-02 -9.21118134e-03 1.46812264e+02] [ 6.04455578e-02 9.98171492e-01 -8.47165382e-05 4.08501781e+00] [ 9.19945921e-03 -4.72216952e-04 9.99957573e-01 5.53807247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019254154 meters 0.054285002791149235 Centerline is valid? [True, True] Translation: X:146.87, Y:4.09, Z:0.55 [[ 9.98459810e-01 -5.42421486e-02 -1.16532357e-02 1.46872172e+02] [ 5.42445853e-02 9.98527673e-01 -1.07098869e-04 4.08885545e+00] [ 1.16418876e-02 -5.25191023e-04 9.99932093e-01 5.52701013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079254154 meters 0.05401734943943485 Centerline is valid? [True, True] Translation: X:146.93, Y:4.09, Z:0.55 [[ 9.98779895e-01 -4.80668077e-02 -1.13271139e-02 1.46932347e+02] [ 4.80687136e-02 9.98844026e-01 -1.04088519e-04 4.09333551e+00] [ 1.13190232e-02 -4.40518273e-04 9.99935841e-01 5.53465638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139254154 meters 0.053834091063923215 Centerline is valid? [True, True] Translation: X:146.99, Y:4.10, Z:0.56 [[ 9.99325943e-01 -3.55284791e-02 -9.24047509e-03 1.46992172e+02] [ 3.55292121e-02 9.99368635e-01 -8.48780387e-05 4.10232756e+00] [ 9.23765656e-03 -2.43485973e-04 9.99957302e-01 5.55278146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19925415400002 meters 0.05489887536582906 Centerline is valid? [True, True] Translation: X:147.05, Y:4.11, Z:0.56 [[ 9.99632736e-01 -2.61063221e-02 -7.27004053e-03 1.47051979e+02] [ 2.61065268e-02 9.99659164e-01 -6.67611653e-05 4.10734253e+00] [ 7.26930553e-03 -1.23058861e-04 9.99973571e-01 5.56756262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters 0.05442309770044867 Centerline is valid? [True, True] Translation: X:147.11, Y:4.12, Z:0.56 [[ 9.99905027e-01 -1.30872559e-02 -4.31990802e-03 1.47112662e+02] [ 1.30872067e-02 9.99914358e-01 -3.96690836e-05 4.12296246e+00] [ 4.32005721e-03 -1.68702130e-05 9.99990668e-01 5.59542934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters 0.05429036006914682 Centerline is valid? [True, True] Translation: X:147.17, Y:4.13, Z:0.56 [[ 9.99986917e-01 -3.58126430e-03 -3.65235121e-03 1.47172785e+02] [ 3.58116578e-03 9.99993587e-01 -3.35145929e-05 4.13294009e+00] [ 3.65244781e-03 2.04344793e-05 9.99993330e-01 5.60224945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters 0.05359826386249327 Centerline is valid? [True, True] Translation: X:147.23, Y:4.13, Z:0.56 [[ 9.99988608e-01 -1.02188742e-03 -4.66253031e-03 1.47232649e+02] [ 1.02169921e-03 9.99999477e-01 -4.27500294e-05 4.13213520e+00] [ 4.66257156e-03 3.79858389e-05 9.99989129e-01 5.59446953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters 0.05418924076813483 Centerline is valid? [True, True] Translation: X:147.29, Y:4.13, Z:0.56 [[ 9.99965231e-01 -3.75672685e-03 -7.44465368e-03 1.47291055e+02] [ 3.75632164e-03 9.99992943e-01 -6.84105727e-05 4.13408847e+00] [ 7.44485814e-03 4.04436804e-05 9.99972286e-01 5.57493746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters 0.05510700160828623 Centerline is valid? [True, True] Translation: X:147.35, Y:4.13, Z:0.56 [[ 9.99950404e-01 -6.24059584e-03 -7.76177012e-03 1.47349892e+02] [ 6.24022853e-03 9.99980527e-01 -7.15406555e-05 4.13271677e+00] [ 7.76206544e-03 2.31018880e-05 9.99969874e-01 5.57248504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559254154 meters 0.0537821854189636 Centerline is valid? [True, True] Translation: X:147.41, Y:4.13, Z:0.56 [[ 9.99894206e-01 -1.14379735e-02 -8.98604860e-03 1.47409006e+02] [ 1.14376889e-02 9.99934584e-01 -8.30644285e-05 4.12896957e+00] [ 8.98641086e-03 -1.97239874e-05 9.99959621e-01 5.56181567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619254154 meters 0.05381586250979905 Centerline is valid? [True, True] Translation: X:147.47, Y:4.12, Z:0.56 [[ 9.99769407e-01 -2.01407348e-02 -7.44879772e-03 1.47469324e+02] [ 2.01407801e-02 9.99797152e-01 -6.89360365e-05 4.12252623e+00] [ 7.44867516e-03 -8.11044564e-05 9.99972255e-01 5.57559038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679254154 meters 0.05514891659644338 Centerline is valid? [True, True] Translation: X:147.53, Y:4.11, Z:0.56 [[ 9.99591210e-01 -2.81474075e-02 -5.01357357e-03 1.47528535e+02] [ 2.81475287e-02 9.99603779e-01 -4.64056834e-05 4.11417470e+00] [ 5.01289328e-03 -9.47329927e-05 9.99987431e-01 5.60116068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739254154 meters 0.054210053461777014 Centerline is valid? [True, True] Translation: X:147.59, Y:4.11, Z:0.56 [[ 9.99452579e-01 -3.29227718e-02 -3.26080898e-03 1.47589620e+02] [ 3.29228484e-02 9.99457896e-01 -3.02079278e-05 4.11218674e+00] [ 3.26003581e-03 -7.71637281e-05 9.99994683e-01 5.62243193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799254154 meters 0.0552405003397269 Centerline is valid? [True, True] Translation: X:147.65, Y:4.10, Z:0.56 [[ 9.99285217e-01 -3.77184349e-02 -2.52470359e-03 1.47648900e+02] [ 3.77184962e-02 9.99288404e-01 -2.33367277e-05 4.10370657e+00] [ 2.52378725e-03 -7.19079761e-05 9.99996813e-01 5.63716900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859254154 meters 0.055836620297192927 Centerline is valid? [True, True] Translation: X:147.71, Y:4.10, Z:0.56 [[ 9.99227424e-01 -3.91218763e-02 -3.74618241e-03 1.47710608e+02] [ 3.91220210e-02 9.99234440e-01 -3.46715392e-05 4.10006454e+00] [ 3.74467090e-03 -1.11913474e-04 9.99992982e-01 5.63446498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91925415400001 meters 0.05554397357101495 Centerline is valid? [True, True] Translation: X:147.77, Y:4.10, Z:0.56 [[ 9.99264413e-01 -3.79036434e-02 -5.82645231e-03 1.47772486e+02] [ 3.79039741e-02 9.99281385e-01 -5.36845614e-05 4.10227846e+00] [ 5.82430017e-03 -1.67200626e-04 9.99983025e-01 5.60935145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97925415400002 meters 0.055260018326106435 Centerline is valid? [True, True] Translation: X:147.83, Y:4.11, Z:0.56 [[ 9.99362081e-01 -3.49053339e-02 -7.55305854e-03 1.47833015e+02] [ 3.49058054e-02 9.99390604e-01 -6.94382333e-05 4.10552787e+00] [ 7.55087951e-03 -1.94251654e-04 9.99971473e-01 5.60254184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters 0.054592057513969484 Centerline is valid? [True, True] Translation: X:147.89, Y:4.11, Z:0.56 [[ 9.99563204e-01 -2.76040216e-02 -1.05555140e-02 1.47892943e+02] [ 2.76045356e-02 9.99618917e-01 -9.70234460e-05 4.10623677e+00] [ 1.05541697e-02 -1.94398996e-04 9.99944284e-01 5.57935663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters 0.054149572585445165 Centerline is valid? [True, True] Translation: X:147.95, Y:4.12, Z:0.56 [[ 9.99708959e-01 -2.15076961e-02 -1.09277714e-02 1.47953938e+02] [ 2.15078832e-02 9.99768674e-01 -1.00415507e-04 4.11622653e+00] [ 1.09274033e-02 -1.34646950e-04 9.99940285e-01 5.59905416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters 0.054523095699480446 Centerline is valid? [True, True] Translation: X:148.01, Y:4.12, Z:0.56 [[ 9.99871619e-01 -1.14459858e-02 -1.12131480e-02 1.48014690e+02] [ 1.14455508e-02 9.99934492e-01 -1.02968450e-04 4.12341178e+00] [ 1.12135920e-02 -2.53854237e-05 9.99937125e-01 5.61711784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters 0.05518487002632374 Centerline is valid? [True, True] Translation: X:148.07, Y:4.13, Z:0.56 [[ 9.99917080e-01 -6.22220209e-03 -1.12746637e-02 1.48073434e+02] [ 6.22142100e-03 9.99980641e-01 -1.04350742e-04 4.12664551e+00] [ 1.12750948e-02 3.41976599e-05 9.99936434e-01 5.64757206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters 0.05527169040735816 Centerline is valid? [True, True] Translation: X:148.13, Y:4.13, Z:0.56 [[ 9.99924002e-01 -2.37083367e-03 -1.20983332e-02 1.48132519e+02] [ 2.36963552e-03 9.99997186e-01 -1.13367735e-04 4.12961673e+00] [ 1.20985679e-02 8.46904797e-05 9.99926806e-01 5.64622492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339254154 meters 0.05579034238224428 Centerline is valid? [True, True] Translation: X:148.19, Y:4.13, Z:0.56 [[ 9.99909159e-01 -3.46332443e-03 -1.30261191e-02 1.48190201e+02] [ 3.46201593e-03 9.99994000e-01 -1.22999831e-04 4.12932177e+00] [ 1.30264670e-02 7.78920257e-05 9.99915149e-01 5.64892894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399254154 meters 0.055748141715006895 Centerline is valid? [True, True] Translation: X:148.25, Y:4.13, Z:0.56 [[ 9.99837116e-01 -1.00370086e-02 -1.50000156e-02 1.48248348e+02] [ 1.00360026e-02 9.99949628e-01 -1.42343212e-04 4.12570694e+00] [ 1.50006887e-02 -8.22016901e-06 9.99887483e-01 5.64536260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459254154 meters 0.05518206911987059 Centerline is valid? [True, True] Translation: X:148.31, Y:4.12, Z:0.57 [[ 9.99754498e-01 -1.62294184e-02 -1.50847253e-02 1.48307039e+02] [ 1.62290976e-02 9.99868289e-01 -1.43685857e-04 4.12290098e+00] [ 1.50850704e-02 -1.01160897e-04 9.99886209e-01 5.66676706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519254154 meters 0.05460537519811712 Centerline is valid? [True, True] Translation: X:148.37, Y:4.12, Z:0.57 [[ 9.99616371e-01 -2.41011459e-02 -1.36471532e-02 1.48366290e+02] [ 2.41016129e-02 9.99709505e-01 -1.30270977e-04 4.11689910e+00] [ 1.36463285e-02 -1.98697402e-04 9.99906865e-01 5.67807494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579254154 meters 0.05557583440417151 Centerline is valid? [True, True] Translation: X:148.43, Y:4.11, Z:0.57 [[ 9.99448147e-01 -3.09364568e-02 -1.20969814e-02 1.48426132e+02] [ 3.09373245e-02 9.99521320e-01 -1.15445194e-04 4.11128114e+00] [ 1.20947623e-02 -2.58866754e-04 9.99926822e-01 5.69182250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639254154 meters 0.055635282429442434 Centerline is valid? [True, True] Translation: X:148.49, Y:4.11, Z:0.57 [[ 9.99299712e-01 -3.57109326e-02 -1.11720813e-02 1.48486497e+02] [ 3.57119713e-02 9.99362118e-01 -1.06566742e-04 4.11236490e+00] [ 1.11687604e-02 -2.92484932e-04 9.99937585e-01 5.71439619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69925415400002 meters 0.05602478898100198 Centerline is valid? [True, True] Translation: X:148.55, Y:4.10, Z:0.57 [[ 9.98920217e-01 -4.51368051e-02 -1.10031697e-02 1.48546018e+02] [ 4.51383837e-02 9.98980738e-01 -1.04956402e-04 4.10428296e+00] [ 1.09966920e-02 -3.91822224e-04 9.99939458e-01 5.71652919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters 0.05515704630985097 Centerline is valid? [True, True] Translation: X:148.61, Y:4.11, Z:0.57 [[ 9.98572787e-01 -5.21925970e-02 -1.13278821e-02 1.48606818e+02] [ 5.21947234e-02 9.98636921e-01 -1.08043307e-04 4.10529401e+00] [ 1.13180804e-02 -4.83366569e-04 9.99935832e-01 5.72103190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters 0.05384371929761124 Centerline is valid? [True, True] Translation: X:148.67, Y:4.11, Z:0.57 [[ 9.98063973e-01 -6.07942274e-02 -1.31289168e-02 1.48667182e+02] [ 6.07978262e-02 9.98150093e-01 -1.25210184e-04 4.11341161e+00] [ 1.31122416e-02 -6.73241827e-04 9.99913804e-01 5.73529770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters 0.05658685816220164 Centerline is valid? [True, True] Translation: X:148.73, Y:4.10, Z:0.57 [[ 9.97901796e-01 -6.31262255e-02 -1.43904664e-02 1.48726478e+02] [ 6.31307948e-02 9.98005252e-01 -1.36973220e-04 4.09901513e+00] [ 1.43704077e-02 -7.71795759e-04 9.99896442e-01 5.69892552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters 0.05455034551623457 Centerline is valid? [True, True] Translation: X:148.79, Y:4.11, Z:0.57 [[ 9.98021040e-01 -6.13593893e-02 -1.37488044e-02 1.48786697e+02] [ 6.13633943e-02 9.98115483e-01 -1.30769186e-04 4.11380382e+00] [ 1.37309184e-02 -7.13162904e-04 9.99905472e-01 5.72074545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters 0.05419835843421916 Centerline is valid? [True, True] Translation: X:148.85, Y:4.12, Z:0.57 [[ 9.98466494e-01 -5.38646281e-02 -1.27774051e-02 1.48846738e+02] [ 5.38674748e-02 9.98548086e-01 -1.21507491e-04 4.11676685e+00] [ 1.27653984e-02 -5.66965389e-04 9.99918358e-01 5.71987595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059254154 meters 0.05497323294796797 Centerline is valid? [True, True] Translation: X:148.91, Y:4.12, Z:0.57 [[ 9.98863152e-01 -4.61360804e-02 -1.19943635e-02 1.48906311e+02] [ 4.61380330e-02 9.98935067e-01 -1.14011664e-04 4.11884096e+00] [ 1.19868503e-02 -4.39514287e-04 9.99928059e-01 5.71968672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119254154 meters 0.05508825051416814 Centerline is valid? [True, True] Translation: X:148.97, Y:4.12, Z:0.57 [[ 9.99415595e-01 -3.26850536e-02 -1.00077494e-02 1.48965574e+02] [ 3.26857385e-02 9.99465674e-01 -9.51665476e-05 4.12316874e+00] [ 1.00055125e-02 -2.31999748e-04 9.99949917e-01 5.71537219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179254154 meters 0.05486502038501708 Centerline is valid? [True, True] Translation: X:149.03, Y:4.13, Z:0.57 [[ 9.99670596e-01 -2.42317832e-02 -8.45699863e-03 1.49025694e+02] [ 2.42319695e-02 9.99706359e-01 -8.04529298e-05 4.13202104e+00] [ 8.45646483e-03 -1.24503304e-04 9.99964236e-01 5.72698771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239254154 meters 0.0543985642872758 Centerline is valid? [True, True] Translation: X:149.09, Y:4.14, Z:0.57 [[ 9.99868701e-01 -1.37417560e-02 -8.58747762e-03 1.49086194e+02] [ 1.37415615e-02 9.99905577e-01 -8.16656658e-05 4.14213754e+00] [ 8.58778899e-03 -3.63504083e-05 9.99963124e-01 5.72643091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299254154 meters 0.05415710784246135 Centerline is valid? [True, True] Translation: X:149.15, Y:4.15, Z:0.57 [[ 9.99944568e-01 -4.54420795e-03 -9.49797032e-03 1.49146044e+02] [ 4.54355486e-03 9.99989674e-01 -9.03378946e-05 4.15053613e+00] [ 9.49828276e-03 4.71783378e-05 9.99954889e-01 5.68896526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359254154 meters 0.0552789915535397 Centerline is valid? [True, True] Translation: X:149.20, Y:4.15, Z:0.57 [[ 9.99956858e-01 4.62823088e-04 -9.27725018e-03 1.49204304e+02] [-4.63663880e-04 9.99999889e-01 -8.84788852e-05 4.15386422e+00] [ 9.27720820e-03 9.27765939e-05 9.99956961e-01 5.69602719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41925415400001 meters 0.05564041526987385 Centerline is valid? [True, True] Translation: X:149.26, Y:4.16, Z:0.57 [[ 9.99958173e-01 2.48216719e-03 -8.80285272e-03 1.49262616e+02] [-2.48300547e-03 9.99996914e-01 -8.43010821e-05 4.15514881e+00] [ 8.80261631e-03 1.06155088e-04 9.99961251e-01 5.70380056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47925415400002 meters 0.05537458665219863 Centerline is valid? [True, True] Translation: X:149.32, Y:4.16, Z:0.57 [[ 9.99936524e-01 6.84253067e-03 -8.95136012e-03 1.49321957e+02] [-6.84357477e-03 9.99976579e-01 -8.60156710e-05 4.15616812e+00] [ 8.95056191e-03 1.47269513e-04 9.99959932e-01 5.71228669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters 0.05544763952960417 Centerline is valid? [True, True] Translation: X:149.38, Y:4.16, Z:0.57 [[ 9.99929740e-01 7.79324723e-03 -8.93193188e-03 1.49379826e+02] [-7.79432751e-03 9.99969620e-01 -8.61415243e-05 4.15864007e+00] [ 8.93098920e-03 1.55753874e-04 9.99960106e-01 5.70972388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters 0.055923713539897904 Centerline is valid? [True, True] Translation: X:149.44, Y:4.15, Z:0.57 [[ 9.99961751e-01 4.64461845e-03 -7.41106254e-03 1.49440086e+02] [-4.64527673e-03 9.99989208e-01 -7.16127828e-05 4.15483336e+00] [ 7.41064994e-03 1.06036480e-04 9.99972535e-01 5.71114348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters 0.05490906790408522 Centerline is valid? [True, True] Translation: X:149.50, Y:4.15, Z:0.57 [[ 9.99976301e-01 -4.21441377e-03 -5.44389395e-03 1.49498761e+02] [ 4.21418964e-03 9.99991119e-01 -5.26407519e-05 4.14674038e+00] [ 5.44406745e-03 2.96979029e-05 9.99985181e-01 5.72268522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters 0.054930746173521575 Centerline is valid? [True, True] Translation: X:149.56, Y:4.14, Z:0.57 [[ 9.99924552e-01 -1.12572696e-02 -4.91565250e-03 1.49558151e+02] [ 1.12571715e-02 9.99936635e-01 -4.76347456e-05 4.13780124e+00] [ 4.91587725e-03 -7.70519149e-06 9.99987917e-01 5.73272339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters 0.05503912642632276 Centerline is valid? [True, True] Translation: X:149.62, Y:4.12, Z:0.57 [[ 9.99796827e-01 -1.94680868e-02 -5.22485534e-03 1.49619212e+02] [ 1.94680878e-02 9.99810478e-01 -5.06761767e-05 4.12464033e+00] [ 5.22485168e-03 -5.10520617e-05 9.99986349e-01 5.72333880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839254154 meters 0.05553623326145756 Centerline is valid? [True, True] Translation: X:149.68, Y:4.12, Z:0.57 [[ 9.99736988e-01 -2.21800852e-02 -5.83091108e-03 1.49680171e+02] [ 2.21801332e-02 9.99753989e-01 -5.64448739e-05 4.11668252e+00] [ 5.83072857e-03 -7.29003561e-05 9.99982998e-01 5.71227746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899254154 meters 0.05535942287519797 Centerline is valid? [True, True] Translation: X:149.74, Y:4.11, Z:0.57 [[ 9.99757468e-01 -2.13698228e-02 -5.32312505e-03 1.49742865e+02] [ 2.13698520e-02 9.99771637e-01 -5.13934704e-05 4.11149657e+00] [ 5.32300771e-03 -6.23733886e-05 9.99985831e-01 5.71368028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959254154 meters 0.055617342672761166 Centerline is valid? [True, True] Translation: X:149.80, Y:4.11, Z:0.57 [[ 9.99822785e-01 -1.81812556e-02 -4.88267686e-03 1.49803310e+02] [ 1.81812429e-02 9.99834706e-01 -4.69846366e-05 4.10832808e+00] [ 4.88272403e-03 -4.17968239e-05 9.99988079e-01 5.71340183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019254154 meters 0.05571351652813974 Centerline is valid? [True, True] Translation: X:149.87, Y:4.11, Z:0.57 [[ 9.99928779e-01 -1.08417286e-02 -4.98937569e-03 1.49865157e+02] [ 1.08416244e-02 9.99941227e-01 -4.79261535e-05 4.10928032e+00] [ 4.98960205e-03 -6.17019730e-06 9.99987552e-01 5.71424959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079254154 meters 0.056056685776711364 Centerline is valid? [True, True] Translation: X:149.93, Y:4.11, Z:0.57 [[ 9.99969193e-01 -5.37475378e-03 -5.72052672e-03 1.49925826e+02] [ 5.37452792e-03 9.99985556e-01 -5.48539157e-05 4.10862623e+00] [ 5.72073892e-03 2.41070952e-05 9.99983636e-01 5.71659298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139254154 meters 0.05567099988973662 Centerline is valid? [True, True] Translation: X:149.98, Y:4.11, Z:0.57 [[ 9.99984987e-01 -2.88908834e-05 -5.47957939e-03 1.49984919e+02] [ 2.86031526e-05 9.99999998e-01 -5.25880595e-05 4.10522104e+00] [ 5.47958090e-03 5.24305367e-05 9.99984986e-01 5.71244433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19925415400002 meters 0.056530242412758974 Centerline is valid? [True, True] Translation: X:150.04, Y:4.10, Z:0.57 [[ 9.99986436e-01 3.17668606e-04 -5.19871680e-03 1.50043236e+02] [-3.17933483e-04 9.99999948e-01 -5.01242174e-05 4.10313859e+00] [ 5.19870061e-03 5.17763836e-05 9.99986485e-01 5.71458918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters 0.05601574587225753 Centerline is valid? [True, True] Translation: X:150.10, Y:4.10, Z:0.57 [[ 9.99969445e-01 -3.24315065e-03 -7.11275171e-03 1.50102625e+02] [ 3.24274081e-03 9.99994740e-01 -6.91523170e-05 4.09588014e+00] [ 7.11293856e-03 4.60853938e-05 9.99974702e-01 5.70620483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters 0.05651353894592535 Centerline is valid? [True, True] Translation: X:150.16, Y:4.09, Z:0.57 [[ 9.99925066e-01 -8.84065602e-03 -8.46788986e-03 1.50161819e+02] [ 8.84027320e-03 9.99960921e-01 -8.26377725e-05 4.08550560e+00] [ 8.46828951e-03 7.77312030e-06 9.99964143e-01 5.68844935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters 0.05650495324120716 Centerline is valid? [True, True] Translation: X:150.22, Y:4.08, Z:0.57 [[ 9.99864499e-01 -1.37199831e-02 -9.09652240e-03 1.50220251e+02] [ 1.37197403e-02 9.99905876e-01 -8.91037301e-05 4.07565882e+00] [ 9.09688870e-03 -3.57102682e-05 9.99958622e-01 5.69845353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters 0.056989440900100365 Centerline is valid? [True, True] Translation: X:150.28, Y:4.07, Z:0.57 [[ 9.99847494e-01 -1.57398625e-02 -7.56608932e-03 1.50279703e+02] [ 1.57397514e-02 9.99876120e-01 -7.42349121e-05 4.07026683e+00] [ 7.56632047e-03 -4.48647740e-05 9.99971374e-01 5.70984628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters 0.05642792728317427 Centerline is valid? [True, True] Translation: X:150.34, Y:4.06, Z:0.57 [[ 9.99829382e-01 -1.69614662e-02 -7.31539780e-03 1.50340004e+02] [ 1.69613948e-02 9.99856143e-01 -7.18089708e-05 4.06389312e+00] [ 7.31556341e-03 -5.22826313e-05 9.99973240e-01 5.71081216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559254154 meters 0.05690588850020486 Centerline is valid? [True, True] Translation: X:150.40, Y:4.06, Z:0.57 [[ 9.99801243e-01 -1.86647659e-02 -7.00724631e-03 1.50401381e+02] [ 1.86647428e-02 9.99825796e-01 -6.87087140e-05 4.06190158e+00] [ 7.00730805e-03 -6.20933921e-05 9.99975447e-01 5.73513084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619254154 meters 0.05656307667565853 Centerline is valid? [True, True] Translation: X:150.46, Y:4.06, Z:0.57 [[ 9.99746086e-01 -2.14510258e-02 -6.90052579e-03 1.50463036e+02] [ 2.14510704e-02 9.99769897e-01 -6.75624753e-05 4.05770297e+00] [ 6.90038724e-03 -8.04783439e-05 9.99976189e-01 5.73338537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679254154 meters 0.05739943306540773 Centerline is valid? [True, True] Translation: X:150.52, Y:4.05, Z:0.57 [[ 9.99693858e-01 -2.36444326e-02 -7.28915414e-03 1.50524580e+02] [ 2.36445418e-02 9.99720426e-01 -7.12077871e-05 4.04597795e+00] [ 7.28879995e-03 -1.01162722e-04 9.99973431e-01 5.71847474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739254154 meters 0.058344135305563004 Centerline is valid? [True, True] Translation: X:150.59, Y:4.04, Z:0.57 [[ 9.99577264e-01 -2.79495444e-02 -8.00729208e-03 1.50586204e+02] [ 2.79498160e-02 9.99609325e-01 -7.79993774e-05 4.03715869e+00] [ 8.00634387e-03 -1.45835936e-04 9.99967938e-01 5.71649006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799254154 meters 0.058182235651794964 Centerline is valid? [True, True] Translation: X:150.65, Y:4.04, Z:0.57 [[ 9.99480268e-01 -3.10693932e-02 -8.59573874e-03 1.50647710e+02] [ 3.10698230e-02 9.99517213e-01 -8.35630217e-05 4.03824903e+00] [ 8.59418508e-03 -1.83548490e-04 9.99963052e-01 5.72730837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859254154 meters 0.05735657062960857 Centerline is valid? [True, True] Translation: X:150.71, Y:4.04, Z:0.57 [[ 9.99326585e-01 -3.55093035e-02 -9.24480325e-03 1.50708445e+02] [ 3.55099917e-02 9.99369317e-01 -8.97472547e-05 4.03756319e+00] [ 9.24215958e-03 -2.38596069e-04 9.99957262e-01 5.72544612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91925415400001 meters 0.057876983014056645 Centerline is valid? [True, True] Translation: X:150.77, Y:4.04, Z:0.57 [[ 9.99240269e-01 -3.78461948e-02 -9.30326785e-03 1.50769171e+02] [ 3.78469941e-02 9.99283542e-01 -9.01791160e-05 4.03677835e+00] [ 9.30001538e-03 -2.61990119e-04 9.99956720e-01 5.72572403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97925415400002 meters 0.058654028820767014 Centerline is valid? [True, True] Translation: X:150.83, Y:4.03, Z:0.57 [[ 9.99158348e-01 -3.99688385e-02 -9.22433817e-03 1.50828983e+02] [ 3.99697153e-02 9.99200888e-01 -8.93480096e-05 4.02974508e+00] [ 9.22053802e-03 -2.79421361e-04 9.99957451e-01 5.71635504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters 0.060070307489993674 Centerline is valid? [True, True] Translation: X:150.89, Y:4.02, Z:0.57 [[ 9.99120443e-01 -4.11251522e-02 -8.18918381e-03 1.50890093e+02] [ 4.11258829e-02 9.99153970e-01 -7.92224695e-05 4.02365664e+00] [ 8.18551355e-03 -2.57634625e-04 9.99966465e-01 5.72010683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters 0.0582018228214276 Centerline is valid? [True, True] Translation: X:150.95, Y:4.04, Z:0.57 [[ 9.99081730e-01 -4.24728655e-02 -5.63484877e-03 1.50951729e+02] [ 4.24732334e-02 9.99097604e-01 -5.44073100e-05 4.03546441e+00] [ 5.63207473e-03 -1.84972897e-04 9.99984123e-01 5.74785416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters 0.058967564530788504 Centerline is valid? [True, True] Translation: X:151.01, Y:4.03, Z:0.58 [[ 9.99058814e-01 -4.31252990e-02 -4.65786178e-03 1.51013182e+02] [ 4.31255580e-02 9.99069659e-01 -4.48773071e-05 4.03217160e+00] [ 4.65546373e-03 -1.56037819e-04 9.99989151e-01 5.75779366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters 0.05975336473766517 Centerline is valid? [True, True] Translation: X:151.07, Y:4.03, Z:0.58 [[ 9.99097148e-01 -4.23608991e-02 -3.23168611e-03 1.51074106e+02] [ 4.23610199e-02 9.99102369e-01 -3.10865675e-05 4.03333856e+00] [ 3.23010210e-03 -1.05839018e-04 9.99994778e-01 5.76369455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters 0.060408483050349265 Centerline is valid? [True, True] Translation: X:151.14, Y:4.04, Z:0.58 [[ 9.99144624e-01 -4.12016427e-02 -3.52783916e-03 1.51135751e+02] [ 4.12017797e-02 9.99150846e-01 -3.38490963e-05 4.03610613e+00] [ 3.52623812e-03 -1.11533109e-04 9.99993777e-01 5.76139369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339254154 meters 0.059166368909354256 Centerline is valid? [True, True] Translation: X:151.20, Y:4.04, Z:0.58 [[ 9.99324417e-01 -3.65234963e-02 -4.09203829e-03 1.51196055e+02] [ 3.65236420e-02 9.99332788e-01 -3.91282809e-05 4.04299348e+00] [ 4.09073713e-03 -1.10354295e-04 9.99991627e-01 5.75064435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399254154 meters 0.05853878187860026 Centerline is valid? [True, True] Translation: X:151.26, Y:4.05, Z:0.57 [[ 9.99448863e-01 -3.29017697e-02 -4.40943125e-03 1.51256736e+02] [ 3.29019037e-02 9.99458585e-01 -4.21578177e-05 4.05190540e+00] [ 4.40843098e-03 -1.02944099e-04 9.99990278e-01 5.74386330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459254154 meters 0.05705630699123819 Centerline is valid? [True, True] Translation: X:151.32, Y:4.06, Z:0.57 [[ 9.99596404e-01 -2.78664156e-02 -5.52198147e-03 1.51317484e+02] [ 2.78665494e-02 9.99611651e-01 -5.27328124e-05 4.05862979e+00] [ 5.52130649e-03 -1.01167040e-04 9.99984752e-01 5.73336786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519254154 meters 0.057044717490089596 Centerline is valid? [True, True] Translation: X:151.38, Y:4.07, Z:0.57 [[ 9.99676143e-01 -2.48853727e-02 -5.32239412e-03 1.51379355e+02] [ 2.48854552e-02 9.99690308e-01 -5.07371161e-05 4.06690273e+00] [ 5.32200843e-03 -8.17295158e-05 9.99985835e-01 5.73892889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579254154 meters 0.056875048362406054 Centerline is valid? [True, True] Translation: X:151.44, Y:4.07, Z:0.57 [[ 9.99741195e-01 -2.20699613e-02 -5.51909912e-03 1.51440757e+02] [ 2.20700079e-02 9.99756426e-01 -5.24803970e-05 4.07029594e+00] [ 5.51891306e-03 -6.93397462e-05 9.99984768e-01 5.73368839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639254154 meters 0.055482778449268494 Centerline is valid? [True, True] Translation: X:151.50, Y:4.08, Z:0.57 [[ 9.99743932e-01 -2.18519136e-02 -5.87912014e-03 1.51502408e+02] [ 2.18519635e-02 9.99761216e-01 -5.57442861e-05 4.07672171e+00] [ 5.87893442e-03 -7.27403071e-05 9.99982716e-01 5.74553894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69925415400002 meters 0.056667897811685165 Centerline is valid? [True, True] Translation: X:151.56, Y:4.08, Z:0.57 [[ 9.99653960e-01 -2.56322316e-02 -5.91170551e-03 1.51563613e+02] [ 2.56323493e-02 9.99671436e-01 -5.58783223e-05 4.07776115e+00] [ 5.91119542e-03 -9.56719143e-05 9.99982524e-01 5.74959402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters 0.05579479377728561 Centerline is valid? [True, True] Translation: X:151.62, Y:4.07, Z:0.58 [[ 9.99522607e-01 -3.04420888e-02 -5.27616272e-03 1.51623244e+02] [ 3.04422502e-02 9.99536526e-01 -4.97422480e-05 4.07463635e+00] [ 5.27523162e-03 -1.10899764e-04 9.99986080e-01 5.75607930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters 0.05746979903617993 Centerline is valid? [True, True] Translation: X:151.68, Y:4.07, Z:0.58 [[ 9.99258767e-01 -3.82785120e-02 -4.08316078e-03 1.51682638e+02] [ 3.82786744e-02 9.99267102e-01 -3.83950243e-05 4.06707609e+00] [ 4.08163795e-03 -1.17931418e-04 9.99991663e-01 5.76595782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters 0.0565651050662613 Centerline is valid? [True, True] Translation: X:151.74, Y:4.08, Z:0.58 [[ 9.99121015e-01 -4.16597733e-02 -4.65401462e-03 1.51743958e+02] [ 4.16600213e-02 9.99131844e-01 -4.36910204e-05 4.07552468e+00] [ 4.65179436e-03 -1.50233731e-04 9.99989169e-01 5.76347469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters 0.058809165401437206 Centerline is valid? [True, True] Translation: X:151.80, Y:4.07, Z:0.58 [[ 9.99189574e-01 -3.98945843e-02 -5.34951214e-03 1.51804817e+02] [ 3.98948869e-02 9.99203881e-01 -5.01706069e-05 4.06581332e+00] [ 5.34725483e-03 -1.63288235e-04 9.99985690e-01 5.75388904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters 0.05727866405507993 Centerline is valid? [True, True] Translation: X:151.87, Y:4.08, Z:0.58 [[ 9.99439397e-01 -3.31445280e-02 -4.72572542e-03 1.51865877e+02] [ 3.31446891e-02 9.99450563e-01 -4.42509849e-05 4.07569002e+00] [ 4.72459561e-03 -1.12406522e-04 9.99988833e-01 5.76868309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059254154 meters 0.05665700341666031 Centerline is valid? [True, True] Translation: X:151.93, Y:4.08, Z:0.58 [[ 9.99600619e-01 -2.79640203e-02 -4.07617053e-03 1.51926495e+02] [ 2.79640972e-02 9.99608927e-01 -3.81192888e-05 4.08405357e+00] [ 4.07564242e-03 -7.58823642e-05 9.99991692e-01 5.77916784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119254154 meters 0.05553065247379204 Centerline is valid? [True, True] Translation: X:151.99, Y:4.09, Z:0.58 [[ 9.99740223e-01 -2.24922898e-02 -3.68564832e-03 1.51986940e+02] [ 2.24923156e-02 9.99747015e-01 -3.44584452e-05 4.09255813e+00] [ 3.68549096e-03 -4.84492715e-05 9.99993207e-01 5.78018306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179254154 meters 0.05657894622734035 Centerline is valid? [True, True] Translation: X:152.05, Y:4.09, Z:0.58 [[ 9.99762842e-01 -2.11319355e-02 -5.26323992e-03 1.52047941e+02] [ 2.11319697e-02 9.99776694e-01 -4.91270832e-05 4.08994371e+00] [ 5.26310275e-03 -6.21071940e-05 9.99986148e-01 5.76518833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239254154 meters 0.05620823040246416 Centerline is valid? [True, True] Translation: X:152.11, Y:4.09, Z:0.58 [[ 9.99675188e-01 -2.44340641e-02 -7.24533251e-03 1.52110429e+02] [ 2.44342174e-02 9.99701438e-01 -6.73823185e-05 4.09119650e+00] [ 7.24481575e-03 -1.09673598e-04 9.99973750e-01 5.75980603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299254154 meters 0.05565890988483118 Centerline is valid? [True, True] Translation: X:152.17, Y:4.09, Z:0.58 [[ 9.99564289e-01 -2.83206099e-02 -8.31714892e-03 1.52170363e+02] [ 2.83209489e-02 9.99598879e-01 -7.70354515e-05 4.09389241e+00] [ 8.31599442e-03 -1.58547664e-04 9.99965409e-01 5.77226739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359254154 meters 0.05651023732929655 Centerline is valid? [True, True] Translation: X:152.23, Y:4.09, Z:0.58 [[ 9.99336986e-01 -3.53282024e-02 -8.80373133e-03 1.52231096e+02] [ 3.53288558e-02 9.99375738e-01 -8.13360771e-05 4.09170463e+00] [ 8.80110895e-03 -2.29743605e-04 9.99961243e-01 5.77720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41925415400001 meters 0.05623487028661838 Centerline is valid? [True, True] Translation: X:152.29, Y:4.09, Z:0.58 [[ 9.99205979e-01 -3.90237960e-02 -8.03454981e-03 1.52292095e+02] [ 3.90244601e-02 9.99238253e-01 -7.41603929e-05 4.09081676e+00] [ 8.03132353e-03 -2.39442461e-04 9.99967720e-01 5.78961075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47925415400002 meters 0.05714711051228526 Centerline is valid? [True, True] Translation: X:152.35, Y:4.08, Z:0.58 [[ 9.99106292e-01 -4.18125595e-02 -6.19094993e-03 1.52351974e+02] [ 4.18130075e-02 9.99125452e-01 -5.71180762e-05 4.08084328e+00] [ 6.18792390e-03 -2.01795207e-04 9.99980834e-01 5.79375634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters 0.05558944312836093 Centerline is valid? [True, True] Translation: X:152.41, Y:4.09, Z:0.58 [[ 9.99170037e-01 -4.04326375e-02 -4.94363964e-03 1.52413684e+02] [ 4.04329064e-02 9.99182255e-01 -4.55813626e-05 4.09296309e+00] [ 4.94143998e-03 -1.54342187e-04 9.99987779e-01 5.80583945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters 0.05593323397629762 Centerline is valid? [True, True] Translation: X:152.47, Y:4.09, Z:0.58 [[ 9.99288248e-01 -3.74302905e-02 -4.68732405e-03 1.52473137e+02] [ 3.74304997e-02 9.99299232e-01 -4.31159054e-05 4.08952647e+00] [ 4.68565317e-03 -1.32363664e-04 9.99989014e-01 5.80975572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters 0.056515261145988684 Centerline is valid? [True, True] Translation: X:152.53, Y:4.09, Z:0.58 [[ 9.99462178e-01 -3.24150104e-02 -4.96212045e-03 1.52532189e+02] [ 3.24151829e-02 9.99474489e-01 -4.56853778e-05 4.09168700e+00] [ 4.96099369e-03 -1.15187235e-04 9.99987688e-01 5.81516290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters 0.05703353240863197 Centerline is valid? [True, True] Translation: X:152.59, Y:4.10, Z:0.58 [[ 9.99547660e-01 -2.95175373e-02 -5.76105439e-03 1.52593328e+02] [ 2.95177216e-02 9.99564256e-01 -5.30470436e-05 4.09546169e+00] [ 5.76010986e-03 -1.17030151e-04 9.99983404e-01 5.81123826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779254154 meters 0.055751039891737 Centerline is valid? [True, True] Translation: X:152.65, Y:4.10, Z:0.58 [[ 9.99626571e-01 -2.62757612e-02 -7.50354500e-03 1.52654922e+02] [ 2.62759838e-02 9.99654724e-01 -6.89324661e-05 4.10008892e+00] [ 7.50276546e-03 -1.28256302e-04 9.99971846e-01 5.78881001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839254154 meters 0.05562836645782752 Centerline is valid? [True, True] Translation: X:152.72, Y:4.11, Z:0.58 [[ 9.99662221e-01 -2.45610023e-02 -8.49714287e-03 1.52715971e+02] [ 2.45612277e-02 9.99698325e-01 -7.78486875e-05 4.10752438e+00] [ 8.49649154e-03 -1.30877869e-04 9.99963896e-01 5.78926533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899254154 meters 0.05522409202802926 Centerline is valid? [True, True] Translation: X:152.78, Y:4.12, Z:0.58 [[ 9.99692103e-01 -2.24552189e-02 -1.05576128e-02 1.52778397e+02] [ 2.24554529e-02 9.99747840e-01 -9.63884994e-05 4.11569289e+00] [ 1.05571150e-02 -1.40717155e-04 9.99944262e-01 5.79491081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959254154 meters 0.055752925614982005 Centerline is valid? [True, True] Translation: X:152.84, Y:4.11, Z:0.58 [[ 9.99710258e-01 -2.12660531e-02 -1.12762639e-02 1.52838593e+02] [ 2.12662474e-02 9.99773843e-01 -1.02689705e-04 4.11243094e+00] [ 1.12758975e-02 -1.37143866e-04 9.99936416e-01 5.76754882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019254154 meters 0.05582451447384239 Centerline is valid? [True, True] Translation: X:152.90, Y:4.12, Z:0.58 [[ 9.99744678e-01 -2.08462871e-02 -8.71846191e-03 1.52898891e+02] [ 2.08463877e-02 9.99782687e-01 -7.93466031e-05 4.11771334e+00] [ 8.71822136e-03 -1.02422093e-04 9.99961990e-01 5.80774298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079254154 meters 0.055449400297035475 Centerline is valid? [True, True] Translation: X:152.96, Y:4.12, Z:0.58 [[ 9.99730244e-01 -2.18145121e-02 -7.97289177e-03 1.52960397e+02] [ 2.18146278e-02 9.99762030e-01 -7.24659716e-05 4.11755471e+00] [ 7.97257528e-03 -1.01479243e-04 9.99968213e-01 5.82016156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.139254154 meters 0.056119731632262033 Centerline is valid? [True, True] Translation: X:153.02, Y:4.12, Z:0.58 [[ 9.99636847e-01 -2.58234682e-02 -7.70206629e-03 1.53021569e+02] [ 2.58236963e-02 9.99666510e-01 -6.98565449e-05 4.11653004e+00] [ 7.70130167e-03 -1.29064644e-04 9.99970336e-01 5.81855144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19925415400002 meters 0.055835798575491966 Centerline is valid? [True, True] Translation: X:153.08, Y:4.12, Z:0.58 [[ 9.99532146e-01 -2.96008868e-02 -7.69917176e-03 1.53083051e+02] [ 2.96012276e-02 9.99561785e-01 -6.97121991e-05 4.11662065e+00] [ 7.69786141e-03 -1.58225352e-04 9.99970359e-01 5.82185302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters 0.05633646820814934 Centerline is valid? [True, True] Translation: X:153.14, Y:4.11, Z:0.58 [[ 9.99410287e-01 -3.33687568e-02 -8.09962543e-03 1.53144000e+02] [ 3.33692586e-02 9.99443089e-01 -7.32127427e-05 4.11351124e+00] [ 8.09755767e-03 -1.97108927e-04 9.99967195e-01 5.81885868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters 0.05701553159347128 Centerline is valid? [True, True] Translation: X:153.20, Y:4.12, Z:0.58 [[ 9.99308533e-01 -3.62442022e-02 -8.29545255e-03 1.53204753e+02] [ 3.62448286e-02 9.99342938e-01 -7.48551951e-05 4.11582090e+00] [ 8.29271499e-03 -2.25863821e-04 9.99965589e-01 5.82635113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters 0.05572599976676252 Centerline is valid? [True, True] Translation: X:153.27, Y:4.12, Z:0.58 [[ 9.99232271e-01 -3.81820000e-02 -8.77518963e-03 1.53265461e+02] [ 3.81827765e-02 9.99270769e-01 -7.90808541e-05 4.12091049e+00] [ 8.77180996e-03 -2.56040963e-04 9.99961494e-01 5.83008003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters 0.05691895823760148 Centerline is valid? [True, True] Translation: X:153.33, Y:4.12, Z:0.58 [[ 9.99245568e-01 -3.75151069e-02 -1.00454595e-02 1.53326642e+02] [ 3.75160932e-02 9.99296020e-01 -9.02988084e-05 4.11682098e+00] [ 1.00417752e-02 -2.86635710e-04 9.99949539e-01 5.81866839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters 0.055649764332059974 Centerline is valid? [True, True] Translation: X:153.39, Y:4.12, Z:0.58 [[ 9.99334588e-01 -3.47050216e-02 -1.12223760e-02 1.53388583e+02] [ 3.47060790e-02 9.99397558e-01 -1.00571385e-04 4.12157434e+00] [ 1.12191055e-02 -2.88980206e-04 9.99937022e-01 5.80634046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559254154 meters 0.05591495783237048 Centerline is valid? [True, True] Translation: X:153.45, Y:4.13, Z:0.58 [[ 9.99427800e-01 -3.17879483e-02 -1.15584935e-02 1.53450435e+02] [ 3.17888780e-02 9.99494601e-01 -1.03317979e-04 4.12569475e+00] [ 1.15559361e-02 -2.64172681e-04 9.99933193e-01 5.80901522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619254154 meters 0.05519946826759273 Centerline is valid? [True, True] Translation: X:153.51, Y:4.14, Z:0.59 [[ 9.99528993e-01 -2.85107612e-02 -1.13546422e-02 1.53511590e+02] [ 2.85114503e-02 9.99593461e-01 -1.01216597e-04 4.13853611e+00] [ 1.13529119e-02 -2.22568393e-04 9.99935529e-01 5.85174880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679254154 meters 0.05551199137877791 Centerline is valid? [True, True] Translation: X:153.57, Y:4.14, Z:0.59 [[ 9.99556259e-01 -2.72242638e-02 -1.20881635e-02 1.53573146e+02] [ 2.72249545e-02 9.99629326e-01 -1.07436211e-04 4.13849097e+00] [ 1.20866076e-02 -2.21711166e-04 9.99926930e-01 5.85112472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739254154 meters 0.05513442380229482 Centerline is valid? [True, True] Translation: X:153.64, Y:4.14, Z:0.59 [[ 9.99520215e-01 -2.87102335e-02 -1.16216565e-02 1.53635405e+02] [ 2.87109764e-02 9.99587750e-01 -1.02938671e-04 4.13981395e+00] [ 1.16198208e-02 -2.30779823e-04 9.99932461e-01 5.86059489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799254154 meters 0.055268859676895606 Centerline is valid? [True, True] Translation: X:153.70, Y:4.14, Z:0.59 [[ 9.99450353e-01 -3.09953884e-02 -1.17591655e-02 1.53696885e+02] [ 3.09963125e-02 9.99519493e-01 -1.03701240e-04 4.13897124e+00] [ 1.17567294e-02 -2.60846526e-04 9.99930853e-01 5.86964616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859254154 meters 0.05549145014434487 Centerline is valid? [True, True] Translation: X:153.76, Y:4.14, Z:0.59 [[ 9.99381196e-01 -3.32501394e-02 -1.14740151e-02 1.53758587e+02] [ 3.32511717e-02 9.99447022e-01 -1.00842932e-04 4.14089593e+00] [ 1.14710233e-02 -2.80743917e-04 9.99934166e-01 5.87838894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91925415400001 meters 0.05508081791538629 Centerline is valid? [True, True] Translation: X:153.82, Y:4.15, Z:0.59 [[ 9.99321809e-01 -3.50653817e-02 -1.12401909e-02 1.53820624e+02] [ 3.50664909e-02 9.99384977e-01 -9.84491450e-05 4.14504083e+00] [ 1.12367301e-02 -2.95771675e-04 9.99936822e-01 5.89218904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97925415400002 meters 0.05775136774498324 Centerline is valid? [True, True] Translation: X:153.88, Y:4.13, Z:0.59 [[ 9.99347775e-01 -3.43592316e-02 -1.11116076e-02 1.53882160e+02] [ 3.43602754e-02 9.99409507e-01 -9.70150476e-05 4.13258695e+00] [ 1.11083796e-02 -2.84846124e-04 9.99938259e-01 5.85388687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters 0.05677287948874774 Centerline is valid? [True, True] Translation: X:153.94, Y:4.14, Z:0.59 [[ 9.99379687e-01 -3.35675961e-02 -1.06516687e-02 1.53944727e+02] [ 3.35685139e-02 9.99436414e-01 -9.26534605e-05 4.13548293e+00] [ 1.06487758e-02 -2.64964704e-04 9.99943265e-01 5.86658824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters 0.05670098015678067 Centerline is valid? [True, True] Translation: X:154.01, Y:4.14, Z:0.59 [[ 9.99415801e-01 -3.28869807e-02 -9.30067826e-03 1.54006996e+02] [ 3.28876537e-02 9.99459052e-01 -8.06117265e-05 4.14065150e+00] [ 9.29829815e-03 -2.25312852e-04 9.99956745e-01 5.87427908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters 0.05606273113690998 Centerline is valid? [True, True] Translation: X:154.07, Y:4.15, Z:0.59 [[ 9.99429900e-01 -3.25172003e-02 -9.08336021e-03 1.54069382e+02] [ 3.25178299e-02 9.99471152e-01 -7.84030886e-05 4.15071419e+00] [ 9.08110595e-03 -2.17012771e-04 9.99958742e-01 5.88954646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters 0.05527758879621243 Centerline is valid? [True, True] Translation: X:154.13, Y:4.15, Z:0.59 [[ 9.99423858e-01 -3.26421848e-02 -9.29731203e-03 1.54130126e+02] [ 3.26428526e-02 9.99467077e-01 -7.99540427e-05 4.14697829e+00] [ 9.29496715e-03 -2.23582808e-04 9.99956776e-01 5.88156796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279254154 meters 0.05439862515651315 Centerline is valid? [True, True] Translation: X:154.19, Y:4.15, Z:0.59 [[ 9.99371111e-01 -3.42279768e-02 -9.26439793e-03 1.54192494e+02] [ 3.42287105e-02 9.99414023e-01 -7.93980420e-05 4.15349994e+00] [ 9.26168684e-03 -2.37760286e-04 9.99957081e-01 5.89784773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339254154 meters 0.055241609019103556 Centerline is valid? [True, True] Translation: X:154.25, Y:4.15, Z:0.59 [[ 9.99291612e-01 -3.63775438e-02 -9.64096097e-03 1.54252996e+02] [ 3.63784405e-02 9.99338082e-01 -8.23954884e-05 4.14812255e+00] [ 9.63757679e-03 -2.68386005e-04 9.99953521e-01 5.88858278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399254154 meters 0.054872231180221644 Centerline is valid? [True, True] Translation: X:154.31, Y:4.15, Z:0.59 [[ 9.99129913e-01 -4.03644141e-02 -1.04943449e-02 1.54312561e+02] [ 4.03656976e-02 9.99184969e-01 -8.95690172e-05 4.14524227e+00] [ 1.04894071e-02 -3.34120470e-04 9.99944929e-01 5.88446531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459254154 meters 0.05558100501646633 Centerline is valid? [True, True] Translation: X:154.37, Y:4.14, Z:0.59 [[ 9.98997915e-01 -4.36740152e-02 -9.78504377e-03 1.54373570e+02] [ 4.36752900e-02 9.99045776e-01 -8.34766607e-05 4.14486496e+00] [ 9.77935240e-03 -3.43971614e-04 9.99952122e-01 5.88466659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519254154 meters 0.055361789153521954 Centerline is valid? [True, True] Translation: X:154.44, Y:4.15, Z:0.59 [[ 9.98991231e-01 -4.40328832e-02 -8.81053668e-03 1.54435615e+02] [ 4.40339330e-02 9.99030033e-01 -7.48903550e-05 4.14885612e+00] [ 8.80528839e-03 -3.13147774e-04 9.99961184e-01 5.89928397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579254154 meters 0.05717077176727058 Centerline is valid? [True, True] Translation: X:154.50, Y:4.14, Z:0.59 [[ 9.99148887e-01 -4.05511151e-02 -7.55698427e-03 1.54495376e+02] [ 4.05517891e-02 9.99177436e-01 -6.40750414e-05 4.14372045e+00] [ 7.55336648e-03 -2.42428726e-04 9.99971444e-01 5.90884543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639254154 meters 0.05702944629460586 Centerline is valid? [True, True] Translation: X:154.56, Y:4.15, Z:0.59 [[ 9.99302779e-01 -3.67400284e-02 -6.64275768e-03 1.54555619e+02] [ 3.67404650e-02 9.99324840e-01 -5.63449710e-05 4.14850826e+00] [ 6.64034286e-03 -1.87752320e-04 9.99977935e-01 5.92519384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69925415400002 meters 0.05463396618906503 Centerline is valid? [True, True] Translation: X:154.62, Y:4.15, Z:0.59 [[ 9.99412354e-01 -3.37250926e-02 -6.12909392e-03 1.54616423e+02] [ 3.37254077e-02 9.99431135e-01 -5.19737185e-05 4.15476006e+00] [ 6.12736012e-03 -1.54763015e-04 9.99981216e-01 5.93081333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters 0.05480407882300466 Centerline is valid? [True, True] Translation: X:154.68, Y:4.16, Z:0.59 [[ 9.99493729e-01 -3.10629016e-02 -6.88351848e-03 1.54677805e+02] [ 3.10632364e-02 9.99517420e-01 -5.83015065e-05 4.15821855e+00] [ 6.88200764e-03 -1.55552372e-04 9.99976307e-01 5.91536664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters 0.05536650952967577 Centerline is valid? [True, True] Translation: X:154.74, Y:4.15, Z:0.59 [[ 9.99509092e-01 -3.01788300e-02 -8.41508781e-03 1.54739488e+02] [ 3.01793009e-02 9.99544499e-01 -7.10523735e-05 4.15238563e+00] [ 8.41339900e-03 -1.82943974e-04 9.99964590e-01 5.89204222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters 0.055831430247034165 Centerline is valid? [True, True] Translation: X:154.80, Y:4.16, Z:0.59 [[ 9.99512136e-01 -2.98072886e-02 -9.32823900e-03 1.54801605e+02] [ 2.98078543e-02 9.99555644e-01 -7.84089208e-05 4.15830455e+00] [ 9.32643110e-03 -1.99684121e-04 9.99956488e-01 5.90402680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters 0.0549650356800305 Centerline is valid? [True, True] Translation: X:154.86, Y:4.16, Z:0.59 [[ 9.99500875e-01 -3.01418116e-02 -9.45893966e-03 1.54863721e+02] [ 3.01424115e-02 9.99545611e-01 -7.91679044e-05 4.16124448e+00] [ 9.45702788e-03 -2.05986862e-04 9.99955260e-01 5.91222353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters 0.05505086387802632 Centerline is valid? [True, True] Translation: X:154.93, Y:4.16, Z:0.59 [[ 9.99525091e-01 -2.92561652e-02 -9.67832837e-03 1.54925472e+02] [ 2.92567549e-02 9.99571926e-01 -8.06854117e-05 4.15792368e+00] [ 9.67654588e-03 -2.02509387e-04 9.99953161e-01 5.90732490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059254154 meters 0.05539917929712241 Centerline is valid? [True, True] Translation: X:154.99, Y:4.16, Z:0.59 [[ 9.99553276e-01 -2.80643779e-02 -1.02780503e-02 1.54987993e+02] [ 2.80649833e-02 9.99606097e-01 -8.53461466e-05 4.16112650e+00] [ 1.02763969e-02 -2.03145289e-04 9.99947176e-01 5.92038421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119254154 meters 0.05581527806933118 Centerline is valid? [True, True] Translation: X:155.05, Y:4.16, Z:0.59 [[ 9.99598102e-01 -2.65187494e-02 -1.00194991e-02 1.55049007e+02] [ 2.65192499e-02 9.99648299e-01 -8.29314608e-05 4.15877010e+00] [ 1.00181745e-02 -1.82811470e-04 9.99949800e-01 5.91509835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179254154 meters 0.05554826816103238 Centerline is valid? [True, True] Translation: X:155.11, Y:4.16, Z:0.59 [[ 9.99632076e-01 -2.55368731e-02 -9.14226073e-03 1.55111008e+02] [ 2.55372510e-02 9.99673868e-01 -7.54186922e-05 4.16358486e+00] [ 9.14120511e-03 -1.58077263e-04 9.99958206e-01 5.93656987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239254154 meters 0.055650165596482115 Centerline is valid? [True, True] Translation: X:155.17, Y:4.16, Z:0.59 [[ 9.99643939e-01 -2.50590155e-02 -9.16733759e-03 1.55173574e+02] [ 2.50593781e-02 9.99685962e-01 -7.53313029e-05 4.16446707e+00] [ 9.16634642e-03 -1.54423298e-04 9.99957976e-01 5.94245192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299254154 meters 0.05586825742214779 Centerline is valid? [True, True] Translation: X:155.23, Y:4.16, Z:0.59 [[ 9.99672239e-01 -2.34889687e-02 -1.01824589e-02 1.55234829e+02] [ 2.34893375e-02 9.99724084e-01 -8.33827986e-05 4.16212946e+00] [ 1.01816080e-02 -1.55823745e-04 9.99948154e-01 5.92773191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359254154 meters 0.05558837825610267 Centerline is valid? [True, True] Translation: X:155.30, Y:4.16, Z:0.59 [[ 9.99746310e-01 -2.03245305e-02 -9.70714556e-03 1.55296658e+02] [ 2.03247187e-02 9.99793428e-01 -7.92686359e-05 4.16487482e+00] [ 9.70675144e-03 -1.18046477e-04 9.99952881e-01 5.94028360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41925415400001 meters 0.05463505659587493 Centerline is valid? [True, True] Translation: X:155.36, Y:4.17, Z:0.60 [[ 9.99814287e-01 -1.75530646e-02 -7.95495220e-03 1.55357680e+02] [ 1.75531031e-02 9.99845930e-01 -6.49737373e-05 4.16901983e+00] [ 7.95486707e-03 -7.46724257e-05 9.99968357e-01 5.96134304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47925415400002 meters 0.05462820436461917 Centerline is valid? [True, True] Translation: X:155.42, Y:4.17, Z:0.60 [[ 9.99867526e-01 -1.40343850e-02 -8.24414901e-03 1.55418512e+02] [ 1.40343067e-02 9.99901512e-01 -6.73535989e-05 4.16940022e+00] [ 8.24428233e-03 -4.83562391e-05 9.99966014e-01 5.96521456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters 0.055474191437735965 Centerline is valid? [True, True] Translation: X:155.48, Y:4.17, Z:0.59 [[ 9.99888279e-01 -1.08167502e-02 -1.03164119e-02 1.55478839e+02] [ 1.08164572e-02 9.99941497e-01 -8.42018556e-05 4.17144316e+00] [ 1.03167191e-02 -2.73945788e-05 9.99946781e-01 5.94184935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters 0.056177592821767555 Centerline is valid? [True, True] Translation: X:155.54, Y:4.17, Z:0.60 [[ 9.99879983e-01 -1.12874067e-02 -1.06119432e-02 1.55537197e+02] [ 1.12871153e-02 9.99936295e-01 -8.73476688e-05 4.17108110e+00] [ 1.06122531e-02 -3.24410418e-05 9.99943688e-01 5.95632452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters 0.05582357580736171 Centerline is valid? [True, True] Translation: X:155.60, Y:4.17, Z:0.59 [[ 9.99823453e-01 -1.50463990e-02 -1.12546886e-02 1.55596200e+02] [ 1.50463029e-02 9.99886794e-01 -9.32146387e-05 4.16534467e+00] [ 1.12548170e-02 -7.61432711e-05 9.99936660e-01 5.94032408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters 0.055404042140429176 Centerline is valid? [True, True] Translation: X:155.66, Y:4.16, Z:0.60 [[ 9.99773695e-01 -1.84359365e-02 -1.06148255e-02 1.55655994e+02] [ 1.84360403e-02 9.99830038e-01 -8.80804187e-05 4.16354898e+00] [ 1.06146453e-02 -1.07634866e-04 9.99943657e-01 5.96233163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779254154 meters 0.05607224849393859 Centerline is valid? [True, True] Translation: X:155.72, Y:4.16, Z:0.60 [[ 9.99674211e-01 -2.35346813e-02 -9.87879555e-03 1.55715844e+02] [ 2.35350195e-02 9.99723010e-01 -8.20313458e-05 4.15839079e+00] [ 9.87798980e-03 -1.50493025e-04 9.99951200e-01 5.96807522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839254154 meters 0.05505562782124914 Centerline is valid? [True, True] Translation: X:155.78, Y:4.16, Z:0.60 [[ 9.99602240e-01 -2.66941832e-02 -9.09845117e-03 1.55778115e+02] [ 2.66946024e-02 9.99643633e-01 -7.53797577e-05 4.15875516e+00] [ 9.09722099e-03 -1.67529762e-04 9.99958605e-01 5.97446365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899254154 meters 0.05604184728704898 Centerline is valid? [True, True] Translation: X:155.84, Y:4.15, Z:0.60 [[ 9.99487445e-01 -3.08245329e-02 -8.64266838e-03 1.55838012e+02] [ 3.08250666e-02 9.99524792e-01 -7.14787999e-05 4.15149723e+00] [ 8.64076462e-03 -1.94968666e-04 9.99962649e-01 5.96799746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959254154 meters 0.05632965826565185 Centerline is valid? [True, True] Translation: X:155.90, Y:4.15, Z:0.60 [[ 9.99378348e-01 -3.43168839e-02 -8.07887778e-03 1.55898413e+02] [ 3.43174646e-02 9.99410980e-01 -6.67830472e-05 4.14682302e+00] [ 8.07641094e-03 -2.10505070e-04 9.99967363e-01 5.97333672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019254154 meters 0.057427717848885326 Centerline is valid? [True, True] Translation: X:155.96, Y:4.14, Z:0.60 [[ 9.99136848e-01 -4.07782025e-02 -7.91815322e-03 1.55958655e+02] [ 4.07789634e-02 9.99168190e-01 -6.53994657e-05 4.13974111e+00] [ 7.91423369e-03 -2.57551064e-04 9.99968649e-01 5.97522107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079254154 meters 0.057227850868386027 Centerline is valid? [True, True] Translation: X:156.02, Y:4.14, Z:0.60 [[ 9.98954985e-01 -4.50700713e-02 -7.59128246e-03 1.56018878e+02] [ 4.50708947e-02 9.98983789e-01 -6.26698770e-05 4.13932046e+00] [ 7.58639265e-03 -2.79541506e-04 9.99971184e-01 5.97802530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.139254154 meters 0.05907172914722703 Centerline is valid? [True, True] Translation: X:156.08, Y:4.13, Z:0.60 [[ 9.98764527e-01 -4.90865956e-02 -7.74115064e-03 1.56079205e+02] [ 4.90875728e-02 9.98794476e-01 -6.38332390e-05 4.13169397e+00] [ 7.73495185e-03 -3.16239920e-04 9.99970035e-01 5.97623520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19925415400002 meters 0.0598456784172605 Centerline is valid? [True, True] Translation: X:156.14, Y:4.13, Z:0.60 [[ 9.98730925e-01 -4.96044359e-02 -8.71429871e-03 1.56140903e+02] [ 4.96056968e-02 9.98768877e-01 -7.15322780e-05 4.13012757e+00] [ 8.70711866e-03 -3.60837361e-04 9.99962027e-01 5.96710586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters 0.0571367389076478 Centerline is valid? [True, True] Translation: X:156.20, Y:4.14, Z:0.60 [[ 9.98739900e-01 -4.92949264e-02 -9.41399908e-03 1.56202936e+02] [ 4.92963878e-02 9.98784191e-01 -7.68873730e-05 4.14045775e+00] [ 9.40634361e-03 -3.87285662e-04 9.99955684e-01 5.96864059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters 0.05543307600626495 Centerline is valid? [True, True] Translation: X:156.26, Y:4.15, Z:0.60 [[ 9.98780988e-01 -4.85008582e-02 -9.17629833e-03 1.56264776e+02] [ 4.85022159e-02 9.98823072e-01 -7.46575618e-05 4.15373343e+00] [ 9.16911945e-03 -3.70504250e-04 9.99957894e-01 5.97890029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters 0.055084265086048294 Centerline is valid? [True, True] Translation: X:156.32, Y:4.16, Z:0.60 [[ 9.98920688e-01 -4.54852112e-02 -9.41032543e-03 1.56324866e+02] [ 4.54865064e-02 9.98964950e-01 -7.64564266e-05 4.15608494e+00] [ 9.40406291e-03 -3.51668921e-04 9.99955719e-01 5.97573170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters 0.05505142792139539 Centerline is valid? [True, True] Translation: X:156.39, Y:4.16, Z:0.60 [[ 9.99053061e-01 -4.26091516e-02 -8.80007640e-03 1.56385479e+02] [ 4.26101734e-02 9.99091772e-01 -7.14360828e-05 4.16211192e+00] [ 8.79512775e-03 -3.03604344e-04 9.99961276e-01 5.98398552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters 0.05589751620440576 Centerline is valid? [True, True] Translation: X:156.45, Y:4.16, Z:0.60 [[ 9.99269356e-01 -3.74539360e-02 -7.61290549e-03 1.56445274e+02] [ 3.74545514e-02 9.99298330e-01 -6.17750057e-05 4.15743825e+00] [ 7.60987746e-03 -2.23408090e-04 9.99971020e-01 5.97641225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559254154 meters 0.05656510164476656 Centerline is valid? [True, True] Translation: X:156.50, Y:4.16, Z:0.60 [[ 9.99375627e-01 -3.45253189e-02 -7.50727345e-03 1.56504978e+02] [ 3.45258344e-02 9.99403804e-01 -6.09523173e-05 4.15900455e+00] [ 7.50490204e-03 -1.98280620e-04 9.99971818e-01 5.97431097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619254154 meters 0.05590760828092396 Centerline is valid? [True, True] Translation: X:156.57, Y:4.17, Z:0.60 [[ 9.99522718e-01 -2.99860136e-02 -7.42793586e-03 1.56565302e+02] [ 2.99863932e-02 9.99550305e-01 -6.02891953e-05 4.16795464e+00] [ 7.42640339e-03 -1.62476585e-04 9.99972411e-01 5.97261675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679254154 meters 0.055231636877004206 Centerline is valid? [True, True] Translation: X:156.63, Y:4.17, Z:0.60 [[ 9.99634770e-01 -2.59664084e-02 -7.48815192e-03 1.56625584e+02] [ 2.59666815e-02 9.99662807e-01 -6.07562926e-05 4.17232256e+00] [ 7.48720459e-03 -1.33708354e-04 9.99971962e-01 5.97348753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739254154 meters 0.055958458414082896 Centerline is valid? [True, True] Translation: X:156.69, Y:4.18, Z:0.60 [[ 9.99784790e-01 -1.94285273e-02 -7.27370078e-03 1.56685392e+02] [ 1.94286122e-02 9.99811245e-01 -5.89824479e-05 4.17670045e+00] [ 7.27347378e-03 -8.23481578e-05 9.99973545e-01 5.96807137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799254154 meters 0.05509543268821611 Centerline is valid? [True, True] Translation: X:156.75, Y:4.18, Z:0.60 [[ 9.99862022e-01 -1.49819535e-02 -7.17477695e-03 1.56747113e+02] [ 1.49819222e-02 9.99887763e-01 -5.81125103e-05 4.18306584e+00] [ 7.17484232e-03 -4.93874581e-05 9.99974259e-01 5.97491231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859254154 meters 0.055431012627056964 Centerline is valid? [True, True] Translation: X:156.81, Y:4.19, Z:0.60 [[ 9.99915407e-01 -1.03283920e-02 -7.90593396e-03 1.56807456e+02] [ 1.03282098e-02 9.99946661e-01 -6.38721062e-05 4.18806285e+00] [ 7.90617196e-03 -1.77874420e-05 9.99968746e-01 5.97904213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91925415400001 meters 0.0549578525137368 Centerline is valid? [True, True] Translation: X:156.87, Y:4.19, Z:0.60 [[ 9.99956624e-01 -6.55150880e-03 -6.62029303e-03 1.56867393e+02] [ 6.55129884e-03 9.99978539e-01 -5.33998744e-05 4.19044747e+00] [ 6.62050080e-03 1.00260401e-05 9.99978084e-01 5.99243416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97925415400002 meters 0.05514263853232464 Centerline is valid? [True, True] Translation: X:156.93, Y:4.19, Z:0.60 [[ 9.99962510e-01 -7.08661455e-03 -4.97569391e-03 1.56926624e+02] [ 7.08650216e-03 9.99974890e-01 -4.02163309e-05 4.18920352e+00] [ 4.97585397e-03 4.95455759e-06 9.99987620e-01 6.00576146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters 0.05571023746709312 Centerline is valid? [True, True] Translation: X:156.99, Y:4.19, Z:0.60 [[ 9.99956307e-01 -7.93600198e-03 -4.94001381e-03 1.56986952e+02] [ 7.93590041e-03 9.99968509e-01 -4.01621534e-05 4.18801761e+00] [ 4.94017697e-03 9.56940943e-07 9.99987797e-01 6.01062596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters 0.05377510732783276 Centerline is valid? [True, True] Translation: X:157.05, Y:4.18, Z:0.60 [[ 9.99907271e-01 -1.23372779e-02 -5.76542796e-03 1.57047275e+02] [ 1.23372128e-02 9.99923893e-01 -4.68587153e-05 4.18173120e+00] [ 5.76556728e-03 -2.42749413e-05 9.99983379e-01 5.99733893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters 0.05510435399275534 Centerline is valid? [True, True] Translation: X:157.11, Y:4.18, Z:0.60 [[ 9.99854431e-01 -1.56165583e-02 -6.87307979e-03 1.57108262e+02] [ 1.56165437e-02 9.99878053e-01 -5.58023140e-05 4.17725701e+00] [ 6.87311308e-03 -5.15395599e-05 9.99976379e-01 5.98900468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters 0.0553227456177524 Centerline is valid? [True, True] Translation: X:157.17, Y:4.17, Z:0.60 [[ 9.99807740e-01 -1.80964485e-02 -7.54993043e-03 1.57169834e+02] [ 1.80965022e-02 9.99836243e-01 -6.12090223e-05 4.17113738e+00] [ 7.54980174e-03 -7.54300782e-05 9.99971497e-01 5.97906299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279254154 meters 0.054962490751772376 Centerline is valid? [True, True] Translation: X:157.23, Y:4.17, Z:0.60 [[ 9.99784839e-01 -1.94429887e-02 -7.22814751e-03 1.57232064e+02] [ 1.94430743e-02 9.99810964e-01 -5.84369554e-05 4.17184132e+00] [ 7.22791732e-03 -8.21130269e-05 9.99973875e-01 5.98944331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339254154 meters 0.055684263353338086 Centerline is valid? [True, True] Translation: X:157.29, Y:4.17, Z:0.60 [[ 9.99810532e-01 -1.78908673e-02 -7.66928257e-03 1.57293388e+02] [ 1.78909197e-02 9.99839943e-01 -6.17788980e-05 4.16897860e+00] [ 7.66916033e-03 -7.54433256e-05 9.99970589e-01 5.98405778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399254154 meters 0.055370736038469405 Centerline is valid? [True, True] Translation: X:157.35, Y:4.17, Z:0.60 [[ 9.99890663e-01 -1.34984435e-02 -6.03769575e-03 1.57354329e+02] [ 1.34983964e-02 9.99908891e-01 -4.85605294e-05 4.16834662e+00] [ 6.03780115e-03 -3.29439905e-05 9.99981772e-01 5.99836279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459254154 meters 0.055622467761057455 Centerline is valid? [True, True] Translation: X:157.41, Y:4.17, Z:0.60 [[ 9.99942631e-01 -9.28372876e-03 -5.34286418e-03 1.57414655e+02] [ 9.28363168e-03 9.99956905e-01 -4.29713972e-05 4.17039104e+00] [ 5.34303287e-03 -6.63225113e-06 9.99985726e-01 6.01792038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519254154 meters 0.05528419845357574 Centerline is valid? [True, True] Translation: X:157.48, Y:4.17, Z:0.60 [[ 9.99981189e-01 -3.80007980e-03 -4.81476206e-03 1.57475072e+02] [ 3.79993740e-03 9.99992779e-01 -3.87239964e-05 4.16847661e+00] [ 4.81487445e-03 2.04274735e-05 9.99988408e-01 6.02769774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579254154 meters 0.055824113850317714 Centerline is valid? [True, True] Translation: X:157.53, Y:4.17, Z:0.60 [[ 9.99982587e-01 -1.11882771e-03 -5.79438246e-03 1.57534559e+02] [ 1.11857630e-03 9.99999373e-01 -4.66284430e-05 4.16726919e+00] [ 5.79443100e-03 4.01461722e-05 9.99983211e-01 6.02274633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.639254154 meters 0.05561718725959114 Centerline is valid? [True, True] Translation: X:157.59, Y:4.16, Z:0.60 [[ 9.99978074e-01 -1.08293096e-03 -6.53291237e-03 1.57593517e+02] [ 1.08260916e-03 9.99999413e-01 -5.27936347e-05 4.16173846e+00] [ 6.53296570e-03 4.57198863e-05 9.99978659e-01 6.01467616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69925415400002 meters 0.05635801664053547 Centerline is valid? [True, True] Translation: X:157.65, Y:4.16, Z:0.60 [[ 9.99967176e-01 -3.42723980e-03 -7.34178712e-03 1.57652423e+02] [ 3.42689390e-03 9.99994126e-01 -5.96931647e-05 4.15703025e+00] [ 7.34194858e-03 3.45316798e-05 9.99973047e-01 6.00830151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters 0.056269624125643077 Centerline is valid? [True, True] Translation: X:157.71, Y:4.15, Z:0.60 [[ 9.99930877e-01 -7.80865529e-03 -8.79016269e-03 1.57711220e+02] [ 7.80832656e-03 9.99969512e-01 -7.17169204e-05 4.14881108e+00] [ 8.79045470e-03 3.07550230e-06 9.99961363e-01 6.02048707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters 0.05636519753769489 Centerline is valid? [True, True] Translation: X:157.77, Y:4.14, Z:0.60 [[ 9.99914016e-01 -1.06949334e-02 -7.58804978e-03 1.57770074e+02] [ 1.06947702e-02 9.99942807e-01 -6.20864578e-05 4.14347327e+00] [ 7.58827981e-03 -1.90713294e-05 9.99971208e-01 6.01069478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters 0.05671128172956832 Centerline is valid? [True, True] Translation: X:157.83, Y:4.14, Z:0.60 [[ 9.99894252e-01 -1.31070109e-02 -6.30001372e-03 1.57829224e+02] [ 1.31069457e-02 9.99914099e-01 -5.16469413e-05 4.14051854e+00] [ 6.30014948e-03 -3.09324577e-05 9.99980153e-01 6.03677012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters 0.056383449448735 Centerline is valid? [True, True] Translation: X:157.89, Y:4.13, Z:0.60 [[ 9.99832163e-01 -1.75076245e-02 -5.39704836e-03 1.57889987e+02] [ 1.75076406e-02 9.99846729e-01 -4.42605123e-05 4.13003383e+00] [ 5.39699604e-03 -5.02364993e-05 9.99985435e-01 6.03952070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters 0.05661413661944037 Centerline is valid? [True, True] Translation: X:157.95, Y:4.12, Z:0.60 [[ 9.99683293e-01 -2.46102418e-02 -5.25824407e-03 1.57951463e+02] [ 2.46103556e-02 9.99697118e-01 -4.30699737e-05 4.12149362e+00] [ 5.25771140e-03 -8.63509230e-05 9.99986174e-01 6.04240216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059254154 meters 0.05700529158421075 Centerline is valid? [True, True] Translation: X:158.01, Y:4.11, Z:0.60 [[ 9.99522652e-01 -3.03801465e-02 -5.61385861e-03 1.58011267e+02] [ 3.03803675e-02 9.99538409e-01 -4.59240980e-05 4.11021093e+00] [ 5.61266249e-03 -1.24648911e-04 9.99984241e-01 6.03556975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119254154 meters 0.05767705053017901 Centerline is valid? [True, True] Translation: X:158.07, Y:4.11, Z:0.60 [[ 9.99156103e-01 -4.05377581e-02 -6.61607350e-03 1.58071499e+02] [ 4.05382872e-02 9.99177984e-01 -5.41679280e-05 4.10504174e+00] [ 6.61283083e-03 -2.14082071e-04 9.99978112e-01 6.03825017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179254154 meters 0.057856322472366266 Centerline is valid? [True, True] Translation: X:158.13, Y:4.10, Z:0.60 [[ 9.98858432e-01 -4.72482521e-02 -7.03107232e-03 1.58132278e+02] [ 4.72490157e-02 9.98883140e-01 -5.75619992e-05 4.10151470e+00] [ 7.02593930e-03 -2.74714958e-04 9.99975280e-01 6.03631913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239254154 meters 0.05915496914074308 Centerline is valid? [True, True] Translation: X:158.19, Y:4.09, Z:0.60 [[ 9.98348274e-01 -5.69323415e-02 -7.70918900e-03 1.58193074e+02] [ 5.69335479e-02 9.98377968e-01 -6.30542361e-05 4.09024313e+00] [ 7.70027428e-03 -3.75961394e-04 9.99970282e-01 6.01915051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299254154 meters 0.05963051058254422 Centerline is valid? [True, True] Translation: X:158.25, Y:4.09, Z:0.60 [[ 9.98048362e-01 -6.19504739e-02 -7.84891156e-03 1.58254055e+02] [ 6.19518794e-02 9.98079135e-01 -6.41692052e-05 4.08994358e+00] [ 7.83781017e-03 -4.22210852e-04 9.99969195e-01 6.01969580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359254154 meters 0.05635551914220938 Centerline is valid? [True, True] Translation: X:158.31, Y:4.11, Z:0.60 [[ 9.97743384e-01 -6.66957538e-02 -7.73410868e-03 1.58314716e+02] [ 6.66972607e-02 9.97773257e-01 -6.32171391e-05 4.10531266e+00] [ 7.72110312e-03 -4.52769381e-04 9.99970089e-01 6.02954030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41925415400001 meters 0.060910423036106706 Centerline is valid? [True, True] Translation: X:158.38, Y:4.09, Z:0.60 [[ 9.97685295e-01 -6.74357968e-02 -8.74449404e-03 1.58375602e+02] [ 6.74377522e-02 9.97723481e-01 -7.13882039e-05 4.09030805e+00] [ 8.72940116e-03 -5.18486061e-04 9.99961764e-01 6.02463121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47925415400002 meters 0.0621030857249511 Centerline is valid? [True, True] Translation: X:158.44, Y:4.09, Z:0.60 [[ 9.97721422e-01 -6.70247789e-02 -7.72293035e-03 1.58437552e+02] [ 6.70262934e-02 9.97751207e-01 -6.28478150e-05 4.09003106e+00] [ 7.70977545e-03 -4.54934784e-04 9.99970176e-01 6.03090186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters 0.05543648544988309 Centerline is valid? [True, True] Translation: X:158.50, Y:4.12, Z:0.61 [[ 9.97867344e-01 -6.49577594e-02 -6.42285402e-03 1.58498139e+02] [ 6.49587650e-02 9.97887948e-01 -5.21386120e-05 4.11681621e+00] [ 6.41267542e-03 -3.65193247e-04 9.99979372e-01 6.05355759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters 0.05568148216704753 Centerline is valid? [True, True] Translation: X:158.56, Y:4.12, Z:0.60 [[ 9.98113597e-01 -6.10105109e-02 -6.85305972e-03 1.58558097e+02] [ 6.10115630e-02 9.98137058e-01 -5.56237505e-05 4.12102389e+00] [ 6.84368650e-03 -3.62597063e-04 9.99976516e-01 6.04995716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters 0.06118436381504295 Centerline is valid? [True, True] Translation: X:158.62, Y:4.11, Z:0.60 [[ 9.98329621e-01 -5.71881842e-02 -8.21464076e-03 1.58618048e+02] [ 5.71895668e-02 9.98363335e-01 -6.66822012e-05 4.10530718e+00] [ 8.20500958e-03 -4.03220930e-04 9.99966257e-01 6.03318220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters 0.06142697760661241 Centerline is valid? [True, True] Translation: X:158.68, Y:4.11, Z:0.60 [[ 9.98711714e-01 -5.01026320e-02 -8.03985123e-03 1.58678808e+02] [ 5.01037271e-02 9.98744017e-01 -6.52668576e-05 4.11243446e+00] [ 8.03302336e-03 -3.37643737e-04 9.99967678e-01 6.03900543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779254154 meters 0.056278866476987585 Centerline is valid? [True, True] Translation: X:158.74, Y:4.14, Z:0.61 [[ 9.99003132e-01 -4.40962235e-02 -6.94735307e-03 1.58739688e+02] [ 4.40968963e-02 9.99027257e-01 -5.63813236e-05 4.14354232e+00] [ 6.94308129e-03 -2.50031589e-04 9.99975865e-01 6.06636533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839254154 meters 0.05602043809757825 Centerline is valid? [True, True] Translation: X:158.80, Y:4.14, Z:0.61 [[ 9.99474000e-01 -3.15229717e-02 -7.61740343e-03 1.58799288e+02] [ 3.15234159e-02 9.99503012e-01 -6.17726545e-05 4.14294292e+00] [ 7.61556492e-03 -1.78386414e-04 9.99970985e-01 6.05028192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899254154 meters 0.055689020163906755 Centerline is valid? [True, True] Translation: X:158.86, Y:4.15, Z:0.61 [[ 9.99698670e-01 -2.34488884e-02 -7.26082182e-03 1.58859672e+02] [ 2.34490792e-02 9.99725031e-01 -5.88601977e-05 4.15330246e+00] [ 7.26020553e-03 -1.11417125e-04 9.99973638e-01 6.05646284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959254154 meters 0.05576107901468237 Centerline is valid? [True, True] Translation: X:158.92, Y:4.16, Z:0.61 [[ 9.99785628e-01 -1.96216157e-02 -6.60984067e-03 1.58921252e+02] [ 1.96216908e-02 9.99807475e-01 -5.34949114e-05 4.15979178e+00] [ 6.60961776e-03 -7.62128060e-05 9.99978153e-01 6.06587346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019254154 meters 0.055635606932642606 Centerline is valid? [True, True] Translation: X:158.98, Y:4.17, Z:0.61 [[ 9.99930747e-01 -1.06689968e-02 -4.96732354e-03 1.58980969e+02] [ 1.06689292e-02 9.99943085e-01 -4.01024850e-05 4.16977842e+00] [ 4.96746867e-03 -1.28963153e-05 9.99987662e-01 6.08034573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079254154 meters 0.056258155710834354 Centerline is valid? [True, True] Translation: X:159.04, Y:4.17, Z:0.61 [[ 9.99949979e-01 -9.15069554e-03 -4.03789689e-03 1.59041904e+02] [ 9.15063850e-03 9.99958132e-01 -3.25998094e-05 4.17438970e+00] [ 4.03802614e-03 -4.35115609e-06 9.99991847e-01 6.08205400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.139254154 meters 0.05563500149125394 Centerline is valid? [True, True] Translation: X:159.10, Y:4.17, Z:0.61 [[ 9.99902759e-01 -1.36011785e-02 -3.07902211e-03 1.59102833e+02] [ 1.36011663e-02 9.99907500e-01 -2.48993960e-05 4.17471603e+00] [ 3.07907596e-03 -1.69813171e-05 9.99995259e-01 6.08615492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19925415400002 meters 0.05615221504963246 Centerline is valid? [True, True] Translation: X:159.16, Y:4.17, Z:0.61 [[ 9.99806021e-01 -1.93970019e-02 -3.41720712e-03 1.59163499e+02] [ 1.93970209e-02 9.99811860e-01 -2.75690181e-05 4.16992206e+00] [ 3.41709896e-03 -3.87199678e-05 9.99994161e-01 6.08692369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters 0.0550801051202751 Centerline is valid? [True, True] Translation: X:159.22, Y:4.17, Z:0.61 [[ 9.99553035e-01 -2.97345648e-02 -3.09621946e-03 1.59224343e+02] [ 2.97346302e-02 9.99557828e-01 -2.49301595e-05 4.17104336e+00] [ 3.09559168e-03 -6.71459239e-05 9.99995206e-01 6.07600057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters 0.05654237859322874 Centerline is valid? [True, True] Translation: X:159.28, Y:4.16, Z:0.61 [[ 9.99367799e-01 -3.54196520e-02 -3.07402316e-03 1.59284177e+02] [ 3.54197435e-02 9.99372524e-01 -2.46952603e-05 4.16355759e+00] [ 3.07296898e-03 -8.42014637e-05 9.99995275e-01 6.08032189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters 0.05684619937193797 Centerline is valid? [True, True] Translation: X:159.34, Y:4.16, Z:0.61 [[ 9.99254555e-01 -3.83736700e-02 -4.21846508e-03 1.59344332e+02] [ 3.83738684e-02 9.99263451e-01 -3.39280280e-05 4.16197868e+00] [ 4.21665992e-03 -1.27976087e-04 9.99991102e-01 6.07529544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters 0.05460274638039181 Centerline is valid? [True, True] Translation: X:159.41, Y:4.17, Z:0.61 [[ 9.99389437e-01 -3.47628437e-02 -3.50697613e-03 1.59405354e+02] [ 3.47629586e-02 9.99395585e-01 -2.82128883e-05 4.17299684e+00] [ 3.50583722e-03 -9.37172035e-05 9.99993850e-01 6.07637579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters 0.05663050533300354 Centerline is valid? [True, True] Translation: X:159.46, Y:4.17, Z:0.61 [[ 9.99540749e-01 -3.01443548e-02 -3.09997103e-03 1.59464952e+02] [ 3.01444225e-02 9.99545553e-01 -2.48797205e-05 4.16958396e+00] [ 3.09931224e-03 -6.85785419e-05 9.99995195e-01 6.08319089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559254154 meters 0.05542067853419255 Centerline is valid? [True, True] Translation: X:159.53, Y:4.18, Z:0.61 [[ 9.99740865e-01 -2.25963033e-02 -2.75846774e-03 1.59525935e+02] [ 2.25963281e-02 9.99744670e-01 -2.21658215e-05 4.18070694e+00] [ 2.75826429e-03 -4.01711646e-05 9.99996195e-01 6.07656484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619254154 meters 0.055666578289929 Centerline is valid? [True, True] Translation: X:159.59, Y:4.18, Z:0.61 [[ 9.99834656e-01 -1.78444004e-02 -3.49827070e-03 1.59586193e+02] [ 1.78444116e-02 9.99840775e-01 -2.80283418e-05 4.18220986e+00] [ 3.49821384e-03 -3.44008747e-05 9.99993881e-01 6.07520029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679254154 meters 0.05551942024806892 Centerline is valid? [True, True] Translation: X:159.65, Y:4.19, Z:0.61 [[ 9.99914302e-01 -1.24633785e-02 -4.00656517e-03 1.59647196e+02] [ 1.24633501e-02 9.99922329e-01 -3.20620140e-05 4.18696274e+00] [ 4.00665357e-03 -1.78759579e-05 9.99991973e-01 6.06954300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739254154 meters 0.054947380688489394 Centerline is valid? [True, True] Translation: X:159.71, Y:4.19, Z:0.61 [[ 9.99939165e-01 -1.00802027e-02 -4.47833170e-03 1.59708175e+02] [ 1.00801437e-02 9.99949193e-01 -3.57560876e-05 4.18900830e+00] [ 4.47846460e-03 -9.38831448e-06 9.99989972e-01 6.06685585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799254154 meters 0.05632048898829028 Centerline is valid? [True, True] Translation: X:159.77, Y:4.19, Z:0.61 [[ 9.99954575e-01 -8.01724347e-03 -5.15479915e-03 1.59768227e+02] [ 8.01713828e-03 9.99967861e-01 -4.10708527e-05 4.18978160e+00] [ 5.15496275e-03 -2.57750504e-07 9.99986713e-01 6.06972784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859254154 meters 0.05523711957613492 Centerline is valid? [True, True] Translation: X:159.83, Y:4.19, Z:0.61 [[ 9.99958426e-01 -7.49877658e-03 -5.18786906e-03 1.59828810e+02] [ 7.49866322e-03 9.99971884e-01 -4.13010714e-05 4.18911950e+00] [ 5.18803290e-03 2.39727145e-06 9.99986542e-01 6.07353662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91925415400001 meters 0.056111754784522246 Centerline is valid? [True, True] Translation: X:159.89, Y:4.19, Z:0.61 [[ 9.99951582e-01 -8.24704682e-03 -5.36846759e-03 1.59888648e+02] [ 8.24693622e-03 9.99965993e-01 -4.27388318e-05 4.18676266e+00] [ 5.36863749e-03 -1.53664730e-06 9.99985589e-01 6.07201017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97925415400002 meters 0.05592564303168213 Centerline is valid? [True, True] Translation: X:159.95, Y:4.18, Z:0.61 [[ 9.99916644e-01 -1.17894588e-02 -5.26441327e-03 1.59948307e+02] [ 1.17894015e-02 9.99930502e-01 -4.19209224e-05 4.18272295e+00] [ 5.26454163e-03 -2.01468535e-05 9.99986142e-01 6.08406317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters 0.05578163354605355 Centerline is valid? [True, True] Translation: X:160.01, Y:4.18, Z:0.61 [[ 9.99857231e-01 -1.60982153e-02 -5.13471810e-03 1.60009624e+02] [ 1.60982175e-02 9.99870414e-01 -4.09007269e-05 4.17765308e+00] [ 5.13471114e-03 -4.17649214e-05 9.99986816e-01 6.08945352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters 0.05534560914884672 Centerline is valid? [True, True] Translation: X:160.07, Y:4.17, Z:0.61 [[ 9.99628935e-01 -2.67494480e-02 -5.14385035e-03 1.60069905e+02] [ 2.67495915e-02 9.99642165e-01 -4.09139286e-05 4.16786869e+00] [ 5.14310413e-03 -9.66971487e-05 9.99986769e-01 6.08970320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters 0.05600774061041831 Centerline is valid? [True, True] Translation: X:160.13, Y:4.17, Z:0.61 [[ 9.99385348e-01 -3.46447981e-02 -5.35391845e-03 1.60130912e+02] [ 3.46450668e-02 9.99399679e-01 -4.25656972e-05 4.16547544e+00] [ 5.35217906e-03 -1.42947328e-04 9.99985667e-01 6.09033448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters 0.05609769680340282 Centerline is valid? [True, True] Translation: X:160.19, Y:4.16, Z:0.61 [[ 9.99080700e-01 -4.24575484e-02 -5.92553234e-03 1.60190431e+02] [ 4.24580153e-02 9.99098251e-01 -4.70321938e-05 4.15769898e+00] [ 5.92218587e-03 -2.04597386e-04 9.99982443e-01 6.09143602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279254154 meters 0.05608502338854807 Centerline is valid? [True, True] Translation: X:160.25, Y:4.15, Z:0.61 [[ 9.98500912e-01 -5.44703405e-02 -5.37689851e-03 1.60250937e+02] [ 5.44708989e-02 9.98515358e-01 -4.26383731e-05 4.14996277e+00] [ 5.37123827e-03 -2.50310041e-04 9.99985543e-01 6.09089171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339254154 meters 0.05561908110909345 Centerline is valid? [True, True] Translation: X:160.31, Y:4.15, Z:0.61 [[ 9.97957213e-01 -6.36573334e-02 -5.39852485e-03 1.60311544e+02] [ 6.36580304e-02 9.97971770e-01 -4.27932893e-05 4.14895161e+00] [ 5.39029951e-03 -3.00953588e-04 9.99985427e-01 6.09735334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399254154 meters 0.05567702220789812 Centerline is valid? [True, True] Translation: X:160.37, Y:4.15, Z:0.61 [[ 9.97723712e-01 -6.71910422e-02 -5.72344494e-03 1.60371082e+02] [ 6.71918836e-02 9.97740071e-01 -4.53693103e-05 4.15045820e+00] [ 5.71355877e-03 -3.39303009e-04 9.99983620e-01 6.10209849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459254154 meters 0.05899466183463214 Centerline is valid? [True, True] Translation: X:160.43, Y:4.14, Z:0.61 [[ 9.97642908e-01 -6.83942756e-02 -5.55439315e-03 1.60430886e+02] [ 6.83950864e-02 9.97658313e-01 -4.40566050e-05 4.13898967e+00] [ 5.54439972e-03 -3.35940440e-04 9.99984573e-01 6.10478531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519254154 meters 0.05747317458446266 Centerline is valid? [True, True] Translation: X:160.49, Y:4.14, Z:0.61 [[ 9.97685683e-01 -6.77492161e-02 -5.77246743e-03 1.60493454e+02] [ 6.77500818e-02 9.97702323e-01 -4.56656550e-05 4.14350667e+00] [ 5.76229798e-03 -3.45525170e-04 9.99983338e-01 6.11003666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579254154 meters 0.059227489491048856 Centerline is valid? [True, True] Translation: X:160.55, Y:4.14, Z:0.61 [[ 9.97851552e-01 -6.51317992e-02 -7.08014548e-03 1.60553578e+02] [ 6.51330381e-02 9.97876588e-01 -5.56921644e-05 4.13940471e+00] [ 7.06873874e-03 -4.05578872e-04 9.99974934e-01 6.09871120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.639254154 meters 0.05782395208345814 Centerline is valid? [True, True] Translation: X:160.61, Y:4.15, Z:0.61 [[ 9.97953699e-01 -6.34397279e-02 -7.98852014e-03 1.60614534e+02] [ 6.34412514e-02 9.97985573e-01 -6.28079455e-05 4.14748165e+00] [ 7.97641236e-03 -4.44122293e-04 9.99968089e-01 6.10250319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69925415400002 meters 0.05819047583239139 Centerline is valid? [True, True] Translation: X:160.67, Y:4.15, Z:0.61 [[ 9.98245563e-01 -5.85990607e-02 -8.48215399e-03 1.60674699e+02] [ 5.86006043e-02 9.98281506e-01 -6.66472565e-05 4.15076188e+00] [ 8.47148293e-03 -4.30529022e-04 9.99964024e-01 6.10614222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters 0.05514363020066821 Centerline is valid? [True, True] Translation: X:160.74, Y:4.17, Z:0.61 [[ 9.98531749e-01 -5.36669815e-02 -7.36219667e-03 1.60735011e+02] [ 5.36680109e-02 9.98558832e-01 -5.78022188e-05 4.16801366e+00] [ 7.35468858e-03 -3.37397100e-04 9.99972897e-01 6.12471951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters 0.058508340538378535 Centerline is valid? [True, True] Translation: X:160.79, Y:4.16, Z:0.61 [[ 9.98852670e-01 -4.74254168e-02 -6.64624983e-03 1.60794709e+02] [ 4.74261181e-02 9.98874747e-01 -5.21439576e-05 4.15737992e+00] [ 6.64124406e-03 -2.63121698e-04 9.99977912e-01 6.12513481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters 0.05702780950093969 Centerline is valid? [True, True] Translation: X:160.85, Y:4.17, Z:0.61 [[ 9.99180831e-01 -4.00346804e-02 -5.90692113e-03 1.60854881e+02] [ 4.00351053e-02 9.99198273e-01 -4.63469223e-05 4.16527930e+00] [ 5.90404087e-03 -1.90175253e-04 9.99982553e-01 6.13357513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters 0.056499870091278354 Centerline is valid? [True, True] Translation: X:160.92, Y:4.17, Z:0.61 [[ 9.99577517e-01 -2.83534452e-02 -6.39297186e-03 1.60915921e+02] [ 2.83537042e-02 9.99597952e-01 -5.01286224e-05 4.17409601e+00] [ 6.39182289e-03 -1.31156989e-04 9.99979563e-01 6.12979522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999254154 meters 0.05669530545602967 Centerline is valid? [True, True] Translation: X:160.98, Y:4.18, Z:0.61 [[ 9.99768260e-01 -2.04450631e-02 -6.73979556e-03 1.60976068e+02] [ 2.04451718e-02 9.99790974e-01 -5.27844905e-05 4.18221005e+00] [ 6.73946595e-03 -8.50240196e-05 9.99977286e-01 6.12707343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059254154 meters 0.05616875303559684 Centerline is valid? [True, True] Translation: X:161.04, Y:4.19, Z:0.61 [[ 9.99943366e-01 -8.61510178e-03 -6.24852162e-03 1.61036974e+02] [ 8.61496446e-03 9.99962889e-01 -4.88923567e-05 4.19444798e+00] [ 6.24871094e-03 -4.94120393e-06 9.99980477e-01 6.13962691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119254154 meters 0.05662396364732425 Centerline is valid? [True, True] Translation: X:161.10, Y:4.20, Z:0.61 [[ 9.99983370e-01 -1.32943560e-03 -5.61183853e-03 1.61096413e+02] [ 1.32921035e-03 9.99999116e-01 -4.38674273e-05 4.19891117e+00] [ 5.61189189e-03 3.64073839e-05 9.99984253e-01 6.14620276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179254154 meters 0.05684347600185232 Centerline is valid? [True, True] Translation: X:161.16, Y:4.20, Z:0.61 [[ 9.99965187e-01 6.73328480e-03 -4.92822914e-03 1.61155644e+02] [-6.73355664e-03 9.99977329e-01 -3.85702679e-05 4.20358191e+00] [ 4.92785770e-03 7.17534352e-05 9.99987855e-01 6.14902615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239254154 meters 0.05699319814642494 Centerline is valid? [True, True] Translation: X:161.21, Y:4.20, Z:0.61 [[ 9.99954757e-01 8.40885940e-03 -4.44699197e-03 1.61213187e+02] [-8.40909768e-03 9.99964642e-01 -3.48851679e-05 4.20459454e+00] [ 4.44654139e-03 7.22787794e-05 9.99990111e-01 6.14796459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299254154 meters 0.0564565022717129 Centerline is valid? [True, True] Translation: X:161.27, Y:4.19, Z:0.61 [[ 9.99973440e-01 5.49593260e-03 -4.78680225e-03 1.61271142e+02] [-5.49617628e-03 9.99984895e-01 -3.77544334e-05 4.19493767e+00] [ 4.78652245e-03 6.40625396e-05 9.99988542e-01 6.14920752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359254154 meters 0.056159770528019806 Centerline is valid? [True, True] Translation: X:161.33, Y:4.19, Z:0.61 [[ 9.99989450e-01 6.45267662e-04 -4.54786484e-03 1.61331109e+02] [-6.45438156e-04 9.99999791e-01 -3.60212563e-05 4.19113862e+00] [ 4.54784065e-03 3.89562418e-05 9.99989658e-01 6.14981206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41925415400001 meters 0.055530004590927017 Centerline is valid? [True, True] Translation: X:161.39, Y:4.18, Z:0.61 [[ 9.99941382e-01 -9.62720334e-03 -4.95473948e-03 1.61390660e+02] [ 9.62712689e-03 9.99953657e-01 -3.92816952e-05 4.18276823e+00] [ 4.95488804e-03 -8.42051313e-06 9.99987724e-01 6.14106347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47925415400002 meters 0.056325207023936494 Centerline is valid? [True, True] Translation: X:161.45, Y:4.17, Z:0.61 [[ 9.99827825e-01 -1.77902529e-02 -5.27518304e-03 1.61451276e+02] [ 1.77902797e-02 9.99841740e-01 -4.18442275e-05 4.17398805e+00] [ 5.27509260e-03 -5.20099588e-05 9.99986085e-01 6.13741120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters 0.05675220231100723 Centerline is valid? [True, True] Translation: X:161.51, Y:4.16, Z:0.61 [[ 9.99565711e-01 -2.89604369e-02 -5.44819099e-03 1.61512385e+02] [ 2.89606317e-02 9.99580552e-01 -4.31638675e-05 4.16404206e+00] [ 5.44715580e-03 -1.14637931e-04 9.99985158e-01 6.13710957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters 0.05696072651677656 Centerline is valid? [True, True] Translation: X:161.57, Y:4.16, Z:0.61 [[ 9.99399288e-01 -3.42264355e-02 -5.44195138e-03 1.61573235e+02] [ 3.42267081e-02 9.99414094e-01 -4.30612538e-05 4.15889764e+00] [ 5.44023674e-03 -1.43224695e-04 9.99985192e-01 6.13719487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters 0.05636123209066636 Centerline is valid? [True, True] Translation: X:161.63, Y:4.16, Z:0.61 [[ 9.99184312e-01 -4.00132280e-02 -5.44540008e-03 1.61634410e+02] [ 4.00135869e-02 9.99199135e-01 -4.30634217e-05 4.16113614e+00] [ 5.44276216e-03 -1.74861694e-04 9.99985173e-01 6.13910191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters 0.056948652148856665 Centerline is valid? [True, True] Translation: X:161.69, Y:4.15, Z:0.61 [[ 9.98953374e-01 -4.53890984e-02 -5.65572148e-03 1.61694340e+02] [ 4.53895722e-02 9.98969361e-01 -4.46118146e-05 4.14843420e+00] [ 5.65191736e-03 -2.12145656e-04 9.99984005e-01 6.13572694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779254154 meters 0.06046267516665535 Centerline is valid? [True, True] Translation: X:161.75, Y:4.13, Z:0.61 [[ 9.98752306e-01 -4.95684245e-02 -6.06651635e-03 1.61754818e+02] [ 4.95690477e-02 9.98770698e-01 -4.76862769e-05 4.13468622e+00] [ 6.06142251e-03 -2.53084660e-04 9.99981597e-01 6.12601395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839254154 meters 0.057208443126981076 Centerline is valid? [True, True] Translation: X:161.81, Y:4.15, Z:0.61 [[ 9.98403306e-01 -5.60742367e-02 -6.82044243e-03 1.61814768e+02] [ 5.60751758e-02 9.98426548e-01 -5.36103524e-05 4.14898283e+00] [ 6.81271695e-03 -3.28932755e-04 9.99976739e-01 6.13190701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899254154 meters 0.05630883969585606 Centerline is valid? [True, True] Translation: X:161.87, Y:4.15, Z:0.61 [[ 9.98215119e-01 -5.92621655e-02 -7.38725541e-03 1.61874440e+02] [ 5.92633550e-02 9.98242381e-01 -5.79662153e-05 4.14835772e+00] [ 7.37770663e-03 -3.79930787e-04 9.99972712e-01 6.12529058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959254154 meters 0.055908548671295806 Centerline is valid? [True, True] Translation: X:161.93, Y:4.16, Z:0.61 [[ 9.98097048e-01 -6.10338756e-02 -8.78339946e-03 1.61934880e+02] [ 6.10356278e-02 9.98135586e-01 -6.86728945e-05 4.15897660e+00] [ 8.77121494e-03 -4.67558087e-04 9.99961423e-01 6.13048738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019254154 meters 0.05856163292210903 Centerline is valid? [True, True] Translation: X:162.00, Y:4.15, Z:0.61 [[ 9.98159291e-01 -5.99741590e-02 -9.00726162e-03 1.61995020e+02] [ 5.99759600e-02 9.98199819e-01 -7.02756171e-05 4.15053449e+00] [ 8.99526164e-03 -4.70072902e-04 9.99959431e-01 6.12091101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079254154 meters 0.05898887276721716 Centerline is valid? [True, True] Translation: X:162.05, Y:4.15, Z:0.61 [[ 9.98317473e-01 -5.73191449e-02 -8.76003203e-03 1.62054680e+02] [ 5.73207467e-02 9.98355812e-01 -6.83214807e-05 4.14929402e+00] [ 8.74954502e-03 -4.33925049e-04 9.99961628e-01 6.12234961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.139254154 meters 0.05630083436763917 Centerline is valid? [True, True] Translation: X:162.12, Y:4.17, Z:0.61 [[ 9.98688660e-01 -5.07408851e-02 -6.80602965e-03 1.62115659e+02] [ 5.07416992e-02 9.98711809e-01 -5.31157695e-05 4.17091188e+00] [ 6.79995732e-03 -2.92303393e-04 9.99976837e-01 6.14440405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19925415400002 meters 0.05816332027783302 Centerline is valid? [True, True] Translation: X:162.18, Y:4.17, Z:0.61 [[ 9.98988864e-01 -4.45863118e-02 -5.77145390e-03 1.62175694e+02] [ 4.45867945e-02 9.99005513e-01 -4.50663307e-05 4.16624281e+00] [ 5.76772361e-03 -2.12309866e-04 9.99983344e-01 6.14960394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters 0.05667712988335204 Centerline is valid? [True, True] Translation: X:162.24, Y:4.18, Z:0.62 [[ 9.99400201e-01 -3.42857374e-02 -4.87104708e-03 1.62236128e+02] [ 3.42859589e-02 9.99412063e-01 -3.80453894e-05 4.18215801e+00] [ 4.86948763e-03 -1.28985950e-04 9.99988136e-01 6.15808708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters 0.05513590008520341 Centerline is valid? [True, True] Translation: X:162.30, Y:4.20, Z:0.62 [[ 9.99657961e-01 -2.58977795e-02 -3.64226946e-03 1.62296245e+02] [ 2.58978479e-02 9.99664594e-01 -2.84064378e-05 4.19587737e+00] [ 3.64178349e-03 -6.59302188e-05 9.99993367e-01 6.16469147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters 0.05526097591663468 Centerline is valid? [True, True] Translation: X:162.36, Y:4.20, Z:0.62 [[ 9.99748282e-01 -2.21481040e-02 -3.58260268e-03 1.62358224e+02] [ 2.21481460e-02 9.99754699e-01 -2.79546751e-05 4.19992402e+00] [ 3.58234301e-03 -5.14003687e-05 9.99993582e-01 6.16351882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters 0.0559807648700291 Centerline is valid? [True, True] Translation: X:162.42, Y:4.20, Z:0.62 [[ 9.99818078e-01 -1.84407512e-02 -4.87338222e-03 1.62419310e+02] [ 1.84407858e-02 9.99829954e-01 -3.78427474e-05 4.20347238e+00] [ 4.87325137e-03 -5.20331346e-05 9.99988124e-01 6.15376196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499254154 meters 0.054778630978282984 Centerline is valid? [True, True] Translation: X:162.48, Y:4.21, Z:0.61 [[ 9.99850989e-01 -1.63375849e-02 -5.57530988e-03 1.62481125e+02] [ 1.63375984e-02 9.99866532e-01 -4.31314840e-05 4.20656020e+00] [ 5.57527041e-03 -4.79621167e-05 9.99984457e-01 6.14713529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559254154 meters 0.05559144750666003 Centerline is valid? [True, True] Translation: X:162.54, Y:4.21, Z:0.62 [[ 9.99889070e-01 -1.40143811e-02 -5.04423117e-03 1.62542364e+02] [ 1.40143632e-02 9.99901793e-01 -3.88886124e-05 4.21174728e+00] [ 5.04428079e-03 -3.18073893e-05 9.99987277e-01 6.15620451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619254154 meters 0.05566299441093539 Centerline is valid? [True, True] Translation: X:162.60, Y:4.21, Z:0.62 [[ 9.99905936e-01 -1.29376117e-02 -4.55376400e-03 1.62603635e+02] [ 1.29375863e-02 9.99916305e-01 -3.50328802e-05 4.21230810e+00] [ 4.55383612e-03 -2.38851302e-05 9.99989631e-01 6.16289490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679254154 meters 0.05541997318787396 Centerline is valid? [True, True] Translation: X:162.67, Y:4.21, Z:0.62 [[ 9.99889035e-01 -1.45919364e-02 -2.99869750e-03 1.62665923e+02] [ 1.45919330e-02 9.99893532e-01 -2.30352167e-05 4.21270438e+00] [ 2.99871436e-03 -2.07241323e-05 9.99995504e-01 6.17490815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739254154 meters 0.05565544479397303 Centerline is valid? [True, True] Translation: X:162.73, Y:4.21, Z:0.62 [[ 9.99873653e-01 -1.56375650e-02 -2.85391392e-03 1.62727114e+02] [ 1.56375664e-02 9.99877726e-01 -2.18284067e-05 4.21142639e+00] [ 2.85390630e-03 -2.28026198e-05 9.99995927e-01 6.17885428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799254154 meters 0.05560807515011185 Centerline is valid? [True, True] Translation: X:162.79, Y:4.21, Z:0.62 [[ 9.99819238e-01 -1.88601062e-02 -2.40561203e-03 1.62787894e+02] [ 1.88601165e-02 9.99822132e-01 -1.84047614e-05 4.20892414e+00] [ 2.40553126e-03 -2.69686885e-05 9.99997106e-01 6.18616404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859254154 meters 0.05504534488576918 Centerline is valid? [True, True] Translation: X:162.85, Y:4.21, Z:0.62 [[ 9.99696682e-01 -2.45035250e-02 -2.47395012e-03 1.62849153e+02] [ 2.45035537e-02 9.99699743e-01 -1.87268756e-05 4.20986439e+00] [ 2.47366618e-03 -4.18993742e-05 9.99996940e-01 6.18106840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91925415400001 meters 0.055757201477844756 Centerline is valid? [True, True] Translation: X:162.91, Y:4.20, Z:0.62 [[ 9.99628022e-01 -2.69699668e-02 -4.05433543e-03 1.62910156e+02] [ 2.69700645e-02 9.99636241e-01 -3.05707141e-05 4.20426226e+00] [ 4.05368512e-03 -7.87863457e-05 9.99991781e-01 6.17146566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97925415400002 meters 0.0569338374527035 Centerline is valid? [True, True] Translation: X:162.97, Y:4.20, Z:0.61 [[ 9.99576870e-01 -2.85054733e-02 -5.78958597e-03 1.62972073e+02] [ 2.85057023e-02 9.99593629e-01 -4.29822764e-05 4.19816506e+00] [ 5.78845848e-03 -1.22072125e-04 9.99983239e-01 6.14963016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters 0.05487058209835383 Centerline is valid? [True, True] Translation: X:163.03, Y:4.21, Z:0.62 [[ 9.99611154e-01 -2.71959028e-02 -6.15826106e-03 1.63034718e+02] [ 2.71961387e-02 9.99630116e-01 -4.54594055e-05 4.20518161e+00] [ 6.15721952e-03 -1.22039193e-04 9.99981037e-01 6.15240105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters 0.05541491126410448 Centerline is valid? [True, True] Translation: X:163.10, Y:4.21, Z:0.62 [[ 9.99766521e-01 -2.06779394e-02 -6.27109421e-03 1.63095836e+02] [ 2.06780572e-02 9.99786185e-01 -4.60685757e-05 4.20898564e+00] [ 6.27070596e-03 -8.36162250e-05 9.99980335e-01 6.15461945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters 0.05626696069677536 Centerline is valid? [True, True] Translation: X:163.16, Y:4.21, Z:0.62 [[ 9.99933390e-01 -9.86674184e-03 -5.98859318e-03 1.63155340e+02] [ 9.86665559e-03 9.99951322e-01 -4.39481505e-05 4.21451943e+00] [ 5.98873530e-03 -1.51421633e-05 9.99982067e-01 6.16207400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters 0.05582099235398803 Centerline is valid? [True, True] Translation: X:163.22, Y:4.22, Z:0.62 [[ 9.99976792e-01 -3.41851978e-03 -5.89316189e-03 1.63216253e+02] [ 3.41832418e-03 9.99994157e-01 -4.32640910e-05 4.21935688e+00] [ 5.89327535e-03 2.31183492e-05 9.99982634e-01 6.17226102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279254154 meters 0.05646672502290438 Centerline is valid? [True, True] Translation: X:163.27, Y:4.22, Z:0.62 [[ 9.99978194e-01 9.05567048e-04 -6.54155467e-03 1.63274881e+02] [-9.05902240e-04 9.99999589e-01 -4.82775885e-05 4.22005219e+00] [ 6.54150826e-03 5.42025448e-05 9.99978603e-01 6.17424423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339254154 meters 0.05589553070709705 Centerline is valid? [True, True] Translation: X:163.33, Y:4.22, Z:0.62 [[ 9.99970384e-01 -5.09053672e-04 -7.67930344e-03 1.63332863e+02] [ 5.08628275e-04 9.99999869e-01 -5.73481205e-05 4.21804096e+00] [ 7.67933163e-03 5.34405113e-05 9.99970512e-01 6.16912648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399254154 meters 0.05600173209311089 Centerline is valid? [True, True] Translation: X:163.39, Y:4.21, Z:0.62 [[ 9.99932476e-01 -7.98146487e-03 -8.44629904e-03 1.63391417e+02] [ 7.98121395e-03 9.99968148e-01 -6.34146280e-05 4.21198855e+00] [ 8.44653615e-03 -4.00137375e-06 9.99964327e-01 6.17482231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459254154 meters 0.05642139180520829 Centerline is valid? [True, True] Translation: X:163.45, Y:4.20, Z:0.62 [[ 9.99830900e-01 -1.60922744e-02 -8.90003675e-03 1.63451061e+02] [ 1.60923159e-02 9.99870508e-01 -6.69617892e-05 4.20340200e+00] [ 8.89996183e-03 -7.62717366e-05 9.99960392e-01 6.16900631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519254154 meters 0.055761228324216344 Centerline is valid? [True, True] Translation: X:163.51, Y:4.20, Z:0.62 [[ 9.99744458e-01 -2.10336443e-02 -8.28276724e-03 1.63511614e+02] [ 2.10338498e-02 9.99778762e-01 -6.23167706e-05 4.19888808e+00] [ 8.28224553e-03 -1.11917636e-04 9.99965695e-01 6.17753293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579254154 meters 0.057203525400392155 Centerline is valid? [True, True] Translation: X:163.57, Y:4.19, Z:0.62 [[ 9.99653588e-01 -2.51173466e-02 -7.86270907e-03 1.63571579e+02] [ 2.51176592e-02 9.99684500e-01 -5.90077671e-05 4.19174667e+00] [ 7.86171050e-03 -1.38505521e-04 9.99969087e-01 6.18164549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.639254154 meters 0.05737902961467504 Centerline is valid? [True, True] Translation: X:163.63, Y:4.19, Z:0.62 [[ 9.99512999e-01 -3.05728063e-02 -6.25050572e-03 1.63631895e+02] [ 3.05731112e-02 9.99532532e-01 -4.67852859e-05 4.18806973e+00] [ 6.24901417e-03 -1.44334905e-04 9.99980464e-01 6.20246974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69925415400002 meters 0.05769689982748399 Centerline is valid? [True, True] Translation: X:163.69, Y:4.18, Z:0.62 [[ 9.99390553e-01 -3.43628019e-02 -6.14176911e-03 1.63692643e+02] [ 3.43631680e-02 9.99409411e-01 -4.59476104e-05 4.18121249e+00] [ 6.13972074e-03 -1.65131036e-04 9.99981138e-01 6.20018636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters 0.05788345181349998 Centerline is valid? [True, True] Translation: X:163.75, Y:4.18, Z:0.62 [[ 9.99087999e-01 -4.22069521e-02 -6.46099055e-03 1.63752972e+02] [ 4.22075213e-02 9.99108864e-01 -4.83005160e-05 4.17815892e+00] [ 6.45727155e-03 -2.24445930e-04 9.99979126e-01 6.19829682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters 0.05825570018137583 Centerline is valid? [True, True] Translation: X:163.81, Y:4.18, Z:0.62 [[ 9.98801825e-01 -4.84897839e-02 -6.60714360e-03 1.63813463e+02] [ 4.84905163e-02 9.98823642e-01 -4.93816858e-05 4.17573134e+00] [ 6.60176574e-03 -2.71061287e-04 9.99978171e-01 6.20103789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters 0.05722309944537546 Centerline is valid? [True, True] Translation: X:163.87, Y:4.18, Z:0.62 [[ 9.98349218e-01 -5.70119534e-02 -6.96247856e-03 1.63874027e+02] [ 5.70129737e-02 9.98373436e-01 -5.20211142e-05 4.17859743e+00] [ 6.95411947e-03 -3.45016368e-04 9.99975760e-01 6.20879498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters 0.05391448816286015 Centerline is valid? [True, True] Translation: X:163.94, Y:4.19, Z:0.62 [[ 9.98123729e-01 -6.07521478e-02 -7.62874091e-03 1.63935210e+02] [ 6.07534823e-02 9.98152800e-01 -5.69017824e-05 4.19283988e+00] [ 7.61810600e-03 -4.06677556e-04 9.99970899e-01 6.21361237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999254154 meters 0.05799661746669883 Centerline is valid? [True, True] Translation: X:164.00, Y:4.17, Z:0.62 [[ 9.98037125e-01 -6.19995083e-02 -8.82933291e-03 1.63995614e+02] [ 6.20013458e-02 9.98076064e-01 -6.57103114e-05 4.17192489e+00] [ 8.81641985e-03 -4.81849193e-04 9.99961019e-01 6.18947963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059254154 meters 0.05830036275373869 Centerline is valid? [True, True] Translation: X:164.06, Y:4.18, Z:0.62 [[ 9.98018597e-01 -6.21989324e-02 -9.49594709e-03 1.64057253e+02] [ 6.22010686e-02 9.98063636e-01 -7.05065134e-05 4.17761039e+00] [ 9.48194491e-03 -5.20291244e-04 9.99954910e-01 6.19420098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119254154 meters 0.054974219906003256 Centerline is valid? [True, True] Translation: X:164.12, Y:4.20, Z:0.62 [[ 9.98048683e-01 -6.16167790e-02 -1.01093212e-02 1.64118910e+02] [ 6.16191784e-02 9.98099730e-01 -7.42507272e-05 4.19989102e+00] [ 1.00946859e-02 -5.48822230e-04 9.99948897e-01 6.21796150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179254154 meters 0.05657364862470716 Centerline is valid? [True, True] Translation: X:164.18, Y:4.19, Z:0.62 [[ 9.98091861e-01 -6.10466381e-02 -9.27068356e-03 1.64180464e+02] [ 6.10486406e-02 9.98134790e-01 -6.71016631e-05 4.19168156e+00] [ 9.25748812e-03 -4.98989005e-04 9.99957024e-01 6.21630774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239254154 meters 0.05691363046054015 Centerline is valid? [True, True] Translation: X:164.24, Y:4.19, Z:0.62 [[ 9.98194717e-01 -5.96880350e-02 -6.68176039e-03 1.64240241e+02] [ 5.96890469e-02 9.98217018e-01 -4.80580675e-05 4.19204213e+00] [ 6.67271543e-03 -3.50856600e-04 9.99977676e-01 6.23236040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299254154 meters 0.05612647435627961 Centerline is valid? [True, True] Translation: X:164.30, Y:4.20, Z:0.62 [[ 9.98333857e-01 -5.75419093e-02 -4.29411699e-03 1.64300703e+02] [ 5.75423074e-02 9.98343068e-01 -3.08854130e-05 4.19585303e+00] [ 4.28877914e-03 -2.16259447e-04 9.99990780e-01 6.24900753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359254154 meters 0.05988722759659038 Centerline is valid? [True, True] Translation: X:164.36, Y:4.19, Z:0.63 [[ 9.98406055e-01 -5.62847525e-02 -4.16841670e-03 1.64361026e+02] [ 5.62851167e-02 9.98414736e-01 -2.99741787e-05 4.19138892e+00] [ 4.16349575e-03 -2.04693419e-04 9.99991312e-01 6.25039391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41925415400001 meters 0.05687517425093902 Centerline is valid? [True, True] Translation: X:164.42, Y:4.21, Z:0.62 [[ 9.98421928e-01 -5.58543759e-02 -5.82596832e-03 1.64423330e+02] [ 5.58550819e-02 9.98438886e-01 -4.15814639e-05 4.20536920e+00] [ 5.81919582e-03 -2.83894092e-04 9.99983028e-01 6.23470458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47925415400002 meters 0.05668434656570733 Centerline is valid? [True, True] Translation: X:164.49, Y:4.21, Z:0.62 [[ 9.98392368e-01 -5.60677611e-02 -8.31181105e-03 1.64485562e+02] [ 5.60692080e-02 9.98426883e-01 -5.90189351e-05 4.20775451e+00] [ 8.30204465e-03 -4.07112608e-04 9.99965455e-01 6.22227946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters 0.05454903104732267 Centerline is valid? [True, True] Translation: X:164.55, Y:4.22, Z:0.62 [[ 9.98322363e-01 -5.69149190e-02 -1.06372725e-02 1.64546439e+02] [ 5.69173397e-02 9.98378891e-01 -7.52698456e-05 4.21983510e+00] [ 1.06243123e-02 -5.30301681e-04 9.99943420e-01 6.22114294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters 0.05763057019621683 Centerline is valid? [True, True] Translation: X:164.61, Y:4.21, Z:0.62 [[ 9.98374241e-01 -5.59035423e-02 -1.11206326e-02 1.64607127e+02] [ 5.59061269e-02 9.98436026e-01 -7.85648731e-05 4.20920432e+00] [ 1.11076323e-02 -5.43274353e-04 9.99938161e-01 6.20536139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters 0.05484223933142056 Centerline is valid? [True, True] Translation: X:164.67, Y:4.23, Z:0.62 [[ 9.98417802e-01 -5.51862413e-02 -1.07875607e-02 1.64669088e+02] [ 5.51886342e-02 9.98475943e-01 -7.59619797e-05 4.22578372e+00] [ 1.07753119e-02 -5.19508947e-04 9.99941810e-01 6.22900944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters 0.053788362181456405 Centerline is valid? [True, True] Translation: X:164.73, Y:4.23, Z:0.62 [[ 9.98668428e-01 -5.06590631e-02 -9.74829960e-03 1.64730191e+02] [ 5.06608031e-02 9.98715915e-01 -6.85184860e-05 4.23251670e+00] [ 9.73925303e-03 -4.25429437e-04 9.99952482e-01 6.23439721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779254154 meters 0.05469451289066566 Centerline is valid? [True, True] Translation: X:164.79, Y:4.23, Z:0.62 [[ 9.98884904e-01 -4.64275914e-02 -8.56902763e-03 1.64789620e+02] [ 4.64287801e-02 9.98921601e-01 -6.02645830e-05 4.23240399e+00] [ 8.56258473e-03 -3.37652117e-04 9.99963283e-01 6.23676610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839254154 meters 0.056962243467838264 Centerline is valid? [True, True] Translation: X:164.85, Y:4.23, Z:0.62 [[ 9.99124680e-01 -4.10965417e-02 -7.80694046e-03 1.64849047e+02] [ 4.10973653e-02 9.99155145e-01 -5.49711208e-05 4.22526087e+00] [ 7.80260385e-03 -2.65921680e-04 9.99969524e-01 6.23336684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899254154 meters 0.055604472313840435 Centerline is valid? [True, True] Translation: X:164.91, Y:4.23, Z:0.62 [[ 9.99177486e-01 -3.98255618e-02 -7.63386222e-03 1.64910050e+02] [ 3.98263123e-02 9.99206616e-01 -5.37298929e-05 4.23295430e+00] [ 7.62994546e-03 -2.50342882e-04 9.99970860e-01 6.23907498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959254154 meters 0.05466191126196613 Centerline is valid? [True, True] Translation: X:164.97, Y:4.25, Z:0.62 [[ 9.99259576e-01 -3.74106721e-02 -8.98561868e-03 1.64971389e+02] [ 3.74116158e-02 9.99299938e-01 -6.30913061e-05 4.24558267e+00] [ 8.98168848e-03 -2.73121922e-04 9.99959627e-01 6.24095612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019254154 meters 0.05452686021387079 Centerline is valid? [True, True] Translation: X:165.03, Y:4.24, Z:0.62 [[ 9.99380406e-01 -3.39551518e-02 -9.26561140e-03 1.65031378e+02] [ 3.39560075e-02 9.99423326e-01 -6.49910473e-05 4.24433578e+00] [ 9.26247495e-03 -2.49672391e-04 9.99957071e-01 6.23386642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079254154 meters 0.05404812503611075 Centerline is valid? [True, True] Translation: X:165.09, Y:4.25, Z:0.62 [[ 9.99637608e-01 -2.53642225e-02 -9.01718406e-03 1.65091639e+02] [ 2.53646838e-02 9.99678263e-01 -6.32139908e-05 4.25226396e+00] [ 9.01588627e-03 -1.65526940e-04 9.99959342e-01 6.23566909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.139254154 meters 0.054978679452091915 Centerline is valid? [True, True] Translation: X:165.15, Y:4.25, Z:0.62 [[ 9.99788783e-01 -1.85062140e-02 -8.93923255e-03 1.65151003e+02] [ 1.85063932e-02 9.99828740e-01 -6.26805358e-05 4.25390013e+00] [ 8.93886160e-03 -1.02765656e-04 9.99960042e-01 6.22276522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19925415400002 meters 0.05446908623096046 Centerline is valid? [True, True] Translation: X:165.21, Y:4.26, Z:0.62 [[ 9.99898531e-01 -1.17865159e-02 -8.00036422e-03 1.65211591e+02] [ 1.17864441e-02 9.99930536e-01 -5.61238751e-05 4.26390394e+00] [ 8.00046999e-03 -3.81776652e-05 9.99967995e-01 6.24921928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters 0.05418600982289388 Centerline is valid? [True, True] Translation: X:165.27, Y:4.27, Z:0.63 [[ 9.99912905e-01 -1.00705186e-02 -8.53038217e-03 1.65271595e+02] [ 1.00703756e-02 9.99949291e-01 -5.97147033e-05 4.26533410e+00] [ 8.53055096e-03 -2.61946501e-05 9.99963614e-01 6.25217878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters 0.054182435540922946 Centerline is valid? [True, True] Translation: X:165.33, Y:4.26, Z:0.62 [[ 9.99853442e-01 -1.39154310e-02 -9.97275389e-03 1.65331650e+02] [ 1.39154276e-02 9.99903173e-01 -6.97347655e-05 4.26345529e+00] [ 9.97275865e-03 -6.90505898e-05 9.99950268e-01 6.23896365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters 0.05362205295004428 Centerline is valid? [True, True] Translation: X:165.39, Y:4.26, Z:0.62 [[ 9.99753731e-01 -1.93893699e-02 -1.07948805e-02 1.65391695e+02] [ 1.93896840e-02 9.99812000e-01 -7.55749481e-05 4.26014960e+00] [ 1.07943165e-02 -1.33752986e-04 9.99941731e-01 6.23329684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters 0.05435553205996289 Centerline is valid? [True, True] Translation: X:165.45, Y:4.26, Z:0.62 [[ 9.99502325e-01 -2.93859369e-02 -1.14703307e-02 1.65452510e+02] [ 2.93869494e-02 9.99568107e-01 -8.03017612e-05 4.25773414e+00] [ 1.14677365e-02 -2.56816230e-04 9.99934210e-01 6.24204192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499254154 meters 0.05382847349086609 Centerline is valid? [True, True] Translation: X:165.51, Y:4.26, Z:0.62 [[ 9.99300152e-01 -3.54916526e-02 -1.18131054e-02 1.65513422e+02] [ 3.54931529e-02 9.99369916e-01 -8.26871626e-05 4.25534871e+00] [ 1.18085968e-02 -3.36655062e-04 9.99930219e-01 6.24668457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559254154 meters 0.05376356931636635 Centerline is valid? [True, True] Translation: X:165.57, Y:4.26, Z:0.63 [[ 9.99047084e-01 -4.24336163e-02 -1.02132988e-02 1.65573545e+02] [ 4.24351002e-02 9.99099223e-01 -7.14692269e-05 4.25655538e+00] [ 1.02071316e-02 -3.62001234e-04 9.99947840e-01 6.26512917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619254154 meters 0.05425781095415332 Centerline is valid? [True, True] Translation: X:165.63, Y:4.25, Z:0.63 [[ 9.98949399e-01 -4.51259825e-02 -7.98393120e-03 1.65633438e+02] [ 4.51269762e-02 9.98981258e-01 -5.57323908e-05 4.25002698e+00] [ 7.97831261e-03 -3.04616835e-04 9.99968126e-01 6.27041352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679254154 meters 0.05365037372117425 Centerline is valid? [True, True] Translation: X:165.69, Y:4.26, Z:0.63 [[ 9.98870464e-01 -4.71540522e-02 -5.85592936e-03 1.65694772e+02] [ 4.71546223e-02 9.98887601e-01 -4.07565953e-05 4.25796666e+00] [ 5.85133707e-03 -2.35423578e-04 9.99982853e-01 6.29158942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739254154 meters 0.054326191819048866 Centerline is valid? [True, True] Translation: X:165.76, Y:4.25, Z:0.63 [[ 9.98854369e-01 -4.74863838e-02 -5.91553510e-03 1.65756061e+02] [ 4.74869725e-02 9.98871857e-01 -4.09856797e-05 4.24955787e+00] [ 5.91080779e-03 -2.39972128e-04 9.99982502e-01 6.29013156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799254154 meters 0.05500719979411701 Centerline is valid? [True, True] Translation: X:165.82, Y:4.25, Z:0.63 [[ 9.98750097e-01 -4.95020944e-02 -6.91277066e-03 1.65816627e+02] [ 4.95029485e-02 9.98773976e-01 -4.75904296e-05 4.25004980e+00] [ 6.90665127e-03 -2.94671584e-04 9.99976105e-01 6.28539002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859254154 meters 0.05479441901922448 Centerline is valid? [True, True] Translation: X:165.88, Y:4.25, Z:0.63 [[ 9.98668685e-01 -5.09886202e-02 -7.81145064e-03 1.65877260e+02] [ 5.09897568e-02 9.98699175e-01 -5.37142850e-05 4.24835663e+00] [ 7.80402812e-03 -3.44661194e-04 9.99969489e-01 6.27944143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91925415400001 meters 0.05307882171554603 Centerline is valid? [True, True] Translation: X:165.94, Y:4.26, Z:0.63 [[ 9.98572597e-01 -5.24944390e-02 -9.85403968e-03 1.65938567e+02] [ 5.24963222e-02 9.98621115e-01 -6.76281265e-05 4.26216641e+00] [ 9.84400220e-03 -4.49769248e-04 9.99951445e-01 6.28498404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97925415400002 meters 0.0533286688525284 Centerline is valid? [True, True] Translation: X:166.00, Y:4.26, Z:0.63 [[ 9.98602622e-01 -5.15295993e-02 -1.17262095e-02 1.65999994e+02] [ 5.15322066e-02 9.98671330e-01 -7.98858487e-05 4.26468644e+00] [ 1.17147457e-02 -5.24503234e-04 9.99931242e-01 6.28100728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters 0.05419162617453466 Centerline is valid? [True, True] Translation: X:166.06, Y:4.26, Z:0.63 [[ 9.98873710e-01 -4.56891068e-02 -1.27991407e-02 1.66059332e+02] [ 4.56917387e-02 9.98955583e-01 -8.68710919e-05 4.26018691e+00] [ 1.27897422e-02 -4.98041744e-04 9.99918084e-01 6.26852201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters 0.05390242319972163 Centerline is valid? [True, True] Translation: X:166.12, Y:4.27, Z:0.63 [[ 9.99185806e-01 -3.87441375e-02 -1.12523992e-02 1.66119397e+02] [ 3.87457317e-02 9.99249099e-01 -7.63634512e-05 4.26827923e+00] [ 1.12469084e-02 -3.59681163e-04 9.99936687e-01 6.29717858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters 0.055092850960823773 Centerline is valid? [True, True] Translation: X:166.18, Y:4.27, Z:0.63 [[ 9.99631440e-01 -2.59442811e-02 -7.99243546e-03 1.66179428e+02] [ 2.59446763e-02 9.99663379e-01 -5.42479360e-05 4.27000082e+00] [ 7.99115246e-03 -1.53133208e-04 9.99968059e-01 6.31661017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters 0.05453357408369957 Centerline is valid? [True, True] Translation: X:166.24, Y:4.28, Z:0.63 [[ 9.99829829e-01 -1.72954852e-02 -6.41713725e-03 1.66238610e+02] [ 1.72955619e-02 9.99850420e-01 -4.35552992e-05 4.27579352e+00] [ 6.41693068e-03 -6.74401071e-05 9.99979409e-01 6.32913214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279254154 meters 0.05437350928867471 Centerline is valid? [True, True] Translation: X:166.30, Y:4.28, Z:0.63 [[ 9.99937248e-01 -9.70390005e-03 -5.59771915e-03 1.66300027e+02] [ 9.70383966e-03 9.99952916e-01 -3.79476180e-05 4.28260272e+00] [ 5.59782382e-03 -1.63741323e-05 9.99984332e-01 6.33597791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339254154 meters 0.05464892898525543 Centerline is valid? [True, True] Translation: X:166.36, Y:4.29, Z:0.63 [[ 9.99976662e-01 -2.07151779e-03 -6.51038022e-03 1.66360811e+02] [ 2.07127520e-03 9.99997854e-01 -4.40048560e-05 4.28802214e+00] [ 6.51045740e-03 3.05190399e-05 9.99978806e-01 6.33734170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399254154 meters 0.0545512882872299 Centerline is valid? [True, True] Translation: X:166.42, Y:4.29, Z:0.63 [[ 9.99971156e-01 -6.92242894e-04 -7.56365691e-03 1.66419156e+02] [ 6.91873015e-04 9.99999759e-01 -5.15187094e-05 4.28855179e+00] [ 7.56369075e-03 4.62841333e-05 9.99971394e-01 6.33475941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459254154 meters 0.05427409398747247 Centerline is valid? [True, True] Translation: X:166.48, Y:4.29, Z:0.63 [[ 9.99946883e-01 -4.35706712e-03 -9.34061215e-03 1.66477511e+02] [ 4.35665574e-03 9.99990508e-01 -6.43882922e-05 4.28507084e+00] [ 9.34080403e-03 2.36910406e-05 9.99956373e-01 6.31881946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519254154 meters 0.05515611306818992 Centerline is valid? [True, True] Translation: X:166.54, Y:4.28, Z:0.63 [[ 9.99867517e-01 -1.20319202e-02 -1.09626933e-02 1.66536257e+02] [ 1.20318111e-02 9.99927612e-01 -7.59028211e-05 4.27824610e+00] [ 1.09628130e-02 -5.60082895e-05 9.99939905e-01 6.30445658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579254154 meters 0.05521893128367088 Centerline is valid? [True, True] Translation: X:166.60, Y:4.28, Z:0.63 [[ 9.99830757e-01 -1.46652322e-02 -1.11079966e-02 1.66595829e+02] [ 1.46652803e-02 9.99892456e-01 -7.71264766e-05 4.27905976e+00] [ 1.11079331e-02 -8.57884607e-05 9.99938301e-01 6.33247428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639254154 meters 0.05490918616426159 Centerline is valid? [True, True] Translation: X:166.65, Y:4.27, Z:0.63 [[ 9.99773815e-01 -1.85930994e-02 -1.03254348e-02 1.66654776e+02] [ 1.85933492e-02 9.99827126e-01 -7.18045501e-05 4.27325664e+00] [ 1.03249848e-02 -1.20196105e-04 9.99946689e-01 6.32084459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69925415400002 meters 0.05499467818868057 Centerline is valid? [True, True] Translation: X:166.72, Y:4.27, Z:0.63 [[ 9.99721043e-01 -2.18966675e-02 -8.85284882e-03 1.66716056e+02] [ 2.18969812e-02 9.99760230e-01 -6.15125450e-05 4.26921900e+00] [ 8.85207310e-03 -1.32355278e-04 9.99960811e-01 6.33670451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters 0.05568942762512977 Centerline is valid? [True, True] Translation: X:166.78, Y:4.26, Z:0.63 [[ 9.99694844e-01 -2.31198967e-02 -8.69992798e-03 1.66777688e+02] [ 2.31202474e-02 9.99732690e-01 -6.02750548e-05 4.26321402e+00] [ 8.69899596e-03 -1.40887826e-04 9.99962153e-01 6.33617893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters 0.05579144210880911 Centerline is valid? [True, True] Translation: X:166.84, Y:4.26, Z:0.63 [[ 9.99659383e-01 -2.46593701e-02 -8.54598092e-03 1.66839552e+02] [ 2.46597667e-02 9.99695900e-01 -5.89775204e-05 4.25988314e+00] [ 8.54483644e-03 -1.51784464e-04 9.99963481e-01 6.34168024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters 0.054950023364705725 Centerline is valid? [True, True] Translation: X:166.90, Y:4.26, Z:0.64 [[ 9.99645002e-01 -2.54595668e-02 -7.85367024e-03 1.66901599e+02] [ 2.54599283e-02 9.99675842e-01 -5.39658348e-05 4.26284160e+00] [ 7.85249835e-03 -1.46007204e-04 9.99969158e-01 6.35827660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters 0.05528429205888885 Centerline is valid? [True, True] Translation: X:166.96, Y:4.26, Z:0.64 [[ 9.99687114e-01 -2.38451221e-02 -7.55546538e-03 1.66963389e+02] [ 2.38454123e-02 9.99715656e-01 -5.16807589e-05 4.26221560e+00] [ 7.55454937e-03 -1.28498599e-04 9.99971456e-01 6.36136917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999254154 meters 0.05521562199822933 Centerline is valid? [True, True] Translation: X:167.02, Y:4.26, Z:0.64 [[ 9.99760277e-01 -2.03426512e-02 -8.09726853e-03 1.67024129e+02] [ 2.03428713e-02 9.99793061e-01 -5.51858014e-05 4.26072044e+00] [ 8.09671551e-03 -1.09549120e-04 9.99967215e-01 6.35044337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059254154 meters 0.05543891119106627 Centerline is valid? [True, True] Translation: X:167.09, Y:4.26, Z:0.64 [[ 9.99848164e-01 -1.52755481e-02 -8.38489039e-03 1.67085082e+02] [ 1.52756068e-02 9.99883319e-01 -5.70470795e-05 4.26475471e+00] [ 8.38478347e-03 -7.10458706e-05 9.99964845e-01 6.35694302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119254154 meters 0.05469420917003091 Centerline is valid? [True, True] Translation: X:167.15, Y:4.27, Z:0.64 [[ 9.99871140e-01 -1.36036165e-02 -8.52326010e-03 1.67145867e+02] [ 1.36036170e-02 9.99907465e-01 -5.79203665e-05 4.26647480e+00] [ 8.52325932e-03 -5.80342628e-05 9.99963675e-01 6.36262672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179254154 meters 0.05489595761740456 Centerline is valid? [True, True] Translation: X:167.21, Y:4.27, Z:0.63 [[ 9.99861242e-01 -1.30909384e-02 -1.03016865e-02 1.67205865e+02] [ 1.30909128e-02 9.99914308e-01 -6.99147364e-05 4.26508001e+00] [ 1.03017189e-02 -6.49534439e-05 9.99946934e-01 6.34601207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239254154 meters 0.05545352308956258 Centerline is valid? [True, True] Translation: X:167.27, Y:4.26, Z:0.64 [[ 9.99831379e-01 -1.50978019e-02 -1.04532505e-02 1.67265418e+02] [ 1.50978845e-02 9.99886018e-01 -7.10154701e-05 4.26373965e+00] [ 1.04531312e-02 -8.68184741e-05 9.99945361e-01 6.35390864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299254154 meters 0.05547695886700303 Centerline is valid? [True, True] Translation: X:167.33, Y:4.26, Z:0.64 [[ 9.99767815e-01 -1.88390660e-02 -1.04597352e-02 1.67325936e+02] [ 1.88393528e-02 9.99822521e-01 -7.11230964e-05 4.26086641e+00] [ 1.04592187e-02 -1.25948058e-04 9.99945293e-01 6.36583144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359254154 meters 0.05488929087893006 Centerline is valid? [True, True] Translation: X:167.39, Y:4.26, Z:0.64 [[ 9.99724263e-01 -2.11964507e-02 -1.01048947e-02 1.67386881e+02] [ 2.11968393e-02 9.99775319e-01 -6.86596043e-05 4.26037562e+00] [ 1.01040797e-02 -1.45551157e-04 9.99948942e-01 6.37670603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41925415400001 meters 0.055751956513241274 Centerline is valid? [True, True] Translation: X:167.45, Y:4.26, Z:0.64 [[ 9.99677340e-01 -2.33838782e-02 -9.92014009e-03 1.67448739e+02] [ 2.33843670e-02 9.99726546e-01 -6.67330210e-05 4.25988757e+00] [ 9.91898787e-03 -1.65264707e-04 9.99950792e-01 6.39053432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47925415400002 meters 0.05563147431881987 Centerline is valid? [True, True] Translation: X:167.51, Y:4.26, Z:0.64 [[ 9.99589328e-01 -2.73411905e-02 -8.58107836e-03 1.67508520e+02] [ 2.73417066e-02 9.99626144e-01 -5.71795530e-05 4.25564522e+00] [ 8.57943363e-03 -1.77465256e-04 9.99963180e-01 6.39210958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters 0.05646706898573129 Centerline is valid? [True, True] Translation: X:167.57, Y:4.25, Z:0.64 [[ 9.99478237e-01 -3.14822325e-02 -7.21957513e-03 1.67569054e+02] [ 3.14827071e-02 9.99504296e-01 -4.79233000e-05 4.25017303e+00] [ 7.21750509e-03 -1.79393474e-04 9.99973937e-01 6.39010924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters 0.057655623053226926 Centerline is valid? [True, True] Translation: X:167.63, Y:4.24, Z:0.64 [[ 9.99404604e-01 -3.37117231e-02 -7.34557799e-03 1.67629043e+02] [ 3.37122761e-02 9.99431578e-01 -4.85635851e-05 4.24349445e+00] [ 7.34303977e-03 -1.99101483e-04 9.99973020e-01 6.39416794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters 0.05510401882841899 Centerline is valid? [True, True] Translation: X:167.69, Y:4.26, Z:0.64 [[ 9.99305210e-01 -3.65018292e-02 -7.53080618e-03 1.67689773e+02] [ 3.65024913e-02 9.99333561e-01 -4.95607251e-05 4.25570297e+00] [ 7.52759642e-03 -2.25366896e-04 9.99971642e-01 6.41322072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719254154 meters 0.05694915836324343 Centerline is valid? [True, True] Translation: X:167.75, Y:4.24, Z:0.64 [[ 9.99272032e-01 -3.73066884e-02 -7.97597987e-03 1.67751069e+02] [ 3.73074582e-02 9.99303833e-01 -5.23040692e-05 4.24343421e+00] [ 7.97237855e-03 -2.45297542e-04 9.99968190e-01 6.39679896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779254154 meters 0.055082289130335624 Centerline is valid? [True, True] Translation: X:167.81, Y:4.25, Z:0.64 [[ 9.99206066e-01 -3.87140112e-02 -9.40547318e-03 1.67812899e+02] [ 3.87151462e-02 9.99250286e-01 -6.14274204e-05 4.25304757e+00] [ 9.40079987e-03 -3.02755618e-04 9.99955766e-01 6.40666488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839254154 meters 0.054576172895935485 Centerline is valid? [True, True] Translation: X:167.87, Y:4.25, Z:0.64 [[ 9.99177616e-01 -3.93088241e-02 -9.94527020e-03 1.67874789e+02] [ 3.93101257e-02 9.99227056e-01 -6.46464479e-05 4.25390598e+00] [ 9.94012424e-03 -3.26356538e-04 9.99950542e-01 6.40480804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899254154 meters 0.05541829585430922 Centerline is valid? [True, True] Translation: X:167.94, Y:4.25, Z:0.64 [[ 9.99170207e-01 -3.93188080e-02 -1.06268255e-02 1.67936701e+02] [ 3.93202986e-02 9.99226656e-01 -6.87073576e-05 4.25345775e+00] [ 1.06213088e-02 -3.49199606e-04 9.99943531e-01 6.40385422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959254154 meters 0.0551279057131941 Centerline is valid? [True, True] Translation: X:168.00, Y:4.25, Z:0.64 [[ 9.99223094e-01 -3.80261367e-02 -1.03547521e-02 1.67997688e+02] [ 3.80274851e-02 9.99276691e-01 -6.67097439e-05 4.25258743e+00] [ 1.03497991e-02 -3.27107264e-04 9.99946386e-01 6.40516750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019254154 meters 0.05440304594720353 Centerline is valid? [True, True] Translation: X:168.06, Y:4.26, Z:0.64 [[ 9.99332562e-01 -3.50308968e-02 -1.03569274e-02 1.68058668e+02] [ 3.50320868e-02 9.99386186e-01 -6.65496540e-05 4.25787895e+00] [ 1.03529014e-02 -2.96319542e-04 9.99946363e-01 6.42064862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079254154 meters 0.05576589847530748 Centerline is valid? [True, True] Translation: X:168.12, Y:4.25, Z:0.64 [[ 9.99379142e-01 -3.34828373e-02 -1.09649145e-02 1.68119788e+02] [ 3.34840807e-02 9.99439248e-01 -7.02108949e-05 4.25188780e+00] [ 1.09611168e-02 -2.96982780e-04 9.99939881e-01 6.40819288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.139254154 meters 0.05557394337437893 Centerline is valid? [True, True] Translation: X:168.18, Y:4.25, Z:0.64 [[ 9.99428587e-01 -3.21745123e-02 -1.03586028e-02 1.68180973e+02] [ 3.21755538e-02 9.99482231e-01 -6.61334551e-05 4.25312054e+00] [ 1.03553672e-02 -2.67198116e-04 9.99946346e-01 6.40515694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19925415400002 meters 0.056782114819980425 Centerline is valid? [True, True] Translation: X:168.24, Y:4.25, Z:0.64 [[ 9.99487782e-01 -3.05080599e-02 -9.66603247e-03 1.68241641e+02] [ 3.05088903e-02 9.99534494e-01 -6.15631526e-05 4.25073680e+00] [ 9.66341104e-03 -2.33368305e-04 9.99953281e-01 6.40204614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters 0.05573486613703838 Centerline is valid? [True, True] Translation: X:168.30, Y:4.26, Z:0.64 [[ 9.99610029e-01 -2.64864762e-02 -8.84626002e-03 1.68302424e+02] [ 2.64870151e-02 9.99649156e-01 -5.62567141e-05 4.25925130e+00] [ 8.84464641e-03 -1.78076247e-04 9.99960869e-01 6.42306326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters 0.055235467655489694 Centerline is valid? [True, True] Translation: X:168.36, Y:4.26, Z:0.64 [[ 9.99678047e-01 -2.38282214e-02 -8.71887092e-03 1.68363224e+02] [ 2.38286447e-02 9.99716056e-01 -5.53481197e-05 4.26054694e+00] [ 8.71771410e-03 -1.52428577e-04 9.99961988e-01 6.42964669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters 0.054680459426197675 Centerline is valid? [True, True] Translation: X:168.42, Y:4.26, Z:0.64 [[ 9.99735865e-01 -2.14211378e-02 -8.32682340e-03 1.68424817e+02] [ 2.14214414e-02 9.99770533e-01 -5.27314632e-05 4.26378563e+00] [ 8.32604224e-03 -1.25655025e-04 9.99965330e-01 6.43173411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters 0.0553520988363664 Centerline is valid? [True, True] Translation: X:168.49, Y:4.26, Z:0.64 [[ 9.99750588e-01 -2.04931958e-02 -8.87644608e-03 1.68486201e+02] [ 2.04935062e-02 9.99789984e-01 -5.59949950e-05 4.25881815e+00] [ 8.87572941e-03 -1.25928473e-04 9.99960602e-01 6.41604486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499254154 meters 0.0551221577978526 Centerline is valid? [True, True] Translation: X:168.55, Y:4.26, Z:0.64 [[ 9.99803939e-01 -1.78362469e-02 -8.59955712e-03 1.68547704e+02] [ 1.78364416e-02 9.99840917e-01 -5.40558789e-05 4.26442285e+00] [ 8.59915323e-03 -9.93402180e-05 9.99963022e-01 6.42650534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559254154 meters 0.055079897337836185 Centerline is valid? [True, True] Translation: X:168.61, Y:4.27, Z:0.64 [[ 9.99831927e-01 -1.60082077e-02 -8.93612946e-03 1.68608827e+02] [ 1.60083466e-02 9.99871857e-01 -5.59796007e-05 4.26611241e+00] [ 8.93588049e-03 -8.70824660e-05 9.99960070e-01 6.43056854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619254154 meters 0.054636877209795244 Centerline is valid? [True, True] Translation: X:168.67, Y:4.27, Z:0.64 [[ 9.99863078e-01 -1.35249606e-02 -9.53421879e-03 1.68669847e+02] [ 1.35250078e-02 9.99908531e-01 -5.95253263e-05 4.26676079e+00] [ 9.53415178e-03 -6.94332075e-05 9.99954547e-01 6.42061967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679254154 meters 0.0550967665989893 Centerline is valid? [True, True] Translation: X:168.73, Y:4.27, Z:0.64 [[ 9.99880383e-01 -1.16335798e-02 -1.01920941e-02 1.68729963e+02] [ 1.16335357e-02 9.99932326e-01 -6.36141865e-05 4.26758257e+00] [ 1.01921444e-02 -5.49635135e-05 9.99948057e-01 6.42264308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739254154 meters 0.05616374981377697 Centerline is valid? [True, True] Translation: X:168.79, Y:4.27, Z:0.64 [[ 9.99905658e-01 -9.62223159e-03 -9.80247748e-03 1.68789997e+02] [ 9.62209286e-03 9.99953705e-01 -6.13147751e-05 4.26716476e+00] [ 9.80261365e-03 -3.30113580e-05 9.99951953e-01 6.42864978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799254154 meters 0.05562146930342511 Centerline is valid? [True, True] Translation: X:168.85, Y:4.27, Z:0.64 [[ 9.99928450e-01 -8.38123238e-03 -8.53523245e-03 1.68848500e+02] [ 8.38108049e-03 9.99964877e-01 -5.35639103e-05 4.26543992e+00] [ 8.53538159e-03 -1.79743923e-05 9.99963573e-01 6.43159907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859254154 meters 0.05560339309835668 Centerline is valid? [True, True] Translation: X:168.91, Y:4.26, Z:0.64 [[ 9.99936643e-01 -8.13421256e-03 -7.78110296e-03 1.68907508e+02] [ 8.13407457e-03 9.99966917e-01 -4.93813597e-05 4.26450920e+00] [ 7.78124721e-03 -1.39138406e-05 9.99969726e-01 6.43835878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91925415400001 meters 0.05575862859609635 Centerline is valid? [True, True] Translation: X:168.97, Y:4.26, Z:0.64 [[ 9.99940252e-01 -7.40058829e-03 -8.04511571e-03 1.68966340e+02] [ 7.40041227e-03 9.99972615e-01 -5.16489313e-05 4.26169311e+00] [ 8.04527763e-03 -7.89132766e-06 9.99967636e-01 6.42812138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters 0.05561600451051418 Centerline is valid? [True, True] Translation: X:169.03, Y:4.26, Z:0.64 [[ 9.99946366e-01 -7.24230531e-03 -7.40363835e-03 1.69025206e+02] [ 7.24214837e-03 9.99973774e-01 -4.80074090e-05 4.25993122e+00] [ 7.40379187e-03 -5.61341319e-06 9.99972592e-01 6.44444590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters 0.05594666104429024 Centerline is valid? [True, True] Translation: X:169.09, Y:4.25, Z:0.64 [[ 9.99946079e-01 -7.63497529e-03 -7.03896633e-03 1.69085183e+02] [ 7.63483985e-03 9.99970853e-01 -4.61119573e-05 4.25452565e+00] [ 7.03911323e-03 -7.63190974e-06 9.99975225e-01 6.44562824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters 0.05568741859448127 Centerline is valid? [True, True] Translation: X:169.14, Y:4.25, Z:0.64 [[ 9.99933232e-01 -8.53822276e-03 -7.78650806e-03 1.69143738e+02] [ 8.53808307e-03 9.99963549e-01 -5.11815500e-05 4.24849370e+00] [ 7.78666123e-03 -1.53037199e-05 9.99969683e-01 6.44162915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters 0.0561172280195015 Centerline is valid? [True, True] Translation: X:169.20, Y:4.24, Z:0.64 [[ 9.99920908e-01 -9.39514261e-03 -8.36117128e-03 1.69202255e+02] [ 9.39500966e-03 9.99955864e-01 -5.51787284e-05 4.24423717e+00] [ 8.36132067e-03 -2.33789208e-05 9.99965043e-01 6.43914174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219254154 meters 0.055810603376594964 Centerline is valid? [True, True] Translation: X:169.26, Y:4.24, Z:0.64 [[ 9.99902446e-01 -1.01131693e-02 -9.63446992e-03 1.69261388e+02] [ 1.01130236e-02 9.99948860e-01 -6.38420657e-05 4.23900078e+00] [ 9.63462285e-03 -3.35977838e-05 9.99953585e-01 6.44356898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279254154 meters 0.055674255865691934 Centerline is valid? [True, True] Translation: X:169.32, Y:4.23, Z:0.64 [[ 9.99898200e-01 -1.07834074e-02 -9.34382498e-03 1.69320545e+02] [ 1.07832953e-02 9.99941857e-01 -6.23751247e-05 4.23488864e+00] [ 9.34395432e-03 -3.83884493e-05 9.99956344e-01 6.44333857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339254154 meters 0.05599011465266948 Centerline is valid? [True, True] Translation: X:169.38, Y:4.23, Z:0.65 [[ 9.99865949e-01 -1.39307956e-02 -8.60336775e-03 1.69379612e+02] [ 1.39308142e-02 9.99902960e-01 -5.77665410e-05 4.22672347e+00] [ 8.60333762e-03 -6.20931204e-05 9.99962989e-01 6.45482962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399254154 meters 0.057265877896868524 Centerline is valid? [True, True] Translation: X:169.44, Y:4.22, Z:0.64 [[ 9.99803492e-01 -1.80125368e-02 -8.27799353e-03 1.69438972e+02] [ 1.80126930e-02 9.99837757e-01 -5.56923454e-05 4.21694053e+00] [ 8.27765364e-03 -9.34275549e-05 9.99965735e-01 6.44935351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459254154 meters 0.057118107493511615 Centerline is valid? [True, True] Translation: X:169.50, Y:4.21, Z:0.65 [[ 9.99635271e-01 -2.57240310e-02 -8.22192094e-03 1.69500016e+02] [ 2.57244456e-02 9.99669070e-01 -5.53412747e-05 4.20605575e+00] [ 8.22062366e-03 -1.56183268e-04 9.99966198e-01 6.45492829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519254154 meters 0.0571987477193559 Centerline is valid? [True, True] Translation: X:169.56, Y:4.20, Z:0.65 [[ 9.99490706e-01 -3.08468394e-02 -8.17317298e-03 1.69561077e+02] [ 3.08474207e-02 9.99524104e-01 -5.49564766e-05 4.20294139e+00] [ 8.17097863e-03 -1.97192818e-04 9.99966598e-01 6.45516323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579254154 meters 0.05673485530984347 Centerline is valid? [True, True] Translation: X:169.62, Y:4.19, Z:0.64 [[ 9.99162670e-01 -3.98823140e-02 -9.13012290e-03 1.69620640e+02] [ 3.98834164e-02 9.99204338e-01 -6.13729209e-05 4.19196545e+00] [ 9.12530610e-03 -3.02818962e-04 9.99958318e-01 6.44488085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.639254154 meters 0.05877668661016649 Centerline is valid? [True, True] Translation: X:169.68, Y:4.18, Z:0.64 [[ 9.98690812e-01 -5.02609045e-02 -9.51337617e-03 1.69680594e+02] [ 5.02625712e-02 9.98736036e-01 -6.39655648e-05 4.18032349e+00] [ 9.50456658e-03 -4.14284926e-04 9.99954745e-01 6.44520481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69925415400002 meters 0.05620549632237395 Centerline is valid? [True, True] Translation: X:169.74, Y:4.20, Z:0.65 [[ 9.98344779e-01 -5.68301180e-02 -8.83404757e-03 1.69741131e+02] [ 5.68318122e-02 9.98383765e-01 -5.93367449e-05 4.19645089e+00] [ 8.82314179e-03 -4.42816403e-04 9.99960977e-01 6.47566261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters 0.05534675887375434 Centerline is valid? [True, True] Translation: X:169.80, Y:4.20, Z:0.65 [[ 9.98030301e-01 -6.21566803e-02 -8.48909944e-03 1.69801003e+02] [ 6.21584374e-02 9.98066293e-01 -5.69470114e-05 4.19516573e+00] [ 8.47622364e-03 -4.70834313e-04 9.99963965e-01 6.47161537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters 0.057258981086306476 Centerline is valid? [True, True] Translation: X:169.86, Y:4.19, Z:0.65 [[ 9.98037295e-01 -6.19279097e-02 -9.30013728e-03 1.69863061e+02] [ 6.19300154e-02 9.98080492e-01 -6.16691688e-05 4.19126114e+00] [ 9.28610464e-03 -5.14409515e-04 9.99956751e-01 6.47569715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters 0.05735920730631743 Centerline is valid? [True, True] Translation: X:169.92, Y:4.19, Z:0.65 [[ 9.98219902e-01 -5.87425356e-02 -1.03122469e-02 1.69922710e+02] [ 5.87449604e-02 9.98273021e-01 -6.78741792e-05 4.18603771e+00] [ 1.02984249e-02 -5.38039176e-04 9.99946825e-01 6.46646906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters 0.05592319846879422 Centerline is valid? [True, True] Translation: X:169.98, Y:4.19, Z:0.65 [[ 9.98369642e-01 -5.60205460e-02 -1.09433563e-02 1.69983382e+02] [ 5.60231133e-02 9.98429470e-01 -7.20490358e-05 4.19407427e+00] [ 1.09302057e-02 -5.41149322e-04 9.99940117e-01 6.47365632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999254154 meters 0.055792699188789825 Centerline is valid? [True, True] Translation: X:170.04, Y:4.20, Z:0.65 [[ 9.98604723e-01 -5.18255277e-02 -1.01352234e-02 1.70043640e+02] [ 5.18275147e-02 9.98656049e-01 -6.66730068e-05 4.20072424e+00] [ 1.01250575e-02 -4.58703461e-04 9.99948635e-01 6.48540844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059254154 meters 0.05562404824587088 Centerline is valid? [True, True] Translation: X:170.10, Y:4.21, Z:0.65 [[ 9.98884410e-01 -4.63520473e-02 -9.02345698e-03 1.70104771e+02] [ 4.63533998e-02 9.98925102e-01 -5.93028233e-05 4.20668231e+00] [ 9.01650649e-03 -3.59031244e-04 9.99959286e-01 6.49293577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119254154 meters 0.058266015079016166 Centerline is valid? [True, True] Translation: X:170.16, Y:4.20, Z:0.65 [[ 9.99092254e-01 -4.15278747e-02 -9.49227256e-03 1.70164488e+02] [ 4.15291537e-02 9.99137291e-01 -6.24095123e-05 4.19894041e+00] [ 9.48667522e-03 -3.31853186e-04 9.99954945e-01 6.47839489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179254154 meters 0.05649539847074157 Centerline is valid? [True, True] Translation: X:170.22, Y:4.21, Z:0.65 [[ 9.99368787e-01 -3.40119912e-02 -1.02573112e-02 1.70224884e+02] [ 3.40130894e-02 9.99421385e-01 -6.74182946e-05 4.21401044e+00] [ 1.02536692e-02 -2.81507102e-04 9.99947390e-01 6.48912294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239254154 meters 0.056342261348952136 Centerline is valid? [True, True] Translation: X:170.28, Y:4.22, Z:0.65 [[ 9.99616630e-01 -2.56617813e-02 -1.03954940e-02 1.70284242e+02] [ 2.56624576e-02 9.99670663e-01 -6.83482996e-05 4.21697179e+00] [ 1.03938243e-02 -1.98451827e-04 9.99945963e-01 6.48555705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299254154 meters 0.05655715089838308 Centerline is valid? [True, True] Translation: X:170.35, Y:4.22, Z:0.65 [[ 9.99760911e-01 -1.96489277e-02 -9.59376752e-03 1.70345390e+02] [ 1.96492269e-02 9.99806933e-01 -6.30790866e-05 4.22477368e+00] [ 9.59315472e-03 -1.25446110e-04 9.99953977e-01 6.50466911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359254154 meters 0.05649603067744544 Centerline is valid? [True, True] Translation: X:170.41, Y:4.23, Z:0.65 [[ 9.99819154e-01 -1.66229946e-02 -9.23769676e-03 1.70406288e+02] [ 1.66231435e-02 9.99861824e-01 -6.06721389e-05 4.22795728e+00] [ 9.23742888e-03 -9.28983920e-05 9.99957330e-01 6.51204563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41925415400001 meters 0.056805012367973994 Centerline is valid? [True, True] Translation: X:170.47, Y:4.23, Z:0.65 [[ 9.99929108e-01 -8.20152187e-03 -8.63215456e-03 1.70465867e+02] [ 8.20133797e-03 9.99966367e-01 -5.67031210e-05 4.23479610e+00] [ 8.63232928e-03 -1.40961158e-05 9.99962741e-01 6.53403004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters 0.05667643067619414 Centerline is valid? [True, True] Translation: X:170.52, Y:4.24, Z:0.65 [[ 9.99951673e-01 -4.45818205e-03 -8.76220560e-03 1.70524667e+02] [ 4.45784450e-03 9.99990062e-01 -5.80540613e-05 4.23828714e+00] [ 8.76237734e-03 1.89907057e-05 9.99961609e-01 6.51013496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters 0.05624862173582318 Centerline is valid? [True, True] Translation: X:170.58, Y:4.24, Z:0.65 [[ 9.99943445e-01 -6.22640604e-03 -8.62195559e-03 1.70583916e+02] [ 6.22614079e-03 9.99980616e-01 -5.76054981e-05 4.23715056e+00] [ 8.62214713e-03 3.92073081e-06 9.99962829e-01 6.52565983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters 0.05654736259629372 Centerline is valid? [True, True] Translation: X:170.64, Y:4.23, Z:0.65 [[ 9.99859804e-01 -1.40501065e-02 -9.10865324e-03 1.70643373e+02] [ 1.40501338e-02 9.99901290e-01 -6.09930553e-05 4.23150001e+00] [ 9.10861108e-03 -6.69932923e-05 9.99958513e-01 6.52730591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters 0.057184621395372184 Centerline is valid? [True, True] Translation: X:170.70, Y:4.22, Z:0.65 [[ 9.99650023e-01 -2.48364861e-02 -9.10940686e-03 1.70703156e+02] [ 2.48369605e-02 9.99691513e-01 -6.10621107e-05 4.22100349e+00] [ 9.10811330e-03 -1.65209238e-04 9.99958507e-01 6.52742501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719254154 meters 0.05778716132301204 Centerline is valid? [True, True] Translation: X:170.76, Y:4.22, Z:0.65 [[ 9.99449620e-01 -3.19504528e-02 -8.92327456e-03 1.70763636e+02] [ 3.19511916e-02 9.99489429e-01 -5.97922278e-05 4.21903497e+00] [ 8.92062898e-03 -2.25349935e-04 9.99960185e-01 6.53551002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779254154 meters 0.05699878092402337 Centerline is valid? [True, True] Translation: X:170.82, Y:4.22, Z:0.65 [[ 9.99167485e-01 -3.97183597e-02 -9.31603763e-03 1.70823414e+02] [ 3.97195022e-02 9.99210867e-01 -6.24238637e-05 4.21517523e+00] [ 9.31116541e-03 -3.07656483e-04 9.99956603e-01 6.53518289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839254154 meters 0.057492360337289765 Centerline is valid? [True, True] Translation: X:170.88, Y:4.21, Z:0.65 [[ 9.99038725e-01 -4.28799397e-02 -9.10694527e-03 1.70883634e+02] [ 4.28811628e-02 9.99080178e-01 -6.10016005e-05 4.21182421e+00] [ 9.10118425e-03 -3.29573442e-04 9.99958529e-01 6.53629057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899254154 meters 0.056683553870320896 Centerline is valid? [True, True] Translation: X:170.94, Y:4.22, Z:0.66 [[ 9.98884391e-01 -4.64330417e-02 -8.59921762e-03 1.70943647e+02] [ 4.64342640e-02 9.98921346e-01 -5.75578394e-05 4.22053660e+00] [ 8.59261463e-03 -3.41804714e-04 9.99963024e-01 6.55452871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959254154 meters 0.056685885237617036 Centerline is valid? [True, True] Translation: X:171.00, Y:4.21, Z:0.65 [[ 9.98797914e-01 -4.83032111e-02 -8.33832868e-03 1.71004205e+02] [ 4.83044258e-02 9.98832658e-01 -5.57681166e-05 4.21499347e+00] [ 8.33128878e-03 -3.47077101e-04 9.99965234e-01 6.54497144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019254154 meters 0.05910123072430674 Centerline is valid? [True, True] Translation: X:171.07, Y:4.20, Z:0.65 [[ 9.98734704e-01 -4.93869734e-02 -9.48246070e-03 1.71065435e+02] [ 4.93885947e-02 9.98779637e-01 -6.32495055e-05 4.20274884e+00] [ 9.47401236e-03 -4.05155932e-04 9.99955038e-01 6.52602097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079254154 meters 0.05881364053782428 Centerline is valid? [True, True] Translation: X:171.13, Y:4.21, Z:0.65 [[ 9.98772816e-01 -4.82843221e-02 -1.10221197e-02 1.71127667e+02] [ 4.82864500e-02 9.98833526e-01 -7.31342021e-05 4.20728723e+00] [ 1.10127939e-02 -4.59174578e-04 9.99939252e-01 6.51909778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139254154 meters 0.05648216034957415 Centerline is valid? [True, True] Translation: X:171.19, Y:4.22, Z:0.65 [[ 9.98866798e-01 -4.62216238e-02 -1.13437979e-02 1.71188824e+02] [ 4.62237474e-02 9.98931109e-01 -7.50499779e-05 4.22034845e+00] [ 1.13351415e-02 -4.49387917e-04 9.99935654e-01 6.53557455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19925415400002 meters 0.060001629315364194 Centerline is valid? [True, True] Translation: X:171.25, Y:4.21, Z:0.65 [[ 9.99090751e-01 -4.09398737e-02 -1.18994614e-02 1.71248574e+02] [ 4.09418366e-02 9.99161528e-01 -7.86985401e-05 4.21246184e+00] [ 1.18927059e-02 -4.08558819e-04 9.99929196e-01 6.50909211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters 0.05640691785654986 Centerline is valid? [True, True] Translation: X:171.31, Y:4.23, Z:0.66 [[ 9.99261524e-01 -3.70295622e-02 -1.02576295e-02 1.71308873e+02] [ 3.70308149e-02 9.99314122e-01 -6.78456044e-05 4.23029798e+00] [ 1.02531064e-02 -3.12052879e-04 9.99947387e-01 6.55189293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters 0.05728497741599569 Centerline is valid? [True, True] Translation: X:171.37, Y:4.23, Z:0.66 [[ 9.99487410e-01 -3.05491084e-02 -9.57437189e-03 1.71368174e+02] [ 3.05499021e-02 9.99533241e-01 -6.33777203e-05 4.23284696e+00] [ 9.57183910e-03 -2.29150890e-04 9.99954163e-01 6.55612902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters 0.05723165503256406 Centerline is valid? [True, True] Translation: X:171.43, Y:4.24, Z:0.66 [[ 9.99574429e-01 -2.74497748e-02 -9.87276696e-03 1.71429483e+02] [ 2.74504685e-02 9.99623163e-01 -6.52578182e-05 4.23654291e+00] [ 9.87083784e-03 -2.05782032e-04 9.99951261e-01 6.55597920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters 0.057094740374333985 Centerline is valid? [True, True] Translation: X:171.49, Y:4.24, Z:0.66 [[ 9.99634329e-01 -2.52077671e-02 -9.78652324e-03 1.71491122e+02] [ 2.52083437e-02 9.99682217e-01 -6.44594530e-05 4.24241892e+00] [ 9.78503813e-03 -1.82266159e-04 9.99952109e-01 6.56245264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499254154 meters 0.057411763973639424 Centerline is valid? [True, True] Translation: X:171.55, Y:4.24, Z:0.66 [[ 9.99599234e-01 -2.66144199e-02 -9.64597833e-03 1.71552430e+02] [ 2.66150488e-02 9.99645755e-01 -6.31893837e-05 4.23897821e+00] [ 9.64424303e-03 -1.93564124e-04 9.99953474e-01 6.55473600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559254154 meters 0.05643369972560859 Centerline is valid? [True, True] Translation: X:171.61, Y:4.25, Z:0.66 [[ 9.99511849e-01 -2.99443193e-02 -8.91076483e-03 1.71613136e+02] [ 2.99449900e-02 9.99551547e-01 -5.81725795e-05 4.24714802e+00] [ 8.90851070e-03 -2.08688581e-04 9.99960297e-01 6.58549938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619254154 meters 0.05663563214196988 Centerline is valid? [True, True] Translation: X:171.67, Y:4.25, Z:0.66 [[ 9.99320963e-01 -3.58477924e-02 -8.51753351e-03 1.71673547e+02] [ 3.58486197e-02 9.99357230e-01 -5.55676677e-05 4.24762568e+00] [ 8.51405067e-03 -2.49811884e-04 9.99963724e-01 6.58259182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679254154 meters 0.05748086730131101 Centerline is valid? [True, True] Translation: X:171.73, Y:4.24, Z:0.66 [[ 9.99107276e-01 -4.12727905e-02 -9.01152980e-03 1.71733265e+02] [ 4.12739388e-02 9.99147866e-01 -5.85947344e-05 4.24192901e+00] [ 9.00626914e-03 -3.13398904e-04 9.99959394e-01 6.57887767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739254154 meters 0.05708491816136164 Centerline is valid? [True, True] Translation: X:171.79, Y:4.24, Z:0.66 [[ 9.98952405e-01 -4.49305237e-02 -8.67985831e-03 1.71794067e+02] [ 4.49317284e-02 9.98990058e-01 -5.62521774e-05 4.24438108e+00] [ 8.67361960e-03 -3.33807789e-04 9.99962328e-01 6.58859514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799254154 meters 0.05731067107741491 Centerline is valid? [True, True] Translation: X:171.85, Y:4.24, Z:0.66 [[ 9.98787532e-01 -4.85165747e-02 -8.34315655e-03 1.71853128e+02] [ 4.85178139e-02 9.98822316e-01 -5.39235561e-05 4.24379509e+00] [ 8.33594714e-03 -3.50933541e-04 9.99965194e-01 6.59108559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859254154 meters 0.057631645699948095 Centerline is valid? [True, True] Translation: X:171.91, Y:4.25, Z:0.66 [[ 9.98726476e-01 -4.98450891e-02 -7.80345036e-03 1.71914517e+02] [ 4.98462149e-02 9.98756904e-01 -5.02826785e-05 4.24577865e+00] [ 7.79625626e-03 -3.38753821e-04 9.99969551e-01 6.60226887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91925415400001 meters 0.056500665185247274 Centerline is valid? [True, True] Translation: X:171.98, Y:4.25, Z:0.66 [[ 9.98679312e-01 -5.08748913e-02 -7.16773939e-03 1.71976134e+02] [ 5.08758687e-02 9.98704983e-01 -4.60269540e-05 4.25355178e+00] [ 7.16079866e-03 -3.18698801e-04 9.99974310e-01 6.60770676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters 0.056010680214681814 Centerline is valid? [True, True] Translation: X:172.04, Y:4.26, Z:0.66 [[ 9.98681707e-01 -5.07122555e-02 -7.94444917e-03 1.72038139e+02] [ 5.07134532e-02 9.98713244e-01 -5.07445288e-05 4.25583000e+00] [ 7.93679997e-03 -3.52212819e-04 9.99968441e-01 6.60958206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters 0.057285090509681294 Centerline is valid? [True, True] Translation: X:172.10, Y:4.25, Z:0.66 [[ 9.98735915e-01 -4.94634146e-02 -8.94111889e-03 1.72098208e+02] [ 4.94648838e-02 9.98775862e-01 -5.68876500e-05 4.24969198e+00] [ 8.93298758e-03 -3.85455668e-04 9.99960026e-01 6.60279724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters 0.058477947409951894 Centerline is valid? [True, True] Translation: X:172.16, Y:4.25, Z:0.66 [[ 9.98798573e-01 -4.80542870e-02 -9.60190901e-03 1.72159010e+02] [ 4.80559178e-02 9.98844645e-01 -6.09373934e-05 4.24931983e+00] [ 9.59374370e-03 -4.00564369e-04 9.99953899e-01 6.59640375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters 0.05664323337758229 Centerline is valid? [True, True] Translation: X:172.22, Y:4.26, Z:0.66 [[ 9.98882988e-01 -4.62583733e-02 -9.64053502e-03 1.72219250e+02] [ 4.62599343e-02 9.98929434e-01 -6.11216536e-05 4.26062615e+00] [ 9.63304158e-03 -3.84917137e-04 9.99953527e-01 6.61360986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219254154 meters 0.056622319640259225 Centerline is valid? [True, True] Translation: X:172.28, Y:4.27, Z:0.66 [[ 9.99166199e-01 -3.98530888e-02 -8.86783915e-03 1.72279474e+02] [ 3.98541578e-02 9.99205506e-01 -5.62085048e-05 4.26669969e+00] [ 8.86303379e-03 -2.97258622e-04 9.99960678e-01 6.62019723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279254154 meters 0.05612839155193349 Centerline is valid? [True, True] Translation: X:172.34, Y:4.27, Z:0.66 [[ 9.99277416e-01 -3.69939820e-02 -8.72303237e-03 1.72339337e+02] [ 3.69949075e-02 9.99315453e-01 -5.52794609e-05 4.26690080e+00] [ 8.71910605e-03 -2.67468259e-04 9.99961952e-01 6.61821172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339254154 meters 0.055830799713534225 Centerline is valid? [True, True] Translation: X:172.40, Y:4.27, Z:0.66 [[ 9.99480336e-01 -3.11878948e-02 -8.14694195e-03 1.72400282e+02] [ 3.11885091e-02 9.99513519e-01 -5.16670792e-05 4.27322915e+00] [ 8.14459000e-03 -2.02450743e-04 9.99966812e-01 6.62933618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399254154 meters 0.056548784988176184 Centerline is valid? [True, True] Translation: X:172.46, Y:4.28, Z:0.66 [[ 9.99643232e-01 -2.54290793e-02 -8.17131611e-03 1.72459894e+02] [ 2.54295044e-02 9.99676617e-01 -5.18881935e-05 4.27699693e+00] [ 8.16999311e-03 -1.55922837e-04 9.99966613e-01 6.62984105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459254154 meters 0.05625405628594194 Centerline is valid? [True, True] Translation: X:172.52, Y:4.28, Z:0.66 [[ 9.99642137e-01 -2.52136023e-02 -8.93708296e-03 1.72521954e+02] [ 2.52141033e-02 9.99682072e-01 -5.66299559e-05 4.28034610e+00] [ 8.93566946e-03 -1.68730842e-04 9.99960062e-01 6.62880220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519254154 meters 0.05697415277194056 Centerline is valid? [True, True] Translation: X:172.58, Y:4.28, Z:0.66 [[ 9.99575882e-01 -2.74989943e-02 -9.58445582e-03 1.72583073e+02] [ 2.74996776e-02 9.99621811e-01 -6.05177791e-05 4.27955131e+00] [ 9.58249525e-03 -2.03077332e-04 9.99954066e-01 6.62937294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579254154 meters 0.05695540373918461 Centerline is valid? [True, True] Translation: X:172.64, Y:4.28, Z:0.66 [[ 9.99441427e-01 -3.19166362e-02 -9.90767915e-03 1.72644187e+02] [ 3.19175844e-02 9.99490502e-01 -6.24391214e-05 4.27910439e+00] [ 9.90462406e-03 -2.53824941e-04 9.99950916e-01 6.63131212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639254154 meters 0.05719735875860371 Centerline is valid? [True, True] Translation: X:172.71, Y:4.28, Z:0.66 [[ 9.99356702e-01 -3.42599173e-02 -1.06037422e-02 1.72705191e+02] [ 3.42611362e-02 9.99412913e-01 -6.67346890e-05 4.27616672e+00] [ 1.05998032e-02 -2.96604496e-04 9.99943777e-01 6.62269035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69925415400002 meters 0.055755032696214665 Centerline is valid? [True, True] Translation: X:172.77, Y:4.29, Z:0.67 [[ 9.99267017e-01 -3.68671593e-02 -1.03073519e-02 1.72765736e+02] [ 3.68684504e-02 9.99320125e-01 -6.47890603e-05 4.28888558e+00] [ 1.03027328e-02 -3.15274522e-04 9.99946876e-01 6.65020174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters 0.05646572166982831 Centerline is valid? [True, True] Translation: X:172.83, Y:4.28, Z:0.66 [[ 9.99277825e-01 -3.67508218e-02 -9.65434957e-03 1.72826683e+02] [ 3.67519507e-02 9.99324417e-01 -6.05177185e-05 4.28029449e+00] [ 9.65005133e-03 -2.94342165e-04 9.99953394e-01 6.64131732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters 0.05717304577434176 Centerline is valid? [True, True] Translation: X:172.89, Y:4.28, Z:0.66 [[ 9.99353621e-01 -3.45587940e-02 -9.90104167e-03 1.72887746e+02] [ 3.45598757e-02 9.99402627e-01 -6.18772572e-05 4.28250537e+00] [ 9.89726546e-03 -2.80341508e-04 9.99950982e-01 6.64737924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters 0.05635087458176764 Centerline is valid? [True, True] Translation: X:172.95, Y:4.29, Z:0.67 [[ 9.99534379e-01 -2.90417653e-02 -9.35956169e-03 1.72948672e+02] [ 2.90424915e-02 9.99578176e-01 -5.83536986e-05 4.28919225e+00] [ 9.35730830e-03 -2.13498463e-04 9.99956197e-01 6.66156606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters 0.05706271436809025 Centerline is valid? [True, True] Translation: X:173.01, Y:4.29, Z:0.67 [[ 9.99641832e-01 -2.51287764e-02 -9.20607856e-03 1.73007979e+02] [ 2.51293132e-02 9.99684207e-01 -5.73778712e-05 4.28948620e+00] [ 9.20461319e-03 -1.73985111e-04 9.99957622e-01 6.66079361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999254154 meters 0.05626887487697732 Centerline is valid? [True, True] Translation: X:173.07, Y:4.29, Z:0.66 [[ 9.99744351e-01 -2.03990359e-02 -9.75248704e-03 1.73069209e+02] [ 2.03994134e-02 9.99791908e-01 -6.07719143e-05 4.29139404e+00] [ 9.75169731e-03 -1.38188637e-04 9.99952442e-01 6.64841029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059254154 meters 0.0559639321681435 Centerline is valid? [True, True] Translation: X:173.13, Y:4.30, Z:0.67 [[ 9.99782036e-01 -1.82428058e-02 -1.01529013e-02 1.73130939e+02] [ 1.82431057e-02 9.99833579e-01 -6.30867829e-05 4.29887333e+00] [ 1.01523626e-02 -1.22147420e-04 9.99948456e-01 6.67458940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119254154 meters 0.05637410103021663 Centerline is valid? [True, True] Translation: X:173.19, Y:4.30, Z:0.67 [[ 9.99774599e-01 -1.83777486e-02 -1.06305660e-02 1.73192492e+02] [ 1.83780872e-02 9.99831107e-01 -6.58455546e-05 4.29968933e+00] [ 1.06299807e-02 -1.29538756e-04 9.99943492e-01 6.67624570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179254154 meters 0.05638569342279009 Centerline is valid? [True, True] Translation: X:173.25, Y:4.30, Z:0.67 [[ 9.99736156e-01 -1.95425569e-02 -1.20709132e-02 1.73253249e+02] [ 1.95430809e-02 9.99809013e-01 -7.45593047e-05 4.29576238e+00] [ 1.20700649e-02 -1.61363201e-04 9.99927141e-01 6.65440640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239254154 meters 0.056156989254761994 Centerline is valid? [True, True] Translation: X:173.31, Y:4.30, Z:0.67 [[ 9.99703382e-01 -2.12784371e-02 -1.18480608e-02 1.73313373e+02] [ 2.12790645e-02 9.99773572e-01 -7.31189399e-05 4.29770037e+00] [ 1.18469340e-02 -1.79018400e-04 9.99929807e-01 6.67003387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299254154 meters 0.056159829429166114 Centerline is valid? [True, True] Translation: X:173.37, Y:4.29, Z:0.67 [[ 9.99669651e-01 -2.30626105e-02 -1.13447912e-02 1.73373785e+02] [ 2.30633012e-02 9.99734004e-01 -6.99530151e-05 4.29319102e+00] [ 1.13433868e-02 -1.91718430e-04 9.99935643e-01 6.66753952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359254154 meters 0.0568854376908504 Centerline is valid? [True, True] Translation: X:173.44, Y:4.29, Z:0.67 [[ 9.99653079e-01 -2.41260307e-02 -1.05667109e-02 1.73435515e+02] [ 2.41266928e-02 9.99708907e-01 -6.48290547e-05 4.29160194e+00] [ 1.05651991e-02 -1.90133225e-04 9.99944169e-01 6.67447899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41925415400001 meters 0.056922233139678965 Centerline is valid? [True, True] Translation: X:173.50, Y:4.28, Z:0.67 [[ 9.99634018e-01 -2.54460230e-02 -9.18311522e-03 1.73496272e+02] [ 2.54465827e-02 9.99676182e-01 -5.59024272e-05 4.28480079e+00] [ 9.18156405e-03 -1.77796933e-04 9.99957833e-01 6.67578255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters 0.05682035909186121 Centerline is valid? [True, True] Translation: X:173.56, Y:4.28, Z:0.67 [[ 9.99603637e-01 -2.69830940e-02 -8.03000351e-03 1.73558537e+02] [ 2.69835741e-02 9.99635876e-01 -4.85699727e-05 4.28427993e+00] [ 8.02839016e-03 -1.68127473e-04 9.99967758e-01 6.69107380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters 0.05737981881848031 Centerline is valid? [True, True] Translation: X:173.62, Y:4.28, Z:0.67 [[ 9.99560630e-01 -2.84538801e-02 -8.30204987e-03 1.73619912e+02] [ 2.84544458e-02 9.99595089e-01 -4.99901372e-05 4.27930454e+00] [ 8.30011069e-03 -1.86262055e-04 9.99965536e-01 6.68185525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters 0.056551146205777815 Centerline is valid? [True, True] Translation: X:173.68, Y:4.28, Z:0.67 [[ 9.99535645e-01 -2.93207015e-02 -8.29404417e-03 1.73682351e+02] [ 2.93212981e-02 9.99570037e-01 -4.96927356e-05 4.28105611e+00] [ 8.29193506e-03 -1.93522481e-04 9.99965603e-01 6.69052961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters 0.05575147413464796 Centerline is valid? [True, True] Translation: X:173.74, Y:4.29, Z:0.67 [[ 9.99518290e-01 -3.00818441e-02 -7.63355187e-03 1.73744335e+02] [ 3.00823736e-02 9.99547422e-01 -4.54791694e-05 4.28564853e+00] [ 7.63146519e-03 -1.84178098e-04 9.99970863e-01 6.70257230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719254154 meters 0.05631683762779885 Centerline is valid? [True, True] Translation: X:173.81, Y:4.28, Z:0.67 [[ 9.99512992e-01 -3.01910096e-02 -7.89189985e-03 1.73805393e+02] [ 3.01915807e-02 9.99544129e-01 -4.67827442e-05 4.28241707e+00] [ 7.88971458e-03 -1.91508971e-04 9.99968857e-01 6.69648764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779254154 meters 0.05645822290141291 Centerline is valid? [True, True] Translation: X:173.87, Y:4.28, Z:0.67 [[ 9.99522333e-01 -2.97155073e-02 -8.49081485e-03 1.73867494e+02] [ 2.97161534e-02 9.99558376e-01 -5.00773193e-05 4.28092206e+00] [ 8.48855318e-03 -2.02260958e-04 9.99963951e-01 6.68990458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839254154 meters 0.05589152330082251 Centerline is valid? [True, True] Translation: X:173.93, Y:4.28, Z:0.67 [[ 9.99556057e-01 -2.87556671e-02 -7.79751652e-03 1.73928325e+02] [ 2.87561855e-02 9.99586454e-01 -4.56443248e-05 4.27840864e+00] [ 7.79560443e-03 -1.78602771e-04 9.99969598e-01 6.69322782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899254154 meters 0.057071210625495854 Centerline is valid? [True, True] Translation: X:173.99, Y:4.28, Z:0.67 [[ 9.99602426e-01 -2.75256576e-02 -6.10965868e-03 1.73989959e+02] [ 2.75259545e-02 9.99621089e-01 -3.55144920e-05 4.27688363e+00] [ 6.10832122e-03 -1.32673814e-04 9.99981335e-01 6.70874358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959254154 meters 0.056468878253617946 Centerline is valid? [True, True] Translation: X:174.05, Y:4.28, Z:0.67 [[ 9.99608883e-01 -2.75689740e-02 -4.69395032e-03 1.74051837e+02] [ 2.75691503e-02 9.99619898e-01 -2.71641206e-05 4.27704990e+00] [ 4.69291502e-03 -1.02254725e-04 9.99988983e-01 6.71834680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019254154 meters 0.057328254439703095 Centerline is valid? [True, True] Translation: X:174.11, Y:4.27, Z:0.67 [[ 9.99544566e-01 -2.98514905e-02 -4.42143839e-03 1.74112795e+02] [ 2.98516698e-02 9.99554339e-01 -2.54409951e-05 4.26901185e+00] [ 4.42022738e-03 -1.06557911e-04 9.99990225e-01 6.71452641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079254154 meters 0.05663116115805398 Centerline is valid? [True, True] Translation: X:174.17, Y:4.26, Z:0.67 [[ 9.99440803e-01 -3.30906673e-02 -4.80516896e-03 1.74173668e+02] [ 3.30909177e-02 9.99452345e-01 -2.73960867e-05 4.26496519e+00] [ 4.80344394e-03 -1.31626684e-04 9.99988455e-01 6.70279350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139254154 meters 0.056610799542509964 Centerline is valid? [True, True] Translation: X:174.24, Y:4.27, Z:0.67 [[ 9.99399582e-01 -3.42354540e-02 -5.33000817e-03 1.74235779e+02] [ 3.42357791e-02 9.99413783e-01 -3.02602496e-05 4.26544984e+00] [ 5.32791961e-03 -1.52234902e-04 9.99985795e-01 6.70304897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19925415400002 meters 0.05726527748256294 Centerline is valid? [True, True] Translation: X:174.30, Y:4.26, Z:0.67 [[ 9.99325579e-01 -3.62433676e-02 -5.89964837e-03 1.74295541e+02] [ 3.62438023e-02 9.99342977e-01 -3.32422083e-05 4.25980455e+00] [ 5.89697697e-03 -1.80605900e-04 9.99982596e-01 6.69528240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters 0.05933319240754084 Centerline is valid? [True, True] Translation: X:174.36, Y:4.25, Z:0.67 [[ 9.99262491e-01 -3.77962057e-02 -6.77645642e-03 1.74356995e+02] [ 3.77968164e-02 9.99285444e-01 -3.79688734e-05 4.25079979e+00] [ 6.77304934e-03 -2.18187608e-04 9.99977039e-01 6.68782832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters 0.05661877233850403 Centerline is valid? [True, True] Translation: X:174.42, Y:4.26, Z:0.67 [[ 9.99172110e-01 -4.01106042e-02 -6.79953229e-03 1.74417708e+02] [ 4.01112733e-02 9.99195218e-01 -3.79855158e-05 4.26253241e+00] [ 6.79558378e-03 -2.34783830e-04 9.99976882e-01 6.69607199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters 0.057044533763794834 Centerline is valid? [True, True] Translation: X:174.48, Y:4.26, Z:0.67 [[ 9.99135397e-01 -4.09710262e-02 -7.05923926e-03 1.74479173e+02] [ 4.09717700e-02 9.99160304e-01 -3.92861867e-05 4.25818714e+00] [ 7.05492124e-03 -2.49977308e-04 9.99975082e-01 6.69057029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters 0.0561577661613999 Centerline is valid? [True, True] Translation: X:174.54, Y:4.26, Z:0.67 [[ 9.99094967e-01 -4.19727321e-02 -6.89475431e-03 1.74541371e+02] [ 4.19734667e-02 9.99118725e-01 -3.81847638e-05 4.26288907e+00] [ 6.89028085e-03 -2.51246535e-04 9.99976230e-01 6.69975932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499254154 meters 0.056844363767265885 Centerline is valid? [True, True] Translation: X:174.60, Y:4.26, Z:0.67 [[ 9.99091539e-01 -4.20005435e-02 -7.21465566e-03 1.74602517e+02] [ 4.20013501e-02 9.99117553e-01 -3.97470126e-05 4.25947142e+00] [ 7.20995850e-03 -2.63314374e-04 9.99973973e-01 6.69584556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559254154 meters 0.05830604692160114 Centerline is valid? [True, True] Translation: X:174.66, Y:4.26, Z:0.67 [[ 9.99085521e-01 -4.19201744e-02 -8.41546812e-03 1.74663403e+02] [ 4.19212718e-02 9.99120916e-01 -4.60271833e-05 4.25655879e+00] [ 8.40999968e-03 -3.06802034e-04 9.99964588e-01 6.68839132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619254154 meters 0.05843267992800779 Centerline is valid? [True, True] Translation: X:174.73, Y:4.26, Z:0.67 [[ 9.99075987e-01 -4.22243714e-02 -8.01710807e-03 1.74725204e+02] [ 4.22253797e-02 9.99108110e-01 -4.35349453e-05 4.25823475e+00] [ 8.01179593e-03 -2.95030714e-04 9.99967862e-01 6.69286082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679254154 meters 0.055201194754705654 Centerline is valid? [True, True] Translation: X:174.79, Y:4.27, Z:0.67 [[ 9.99122954e-01 -4.14346985e-02 -6.04065133e-03 1.74786975e+02] [ 4.14352574e-02 9.99141190e-01 -3.26436142e-05 4.27267470e+00] [ 6.03681614e-03 -2.17680959e-04 9.99981755e-01 6.70980268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739254154 meters 0.05641726694114193 Centerline is valid? [True, True] Translation: X:174.85, Y:4.27, Z:0.67 [[ 9.99327241e-01 -3.60939508e-02 -6.50324694e-03 1.74846779e+02] [ 3.60944865e-02 9.99348381e-01 -3.50058568e-05 4.27239775e+00] [ 6.50027280e-03 -1.99749053e-04 9.99978853e-01 6.70744589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799254154 meters 0.056402215386240635 Centerline is valid? [True, True] Translation: X:174.91, Y:4.28, Z:0.67 [[ 9.99557828e-01 -2.89835716e-02 -6.64088885e-03 1.74906551e+02] [ 2.89839733e-02 9.99579876e-01 -3.57512286e-05 4.27972432e+00] [ 6.63913505e-03 -1.56743925e-04 9.99977948e-01 6.70118410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859254154 meters 0.05597570649677568 Centerline is valid? [True, True] Translation: X:174.97, Y:4.28, Z:0.67 [[ 9.99637506e-01 -2.59214231e-02 -7.27578508e-03 1.74968316e+02] [ 2.59218250e-02 9.99663972e-01 -3.90706638e-05 4.28133012e+00] [ 7.27435299e-03 -1.49545127e-04 9.99973530e-01 6.69380464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91925415400001 meters 0.055719691595090055 Centerline is valid? [True, True] Translation: X:175.03, Y:4.29, Z:0.67 [[ 9.99668464e-01 -2.43712123e-02 -8.30697337e-03 1.75030381e+02] [ 2.43716850e-02 9.99702965e-01 -4.43373130e-05 4.28639110e+00] [ 8.30558646e-03 -1.58132325e-04 9.99965496e-01 6.68995712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters 0.055331622740827 Centerline is valid? [True, True] Translation: X:175.09, Y:4.29, Z:0.67 [[ 9.99665533e-01 -2.45497830e-02 -8.13199901e-03 1.75092266e+02] [ 2.45502438e-02 9.99698596e-01 -4.31591861e-05 4.28762209e+00] [ 8.13060754e-03 -1.56497808e-04 9.99966934e-01 6.69576988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters 0.05517738709478603 Centerline is valid? [True, True] Translation: X:175.15, Y:4.29, Z:0.67 [[ 9.99668835e-01 -2.47382340e-02 -7.08808194e-03 1.75154093e+02] [ 2.47385903e-02 9.99693954e-01 -3.74181029e-05 4.29394389e+00] [ 7.08683832e-03 -1.37943444e-04 9.99974879e-01 6.71028628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters 0.05518530160347395 Centerline is valid? [True, True] Translation: X:175.22, Y:4.29, Z:0.67 [[ 9.99673248e-01 -2.48092794e-02 -6.15609320e-03 1.75216172e+02] [ 2.48095507e-02 9.99692195e-01 -3.22972258e-05 4.29384862e+00] [ 6.15499960e-03 -1.20443234e-04 9.99981051e-01 6.71794347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters 0.0554731174760518 Centerline is valid? [True, True] Translation: X:175.28, Y:4.29, Z:0.67 [[ 9.99670652e-01 -2.50076451e-02 -5.76245571e-03 1.75278313e+02] [ 2.50078874e-02 9.99687253e-01 -3.00152821e-05 4.29464528e+00] [ 5.76140413e-03 -1.14101447e-04 9.99983396e-01 6.71587206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219254154 meters 0.055272822870962454 Centerline is valid? [True, True] Translation: X:175.34, Y:4.29, Z:0.67 [[ 9.99664839e-01 -2.51548406e-02 -6.11914888e-03 1.75339882e+02] [ 2.51551178e-02 9.99683559e-01 -3.16866785e-05 4.29268415e+00] [ 6.11800961e-03 -1.22251852e-04 9.99981277e-01 6.71054383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279254154 meters 0.055876079370882126 Centerline is valid? [True, True] Translation: X:175.40, Y:4.29, Z:0.67 [[ 9.99660394e-01 -2.52299536e-02 -6.52273350e-03 1.75401823e+02] [ 2.52302713e-02 9.99681665e-01 -3.35948023e-05 4.29334427e+00] [ 6.52150469e-03 -1.30986942e-04 9.99978726e-01 6.70737450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339254154 meters 0.05486112753481268 Centerline is valid? [True, True] Translation: X:175.46, Y:4.30, Z:0.67 [[ 9.99689264e-01 -2.40361499e-02 -6.60594906e-03 1.75464445e+02] [ 2.40364514e-02 9.99711082e-01 -3.37713838e-05 4.29536687e+00] [ 6.60485222e-03 -1.25022683e-04 9.99978180e-01 6.71395003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399254154 meters 0.055324598411233494 Centerline is valid? [True, True] Translation: X:175.52, Y:4.30, Z:0.67 [[ 9.99782389e-01 -1.99204773e-02 -6.19269331e-03 1.75524705e+02] [ 1.99206645e-02 9.99801563e-01 -3.14465227e-05 4.29519164e+00] [ 6.19209088e-03 -9.19228864e-05 9.99980825e-01 6.71778184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459254154 meters 0.055064812505143064 Centerline is valid? [True, True] Translation: X:175.59, Y:4.30, Z:0.67 [[ 9.99894257e-01 -1.34978916e-02 -5.41120291e-03 1.75585891e+02] [ 1.34979409e-02 9.99908898e-01 -2.74101887e-05 4.30077876e+00] [ 5.41107992e-03 -4.56328070e-05 9.99985359e-01 6.72461024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519254154 meters 0.055257648941567934 Centerline is valid? [True, True] Translation: X:175.65, Y:4.30, Z:0.67 [[ 9.99949194e-01 -8.94156389e-03 -4.65381123e-03 1.75646158e+02] [ 8.94155126e-03 9.99960023e-01 -2.35201178e-05 4.30168342e+00] [ 4.65383549e-03 -1.80933688e-05 9.99989171e-01 6.72867348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579254154 meters 0.05564570960565921 Centerline is valid? [True, True] Translation: X:175.71, Y:4.30, Z:0.67 [[ 9.99972395e-01 -4.52073625e-03 -5.89683011e-03 1.75706443e+02] [ 4.52064019e-03 9.99989781e-01 -2.96186052e-05 4.30242395e+00] [ 5.89690375e-03 2.96034036e-06 9.99982613e-01 6.71843667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.639254154 meters 0.05559031658318423 Centerline is valid? [True, True] Translation: X:175.77, Y:4.30, Z:0.67 [[ 9.99964946e-01 -3.65420635e-03 -7.53343688e-03 1.75765050e+02] [ 3.65402232e-03 9.99993323e-01 -3.81920555e-05 4.30083960e+00] [ 7.53352615e-03 1.06633702e-05 9.99971623e-01 6.70041269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69925415400002 meters 0.05557693549139549 Centerline is valid? [True, True] Translation: X:175.82, Y:4.30, Z:0.67 [[ 9.99949420e-01 -3.86621335e-03 -9.28493596e-03 1.75823069e+02] [ 3.86593589e-03 9.99992526e-01 -4.78308525e-05 4.29980201e+00] [ 9.28505149e-03 1.19334660e-05 9.99956893e-01 6.67848004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters 0.055494470247133006 Centerline is valid? [True, True] Translation: X:175.88, Y:4.30, Z:0.67 [[ 9.99939833e-01 -5.22531669e-03 -9.64505334e-03 1.75881888e+02] [ 5.22507700e-03 9.99986348e-01 -5.00496846e-05 4.29740795e+00] [ 9.64518319e-03 -3.49473106e-07 9.99953484e-01 6.69446936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters 0.05577434982378613 Centerline is valid? [True, True] Translation: X:175.94, Y:4.29, Z:0.67 [[ 9.99913000e-01 -8.83931490e-03 -9.79076469e-03 1.75940661e+02] [ 8.83923790e-03 9.99960932e-01 -5.11385160e-05 4.29336812e+00] [ 9.79083421e-03 -3.54088313e-05 9.99952068e-01 6.70550647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters 0.055532021833923355 Centerline is valid? [True, True] Translation: X:176.00, Y:4.29, Z:0.67 [[ 9.99890899e-01 -1.16850503e-02 -9.03607294e-03 1.75998807e+02] [ 1.16850976e-02 9.99931726e-01 -4.75594750e-05 4.29028265e+00] [ 9.03601174e-03 -5.80331081e-05 9.99959173e-01 6.70650933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939254154 meters 0.05567275611481382 Centerline is valid? [True, True] Translation: X:176.06, Y:4.29, Z:0.67 [[ 9.99835304e-01 -1.67479334e-02 -6.99088281e-03 1.76058456e+02] [ 1.67480842e-02 9.99859740e-01 -3.69636242e-05 4.28531395e+00] [ 6.99052134e-03 -8.01263579e-05 9.99975563e-01 6.72140994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999254154 meters 0.0565065774964286 Centerline is valid? [True, True] Translation: X:176.12, Y:4.28, Z:0.67 [[ 9.99767218e-01 -2.04582602e-02 -6.85337308e-03 1.76119644e+02] [ 2.04584943e-02 9.99790702e-01 -3.59658324e-05 4.27925375e+00] [ 6.85267448e-03 -1.04252233e-04 9.99976515e-01 6.72616086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059254154 meters 0.0566421501115576 Centerline is valid? [True, True] Translation: X:176.18, Y:4.27, Z:0.67 [[ 9.99638223e-01 -2.59270920e-02 -7.15608249e-03 1.76180363e+02] [ 2.59274904e-02 9.99663825e-01 -3.71109212e-05 4.27343829e+00] [ 7.15463897e-03 -1.48441765e-04 9.99974394e-01 6.72985336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119254154 meters 0.055654752020922967 Centerline is valid? [True, True] Translation: X:176.24, Y:4.27, Z:0.67 [[ 9.99285341e-01 -3.71215786e-02 -7.12704442e-03 1.76241330e+02] [ 3.71222584e-02 9.99310731e-01 -3.69350658e-05 4.27499720e+00] [ 7.12350305e-03 -2.27663314e-04 9.99974602e-01 6.74112754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179254154 meters 0.05915344621548027 Centerline is valid? [True, True] Translation: X:176.30, Y:4.26, Z:0.67 [[ 9.98981543e-01 -4.44233967e-02 -7.90180421e-03 1.76300621e+02] [ 4.44244606e-02 9.99012745e-01 -4.09147752e-05 4.25551597e+00] [ 7.89582070e-03 -3.10160285e-04 9.99968779e-01 6.72724244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239254154 meters 0.05709376026374151 Centerline is valid? [True, True] Translation: X:176.36, Y:4.26, Z:0.67 [[ 9.98688008e-01 -5.05883086e-02 -7.94261099e-03 1.76361017e+02] [ 5.05895784e-02 9.98719527e-01 -4.10959097e-05 4.26458541e+00] [ 7.93451966e-03 -3.60771349e-04 9.99968456e-01 6.74013958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299254154 meters 0.05628672418267225 Centerline is valid? [True, True] Translation: X:176.42, Y:4.26, Z:0.67 [[ 9.98444071e-01 -5.51902626e-02 -7.96689444e-03 1.76422020e+02] [ 5.51916865e-02 9.98475776e-01 -4.11816976e-05 4.26275380e+00] [ 7.95702394e-03 -3.98588719e-04 9.99968263e-01 6.74204407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359254154 meters 0.05998149126438097 Centerline is valid? [True, True] Translation: X:176.48, Y:4.25, Z:0.67 [[ 9.98465767e-01 -5.47135896e-02 -8.51678395e-03 1.76483808e+02] [ 5.47152011e-02 9.98502000e-01 -4.38452070e-05 4.25147452e+00] [ 8.50642474e-03 -4.22219608e-04 9.99963731e-01 6.73678124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41925415400001 meters 0.05564062671832283 Centerline is valid? [True, True] Translation: X:176.54, Y:4.27, Z:0.68 [[ 9.98572971e-01 -5.28338687e-02 -7.78478968e-03 1.76544426e+02] [ 5.28351595e-02 9.98603247e-01 -3.99030060e-05 4.27005402e+00] [ 7.77602448e-03 -3.71464541e-04 9.99969697e-01 6.75821717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters 0.05560825313232861 Centerline is valid? [True, True] Translation: X:176.60, Y:4.28, Z:0.68 [[ 9.98869859e-01 -4.71671024e-02 -5.85392948e-03 1.76604788e+02] [ 4.71677354e-02 9.98886983e-01 -2.99563939e-05 4.27761392e+00] [ 5.84882691e-03 -2.46194058e-04 9.99982865e-01 6.77726757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters 0.05795752693344441 Centerline is valid? [True, True] Translation: X:176.66, Y:4.27, Z:0.68 [[ 9.99126105e-01 -4.15135024e-02 -4.86361472e-03 1.76664359e+02] [ 4.15138725e-02 9.99137927e-01 -2.48866661e-05 4.26971950e+00] [ 4.86045507e-03 -1.77042564e-04 9.99988172e-01 6.78315672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters 0.05760932455589448 Centerline is valid? [True, True] Translation: X:176.72, Y:4.28, Z:0.68 [[ 9.99484583e-01 -3.17377489e-02 -4.82532017e-03 1.76724241e+02] [ 3.17379993e-02 9.99496223e-01 -2.46950224e-05 4.27759475e+00] [ 4.82367304e-03 -1.28463714e-04 9.99988358e-01 6.78175667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters 0.056764374815032034 Centerline is valid? [True, True] Translation: X:176.78, Y:4.29, Z:0.68 [[ 9.99658447e-01 -2.55635405e-02 -5.43098955e-03 1.76784988e+02] [ 2.55637666e-02 9.99673193e-01 -2.77958388e-05 4.28696833e+00] [ 5.42992523e-03 -1.11050204e-04 9.99985252e-01 6.78009945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719254154 meters 0.055826329904960344 Centerline is valid? [True, True] Translation: X:176.85, Y:4.30, Z:0.68 [[ 9.99778421e-01 -2.03425711e-02 -5.41186744e-03 1.76845678e+02] [ 2.03427193e-02 9.99793065e-01 -2.76754704e-05 4.29545449e+00] [ 5.41131052e-03 -8.24227618e-05 9.99985355e-01 6.78741059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779254154 meters 0.056395269949856705 Centerline is valid? [True, True] Translation: X:176.91, Y:4.29, Z:0.68 [[ 9.99763732e-01 -2.05620817e-02 -7.04852587e-03 1.76906774e+02] [ 2.05623392e-02 9.99788572e-01 -3.59320857e-05 4.29499759e+00] [ 7.04777446e-03 -1.09010584e-04 9.99975158e-01 6.77303352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839254154 meters 0.055986391942327615 Centerline is valid? [True, True] Translation: X:176.97, Y:4.30, Z:0.68 [[ 9.99717159e-01 -2.23849220e-02 -8.03227273e-03 1.76968607e+02] [ 2.23853170e-02 9.99749417e-01 -4.07448572e-05 4.29652006e+00] [ 8.03117204e-03 -1.39071638e-04 9.99967740e-01 6.76545657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899254154 meters 0.056555901320274195 Centerline is valid? [True, True] Translation: X:177.03, Y:4.30, Z:0.68 [[ 9.99639819e-01 -2.55399827e-02 -8.24266459e-03 1.77029420e+02] [ 2.55405069e-02 9.99673787e-01 -4.16816064e-05 4.29881367e+00] [ 8.24104028e-03 -1.68855239e-04 9.99966028e-01 6.77267919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959254154 meters 0.05692411682804993 Centerline is valid? [True, True] Translation: X:177.09, Y:4.29, Z:0.68 [[ 9.99598991e-01 -2.72949121e-02 -7.53955856e-03 1.77090602e+02] [ 2.72954014e-02 9.99627410e-01 -3.80110205e-05 4.29258351e+00] [ 7.53778691e-03 -1.67799499e-04 9.99971576e-01 6.77563392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019254154 meters 0.057146374504211776 Centerline is valid? [True, True] Translation: X:177.15, Y:4.29, Z:0.68 [[ 9.99495119e-01 -3.11949370e-02 -6.03179278e-03 1.77151817e+02] [ 3.11953217e-02 9.99513307e-01 -3.03182728e-05 4.29217328e+00] [ 6.02980293e-03 -1.57860751e-04 9.99981808e-01 6.79880883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079254154 meters 0.058993393227151414 Centerline is valid? [True, True] Translation: X:177.21, Y:4.28, Z:0.68 [[ 9.99368598e-01 -3.50987774e-02 -5.52102788e-03 1.77212104e+02] [ 3.50991594e-02 9.99383834e-01 -2.77210579e-05 4.28408207e+00] [ 5.51859899e-03 -1.66079883e-04 9.99984759e-01 6.79993877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.139254154 meters 0.05579099587176305 Centerline is valid? [True, True] Translation: X:177.27, Y:4.30, Z:0.68 [[ 9.99029526e-01 -4.36269652e-02 -6.05758532e-03 1.77272564e+02] [ 4.36275817e-02 9.99047863e-01 -3.03866690e-05 4.29890772e+00] [ 6.05314335e-03 -2.33920619e-04 9.99981652e-01 6.80043196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19925415400002 meters 0.05972312329244957 Centerline is valid? [True, True] Translation: X:177.33, Y:4.28, Z:0.68 [[ 9.98762829e-01 -4.91652324e-02 -7.45601946e-03 1.77331877e+02] [ 4.91663211e-02 9.98790604e-01 -3.73185565e-05 4.27676011e+00] [ 7.44883696e-03 -3.29312660e-04 9.99972203e-01 6.77698870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters 0.06209608476675886 Centerline is valid? [True, True] Translation: X:177.39, Y:4.27, Z:0.68 [[ 9.98374712e-01 -5.63275815e-02 -8.66817301e-03 1.77392137e+02] [ 5.63293227e-02 9.98412242e-01 -4.33327709e-05 4.26981068e+00] [ 8.65685088e-03 -4.45009972e-04 9.99962430e-01 6.76132831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters 0.05925338560607309 Centerline is valid? [True, True] Translation: X:177.45, Y:4.28, Z:0.68 [[ 9.98204233e-01 -5.91994773e-02 -9.15052347e-03 1.77453572e+02] [ 5.92015386e-02 9.98246050e-01 -4.56766861e-05 4.28002571e+00] [ 9.13717794e-03 -4.96130407e-04 9.99958132e-01 6.77267837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters 0.05714586060069821 Centerline is valid? [True, True] Translation: X:177.52, Y:4.29, Z:0.68 [[ 9.98184481e-01 -5.96402510e-02 -8.41321401e-03 1.77515634e+02] [ 5.96420106e-02 9.98219830e-01 -4.18236680e-05 4.28916438e+00] [ 8.40073144e-03 -4.60033263e-04 9.99964607e-01 6.78737901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439254154 meters 0.059363913900936705 Centerline is valid? [True, True] Translation: X:177.58, Y:4.28, Z:0.68 [[ 9.98341562e-01 -5.70322813e-02 -7.83868164e-03 1.77576713e+02] [ 5.70337290e-02 9.98372251e-01 -3.89094610e-05 4.28451298e+00] [ 7.82814133e-03 -4.08224313e-04 9.99969276e-01 6.78729732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499254154 meters 0.05527434048705018 Centerline is valid? [True, True] Translation: X:177.64, Y:4.30, Z:0.68 [[ 9.98449454e-01 -5.51858311e-02 -7.29462554e-03 1.77637031e+02] [ 5.51870353e-02 9.98476034e-01 -3.62553902e-05 4.30299711e+00] [ 7.28550956e-03 -3.66369583e-04 9.99973393e-01 6.79921232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559254154 meters 0.05558094921181977 Centerline is valid? [True, True] Translation: X:177.70, Y:4.31, Z:0.68 [[ 9.98699589e-01 -5.03807783e-02 -7.80441876e-03 1.77697552e+02] [ 5.03820107e-02 9.98730019e-01 -3.87482476e-05 4.30660278e+00] [ 7.79645946e-03 -3.54504450e-04 9.99969544e-01 6.79611018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619254154 meters 0.0559512136246948 Centerline is valid? [True, True] Translation: X:177.76, Y:4.31, Z:0.68 [[ 9.98889299e-01 -4.63756465e-02 -8.33475855e-03 1.77757118e+02] [ 4.63769129e-02 9.98924011e-01 -4.13732886e-05 4.30974989e+00] [ 8.32770916e-03 -3.45213037e-04 9.99965264e-01 6.79593687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679254154 meters 0.05731821318764863 Centerline is valid? [True, True] Translation: X:177.82, Y:4.31, Z:0.68 [[ 9.99277381e-01 -3.67066415e-02 -9.86605348e-03 1.77816881e+02] [ 3.67079450e-02 9.99326035e-01 -4.89982859e-05 4.31053088e+00] [ 9.86120266e-03 -3.13199669e-04 9.99951328e-01 6.77442759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739254154 meters 0.0554787095481441 Centerline is valid? [True, True] Translation: X:177.88, Y:4.32, Z:0.68 [[ 9.99381223e-01 -3.37419423e-02 -9.93234572e-03 1.77877275e+02] [ 3.37431171e-02 9.99430538e-01 -4.93173640e-05 4.32308363e+00] [ 9.92835368e-03 -2.85861457e-04 9.99950672e-01 6.79399943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799254154 meters 0.055374361602612665 Centerline is valid? [True, True] Translation: X:177.94, Y:4.33, Z:0.68 [[ 9.99703645e-01 -2.27030543e-02 -8.78594453e-03 1.77937622e+02] [ 2.27035474e-02 9.99742240e-01 -4.36253257e-05 4.33026433e+00] [ 8.78467030e-03 -1.55859711e-04 9.99961402e-01 6.79631859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859254154 meters 0.05518008960988632 Centerline is valid? [True, True] Translation: X:178.00, Y:4.34, Z:0.68 [[ 9.99857674e-01 -1.48979993e-02 -7.91718089e-03 1.77998813e+02] [ 1.48981553e-02 9.99889016e-01 -3.92803362e-05 4.33824528e+00] [ 7.91688741e-03 -7.86766446e-05 9.99968658e-01 6.81006142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91925415400001 meters 0.055652364921256706 Centerline is valid? [True, True] Translation: X:178.06, Y:4.35, Z:0.68 [[ 9.99958335e-01 -4.30253037e-03 -8.05084115e-03 1.78059507e+02] [ 4.30234876e-03 9.99990744e-01 -3.98776293e-05 4.34575627e+00] [ 8.05093821e-03 5.23844143e-06 9.99967591e-01 6.81224654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters 0.05579276712399683 Centerline is valid? [True, True] Translation: X:178.12, Y:4.35, Z:0.68 [[ 9.99960432e-01 -1.53816928e-03 -8.76179405e-03 1.78116952e+02] [ 1.53784661e-03 9.99998817e-01 -4.35637199e-05 4.34773432e+00] [ 8.76185069e-03 3.00877008e-05 9.99961614e-01 6.81227535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters 0.05494799632921285 Centerline is valid? [True, True] Translation: X:178.18, Y:4.35, Z:0.68 [[ 9.99952787e-01 2.08609646e-03 -9.49061796e-03 1.78176121e+02] [-2.08664336e-03 9.99997822e-01 -4.77237784e-05 4.35082114e+00] [ 9.49049773e-03 6.75250602e-05 9.99954962e-01 6.80804325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters 0.054983548852475896 Centerline is valid? [True, True] Translation: X:178.23, Y:4.35, Z:0.68 [[ 9.99955369e-01 2.45571081e-03 -9.12297718e-03 1.78234038e+02] [-2.45624002e-03 9.99996982e-01 -4.68044370e-05 4.35046686e+00] [ 9.12283471e-03 6.92105697e-05 9.99958384e-01 6.81492302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters 0.05598770062842013 Centerline is valid? [True, True] Translation: X:178.29, Y:4.35, Z:0.68 [[ 9.99954415e-01 2.53124666e-03 -9.20656090e-03 1.78291304e+02] [-2.53179644e-03 9.99996794e-01 -4.80614997e-05 4.34654872e+00] [ 9.20640973e-03 7.13684469e-05 9.99957618e-01 6.82972520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219254154 meters 0.055610074818376466 Centerline is valid? [True, True] Translation: X:178.35, Y:4.35, Z:0.68 [[ 9.99962220e-01 1.35920553e-03 -8.58552626e-03 1.78349806e+02] [-1.35964322e-03 9.99999075e-01 -4.51436031e-05 4.34668326e+00] [ 8.58545696e-03 5.68151502e-05 9.99963143e-01 6.81864441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279254154 meters 0.05506423772315196 Centerline is valid? [True, True] Translation: X:178.41, Y:4.34, Z:0.68 [[ 9.99968498e-01 -8.62508720e-04 -7.89046996e-03 1.78408927e+02] [ 8.62206480e-04 9.99999627e-01 -4.17060555e-05 4.34178472e+00] [ 7.89050299e-03 3.49015273e-05 9.99968869e-01 6.82148501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339254154 meters 0.05545082492347326 Centerline is valid? [True, True] Translation: X:178.47, Y:4.34, Z:0.68 [[ 9.99965417e-01 -1.37861809e-03 -8.20147172e-03 1.78467004e+02] [ 1.37830639e-03 9.99999049e-01 -4.36573645e-05 4.34019303e+00] [ 8.20152411e-03 3.23517138e-05 9.99966366e-01 6.81265061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399254154 meters 0.05514444713428796 Centerline is valid? [True, True] Translation: X:178.52, Y:4.33, Z:0.68 [[ 9.99965561e-01 -8.46831349e-04 -8.25592006e-03 1.78524531e+02] [ 8.46491593e-04 9.99999641e-01 -4.46472600e-05 4.33363387e+00] [ 8.25595490e-03 3.76571555e-05 9.99965918e-01 6.82056206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459254154 meters 0.055979816763606215 Centerline is valid? [True, True] Translation: X:178.58, Y:4.33, Z:0.68 [[ 9.99973566e-01 5.84433857e-04 -7.24745923e-03 1.78583217e+02] [-5.84739063e-04 9.99999828e-01 -3.99932786e-05 4.33003473e+00] [ 7.24743462e-03 4.42300939e-05 9.99973736e-01 6.82759048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519254154 meters 0.05590969524294427 Centerline is valid? [True, True] Translation: X:178.64, Y:4.33, Z:0.68 [[ 9.99948284e-01 5.94782837e-03 -8.24936618e-03 1.78641615e+02] [-5.94841132e-03 9.99982307e-01 -4.61317153e-05 4.32934500e+00] [ 8.24894584e-03 9.51999528e-05 9.99965972e-01 6.81475407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579254154 meters 0.05629271687824331 Centerline is valid? [True, True] Translation: X:178.70, Y:4.33, Z:0.68 [[ 9.99890214e-01 1.20498189e-02 -8.62338142e-03 1.78701798e+02] [-1.20506839e-02 9.99927387e-01 -4.83642494e-05 4.32788786e+00] [ 8.62217247e-03 1.52276584e-04 9.99962817e-01 6.81484961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.639254154 meters 0.05727702332882957 Centerline is valid? [True, True] Translation: X:178.76, Y:4.32, Z:0.68 [[ 9.99852450e-01 1.50826546e-02 -8.22138381e-03 1.78761502e+02] [-1.50835440e-02 9.99886236e-01 -4.61754077e-05 4.32319280e+00] [ 8.21975206e-03 1.70176199e-04 9.99966203e-01 6.81477735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69925415400002 meters 0.05717081067648896 Centerline is valid? [True, True] Translation: X:178.82, Y:4.31, Z:0.68 [[ 9.99811404e-01 1.71823455e-02 -9.05118697e-03 1.78819730e+02] [-1.71835114e-02 9.99852351e-01 -5.10529512e-05 4.31320032e+00] [ 9.04897336e-03 2.06574497e-04 9.99959036e-01 6.83022670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters 0.057771300649772345 Centerline is valid? [True, True] Translation: X:178.88, Y:4.31, Z:0.68 [[ 9.99835485e-01 1.62459841e-02 -8.06667433e-03 1.78877417e+02] [-1.62468824e-02 9.99868010e-01 -4.58309637e-05 4.30559417e+00] [ 8.06486504e-03 1.76881733e-04 9.99967463e-01 6.83570314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters 0.057520224026626814 Centerline is valid? [True, True] Translation: X:178.94, Y:4.29, Z:0.68 [[ 9.99910404e-01 1.10912680e-02 -7.49452284e-03 1.78937872e+02] [-1.10919000e-02 9.99938482e-01 -4.27716535e-05 4.29299160e+00] [ 7.49358740e-03 1.25896319e-04 9.99971915e-01 6.84313711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters 0.05700659801649014 Centerline is valid? [True, True] Translation: X:179.00, Y:4.28, Z:0.68 [[ 9.99954558e-01 6.05537921e-03 -7.36308157e-03 1.78998176e+02] [-6.05585381e-03 9.99981662e-01 -4.21629729e-05 4.28464354e+00] [ 7.36269123e-03 8.67508025e-05 9.99972891e-01 6.83515487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939254154 meters 0.05754284001825948 Centerline is valid? [True, True] Translation: X:179.06, Y:4.27, Z:0.68 [[ 9.99964867e-01 -2.36008247e-03 -8.04330779e-03 1.79057065e+02] [ 2.35978654e-03 9.99997215e-01 -4.62828459e-05 4.26945996e+00] [ 8.04339462e-03 2.73007304e-05 9.99967651e-01 6.84239444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999254154 meters 0.057726330644920706 Centerline is valid? [True, True] Translation: X:179.12, Y:4.26, Z:0.69 [[ 9.99940433e-01 -8.58817638e-03 -6.73604416e-03 1.79116187e+02] [ 8.58810943e-03 9.99963121e-01 -3.88634824e-05 4.25954812e+00] [ 6.73612951e-03 -1.89887170e-05 9.99977312e-01 6.85705528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059254154 meters 0.057104601990467525 Centerline is valid? [True, True] Translation: X:179.18, Y:4.24, Z:0.69 [[ 9.99858119e-01 -1.62527178e-02 -4.42621448e-03 1.79175904e+02] [ 1.62527638e-02 9.99867915e-01 -2.55946267e-05 4.24155492e+00] [ 4.42604582e-03 -4.63472230e-05 9.99990204e-01 6.86473217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119254154 meters 0.0586194726333721 Centerline is valid? [True, True] Translation: X:179.24, Y:4.23, Z:0.69 [[ 9.99779170e-01 -2.06063767e-02 -4.12177869e-03 1.79236325e+02] [ 2.06064534e-02 9.99787664e-01 -2.38592125e-05 4.22562281e+00] [ 4.12139514e-03 -6.10812969e-05 9.99991505e-01 6.85927406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179254154 meters 0.057381993896255375 Centerline is valid? [True, True] Translation: X:179.30, Y:4.22, Z:0.69 [[ 9.99755683e-01 -2.17159744e-02 -4.12189944e-03 1.79298082e+02] [ 2.17160609e-02 9.99764178e-01 -2.37947292e-05 4.21883491e+00] [ 4.12144414e-03 -6.57225034e-05 9.99991505e-01 6.85347707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239254154 meters 0.05824393312877398 Centerline is valid? [True, True] Translation: X:179.36, Y:4.21, Z:0.68 [[ 9.99748903e-01 -2.19919408e-02 -4.29948872e-03 1.79360516e+02] [ 2.19920380e-02 9.99758146e-01 -2.46792033e-05 4.21011647e+00] [ 4.29899161e-03 -6.98815127e-05 9.99990757e-01 6.84792652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299254154 meters 0.05804295858817091 Centerline is valid? [True, True] Translation: X:179.42, Y:4.20, Z:0.68 [[ 9.99751326e-01 -2.18726701e-02 -4.34421306e-03 1.79421659e+02] [ 2.18727689e-02 9.99760762e-01 -2.47681147e-05 4.20443729e+00] [ 4.34371551e-03 -7.02580130e-05 9.99990564e-01 6.84954228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359254154 meters 0.05875547729997092 Centerline is valid? [True, True] Translation: X:179.48, Y:4.20, Z:0.68 [[ 9.99714255e-01 -2.33273426e-02 -5.21944536e-03 1.79482890e+02] [ 2.33275058e-02 9.99727876e-01 -2.96164083e-05 4.19679960e+00] [ 5.21871590e-03 -9.21486965e-05 9.99986378e-01 6.84295791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41925415400001 meters 0.059214084604605026 Centerline is valid? [True, True] Translation: X:179.54, Y:4.19, Z:0.68 [[ 9.99655487e-01 -2.54206245e-02 -6.53443102e-03 1.79544498e+02] [ 2.54209261e-02 9.99676835e-01 -3.69061857e-05 4.19196821e+00] [ 6.53325750e-03 -1.29217817e-04 9.99978650e-01 6.83508065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters 0.05979072129058139 Centerline is valid? [True, True] Translation: X:179.60, Y:4.18, Z:0.68 [[ 9.99536902e-01 -2.93121968e-02 -8.17173240e-03 1.79604350e+02] [ 2.93127995e-02 9.99570287e-01 -4.60381199e-05 4.18138454e+00] [ 8.16957037e-03 -1.93519553e-04 9.99966610e-01 6.81854952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters 0.05861409445370396 Centerline is valid? [True, True] Translation: X:179.66, Y:4.19, Z:0.68 [[ 9.99418821e-01 -3.32920805e-02 -7.32510257e-03 1.79664887e+02] [ 3.32926719e-02 9.99445645e-01 -4.12114571e-05 4.18541151e+00] [ 7.32241388e-03 -2.02684731e-04 9.99973170e-01 6.83648039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters 0.05909355129157938 Centerline is valid? [True, True] Translation: X:179.73, Y:4.18, Z:0.68 [[ 9.99298880e-01 -3.67824598e-02 -6.98559212e-03 1.79725211e+02] [ 3.67830840e-02 9.99323273e-01 -3.91498877e-05 4.17743396e+00] [ 6.98230481e-03 -2.17829183e-04 9.99975600e-01 6.84074697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters 0.059669534278388704 Centerline is valid? [True, True] Translation: X:179.79, Y:4.17, Z:0.69 [[ 9.99135261e-01 -4.12786210e-02 -4.98051296e-03 1.79785593e+02] [ 4.12789945e-02 9.99147659e-01 -2.78297687e-05 4.17210079e+00] [ 4.97741663e-03 -1.77784864e-04 9.99987597e-01 6.86006490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719254154 meters 0.05935065191025733 Centerline is valid? [True, True] Translation: X:179.85, Y:4.17, Z:0.69 [[ 9.99073338e-01 -4.28949531e-02 -3.53395434e-03 1.79846259e+02] [ 4.28951512e-02 9.99079579e-01 -1.97497554e-05 4.16983829e+00] [ 3.53154878e-03 -1.31858052e-04 9.99993755e-01 6.86906381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779254154 meters 0.0614441507868493 Centerline is valid? [True, True] Translation: X:179.91, Y:4.17, Z:0.69 [[ 9.99024716e-01 -4.40054953e-02 -3.62395757e-03 1.79907421e+02] [ 4.40057112e-02 9.99031279e-01 -2.01943461e-05 4.16616976e+00] [ 3.62133563e-03 -1.39300179e-04 9.99993433e-01 6.86878452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839254154 meters 0.060092610421464264 Centerline is valid? [True, True] Translation: X:179.97, Y:4.17, Z:0.69 [[ 9.98985066e-01 -4.48560533e-02 -4.09546031e-03 1.79969281e+02] [ 4.48563365e-02 9.98993448e-01 -2.27060124e-05 4.17027527e+00] [ 4.09235652e-03 -1.61024379e-04 9.99991613e-01 6.86828610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899254154 meters 0.06166432442459893 Centerline is valid? [True, True] Translation: X:180.03, Y:4.17, Z:0.69 [[ 9.98977798e-01 -4.49726114e-02 -4.56324703e-03 1.80030737e+02] [ 4.49729652e-02 9.98988204e-01 -2.51130459e-05 4.16765757e+00] [ 4.55975935e-03 -1.80135374e-04 9.99989588e-01 6.87011691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959254154 meters 0.06177597577894518 Centerline is valid? [True, True] Translation: X:180.09, Y:4.17, Z:0.69 [[ 9.98949716e-01 -4.55582699e-02 -4.88972256e-03 1.80092959e+02] [ 4.55586837e-02 9.98961664e-01 -2.67812747e-05 4.16883571e+00] [ 4.88586550e-03 -1.96016177e-04 9.99988045e-01 6.86889552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019254154 meters 0.058758413474178484 Centerline is valid? [True, True] Translation: X:180.15, Y:4.19, Z:0.69 [[ 9.98859108e-01 -4.75166171e-02 -4.75959106e-03 1.80154300e+02] [ 4.75170320e-02 9.98870428e-01 -2.59293258e-05 4.18528489e+00] [ 4.75544683e-03 -2.00261898e-04 9.99988673e-01 6.86811689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079254154 meters 0.05994816061120614 Centerline is valid? [True, True] Translation: X:180.21, Y:4.19, Z:0.69 [[ 9.98731492e-01 -5.00744708e-02 -5.28712809e-03 1.80214341e+02] [ 5.00750192e-02 9.98745459e-01 -2.86981363e-05 4.18528288e+00] [ 5.28193222e-03 -2.36091308e-04 9.99986023e-01 6.86420689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.139254154 meters 0.05777041540995501 Centerline is valid? [True, True] Translation: X:180.28, Y:4.20, Z:0.69 [[ 9.98614627e-01 -5.23656170e-02 -5.16415082e-03 1.80275616e+02] [ 5.23661707e-02 9.98627950e-01 -2.80292368e-05 4.19621680e+00] [ 5.15853312e-03 -2.42436397e-04 9.99986665e-01 6.86522721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19925415400002 meters 0.05755270110194219 Centerline is valid? [True, True] Translation: X:180.33, Y:4.20, Z:0.69 [[ 9.98477934e-01 -5.49251235e-02 -5.00464815e-03 1.80334775e+02] [ 5.49256760e-02 9.98490445e-01 -2.70833656e-05 4.19993056e+00] [ 4.99858092e-03 -2.47841540e-04 9.99987476e-01 6.87144129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters 0.057647252388606 Centerline is valid? [True, True] Translation: X:180.40, Y:4.21, Z:0.69 [[ 9.98429044e-01 -5.59168485e-02 -3.57066511e-03 1.80397099e+02] [ 5.59171361e-02 9.98435413e-01 -1.93022805e-05 4.20958325e+00] [ 3.56615782e-03 -1.80389410e-04 9.99993625e-01 6.88270085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters 0.05781823957222014 Centerline is valid? [True, True] Translation: X:180.46, Y:4.21, Z:0.69 [[ 9.98533952e-01 -5.40469123e-02 -2.97950426e-03 1.80457327e+02] [ 5.40471046e-02 9.98538387e-01 -1.60017210e-05 4.20532002e+00] [ 2.97601422e-03 -1.45055317e-04 9.99995561e-01 6.88724582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters 0.05912769250924942 Centerline is valid? [True, True] Translation: X:180.52, Y:4.21, Z:0.69 [[ 9.98767550e-01 -4.95054133e-02 -3.54895700e-03 1.80517422e+02] [ 4.95056576e-02 9.98773843e-01 -1.90194522e-05 4.20652466e+00] [ 3.54554698e-03 -1.56697438e-04 9.99993702e-01 6.88998114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439254154 meters 0.05784000015053062 Centerline is valid? [True, True] Translation: X:180.58, Y:4.22, Z:0.69 [[ 9.99230492e-01 -3.91234826e-02 -2.78868068e-03 1.80577499e+02] [ 3.91235931e-02 9.99234379e-01 -1.49560426e-05 4.21699330e+00] [ 2.78713074e-03 -9.41586742e-05 9.99996112e-01 6.89162452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499254154 meters 0.05881988023182064 Centerline is valid? [True, True] Translation: X:180.64, Y:4.23, Z:0.69 [[ 9.99639918e-01 -2.66029619e-02 -3.50948650e-03 1.80637054e+02] [ 2.66030598e-02 9.99646076e-01 -1.87869218e-05 4.23015923e+00] [ 3.50874420e-03 -7.45829224e-05 9.99993842e-01 6.89013708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559254154 meters 0.05784420563214958 Centerline is valid? [True, True] Translation: X:180.70, Y:4.24, Z:0.69 [[ 9.99794083e-01 -1.98950288e-02 -3.99753993e-03 1.80697493e+02] [ 1.98951023e-02 9.99802073e-01 -2.13918153e-05 4.23878204e+00] [ 3.99717430e-03 -5.81440554e-05 9.99992010e-01 6.88774744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619254154 meters 0.0575808978428131 Centerline is valid? [True, True] Translation: X:180.76, Y:4.25, Z:0.69 [[ 9.99886032e-01 -1.44949965e-02 -4.22125710e-03 1.80758566e+02] [ 1.44950303e-02 9.99894941e-01 -2.25877643e-05 4.24922369e+00] [ 4.22114103e-03 -3.86020597e-05 9.99991090e-01 6.88843215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679254154 meters 0.05702323822561529 Centerline is valid? [True, True] Translation: X:180.82, Y:4.25, Z:0.69 [[ 9.99883667e-01 -1.46002754e-02 -4.41417505e-03 1.80818832e+02] [ 1.46003137e-02 9.99893409e-01 -2.35533606e-05 4.25003440e+00] [ 4.41404843e-03 -4.08977199e-05 9.99990257e-01 6.88968334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739254154 meters 0.058165985403830986 Centerline is valid? [True, True] Translation: X:180.88, Y:4.25, Z:0.69 [[ 9.99794816e-01 -1.97793815e-02 -4.37057846e-03 1.80879931e+02] [ 1.97794688e-02 9.99804367e-01 -2.32554232e-05 4.24790412e+00] [ 4.37018341e-03 -6.31970688e-05 9.99990449e-01 6.88717658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799254154 meters 0.05736944167537569 Centerline is valid? [True, True] Translation: X:180.94, Y:4.25, Z:0.69 [[ 9.99676750e-01 -2.50078795e-02 -4.58275063e-03 1.80941140e+02] [ 2.50080307e-02 9.99687250e-01 -2.43167683e-05 4.24577483e+00] [ 4.58192549e-03 -9.02966606e-05 9.99989499e-01 6.89070549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859254154 meters 0.059071404474337924 Centerline is valid? [True, True] Translation: X:181.00, Y:4.24, Z:0.69 [[ 9.99379197e-01 -3.47686197e-02 -5.68884304e-03 1.81001391e+02] [ 3.47690110e-02 9.99395375e-01 -3.01320881e-05 4.23825943e+00] [ 5.68645107e-03 -1.67682064e-04 9.99983818e-01 6.88288308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91925415400001 meters 0.058057174258333316 Centerline is valid? [True, True] Translation: X:181.06, Y:4.24, Z:0.69 [[ 9.99145136e-01 -4.09369581e-02 -5.75878174e-03 1.81061961e+02] [ 4.09374617e-02 9.99161710e-01 -3.04609173e-05 4.24324242e+00] [ 5.75520119e-03 -2.05315029e-04 9.99983418e-01 6.88626517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters 0.05763646695957704 Centerline is valid? [True, True] Translation: X:181.12, Y:4.25, Z:0.69 [[ 9.98865970e-01 -4.73822021e-02 -4.65843811e-03 1.81122314e+02] [ 4.73826016e-02 9.98876813e-01 -2.46262217e-05 4.24668627e+00] [ 4.65437266e-03 -1.96130622e-04 9.99989149e-01 6.89448846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters 0.056819605848537263 Centerline is valid? [True, True] Translation: X:181.18, Y:4.25, Z:0.69 [[ 9.98635323e-01 -5.20313051e-02 -4.49842916e-03 1.81183442e+02] [ 5.20317250e-02 9.98645432e-01 -2.37291987e-05 4.25123237e+00] [ 4.49357040e-03 -2.10364213e-04 9.99989882e-01 6.89261139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters 0.05576603842587073 Centerline is valid? [True, True] Translation: X:181.24, Y:4.25, Z:0.69 [[ 9.98482562e-01 -5.48974732e-02 -4.34049864e-03 1.81243387e+02] [ 5.48978915e-02 9.98491973e-01 -2.28089706e-05 4.25421454e+00] [ 4.33520521e-03 -2.15509864e-04 9.99990580e-01 6.89661793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters 0.056003965794090234 Centerline is valid? [True, True] Translation: X:181.30, Y:4.26, Z:0.69 [[ 9.98231825e-01 -5.93406131e-02 -3.45179071e-03 1.81304357e+02] [ 5.93409040e-02 9.98237776e-01 -1.81698761e-05 4.25909143e+00] [ 3.44678609e-03 -1.86694632e-04 9.99994042e-01 6.90138689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219254154 meters 0.055856841501774585 Centerline is valid? [True, True] Translation: X:181.36, Y:4.25, Z:0.69 [[ 9.98085288e-01 -6.17328464e-02 -3.84882972e-03 1.81363831e+02] [ 6.17332261e-02 9.98092685e-01 -2.01830827e-05 4.25359892e+00] [ 3.84273475e-03 -2.17456237e-04 9.99992593e-01 6.90102324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279254154 meters 0.05600028239968215 Centerline is valid? [True, True] Translation: X:181.42, Y:4.26, Z:0.69 [[ 9.97960839e-01 -6.36304976e-02 -5.03234032e-03 1.81424451e+02] [ 6.36311710e-02 9.97973483e-01 -2.63442228e-05 4.26485753e+00] [ 5.02381850e-03 -2.93923205e-04 9.99987337e-01 6.90067889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339254154 meters 0.05875732229913509 Centerline is valid? [True, True] Translation: X:181.49, Y:4.26, Z:0.69 [[ 9.97976660e-01 -6.32038843e-02 -6.91780581e-03 1.81485978e+02] [ 6.32051491e-02 9.98000555e-01 -3.58571365e-05 4.25644120e+00] [ 6.90624035e-03 -4.01456363e-04 9.99976071e-01 6.88763848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399254154 meters 0.05543097657658729 Centerline is valid? [True, True] Translation: X:181.55, Y:4.27, Z:0.69 [[ 9.98066138e-01 -6.16452018e-02 -7.99078175e-03 1.81546659e+02] [ 6.16468439e-02 9.98098024e-01 -4.08851318e-05 4.27150699e+00] [ 7.97810385e-03 -4.51800410e-04 9.99968072e-01 6.88981239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459254154 meters 0.05468947503725393 Centerline is valid? [True, True] Translation: X:181.61, Y:4.28, Z:0.69 [[ 9.98283252e-01 -5.79147013e-02 -8.74276587e-03 1.81607584e+02] [ 5.79165246e-02 9.98321428e-01 -4.47012701e-05 4.27774467e+00] [ 8.73067937e-03 -4.61726085e-04 9.99961780e-01 6.89539223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519254154 meters 0.05542797312714747 Centerline is valid? [True, True] Translation: X:181.67, Y:4.29, Z:0.69 [[ 9.98792530e-01 -4.85863288e-02 -7.26979594e-03 1.81668162e+02] [ 4.85873429e-02 9.98818937e-01 -3.71535191e-05 4.28956543e+00] [ 7.26301500e-03 -3.16111411e-04 9.99973574e-01 6.90623751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579254154 meters 0.0558198743751622 Centerline is valid? [True, True] Translation: X:181.73, Y:4.30, Z:0.69 [[ 9.99315968e-01 -3.65842534e-02 -5.40270641e-03 1.81727928e+02] [ 3.65846384e-02 9.99330558e-01 -2.75873344e-05 4.29698972e+00] [ 5.40009887e-03 -1.70087597e-04 9.99985405e-01 6.92663406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.639254154 meters 0.05525975634216519 Centerline is valid? [True, True] Translation: X:181.79, Y:4.30, Z:0.69 [[ 9.99565245e-01 -2.91835087e-02 -4.20044249e-03 1.81789080e+02] [ 2.91836762e-02 9.99574066e-01 -2.14299140e-05 4.30479887e+00] [ 4.19927878e-03 -1.01163756e-04 9.99991178e-01 6.93872144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69925415400002 meters 0.05556070752538216 Centerline is valid? [True, True] Translation: X:181.85, Y:4.31, Z:0.69 [[ 9.99787662e-01 -2.02085539e-02 -4.03060756e-03 1.81848472e+02] [ 2.02086353e-02 9.99795784e-01 -2.05369029e-05 4.31139046e+00] [ 4.03019947e-03 -6.09205362e-05 9.99991877e-01 6.93704519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters 0.05571076611425392 Centerline is valid? [True, True] Translation: X:181.91, Y:4.31, Z:0.69 [[ 9.99826129e-01 -1.80698128e-02 -4.60358087e-03 1.81909819e+02] [ 1.80698964e-02 9.99836726e-01 -2.34429167e-05 4.31417494e+00] [ 4.60325283e-03 -5.97473886e-05 9.99989403e-01 6.93666018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters 0.055471723351143795 Centerline is valid? [True, True] Translation: X:181.97, Y:4.32, Z:0.69 [[ 9.99865654e-01 -1.54945165e-02 -5.34727286e-03 1.81971077e+02] [ 1.54945932e-02 9.99879951e-01 -2.70880278e-05 4.31940115e+00] [ 5.34705064e-03 -5.57694289e-05 9.99985703e-01 6.93078493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters 0.055294348474715725 Centerline is valid? [True, True] Translation: X:182.03, Y:4.32, Z:0.69 [[ 9.99858275e-01 -1.58483539e-02 -5.67974940e-03 1.82033661e+02] [ 1.58484470e-02 9.99874405e-01 -2.86257240e-05 4.32178053e+00] [ 5.67948973e-03 -6.13935403e-05 9.99983870e-01 6.93101586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939254154 meters 0.055345882334331395 Centerline is valid? [True, True] Translation: X:182.09, Y:4.32, Z:0.69 [[ 9.99816148e-01 -1.81762371e-02 -6.10688370e-03 1.82094572e+02] [ 1.81763904e-02 9.99834795e-01 -3.04021075e-05 4.31979510e+00] [ 6.10642741e-03 -8.06045843e-05 9.99981352e-01 6.93030498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999254154 meters 0.05525591524076483 Centerline is valid? [True, True] Translation: X:182.16, Y:4.32, Z:0.69 [[ 9.99764895e-01 -2.09317616e-02 -5.65832639e-03 1.82157043e+02] [ 2.09319401e-02 9.99780903e-01 -2.76697344e-05 4.32129345e+00] [ 5.65766585e-03 -9.07765202e-05 9.99983991e-01 6.93603190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059254154 meters 0.05541823466146434 Centerline is valid? [True, True] Translation: X:182.22, Y:4.32, Z:0.69 [[ 9.99661914e-01 -2.53146920e-02 -5.93495643e-03 1.82218587e+02] [ 2.53149673e-02 9.99679524e-01 -2.87375264e-05 4.32070969e+00] [ 5.93378190e-03 -1.21515417e-04 9.99982388e-01 6.93865712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119254154 meters 0.05506701071503403 Centerline is valid? [True, True] Translation: X:182.28, Y:4.31, Z:0.69 [[ 9.99503636e-01 -3.10623068e-02 -5.25494465e-03 1.82278538e+02] [ 3.10626023e-02 9.99517441e-01 -2.53954807e-05 4.31364798e+00] [ 5.25319767e-03 -1.37849380e-04 9.99986192e-01 6.93676413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179254154 meters 0.05588048584096295 Centerline is valid? [True, True] Translation: X:182.34, Y:4.31, Z:0.69 [[ 9.99368265e-01 -3.51633990e-02 -5.15806830e-03 1.82339486e+02] [ 3.51637381e-02 9.99381564e-01 -2.49514166e-05 4.31230816e+00] [ 5.15575574e-03 -1.56441309e-04 9.99986697e-01 6.94248756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239254154 meters 0.055802307506532395 Centerline is valid? [True, True] Translation: X:182.40, Y:4.31, Z:0.69 [[ 9.99203215e-01 -3.95342701e-02 -5.47504665e-03 1.82400435e+02] [ 3.95347178e-02 9.99218197e-01 -2.64763910e-05 4.31420471e+00] [ 5.47181296e-03 -1.89999129e-04 9.99985011e-01 6.93981418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299254154 meters 0.05743570834654468 Centerline is valid? [True, True] Translation: X:182.46, Y:4.30, Z:0.69 [[ 9.98999148e-01 -4.42156568e-02 -6.75861897e-03 1.82460422e+02] [ 4.42164460e-02 9.99021974e-01 -3.26854806e-05 4.30296204e+00] [ 6.75345408e-03 -2.66189344e-04 9.99977160e-01 6.92514212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359254154 meters 0.055439434754871335 Centerline is valid? [True, True] Translation: X:182.52, Y:4.31, Z:0.69 [[ 9.98918448e-01 -4.60491986e-02 -6.43472100e-03 1.82521091e+02] [ 4.60499520e-02 9.98939138e-01 -3.11110917e-05 4.31127080e+00] [ 6.42932729e-03 -2.65241150e-04 9.99979296e-01 6.92461743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41925415400001 meters 0.055934083177522825 Centerline is valid? [True, True] Translation: X:182.58, Y:4.31, Z:0.69 [[ 9.99006532e-01 -4.41389532e-02 -6.14013828e-03 1.82582333e+02] [ 4.41396034e-02 9.99025372e-01 -2.96489103e-05 4.31263305e+00] [ 6.13546260e-03 -2.41403814e-04 9.99981149e-01 6.91966746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters 0.054542086091561554 Centerline is valid? [True, True] Translation: X:182.64, Y:4.33, Z:0.69 [[ 9.99295249e-01 -3.70271396e-02 -6.16403628e-03 1.82643302e+02] [ 3.70276598e-02 9.99314241e-01 -2.97497990e-05 4.32672808e+00] [ 6.16091078e-03 -1.98511006e-04 9.99981002e-01 6.92471224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters 0.054453283013682165 Centerline is valid? [True, True] Translation: X:182.70, Y:4.33, Z:0.69 [[ 9.99456046e-01 -3.23841832e-02 -6.23519928e-03 1.82703550e+02] [ 3.23846253e-02 9.99475480e-01 -3.00774327e-05 4.33027615e+00] [ 6.23290283e-03 -1.71863520e-04 9.99980560e-01 6.92949108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters 0.05402348343371401 Centerline is valid? [True, True] Translation: X:182.76, Y:4.34, Z:0.69 [[ 9.99551042e-01 -2.91867344e-02 -6.77116686e-03 1.82764646e+02] [ 2.91871828e-02 9.99573963e-01 -3.26031270e-05 4.33562965e+00] [ 6.76923367e-03 -1.65042795e-04 9.99977075e-01 6.92742446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659254154 meters 0.054594835305119736 Centerline is valid? [True, True] Translation: X:182.83, Y:4.33, Z:0.69 [[ 9.99541384e-01 -2.91546589e-02 -8.18699856e-03 1.82826242e+02] [ 2.91553146e-02 9.99574893e-01 -3.92766878e-05 4.33439375e+00] [ 8.18466331e-03 -1.99435844e-04 9.99966485e-01 6.91659364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719254154 meters 0.055327384509829554 Centerline is valid? [True, True] Translation: X:182.89, Y:4.34, Z:0.69 [[ 9.99503241e-01 -3.01149932e-02 -9.29287995e-03 1.82888806e+02] [ 3.01158820e-02 9.99546413e-01 -4.43070352e-05 4.33720893e+00] [ 9.28999913e-03 -2.35578251e-04 9.99956819e-01 6.91188680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779254154 meters 0.053860304019560185 Centerline is valid? [True, True] Translation: X:182.95, Y:4.35, Z:0.69 [[ 9.99486454e-01 -3.06029288e-02 -9.50207759e-03 1.82951066e+02] [ 3.06038830e-02 9.99531590e-01 -4.50005521e-05 4.34690530e+00] [ 9.49900387e-03 -2.45823028e-04 9.99954853e-01 6.92919551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839254154 meters 0.05375182070522182 Centerline is valid? [True, True] Translation: X:183.01, Y:4.35, Z:0.69 [[ 9.99522819e-01 -2.96010648e-02 -8.82670066e-03 1.83013707e+02] [ 2.96018520e-02 9.99561768e-01 -4.14854770e-05 4.35198075e+00] [ 8.82406053e-03 -2.19821005e-04 9.99961043e-01 6.94034387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899254154 meters 0.05474948304466653 Centerline is valid? [True, True] Translation: X:183.07, Y:4.35, Z:0.70 [[ 9.99575100e-01 -2.83238077e-02 -6.88342028e-03 1.83073918e+02] [ 2.83242572e-02 9.99598787e-01 -3.22034485e-05 4.35249068e+00] [ 6.88157068e-03 -1.62778001e-04 9.99976308e-01 6.95877285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959254154 meters 0.053893031084901094 Centerline is valid? [True, True] Translation: X:183.14, Y:4.36, Z:0.70 [[ 9.99625867e-01 -2.68535916e-02 -5.19717262e-03 1.83136002e+02] [ 2.68538283e-02 9.99639371e-01 -2.42503527e-05 4.35844271e+00] [ 5.19594958e-03 -1.15322701e-04 9.99986494e-01 6.96829279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019254154 meters 0.055131437417527664 Centerline is valid? [True, True] Translation: X:183.20, Y:4.35, Z:0.70 [[ 9.99693583e-01 -2.42821111e-02 -4.80832371e-03 1.83196361e+02] [ 2.42822845e-02 9.99705142e-01 -2.23124650e-05 4.35417547e+00] [ 4.80744773e-03 -9.44514565e-05 9.99988440e-01 6.97100859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079254154 meters 0.05500290103825001 Centerline is valid? [True, True] Translation: X:183.26, Y:4.36, Z:0.70 [[ 9.99762911e-01 -2.13521630e-02 -4.26686661e-03 1.83257705e+02] [ 2.13522730e-02 9.99772014e-01 -1.97646100e-05 4.36239521e+00] [ 4.26631584e-03 -7.13473768e-05 9.99990897e-01 6.97774970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.139254154 meters 0.05465987872872322 Centerline is valid? [True, True] Translation: X:183.32, Y:4.36, Z:0.70 [[ 9.99754052e-01 -2.14303859e-02 -5.70728841e-03 1.83320099e+02] [ 2.14305851e-02 9.99770338e-01 -2.62644950e-05 4.36358074e+00] [ 5.70654053e-03 -9.60524945e-05 9.99983713e-01 6.96771091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19925415400002 meters 0.053807271443425425 Centerline is valid? [True, True] Translation: X:183.38, Y:4.37, Z:0.70 [[ 9.99719063e-01 -2.28525190e-02 -6.28953085e-03 1.83382433e+02] [ 2.28527903e-02 9.99738840e-01 -2.87377216e-05 4.36833130e+00] [ 6.28854501e-03 -1.15003681e-04 9.99980220e-01 6.96270817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters 0.05430613235513518 Centerline is valid? [True, True] Translation: X:183.44, Y:4.37, Z:0.69 [[ 9.99705644e-01 -2.31306142e-02 -7.32125419e-03 1.83443970e+02] [ 2.31309915e-02 9.99732442e-01 -3.31459025e-05 4.36538017e+00] [ 7.32006202e-03 -1.36211723e-04 9.99973199e-01 6.94854228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters 0.05401006932899805 Centerline is valid? [True, True] Translation: X:183.51, Y:4.37, Z:0.70 [[ 9.99738348e-01 -2.18147753e-02 -6.88115351e-03 1.83506306e+02] [ 2.18150794e-02 9.99762022e-01 -3.08825301e-05 4.37202681e+00] [ 6.88018965e-03 -1.19238460e-04 9.99976324e-01 6.96303343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters 0.05354861304703947 Centerline is valid? [True, True] Translation: X:183.57, Y:4.37, Z:0.70 [[ 9.99814993e-01 -1.80538390e-02 -6.63619325e-03 1.83566390e+02] [ 1.80540398e-02 9.99837012e-01 -2.96374364e-05 4.37106751e+00] [ 6.63564670e-03 -9.01781441e-05 9.99977980e-01 6.96314984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439254154 meters 0.05301009070339013 Centerline is valid? [True, True] Translation: X:183.63, Y:4.38, Z:0.70 [[ 9.99847186e-01 -1.63200394e-02 -6.26582454e-03 1.83628547e+02] [ 1.63201852e-02 9.99866817e-01 -2.78586781e-05 4.37567372e+00] [ 6.26544469e-03 -7.44049961e-05 9.99980369e-01 6.97072113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499254154 meters 0.053931984378473664 Centerline is valid? [True, True] Translation: X:183.69, Y:4.37, Z:0.70 [[ 9.99882100e-01 -1.40304212e-02 -6.23963091e-03 1.83688856e+02] [ 1.40305223e-02 9.99901567e-01 -2.75640256e-05 4.37432972e+00] [ 6.23940346e-03 -5.99845051e-05 9.99980533e-01 6.96512654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559254154 meters 0.053801230004523935 Centerline is valid? [True, True] Translation: X:183.75, Y:4.38, Z:0.70 [[ 9.99916264e-01 -1.14336274e-02 -6.06117836e-03 1.83750562e+02] [ 1.14336755e-02 9.99934633e-01 -2.67136525e-05 4.37535374e+00] [ 6.06108759e-03 -4.25901310e-05 9.99981631e-01 6.97287194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619254154 meters 0.054037669997715095 Centerline is valid? [True, True] Translation: X:183.81, Y:4.38, Z:0.70 [[ 9.99962942e-01 -6.74105074e-03 -5.35472687e-03 1.83810885e+02] [ 6.74102134e-03 9.99977279e-01 -2.35384349e-05 4.37630561e+00] [ 5.35476388e-03 -1.25587655e-05 9.99985663e-01 6.97719513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679254154 meters 0.05400234571675433 Centerline is valid? [True, True] Translation: X:183.87, Y:4.38, Z:0.70 [[ 9.99975879e-01 -4.57806062e-03 -5.22337304e-03 1.83871181e+02] [ 4.57800329e-03 9.99989521e-01 -2.29317680e-05 4.37578145e+00] [ 5.22342328e-03 -9.81404083e-07 9.99986358e-01 6.97178879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739254154 meters 0.05348096531998361 Centerline is valid? [True, True] Translation: X:183.93, Y:4.37, Z:0.70 [[ 9.99975589e-01 -4.38965640e-03 -5.43619417e-03 1.83929815e+02] [ 4.38959068e-03 9.99990365e-01 -2.40196571e-05 4.37469630e+00] [ 5.43624724e-03 1.56403498e-07 9.99985223e-01 6.96901716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799254154 meters 0.05365105201558409 Centerline is valid? [True, True] Translation: X:183.99, Y:4.37, Z:0.70 [[ 9.99959938e-01 -5.65601734e-03 -6.93764564e-03 1.83989094e+02] [ 5.65593687e-03 9.99984005e-01 -3.12192715e-05 4.36917970e+00] [ 6.93771125e-03 -8.02086497e-06 9.99975934e-01 6.95914256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859254154 meters 0.05369843668605936 Centerline is valid? [True, True] Translation: X:184.05, Y:4.36, Z:0.70 [[ 9.99935482e-01 -8.41200022e-03 -7.63345509e-03 1.84047682e+02] [ 8.41198190e-03 9.99964618e-01 -3.45065281e-05 4.36385788e+00] [ 7.63347528e-03 -2.97081842e-05 9.99970864e-01 6.95209494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91925415400001 meters 0.053179245820149205 Centerline is valid? [True, True] Translation: X:184.11, Y:4.35, Z:0.69 [[ 9.99858024e-01 -1.48286692e-02 -8.00264871e-03 1.84106982e+02] [ 1.48288538e-02 9.99890046e-01 -3.62731316e-05 4.35294526e+00] [ 8.00230667e-03 -8.24021258e-05 9.99967978e-01 6.94140784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters 0.05360318870656618 Centerline is valid? [True, True] Translation: X:184.17, Y:4.35, Z:0.69 [[ 9.99756596e-01 -2.01122913e-02 -9.06882633e-03 1.84166673e+02] [ 2.01127456e-02 9.99797717e-01 -4.11057317e-05 4.34570821e+00] [ 9.06781859e-03 -1.41303271e-04 9.99958876e-01 6.93853385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters 0.053475572327165655 Centerline is valid? [True, True] Translation: X:184.23, Y:4.34, Z:0.69 [[ 9.99561801e-01 -2.81487971e-02 -9.15706608e-03 1.84227685e+02] [ 2.81495979e-02 9.99603721e-01 -4.14451582e-05 4.34069157e+00] [ 9.15460396e-03 -2.16340732e-04 9.99958072e-01 6.94411011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters 0.05414420910164954 Centerline is valid? [True, True] Translation: X:184.29, Y:4.34, Z:0.70 [[ 9.99419933e-01 -3.29956528e-02 -8.43111724e-03 1.84288389e+02] [ 3.29965044e-02 9.99455466e-01 -3.81108007e-05 4.33932225e+00] [ 8.42778370e-03 -2.40108703e-04 9.99964457e-01 6.95873622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159254154 meters 0.05459542349112026 Centerline is valid? [True, True] Translation: X:184.35, Y:4.33, Z:0.70 [[ 9.99173210e-01 -4.00319962e-02 -7.09478280e-03 1.84348070e+02] [ 4.00327764e-02 9.99198367e-01 -3.20659832e-05 4.32891310e+00] [ 7.09037905e-03 -2.51984382e-04 9.99974831e-01 6.96241075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219254154 meters 0.05419006685322 Centerline is valid? [True, True] Translation: X:184.41, Y:4.33, Z:0.70 [[ 9.98996614e-01 -4.42316756e-02 -7.02306395e-03 1.84408835e+02] [ 4.42325437e-02 9.99021262e-01 -3.17381524e-05 4.33178652e+00] [ 7.01759404e-03 -2.78941676e-04 9.99975337e-01 6.97179260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279254154 meters 0.052673836488701845 Centerline is valid? [True, True] Translation: X:184.47, Y:4.34, Z:0.70 [[ 9.98798790e-01 -4.85401619e-02 -6.69552295e-03 1.84469971e+02] [ 4.85410478e-02 9.98821188e-01 -3.02155779e-05 4.33567377e+00] [ 6.68909686e-03 -2.94828417e-04 9.99977584e-01 6.97518046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339254154 meters 0.05435944555107476 Centerline is valid? [True, True] Translation: X:184.53, Y:4.33, Z:0.70 [[ 9.98712415e-01 -5.01888283e-02 -7.38878364e-03 1.84529884e+02] [ 5.01899533e-02 9.98739690e-01 -3.32137279e-05 4.32635103e+00] [ 7.38113844e-03 -3.37671743e-04 9.99972702e-01 6.97920631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399254154 meters 0.056219109899103954 Centerline is valid? [True, True] Translation: X:184.59, Y:4.32, Z:0.70 [[ 9.98663631e-01 -5.09332978e-02 -8.76083654e-03 1.84590884e+02] [ 5.09349098e-02 9.98701974e-01 -3.91673928e-05 4.31815454e+00] [ 8.75145967e-03 -4.07117368e-04 9.99961622e-01 6.97260401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459254154 meters 0.06286271610045857 Centerline is valid? [True, True] Translation: X:184.65, Y:4.30, Z:0.69 [[ 9.98672699e-01 -5.05558038e-02 -9.84640430e-03 1.84652510e+02] [ 5.05578242e-02 9.98721135e-01 -4.37791205e-05 4.29819403e+00] [ 9.83602536e-03 -4.54091765e-04 9.99951522e-01 6.94825462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519254154 meters 0.05534943478518898 Centerline is valid? [True, True] Translation: X:184.71, Y:4.32, Z:0.70 [[ 9.98759571e-01 -4.85657015e-02 -1.09860250e-02 1.84713330e+02] [ 4.85680979e-02 9.98819872e-01 -4.87163848e-05 4.32178900e+00] [ 1.09754261e-02 -4.84914384e-04 9.99939651e-01 6.96451863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579254154 meters 0.060325841346832006 Centerline is valid? [True, True] Translation: X:184.77, Y:4.31, Z:0.69 [[ 9.98887898e-01 -4.52713804e-02 -1.31708003e-02 1.84773324e+02] [ 4.52745384e-02 9.98974581e-01 -5.84485539e-05 4.30720762e+00] [ 1.31599407e-02 -5.37918350e-04 9.99913260e-01 6.92427332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639254154 meters 0.05327251712507326 Centerline is valid? [True, True] Translation: X:184.83, Y:4.34, Z:0.70 [[ 9.99068244e-01 -4.12086739e-02 -1.28253093e-02 1.84834218e+02] [ 4.12113355e-02 9.99150450e-01 -5.67989374e-05 4.33772332e+00] [ 1.28167542e-02 -4.71802112e-04 9.99917751e-01 6.98809938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69925415400002 meters 0.05425530293508976 Centerline is valid? [True, True] Translation: X:184.89, Y:4.34, Z:0.70 [[ 9.99429891e-01 -3.18406090e-02 -1.12280577e-02 1.84893421e+02] [ 3.18420591e-02 9.99492912e-01 -4.96392739e-05 4.34207310e+00] [ 1.12239446e-02 -3.07913503e-04 9.99936962e-01 7.00483739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters 0.053688129674421825 Centerline is valid? [True, True] Translation: X:184.95, Y:4.35, Z:0.70 [[ 9.99652999e-01 -2.45127946e-02 -9.64385811e-03 1.84954414e+02] [ 2.45135240e-02 9.99699498e-01 -4.25783681e-05 4.34770736e+00] [ 9.64200382e-03 -1.93841354e-04 9.99953496e-01 7.01720753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters 0.054168206284909946 Centerline is valid? [True, True] Translation: X:185.01, Y:4.35, Z:0.70 [[ 9.99880739e-01 -1.24872463e-02 -9.08721175e-03 1.85014497e+02] [ 1.24873976e-02 9.99922029e-01 -4.00951639e-05 4.35412511e+00] [ 9.08700389e-03 -7.33852439e-05 9.99958710e-01 7.01100714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters 0.0540419367731495 Centerline is valid? [True, True] Translation: X:185.07, Y:4.36, Z:0.70 [[ 9.99939170e-01 -6.05136359e-03 -9.22157341e-03 1.85073742e+02] [ 6.05124492e-03 9.99981690e-01 -4.07701111e-05 4.36103202e+00] [ 9.22165128e-03 -1.50343682e-05 9.99957480e-01 7.02728092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939254154 meters 0.05444503491915348 Centerline is valid? [True, True] Translation: X:185.13, Y:4.36, Z:0.70 [[ 9.99955114e-01 -1.78078074e-03 -9.30581255e-03 1.85132048e+02] [ 1.78046829e-03 9.99998414e-01 -4.18595913e-05 4.36428997e+00] [ 9.30587233e-03 2.52890082e-05 9.99956699e-01 7.02775226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999254154 meters 0.05456290122092646 Centerline is valid? [True, True] Translation: X:185.19, Y:4.37, Z:0.70 [[ 9.99957240e-01 7.01798546e-05 -9.24732633e-03 1.85189892e+02] [-7.05772074e-05 9.99999997e-01 -4.26431921e-05 4.36648423e+00] [ 9.24732331e-03 4.32940192e-05 9.99957242e-01 7.01470031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059254154 meters 0.05387536268236428 Centerline is valid? [True, True] Translation: X:185.25, Y:4.36, Z:0.70 [[ 9.99950109e-01 -2.36437545e-03 -9.70515675e-03 1.85248438e+02] [ 2.36404521e-03 9.99997205e-01 -4.54991771e-05 4.36350455e+00] [ 9.70523720e-03 2.25534778e-05 9.99952903e-01 7.03336472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119254154 meters 0.05410367877111633 Centerline is valid? [True, True] Translation: X:185.31, Y:4.36, Z:0.70 [[ 9.99933538e-01 -4.82838191e-03 -1.04693256e-02 1.85306258e+02] [ 4.82812738e-03 9.99988343e-01 -4.95871077e-05 4.36146074e+00] [ 1.04694430e-02 -9.63425445e-07 9.99945194e-01 7.02122328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179254154 meters 0.0534922839061877 Centerline is valid? [True, True] Translation: X:185.36, Y:4.35, Z:0.70 [[ 9.99896348e-01 -1.08017844e-02 -9.51919937e-03 1.85364602e+02] [ 1.08018411e-02 9.99941657e-01 -4.54551848e-05 4.35489046e+00] [ 9.51913499e-03 -5.73744059e-05 9.99954690e-01 7.02195799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239254154 meters 0.05449792150986597 Centerline is valid? [True, True] Translation: X:185.42, Y:4.35, Z:0.70 [[ 9.99837388e-01 -1.59844044e-02 -8.34840531e-03 1.85424350e+02] [ 1.59846269e-02 9.99872237e-01 -4.00666774e-05 4.35292895e+00] [ 8.34797914e-03 -9.33859823e-05 9.99965151e-01 7.04598738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299254154 meters 0.05365796024255811 Centerline is valid? [True, True] Translation: X:185.49, Y:4.35, Z:0.71 [[ 9.99748945e-01 -2.10824143e-02 -7.58807809e-03 1.85485418e+02] [ 2.10827448e-02 9.99777734e-01 -3.64458365e-05 4.34850512e+00] [ 7.58715988e-03 -1.23540827e-04 9.99971209e-01 7.05151333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359254154 meters 0.05500426698735266 Centerline is valid? [True, True] Translation: X:185.55, Y:4.34, Z:0.70 [[ 9.99713768e-01 -2.25060655e-02 -8.11531554e-03 1.85546134e+02] [ 2.25064912e-02 9.99746696e-01 -3.88798662e-05 4.34434513e+00] [ 8.11413493e-03 -1.43778540e-04 9.99967070e-01 7.04362550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41925415400001 meters 0.05469226637542661 Centerline is valid? [True, True] Translation: X:185.61, Y:4.34, Z:0.70 [[ 9.99701312e-01 -2.30595706e-02 -8.09582383e-03 1.85607800e+02] [ 2.30600136e-02 9.99734082e-01 -3.86305401e-05 4.34318901e+00] [ 8.09456180e-03 -1.48070806e-04 9.99967228e-01 7.03461613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters 0.05440654030682405 Centerline is valid? [True, True] Translation: X:185.67, Y:4.34, Z:0.70 [[ 9.99712450e-01 -2.26250732e-02 -7.94496338e-03 1.85669996e+02] [ 2.26254878e-02 9.99744010e-01 -3.77006163e-05 4.34479948e+00] [ 7.94378253e-03 -1.42068897e-04 9.99968438e-01 7.03183638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters 0.054664652977122585 Centerline is valid? [True, True] Translation: X:185.73, Y:4.35, Z:0.70 [[ 9.99725429e-01 -2.19647680e-02 -8.16183824e-03 1.85732359e+02] [ 2.19651857e-02 9.99758735e-01 -3.84770811e-05 4.34597259e+00] [ 8.16071422e-03 -1.40809776e-04 9.99966691e-01 7.02176365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters 0.05387811054922166 Centerline is valid? [True, True] Translation: X:185.79, Y:4.35, Z:0.70 [[ 9.99725754e-01 -2.19142770e-02 -8.25715104e-03 1.85794137e+02] [ 2.19147049e-02 9.99759843e-01 -3.86611472e-05 4.35196980e+00] [ 8.25601526e-03 -1.42302484e-04 9.99965908e-01 7.02554037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659254154 meters 0.053755412271695134 Centerline is valid? [True, True] Translation: X:185.86, Y:4.35, Z:0.70 [[ 9.99704547e-01 -2.27946842e-02 -8.43922005e-03 1.85855377e+02] [ 2.27951647e-02 9.99740156e-01 -3.92682356e-05 4.35143584e+00] [ 8.43792228e-03 -1.53116777e-04 9.99964388e-01 7.02532448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719254154 meters 0.053449957258534346 Centerline is valid? [True, True] Translation: X:185.92, Y:4.35, Z:0.70 [[ 9.99576431e-01 -2.77500484e-02 -8.76892421e-03 1.85916529e+02] [ 2.77507589e-02 9.99614873e-01 -4.06612087e-05 4.35127135e+00] [ 8.76667541e-03 -2.02700316e-04 9.99961551e-01 7.03312319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779254154 meters 0.05449283532114777 Centerline is valid? [True, True] Translation: X:185.98, Y:4.35, Z:0.70 [[ 9.99308380e-01 -3.60348468e-02 -9.17880968e-03 1.85975868e+02] [ 3.60359743e-02 9.99350492e-01 -4.25710099e-05 4.34605337e+00] [ 9.17438201e-03 -2.88225783e-04 9.99957873e-01 7.02718561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839254154 meters 0.05374232302738214 Centerline is valid? [True, True] Translation: X:186.04, Y:4.34, Z:0.70 [[ 9.99095252e-01 -4.13347599e-02 -1.00057135e-02 1.86035948e+02] [ 4.13363651e-02 9.99145286e-01 -4.64086645e-05 4.34361804e+00] [ 9.99907977e-03 -3.67233150e-04 9.99949941e-01 7.01716465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899254154 meters 0.053740519645734536 Centerline is valid? [True, True] Translation: X:186.10, Y:4.35, Z:0.70 [[ 9.98926299e-01 -4.52551672e-02 -9.91054434e-03 1.86096613e+02] [ 4.52569354e-02 9.98975379e-01 -4.58897704e-05 4.34693981e+00] [ 9.90246653e-03 -4.02680366e-04 9.99950888e-01 7.01418424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959254154 meters 0.05561416330153756 Centerline is valid? [True, True] Translation: X:186.16, Y:4.34, Z:0.70 [[ 9.98833311e-01 -4.72898248e-02 -9.78205846e-03 1.86156646e+02] [ 4.72916452e-02 9.98881123e-01 -4.52580342e-05 4.34045229e+00] [ 9.77325378e-03 -4.17404406e-04 9.99952153e-01 7.00953480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019254154 meters 0.05553561347220919 Centerline is valid? [True, True] Translation: X:186.22, Y:4.34, Z:0.70 [[ 9.98943829e-01 -4.52519799e-02 -7.96770067e-03 1.86216605e+02] [ 4.52531229e-02 9.98975552e-01 -3.68636593e-05 4.34231819e+00] [ 7.96120633e-03 -3.23738613e-04 9.99968257e-01 7.02459393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079254154 meters 0.053150913840415245 Centerline is valid? [True, True] Translation: X:186.28, Y:4.36, Z:0.70 [[ 9.99045172e-01 -4.33300549e-02 -5.59023394e-03 1.86277264e+02] [ 4.33305876e-02 9.99060789e-01 -2.58566053e-05 4.35826630e+00] [ 5.58610390e-03 -2.16396204e-04 9.99984374e-01 7.04543103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139254154 meters 0.05363372026214406 Centerline is valid? [True, True] Translation: X:186.34, Y:4.36, Z:0.71 [[ 9.99163554e-01 -4.06615377e-02 -4.33956262e-03 1.86337248e+02] [ 4.06618335e-02 9.99172965e-01 -2.00581327e-05 4.35825591e+00] [ 4.33678925e-03 -1.56413218e-04 9.99990584e-01 7.05082769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19925415400002 meters 0.05307449695111239 Centerline is valid? [True, True] Translation: X:186.40, Y:4.36, Z:0.70 [[ 9.99347917e-01 -3.60017365e-02 -2.75954406e-03 1.86397356e+02] [ 3.60018384e-02 9.99351724e-01 -1.27545783e-05 4.36398699e+00] [ 2.75821430e-03 -8.66023980e-05 9.99996192e-01 7.04795265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters 0.053261807085997766 Centerline is valid? [True, True] Translation: X:186.46, Y:4.37, Z:0.70 [[ 9.99480493e-01 -3.21049967e-02 -2.83089307e-03 1.86457875e+02] [ 3.21050883e-02 9.99484499e-01 -1.30898010e-05 4.37090079e+00] [ 2.82985399e-03 -7.78030712e-05 9.99995993e-01 7.04623210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters 0.053971554795543594 Centerline is valid? [True, True] Translation: X:186.52, Y:4.37, Z:0.70 [[ 9.99671539e-01 -2.54720918e-02 -2.82621812e-03 1.86517843e+02] [ 2.54721566e-02 9.99675532e-01 -1.30630823e-05 4.37175775e+00] [ 2.82563385e-03 -5.89310792e-05 9.99996006e-01 7.04637453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters 0.05241845512429598 Centerline is valid? [True, True] Translation: X:186.58, Y:4.38, Z:0.70 [[ 9.99755607e-01 -2.19055567e-02 -2.97863167e-03 1.86579515e+02] [ 2.19056129e-02 9.99760043e-01 -1.37591793e-05 4.38023765e+00] [ 2.97821833e-03 -5.14929357e-05 9.99995564e-01 7.04302102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439254154 meters 0.05282124262979156 Centerline is valid? [True, True] Translation: X:186.64, Y:4.38, Z:0.70 [[ 9.99801693e-01 -1.95527344e-02 -3.77683178e-03 1.86641289e+02] [ 1.95528084e-02 9.99808825e-01 -1.73298831e-05 4.38246925e+00] [ 3.77644859e-03 -5.65212217e-05 9.99992868e-01 7.04227437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499254154 meters 0.05296011099083124 Centerline is valid? [True, True] Translation: X:186.70, Y:4.38, Z:0.70 [[ 9.99813604e-01 -1.87010397e-02 -4.79887753e-03 1.86703793e+02] [ 1.87011503e-02 9.99825118e-01 -2.18291709e-05 4.38399472e+00] [ 4.79844652e-03 -6.79194278e-05 9.99988485e-01 7.03388211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559254154 meters 0.053729592035570095 Centerline is valid? [True, True] Translation: X:186.77, Y:4.38, Z:0.70 [[ 9.99813723e-01 -1.88187184e-02 -4.28662513e-03 1.86765243e+02] [ 1.88188083e-02 9.99822910e-01 -1.93665647e-05 4.38390444e+00] [ 4.28623047e-03 -6.13062194e-05 9.99990812e-01 7.03605400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619254154 meters 0.0534948209345696 Centerline is valid? [True, True] Translation: X:186.83, Y:4.38, Z:0.70 [[ 9.99812510e-01 -1.90967203e-02 -3.20317640e-03 1.86826739e+02] [ 1.90967724e-02 9.99817640e-01 -1.43373376e-05 4.38323969e+00] [ 3.20286606e-03 -4.68356810e-05 9.99994870e-01 7.04941090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679254154 meters 0.053024306030985714 Centerline is valid? [True, True] Translation: X:186.89, Y:4.39, Z:0.70 [[ 9.99766721e-01 -2.14441794e-02 -2.57905068e-03 1.86889179e+02] [ 2.14442210e-02 9.99770046e-01 -1.15254424e-05 4.38672117e+00] [ 2.57870477e-03 -4.37829791e-05 9.99996674e-01 7.04914175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739254154 meters 0.05289278368897089 Centerline is valid? [True, True] Translation: X:186.95, Y:4.38, Z:0.71 [[ 9.99701558e-01 -2.43083452e-02 -2.42889997e-03 1.86950583e+02] [ 2.43083905e-02 9.99704507e-01 -1.08636978e-05 4.38357249e+00] [ 2.42844632e-03 -4.81821931e-05 9.99997050e-01 7.05069098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799254154 meters 0.053985336359959016 Centerline is valid? [True, True] Translation: X:187.01, Y:4.37, Z:0.70 [[ 9.99588939e-01 -2.84926893e-02 -3.18118270e-03 1.87010299e+02] [ 2.84927900e-02 9.99593998e-01 -1.36909894e-05 4.37358101e+00] [ 3.18028123e-03 -7.69554090e-05 9.99994940e-01 7.04482567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859254154 meters 0.0534298991684289 Centerline is valid? [True, True] Translation: X:187.07, Y:4.38, Z:0.70 [[ 9.99542694e-01 -3.01114257e-02 -2.77561225e-03 1.87072641e+02] [ 3.01115087e-02 9.99546546e-01 -1.18835781e-05 4.38017635e+00] [ 2.77471147e-03 -7.16997289e-05 9.99996148e-01 7.04353697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91925415400001 meters 0.05505874619304829 Centerline is valid? [True, True] Translation: X:187.13, Y:4.37, Z:0.71 [[ 9.99588757e-01 -2.85540209e-02 -2.64279371e-03 1.87133492e+02] [ 2.85540909e-02 9.99592249e-01 -1.12176245e-05 4.37316207e+00] [ 2.64203641e-03 -6.42495606e-05 9.99996508e-01 7.05758685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters 0.0538834925021785 Centerline is valid? [True, True] Translation: X:187.20, Y:4.38, Z:0.71 [[ 9.99645661e-01 -2.65479143e-02 -1.93901901e-03 1.87195218e+02] [ 2.65479482e-02 9.99647541e-01 -8.24312071e-06 4.37616826e+00] [ 1.93855442e-03 -4.32367764e-05 9.99998120e-01 7.06148729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters 0.05394144330564274 Centerline is valid? [True, True] Translation: X:187.26, Y:4.38, Z:0.71 [[ 9.99706353e-01 -2.41275785e-02 -2.25101793e-03 1.87257183e+02] [ 2.41276183e-02 9.99708887e-01 -9.47517887e-06 4.37633990e+00] [ 2.25059124e-03 -4.48393049e-05 9.99997466e-01 7.05266533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters 0.05467993628750943 Centerline is valid? [True, True] Translation: X:187.32, Y:4.37, Z:0.70 [[ 9.99761157e-01 -2.15747909e-02 -3.48683069e-03 1.87318337e+02] [ 2.15748713e-02 9.99767235e-01 -1.45459189e-05 4.37175722e+00] [ 3.48633291e-03 -6.06854789e-05 9.99993921e-01 7.04295130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159254154 meters 0.05336666526548528 Centerline is valid? [True, True] Translation: X:187.38, Y:4.38, Z:0.70 [[ 9.99770243e-01 -2.10679463e-02 -3.95003445e-03 1.87380224e+02] [ 2.10680458e-02 9.99778044e-01 -1.64108904e-05 4.37621145e+00] [ 3.94950346e-03 -6.68123869e-05 9.99992198e-01 7.03888213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219254154 meters 0.053102893110913645 Centerline is valid? [True, True] Translation: X:187.44, Y:4.38, Z:0.70 [[ 9.99707714e-01 -2.34949166e-02 -5.69872210e-03 1.87442149e+02] [ 2.34951653e-02 9.99723950e-01 -2.33203917e-05 4.37509479e+00] [ 5.69769688e-03 -1.10578842e-04 9.99983762e-01 7.03029517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279254154 meters 0.05270557409522166 Centerline is valid? [True, True] Translation: X:187.50, Y:4.38, Z:0.70 [[ 9.99618241e-01 -2.69013113e-02 -6.30020935e-03 1.87502915e+02] [ 2.69016858e-02 9.99638084e-01 -2.53149634e-05 4.37627240e+00] [ 6.29861021e-03 -1.44180953e-04 9.99980153e-01 7.02916662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339254154 meters 0.0525240494229981 Centerline is valid? [True, True] Translation: X:187.56, Y:4.38, Z:0.70 [[ 9.99416842e-01 -3.34607221e-02 -6.80847242e-03 1.87563511e+02] [ 3.34613119e-02 9.99440013e-01 -2.73093932e-05 4.37583626e+00] [ 6.80557355e-03 -2.00526951e-04 9.99976822e-01 7.03011615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399254154 meters 0.05263121568357842 Centerline is valid? [True, True] Translation: X:187.62, Y:4.38, Z:0.70 [[ 9.99239651e-01 -3.84656136e-02 -6.36519219e-03 1.87623996e+02] [ 3.84662305e-02 9.99259900e-01 -2.55163897e-05 4.37668559e+00] [ 6.36146282e-03 -2.19347962e-04 9.99979742e-01 7.03861182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459254154 meters 0.05563324804776638 Centerline is valid? [True, True] Translation: X:187.68, Y:4.36, Z:0.70 [[ 9.98962335e-01 -4.51723121e-02 -5.80649074e-03 1.87684001e+02] [ 4.51729387e-02 9.98979182e-01 -2.32645545e-05 4.35853398e+00] [ 5.80161428e-03 -2.39055837e-04 9.99983142e-01 7.03992137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519254154 meters 0.052771868123201705 Centerline is valid? [True, True] Translation: X:187.74, Y:4.37, Z:0.71 [[ 9.98830735e-01 -4.80986206e-02 -4.86684848e-03 1.87744034e+02] [ 4.80990956e-02 9.98842568e-01 -1.94736590e-05 4.36946924e+00] [ 4.86215210e-03 -2.14640121e-04 9.99988157e-01 7.05353984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579254154 meters 0.05272099849344456 Centerline is valid? [True, True] Translation: X:187.81, Y:4.37, Z:0.71 [[ 9.98759739e-01 -4.96544519e-02 -3.66308928e-03 1.87805126e+02] [ 4.96547314e-02 9.98766443e-01 -1.46584437e-05 4.36871188e+00] [ 3.65929851e-03 -1.67249451e-04 9.99993291e-01 7.06597777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.639254154 meters 0.055300323197455294 Centerline is valid? [True, True] Translation: X:187.87, Y:4.36, Z:0.71 [[ 9.98770391e-01 -4.94642841e-02 -3.31535892e-03 1.87867580e+02] [ 4.94645120e-02 9.98775882e-01 -1.32680351e-05 4.36088869e+00] [ 3.31195683e-03 -1.50740891e-04 9.99994504e-01 7.06641789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69925415400002 meters 0.053156018031264594 Centerline is valid? [True, True] Translation: X:187.93, Y:4.37, Z:0.71 [[ 9.98813507e-01 -4.85166287e-02 -4.20887445e-03 1.87929300e+02] [ 4.85169902e-02 9.98822357e-01 -1.62401533e-05 4.36777726e+00] [ 4.20470582e-03 -1.87981036e-04 9.99991143e-01 7.05976896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters 0.0542968101634604 Centerline is valid? [True, True] Translation: X:187.99, Y:4.37, Z:0.71 [[ 9.98919640e-01 -4.62177458e-02 -4.84486941e-03 1.87989410e+02] [ 4.62181985e-02 9.98931368e-01 -1.85499779e-05 4.36536892e+00] [ 4.84054936e-03 -2.05391199e-04 9.99988263e-01 7.05226118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters 0.052557456757263074 Centerline is valid? [True, True] Translation: X:188.05, Y:4.37, Z:0.71 [[ 9.99171520e-01 -4.02932069e-02 -5.72117228e-03 1.88050144e+02] [ 4.02937412e-02 9.99187877e-01 -2.18997865e-05 4.36893911e+00] [ 5.71740839e-03 -2.08645792e-04 9.99983634e-01 7.05061092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters 0.054979703403911416 Centerline is valid? [True, True] Translation: X:188.11, Y:4.37, Z:0.70 [[ 9.99394218e-01 -3.42112686e-02 -6.38638706e-03 1.88109489e+02] [ 3.42118104e-02 9.99414604e-01 -2.44348057e-05 4.36530530e+00] [ 6.38348445e-03 -1.94069860e-04 9.99979607e-01 7.04768524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939254154 meters 0.0534026915345621 Centerline is valid? [True, True] Translation: X:188.17, Y:4.38, Z:0.71 [[ 9.99718000e-01 -2.29191576e-02 -6.21551519e-03 1.88169577e+02] [ 2.29194526e-02 9.99737315e-01 -2.37782587e-05 4.37867322e+00] [ 6.21442744e-03 -1.18684652e-04 9.99980683e-01 7.05623469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999254154 meters 0.05321042398180112 Centerline is valid? [True, True] Translation: X:188.23, Y:4.39, Z:0.71 [[ 9.99886963e-01 -1.41839077e-02 -4.98782583e-03 1.88230364e+02] [ 1.41839890e-02 9.99899402e-01 -1.90743140e-05 4.38545095e+00] [ 4.98759461e-03 -5.16751085e-05 9.99987561e-01 7.06416406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059254154 meters 0.053837433506302816 Centerline is valid? [True, True] Translation: X:188.29, Y:4.39, Z:0.71 [[ 9.99989903e-01 -1.68372793e-03 -4.16635850e-03 1.88290332e+02] [ 1.68367616e-03 9.99998582e-01 -1.59339981e-05 4.39084002e+00] [ 4.16637943e-03 8.91903870e-06 9.99991321e-01 7.07204693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119254154 meters 0.0541726683856232 Centerline is valid? [True, True] Translation: X:188.35, Y:4.39, Z:0.71 [[ 9.99983104e-01 4.59608397e-03 -3.55913183e-03 1.88348573e+02] [-4.59616127e-03 9.99989438e-01 -1.35388801e-05 4.39362140e+00] [ 3.55903201e-03 2.98969953e-05 9.99993666e-01 7.07490643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179254154 meters 0.05403390495284227 Centerline is valid? [True, True] Translation: X:188.41, Y:4.39, Z:0.71 [[ 9.99950544e-01 9.46760223e-03 -3.04529182e-03 1.88407582e+02] [-9.46768253e-03 9.99955180e-01 -1.19538318e-05 4.39136281e+00] [ 3.04504215e-03 4.07850967e-05 9.99995363e-01 7.07914250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239254154 meters 0.053685281808735004 Centerline is valid? [True, True] Translation: X:188.47, Y:4.39, Z:0.71 [[ 9.99954693e-01 8.96172988e-03 -3.20926578e-03 1.88465362e+02] [-8.96181670e-03 9.99959842e-01 -1.26740226e-05 4.39044377e+00] [ 3.20902332e-03 4.14343000e-05 9.99994850e-01 7.08572883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299254154 meters 0.05398300674836208 Centerline is valid? [True, True] Translation: X:188.52, Y:4.38, Z:0.71 [[ 9.99993941e-01 1.40569242e-03 -3.18467630e-03 1.88524470e+02] [-1.40574008e-03 9.99999012e-01 -1.27255733e-05 4.38174831e+00] [ 3.18465527e-03 1.72023233e-05 9.99994929e-01 7.08858458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359254154 meters 0.05354125127300165 Centerline is valid? [True, True] Translation: X:188.58, Y:4.37, Z:0.71 [[ 9.99973696e-01 -6.65838885e-03 -2.87629657e-03 1.88584700e+02] [ 6.65838318e-03 9.99977833e-01 -1.15495860e-05 4.37278032e+00] [ 2.87630971e-03 -7.60220248e-06 9.99995863e-01 7.08152835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41925415400001 meters 0.05266745741710686 Centerline is valid? [True, True] Translation: X:188.65, Y:4.36, Z:0.71 [[ 9.99796805e-01 -1.98319701e-02 -3.61132468e-03 1.88645309e+02] [ 1.98320471e-02 9.99803326e-01 -1.45016473e-05 4.36054897e+00] [ 3.61090202e-03 -5.71212605e-05 9.99993479e-01 7.07523297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters 0.05472804233235593 Centerline is valid? [True, True] Translation: X:188.71, Y:4.35, Z:0.71 [[ 9.99495739e-01 -3.13801186e-02 -4.85349391e-03 1.88705450e+02] [ 3.13803937e-02 9.99507514e-01 -1.94775390e-05 4.34593720e+00] [ 4.85171484e-03 -1.32836833e-04 9.99988222e-01 7.07144873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters 0.054936593759409756 Centerline is valid? [True, True] Translation: X:188.77, Y:4.34, Z:0.71 [[ 9.99269910e-01 -3.78315679e-02 -5.33098470e-03 1.88765821e+02] [ 3.78319915e-02 9.99284114e-01 -2.13827964e-05 4.34078805e+00] [ 5.32797727e-03 -1.80314583e-04 9.99985790e-01 7.07379772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters 0.05401666630850044 Centerline is valid? [True, True] Translation: X:188.83, Y:4.34, Z:0.71 [[ 9.98893599e-01 -4.68523452e-02 -4.05403346e-03 1.88826789e+02] [ 4.68526644e-02 9.98901811e-01 -1.62626413e-05 4.33671645e+00] [ 4.05034331e-03 -1.73697621e-04 9.99991782e-01 7.08454281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659254154 meters 0.05382822277787398 Centerline is valid? [True, True] Translation: X:188.89, Y:4.33, Z:0.71 [[ 9.98676689e-01 -5.13615548e-02 -2.61938730e-03 1.88886644e+02] [ 5.13617036e-02 9.98680117e-01 -1.05067162e-05 4.33274107e+00] [ 2.61646965e-03 -1.24043381e-04 9.99996569e-01 7.09362855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719254154 meters 0.056694793497851954 Centerline is valid? [True, True] Translation: X:188.95, Y:4.32, Z:0.71 [[ 9.98465713e-01 -5.53267104e-02 -2.27468741e-03 1.88946744e+02] [ 5.53268329e-02 9.98468298e-01 -9.07984088e-06 4.32333628e+00] [ 2.27170563e-03 -1.16785340e-04 9.99997413e-01 7.09813693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779254154 meters 0.05492075332522955 Centerline is valid? [True, True] Translation: X:189.01, Y:4.33, Z:0.71 [[ 9.98431948e-01 -5.59444706e-02 -1.96526342e-03 1.89009143e+02] [ 5.59445631e-02 9.98433877e-01 -7.88635265e-06 4.32798945e+00] [ 1.96262677e-03 -1.02071817e-04 9.99998069e-01 7.09363007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839254154 meters 0.05499278407951695 Centerline is valid? [True, True] Translation: X:189.07, Y:4.33, Z:0.71 [[ 9.98402997e-01 -5.63892684e-02 -3.42150046e-03 1.89071192e+02] [ 5.63895522e-02 9.98408843e-01 -1.35298573e-05 4.32561929e+00] [ 3.41681926e-03 -1.79428629e-04 9.99994147e-01 7.09121655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899254154 meters 0.05609680202241026 Centerline is valid? [True, True] Translation: X:189.13, Y:4.32, Z:0.71 [[ 9.98314681e-01 -5.75611031e-02 -7.38351863e-03 1.89131734e+02] [ 5.75624591e-02 9.98341907e-01 -2.89034919e-05 4.32097188e+00] [ 7.37293978e-03 -3.96158708e-04 9.99972741e-01 7.07000824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959254154 meters 0.05335784471093227 Centerline is valid? [True, True] Translation: X:189.19, Y:4.33, Z:0.71 [[ 9.98293228e-01 -5.77032330e-02 -8.99824018e-03 1.89194014e+02] [ 5.77052549e-02 9.98333663e-01 -3.49889191e-05 4.32959227e+00] [ 8.98526505e-03 -4.84316542e-04 9.99959514e-01 7.07223350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019254154 meters 0.05644412302830289 Centerline is valid? [True, True] Translation: X:189.25, Y:4.32, Z:0.71 [[ 9.98439459e-01 -5.48522242e-02 -1.04823735e-02 1.89254048e+02] [ 5.48548134e-02 9.98494340e-01 -4.05637771e-05 4.32448654e+00] [ 1.04688156e-02 -5.34508167e-04 9.99945058e-01 7.06430593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079254154 meters 0.05351659067382536 Centerline is valid? [True, True] Translation: X:189.32, Y:4.34, Z:0.71 [[ 9.98675834e-01 -5.04300374e-02 -1.01680563e-02 1.89315128e+02] [ 5.04322455e-02 9.98727484e-01 -3.92955144e-05 4.33951877e+00] [ 1.01570990e-02 -4.73554431e-04 9.99948303e-01 7.08684984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.139254154 meters 0.05479410958713701 Centerline is valid? [True, True] Translation: X:189.37, Y:4.34, Z:0.71 [[ 9.99172416e-01 -3.98072632e-02 -8.35853320e-03 1.89374312e+02] [ 3.98083841e-02 9.99207332e-01 -3.22875528e-05 4.34278540e+00] [ 8.35319293e-03 -3.00478868e-04 9.99965066e-01 7.10107130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19925415400002 meters 0.05420258154539808 Centerline is valid? [True, True] Translation: X:189.44, Y:4.35, Z:0.71 [[ 9.99489817e-01 -3.11892594e-02 -6.88009917e-03 1.89435204e+02] [ 3.11898148e-02 9.99513479e-01 -2.65757737e-05 4.35072832e+00] [ 6.87758074e-03 -1.88026804e-04 9.99976331e-01 7.12410137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters 0.053958226947204674 Centerline is valid? [True, True] Translation: X:189.50, Y:4.36, Z:0.71 [[ 9.99799273e-01 -1.92214983e-02 -5.65231961e-03 1.89495878e+02] [ 1.92216820e-02 9.99815246e-01 -2.18275236e-05 4.36197607e+00] [ 5.65169488e-03 -8.68239480e-05 9.99984025e-01 7.14089970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters 0.053414141302013 Centerline is valid? [True, True] Translation: X:189.56, Y:4.37, Z:0.71 [[ 9.99920825e-01 -1.04034720e-02 -7.07894902e-03 1.89555319e+02] [ 1.04035390e-02 9.99945881e-01 -2.73660814e-05 4.36687793e+00] [ 7.07885062e-03 -4.62822075e-05 9.99974944e-01 7.12861592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters 0.05370037733736707 Centerline is valid? [True, True] Translation: X:189.62, Y:4.37, Z:0.71 [[ 9.99931520e-01 -8.90449329e-03 -7.59374242e-03 1.89615325e+02] [ 8.90452579e-03 9.99960353e-01 -2.95304429e-05 4.36977597e+00] [ 7.59370431e-03 -3.80902546e-05 9.99971167e-01 7.13566556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439254154 meters 0.05370379382371555 Centerline is valid? [True, True] Translation: X:189.67, Y:4.37, Z:0.71 [[ 9.99930075e-01 -7.62218030e-03 -9.04141027e-03 1.89674608e+02] [ 7.62217155e-03 9.99970950e-01 -3.54266229e-05 4.37105572e+00] [ 9.04141764e-03 -3.34910344e-05 9.99959125e-01 7.13353513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499254154 meters 0.05436841307823766 Centerline is valid? [True, True] Translation: X:189.73, Y:4.37, Z:0.71 [[ 9.99915220e-01 -8.54790862e-03 -9.82277231e-03 1.89732801e+02] [ 8.54793980e-03 9.99963465e-01 -3.88102049e-05 4.37224755e+00] [ 9.82274518e-03 -4.51575518e-05 9.99951755e-01 7.14822188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559254154 meters 0.05410950523451745 Centerline is valid? [True, True] Translation: X:189.79, Y:4.37, Z:0.71 [[ 9.99893034e-01 -1.06165398e-02 -1.00603396e-02 1.89791720e+02] [ 1.06166740e-02 9.99943641e-01 -4.00706935e-05 4.36977386e+00] [ 1.00601980e-02 -6.67409380e-05 9.99949393e-01 7.13463843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619254154 meters 0.05465292898184482 Centerline is valid? [True, True] Translation: X:189.85, Y:4.37, Z:0.71 [[ 9.99849850e-01 -1.47744961e-02 -9.05497356e-03 1.89850576e+02] [ 1.47747733e-02 9.99890846e-01 -3.62801941e-05 4.36520875e+00] [ 9.05452120e-03 -9.75104348e-05 9.99959002e-01 7.13734259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679254154 meters 0.05363939012374746 Centerline is valid? [True, True] Translation: X:189.91, Y:4.36, Z:0.72 [[ 9.99735405e-01 -2.17022898e-02 -7.62428953e-03 1.89910452e+02] [ 2.17026871e-02 9.99764468e-01 -3.06299574e-05 4.35882052e+00] [ 7.62315851e-03 -1.34845717e-04 9.99970934e-01 7.15560463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739254154 meters 0.054263579627340304 Centerline is valid? [True, True] Translation: X:189.97, Y:4.35, Z:0.72 [[ 9.99599831e-01 -2.75462385e-02 -6.43291094e-03 1.89971187e+02] [ 2.75466423e-02 9.99620519e-01 -2.58401849e-05 4.35335846e+00] [ 6.43118157e-03 -1.51375252e-04 9.99979308e-01 7.16536195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799254154 meters 0.05533575262520031 Centerline is valid? [True, True] Translation: X:190.03, Y:4.35, Z:0.72 [[ 9.99200718e-01 -3.97309378e-02 -4.40197001e-03 1.90031547e+02] [ 3.97312449e-02 9.99210402e-01 -1.76772342e-05 4.34683940e+00] [ 4.39919656e-03 -1.57232644e-04 9.99990311e-01 7.17593643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859254154 meters 0.05647752793340587 Centerline is valid? [True, True] Translation: X:190.09, Y:4.34, Z:0.72 [[ 9.98821675e-01 -4.83117141e-02 -4.60869435e-03 1.90091070e+02] [ 4.83121421e-02 9.98832287e-01 -1.84914433e-05 4.33887396e+00] [ 4.60420607e-03 -2.04186242e-04 9.99989380e-01 7.17226427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91925415400001 meters 0.05659866319709917 Centerline is valid? [True, True] Translation: X:190.15, Y:4.33, Z:0.72 [[ 9.98264904e-01 -5.86431783e-02 -5.30643374e-03 1.90151315e+02] [ 5.86438914e-02 9.98278966e-01 -2.12484367e-05 4.33315339e+00] [ 5.29854727e-03 -2.89978355e-04 9.99985921e-01 7.15963528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters 0.05324131676019953 Centerline is valid? [True, True] Translation: X:190.21, Y:4.35, Z:0.72 [[ 9.97994073e-01 -6.30982861e-02 -5.14170444e-03 1.90211598e+02] [ 6.30990146e-02 9.98007271e-01 -2.05774341e-05 4.34603187e+00] [ 5.13275682e-03 -3.03900326e-04 9.99986781e-01 7.15329892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters 0.05352021765601198 Centerline is valid? [True, True] Translation: X:190.27, Y:4.35, Z:0.72 [[ 9.98040247e-01 -6.23310705e-02 -5.52297695e-03 1.90273483e+02] [ 6.23318997e-02 9.98055476e-01 -2.20358096e-05 4.34660678e+00] [ 5.51361090e-03 -3.22265020e-04 9.99984748e-01 7.15852410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters 0.056017578374782405 Centerline is valid? [True, True] Translation: X:190.33, Y:4.34, Z:0.71 [[ 9.98237876e-01 -5.89182752e-02 -7.05547382e-03 1.90333617e+02] [ 5.89195445e-02 9.98262734e-01 -2.79899662e-05 4.33893279e+00] [ 7.04486571e-03 -3.87764660e-04 9.99975109e-01 7.14438392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159254154 meters 0.05299435065306785 Centerline is valid? [True, True] Translation: X:190.39, Y:4.35, Z:0.71 [[ 9.98390878e-01 -5.58735463e-02 -9.68514216e-03 1.90394563e+02] [ 5.58757944e-02 9.98437727e-01 -3.85232749e-05 4.35446539e+00] [ 9.67216376e-03 -5.02703726e-04 9.99953097e-01 7.13388316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219254154 meters 0.057028131726393184 Centerline is valid? [True, True] Translation: X:190.45, Y:4.34, Z:0.71 [[ 9.98741440e-01 -4.85332718e-02 -1.26513679e-02 1.90454097e+02] [ 4.85365182e-02 9.98821407e-01 -5.04907627e-05 4.34193632e+00] [ 1.26389076e-02 -5.63626130e-04 9.99919967e-01 7.08719495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279254154 meters 0.055908672885622096 Centerline is valid? [True, True] Translation: X:190.51, Y:4.35, Z:0.71 [[ 9.99161421e-01 -3.89809294e-02 -1.25276719e-02 1.90514664e+02] [ 3.89833624e-02 9.99239859e-01 -5.00159253e-05 4.34987300e+00] [ 1.25200988e-02 -4.38396792e-04 9.99921524e-01 7.09371676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339254154 meters 0.05368859525643175 Centerline is valid? [True, True] Translation: X:190.58, Y:4.37, Z:0.71 [[ 9.99584978e-01 -2.72501049e-02 -9.34364869e-03 1.90575227e+02] [ 2.72509466e-02 9.99628623e-01 -3.72499047e-05 4.36622448e+00] [ 9.34119374e-03 -2.17388826e-04 9.99956346e-01 7.14012691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399254154 meters 0.053546931036408035 Centerline is valid? [True, True] Translation: X:190.64, Y:4.38, Z:0.72 [[ 9.99871303e-01 -1.38765837e-02 -8.05097068e-03 1.90636159e+02] [ 1.38767758e-02 9.99903712e-01 -3.20024458e-05 4.37732357e+00] [ 8.05063956e-03 -7.97231880e-05 9.99967590e-01 7.15700074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459254154 meters 0.053395899001262584 Centerline is valid? [True, True] Translation: X:190.70, Y:4.38, Z:0.72 [[ 9.99947058e-01 -6.97769171e-03 -7.56259763e-03 1.90697131e+02] [ 6.97766458e-03 9.99975655e-01 -2.99724231e-05 4.38278418e+00] [ 7.56262266e-03 -2.27984333e-05 9.99971403e-01 7.17032360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519254154 meters 0.05361288572708137 Centerline is valid? [True, True] Translation: X:190.76, Y:4.38, Z:0.72 [[ 9.99966283e-01 -2.90575302e-03 -7.68048504e-03 1.90755325e+02] [ 2.90560425e-03 9.99995778e-01 -3.05289507e-05 4.38495130e+00] [ 7.68054132e-03 8.21147137e-06 9.99970504e-01 7.16672134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579254154 meters 0.054028541638404155 Centerline is valid? [True, True] Translation: X:190.81, Y:4.39, Z:0.72 [[ 9.99949494e-01 -3.24566400e-03 -9.51187932e-03 1.90813464e+02] [ 3.24544701e-03 9.99994733e-01 -3.82475110e-05 4.38575150e+00] [ 9.51195335e-03 7.37527890e-06 9.99954760e-01 7.15575367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.639254154 meters 0.053333782557903144 Centerline is valid? [True, True] Translation: X:190.87, Y:4.38, Z:0.72 [[ 9.99922237e-01 -1.04913139e-02 -6.74177991e-03 1.90872514e+02] [ 1.04913681e-02 9.99944964e-01 -2.73185385e-05 4.38152904e+00] [ 6.74169548e-03 -4.34140808e-05 9.99977274e-01 7.17832092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69925415400002 meters 0.053471058893457914 Centerline is valid? [True, True] Translation: X:190.93, Y:4.38, Z:0.72 [[ 9.99852618e-01 -1.60392467e-02 -6.12244971e-03 1.90932475e+02] [ 1.60393949e-02 9.99871360e-01 -2.48991574e-05 4.37676884e+00] [ 6.12206149e-03 -7.33049008e-05 9.99981257e-01 7.18403368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters 0.054385023094898496 Centerline is valid? [True, True] Translation: X:190.99, Y:4.37, Z:0.72 [[ 9.99752082e-01 -2.13875773e-02 -6.19249825e-03 1.90992893e+02] [ 2.13878315e-02 9.99771254e-01 -2.51653460e-05 4.36715502e+00] [ 6.19161996e-03 -1.07285002e-04 9.99980826e-01 7.17601429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters 0.057140820157107856 Centerline is valid? [True, True] Translation: X:191.05, Y:4.35, Z:0.72 [[ 9.99524036e-01 -3.02192210e-02 -6.20482272e-03 1.91053794e+02] [ 3.02196466e-02 9.99543282e-01 -2.51718196e-05 4.35021323e+00] [ 6.20274954e-03 -1.62347711e-04 9.99980750e-01 7.16900678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879254154 meters 0.05519471794882496 Centerline is valid? [True, True] Translation: X:191.11, Y:4.35, Z:0.72 [[ 9.99214797e-01 -3.94548874e-02 -3.61959777e-03 1.91114547e+02] [ 3.94550928e-02 9.99221345e-01 -1.46737177e-05 4.34749114e+00] [ 3.61735830e-03 -1.28149370e-04 9.99993449e-01 7.18811940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939254154 meters 0.054822249774898635 Centerline is valid? [True, True] Translation: X:191.18, Y:4.35, Z:0.72 [[ 9.99182239e-01 -4.02327140e-02 -4.02257920e-03 1.91176992e+02] [ 4.02329740e-02 9.99190326e-01 -1.62958060e-05 4.34789837e+00] [ 4.01997784e-03 -1.45557844e-04 9.99991909e-01 7.18484406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999254154 meters 0.055863648732714 Centerline is valid? [True, True] Translation: X:191.24, Y:4.34, Z:0.72 [[ 9.99341707e-01 -3.59618481e-02 -4.78518074e-03 1.91236451e+02] [ 3.59621680e-02 9.99353152e-01 -1.92117050e-05 4.34225191e+00] [ 4.78277634e-03 -1.52886415e-04 9.99988551e-01 7.17958721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059254154 meters 0.055556869501440204 Centerline is valid? [True, True] Translation: X:191.30, Y:4.34, Z:0.72 [[ 9.99415293e-01 -3.38402334e-02 -4.88978506e-03 1.91297883e+02] [ 3.38405420e-02 9.99427245e-01 -1.96497694e-05 4.34379337e+00] [ 4.88764936e-03 -1.45834696e-04 9.99988045e-01 7.17895466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119254154 meters 0.05348616360592125 Centerline is valid? [True, True] Translation: X:191.36, Y:4.35, Z:0.72 [[ 9.99605265e-01 -2.74958671e-02 -5.76986717e-03 1.91358810e+02] [ 2.74961913e-02 9.99621908e-01 -2.31328199e-05 4.35293321e+00] [ 5.76832168e-03 -1.35525683e-04 9.99983354e-01 7.17673475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179254154 meters 0.054048761862277105 Centerline is valid? [True, True] Translation: X:191.42, Y:4.35, Z:0.72 [[ 9.99684781e-01 -2.40035764e-02 -7.35981159e-03 1.91418994e+02] [ 2.40040092e-02 9.99711862e-01 -2.95261867e-05 4.35194380e+00] [ 7.35839969e-03 -1.47148106e-04 9.99972916e-01 7.16706217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239254154 meters 0.05304908452179314 Centerline is valid? [True, True] Translation: X:191.48, Y:4.35, Z:0.72 [[ 9.99709789e-01 -2.23296150e-02 -9.04024577e-03 1.91480095e+02] [ 2.23302008e-02 9.99750649e-01 -3.61491251e-05 4.35430657e+00] [ 9.03879877e-03 -1.65731869e-04 9.99959135e-01 7.16272485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299254154 meters 0.05332760856720184 Centerline is valid? [True, True] Translation: X:191.54, Y:4.35, Z:0.72 [[ 9.99679850e-01 -2.33003582e-02 -9.86358812e-03 1.91540871e+02] [ 2.33011044e-02 9.99728492e-01 -3.92771538e-05 4.35090275e+00] [ 9.86182525e-03 -1.90567917e-04 9.99951353e-01 7.16023106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359254154 meters 0.05436949369724474 Centerline is valid? [True, True] Translation: X:191.60, Y:4.35, Z:0.72 [[ 9.99659391e-01 -2.42906165e-02 -9.54291997e-03 1.91603377e+02] [ 2.42913624e-02 9.99704921e-01 -3.77602157e-05 4.34987790e+00] [ 9.54102127e-03 -1.94063173e-04 9.99954465e-01 7.16514600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41925415400001 meters 0.05361274796731054 Centerline is valid? [True, True] Translation: X:191.66, Y:4.35, Z:0.72 [[ 9.99585616e-01 -2.72380737e-02 -9.31041982e-03 1.91664989e+02] [ 2.72389133e-02 9.99628951e-01 -3.66321151e-05 4.34622414e+00] [ 9.30796299e-03 -2.16988783e-04 9.99956656e-01 7.17490890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters 0.054523445181157114 Centerline is valid? [True, True] Translation: X:191.72, Y:4.34, Z:0.72 [[ 9.99408748e-01 -3.32203243e-02 -8.86360923e-03 1.91724899e+02] [ 3.32213210e-02 9.99448019e-01 -3.47966577e-05 4.33857425e+00] [ 8.85987264e-03 -2.59684723e-04 9.99960717e-01 7.17564584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters 0.05352488404932351 Centerline is valid? [True, True] Translation: X:191.79, Y:4.34, Z:0.72 [[ 9.99124053e-01 -4.11247025e-02 -7.73858520e-03 1.91785740e+02] [ 4.11256995e-02 9.99153980e-01 -3.03291214e-05 4.34312048e+00] [ 7.73328548e-03 -2.87952174e-04 9.99970056e-01 7.19681017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters 0.05758532317726852 Centerline is valid? [True, True] Translation: X:191.85, Y:4.32, Z:0.72 [[ 9.98886858e-01 -4.65347251e-02 -7.71782233e-03 1.91845561e+02] [ 4.65358786e-02 9.98916619e-01 -3.01473951e-05 4.32350196e+00] [ 7.71086389e-03 -3.29041807e-04 9.99970217e-01 7.19089014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659254154 meters 0.05887957657444297 Centerline is valid? [True, True] Translation: X:191.91, Y:4.32, Z:0.72 [[ 9.98536875e-01 -5.36659832e-02 -6.63864738e-03 1.91906182e+02] [ 5.36669943e-02 9.98558888e-01 -2.58764246e-05 4.31556291e+00] [ 6.63046903e-03 -3.30437687e-04 9.99977964e-01 7.20629512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719254154 meters 0.05706669234623025 Centerline is valid? [True, True] Translation: X:191.97, Y:4.32, Z:0.72 [[ 9.98383729e-01 -5.66171196e-02 -4.94284000e-03 1.91967534e+02] [ 5.66177162e-02 9.98395930e-01 -1.92541314e-05 4.32167404e+00] [ 4.93600145e-03 -2.60629301e-04 9.99987784e-01 7.22501903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779254154 meters 0.05229722877232473 Centerline is valid? [True, True] Translation: X:192.03, Y:4.34, Z:0.72 [[ 9.98334141e-01 -5.75880396e-02 -3.54406122e-03 1.92029208e+02] [ 5.75883524e-02 9.98340414e-01 -1.37878709e-05 4.34331892e+00] [ 3.53897357e-03 -1.90331745e-04 9.99993720e-01 7.22382848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839254154 meters 0.05893501186500657 Centerline is valid? [True, True] Translation: X:192.09, Y:4.32, Z:0.72 [[ 9.98327120e-01 -5.74568058e-02 -6.45577912e-03 1.92091513e+02] [ 5.74578449e-02 9.98347933e-01 -2.45430384e-05 4.31876575e+00] [ 6.44652390e-03 -3.46433175e-04 9.99979161e-01 7.21311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899254154 meters 0.05362224483734914 Centerline is valid? [True, True] Translation: X:192.15, Y:4.34, Z:0.72 [[ 9.98353848e-01 -5.70350047e-02 -6.04993549e-03 1.92154058e+02] [ 5.70359134e-02 9.98372127e-01 -2.23815925e-05 4.33791926e+00] [ 6.04136350e-03 -3.22718847e-04 9.99981699e-01 7.21570641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959254154 meters 0.056795812874874625 Centerline is valid? [True, True] Translation: X:192.21, Y:4.33, Z:0.72 [[ 9.98497849e-01 -5.43517866e-02 -6.92311221e-03 1.92213155e+02] [ 5.43529140e-02 9.98521788e-01 -2.53342511e-05 4.32900643e+00] [ 6.91425534e-03 -3.50995127e-04 9.99976035e-01 7.21283863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019254154 meters 0.05604263212264772 Centerline is valid? [True, True] Translation: X:192.27, Y:4.34, Z:0.72 [[ 9.98831674e-01 -4.77064043e-02 -7.70629062e-03 1.92273869e+02] [ 4.77076040e-02 9.98861344e-01 -2.81830616e-05 4.33809557e+00] [ 7.69886032e-03 -3.39498527e-04 9.99970306e-01 7.20671613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079254154 meters 0.05507590414727092 Centerline is valid? [True, True] Translation: X:192.33, Y:4.34, Z:0.72 [[ 9.99147694e-01 -4.05748617e-02 -7.58720897e-03 1.92334116e+02] [ 4.05758198e-02 9.99176462e-01 -2.76693192e-05 4.34326761e+00] [ 7.58208329e-03 -2.80211488e-04 9.99971216e-01 7.20741099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.139254154 meters 0.05441300825526958 Centerline is valid? [True, True] Translation: X:192.39, Y:4.35, Z:0.72 [[ 9.99460031e-01 -3.22203026e-02 -6.44199959e-03 1.92394845e+02] [ 3.22208202e-02 9.99480774e-01 -2.34527079e-05 4.35118773e+00] [ 6.43941040e-03 -1.84126466e-04 9.99979250e-01 7.21912338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19925415400002 meters 0.05444362091717356 Centerline is valid? [True, True] Translation: X:192.45, Y:4.36, Z:0.72 [[ 9.99775380e-01 -2.04738712e-02 -5.47820080e-03 1.92454071e+02] [ 2.04740694e-02 9.99790384e-01 -1.99163334e-05 4.35875547e+00] [ 5.47746025e-03 -9.22492034e-05 9.99984994e-01 7.22756717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters 0.054347921888330354 Centerline is valid? [True, True] Translation: X:192.51, Y:4.37, Z:0.72 [[ 9.99881142e-01 -1.47476047e-02 -4.49548858e-03 1.92514452e+02] [ 1.47476803e-02 9.99891247e-01 -1.63308579e-05 4.36727395e+00] [ 4.49524052e-03 -4.99691116e-05 9.99989895e-01 7.23456894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters 0.0537884153088844 Centerline is valid? [True, True] Translation: X:192.57, Y:4.37, Z:0.72 [[ 9.99921268e-01 -1.09817291e-02 -6.07119178e-03 1.92574671e+02] [ 1.09817979e-02 9.99939698e-01 -2.19932225e-05 4.36983728e+00] [ 6.07106720e-03 -4.46811105e-05 9.99981570e-01 7.22637748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379254154 meters 0.053632811572228205 Centerline is valid? [True, True] Translation: X:192.64, Y:4.37, Z:0.72 [[ 9.99878021e-01 -1.41977639e-02 -6.50902340e-03 1.92635504e+02] [ 1.41979116e-02 9.99899204e-01 -2.35234778e-05 4.36907950e+00] [ 6.50870130e-03 -6.88939304e-05 9.99978816e-01 7.22160464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439254154 meters 0.054483917604164045 Centerline is valid? [True, True] Translation: X:192.70, Y:4.37, Z:0.72 [[ 9.99781572e-01 -1.98308550e-02 -6.59884962e-03 1.92696803e+02] [ 1.98311300e-02 9.99803344e-01 -2.37727769e-05 4.36644457e+00] [ 6.59802334e-03 -1.07095060e-04 9.99978227e-01 7.22402287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499254154 meters 0.053913327351803576 Centerline is valid? [True, True] Translation: X:192.76, Y:4.36, Z:0.72 [[ 9.99569808e-01 -2.87418766e-02 -5.83981520e-03 1.92758091e+02] [ 2.87422444e-02 9.99586856e-01 -2.09562513e-05 4.36416562e+00] [ 5.83800484e-03 -1.46902159e-04 9.99982948e-01 7.22391109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559254154 meters 0.05360883236842655 Centerline is valid? [True, True] Translation: X:192.82, Y:4.36, Z:0.72 [[ 9.99017302e-01 -4.40339016e-02 -5.04440460e-03 1.92818514e+02] [ 4.40343709e-02 9.99030016e-01 -1.80531778e-05 4.35758243e+00] [ 5.04030656e-03 -2.04091746e-04 9.99987277e-01 7.22935827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619254154 meters 0.05346941017944052 Centerline is valid? [True, True] Translation: X:192.88, Y:4.35, Z:0.72 [[ 9.98580554e-01 -5.30767090e-02 -4.44301308e-03 1.92878366e+02] [ 5.30771624e-02 9.98590414e-01 -1.58911613e-05 4.35356214e+00] [ 4.43759372e-03 -2.19953922e-04 9.99990130e-01 7.22971663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679254154 meters 0.05200262856271133 Centerline is valid? [True, True] Translation: X:192.94, Y:4.36, Z:0.72 [[ 9.98122385e-01 -6.11176312e-02 -4.04236771e-03 1.92938577e+02] [ 6.11180723e-02 9.98130543e-01 -1.44491376e-05 4.36021015e+00] [ 4.03569378e-03 -2.32639714e-04 9.99991829e-01 7.23138819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739254154 meters 0.05257895093069421 Centerline is valid? [True, True] Translation: X:193.00, Y:4.36, Z:0.72 [[ 9.97998382e-01 -6.31357256e-02 -3.62075545e-03 1.92999349e+02] [ 6.31360927e-02 9.98004927e-01 -1.29333507e-05 4.35928768e+00] [ 3.61434833e-03 -2.15692889e-04 9.99993445e-01 7.23095338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799254154 meters 0.052466092592459754 Centerline is valid? [True, True] Translation: X:193.06, Y:4.36, Z:0.72 [[ 9.97992375e-01 -6.31994552e-02 -4.12897507e-03 1.93060451e+02] [ 6.31999333e-02 9.98000886e-01 -1.47139175e-05 4.35577662e+00] [ 4.12165069e-03 -2.46266571e-04 9.99991476e-01 7.22169576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859254154 meters 0.053788884491211435 Centerline is valid? [True, True] Translation: X:193.12, Y:4.35, Z:0.72 [[ 9.98113884e-01 -6.11120791e-02 -5.82990348e-03 1.93120521e+02] [ 6.11130001e-02 9.98130854e-01 -2.02020475e-05 4.35264043e+00] [ 5.82024113e-03 -3.36118948e-04 9.99983006e-01 7.21250345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91925415400001 meters 0.05240914716023032 Centerline is valid? [True, True] Translation: X:193.18, Y:4.36, Z:0.72 [[ 9.98502811e-01 -5.42943357e-02 -6.65299309e-03 1.93181039e+02] [ 5.42953841e-02 9.98524917e-01 -2.30578696e-05 4.36258759e+00] [ 6.64443129e-03 -3.38203468e-04 9.99977868e-01 7.20363316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters 0.05322461517688332 Centerline is valid? [True, True] Translation: X:193.24, Y:4.37, Z:0.72 [[ 9.98892737e-01 -4.65537461e-02 -6.78590844e-03 1.93240454e+02] [ 4.65546588e-02 9.98915744e-01 -2.34776498e-05 4.36509793e+00] [ 6.77964375e-03 -2.92463998e-04 9.99976975e-01 7.20359953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters 0.05342908062153629 Centerline is valid? [True, True] Translation: X:193.30, Y:4.37, Z:0.72 [[ 9.99464543e-01 -3.19807522e-02 -6.91795881e-03 1.93300064e+02] [ 3.19813521e-02 9.99488465e-01 -2.39235632e-05 4.36891554e+00] [ 6.91518513e-03 -1.97334923e-04 9.99976070e-01 7.19776683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters 0.05291962963101138 Centerline is valid? [True, True] Translation: X:193.36, Y:4.38, Z:0.72 [[ 9.99723412e-01 -2.22407952e-02 -7.64501625e-03 1.93360391e+02] [ 2.22412434e-02 9.99752633e-01 -2.63980147e-05 4.38025947e+00] [ 7.64371224e-03 -1.43643954e-04 9.99970776e-01 7.20479759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159254154 meters 0.05273365735948145 Centerline is valid? [True, True] Translation: X:193.42, Y:4.39, Z:0.72 [[ 9.99927293e-01 -8.94880920e-03 -8.08256082e-03 1.93419786e+02] [ 8.94887618e-03 9.99959958e-01 -2.78793780e-05 4.38878082e+00] [ 8.08248666e-03 -4.44524850e-05 9.99967335e-01 7.19945596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219254154 meters 0.05319456903184542 Centerline is valid? [True, True] Translation: X:193.48, Y:4.39, Z:0.72 [[ 9.99951196e-01 -5.03684504e-03 -8.49915359e-03 1.93478415e+02] [ 5.03677672e-03 9.99987315e-01 -2.94426232e-05 4.39137854e+00] [ 8.49919408e-03 -1.33671526e-05 9.99963881e-01 7.18916131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279254154 meters 0.05290261937713801 Centerline is valid? [True, True] Translation: X:193.54, Y:4.40, Z:0.72 [[ 9.99951263e-01 3.01862539e-04 -9.86812160e-03 1.93537052e+02] [-3.02222262e-04 9.99999954e-01 -3.49618724e-05 4.39721069e+00] [ 9.86811059e-03 3.79425345e-05 9.99951308e-01 7.18218218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339254154 meters 0.05251428292102634 Centerline is valid? [True, True] Translation: X:193.60, Y:4.40, Z:0.72 [[ 9.99944360e-01 3.64512359e-03 -9.89898629e-03 1.93595444e+02] [-3.64566054e-03 9.99993354e-01 -3.61988503e-05 4.39933476e+00] [ 9.89878855e-03 7.22851799e-05 9.99951003e-01 7.20049657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399254154 meters 0.05297039815220619 Centerline is valid? [True, True] Translation: X:193.65, Y:4.40, Z:0.72 [[ 9.99959534e-01 3.11519961e-03 -8.43951535e-03 1.93654551e+02] [-3.11557529e-03 9.99995146e-01 -3.13678029e-05 4.39910089e+00] [ 8.43937667e-03 5.76604791e-05 9.99964386e-01 7.21794311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459254154 meters 0.05245607844254619 Centerline is valid? [True, True] Translation: X:193.71, Y:4.40, Z:0.72 [[ 9.99978967e-01 -7.10983058e-04 -6.44676613e-03 1.93713692e+02] [ 7.10842306e-04 9.99999747e-01 -2.41244498e-05 4.39609271e+00] [ 6.44678165e-03 1.95413082e-05 9.99979219e-01 7.22813604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519254154 meters 0.052887505948073815 Centerline is valid? [True, True] Translation: X:193.77, Y:4.39, Z:0.72 [[ 9.99947022e-01 -8.57196280e-03 -5.69873560e-03 1.93771457e+02] [ 8.57197935e-03 9.99963260e-01 -2.15200726e-05 4.38869779e+00] [ 5.69871070e-03 -2.73305114e-05 9.99983762e-01 7.23292075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579254154 meters 0.05241872502376797 Centerline is valid? [True, True] Translation: X:193.83, Y:4.38, Z:0.72 [[ 9.99849902e-01 -1.64234824e-02 -5.51753587e-03 1.93832109e+02] [ 1.64236166e-02 9.99865123e-01 -2.09984059e-05 4.38464337e+00] [ 5.51713655e-03 -6.96226394e-05 9.99984778e-01 7.23775858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639254154 meters 0.05319065849524842 Centerline is valid? [True, True] Translation: X:193.89, Y:4.37, Z:0.72 [[ 9.99536625e-01 -2.97366761e-02 -6.50120411e-03 1.93891465e+02] [ 2.97371438e-02 9.99557753e-01 -2.47245448e-05 4.37242478e+00] [ 6.49906420e-03 -1.68614154e-04 9.99978867e-01 7.22659914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69925415400002 meters 0.05451858216260175 Centerline is valid? [True, True] Translation: X:193.95, Y:4.36, Z:0.72 [[ 9.99227998e-01 -3.86067601e-02 -7.27504780e-03 1.93951396e+02] [ 3.86075809e-02 9.99254449e-01 -2.76275380e-05 4.36022937e+00] [ 7.27069049e-03 -2.53265787e-04 9.99973536e-01 7.22191309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters 0.05219380429794466 Centerline is valid? [True, True] Translation: X:194.01, Y:4.37, Z:0.72 [[ 9.98783503e-01 -4.88985084e-02 -6.36006559e-03 1.94011740e+02] [ 4.88993440e-02 9.98803711e-01 -2.41370130e-05 4.36982928e+00] [ 6.35363738e-03 -2.86895385e-04 9.99979774e-01 7.23509778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters 0.05223211029461178 Centerline is valid? [True, True] Translation: X:194.07, Y:4.36, Z:0.72 [[ 9.98629387e-01 -5.19702548e-02 -6.20003521e-03 1.94071658e+02] [ 5.19711079e-02 9.98648589e-01 -2.35362165e-05 4.36256613e+00] [ 6.19287959e-03 -2.98718742e-04 9.99980779e-01 7.22929498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879254154 meters 0.053798021026473485 Centerline is valid? [True, True] Translation: X:194.13, Y:4.36, Z:0.72 [[ 9.98639992e-01 -5.16790211e-02 -6.88811735e-03 1.94132771e+02] [ 5.16800692e-02 9.98663692e-01 -2.58646610e-05 4.35706840e+00] [ 6.88024936e-03 -3.30148896e-04 9.99976276e-01 7.22943083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939254154 meters 0.0561383820882219 Centerline is valid? [True, True] Translation: X:194.19, Y:4.35, Z:0.72 [[ 9.98894245e-01 -4.65018057e-02 -6.91880655e-03 1.94192596e+02] [ 4.65027421e-02 9.98918162e-01 -2.55542526e-05 4.34778467e+00] [ 6.91250985e-03 -2.96217481e-04 9.99976064e-01 7.22318472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999254154 meters 0.05481072841335748 Centerline is valid? [True, True] Translation: X:194.25, Y:4.36, Z:0.72 [[ 9.99241929e-01 -3.79903723e-02 -8.50285147e-03 1.94253372e+02] [ 3.79914789e-02 9.99278063e-01 -3.13926472e-05 4.35559059e+00] [ 8.49790556e-03 -2.91667053e-04 9.99963850e-01 7.21961808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059254154 meters 0.053066895448494036 Centerline is valid? [True, True] Translation: X:194.31, Y:4.37, Z:0.72 [[ 9.99417499e-01 -3.26605582e-02 -9.89701167e-03 1.94313635e+02] [ 3.26617965e-02 9.99466461e-01 -3.65360981e-05 4.36529193e+00] [ 9.89292451e-03 -2.86739365e-04 9.99951023e-01 7.22194315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119254154 meters 0.05391163890461599 Centerline is valid? [True, True] Translation: X:194.37, Y:4.36, Z:0.72 [[ 9.99557791e-01 -2.69808491e-02 -1.25002653e-02 1.94372805e+02] [ 2.69823806e-02 9.99635908e-01 -4.61418032e-05 4.36271048e+00] [ 1.24969590e-02 -2.91165518e-04 9.99921868e-01 7.19255864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179254154 meters 0.053799855877246144 Centerline is valid? [True, True] Translation: X:194.43, Y:4.37, Z:0.72 [[ 9.99603079e-01 -2.49919882e-02 -1.30032514e-02 1.94433759e+02] [ 2.49934793e-02 9.99687613e-01 -4.78483320e-05 4.36994322e+00] [ 1.30003852e-02 -2.77167155e-04 9.99915453e-01 7.21641629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239254154 meters 0.05340003643646026 Centerline is valid? [True, True] Translation: X:194.49, Y:4.37, Z:0.72 [[ 9.99607459e-01 -2.45472993e-02 -1.35039864e-02 1.94494493e+02] [ 2.45488689e-02 9.99698630e-01 -4.95481310e-05 4.36924044e+00] [ 1.35011329e-02 -2.81978909e-04 9.99908816e-01 7.21062618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299254154 meters 0.05358353313174981 Centerline is valid? [True, True] Translation: X:194.55, Y:4.37, Z:0.72 [[ 9.99593541e-01 -2.54817431e-02 -1.27841446e-02 1.94554707e+02] [ 2.54832265e-02 9.99675249e-01 -4.68771108e-05 4.36933903e+00] [ 1.27811874e-02 -2.78923195e-04 9.99918278e-01 7.22531200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359254154 meters 0.05441636772454112 Centerline is valid? [True, True] Translation: X:194.61, Y:4.37, Z:0.72 [[ 9.99540200e-01 -2.77224920e-02 -1.22821962e-02 1.94614414e+02] [ 2.77240303e-02 9.99615614e-01 -4.50365583e-05 4.36815079e+00] [ 1.22787236e-02 -2.95496129e-04 9.99924570e-01 7.23787227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41925415400001 meters 0.053559344359765726 Centerline is valid? [True, True] Translation: X:194.68, Y:4.37, Z:0.73 [[ 9.99491937e-01 -2.98345165e-02 -1.12146864e-02 1.94676078e+02] [ 2.98359338e-02 9.99554809e-01 -4.09465969e-05 4.37161533e+00] [ 1.12109154e-02 -2.93674848e-04 9.99937113e-01 7.25743278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters 0.05390175130456539 Centerline is valid? [True, True] Translation: X:194.74, Y:4.37, Z:0.73 [[ 9.99430382e-01 -3.20841932e-02 -1.04650111e-02 1.94735917e+02] [ 3.20855542e-02 9.99485125e-01 -3.78579666e-05 4.37104192e+00] [ 1.04608376e-02 -2.97939278e-04 9.99945240e-01 7.27089940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters 0.0541765089447591 Centerline is valid? [True, True] Translation: X:194.80, Y:4.37, Z:0.73 [[ 9.99286394e-01 -3.68394112e-02 -8.34025604e-03 1.94795386e+02] [ 3.68404422e-02 9.99321160e-01 -3.00248121e-05 4.36658663e+00] [ 8.33570044e-03 -2.77255335e-04 9.99965219e-01 7.29006207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters 0.0542440742871649 Centerline is valid? [True, True] Translation: X:194.86, Y:4.36, Z:0.73 [[ 9.99159668e-01 -4.03328265e-02 -7.29529888e-03 1.94856240e+02] [ 4.03337086e-02 9.99186265e-01 -2.62418086e-05 4.36353808e+00] [ 7.29042084e-03 -2.68026702e-04 9.99973389e-01 7.30020119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659254154 meters 0.05539722313349717 Centerline is valid? [True, True] Translation: X:194.92, Y:4.36, Z:0.73 [[ 9.99008370e-01 -4.39879589e-02 -6.88011301e-03 1.94916091e+02] [ 4.39888300e-02 9.99032023e-01 -2.47325981e-05 4.35946821e+00] [ 6.87454115e-03 -2.77940049e-04 9.99976331e-01 7.29972316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719254154 meters 0.0568052893578481 Centerline is valid? [True, True] Translation: X:194.98, Y:4.35, Z:0.73 [[ 9.98956499e-01 -4.51504646e-02 -6.88101243e-03 1.94976964e+02] [ 4.51513646e-02 9.98980157e-01 -2.45652507e-05 4.35184454e+00] [ 6.87510401e-03 -2.86147484e-04 9.99976325e-01 7.28708809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779254154 meters 0.05442430045791572 Centerline is valid? [True, True] Translation: X:195.04, Y:4.36, Z:0.73 [[ 9.98918194e-01 -4.56432447e-02 -8.89584541e-03 1.95039295e+02] [ 4.56447724e-02 9.98957734e-01 -3.13316584e-05 4.36215539e+00] [ 8.88800365e-03 -3.74751075e-04 9.99960431e-01 7.27974386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839254154 meters 0.059507561055572575 Centerline is valid? [True, True] Translation: X:195.10, Y:4.34, Z:0.72 [[ 9.98944450e-01 -4.45467770e-02 -1.12058243e-02 1.95100798e+02] [ 4.45491358e-02 9.99007194e-01 -3.91456764e-05 4.34321759e+00] [ 1.11964429e-02 -4.60105434e-04 9.99937212e-01 7.23657205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899254154 meters 0.053655086632983046 Centerline is valid? [True, True] Translation: X:195.16, Y:4.36, Z:0.73 [[ 9.99050395e-01 -4.18243028e-02 -1.22080342e-02 1.95161643e+02] [ 4.18269015e-02 9.99124871e-01 -4.24836649e-05 4.36329320e+00] [ 1.21991275e-02 -4.68180923e-04 9.99925478e-01 7.26501049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959254154 meters 0.053672467620097385 Centerline is valid? [True, True] Translation: X:195.22, Y:4.36, Z:0.73 [[ 9.99178128e-01 -3.87729803e-02 -1.18205321e-02 1.95222690e+02] [ 3.87752046e-02 9.99247958e-01 -4.10272220e-05 4.36328661e+00] [ 1.18132333e-02 -4.17350047e-04 9.99930134e-01 7.27382790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019254154 meters 0.05334815873702948 Centerline is valid? [True, True] Translation: X:195.28, Y:4.37, Z:0.73 [[ 9.99452812e-01 -3.15607041e-02 -9.89945686e-03 1.95283116e+02] [ 3.15619116e-02 9.99501798e-01 -3.42641235e-05 4.37053297e+00] [ 9.89560633e-03 -2.78200408e-04 9.99950999e-01 7.30296697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079254154 meters 0.05462918015664125 Centerline is valid? [True, True] Translation: X:195.34, Y:4.37, Z:0.73 [[ 9.99640735e-01 -2.53942596e-02 -8.57513943e-03 1.95342349e+02] [ 2.53949388e-02 9.99677496e-01 -2.96835740e-05 4.36699584e+00] [ 8.57312771e-03 -1.88092231e-04 9.99963232e-01 7.30460197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.139254154 meters 0.05362255916305677 Centerline is valid? [True, True] Translation: X:195.40, Y:4.38, Z:0.73 [[ 9.99771192e-01 -1.98178408e-02 -8.05094734e-03 1.95402695e+02] [ 1.98182585e-02 9.99803599e-01 -2.79009286e-05 4.37923456e+00] [ 8.04991906e-03 -1.31661211e-04 9.99967590e-01 7.32937956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19925415400002 meters 0.05424312021771174 Centerline is valid? [True, True] Translation: X:195.46, Y:4.38, Z:0.73 [[ 9.99854119e-01 -1.48035600e-02 -8.52031290e-03 1.95462901e+02] [ 1.48038460e-02 9.99890417e-01 -2.94964636e-05 4.37965411e+00] [ 8.51981587e-03 -9.66412398e-05 9.99963701e-01 7.32425486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters 0.05356044069746581 Centerline is valid? [True, True] Translation: X:195.52, Y:4.38, Z:0.73 [[ 9.99890839e-01 -1.12941933e-02 -9.52634500e-03 1.95523667e+02] [ 1.12943919e-02 9.99936216e-01 -3.29486063e-05 4.38170730e+00] [ 9.52610950e-03 -7.46492643e-05 9.99954623e-01 7.33144750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters 0.053266145870680674 Centerline is valid? [True, True] Translation: X:195.58, Y:4.38, Z:0.73 [[ 9.99899332e-01 -9.56002507e-03 -1.04848689e-02 1.95582225e+02] [ 9.56016925e-03 9.99954300e-01 -3.63691859e-05 4.37919532e+00] [ 1.04847374e-02 -6.38715967e-05 9.99945032e-01 7.31009738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379254154 meters 0.054026726938005074 Centerline is valid? [True, True] Translation: X:195.64, Y:4.38, Z:0.73 [[ 9.99865843e-01 -1.14130052e-02 -1.17489830e-02 1.95640588e+02] [ 1.14133102e-02 9.99934865e-01 -4.10873405e-05 4.37720590e+00] [ 1.17486867e-02 -9.30129599e-05 9.99930977e-01 7.31248987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439254154 meters 0.05424883115492714 Centerline is valid? [True, True] Translation: X:195.70, Y:4.38, Z:0.73 [[ 9.99836835e-01 -1.35050597e-02 -1.19965505e-02 1.95699607e+02] [ 1.35055234e-02 9.99908795e-01 -4.23609879e-05 4.37594136e+00] [ 1.19960285e-02 -1.19665617e-04 9.99928038e-01 7.32046663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499254154 meters 0.05345918575566991 Centerline is valid? [True, True] Translation: X:195.76, Y:4.37, Z:0.73 [[ 9.99801527e-01 -1.63858119e-02 -1.13319350e-02 1.95758192e+02] [ 1.63864072e-02 9.99865733e-01 -4.03240503e-05 4.37351007e+00] [ 1.13310742e-02 -1.45373653e-04 9.99935791e-01 7.32547199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559254154 meters 0.05412358835662295 Centerline is valid? [True, True] Translation: X:195.82, Y:4.37, Z:0.73 [[ 9.99710455e-01 -2.17222449e-02 -1.03513419e-02 1.95817756e+02] [ 2.17230261e-02 9.99764027e-01 -3.69774012e-05 4.36742070e+00] [ 1.03497025e-02 -1.87895775e-04 9.99946423e-01 7.32632414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619254154 meters 0.05360855299386522 Centerline is valid? [True, True] Translation: X:195.88, Y:4.36, Z:0.73 [[ 9.99602175e-01 -2.63394894e-02 -1.00857707e-02 1.95878500e+02] [ 2.63404661e-02 9.99653029e-01 -3.60090790e-05 4.36497896e+00] [ 1.00832197e-02 -2.29669147e-04 9.99949137e-01 7.33312832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679254154 meters 0.05405576084771198 Centerline is valid? [True, True] Translation: X:195.94, Y:4.36, Z:0.73 [[ 9.99472217e-01 -3.08076611e-02 -1.03041741e-02 1.95938477e+02] [ 3.08089177e-02 9.99525292e-01 -3.67956577e-05 4.36156324e+00] [ 1.03004162e-02 -2.80684214e-04 9.99946910e-01 7.33527854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739254154 meters 0.053453605645815895 Centerline is valid? [True, True] Translation: X:196.00, Y:4.36, Z:0.73 [[ 9.99313263e-01 -3.56494586e-02 -1.01053345e-02 1.95999367e+02] [ 3.56509143e-02 9.99364303e-01 -3.61056195e-05 4.35786298e+00] [ 1.01001977e-02 -3.24183590e-04 9.99948939e-01 7.33997624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799254154 meters 0.05530287663845567 Centerline is valid? [True, True] Translation: X:196.06, Y:4.35, Z:0.73 [[ 9.99246033e-01 -3.76013989e-02 -9.66952757e-03 1.96059603e+02] [ 3.76028243e-02 9.99292763e-01 -3.44139626e-05 4.34912119e+00] [ 9.66398293e-03 -3.29213531e-04 9.99953248e-01 7.33433536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859254154 meters 0.055702339763723456 Centerline is valid? [True, True] Translation: X:196.12, Y:4.35, Z:0.73 [[ 9.99248981e-01 -3.75079117e-02 -9.72785284e-03 1.96120321e+02] [ 3.75093522e-02 9.99296276e-01 -3.43926591e-05 4.34611707e+00] [ 9.72229712e-03 -3.30518629e-04 9.99952683e-01 7.33345969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91925415400001 meters 0.0536167567668556 Centerline is valid? [True, True] Translation: X:196.18, Y:4.36, Z:0.73 [[ 9.99270081e-01 -3.69808672e-02 -9.57709644e-03 1.96182259e+02] [ 3.69822418e-02 9.99315922e-01 -3.35817956e-05 4.35503908e+00] [ 9.57178684e-03 -3.20625213e-04 9.99954138e-01 7.34824775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters 0.055408437887036206 Centerline is valid? [True, True] Translation: X:196.24, Y:4.35, Z:0.73 [[ 9.99271381e-01 -3.68917273e-02 -9.78302353e-03 1.96243775e+02] [ 3.68931601e-02 9.99319215e-01 -3.40269204e-05 4.34952117e+00] [ 9.77761870e-03 -3.26924526e-04 9.99952144e-01 7.34055084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters 0.054703004009784076 Centerline is valid? [True, True] Translation: X:196.31, Y:4.35, Z:0.73 [[ 9.99227732e-01 -3.78117412e-02 -1.06870213e-02 1.96306028e+02] [ 3.78135071e-02 9.99284813e-01 -3.68461118e-05 4.35316239e+00] [ 1.06807713e-02 -3.67296099e-04 9.99942891e-01 7.34604673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters 0.05528798981178876 Centerline is valid? [True, True] Translation: X:196.37, Y:4.35, Z:0.73 [[ 9.99061976e-01 -4.14660624e-02 -1.24793186e-02 1.96365128e+02] [ 4.14687596e-02 9.99139800e-01 -4.26582091e-05 4.34902065e+00] [ 1.24703528e-02 -4.74883669e-04 9.99922129e-01 7.32918692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159254154 meters 0.05417326719775832 Centerline is valid? [True, True] Translation: X:196.43, Y:4.36, Z:0.73 [[ 9.98923734e-01 -4.46660294e-02 -1.25028137e-02 1.96425914e+02] [ 4.46689885e-02 9.99001842e-01 -4.26240403e-05 4.35697745e+00] [ 1.24922377e-02 -5.15909874e-04 9.99921836e-01 7.34965846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219254154 meters 0.05532678298448796 Centerline is valid? [True, True] Translation: X:196.49, Y:4.34, Z:0.73 [[ 9.98769182e-01 -4.81310234e-02 -1.19802520e-02 1.96485368e+02] [ 4.81339893e-02 9.98840887e-01 -4.08133775e-05 4.34393312e+00] [ 1.19683300e-02 -5.35894180e-04 9.99928233e-01 7.33727278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279254154 meters 0.05491523875924146 Centerline is valid? [True, True] Translation: X:196.55, Y:4.35, Z:0.74 [[ 9.98712654e-01 -4.95768137e-02 -1.07318864e-02 1.96546081e+02] [ 4.95792777e-02 9.98770191e-01 -3.64971992e-05 4.34991035e+00] [ 1.07204977e-02 -4.95628962e-04 9.99942411e-01 7.36187363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339254154 meters 0.05980754309728442 Centerline is valid? [True, True] Translation: X:196.61, Y:4.33, Z:0.73 [[ 9.98776124e-01 -4.83876458e-02 -1.02415559e-02 1.96606266e+02] [ 4.83898287e-02 9.98828525e-01 -3.47012536e-05 4.33210668e+00] [ 1.02312373e-02 -4.60928352e-04 9.99947553e-01 7.34467959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399254154 meters 0.05415314722417851 Centerline is valid? [True, True] Translation: X:196.67, Y:4.36, Z:0.74 [[ 9.98863429e-01 -4.66295100e-02 -9.87614916e-03 1.96667327e+02] [ 4.66314551e-02 9.98912161e-01 -3.33538373e-05 4.35745912e+00] [ 9.86696077e-03 -4.27223278e-04 9.99951229e-01 7.37809944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459254154 meters 0.05531968018563275 Centerline is valid? [True, True] Translation: X:196.73, Y:4.35, Z:0.74 [[ 9.99088818e-01 -4.15329424e-02 -9.82586551e-03 1.96726864e+02] [ 4.15346215e-02 9.99137065e-01 -3.32046902e-05 4.35361533e+00] [ 9.81876551e-03 -3.74939170e-04 9.99951724e-01 7.37553631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519254154 meters 0.05476695949967173 Centerline is valid? [True, True] Translation: X:196.79, Y:4.36, Z:0.74 [[ 9.99269389e-01 -3.69231349e-02 -9.86768563e-03 1.96787835e+02] [ 3.69246026e-02 9.99318054e-01 -3.34643575e-05 4.35828092e+00] [ 9.86219201e-03 -3.30920463e-04 9.99951313e-01 7.38128485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579254154 meters 0.05445648505181901 Centerline is valid? [True, True] Translation: X:196.85, Y:4.36, Z:0.74 [[ 9.99537522e-01 -2.87656394e-02 -9.86305065e-03 1.96848708e+02] [ 2.87667090e-02 9.99586152e-01 -3.34281541e-05 4.36297835e+00] [ 9.85993043e-03 -2.50314814e-04 9.99951358e-01 7.38001779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639254154 meters 0.05401795762425483 Centerline is valid? [True, True] Translation: X:196.91, Y:4.37, Z:0.74 [[ 9.99692894e-01 -2.28961804e-02 -9.48068179e-03 1.96908844e+02] [ 2.28969054e-02 9.99737831e-01 -3.20782915e-05 4.37198863e+00] [ 9.47893072e-03 -1.85009834e-04 9.99955057e-01 7.39533851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69925415400002 meters 0.0535528081714399 Centerline is valid? [True, True] Translation: X:196.97, Y:4.37, Z:0.74 [[ 9.99800082e-01 -1.77137770e-02 -9.27461607e-03 1.96969916e+02] [ 1.77142487e-02 9.99843090e-01 -3.12870838e-05 4.37113177e+00] [ 9.27371500e-03 -1.33012027e-04 9.99956989e-01 7.38048442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters 0.053916863940832234 Centerline is valid? [True, True] Translation: X:197.03, Y:4.38, Z:0.74 [[ 9.99877283e-01 -1.23118688e-02 -9.68697317e-03 1.97029522e+02] [ 1.23121302e-02 9.99924202e-01 -3.26570971e-05 4.37538690e+00] [ 9.68664099e-03 -8.66141854e-05 9.99953080e-01 7.37388007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters 0.05317494909917078 Centerline is valid? [True, True] Translation: X:197.09, Y:4.38, Z:0.74 [[ 9.99902223e-01 -1.03469204e-02 -9.40670891e-03 1.97089407e+02] [ 1.03470787e-02 9.99946467e-01 -3.18358020e-05 4.37889154e+00] [ 9.40653475e-03 -6.54992684e-05 9.99955755e-01 7.39247015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879254154 meters 0.05391684992028057 Centerline is valid? [True, True] Translation: X:197.15, Y:4.38, Z:0.74 [[ 9.99904165e-01 -1.03714602e-02 -9.17029999e-03 1.97146855e+02] [ 1.03716057e-02 9.99946213e-01 -3.16871474e-05 4.37710646e+00] [ 9.17013539e-03 -6.34266254e-05 9.99957951e-01 7.38117918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939254154 meters 0.052881279755270266 Centerline is valid? [True, True] Translation: X:197.21, Y:4.37, Z:0.74 [[ 9.99867737e-01 -1.30504769e-02 -9.70533957e-03 1.97206083e+02] [ 1.30507606e-02 9.99914835e-01 -3.41016542e-05 4.37491764e+00] [ 9.70495805e-03 -9.25649194e-05 9.99952901e-01 7.38760330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999254154 meters 0.053921912481558885 Centerline is valid? [True, True] Translation: X:197.26, Y:4.37, Z:0.74 [[ 9.99856770e-01 -1.37633165e-02 -9.84934935e-03 1.97264965e+02] [ 1.37636411e-02 9.99905276e-01 -3.48235963e-05 4.37209895e+00] [ 9.84889567e-03 -1.00744301e-04 9.99951493e-01 7.37916376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059254154 meters 0.05403910778854655 Centerline is valid? [True, True] Translation: X:197.32, Y:4.37, Z:0.74 [[ 9.99844102e-01 -1.47664054e-02 -9.68119817e-03 1.97324243e+02] [ 1.47667642e-02 9.99890965e-01 -3.44226832e-05 4.37255363e+00] [ 9.68065088e-03 -1.08542653e-04 9.99953136e-01 7.39356330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119254154 meters 0.053751098904557 Centerline is valid? [True, True] Translation: X:197.38, Y:4.37, Z:0.74 [[ 9.99832775e-01 -1.55818546e-02 -9.57224596e-03 1.97384353e+02] [ 1.55822417e-02 9.99878589e-01 -3.41476416e-05 4.36984108e+00] [ 9.57161587e-03 -1.15015118e-04 9.99954184e-01 7.39370625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179254154 meters 0.05409546924867535 Centerline is valid? [True, True] Translation: X:197.45, Y:4.37, Z:0.74 [[ 9.99835222e-01 -1.47264326e-02 -1.06142013e-02 1.97445203e+02] [ 1.47268599e-02 9.99891553e-01 -3.79012874e-05 4.36905035e+00] [ 1.06136084e-02 -1.18418814e-04 9.99943667e-01 7.38994334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239254154 meters 0.054078736380522914 Centerline is valid? [True, True] Translation: X:197.50, Y:4.37, Z:0.74 [[ 9.99841750e-01 -1.33903568e-02 -1.17120724e-02 1.97504852e+02] [ 1.33907839e-02 9.99910339e-01 -4.19527432e-05 4.36913727e+00] [ 1.17115840e-02 -1.14887727e-04 9.99931410e-01 7.38658740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299254154 meters 0.05374160352314733 Centerline is valid? [True, True] Translation: X:197.56, Y:4.37, Z:0.74 [[ 9.99832112e-01 -1.31977801e-02 -1.27108549e-02 1.97563396e+02] [ 1.31982536e-02 9.99912898e-01 -4.66353565e-05 4.36815454e+00] [ 1.27103632e-02 -1.21133559e-04 9.99919213e-01 7.38313866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359254154 meters 0.05408999809640271 Centerline is valid? [True, True] Translation: X:197.62, Y:4.36, Z:0.74 [[ 9.99786454e-01 -1.55753643e-02 -1.35813792e-02 1.97622178e+02] [ 1.55761142e-02 9.99878684e-01 -5.05649914e-05 4.36460343e+00] [ 1.35805191e-02 -1.60990919e-04 9.99907768e-01 7.36797468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41925415400001 meters 0.053895032446836716 Centerline is valid? [True, True] Translation: X:197.68, Y:4.36, Z:0.74 [[ 9.99633911e-01 -2.37994825e-02 -1.28696606e-02 1.97682626e+02] [ 2.38008357e-02 9.99716719e-01 -4.80238379e-05 4.36266325e+00] [ 1.28671578e-02 -2.58302420e-04 9.99917181e-01 7.38892404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters 0.053926547952063544 Centerline is valid? [True, True] Translation: X:197.74, Y:4.36, Z:0.74 [[ 9.99444746e-01 -3.07207866e-02 -1.29009199e-02 1.97743537e+02] [ 3.07227226e-02 9.99527945e-01 -4.81344850e-05 4.36138282e+00] [ 1.28963087e-02 -3.48243626e-04 9.99916779e-01 7.39526956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters 0.05600748700683174 Centerline is valid? [True, True] Translation: X:197.80, Y:4.35, Z:0.74 [[ 9.99159645e-01 -3.84226017e-02 -1.42726121e-02 1.97802750e+02] [ 3.84257576e-02 9.99261456e-01 -5.31555715e-05 4.34634298e+00] [ 1.42641135e-02 -4.95325029e-04 9.99898140e-01 7.36285087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599254154 meters 0.05482647580813448 Centerline is valid? [True, True] Translation: X:197.86, Y:4.35, Z:0.74 [[ 9.98647780e-01 -5.02512266e-02 -1.33201287e-02 1.97863478e+02] [ 5.02550259e-02 9.98736417e-01 -4.95471270e-05 4.35123451e+00] [ 1.33057874e-02 -6.19923284e-04 9.99911282e-01 7.40426191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659254154 meters 0.0532797309714793 Centerline is valid? [True, True] Translation: X:197.92, Y:4.35, Z:0.74 [[ 9.98356281e-01 -5.61576897e-02 -1.14476759e-02 1.97924289e+02] [ 5.61608832e-02 9.98421731e-01 -4.25638934e-05 4.35192972e+00] [ 1.14319986e-02 -6.00417657e-04 9.99934472e-01 7.41967223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719254154 meters 0.05350223267460754 Centerline is valid? [True, True] Translation: X:197.98, Y:4.35, Z:0.74 [[ 9.98071510e-01 -6.11052830e-02 -1.09272362e-02 1.97984469e+02] [ 6.11084885e-02 9.98131129e-01 -4.06115273e-05 4.35388542e+00] [ 1.09092961e-02 -6.27213676e-04 9.99940295e-01 7.43359274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779254154 meters 0.05357962162777563 Centerline is valid? [True, True] Translation: X:198.05, Y:4.35, Z:0.74 [[ 9.98006563e-01 -6.16367222e-02 -1.35578583e-02 1.98046188e+02] [ 6.16417102e-02 9.98098340e-01 -5.00669572e-05 4.35371389e+00] [ 1.35351618e-02 -7.85762421e-04 9.99908087e-01 7.42754110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839254154 meters 0.05598705794777504 Centerline is valid? [True, True] Translation: X:198.11, Y:4.35, Z:0.74 [[ 9.98065530e-01 -6.01486998e-02 -1.57267899e-02 1.98106781e+02] [ 6.01552391e-02 9.98189032e-01 -5.73477769e-05 4.34551128e+00] [ 1.57017586e-02 -8.88811966e-04 9.99876325e-01 7.40461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899254154 meters 0.05523870471299978 Centerline is valid? [True, True] Translation: X:198.17, Y:4.35, Z:0.74 [[ 9.98162644e-01 -5.84286264e-02 -1.60447109e-02 1.98167385e+02] [ 5.84352164e-02 9.98291201e-01 -5.81855285e-05 4.35352972e+00] [ 1.60206934e-02 -8.79497533e-04 9.99871274e-01 7.41941837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959254154 meters 0.05387018560771458 Centerline is valid? [True, True] Translation: X:198.23, Y:4.37, Z:0.75 [[ 9.98448885e-01 -5.37862811e-02 -1.43826252e-02 1.98228278e+02] [ 5.37910963e-02 9.98552210e-01 -5.21236410e-05 4.36585579e+00] [ 1.43646057e-02 -7.21614385e-04 9.99896563e-01 7.45209175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019254154 meters 0.053804749884877656 Centerline is valid? [True, True] Translation: X:198.29, Y:4.37, Z:0.75 [[ 9.98952185e-01 -4.40266432e-02 -1.24974592e-02 1.98287845e+02] [ 4.40295169e-02 9.99030230e-01 -4.52367545e-05 4.37010179e+00] [ 1.24873311e-02 -5.05067735e-04 9.99921903e-01 7.46459496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079254154 meters 0.05428411498859171 Centerline is valid? [True, True] Translation: X:198.35, Y:4.38, Z:0.75 [[ 9.99302567e-01 -3.56091211e-02 -1.12414898e-02 1.98347488e+02] [ 3.56109147e-02 9.99365729e-01 -4.06357760e-05 4.37510598e+00] [ 1.12358067e-02 -3.59712299e-04 9.99936812e-01 7.47787218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.139254154 meters 0.05434419529275518 Centerline is valid? [True, True] Translation: X:198.41, Y:4.38, Z:0.75 [[ 9.99576948e-01 -2.73683116e-02 -9.84375820e-03 1.98408212e+02] [ 2.73692884e-02 9.99625390e-01 -3.54961083e-05 4.38222424e+00] [ 9.84104210e-03 -2.33935565e-04 9.99951548e-01 7.49087880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19925415400002 meters 0.05387812846460162 Centerline is valid? [True, True] Translation: X:198.47, Y:4.39, Z:0.75 [[ 9.99790017e-01 -1.79610624e-02 -9.86519424e-03 1.98467777e+02] [ 1.79615860e-02 9.99838677e-01 -3.55286948e-05 4.38723854e+00] [ 9.86424089e-03 -1.41673300e-04 9.99951337e-01 7.49263248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters 0.05440118653100029 Centerline is valid? [True, True] Translation: X:198.53, Y:4.39, Z:0.75 [[ 9.99802797e-01 -1.53904327e-02 -1.25499942e-02 1.98528636e+02] [ 1.53910776e-02 9.99881549e-01 -4.52008288e-05 4.38983128e+00] [ 1.25492033e-02 -1.47966020e-04 9.99921245e-01 7.48214225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters 0.053841844413488514 Centerline is valid? [True, True] Translation: X:198.59, Y:4.39, Z:0.75 [[ 9.99779315e-01 -1.62450713e-02 -1.33198501e-02 1.98587834e+02] [ 1.62458587e-02 9.99868026e-01 -4.90917981e-05 4.39153876e+00] [ 1.33188897e-02 -1.67311439e-04 9.99911286e-01 7.49657309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379254154 meters 0.05484734652890369 Centerline is valid? [True, True] Translation: X:198.65, Y:4.39, Z:0.75 [[ 9.99730675e-01 -1.87023624e-02 -1.37404492e-02 1.98646533e+02] [ 1.87034223e-02 9.99825074e-01 -5.13743860e-05 4.38894453e+00] [ 1.37390064e-02 -2.05632874e-04 9.99905594e-01 7.50117463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439254154 meters 0.05419363996594159 Centerline is valid? [True, True] Translation: X:198.71, Y:4.39, Z:0.75 [[ 9.99675509e-01 -2.14008586e-02 -1.38159040e-02 1.98706420e+02] [ 2.14021841e-02 9.99770946e-01 -5.19207203e-05 4.38817505e+00] [ 1.38138505e-02 -2.43786647e-04 9.99904554e-01 7.50969446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499254154 meters 0.05484572706902822 Centerline is valid? [True, True] Translation: X:198.77, Y:4.38, Z:0.75 [[ 9.99566538e-01 -2.61371420e-02 -1.35493775e-02 1.98765938e+02] [ 2.61388498e-02 9.99658321e-01 -5.10625319e-05 4.38315334e+00] [ 1.35460826e-02 -3.03124746e-04 9.99908202e-01 7.51115189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559254154 meters 0.05568483005491951 Centerline is valid? [True, True] Translation: X:198.83, Y:4.38, Z:0.75 [[ 9.99476709e-01 -2.96724566e-02 -1.28784127e-02 1.98826082e+02] [ 2.96742966e-02 9.99559620e-01 -4.82346086e-05 4.37709856e+00] [ 1.28741725e-02 -3.33948469e-04 9.99917069e-01 7.50750760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619254154 meters 0.054428263498669055 Centerline is valid? [True, True] Translation: X:198.89, Y:4.38, Z:0.75 [[ 9.99358195e-01 -3.36673372e-02 -1.22355353e-02 1.98887165e+02] [ 3.36692992e-02 9.99433027e-01 -4.56583599e-05 4.37942953e+00] [ 1.22301353e-02 -3.66332841e-04 9.99925142e-01 7.53022433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679254154 meters 0.054766675593864084 Centerline is valid? [True, True] Translation: X:198.95, Y:4.38, Z:0.75 [[ 9.99120471e-01 -4.02731533e-02 -1.16772527e-02 1.98947914e+02] [ 4.02753916e-02 9.99188616e-01 -4.35142099e-05 4.37637642e+00] [ 1.16695304e-02 -4.26829985e-04 9.99931818e-01 7.54174219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739254154 meters 0.05417061918454008 Centerline is valid? [True, True] Translation: X:199.01, Y:4.38, Z:0.76 [[ 9.98907524e-01 -4.51671924e-02 -1.19867842e-02 1.99008628e+02] [ 4.51699047e-02 9.98979318e-01 -4.44993603e-05 4.37912776e+00] [ 1.19765594e-02 -4.96991153e-04 9.99928155e-01 7.55236866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799254154 meters 0.05508097052268572 Centerline is valid? [True, True] Translation: X:199.07, Y:4.37, Z:0.75 [[ 9.98543653e-01 -5.23882351e-02 -1.28858969e-02 1.99067842e+02] [ 5.23919719e-02 9.98626596e-01 -4.76364481e-05 4.36789443e+00] [ 1.28706949e-02 -6.27550475e-04 9.99916972e-01 7.53472700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859254154 meters 0.054407166005931235 Centerline is valid? [True, True] Translation: X:199.13, Y:4.37, Z:0.75 [[ 9.98251237e-01 -5.74507488e-02 -1.39240523e-02 1.99128335e+02] [ 5.74556041e-02 9.98348061e-01 -5.14101776e-05 4.37035263e+00] [ 1.39040042e-02 -7.48694563e-04 9.99903054e-01 7.54480648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91925415400001 meters 0.05412071097509364 Centerline is valid? [True, True] Translation: X:199.19, Y:4.38, Z:0.76 [[ 9.97897277e-01 -6.30436720e-02 -1.50505845e-02 1.99188852e+02] [ 6.30499791e-02 9.98010369e-01 -5.55385969e-05 4.37598937e+00] [ 1.50241408e-02 -8.93517224e-04 9.99886732e-01 7.56043628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters 0.05428469489025633 Centerline is valid? [True, True] Translation: X:199.25, Y:4.37, Z:0.76 [[ 9.97821082e-01 -6.40443407e-02 -1.58559125e-02 1.99248467e+02] [ 6.40514670e-02 9.97946595e-01 -5.84995047e-05 4.37457911e+00] [ 1.58271004e-02 -9.57222417e-04 9.99874285e-01 7.56196595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters 0.05461080373796647 Centerline is valid? [True, True] Translation: X:199.31, Y:4.37, Z:0.76 [[ 9.97660538e-01 -6.63667270e-02 -1.63984425e-02 1.99307739e+02] [ 6.63746606e-02 9.97794769e-01 -6.05828093e-05 4.37186760e+00] [ 1.63663008e-02 -1.02799997e-03 9.99865535e-01 7.55254411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099254154 meters 0.0565246766127927 Centerline is valid? [True, True] Translation: X:199.37, Y:4.37, Z:0.75 [[ 9.97600797e-01 -6.72604356e-02 -1.63915776e-02 1.99367980e+02] [ 6.72684838e-02 9.97734908e-01 -6.04871826e-05 4.36735636e+00] [ 1.63585176e-02 -1.04229451e-03 9.99865647e-01 7.54331694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159254154 meters 0.05407399761187009 Centerline is valid? [True, True] Translation: X:199.43, Y:4.38, Z:0.76 [[ 9.97714694e-01 -6.55766176e-02 -1.62817889e-02 1.99428329e+02] [ 6.55843353e-02 9.97847028e-01 -6.00598054e-05 4.38049970e+00] [ 1.62506731e-02 -1.00790775e-03 9.99867441e-01 7.57025102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219254154 meters 0.05374716645125261 Centerline is valid? [True, True] Translation: X:199.49, Y:4.39, Z:0.76 [[ 9.97809700e-01 -6.41273027e-02 -1.62324330e-02 1.99489056e+02] [ 6.41347843e-02 9.97941244e-01 -5.97804113e-05 4.38653456e+00] [ 1.62028479e-02 -9.81414113e-04 9.99868244e-01 7.58271721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279254154 meters 0.05481888277464081 Centerline is valid? [True, True] Translation: X:199.55, Y:4.38, Z:0.76 [[ 9.98134840e-01 -5.90873027e-02 -1.53470691e-02 1.99548762e+02] [ 5.90933974e-02 9.98252457e-01 -5.64491016e-05 4.38145577e+00] [ 1.53235849e-02 -8.50566638e-04 9.99882225e-01 7.57428374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339254154 meters 0.05411158631129848 Centerline is valid? [True, True] Translation: X:199.61, Y:4.39, Z:0.76 [[ 9.98736283e-01 -4.84436714e-02 -1.33808697e-02 1.99609716e+02] [ 4.84473502e-02 9.98825736e-01 -4.92688896e-05 4.39196245e+00] [ 1.33675438e-02 -5.99061052e-04 9.99910471e-01 7.59676291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399254154 meters 0.054529345427379625 Centerline is valid? [True, True] Translation: X:199.67, Y:4.40, Z:0.76 [[ 9.99276136e-01 -3.63259733e-02 -1.12972825e-02 1.99670177e+02] [ 3.63278216e-02 9.99339926e-01 -4.16307662e-05 4.39835373e+00] [ 1.12913378e-02 -3.68805034e-04 9.99936183e-01 7.61643269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459254154 meters 0.054616410924181125 Centerline is valid? [True, True] Translation: X:199.73, Y:4.40, Z:0.76 [[ 9.99528622e-01 -2.86911226e-02 -1.09249049e-02 1.99730109e+02] [ 2.86923952e-02 9.99588288e-01 -4.02700798e-05 4.40083690e+00] [ 1.09215623e-02 -2.73210590e-04 9.99940321e-01 7.61212397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519254154 meters 0.054648799479033235 Centerline is valid? [True, True] Translation: X:199.79, Y:4.41, Z:0.76 [[ 9.99693958e-01 -2.17561852e-02 -1.17753306e-02 1.99790532e+02] [ 2.17571826e-02 9.99763284e-01 -4.34079896e-05 4.40543699e+00] [ 1.17734876e-02 -2.12803314e-04 9.99930667e-01 7.60189873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579254154 meters 0.05458998654210799 Centerline is valid? [True, True] Translation: X:199.85, Y:4.41, Z:0.76 [[ 9.99818866e-01 -1.26019275e-02 -1.42627854e-02 1.99850827e+02] [ 1.26024596e-02 9.99920584e-01 -5.25741437e-05 4.41260775e+00] [ 1.42623152e-02 -1.27181556e-04 9.99898280e-01 7.58949973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.639254154 meters 0.054752911881433025 Centerline is valid? [True, True] Translation: X:199.91, Y:4.42, Z:0.76 [[ 9.99876557e-01 -7.06860594e-03 -1.40322703e-02 1.99909615e+02] [ 7.06857137e-03 9.99975016e-01 -5.20612923e-05 4.41647327e+00] [ 1.40322877e-02 -4.71332386e-05 9.99901541e-01 7.59176977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69925415400002 meters 0.05493560429862863 Centerline is valid? [True, True] Translation: X:199.97, Y:4.42, Z:0.76 [[ 9.99909522e-01 6.85836677e-04 -1.34342147e-02 1.99966667e+02] [-6.86577328e-04 9.99999763e-01 -5.05197910e-05 4.42140165e+00] [ 1.34341769e-02 5.97388473e-05 9.99909756e-01 7.61037019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters 0.05454186056206159 Centerline is valid? [True, True] Translation: X:200.03, Y:4.42, Z:0.76 [[ 9.99919022e-01 4.13363470e-03 -1.20358803e-02 2.00025175e+02] [-4.13449166e-03 9.99991452e-01 -4.63184836e-05 4.42440705e+00] [ 1.20355859e-02 9.60769794e-05 9.99927565e-01 7.60366760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters 0.055724943377523435 Centerline is valid? [True, True] Translation: X:200.08, Y:4.42, Z:0.76 [[ 9.99923633e-01 5.00663533e-03 -1.12987490e-02 2.00083444e+02] [-5.00746214e-03 9.99987462e-01 -4.48884748e-05 4.42049128e+00] [ 1.12983826e-02 1.01463105e-04 9.99936166e-01 7.61943341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879254154 meters 0.055771671336705644 Centerline is valid? [True, True] Translation: X:200.14, Y:4.42, Z:0.76 [[ 9.99917344e-01 2.82760497e-03 -1.25423435e-02 2.00141259e+02] [-2.82846464e-03 9.99995999e-01 -5.08037351e-05 4.41888249e+00] [ 1.25421497e-02 8.62751110e-05 9.99921340e-01 7.60000233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939254154 meters 0.05535345924465783 Centerline is valid? [True, True] Translation: X:200.20, Y:4.41, Z:0.76 [[ 9.99906912e-01 -5.16519047e-03 -1.26288720e-02 2.00199982e+02] [ 5.16495044e-03 9.99986660e-01 -5.16215262e-05 4.41057387e+00] [ 1.26289702e-02 -1.36107772e-05 9.99920251e-01 7.62638526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999254154 meters 0.055183850459928345 Centerline is valid? [True, True] Translation: X:200.26, Y:4.40, Z:0.76 [[ 9.99836587e-01 -1.29470160e-02 -1.26163867e-02 2.00259337e+02] [ 1.29473914e-02 9.99916178e-01 -5.19259416e-05 4.40361210e+00] [ 1.26160015e-02 -1.11431840e-04 9.99920409e-01 7.62936416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059254154 meters 0.05500073412540972 Centerline is valid? [True, True] Translation: X:200.32, Y:4.39, Z:0.76 [[ 9.99607462e-01 -2.51132979e-02 -1.24194917e-02 2.00318806e+02] [ 2.51145988e-02 9.99684577e-01 -5.12227029e-05 4.39185424e+00] [ 1.24168607e-02 -2.60707957e-04 9.99922874e-01 7.63108612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119254154 meters 0.056404572525377825 Centerline is valid? [True, True] Translation: X:200.38, Y:4.38, Z:0.76 [[ 9.99437203e-01 -3.15926366e-02 -1.12775614e-02 2.00377980e+02] [ 3.15941235e-02 9.99500780e-01 -4.63279493e-05 4.38145372e+00] [ 1.12733951e-02 -3.10002792e-04 9.99936405e-01 7.62713949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179254154 meters 0.05645715633072566 Centerline is valid? [True, True] Translation: X:200.44, Y:4.38, Z:0.76 [[ 9.99224676e-01 -3.79505589e-02 -1.04786866e-02 2.00438781e+02] [ 3.79521930e-02 9.99279555e-01 -4.29293666e-05 4.37504633e+00] [ 1.04727664e-02 -3.54793052e-04 9.99945096e-01 7.64268548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239254154 meters 0.0564780715354722 Centerline is valid? [True, True] Translation: X:200.50, Y:4.38, Z:0.77 [[ 9.99114923e-01 -4.07312768e-02 -1.05039566e-02 2.00499593e+02] [ 4.07330736e-02 9.99170063e-01 -4.29140472e-05 4.37684002e+00] [ 1.04969869e-02 -3.84982373e-04 9.99944831e-01 7.65120956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299254154 meters 0.05725004101897261 Centerline is valid? [True, True] Translation: X:200.56, Y:4.37, Z:0.76 [[ 9.98906713e-01 -4.51513404e-02 -1.21133925e-02 2.00559713e+02] [ 4.51540569e-02 9.98980034e-01 -4.92823667e-05 4.36556528e+00] [ 1.21032624e-02 -4.97740328e-04 9.99926629e-01 7.63343887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359254154 meters 0.05687689122726262 Centerline is valid? [True, True] Translation: X:200.62, Y:4.36, Z:0.76 [[ 9.98707736e-01 -4.92351493e-02 -1.25999304e-02 2.00620606e+02] [ 4.92384142e-02 9.98787052e-01 -5.11495943e-05 4.36335119e+00] [ 1.25871657e-02 -5.69317095e-04 9.99920616e-01 7.63067387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41925415400001 meters 0.054541255707744575 Centerline is valid? [True, True] Translation: X:200.68, Y:4.37, Z:0.77 [[ 9.98324453e-01 -5.61717839e-02 -1.38930608e-02 2.00681355e+02] [ 5.61764239e-02 9.98420856e-01 -5.63509072e-05 4.37098966e+00] [ 1.38742869e-02 -7.24205982e-04 9.99903485e-01 7.65461056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters 0.05565186452127378 Centerline is valid? [True, True] Translation: X:200.74, Y:4.36, Z:0.77 [[ 9.98142829e-01 -5.92930627e-02 -1.39723508e-02 2.00741258e+02] [ 5.92980662e-02 9.98240320e-01 -5.62838880e-05 4.36459105e+00] [ 1.39511012e-02 -7.72354023e-04 9.99902380e-01 7.65430882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters 0.054361742556968094 Centerline is valid? [True, True] Translation: X:200.80, Y:4.38, Z:0.77 [[ 9.98040992e-01 -6.12000115e-02 -1.29898802e-02 2.00802458e+02] [ 6.12045007e-02 9.98125246e-01 -5.20313683e-05 4.37984797e+00] [ 1.29687117e-02 -7.43109693e-04 9.99915627e-01 7.69514453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599254154 meters 0.05523512083299608 Centerline is valid? [True, True] Translation: X:200.86, Y:4.37, Z:0.77 [[ 9.98100078e-01 -6.02172745e-02 -1.30428155e-02 2.00862500e+02] [ 6.02217187e-02 9.98185024e-01 -5.20955680e-05 4.37429188e+00] [ 1.30222802e-02 -7.33464177e-04 9.99914938e-01 7.69588986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659254154 meters 0.0549798102757988 Centerline is valid? [True, True] Translation: X:200.92, Y:4.38, Z:0.77 [[ 9.98175560e-01 -5.91316972e-02 -1.22063005e-02 2.00924478e+02] [ 5.91355124e-02 9.98249963e-01 -4.84496811e-05 4.37888588e+00] [ 1.21878040e-02 -6.73464548e-04 9.99925499e-01 7.71580080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719254154 meters 0.056277553091310245 Centerline is valid? [True, True] Translation: X:200.98, Y:4.37, Z:0.77 [[ 9.98253015e-01 -5.78672593e-02 -1.19288607e-02 2.00984836e+02] [ 5.78708153e-02 9.98324079e-01 -4.71551389e-05 4.37386024e+00] [ 1.19115976e-02 -6.43260136e-04 9.99928847e-01 7.71041531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779254154 meters 0.05628042355567246 Centerline is valid? [True, True] Translation: X:201.04, Y:4.38, Z:0.77 [[ 9.98492211e-01 -5.35760948e-02 -1.19543336e-02 2.01044772e+02] [ 5.35793593e-02 9.98563593e-01 -4.72432516e-05 4.37774657e+00] [ 1.19396935e-02 -5.93333518e-04 9.99928543e-01 7.71896840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839254154 meters 0.05577461798707692 Centerline is valid? [True, True] Translation: X:201.11, Y:4.39, Z:0.77 [[ 9.98596486e-01 -5.16760019e-02 -1.16038480e-02 2.01105438e+02] [ 5.16789504e-02 9.98663749e-01 -4.58059746e-05 4.38561345e+00] [ 1.15907094e-02 -5.53933000e-04 9.99932672e-01 7.73300489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899254154 meters 0.056216753291074326 Centerline is valid? [True, True] Translation: X:201.17, Y:4.38, Z:0.77 [[ 9.98849908e-01 -4.64970726e-02 -1.16997661e-02 2.01165575e+02] [ 4.64997162e-02 9.98918302e-01 -4.61196768e-05 4.38075616e+00] [ 1.16892550e-02 -4.97969171e-04 9.99931554e-01 7.72306026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959254154 meters 0.05624451801593641 Centerline is valid? [True, True] Translation: X:201.23, Y:4.39, Z:0.77 [[ 9.99293890e-01 -3.57226381e-02 -1.16453296e-02 2.01226152e+02] [ 3.57245271e-02 9.99361674e-01 -4.58336290e-05 4.38665007e+00] [ 1.16395334e-02 -3.70222628e-04 9.99932190e-01 7.72669724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019254154 meters 0.055809163460979166 Centerline is valid? [True, True] Translation: X:201.29, Y:4.39, Z:0.77 [[ 9.99705487e-01 -2.15013174e-02 -1.12531303e-02 2.01286207e+02] [ 2.15021810e-02 9.99768800e-01 -4.42470198e-05 4.39233340e+00] [ 1.12514799e-02 -1.97732855e-04 9.99936681e-01 7.72045892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079254154 meters 0.055882898164237665 Centerline is valid? [True, True] Translation: X:201.35, Y:4.41, Z:0.78 [[ 9.99863547e-01 -1.23220533e-02 -1.10024467e-02 2.01346227e+02] [ 1.23223232e-02 9.99924076e-01 -4.32638288e-05 4.40560822e+00] [ 1.10021444e-02 -9.23177782e-05 9.99939470e-01 7.77173887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.139254154 meters 0.056289904272082324 Centerline is valid? [True, True] Translation: X:201.40, Y:4.41, Z:0.77 [[ 9.99923353e-01 -2.89692888e-03 -1.20372425e-02 2.01404709e+02] [ 2.89655814e-03 9.99995804e-01 -4.82331286e-05 4.40659414e+00] [ 1.20373317e-02 1.33628590e-05 9.99927549e-01 7.74494792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters 0.055375064557061364 Centerline is valid? [True, True] Translation: X:201.46, Y:4.41, Z:0.77 [[ 9.99919618e-01 -5.76895198e-04 -1.26658842e-02 2.01462894e+02] [ 5.76288112e-04 9.99999833e-01 -5.15804788e-05 4.40665483e+00] [ 1.26659119e-02 4.42771342e-05 9.99919783e-01 7.74194294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters 0.05571555367363628 Centerline is valid? [True, True] Translation: X:201.52, Y:4.40, Z:0.77 [[ 9.99904930e-01 -3.40007256e-03 -1.33630615e-02 2.01519446e+02] [ 3.39964035e-03 9.99994220e-01 -5.50596676e-05 4.40221735e+00] [ 1.33631715e-02 9.62482991e-06 9.99910709e-01 7.72806381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters 0.05597391889628417 Centerline is valid? [True, True] Translation: X:201.58, Y:4.40, Z:0.78 [[ 9.99879320e-01 -9.13790826e-03 -1.25635862e-02 2.01578093e+02] [ 9.13797314e-03 9.99958246e-01 -5.22422685e-05 4.39592983e+00] [ 1.25635390e-02 -6.25697490e-05 9.99921074e-01 7.76097025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379254154 meters 0.05593498477724509 Centerline is valid? [True, True] Translation: X:201.64, Y:4.38, Z:0.78 [[ 9.99725700e-01 -2.05826695e-02 -1.11748927e-02 2.01637436e+02] [ 2.05834338e-02 9.99788138e-01 -4.66289326e-05 4.38077129e+00] [ 1.11734849e-02 -1.83401522e-04 9.99937558e-01 7.75540276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439254154 meters 0.05694032592246213 Centerline is valid? [True, True] Translation: X:201.70, Y:4.37, Z:0.78 [[ 9.99396056e-01 -3.33860764e-02 -9.63806786e-03 2.01697507e+02] [ 3.33872398e-02 9.99442490e-01 -4.02082805e-05 4.37469400e+00] [ 9.63403694e-03 -2.81604486e-04 9.99953552e-01 7.78441215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499254154 meters 0.057379107834461984 Centerline is valid? [True, True] Translation: X:201.76, Y:4.36, Z:0.78 [[ 9.99135963e-01 -4.03216860e-02 -1.00742228e-02 2.01757258e+02] [ 4.03233101e-02 9.99186684e-01 -4.19319150e-05 4.36390203e+00] [ 1.00677200e-02 -3.64330325e-04 9.99949253e-01 7.77273177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559254154 meters 0.05780735394071025 Centerline is valid? [True, True] Translation: X:201.82, Y:4.35, Z:0.78 [[ 9.98829730e-01 -4.72696785e-02 -1.02346676e-02 2.01816351e+02] [ 4.72717208e-02 9.98882066e-01 -4.24039903e-05 4.35472901e+00] [ 1.02252303e-02 -4.41455982e-04 9.99947624e-01 7.77027859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619254154 meters 0.05720810159727463 Centerline is valid? [True, True] Translation: X:201.88, Y:4.35, Z:0.78 [[ 9.98699355e-01 -5.00715250e-02 -9.61458466e-03 2.01876773e+02] [ 5.00734583e-02 9.98745537e-01 -3.96954806e-05 4.35409294e+00] [ 9.60451113e-03 -4.41791653e-04 9.99953778e-01 7.77913352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679254154 meters 0.05987703453140333 Centerline is valid? [True, True] Translation: X:201.94, Y:4.34, Z:0.78 [[ 9.98610187e-01 -5.18835964e-02 -9.26214847e-03 2.01936736e+02] [ 5.18854702e-02 9.98653041e-01 -3.80390268e-05 4.34107943e+00] [ 9.25164634e-03 -4.42584769e-04 9.99957105e-01 7.76053783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739254154 meters 0.06009948817823292 Centerline is valid? [True, True] Translation: X:202.00, Y:4.34, Z:0.78 [[ 9.98634986e-01 -5.13668916e-02 -9.46612188e-03 2.01999375e+02] [ 5.13688287e-02 9.98679749e-01 -3.85432753e-05 4.34000186e+00] [ 9.45560408e-03 -4.47772931e-04 9.99955195e-01 7.76142542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799254154 meters 0.06075840994923351 Centerline is valid? [True, True] Translation: X:202.06, Y:4.34, Z:0.77 [[ 9.98749680e-01 -4.88681312e-02 -1.05347911e-02 2.02059747e+02] [ 4.88703937e-02 9.98805128e-01 -4.27100478e-05 4.34054282e+00] [ 1.05242905e-02 -4.72182742e-04 9.99944507e-01 7.74981371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859254154 meters 0.0583387389310269 Centerline is valid? [True, True] Translation: X:202.12, Y:4.35, Z:0.78 [[ 9.99010461e-01 -4.29376206e-02 -1.15957038e-02 2.02120474e+02] [ 4.29399632e-02 9.99077653e-01 -4.69814945e-05 4.34925032e+00] [ 1.15870258e-02 -4.50984089e-04 9.99932766e-01 7.75710892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91925415400001 meters 0.05698715563722855 Centerline is valid? [True, True] Translation: X:202.18, Y:4.36, Z:0.78 [[ 9.99145590e-01 -3.96515905e-02 -1.16551342e-02 2.02181041e+02] [ 3.96537341e-02 9.99213480e-01 -4.72037815e-05 4.35672701e+00] [ 1.16478390e-02 -4.15006145e-04 9.99932075e-01 7.76939303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters 0.0560737819003283 Centerline is valid? [True, True] Translation: X:202.24, Y:4.36, Z:0.78 [[ 9.99250658e-01 -3.68211542e-02 -1.19300042e-02 2.02241758e+02] [ 3.68232003e-02 9.99321795e-01 -4.81800901e-05 4.36364106e+00] [ 1.19236872e-02 -3.91156946e-04 9.99928834e-01 7.78110156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters 0.057030948735550306 Centerline is valid? [True, True] Translation: X:202.30, Y:4.36, Z:0.78 [[ 9.99289741e-01 -3.56288617e-02 -1.22717916e-02 2.02303302e+02] [ 3.56309411e-02 9.99365015e-01 -4.92179757e-05 4.36440601e+00] [ 1.22657528e-02 -3.88072467e-04 9.99924698e-01 7.78089237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099254154 meters 0.0577458318724211 Centerline is valid? [True, True] Translation: X:202.36, Y:4.37, Z:0.78 [[ 9.99347304e-01 -3.40348656e-02 -1.21076224e-02 2.02363467e+02] [ 3.40367753e-02 9.99420580e-01 -4.83649187e-05 4.36504173e+00] [ 1.21022531e-02 -3.63771070e-04 9.99926699e-01 7.78199584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159254154 meters 0.05619494522117563 Centerline is valid? [True, True] Translation: X:202.42, Y:4.37, Z:0.78 [[ 9.99419034e-01 -3.21602370e-02 -1.12833226e-02 2.02424570e+02] [ 3.21617784e-02 9.99482675e-01 -4.48608385e-05 4.36971986e+00] [ 1.12789281e-02 -3.18056944e-04 9.99936340e-01 7.80270081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219254154 meters 0.05678454494661082 Centerline is valid? [True, True] Translation: X:202.48, Y:4.37, Z:0.78 [[ 9.99548552e-01 -2.82559996e-02 -1.02122654e-02 2.02484500e+02] [ 2.82570595e-02 9.99600689e-01 -4.05152380e-05 4.37189494e+00] [ 1.02093323e-02 -2.48071643e-04 9.99947853e-01 7.80969564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279254154 meters 0.05584018033927539 Centerline is valid? [True, True] Translation: X:202.55, Y:4.38, Z:0.78 [[ 9.99643569e-01 -2.50714424e-02 -9.17379390e-03 2.02545605e+02] [ 2.50721640e-02 9.99685643e-01 -3.63519831e-05 4.38240076e+00] [ 9.17182146e-03 -1.93667839e-04 9.99957919e-01 7.83424430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339254154 meters 0.05676258873603078 Centerline is valid? [True, True] Translation: X:202.61, Y:4.39, Z:0.78 [[ 9.99785655e-01 -1.86832325e-02 -8.92077619e-03 2.02606146e+02] [ 1.86836616e-02 9.99825445e-01 -3.52361844e-05 4.38863808e+00] [ 8.91987735e-03 -1.31444132e-04 9.99960208e-01 7.83955241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399254154 meters 0.056097562687330765 Centerline is valid? [True, True] Translation: X:202.67, Y:4.39, Z:0.78 [[ 9.99878872e-01 -1.31210188e-02 -8.37133740e-03 2.02665485e+02] [ 1.31212020e-02 9.99913913e-01 -3.30433670e-05 4.38995078e+00] [ 8.37105030e-03 -7.68026446e-05 9.99964959e-01 7.83035069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459254154 meters 0.05711171835594495 Centerline is valid? [True, True] Translation: X:202.73, Y:4.40, Z:0.78 [[ 9.99950429e-01 -4.98933827e-03 -8.61660185e-03 2.02725298e+02] [ 4.98922951e-03 9.99987553e-01 -3.41179648e-05 4.39950550e+00] [ 8.61666483e-03 -8.87393069e-06 9.99962876e-01 7.84121963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519254154 meters 0.05705272085946861 Centerline is valid? [True, True] Translation: X:202.78, Y:4.40, Z:0.79 [[ 9.99953846e-01 -1.11151759e-03 -9.54309377e-03 2.02784265e+02] [ 1.11120136e-03 9.99999382e-01 -3.84391825e-05 4.40268218e+00] [ 9.54313060e-03 2.78331095e-05 9.99954463e-01 7.85811435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579254154 meters 0.057343782362882165 Centerline is valid? [True, True] Translation: X:202.84, Y:4.40, Z:0.79 [[ 9.99945691e-01 1.03233179e-03 -1.03705966e-02 2.02843038e+02] [-1.03283176e-03 9.99999466e-01 -4.28551845e-05 4.40249827e+00] [ 1.03705468e-02 5.35639387e-05 9.99946223e-01 7.86632718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.639254154 meters 0.05678867772041012 Centerline is valid? [True, True] Translation: X:202.90, Y:4.40, Z:0.78 [[ 9.99940801e-01 4.38045428e-04 -1.08720981e-02 2.02900608e+02] [-4.38567405e-04 9.99999903e-01 -4.56266387e-05 4.40283041e+00] [ 1.08720770e-02 5.03920855e-05 9.99940896e-01 7.83680386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters 0.05617903064397469 Centerline is valid? [True, True] Translation: X:202.96, Y:4.40, Z:0.78 [[ 9.99928878e-01 -2.07081907e-03 -1.17451986e-02 2.02958890e+02] [ 2.07037700e-03 9.99997856e-01 -4.97969455e-05 4.39967577e+00] [ 1.17452766e-02 2.54764147e-05 9.99931022e-01 7.83889223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters 0.05714594875607598 Centerline is valid? [True, True] Translation: X:203.02, Y:4.40, Z:0.78 [[ 9.99929761e-01 -3.69584747e-03 -1.12611920e-02 2.03018146e+02] [ 3.69553965e-03 9.99993170e-01 -4.81437022e-05 4.39792181e+00] [ 1.12612930e-02 6.52413904e-06 9.99936590e-01 7.84148749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters 0.05660325583540785 Centerline is valid? [True, True] Translation: X:203.08, Y:4.39, Z:0.78 [[ 9.99883350e-01 -1.01872042e-02 -1.13801357e-02 2.03076267e+02] [ 1.01873053e-02 9.99948107e-01 -4.90862159e-05 4.38987840e+00] [ 1.13800452e-02 -6.68524263e-05 9.99935243e-01 7.84695539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879254154 meters 0.05756084944308216 Centerline is valid? [True, True] Translation: X:203.14, Y:4.39, Z:0.79 [[ 9.99819797e-01 -1.63424223e-02 -9.65908164e-03 2.03136282e+02] [ 1.63427789e-02 9.99866447e-01 -4.20148675e-05 4.38534023e+00] [ 9.65847826e-03 -1.15848939e-04 9.99953349e-01 7.86623347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939254154 meters 0.05731401190877485 Centerline is valid? [True, True] Translation: X:203.20, Y:4.37, Z:0.79 [[ 9.99623174e-01 -2.60296590e-02 -8.71587176e-03 2.03195764e+02] [ 2.60303164e-02 9.99661153e-01 -3.80242570e-05 4.36992807e+00] [ 8.71390818e-03 -1.88866971e-04 9.99962015e-01 7.86081094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999254154 meters 0.05701976224837513 Centerline is valid? [True, True] Translation: X:203.26, Y:4.37, Z:0.79 [[ 9.99430886e-01 -3.27385996e-02 -8.12943991e-03 2.03256652e+02] [ 3.27393939e-02 9.99463922e-01 -3.53967290e-05 4.36883520e+00] [ 8.12624073e-03 -2.30776351e-04 9.99966955e-01 7.87810231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059254154 meters 0.05743109071267819 Centerline is valid? [True, True] Translation: X:203.32, Y:4.37, Z:0.79 [[ 9.99107006e-01 -4.15823821e-02 -7.48973601e-03 2.03317126e+02] [ 4.15833050e-02 9.99135040e-01 -3.25306072e-05 4.36594549e+00] [ 7.48461039e-03 -2.78946420e-04 9.99971951e-01 7.88316656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119254154 meters 0.056712338923242234 Centerline is valid? [True, True] Translation: X:203.38, Y:4.36, Z:0.79 [[ 9.98813136e-01 -4.80109124e-02 -8.20189714e-03 2.03378201e+02] [ 4.80122360e-02 9.98846747e-01 -3.55613205e-05 4.36232310e+00] [ 8.19414561e-03 -3.58272307e-04 9.99966363e-01 7.87814504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179254154 meters 0.05693453314806553 Centerline is valid? [True, True] Translation: X:203.44, Y:4.36, Z:0.79 [[ 9.98681623e-01 -5.06684247e-02 -8.22962375e-03 2.03437952e+02] [ 5.06698472e-02 9.98715458e-01 -3.56925244e-05 4.35798702e+00] [ 8.22086094e-03 -3.81348310e-04 9.99966135e-01 7.87606262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239254154 meters 0.059704114431842883 Centerline is valid? [True, True] Translation: X:203.50, Y:4.34, Z:0.79 [[ 9.98615553e-01 -5.20564780e-02 -7.55654143e-03 2.03498535e+02] [ 5.20577170e-02 9.98644077e-01 -3.27677745e-05 4.34369591e+00] [ 7.54800112e-03 -3.60653886e-04 9.99971448e-01 7.87786539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299254154 meters 0.059726948786624934 Centerline is valid? [True, True] Translation: X:203.56, Y:4.34, Z:0.79 [[ 9.98649652e-01 -5.14044709e-02 -7.51353689e-03 2.03560204e+02] [ 5.14056785e-02 9.98677854e-01 -3.24383173e-05 4.34217030e+00] [ 7.50527037e-03 -3.53843947e-04 9.99971772e-01 7.87699018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359254154 meters 0.05811130561821064 Centerline is valid? [True, True] Translation: X:203.62, Y:4.35, Z:0.79 [[ 9.98697570e-01 -5.04092929e-02 -7.87828605e-03 2.03621628e+02] [ 5.04105915e-02 9.98728577e-01 -3.37917483e-05 4.35130862e+00] [ 7.86997284e-03 -3.63401323e-04 9.99968965e-01 7.87069452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41925415400001 meters 0.05810283798968491 Centerline is valid? [True, True] Translation: X:203.68, Y:4.35, Z:0.79 [[ 9.98771502e-01 -4.88152195e-02 -8.51828087e-03 2.03683665e+02] [ 4.88166816e-02 9.98807754e-01 -3.63267675e-05 4.35246394e+00] [ 8.50989829e-03 -3.79552065e-04 9.99963718e-01 7.87028945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters 0.05723884020825901 Centerline is valid? [True, True] Translation: X:203.74, Y:4.36, Z:0.79 [[ 9.98934619e-01 -4.51566260e-02 -9.51343265e-03 2.03744167e+02] [ 4.51582851e-02 9.98979843e-01 -4.04509482e-05 4.36252153e+00] [ 9.50555409e-03 -3.89202452e-04 9.99954745e-01 7.87783242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters 0.057675415761357124 Centerline is valid? [True, True] Translation: X:203.80, Y:4.36, Z:0.79 [[ 9.99075323e-01 -4.19757017e-02 -9.30267360e-03 2.03804059e+02] [ 4.19771505e-02 9.99118570e-01 -3.95362020e-05 4.35974218e+00] [ 9.29613351e-03 -3.51000087e-04 9.99956728e-01 7.87144741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599254154 meters 0.05744236338157172 Centerline is valid? [True, True] Translation: X:203.86, Y:4.37, Z:0.79 [[ 9.99304629e-01 -3.64540315e-02 -7.83342502e-03 2.03864686e+02] [ 3.64548897e-02 9.99335299e-01 -3.32577127e-05 4.36563062e+00] [ 7.82943051e-03 -2.52332059e-04 9.99969318e-01 7.87906781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659254154 meters 0.05704623148071264 Centerline is valid? [True, True] Translation: X:203.92, Y:4.37, Z:0.79 [[ 9.99424446e-01 -3.29963413e-02 -7.87514343e-03 2.03924784e+02] [ 3.29971016e-02 9.99455447e-01 -3.34052647e-05 4.36505985e+00] [ 7.87195724e-03 -2.26470869e-04 9.99968990e-01 7.88062563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719254154 meters 0.05741925658561931 Centerline is valid? [True, True] Translation: X:203.99, Y:4.37, Z:0.79 [[ 9.99525707e-01 -2.99857569e-02 -7.01532862e-03 2.03985390e+02] [ 2.99862863e-02 9.99550310e-01 -2.97332912e-05 4.36935512e+00] [ 7.01306547e-03 -1.80644464e-04 9.99975392e-01 7.88294037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779254154 meters 0.058059203126458056 Centerline is valid? [True, True] Translation: X:204.05, Y:4.37, Z:0.79 [[ 9.99641270e-01 -2.57607416e-02 -7.32908548e-03 2.04045471e+02] [ 2.57612064e-02 9.99668125e-01 -3.10029979e-05 4.36971915e+00] [ 7.32745180e-03 -1.57814207e-04 9.99973141e-01 7.87523106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839254154 meters 0.05703406744282077 Centerline is valid? [True, True] Translation: X:204.11, Y:4.37, Z:0.79 [[ 9.99694103e-01 -2.35718781e-02 -7.48772619e-03 2.04107331e+02] [ 2.35723023e-02 9.99722134e-01 -3.16085274e-05 4.37253026e+00] [ 7.48639068e-03 -1.44904087e-04 9.99971966e-01 7.87349475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899254154 meters 0.056037054035328694 Centerline is valid? [True, True] Translation: X:204.17, Y:4.38, Z:0.79 [[ 9.99766620e-01 -2.06393719e-02 -6.38140987e-03 2.04168585e+02] [ 2.06396207e-02 9.99786980e-01 -2.68654264e-05 4.37708985e+00] [ 6.38060498e-03 -1.04850723e-04 9.99979638e-01 7.88000361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959254154 meters 0.05660817674756425 Centerline is valid? [True, True] Translation: X:204.23, Y:4.38, Z:0.79 [[ 9.99836430e-01 -1.66048584e-02 -7.16879573e-03 2.04228888e+02] [ 1.66050695e-02 9.99862126e-01 -3.00785514e-05 4.37625316e+00] [ 7.16830679e-03 -8.89647199e-05 9.99974303e-01 7.87022188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019254154 meters 0.05714118926382921 Centerline is valid? [True, True] Translation: X:204.29, Y:4.38, Z:0.79 [[ 9.99870319e-01 -1.43739099e-02 -7.26192045e-03 2.04290508e+02] [ 1.43740683e-02 9.99896687e-01 -3.03849352e-05 4.37764487e+00] [ 7.26160695e-03 -7.40023458e-05 9.99973631e-01 7.87056825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079254154 meters 0.057272868765390915 Centerline is valid? [True, True] Translation: X:204.35, Y:4.38, Z:0.79 [[ 9.99896097e-01 -1.29359659e-02 -6.36054990e-03 2.04351331e+02] [ 1.29360588e-02 9.99916325e-01 -2.65413240e-05 4.37809613e+00] [ 6.36036102e-03 -5.57418811e-05 9.99979771e-01 7.88211084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.139254154 meters 0.05700963291366938 Centerline is valid? [True, True] Translation: X:204.41, Y:4.38, Z:0.79 [[ 9.99886581e-01 -1.37523255e-02 -6.13991062e-03 2.04412224e+02] [ 1.37524276e-02 9.99905431e-01 -2.55904400e-05 4.37637836e+00] [ 6.13968190e-03 -5.88511386e-05 9.99981150e-01 7.88934711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters 0.05643616608394716 Centerline is valid? [True, True] Translation: X:204.47, Y:4.37, Z:0.79 [[ 9.99795561e-01 -1.90124732e-02 -6.88198993e-03 2.04473281e+02] [ 1.90127263e-02 9.99819241e-01 -2.86598704e-05 4.37059698e+00] [ 6.88129085e-03 -1.02191379e-04 9.99976318e-01 7.88660923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters 0.05640659853203221 Centerline is valid? [True, True] Translation: X:204.53, Y:4.37, Z:0.79 [[ 9.99671718e-01 -2.46424732e-02 -7.01466024e-03 2.04534430e+02] [ 2.46428750e-02 9.99696318e-01 -2.91545787e-05 4.36942435e+00] [ 7.01324845e-03 -1.43716388e-04 9.99975397e-01 7.89351274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters 0.05804268977785805 Centerline is valid? [True, True] Translation: X:204.59, Y:4.36, Z:0.79 [[ 9.99419782e-01 -3.32819651e-02 -7.23947409e-03 2.04593734e+02] [ 3.32826201e-02 9.99445980e-01 -3.00171412e-05 4.35521149e+00] [ 7.23646230e-03 -2.10948941e-04 9.99973794e-01 7.89003625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379254154 meters 0.057665236245278785 Centerline is valid? [True, True] Translation: X:204.65, Y:4.36, Z:0.79 [[ 9.99100220e-01 -4.17171102e-02 -7.64412491e-03 2.04654209e+02] [ 4.17180875e-02 9.99129421e-01 -3.16333153e-05 4.35799788e+00] [ 7.63878975e-03 -2.87293420e-04 9.99970783e-01 7.89879139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439254154 meters 0.05994494796693719 Centerline is valid? [True, True] Translation: X:204.71, Y:4.34, Z:0.79 [[ 9.98892663e-01 -4.63875281e-02 -7.85149866e-03 2.04714603e+02] [ 4.63887034e-02 9.98923464e-01 -3.24549210e-05 4.34296374e+00] [ 7.84455175e-03 -3.31801861e-04 9.99969176e-01 7.89302563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499254154 meters 0.05917548558454801 Centerline is valid? [True, True] Translation: X:204.78, Y:4.34, Z:0.79 [[ 9.98586874e-01 -5.27079720e-02 -6.79153320e-03 2.04775206e+02] [ 5.27089974e-02 9.98609914e-01 -2.80490353e-05 4.34428073e+00] [ 6.78357080e-03 -3.29965507e-04 9.99976937e-01 7.91503570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559254154 meters 0.05797204839940961 Centerline is valid? [True, True] Translation: X:204.84, Y:4.35, Z:0.79 [[ 9.98390903e-01 -5.63103605e-02 -6.68937693e-03 2.04836475e+02] [ 5.63114363e-02 9.98413252e-01 -2.75599726e-05 4.34772688e+00] [ 6.68031448e-03 -3.49172797e-04 9.99977625e-01 7.92216698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619254154 meters 0.058534415212089096 Centerline is valid? [True, True] Translation: X:204.90, Y:4.35, Z:0.79 [[ 9.98304045e-01 -5.78243012e-02 -6.73682716e-03 2.04897606e+02] [ 5.78254274e-02 9.98326710e-01 -2.76471620e-05 4.34725274e+00] [ 6.72715317e-03 -3.61959636e-04 9.99977307e-01 7.92154831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679254154 meters 0.05886789422787593 Centerline is valid? [True, True] Translation: X:204.96, Y:4.34, Z:0.79 [[ 9.98011683e-01 -6.24948828e-02 -8.18963737e-03 2.04956725e+02] [ 6.24967051e-02 9.98045170e-01 -3.34595897e-05 4.34386477e+00] [ 8.17571907e-03 -4.78432290e-04 9.99966464e-01 7.90636326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739254154 meters 0.057498201971956105 Centerline is valid? [True, True] Translation: X:205.02, Y:4.35, Z:0.79 [[ 9.97823397e-01 -6.53344507e-02 -8.93740001e-03 2.05017563e+02] [ 6.53367358e-02 9.97863272e-01 -3.63776887e-05 4.34635073e+00] [ 8.92067993e-03 -5.47642034e-04 9.99960060e-01 7.90230755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799254154 meters 0.06178751337638878 Centerline is valid? [True, True] Translation: X:205.08, Y:4.34, Z:0.79 [[ 9.97631671e-01 -6.78950158e-02 -1.10143091e-02 2.05077732e+02] [ 6.78986424e-02 9.97692223e-01 -4.47726357e-05 4.33585691e+00] [ 1.09919304e-02 -7.03190035e-04 9.99939340e-01 7.88899741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859254154 meters 0.05578246450257745 Centerline is valid? [True, True] Translation: X:205.14, Y:4.36, Z:0.79 [[ 9.97635571e-01 -6.78989609e-02 -1.06300890e-02 2.05140309e+02] [ 6.79023434e-02 9.97691971e-01 -4.28054513e-05 4.36328366e+00] [ 1.06084609e-02 -6.79103711e-04 9.99943498e-01 7.92182020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91925415400001 meters 0.05652188434334418 Centerline is valid? [True, True] Translation: X:205.20, Y:4.37, Z:0.79 [[ 9.97918677e-01 -6.37643495e-02 -9.61358477e-03 2.05200407e+02] [ 6.37669267e-02 9.97964818e-01 -3.85104099e-05 4.36569110e+00] [ 9.59647496e-03 -5.74598498e-04 9.99953788e-01 7.93349166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters 0.05970769783340678 Centerline is valid? [True, True] Translation: X:205.26, Y:4.36, Z:0.79 [[ 9.98393410e-01 -5.58902783e-02 -9.32068640e-03 2.05260220e+02] [ 5.58923586e-02 9.98436800e-01 -3.73470323e-05 4.35635177e+00] [ 9.30820364e-03 -4.83668116e-04 9.99956561e-01 7.92221509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters 0.059493435751509886 Centerline is valid? [True, True] Translation: X:205.32, Y:4.36, Z:0.79 [[ 9.98706046e-01 -5.00236941e-02 -9.15766665e-03 2.05320483e+02] [ 5.00254563e-02 9.98747942e-01 -3.66777281e-05 4.36124277e+00] [ 9.14803548e-03 -4.21486185e-04 9.99958067e-01 7.92227154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099254154 meters 0.05593892810900713 Centerline is valid? [True, True] Translation: X:205.38, Y:4.38, Z:0.79 [[ 9.98960512e-01 -4.45887433e-02 -9.47311765e-03 2.05381079e+02] [ 4.45903857e-02 9.99005353e-01 -3.78702919e-05 4.38459249e+00] [ 9.46538383e-03 -3.84579043e-04 9.99955128e-01 7.94113636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159254154 meters 0.056794478626519464 Centerline is valid? [True, True] Translation: X:205.44, Y:4.39, Z:0.79 [[ 9.99250780e-01 -3.72165532e-02 -1.06210638e-02 2.05441087e+02] [ 3.72182023e-02 9.99307162e-01 -4.24105009e-05 4.38606964e+00] [ 1.06152835e-02 -3.52918175e-04 9.99943594e-01 7.94405451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219254154 meters 0.05549516962852401 Centerline is valid? [True, True] Translation: X:205.50, Y:4.39, Z:0.80 [[ 9.99407904e-01 -3.29214723e-02 -1.00008804e-02 2.05501598e+02] [ 3.29227197e-02 9.99457900e-01 -3.99283962e-05 4.39308218e+00] [ 9.99677340e-03 -2.89351426e-04 9.99949989e-01 7.95658629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279254154 meters 0.05713652948513515 Centerline is valid? [True, True] Translation: X:205.56, Y:4.40, Z:0.80 [[ 9.99605767e-01 -2.61175416e-02 -1.03046082e-02 2.05560901e+02] [ 2.61185044e-02 9.99658853e-01 -4.11429827e-05 4.39631704e+00] [ 1.03021674e-02 -2.28014193e-04 9.99946905e-01 7.95293173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339254154 meters 0.05666829181920097 Centerline is valid? [True, True] Translation: X:205.62, Y:4.40, Z:0.80 [[ 9.99797250e-01 -1.76246633e-02 -9.73806023e-03 2.05620406e+02] [ 1.76251199e-02 9.99844665e-01 -3.89322665e-05 4.40281604e+00] [ 9.73723373e-03 -1.32710107e-04 9.99952583e-01 7.96009034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399254154 meters 0.056475823314928876 Centerline is valid? [True, True] Translation: X:205.68, Y:4.41, Z:0.80 [[ 9.99893823e-01 -1.14198119e-02 -9.05154088e-03 2.05680267e+02] [ 1.14199502e-02 9.99934790e-01 -3.64089579e-05 4.40610854e+00] [ 9.05136641e-03 -6.69630539e-05 9.99959033e-01 7.95632763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459254154 meters 0.05553827487809347 Centerline is valid? [True, True] Translation: X:205.74, Y:4.41, Z:0.80 [[ 9.99948236e-01 -4.72095413e-03 -9.01318766e-03 2.05739170e+02] [ 4.72081514e-03 9.99988856e-01 -3.66960673e-05 4.41144404e+00] [ 9.01326046e-03 -5.85542505e-06 9.99959380e-01 7.95639170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519254154 meters 0.055885858232790415 Centerline is valid? [True, True] Translation: X:205.80, Y:4.41, Z:0.80 [[ 9.99951550e-01 -3.36120144e-03 -9.25198682e-03 2.05796829e+02] [ 3.36098832e-03 9.99994351e-01 -3.85836844e-05 4.41161565e+00] [ 9.25206424e-03 7.48599536e-06 9.99957199e-01 7.95330136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579254154 meters 0.05639050471456902 Centerline is valid? [True, True] Translation: X:205.86, Y:4.41, Z:0.80 [[ 9.99942254e-01 -4.71991723e-03 -9.65457258e-03 2.05855146e+02] [ 4.71974101e-03 9.99988861e-01 -4.10358561e-05 4.40969196e+00] [ 9.65465872e-03 -4.53359573e-06 9.99953393e-01 7.97284855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.639254154 meters 0.05676058384688659 Centerline is valid? [True, True] Translation: X:205.91, Y:4.40, Z:0.80 [[ 9.99911789e-01 -9.03102694e-03 -9.73938414e-03 2.05912757e+02] [ 9.03104775e-03 9.99959218e-01 -4.18444911e-05 4.40491151e+00] [ 9.73936485e-03 -4.61160432e-05 9.99952570e-01 7.97469590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters 0.055538582915955696 Centerline is valid? [True, True] Translation: X:205.97, Y:4.40, Z:0.80 [[ 9.99867218e-01 -1.34813939e-02 -9.15417516e-03 2.05971743e+02] [ 1.34815962e-02 9.99909118e-01 -3.96163193e-05 4.39935951e+00] [ 9.15387730e-03 -8.38018340e-05 9.99958099e-01 7.97321101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters 0.05628960965484483 Centerline is valid? [True, True] Translation: X:206.03, Y:4.39, Z:0.80 [[ 9.99790443e-01 -1.87745749e-02 -8.16003574e-03 2.06031929e+02] [ 1.87749113e-02 9.99823735e-01 -3.53877011e-05 4.39378573e+00] [ 8.15926180e-03 -1.17823662e-04 9.99966706e-01 7.97977761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819254154 meters 0.05684957924027486 Centerline is valid? [True, True] Translation: X:206.09, Y:4.39, Z:0.80 [[ 9.99598737e-01 -2.72148897e-02 -7.85584892e-03 2.06092775e+02] [ 2.72154625e-02 9.99629590e-01 -3.39927876e-05 4.38512074e+00] [ 7.85386415e-03 -1.79821414e-04 9.99969142e-01 7.98850225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879254154 meters 0.05914748517200002 Centerline is valid? [True, True] Translation: X:206.15, Y:4.37, Z:0.80 [[ 9.99312462e-01 -3.61911469e-02 -8.05013371e-03 2.06152091e+02] [ 3.61920402e-02 9.99344853e-01 -3.47304257e-05 4.36957446e+00] [ 8.04611662e-03 -2.56644216e-04 9.99967597e-01 7.97924096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939254154 meters 0.05768630160363112 Centerline is valid? [True, True] Translation: X:206.21, Y:4.37, Z:0.80 [[ 9.99068984e-01 -4.24561726e-02 -7.65756111e-03 2.06212696e+02] [ 4.24571649e-02 9.99098287e-01 -3.30144961e-05 4.37195413e+00] [ 7.65205786e-03 -2.92134575e-04 9.99970680e-01 7.99067848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999254154 meters 0.06140748468311832 Centerline is valid? [True, True] Translation: X:206.27, Y:4.36, Z:0.80 [[ 9.98731252e-01 -4.95786587e-02 -8.82289075e-03 2.06272643e+02] [ 4.95802530e-02 9.98770142e-01 -3.80665164e-05 4.35513958e+00] [ 8.81392713e-03 -3.99422936e-04 9.99961077e-01 7.97451098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059254154 meters 0.0575080486928353 Centerline is valid? [True, True] Translation: X:206.33, Y:4.37, Z:0.80 [[ 9.98554638e-01 -5.30295645e-02 -8.74642312e-03 2.06333412e+02] [ 5.30312640e-02 9.98592852e-01 -3.76714413e-05 4.36771392e+00] [ 8.73611330e-03 -4.26216881e-04 9.99961749e-01 7.98584740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119254154 meters 0.05768525157372966 Centerline is valid? [True, True] Translation: X:206.39, Y:4.36, Z:0.80 [[ 9.98377049e-01 -5.60811770e-02 -9.90805878e-03 2.06394242e+02] [ 5.60835097e-02 9.98426080e-01 -4.24737775e-05 4.36346584e+00] [ 9.89484627e-03 -5.13273866e-04 9.99950913e-01 7.97924472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179254154 meters 0.056001598916333335 Centerline is valid? [True, True] Translation: X:206.46, Y:4.37, Z:0.80 [[ 9.98333241e-01 -5.69566689e-02 -9.31011598e-03 2.06456596e+02] [ 5.69587688e-02 9.98376531e-01 -3.96566177e-05 4.36820364e+00] [ 9.29726000e-03 -4.90702224e-04 9.99956659e-01 7.98856441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239254154 meters 0.056075730571037485 Centerline is valid? [True, True] Translation: X:206.52, Y:4.37, Z:0.80 [[ 9.98387623e-01 -5.61329116e-02 -8.44097739e-03 2.06517620e+02] [ 5.61346104e-02 9.98423209e-01 -3.57210288e-05 4.36928073e+00] [ 8.42967286e-03 -4.38167544e-04 9.99964374e-01 8.00089417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299254154 meters 0.05859116186237269 Centerline is valid? [True, True] Translation: X:206.58, Y:4.36, Z:0.80 [[ 9.98478065e-01 -5.44066469e-02 -9.02606290e-03 2.06577192e+02] [ 5.44085195e-02 9.98518759e-01 -3.81330359e-05 4.35726916e+00] [ 9.01476781e-03 -4.53019719e-04 9.99959264e-01 7.98725669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359254154 meters 0.05706093155826695 Centerline is valid? [True, True] Translation: X:206.64, Y:4.37, Z:0.80 [[ 9.98654968e-01 -5.09495759e-02 -9.61226258e-03 2.06637908e+02] [ 5.09515397e-02 9.98701126e-01 -4.06315652e-05 4.36763871e+00] [ 9.60184763e-03 -4.49182664e-04 9.99953800e-01 7.99354883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41925415400001 meters 0.058146737429011094 Centerline is valid? [True, True] Translation: X:206.70, Y:4.37, Z:0.80 [[ 9.98938043e-01 -4.51061296e-02 -9.39268355e-03 2.06697510e+02] [ 4.51077465e-02 9.98982127e-01 -3.97346194e-05 4.36765387e+00] [ 9.38491526e-03 -3.83990366e-04 9.99955887e-01 8.00382625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters 0.059030764491417184 Centerline is valid? [True, True] Translation: X:206.76, Y:4.37, Z:0.80 [[ 9.99165544e-01 -3.99390125e-02 -8.54930674e-03 2.06756770e+02] [ 3.99401626e-02 9.99202073e-01 -3.62337116e-05 4.36816926e+00] [ 8.54393215e-03 -3.05257225e-04 9.99963453e-01 8.01088896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters 0.06063517312717544 Centerline is valid? [True, True] Translation: X:206.82, Y:4.37, Z:0.80 [[ 9.99274514e-01 -3.72284194e-02 -8.03064463e-03 2.06816749e+02] [ 3.72293464e-02 9.99306747e-01 -3.40679377e-05 4.36553561e+00] [ 8.02634566e-03 -2.64932429e-04 9.99967753e-01 8.01279915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599254154 meters 0.056855646541863286 Centerline is valid? [True, True] Translation: X:206.88, Y:4.38, Z:0.80 [[ 9.99532154e-01 -2.99363797e-02 -6.26792252e-03 2.06877691e+02] [ 2.99368012e-02 9.99551793e-01 -2.65802176e-05 4.38451659e+00] [ 6.26590891e-03 -1.61073768e-04 9.99980356e-01 8.03507877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659254154 meters 0.05640522539831692 Centerline is valid? [True, True] Translation: X:206.94, Y:4.40, Z:0.80 [[ 9.99647370e-01 -2.55117747e-02 -7.36786646e-03 2.06937386e+02] [ 2.55122372e-02 9.99674509e-01 -3.12251193e-05 4.39617418e+00] [ 7.36626490e-03 -1.56756649e-04 9.99972856e-01 8.04687333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719254154 meters 0.05630844442104873 Centerline is valid? [True, True] Translation: X:207.00, Y:4.41, Z:0.81 [[ 9.99756017e-01 -2.06199090e-02 -7.92002578e-03 2.06998220e+02] [ 2.06202904e-02 9.99787379e-01 -3.35078257e-05 4.40583230e+00] [ 7.91903274e-03 -1.29813581e-04 9.99968636e-01 8.05987007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779254154 meters 0.056002682323918314 Centerline is valid? [True, True] Translation: X:207.06, Y:4.40, Z:0.80 [[ 9.99791035e-01 -1.86435403e-02 -8.38479980e-03 2.07059430e+02] [ 1.86438996e-02 9.99826187e-01 -3.53176509e-05 4.40210014e+00] [ 8.38400085e-03 -1.21015094e-04 9.99964846e-01 8.04828769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839254154 meters 0.057043137607453456 Centerline is valid? [True, True] Translation: X:207.12, Y:4.41, Z:0.81 [[ 9.99828675e-01 -1.70718997e-02 -7.15342890e-03 2.07120932e+02] [ 1.70721220e-02 9.99854260e-01 -2.99961093e-05 4.40569685e+00] [ 7.15289845e-03 -9.21332403e-05 9.99974413e-01 8.05448600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899254154 meters 0.05681135772438291 Centerline is valid? [True, True] Translation: X:207.18, Y:4.40, Z:0.80 [[ 9.99861430e-01 -1.48741590e-02 -7.47527958e-03 2.07181633e+02] [ 1.48743416e-02 9.99889370e-01 -3.11635063e-05 4.40270317e+00] [ 7.47491612e-03 -8.00306743e-05 9.99972059e-01 8.04792107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959254154 meters 0.05650858996515923 Centerline is valid? [True, True] Translation: X:207.24, Y:4.41, Z:0.81 [[ 9.99904244e-01 -1.19892405e-02 -6.91086949e-03 2.07242704e+02] [ 1.19893287e-02 9.99928125e-01 -2.86605078e-05 4.40627813e+00] [ 6.91071639e-03 -5.41989226e-05 9.99976119e-01 8.05412791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019254154 meters 0.057044961275875515 Centerline is valid? [True, True] Translation: X:207.30, Y:4.41, Z:0.81 [[ 9.99917849e-01 -1.11610757e-02 -6.30282585e-03 2.07303221e+02] [ 1.11611329e-02 9.99937712e-01 -2.60854989e-05 4.40550507e+00] [ 6.30272441e-03 -4.42633214e-05 9.99980137e-01 8.05644235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079254154 meters 0.05680780134572414 Centerline is valid? [True, True] Translation: X:207.36, Y:4.40, Z:0.80 [[ 9.99905988e-01 -1.21229703e-02 -6.40691149e-03 2.07362468e+02] [ 1.21230492e-02 9.99926513e-01 -2.65162780e-05 4.39831659e+00] [ 6.40676212e-03 -5.11575183e-05 9.99979475e-01 8.04640019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.139254154 meters 0.05685212727194078 Centerline is valid? [True, True] Translation: X:207.42, Y:4.40, Z:0.80 [[ 9.99867289e-01 -1.47605455e-02 -6.89426560e-03 2.07423025e+02] [ 1.47606998e-02 9.99891055e-01 -2.85124199e-05 4.39626866e+00] [ 6.89393536e-03 -7.32555486e-05 9.99976234e-01 8.04948208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters 0.05820605899980818 Centerline is valid? [True, True] Translation: X:207.48, Y:4.38, Z:0.80 [[ 9.99734826e-01 -2.16865927e-02 -7.74396952e-03 2.07482861e+02] [ 2.16869954e-02 9.99764809e-01 -3.19817293e-05 4.38130576e+00] [ 7.74284179e-03 -1.35970183e-04 9.99970015e-01 8.02277962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters 0.05688906231012536 Centerline is valid? [True, True] Translation: X:207.54, Y:4.38, Z:0.80 [[ 9.99578790e-01 -2.79646164e-02 -7.76039540e-03 2.07543368e+02] [ 2.79652100e-02 9.99608897e-01 -3.20292027e-05 4.38456605e+00] [ 7.75825596e-03 -1.85005375e-04 9.99969887e-01 8.03673256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319254154 meters 0.057913851013917314 Centerline is valid? [True, True] Translation: X:207.60, Y:4.38, Z:0.80 [[ 9.99323481e-01 -3.60174687e-02 -7.43787582e-03 2.07604035e+02] [ 3.60182370e-02 9.99351132e-01 -3.06640948e-05 4.37720870e+00] [ 7.43415406e-03 -2.37255824e-04 9.99972338e-01 8.03948993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379254154 meters 0.05679056729875084 Centerline is valid? [True, True] Translation: X:207.66, Y:4.38, Z:0.80 [[ 9.99197552e-01 -3.93828043e-02 -7.29705767e-03 2.07664783e+02] [ 3.93836338e-02 9.99224163e-01 -3.00274590e-05 4.37946224e+00] [ 7.29257891e-03 -2.57381284e-04 9.99973376e-01 8.04646759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439254154 meters 0.05690283693736919 Centerline is valid? [True, True] Translation: X:207.73, Y:4.38, Z:0.80 [[ 9.99115733e-01 -4.13610064e-02 -7.55114957e-03 2.07726323e+02] [ 4.13619519e-02 9.99144228e-01 -3.09817580e-05 4.37762827e+00] [ 7.54596895e-03 -2.81375923e-04 9.99971489e-01 8.04675868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499254154 meters 0.05762859179230801 Centerline is valid? [True, True] Translation: X:207.79, Y:4.37, Z:0.80 [[ 9.99132207e-01 -4.09462320e-02 -7.63146010e-03 2.07787107e+02] [ 4.09471871e-02 9.99161312e-01 -3.11214205e-05 4.36984969e+00] [ 7.62633399e-03 -2.81392411e-04 9.99970879e-01 8.03883240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559254154 meters 0.05875558422093218 Centerline is valid? [True, True] Translation: X:207.85, Y:4.37, Z:0.80 [[ 9.99257799e-01 -3.79860111e-02 -6.39642052e-03 2.07847457e+02] [ 3.79866223e-02 9.99278247e-01 -2.59547991e-05 4.37176668e+00] [ 6.39278980e-03 -2.17042875e-04 9.99979542e-01 8.04565506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619254154 meters 0.05828933365465805 Centerline is valid? [True, True] Translation: X:207.91, Y:4.37, Z:0.81 [[ 9.99373454e-01 -3.50098111e-02 -5.19733303e-03 2.07908522e+02] [ 3.50101746e-02 9.99386956e-01 -2.10532888e-05 4.37494795e+00] [ 5.19488391e-03 -1.60919439e-04 9.99986494e-01 8.05084465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679254154 meters 0.05858821026797568 Centerline is valid? [True, True] Translation: X:207.97, Y:4.38, Z:0.80 [[ 9.99569363e-01 -2.87779203e-02 -5.73756978e-03 2.07968496e+02] [ 2.87782610e-02 9.99585820e-01 -2.31988834e-05 4.37527632e+00] [ 5.73586100e-03 -1.41928387e-04 9.99983540e-01 8.04683644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739254154 meters 0.05755654684840576 Centerline is valid? [True, True] Translation: X:208.03, Y:4.38, Z:0.80 [[ 9.99711630e-01 -2.29151733e-02 -7.17993889e-03 2.08029210e+02] [ 2.29155557e-02 9.99737404e-01 -2.90144432e-05 4.38107136e+00] [ 7.17871834e-03 -1.35526213e-04 9.99974223e-01 8.04520953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799254154 meters 0.057405768175568056 Centerline is valid? [True, True] Translation: X:208.09, Y:4.39, Z:0.80 [[ 9.99764398e-01 -2.01824238e-02 -7.98858141e-03 2.08090861e+02] [ 2.01828111e-02 9.99796306e-01 -3.21501263e-05 4.38620731e+00] [ 7.98760305e-03 -1.29089478e-04 9.99968090e-01 8.04944630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859254154 meters 0.05742063194093388 Centerline is valid? [True, True] Translation: X:208.15, Y:4.39, Z:0.80 [[ 9.99788115e-01 -1.88933895e-02 -8.17101651e-03 2.08152537e+02] [ 1.88937533e-02 9.99821497e-01 -3.26771415e-05 4.38649655e+00] [ 8.17017534e-03 -1.21710952e-04 9.99966616e-01 8.04992224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91925415400001 meters 0.05800948953078791 Centerline is valid? [True, True] Translation: X:208.21, Y:4.38, Z:0.81 [[ 9.99774799e-01 -1.94303511e-02 -8.53300137e-03 2.08212706e+02] [ 1.94307683e-02 9.99811204e-01 -3.40165846e-05 4.38441867e+00] [ 8.53205133e-03 -1.31793848e-04 9.99963593e-01 8.05481952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters 0.0578485026966012 Centerline is valid? [True, True] Translation: X:208.27, Y:4.38, Z:0.81 [[ 9.99739176e-01 -2.19865932e-02 -6.17821322e-03 2.08273692e+02] [ 2.19868611e-02 9.99758259e-01 -2.45681189e-05 4.38462404e+00] [ 6.17725987e-03 -1.11277805e-04 9.99980914e-01 8.07455397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters 0.05847686100742404 Centerline is valid? [True, True] Translation: X:208.33, Y:4.38, Z:0.81 [[ 9.99695142e-01 -2.39428275e-02 -6.03025950e-03 2.08334808e+02] [ 2.39431190e-02 9.99713322e-01 -2.38634698e-05 4.37796614e+00] [ 6.02910212e-03 -1.20527026e-04 9.99981818e-01 8.07579412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099254154 meters 0.058873465985261005 Centerline is valid? [True, True] Translation: X:208.40, Y:4.37, Z:0.81 [[ 9.99579158e-01 -2.85562164e-02 -5.10381608e-03 2.08395201e+02] [ 2.85564858e-02 9.99592180e-01 -2.01047799e-05 4.37074826e+00] [ 5.10230876e-03 -1.25650732e-04 9.99986975e-01 8.08781498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159254154 meters 0.059072474991937025 Centerline is valid? [True, True] Translation: X:208.46, Y:4.37, Z:0.81 [[ 9.99439339e-01 -3.31528821e-02 -4.67920557e-03 2.08455488e+02] [ 3.31531590e-02 9.99450283e-01 -1.84033062e-05 4.36556624e+00] [ 4.67724345e-03 -1.36737458e-04 9.99989052e-01 8.09677471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219254154 meters 0.057606115171874375 Centerline is valid? [True, True] Translation: X:208.52, Y:4.36, Z:0.81 [[ 9.99054621e-01 -4.31324847e-02 -5.42714712e-03 2.08516290e+02] [ 4.31330042e-02 9.99069339e-01 -2.13324342e-05 4.36433170e+00] [ 5.42301640e-03 -2.12776892e-04 9.99985273e-01 8.07967167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279254154 meters 0.057466244939098986 Centerline is valid? [True, True] Translation: X:208.58, Y:4.36, Z:0.81 [[ 9.98690032e-01 -5.07153875e-02 -6.79488383e-03 2.08576885e+02] [ 5.07163771e-02 9.98713096e-01 -2.66926375e-05 4.35917894e+00] [ 6.78749320e-03 -3.17954220e-04 9.99976914e-01 8.06725084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339254154 meters 0.057941152210759767 Centerline is valid? [True, True] Translation: X:208.64, Y:4.36, Z:0.81 [[ 9.98144108e-01 -6.04660603e-02 -7.22467276e-03 2.08637070e+02] [ 6.04674337e-02 9.98170170e-01 -2.83786743e-05 4.36276008e+00] [ 7.21316878e-03 -4.08531415e-04 9.99973901e-01 8.07060306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399254154 meters 0.055847824531915474 Centerline is valid? [True, True] Translation: X:208.70, Y:4.37, Z:0.81 [[ 9.97896589e-01 -6.44055287e-02 -7.37053292e-03 2.08697714e+02] [ 6.44070653e-02 9.97923709e-01 -2.89377397e-05 4.37279006e+00] [ 7.35709330e-03 -4.45837523e-04 9.99972837e-01 8.08064038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459254154 meters 0.057654221451264795 Centerline is valid? [True, True] Translation: X:208.76, Y:4.36, Z:0.81 [[ 9.97891096e-01 -6.44886921e-02 -7.38703113e-03 2.08758628e+02] [ 6.44902407e-02 9.97918337e-01 -2.86167530e-05 4.36384993e+00] [ 7.37349928e-03 -4.47835013e-04 9.99972715e-01 8.07617459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519254154 meters 0.05625435710785889 Centerline is valid? [True, True] Translation: X:208.82, Y:4.38, Z:0.81 [[ 9.97988860e-01 -6.30499016e-02 -6.55328979e-03 2.08819269e+02] [ 6.30510921e-02 9.98010300e-01 -2.49748686e-05 4.37614007e+00] [ 6.54182537e-03 -3.88267438e-04 9.99978527e-01 8.07856707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579254154 meters 0.056640064710628525 Centerline is valid? [True, True] Translation: X:208.88, Y:4.37, Z:0.81 [[ 9.98076834e-01 -6.16689957e-02 -6.29033700e-03 2.08879075e+02] [ 6.16700655e-02 9.98096590e-01 -2.39400323e-05 4.37201647e+00] [ 6.27984027e-03 -3.64031503e-04 9.99980215e-01 8.07551299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.639254154 meters 0.05695351012021229 Centerline is valid? [True, True] Translation: X:208.94, Y:4.37, Z:0.81 [[ 9.98242351e-01 -5.89078571e-02 -6.48636587e-03 2.08938864e+02] [ 5.89089364e-02 9.98263360e-01 -2.47079812e-05 4.37161766e+00] [ 6.47655689e-03 -3.57440361e-04 9.99978963e-01 8.07825465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters 0.061999477332705125 Centerline is valid? [True, True] Translation: X:209.00, Y:4.36, Z:0.81 [[ 9.98403092e-01 -5.61067931e-02 -6.57978027e-03 2.08998521e+02] [ 5.61078426e-02 9.98424714e-01 -2.51202623e-05 4.35951349e+00] [ 6.57082465e-03 -3.44097128e-04 9.99978353e-01 8.07989551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters 0.05938268373386093 Centerline is valid? [True, True] Translation: X:209.06, Y:4.37, Z:0.81 [[ 9.98719676e-01 -5.02087878e-02 -6.17136747e-03 2.09059571e+02] [ 5.02095984e-02 9.98738702e-01 -2.36049092e-05 4.37399166e+00] [ 6.16476871e-03 -2.86287195e-04 9.99980957e-01 8.08743338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819254154 meters 0.056500045832039804 Centerline is valid? [True, True] Translation: X:209.12, Y:4.39, Z:0.81 [[ 9.98956117e-01 -4.53180885e-02 -5.74003343e-03 2.09119988e+02] [ 4.53187091e-02 9.98972579e-01 -2.19626426e-05 4.39354013e+00] [ 5.73513131e-03 -2.38191189e-04 9.99983526e-01 8.09254396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879254154 meters 0.057152017521276605 Centerline is valid? [True, True] Translation: X:209.18, Y:4.39, Z:0.81 [[ 9.99327264e-01 -3.60378513e-02 -6.80391389e-03 2.09179918e+02] [ 3.60385087e-02 9.99350402e-01 -2.60007938e-05 4.39195031e+00] [ 6.80043109e-03 -2.19219608e-04 9.99976853e-01 8.07852061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939254154 meters 0.05845195151078858 Centerline is valid? [True, True] Translation: X:209.24, Y:4.39, Z:0.81 [[ 9.99651650e-01 -2.49326814e-02 -8.65675553e-03 2.09239575e+02] [ 2.49333290e-02 9.99689116e-01 -3.31290966e-05 4.39375101e+00] [ 8.65489028e-03 -1.82724178e-04 9.99962529e-01 8.05479703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999254154 meters 0.05678838597604497 Centerline is valid? [True, True] Translation: X:209.30, Y:4.41, Z:0.81 [[ 9.99826097e-01 -1.72911215e-02 -6.98514984e-03 2.09299934e+02] [ 1.72913564e-02 9.99850493e-01 -2.67643552e-05 4.40866914e+00] [ 6.98456830e-03 -9.40230145e-05 9.99975603e-01 8.08117004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059254154 meters 0.05590670392696821 Centerline is valid? [True, True] Translation: X:209.36, Y:4.42, Z:0.81 [[ 9.99931531e-01 -9.74322575e-03 -6.48091563e-03 2.09360363e+02] [ 9.74326941e-03 9.99952533e-01 -2.48377744e-05 4.41524003e+00] [ 6.48085000e-03 -3.83092332e-05 9.99978998e-01 8.09490726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119254154 meters 0.056615797025033304 Centerline is valid? [True, True] Translation: X:209.42, Y:4.42, Z:0.81 [[ 9.99982723e-01 -1.27714655e-03 -5.73779081e-03 2.09419940e+02] [ 1.27704131e-03 9.99999184e-01 -2.20053063e-05 4.42169315e+00] [ 5.73781424e-03 1.46775302e-05 9.99983538e-01 8.10486153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179254154 meters 0.05617164693633394 Centerline is valid? [True, True] Translation: X:209.48, Y:4.42, Z:0.81 [[ 9.99985901e-01 8.51246532e-04 -5.24140417e-03 2.09478906e+02] [-8.51364580e-04 9.99999637e-01 -2.02911198e-05 4.42296154e+00] [ 5.24138500e-03 2.47531796e-05 9.99986264e-01 8.10829288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239254154 meters 0.05668582818019517 Centerline is valid? [True, True] Translation: X:209.54, Y:4.42, Z:0.81 [[ 9.99984278e-01 -6.19542612e-04 -5.57318931e-03 2.09536904e+02] [ 6.19428740e-04 9.99999808e-01 -2.21582611e-05 4.42003993e+00] [ 5.57320197e-03 1.87057191e-05 9.99984469e-01 8.11339141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299254154 meters 0.057000911801273604 Centerline is valid? [True, True] Translation: X:209.60, Y:4.42, Z:0.81 [[ 9.99973457e-01 -3.70903747e-03 -6.27123062e-03 2.09595332e+02] [ 3.70895249e-03 9.99993122e-01 -2.51803536e-05 4.41924611e+00] [ 6.27128088e-03 1.91998884e-06 9.99980335e-01 8.10636156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359254154 meters 0.0570774646831996 Centerline is valid? [True, True] Translation: X:209.65, Y:4.41, Z:0.81 [[ 9.99936431e-01 -9.22625805e-03 -6.48154773e-03 2.09654579e+02] [ 9.22628228e-03 9.99957437e-01 -2.61617883e-05 4.41369161e+00] [ 6.48151323e-03 -3.36404637e-05 9.99978994e-01 8.10165127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41925415400001 meters 0.05718939326832565 Centerline is valid? [True, True] Translation: X:209.71, Y:4.41, Z:0.81 [[ 9.99903060e-01 -1.23740329e-02 -6.38386317e-03 2.09714303e+02] [ 1.23741199e-02 9.99923437e-01 -2.58752022e-05 4.41063943e+00] [ 6.38369458e-03 -5.31219944e-05 9.99979623e-01 8.10410776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters 0.05696466491309326 Centerline is valid? [True, True] Translation: X:209.78, Y:4.41, Z:0.81 [[ 9.99852377e-01 -1.62922087e-02 -5.45779517e-03 2.09775194e+02] [ 1.62923303e-02 9.99867271e-01 -2.21800564e-05 4.40583295e+00] [ 5.45743212e-03 -6.67434194e-05 9.99985106e-01 8.10687196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters 0.056969276557436235 Centerline is valid? [True, True] Translation: X:209.84, Y:4.40, Z:0.81 [[ 9.99793474e-01 -1.97176621e-02 -4.92161221e-03 2.09836093e+02] [ 1.97178028e-02 9.99805585e-01 -1.99426488e-05 4.40072376e+00] [ 4.92104859e-03 -7.71048487e-05 9.99987889e-01 8.10774952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599254154 meters 0.05814934546193486 Centerline is valid? [True, True] Translation: X:209.90, Y:4.39, Z:0.81 [[ 9.99632233e-01 -2.66745534e-02 -4.88545799e-03 2.09896035e+02] [ 2.66747761e-02 9.99644165e-01 -1.95688002e-05 4.39062158e+00] [ 4.88424156e-03 -1.10756895e-04 9.99988066e-01 8.10942281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659254154 meters 0.0582989299017381 Centerline is valid? [True, True] Translation: X:209.96, Y:4.39, Z:0.81 [[ 9.99343155e-01 -3.57128321e-02 -6.15234068e-03 2.09956337e+02] [ 3.57133562e-02 9.99362074e-01 -2.46741212e-05 4.38641644e+00] [ 6.14929712e-03 -1.95062820e-04 9.99981074e-01 8.11063687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719254154 meters 0.057859210463496145 Centerline is valid? [True, True] Translation: X:210.02, Y:4.39, Z:0.81 [[ 9.98846710e-01 -4.74237034e-02 -7.49947537e-03 2.10017047e+02] [ 4.74248118e-02 9.98874810e-01 -3.00728289e-05 4.38647330e+00] [ 7.49246320e-03 -3.25623061e-04 9.99971878e-01 8.10416939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779254154 meters 0.058146135626973766 Centerline is valid? [True, True] Translation: X:210.08, Y:4.38, Z:0.81 [[ 9.98433112e-01 -5.53921030e-02 -7.93945075e-03 2.10076583e+02] [ 5.53935967e-02 9.98464595e-01 -3.18103423e-05 4.37913875e+00] [ 7.92902253e-03 -4.08034234e-04 9.99968482e-01 8.09692839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839254154 meters 0.05685683233332174 Centerline is valid? [True, True] Translation: X:210.14, Y:4.38, Z:0.81 [[ 9.98042028e-01 -6.20411500e-02 -7.93760795e-03 2.10137278e+02] [ 6.20428530e-02 9.98073486e-01 -3.17594417e-05 4.38437406e+00] [ 7.92428643e-03 -4.60774585e-04 9.99968496e-01 8.10511374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899254154 meters 0.06464563986657898 Centerline is valid? [True, True] Translation: X:210.20, Y:4.36, Z:0.81 [[ 9.97673496e-01 -6.76301482e-02 -8.58830330e-03 2.10197097e+02] [ 6.76323477e-02 9.97710311e-01 -3.43894183e-05 4.35773157e+00] [ 8.57096452e-03 -5.46537704e-04 9.99963119e-01 8.09665803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959254154 meters 0.06308350547805884 Centerline is valid? [True, True] Translation: X:210.26, Y:4.37, Z:0.81 [[ 9.97586841e-01 -6.89368882e-02 -8.25838282e-03 2.10258422e+02] [ 6.89389668e-02 9.97620879e-01 -3.30381494e-05 4.36531219e+00] [ 8.24101268e-03 -5.36365956e-04 9.99965898e-01 8.10797493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019254154 meters 0.0561145154466115 Centerline is valid? [True, True] Translation: X:210.32, Y:4.39, Z:0.81 [[ 9.97629076e-01 -6.83706376e-02 -7.85386470e-03 2.10320379e+02] [ 6.83725018e-02 9.97659862e-01 -3.11963048e-05 4.39361088e+00] [ 7.83761849e-03 -5.05866038e-04 9.99969157e-01 8.12734130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079254154 meters 0.06654946876609852 Centerline is valid? [True, True] Translation: X:210.38, Y:4.36, Z:0.81 [[ 9.97812933e-01 -6.56640446e-02 -7.58838522e-03 2.10379960e+02] [ 6.56657080e-02 9.97841678e-01 -3.00104933e-05 4.36027984e+00] [ 7.57397765e-03 -4.68351830e-04 9.99971207e-01 8.11999488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.139254154 meters 0.06118813480766441 Centerline is valid? [True, True] Translation: X:210.44, Y:4.38, Z:0.81 [[ 9.97985411e-01 -6.30410065e-02 -7.13802720e-03 2.10440238e+02] [ 6.30424113e-02 9.98010848e-01 -2.82409886e-05 4.37891330e+00] [ 7.12560892e-03 -4.21814352e-04 9.99974524e-01 8.13128020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters 0.058671207396648446 Centerline is valid? [True, True] Translation: X:210.50, Y:4.39, Z:0.81 [[ 9.98125980e-01 -6.07088836e-02 -7.67850263e-03 2.10501215e+02] [ 6.07104409e-02 9.98155419e-01 -3.03206856e-05 4.39156123e+00] [ 7.66617975e-03 -4.35901416e-04 9.99970519e-01 8.13473038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters 0.061563057626754306 Centerline is valid? [True, True] Translation: X:210.56, Y:4.39, Z:0.81 [[ 9.98420046e-01 -5.55141569e-02 -8.69424428e-03 2.10561089e+02] [ 5.55159574e-02 9.98457799e-01 -3.43010221e-05 4.38779188e+00] [ 8.68274020e-03 -4.48422467e-04 9.99962204e-01 8.12571203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319254154 meters 0.0573827004509177 Centerline is valid? [True, True] Translation: X:210.62, Y:4.41, Z:0.81 [[ 9.98665496e-01 -5.08822958e-02 -8.84411497e-03 2.10621470e+02] [ 5.08839776e-02 9.98704571e-01 -3.48980234e-05 4.40746028e+00] [ 8.83443374e-03 -4.15172296e-04 9.99960889e-01 8.14146336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379254154 meters 0.0599871518423984 Centerline is valid? [True, True] Translation: X:210.68, Y:4.40, Z:0.81 [[ 9.98926312e-01 -4.54592528e-02 -8.92633349e-03 2.10681200e+02] [ 4.54607499e-02 9.98966125e-01 -3.52176030e-05 4.40284088e+00] [ 8.91870574e-03 -3.70618024e-04 9.99960159e-01 8.13678715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439254154 meters 0.056418123900217054 Centerline is valid? [True, True] Translation: X:210.74, Y:4.42, Z:0.81 [[ 9.99180822e-01 -3.94490990e-02 -9.02510806e-03 2.10742195e+02] [ 3.94503848e-02 9.99221530e-01 -3.55823533e-05 4.42203112e+00] [ 9.01948598e-03 -3.20490781e-04 9.99959272e-01 8.14971779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499254154 meters 0.05635642137657543 Centerline is valid? [True, True] Translation: X:210.80, Y:4.43, Z:0.81 [[ 9.99548401e-01 -2.83799070e-02 -9.87803808e-03 2.10802400e+02] [ 2.83809072e-02 9.99597180e-01 -3.89362252e-05 4.42916417e+00] [ 9.87516402e-03 -2.41429041e-04 9.99951210e-01 8.14599931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559254154 meters 0.05610335036060283 Centerline is valid? [True, True] Translation: X:210.86, Y:4.43, Z:0.81 [[ 9.99750552e-01 -2.00500773e-02 -9.84010815e-03 2.10862023e+02] [ 2.00506664e-02 9.99798964e-01 -3.87940412e-05 4.43319671e+00] [ 9.83890776e-03 -1.58516362e-04 9.99951584e-01 8.14598692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619254154 meters 0.05666476375074715 Centerline is valid? [True, True] Translation: X:210.92, Y:4.44, Z:0.82 [[ 9.99942307e-01 -7.97628872e-03 -7.19451071e-03 2.10921804e+02] [ 7.97629089e-03 9.99968188e-01 -2.83917903e-05 4.44118096e+00] [ 7.19450831e-03 -2.89953580e-05 9.99974119e-01 8.17351139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679254154 meters 0.05681651926032158 Centerline is valid? [True, True] Translation: X:210.98, Y:4.44, Z:0.82 [[ 9.99985397e-01 -4.20852429e-04 -5.38776563e-03 2.10980717e+02] [ 4.20743725e-04 9.99999911e-01 -2.13094916e-05 4.44491854e+00] [ 5.38777412e-03 1.90423118e-05 9.99985486e-01 8.18237039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739254154 meters 0.05610776465704797 Centerline is valid? [True, True] Translation: X:211.04, Y:4.44, Z:0.82 [[ 9.99983445e-01 1.15413782e-03 -5.63709443e-03 2.11039284e+02] [-1.15428326e-03 9.99999334e-01 -2.25479865e-05 4.44487385e+00] [ 5.63706465e-03 2.90544170e-05 9.99984111e-01 8.18333967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799254154 meters 0.056507948875831805 Centerline is valid? [True, True] Translation: X:211.10, Y:4.44, Z:0.82 [[ 9.99968977e-01 -2.19865110e-03 -7.56384309e-03 2.11098655e+02] [ 2.19848009e-03 9.99997583e-01 -3.09239389e-05 4.43815665e+00] [ 7.56389280e-03 1.42940211e-05 9.99971393e-01 8.16938300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859254154 meters 0.0563111179481537 Centerline is valid? [True, True] Translation: X:211.16, Y:4.43, Z:0.82 [[ 9.99937686e-01 -7.19936139e-03 -8.53194157e-03 2.11156259e+02] [ 7.19932364e-03 9.99974084e-01 -3.51379753e-05 4.43228004e+00] [ 8.53197343e-03 -2.62884230e-05 9.99963602e-01 8.15455875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91925415400001 meters 0.057188449059309254 Centerline is valid? [True, True] Translation: X:211.21, Y:4.42, Z:0.82 [[ 9.99843754e-01 -1.53092692e-02 -8.83707229e-03 2.11214940e+02] [ 1.53095432e-02 9.99882801e-01 -3.66407305e-05 4.42224432e+00] [ 8.83659754e-03 -9.86565342e-05 9.99960952e-01 8.16110746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters 0.05697764314822215 Centerline is valid? [True, True] Translation: X:211.28, Y:4.42, Z:0.82 [[ 9.99761488e-01 -2.04715443e-02 -7.60814190e-03 2.11275353e+02] [ 2.04718964e-02 9.99790428e-01 -3.15951151e-05 4.41726673e+00] [ 7.60719425e-03 -1.24165514e-04 9.99971057e-01 8.17088351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters 0.05611630972122748 Centerline is valid? [True, True] Translation: X:211.34, Y:4.41, Z:0.82 [[ 9.99592014e-01 -2.79089985e-02 -6.07394773e-03 2.11335404e+02] [ 2.79093604e-02 9.99610458e-01 -2.51868792e-05 4.41268008e+00] [ 6.07228461e-03 -1.44343393e-04 9.99981553e-01 8.18789786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099254154 meters 0.056825658695577125 Centerline is valid? [True, True] Translation: X:211.40, Y:4.40, Z:0.82 [[ 9.99329532e-01 -3.61372368e-02 -5.88102505e-03 2.11395759e+02] [ 3.61377187e-02 9.99346819e-01 -2.43500474e-05 4.40328342e+00] [ 5.87806362e-03 -1.88193107e-04 9.99982706e-01 8.18739207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159254154 meters 0.06233008329230438 Centerline is valid? [True, True] Translation: X:211.46, Y:4.38, Z:0.82 [[ 9.99072819e-01 -4.23847008e-02 -7.55239684e-03 2.11455419e+02] [ 4.23856744e-02 9.99101323e-01 -3.11827961e-05 4.38173083e+00] [ 7.54693135e-03 -2.88959549e-04 9.99971480e-01 8.16912210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219254154 meters 0.05994670687026706 Centerline is valid? [True, True] Translation: X:211.52, Y:4.38, Z:0.82 [[ 9.98513027e-01 -5.37771859e-02 -8.93023355e-03 2.11515607e+02] [ 5.37790021e-02 9.98552862e-01 -3.68068516e-05 4.38306805e+00] [ 8.91928964e-03 -4.43506928e-04 9.99960124e-01 8.17171714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279254154 meters 0.06072253696651652 Centerline is valid? [True, True] Translation: X:211.58, Y:4.38, Z:0.82 [[ 9.98135388e-01 -6.02784956e-02 -9.60468104e-03 2.11576410e+02] [ 6.02808967e-02 9.98181452e-01 -3.95697784e-05 4.37767531e+00] [ 9.58959967e-03 -5.39482789e-04 9.99953873e-01 8.16168473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339254154 meters 0.06417256611123093 Centerline is valid? [True, True] Translation: X:211.64, Y:4.37, Z:0.82 [[ 9.97768062e-01 -6.59190909e-02 -1.06567891e-02 2.11637250e+02] [ 6.59223676e-02 9.97824754e-01 -4.38879095e-05 4.36906222e+00] [ 1.06365010e-02 -6.58730812e-04 9.99943214e-01 8.15105709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399254154 meters 0.05962557326761065 Centerline is valid? [True, True] Translation: X:211.70, Y:4.38, Z:0.82 [[ 9.97773542e-01 -6.59697765e-02 -9.79525753e-03 2.11700144e+02] [ 6.59725499e-02 9.97821437e-01 -4.00688964e-05 4.38334815e+00] [ 9.77656129e-03 -6.06238431e-04 9.99952025e-01 8.16953110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459254154 meters 0.059579288567195327 Centerline is valid? [True, True] Translation: X:211.76, Y:4.39, Z:0.82 [[ 9.98123163e-01 -6.04163225e-02 -1.00010084e-02 2.11760608e+02] [ 6.04189379e-02 9.98173106e-01 -4.06972221e-05 4.38933995e+00] [ 9.98519636e-03 -5.63629463e-04 9.99949988e-01 8.17740718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519254154 meters 0.05868207340834628 Centerline is valid? [True, True] Translation: X:211.82, Y:4.40, Z:0.82 [[ 9.98546920e-01 -5.30470985e-02 -9.48968243e-03 2.11820983e+02] [ 5.30491215e-02 9.98591903e-01 -3.85823878e-05 4.39880177e+00] [ 9.47836672e-03 -4.64892991e-04 9.99954971e-01 8.18898691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579254154 meters 0.05893498242008551 Centerline is valid? [True, True] Translation: X:211.88, Y:4.40, Z:0.82 [[ 9.98793634e-01 -4.82310248e-02 -9.22194869e-03 2.11882003e+02] [ 4.82327310e-02 9.98836124e-01 -3.74289571e-05 4.40295088e+00] [ 9.21302072e-03 -4.07415967e-04 9.99957476e-01 8.19234062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.639254154 meters 0.0587361738837027 Centerline is valid? [True, True] Translation: X:211.94, Y:4.41, Z:0.82 [[ 9.99100783e-01 -4.12412625e-02 -9.83785483e-03 2.11941204e+02] [ 4.12428663e-02 9.99149150e-01 -3.98877344e-05 4.40892482e+00] [ 9.83112932e-03 -3.65889465e-04 9.99951606e-01 8.19684905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters 0.05720529481135731 Centerline is valid? [True, True] Translation: X:212.00, Y:4.42, Z:0.82 [[ 9.99301252e-01 -3.61844792e-02 -9.36432200e-03 2.12001875e+02] [ 3.61857101e-02 9.99345082e-01 -3.80079983e-05 4.42345359e+00] [ 9.35956444e-03 -3.00873201e-04 9.99956153e-01 8.21059993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters 0.05657200117858849 Centerline is valid? [True, True] Translation: X:212.06, Y:4.43, Z:0.82 [[ 9.99597138e-01 -2.69777021e-02 -8.81851510e-03 2.12062223e+02] [ 2.69784353e-02 9.99636015e-01 -3.58245149e-05 4.43407718e+00] [ 8.81627175e-03 -2.02099657e-04 9.99961115e-01 8.21772943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819254154 meters 0.05612251211018171 Centerline is valid? [True, True] Translation: X:212.12, Y:4.44, Z:0.82 [[ 9.99854531e-01 -1.43549039e-02 -9.21157336e-03 2.12121468e+02] [ 1.43551678e-02 9.99896959e-01 -3.74740066e-05 4.44109896e+00] [ 9.21116213e-03 -9.47651260e-05 9.99957572e-01 8.19695807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879254154 meters 0.05693730226083417 Centerline is valid? [True, True] Translation: X:212.18, Y:4.45, Z:0.82 [[ 9.99884060e-01 -1.22235242e-02 -9.08034416e-03 2.12182015e+02] [ 1.22236924e-02 9.99925287e-01 -3.69757731e-05 4.44542558e+00] [ 9.08011771e-03 -7.40238475e-05 9.99958772e-01 8.20871675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939254154 meters 0.05690978390947728 Centerline is valid? [True, True] Translation: X:212.24, Y:4.45, Z:0.82 [[ 9.99923691e-01 -9.04501361e-03 -8.41421651e-03 2.12242020e+02] [ 9.04504520e-03 9.99959092e-01 -3.43005818e-05 4.45161385e+00] [ 8.41418255e-03 -4.18090043e-05 9.99964599e-01 8.22264385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999254154 meters 0.05609322504789035 Centerline is valid? [True, True] Translation: X:212.30, Y:4.46, Z:0.82 [[ 9.99948239e-01 -6.60667779e-03 -7.73761671e-03 2.12301448e+02] [ 6.60663077e-03 9.99978175e-01 -3.16366773e-05 4.45730932e+00] [ 7.73765685e-03 -1.94845368e-05 9.99970064e-01 8.23020649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059254154 meters 0.05692354368927005 Centerline is valid? [True, True] Translation: X:212.36, Y:4.46, Z:0.82 [[ 9.99948346e-01 -7.14337947e-03 -7.23036080e-03 2.12360363e+02] [ 7.14335124e-03 9.99974486e-01 -2.97293269e-05 4.45769748e+00] [ 7.23038869e-03 -2.19212155e-05 9.99973860e-01 8.23277600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119254154 meters 0.056606549428174474 Centerline is valid? [True, True] Translation: X:212.42, Y:4.46, Z:0.82 [[ 9.99930768e-01 -9.57443002e-03 -6.84029988e-03 2.12418957e+02] [ 9.57445967e-03 9.99954163e-01 -2.84131559e-05 4.45792929e+00] [ 6.84025838e-03 -3.70809866e-05 9.99976604e-01 8.24739649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179254154 meters 0.05591706996374838 Centerline is valid? [True, True] Translation: X:212.48, Y:4.45, Z:0.83 [[ 9.99878917e-01 -1.40980005e-02 -6.58772544e-03 2.12478378e+02] [ 1.40981247e-02 9.99900616e-01 -2.75821279e-05 4.45402985e+00] [ 6.58745958e-03 -6.52957867e-05 9.99978300e-01 8.25986274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239254154 meters 0.05621868463994291 Centerline is valid? [True, True] Translation: X:212.54, Y:4.45, Z:0.83 [[ 9.99813436e-01 -1.84071413e-02 -5.85415534e-03 2.12539215e+02] [ 1.84073134e-02 9.99830571e-01 -2.44754133e-05 4.45218601e+00] [ 5.85361399e-03 -8.32884250e-05 9.99982864e-01 8.26321412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299254154 meters 0.05632353754715358 Centerline is valid? [True, True] Translation: X:212.60, Y:4.45, Z:0.83 [[ 9.99736197e-01 -2.21859277e-02 -5.94314186e-03 2.12598994e+02] [ 2.21861728e-02 9.99753856e-01 -2.47042888e-05 4.44778235e+00] [ 5.94222708e-03 -1.07157800e-04 9.99982339e-01 8.25345509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359254154 meters 0.05698769355431636 Centerline is valid? [True, True] Translation: X:212.66, Y:4.44, Z:0.83 [[ 9.99666923e-01 -2.50061861e-02 -6.38233514e-03 2.12660354e+02] [ 2.50065276e-02 9.99687288e-01 -2.63059485e-05 4.44369321e+00] [ 6.38099712e-03 -1.33302853e-04 9.99979632e-01 8.25271963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41925415400001 meters 0.05725766502384125 Centerline is valid? [True, True] Translation: X:212.72, Y:4.44, Z:0.83 [[ 9.99597084e-01 -2.75449290e-02 -6.85178841e-03 2.12721185e+02] [ 2.75453833e-02 9.99620554e-01 -2.80740619e-05 4.44250509e+00] [ 6.84996182e-03 -1.60672388e-04 9.99976526e-01 8.25107905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters 0.05811278200091273 Centerline is valid? [True, True] Translation: X:212.78, Y:4.43, Z:0.82 [[ 9.99553119e-01 -2.88082180e-02 -7.97797234e-03 2.12782008e+02] [ 2.88088755e-02 9.99584938e-01 -3.25167451e-05 4.43333866e+00] [ 7.97559774e-03 -1.97334198e-04 9.99968175e-01 8.23861798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539254154 meters 0.056522929660982546 Centerline is valid? [True, True] Translation: X:212.84, Y:4.44, Z:0.82 [[ 9.99466811e-01 -3.15053125e-02 -8.57372174e-03 2.12842795e+02] [ 3.15061719e-02 9.99503557e-01 -3.48422552e-05 4.43785827e+00] [ 8.57056309e-03 -2.35301474e-04 9.99963244e-01 8.24203259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599254154 meters 0.0576247661921928 Centerline is valid? [True, True] Translation: X:212.90, Y:4.43, Z:0.82 [[ 9.99376545e-01 -3.41192226e-02 -9.07748710e-03 2.12903995e+02] [ 3.41202947e-02 9.99417733e-01 -3.67812798e-05 4.43038287e+00] [ 9.07345653e-03 -2.72968187e-04 9.99958798e-01 8.24524277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659254154 meters 0.05771995781046017 Centerline is valid? [True, True] Translation: X:212.97, Y:4.43, Z:0.83 [[ 9.99324521e-01 -3.56609063e-02 -8.87701224e-03 2.12965877e+02] [ 3.56619941e-02 9.99363908e-01 -3.57596918e-05 4.43136510e+00] [ 8.87264086e-03 -2.80836422e-04 9.99960598e-01 8.25740790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719254154 meters 0.058145213089704245 Centerline is valid? [True, True] Translation: X:213.03, Y:4.43, Z:0.83 [[ 9.99196793e-01 -3.90246200e-02 -9.10204534e-03 2.13025105e+02] [ 3.90259039e-02 9.99238199e-01 -3.65746312e-05 4.42738341e+00] [ 9.09653870e-03 -3.18670293e-04 9.99958575e-01 8.26114194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779254154 meters 0.05721389281824338 Centerline is valid? [True, True] Translation: X:213.09, Y:4.43, Z:0.83 [[ 9.99085226e-01 -4.18539786e-02 -8.77247986e-03 2.13085956e+02] [ 4.18552802e-02 9.99123683e-01 -3.52374078e-05 4.43250357e+00] [ 8.76626722e-03 -3.31969430e-04 9.99961520e-01 8.28010968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839254154 meters 0.05731442171756118 Centerline is valid? [True, True] Translation: X:213.15, Y:4.43, Z:0.83 [[ 9.98913247e-01 -4.57776110e-02 -8.75990599e-03 2.13145154e+02] [ 4.57790592e-02 9.98951589e-01 -3.52262700e-05 4.42877194e+00] [ 8.75233458e-03 -3.65832267e-04 9.99961631e-01 8.28229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899254154 meters 0.05712330164390682 Centerline is valid? [True, True] Translation: X:213.21, Y:4.43, Z:0.83 [[ 9.98869869e-01 -4.66703274e-02 -8.99251748e-03 2.13207097e+02] [ 4.66718906e-02 9.98910273e-01 -3.60652930e-05 4.43151130e+00] [ 8.98440127e-03 -3.83673257e-04 9.99959566e-01 8.28703097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959254154 meters 0.056792336526956894 Centerline is valid? [True, True] Translation: X:213.27, Y:4.43, Z:0.83 [[ 9.98972992e-01 -4.43474678e-02 -9.28784604e-03 2.13267789e+02] [ 4.43490369e-02 9.99016097e-01 -3.70435714e-05 4.43312700e+00] [ 9.28035049e-03 -3.74901500e-04 9.99956866e-01 8.27930200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019254154 meters 0.05745872926911258 Centerline is valid? [True, True] Translation: X:213.33, Y:4.44, Z:0.83 [[ 9.99114610e-01 -4.09560101e-02 -9.62296416e-03 2.13328729e+02] [ 4.09575381e-02 9.99160887e-01 -3.83163163e-05 4.43590153e+00] [ 9.61645869e-03 -3.55850530e-04 9.99953697e-01 8.27790632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079254154 meters 0.05810623407177219 Centerline is valid? [True, True] Translation: X:213.39, Y:4.44, Z:0.83 [[ 9.99384582e-01 -3.40091676e-02 -8.59269585e-03 2.13388433e+02] [ 3.40101294e-02 9.99421488e-01 -3.42087666e-05 4.43908556e+00] [ 8.58888828e-03 -2.58050983e-04 9.99963082e-01 8.28425318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.139254154 meters 0.05674722463177503 Centerline is valid? [True, True] Translation: X:213.45, Y:4.45, Z:0.83 [[ 9.99615713e-01 -2.67654125e-02 -7.21387152e-03 2.13449312e+02] [ 2.67659018e-02 9.99641729e-01 -2.87221729e-05 4.45260062e+00] [ 7.21205576e-03 -1.64374642e-04 9.99973979e-01 8.29870699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters 0.05593280034461537 Centerline is valid? [True, True] Translation: X:213.51, Y:4.45, Z:0.83 [[ 9.99719979e-01 -2.25912024e-02 -7.04288132e-03 2.13509513e+02] [ 2.25915652e-02 9.99744778e-01 -2.80480361e-05 4.45429516e+00] [ 7.04171746e-03 -1.31069530e-04 9.99975198e-01 8.30214308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters 0.056556229581414076 Centerline is valid? [True, True] Translation: X:213.57, Y:4.46, Z:0.83 [[ 9.99803318e-01 -1.84762601e-02 -7.20789625e-03 2.13570092e+02] [ 1.84765335e-02 9.99829294e-01 -2.86528186e-05 4.45838553e+00] [ 7.20719522e-03 -1.04529754e-04 9.99974022e-01 8.30796275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319254154 meters 0.05669295329472347 Centerline is valid? [True, True] Translation: X:213.63, Y:4.46, Z:0.83 [[ 9.99821481e-01 -1.73314636e-02 -7.52502737e-03 2.13631210e+02] [ 1.73317304e-02 9.99849794e-01 -2.97613282e-05 4.45820895e+00] [ 7.52441287e-03 -1.00665730e-04 9.99971686e-01 8.30078108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379254154 meters 0.05694292841888943 Centerline is valid? [True, True] Translation: X:213.69, Y:4.46, Z:0.83 [[ 9.99804835e-01 -1.74330046e-02 -9.29423029e-03 2.13693384e+02] [ 1.74334187e-02 9.99848026e-01 -3.64677415e-05 4.45795583e+00] [ 9.29345355e-03 -1.25569584e-04 9.99956807e-01 8.28490353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439254154 meters 0.05681888484097209 Centerline is valid? [True, True] Translation: X:213.75, Y:4.46, Z:0.83 [[ 9.99795734e-01 -1.75978701e-02 -9.94007387e-03 2.13753619e+02] [ 1.75983542e-02 9.99845136e-01 -3.87681864e-05 4.45688070e+00] [ 9.93921675e-03 -1.36168673e-04 9.99950595e-01 8.27211888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499254154 meters 0.0564253594192456 Centerline is valid? [True, True] Translation: X:213.82, Y:4.46, Z:0.83 [[ 9.99806317e-01 -1.75725724e-02 -8.86191061e-03 2.13815410e+02] [ 1.75729574e-02 9.99845583e-01 -3.44271935e-05 4.45706084e+00] [ 8.86114716e-03 -1.21309452e-04 9.99960732e-01 8.27885011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559254154 meters 0.05609450645792933 Centerline is valid? [True, True] Translation: X:213.88, Y:4.46, Z:0.83 [[ 9.99871089e-01 -1.42823155e-02 -7.33622951e-03 2.13875221e+02] [ 1.42824912e-02 9.99898000e-01 -2.84475552e-05 4.45761693e+00] [ 7.33588751e-03 -7.63357454e-05 9.99973089e-01 8.28920170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619254154 meters 0.05629044758850771 Centerline is valid? [True, True] Translation: X:213.94, Y:4.46, Z:0.83 [[ 9.99929744e-01 -9.77015400e-03 -6.71204148e-03 2.13935616e+02] [ 9.77019954e-03 9.99952270e-01 -2.60053465e-05 4.45903193e+00] [ 6.71197519e-03 -3.95744651e-05 9.99977474e-01 8.29454117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679254154 meters 0.05574150930378097 Centerline is valid? [True, True] Translation: X:214.00, Y:4.46, Z:0.83 [[ 9.99972134e-01 -4.70012956e-03 -5.80002208e-03 2.13995175e+02] [ 4.70007835e-03 9.99988954e-01 -2.24595281e-05 4.46257988e+00] [ 5.80006357e-03 -4.80165599e-06 9.99983179e-01 8.30596454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739254154 meters 0.05677674902795016 Centerline is valid? [True, True] Translation: X:214.05, Y:4.46, Z:0.83 [[ 9.99969419e-01 -4.06948399e-03 -6.67829455e-03 2.14054387e+02] [ 4.06940150e-03 9.99991720e-01 -2.59400247e-05 4.45993635e+00] [ 6.67834482e-03 -1.23743040e-06 9.99977700e-01 8.29612180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799254154 meters 0.056978426454339086 Centerline is valid? [True, True] Translation: X:214.11, Y:4.46, Z:0.83 [[ 9.99943623e-01 -6.21350582e-03 -8.61067014e-03 2.14111872e+02] [ 6.21344621e-03 9.99980696e-01 -3.36748881e-05 4.45687194e+00] [ 8.61071316e-03 -1.98289461e-05 9.99962927e-01 8.27714575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859254154 meters 0.056469005997939886 Centerline is valid? [True, True] Translation: X:214.17, Y:4.45, Z:0.83 [[ 9.99882355e-01 -1.17690352e-02 -9.83692255e-03 2.14171306e+02] [ 1.17692238e-02 9.99930740e-01 -3.87118362e-05 4.45241428e+00] [ 9.83669684e-03 -7.70656615e-05 9.99951616e-01 8.27951698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91925415400001 meters 0.05673664247278013 Centerline is valid? [True, True] Translation: X:214.23, Y:4.45, Z:0.83 [[ 9.99785666e-01 -1.84183206e-02 -9.45450883e-03 2.14231941e+02] [ 1.84187915e-02 9.99830359e-01 -3.72704941e-05 4.44820871e+00] [ 9.45359142e-03 -1.36878121e-04 9.99955304e-01 8.27994304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters 0.05681508673626188 Centerline is valid? [True, True] Translation: X:214.29, Y:4.44, Z:0.83 [[ 9.99694964e-01 -2.31262991e-02 -8.66905327e-03 2.14292463e+02] [ 2.31268723e-02 9.99732538e-01 -3.41343659e-05 4.44376142e+00] [ 8.66752403e-03 -1.66364134e-04 9.99962422e-01 8.28728427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039254154 meters 0.05750803123863073 Centerline is valid? [True, True] Translation: X:214.35, Y:4.44, Z:0.83 [[ 9.99465267e-01 -3.17526492e-02 -7.80694873e-03 2.14352082e+02] [ 3.17533782e-02 9.99495734e-01 -3.05861644e-05 4.43684880e+00] [ 7.80398314e-03 -2.17327187e-04 9.99969525e-01 8.29831960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099254154 meters 0.05673113602608072 Centerline is valid? [True, True] Translation: X:214.41, Y:4.44, Z:0.83 [[ 9.99186528e-01 -3.96429199e-02 -7.39735543e-03 2.14413110e+02] [ 3.96437913e-02 9.99213876e-01 -2.88560070e-05 4.43541060e+00] [ 7.39268412e-03 -2.64426681e-04 9.99972639e-01 8.30704379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159254154 meters 0.05956542808396204 Centerline is valid? [True, True] Translation: X:214.47, Y:4.42, Z:0.83 [[ 9.99008774e-01 -4.38859585e-02 -7.44933428e-03 2.14473126e+02] [ 4.38869601e-02 9.99036503e-01 -2.90363625e-05 4.42484559e+00] [ 7.44343116e-03 -2.97921055e-04 9.99972253e-01 8.30273056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219254154 meters 0.05551816437789305 Centerline is valid? [True, True] Translation: X:214.53, Y:4.44, Z:0.83 [[ 9.98400859e-01 -5.61459073e-02 -6.58504459e-03 2.14533256e+02] [ 5.61469560e-02 9.98422515e-01 -2.56474129e-05 4.44093272e+00] [ 6.57609678e-03 -3.44123810e-04 9.99978318e-01 8.32447960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279254154 meters 0.05568808616027246 Centerline is valid? [True, True] Translation: X:214.59, Y:4.45, Z:0.83 [[ 9.97892187e-01 -6.45808344e-02 -6.36384749e-03 2.14593394e+02] [ 6.45819848e-02 9.97912404e-01 -2.47801213e-05 4.44706802e+00] [ 6.35216267e-03 -3.86262012e-04 9.99979750e-01 8.32504434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339254154 meters 0.05511335828422146 Centerline is valid? [True, True] Translation: X:214.65, Y:4.45, Z:0.83 [[ 9.97747724e-01 -6.67443216e-02 -6.68385409e-03 2.14654402e+02] [ 6.67456389e-02 9.97770023e-01 -2.60230917e-05 4.44608939e+00] [ 6.67068614e-03 -4.20153631e-04 9.99977662e-01 8.32375543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399254154 meters 0.05610501627528845 Centerline is valid? [True, True] Translation: X:214.71, Y:4.44, Z:0.83 [[ 9.97818949e-01 -6.55021895e-02 -8.17366637e-03 2.14714724e+02] [ 6.55041184e-02 9.97852298e-01 -3.17814074e-05 4.44062540e+00] [ 8.15819352e-03 -5.03696719e-04 9.99966595e-01 8.30918467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459254154 meters 0.05635606709714275 Centerline is valid? [True, True] Translation: X:214.77, Y:4.44, Z:0.83 [[ 9.98034915e-01 -6.20574133e-02 -8.67098696e-03 2.14774817e+02] [ 6.20594548e-02 9.98072454e-01 -3.36843268e-05 4.43960366e+00] [ 8.65636359e-03 -5.04498589e-04 9.99962406e-01 8.29795170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519254154 meters 0.055093382074442775 Centerline is valid? [True, True] Translation: X:214.84, Y:4.45, Z:0.83 [[ 9.98514613e-01 -5.39324408e-02 -7.73693294e-03 2.14835558e+02] [ 5.39338230e-02 9.98544512e-01 -3.00362695e-05 4.45264188e+00] [ 7.72729186e-03 -3.87290718e-04 9.99970069e-01 8.31244985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579254154 meters 0.05627062370711957 Centerline is valid? [True, True] Translation: X:214.90, Y:4.45, Z:0.83 [[ 9.98826343e-01 -4.79709245e-02 -6.68784819e-03 2.14895420e+02] [ 4.79718240e-02 9.98848689e-01 -2.59451256e-05 4.45469775e+00] [ 6.68139301e-03 -2.94913601e-04 9.99977636e-01 8.31638553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.639254154 meters 0.056495280838238286 Centerline is valid? [True, True] Translation: X:214.96, Y:4.46, Z:0.83 [[ 9.99203996e-01 -3.93933658e-02 -6.28784164e-03 2.14956133e+02] [ 3.93939914e-02 9.99223755e-01 -2.43686156e-05 4.46248927e+00] [ 6.28392069e-03 -2.23353961e-04 9.99980231e-01 8.31793677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters 0.056338186123438924 Centerline is valid? [True, True] Translation: X:215.02, Y:4.47, Z:0.83 [[ 9.99464458e-01 -3.20908970e-02 -6.40085708e-03 2.15016372e+02] [ 3.20913960e-02 9.99484938e-01 -2.47612131e-05 4.46957183e+00] [ 6.39835485e-03 -1.80664487e-04 9.99979514e-01 8.31158084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters 0.05490270103070524 Centerline is valid? [True, True] Translation: X:215.08, Y:4.48, Z:0.83 [[ 9.99601999e-01 -2.75122362e-02 -6.23857205e-03 2.15076851e+02] [ 2.75126211e-02 9.99621456e-01 -2.41286400e-05 4.47783416e+00] [ 6.23687430e-03 -1.47520432e-04 9.99980540e-01 8.31388131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819254154 meters 0.05556581486419916 Centerline is valid? [True, True] Translation: X:215.14, Y:4.49, Z:0.83 [[ 9.99770370e-01 -2.00986151e-02 -7.43317862e-03 2.15136953e+02] [ 2.00989568e-02 9.99797995e-01 -2.87355710e-05 4.48530181e+00] [ 7.43225463e-03 -1.20670164e-04 9.99972373e-01 8.30785776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879254154 meters 0.055338994024055135 Centerline is valid? [True, True] Translation: X:215.20, Y:4.49, Z:0.83 [[ 9.99868669e-01 -1.45115359e-02 -7.21533193e-03 2.15197094e+02] [ 1.45117124e-02 9.99894699e-01 -2.78935744e-05 4.49037439e+00] [ 7.21497693e-03 -7.68169108e-05 9.99973969e-01 8.31210281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939254154 meters 0.05631286469269976 Centerline is valid? [True, True] Translation: X:215.26, Y:4.50, Z:0.83 [[ 9.99962257e-01 -6.93015189e-03 -5.24003375e-03 2.15256600e+02] [ 6.93014083e-03 9.99975986e-01 -2.02676052e-05 4.49922186e+00] [ 5.24004837e-03 -1.60473316e-05 9.99986271e-01 8.33023835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999254154 meters 0.055602669927105615 Centerline is valid? [True, True] Translation: X:215.32, Y:4.50, Z:0.83 [[ 9.99981992e-01 -3.76347286e-03 -4.67453122e-03 2.15316349e+02] [ 3.76342933e-03 9.99992918e-01 -1.81082584e-05 4.50304313e+00] [ 4.67456626e-03 5.15664444e-07 9.99989074e-01 8.32800166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059254154 meters 0.055493183827024506 Centerline is valid? [True, True] Translation: X:215.38, Y:4.51, Z:0.83 [[ 9.99983975e-01 -3.68752278e-03 -4.29552906e-03 2.15376446e+02] [ 3.68748530e-03 9.99993201e-01 -1.66454659e-05 4.50638530e+00] [ 4.29556124e-03 8.05498855e-07 9.99990774e-01 8.32927949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119254154 meters 0.05517430827114157 Centerline is valid? [True, True] Translation: X:215.44, Y:4.51, Z:0.83 [[ 9.99967202e-01 -6.90170135e-03 -4.23801995e-03 2.15436276e+02] [ 6.90169346e-03 9.99976183e-01 -1.64867918e-05 4.50549485e+00] [ 4.23803280e-03 -1.27632635e-05 9.99991019e-01 8.33319008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179254154 meters 0.05554779969037593 Centerline is valid? [True, True] Translation: X:215.50, Y:4.50, Z:0.83 [[ 9.99864775e-01 -1.57654222e-02 -4.67803918e-03 2.15496610e+02] [ 1.57655093e-02 9.99875716e-01 -1.82654229e-05 4.50262444e+00] [ 4.67774574e-03 -5.54887173e-05 9.99989058e-01 8.33208461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239254154 meters 0.055008192124963703 Centerline is valid? [True, True] Translation: X:215.56, Y:4.50, Z:0.83 [[ 9.99634562e-01 -2.65718536e-02 -4.96776240e-03 2.15556593e+02] [ 2.65720853e-02 9.99646900e-01 -1.93632424e-05 4.49536608e+00] [ 4.96652279e-03 -1.12647640e-04 9.99987660e-01 8.32897077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299254154 meters 0.055597106484004975 Centerline is valid? [True, True] Translation: X:215.62, Y:4.50, Z:0.83 [[ 9.99465556e-01 -3.24259571e-02 -4.14252485e-03 2.15617223e+02] [ 3.24261689e-02 9.99474133e-01 -1.60374638e-05 4.49587647e+00] [ 4.14086646e-03 -1.18297318e-04 9.99991420e-01 8.33176738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359254154 meters 0.054875216199913084 Centerline is valid? [True, True] Translation: X:215.68, Y:4.49, Z:0.83 [[ 9.99260785e-01 -3.82722986e-02 -3.62147593e-03 2.15677062e+02] [ 3.82724990e-02 9.99267339e-01 -1.39867549e-05 4.49206567e+00] [ 3.61935792e-03 -1.24626518e-04 9.99993442e-01 8.32408332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41925415400001 meters 0.05413702213756017 Centerline is valid? [True, True] Translation: X:215.74, Y:4.49, Z:0.83 [[ 9.99094187e-01 -4.24281419e-02 -3.26461994e-03 2.15737429e+02] [ 4.24283269e-02 9.99099513e-01 -1.26196906e-05 4.49421223e+00] [ 3.26221562e-03 -1.25904102e-04 9.99994671e-01 8.32544287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters 0.05629915872201971 Centerline is valid? [True, True] Translation: X:215.80, Y:4.48, Z:0.83 [[ 9.98841934e-01 -4.79394532e-02 -4.07421446e-03 2.15796955e+02] [ 4.79397870e-02 9.98850227e-01 -1.57424860e-05 4.48406070e+00] [ 4.07028473e-03 -1.79592718e-04 9.99991700e-01 8.33458082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539254154 meters 0.05406345809166179 Centerline is valid? [True, True] Translation: X:215.86, Y:4.49, Z:0.83 [[ 9.98639713e-01 -5.19325619e-02 -4.66190021e-03 2.15858071e+02] [ 5.19330423e-02 9.98650569e-01 -1.80361221e-05 4.49140387e+00] [ 4.65654596e-03 -2.24095073e-04 9.99989133e-01 8.32960131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599254154 meters 0.05337882106330759 Centerline is valid? [True, True] Translation: X:215.92, Y:4.50, Z:0.83 [[ 9.98462309e-01 -5.51745404e-02 -5.36533693e-03 2.15918590e+02] [ 5.51752238e-02 9.98476687e-01 -2.06712996e-05 4.49549402e+00] [ 5.35830437e-03 -2.75394152e-04 9.99985606e-01 8.32231840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659254154 meters 0.05439160898375446 Centerline is valid? [True, True] Translation: X:215.98, Y:4.49, Z:0.83 [[ 9.98310515e-01 -5.77899509e-02 -6.03631131e-03 2.15977843e+02] [ 5.77908640e-02 9.98328711e-01 -2.31888000e-05 4.49208242e+00] [ 6.02756297e-03 -3.25694023e-04 9.99981781e-01 8.31437028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719254154 meters 0.05637058943254811 Centerline is valid? [True, True] Translation: X:216.04, Y:4.48, Z:0.83 [[ 9.98315141e-01 -5.76048702e-02 -6.96830991e-03 2.16040151e+02] [ 5.76060849e-02 9.98339390e-01 -2.64424991e-05 4.47968116e+00] [ 6.95826148e-03 -3.75019105e-04 9.99975721e-01 8.31039581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779254154 meters 0.05738527800068016 Centerline is valid? [True, True] Translation: X:216.10, Y:4.48, Z:0.83 [[ 9.98328455e-01 -5.72573404e-02 -7.86725414e-03 2.16102746e+02] [ 5.72588829e-02 9.98359364e-01 -2.92143172e-05 4.48083126e+00] [ 7.85601957e-03 -4.21304699e-04 9.99969052e-01 8.30821042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839254154 meters 0.05331018357682519 Centerline is valid? [True, True] Translation: X:216.16, Y:4.50, Z:0.83 [[ 9.98328957e-01 -5.73640140e-02 -6.97591007e-03 2.16164384e+02] [ 5.73652314e-02 9.98353259e-01 -2.56175123e-05 4.49705166e+00] [ 6.96589208e-03 -3.74599991e-04 9.99975668e-01 8.31468659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899254154 meters 0.0534690123250294 Centerline is valid? [True, True] Translation: X:216.23, Y:4.51, Z:0.83 [[ 9.98366700e-01 -5.67777065e-02 -6.34233076e-03 2.16226993e+02] [ 5.67787034e-02 9.98386788e-01 -2.29204259e-05 4.50977826e+00] [ 6.33340060e-03 -3.37226327e-04 9.99979887e-01 8.32663952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959254154 meters 0.05346474042668794 Centerline is valid? [True, True] Translation: X:216.29, Y:4.50, Z:0.83 [[ 9.98464706e-01 -5.51552239e-02 -5.11187219e-03 2.16287141e+02] [ 5.51558513e-02 9.98477757e-01 -1.82730215e-05 4.50429468e+00] [ 5.10509853e-03 -2.63704695e-04 9.99986934e-01 8.33202930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019254154 meters 0.05472578127455391 Centerline is valid? [True, True] Translation: X:216.35, Y:4.50, Z:0.83 [[ 9.98699811e-01 -5.08656320e-02 -3.37273951e-03 2.16347106e+02] [ 5.08658806e-02 9.98705493e-01 -1.20599094e-05 4.50290058e+00] [ 3.36898691e-03 -1.59513136e-04 9.99994312e-01 8.34584598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079254154 meters 0.0527440196860724 Centerline is valid? [True, True] Translation: X:216.41, Y:4.51, Z:0.83 [[ 9.98766856e-01 -4.95738524e-02 -2.68319555e-03 2.16408776e+02] [ 4.95740051e-02 9.98770453e-01 -9.61402018e-06 4.51247133e+00] [ 2.68037304e-03 -1.23414585e-04 9.99996400e-01 8.34511534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.139254154 meters 0.05277443210202891 Centerline is valid? [True, True] Translation: X:216.47, Y:4.51, Z:0.83 [[ 9.98919838e-01 -4.63078812e-02 -3.83883184e-03 2.16469485e+02] [ 4.63081704e-02 9.98927201e-01 -1.35771653e-05 4.51488901e+00] [ 3.83534228e-03 -1.64206779e-04 9.99992632e-01 8.33930823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters 0.055116044973553005 Centerline is valid? [True, True] Translation: X:216.53, Y:4.50, Z:0.83 [[ 9.98949690e-01 -4.54686235e-02 -5.66757049e-03 2.16531133e+02] [ 4.54692406e-02 9.98965739e-01 -1.99890245e-05 4.50434985e+00] [ 5.66261761e-03 -2.37732096e-04 9.99983939e-01 8.33626183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters 0.05436423779713149 Centerline is valid? [True, True] Translation: X:216.59, Y:4.52, Z:0.83 [[ 9.98958683e-01 -4.50082114e-02 -7.47068628e-03 2.16593463e+02] [ 4.50092736e-02 9.98986569e-01 -2.59668229e-05 4.51604797e+00] [ 7.46428398e-03 -3.10310380e-04 9.99972094e-01 8.32933338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319254154 meters 0.05368601699275627 Centerline is valid? [True, True] Translation: X:216.65, Y:4.52, Z:0.83 [[ 9.99040906e-01 -4.31025579e-02 -7.70960051e-03 2.16653349e+02] [ 4.31036344e-02 9.99070606e-01 -2.65512573e-05 4.51686742e+00] [ 7.70357968e-03 -3.05786010e-04 9.99970280e-01 8.33193543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379254154 meters 0.054520979866181415 Centerline is valid? [True, True] Translation: X:216.71, Y:4.51, Z:0.83 [[ 9.99243752e-01 -3.81681485e-02 -7.42410735e-03 2.16712785e+02] [ 3.81690105e-02 9.99271297e-01 -2.55980878e-05 4.51342791e+00] [ 7.41967441e-03 -2.57792102e-04 9.99972441e-01 8.32930646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439254154 meters 0.05401803492144266 Centerline is valid? [True, True] Translation: X:216.77, Y:4.52, Z:0.83 [[ 9.99425664e-01 -3.34270525e-02 -5.56544763e-03 2.16772099e+02] [ 3.34274632e-02 9.99441146e-01 -1.92280422e-05 4.51604539e+00] [ 5.56298009e-03 -1.66821797e-04 9.99984513e-01 8.34057413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499254154 meters 0.054690894842823926 Centerline is valid? [True, True] Translation: X:216.83, Y:4.52, Z:0.83 [[ 9.99509776e-01 -3.09662955e-02 -4.61470238e-03 2.16832526e+02] [ 3.09665515e-02 9.99520421e-01 -1.59695927e-05 4.51769849e+00] [ 4.61298378e-03 -1.26939655e-04 9.99989352e-01 8.34726805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559254154 meters 0.05457438796517426 Centerline is valid? [True, True] Translation: X:216.89, Y:4.52, Z:0.84 [[ 9.99548608e-01 -2.97120279e-02 -4.44707968e-03 2.16894514e+02] [ 2.97122534e-02 9.99558493e-01 -1.53741137e-05 4.52086465e+00] [ 4.44557307e-03 -1.16765585e-04 9.99990112e-01 8.35540618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619254154 meters 0.05361847712840238 Centerline is valid? [True, True] Translation: X:216.96, Y:4.53, Z:0.83 [[ 9.99498267e-01 -3.12519931e-02 -5.15044009e-03 2.16956124e+02] [ 3.12523169e-02 9.99511527e-01 -1.76268957e-05 4.52561481e+00] [ 5.14847511e-03 -1.43345134e-04 9.99986736e-01 8.34531150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679254154 meters 0.05380537528695062 Centerline is valid? [True, True] Translation: X:217.02, Y:4.53, Z:0.83 [[ 9.99298255e-01 -3.66991909e-02 -7.49445005e-03 2.17017373e+02] [ 3.67000312e-02 9.99326327e-01 -2.54114246e-05 4.52874741e+00] [ 7.49033381e-03 -2.49652958e-04 9.99971916e-01 8.33612789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739254154 meters 0.053398386209222985 Centerline is valid? [True, True] Translation: X:217.08, Y:4.53, Z:0.83 [[ 9.99098737e-01 -4.16007824e-02 -8.43146451e-03 2.17078699e+02] [ 4.16020214e-02 9.99134261e-01 -2.84568934e-05 4.52913298e+00] [ 8.42534889e-03 -3.22334721e-04 9.99964454e-01 8.33308612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799254154 meters 0.054033551639596535 Centerline is valid? [True, True] Translation: X:217.14, Y:4.52, Z:0.83 [[ 9.98860355e-01 -4.70166045e-02 -8.21164624e-03 2.17138785e+02] [ 4.70179629e-02 9.98894044e-01 -2.76558853e-05 4.52351962e+00] [ 8.20386481e-03 -3.58470511e-04 9.99966283e-01 8.32715850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859254154 meters 0.05326720063951115 Centerline is valid? [True, True] Translation: X:217.20, Y:4.53, Z:0.83 [[ 9.98899526e-01 -4.61706188e-02 -8.24686809e-03 2.17200712e+02] [ 4.61719616e-02 9.98933506e-01 -2.75960367e-05 4.52818526e+00] [ 8.23934698e-03 -3.53208409e-04 9.99965994e-01 8.33937355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91925415400001 meters 0.05337812610122248 Centerline is valid? [True, True] Translation: X:217.26, Y:4.52, Z:0.83 [[ 9.98950830e-01 -4.49633050e-02 -8.69140433e-03 2.17261461e+02] [ 4.49647530e-02 9.98988574e-01 -2.88352819e-05 4.52450264e+00] [ 8.68391014e-03 -3.62001820e-04 9.99962229e-01 8.34653589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters 0.05337700049227849 Centerline is valid? [True, True] Translation: X:217.32, Y:4.53, Z:0.84 [[ 9.98967321e-01 -4.46676609e-02 -8.31213653e-03 2.17322545e+02] [ 4.46689793e-02 9.99001843e-01 -2.70616435e-05 4.52572826e+00] [ 8.30504849e-03 -3.44260957e-04 9.99965453e-01 8.35410268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039254154 meters 0.05429294498168668 Centerline is valid? [True, True] Translation: X:217.38, Y:4.52, Z:0.84 [[ 9.98962376e-01 -4.47686043e-02 -8.36317409e-03 2.17384224e+02] [ 4.47699482e-02 9.98997323e-01 -2.65488943e-05 4.51858408e+00] [ 8.35597708e-03 -3.47897524e-04 9.99965028e-01 8.35138302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099254154 meters 0.0530304457506564 Centerline is valid? [True, True] Translation: X:217.45, Y:4.53, Z:0.84 [[ 9.98969417e-01 -4.43807068e-02 -9.51085326e-03 2.17446203e+02] [ 4.43824316e-02 9.99014614e-01 -2.97406569e-05 4.52633913e+00] [ 9.50280131e-03 -3.92404788e-04 9.99954770e-01 8.36207967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159254154 meters 0.05353660132855244 Centerline is valid? [True, True] Translation: X:217.51, Y:4.52, Z:0.84 [[ 9.99029522e-01 -4.29381886e-02 -9.81464008e-03 2.17506449e+02] [ 4.29399599e-02 9.99077654e-01 -3.02745268e-05 4.52422270e+00] [ 9.80688752e-03 -3.91195105e-04 9.99951835e-01 8.36740578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219254154 meters 0.053732708038084546 Centerline is valid? [True, True] Translation: X:217.57, Y:4.53, Z:0.84 [[ 9.99172711e-01 -3.94603148e-02 -9.83749749e-03 2.17567133e+02] [ 3.94619280e-02 9.99221074e-01 -3.01490795e-05 4.52903235e+00] [ 9.83102451e-03 -3.58082480e-04 9.99951610e-01 8.38057787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279254154 meters 0.054468281463223654 Centerline is valid? [True, True] Translation: X:217.63, Y:4.53, Z:0.84 [[ 9.99285317e-01 -3.65576486e-02 -9.61218236e-03 2.17627431e+02] [ 3.65590551e-02 9.99331494e-01 -2.94094877e-05 4.52725585e+00] [ 9.60683170e-03 -3.22023835e-04 9.99953801e-01 8.37969224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339254154 meters 0.05367892462647515 Centerline is valid? [True, True] Translation: X:217.69, Y:4.54, Z:0.84 [[ 9.99408803e-01 -3.28639671e-02 -1.00997400e-02 2.17688176e+02] [ 3.28653322e-02 9.99459789e-01 -3.08228681e-05 4.53521510e+00] [ 1.00952970e-02 -3.01126665e-04 9.99948996e-01 8.40775239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399254154 meters 0.05499155450307062 Centerline is valid? [True, True] Translation: X:217.75, Y:4.53, Z:0.84 [[ 9.99509066e-01 -2.97564442e-02 -9.80717939e-03 2.17747744e+02] [ 2.97575822e-02 9.99557145e-01 -2.99022046e-05 4.53445292e+00] [ 9.80372601e-03 -2.61950422e-04 9.99951908e-01 8.41254154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459254154 meters 0.054519080410133924 Centerline is valid? [True, True] Translation: X:217.81, Y:4.54, Z:0.84 [[ 9.99548297e-01 -2.85200684e-02 -9.47667540e-03 2.17809889e+02] [ 2.85210772e-02 9.99593191e-01 -2.87114506e-05 4.53529197e+00] [ 9.47363906e-03 -2.41586509e-04 9.99955095e-01 8.42490770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519254154 meters 0.055562615939305206 Centerline is valid? [True, True] Translation: X:217.87, Y:4.53, Z:0.84 [[ 9.99556863e-01 -2.84312954e-02 -8.81694849e-03 2.17871434e+02] [ 2.84321672e-02 9.99595724e-01 -2.64724467e-05 4.52719274e+00] [ 8.81413665e-03 -2.24224238e-04 9.99961130e-01 8.42760096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579254154 meters 0.05497539890662241 Centerline is valid? [True, True] Translation: X:217.93, Y:4.53, Z:0.84 [[ 9.99519960e-01 -2.96448754e-02 -9.00171154e-03 2.17933174e+02] [ 2.96458353e-02 9.99560465e-01 -2.68130195e-05 4.52827499e+00] [ 8.99854984e-03 -2.40063109e-04 9.99959483e-01 8.44280191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.639254154 meters 0.054294779532189676 Centerline is valid? [True, True] Translation: X:217.99, Y:4.53, Z:0.85 [[ 9.99438622e-01 -3.19878233e-02 -9.96088000e-03 2.17994074e+02] [ 3.19891169e-02 9.99488217e-01 -2.94728526e-05 4.53028273e+00] [ 9.95672497e-03 -2.89183448e-04 9.99950389e-01 8.45234346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters 0.0543466746619021 Centerline is valid? [True, True] Translation: X:218.06, Y:4.53, Z:0.85 [[ 9.99408971e-01 -3.27578256e-02 -1.04227344e-02 2.18055721e+02] [ 3.27592861e-02 9.99463270e-01 -3.06154527e-05 4.52736830e+00] [ 1.04181431e-02 -3.10843980e-04 9.99945681e-01 8.45446315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters 0.05505098921536537 Centerline is valid? [True, True] Translation: X:218.12, Y:4.52, Z:0.85 [[ 9.99462173e-01 -3.13015425e-02 -9.77642963e-03 2.18115938e+02] [ 3.13027614e-02 9.99509948e-01 -2.83484727e-05 4.52365053e+00] [ 9.77252602e-03 -2.77696018e-04 9.99952209e-01 8.45950901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819254154 meters 0.054841045165908826 Centerline is valid? [True, True] Translation: X:218.18, Y:4.52, Z:0.85 [[ 9.99630120e-01 -2.60367816e-02 -7.85556633e-03 2.18175426e+02] [ 2.60374074e-02 9.99660969e-01 -2.26163548e-05 4.51902444e+00] [ 7.85349191e-03 -1.81930591e-04 9.99969144e-01 8.46791875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879254154 meters 0.05513460669387518 Centerline is valid? [True, True] Translation: X:218.24, Y:4.52, Z:0.85 [[ 9.99760930e-01 -2.07553089e-02 -6.87746472e-03 2.18235820e+02] [ 2.07556637e-02 9.99784578e-01 -1.97911106e-05 4.52144047e+00] [ 6.87639393e-03 -1.22959966e-04 9.99976350e-01 8.48071103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939254154 meters 0.05458183766616804 Centerline is valid? [True, True] Translation: X:218.30, Y:4.52, Z:0.85 [[ 9.99899746e-01 -1.25593901e-02 -6.53901563e-03 2.18295064e+02] [ 1.25595356e-02 9.99921126e-01 -1.88095875e-05 4.52072575e+00] [ 6.53873611e-03 -6.33192979e-05 9.99978620e-01 8.47563089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999254154 meters 0.053976789876988195 Centerline is valid? [True, True] Translation: X:218.36, Y:4.52, Z:0.85 [[ 9.99923243e-01 -1.01754225e-02 -7.06885479e-03 2.18356387e+02] [ 1.01755334e-02 9.99948228e-01 -2.02731550e-05 4.52076831e+00] [ 7.06869510e-03 -5.16577692e-05 9.99975015e-01 8.47255378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059254154 meters 0.05520922726438928 Centerline is valid? [True, True] Translation: X:218.42, Y:4.52, Z:0.85 [[ 9.99944687e-01 -5.45072271e-03 -8.99512430e-03 2.18417026e+02] [ 5.45071186e-03 9.99985144e-01 -2.57213287e-05 4.51943216e+00] [ 8.99513087e-03 -2.33099247e-05 9.99959543e-01 8.45872826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119254154 meters 0.055324967103159706 Centerline is valid? [True, True] Translation: X:218.48, Y:4.51, Z:0.85 [[ 9.99931382e-01 -3.97053650e-03 -1.10211921e-02 2.18476047e+02] [ 3.97042182e-03 9.99992117e-01 -3.22858300e-05 4.51430584e+00] [ 1.10212334e-02 -1.14751669e-05 9.99939264e-01 8.45337603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179254154 meters 0.05548846457768981 Centerline is valid? [True, True] Translation: X:218.53, Y:4.51, Z:0.84 [[ 9.99924767e-01 -4.36188279e-03 -1.14644637e-02 2.18534138e+02] [ 4.36177568e-03 9.99990487e-01 -3.43462583e-05 4.50993603e+00] [ 1.14645044e-02 -1.56617446e-05 9.99934280e-01 8.44490029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239254154 meters 0.05513087299511189 Centerline is valid? [True, True] Translation: X:218.59, Y:4.50, Z:0.84 [[ 9.99918988e-01 -7.36130821e-03 -1.03840450e-02 2.18592919e+02] [ 7.36137677e-03 9.99972904e-01 -3.16198216e-05 4.50173874e+00] [ 1.03839964e-02 -4.48236073e-05 9.99946084e-01 8.44474682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299254154 meters 0.0553790873052409 Centerline is valid? [True, True] Translation: X:218.65, Y:4.50, Z:0.84 [[ 9.99896952e-01 -1.07494050e-02 -9.51499604e-03 2.18651263e+02] [ 1.07496117e-02 9.99942221e-01 -2.94145941e-05 4.49576231e+00] [ 9.51476246e-03 -7.28709498e-05 9.99954731e-01 8.44670974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359254154 meters 0.05574330069267625 Centerline is valid? [True, True] Translation: X:218.71, Y:4.49, Z:0.85 [[ 9.99805635e-01 -1.79311977e-02 -8.19537961e-03 2.18710558e+02] [ 1.79315905e-02 9.99839216e-01 -2.55532023e-05 4.48617432e+00] [ 8.19452012e-03 -1.21407955e-04 9.99966417e-01 8.45066231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41925415400001 meters 0.05627736648212673 Centerline is valid? [True, True] Translation: X:218.77, Y:4.48, Z:0.84 [[ 9.99558439e-01 -2.87015467e-02 -7.69081646e-03 2.18771415e+02] [ 2.87022108e-02 9.99588006e-01 -2.40256710e-05 4.47720456e+00] [ 7.68833747e-03 -1.96728374e-04 9.99970425e-01 8.44961999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters 0.054524711039436694 Centerline is valid? [True, True] Translation: X:218.83, Y:4.47, Z:0.85 [[ 9.99291623e-01 -3.70471500e-02 -6.61521362e-03 2.18830542e+02] [ 3.70478240e-02 9.99313494e-01 -2.06681385e-05 4.46932362e+00] [ 6.61143793e-03 -2.24425772e-04 9.99978119e-01 8.45233709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539254154 meters 0.05497723803455976 Centerline is valid? [True, True] Translation: X:218.89, Y:4.47, Z:0.85 [[ 9.98973743e-01 -4.49185287e-02 -5.81257410e-03 2.18891411e+02] [ 4.49191819e-02 9.98990624e-01 -1.81804994e-05 4.46853701e+00] [ 5.80752366e-03 -2.42934232e-04 9.99983107e-01 8.46020128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599254154 meters 0.058009252120550706 Centerline is valid? [True, True] Translation: X:218.95, Y:4.45, Z:0.85 [[ 9.98572797e-01 -5.30475667e-02 -6.19068468e-03 2.18951270e+02] [ 5.30484636e-02 9.98591939e-01 -1.93398849e-05 4.44813143e+00] [ 6.18299375e-03 -3.09094028e-04 9.99980837e-01 8.45156523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659254154 meters 0.053846608273298235 Centerline is valid? [True, True] Translation: X:219.01, Y:4.47, Z:0.84 [[ 9.98359869e-01 -5.69745524e-02 -5.60998199e-03 2.19011717e+02] [ 5.69753510e-02 9.98375585e-01 -1.74862828e-05 4.46609498e+00] [ 5.60186532e-03 -3.02173090e-04 9.99984264e-01 8.44927879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719254154 meters 0.05629470176547503 Centerline is valid? [True, True] Translation: X:219.07, Y:4.45, Z:0.84 [[ 9.98359099e-01 -5.68945602e-02 -6.48989212e-03 2.19074237e+02] [ 5.68956297e-02 9.98380131e-01 -1.98677276e-05 4.45423911e+00] [ 6.48050972e-03 -3.49411372e-04 9.99978940e-01 8.44393829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779254154 meters 0.05569222719090595 Centerline is valid? [True, True] Translation: X:219.14, Y:4.46, Z:0.84 [[ 9.98539810e-01 -5.35676243e-02 -6.98264358e-03 2.19135213e+02] [ 5.35687852e-02 9.98564162e-01 -2.07993842e-05 4.45743617e+00] [ 6.97373180e-03 -3.53282721e-04 9.99975621e-01 8.44434307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839254154 meters 0.054193924830483076 Centerline is valid? [True, True] Translation: X:219.20, Y:4.47, Z:0.85 [[ 9.98886150e-01 -4.67839772e-02 -6.14158523e-03 2.19196130e+02] [ 4.67847477e-02 9.98904994e-01 -1.82285165e-05 4.46532818e+00] [ 6.13571296e-03 -2.69124303e-04 9.99981140e-01 8.45129113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899254154 meters 0.05509020709257748 Centerline is valid? [True, True] Translation: X:219.26, Y:4.47, Z:0.85 [[ 9.99160320e-01 -4.05548939e-02 -5.82718114e-03 2.19255423e+02] [ 4.05554818e-02 9.99177288e-01 -1.72903455e-05 4.46671492e+00] [ 5.82308825e-03 -2.19048311e-04 9.99983022e-01 8.45551396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959254154 meters 0.05531901147075774 Centerline is valid? [True, True] Translation: X:219.31, Y:4.47, Z:0.85 [[ 9.99540690e-01 -2.98469481e-02 -5.25059348e-03 2.19314978e+02] [ 2.98472776e-02 9.99554471e-01 -1.55939869e-05 4.46755880e+00] [ 5.24871962e-03 -1.41129097e-04 9.99986215e-01 8.45433988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019254154 meters 0.05504050340764521 Centerline is valid? [True, True] Translation: X:219.37, Y:4.47, Z:0.85 [[ 9.99842751e-01 -1.67888555e-02 -5.71036762e-03 2.19374422e+02] [ 1.67890325e-02 9.99859054e-01 -1.69405759e-05 4.47499584e+00] [ 5.70984718e-03 -7.89336355e-05 9.99983696e-01 8.45054191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079254154 meters 0.05505075241470472 Centerline is valid? [True, True] Translation: X:219.44, Y:4.48, Z:0.85 [[ 9.99956567e-01 -7.82928112e-03 -5.05623576e-03 2.19435447e+02] [ 7.82930530e-03 9.99969350e-01 -1.50102669e-05 4.48298775e+00] [ 5.05619831e-03 -2.45771985e-05 9.99987217e-01 8.45637689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.139254154 meters 0.055512017620752405 Centerline is valid? [True, True] Translation: X:219.50, Y:4.49, Z:0.85 [[ 9.99980447e-01 4.65853688e-03 -4.17179570e-03 2.19495439e+02] [-4.65862888e-03 9.99989148e-01 -1.23357677e-05 4.49056218e+00] [ 4.17169296e-03 3.17703745e-05 9.99991298e-01 8.47038426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters 0.05631666495772038 Centerline is valid? [True, True] Translation: X:219.55, Y:4.49, Z:0.85 [[ 9.99938598e-01 1.05198024e-02 -3.48346864e-03 2.19554336e+02] [-1.05199022e-02 9.99944664e-01 -1.03390316e-05 4.49353000e+00] [ 3.48316712e-03 4.69841464e-05 9.99993933e-01 8.47610303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters 0.05599986181428289 Centerline is valid? [True, True] Translation: X:219.61, Y:4.49, Z:0.85 [[ 9.99900641e-01 1.38119945e-02 -2.81726120e-03 2.19614166e+02] [-1.38120731e-02 9.99904609e-01 -8.46657647e-06 4.49266963e+00] [ 2.81687552e-03 4.73779529e-05 9.99996031e-01 8.47871422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319254154 meters 0.05630610516504859 Centerline is valid? [True, True] Translation: X:219.67, Y:4.49, Z:0.85 [[ 9.99938327e-01 1.01614571e-02 -4.48193835e-03 2.19672456e+02] [-1.01616198e-02 9.99948369e-01 -1.35383508e-05 4.48612041e+00] [ 4.48156938e-03 5.90812695e-05 9.99989956e-01 8.47128261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379254154 meters 0.05582400830168367 Centerline is valid? [True, True] Translation: X:219.73, Y:4.48, Z:0.85 [[ 9.99986086e-01 3.36906237e-03 -4.05920356e-03 2.19732244e+02] [-3.36914038e-03 9.99994324e-01 -1.23798013e-05 4.48485976e+00] [ 4.05913881e-03 2.60556557e-05 9.99991761e-01 8.46724029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439254154 meters 0.05497700357766609 Centerline is valid? [True, True] Translation: X:219.79, Y:4.47, Z:0.85 [[ 9.99947411e-01 -9.92139488e-03 -2.59634087e-03 2.19791828e+02] [ 9.92140769e-03 9.99950782e-01 -7.94934631e-06 4.47320651e+00] [ 2.59629195e-03 -1.78104280e-05 9.99996629e-01 8.46983526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499254154 meters 0.05492948831821287 Centerline is valid? [True, True] Translation: X:219.85, Y:4.46, Z:0.85 [[ 9.99818555e-01 -1.89598706e-02 -1.83863987e-03 2.19851962e+02] [ 1.89598922e-02 9.99820245e-01 -5.67773120e-06 4.46305055e+00] [ 1.83841701e-03 -2.91837127e-05 9.99998310e-01 8.48332559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559254154 meters 0.05684653622139372 Centerline is valid? [True, True] Translation: X:219.91, Y:4.45, Z:0.85 [[ 9.99512928e-01 -3.11789966e-02 -1.33334998e-03 2.19911930e+02] [ 3.11790188e-02 9.99513816e-01 -4.12485068e-06 4.44893625e+00] [ 1.33283034e-03 -3.74497025e-05 9.99999111e-01 8.48874068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619254154 meters 0.058066559175811806 Centerline is valid? [True, True] Translation: X:219.97, Y:4.44, Z:0.85 [[ 9.99156110e-01 -4.10608881e-02 -1.03493911e-03 2.19972579e+02] [ 4.10609068e-02 9.99156645e-01 -3.20528662e-06 4.43514241e+00] [ 1.03419790e-03 -3.92929564e-05 9.99999464e-01 8.47956163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679254154 meters 0.05664714787534763 Centerline is valid? [True, True] Translation: X:220.03, Y:4.44, Z:0.85 [[ 9.98894805e-01 -4.69856518e-02 -1.23141478e-03 2.20032657e+02] [ 4.69856827e-02 9.98895563e-01 -3.81428535e-06 4.44064756e+00] [ 1.23023398e-03 -5.40487944e-05 9.99999242e-01 8.45911200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739254154 meters 0.05457128018873835 Centerline is valid? [True, True] Translation: X:220.09, Y:4.45, Z:0.84 [[ 9.98463968e-01 -5.53589702e-02 -2.25579953e-03 2.20093294e+02] [ 5.53590954e-02 9.98466509e-01 -6.95156241e-06 4.44547962e+00] [ 2.25272511e-03 -1.17938137e-04 9.99997456e-01 8.44717012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799254154 meters 0.053954002580510294 Centerline is valid? [True, True] Translation: X:220.15, Y:4.45, Z:0.84 [[ 9.98086979e-01 -6.17502921e-02 -3.04687226e-03 2.20153927e+02] [ 6.17505504e-02 9.98091614e-01 -9.33616413e-06 4.44615814e+00] [ 3.04163416e-03 -1.78827735e-04 9.99995358e-01 8.43681356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859254154 meters 0.054109669101249744 Centerline is valid? [True, True] Translation: X:220.21, Y:4.44, Z:0.84 [[ 9.97965181e-01 -6.36679966e-02 -3.44727183e-03 2.20213214e+02] [ 6.36683386e-02 9.97971113e-01 -1.05408305e-05 4.44483749e+00] [ 3.44094882e-03 -2.08962689e-04 9.99994058e-01 8.43476428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91925415400001 meters 0.054286882793192756 Centerline is valid? [True, True] Translation: X:220.28, Y:4.45, Z:0.84 [[ 9.97978845e-01 -6.34247874e-02 -3.93959890e-03 2.20275493e+02] [ 6.34252321e-02 9.97986593e-01 -1.20722430e-05 4.45087922e+00] [ 3.93243257e-03 -2.37822132e-04 9.99992240e-01 8.43663544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters 0.05563934904232507 Centerline is valid? [True, True] Translation: X:220.34, Y:4.44, Z:0.84 [[ 9.98113000e-01 -6.11623564e-02 -5.44114412e-03 2.20335182e+02] [ 6.11631746e-02 9.98127780e-01 -1.60551296e-05 4.43892976e+00] [ 5.43193907e-03 -3.16772814e-04 9.99985197e-01 8.44131133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039254154 meters 0.05527845774004172 Centerline is valid? [True, True] Translation: X:220.40, Y:4.45, Z:0.84 [[ 9.98348480e-01 -5.71654659e-02 -5.69411321e-03 2.20396037e+02] [ 5.71662970e-02 9.98364670e-01 -1.68231912e-05 4.44985681e+00] [ 5.68576316e-03 -3.08715959e-04 9.99983788e-01 8.44349316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099254154 meters 0.05606738779568791 Centerline is valid? [True, True] Translation: X:220.46, Y:4.45, Z:0.85 [[ 9.98500998e-01 -5.43526392e-02 -6.44574810e-03 2.20455126e+02] [ 5.43536458e-02 9.98521748e-01 -1.90389517e-05 4.44719737e+00] [ 6.43725447e-03 -3.31339497e-04 9.99979226e-01 8.45032387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159254154 meters 0.05588898468246166 Centerline is valid? [True, True] Translation: X:220.52, Y:4.45, Z:0.85 [[ 9.98656519e-01 -5.14078784e-02 -6.51053540e-03 2.20515366e+02] [ 5.14088427e-02 9.98677691e-01 -1.92632249e-05 4.45171967e+00] [ 6.50291675e-03 -3.15461745e-04 9.99978806e-01 8.45939750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219254154 meters 0.0560583571329599 Centerline is valid? [True, True] Translation: X:220.58, Y:4.45, Z:0.85 [[ 9.98805490e-01 -4.84183014e-02 -6.57735427e-03 2.20575866e+02] [ 4.84192211e-02 9.98827101e-01 -1.94398495e-05 4.45443260e+00] [ 6.57058095e-03 -2.99053742e-04 9.99978369e-01 8.46859650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279254154 meters 0.057079885445161266 Centerline is valid? [True, True] Translation: X:220.64, Y:4.45, Z:0.85 [[ 9.99146321e-01 -4.07389888e-02 -6.85308710e-03 2.20635363e+02] [ 4.07398069e-02 9.99169789e-01 -2.02476794e-05 4.45489069e+00] [ 6.84822247e-03 -2.58963051e-04 9.99976517e-01 8.47099146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339254154 meters 0.05581680253528884 Centerline is valid? [True, True] Translation: X:220.70, Y:4.47, Z:0.85 [[ 9.99554098e-01 -2.92658841e-02 -5.92571197e-03 2.20696343e+02] [ 2.92662940e-02 9.99571650e-01 -1.75408856e-05 4.46950581e+00] [ 5.92368704e-03 -1.55890565e-04 9.99982443e-01 8.48356085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399254154 meters 0.055125121505522144 Centerline is valid? [True, True] Translation: X:220.76, Y:4.47, Z:0.85 [[ 9.99785929e-01 -1.99356586e-02 -5.53771964e-03 2.20756034e+02] [ 1.99358735e-02 9.99801261e-01 -1.63849348e-05 4.47352875e+00] [ 5.53694572e-03 -9.40178511e-05 9.99984667e-01 8.49419065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459254154 meters 0.05623955976466453 Centerline is valid? [True, True] Translation: X:220.82, Y:4.48, Z:0.85 [[ 9.99961251e-01 -7.04077268e-03 -5.28435685e-03 2.20815271e+02] [ 7.04078851e-03 9.99975213e-01 -1.56074523e-05 4.48079912e+00] [ 5.28433576e-03 -2.15991916e-05 9.99986038e-01 8.50822226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519254154 meters 0.05534454315872086 Centerline is valid? [True, True] Translation: X:220.87, Y:4.48, Z:0.85 [[ 9.99984154e-01 -1.44898456e-03 -5.43979973e-03 2.20874579e+02] [ 1.44891858e-03 9.99998950e-01 -1.60702975e-05 4.48456685e+00] [ 5.43981731e-03 8.18821594e-06 9.99985204e-01 8.51339896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579254154 meters 0.055664996914641184 Centerline is valid? [True, True] Translation: X:220.93, Y:4.48, Z:0.85 [[ 9.99983246e-01 1.39550681e-03 -5.61778308e-03 2.20933240e+02] [-1.39562339e-03 9.99999026e-01 -1.68313471e-05 4.48497875e+00] [ 5.61775412e-03 2.46713746e-05 9.99984220e-01 8.51977050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.639254154 meters 0.055373117333035134 Centerline is valid? [True, True] Translation: X:220.99, Y:4.48, Z:0.85 [[ 9.99974223e-01 -2.71497900e-03 -6.64694586e-03 2.20991967e+02] [ 2.71490224e-03 9.99996314e-01 -2.05712383e-05 4.48025993e+00] [ 6.64697721e-03 2.52489981e-06 9.99977909e-01 8.53045394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters 0.055606436087080026 Centerline is valid? [True, True] Translation: X:221.05, Y:4.48, Z:0.85 [[ 9.99931160e-01 -8.71155257e-03 -7.86028591e-03 2.21051219e+02] [ 8.71162842e-03 9.99962053e-01 -2.45898760e-05 4.47500653e+00] [ 7.86020185e-03 -4.38877069e-05 9.99969107e-01 8.53525019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759254154 meters 0.05668149880529353 Centerline is valid? [True, True] Translation: X:221.11, Y:4.46, Z:0.85 [[ 9.99757550e-01 -2.06877004e-02 -7.54059585e-03 2.21110604e+02] [ 2.06881103e-02 9.99785978e-01 -2.36525736e-05 4.46285035e+00] [ 7.53947131e-03 -1.32353839e-04 9.99971569e-01 8.54412139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819254154 meters 0.05569717286568473 Centerline is valid? [True, True] Translation: X:221.17, Y:4.45, Z:0.86 [[ 9.99464590e-01 -3.20093650e-02 -6.77747225e-03 2.21171154e+02] [ 3.20099564e-02 9.99487550e-01 -2.12191927e-05 4.45322696e+00] [ 6.77467835e-03 -1.95738760e-04 9.99977032e-01 8.55280614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879254154 meters 0.05729353266990578 Centerline is valid? [True, True] Translation: X:221.23, Y:4.45, Z:0.86 [[ 9.99281541e-01 -3.72412788e-02 -7.03488163e-03 2.21232396e+02] [ 3.72420458e-02 9.99306274e-01 -2.19796976e-05 4.44827597e+00] [ 7.03081990e-03 -2.40029478e-04 9.99975255e-01 8.55638500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939254154 meters 0.056805701598165295 Centerline is valid? [True, True] Translation: X:221.29, Y:4.44, Z:0.86 [[ 9.99122021e-01 -4.13264661e-02 -6.87827138e-03 2.21292973e+02] [ 4.13272963e-02 9.99145662e-01 -2.14423239e-05 4.44269801e+00] [ 6.87328115e-03 -2.62836862e-04 9.99976344e-01 8.56060410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999254154 meters 0.057928243272475984 Centerline is valid? [True, True] Translation: X:221.35, Y:4.44, Z:0.86 [[ 9.99089106e-01 -4.19444060e-02 -7.85013958e-03 2.21354254e+02] [ 4.19455073e-02 9.99119900e-01 -2.43775374e-05 4.43513681e+00] [ 7.84425317e-03 -3.04922755e-04 9.99969187e-01 8.55673363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059254154 meters 0.05577297960507807 Centerline is valid? [True, True] Translation: X:221.42, Y:4.45, Z:0.86 [[ 9.99110547e-01 -4.14031500e-02 -7.99337128e-03 2.21416175e+02] [ 4.14042764e-02 9.99142475e-01 -2.45887705e-05 4.44642468e+00] [ 7.98753481e-03 -3.06392854e-04 9.99968052e-01 8.56756672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119254154 meters 0.05533179302163708 Centerline is valid? [True, True] Translation: X:221.48, Y:4.45, Z:0.86 [[ 9.99226775e-01 -3.82163128e-02 -9.23935888e-03 2.21476571e+02] [ 3.82176831e-02 9.99269437e-01 -2.82672029e-05 4.44855245e+00] [ 9.23368921e-03 -3.24861544e-04 9.99957316e-01 8.56905580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179254154 meters 0.05592551850547401 Centerline is valid? [True, True] Translation: X:221.54, Y:4.45, Z:0.86 [[ 9.99335738e-01 -3.51742451e-02 -9.53177822e-03 2.21536044e+02] [ 3.51755652e-02 9.99381148e-01 -2.91619569e-05 4.44622800e+00] [ 9.52690521e-03 -3.06143101e-04 9.99954571e-01 8.55711107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239254154 meters 0.05572168167916497 Centerline is valid? [True, True] Translation: X:221.60, Y:4.45, Z:0.86 [[ 9.99437223e-01 -3.20424680e-02 -9.92559340e-03 2.21595412e+02] [ 3.20437447e-02 9.99486467e-01 -3.04171512e-05 4.44838509e+00] [ 9.92147092e-03 -2.87653148e-04 9.99950740e-01 8.55154339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299254154 meters 0.056505344447742224 Centerline is valid? [True, True] Translation: X:221.66, Y:4.45, Z:0.85 [[ 9.99446748e-01 -3.15006297e-02 -1.06728031e-02 2.21658070e+02] [ 3.15020782e-02 9.99503686e-01 -3.24016115e-05 4.45041022e+00] [ 1.06685267e-02 -3.03831793e-04 9.99943043e-01 8.54814876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359254154 meters 0.05628704339889909 Centerline is valid? [True, True] Translation: X:221.72, Y:4.45, Z:0.85 [[ 9.99374738e-01 -3.34343744e-02 -1.15011092e-02 2.21718496e+02] [ 3.34361877e-02 9.99440854e-01 -3.46370446e-05 4.45146236e+00] [ 1.14958365e-02 -3.49937859e-04 9.99933859e-01 8.54461351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41925415400001 meters 0.05565317702114815 Centerline is valid? [True, True] Translation: X:221.78, Y:4.45, Z:0.85 [[ 9.99278858e-01 -3.63304377e-02 -1.10391420e-02 2.21779409e+02] [ 3.63322858e-02 9.99339764e-01 -3.31560106e-05 4.45193759e+00] [ 1.10330581e-02 -3.67945162e-04 9.99939066e-01 8.54871642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters 0.05725301838086901 Centerline is valid? [True, True] Translation: X:221.84, Y:4.45, Z:0.86 [[ 9.99048161e-01 -4.23259342e-02 -1.05493069e-02 2.21839159e+02] [ 4.23279553e-02 9.99103770e-01 -3.17165652e-05 4.45109635e+00] [ 1.05411947e-02 -4.14844215e-04 9.99944354e-01 8.55299633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539254154 meters 0.0573874208242806 Centerline is valid? [True, True] Translation: X:221.90, Y:4.45, Z:0.86 [[ 9.98820780e-01 -4.75605009e-02 -9.74922612e-03 2.21898937e+02] [ 4.75624761e-02 9.98868265e-01 -2.92767471e-05 4.44623148e+00] [ 9.73958499e-03 -4.34455111e-04 9.99952475e-01 8.55451149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599254154 meters 0.055228401085043226 Centerline is valid? [True, True] Translation: X:221.96, Y:4.46, Z:0.86 [[ 9.98656112e-01 -5.11569886e-02 -8.30251892e-03 2.21960346e+02] [ 5.11585462e-02 9.98690544e-01 -2.48045436e-05 4.45988030e+00] [ 8.29291606e-03 -3.99973589e-04 9.99965533e-01 8.57666879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659254154 meters 0.05875846249558638 Centerline is valid? [True, True] Translation: X:222.02, Y:4.45, Z:0.86 [[ 9.98597177e-01 -5.24267359e-02 -7.42404031e-03 2.22020453e+02] [ 5.24280179e-02 9.98624706e-01 -2.19676092e-05 4.44765173e+00] [ 7.41498176e-03 -3.67290926e-04 9.99972441e-01 8.57148619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719254154 meters 0.05596298853124795 Centerline is valid? [True, True] Translation: X:222.08, Y:4.46, Z:0.86 [[ 9.98569925e-01 -5.31074301e-02 -6.14057333e-03 2.22082377e+02] [ 5.31083212e-02 9.98588757e-01 -1.79674228e-05 4.46067969e+00] [ 6.13286170e-03 -3.08173813e-04 9.99981146e-01 8.57771775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779254154 meters 0.055738447964010354 Centerline is valid? [True, True] Translation: X:222.14, Y:4.46, Z:0.86 [[ 9.98591757e-01 -5.27595985e-02 -5.56130950e-03 2.22144258e+02] [ 5.27603250e-02 9.98607204e-01 -1.60934517e-05 4.46378575e+00] [ 5.55441282e-03 -2.77345709e-04 9.99984536e-01 8.58154049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839254154 meters 0.0570779528954915 Centerline is valid? [True, True] Translation: X:222.20, Y:4.46, Z:0.86 [[ 9.98736814e-01 -4.98375315e-02 -6.40285999e-03 2.22203969e+02] [ 4.98384357e-02 9.98757293e-01 -1.83656577e-05 4.46087284e+00] [ 6.39581841e-03 -3.00766067e-04 9.99979501e-01 8.58174987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899254154 meters 0.05586553790053554 Centerline is valid? [True, True] Translation: X:222.26, Y:4.48, Z:0.86 [[ 9.98890450e-01 -4.67177593e-02 -5.94308486e-03 2.22264264e+02] [ 4.67184830e-02 9.98908095e-01 -1.70769755e-05 4.47585901e+00] [ 5.93739337e-03 -2.60593881e-04 9.99982340e-01 8.58775310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959254154 meters 0.05535613573034936 Centerline is valid? [True, True] Translation: X:222.33, Y:4.48, Z:0.86 [[ 9.99154273e-01 -4.06998855e-02 -5.85295889e-03 2.22325109e+02] [ 4.07004843e-02 9.99171392e-01 -1.68134346e-05 4.48336344e+00] [ 5.84879338e-03 -2.21419046e-04 9.99982871e-01 8.58744299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019254154 meters 0.056309810832711825 Centerline is valid? [True, True] Translation: X:222.38, Y:4.48, Z:0.86 [[ 9.99340239e-01 -3.58772949e-02 -5.64855671e-03 2.22384341e+02] [ 3.58777758e-02 9.99356185e-01 -1.62089077e-05 4.48076164e+00] [ 5.64550162e-03 -1.86459438e-04 9.99984047e-01 8.57869990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079254154 meters 0.055411107755397926 Centerline is valid? [True, True] Translation: X:222.44, Y:4.49, Z:0.86 [[ 9.99595109e-01 -2.78215744e-02 -5.96471458e-03 2.22444860e+02] [ 2.78219674e-02 9.99612894e-01 -1.70953470e-05 4.48878086e+00] [ 5.96288123e-03 -1.48861669e-04 9.99982211e-01 8.57506787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.139254154 meters 0.05648934030653733 Centerline is valid? [True, True] Translation: X:222.50, Y:4.49, Z:0.86 [[ 9.99723117e-01 -2.27526900e-02 -6.00042537e-03 2.22504690e+02] [ 2.27529965e-02 9.99741117e-01 -1.71949109e-05 4.49419159e+00] [ 5.99926319e-03 -1.19337507e-04 9.99981997e-01 8.57049419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters 0.055949640982888 Centerline is valid? [True, True] Translation: X:222.57, Y:4.50, Z:0.86 [[ 9.99837871e-01 -1.72642660e-02 -5.11642767e-03 2.22565672e+02] [ 1.72644170e-02 9.99850959e-01 -1.46583476e-05 4.50140600e+00] [ 5.11591817e-03 -7.36761698e-05 9.99986911e-01 8.57663215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259254154 meters 0.055928742609252416 Centerline is valid? [True, True] Translation: X:222.63, Y:4.50, Z:0.86 [[ 9.99892991e-01 -1.37538308e-02 -4.98392306e-03 2.22625658e+02] [ 1.37539308e-02 9.99905410e-01 -1.42079901e-05 4.50445540e+00] [ 4.98364705e-03 -5.43420631e-05 9.99987580e-01 8.57186046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319254154 meters 0.055576934179697446 Centerline is valid? [True, True] Translation: X:222.69, Y:4.51, Z:0.86 [[ 9.99924911e-01 -1.14767324e-02 -4.29622857e-03 2.22687285e+02] [ 1.14767858e-02 9.99934139e-01 -1.22143712e-05 4.50938242e+00] [ 4.29608580e-03 -3.70934412e-05 9.99990771e-01 8.57521848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379254154 meters 0.0550549166490588 Centerline is valid? [True, True] Translation: X:222.75, Y:4.51, Z:0.86 [[ 9.99963752e-01 -7.75684357e-03 -3.51080148e-03 2.22747668e+02] [ 7.75685650e-03 9.99969915e-01 -9.93365666e-06 4.51405830e+00] [ 3.51077291e-03 -1.72994867e-05 9.99993837e-01 8.58567578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439254154 meters 0.05554462178355313 Centerline is valid? [True, True] Translation: X:222.81, Y:4.52, Z:0.86 [[ 9.99978464e-01 -6.18119318e-03 -2.20558689e-03 2.22807744e+02] [ 6.18119446e-03 9.99980896e-01 -6.23458089e-06 4.51590998e+00] [ 2.20558329e-03 -7.39871483e-06 9.99997568e-01 8.58070932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499254154 meters 0.055729520553943285 Centerline is valid? [True, True] Translation: X:222.87, Y:4.52, Z:0.86 [[ 9.99974402e-01 -6.51305833e-03 -2.96228499e-03 2.22869142e+02] [ 6.51306215e-03 9.99978790e-01 -8.35558703e-06 4.51585856e+00] [ 2.96227658e-03 -1.09381731e-05 9.99995612e-01 8.57802823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559254154 meters 0.055780328889142285 Centerline is valid? [True, True] Translation: X:222.93, Y:4.51, Z:0.86 [[ 9.99955173e-01 -8.82194879e-03 -3.43870818e-03 2.22929231e+02] [ 8.82196794e-03 9.99961086e-01 -9.59785318e-06 4.51398790e+00] [ 3.43865903e-03 -2.07387504e-05 9.99994088e-01 8.57217864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619254154 meters 0.05448322570196707 Centerline is valid? [True, True] Translation: X:222.99, Y:4.51, Z:0.86 [[ 9.99930929e-01 -1.09087338e-02 -4.37452305e-03 2.22990176e+02] [ 1.09087851e-02 9.99940497e-01 -1.21276386e-05 4.51205269e+00] [ 4.37439505e-03 -3.55939309e-05 9.99990432e-01 8.56538525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679254154 meters 0.055683656988525856 Centerline is valid? [True, True] Translation: X:223.05, Y:4.51, Z:0.86 [[ 9.99876791e-01 -1.49156983e-02 -4.89121688e-03 2.23051758e+02] [ 1.49158127e-02 9.99888753e-01 -1.30931098e-05 4.51205417e+00] [ 4.89086804e-03 -5.98649781e-05 9.99988038e-01 8.56186096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739254154 meters 0.05541703149829377 Centerline is valid? [True, True] Translation: X:223.11, Y:4.51, Z:0.86 [[ 9.99816763e-01 -1.82199913e-02 -5.87135034e-03 2.23113135e+02] [ 1.82202149e-02 9.99833998e-01 -1.53984314e-05 4.50775951e+00] [ 5.87065624e-03 -9.15816553e-05 9.99982763e-01 8.55435395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799254154 meters 0.055055488747308534 Centerline is valid? [True, True] Translation: X:223.18, Y:4.51, Z:0.86 [[ 9.99772282e-01 -2.06398705e-02 -5.42034730e-03 2.23175518e+02] [ 2.06400990e-02 9.99786970e-01 -1.37866250e-05 4.50650654e+00] [ 5.41947716e-03 -9.80930191e-05 9.99985310e-01 8.55373337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859254154 meters 0.05535209883475853 Centerline is valid? [True, True] Translation: X:223.24, Y:4.51, Z:0.86 [[ 9.99705863e-01 -2.37743437e-02 -4.79255591e-03 2.23236344e+02] [ 2.37745589e-02 9.99717345e-01 -1.20650529e-05 4.50736962e+00] [ 4.79148811e-03 -1.01879399e-04 9.99988516e-01 8.56262199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91925415400001 meters 0.055531451888397546 Centerline is valid? [True, True] Translation: X:223.30, Y:4.51, Z:0.86 [[ 9.99646693e-01 -2.62354484e-02 -4.26508591e-03 2.23297866e+02] [ 2.62356416e-02 9.99655786e-01 -1.06561808e-05 4.50635782e+00] [ 4.26389737e-03 -1.01244849e-04 9.99990904e-01 8.56625236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters 0.05523474321367206 Centerline is valid? [True, True] Translation: X:223.36, Y:4.50, Z:0.86 [[ 9.99446239e-01 -3.28199169e-02 -5.48340963e-03 2.23359029e+02] [ 3.28203358e-02 9.99461268e-01 -1.36003204e-05 4.50461675e+00] [ 5.48090191e-03 -1.66374556e-04 9.99984966e-01 8.57041722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039254154 meters 0.05654790475179462 Centerline is valid? [True, True] Translation: X:223.42, Y:4.49, Z:0.86 [[ 9.99074239e-01 -4.24250297e-02 -7.12607209e-03 2.23418887e+02] [ 4.24259818e-02 9.99099613e-01 -1.75771867e-05 4.49362905e+00] [ 7.12040158e-03 -2.84769690e-04 9.99974609e-01 8.56548591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099254154 meters 0.05563159330263501 Centerline is valid? [True, True] Translation: X:223.48, Y:4.50, Z:0.86 [[ 9.98734155e-01 -4.99103753e-02 -6.24838507e-03 2.23479567e+02] [ 4.99112536e-02 9.98753657e-01 -1.53812224e-05 4.49665014e+00] [ 6.24136512e-03 -2.96502980e-04 9.99980479e-01 8.56791847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159254154 meters 0.05382894936687187 Centerline is valid? [True, True] Translation: X:223.54, Y:4.50, Z:0.86 [[ 9.98257184e-01 -5.85630396e-02 -7.27775840e-03 2.23540476e+02] [ 5.85644606e-02 9.98283629e-01 -1.78924438e-05 4.50227053e+00] [ 7.26631490e-03 -4.08356734e-04 9.99973517e-01 8.57335525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219254154 meters 0.05588047174356449 Centerline is valid? [True, True] Translation: X:223.60, Y:4.49, Z:0.86 [[ 9.98008050e-01 -6.24669656e-02 -8.82105161e-03 2.23600022e+02] [ 6.24692051e-02 9.98046892e-01 -2.16832247e-05 4.49379894e+00] [ 8.80517763e-03 -5.29404049e-04 9.99961094e-01 8.56729074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279254154 meters 0.05273610409162228 Centerline is valid? [True, True] Translation: X:223.66, Y:4.51, Z:0.86 [[ 9.98027999e-01 -6.22536168e-02 -8.03739287e-03 2.23661806e+02] [ 6.22554703e-02 9.98060247e-01 -1.96198973e-05 4.50705580e+00] [ 8.02302372e-03 -4.80790466e-04 9.99967699e-01 8.57950844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339254154 meters 0.05556615915416334 Centerline is valid? [True, True] Translation: X:223.72, Y:4.50, Z:0.86 [[ 9.98344874e-01 -5.67763919e-02 -9.16267034e-03 2.23721825e+02] [ 5.67785723e-02 9.98386795e-01 -2.21965678e-05 4.50148091e+00] [ 9.14914932e-03 -4.98083511e-04 9.99958022e-01 8.57793356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399254154 meters 0.053027167655451034 Centerline is valid? [True, True] Translation: X:223.78, Y:4.52, Z:0.86 [[ 9.98683933e-01 -5.06470644e-02 -8.07937654e-03 2.23782379e+02] [ 5.06485594e-02 9.98716538e-01 -1.95854605e-05 4.51964390e+00] [ 8.06999891e-03 -3.89649098e-04 9.99967361e-01 8.59798077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459254154 meters 0.05310143555865217 Centerline is valid? [True, True] Translation: X:223.84, Y:4.53, Z:0.86 [[ 9.99234898e-01 -3.86126418e-02 -6.21955803e-03 2.23843329e+02] [ 3.86132949e-02 9.99254229e-01 -1.50779056e-05 4.53069282e+00] [ 6.21550186e-03 -2.25091259e-04 9.99980658e-01 8.61383752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519254154 meters 0.053311651534040404 Centerline is valid? [True, True] Translation: X:223.90, Y:4.53, Z:0.86 [[ 9.99649157e-01 -2.60219267e-02 -4.94192984e-03 2.23902501e+02] [ 2.60221853e-02 9.99661366e-01 -1.19696552e-05 4.53221458e+00] [ 4.94056781e-03 -1.16634359e-04 9.99987789e-01 8.62480574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579254154 meters 0.05378208986774593 Centerline is valid? [True, True] Translation: X:223.96, Y:4.53, Z:0.86 [[ 9.99799511e-01 -1.91761634e-02 -5.76308436e-03 2.23961577e+02] [ 1.91764014e-02 9.99816116e-01 -1.39589163e-05 4.53138522e+00] [ 5.76229230e-03 -9.65591014e-05 9.99983393e-01 8.62038275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.639254154 meters 0.05349102624222596 Centerline is valid? [True, True] Translation: X:224.02, Y:4.54, Z:0.86 [[ 9.99917125e-01 -9.52997528e-03 -8.65582868e-03 2.24021917e+02] [ 9.53015078e-03 9.99954587e-01 -2.09725992e-05 4.54290308e+00] [ 8.65563546e-03 -6.15204913e-05 9.99962537e-01 8.60689059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters 0.05392929435646681 Centerline is valid? [True, True] Translation: X:224.08, Y:4.55, Z:0.86 [[ 9.99931832e-01 -7.25182214e-03 -9.15110237e-03 2.24081017e+02] [ 7.25192242e-03 9.99973704e-01 -2.22242505e-05 4.54534177e+00] [ 9.15102290e-03 -4.41403489e-05 9.99958128e-01 8.61306897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759254154 meters 0.05387542849678045 Centerline is valid? [True, True] Translation: X:224.14, Y:4.55, Z:0.86 [[ 9.99948272e-01 -2.34859956e-03 -9.89635261e-03 2.24139205e+02] [ 2.34846933e-03 9.99997242e-01 -2.47797848e-05 4.54765448e+00] [ 9.89638352e-03 1.53722240e-06 9.99951030e-01 8.58817194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819254154 meters 0.0541047685652218 Centerline is valid? [True, True] Translation: X:224.20, Y:4.55, Z:0.86 [[ 9.99963676e-01 4.03435967e-03 -7.50809190e-03 2.24198156e+02] [-4.03461982e-03 9.99991861e-01 -1.95033649e-05 4.55313873e+00] [ 7.50795210e-03 4.97949528e-05 9.99971814e-01 8.61586618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879254154 meters 0.05426937458784051 Centerline is valid? [True, True] Translation: X:224.26, Y:4.55, Z:0.86 [[ 9.99959686e-01 6.68624093e-03 -5.99342809e-03 2.24256521e+02] [-6.68645762e-03 9.99977645e-01 -1.61181054e-05 4.55317817e+00] [ 5.99318634e-03 5.61922586e-05 9.99982039e-01 8.63412335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939254154 meters 0.05423255432306044 Centerline is valid? [True, True] Translation: X:224.31, Y:4.55, Z:0.86 [[ 9.99970598e-01 6.11275838e-03 -4.63015066e-03 2.24314867e+02] [-6.11288320e-03 9.99981316e-01 -1.28064166e-05 4.55229639e+00] [ 4.62998586e-03 4.11096102e-05 9.99989281e-01 8.63990457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999254154 meters 0.054496290153869614 Centerline is valid? [True, True] Translation: X:224.37, Y:4.55, Z:0.86 [[ 9.99988076e-01 1.40073708e-03 -4.67818619e-03 2.24372602e+02] [-1.40081352e-03 9.99999019e-01 -1.30629773e-05 4.54514462e+00] [ 4.67816330e-03 1.96160880e-05 9.99989057e-01 8.64277330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059254154 meters 0.05415225015585064 Centerline is valid? [True, True] Translation: X:224.43, Y:4.54, Z:0.86 [[ 9.99972281e-01 -4.04854067e-03 -6.24868650e-03 2.24431139e+02] [ 4.04850902e-03 9.99991805e-01 -1.77138095e-05 4.53924117e+00] [ 6.24870700e-03 -7.58454517e-06 9.99980477e-01 8.63379699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119254154 meters 0.0536136928200885 Centerline is valid? [True, True] Translation: X:224.49, Y:4.53, Z:0.86 [[ 9.99881242e-01 -1.33030252e-02 -7.78019904e-03 2.24491226e+02] [ 1.33032552e-02 9.99911508e-01 -2.21864270e-05 4.53024876e+00] [ 7.77980570e-03 -8.13181812e-05 9.99969734e-01 8.62292754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179254154 meters 0.053902015069364026 Centerline is valid? [True, True] Translation: X:224.55, Y:4.52, Z:0.86 [[ 9.99808110e-01 -1.79346160e-02 -7.87995610e-03 2.24551508e+02] [ 1.79349959e-02 9.99839155e-01 -2.24484383e-05 4.52419290e+00] [ 7.87909125e-03 -1.18882850e-04 9.99968952e-01 8.62388138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239254154 meters 0.05385825179936714 Centerline is valid? [True, True] Translation: X:224.61, Y:4.52, Z:0.86 [[ 9.99767455e-01 -2.03264846e-02 -7.20211234e-03 2.24613140e+02] [ 2.03268668e-02 9.99793388e-01 -2.01357799e-05 4.51771233e+00] [ 7.20103359e-03 -1.26265281e-04 9.99974064e-01 8.62503441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299254154 meters 0.05435979013702374 Centerline is valid? [True, True] Translation: X:224.67, Y:4.51, Z:0.86 [[ 9.99807679e-01 -1.80449787e-02 -7.68007459e-03 2.24674032e+02] [ 1.80453502e-02 9.99837169e-01 -2.09267088e-05 4.50857390e+00] [ 7.67920166e-03 -1.17666951e-04 9.99970508e-01 8.62101518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359254154 meters 0.05403148149865929 Centerline is valid? [True, True] Translation: X:224.74, Y:4.51, Z:0.86 [[ 9.99875044e-01 -1.38449046e-02 -7.62983212e-03 2.24735167e+02] [ 1.38451498e-02 9.99904151e-01 -2.06751018e-05 4.50815992e+00] [ 7.62938705e-03 -8.49636504e-05 9.99970892e-01 8.63130413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41925415400001 meters 0.05488026566596474 Centerline is valid? [True, True] Translation: X:224.79, Y:4.51, Z:0.86 [[ 9.99921828e-01 -9.76832652e-03 -7.80492761e-03 2.24794496e+02] [ 9.76845891e-03 9.99952287e-01 -2.11599443e-05 4.50622644e+00] [ 7.80476191e-03 -5.50838245e-05 9.99969541e-01 8.63415100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters 0.05473905492935736 Centerline is valid? [True, True] Translation: X:224.85, Y:4.51, Z:0.86 [[ 9.99958345e-01 -2.58091743e-03 -8.75485447e-03 2.24854020e+02] [ 2.58080789e-03 9.99996669e-01 -2.38088783e-05 4.50664624e+00] [ 8.75488676e-03 1.21328897e-06 9.99961675e-01 8.63801052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539254154 meters 0.05492522484227946 Centerline is valid? [True, True] Translation: X:224.91, Y:4.51, Z:0.86 [[ 9.99958811e-01 2.84318218e-03 -8.61929331e-03 2.24912835e+02] [-2.84349483e-03 9.99995957e-01 -2.40187850e-05 4.50627061e+00] [ 8.61919017e-03 4.85267117e-05 9.99962853e-01 8.64622028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599254154 meters 0.055805004316529974 Centerline is valid? [True, True] Translation: X:224.97, Y:4.50, Z:0.87 [[ 9.99899521e-01 1.11309850e-02 -8.77777349e-03 2.24973142e+02] [-1.11316330e-02 9.99938041e-01 -2.49717286e-05 4.50453755e+00] [ 8.77695167e-03 1.22680173e-04 9.99961474e-01 8.65929611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659254154 meters 0.05578127739252495 Centerline is valid? [True, True] Translation: X:225.03, Y:4.50, Z:0.87 [[ 9.99832689e-01 1.58908279e-02 -9.05960526e-03 2.25032983e+02] [-1.58917143e-02 9.99873718e-01 -2.58527938e-05 4.50108877e+00] [ 9.05805038e-03 1.69821127e-04 9.99958961e-01 8.66126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719254154 meters 0.056076256685899474 Centerline is valid? [True, True] Translation: X:225.09, Y:4.49, Z:0.87 [[ 9.99854517e-01 1.35052750e-02 -1.04188473e-02 2.25091183e+02] [-1.35063204e-02 9.99908785e-01 -2.99826532e-05 4.48942709e+00] [ 1.04174921e-02 1.70698582e-04 9.99945722e-01 8.67861384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779254154 meters 0.05625936767595042 Centerline is valid? [True, True] Translation: X:225.15, Y:4.48, Z:0.87 [[ 9.99953813e-01 6.20479585e-04 -9.59099902e-03 2.25151928e+02] [-6.20774330e-04 9.99999807e-01 -2.77545343e-05 4.47655311e+00] [ 9.59097995e-03 3.37070984e-05 9.99954005e-01 8.66443882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839254154 meters 0.055917842712014255 Centerline is valid? [True, True] Translation: X:225.21, Y:4.45, Z:0.87 [[ 9.99856899e-01 -1.52229353e-02 -7.37858985e-03 2.25210701e+02] [ 1.52231914e-02 9.99884120e-01 -2.14566337e-05 4.45479946e+00] [ 7.37806145e-03 -9.08721221e-05 9.99972778e-01 8.67705688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899254154 meters 0.055917842712014255 Centerline is valid? [True, True] Translation: X:225.27, Y:4.45, Z:0.87 [[ 9.99856899e-01 -1.52229357e-02 -7.37858956e-03 2.25270705e+02] [ 1.52231910e-02 9.99884120e-01 -2.15543977e-05 4.45497480e+00] [ 7.37806265e-03 -9.07743653e-05 9.99972778e-01 8.67942372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959254154 meters 0.05665690365724947 Centerline is valid? [True, True] Translation: X:225.33, Y:4.45, Z:0.87 [[ 9.99720568e-01 -2.26710253e-02 -6.69402452e-03 2.25330908e+02] [ 2.26714024e-02 9.99742971e-01 -1.95498784e-05 4.44700036e+00] [ 6.69274718e-03 -1.32218508e-04 9.99977595e-01 8.68596735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019254154 meters 0.057418951381969605 Centerline is valid? [True, True] Translation: X:225.39, Y:4.43, Z:0.87 [[ 9.99427464e-01 -3.32293810e-02 -6.36804382e-03 2.25390302e+02] [ 3.32299364e-02 9.99447733e-01 -1.86065454e-05 4.43220152e+00] [ 6.36514524e-03 -1.93013799e-04 9.99979724e-01 8.68988632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079254154 meters 0.05865261732354009 Centerline is valid? [True, True] Translation: X:225.45, Y:4.42, Z:0.87 [[ 9.99172806e-01 -4.01260106e-02 -6.60354110e-03 2.25450455e+02] [ 4.01267581e-02 9.99194597e-01 -1.93094403e-05 4.42239869e+00] [ 6.59899739e-03 -2.45685229e-04 9.99978196e-01 8.69071817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.139254154 meters 0.059650149746947864 Centerline is valid? [True, True] Translation: X:225.51, Y:4.41, Z:0.87 [[ 9.98768991e-01 -4.91150177e-02 -6.94388427e-03 2.25511438e+02] [ 4.91160612e-02 9.98793078e-01 -2.02857781e-05 4.41133556e+00] [ 6.93649988e-03 -3.20795439e-04 9.99975891e-01 8.69392721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters 0.055609355146976396 Centerline is valid? [True, True] Translation: X:225.57, Y:4.43, Z:0.87 [[ 9.98422735e-01 -5.56129216e-02 -7.69703776e-03 2.25572002e+02] [ 5.56143964e-02 9.98452322e-01 -2.24719461e-05 4.43276225e+00] [ 7.68637495e-03 -4.05629607e-04 9.99970377e-01 8.70541013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259254154 meters 0.05537758590020146 Centerline is valid? [True, True] Translation: X:225.63, Y:4.43, Z:0.87 [[ 9.98338626e-01 -5.70560957e-02 -8.03673445e-03 2.25633303e+02] [ 5.70577510e-02 9.98370879e-01 -2.33461704e-05 4.42952752e+00] [ 8.02497368e-03 -4.35250609e-04 9.99967705e-01 8.70377388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319254154 meters 0.05664974344118212 Centerline is valid? [True, True] Translation: X:225.69, Y:4.42, Z:0.87 [[ 9.98389038e-01 -5.61061254e-02 -8.45167936e-03 2.25693816e+02] [ 5.61079234e-02 9.98424709e-01 -2.44062290e-05 4.42267725e+00] [ 8.43973485e-03 -4.49839267e-04 9.99964284e-01 8.70246398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379254154 meters 0.05899943684010188 Centerline is valid? [True, True] Translation: X:225.75, Y:4.41, Z:0.87 [[ 9.98495437e-01 -5.41269900e-02 -8.78240789e-03 2.25753923e+02] [ 5.41288554e-02 9.98533959e-01 -2.53261370e-05 4.41233066e+00] [ 8.77090335e-03 -4.50093655e-04 9.99961434e-01 8.69467448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439254154 meters 0.06100006382964781 Centerline is valid? [True, True] Translation: X:225.81, Y:4.41, Z:0.87 [[ 9.98674437e-01 -5.07202203e-02 -8.76519568e-03 2.25813699e+02] [ 5.07219475e-02 9.98712813e-01 -2.52792605e-05 4.41054442e+00] [ 8.75519541e-03 -4.19342044e-04 9.99961585e-01 8.69424920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499254154 meters 0.05727152516295855 Centerline is valid? [True, True] Translation: X:225.87, Y:4.42, Z:0.87 [[ 9.98881418e-01 -4.66824530e-02 -7.52734299e-03 2.25874197e+02] [ 4.66836124e-02 9.98909726e-01 -2.17140232e-05 4.42372986e+00] [ 7.52014979e-03 -3.29713828e-04 9.99971669e-01 8.71169507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559254154 meters 0.056996453588083126 Centerline is valid? [True, True] Translation: X:225.93, Y:4.43, Z:0.87 [[ 9.99029216e-01 -4.34133015e-02 -7.47731023e-03 2.25934959e+02] [ 4.34143540e-02 9.99057152e-01 -2.15716527e-05 4.42779996e+00] [ 7.47119676e-03 -3.03071882e-04 9.99972044e-01 8.71207935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619254154 meters 0.05591678621839318 Centerline is valid? [True, True] Translation: X:226.00, Y:4.44, Z:0.87 [[ 9.99193032e-01 -3.93850102e-02 -7.88074343e-03 2.25995885e+02] [ 3.93860545e-02 9.99224068e-01 -2.27026168e-05 4.43624937e+00] [ 7.87552265e-03 -2.87707094e-04 9.99968946e-01 8.71158898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679254154 meters 0.05806423408830343 Centerline is valid? [True, True] Translation: X:226.06, Y:4.43, Z:0.87 [[ 9.99369609e-01 -3.45461708e-02 -8.18214767e-03 2.26055589e+02] [ 3.45471344e-02 9.99403069e-01 -2.35748455e-05 4.43052482e+00] [ 8.17807792e-03 -2.59109771e-04 9.99966525e-01 8.69602378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739254154 meters 0.05589172953594473 Centerline is valid? [True, True] Translation: X:226.12, Y:4.45, Z:0.87 [[ 9.99627505e-01 -2.63312098e-02 -7.17767086e-03 2.26115911e+02] [ 2.63317395e-02 9.99653259e-01 -2.07172520e-05 4.44993619e+00] [ 7.17572759e-03 -1.68291024e-04 9.99974240e-01 8.71810864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799254154 meters 0.056645263294298705 Centerline is valid? [True, True] Translation: X:226.18, Y:4.45, Z:0.87 [[ 9.99782590e-01 -1.95080202e-02 -7.36273129e-03 2.26175483e+02] [ 1.95083922e-02 9.99809693e-01 -2.12861035e-05 4.44840122e+00] [ 7.36174536e-03 -1.22353574e-04 9.99972894e-01 8.71329633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859254154 meters 0.05601743081342488 Centerline is valid? [True, True] Translation: X:226.24, Y:4.46, Z:0.87 [[ 9.99928343e-01 -9.85398559e-03 -6.79768724e-03 2.26236226e+02] [ 9.85407963e-03 9.99951447e-01 -1.96595455e-05 4.45807933e+00] [ 6.79755092e-03 -4.73268147e-05 9.99976895e-01 8.72317364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91925415400001 meters 0.05640287216801604 Centerline is valid? [True, True] Translation: X:226.30, Y:4.46, Z:0.87 [[ 9.99973199e-01 -4.05375587e-03 -6.09655068e-03 2.26295805e+02] [ 4.05372377e-03 9.99991783e-01 -1.76229504e-05 4.46042333e+00] [ 6.09657202e-03 -7.09125428e-06 9.99981416e-01 8.72847483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters 0.05666521162530217 Centerline is valid? [True, True] Translation: X:226.35, Y:4.46, Z:0.87 [[ 9.99983453e-01 1.54640898e-03 -5.54094063e-03 2.26354473e+02] [-1.54652185e-03 9.99998804e-01 -1.60848479e-05 4.46319812e+00] [ 5.54090913e-03 2.46537674e-05 9.99984649e-01 8.73490283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039254154 meters 0.056274651328716244 Centerline is valid? [True, True] Translation: X:226.41, Y:4.46, Z:0.87 [[ 9.99985668e-01 2.16777670e-03 -4.89540957e-03 2.26412783e+02] [-2.16787322e-03 9.99997650e-01 -1.44111210e-05 4.46176236e+00] [ 4.89536682e-03 2.50235418e-05 9.99988017e-01 8.73724893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099254154 meters 0.05556053618730106 Centerline is valid? [True, True] Translation: X:226.47, Y:4.46, Z:0.87 [[ 9.99983131e-01 -2.15757283e-04 -5.80444858e-03 2.26472049e+02] [ 2.15657853e-04 9.99999977e-01 -1.77557436e-05 4.45820474e+00] [ 5.80445227e-03 1.65036691e-05 9.99983154e-01 8.73311584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159254154 meters 0.056110235849118936 Centerline is valid? [True, True] Translation: X:226.53, Y:4.45, Z:0.87 [[ 9.99972627e-01 -2.93754761e-03 -6.79082932e-03 2.26530705e+02] [ 2.93747192e-03 9.99995685e-01 -2.11211924e-05 4.45340663e+00] [ 6.79086206e-03 1.17274383e-06 9.99976942e-01 8.72858568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219254154 meters 0.056084538327417 Centerline is valid? [True, True] Translation: X:226.59, Y:4.45, Z:0.87 [[ 9.99956245e-01 -6.33919985e-03 -6.87917857e-03 2.26588563e+02] [ 6.33920089e-03 9.99979907e-01 -2.16530213e-05 4.44764546e+00] [ 6.87917761e-03 -2.19564211e-05 9.99976338e-01 8.72527446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279254154 meters 0.056231796812433295 Centerline is valid? [True, True] Translation: X:226.65, Y:4.44, Z:0.87 [[ 9.99931746e-01 -9.29566992e-03 -7.07764620e-03 2.26647263e+02] [ 9.29574336e-03 9.99956793e-01 -2.25201585e-05 4.44136904e+00] [ 7.07754974e-03 -4.32733612e-05 9.99974953e-01 8.72541274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339254154 meters 0.05715201592345934 Centerline is valid? [True, True] Translation: X:226.71, Y:4.44, Z:0.87 [[ 9.99909715e-01 -1.15230079e-02 -6.91240554e-03 2.26706641e+02] [ 1.15231303e-02 9.99933606e-01 -2.21307763e-05 4.43756771e+00] [ 6.91220161e-03 -5.75237712e-05 9.99976109e-01 8.72443084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399254154 meters 0.0565117317382859 Centerline is valid? [True, True] Translation: X:226.77, Y:4.43, Z:0.87 [[ 9.99876469e-01 -1.44083065e-02 -6.28075217e-03 2.26765965e+02] [ 1.44084640e-02 9.99896192e-01 -2.01852862e-05 4.43328039e+00] [ 6.28039102e-03 -7.03131986e-05 9.99980276e-01 8.72485342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459254154 meters 0.0566584313351612 Centerline is valid? [True, True] Translation: X:226.83, Y:4.43, Z:0.87 [[ 9.99837647e-01 -1.67356802e-02 -6.67802885e-03 2.26826144e+02] [ 1.67359099e-02 9.99859945e-01 -2.14751249e-05 4.42708613e+00] [ 6.67745295e-03 -9.02912510e-05 9.99977701e-01 8.71933777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519254154 meters 0.05711027616156659 Centerline is valid? [True, True] Translation: X:226.89, Y:4.42, Z:0.87 [[ 9.99820449e-01 -1.73478094e-02 -7.62387764e-03 2.26886581e+02] [ 1.73481272e-02 9.99849510e-01 -2.44451221e-05 4.42371216e+00] [ 7.62315439e-03 -1.07819266e-04 9.99970938e-01 8.71464126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579254154 meters 0.05631109438772468 Centerline is valid? [True, True] Translation: X:226.95, Y:4.42, Z:0.87 [[ 9.99835262e-01 -1.60942141e-02 -8.39193327e-03 2.26947581e+02] [ 1.60945556e-02 9.99870474e-01 -2.68328816e-05 4.42370189e+00] [ 8.39127815e-03 -1.08235976e-04 9.99964787e-01 8.71482767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.639254154 meters 0.05690463643611861 Centerline is valid? [True, True] Translation: X:227.01, Y:4.42, Z:0.87 [[ 9.99864260e-01 -1.34374077e-02 -9.53399761e-03 2.27007156e+02] [ 1.34377277e-02 9.99909709e-01 -3.04940685e-05 4.42194185e+00] [ 9.53354654e-03 -9.76253343e-05 9.99954550e-01 8.70236600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters 0.05713148265392931 Centerline is valid? [True, True] Translation: X:227.07, Y:4.43, Z:0.87 [[ 9.99921143e-01 -8.09427734e-03 -9.60161440e-03 2.27066170e+02] [ 8.09435340e-03 9.99967240e-01 -3.09398077e-05 4.42555228e+00] [ 9.60155029e-03 -4.67814923e-05 9.99953903e-01 8.71691528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759254154 meters 0.05676703550394129 Centerline is valid? [True, True] Translation: X:227.13, Y:4.43, Z:0.87 [[ 9.99953646e-01 -4.28938300e-03 -8.62015917e-03 2.27125439e+02] [ 4.28929731e-03 9.99990801e-01 -2.84277352e-05 4.42698216e+00] [ 8.62020180e-03 -8.54800808e-06 9.99962845e-01 8.72465594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819254154 meters 0.05680502682813166 Centerline is valid? [True, True] Translation: X:227.18, Y:4.43, Z:0.87 [[ 9.99957560e-01 2.43604695e-05 -9.21295846e-03 2.27183564e+02] [-2.46479005e-05 9.99999999e-01 -3.10850581e-05 4.42718884e+00] [ 9.21295769e-03 3.13108189e-05 9.99957559e-01 8.74266127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879254154 meters 0.057505106631151506 Centerline is valid? [True, True] Translation: X:227.24, Y:4.43, Z:0.87 [[ 9.99958101e-01 1.55835252e-04 -9.15271441e-03 2.27241733e+02] [-1.56130110e-04 9.99999987e-01 -3.15008138e-05 4.42779307e+00] [ 9.15270938e-03 3.29285082e-05 9.99958113e-01 8.72932779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939254154 meters 0.0568269660958967 Centerline is valid? [True, True] Translation: X:227.30, Y:4.42, Z:0.87 [[ 9.99948088e-01 -4.37997526e-03 -9.19988505e-03 2.27300624e+02] [ 4.37986448e-03 9.99990408e-01 -3.21898805e-05 4.42376342e+00] [ 9.19993780e-03 -8.10604028e-06 9.99957680e-01 8.73950635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999254154 meters 0.05669321696117128 Centerline is valid? [True, True] Translation: X:227.36, Y:4.42, Z:0.87 [[ 9.99912748e-01 -1.01194512e-02 -8.49074665e-03 2.27359540e+02] [ 1.01195613e-02 9.99948795e-01 -2.99962571e-05 4.42031080e+00] [ 8.49061544e-03 -5.59289916e-05 9.99963953e-01 8.74951320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059254154 meters 0.0580804117088897 Centerline is valid? [True, True] Translation: X:227.42, Y:4.41, Z:0.87 [[ 9.99733930e-01 -2.16424193e-02 -7.97967188e-03 2.27418791e+02] [ 2.16428826e-02 9.99765765e-01 -2.83005131e-05 4.41167965e+00] [ 7.97841525e-03 -1.44410118e-04 9.99968162e-01 8.74989436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119254154 meters 0.05732316871220458 Centerline is valid? [True, True] Translation: X:227.48, Y:4.41, Z:0.88 [[ 9.99497133e-01 -3.08196415e-02 -7.45862457e-03 2.27479062e+02] [ 3.08203015e-02 9.99524941e-01 -2.64584862e-05 4.40924738e+00] [ 7.45589673e-03 -2.03431877e-04 9.99972184e-01 8.75296802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179254154 meters 0.0576785458674994 Centerline is valid? [True, True] Translation: X:227.54, Y:4.41, Z:0.88 [[ 9.98925310e-01 -4.56211712e-02 -8.18129469e-03 2.27539490e+02] [ 4.56224607e-02 9.98958753e-01 -2.90397090e-05 4.41034259e+00] [ 8.17410077e-03 -3.44242296e-04 9.99966532e-01 8.76515183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239254154 meters 0.05816611358756128 Centerline is valid? [True, True] Translation: X:227.60, Y:4.41, Z:0.88 [[ 9.98169390e-01 -5.98194883e-02 -8.91619968e-03 2.27599262e+02] [ 5.98215847e-02 9.98209085e-01 -3.16234649e-05 4.40821111e+00] [ 8.90212322e-03 -5.01815620e-04 9.99960249e-01 8.77038504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299254154 meters 0.05830056835762187 Centerline is valid? [True, True] Translation: X:227.66, Y:4.41, Z:0.88 [[ 9.97481781e-01 -7.03810123e-02 -8.75274670e-03 2.27659642e+02] [ 7.03834375e-02 9.97520010e-01 -3.10238030e-05 4.40902248e+00] [ 8.73322347e-03 -5.85102722e-04 9.99961693e-01 8.77920881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359254154 meters 0.05782191935081802 Centerline is valid? [True, True] Translation: X:227.72, Y:4.41, Z:0.88 [[ 9.97240530e-01 -7.38133339e-02 -7.93198071e-03 2.27720021e+02] [ 7.38154338e-02 9.97271919e-01 -2.80912790e-05 4.40913984e+00] [ 7.91241514e-03 -5.57488835e-04 9.99968541e-01 8.78356445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41925415400001 meters 0.05773246806644729 Centerline is valid? [True, True] Translation: X:227.78, Y:4.41, Z:0.88 [[ 9.97236006e-01 -7.38283217e-02 -8.35032785e-03 2.27781156e+02] [ 7.38306536e-02 9.97270793e-01 -2.90847101e-05 4.41450890e+00] [ 8.32968535e-03 -5.87505842e-04 9.99965135e-01 8.78556808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479254154 meters 0.05619075232454162 Centerline is valid? [True, True] Translation: X:227.84, Y:4.43, Z:0.88 [[ 9.97300088e-01 -7.30208946e-02 -7.77709957e-03 2.27842291e+02] [ 7.30228970e-02 9.97330264e-01 -2.65523113e-05 4.43204311e+00] [ 7.75827564e-03 -5.41425718e-04 9.99969758e-01 8.78967350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539254154 meters 0.05633745073140653 Centerline is valid? [True, True] Translation: X:227.90, Y:4.43, Z:0.88 [[ 9.97682106e-01 -6.74120059e-02 -9.27562008e-03 2.27901889e+02] [ 6.74146144e-02 9.97725047e-01 -3.15113905e-05 4.43297814e+00] [ 9.25664272e-03 -5.93874000e-04 9.99956980e-01 8.79618577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599254154 meters 0.057321227529291675 Centerline is valid? [True, True] Translation: X:227.96, Y:4.43, Z:0.88 [[ 9.98015553e-01 -6.21100034e-02 -1.03587072e-02 2.27962316e+02] [ 6.21129724e-02 9.98069125e-01 -3.51576287e-05 4.43119706e+00] [ 1.03408895e-02 -6.08322236e-04 9.99946347e-01 8.79483785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659254154 meters 0.05623804359427203 Centerline is valid? [True, True] Translation: X:228.02, Y:4.44, Z:0.88 [[ 9.98596100e-01 -5.19409005e-02 -1.03909831e-02 2.28022913e+02] [ 5.19433393e-02 9.98650033e-01 -3.52212772e-05 4.44481998e+00] [ 1.03787851e-02 -5.04570532e-04 9.99946012e-01 8.80091079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719254154 meters 0.06044018021210314 Centerline is valid? [True, True] Translation: X:228.08, Y:4.43, Z:0.88 [[ 9.98976622e-01 -4.37715466e-02 -1.13912629e-02 2.28082456e+02] [ 4.37739466e-02 9.99041461e-01 -3.86764530e-05 4.42865342e+00] [ 1.13820369e-02 -4.60003663e-04 9.99935117e-01 8.76698719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779254154 meters 0.05616924504151138 Centerline is valid? [True, True] Translation: X:228.14, Y:4.45, Z:0.88 [[ 9.99441409e-01 -3.17789327e-02 -1.03426056e-02 2.28143087e+02] [ 3.17802693e-02 9.99494879e-01 -3.51380146e-05 4.45422366e+00] [ 1.03384980e-02 -2.93572404e-04 9.99946513e-01 8.80073492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839254154 meters 0.05712005216804465 Centerline is valid? [True, True] Translation: X:228.20, Y:4.46, Z:0.88 [[ 9.99770779e-01 -1.92038917e-02 -9.46575025e-03 2.28202154e+02] [ 1.92044473e-02 9.99815577e-01 -3.21985987e-05 4.46454101e+00] [ 9.46462289e-03 -1.49593284e-04 9.99955198e-01 8.81079989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899254154 meters 0.05656660464559417 Centerline is valid? [True, True] Translation: X:228.26, Y:4.47, Z:0.88 [[ 9.99898221e-01 -1.17942578e-02 -8.02770954e-03 2.28262684e+02] [ 1.17944185e-02 9.99930443e-01 -2.73358907e-05 4.47170476e+00] [ 8.02747357e-03 -6.73490571e-05 9.99967777e-01 8.82371324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959254154 meters 0.056887139225472 Centerline is valid? [True, True] Translation: X:228.32, Y:4.48, Z:0.88 [[ 9.99968326e-01 -1.45745946e-03 -7.82448453e-03 2.28321166e+02] [ 1.45729508e-03 9.99998938e-01 -2.67099585e-05 4.47941295e+00] [ 7.82451515e-03 1.53065297e-05 9.99969388e-01 8.82514040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019254154 meters 0.05649865010651255 Centerline is valid? [True, True] Translation: X:228.38, Y:4.48, Z:0.88 [[ 9.99959301e-01 3.97795597e-03 -8.09763141e-03 2.28379832e+02] [-3.97831479e-03 9.99992086e-01 -2.82050282e-05 4.48458771e+00] [ 8.09745513e-03 6.04188071e-05 9.99967213e-01 8.83072557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079254154 meters 0.057182477015674055 Centerline is valid? [True, True] Translation: X:228.44, Y:4.49, Z:0.88 [[ 9.99927960e-01 8.67592498e-03 -8.29473832e-03 2.28439731e+02] [-8.67646772e-03 9.99962358e-01 -2.94480948e-05 4.48664534e+00] [ 8.29417060e-03 1.01415003e-04 9.99965598e-01 8.82992460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.139254154 meters 0.0574611107666129 Centerline is valid? [True, True] Translation: X:228.50, Y:4.49, Z:0.88 [[ 9.99932106e-01 8.17267958e-03 -8.30610736e-03 2.28497861e+02] [-8.17320909e-03 9.99966598e-01 -2.98066914e-05 4.48648368e+00] [ 8.30558632e-03 9.76922199e-05 9.99965503e-01 8.82568008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters 0.05705507373749927 Centerline is valid? [True, True] Translation: X:228.56, Y:4.48, Z:0.88 [[ 9.99943968e-01 5.53339254e-03 -9.02451450e-03 2.28555314e+02] [-5.53391430e-03 9.99984687e-01 -3.28464063e-05 4.48292008e+00] [ 9.02419455e-03 8.27854556e-05 9.99959278e-01 8.83647705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259254154 meters 0.05681976077199472 Centerline is valid? [True, True] Translation: X:228.61, Y:4.48, Z:0.88 [[ 9.99966434e-01 -6.92085448e-04 -8.16406322e-03 2.28614671e+02] [ 6.91864104e-04 9.99999760e-01 -2.99362268e-05 4.47858079e+00] [ 8.16408198e-03 2.42867997e-05 9.99966673e-01 8.83030258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319254154 meters 0.056719358490895565 Centerline is valid? [True, True] Translation: X:228.67, Y:4.47, Z:0.88 [[ 9.99941921e-01 -6.32005696e-03 -8.72996757e-03 2.28672697e+02] [ 6.32001604e-03 9.99980028e-01 -3.22749932e-05 4.47199425e+00] [ 8.72999720e-03 -2.29004164e-05 9.99961893e-01 8.82028136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379254154 meters 0.05695697139438745 Centerline is valid? [True, True] Translation: X:228.73, Y:4.46, Z:0.89 [[ 9.99812495e-01 -1.79156349e-02 -7.34880401e-03 2.28733038e+02] [ 1.79159178e-02 9.99839497e-01 -2.73327701e-05 4.46300567e+00] [ 7.34811419e-03 -1.04332924e-04 9.99972997e-01 8.85311292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439254154 meters 0.0579511274010847 Centerline is valid? [True, True] Translation: X:228.79, Y:4.45, Z:0.89 [[ 9.99621817e-01 -2.65766180e-02 -7.06442472e-03 2.28792553e+02] [ 2.65770954e-02 9.99646766e-01 -2.63003227e-05 4.45484513e+00] [ 7.06262830e-03 -1.61461514e-04 9.99975046e-01 8.85275763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499254154 meters 0.05897805378168784 Centerline is valid? [True, True] Translation: X:228.85, Y:4.44, Z:0.89 [[ 9.99178368e-01 -3.98061420e-02 -7.61977121e-03 2.28851782e+02] [ 3.98070825e-02 9.99207384e-01 -2.82602505e-05 4.44089727e+00] [ 7.61485659e-03 -2.75083830e-04 9.99970969e-01 8.85219879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559254154 meters 0.0590184497682853 Centerline is valid? [True, True] Translation: X:228.91, Y:4.43, Z:0.88 [[ 9.98781051e-01 -4.87625451e-02 -7.65684284e-03 2.28911991e+02] [ 4.87637584e-02 9.98810340e-01 -2.82554898e-05 4.43403545e+00] [ 7.64911161e-03 -3.45155387e-04 9.99970686e-01 8.84755021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619254154 meters 0.056861988881493845 Centerline is valid? [True, True] Translation: X:228.97, Y:4.44, Z:0.89 [[ 9.98200638e-01 -5.93905957e-02 -8.26101591e-03 2.28972039e+02] [ 5.93923713e-02 9.98234715e-01 -3.04392798e-05 4.43724392e+00] [ 8.24824067e-03 -4.60256816e-04 9.99965877e-01 8.85310388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679254154 meters 0.054978076947965304 Centerline is valid? [True, True] Translation: X:229.03, Y:4.45, Z:0.89 [[ 9.97875898e-01 -6.45774746e-02 -8.56983339e-03 2.29032593e+02] [ 6.45795761e-02 9.97912560e-01 -3.15614107e-05 4.45360163e+00] [ 8.55398253e-03 -5.21941836e-04 9.99963278e-01 8.87144728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739254154 meters 0.058476059210973916 Centerline is valid? [True, True] Translation: X:229.09, Y:4.43, Z:0.89 [[ 9.97904773e-01 -6.40395959e-02 -9.21921735e-03 2.29093777e+02] [ 6.40420105e-02 9.97947203e-01 -3.33673239e-05 4.43404945e+00] [ 9.20242899e-03 -5.57119802e-04 9.99957502e-01 8.85645480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799254154 meters 0.056250845556249374 Centerline is valid? [True, True] Translation: X:229.15, Y:4.46, Z:0.89 [[ 9.98192214e-01 -5.93616075e-02 -9.40767389e-03 2.29154672e+02] [ 5.93639193e-02 9.98236407e-01 -3.35636760e-05 4.45571289e+00] [ 9.39307498e-03 -5.24973393e-04 9.99955746e-01 8.87951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859254154 meters 0.05760692165150812 Centerline is valid? [True, True] Translation: X:229.21, Y:4.45, Z:0.89 [[ 9.98495556e-01 -5.40850894e-02 -9.02372676e-03 2.29214654e+02] [ 5.40870018e-02 9.98536226e-01 -3.21569612e-05 4.44726475e+00] [ 9.01225728e-03 -4.55957742e-04 9.99959285e-01 8.87412435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91925415400001 meters 0.056949988688702075 Centerline is valid? [True, True] Translation: X:229.27, Y:4.46, Z:0.89 [[ 9.98897193e-01 -4.62927455e-02 -7.83447001e-03 2.29274798e+02] [ 4.62939479e-02 9.98927860e-01 -2.79051800e-05 4.45533760e+00] [ 7.82736217e-03 -3.34814140e-04 9.99969310e-01 8.88716070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979254154 meters 0.057774848034689304 Centerline is valid? [True, True] Translation: X:229.34, Y:4.46, Z:0.89 [[ 9.99108983e-01 -4.12840008e-02 -8.76761776e-03 2.29335597e+02] [ 4.12853145e-02 9.99147397e-01 -3.11864043e-05 4.45856368e+00] [ 8.76142997e-03 -3.30815240e-04 9.99961563e-01 8.88828449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039254154 meters 0.05657222181376896 Centerline is valid? [True, True] Translation: X:229.40, Y:4.47, Z:0.89 [[ 9.99356139e-01 -3.43163122e-02 -1.04736837e-02 2.29396507e+02] [ 3.43178052e-02 9.99410970e-01 -3.71972288e-05 4.46609376e+00] [ 1.04687909e-02 -3.22260558e-04 9.99945149e-01 8.88992235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099254154 meters 0.05678383813865449 Centerline is valid? [True, True] Translation: X:229.46, Y:4.47, Z:0.89 [[ 9.99542018e-01 -2.84288263e-02 -1.03709746e-02 2.29456716e+02] [ 2.84299735e-02 9.99595786e-01 -3.68178895e-05 4.47190918e+00] [ 1.03678292e-02 -2.58045506e-04 9.99946219e-01 8.89045571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159254154 meters 0.05723192722762889 Centerline is valid? [True, True] Translation: X:229.52, Y:4.48, Z:0.89 [[ 9.99629274e-01 -2.51639219e-02 -1.03966881e-02 2.29516210e+02] [ 2.51649004e-02 9.99683313e-01 -3.67139393e-05 4.47508035e+00] [ 1.03943194e-02 -2.24931291e-04 9.99945952e-01 8.89445091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219254154 meters 0.05736797352764963 Centerline is valid? [True, True] Translation: X:229.58, Y:4.48, Z:0.89 [[ 9.99754596e-01 -1.99056617e-02 -9.72170333e-03 2.29576479e+02] [ 1.99062703e-02 9.99801850e-01 -3.41749883e-05 4.47842836e+00] [ 9.72045725e-03 -1.59356252e-04 9.99952743e-01 8.89024577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279254154 meters 0.05769313272179341 Centerline is valid? [True, True] Translation: X:229.64, Y:4.48, Z:0.89 [[ 9.99837377e-01 -1.56132675e-02 -9.02470288e-03 2.29637009e+02] [ 1.56136173e-02 9.99878100e-01 -3.16900536e-05 4.48415004e+00] [ 9.02409755e-03 -1.09223357e-04 9.99959276e-01 8.90647694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339254154 meters 0.056374102558730196 Centerline is valid? [True, True] Translation: X:229.70, Y:4.49, Z:0.89 [[ 9.99914651e-01 -9.89995539e-03 -8.52534308e-03 2.29696258e+02] [ 9.90006054e-03 9.99950993e-01 -2.98685737e-05 4.48840706e+00] [ 8.52522098e-03 -5.45353882e-05 9.99963658e-01 8.90903252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399254154 meters 0.05666556907050197 Centerline is valid? [True, True] Translation: X:229.76, Y:4.49, Z:0.89 [[ 9.99939075e-01 -8.00541212e-03 -7.60001083e-03 2.29755508e+02] [ 8.00544085e-03 9.99967956e-01 -2.66414355e-05 4.49249431e+00] [ 7.59998057e-03 -3.42016248e-05 9.99971119e-01 8.93155209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459254154 meters 0.05657007645751711 Centerline is valid? [True, True] Translation: X:229.81, Y:4.49, Z:0.89 [[ 9.99942375e-01 -7.21952331e-03 -7.94519357e-03 2.29814417e+02] [ 7.21952852e-03 9.99973938e-01 -2.80251878e-05 4.49359982e+00] [ 7.94518884e-03 -2.93369787e-05 9.99968436e-01 8.94200581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519254154 meters 0.056935065165655156 Centerline is valid? [True, True] Translation: X:229.87, Y:4.49, Z:0.89 [[ 9.99935320e-01 -7.76363919e-03 -8.31160084e-03 2.29873055e+02] [ 7.76365898e-03 9.99969862e-01 -2.98839929e-05 4.49233949e+00] [ 8.31158236e-03 -3.46463746e-05 9.99965458e-01 8.92600092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579254154 meters 0.056869657418657044 Centerline is valid? [True, True] Translation: X:229.93, Y:4.49, Z:0.89 [[ 9.99897543e-01 -1.16481804e-02 -8.32000336e-03 2.29932329e+02] [ 1.16483306e-02 9.99932155e-01 -3.04042196e-05 4.49229816e+00] [ 8.31979305e-03 -6.65130451e-05 9.99965388e-01 8.94881012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.639254154 meters 0.0572414916244442 Centerline is valid? [True, True] Translation: X:229.99, Y:4.49, Z:0.89 [[ 9.99847923e-01 -1.57211283e-02 -7.54831979e-03 2.29991634e+02] [ 1.57213671e-02 9.99876411e-01 -2.77055177e-05 4.48725714e+00] [ 7.54782246e-03 -9.09686021e-05 9.99971511e-01 8.94335271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters 0.05702491710172349 Centerline is valid? [True, True] Translation: X:230.05, Y:4.48, Z:0.89 [[ 9.99705799e-01 -2.29906436e-02 -7.72947934e-03 2.30051753e+02] [ 2.29911107e-02 9.99735669e-01 -2.84302724e-05 4.48226362e+00] [ 7.72808983e-03 -1.49287407e-04 9.99970127e-01 8.93937259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759254154 meters 0.05763754264180913 Centerline is valid? [True, True] Translation: X:230.11, Y:4.48, Z:0.89 [[ 9.99585800e-01 -2.73646845e-02 -8.91077826e-03 2.30111900e+02] [ 2.73654804e-02 9.99625495e-01 -3.26188096e-05 4.47891451e+00] [ 8.90833373e-03 -2.11242429e-04 9.99960298e-01 8.93537886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819254154 meters 0.05725710098696819 Centerline is valid? [True, True] Translation: X:230.17, Y:4.47, Z:0.89 [[ 9.99437836e-01 -3.21110103e-02 -9.63820669e-03 2.30172300e+02] [ 3.21121633e-02 9.99484271e-01 -3.51475812e-05 4.47459873e+00] [ 9.63436461e-03 -2.74375844e-04 9.99953551e-01 8.93227490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879254154 meters 0.056961288262580526 Centerline is valid? [True, True] Translation: X:230.23, Y:4.47, Z:0.89 [[ 9.99422377e-01 -3.26596643e-02 -9.39460800e-03 2.30234159e+02] [ 3.26607856e-02 9.99466494e-01 -3.40781586e-05 4.47341686e+00] [ 9.39070889e-03 -2.72776803e-04 9.99955869e-01 8.93802498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939254154 meters 0.05770109490958768 Centerline is valid? [True, True] Translation: X:230.30, Y:4.47, Z:0.89 [[ 9.99444453e-01 -3.20866890e-02 -9.01278527e-03 2.30295567e+02] [ 3.20876999e-02 9.99485057e-01 -3.24502292e-05 4.47114082e+00] [ 9.00918542e-03 -2.56767348e-04 9.99959383e-01 8.94073829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999254154 meters 0.05873541056483542 Centerline is valid? [True, True] Translation: X:230.36, Y:4.46, Z:0.89 [[ 9.99444556e-01 -3.21070737e-02 -8.92830722e-03 2.30357155e+02] [ 3.21080696e-02 9.99484403e-01 -3.18058655e-05 4.46412178e+00] [ 8.92472500e-03 -2.54882511e-04 9.99960141e-01 8.93751338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059254154 meters 0.057913567218711916 Centerline is valid? [True, True] Translation: X:230.42, Y:4.47, Z:0.89 [[ 9.99420865e-01 -3.29536822e-02 -8.48467812e-03 2.30418992e+02] [ 3.29546149e-02 9.99456849e-01 -2.98963625e-05 4.46695309e+00] [ 8.48105485e-03 -2.49730251e-04 9.99964004e-01 8.94689407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119254154 meters 0.057545666543056664 Centerline is valid? [True, True] Translation: X:230.48, Y:4.47, Z:0.90 [[ 9.99338521e-01 -3.50871418e-02 -9.56106265e-03 2.30479521e+02] [ 3.50884255e-02 9.99384211e-01 -3.35044340e-05 4.47407213e+00] [ 9.55635063e-03 -3.02000363e-04 9.99954291e-01 8.96002237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179254154 meters 0.05913970135040219 Centerline is valid? [True, True] Translation: X:230.54, Y:4.46, Z:0.89 [[ 9.99224118e-01 -3.80055507e-02 -1.03315336e-02 2.30540452e+02] [ 3.80072064e-02 9.99277464e-01 -3.61030675e-05 4.46439878e+00] [ 1.03254408e-02 -3.56597674e-04 9.99946628e-01 8.94967071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239254154 meters 0.057449440576507735 Centerline is valid? [True, True] Translation: X:230.60, Y:4.47, Z:0.90 [[ 9.98982482e-01 -4.37185221e-02 -1.10766075e-02 2.30601421e+02] [ 4.37207767e-02 9.99043789e-01 -3.86405065e-05 4.47376555e+00] [ 1.10677052e-02 -4.45676692e-04 9.99938652e-01 8.97214950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299254154 meters 0.05739560485974774 Centerline is valid? [True, True] Translation: X:230.66, Y:4.48, Z:0.90 [[ 9.98840494e-01 -4.69159599e-02 -1.07963071e-02 2.30661989e+02] [ 4.69182884e-02 9.98898730e-01 -3.76393056e-05 4.48038002e+00] [ 1.07861833e-02 -4.68948588e-04 9.99941717e-01 8.98940680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359254154 meters 0.05825222149467216 Centerline is valid? [True, True] Translation: X:230.72, Y:4.47, Z:0.90 [[ 9.98732527e-01 -4.93732053e-02 -9.77884356e-03 2.30722277e+02] [ 4.93752349e-02 9.98780299e-01 -3.39110320e-05 4.46501045e+00] [ 9.76859059e-03 -4.48964647e-04 9.99952185e-01 8.98446561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters 0.0588033466058715 Centerline is valid? [True, True] Translation: X:230.78, Y:4.47, Z:0.90 [[ 9.98754400e-01 -4.90851217e-02 -8.96096672e-03 2.30784367e+02] [ 4.90868168e-02 9.98794515e-01 -3.08120443e-05 4.46722792e+00] [ 8.95167682e-03 -4.09091667e-04 9.99959849e-01 8.99853835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479254154 meters 0.056665128929356434 Centerline is valid? [True, True] Translation: X:230.85, Y:4.48, Z:0.90 [[ 9.98839047e-01 -4.74270851e-02 -8.43978014e-03 2.30845150e+02] [ 4.74285309e-02 9.98874634e-01 -2.88647095e-05 4.47709509e+00] [ 8.43165126e-03 -3.71455174e-04 9.99964384e-01 9.01514715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539254154 meters 0.057516978750447596 Centerline is valid? [True, True] Translation: X:230.90, Y:4.48, Z:0.90 [[ 9.98995028e-01 -4.39466097e-02 -8.81081903e-03 2.30904674e+02] [ 4.39480503e-02 9.99033817e-01 -3.01357748e-05 4.47783674e+00] [ 8.80363054e-03 -3.57112829e-04 9.99961184e-01 9.01089735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599254154 meters 0.057330396902049274 Centerline is valid? [True, True] Translation: X:230.96, Y:4.48, Z:0.90 [[ 9.99173616e-01 -3.96655304e-02 -8.87307113e-03 2.30964920e+02] [ 3.96668230e-02 9.99212961e-01 -3.03414831e-05 4.48476124e+00] [ 8.86729120e-03 -3.21650132e-04 9.99960633e-01 9.01422863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659254154 meters 0.05850226874455597 Centerline is valid? [True, True] Translation: X:231.02, Y:4.48, Z:0.90 [[ 9.99338129e-01 -3.52666922e-02 -8.91991551e-03 2.31024506e+02] [ 3.52678232e-02 9.99377896e-01 -3.05117611e-05 4.47940204e+00] [ 8.91544244e-03 -2.84094437e-04 9.99960216e-01 9.00300661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719254154 meters 0.05801982968593248 Centerline is valid? [True, True] Translation: X:231.09, Y:4.49, Z:0.90 [[ 9.99647163e-01 -2.51347740e-02 -8.59027053e-03 2.31085194e+02] [ 2.51354488e-02 9.99684054e-01 -2.94132743e-05 4.49114609e+00] [ 8.58829576e-03 -1.86517409e-04 9.99963103e-01 9.01303910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779254154 meters 0.057585311265427826 Centerline is valid? [True, True] Translation: X:231.15, Y:4.50, Z:0.90 [[ 9.99817799e-01 -1.67266491e-02 -9.19717952e-03 2.31145159e+02] [ 1.67270670e-02 9.99860092e-01 -3.14878049e-05 4.49530713e+00] [ 9.19641944e-03 -1.22359770e-04 9.99957705e-01 9.00988237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839254154 meters 0.05799451707605877 Centerline is valid? [True, True] Translation: X:231.21, Y:4.50, Z:0.90 [[ 9.99944742e-01 -5.65808350e-03 -8.85996995e-03 2.31205475e+02] [ 5.65803684e-03 9.99983993e-01 -3.03326278e-05 4.50279444e+00] [ 8.85999975e-03 -1.97990847e-05 9.99960749e-01 9.01958079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899254154 meters 0.058040153174676076 Centerline is valid? [True, True] Translation: X:231.26, Y:4.51, Z:0.90 [[ 9.99960193e-01 -9.78012102e-04 -8.86879933e-03 2.31262899e+02] [ 9.77779430e-04 9.99999522e-01 -3.05708440e-05 4.50542410e+00] [ 8.86882498e-03 2.18978975e-05 9.99960671e-01 9.00981760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959254154 meters 0.05713629368192007 Centerline is valid? [True, True] Translation: X:231.32, Y:4.51, Z:0.90 [[ 9.99970847e-01 1.32361766e-04 -7.63468141e-03 2.31320573e+02] [-1.32571254e-04 9.99999991e-01 -2.69330333e-05 4.50517659e+00] [ 7.63467778e-03 2.79443874e-05 9.99970855e-01 9.02375272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019254154 meters 0.05738262723093399 Centerline is valid? [True, True] Translation: X:231.38, Y:4.50, Z:0.90 [[ 9.99947610e-01 -5.41964166e-03 -8.68359666e-03 2.31377962e+02] [ 5.41957321e-03 9.99985314e-01 -3.14135024e-05 4.49930459e+00] [ 8.68363938e-03 -1.56495312e-05 9.99962296e-01 9.00944541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079254154 meters 0.05775577713823567 Centerline is valid? [True, True] Translation: X:231.44, Y:4.49, Z:0.90 [[ 9.99871151e-01 -1.35553582e-02 -8.59852178e-03 2.31437749e+02] [ 1.35555901e-02 9.99908118e-01 -3.13136989e-05 4.49444297e+00] [ 8.59815620e-03 -8.52483729e-05 9.99963032e-01 9.02676620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.139254154 meters 0.0575295073902378 Centerline is valid? [True, True] Translation: X:231.50, Y:4.48, Z:0.90 [[ 9.99552183e-01 -2.84811393e-02 -9.17921488e-03 2.31497497e+02] [ 2.84820319e-02 9.99594304e-01 -3.34977613e-05 4.48434247e+00] [ 9.17644497e-03 -2.27959931e-04 9.99957870e-01 9.02740987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters 0.05754530393559233 Centerline is valid? [True, True] Translation: X:231.56, Y:4.48, Z:0.90 [[ 9.99237865e-01 -3.79488231e-02 -9.14194020e-03 2.31557946e+02] [ 3.79501040e-02 9.99279635e-01 -3.33853370e-05 4.48196924e+00] [ 9.13662160e-03 -3.13577688e-04 9.99958211e-01 9.03326691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259254154 meters 0.05666433537983483 Centerline is valid? [True, True] Translation: X:231.62, Y:4.48, Z:0.90 [[ 9.98799776e-01 -4.82808142e-02 -8.24436481e-03 2.31618038e+02] [ 4.82822073e-02 9.98833734e-01 -3.00918984e-05 4.47692106e+00] [ 8.23620254e-03 -3.68000349e-04 9.99966014e-01 9.03019206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319254154 meters 0.05818567716603643 Centerline is valid? [True, True] Translation: X:231.68, Y:4.47, Z:0.90 [[ 9.98688248e-01 -5.05300297e-02 -8.27639384e-03 2.31677920e+02] [ 5.05315118e-02 9.98722467e-01 -3.00810764e-05 4.47471087e+00] [ 8.26734047e-03 -3.88177075e-04 9.99965750e-01 9.02542560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379254154 meters 0.056614526155822575 Centerline is valid? [True, True] Translation: X:231.74, Y:4.47, Z:0.90 [[ 9.98410853e-01 -5.57447215e-02 -8.26404947e-03 2.31738537e+02] [ 5.57463782e-02 9.98444961e-01 -2.99242728e-05 4.47242779e+00] [ 8.25286667e-03 -4.30814109e-04 9.99965852e-01 9.02111382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439254154 meters 0.0568242338845797 Centerline is valid? [True, True] Translation: X:231.80, Y:4.47, Z:0.90 [[ 9.98244422e-01 -5.87830570e-02 -7.25437571e-03 2.31798608e+02] [ 5.87844136e-02 9.98270701e-01 -2.62569398e-05 4.47298074e+00] [ 7.24337419e-03 -4.00233379e-04 9.99973686e-01 9.03004654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.499254154 meters 0.056825807560902046 Centerline is valid? [True, True] Translation: X:231.86, Y:4.47, Z:0.90 [[ 9.98185326e-01 -5.98829718e-02 -6.33121802e-03 2.31859342e+02] [ 5.98840276e-02 9.98205341e-01 -2.28516427e-05 4.47083092e+00] [ 6.32122407e-03 -3.56328660e-04 9.99979957e-01 9.03397049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.559254154 meters 0.061505192659737556 Centerline is valid? [True, True] Translation: X:231.92, Y:4.46, Z:0.90 [[ 9.98213192e-01 -5.93402634e-02 -7.01119332e-03 2.31920250e+02] [ 5.93415462e-02 9.98237737e-01 -2.50962852e-05 4.45605736e+00] [ 7.00032698e-03 -3.91003610e-04 9.99975421e-01 9.02205459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.619254154 meters 0.058425002220047255 Centerline is valid? [True, True] Translation: X:231.98, Y:4.47, Z:0.90 [[ 9.98304529e-01 -5.76970277e-02 -7.68899865e-03 2.31980780e+02] [ 5.76985235e-02 9.98334052e-01 -2.73393793e-05 4.47367216e+00] [ 7.67776658e-03 -4.16350843e-04 9.99970439e-01 9.02861250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.679254154 meters 0.0579362794970734 Centerline is valid? [True, True] Translation: X:232.04, Y:4.48, Z:0.90 [[ 9.98555455e-01 -5.30514437e-02 -8.51744009e-03 2.32041258e+02] [ 5.30531110e-02 9.98591692e-01 -3.02334690e-05 4.47802384e+00] [ 8.50704884e-03 -4.21686899e-04 9.99963725e-01 9.02555412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739254154 meters 0.05945208252396823 Centerline is valid? [True, True] Translation: X:232.10, Y:4.47, Z:0.90 [[ 9.98784230e-01 -4.85175426e-02 -8.72413685e-03 2.32102430e+02] [ 4.85191199e-02 9.98822253e-01 -3.08873175e-05 4.47309987e+00] [ 8.71536060e-03 -3.92437676e-04 9.99961944e-01 9.02036523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799254154 meters 0.05660860504169228 Centerline is valid? [True, True] Translation: X:232.16, Y:4.50, Z:0.90 [[ 9.99180038e-01 -3.96673059e-02 -8.10910124e-03 2.32162634e+02] [ 3.96683782e-02 9.99212900e-01 -2.86292816e-05 4.49550696e+00] [ 8.10385421e-03 -2.93069088e-04 9.99967120e-01 9.04016403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859254154 meters 0.05895423428983465 Centerline is valid? [True, True] Translation: X:232.22, Y:4.49, Z:0.90 [[ 9.99427566e-01 -3.30202194e-02 -7.36244417e-03 2.32222585e+02] [ 3.30209232e-02 9.99454660e-01 -2.59756364e-05 4.48828237e+00] [ 7.35928686e-03 -2.17153936e-04 9.99972896e-01 9.03614863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters 0.05765824284350785 Centerline is valid? [True, True] Translation: X:232.28, Y:4.50, Z:0.91 [[ 9.99702927e-01 -2.36691357e-02 -5.81638822e-03 2.32282921e+02] [ 2.36694168e-02 9.99719840e-01 -2.05247367e-05 4.50061288e+00] [ 5.81524450e-03 -1.17151877e-04 9.99983084e-01 9.05705114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979254154 meters 0.056200519556430045 Centerline is valid? [True, True] Translation: X:232.34, Y:4.52, Z:0.91 [[ 9.99871423e-01 -1.48911095e-02 -5.94909011e-03 2.32343813e+02] [ 1.48912482e-02 9.99889119e-01 -2.09806432e-05 4.51581759e+00] [ 5.94874289e-03 -6.76114317e-05 9.99982304e-01 9.07052448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039254154 meters 0.05605235772201529 Centerline is valid? [True, True] Translation: X:232.40, Y:4.51, Z:0.91 [[ 9.99931869e-01 -1.01682912e-02 -5.73260714e-03 2.32404753e+02] [ 1.01683427e-02 9.99948301e-01 -2.01617540e-05 4.51378714e+00] [ 5.73251578e-03 -3.81307337e-05 9.99983568e-01 9.06243870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099254154 meters 0.05627643163512612 Centerline is valid? [True, True] Translation: X:232.46, Y:4.52, Z:0.91 [[ 9.99974345e-01 -5.26248959e-03 -4.85965355e-03 2.32464959e+02] [ 5.26246892e-03 9.99986153e-01 -1.70410046e-05 4.51834434e+00] [ 4.85967594e-03 -8.53320838e-06 9.99988192e-01 9.07058894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159254154 meters 0.05642515087918588 Centerline is valid? [True, True] Translation: X:232.52, Y:4.52, Z:0.91 [[ 9.99979869e-01 -3.73018012e-03 -5.13300751e-03 2.32524598e+02] [ 3.73013682e-03 9.99993043e-01 -1.80095609e-05 4.51916779e+00] [ 5.13303897e-03 -1.13762196e-06 9.99986826e-01 9.06645598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219254154 meters 0.056585780966783523 Centerline is valid? [True, True] Translation: X:232.58, Y:4.52, Z:0.91 [[ 9.99968414e-01 -4.12548304e-03 -6.79353511e-03 2.32583068e+02] [ 4.12541552e-03 9.99991490e-01 -2.39515331e-05 4.51755279e+00] [ 6.79357611e-03 -4.07537862e-06 9.99976923e-01 9.05227434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279254154 meters 0.056834679364498694 Centerline is valid? [True, True] Translation: X:232.64, Y:4.51, Z:0.90 [[ 9.99957259e-01 -6.35266422e-03 -6.71744084e-03 2.32641857e+02] [ 6.35264735e-03 9.99979821e-01 -2.38497791e-05 4.51465872e+00] [ 6.71745680e-03 -1.88247730e-05 9.99977437e-01 9.04354432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339254154 meters 0.056692550649855934 Centerline is valid? [True, True] Translation: X:232.70, Y:4.51, Z:0.91 [[ 9.99903669e-01 -1.24929041e-02 -6.04817036e-03 2.32701730e+02] [ 1.24930020e-02 9.99921959e-01 -2.15963749e-05 4.51005826e+00] [ 6.04796816e-03 -5.39655099e-05 9.99981709e-01 9.05577298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399254154 meters 0.05591237394136941 Centerline is valid? [True, True] Translation: X:232.76, Y:4.50, Z:0.91 [[ 9.99772148e-01 -2.06289432e-02 -5.48617032e-03 2.32761321e+02] [ 2.06291461e-02 9.99787196e-01 -1.96022299e-05 4.50483841e+00] [ 5.48540722e-03 -9.35772455e-05 9.99984951e-01 9.06287154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459254154 meters 0.05833439240029723 Centerline is valid? [True, True] Translation: X:232.82, Y:4.49, Z:0.91 [[ 9.99642188e-01 -2.61036018e-02 -5.83943040e-03 2.32821281e+02] [ 2.61039259e-02 9.99659234e-01 -2.07299455e-05 4.48664009e+00] [ 5.83798165e-03 -1.31709530e-04 9.99982950e-01 9.05375734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519254154 meters 0.05862965888246878 Centerline is valid? [True, True] Translation: X:232.88, Y:4.48, Z:0.91 [[ 9.99450231e-01 -3.26248539e-02 -5.90379813e-03 2.32881818e+02] [ 3.26252989e-02 9.99467653e-01 -2.09411626e-05 4.48089290e+00] [ 5.90133847e-03 -1.71683529e-04 9.99982572e-01 9.05261365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579254154 meters 0.05679163140872298 Centerline is valid? [True, True] Translation: X:232.94, Y:4.48, Z:0.91 [[ 9.99407055e-01 -3.39625090e-02 -5.66447576e-03 2.32943843e+02] [ 3.39629406e-02 9.99423093e-01 -2.00206316e-05 4.48318881e+00] [ 5.66188783e-03 -1.72373493e-04 9.99983957e-01 9.05008097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.639254154 meters 0.05798995912469386 Centerline is valid? [True, True] Translation: X:233.00, Y:4.48, Z:0.90 [[ 9.99500566e-01 -3.08333292e-02 -6.92279595e-03 2.33003697e+02] [ 3.08339000e-02 9.99524522e-01 -2.42951971e-05 4.47794263e+00] [ 6.92025342e-03 -1.89173735e-04 9.99976037e-01 9.03682324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters 0.05820092044228456 Centerline is valid? [True, True] Translation: X:233.06, Y:4.48, Z:0.90 [[ 9.99631636e-01 -2.60619035e-02 -7.57421789e-03 2.33064617e+02] [ 2.60624501e-02 9.99660316e-01 -2.65425359e-05 4.47985831e+00] [ 7.57233680e-03 -1.70869917e-04 9.99971315e-01 9.03069672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759254154 meters 0.056939733226119574 Centerline is valid? [True, True] Translation: X:233.13, Y:4.49, Z:0.90 [[ 9.99832757e-01 -1.63737982e-02 -8.14599271e-03 2.33125101e+02] [ 1.63741090e-02 9.99865935e-01 -2.85425172e-05 4.48522285e+00] [ 8.14536797e-03 -1.04845629e-04 9.99966820e-01 9.03261121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819254154 meters 0.0565359390685711 Centerline is valid? [True, True] Translation: X:233.18, Y:4.49, Z:0.90 [[ 9.99920718e-01 -1.03014888e-02 -7.24128752e-03 2.33184962e+02] [ 1.03015742e-02 9.99946937e-01 -2.55149118e-05 4.49183964e+00] [ 7.24116612e-03 -4.90837716e-05 9.99973781e-01 9.04977400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879254154 meters 0.057188413263118375 Centerline is valid? [True, True] Translation: X:233.24, Y:4.49, Z:0.90 [[ 9.99971256e-01 -1.66560712e-03 -7.39676696e-03 2.33244715e+02] [ 1.66545771e-03 9.99998613e-01 -2.63583669e-05 4.49408341e+00] [ 7.39680060e-03 1.40386067e-05 9.99972643e-01 9.04376861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939254154 meters 0.057219329058538076 Centerline is valid? [True, True] Translation: X:233.30, Y:4.50, Z:0.90 [[ 9.99962637e-01 3.44441850e-03 -7.92840864e-03 2.33303787e+02] [-3.44475554e-03 9.99994066e-01 -2.88548152e-05 4.49544807e+00] [ 7.92826221e-03 5.61651668e-05 9.99968569e-01 9.04385968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999254154 meters 0.05668699841879566 Centerline is valid? [True, True] Translation: X:233.36, Y:4.49, Z:0.91 [[ 9.99964983e-01 3.97443508e-03 -7.36461511e-03 2.33361757e+02] [-3.97474683e-03 9.99992100e-01 -2.76954657e-05 4.49345520e+00] [ 7.36444686e-03 5.69669765e-05 9.99972880e-01 9.05071502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059254154 meters 0.05745689201215359 Centerline is valid? [True, True] Translation: X:233.42, Y:4.49, Z:0.91 [[ 9.99972679e-01 9.19514808e-04 -7.33455904e-03 2.33419489e+02] [-9.19746963e-04 9.99999577e-01 -2.82792547e-05 4.48668942e+00] [ 7.33452993e-03 3.50244205e-05 9.99973101e-01 9.05914580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.119254154 meters 0.057299457860347035 Centerline is valid? [True, True] Translation: X:233.48, Y:4.48, Z:0.91 [[ 9.99971741e-01 -2.00873220e-03 -7.24449876e-03 2.33477481e+02] [ 2.00858036e-03 9.99997982e-01 -2.82353040e-05 4.48213254e+00] [ 7.24454087e-03 1.36833481e-05 9.99973758e-01 9.07280553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.179254154 meters 0.05677027849357689 Centerline is valid? [True, True] Translation: X:233.54, Y:4.47, Z:0.91 [[ 9.99956382e-01 -7.19919218e-03 -5.95035664e-03 2.33536240e+02] [ 7.19918057e-03 9.99974085e-01 -2.33690737e-05 4.47195748e+00] [ 5.95037068e-03 -1.94696376e-05 9.99982296e-01 9.07347416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.239254154 meters 0.05677027849357689 Centerline is valid? [True, True] Translation: X:233.60, Y:4.47, Z:0.91 [[ 9.99956272e-01 -7.21438727e-03 -5.95035617e-03 2.33595400e+02] [ 7.21437523e-03 9.99973976e-01 -2.34888311e-05 4.47221171e+00] [ 5.95037078e-03 -1.94402981e-05 9.99982296e-01 9.07580769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.299254154 meters 0.05749921118779263 Centerline is valid? [True, True] Translation: X:233.65, Y:4.47, Z:0.91 [[ 9.99947841e-01 -8.72294077e-03 -5.31278775e-03 2.33654486e+02] [ 8.72295200e-03 9.99961954e-01 -2.10586354e-05 4.46575580e+00] [ 5.31276931e-03 -2.52856554e-05 9.99985887e-01 9.07865192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.359254154 meters 0.05769954892792827 Centerline is valid? [True, True] Translation: X:233.71, Y:4.46, Z:0.91 [[ 9.99946720e-01 -8.71203358e-03 -5.53690901e-03 2.33714932e+02] [ 8.71204506e-03 9.99962049e-01 -2.20463151e-05 4.46353577e+00] [ 5.53689095e-03 -2.61926603e-05 9.99984671e-01 9.08502043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters 0.05799373600663626 Centerline is valid? [True, True] Translation: X:233.77, Y:4.46, Z:0.91 [[ 9.99954844e-01 -8.06490745e-03 -5.02663038e-03 2.33774752e+02] [ 8.06490850e-03 9.99967478e-01 -2.00609904e-05 4.45940767e+00] [ 5.02662869e-03 -2.04792296e-05 9.99987366e-01 9.08538935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.479254154 meters 0.05763229396371191 Centerline is valid? [True, True] Translation: X:233.83, Y:4.45, Z:0.91 [[ 9.99969928e-01 -5.61927313e-03 -5.34474535e-03 2.33834762e+02] [ 5.61923842e-03 9.99984212e-01 -2.15104876e-05 4.45453581e+00] [ 5.34478184e-03 -8.52355774e-06 9.99985717e-01 9.07929008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.539254154 meters 0.057282824031764955 Centerline is valid? [True, True] Translation: X:233.89, Y:4.45, Z:0.91 [[ 9.99977049e-01 -3.13507108e-03 -6.00608197e-03 2.33893265e+02] [ 3.13498106e-03 9.99995086e-01 -2.44018875e-05 4.45365968e+00] [ 6.00612896e-03 5.57237419e-06 9.99981963e-01 9.07663964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.599254154 meters 0.05811811096517592 Centerline is valid? [True, True] Translation: X:233.95, Y:4.45, Z:0.91 [[ 9.99971953e-01 1.21276369e-03 -7.39064156e-03 2.33951364e+02] [-1.21302383e-03 9.99999264e-01 -3.07155621e-05 4.45096079e+00] [ 7.39059887e-03 3.96797250e-05 9.99972688e-01 9.08585433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.659254154 meters 0.05917507637589932 Centerline is valid? [True, True] Translation: X:234.01, Y:4.45, Z:0.91 [[ 9.99967747e-01 3.75022754e-03 -7.10221539e-03 2.34010607e+02] [-3.75053528e-03 9.99992966e-01 -3.00124492e-05 4.44744613e+00] [ 7.10205288e-03 5.66485906e-05 9.99974778e-01 9.08134745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.719254154 meters 0.059838610991151966 Centerline is valid? [True, True] Translation: X:234.07, Y:4.44, Z:0.91 [[ 9.99967049e-01 3.72293694e-03 -7.21392441e-03 2.34068283e+02] [-3.72325774e-03 9.99993068e-01 -3.10398786e-05 4.44268142e+00] [ 7.21375884e-03 5.78981557e-05 9.99973979e-01 9.09545318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.779254154 meters 0.05846616613427564 Centerline is valid? [True, True] Translation: X:234.13, Y:4.44, Z:0.91 [[ 9.99972917e-01 6.31602973e-04 -7.33249174e-03 2.34127558e+02] [-6.31853818e-04 9.99999800e-01 -3.18935917e-05 4.43826622e+00] [ 7.33247013e-03 3.65257909e-05 9.99973116e-01 9.09094105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.839254154 meters 0.05878970881393834 Centerline is valid? [True, True] Translation: X:234.19, Y:4.43, Z:0.91 [[ 9.99966827e-01 -2.90931174e-03 -7.60795384e-03 2.34186627e+02] [ 2.90914166e-03 9.99995768e-01 -3.34221005e-05 4.43086041e+00] [ 7.60801888e-03 1.12883763e-05 9.99971059e-01 9.10157428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.899254154 meters 0.05864314864464778 Centerline is valid? [True, True] Translation: X:234.25, Y:4.42, Z:0.91 [[ 9.99923554e-01 -9.43895543e-03 -7.98699995e-03 2.34245662e+02] [ 9.43897448e-03 9.99955451e-01 -3.53113633e-05 4.42234051e+00] [ 7.98697745e-03 -4.00804249e-05 9.99968103e-01 9.08885393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.959254154 meters 0.05862983401082324 Centerline is valid? [True, True] Translation: X:234.31, Y:4.42, Z:0.91 [[ 9.99870662e-01 -1.36442247e-02 -8.51442435e-03 2.34305382e+02] [ 1.36443976e-02 9.99906910e-01 -3.77827569e-05 4.41792012e+00] [ 8.51414726e-03 -7.83963207e-05 9.99963751e-01 9.10008369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.019254154 meters 0.058660803584955776 Centerline is valid? [True, True] Translation: X:234.36, Y:4.41, Z:0.91 [[ 9.99776698e-01 -1.91624192e-02 -8.90813678e-03 2.34364628e+02] [ 1.91628268e-02 9.99816375e-01 -3.96056210e-05 4.40875704e+00] [ 8.90725996e-03 -1.31108305e-04 9.99960321e-01 9.09286746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.079254154 meters 0.059124351685208826 Centerline is valid? [True, True] Translation: X:234.42, Y:4.40, Z:0.91 [[ 9.99662659e-01 -2.43463582e-02 -9.04559056e-03 2.34424896e+02] [ 2.43469900e-02 9.99703567e-01 -4.02753322e-05 4.40394211e+00] [ 9.04388971e-03 -1.79971158e-04 9.99959087e-01 9.10413184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.139254154 meters 0.059739972078779714 Centerline is valid? [True, True] Translation: X:234.48, Y:4.40, Z:0.91 [[ 9.99569957e-01 -2.77482554e-02 -9.48339056e-03 2.34484647e+02] [ 2.77491027e-02 9.99614919e-01 -4.22450380e-05 4.39929015e+00] [ 9.48091091e-03 -2.20928708e-04 9.99955031e-01 9.10702816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters 0.06008631316690101 Centerline is valid? [True, True] Translation: X:234.55, Y:4.40, Z:0.91 [[ 9.99406069e-01 -3.31788870e-02 -9.30970701e-03 2.34545542e+02] [ 3.31799394e-02 9.99449393e-01 -4.14279661e-05 4.39587843e+00] [ 9.30595556e-03 -2.67492153e-04 9.99956663e-01 9.10779068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259254154 meters 0.058971647567380076 Centerline is valid? [True, True] Translation: X:234.61, Y:4.40, Z:0.91 [[ 9.99289626e-01 -3.66115732e-02 -8.93510930e-03 2.34606823e+02] [ 3.66126803e-02 9.99329530e-01 -3.96879434e-05 4.39773482e+00] [ 8.93057162e-03 -2.87478550e-04 9.99960080e-01 9.12138245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319254154 meters 0.05885483726511103 Centerline is valid? [True, True] Translation: X:234.67, Y:4.40, Z:0.91 [[ 9.99148139e-01 -4.03582731e-02 -8.61425901e-03 2.34665982e+02] [ 4.03594419e-02 9.99185225e-01 -3.81865861e-05 4.40031098e+00] [ 8.60878147e-03 -3.09512629e-04 9.99962896e-01 9.12966573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.379254154 meters 0.05953682200626559 Centerline is valid? [True, True] Translation: X:234.73, Y:4.40, Z:0.91 [[ 9.99056907e-01 -4.25217068e-02 -8.78643502e-03 2.34727313e+02] [ 4.25230073e-02 9.99095487e-01 -3.88318986e-05 4.40212427e+00] [ 8.78013878e-03 -3.34830364e-04 9.99961398e-01 9.13623027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.439254154 meters 0.05933070720307202 Centerline is valid? [True, True] Translation: X:234.79, Y:4.40, Z:0.91 [[ 9.98957778e-01 -4.46782333e-02 -9.33876217e-03 2.34786922e+02] [ 4.46797988e-02 9.99001358e-01 -4.10288030e-05 4.40391545e+00] [ 9.33126918e-03 -3.76267973e-04 9.99956392e-01 9.13997973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499254154 meters 0.06101706304262117 Centerline is valid? [True, True] Translation: X:234.85, Y:4.40, Z:0.91 [[ 9.98934048e-01 -4.52399018e-02 -9.17169457e-03 2.34847568e+02] [ 4.52414378e-02 9.98976081e-01 -4.00403193e-05 4.40362504e+00] [ 9.16411492e-03 -3.74943012e-04 9.99957938e-01 9.13623435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559254154 meters 0.05916087767611157 Centerline is valid? [True, True] Translation: X:234.91, Y:4.41, Z:0.92 [[ 9.98965975e-01 -4.46149730e-02 -8.74554566e-03 2.34910166e+02] [ 4.46163486e-02 9.99004194e-01 -3.78484443e-05 4.41304037e+00] [ 8.73852540e-03 -3.52385006e-04 9.99961756e-01 9.15014461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.619254154 meters 0.060633630838521996 Centerline is valid? [True, True] Translation: X:234.97, Y:4.41, Z:0.91 [[ 9.99085312e-01 -4.18612821e-02 -8.72767945e-03 2.34970297e+02] [ 4.18625488e-02 9.99123379e-01 -3.75755205e-05 4.41207824e+00] [ 8.72160153e-03 -3.27821756e-04 9.99961912e-01 9.14010647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.679254154 meters 0.060610217660777746 Centerline is valid? [True, True] Translation: X:235.03, Y:4.42, Z:0.91 [[ 9.99196261e-01 -3.90525286e-02 -9.04061077e-03 2.35031492e+02] [ 3.90537735e-02 9.99237110e-01 -3.88728684e-05 4.41643714e+00] [ 9.03523186e-03 -3.14228340e-04 9.99959132e-01 9.13892412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.739254154 meters 0.059513678125275374 Centerline is valid? [True, True] Translation: X:235.09, Y:4.43, Z:0.91 [[ 9.99370110e-01 -3.43035438e-02 -9.09121745e-03 2.35092122e+02] [ 3.43046066e-02 9.99411423e-01 -3.90527900e-05 4.42546203e+00] [ 9.08720622e-03 -2.72842448e-04 9.99958673e-01 9.14140604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.799254154 meters 0.05895901295624007 Centerline is valid? [True, True] Translation: X:235.15, Y:4.44, Z:0.92 [[ 9.99531940e-01 -2.93472316e-02 -8.63949885e-03 2.35151578e+02] [ 2.93480061e-02 9.99569254e-01 -3.71500887e-05 4.43726746e+00] [ 8.63686767e-03 -2.16419365e-04 9.99962678e-01 9.15488741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.859254154 meters 0.05897030625616734 Centerline is valid? [True, True] Translation: X:235.21, Y:4.44, Z:0.92 [[ 9.99648342e-01 -2.51597739e-02 -8.37722608e-03 2.35212079e+02] [ 2.51603551e-02 9.99683428e-01 -3.60172931e-05 4.44267276e+00] [ 8.37548027e-03 -1.74769356e-04 9.99964910e-01 9.15908179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters 0.05841849029180437 Centerline is valid? [True, True] Translation: X:235.27, Y:4.45, Z:0.92 [[ 9.99798466e-01 -1.83948555e-02 -8.04096275e-03 2.35271631e+02] [ 1.83951723e-02 9.99830794e-01 -3.45679887e-05 4.45018975e+00] [ 8.04023805e-03 -1.13353873e-04 9.99967670e-01 9.15180875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.979254154 meters 0.05934286149385463 Centerline is valid? [True, True] Translation: X:235.33, Y:4.46, Z:0.92 [[ 9.99853175e-01 -1.54006436e-02 -7.51328188e-03 2.35331808e+02] [ 1.54008355e-02 9.99881400e-01 -3.23232080e-05 4.45979776e+00] [ 7.51288860e-03 -8.33923559e-05 9.99971774e-01 9.17228365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.039254154 meters 0.058913261946559166 Centerline is valid? [True, True] Translation: X:235.39, Y:4.46, Z:0.92 [[ 9.99878309e-01 -1.40527986e-02 -6.77386717e-03 2.35392066e+02] [ 1.40529238e-02 9.99901252e-01 -2.91187576e-05 4.46312952e+00] [ 6.77360747e-03 -6.60774252e-05 9.99977057e-01 9.17833532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.099254154 meters 0.05883217360524528 Centerline is valid? [True, True] Translation: X:235.45, Y:4.46, Z:0.92 [[ 9.99860808e-01 -1.53282374e-02 -6.58867399e-03 2.35452548e+02] [ 1.53283837e-02 9.99882513e-01 -2.82909730e-05 4.46437107e+00] [ 6.58833356e-03 -7.27066881e-05 9.99978294e-01 9.18594826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.159254154 meters 0.058746809152000666 Centerline is valid? [True, True] Translation: X:235.51, Y:4.47, Z:0.92 [[ 9.99817211e-01 -1.78200591e-02 -6.92746300e-03 2.35513399e+02] [ 1.78202808e-02 9.99841206e-01 -2.97233064e-05 4.46773873e+00] [ 6.92689263e-03 -9.37314627e-05 9.99976004e-01 9.19033092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.219254154 meters 0.05833508334858936 Centerline is valid? [True, True] Translation: X:235.57, Y:4.46, Z:0.92 [[ 9.99681519e-01 -2.41704009e-02 -7.25621350e-03 2.35573667e+02] [ 2.41708119e-02 9.99707843e-01 -3.10702785e-05 4.46016883e+00] [ 7.25484452e-03 -1.44328188e-04 9.99973673e-01 9.17604136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.279254154 meters 0.0590036476874529 Centerline is valid? [True, True] Translation: X:235.63, Y:4.45, Z:0.92 [[ 9.99555746e-01 -2.88924373e-02 -7.31698800e-03 2.35633246e+02] [ 2.88929822e-02 9.99582510e-01 -3.12509794e-05 4.45452219e+00] [ 7.31483615e-03 -1.80172508e-04 9.99973230e-01 9.17443671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.339254154 meters 0.05977021672495346 Centerline is valid? [True, True] Translation: X:235.69, Y:4.46, Z:0.92 [[ 9.99397639e-01 -3.39228464e-02 -7.32124811e-03 2.35693865e+02] [ 3.39235272e-02 9.99424431e-01 -3.12171983e-05 4.45738255e+00] [ 7.31809321e-03 -2.17164165e-04 9.99973199e-01 9.18346548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.399254154 meters 0.05931145690871809 Centerline is valid? [True, True] Translation: X:235.76, Y:4.46, Z:0.92 [[ 9.99416454e-01 -3.32264994e-02 -7.92150938e-03 2.35756224e+02] [ 3.32272756e-02 9.99447821e-01 -3.36416270e-05 4.46132390e+00] [ 7.91825308e-03 -2.29588180e-04 9.99968624e-01 9.18195623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.459254154 meters 0.058490887954062876 Centerline is valid? [True, True] Translation: X:235.82, Y:4.46, Z:0.92 [[ 9.99547459e-01 -2.89900499e-02 -8.02840201e-03 2.35815837e+02] [ 2.89907115e-02 9.99579680e-01 -3.39830105e-05 4.46201521e+00] [ 8.02601268e-03 -1.98781454e-04 9.99967771e-01 9.18151368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.519254154 meters 0.05835071419844425 Centerline is valid? [True, True] Translation: X:235.88, Y:4.47, Z:0.92 [[ 9.99718215e-01 -2.25207270e-02 -7.50380441e-03 2.35876299e+02] [ 2.25211227e-02 9.99746367e-01 -3.17701724e-05 4.46744343e+00] [ 7.50261669e-03 -1.37232880e-04 9.99971846e-01 9.18466312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.579254154 meters 0.05841784767150515 Centerline is valid? [True, True] Translation: X:235.94, Y:4.48, Z:0.92 [[ 9.99919536e-01 -1.06979154e-02 -6.81731184e-03 2.35935956e+02] [ 1.06979671e-02 9.99942775e-01 -2.88789901e-05 4.47875298e+00] [ 6.81723066e-03 -4.40547115e-05 9.99976761e-01 9.20250783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.639254154 meters 0.05788082836302025 Centerline is valid? [True, True] Translation: X:235.99, Y:4.48, Z:0.92 [[ 9.99983526e-01 -7.21765458e-04 -5.69444460e-03 2.35994768e+02] [ 7.21638750e-04 9.99999739e-01 -2.43058718e-05 4.48397677e+00] [ 5.69446066e-03 2.01961395e-05 9.99983786e-01 9.20769004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.699254154 meters 0.0581281564880417 Centerline is valid? [True, True] Translation: X:236.05, Y:4.49, Z:0.92 [[ 9.99974944e-01 3.30857595e-03 -6.25817348e-03 2.36053545e+02] [-3.30881166e-03 9.99994526e-01 -2.73114667e-05 4.48533826e+00] [ 6.25804886e-03 4.80178997e-05 9.99980417e-01 9.20579161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.759254154 meters 0.058105793534327016 Centerline is valid? [True, True] Translation: X:236.11, Y:4.49, Z:0.92 [[ 9.99961207e-01 5.14276053e-03 -7.15102568e-03 2.36112260e+02] [-5.14312063e-03 9.99986774e-01 -3.19676849e-05 4.48864844e+00] [ 7.15076670e-03 6.87450324e-05 9.99974431e-01 9.19431127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.819254154 meters 0.058867822208319154 Centerline is valid? [True, True] Translation: X:236.17, Y:4.48, Z:0.92 [[ 9.99961383e-01 4.22537320e-03 -7.70582135e-03 2.36170136e+02] [-4.22576889e-03 9.99991071e-01 -3.50678939e-05 4.48464596e+00] [ 7.70560437e-03 6.76295598e-05 9.99970309e-01 9.20298251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.879254154 meters 0.058119506196364114 Centerline is valid? [True, True] Translation: X:236.23, Y:4.48, Z:0.92 [[ 9.99973368e-01 -3.46624439e-04 -7.28993493e-03 2.36228784e+02] [ 3.46390106e-04 9.99999939e-01 -3.34073671e-05 4.48057756e+00] [ 7.28994607e-03 3.08813161e-05 9.99973428e-01 9.20465372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.939254154 meters 0.05870924957588251 Centerline is valid? [True, True] Translation: X:236.29, Y:4.48, Z:0.92 [[ 9.99963893e-01 -4.50609334e-03 -7.20466341e-03 2.36287473e+02] [ 4.50597106e-03 9.99989848e-01 -3.32045437e-05 4.47622926e+00] [ 7.20473988e-03 7.39340003e-07 9.99974046e-01 9.21552631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.999254154 meters 0.05901711374787052 Centerline is valid? [True, True] Translation: X:236.35, Y:4.47, Z:0.92 [[ 9.99923991e-01 -1.09986503e-02 -5.57151774e-03 2.36346782e+02] [ 1.09986771e-02 9.99939512e-01 -2.58217144e-05 4.46795865e+00] [ 5.57146473e-03 -3.54595730e-05 9.99984479e-01 9.23550489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.059254154 meters 0.05907919178991881 Centerline is valid? [True, True] Translation: X:236.41, Y:4.46, Z:0.93 [[ 9.99839823e-01 -1.73938024e-02 -4.21721519e-03 2.36406910e+02] [ 1.73938743e-02 9.99848715e-01 -1.96408264e-05 4.46057240e+00] [ 4.21691882e-03 -5.37160304e-05 9.99991107e-01 9.25141147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.119254154 meters 0.05966240393104559 Centerline is valid? [True, True] Translation: X:236.47, Y:4.46, Z:0.93 [[ 9.99775535e-01 -2.08159464e-02 -3.94666366e-03 2.36468423e+02] [ 2.08160359e-02 9.99783323e-01 -1.84121812e-05 4.45596288e+00] [ 3.94619178e-03 -6.37458442e-05 9.99992212e-01 9.26654455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.179254154 meters 0.05924225921231532 Centerline is valid? [True, True] Translation: X:236.53, Y:4.45, Z:0.93 [[ 9.99657875e-01 -2.57863653e-02 -4.38128750e-03 2.36529450e+02] [ 2.57865254e-02 9.99667472e-01 -1.99461598e-05 4.44866974e+00] [ 4.38034493e-03 -9.30388456e-05 9.99990402e-01 9.27349417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.239254154 meters 0.059613492262637235 Centerline is valid? [True, True] Translation: X:236.59, Y:4.44, Z:0.93 [[ 9.99598930e-01 -2.79143150e-02 -4.77175442e-03 2.36591620e+02] [ 2.79145297e-02 9.99610313e-01 -2.16262250e-05 4.44438377e+00] [ 4.77049861e-03 -1.11583729e-04 9.99988615e-01 9.27604784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.299254154 meters 0.060653882562150895 Centerline is valid? [True, True] Translation: X:236.65, Y:4.44, Z:0.93 [[ 9.99612811e-01 -2.71852667e-02 -5.93204584e-03 2.36652735e+02] [ 2.71855872e-02 9.99630403e-01 -2.66055887e-05 4.44051715e+00] [ 5.93057665e-03 -1.34670862e-04 9.99982405e-01 9.27432379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.359254154 meters 0.05930994791207133 Centerline is valid? [True, True] Translation: X:236.71, Y:4.44, Z:0.93 [[ 9.99718706e-01 -2.27875094e-02 -6.57564785e-03 2.36713477e+02] [ 2.27878102e-02 9.99740324e-01 -2.91905861e-05 4.44441691e+00] [ 6.57460549e-03 -1.20662240e-04 9.99978380e-01 9.27041651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters 0.05970586643012471 Centerline is valid? [True, True] Translation: X:236.77, Y:4.45, Z:0.93 [[ 9.99811242e-01 -1.82164651e-02 -6.75581722e-03 2.36773808e+02] [ 1.82166787e-02 9.99834062e-01 -2.99172788e-05 4.44701011e+00] [ 6.75524116e-03 -9.31569200e-05 9.99977179e-01 9.26361242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479254154 meters 0.058746203570014706 Centerline is valid? [True, True] Translation: X:236.83, Y:4.45, Z:0.92 [[ 9.99907156e-01 -1.13424895e-02 -7.55169090e-03 2.36833076e+02] [ 1.13425609e-02 9.99935671e-01 -3.33680194e-05 4.44873689e+00] [ 7.55158358e-03 -5.22905930e-05 9.99971485e-01 9.24878517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539254154 meters 0.05811400323930802 Centerline is valid? [True, True] Translation: X:236.89, Y:4.45, Z:0.92 [[ 9.99925110e-01 -8.90442340e-03 -8.39552043e-03 2.36892148e+02] [ 8.90442555e-03 9.99960354e-01 -3.71241837e-05 4.44962304e+00] [ 8.39551815e-03 -3.76358831e-05 9.99964756e-01 9.23403404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.599254154 meters 0.05932719845754809 Centerline is valid? [True, True] Translation: X:236.95, Y:4.45, Z:0.92 [[ 9.99913694e-01 -1.00737569e-02 -8.43354652e-03 2.36950476e+02] [ 1.00737987e-02 9.99949257e-01 -3.75305877e-05 4.44809956e+00] [ 8.43349666e-03 -4.74305011e-05 9.99964436e-01 9.22091776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.659254154 meters 0.05815208689804388 Centerline is valid? [True, True] Translation: X:237.01, Y:4.44, Z:0.92 [[ 9.99875343e-01 -1.29680098e-02 -9.00720207e-03 2.37009221e+02] [ 1.29681725e-02 9.99915909e-01 -4.03452373e-05 4.44308627e+00] [ 9.00696784e-03 -7.64667423e-05 9.99959434e-01 9.20529655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.719254154 meters 0.05918600280348905 Centerline is valid? [True, True] Translation: X:237.07, Y:4.44, Z:0.92 [[ 9.99749117e-01 -2.08790683e-02 -8.10972854e-03 2.37069186e+02] [ 2.08794597e-02 9.99782000e-01 -3.64123113e-05 4.43615920e+00] [ 8.10872087e-03 -1.32923574e-04 9.99967115e-01 9.20694479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.779254154 meters 0.05963959290090763 Centerline is valid? [True, True] Translation: X:237.13, Y:4.43, Z:0.92 [[ 9.99549133e-01 -2.92297449e-02 -6.86679240e-03 2.37129728e+02] [ 2.92302224e-02 9.99572705e-01 -3.08277924e-05 4.43132436e+00] [ 6.86475934e-03 -1.69903976e-04 9.99976423e-01 9.22134087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.839254154 meters 0.059332242512390956 Centerline is valid? [True, True] Translation: X:237.19, Y:4.43, Z:0.92 [[ 9.99397538e-01 -3.43186665e-02 -5.17593895e-03 2.37190334e+02] [ 3.43190060e-02 9.99410929e-01 -2.32205724e-05 4.42940632e+00] [ 5.17368685e-03 -1.54426497e-04 9.99986604e-01 9.23383032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.899254154 meters 0.06301309270573197 Centerline is valid? [True, True] Translation: X:237.25, Y:4.41, Z:0.93 [[ 9.99228432e-01 -3.91340095e-02 -3.32724358e-03 2.37249492e+02] [ 3.91341765e-02 9.99233965e-01 -1.49178429e-05 4.41403022e+00] [ 3.32527859e-03 -1.15302605e-04 9.99994465e-01 9.25644893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.959254154 meters 0.063126419621871 Centerline is valid? [True, True] Translation: X:237.31, Y:4.41, Z:0.93 [[ 9.99146302e-01 -4.12272975e-02 -2.64150910e-03 2.37310465e+02] [ 4.12274103e-02 9.99149789e-01 -1.17691745e-05 4.41412321e+00] [ 2.63974847e-03 -9.71434521e-05 9.99996511e-01 9.26453843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.019254154 meters 0.05988321079987668 Centerline is valid? [True, True] Translation: X:237.37, Y:4.42, Z:0.93 [[ 9.99042744e-01 -4.36880640e-02 -2.22476882e-03 2.37371824e+02] [ 4.36881501e-02 9.99045217e-01 -9.91459675e-06 4.42325365e+00] [ 2.22307780e-03 -8.72909282e-05 9.99997525e-01 9.26541818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.079254154 meters 0.06395754743794076 Centerline is valid? [True, True] Translation: X:237.43, Y:4.41, Z:0.93 [[ 9.98926713e-01 -4.62312817e-02 -2.84441059e-03 2.37432335e+02] [ 4.62314329e-02 9.98930756e-01 -1.26027576e-05 4.41152092e+00] [ 2.84195186e-03 -1.18911946e-04 9.99995955e-01 9.27576116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.139254154 meters 0.05888426759556127 Centerline is valid? [True, True] Translation: X:237.49, Y:4.43, Z:0.93 [[ 9.98764995e-01 -4.96416561e-02 -2.04694628e-03 2.37493038e+02] [ 4.96417416e-02 9.98767089e-01 -9.04972593e-06 4.42713318e+00] [ 2.04487182e-03 -9.25754286e-05 9.99997905e-01 9.27553083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.199254154 meters 0.05907316835720603 Centerline is valid? [True, True] Translation: X:237.55, Y:4.43, Z:0.93 [[ 9.98633225e-01 -5.21995985e-02 -2.62389343e-03 2.37553813e+02] [ 5.21997478e-02 9.98636664e-01 -1.16085451e-05 4.43227860e+00] [ 2.62092215e-03 -1.25373897e-04 9.99996558e-01 9.27963471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.259254154 meters 0.06065668445657927 Centerline is valid? [True, True] Translation: X:237.61, Y:4.42, Z:0.93 [[ 9.98565226e-01 -5.34440211e-02 -3.35061917e-03 2.37613848e+02] [ 5.34442717e-02 9.98570834e-01 -1.47673762e-05 4.42385687e+00] [ 3.34661981e-03 -1.64325213e-04 9.99994387e-01 9.28533197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.319254154 meters 0.059132825439482305 Centerline is valid? [True, True] Translation: X:237.68, Y:4.43, Z:0.93 [[ 9.98604365e-01 -5.26362693e-02 -4.32960985e-03 2.37675626e+02] [ 5.26366802e-02 9.98613729e-01 -1.90656323e-05 4.43444017e+00] [ 4.32461138e-03 -2.08857265e-04 9.99990627e-01 9.28207520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.379254154 meters 0.06171795896548628 Centerline is valid? [True, True] Translation: X:237.74, Y:4.43, Z:0.93 [[ 9.98661383e-01 -5.13970009e-02 -5.81288861e-03 2.37735938e+02] [ 5.13977220e-02 9.98678263e-01 -2.53546192e-05 4.42522101e+00] [ 5.80650865e-03 -2.73448554e-04 9.99983105e-01 9.27772885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.439254154 meters 0.05815860445249011 Centerline is valid? [True, True] Translation: X:237.80, Y:4.45, Z:0.93 [[ 9.98809054e-01 -4.84944875e-02 -5.36274456e-03 2.37796400e+02] [ 4.84950597e-02 9.98823422e-01 -2.33618067e-05 4.44726880e+00] [ 5.35756780e-03 -2.36732634e-04 9.99985620e-01 9.27664919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.499254154 meters 0.05745652870659899 Centerline is valid? [True, True] Translation: X:237.86, Y:4.45, Z:0.93 [[ 9.98972551e-01 -4.50043469e-02 -5.33389256e-03 2.37856403e+02] [ 4.50048632e-02 9.98986768e-01 -2.32413276e-05 4.45018975e+00] [ 5.32953404e-03 -2.16833657e-04 9.99985774e-01 9.27354102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.559254154 meters 0.059677390713938475 Centerline is valid? [True, True] Translation: X:237.92, Y:4.45, Z:0.93 [[ 9.99251428e-01 -3.83586331e-02 -5.01984278e-03 2.37915705e+02] [ 3.83590066e-02 9.99264022e-01 -2.18791307e-05 4.44887347e+00] [ 5.01698754e-03 -1.70693430e-04 9.99987400e-01 9.26918518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.619254154 meters 0.059547715702835284 Centerline is valid? [True, True] Translation: X:237.98, Y:4.46, Z:0.93 [[ 9.99447521e-01 -3.28438767e-02 -5.09235504e-03 2.37976512e+02] [ 3.28441894e-02 9.99460484e-01 -2.22153000e-05 4.45560236e+00] [ 5.09033727e-03 -1.45051247e-04 9.99987034e-01 9.26357440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.679254154 meters 0.05820277505384654 Centerline is valid? [True, True] Translation: X:238.04, Y:4.47, Z:0.93 [[ 9.99715543e-01 -2.33117257e-02 -5.03948197e-03 2.38037048e+02] [ 2.33119110e-02 9.99728240e-01 -2.19646080e-05 4.47069099e+00] [ 5.03862447e-03 -9.55215952e-05 9.99987301e-01 9.26221124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.739254154 meters 0.0567435898423754 Centerline is valid? [True, True] Translation: X:238.10, Y:4.48, Z:0.93 [[ 9.99882745e-01 -1.47847430e-02 -3.98850435e-03 2.38097893e+02] [ 1.47847914e-02 9.99890699e-01 -1.73732366e-05 4.47998668e+00] [ 3.98832526e-03 -4.15980052e-05 9.99992046e-01 9.27919066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.799254154 meters 0.05778420702396439 Centerline is valid? [True, True] Translation: X:238.16, Y:4.48, Z:0.93 [[ 9.99934857e-01 -1.06892968e-02 -4.00260746e-03 2.38157979e+02] [ 1.06893127e-02 9.99942868e-01 -1.74242674e-05 4.48271624e+00] [ 4.00256504e-03 -2.53619902e-05 9.99991989e-01 9.28629012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.859254154 meters 0.05728461223630829 Centerline is valid? [True, True] Translation: X:238.22, Y:4.49, Z:0.93 [[ 9.99950597e-01 -9.24926754e-03 -3.64071330e-03 2.38219588e+02] [ 9.24927123e-03 9.99957224e-01 -1.58235757e-05 4.48718194e+00] [ 3.64070392e-03 -1.78511508e-05 9.99993372e-01 9.29102189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters 0.057782507395051044 Centerline is valid? [True, True] Translation: X:238.28, Y:4.49, Z:0.93 [[ 9.99927622e-01 -1.07283081e-02 -5.44558311e-03 2.38279664e+02] [ 1.07283389e-02 9.99942449e-01 -2.35541686e-05 4.48683078e+00] [ 5.44552241e-03 -3.48695976e-05 9.99985172e-01 9.29040373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.979254154 meters 0.05860027716138601 Centerline is valid? [True, True] Translation: X:238.34, Y:4.48, Z:0.93 [[ 9.99871002e-01 -1.49141829e-02 -5.96213575e-03 2.38340037e+02] [ 1.49142948e-02 9.99888775e-01 -2.56932204e-05 4.48354179e+00] [ 5.96185580e-03 -6.32311439e-05 9.99982226e-01 9.30009376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.039254154 meters 0.058375364043726605 Centerline is valid? [True, True] Translation: X:238.40, Y:4.48, Z:0.93 [[ 9.99820706e-01 -1.79546239e-02 -6.01556948e-03 2.38400609e+02] [ 1.79547934e-02 9.99838799e-01 -2.58269427e-05 4.48038237e+00] [ 6.01506348e-03 -8.21859951e-05 9.99981906e-01 9.30325401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.099254154 meters 0.058136951909580264 Centerline is valid? [True, True] Translation: X:238.46, Y:4.48, Z:0.93 [[ 9.99779035e-01 -1.98233716e-02 -6.99386526e-03 2.38461779e+02] [ 1.98236465e-02 9.99803492e-01 -3.00217534e-05 4.48086946e+00] [ 6.99308604e-03 -1.08628793e-04 9.99975542e-01 9.30468156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.159254154 meters 0.05862366376328658 Centerline is valid? [True, True] Translation: X:238.52, Y:4.48, Z:0.93 [[ 9.99775528e-01 -2.00624602e-02 -6.81109409e-03 2.38523078e+02] [ 2.00627271e-02 9.99798723e-01 -2.91321739e-05 4.47926006e+00] [ 6.81030764e-03 -1.07523488e-04 9.99976804e-01 9.29890147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.219254154 meters 0.058212990066377965 Centerline is valid? [True, True] Translation: X:238.58, Y:4.48, Z:0.93 [[ 9.99794901e-01 -1.93552498e-02 -5.96071757e-03 2.38584545e+02] [ 1.93554422e-02 9.99812666e-01 -2.54070101e-05 4.48335950e+00] [ 5.96009269e-03 -8.99705255e-05 9.99982234e-01 9.30232698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.279254154 meters 0.0582626168838987 Centerline is valid? [True, True] Translation: X:238.65, Y:4.48, Z:0.93 [[ 9.99831024e-01 -1.74560293e-02 -5.76286524e-03 2.38645067e+02] [ 1.74561781e-02 9.99847629e-01 -2.44723489e-05 4.48063846e+00] [ 5.76241434e-03 -7.61293885e-05 9.99983394e-01 9.28304075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.339254154 meters 0.058300051005425464 Centerline is valid? [True, True] Translation: X:238.71, Y:4.48, Z:0.93 [[ 9.99842696e-01 -1.65581162e-02 -6.35703982e-03 2.38705352e+02] [ 1.65582798e-02 9.99862902e-01 -2.69050071e-05 4.48088863e+00] [ 6.35661378e-03 -7.83608691e-05 9.99979793e-01 9.27522084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.399254154 meters 0.058037108931763136 Centerline is valid? [True, True] Translation: X:238.77, Y:4.48, Z:0.93 [[ 9.99864440e-01 -1.56700764e-02 -5.05469879e-03 2.38766662e+02] [ 1.56701686e-02 9.99877215e-01 -2.13506960e-05 4.48334010e+00] [ 5.05441272e-03 -5.78601808e-05 9.99987225e-01 9.28344788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.459254154 meters 0.058270217160102354 Centerline is valid? [True, True] Translation: X:238.83, Y:4.48, Z:0.93 [[ 9.99890709e-01 -1.44033320e-02 -3.33372834e-03 2.38827622e+02] [ 1.44033652e-02 9.99896266e-01 -1.40514768e-05 4.48477816e+00] [ 3.33358491e-03 -3.39669657e-05 9.99994443e-01 9.30666417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519254154 meters 0.05809939922073129 Centerline is valid? [True, True] Translation: X:238.89, Y:4.49, Z:0.93 [[ 9.99889793e-01 -1.45514278e-02 -2.94226726e-03 2.38890186e+02] [ 1.45514543e-02 9.99894122e-01 -1.23785034e-05 4.48522115e+00] [ 2.94213586e-03 -3.04371285e-05 9.99995671e-01 9.31397058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579254154 meters 0.057764862852810475 Centerline is valid? [True, True] Translation: X:238.95, Y:4.48, Z:0.93 [[ 9.99861994e-01 -1.60540207e-02 -4.27335571e-03 2.38951297e+02] [ 1.60540913e-02 9.99871125e-01 -1.77886937e-05 4.48384655e+00] [ 4.27309056e-03 -5.08186039e-05 9.99990869e-01 9.31068400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.639254154 meters 0.059134477510979985 Centerline is valid? [True, True] Translation: X:239.01, Y:4.48, Z:0.93 [[ 9.99741647e-01 -2.17108621e-02 -6.72884309e-03 2.39012836e+02] [ 2.17111668e-02 9.99764284e-01 -2.77744161e-05 4.48074460e+00] [ 6.72786000e-03 -1.18323794e-04 9.99977361e-01 9.29456940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699254154 meters 0.058816293808178134 Centerline is valid? [True, True] Translation: X:239.07, Y:4.48, Z:0.93 [[ 9.99612598e-01 -2.67917152e-02 -7.54036776e-03 2.39073214e+02] [ 2.67922431e-02 9.99641023e-01 -3.10062199e-05 4.48178911e+00] [ 7.53849165e-03 -1.71029158e-04 9.99971571e-01 9.30090430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759254154 meters 0.05890710468179456 Centerline is valid? [True, True] Translation: X:239.13, Y:4.48, Z:0.93 [[ 9.99403180e-01 -3.34739087e-02 -8.53124935e-03 2.39134281e+02] [ 3.34748288e-02 9.99439560e-01 -3.49592110e-05 4.47874324e+00] [ 8.52763832e-03 -2.50643765e-04 9.99963608e-01 9.30523611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819254154 meters 0.058644190271524115 Centerline is valid? [True, True] Translation: X:239.20, Y:4.48, Z:0.93 [[ 9.99300158e-01 -3.65062692e-02 -8.15392510e-03 2.39195758e+02] [ 3.65072116e-02 9.99333389e-01 -3.32930797e-05 4.48018958e+00] [ 8.14970501e-03 -2.64407289e-04 9.99966756e-01 9.31184134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879254154 meters 0.059538992357218296 Centerline is valid? [True, True] Translation: X:239.26, Y:4.48, Z:0.93 [[ 9.99224415e-01 -3.85298230e-02 -8.12535042e-03 2.39255833e+02] [ 3.85308261e-02 9.99257411e-01 -3.31109191e-05 4.47507786e+00] [ 8.12059238e-03 -2.79991225e-04 9.99966988e-01 9.30475952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939254154 meters 0.058167219337695766 Centerline is valid? [True, True] Translation: X:239.32, Y:4.48, Z:0.93 [[ 9.99221093e-01 -3.86632056e-02 -7.89704697e-03 2.39318061e+02] [ 3.86641582e-02 9.99252261e-01 -3.20516436e-05 4.48426356e+00] [ 7.89238126e-03 -2.73305995e-04 9.99968817e-01 9.31393712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999254154 meters 0.06034648721456627 Centerline is valid? [True, True] Translation: X:239.38, Y:4.47, Z:0.93 [[ 9.99234420e-01 -3.83784610e-02 -7.59396140e-03 2.39379332e+02] [ 3.83793356e-02 9.99263241e-01 -3.05789149e-05 4.47382500e+00] [ 7.58954006e-03 -2.60895689e-04 9.99971165e-01 9.29913864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059254154 meters 0.0577897555705745 Centerline is valid? [True, True] Translation: X:239.44, Y:4.49, Z:0.93 [[ 9.99335294e-01 -3.57584748e-02 -7.09234510e-03 2.39440153e+02] [ 3.57591728e-02 9.99360436e-01 -2.84086546e-05 4.48690993e+00] [ 7.08882494e-03 -2.25226623e-04 9.99974849e-01 9.30797120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119254154 meters 0.05786367391811425 Centerline is valid? [True, True] Translation: X:239.50, Y:4.49, Z:0.93 [[ 9.99464565e-01 -3.19011950e-02 -7.27306045e-03 2.39500305e+02] [ 3.19018272e-02 9.99491007e-01 -2.91037376e-05 4.48684783e+00] [ 7.27028696e-03 -2.02935763e-04 9.99973551e-01 9.30845843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179254154 meters 0.05797475139288331 Centerline is valid? [True, True] Translation: X:239.56, Y:4.49, Z:0.93 [[ 9.99541787e-01 -2.93022561e-02 -7.58910538e-03 2.39561596e+02] [ 2.93028699e-02 9.99570578e-01 -3.03275126e-05 4.49213596e+00] [ 7.58673512e-03 -1.92068952e-04 9.99971202e-01 9.31249622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239254154 meters 0.05805000198053373 Centerline is valid? [True, True] Translation: X:239.62, Y:4.49, Z:0.93 [[ 9.99633984e-01 -2.58068748e-02 -8.11803596e-03 2.39621039e+02] [ 2.58074622e-02 9.99666931e-01 -3.24097121e-05 4.49385587e+00] [ 8.11616850e-03 -1.77108056e-04 9.99967048e-01 9.31097346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299254154 meters 0.05784233482386255 Centerline is valid? [True, True] Translation: X:239.68, Y:4.50, Z:0.93 [[ 9.99746595e-01 -2.07101263e-02 -8.82247011e-03 2.39681533e+02] [ 2.07106217e-02 9.99785511e-01 -3.52165125e-05 4.49878932e+00] [ 8.82130713e-03 -1.47511253e-04 9.99961081e-01 9.30177524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359254154 meters 0.05754050416554223 Centerline is valid? [True, True] Translation: X:239.74, Y:4.51, Z:0.93 [[ 9.99823926e-01 -1.66358143e-02 -8.68140378e-03 2.39742025e+02] [ 1.66361407e-02 9.99861609e-01 -3.46241038e-05 4.50698098e+00] [ 8.68077835e-03 -1.09807047e-04 9.99962315e-01 9.31490553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters 0.05681654453946677 Centerline is valid? [True, True] Translation: X:239.80, Y:4.51, Z:0.93 [[ 9.99852149e-01 -1.49573870e-02 -8.48271938e-03 2.39802340e+02] [ 1.49576381e-02 9.99888128e-01 -3.38452561e-05 4.51003893e+00] [ 8.48227663e-03 -9.30411942e-05 9.99964021e-01 9.32099636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479254154 meters 0.057258359658403396 Centerline is valid? [True, True] Translation: X:239.86, Y:4.51, Z:0.93 [[ 9.99871415e-01 -1.42379165e-02 -7.37805891e-03 2.39861607e+02] [ 1.42380868e-02 9.99898633e-01 -2.94480176e-05 4.51292729e+00] [ 7.37773030e-03 -7.56052120e-05 9.99972781e-01 9.33073653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539254154 meters 0.05626438457206157 Centerline is valid? [True, True] Translation: X:239.92, Y:4.51, Z:0.93 [[ 9.99854995e-01 -1.60073770e-02 -5.80965724e-03 2.39922250e+02] [ 1.60075124e-02 9.99871871e-01 -2.31880622e-05 4.51346807e+00] [ 5.80928404e-03 -6.98134607e-05 9.99983124e-01 9.33878713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599254154 meters 0.056838639836420214 Centerline is valid? [True, True] Translation: X:239.98, Y:4.51, Z:0.93 [[ 9.99727094e-01 -2.28128564e-02 -5.03096781e-03 2.39982104e+02] [ 2.28130441e-02 9.99739748e-01 -2.00804024e-05 4.51029597e+00] [ 5.03011658e-03 -9.46967680e-05 9.99987344e-01 9.33673709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659254154 meters 0.057314427878084426 Centerline is valid? [True, True] Translation: X:240.04, Y:4.51, Z:0.93 [[ 9.99497878e-01 -3.14018018e-02 -4.23297944e-03 2.40042706e+02] [ 3.14020116e-02 9.99506835e-01 -1.68957750e-05 4.50914870e+00] [ 4.23142244e-03 -1.16036778e-04 9.99991041e-01 9.33337212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719254154 meters 0.05761518714660445 Centerline is valid? [True, True] Translation: X:240.10, Y:4.51, Z:0.93 [[ 9.99305883e-01 -3.70040219e-02 -4.29597543e-03 2.40103376e+02] [ 3.70042898e-02 9.99315107e-01 -1.71379787e-05 4.50739520e+00] [ 4.29366732e-03 -1.41843437e-04 9.99990772e-01 9.33669552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779254154 meters 0.058293738808124565 Centerline is valid? [True, True] Translation: X:240.16, Y:4.50, Z:0.93 [[ 9.98948263e-01 -4.56356866e-02 -4.44428874e-03 2.40163198e+02] [ 4.56360586e-02 9.98958132e-01 -1.77045330e-05 4.50240428e+00] [ 4.44046633e-03 -1.85133909e-04 9.99990124e-01 9.34178093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839254154 meters 0.059024883402176896 Centerline is valid? [True, True] Translation: X:240.22, Y:4.50, Z:0.93 [[ 9.98738452e-01 -5.00738342e-02 -3.75695215e-03 2.40224327e+02] [ 5.00741315e-02 9.98745504e-01 -1.49311260e-05 4.50029960e+00] [ 3.75298673e-03 -1.73213827e-04 9.99992943e-01 9.34602507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899254154 meters 0.05889615950225909 Centerline is valid? [True, True] Translation: X:240.28, Y:4.50, Z:0.94 [[ 9.98601195e-01 -5.27303320e-02 -3.89441011e-03 2.40283462e+02] [ 5.27306719e-02 9.98608770e-01 -1.54159623e-05 4.50353882e+00] [ 3.88980498e-03 -1.89960463e-04 9.99992417e-01 9.35246343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959254154 meters 0.06036339596140769 Centerline is valid? [True, True] Translation: X:240.35, Y:4.50, Z:0.94 [[ 9.98618185e-01 -5.23756132e-02 -4.30292545e-03 2.40345924e+02] [ 5.23760250e-02 9.98627434e-01 -1.69980482e-05 4.50391633e+00] [ 4.29790969e-03 -2.08395571e-04 9.99990742e-01 9.35179164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019254154 meters 0.06039661079688114 Centerline is valid? [True, True] Translation: X:240.41, Y:4.51, Z:0.94 [[ 9.98731356e-01 -5.01693440e-02 -4.32614301e-03 2.40406807e+02] [ 5.01697403e-02 9.98740706e-01 -1.69375358e-05 4.50541808e+00] [ 4.32154486e-03 -2.00125423e-04 9.99990642e-01 9.35207955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079254154 meters 0.060100122217077466 Centerline is valid? [True, True] Translation: X:240.47, Y:4.51, Z:0.93 [[ 9.98920625e-01 -4.61849515e-02 -4.95330727e-03 2.40467641e+02] [ 4.61854224e-02 9.98932884e-01 -1.93303082e-05 4.51120530e+00] [ 4.94891429e-03 -2.09461145e-04 9.99987732e-01 9.34532731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.139254154 meters 0.05835210758988676 Centerline is valid? [True, True] Translation: X:240.53, Y:4.52, Z:0.93 [[ 9.99083044e-01 -4.23820506e-02 -6.06905424e-03 2.40527890e+02] [ 4.23826878e-02 9.99101450e-01 -2.36523182e-05 4.51930547e+00] [ 6.06460332e-03 -2.33592201e-04 9.99981583e-01 9.32937208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199254154 meters 0.05858973978181403 Centerline is valid? [True, True] Translation: X:240.59, Y:4.53, Z:0.93 [[ 9.99355919e-01 -3.52504465e-02 -6.71959770e-03 2.40588388e+02] [ 3.52510665e-02 9.99378488e-01 -2.61886307e-05 4.52884425e+00] [ 6.71634455e-03 -2.10701222e-04 9.99977423e-01 9.31618227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259254154 meters 0.05742159013315055 Centerline is valid? [True, True] Translation: X:240.65, Y:4.54, Z:0.93 [[ 9.99557248e-01 -2.92324980e-02 -5.54689871e-03 2.40648754e+02] [ 2.92328279e-02 9.99572629e-01 -2.16184851e-05 4.53540559e+00] [ 5.54516009e-03 -1.40542622e-04 9.99984616e-01 9.32349403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319254154 meters 0.05708809103123113 Centerline is valid? [True, True] Translation: X:240.71, Y:4.54, Z:0.93 [[ 9.99751506e-01 -2.19061645e-02 -4.12871100e-03 2.40709687e+02] [ 2.19062848e-02 9.99760028e-01 -1.60925422e-05 4.54495214e+00] [ 4.12807275e-03 -7.43561759e-05 9.99991477e-01 9.33595310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379254154 meters 0.055923591545650186 Centerline is valid? [True, True] Translation: X:240.77, Y:4.56, Z:0.94 [[ 9.99945081e-01 -1.01093036e-02 -2.76342127e-03 2.40770112e+02] [ 1.01093125e-02 9.99948900e-01 -1.07631490e-05 4.56111697e+00] [ 2.76338887e-03 -1.71737312e-05 9.99996182e-01 9.36344887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439254154 meters 0.05533055360307056 Centerline is valid? [True, True] Translation: X:240.83, Y:4.57, Z:0.94 [[ 9.99989081e-01 -4.22917806e-03 -1.98772834e-03 2.40831824e+02] [ 4.22917094e-03 9.99991057e-01 -7.78794027e-06 4.56827136e+00] [ 1.98774350e-03 -6.18587683e-07 9.99998024e-01 9.37376908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499254154 meters 0.05599124869903299 Centerline is valid? [True, True] Translation: X:240.89, Y:4.57, Z:0.94 [[ 9.99998722e-01 3.35048633e-04 -1.56301524e-03 2.40892687e+02] [-3.35058501e-04 9.99999944e-01 -6.05183175e-06 4.57325759e+00] [ 1.56301312e-03 6.57552556e-06 9.99998778e-01 9.38156140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559254154 meters 0.05556192729481157 Centerline is valid? [True, True] Translation: X:240.95, Y:4.57, Z:0.94 [[ 9.99995452e-01 -2.14527842e-03 -2.11977220e-03 2.40952023e+02] [ 2.14526590e-03 9.99997699e-01 -8.17931903e-06 4.57052517e+00] [ 2.11978487e-03 3.63180681e-06 9.99997753e-01 9.37514766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619254154 meters 0.05584898797803889 Centerline is valid? [True, True] Translation: X:241.01, Y:4.56, Z:0.93 [[ 9.99965289e-01 -7.37814724e-03 -3.87089418e-03 2.41012512e+02] [ 7.37814427e-03 9.99972781e-01 -1.50475762e-05 4.56317216e+00] [ 3.87089984e-03 -1.35129619e-05 9.99992508e-01 9.34629201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679254154 meters 0.05651201189863615 Centerline is valid? [True, True] Translation: X:241.07, Y:4.55, Z:0.93 [[ 9.99802651e-01 -1.89617133e-02 -5.92566489e-03 2.41072707e+02] [ 1.89619097e-02 9.99820207e-01 -2.30317155e-05 4.54838666e+00] [ 5.92503622e-03 -8.93347525e-05 9.99982443e-01 9.32486457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739254154 meters 0.05522550611088547 Centerline is valid? [True, True] Translation: X:241.13, Y:4.56, Z:0.93 [[ 9.99601275e-01 -2.76761066e-02 -5.59673583e-03 2.41134101e+02] [ 2.76764185e-02 9.99616934e-01 -2.17259554e-05 4.55545569e+00] [ 5.59519321e-03 -1.33180310e-04 9.99984338e-01 9.34251305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799254154 meters 0.05600209471635665 Centerline is valid? [True, True] Translation: X:241.19, Y:4.55, Z:0.94 [[ 9.99227915e-01 -3.89683709e-02 -5.00392658e-03 2.41193783e+02] [ 3.89687618e-02 9.99240429e-01 -1.93838019e-05 4.54786335e+00] [ 5.00088110e-03 -1.75627987e-04 9.99987480e-01 9.35179025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859254154 meters 0.05663109300765509 Centerline is valid? [True, True] Translation: X:241.25, Y:4.54, Z:0.94 [[ 9.99107551e-01 -4.19495130e-02 -4.93359967e-03 2.41253274e+02] [ 4.19499294e-02 9.99119714e-01 -1.91098525e-05 4.54096088e+00] [ 4.93005834e-03 -1.87871360e-04 9.99987830e-01 9.35000730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters 0.057206296340157406 Centerline is valid? [True, True] Translation: X:241.31, Y:4.54, Z:0.93 [[ 9.98765401e-01 -4.94299737e-02 -4.93469502e-03 2.41313927e+02] [ 4.94304816e-02 9.98777566e-01 -1.90581797e-05 4.53675219e+00] [ 4.92960473e-03 -2.24889701e-04 9.99987824e-01 9.34790356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979254154 meters 0.0545526993498044 Centerline is valid? [True, True] Translation: X:241.37, Y:4.55, Z:0.93 [[ 9.98461782e-01 -5.52107310e-02 -5.08375684e-03 2.41374652e+02] [ 5.52113448e-02 9.98474690e-01 -1.96233642e-05 4.54889780e+00] [ 5.07708595e-03 -2.61087872e-04 9.99987077e-01 9.34747612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039254154 meters 0.055074227242456614 Centerline is valid? [True, True] Translation: X:241.44, Y:4.55, Z:0.94 [[ 9.98291941e-01 -5.82278725e-02 -4.76616545e-03 2.41435742e+02] [ 5.82284464e-02 9.98303284e-01 -1.83797080e-05 4.54756354e+00] [ 4.75914883e-03 -2.59178095e-04 9.99988642e-01 9.35040595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099254154 meters 0.054363911883010235 Centerline is valid? [True, True] Translation: X:241.50, Y:4.55, Z:0.94 [[ 9.98065687e-01 -6.20632551e-02 -3.61073820e-03 2.41496206e+02] [ 6.20636097e-02 9.98072196e-01 -1.38659402e-05 4.54686894e+00] [ 3.60463797e-03 -2.10256327e-04 9.99993481e-01 9.35380587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159254154 meters 0.055261314758368964 Centerline is valid? [True, True] Translation: X:241.56, Y:4.54, Z:0.94 [[ 9.98009346e-01 -6.29324800e-02 -4.10456525e-03 2.41556793e+02] [ 6.29329456e-02 9.98017757e-01 -1.57305722e-05 4.54312869e+00] [ 4.09741897e-03 -2.42613124e-04 9.99991576e-01 9.35863843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219254154 meters 0.05401269776615991 Centerline is valid? [True, True] Translation: X:241.62, Y:4.55, Z:0.94 [[ 9.98023441e-01 -6.26039312e-02 -5.47349528e-03 2.41619475e+02] [ 6.26047552e-02 9.98038398e-01 -2.08303156e-05 4.55471901e+00] [ 5.46406252e-03 -3.21877689e-04 9.99985020e-01 9.35202040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279254154 meters 0.05387549509713029 Centerline is valid? [True, True] Translation: X:241.68, Y:4.56, Z:0.93 [[ 9.98027196e-01 -6.24628638e-02 -6.33301178e-03 2.41681587e+02] [ 6.24639671e-02 9.98047219e-01 -2.36264009e-05 4.55530524e+00] [ 6.32212057e-03 -3.72005249e-04 9.99979946e-01 9.34146804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339254154 meters 0.05547237726086359 Centerline is valid? [True, True] Translation: X:241.74, Y:4.55, Z:0.93 [[ 9.98000455e-01 -6.26441003e-02 -8.41480418e-03 2.41742935e+02] [ 6.26460638e-02 9.98035806e-01 -3.02967567e-05 4.55385160e+00] [ 8.40017379e-03 -4.96918183e-04 9.99964594e-01 9.32947806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399254154 meters 0.054597296281065424 Centerline is valid? [True, True] Translation: X:241.80, Y:4.56, Z:0.93 [[ 9.98066006e-01 -6.16348169e-02 -8.08689502e-03 2.41804078e+02] [ 6.16366010e-02 9.98098657e-01 -2.86610899e-05 4.56083635e+00] [ 8.07328558e-03 -4.69843063e-04 9.99967300e-01 9.33684692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459254154 meters 0.05396956951236464 Centerline is valid? [True, True] Translation: X:241.86, Y:4.58, Z:0.94 [[ 9.98392479e-01 -5.64853418e-02 -4.67589935e-03 2.41864930e+02] [ 5.64858821e-02 9.98403398e-01 -1.65306099e-05 4.57625449e+00] [ 4.66936754e-03 -2.47618263e-04 9.99989068e-01 9.37009400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519254154 meters 0.05420538319786041 Centerline is valid? [True, True] Translation: X:241.92, Y:4.57, Z:0.94 [[ 9.98719931e-01 -5.05541680e-02 -1.66575716e-03 2.41924205e+02] [ 5.05542284e-02 9.98721317e-01 -5.85785532e-06 4.56957884e+00] [ 1.66392332e-03 -7.83607108e-05 9.99998613e-01 9.38690662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579254154 meters 0.05535520821746239 Centerline is valid? [True, True] Translation: X:241.98, Y:4.57, Z:0.94 [[ 9.99031648e-01 -4.39970346e-02 1.62895740e-04 2.41983906e+02] [ 4.39970351e-02 9.99031662e-01 6.11794691e-07 4.57185866e+00] [-1.62764919e-04 6.55572735e-06 9.99999987e-01 9.40892553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.639254154 meters 0.05452220375572874 Centerline is valid? [True, True] Translation: X:242.04, Y:4.58, Z:0.94 [[ 9.99358707e-01 -3.58017006e-02 6.42258334e-04 2.42044203e+02] [ 3.58017066e-02 9.99358913e-01 2.24539972e-06 4.58027773e+00] [-6.41926980e-04 2.07499847e-05 9.99999794e-01 9.39508246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699254154 meters 0.054387924234915 Centerline is valid? [True, True] Translation: X:242.10, Y:4.58, Z:0.94 [[ 9.99479538e-01 -3.21849766e-02 -2.18661934e-03 2.42104408e+02] [ 3.21850366e-02 9.99481927e-01 -7.74271860e-06 4.58414772e+00] [ 2.18573571e-03 -6.26377348e-05 9.99997609e-01 9.37466186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759254154 meters 0.05530870260523797 Centerline is valid? [True, True] Translation: X:242.17, Y:4.58, Z:0.94 [[ 9.99462106e-01 -3.24360478e-02 -4.83752171e-03 2.42166543e+02] [ 3.24363448e-02 9.99473803e-01 -1.70845526e-05 4.58401164e+00] [ 4.83553037e-03 -1.39836159e-04 9.99988299e-01 9.35184374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819254154 meters 0.05555146118421845 Centerline is valid? [True, True] Translation: X:242.23, Y:4.59, Z:0.93 [[ 9.99481624e-01 -3.17197220e-02 -5.50838388e-03 2.42228469e+02] [ 3.17200971e-02 9.99496791e-01 -1.92621830e-05 4.58577014e+00] [ 5.50622300e-03 -1.55474274e-04 9.99984829e-01 9.34435849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879254154 meters 0.05528037194263272 Centerline is valid? [True, True] Translation: X:242.29, Y:4.58, Z:0.93 [[ 9.99518436e-01 -3.05288492e-02 -5.55747097e-03 2.42290792e+02] [ 3.05292138e-02 9.99533875e-01 -1.92435911e-05 4.58413753e+00] [ 5.55546798e-03 -1.50430895e-04 9.99984557e-01 9.34611927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939254154 meters 0.054093332823834196 Centerline is valid? [True, True] Translation: X:242.35, Y:4.59, Z:0.94 [[ 9.99711970e-01 -2.37198761e-02 -3.65308139e-03 2.42351616e+02] [ 2.37199885e-02 9.99718641e-01 -1.25470006e-05 4.59098366e+00] [ 3.65235118e-03 -7.41076621e-05 9.99993327e-01 9.36272077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999254154 meters 0.054574493884535114 Centerline is valid? [True, True] Translation: X:242.41, Y:4.59, Z:0.94 [[ 9.99883548e-01 -1.50600642e-02 -2.46669016e-03 2.42411232e+02] [ 1.50600892e-02 9.99886590e-01 -8.45537343e-06 4.59121451e+00] [ 2.46653776e-03 -2.86941851e-05 9.99996958e-01 9.37580305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059254154 meters 0.05445080818534498 Centerline is valid? [True, True] Translation: X:242.47, Y:4.59, Z:0.94 [[ 9.99952953e-01 -9.43545286e-03 -2.25055973e-03 2.42471506e+02] [ 9.43545931e-03 9.99955485e-01 -7.75579595e-06 4.59364530e+00] [ 2.25053272e-03 -1.34796336e-05 9.99997467e-01 9.37407958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119254154 meters 0.05477094457705492 Centerline is valid? [True, True] Translation: X:242.53, Y:4.59, Z:0.94 [[ 9.99965281e-01 -8.01123380e-03 -2.29301701e-03 2.42533489e+02] [ 8.01123665e-03 9.99967910e-01 -7.94240497e-06 4.59305100e+00] [ 2.29300705e-03 -1.04277727e-05 9.99997371e-01 9.36722918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179254154 meters 0.055602645130179595 Centerline is valid? [True, True] Translation: X:242.59, Y:4.59, Z:0.94 [[ 9.99959298e-01 -8.24891067e-03 -3.65483027e-03 2.42594787e+02] [ 8.24892043e-03 9.99965977e-01 -1.24037935e-05 4.58628234e+00] [ 3.65480824e-03 -1.77451155e-05 9.99993321e-01 9.35758114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239254154 meters 0.05473718877748015 Centerline is valid? [True, True] Translation: X:242.66, Y:4.58, Z:0.93 [[ 9.99937656e-01 -1.02907960e-02 -4.33407154e-03 2.42656304e+02] [ 1.02908300e-02 9.99947048e-01 -1.44638094e-05 4.58117242e+00] [ 4.33399089e-03 -3.01382857e-05 9.99990608e-01 9.34531246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299254154 meters 0.05510666574466012 Centerline is valid? [True, True] Translation: X:242.72, Y:4.58, Z:0.93 [[ 9.99915469e-01 -1.22642845e-02 -4.31762522e-03 2.42717461e+02] [ 1.22643369e-02 9.99924790e-01 -1.43410225e-05 4.57785133e+00] [ 4.31747637e-03 -3.86130002e-05 9.99990679e-01 9.34455847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359254154 meters 0.05497292759114008 Centerline is valid? [True, True] Translation: X:242.78, Y:4.57, Z:0.93 [[ 9.99886138e-01 -1.43057667e-02 -4.80169078e-03 2.42778141e+02] [ 1.43058556e-02 9.99897666e-01 -1.58291994e-05 4.57054808e+00] [ 4.80142585e-03 -5.28648977e-05 9.99988472e-01 9.34185303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419254154 meters 0.05495825405389333 Centerline is valid? [True, True] Translation: X:242.84, Y:4.57, Z:0.93 [[ 9.99805443e-01 -1.90384622e-02 -5.15884118e-03 2.42839762e+02] [ 1.90386291e-02 9.99818749e-01 -1.67469091e-05 4.56759707e+00] [ 5.15822497e-03 -8.14736132e-05 9.99986693e-01 9.34956105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479254154 meters 0.05507035401349063 Centerline is valid? [True, True] Translation: X:242.90, Y:4.56, Z:0.93 [[ 9.99655601e-01 -2.53719057e-02 -6.70421374e-03 2.42899194e+02] [ 2.53723305e-02 9.99678070e-01 -2.16960054e-05 4.55755074e+00] [ 6.70260592e-03 -1.48412994e-04 9.99977526e-01 9.34633426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539254154 meters 0.054279325944777086 Centerline is valid? [True, True] Translation: X:242.96, Y:4.56, Z:0.94 [[ 9.99495601e-01 -3.07995124e-02 -7.74165090e-03 2.42959254e+02] [ 3.08002415e-02 9.99525560e-01 -2.50629398e-05 4.55689303e+00] [ 7.73874988e-03 -2.13394419e-04 9.99970033e-01 9.35285435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599254154 meters 0.0570712695223085 Centerline is valid? [True, True] Translation: X:243.02, Y:4.54, Z:0.93 [[ 9.99183231e-01 -3.91947490e-02 -9.83069502e-03 2.43018554e+02] [ 3.91963309e-02 9.99231528e-01 -3.17751129e-05 4.54104022e+00] [ 9.82438582e-03 -3.53578015e-04 9.99951677e-01 9.33928519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659254154 meters 0.055542161349690006 Centerline is valid? [True, True] Translation: X:243.08, Y:4.54, Z:0.94 [[ 9.98945261e-01 -4.46908858e-02 -1.05399414e-02 2.43078984e+02] [ 4.46930104e-02 9.99000768e-01 -3.40010621e-05 4.54339032e+00] [ 1.05309291e-02 -4.37096512e-04 9.99944453e-01 9.35371741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719254154 meters 0.05610605638105537 Centerline is valid? [True, True] Translation: X:243.14, Y:4.54, Z:0.94 [[ 9.98725807e-01 -4.93454723e-02 -1.05729157e-02 2.43138265e+02] [ 4.93478701e-02 9.98781651e-01 -3.41372479e-05 4.54001331e+00] [ 1.05617188e-02 -4.87657123e-04 9.99944105e-01 9.36358372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779254154 meters 0.056497093614057844 Centerline is valid? [True, True] Translation: X:243.20, Y:4.53, Z:0.94 [[ 9.98571937e-01 -5.25442686e-02 -9.65330896e-03 2.43197717e+02] [ 5.25464159e-02 9.98618482e-01 -3.12375344e-05 4.53271299e+00] [ 9.64161409e-03 -4.76053861e-04 9.99953405e-01 9.37325205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839254154 meters 0.05801595682475007 Centerline is valid? [True, True] Translation: X:243.26, Y:4.53, Z:0.94 [[ 9.98498209e-01 -5.41191152e-02 -8.51167817e-03 2.43258720e+02] [ 5.41208420e-02 9.98534393e-01 -2.74959674e-05 4.53029778e+00] [ 8.50069145e-03 -4.33204515e-04 9.99963775e-01 9.39890802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899254154 meters 0.055174253286700364 Centerline is valid? [True, True] Translation: X:243.32, Y:4.55, Z:0.94 [[ 9.98512721e-01 -5.39481260e-02 -7.87060693e-03 2.43320945e+02] [ 5.39495986e-02 9.98543660e-01 -2.52360778e-05 4.55044848e+00] [ 7.86050609e-03 -3.99417540e-04 9.99969026e-01 9.43333631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959254154 meters 0.057940033161683155 Centerline is valid? [True, True] Translation: X:243.38, Y:4.53, Z:0.94 [[ 9.98663163e-01 -5.09095459e-02 -8.95017105e-03 2.43380703e+02] [ 5.09113295e-02 9.98703177e-01 -2.85872784e-05 4.53438276e+00] [ 8.94001963e-03 -4.27116046e-04 9.99959946e-01 9.42011328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019254154 meters 0.05611788643363977 Centerline is valid? [True, True] Translation: X:243.44, Y:4.55, Z:0.94 [[ 9.98784950e-01 -4.81459929e-02 -1.05160812e-02 2.43441309e+02] [ 4.81483020e-02 9.98840197e-01 -3.36261692e-05 4.54993695e+00] [ 1.05055036e-02 -4.72746142e-04 9.99944704e-01 9.43245718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079254154 meters 0.05714254521883213 Centerline is valid? [True, True] Translation: X:243.50, Y:4.55, Z:0.94 [[ 9.99036569e-01 -4.21417776e-02 -1.22476623e-02 2.43500465e+02] [ 4.21444581e-02 9.99111527e-01 -3.92717454e-05 4.54857482e+00] [ 1.22384356e-02 -4.76937181e-04 9.99924994e-01 9.42121149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.139254154 meters 0.05716808586493781 Centerline is valid? [True, True] Translation: X:243.56, Y:4.56, Z:0.94 [[ 9.99311381e-01 -3.42629347e-02 -1.42413301e-02 2.43560903e+02] [ 3.42657591e-02 9.99412755e-01 -4.57033086e-05 4.55785893e+00] [ 1.42345329e-02 -4.42318150e-04 9.99898586e-01 9.42944761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199254154 meters 0.0557218589880695 Centerline is valid? [True, True] Translation: X:243.62, Y:4.57, Z:0.94 [[ 9.99611609e-01 -2.39058917e-02 -1.43227077e-02 2.43621207e+02] [ 2.39076860e-02 9.99714169e-01 -4.59570387e-05 4.56682464e+00] [ 1.43197125e-02 -2.96483609e-04 9.99897424e-01 9.44403968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259254154 meters 0.055935660154809067 Centerline is valid? [True, True] Translation: X:243.68, Y:4.57, Z:0.95 [[ 9.99794872e-01 -1.53354482e-02 -1.32302216e-02 2.43680821e+02] [ 1.53362277e-02 9.99882392e-01 -4.25403337e-05 4.57204692e+00] [ 1.32293180e-02 -1.60370083e-04 9.99912476e-01 9.45600919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319254154 meters 0.05561389121094357 Centerline is valid? [True, True] Translation: X:243.74, Y:4.58, Z:0.95 [[ 9.99935555e-01 -3.33074461e-03 -1.08531901e-02 2.43739816e+02] [ 3.33056016e-03 9.99994453e-01 -3.50695383e-05 4.58115874e+00] [ 1.08532467e-02 -1.07992429e-06 9.99941102e-01 9.49026199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379254154 meters 0.05618489863909987 Centerline is valid? [True, True] Translation: X:243.80, Y:4.59, Z:0.95 [[ 9.99930697e-01 2.58615721e-03 -1.14853686e-02 2.43797498e+02] [-2.58675850e-03 9.99996654e-01 -3.74972208e-05 4.58718449e+00] [ 1.14852332e-02 6.72044968e-05 9.99934040e-01 9.50492895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439254154 meters 0.05584935738676259 Centerline is valid? [True, True] Translation: X:243.86, Y:4.59, Z:0.95 [[ 9.99907545e-01 1.35061998e-03 -1.35305857e-02 2.43855897e+02] [-1.35134692e-03 9.99999086e-01 -4.45833183e-05 4.58552389e+00] [ 1.35305132e-02 6.28637117e-05 9.99908456e-01 9.50917710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499254154 meters 0.05674902495635375 Centerline is valid? [True, True] Translation: X:243.91, Y:4.58, Z:0.95 [[ 9.99863732e-01 -7.08397561e-03 -1.49109116e-02 2.43914528e+02] [ 7.08402380e-03 9.99974907e-01 -4.95869298e-05 4.57993442e+00] [ 1.49108887e-02 -5.60490797e-05 9.99888825e-01 9.52730633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559254154 meters 0.05637329189374125 Centerline is valid? [True, True] Translation: X:243.97, Y:4.57, Z:0.95 [[ 9.99801570e-01 -1.41814371e-02 -1.39895793e-02 2.43973534e+02] [ 1.41821692e-02 9.99899427e-01 -4.68823169e-05 4.57157191e+00] [ 1.39888372e-02 -1.51529566e-04 9.99902140e-01 9.50968305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619254154 meters 0.05696587190279647 Centerline is valid? [True, True] Translation: X:244.03, Y:4.56, Z:0.95 [[ 9.99636618e-01 -2.32971371e-02 -1.35600591e-02 2.44033525e+02] [ 2.32986610e-02 9.99728548e-01 -4.56077814e-05 4.55979653e+00] [ 1.35574408e-02 -2.70340012e-04 9.99908057e-01 9.50915557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679254154 meters 0.057674649688102916 Centerline is valid? [True, True] Translation: X:244.09, Y:4.56, Z:0.95 [[ 9.99490819e-01 -2.87740164e-02 -1.37897900e-02 2.44094265e+02] [ 2.87761129e-02 9.99585881e-01 -4.63979881e-05 4.55560451e+00] [ 1.37854144e-02 -3.50442191e-04 9.99904915e-01 9.52647541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739254154 meters 0.056715174200945025 Centerline is valid? [True, True] Translation: X:244.16, Y:4.56, Z:0.96 [[ 9.99427228e-01 -3.10798150e-02 -1.33888452e-02 2.44155281e+02] [ 3.10819992e-02 9.99516837e-01 -4.49687322e-05 4.55971936e+00] [ 1.33837738e-02 -3.71209101e-04 9.99910364e-01 9.55602176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799254154 meters 0.0579828026449402 Centerline is valid? [True, True] Translation: X:244.22, Y:4.55, Z:0.95 [[ 9.99306971e-01 -3.48603441e-02 -1.30512061e-02 2.44215426e+02] [ 3.48627422e-02 9.99392109e-01 -4.37852423e-05 4.54567687e+00] [ 1.30447988e-02 -4.11245938e-04 9.99914828e-01 9.53814643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859254154 meters 0.05757753605294912 Centerline is valid? [True, True] Translation: X:244.28, Y:4.55, Z:0.95 [[ 9.99183365e-01 -3.81357683e-02 -1.33516246e-02 2.44275758e+02] [ 3.81385715e-02 9.99272459e-01 -4.46938279e-05 4.54692181e+00] [ 1.33436151e-02 -4.64554559e-04 9.99910862e-01 9.54852372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919254154 meters 0.05662043069803091 Centerline is valid? [True, True] Translation: X:244.34, Y:4.55, Z:0.96 [[ 9.99011885e-01 -4.23030088e-02 -1.36274869e-02 2.44336567e+02] [ 4.23063183e-02 9.99104686e-01 -4.54659858e-05 4.54709564e+00] [ 1.36172094e-02 -5.31107738e-04 9.99907140e-01 9.55595427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979254154 meters 0.05534697700183731 Centerline is valid? [True, True] Translation: X:244.40, Y:4.56, Z:0.96 [[ 9.98681118e-01 -4.92222610e-02 -1.46011264e-02 2.44397470e+02] [ 4.92267988e-02 9.98787625e-01 -4.86692343e-05 4.55626060e+00] [ 1.45858200e-02 -6.70161668e-04 9.99893397e-01 9.58384536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039254154 meters 0.05744911681167179 Centerline is valid? [True, True] Translation: X:244.46, Y:4.54, Z:0.96 [[ 9.98516592e-01 -5.22986126e-02 -1.51483026e-02 2.44457386e+02] [ 5.23038489e-02 9.98631216e-01 -5.05724035e-05 4.54232699e+00] [ 1.51302127e-02 -7.41817146e-04 9.99885257e-01 9.55405538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099254154 meters 0.05974792697365121 Centerline is valid? [True, True] Translation: X:244.52, Y:4.53, Z:0.95 [[ 9.98381060e-01 -5.46299326e-02 -1.58375776e-02 2.44516496e+02] [ 5.46359532e-02 9.98506339e-01 -5.26046992e-05 4.53358739e+00] [ 1.58167954e-02 -8.12781613e-04 9.99874576e-01 9.54249956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159254154 meters 0.05601573002570982 Centerline is valid? [True, True] Translation: X:244.58, Y:4.55, Z:0.96 [[ 9.98346669e-01 -5.52272828e-02 -1.59334821e-02 2.44578457e+02] [ 5.52334601e-02 9.98473466e-01 -5.24379925e-05 4.54988330e+00] [ 1.59120551e-02 -8.27710055e-04 9.99873053e-01 9.57777013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219254154 meters 0.056288442167703664 Centerline is valid? [True, True] Translation: X:244.64, Y:4.55, Z:0.96 [[ 9.98397236e-01 -5.38617129e-02 -1.73745285e-02 2.44639460e+02] [ 5.38688584e-02 9.98548017e-01 -5.68254991e-05 4.54824300e+00] [ 1.73523617e-02 -8.79211594e-04 9.99849050e-01 9.57707888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279254154 meters 0.05690421595794862 Centerline is valid? [True, True] Translation: X:244.70, Y:4.55, Z:0.96 [[ 9.98477248e-01 -5.23851060e-02 -1.72912165e-02 2.44700495e+02] [ 5.23919641e-02 9.98626596e-01 -5.64455539e-05 4.54758967e+00] [ 1.72704256e-02 -8.49561193e-04 9.99850494e-01 9.58302698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339254154 meters 0.058067214825931156 Centerline is valid? [True, True] Translation: X:244.76, Y:4.54, Z:0.96 [[ 9.98517106e-01 -5.18389742e-02 -1.66225546e-02 2.44761607e+02] [ 5.18452501e-02 9.98655129e-01 -5.34469485e-05 4.54385968e+00] [ 1.66029700e-02 -8.08432807e-04 9.99861834e-01 9.58622494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399254154 meters 0.058036989998820315 Centerline is valid? [True, True] Translation: X:244.82, Y:4.54, Z:0.96 [[ 9.98559879e-01 -5.17309709e-02 -1.42152758e-02 2.44822631e+02] [ 5.17355611e-02 9.98660818e-01 -4.48841409e-05 4.54218018e+00] [ 1.41985608e-02 -6.90615767e-04 9.99898957e-01 9.60648204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459254154 meters 0.056950225184485566 Centerline is valid? [True, True] Translation: X:244.88, Y:4.55, Z:0.96 [[ 9.98596790e-01 -5.14446065e-02 -1.25659537e-02 2.44884402e+02] [ 5.14481766e-02 9.98675665e-01 -3.92019157e-05 4.54845499e+00] [ 1.25513289e-02 -6.07348498e-04 9.99921045e-01 9.62647350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519254154 meters 0.05904928711409087 Centerline is valid? [True, True] Translation: X:244.95, Y:4.54, Z:0.96 [[ 9.98633904e-01 -5.06938334e-02 -1.26673456e-02 2.44945891e+02] [ 5.06974052e-02 9.98714059e-01 -3.91922330e-05 4.54195201e+00] [ 1.26530429e-02 -6.03062861e-04 9.99919765e-01 9.61623546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579254154 meters 0.0576604641479411 Centerline is valid? [True, True] Translation: X:245.01, Y:4.55, Z:0.96 [[ 9.98616544e-01 -5.09500005e-02 -1.30036997e-02 2.45008007e+02] [ 5.09537909e-02 9.98701011e-01 -3.98638289e-05 4.54681500e+00] [ 1.29888391e-02 -6.22779117e-04 9.99915448e-01 9.62635551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.639254154 meters 0.05585280969755326 Centerline is valid? [True, True] Translation: X:245.07, Y:4.56, Z:0.96 [[ 9.98503712e-01 -5.23953425e-02 -1.56545531e-02 2.45069447e+02] [ 5.24010185e-02 9.98626122e-01 -4.76612615e-05 4.55860162e+00] [ 1.56355429e-02 -7.72724580e-04 9.99877459e-01 9.63662195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699254154 meters 0.05895324216276795 Centerline is valid? [True, True] Translation: X:245.13, Y:4.54, Z:0.96 [[ 9.98466804e-01 -5.27873089e-02 -1.66595992e-02 2.45130858e+02] [ 5.27937978e-02 9.98605434e-01 -5.03552270e-05 4.54229652e+00] [ 1.66390244e-02 -8.29245488e-04 9.99861218e-01 9.59073280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759254154 meters 0.055280802279519925 Centerline is valid? [True, True] Translation: X:245.19, Y:4.56, Z:0.96 [[ 9.98360045e-01 -5.52285071e-02 -1.50676123e-02 2.45191740e+02] [ 5.52340949e-02 9.98473431e-01 -4.53607512e-05 4.56290623e+00] [ 1.50471157e-02 -7.86959565e-04 9.99886476e-01 9.63945410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819254154 meters 0.05686936574269477 Centerline is valid? [True, True] Translation: X:245.25, Y:4.56, Z:0.96 [[ 9.98363755e-01 -5.55501998e-02 -1.35641923e-02 2.45252516e+02] [ 5.55547612e-02 9.98455641e-01 -4.05708078e-05 4.55529534e+00] [ 1.35454980e-02 -7.13051037e-04 9.99908001e-01 9.64035037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879254154 meters 0.056931627086391906 Centerline is valid? [True, True] Translation: X:245.31, Y:4.55, Z:0.97 [[ 9.98405187e-01 -5.52605414e-02 -1.15479219e-02 2.45313932e+02] [ 5.52638311e-02 9.98471786e-01 -3.42805633e-05 4.55290133e+00] [ 1.15321685e-02 -6.03956510e-04 9.99933320e-01 9.65595075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939254154 meters 0.057933018332481455 Centerline is valid? [True, True] Translation: X:245.38, Y:4.55, Z:0.97 [[ 9.98373955e-01 -5.59181003e-02 -1.10730425e-02 2.45375663e+02] [ 5.59211681e-02 9.98435187e-01 -3.26192799e-05 4.55170217e+00] [ 1.10575392e-02 -5.86651231e-04 9.99938691e-01 9.66105599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999254154 meters 0.05888182061994076 Centerline is valid? [True, True] Translation: X:245.44, Y:4.55, Z:0.97 [[ 9.98318118e-01 -5.68399975e-02 -1.14083301e-02 2.45435839e+02] [ 5.68433156e-02 9.98383111e-01 -3.34574773e-05 4.54601150e+00] [ 1.13917858e-02 -6.15086103e-04 9.99934922e-01 9.65538382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059254154 meters 0.05553349078664416 Centerline is valid? [True, True] Translation: X:245.50, Y:4.57, Z:0.97 [[ 9.98228804e-01 -5.84934801e-02 -1.08520955e-02 2.45496819e+02] [ 5.84965808e-02 9.98287608e-01 -3.17416579e-05 4.56587158e+00] [ 1.08353691e-02 -6.03125043e-04 9.99941114e-01 9.67151909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119254154 meters 0.055012090389840354 Centerline is valid? [True, True] Translation: X:245.56, Y:4.57, Z:0.97 [[ 9.98229105e-01 -5.84425378e-02 -1.10961223e-02 2.45560125e+02] [ 5.84457806e-02 9.98290584e-01 -3.20724524e-05 4.56733309e+00] [ 1.10790289e-02 -6.16505877e-04 9.99938436e-01 9.66788090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179254154 meters 0.055463288353080384 Centerline is valid? [True, True] Translation: X:245.62, Y:4.56, Z:0.96 [[ 9.98341736e-01 -5.63157240e-02 -1.19296912e-02 2.45621029e+02] [ 5.63193251e-02 9.98412807e-01 -3.41462629e-05 4.56486213e+00] [ 1.19126794e-02 -6.37782515e-04 9.99928838e-01 9.64760602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239254154 meters 0.05629642690029849 Centerline is valid? [True, True] Translation: X:245.68, Y:4.56, Z:0.96 [[ 9.98597924e-01 -5.17351486e-02 -1.12098000e-02 2.45680139e+02] [ 5.17380397e-02 9.98660690e-01 -3.21288969e-05 4.56143804e+00] [ 1.11964488e-02 -5.47889227e-04 9.99937168e-01 9.63292603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299254154 meters 0.05577015644215694 Centerline is valid? [True, True] Translation: X:245.74, Y:4.57, Z:0.96 [[ 9.98806101e-01 -4.80168912e-02 -8.98613547e-03 2.45740886e+02] [ 4.80185984e-02 9.98846441e-01 -2.58063149e-05 4.56563723e+00] [ 8.97700857e-03 -4.05726125e-04 9.99959624e-01 9.63947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359254154 meters 0.055341348563913435 Centerline is valid? [True, True] Translation: X:245.80, Y:4.57, Z:0.96 [[ 9.98801549e-01 -4.81926356e-02 -8.54024420e-03 2.45802822e+02] [ 4.81941851e-02 9.98837985e-01 -2.43832427e-05 4.57036937e+00] [ 8.53149540e-03 -3.87236089e-04 9.99963531e-01 9.64237319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419254154 meters 0.05480463857781818 Centerline is valid? [True, True] Translation: X:245.86, Y:4.57, Z:0.96 [[ 9.98525671e-01 -5.34951600e-02 -9.20609449e-03 2.45863282e+02] [ 5.34971867e-02 9.98568000e-01 -2.61378611e-05 4.57030624e+00] [ 9.19430961e-03 -4.66400831e-04 9.99957623e-01 9.63550009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479254154 meters 0.05458229356572072 Centerline is valid? [True, True] Translation: X:245.92, Y:4.58, Z:0.96 [[ 9.97973564e-01 -6.28918791e-02 -9.66315337e-03 2.45923451e+02] [ 6.28945514e-02 9.98020177e-01 -2.73961677e-05 4.57742921e+00] [ 9.64574504e-03 -5.80419045e-04 9.99953310e-01 9.63452829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539254154 meters 0.05458229356572072 Centerline is valid? [True, True] Translation: X:245.99, Y:4.58, Z:0.96 [[ 9.97981836e-01 -6.27604788e-02 -9.66315551e-03 2.45986125e+02] [ 6.27631524e-02 9.98028449e-01 -2.66216240e-05 4.57767834e+00] [ 9.64577490e-03 -5.79922205e-04 9.99953310e-01 9.63700008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599254154 meters 0.054467336477846 Centerline is valid? [True, True] Translation: X:246.05, Y:4.58, Z:0.96 [[ 9.97792541e-01 -6.58307144e-02 -8.73854763e-03 2.46046862e+02] [ 6.58330229e-02 9.97830653e-01 -2.35230089e-05 4.57896321e+00] [ 8.72113922e-03 -5.51813924e-04 9.99961818e-01 9.63903993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659254154 meters 0.05438277154862157 Centerline is valid? [True, True] Translation: X:246.11, Y:4.58, Z:0.96 [[ 9.97669014e-01 -6.78594547e-02 -7.18561043e-03 2.46107751e+02] [ 6.78610686e-02 9.97694780e-01 -1.92531335e-05 4.58066148e+00] [ 7.17035253e-03 -4.68414948e-04 9.99974183e-01 9.63333964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719254154 meters 0.053358425917568966 Centerline is valid? [True, True] Translation: X:246.17, Y:4.59, Z:0.96 [[ 9.97668771e-01 -6.77711864e-02 -8.00555299e-03 2.46170220e+02] [ 6.77731900e-02 9.97700754e-01 -2.10545044e-05 4.58796552e+00] [ 7.98857314e-03 -5.21556443e-04 9.99967955e-01 9.62941973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.779254154 meters 0.054044123829592776 Centerline is valid? [True, True] Translation: X:246.23, Y:4.58, Z:0.96 [[ 9.97666389e-01 -6.78373234e-02 -7.73782187e-03 2.46231259e+02] [ 6.78392029e-02 9.97696268e-01 -1.96150574e-05 4.58376323e+00] [ 7.72132663e-03 -5.05358384e-04 9.99970062e-01 9.61903907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.839254154 meters 0.053219372628417014 Centerline is valid? [True, True] Translation: X:246.29, Y:4.59, Z:0.96 [[ 9.97624424e-01 -6.84481406e-02 -7.76916334e-03 2.46292842e+02] [ 6.84500601e-02 9.97654544e-01 -1.88831018e-05 4.58628191e+00] [ 7.75223362e-03 -5.12961454e-04 9.99969819e-01 9.62297527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.899254154 meters 0.05300746188418752 Centerline is valid? [True, True] Translation: X:246.36, Y:4.59, Z:0.96 [[ 9.97577290e-01 -6.91472080e-02 -7.62979026e-03 2.46355242e+02] [ 6.91490834e-02 9.97606337e-01 -1.80366903e-05 4.59295632e+00] [ 7.61277430e-03 -5.09600011e-04 9.99970893e-01 9.63053062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.959254154 meters 0.056057849327643364 Centerline is valid? [True, True] Translation: X:246.42, Y:4.57, Z:0.96 [[ 9.97426819e-01 -7.10764975e-02 -9.37402017e-03 2.46415246e+02] [ 7.10794150e-02 9.97470659e-01 -2.19798432e-05 4.57387878e+00] [ 9.35187233e-03 -6.44376585e-04 9.99956063e-01 9.61031953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.019254154 meters 0.05306731847846929 Centerline is valid? [True, True] Translation: X:246.48, Y:4.60, Z:0.96 [[ 9.97234649e-01 -7.35691865e-02 -1.05180228e-02 2.46476447e+02] [ 7.35729993e-02 9.97289834e-01 -2.44956439e-05 4.60293523e+00] [ 1.04913193e-02 -7.49414577e-04 9.99944684e-01 9.62262975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.079254154 meters 0.052331047266577176 Centerline is valid? [True, True] Translation: X:246.54, Y:4.60, Z:0.96 [[ 9.97140361e-01 -7.46422889e-02 -1.18164466e-02 2.46537630e+02] [ 7.46471781e-02 9.97210007e-01 -2.73545434e-05 4.60359243e+00] [ 1.17855206e-02 -8.54788076e-04 9.99930183e-01 9.61890530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.139254154 meters 0.05362999892659257 Centerline is valid? [True, True] Translation: X:246.60, Y:4.59, Z:0.96 [[ 9.97221971e-01 -7.33722847e-02 -1.28393444e-02 2.46597568e+02] [ 7.33779529e-02 9.97304204e-01 -2.96858749e-05 4.59487067e+00] [ 1.28069102e-02 -9.12521401e-04 9.99917572e-01 9.60889333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.199254154 meters 0.05454090267165231 Centerline is valid? [True, True] Translation: X:246.66, Y:4.59, Z:0.96 [[ 9.97546356e-01 -6.89496938e-02 -1.21328879e-02 2.46657603e+02] [ 6.89544296e-02 9.97619810e-01 -2.80609894e-05 4.58832850e+00] [ 1.21059441e-02 -8.08624223e-04 9.99926393e-01 9.60575831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.259254154 meters 0.05343907921726755 Centerline is valid? [True, True] Translation: X:246.72, Y:4.60, Z:0.96 [[ 9.98404667e-01 -5.56383637e-02 -9.61735830e-03 2.46718094e+02] [ 5.56407235e-02 9.98450855e-01 -2.22302664e-05 4.60242175e+00] [ 9.60369648e-03 -5.12921972e-04 9.99953752e-01 9.62727865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319254154 meters 0.054295627981096876 Centerline is valid? [True, True] Translation: X:246.78, Y:4.60, Z:0.96 [[ 9.99298989e-01 -3.68767438e-02 -6.45259311e-03 2.46777439e+02] [ 3.68774154e-02 9.99319797e-01 -1.49009458e-05 4.60102587e+00] [ 6.44875354e-03 -2.23064457e-04 9.99979182e-01 9.63294602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379254154 meters 0.05565943805096105 Centerline is valid? [True, True] Translation: X:246.84, Y:4.61, Z:0.96 [[ 9.99804369e-01 -1.91997301e-02 -4.75339473e-03 2.46836871e+02] [ 1.91998949e-02 9.99815665e-01 -1.09669248e-05 4.60808256e+00] [ 4.75272907e-03 -8.02998997e-05 9.99988702e-01 9.64543854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.439254154 meters 0.05536301180067463 Centerline is valid? [True, True] Translation: X:246.90, Y:4.62, Z:0.96 [[ 9.99940358e-01 -1.00616917e-02 -4.24774973e-03 2.46897662e+02] [ 1.00617408e-02 9.99949379e-01 -9.78977352e-06 4.61695909e+00] [ 4.24763321e-03 -3.29505674e-05 9.99990978e-01 9.64712190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.499254154 meters 0.05393002706918405 Centerline is valid? [True, True] Translation: X:246.96, Y:4.62, Z:0.96 [[ 9.99985390e-01 -3.87330443e-03 -3.77057798e-03 2.46958105e+02] [ 3.87329918e-03 9.99992499e-01 -8.69368801e-06 4.62264268e+00] [ 3.77058337e-03 -5.91101561e-06 9.99992891e-01 9.64621576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.559254154 meters 0.054672274974453934 Centerline is valid? [True, True] Translation: X:247.02, Y:4.63, Z:0.96 [[ 9.99989628e-01 -2.07393883e-04 -4.54990105e-03 2.47017490e+02] [ 2.07348454e-04 9.99999978e-01 -1.04563737e-05 4.62566150e+00] [ 4.54990312e-03 9.51285027e-06 9.99989649e-01 9.64204372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.619254154 meters 0.05474491894644076 Centerline is valid? [True, True] Translation: X:247.08, Y:4.63, Z:0.96 [[ 9.99989183e-01 8.57691069e-04 -4.57136334e-03 2.47075811e+02] [-8.57748315e-04 9.99999632e-01 -1.05623582e-05 4.62610903e+00] [ 4.57135260e-03 1.44833232e-05 9.99989551e-01 9.63392225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.679254154 meters 0.054730689679248254 Centerline is valid? [True, True] Translation: X:247.13, Y:4.62, Z:0.96 [[ 9.99990988e-01 -2.08966945e-03 -3.69552486e-03 2.47134303e+02] [ 2.08965175e-03 9.99997817e-01 -8.65265107e-06 4.62357114e+00] [ 3.69553488e-03 9.30213109e-07 9.99993171e-01 9.62844271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.739254154 meters 0.054254301570205096 Centerline is valid? [True, True] Translation: X:247.19, Y:4.62, Z:0.96 [[ 9.99951267e-01 -9.22864991e-03 -3.50638543e-03 2.47193299e+02] [ 9.22867745e-03 9.99957415e-01 -8.32624645e-06 4.61743159e+00] [ 3.50631295e-03 -2.40334595e-05 9.99993853e-01 9.62994082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.799254154 meters 0.054904697160824426 Centerline is valid? [True, True] Translation: X:247.25, Y:4.61, Z:0.96 [[ 9.99867028e-01 -1.59635055e-02 -3.33066423e-03 2.47254357e+02] [ 1.59635675e-02 9.99872574e-01 -7.98224392e-06 4.61267974e+00] [ 3.33036724e-03 -4.51881006e-05 9.99994453e-01 9.62119592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.859254154 meters 0.05519792047023747 Centerline is valid? [True, True] Translation: X:247.32, Y:4.60, Z:0.96 [[ 9.99714859e-01 -2.37054578e-02 -2.87270331e-03 2.47315239e+02] [ 2.37055360e-02 9.99718984e-01 -6.82887697e-06 4.60205974e+00] [ 2.87205792e-03 -6.12720419e-05 9.99995874e-01 9.62003383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.919254154 meters 0.05736176036928045 Centerline is valid? [True, True] Translation: X:247.38, Y:4.59, Z:0.96 [[ 9.99400710e-01 -3.45472559e-02 -2.16956740e-03 2.47375725e+02] [ 3.45473260e-02 9.99403063e-01 -5.12465244e-06 4.58730705e+00] [ 2.16844935e-03 -6.98311710e-05 9.99997646e-01 9.62836704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.979254154 meters 0.05348306480967152 Centerline is valid? [True, True] Translation: X:247.44, Y:4.60, Z:0.96 [[ 9.99120364e-01 -4.19331800e-02 -3.25251725e-04 2.47436128e+02] [ 4.19331819e-02 9.99120417e-01 -8.06813675e-07 4.59615346e+00] [ 3.24999472e-04 -1.28327358e-05 9.99999947e-01 9.61517578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039254154 meters 0.05369815027279572 Centerline is valid? [True, True] Translation: X:247.50, Y:4.59, Z:0.96 [[ 9.99089235e-01 -4.26577667e-02 -1.00787464e-03 2.47498227e+02] [ 4.26577857e-02 9.99089742e-01 -2.70831638e-06 4.59280496e+00] [ 1.00707275e-03 -4.02878508e-05 9.99999492e-01 9.61478713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099254154 meters 0.05507886872509531 Centerline is valid? [True, True] Translation: X:247.56, Y:4.58, Z:0.96 [[ 9.99274991e-01 -3.79946089e-02 -2.42943887e-03 2.47557650e+02] [ 3.79947078e-02 9.99277940e-01 -5.44528349e-06 4.58248589e+00] [ 2.42789156e-03 -8.68644842e-05 9.99997049e-01 9.60092634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159254154 meters 0.054863547586977625 Centerline is valid? [True, True] Translation: X:247.62, Y:4.59, Z:0.96 [[ 9.99444201e-01 -3.31787184e-02 -3.23444742e-03 2.47618390e+02] [ 3.31788684e-02 9.99449430e-01 -7.30110750e-06 4.58742410e+00] [ 3.23290888e-03 -1.00018256e-04 9.99994769e-01 9.59045303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219254154 meters 0.05450397818948318 Centerline is valid? [True, True] Translation: X:247.68, Y:4.59, Z:0.96 [[ 9.99686440e-01 -2.44855793e-02 -5.24189667e-03 2.47678319e+02] [ 2.44858540e-02 9.99700176e-01 -1.17837861e-05 4.58611145e+00] [ 5.24061356e-03 -1.16572225e-04 9.99986261e-01 9.58810768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279254154 meters 0.05483664183199276 Centerline is valid? [True, True] Translation: X:247.74, Y:4.58, Z:0.96 [[ 9.99788277e-01 -1.95583045e-02 -6.39326054e-03 2.47738632e+02] [ 1.95586122e-02 9.99808712e-01 -1.43818769e-05 4.58465631e+00] [ 6.39231887e-03 -1.10664472e-04 9.99979563e-01 9.58117141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339254154 meters 0.05499705397263943 Centerline is valid? [True, True] Translation: X:247.80, Y:4.59, Z:0.96 [[ 9.99849546e-01 -1.57689295e-02 -7.22674186e-03 2.47799872e+02] [ 1.57692242e-02 9.99875658e-01 -1.62031876e-05 4.58532377e+00] [ 7.22609878e-03 -9.77593629e-05 9.99973887e-01 9.58231380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399254154 meters 0.05588747126288826 Centerline is valid? [True, True] Translation: X:247.86, Y:4.58, Z:0.96 [[ 9.99839060e-01 -1.63605591e-02 -7.36119110e-03 2.47861311e+02] [ 1.63608820e-02 9.99866152e-01 -1.63559040e-05 4.57702378e+00] [ 7.36047341e-03 -1.04082308e-04 9.99972906e-01 9.58045420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459254154 meters 0.0549523993133881 Centerline is valid? [True, True] Translation: X:247.92, Y:4.58, Z:0.96 [[ 9.99786373e-01 -1.99793771e-02 -5.29453318e-03 2.47922429e+02] [ 1.99795954e-02 9.99800388e-01 -1.16729234e-05 4.57967233e+00] [ 5.29370954e-03 -9.41122009e-05 9.99985984e-01 9.60831145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519254154 meters 0.055277518021842456 Centerline is valid? [True, True] Translation: X:247.98, Y:4.57, Z:0.96 [[ 9.99536784e-01 -3.01010552e-02 -4.48817174e-03 2.47982918e+02] [ 3.01013142e-02 9.99546853e-01 -9.84015297e-06 4.57337051e+00] [ 4.48643413e-03 -1.25264273e-04 9.99989928e-01 9.61428457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579254154 meters 0.05440727069771099 Centerline is valid? [True, True] Translation: X:248.04, Y:4.57, Z:0.96 [[ 9.99208379e-01 -3.95242370e-02 -4.52217733e-03 2.48043409e+02] [ 3.95245964e-02 9.99218598e-01 -9.91081297e-06 4.56703574e+00] [ 4.51903541e-03 -1.68834266e-04 9.99989775e-01 9.61301735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.639254154 meters 0.05517483446461267 Centerline is valid? [True, True] Translation: X:248.10, Y:4.56, Z:0.96 [[ 9.98538657e-01 -5.36736863e-02 -6.29969553e-03 2.48103133e+02] [ 5.36746647e-02 9.98558476e-01 -1.37793790e-05 4.56067976e+00] [ 6.29135395e-03 -3.24374803e-04 9.99980157e-01 9.61628147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699254154 meters 0.0544853709842551 Centerline is valid? [True, True] Translation: X:248.16, Y:4.56, Z:0.96 [[ 9.98098634e-01 -6.13287479e-02 -6.15634223e-03 2.48163236e+02] [ 6.13298276e-02 9.98117554e-01 -1.34398342e-05 4.55811978e+00] [ 6.14557750e-03 -3.64153127e-04 9.99981049e-01 9.61269508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759254154 meters 0.063446676529997 Centerline is valid? [True, True] Translation: X:248.22, Y:4.52, Z:0.96 [[ 9.97776067e-01 -6.63068475e-02 -6.80604001e-03 2.48222997e+02] [ 6.63082824e-02 9.97799184e-01 -1.48551662e-05 4.52499204e+00] [ 6.79204617e-03 -4.36474694e-04 9.99976839e-01 9.60170354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819254154 meters 0.06059648647508002 Centerline is valid? [True, True] Translation: X:248.28, Y:4.54, Z:0.96 [[ 9.97819724e-01 -6.56305937e-02 -6.95870514e-03 2.48284187e+02] [ 6.56320776e-02 9.97843891e-01 -1.51528804e-05 4.53516624e+00] [ 6.94469590e-03 -4.41594433e-04 9.99975788e-01 9.61217479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879254154 meters 0.05427982883332825 Centerline is valid? [True, True] Translation: X:248.35, Y:4.56, Z:0.96 [[ 9.97939521e-01 -6.37959025e-02 -6.84073392e-03 2.48345038e+02] [ 6.37972942e-02 9.97962878e-01 -1.48085829e-05 4.55851936e+00] [ 6.82774324e-03 -4.21642244e-04 9.99976602e-01 9.62502596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939254154 meters 0.05544244904478996 Centerline is valid? [True, True] Translation: X:248.40, Y:4.56, Z:0.96 [[ 9.98236179e-01 -5.90470671e-02 -6.16243388e-03 2.48404902e+02] [ 5.90481065e-02 9.98255138e-01 -1.32946873e-05 4.55943451e+00] [ 6.15246630e-03 -3.50608814e-04 9.99981012e-01 9.63233073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999254154 meters 0.05640485166758652 Centerline is valid? [True, True] Translation: X:248.46, Y:4.56, Z:0.96 [[ 9.98422732e-01 -5.58552290e-02 -5.67820337e-03 2.48464291e+02] [ 5.58560600e-02 9.98438832e-01 -1.22530946e-05 4.55540040e+00] [ 5.67002314e-03 -3.04928300e-04 9.99983879e-01 9.64256910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059254154 meters 0.055547077534570444 Centerline is valid? [True, True] Translation: X:248.53, Y:4.57, Z:0.97 [[ 9.98659465e-01 -5.15030402e-02 -5.16806952e-03 2.48525162e+02] [ 5.15036704e-02 9.98672805e-01 -1.11791012e-05 4.56505631e+00] [ 5.16178624e-03 -2.55010434e-04 9.99986645e-01 9.65292843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119254154 meters 0.054964534222225324 Centerline is valid? [True, True] Translation: X:248.59, Y:4.57, Z:0.96 [[ 9.98797730e-01 -4.87478760e-02 -5.17103832e-03 2.48586175e+02] [ 4.87484701e-02 9.98811087e-01 -1.11615344e-05 4.57128295e+00] [ 5.16543450e-03 -2.40932091e-04 9.99986630e-01 9.64669256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179254154 meters 0.05556511544883338 Centerline is valid? [True, True] Translation: X:248.65, Y:4.57, Z:0.96 [[ 9.99056090e-01 -4.29462312e-02 -6.52300130e-03 2.48645939e+02] [ 4.29470535e-02 9.99077350e-01 -1.40336939e-05 4.57042152e+00] [ 6.51758554e-03 -2.66123238e-04 9.99978725e-01 9.64680710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239254154 meters 0.055316034956212554 Centerline is valid? [True, True] Translation: X:248.71, Y:4.58, Z:0.97 [[ 9.99216278e-01 -3.88775944e-02 -7.44062371e-03 2.48706477e+02] [ 3.88785516e-02 9.99243943e-01 -1.60089313e-05 4.57983194e+00] [ 7.43562057e-03 -2.73284288e-04 9.99972318e-01 9.65180656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.299254154 meters 0.055980603952522655 Centerline is valid? [True, True] Translation: X:248.77, Y:4.58, Z:0.97 [[ 9.99458714e-01 -3.21521282e-02 -6.96567355e-03 2.48766645e+02] [ 3.21528038e-02 9.99482965e-01 -1.49948756e-05 4.57646687e+00] [ 6.96255416e-03 -2.08979176e-04 9.99975739e-01 9.65102542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.359254154 meters 0.05605259382146196 Centerline is valid? [True, True] Translation: X:248.83, Y:4.58, Z:0.97 [[ 9.99593456e-01 -2.78864247e-02 -5.93878573e-03 2.48827125e+02] [ 2.78868405e-02 9.99611086e-01 -1.27931810e-05 4.58176937e+00] [ 5.93683281e-03 -1.52825990e-04 9.99982365e-01 9.65782750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.419254154 meters 0.0552463302379936 Centerline is valid? [True, True] Translation: X:248.89, Y:4.59, Z:0.97 [[ 9.99726353e-01 -2.27681531e-02 -5.36941128e-03 2.48888116e+02] [ 2.27684192e-02 9.99740766e-01 -1.15656843e-05 4.58908121e+00] [ 5.36828267e-03 -1.10690488e-04 9.99985585e-01 9.66178325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.479254154 meters 0.05567612143292447 Centerline is valid? [True, True] Translation: X:248.95, Y:4.59, Z:0.97 [[ 9.99744600e-01 -2.19016938e-02 -5.57228662e-03 2.48949013e+02] [ 2.19019672e-02 9.99760123e-01 -1.19516854e-05 4.59055466e+00] [ 5.57121172e-03 -1.10095406e-04 9.99984475e-01 9.66567324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.539254154 meters 0.05605308945989714 Centerline is valid? [True, True] Translation: X:249.01, Y:4.59, Z:0.97 [[ 9.99706332e-01 -2.34386116e-02 -6.15475644e-03 2.49009594e+02] [ 2.34389753e-02 9.99725269e-01 -1.30422973e-05 4.58600801e+00] [ 6.15337123e-03 -1.31222717e-04 9.99981059e-01 9.65257122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.599254154 meters 0.0548682501046291 Centerline is valid? [True, True] Translation: X:249.07, Y:4.59, Z:0.97 [[ 9.99571037e-01 -2.85806479e-02 -6.39445254e-03 2.49070064e+02] [ 2.85811462e-02 9.99591476e-01 -1.34491689e-05 4.59342773e+00] [ 6.39222463e-03 -1.69317383e-04 9.99979555e-01 9.66013164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.659254154 meters 0.05471252263151782 Centerline is valid? [True, True] Translation: X:249.13, Y:4.59, Z:0.97 [[ 9.99280104e-01 -3.74431261e-02 -6.10629025e-03 2.49129858e+02] [ 3.74437459e-02 9.99298737e-01 -1.28242299e-05 4.58569119e+00] [ 6.10248831e-03 -2.15827383e-04 9.99981356e-01 9.65790851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.719254154 meters 0.05417293432153573 Centerline is valid? [True, True] Translation: X:249.19, Y:4.59, Z:0.97 [[ 9.99089717e-01 -4.22753415e-02 -5.70373025e-03 2.49190785e+02] [ 4.22759611e-02 9.99105972e-01 -1.19343825e-05 4.58857640e+00] [ 5.69913548e-03 -2.29207160e-04 9.99983734e-01 9.66468085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.779254154 meters 0.05643545567017767 Centerline is valid? [True, True] Translation: X:249.25, Y:4.58, Z:0.97 [[ 9.98946142e-01 -4.54635841e-02 -6.29817136e-03 2.49249993e+02] [ 4.54644032e-02 9.98965959e-01 -1.31358844e-05 4.57940280e+00] [ 6.29225599e-03 -2.73220561e-04 9.99980166e-01 9.66454772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.839254154 meters 0.055108195406771324 Centerline is valid? [True, True] Translation: X:249.31, Y:4.58, Z:0.97 [[ 9.98997032e-01 -4.44490456e-02 -5.40485801e-03 2.49311797e+02] [ 4.44496340e-02 9.99011627e-01 -1.12619798e-05 4.58483371e+00] [ 5.40001658e-03 -2.28993276e-04 9.99985394e-01 9.67502642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.899254154 meters 0.05555047652496595 Centerline is valid? [True, True] Translation: X:249.37, Y:4.58, Z:0.97 [[ 9.99101376e-01 -4.20904157e-02 -4.98373758e-03 2.49371979e+02] [ 4.20908872e-02 9.99113786e-01 -1.02994528e-05 4.58262344e+00] [ 4.97975443e-03 -1.99479739e-04 9.99987581e-01 9.68001187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.959254154 meters 0.0551491586241677 Centerline is valid? [True, True] Translation: X:249.43, Y:4.59, Z:0.97 [[ 9.99283085e-01 -3.72845749e-02 -6.57091564e-03 2.49432216e+02] [ 3.72852908e-02 9.99304662e-01 -1.35605701e-05 4.58830706e+00] [ 6.56685223e-03 -2.31447652e-04 9.99978411e-01 9.67808440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.019254154 meters 0.05489657917418325 Centerline is valid? [True, True] Translation: X:249.49, Y:4.60, Z:0.97 [[ 9.99398242e-01 -3.38181649e-02 -7.71271330e-03 2.49493036e+02] [ 3.38190488e-02 9.99427972e-01 -1.58221082e-05 4.59504376e+00] [ 7.70883649e-03 -2.45024041e-04 9.99970256e-01 9.67605171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.079254154 meters 0.05500721113854716 Centerline is valid? [True, True] Translation: X:249.55, Y:4.60, Z:0.97 [[ 9.99518670e-01 -2.94018093e-02 -9.89759016e-03 2.49553924e+02] [ 2.94030497e-02 9.99567637e-01 -2.02022813e-05 4.59856761e+00] [ 9.89390479e-03 -2.70826778e-04 9.99951017e-01 9.67477269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.139254154 meters 0.055885209685504575 Centerline is valid? [True, True] Translation: X:249.62, Y:4.60, Z:0.97 [[ 9.99573085e-01 -2.65460099e-02 -1.22047897e-02 2.49615249e+02] [ 2.65476851e-02 9.99647548e-01 -2.47580440e-05 4.60373968e+00] [ 1.22011454e-02 -2.99261441e-04 9.99925518e-01 9.68708155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.199254154 meters 0.055986689420597216 Centerline is valid? [True, True] Translation: X:249.68, Y:4.60, Z:0.97 [[ 9.99607462e-01 -2.47510032e-02 -1.31266454e-02 2.49675213e+02] [ 2.47527883e-02 9.99693602e-01 -2.64826161e-05 4.60170946e+00] [ 1.31232789e-02 -2.98448854e-04 9.99913842e-01 9.67302179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.259254154 meters 0.0547294132556255 Centerline is valid? [True, True] Translation: X:249.74, Y:4.61, Z:0.97 [[ 9.99622741e-01 -2.41355725e-02 -1.31091401e-02 2.49737001e+02] [ 2.41373033e-02 9.99708653e-01 -2.61951258e-05 4.60641120e+00] [ 1.31059530e-02 -2.90234047e-04 9.99914071e-01 9.69515206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.319254154 meters 0.054763858981083886 Centerline is valid? [True, True] Translation: X:249.80, Y:4.61, Z:0.97 [[ 9.99627267e-01 -2.48450006e-02 -1.13160667e-02 2.49799196e+02] [ 2.48463393e-02 9.99691282e-01 -2.22925568e-05 4.60870282e+00] [ 1.13131271e-02 -2.58878585e-04 9.99935971e-01 9.71062214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.379254154 meters 0.05579055353475972 Centerline is valid? [True, True] Translation: X:249.86, Y:4.61, Z:0.97 [[ 9.99523017e-01 -2.95688576e-02 -8.91187258e-03 2.49859458e+02] [ 2.95698765e-02 9.99562715e-01 -1.74340830e-05 4.60502162e+00] [ 8.90849106e-03 -2.46097205e-04 9.99960288e-01 9.71908890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.439254154 meters 0.05512520190048178 Centerline is valid? [True, True] Translation: X:249.92, Y:4.61, Z:0.97 [[ 9.99356755e-01 -3.49436903e-02 -8.06322400e-03 2.49919975e+02] [ 3.49446999e-02 9.99389247e-01 -1.56860311e-05 4.60755843e+00] [ 8.05884749e-03 -2.66091002e-04 9.99967492e-01 9.73449786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.499254154 meters 0.055423323725002624 Centerline is valid? [True, True] Translation: X:249.98, Y:4.61, Z:0.97 [[ 9.99027211e-01 -4.34469827e-02 -7.54922218e-03 2.49980444e+02] [ 4.34481105e-02 9.99055685e-01 -1.46147266e-05 4.60580147e+00] [ 7.54272830e-03 -3.13398930e-04 9.99971504e-01 9.74221974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.559254154 meters 0.05755831004391077 Centerline is valid? [True, True] Translation: X:250.04, Y:4.60, Z:0.97 [[ 9.98752914e-01 -4.93129819e-02 -7.80047485e-03 2.50040267e+02] [ 4.93143647e-02 9.98783306e-01 -1.50784331e-05 4.59505979e+00] [ 7.79172763e-03 -3.69615833e-04 9.99969576e-01 9.73135140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.619254154 meters 0.05458741419081116 Centerline is valid? [True, True] Translation: X:250.10, Y:4.61, Z:0.97 [[ 9.98612982e-01 -5.20381836e-02 -8.00869928e-03 2.50100837e+02] [ 5.20397289e-02 9.98645015e-01 -1.54597023e-05 4.60863287e+00] [ 7.99865211e-03 -4.01332280e-04 9.99967930e-01 9.74321431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.679254154 meters 0.0568444951849117 Centerline is valid? [True, True] Translation: X:250.16, Y:4.59, Z:0.97 [[ 9.98656425e-01 -5.12768666e-02 -7.48518012e-03 2.50161701e+02] [ 5.12781956e-02 9.98684408e-01 -1.43881194e-05 4.59471485e+00] [ 7.47607045e-03 -3.69457742e-04 9.99971986e-01 9.72623021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.739254154 meters 0.05594030875348556 Centerline is valid? [True, True] Translation: X:250.22, Y:4.60, Z:0.97 [[ 9.98848142e-01 -4.75114613e-02 -6.71188591e-03 2.50222247e+02] [ 4.75124453e-02 9.98870646e-01 -1.28477022e-05 4.60402656e+00] [ 6.70491622e-03 -3.06065209e-04 9.99977475e-01 9.73308696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.799254154 meters 0.05599788017573385 Centerline is valid? [True, True] Translation: X:250.28, Y:4.61, Z:0.97 [[ 9.99274487e-01 -3.76220615e-02 -5.92289757e-03 2.50281665e+02] [ 3.76226543e-02 9.99292017e-01 -1.13330652e-05 4.60600210e+00] [ 5.91913063e-03 -2.11510285e-04 9.99982459e-01 9.73865179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.859254154 meters 0.05445181664178213 Centerline is valid? [True, True] Translation: X:250.34, Y:4.62, Z:0.97 [[ 9.99526353e-01 -3.03662704e-02 -4.99593240e-03 2.50341739e+02] [ 3.03666017e-02 9.99538828e-01 -9.54625473e-06 4.61546964e+00] [ 4.99391831e-03 -1.42167756e-04 9.99987520e-01 9.74758120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.919254154 meters 0.05429677374098183 Centerline is valid? [True, True] Translation: X:250.40, Y:4.62, Z:0.97 [[ 9.99718784e-01 -2.31973760e-02 -4.92291801e-03 2.50402059e+02] [ 2.31976108e-02 9.99730899e-01 -9.39583172e-06 4.62076513e+00] [ 4.92181121e-03 -1.04806747e-04 9.99987882e-01 9.74822546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.979254154 meters 0.05381542605893456 Centerline is valid? [True, True] Translation: X:250.46, Y:4.62, Z:0.97 [[ 9.99899400e-01 -1.31094177e-02 -5.41597592e-03 2.50461593e+02] [ 1.31095542e-02 9.99914066e-01 -1.03093486e-05 4.62414811e+00] [ 5.41564565e-03 -6.06927182e-05 9.99985333e-01 9.73556653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.039254154 meters 0.054327492352406775 Centerline is valid? [True, True] Translation: X:250.52, Y:4.63, Z:0.97 [[ 9.99968091e-01 -4.36655836e-03 -6.68957844e-03 2.50521947e+02] [ 4.36657099e-03 9.99990466e-01 -1.27174047e-05 4.63355144e+00] [ 6.68957020e-03 -1.64935203e-05 9.99977624e-01 9.72183961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.099254154 meters 0.05474359050876071 Centerline is valid? [True, True] Translation: X:250.58, Y:4.64, Z:0.97 [[ 9.99979516e-01 9.02849990e-04 -6.33656772e-03 2.50580528e+02] [-9.02946018e-04 9.99999592e-01 -1.22937016e-05 4.63593333e+00] [ 6.33655404e-03 1.80150284e-05 9.99979924e-01 9.72790606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.159254154 meters 0.055066116376766894 Centerline is valid? [True, True] Translation: X:250.64, Y:4.64, Z:0.97 [[ 9.99980451e-01 1.83752405e-03 -5.97666371e-03 2.50637777e+02] [-1.83763009e-03 9.99998311e-01 -1.22506674e-05 4.63747204e+00] [ 5.97663110e-03 2.32333250e-05 9.99982140e-01 9.72999862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219254154 meters 0.054909493341543394 Centerline is valid? [True, True] Translation: X:250.70, Y:4.64, Z:0.97 [[ 9.99985347e-01 5.07482981e-04 -5.38957765e-03 2.50695119e+02] [-5.07552786e-04 9.99999871e-01 -1.15840706e-05 4.63758753e+00] [ 5.38957107e-03 1.43193960e-05 9.99985476e-01 9.73322072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279254154 meters 0.05476478435848283 Centerline is valid? [True, True] Translation: X:250.75, Y:4.63, Z:0.98 [[ 9.99982700e-01 -5.01198287e-03 -3.07890329e-03 2.50753703e+02] [ 5.01198604e-03 9.99987440e-01 -6.68834650e-06 4.63230113e+00] [ 3.07889814e-03 -8.74318950e-06 9.99995260e-01 9.75150427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339254154 meters 0.05447308486723642 Centerline is valid? [True, True] Translation: X:250.81, Y:4.63, Z:0.98 [[ 9.99970494e-01 -7.32901811e-03 -2.30155894e-03 2.50813868e+02] [ 7.32902580e-03 9.99973142e-01 -5.09526214e-06 4.63114247e+00] [ 2.30153447e-03 -1.17730731e-05 9.99997351e-01 9.76095154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399254154 meters 0.05423674563550389 Centerline is valid? [True, True] Translation: X:250.87, Y:4.63, Z:0.98 [[ 9.99920714e-01 -1.25580355e-02 -9.28613960e-04 2.50874710e+02] [ 1.25580388e-02 9.99921145e-01 -2.22945811e-06 4.62680188e+00] [ 9.28568732e-04 -9.43228881e-06 9.99999569e-01 9.77460352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459254154 meters 0.054662769291782196 Centerline is valid? [True, True] Translation: X:250.93, Y:4.62, Z:0.98 [[ 9.99837199e-01 -1.80436485e-02 3.80600616e-05 2.50934722e+02] [ 1.80436485e-02 9.99837200e-01 5.06275191e-08 4.62098516e+00] [-3.80547791e-05 6.36123097e-07 9.99999999e-01 9.78766895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519254154 meters 0.05470418005643154 Centerline is valid? [True, True] Translation: X:251.00, Y:4.62, Z:0.98 [[ 9.99648157e-01 -2.65206330e-02 -4.67657543e-04 2.50995669e+02] [ 2.65206354e-02 9.99648266e-01 -1.05506332e-06 4.61693755e+00] [ 4.67521032e-04 -1.13478831e-05 9.99999891e-01 9.77596880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579254154 meters 0.05769403275584881 Centerline is valid? [True, True] Translation: X:251.05, Y:4.60, Z:0.98 [[ 9.99414919e-01 -3.40277981e-02 -3.45388688e-03 2.51054963e+02] [ 3.40279756e-02 9.99420881e-01 -7.36605117e-06 4.59863142e+00] [ 3.45213732e-03 -1.10167037e-04 9.99994035e-01 9.76290878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.639254154 meters 0.054608358938184796 Centerline is valid? [True, True] Translation: X:251.12, Y:4.60, Z:0.98 [[ 9.99239667e-01 -3.87262881e-02 -4.51255182e-03 2.51115581e+02] [ 3.87266389e-02 9.99249842e-01 -9.65652553e-06 4.60459464e+00] [ 4.50954066e-03 -1.65106782e-04 9.99989818e-01 9.75584455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699254154 meters 0.0551008868050043 Centerline is valid? [True, True] Translation: X:251.18, Y:4.60, Z:0.98 [[ 9.98980453e-01 -4.48262103e-02 -5.35407790e-03 2.51176169e+02] [ 4.48267919e-02 9.98994774e-01 -1.13756045e-05 4.60181264e+00] [ 5.34920576e-03 -2.28642129e-04 9.99985667e-01 9.75112918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759254154 meters 0.053805000740274216 Centerline is valid? [True, True] Translation: X:251.24, Y:4.61, Z:0.98 [[ 9.98789990e-01 -4.89179156e-02 -5.05894147e-03 2.51237460e+02] [ 4.89184874e-02 9.98802774e-01 -1.07278205e-05 4.60761170e+00] [ 5.05340956e-03 -2.36760925e-04 9.99987203e-01 9.75502213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819254154 meters 0.05511991656971823 Centerline is valid? [True, True] Translation: X:251.30, Y:4.60, Z:0.98 [[ 9.98536488e-01 -5.38167875e-02 -5.35119094e-03 2.51296585e+02] [ 5.38174979e-02 9.98550788e-01 -1.12551276e-05 4.59836369e+00] [ 5.34404165e-03 -2.76749052e-04 9.99985682e-01 9.75791307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879254154 meters 0.054619647669787386 Centerline is valid? [True, True] Translation: X:251.36, Y:4.60, Z:0.98 [[ 9.98444948e-01 -5.54626231e-02 -5.61984349e-03 2.51357434e+02] [ 5.54634334e-02 9.98460719e-01 -1.16859906e-05 4.60018308e+00] [ 5.61184111e-03 -3.00027997e-04 9.99984208e-01 9.76243897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939254154 meters 0.05688827044513068 Centerline is valid? [True, True] Translation: X:251.42, Y:4.59, Z:0.98 [[ 9.98448496e-01 -5.52414421e-02 -6.99882085e-03 2.51419240e+02] [ 5.52426965e-02 9.98472956e-01 -1.41170155e-05 4.59058378e+00] [ 6.98891319e-03 -3.72538623e-04 9.99975508e-01 9.77034129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999254154 meters 0.058477639190387905 Centerline is valid? [True, True] Translation: X:251.48, Y:4.58, Z:0.98 [[ 9.98497926e-01 -5.41778266e-02 -8.16425628e-03 2.51481179e+02] [ 5.41795032e-02 9.98531212e-01 -1.58411197e-05 4.58355358e+00] [ 8.15312296e-03 -4.26518024e-04 9.99966672e-01 9.76715319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059254154 meters 0.05429632999379041 Centerline is valid? [True, True] Translation: X:251.54, Y:4.60, Z:0.98 [[ 9.98636082e-01 -5.09587790e-02 -1.13656982e-02 2.51542159e+02] [ 5.09618200e-02 9.98700602e-01 -2.20885790e-05 4.60483253e+00] [ 1.13520552e-02 -5.57158214e-04 9.99935408e-01 9.78836241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119254154 meters 0.05505479056162774 Centerline is valid? [True, True] Translation: X:251.60, Y:4.60, Z:0.98 [[ 9.98833488e-01 -4.62978377e-02 -1.37176349e-02 2.51602976e+02] [ 4.63018273e-02 9.98927495e-01 -2.67745224e-05 4.60310510e+00] [ 1.37041623e-02 -6.08408274e-04 9.99905908e-01 9.77905674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179254154 meters 0.055374746748795826 Centerline is valid? [True, True] Translation: X:251.66, Y:4.60, Z:0.98 [[ 9.99267528e-01 -3.53599701e-02 -1.46314681e-02 2.51662372e+02] [ 3.53633365e-02 9.99374521e-01 -2.86608790e-05 4.60386844e+00] [ 1.46233299e-02 -4.88777644e-04 9.99892954e-01 9.77346727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239254154 meters 0.05518134400633392 Centerline is valid? [True, True] Translation: X:251.72, Y:4.61, Z:0.98 [[ 9.99691649e-01 -2.06020177e-02 -1.38622958e-02 2.51722178e+02] [ 2.06036210e-02 9.99787723e-01 -2.71633080e-05 4.60755232e+00] [ 1.38599128e-02 -2.58458557e-04 9.99903913e-01 9.77968327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299254154 meters 0.05552147388952841 Centerline is valid? [True, True] Translation: X:251.78, Y:4.61, Z:0.98 [[ 9.99856354e-01 -1.06378652e-02 -1.31949580e-02 2.51783041e+02] [ 1.06384471e-02 9.99943410e-01 -2.60897340e-05 4.61277966e+00] [ 1.31944888e-02 -1.14287876e-04 9.99912942e-01 9.79404592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359254154 meters 0.05626181554555022 Centerline is valid? [True, True] Translation: X:251.84, Y:4.62, Z:0.98 [[ 9.99919316e-01 -1.92639958e-03 -1.25559140e-02 2.51841675e+02] [ 1.92622680e-03 9.99998144e-01 -2.58540857e-05 4.61732191e+00] [ 1.25559406e-02 1.66646150e-06 9.99921171e-01 9.79569487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419254154 meters 0.05637656636858413 Centerline is valid? [True, True] Translation: X:251.90, Y:4.61, Z:0.98 [[ 9.99900761e-01 5.91149643e-03 -1.27875762e-02 2.51899508e+02] [-5.91232678e-03 9.99982522e-01 -2.71312544e-05 4.61489928e+00] [ 1.27871923e-02 1.02732891e-04 9.99918235e-01 9.84915152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479254154 meters 0.056535599917752595 Centerline is valid? [True, True] Translation: X:251.96, Y:4.62, Z:0.98 [[ 9.99889269e-01 5.93895190e-03 -1.36447585e-02 2.51957371e+02] [-5.93990640e-03 9.99982358e-01 -2.94275537e-05 4.61526946e+00] [ 1.36443430e-02 1.10472884e-04 9.99906906e-01 9.81399819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539254154 meters 0.055637087616649296 Centerline is valid? [True, True] Translation: X:252.02, Y:4.61, Z:0.98 [[ 9.99891102e-01 -1.20824450e-03 -1.47079630e-02 2.52016571e+02] [ 1.20790264e-03 9.99999270e-01 -3.21261613e-05 4.60677571e+00] [ 1.47079911e-02 1.43568754e-05 9.99891832e-01 9.80349071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599254154 meters 0.05509655662867346 Centerline is valid? [True, True] Translation: X:252.07, Y:4.60, Z:0.98 [[ 9.99853899e-01 -8.01322865e-03 -1.50986453e-02 2.52074071e+02] [ 8.01363554e-03 9.99967890e-01 -3.35533906e-05 4.59876344e+00] [ 1.50984293e-02 -8.74465519e-05 9.99886008e-01 9.79087794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659254154 meters 0.055087593265116815 Centerline is valid? [True, True] Translation: X:252.13, Y:4.59, Z:0.98 [[ 9.99739580e-01 -1.73681771e-02 -1.48026598e-02 2.52133804e+02] [ 1.73695896e-02 9.99849137e-01 -3.31484607e-05 4.58849233e+00] [ 1.48010023e-02 -2.23976297e-04 9.99890434e-01 9.81614127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719254154 meters 0.056245802158342836 Centerline is valid? [True, True] Translation: X:252.19, Y:4.58, Z:0.98 [[ 9.99666458e-01 -2.11723383e-02 -1.47886481e-02 2.52192965e+02] [ 2.11741596e-02 9.99775802e-01 -3.34260008e-05 4.58469155e+00] [ 1.47860402e-02 -2.79722343e-04 9.99890641e-01 9.82889546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779254154 meters 0.05628333562235196 Centerline is valid? [True, True] Translation: X:252.25, Y:4.58, Z:0.98 [[ 9.99647877e-01 -2.22503335e-02 -1.44583719e-02 2.52251964e+02] [ 2.22521832e-02 9.99752389e-01 -3.29480689e-05 4.57868248e+00] [ 1.44555249e-02 -2.88793872e-04 9.99895472e-01 9.83401823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839254154 meters 0.05536196620793237 Centerline is valid? [True, True] Translation: X:252.31, Y:4.58, Z:0.99 [[ 9.99696182e-01 -2.09639100e-02 -1.29637188e-02 2.52312634e+02] [ 2.09652881e-02 9.99780204e-01 -2.95992869e-05 4.57948619e+00] [ 1.29614899e-02 -2.42197805e-04 9.99915967e-01 9.85817017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899254154 meters 0.05571201427897866 Centerline is valid? [True, True] Translation: X:252.37, Y:4.57, Z:0.98 [[ 9.99787968e-01 -1.70633292e-02 -1.15265467e-02 2.52372690e+02] [ 1.70641595e-02 9.99854396e-01 -2.63178775e-05 4.57336498e+00] [ 1.15253174e-02 -1.70378534e-04 9.99933567e-01 9.84940604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959254154 meters 0.05612514104948237 Centerline is valid? [True, True] Translation: X:252.43, Y:4.58, Z:0.99 [[ 9.99848004e-01 -1.23236884e-02 -1.23326883e-02 2.52432256e+02] [ 1.23242775e-02 9.99924053e-01 -2.82282682e-05 4.57813778e+00] [ 1.23320995e-02 -1.23767495e-04 9.99923949e-01 9.86793811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019254154 meters 0.05576187171202567 Centerline is valid? [True, True] Translation: X:252.49, Y:4.58, Z:0.99 [[ 9.99877279e-01 -8.26836343e-03 -1.33064687e-02 2.52491497e+02] [ 8.26867596e-03 9.99965813e-01 -3.15299977e-05 4.57893428e+00] [ 1.33062745e-02 -7.85007494e-05 9.99911465e-01 9.86938890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079254154 meters 0.05708068170249316 Centerline is valid? [True, True] Translation: X:252.55, Y:4.58, Z:0.99 [[ 9.99894956e-01 -2.94880992e-03 -1.41909118e-02 2.52549220e+02] [ 2.94861686e-03 9.99995652e-01 -3.45272299e-05 4.57933268e+00] [ 1.41909519e-02 -7.31995879e-06 9.99899303e-01 9.88952240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.139254154 meters 0.05777428918828909 Centerline is valid? [True, True] Translation: X:252.61, Y:4.58, Z:0.99 [[ 9.99871316e-01 4.71061613e-03 -1.53349719e-02 2.52608101e+02] [-4.71174916e-03 9.99988899e-01 -3.77564663e-05 4.57790861e+00] [ 1.53346238e-02 1.10006149e-04 9.99882412e-01 9.90781900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199254154 meters 0.05721489899916617 Centerline is valid? [True, True] Translation: X:252.67, Y:4.58, Z:0.99 [[ 9.99861858e-01 7.11874901e-03 -1.50196190e-02 2.52666969e+02] [-7.12011852e-03 9.99974651e-01 -3.77084438e-05 4.57765515e+00] [ 1.50189698e-02 1.44644702e-04 9.99887198e-01 9.90979436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259254154 meters 0.05632258943014324 Centerline is valid? [True, True] Translation: X:252.73, Y:4.58, Z:0.99 [[ 9.99860207e-01 6.24389326e-03 -1.55106189e-02 2.52725583e+02] [-6.24525737e-03 9.99980497e-01 -3.95108281e-05 4.57556550e+00] [ 1.55100697e-02 1.36373111e-04 9.99879702e-01 9.91309934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319254154 meters 0.05755426373312918 Centerline is valid? [True, True] Translation: X:252.78, Y:4.57, Z:0.99 [[ 9.99879536e-01 2.28578279e-03 -1.53521789e-02 2.52784632e+02] [-2.28665833e-03 9.99997385e-01 -3.94771121e-05 4.57256835e+00] [ 1.53520485e-02 7.45775442e-05 9.99882148e-01 9.93485867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379254154 meters 0.055923544539693455 Centerline is valid? [True, True] Translation: X:252.84, Y:4.57, Z:0.99 [[ 9.99875785e-01 -6.83828206e-03 -1.42004533e-02 2.52842067e+02] [ 6.83844724e-03 9.99976617e-01 -3.69256863e-05 4.56899053e+00] [ 1.42003737e-02 -6.01879509e-05 9.99899168e-01 9.91016206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439254154 meters 0.055844617975654806 Centerline is valid? [True, True] Translation: X:252.90, Y:4.56, Z:0.99 [[ 9.99825530e-01 -1.24480428e-02 -1.39268238e-02 2.52900902e+02] [ 1.24487418e-02 9.99922511e-01 -3.64975250e-05 4.56237842e+00] [ 1.39261989e-02 -1.36880276e-04 9.99903016e-01 9.88720364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499254154 meters 0.05587910306705292 Centerline is valid? [True, True] Translation: X:252.96, Y:4.56, Z:0.99 [[ 9.99774397e-01 -1.68332530e-02 -1.29536704e-02 2.52960452e+02] [ 1.68342231e-02 9.99858294e-01 -3.41515285e-05 4.55911048e+00] [ 1.29524096e-02 -1.83921153e-04 9.99916097e-01 9.90828898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559254154 meters 0.05659817796579152 Centerline is valid? [True, True] Translation: X:253.02, Y:4.56, Z:0.99 [[ 9.99799722e-01 -1.58259363e-02 -1.22496938e-02 2.53019375e+02] [ 1.58267167e-02 9.99874749e-01 -3.32357982e-05 4.55743476e+00] [ 1.22486855e-02 -1.60643291e-04 9.99924969e-01 9.91519102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619254154 meters 0.056344098436844514 Centerline is valid? [True, True] Translation: X:253.08, Y:4.56, Z:0.99 [[ 9.99900787e-01 -9.30423237e-03 -1.05757808e-02 2.53078182e+02] [ 9.30444431e-03 9.99956712e-01 -2.91628903e-05 4.55563943e+00] [ 1.05755943e-02 -6.92417662e-05 9.99944074e-01 9.92551310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679254154 meters 0.05711854849337738 Centerline is valid? [True, True] Translation: X:253.14, Y:4.56, Z:0.99 [[ 9.99957620e-01 -7.48424027e-04 -9.17592371e-03 2.53136171e+02] [ 7.48220913e-04 9.99999720e-01 -2.55683836e-05 4.55678915e+00] [ 9.17594027e-03 1.87016820e-05 9.99957900e-01 9.93423783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739254154 meters 0.05727473354404967 Centerline is valid? [True, True] Translation: X:253.20, Y:4.56, Z:0.99 [[ 9.99948153e-01 4.65266720e-03 -9.05779895e-03 2.53195279e+02] [-4.65309289e-03 9.99989174e-01 -2.59230833e-05 4.55831321e+00] [ 9.05758028e-03 6.80685191e-05 9.99958977e-01 9.93285862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799254154 meters 0.056684699602953394 Centerline is valid? [True, True] Translation: X:253.25, Y:4.56, Z:0.99 [[ 9.99908307e-01 8.90662600e-03 -1.02004898e-02 2.53254095e+02] [-8.90739338e-03 9.99960328e-01 -2.98006015e-05 4.55707179e+00] [ 1.01998198e-02 1.20657645e-04 9.99947973e-01 9.93366051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859254154 meters 0.05804355431812099 Centerline is valid? [True, True] Translation: X:253.31, Y:4.55, Z:0.99 [[ 9.99873027e-01 1.13240106e-02 -1.12114530e-02 2.53313215e+02] [-1.13250927e-02 9.99935869e-01 -3.30247151e-05 4.54964148e+00] [ 1.12103600e-02 1.59991266e-04 9.99937149e-01 9.93756141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919254154 meters 0.05804593317449274 Centerline is valid? [True, True] Translation: X:253.37, Y:4.54, Z:0.99 [[ 9.99870938e-01 9.30168212e-03 -1.30990614e-02 2.53372440e+02] [-9.30298992e-03 9.99956726e-01 -3.89090123e-05 4.54212538e+00] [ 1.30981326e-02 1.60764427e-04 9.99914203e-01 9.93600775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979254154 meters 0.05724711063905682 Centerline is valid? [True, True] Translation: X:253.43, Y:4.54, Z:0.99 [[ 9.99882717e-01 6.58718612e-03 -1.38261136e-02 2.53431647e+02] [-6.58839332e-03 9.99978295e-01 -4.17662091e-05 4.53801777e+00] [ 1.38255384e-02 1.32853185e-04 9.99904414e-01 9.92214353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039254154 meters 0.058267784859324344 Centerline is valid? [True, True] Translation: X:253.49, Y:4.53, Z:0.99 [[ 9.99902224e-01 1.02781674e-03 -1.39458176e-02 2.53490103e+02] [-1.02851232e-03 9.99999470e-01 -4.27052458e-05 4.52675025e+00] [ 1.39457663e-02 5.70445156e-05 9.99902751e-01 9.92976517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099254154 meters 0.05869081304184078 Centerline is valid? [True, True] Translation: X:253.55, Y:4.52, Z:1.00 [[ 9.99899323e-01 -4.51437219e-03 -1.34523151e-02 2.53549467e+02] [ 4.51422261e-03 9.99989810e-01 -4.14842557e-05 4.51814357e+00] [ 1.34523653e-02 -1.92466658e-05 9.99909513e-01 9.95029733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159254154 meters 0.05798438561844025 Centerline is valid? [True, True] Translation: X:253.61, Y:4.50, Z:1.00 [[ 9.99831359e-01 -1.39463186e-02 -1.19479853e-02 2.53608207e+02] [ 1.39468707e-02 9.99902737e-01 -3.71098963e-05 4.50449208e+00] [ 1.19473407e-02 -1.29533368e-04 9.99928620e-01 9.96470744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219254154 meters 0.059133289558707475 Centerline is valid? [True, True] Translation: X:253.67, Y:4.50, Z:1.00 [[ 9.99736883e-01 -1.99232696e-02 -1.13678443e-02 2.53667039e+02] [ 1.99241532e-02 9.99801494e-01 -3.55295358e-05 4.49523108e+00] [ 1.13662956e-02 -1.90974485e-04 9.99935383e-01 9.96828955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279254154 meters 0.058903040918942356 Centerline is valid? [True, True] Translation: X:253.73, Y:4.48, Z:1.00 [[ 9.99543230e-01 -2.83196739e-02 -1.05511730e-02 2.53726347e+02] [ 2.83209014e-02 9.99598882e-01 -3.30896644e-05 4.48124475e+00] [ 1.05478778e-02 -2.65744180e-04 9.99944334e-01 9.97092381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339254154 meters 0.06014965572678618 Centerline is valid? [True, True] Translation: X:253.79, Y:4.47, Z:1.00 [[ 9.99360311e-01 -3.41704176e-02 -1.05523537e-02 2.53786298e+02] [ 3.41719708e-02 9.99415967e-01 -3.31273655e-05 4.47127409e+00] [ 1.05473227e-02 -3.27488548e-04 9.99944322e-01 9.96713554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399254154 meters 0.062269975118456715 Centerline is valid? [True, True] Translation: X:253.85, Y:4.45, Z:1.00 [[ 9.99003175e-01 -4.31929590e-02 -1.12705462e-02 2.53846016e+02] [ 4.31953032e-02 9.99066647e-01 -3.54629750e-05 4.45316045e+00] [ 1.12615585e-02 -4.51407035e-04 9.99936485e-01 9.95776446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459254154 meters 0.05854007637564507 Centerline is valid? [True, True] Translation: X:253.91, Y:4.47, Z:1.00 [[ 9.98734006e-01 -4.90139106e-02 -1.13146538e-02 2.53906639e+02] [ 4.90166458e-02 9.98797961e-01 -3.56169427e-05 4.47087035e+00] [ 1.13027989e-02 -5.19034526e-04 9.99935987e-01 9.99346082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519254154 meters 0.05905795547970735 Centerline is valid? [True, True] Translation: X:253.97, Y:4.47, Z:1.00 [[ 9.98489042e-01 -5.33570132e-02 -1.31400910e-02 2.53965751e+02] [ 5.33610790e-02 9.98575282e-01 -4.12367310e-05 4.46713685e+00] [ 1.31235703e-02 -6.59995009e-04 9.99913664e-01 9.99513421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579254154 meters 0.05993267398524052 Centerline is valid? [True, True] Translation: X:254.03, Y:4.46, Z:1.00 [[ 9.98270843e-01 -5.70283268e-02 -1.42511287e-02 2.54026673e+02] [ 5.70334851e-02 9.98372265e-01 -4.45233078e-05 4.45935152e+00] [ 1.42304707e-02 -7.68345215e-04 9.99898447e-01 9.99203334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.639254154 meters 0.06132786615596102 Centerline is valid? [True, True] Translation: X:254.09, Y:4.45, Z:1.00 [[ 9.98276198e-01 -5.67375516e-02 -1.50160728e-02 2.54088181e+02] [ 5.67432511e-02 9.98388803e-01 -4.65695951e-05 4.45129211e+00] [ 1.49945211e-02 -8.05571468e-04 9.99887251e-01 9.97575668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699254154 meters 0.05941988663052342 Centerline is valid? [True, True] Translation: X:254.15, Y:4.46, Z:1.00 [[ 9.98374880e-01 -5.50415783e-02 -1.47656562e-02 2.54148774e+02] [ 5.50469084e-02 9.98483768e-01 -4.55119893e-05 4.46273991e+00] [ 1.47457731e-02 -7.67365698e-04 9.99890981e-01 9.99051172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759254154 meters 0.059323742998326996 Centerline is valid? [True, True] Translation: X:254.21, Y:4.47, Z:1.00 [[ 9.98353318e-01 -5.52983296e-02 -1.52560841e-02 2.54210545e+02] [ 5.53040565e-02 9.98469558e-01 -4.65718199e-05 4.46981027e+00] [ 1.52353109e-02 -7.97228204e-04 9.99883618e-01 9.99810719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819254154 meters 0.05894581490824678 Centerline is valid? [True, True] Translation: X:254.27, Y:4.47, Z:1.00 [[ 9.98250682e-01 -5.70286160e-02 -1.55984851e-02 2.54271451e+02] [ 5.70348171e-02 9.98372189e-01 -4.73837010e-05 4.47090996e+00] [ 1.55757959e-02 -8.42355931e-04 9.99878335e-01 1.00029875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879254154 meters 0.059677438730563075 Centerline is valid? [True, True] Translation: X:254.33, Y:4.47, Z:1.00 [[ 9.98120282e-01 -5.96012284e-02 -1.42687020e-02 2.54332252e+02] [ 5.96066798e-02 9.98221940e-01 -4.32987729e-05 4.47461564e+00] [ 1.42459120e-02 -8.07292565e-04 9.99898196e-01 1.00197224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939254154 meters 0.05938733791861287 Centerline is valid? [True, True] Translation: X:254.39, Y:4.48, Z:1.00 [[ 9.98104049e-01 -6.00676890e-02 -1.34230833e-02 2.54394601e+02] [ 6.00725596e-02 9.98194012e-01 -4.04154517e-05 4.47526540e+00] [ 1.34012690e-02 -7.66020144e-04 9.99909906e-01 1.00200934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999254154 meters 0.060571905937466766 Centerline is valid? [True, True] Translation: X:254.45, Y:4.48, Z:1.00 [[ 9.98228695e-01 -5.81724278e-02 -1.24675644e-02 2.54454742e+02] [ 5.81764833e-02 9.98306313e-01 -3.74552379e-05 4.47666950e+00] [ 1.24486272e-02 -6.87930161e-04 9.99922276e-01 1.00171891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059254154 meters 0.058342223484724905 Centerline is valid? [True, True] Translation: X:254.52, Y:4.49, Z:1.00 [[ 9.98464186e-01 -5.39667271e-02 -1.25244287e-02 2.54515201e+02] [ 5.39704900e-02 9.98542530e-01 -3.75914552e-05 4.48980416e+00] [ 1.25082034e-02 -6.38415832e-04 9.99921566e-01 1.00297515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119254154 meters 0.059522004331673074 Centerline is valid? [True, True] Translation: X:254.58, Y:4.49, Z:1.00 [[ 9.98784355e-01 -4.75664517e-02 -1.29323344e-02 2.54575914e+02] [ 4.75699296e-02 9.98867909e-01 -3.87247385e-05 4.48930376e+00] [ 1.29195359e-02 -5.76512575e-04 9.99916373e-01 1.00164944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179254154 meters 0.05843182960328785 Centerline is valid? [True, True] Translation: X:254.64, Y:4.50, Z:1.00 [[ 9.99133781e-01 -3.96564865e-02 -1.26115394e-02 2.54635845e+02] [ 3.96591655e-02 9.99213265e-01 -3.76970966e-05 4.50091901e+00] [ 1.26031124e-02 -4.62498685e-04 9.99920471e-01 1.00335380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239254154 meters 0.05858258332696312 Centerline is valid? [True, True] Translation: X:254.70, Y:4.50, Z:1.00 [[ 9.99429561e-01 -3.13710670e-02 -1.25063372e-02 2.54695544e+02] [ 3.13730526e-02 9.99507744e-01 -3.74353152e-05 4.50116864e+00] [ 1.25013552e-02 -3.54948013e-04 9.99921792e-01 1.00216164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299254154 meters 0.05890674187233983 Centerline is valid? [True, True] Translation: X:254.76, Y:4.51, Z:1.00 [[ 9.99693051e-01 -2.18701952e-02 -1.16403458e-02 2.54756308e+02] [ 2.18712718e-02 9.99760795e-01 -3.48252214e-05 4.51332883e+00] [ 1.16383230e-02 -2.19774634e-04 9.99932248e-01 1.00344907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359254154 meters 0.05850289741296954 Centerline is valid? [True, True] Translation: X:254.82, Y:4.52, Z:1.00 [[ 9.99763102e-01 -1.84479511e-02 -1.15504333e-02 2.54815855e+02] [ 1.84487816e-02 9.99829806e-01 -3.46475271e-05 4.51783553e+00] [ 1.15491067e-02 -1.78452103e-04 9.99933291e-01 1.00357073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419254154 meters 0.05943543346972646 Centerline is valid? [True, True] Translation: X:254.88, Y:4.52, Z:1.00 [[ 9.99773362e-01 -1.78354205e-02 -1.16242453e-02 2.54875883e+02] [ 1.78362189e-02 9.99840921e-01 -3.49901366e-05 4.52252088e+00] [ 1.16230202e-02 -1.72350377e-04 9.99932436e-01 1.00462637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479254154 meters 0.05871284187314293 Centerline is valid? [True, True] Translation: X:254.94, Y:4.52, Z:1.01 [[ 9.99734643e-01 -2.01946778e-02 -1.10823234e-02 2.54935015e+02] [ 2.01955461e-02 9.99796049e-01 -3.35589019e-05 4.52227186e+00] [ 1.10807409e-02 -1.90263577e-04 9.99938589e-01 1.00539317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539254154 meters 0.059949294045916965 Centerline is valid? [True, True] Translation: X:254.99, Y:4.51, Z:1.00 [[ 9.99604670e-01 -2.54935075e-02 -1.18568388e-02 2.54994501e+02] [ 2.54948739e-02 9.99674952e-01 -3.59113583e-05 4.51253631e+00] [ 1.18539003e-02 -2.66391450e-04 9.99929705e-01 1.00393204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599254154 meters 0.05863114641519854 Centerline is valid? [True, True] Translation: X:255.05, Y:4.52, Z:1.01 [[ 9.99499794e-01 -2.97389213e-02 -1.07591368e-02 2.55054222e+02] [ 2.97402927e-02 9.99557659e-01 -3.25444077e-05 4.51647268e+00] [ 1.07553454e-02 -2.87451749e-04 9.99942118e-01 1.00557979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659254154 meters 0.05977959883386347 Centerline is valid? [True, True] Translation: X:255.11, Y:4.51, Z:1.00 [[ 9.99365141e-01 -3.39240871e-02 -1.08844737e-02 2.55113846e+02] [ 3.39257391e-02 9.99424356e-01 -3.28721489e-05 4.50967960e+00] [ 1.08793233e-02 -3.36412535e-04 9.99940762e-01 1.00381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719254154 meters 0.05903578913242897 Centerline is valid? [True, True] Translation: X:255.18, Y:4.52, Z:1.01 [[ 9.99332667e-01 -3.51224362e-02 -1.00317326e-02 2.55175894e+02] [ 3.51239021e-02 9.99382965e-01 -3.00689042e-05 4.51722798e+00] [ 1.00265988e-02 -3.22304757e-04 9.99949680e-01 1.00592173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779254154 meters 0.05887240159757604 Centerline is valid? [True, True] Translation: X:255.24, Y:4.52, Z:1.01 [[ 9.99405108e-01 -3.33927601e-02 -8.62282389e-03 2.55236714e+02] [ 3.33937805e-02 9.99442272e-01 -2.56566387e-05 4.51687816e+00] [ 8.61887145e-03 -2.62307313e-04 9.99962822e-01 1.00591846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839254154 meters 0.06020790041058279 Centerline is valid? [True, True] Translation: X:255.30, Y:4.51, Z:1.00 [[ 9.99591312e-01 -2.68313977e-02 -9.86329112e-03 2.55296261e+02] [ 2.68324138e-02 9.99639946e-01 -2.93234192e-05 4.51183834e+00] [ 9.86052658e-03 -2.35344473e-04 9.99951356e-01 1.00321327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899254154 meters 0.05832168849134103 Centerline is valid? [True, True] Translation: X:255.36, Y:4.53, Z:1.01 [[ 9.99726247e-01 -2.15863778e-02 -9.02551995e-03 2.55356549e+02] [ 2.15870152e-02 9.99766973e-01 -2.67948383e-05 4.52593542e+00] [ 9.02399517e-03 -1.68046534e-04 9.99959269e-01 1.00549516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959254154 meters 0.05843227829525992 Centerline is valid? [True, True] Translation: X:255.42, Y:4.53, Z:1.01 [[ 9.99875375e-01 -1.31941160e-02 -8.66892368e-03 2.55415972e+02] [ 1.31943891e-02 9.99912950e-01 -2.56896987e-05 4.52749998e+00] [ 8.66850801e-03 -8.86946550e-05 9.99962424e-01 1.00508978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019254154 meters 0.058367600146576964 Centerline is valid? [True, True] Translation: X:255.48, Y:4.53, Z:1.00 [[ 9.99912463e-01 -9.57091204e-03 -9.13591557e-03 2.55475074e+02] [ 9.57106371e-03 9.99954196e-01 -2.71202969e-05 4.52804578e+00] [ 9.13575668e-03 -6.03225072e-05 9.99958266e-01 1.00357573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079254154 meters 0.0583011285157934 Centerline is valid? [True, True] Translation: X:255.53, Y:4.53, Z:1.00 [[ 9.99915845e-01 -8.74678694e-03 -9.58102341e-03 2.55534059e+02] [ 8.74690909e-03 9.99961745e-01 -2.91544633e-05 4.53067905e+00] [ 9.58091189e-03 -5.46523309e-05 9.99954101e-01 1.00386543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.139254154 meters 0.05794388352724048 Centerline is valid? [True, True] Translation: X:255.59, Y:4.53, Z:1.00 [[ 9.99850110e-01 -1.19374420e-02 -1.25401495e-02 2.55592939e+02] [ 1.19378916e-02 9.99928740e-01 -3.90006416e-05 4.52638082e+00] [ 1.25397215e-02 -1.10708150e-04 9.99921368e-01 9.99876963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199254154 meters 0.05829328604518124 Centerline is valid? [True, True] Translation: X:255.65, Y:4.52, Z:1.00 [[ 9.99706208e-01 -2.09835164e-02 -1.21321914e-02 2.55653236e+02] [ 2.09846015e-02 9.99779798e-01 -3.78692976e-05 4.52043286e+00] [ 1.21303145e-02 -2.16731030e-04 9.99926402e-01 1.00124662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259254154 meters 0.057684345886504125 Centerline is valid? [True, True] Translation: X:255.71, Y:4.52, Z:1.00 [[ 9.99546480e-01 -2.83636684e-02 -1.01161779e-02 2.55713933e+02] [ 2.83648003e-02 9.99597638e-01 -3.15959585e-05 4.51986148e+00] [ 1.01130037e-02 -2.55361736e-04 9.99948830e-01 1.00372625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319254154 meters 0.058189645823622974 Centerline is valid? [True, True] Translation: X:255.77, Y:4.51, Z:1.00 [[ 9.99228345e-01 -3.82809707e-02 -8.79102369e-03 2.55773774e+02] [ 3.82822084e-02 9.99266967e-01 -2.74907065e-05 4.51167795e+00] [ 8.78563195e-03 -3.09070308e-04 9.99961358e-01 1.00418681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379254154 meters 0.06411980633099135 Centerline is valid? [True, True] Translation: X:255.83, Y:4.49, Z:1.00 [[ 9.98979544e-01 -4.39924210e-02 -1.02243753e-02 2.55833919e+02] [ 4.39943939e-02 9.99031777e-01 -3.19822919e-05 4.48670305e+00] [ 1.02158828e-02 -4.17865540e-04 9.99947729e-01 1.00117109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439254154 meters 0.06662158979632025 Centerline is valid? [True, True] Translation: X:255.89, Y:4.48, Z:1.00 [[ 9.98608740e-01 -5.18599479e-02 -9.54618098e-03 2.55894905e+02] [ 5.18620270e-02 9.98654259e-01 -2.97965009e-05 4.48001876e+00] [ 9.53487954e-03 -4.65329249e-04 9.99954434e-01 1.00173470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499254154 meters 0.07045828557460425 Centerline is valid? [True, True] Translation: X:255.96, Y:4.47, Z:1.00 [[ 9.98262304e-01 -5.83651168e-02 -8.11696245e-03 2.55955804e+02] [ 5.83668346e-02 9.98295203e-01 -2.52936277e-05 4.47487081e+00] [ 8.10460094e-03 -4.48511730e-04 9.99967057e-01 1.00350133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559254154 meters 0.08522423020078904 Centerline is valid? [True, True] Translation: X:256.02, Y:4.45, Z:1.00 [[ 9.98071500e-01 -6.15219467e-02 -8.26630630e-03 2.56016360e+02] [ 6.15238364e-02 9.98105614e-01 -2.57398924e-05 4.44811672e+00] [ 8.25223030e-03 -4.82884623e-04 9.99965833e-01 1.00189728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619254154 meters 0.07631449594159782 Centerline is valid? [True, True] Translation: X:256.08, Y:4.47, Z:1.00 [[ 9.97993005e-01 -6.25256415e-02 -1.00252538e-02 2.56077810e+02] [ 6.25284724e-02 9.98043180e-01 -3.11183439e-05 4.46681437e+00] [ 1.00075819e-02 -5.95807918e-04 9.99949745e-01 1.00047225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679254154 meters 0.06740561790673481 Centerline is valid? [True, True] Translation: X:256.14, Y:4.49, Z:1.00 [[ 9.98107227e-01 -6.06937420e-02 -9.91125913e-03 2.56138568e+02] [ 6.06964197e-02 9.98156272e-01 -3.06882932e-05 4.48763011e+00] [ 9.89484806e-03 -5.70947737e-04 9.99950882e-01 1.00150801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739254154 meters 0.06652849457226169 Centerline is valid? [True, True] Translation: X:256.20, Y:4.50, Z:1.00 [[ 9.98444143e-01 -5.48906064e-02 -9.81399270e-03 2.56198926e+02] [ 5.48929525e-02 9.98492245e-01 -3.03459016e-05 4.49598719e+00] [ 9.80086131e-03 -5.08420348e-04 9.99951841e-01 1.00138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799254154 meters 0.06650206530168513 Centerline is valid? [True, True] Translation: X:256.26, Y:4.50, Z:1.00 [[ 9.98860151e-01 -4.65121900e-02 -1.07245455e-02 2.56259198e+02] [ 4.65145099e-02 9.98917614e-01 -3.31483682e-05 4.50174525e+00] [ 1.07144792e-02 -4.65736393e-04 9.99942490e-01 9.99762342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859254154 meters 0.05928184451273078 Centerline is valid? [True, True] Translation: X:256.32, Y:4.53, Z:1.00 [[ 9.99135425e-01 -4.05746408e-02 -9.06093536e-03 2.56320127e+02] [ 4.05760518e-02 9.99176453e-01 -2.81293981e-05 4.53078382e+00] [ 9.05461459e-03 -3.39551904e-04 9.99958948e-01 1.00319603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919254154 meters 0.057532038268841484 Centerline is valid? [True, True] Translation: X:256.38, Y:4.55, Z:1.01 [[ 9.99465886e-01 -3.18181097e-02 -7.45319678e-03 2.56380843e+02] [ 3.18188206e-02 9.99493653e-01 -2.32156759e-05 4.54881240e+00] [ 7.45016155e-03 -2.13948655e-04 9.99972224e-01 1.00533499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979254154 meters 0.058075693202821244 Centerline is valid? [True, True] Translation: X:256.44, Y:4.55, Z:1.00 [[ 9.99640877e-01 -2.60266599e-02 -6.38204706e-03 2.56440285e+02] [ 2.60270629e-02 9.99661238e-01 -1.99020485e-05 4.54734873e+00] [ 6.38040305e-03 -1.46211039e-04 9.99979634e-01 1.00495109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters 0.05739074059991788 Centerline is valid? [True, True] Translation: X:256.50, Y:4.55, Z:1.00 [[ 9.99678350e-01 -2.43193926e-02 -7.19469312e-03 2.56500623e+02] [ 2.43198606e-02 9.99704228e-01 -2.24494315e-05 4.55203249e+00] [ 7.19311109e-03 -1.52531723e-04 9.99974118e-01 1.00480951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters 0.05806346455770322 Centerline is valid? [True, True] Translation: X:256.56, Y:4.55, Z:1.00 [[ 9.99684213e-01 -2.39797111e-02 -7.51312049e-03 2.56562324e+02] [ 2.39802128e-02 9.99712433e-01 -2.33164200e-05 4.55448321e+00] [ 7.51151909e-03 -1.56857171e-04 9.99971776e-01 1.00478203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters 0.05793353738113935 Centerline is valid? [True, True] Translation: X:256.62, Y:4.56, Z:1.00 [[ 9.99714195e-01 -2.24924611e-02 -8.10046675e-03 2.56624216e+02] [ 2.24929971e-02 9.99747000e-01 -2.49435508e-05 4.55790366e+00] [ 8.09897838e-03 -1.57267353e-04 9.99967190e-01 1.00369011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters 0.056655144460105826 Centerline is valid? [True, True] Translation: X:256.69, Y:4.56, Z:1.00 [[ 9.99759413e-01 -2.12214776e-02 -5.54655676e-03 2.56685330e+02] [ 2.12217098e-02 9.99774794e-01 -1.69872124e-05 4.56161487e+00] [ 5.54566813e-03 -1.00724293e-04 9.99984618e-01 1.00379614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279254154 meters 0.056738344801090364 Centerline is valid? [True, True] Translation: X:256.75, Y:4.57, Z:1.00 [[ 9.99803713e-01 -1.90943638e-02 -5.28583558e-03 2.56746819e+02] [ 1.90945456e-02 9.99817682e-01 -1.60767922e-05 4.56651094e+00] [ 5.28517886e-03 -8.48569920e-05 9.99986030e-01 1.00491784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339254154 meters 0.05645021465633397 Centerline is valid? [True, True] Translation: X:256.81, Y:4.57, Z:1.00 [[ 9.99883855e-01 -1.48241375e-02 -3.53847054e-03 2.56808538e+02] [ 1.48241923e-02 9.99890116e-01 -1.07289794e-05 4.57155713e+00] [ 3.53824077e-03 -4.17272345e-05 9.99993740e-01 1.00496746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399254154 meters 0.05661249867638748 Centerline is valid? [True, True] Translation: X:256.87, Y:4.57, Z:1.00 [[ 9.99915975e-01 -1.25705162e-02 -3.16621647e-03 2.56868585e+02] [ 1.25705490e-02 9.99920987e-01 -9.51997840e-06 4.57365133e+00] [ 3.16608597e-03 -3.02819009e-05 9.99994987e-01 1.00434723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459254154 meters 0.056601616809494035 Centerline is valid? [True, True] Translation: X:256.93, Y:4.57, Z:1.00 [[ 9.99906491e-01 -1.33529485e-02 -2.95102290e-03 2.56930873e+02] [ 1.33529804e-02 9.99910845e-01 -8.88265428e-06 4.57227240e+00] [ 2.95087841e-03 -3.05231273e-05 9.99995646e-01 1.00409792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519254154 meters 0.05613717706555703 Centerline is valid? [True, True] Translation: X:256.99, Y:4.57, Z:1.00 [[ 9.99833387e-01 -1.79178286e-02 -3.48561097e-03 2.56992106e+02] [ 1.79179015e-02 9.99839461e-01 -1.03131208e-05 4.57129459e+00] [ 3.48523618e-03 -5.21434316e-05 9.99993925e-01 1.00305869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579254154 meters 0.056733941983342286 Centerline is valid? [True, True] Translation: X:257.05, Y:4.57, Z:1.00 [[ 9.99772174e-01 -2.03670719e-02 -6.38618764e-03 2.57052867e+02] [ 2.03673683e-02 9.99792563e-01 -1.86313791e-05 4.56524721e+00] [ 6.38524238e-03 -1.11442701e-04 9.99979608e-01 1.00336114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639254154 meters 0.057826553786818696 Centerline is valid? [True, True] Translation: X:257.12, Y:4.56, Z:1.00 [[ 9.99736491e-01 -2.19133143e-02 -6.83781334e-03 2.57115052e+02] [ 2.19136925e-02 9.99759866e-01 -1.96052859e-05 4.56167344e+00] [ 6.83660096e-03 -1.30241619e-04 9.99976622e-01 1.00240537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699254154 meters 0.05732992002766327 Centerline is valid? [True, True] Translation: X:257.18, Y:4.56, Z:1.00 [[ 9.99760742e-01 -2.06622886e-02 -7.17829986e-03 2.57177478e+02] [ 2.06626749e-02 9.99786504e-01 -2.03520026e-05 4.56186758e+00] [ 7.17718784e-03 -1.27975744e-04 9.99974235e-01 1.00154804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759254154 meters 0.05617434106354263 Centerline is valid? [True, True] Translation: X:257.24, Y:4.57, Z:1.00 [[ 9.99874658e-01 -1.52136441e-02 -4.38336906e-03 2.57237942e+02] [ 1.52137361e-02 9.99884264e-01 -1.23598428e-05 4.56692673e+00] [ 4.38304978e-03 -5.43291263e-05 9.99990393e-01 1.00247279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819254154 meters 0.056429767226411236 Centerline is valid? [True, True] Translation: X:257.30, Y:4.57, Z:1.00 [[ 9.99949854e-01 -9.48422752e-03 -3.21536221e-03 2.57298982e+02] [ 9.48424742e-03 9.99955023e-01 -9.05957590e-06 4.57018128e+00] [ 3.21530351e-03 -2.14361691e-05 9.99994831e-01 1.00330250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879254154 meters 0.05628110171212385 Centerline is valid? [True, True] Translation: X:257.36, Y:4.57, Z:1.00 [[ 9.99996265e-01 -9.03789651e-04 -2.57937593e-03 2.57359948e+02] [ 9.03773951e-04 9.99999592e-01 -7.25248407e-06 4.57113202e+00] [ 2.57938143e-03 4.92128421e-06 9.99996673e-01 1.00441793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939254154 meters 0.05618663353926536 Centerline is valid? [True, True] Translation: X:257.42, Y:4.57, Z:1.01 [[ 9.99989929e-01 2.51169399e-03 -3.71936463e-03 2.57419410e+02] [-2.51175008e-03 9.99996846e-01 -1.04113658e-05 4.56982140e+00] [ 3.71932675e-03 1.97533753e-05 9.99993083e-01 1.00524656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999254154 meters 0.05716096214506676 Centerline is valid? [True, True] Translation: X:257.48, Y:4.56, Z:1.00 [[ 9.99983248e-01 1.68756813e-03 -5.53676293e-03 2.57478174e+02] [-1.68768028e-03 9.99998576e-01 -1.55835431e-05 4.56297390e+00] [ 5.53672875e-03 2.49275676e-05 9.99984672e-01 1.00367221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters 0.05770765165806706 Centerline is valid? [True, True] Translation: X:257.54, Y:4.55, Z:1.00 [[ 9.99951635e-01 -5.18995091e-03 -8.35418313e-03 2.57536197e+02] [ 5.18993315e-03 9.99986532e-01 -2.38054450e-05 4.55145712e+00] [ 8.35419416e-03 -1.95533583e-05 9.99965103e-01 1.00140038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters 0.05739091566362967 Centerline is valid? [True, True] Translation: X:257.60, Y:4.54, Z:1.00 [[ 9.99899289e-01 -1.15377490e-02 -8.26389694e-03 2.57596202e+02] [ 1.15379467e-02 9.99933435e-01 -2.37476982e-05 4.54238105e+00] [ 8.26362085e-03 -7.16030961e-05 9.99965853e-01 1.00268974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters 0.0577594865915689 Centerline is valid? [True, True] Translation: X:257.66, Y:4.53, Z:1.01 [[ 9.99770714e-01 -1.97355547e-02 -8.30829114e-03 2.57655703e+02] [ 1.97360367e-02 9.99805225e-01 -2.39857357e-05 4.52963890e+00] [ 8.30714626e-03 -1.39992502e-04 9.99965485e-01 1.00511217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters 0.059004264017152745 Centerline is valid? [True, True] Translation: X:257.72, Y:4.52, Z:1.01 [[ 9.99641079e-01 -2.54872669e-02 -8.25304978e-03 2.57716588e+02] [ 2.54879381e-02 9.99675129e-01 -2.38628681e-05 4.51910781e+00] [ 8.25097681e-03 -1.86498919e-04 9.99965943e-01 1.00670541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters 0.05899713337452708 Centerline is valid? [True, True] Translation: X:257.78, Y:4.51, Z:1.01 [[ 9.99545929e-01 -2.93641104e-02 -6.75909816e-03 2.57777391e+02] [ 2.93646495e-02 9.99568766e-01 -1.94946806e-05 4.51478761e+00] [ 6.75675585e-03 -1.78992720e-04 9.99977157e-01 1.00877089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters 0.058087426985747974 Centerline is valid? [True, True] Translation: X:257.84, Y:4.51, Z:1.01 [[ 9.99345758e-01 -3.55196444e-02 -6.81258010e-03 2.57838725e+02] [ 3.55203356e-02 9.99368954e-01 -1.95473224e-05 4.51126196e+00] [ 6.80897536e-03 -2.22450597e-04 9.99976794e-01 1.01041078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters 0.06140815719543948 Centerline is valid? [True, True] Translation: X:257.90, Y:4.49, Z:1.01 [[ 9.99162074e-01 -4.01331398e-02 -8.03000521e-03 2.57899079e+02] [ 4.01342495e-02 9.99194296e-01 -2.29617716e-05 4.49407924e+00] [ 8.02445693e-03 -2.99335701e-04 9.99967759e-01 1.00992104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters 0.06462404641591675 Centerline is valid? [True, True] Translation: X:257.96, Y:4.48, Z:1.01 [[ 9.99088922e-01 -4.17108594e-02 -9.02941807e-03 2.57959852e+02] [ 4.17123277e-02 9.99129662e-01 -2.57292126e-05 4.47811700e+00] [ 9.02263261e-03 -3.50932274e-04 9.99959234e-01 1.00748569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters 0.05877760336687464 Centerline is valid? [True, True] Translation: X:258.02, Y:4.50, Z:1.01 [[ 9.99108586e-01 -4.06400380e-02 -1.14202276e-02 2.58020867e+02] [ 4.06423191e-02 9.99173759e-01 -3.23621066e-05 4.49858832e+00] [ 1.14121070e-02 -4.31811277e-04 9.99934787e-01 1.00991103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters 0.06027718388636879 Centerline is valid? [True, True] Translation: X:258.08, Y:4.49, Z:1.01 [[ 9.99225992e-01 -3.75554212e-02 -1.17049956e-02 2.58081719e+02] [ 3.75576068e-02 9.99294464e-01 -3.31065037e-05 4.49399875e+00] [ 1.16979806e-02 -4.06530744e-04 9.99931494e-01 1.00965090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters 0.0596723009309638 Centerline is valid? [True, True] Translation: X:258.14, Y:4.50, Z:1.01 [[ 9.99484611e-01 -3.00081802e-02 -1.14027196e-02 2.58142213e+02] [ 3.00097639e-02 9.99549605e-01 -3.22265355e-05 4.50233848e+00] [ 1.13985510e-02 -3.09982998e-04 9.99934986e-01 1.01198522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters 0.0603980019339923 Centerline is valid? [True, True] Translation: X:258.20, Y:4.50, Z:1.01 [[ 9.99681922e-01 -2.22691252e-02 -1.18381012e-02 2.58201935e+02] [ 2.22702898e-02 9.99751986e-01 -3.34542686e-05 4.50228668e+00] [ 1.18359101e-02 -2.30194316e-04 9.99929927e-01 1.01064721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779254154 meters 0.05915292693695522 Centerline is valid? [True, True] Translation: X:258.26, Y:4.51, Z:1.01 [[ 9.99757778e-01 -1.88186333e-02 -1.14124264e-02 2.58261434e+02] [ 1.88194896e-02 9.99822897e-01 -3.23623373e-05 4.50728309e+00] [ 1.14110142e-02 -1.82421542e-04 9.99934876e-01 1.01242665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839254154 meters 0.059874845659182205 Centerline is valid? [True, True] Translation: X:258.32, Y:4.51, Z:1.02 [[ 9.99809995e-01 -1.65063317e-02 -1.03689459e-02 2.58320580e+02] [ 1.65069128e-02 9.99863751e-01 -2.95429323e-05 4.51085659e+00] [ 1.03680208e-02 -1.41621967e-04 9.99946241e-01 1.01603687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899254154 meters 0.059627176461755596 Centerline is valid? [True, True] Translation: X:258.38, Y:4.51, Z:1.01 [[ 9.99808721e-01 -1.66412774e-02 -1.02756957e-02 2.58379993e+02] [ 1.66418538e-02 9.99861514e-01 -2.94190510e-05 4.50585290e+00] [ 1.02747622e-02 -1.41593201e-04 9.99947203e-01 1.01491349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959254154 meters 0.05887914118767627 Centerline is valid? [True, True] Translation: X:258.44, Y:4.51, Z:1.02 [[ 9.99791763e-01 -1.73967268e-02 -1.06669954e-02 2.58439591e+02] [ 1.73973894e-02 9.99848654e-01 -3.06865257e-05 4.50905595e+00] [ 1.06659148e-02 -1.54897736e-04 9.99943106e-01 1.01705925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019254154 meters 0.059288249202803366 Centerline is valid? [True, True] Translation: X:258.50, Y:4.50, Z:1.02 [[ 9.99687889e-01 -2.18296809e-02 -1.21486485e-02 2.58499872e+02] [ 2.18308667e-02 9.99761678e-01 -3.50092744e-05 4.50292306e+00] [ 1.21465174e-02 -2.30217178e-04 9.99926202e-01 1.01652926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079254154 meters 0.06063928142527807 Centerline is valid? [True, True] Translation: X:258.56, Y:4.50, Z:1.02 [[ 9.99475443e-01 -2.95582133e-02 -1.32344414e-02 2.58560268e+02] [ 2.95602987e-02 9.99562998e-01 -3.80578955e-05 4.49658300e+00] [ 1.32297829e-02 -3.53176109e-04 9.99912420e-01 1.01602294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139254154 meters 0.061055206677281114 Centerline is valid? [True, True] Translation: X:258.62, Y:4.49, Z:1.02 [[ 9.99263280e-01 -3.60400579e-02 -1.31913655e-02 2.58620819e+02] [ 3.60426944e-02 9.99350250e-01 -3.78931642e-05 4.49223447e+00] [ 1.31841601e-02 -4.37587108e-04 9.99912989e-01 1.01674925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199254154 meters 0.06327485012823769 Centerline is valid? [True, True] Translation: X:258.68, Y:4.48, Z:1.02 [[ 9.98889185e-01 -4.55451752e-02 -1.20844408e-02 2.58680310e+02] [ 4.55480831e-02 9.98962147e-01 -3.46253745e-05 4.48111091e+00] [ 1.20734759e-02 -5.15836200e-04 9.99926980e-01 1.01811225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259254154 meters 0.06475259171721238 Centerline is valid? [True, True] Translation: X:258.74, Y:4.48, Z:1.02 [[ 9.98561564e-01 -5.22922456e-02 -1.18458477e-02 2.58741355e+02] [ 5.22955145e-02 9.98631653e-01 -3.38432370e-05 4.47771068e+00] [ 1.18314082e-02 -5.85690143e-04 9.99929835e-01 1.01956780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319254154 meters 0.07135751066819114 Centerline is valid? [True, True] Translation: X:258.80, Y:4.46, Z:1.02 [[ 9.98041736e-01 -6.14922006e-02 -1.14630631e-02 2.58802067e+02] [ 6.14958670e-02 9.98107338e-01 -3.26945380e-05 4.46151319e+00] [ 1.14433779e-02 -6.72300491e-04 9.99934296e-01 1.01946440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379254154 meters 0.07140966333798561 Centerline is valid? [True, True] Translation: X:258.86, Y:4.46, Z:1.02 [[ 9.97770410e-01 -6.57193020e-02 -1.16268085e-02 2.58862993e+02] [ 6.57233598e-02 9.97837882e-01 -3.31514329e-05 4.46302409e+00] [ 1.16038486e-02 -7.31075397e-04 9.99932406e-01 1.02055566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439254154 meters 0.07672132999412283 Centerline is valid? [True, True] Translation: X:258.92, Y:4.46, Z:1.02 [[ 9.97628472e-01 -6.76634267e-02 -1.26131966e-02 2.58923355e+02] [ 6.76683579e-02 9.97707869e-01 -3.58927039e-05 4.45531261e+00] [ 1.25867142e-02 -8.17706722e-04 9.99920450e-01 1.01899125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499254154 meters 0.07316105348751534 Centerline is valid? [True, True] Translation: X:258.98, Y:4.47, Z:1.02 [[ 9.97784557e-01 -6.51172426e-02 -1.36279838e-02 2.58983969e+02] [ 6.51227633e-02 9.97877259e-01 -3.87483282e-05 4.46630636e+00] [ 1.36015783e-02 -8.48829481e-04 9.99907134e-01 1.01850041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters 0.06742767335954084 Centerline is valid? [True, True] Translation: X:259.04, Y:4.48, Z:1.02 [[ 9.98025826e-01 -6.11427652e-02 -1.43531361e-02 2.59044783e+02] [ 6.11484795e-02 9.98128680e-01 -4.08068694e-05 4.48194545e+00] [ 1.43287718e-02 -8.36946139e-04 9.99896988e-01 1.01898613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters 0.07331511148773343 Centerline is valid? [True, True] Translation: X:259.11, Y:4.48, Z:1.01 [[ 9.98496672e-01 -5.25623531e-02 -1.55433299e-02 2.59105346e+02] [ 5.25680180e-02 9.98617345e-01 -4.41639380e-05 4.47648272e+00] [ 1.55241602e-02 -7.72984502e-04 9.99879194e-01 1.01395279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters 0.0694374334044843 Centerline is valid? [True, True] Translation: X:259.17, Y:4.49, Z:1.01 [[ 9.98808016e-01 -4.61195463e-02 -1.59854394e-02 2.59166348e+02] [ 4.61247159e-02 9.98935688e-01 -4.53396663e-05 4.49022890e+00] [ 1.59705170e-02 -6.92038229e-04 9.99872224e-01 1.01431616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters 0.06040917316803874 Centerline is valid? [True, True] Translation: X:259.23, Y:4.53, Z:1.02 [[ 9.99213486e-01 -3.69641342e-02 -1.43548347e-02 2.59226709e+02] [ 3.69673598e-02 9.99316473e-01 -4.06689668e-05 4.52591060e+00] [ 1.43465261e-02 -4.90023360e-04 9.99896963e-01 1.02293688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters 0.0592419916748867 Centerline is valid? [True, True] Translation: X:259.29, Y:4.54, Z:1.03 [[ 9.99443967e-01 -3.10293710e-02 -1.22039008e-02 2.59287816e+02] [ 3.10312616e-02 9.99518414e-01 -3.44579841e-05 4.53572118e+00] [ 1.21990928e-02 -3.44263614e-04 9.99925529e-01 1.02566141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters 0.05883109170629287 Centerline is valid? [True, True] Translation: X:259.35, Y:4.55, Z:1.03 [[ 9.99687260e-01 -2.26804712e-02 -1.05346426e-02 2.59348213e+02] [ 2.26814175e-02 9.99742743e-01 -2.96493497e-05 4.54916499e+00] [ 1.05326049e-02 -2.09300550e-04 9.99944509e-01 1.02839861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters 0.05866219796854925 Centerline is valid? [True, True] Translation: X:259.41, Y:4.55, Z:1.03 [[ 9.99800110e-01 -1.69302083e-02 -1.06352704e-02 2.59407683e+02] [ 1.69308472e-02 9.99856662e-01 -2.99593436e-05 4.55040396e+00] [ 1.06342532e-02 -1.50110784e-04 9.99943443e-01 1.02748663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters 0.05890299908074013 Centerline is valid? [True, True] Translation: X:259.47, Y:4.56, Z:1.03 [[ 9.99876842e-01 -1.14407527e-02 -1.07428810e-02 2.59467496e+02] [ 1.14410869e-02 9.99934548e-01 -3.03517316e-05 4.55791732e+00] [ 1.07425252e-02 -9.25622419e-05 9.99942293e-01 1.02793140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters 0.05805734682417469 Centerline is valid? [True, True] Translation: X:259.53, Y:4.56, Z:1.03 [[ 9.99886724e-01 -9.97474104e-03 -1.12713822e-02 2.59525058e+02] [ 9.97501204e-03 9.99950248e-01 -3.21758380e-05 4.55898049e+00] [ 1.12711424e-02 -8.02599800e-05 9.99936475e-01 1.02610569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters 0.058752211438620826 Centerline is valid? [True, True] Translation: X:259.58, Y:4.56, Z:1.03 [[ 9.99863237e-01 -1.16551976e-02 -1.17330094e-02 2.59582409e+02] [ 1.16556007e-02 9.99932071e-01 -3.40211182e-05 4.55989188e+00] [ 1.17326089e-02 -1.02738808e-04 9.99931165e-01 1.02720555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters 0.05847623471123086 Centerline is valid? [True, True] Translation: X:259.64, Y:4.56, Z:1.03 [[ 9.99821489e-01 -1.50464305e-02 -1.14277938e-02 2.59641584e+02] [ 1.50470312e-02 9.99886786e-01 -3.34158019e-05 4.55773024e+00] [ 1.14270028e-02 -1.38544533e-04 9.99934700e-01 1.02736241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters 0.059651022358352575 Centerline is valid? [True, True] Translation: X:259.70, Y:4.55, Z:1.03 [[ 9.99705059e-01 -2.21050662e-02 -1.00579047e-02 2.59701685e+02] [ 2.21058881e-02 9.99755635e-01 -2.94562178e-05 4.55022857e+00] [ 1.00560980e-02 -1.92891386e-04 9.99949418e-01 1.02761623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279254154 meters 0.059618054253115 Centerline is valid? [True, True] Translation: X:259.76, Y:4.55, Z:1.03 [[ 9.99454394e-01 -3.19138398e-02 -8.51010014e-03 2.59762656e+02] [ 3.19147835e-02 9.99490593e-01 -2.49169209e-05 4.54614252e+00] [ 8.50656024e-03 -2.46694678e-04 9.99963788e-01 1.02970953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339254154 meters 0.06315616415504016 Centerline is valid? [True, True] Translation: X:259.82, Y:4.53, Z:1.03 [[ 9.99220854e-01 -3.86508178e-02 -7.98750057e-03 2.59822908e+02] [ 3.86518644e-02 9.99252737e-01 -2.33472653e-05 4.52979938e+00] [ 7.98243420e-03 -2.85402715e-04 9.99968099e-01 1.02878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399254154 meters 0.06425282870633046 Centerline is valid? [True, True] Translation: X:259.88, Y:4.53, Z:1.03 [[ 9.98858030e-01 -4.70195829e-02 -8.47313530e-03 2.59883382e+02] [ 4.70210617e-02 9.98893898e-01 -2.47182436e-05 4.52561708e+00] [ 8.46492539e-03 -3.73725801e-04 9.99964102e-01 1.02811558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459254154 meters 0.06640063082655596 Centerline is valid? [True, True] Translation: X:259.94, Y:4.52, Z:1.03 [[ 9.98510183e-01 -5.37970259e-02 -9.12656997e-03 2.59943822e+02] [ 5.37990240e-02 9.98551783e-01 -2.66074231e-05 4.51870553e+00] [ 9.11478412e-03 -4.64432774e-04 9.99958352e-01 1.02670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519254154 meters 0.06535441768732343 Centerline is valid? [True, True] Translation: X:260.00, Y:4.52, Z:1.03 [[ 9.98277940e-01 -5.80221001e-02 -8.63659751e-03 2.60004607e+02] [ 5.80240472e-02 9.98315185e-01 -2.51632160e-05 4.52150108e+00] [ 8.62350647e-03 -4.76010458e-04 9.99962704e-01 1.02686085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579254154 meters 0.0652308429670722 Centerline is valid? [True, True] Translation: X:260.06, Y:4.53, Z:1.03 [[ 9.97928280e-01 -6.37387332e-02 -8.74770548e-03 2.60064803e+02] [ 6.37409497e-02 9.97966478e-01 -2.54709868e-05 4.52542688e+00] [ 8.73154032e-03 -5.32168837e-04 9.99961738e-01 1.02738220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639254154 meters 0.06677697279085928 Centerline is valid? [True, True] Translation: X:260.13, Y:4.52, Z:1.03 [[ 9.97742854e-01 -6.65046994e-02 -9.29096154e-03 2.60126189e+02] [ 6.65073198e-02 9.97785937e-01 -2.69793596e-05 4.52034282e+00] [ 9.27218501e-03 -5.90998487e-04 9.99956838e-01 1.02651959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699254154 meters 0.06727590330068456 Centerline is valid? [True, True] Translation: X:260.19, Y:4.52, Z:1.03 [[ 9.97548778e-01 -6.92687148e-02 -9.91362809e-03 2.60186895e+02] [ 6.92718350e-02 9.97597821e-01 -2.87036745e-05 4.52357865e+00] [ 9.89180205e-03 -6.58101894e-04 9.99950858e-01 1.02614886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759254154 meters 0.06701148809422194 Centerline is valid? [True, True] Translation: X:260.25, Y:4.53, Z:1.03 [[ 9.97520233e-01 -6.95189230e-02 -1.09774049e-02 2.60248916e+02] [ 6.95227664e-02 9.97580365e-01 -3.15568835e-05 4.52827954e+00] [ 1.09530373e-02 -7.31700924e-04 9.99939746e-01 1.02626133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819254154 meters 0.06301162348893649 Centerline is valid? [True, True] Translation: X:260.31, Y:4.54, Z:1.03 [[ 9.97621434e-01 -6.81656649e-02 -1.02428410e-02 2.60309774e+02] [ 6.81689417e-02 9.97673792e-01 -2.92925992e-05 4.54422241e+00] [ 1.02210108e-02 -6.69020708e-04 9.99947540e-01 1.02823153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879254154 meters 0.0664172619429325 Centerline is valid? [True, True] Translation: X:260.37, Y:4.54, Z:1.03 [[ 9.97774209e-01 -6.59269048e-02 -1.00135378e-02 2.60370633e+02] [ 6.59299238e-02 9.97824255e-01 -2.86783077e-05 4.53841634e+00] [ 9.99364159e-03 -6.31577309e-04 9.99949863e-01 1.02819737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939254154 meters 0.06343356571736988 Centerline is valid? [True, True] Translation: X:260.43, Y:4.55, Z:1.03 [[ 9.97994677e-01 -6.25901618e-02 -9.43903701e-03 2.60431486e+02] [ 6.25926954e-02 9.98039154e-01 -2.70455968e-05 4.55108909e+00] [ 9.42222130e-03 -5.63823407e-04 9.99955451e-01 1.02994389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999254154 meters 0.061030708746501315 Centerline is valid? [True, True] Translation: X:260.49, Y:4.56, Z:1.03 [[ 9.98274970e-01 -5.80821619e-02 -8.57596677e-03 2.60492006e+02] [ 5.80840876e-02 9.98311694e-01 -2.45557003e-05 4.56101922e+00] [ 8.56291416e-03 -4.73613864e-04 9.99963225e-01 1.03116262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters 0.06325827823615665 Centerline is valid? [True, True] Translation: X:260.55, Y:4.56, Z:1.03 [[ 9.98755522e-01 -4.93059868e-02 -7.50509646e-03 2.60552263e+02] [ 4.93072144e-02 9.98783659e-01 -2.14829411e-05 4.56453374e+00] [ 7.49702694e-03 -3.48599195e-04 9.99971836e-01 1.03153043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters 0.06071234756818672 Centerline is valid? [True, True] Translation: X:260.61, Y:4.58, Z:1.03 [[ 9.99236097e-01 -3.84009969e-02 -7.25167753e-03 2.60612342e+02] [ 3.84018563e-02 9.99262376e-01 -2.07521161e-05 4.57615605e+00] [ 7.24712543e-03 -2.57741615e-04 9.99973706e-01 1.03182204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters 0.05952640034429645 Centerline is valid? [True, True] Translation: X:260.67, Y:4.58, Z:1.03 [[ 9.99529988e-01 -2.97561881e-02 -7.37375862e-03 2.60672506e+02] [ 2.97568416e-02 9.99557167e-01 -2.10976686e-05 4.58465532e+00] [ 7.37112106e-03 -1.98332015e-04 9.99972813e-01 1.03107790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters 0.057832613703176994 Centerline is valid? [True, True] Translation: X:260.73, Y:4.60, Z:1.03 [[ 9.99831471e-01 -1.59882469e-02 -9.02245542e-03 2.60732653e+02] [ 1.59886650e-02 9.99872173e-01 -2.57886304e-05 4.60467879e+00] [ 9.02171442e-03 -1.18472733e-04 9.99959296e-01 1.03085930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters 0.057319497621122234 Centerline is valid? [True, True] Translation: X:260.79, Y:4.61, Z:1.03 [[ 9.99931842e-01 -7.82528763e-03 -8.66469776e-03 2.60793096e+02] [ 7.82536715e-03 9.99969381e-01 -2.47259522e-05 4.61066491e+00] [ 8.66462594e-03 -4.30801743e-05 9.99962460e-01 1.03013614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters 0.05745039219243709 Centerline is valid? [True, True] Translation: X:260.85, Y:4.62, Z:1.03 [[ 9.99962226e-01 1.55766096e-03 -8.55102797e-03 2.60851564e+02] [-1.55793068e-03 9.99998786e-01 -2.48809014e-05 4.61859345e+00] [ 8.55097884e-03 3.82018703e-05 9.99963439e-01 1.03028420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters 0.05696897939115084 Centerline is valid? [True, True] Translation: X:260.91, Y:4.62, Z:1.03 [[ 9.99958278e-01 4.93080982e-03 -7.68954682e-03 2.60910774e+02] [-4.93113405e-03 9.99987842e-01 -2.32066684e-05 4.62177576e+00] [ 7.68933890e-03 6.11238864e-05 9.99970435e-01 1.03035457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters 0.057567214032941225 Centerline is valid? [True, True] Translation: X:260.97, Y:4.62, Z:1.03 [[ 9.99965578e-01 4.91781406e-03 -6.68267642e-03 2.60970007e+02] [-4.91806200e-03 9.99987906e-01 -2.06683333e-05 4.62110501e+00] [ 6.68249395e-03 5.35334388e-05 9.99977670e-01 1.02993698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters 0.057393960164857274 Centerline is valid? [True, True] Translation: X:261.03, Y:4.62, Z:1.03 [[ 9.99974155e-01 1.43441315e-03 -7.04500802e-03 2.61028050e+02] [-1.43460418e-03 9.99998971e-01 -2.20614964e-05 4.61950783e+00] [ 7.04496913e-03 3.21677241e-05 9.99975183e-01 1.02937482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters 0.057132020997238936 Centerline is valid? [True, True] Translation: X:261.09, Y:4.61, Z:1.03 [[ 9.99955104e-01 -7.09871794e-03 -6.27677081e-03 2.61086427e+02] [ 7.09873303e-03 9.99974803e-01 -1.98755002e-05 4.61098136e+00] [ 6.27675375e-03 -2.46825124e-05 9.99980301e-01 1.03152382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters 0.057359238899143954 Centerline is valid? [True, True] Translation: X:261.15, Y:4.60, Z:1.03 [[ 9.99858763e-01 -1.64078002e-02 -3.63847664e-03 2.61146554e+02] [ 1.64078666e-02 9.99865382e-01 -1.15910057e-05 4.59992507e+00] [ 3.63817702e-03 -4.81102708e-05 9.99993381e-01 1.03093903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.719254154 meters 0.057234154631921344 Centerline is valid? [True, True] Translation: X:261.21, Y:4.59, Z:1.03 [[ 9.99778645e-01 -2.08584825e-02 -2.75419024e-03 2.61207259e+02] [ 2.08585374e-02 9.99782437e-01 -8.78345685e-06 4.59421130e+00] [ 2.75377424e-03 -4.86668675e-05 9.99996207e-01 1.03077275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779254154 meters 0.05716868595846558 Centerline is valid? [True, True] Translation: X:261.27, Y:4.59, Z:1.03 [[ 9.99730300e-01 -2.29772216e-02 -3.37251765e-03 2.61269049e+02] [ 2.29773161e-02 9.99735987e-01 -1.07305380e-05 4.59023222e+00] [ 3.37187381e-03 -6.67637600e-05 9.99994313e-01 1.02970751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839254154 meters 0.058213211754630075 Centerline is valid? [True, True] Translation: X:261.33, Y:4.59, Z:1.03 [[ 9.99772320e-01 -2.08413790e-02 -4.57665790e-03 2.61329529e+02] [ 2.08415314e-02 9.99782792e-01 -1.44059097e-05 4.58694457e+00] [ 4.57596405e-03 -8.09819296e-05 9.99989527e-01 1.02881237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899254154 meters 0.057701999363315715 Centerline is valid? [True, True] Translation: X:261.39, Y:4.59, Z:1.03 [[ 9.99807553e-01 -1.89753865e-02 -4.97911198e-03 2.61390765e+02] [ 1.89755448e-02 9.99819948e-01 -1.54634716e-05 4.58627631e+00] [ 4.97850890e-03 -7.90208666e-05 9.99987604e-01 1.02800038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959254154 meters 0.05711590512021237 Centerline is valid? [True, True] Translation: X:261.45, Y:4.60, Z:1.03 [[ 9.99834148e-01 -1.73396413e-02 -5.56894002e-03 2.61451783e+02] [ 1.73398145e-02 9.99849654e-01 -1.71701470e-05 4.59658769e+00] [ 5.56840048e-03 -7.93970879e-05 9.99984493e-01 1.02822567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019254154 meters 0.05760201468168969 Centerline is valid? [True, True] Translation: X:261.51, Y:4.58, Z:1.03 [[ 9.99804512e-01 -1.87714694e-02 -6.21044459e-03 2.61514000e+02] [ 1.87717135e-02 9.99823796e-01 -1.89941192e-05 4.58337448e+00] [ 6.20970683e-03 -9.75902805e-05 9.99980715e-01 1.02632742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079254154 meters 0.05735458491449912 Centerline is valid? [True, True] Translation: X:261.57, Y:4.58, Z:1.03 [[ 9.99740865e-01 -2.20939564e-02 -5.48272563e-03 2.61574804e+02] [ 2.20941974e-02 9.99755893e-01 -1.66017312e-05 4.58280254e+00] [ 5.48175405e-03 -1.04538993e-04 9.99984970e-01 1.02656341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139254154 meters 0.05957839038649123 Centerline is valid? [True, True] Translation: X:261.63, Y:4.57, Z:1.03 [[ 9.99579088e-01 -2.84383321e-02 -5.73655397e-03 2.61634043e+02] [ 2.84387010e-02 9.99595538e-01 -1.72742230e-05 4.57154027e+00] [ 5.73472500e-03 -1.45873191e-04 9.99983546e-01 1.02688148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199254154 meters 0.06112845242544153 Centerline is valid? [True, True] Translation: X:261.69, Y:4.56, Z:1.03 [[ 9.99410025e-01 -3.39088337e-02 -5.45829282e-03 2.61694828e+02] [ 3.39092492e-02 9.99424916e-01 -1.64202418e-05 4.56177308e+00] [ 5.45571064e-03 -1.68676058e-04 9.99985103e-01 1.02726863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259254154 meters 0.06160933136224069 Centerline is valid? [True, True] Translation: X:261.76, Y:4.56, Z:1.03 [[ 9.99063285e-01 -4.30905077e-02 -3.97008160e-03 2.61755310e+02] [ 4.30907999e-02 9.99071160e-01 -1.19325789e-05 4.55506684e+00] [ 3.96690821e-03 -1.59152591e-04 9.99992119e-01 1.02858910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319254154 meters 0.0603806713155144 Centerline is valid? [True, True] Translation: X:261.82, Y:4.56, Z:1.03 [[ 9.98806445e-01 -4.87370751e-02 -3.22214329e-03 2.61816291e+02] [ 4.87372970e-02 9.98811632e-01 -9.68368559e-06 4.55635428e+00] [ 3.21878616e-03 -1.47366427e-04 9.99994809e-01 1.02953197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379254154 meters 0.059922170448789155 Centerline is valid? [True, True] Translation: X:261.88, Y:4.55, Z:1.03 [[ 9.98513510e-01 -5.43857192e-02 -3.60060410e-03 2.61877212e+02] [ 5.43860329e-02 9.98519984e-01 -1.08145464e-05 4.55314933e+00] [ 3.59586330e-03 -1.85024102e-04 9.99993518e-01 1.02916607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439254154 meters 0.06372791380240889 Centerline is valid? [True, True] Translation: X:261.94, Y:4.54, Z:1.03 [[ 9.98431323e-01 -5.58751810e-02 -3.58564267e-03 2.61938205e+02] [ 5.58755016e-02 9.98437744e-01 -1.07743575e-05 4.54155932e+00] [ 3.58064299e-03 -1.89592126e-04 9.99993571e-01 1.02935510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499254154 meters 0.06424368104123537 Centerline is valid? [True, True] Translation: X:262.00, Y:4.54, Z:1.03 [[ 9.98401525e-01 -5.63196611e-02 -4.74241597e-03 2.62000478e+02] [ 5.63202273e-02 9.98412756e-01 -1.41883508e-05 4.53983361e+00] [ 4.73568768e-03 -2.52928274e-04 9.99988755e-01 1.02887211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters 0.060661588958258794 Centerline is valid? [True, True] Translation: X:262.06, Y:4.55, Z:1.03 [[ 9.98456111e-01 -5.52948334e-02 -5.27983741e-03 2.62062225e+02] [ 5.52955217e-02 9.98470032e-01 -1.56375424e-05 4.55186781e+00] [ 5.27262411e-03 -2.76337964e-04 9.99986061e-01 1.02775019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters 0.05914679027050378 Centerline is valid? [True, True] Translation: X:262.12, Y:4.56, Z:1.03 [[ 9.98657695e-01 -5.14774682e-02 -5.73394419e-03 2.62123326e+02] [ 5.14782178e-02 9.98674117e-01 -1.68751327e-05 4.55638555e+00] [ 5.72721034e-03 -2.78320747e-04 9.99983561e-01 1.02753339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters 0.059598065195352004 Centerline is valid? [True, True] Translation: X:262.18, Y:4.56, Z:1.03 [[ 9.98979874e-01 -4.48556162e-02 -5.21388485e-03 2.62182926e+02] [ 4.48561461e-02 9.98993456e-01 -1.53220412e-05 4.55888216e+00] [ 5.20932413e-03 -2.18568370e-04 9.99986407e-01 1.02822453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters 0.060086689138996056 Centerline is valid? [True, True] Translation: X:262.24, Y:4.56, Z:1.03 [[ 9.99219342e-01 -3.91655650e-02 -5.17342553e-03 2.62243702e+02] [ 3.91660105e-02 9.99232717e-01 -1.52088539e-05 4.56000801e+00] [ 5.17005171e-03 -1.87425458e-04 9.99986618e-01 1.02815034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters 0.05791944936117031 Centerline is valid? [True, True] Translation: X:262.30, Y:4.57, Z:1.03 [[ 9.99457193e-01 -3.25181603e-02 -5.28094275e-03 2.62303985e+02] [ 3.25185318e-02 9.99471133e-01 -1.55236771e-05 4.57247889e+00] [ 5.27865463e-03 -1.56213254e-04 9.99986056e-01 1.02851772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters 0.05718417266896247 Centerline is valid? [True, True] Translation: X:262.36, Y:4.58, Z:1.03 [[ 9.99634681e-01 -2.66190987e-02 -4.68272120e-03 2.62364742e+02] [ 2.66193262e-02 9.99645643e-01 -1.37465196e-05 4.57760615e+00] [ 4.68142777e-03 -1.10909385e-04 9.99989036e-01 1.02942110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters 0.0575044264166038 Centerline is valid? [True, True] Translation: X:262.43, Y:4.58, Z:1.03 [[ 9.99800423e-01 -1.96723956e-02 -3.48022670e-03 2.62425776e+02] [ 1.96724793e-02 9.99806478e-01 -1.02002009e-05 4.58124375e+00] [ 3.47975386e-03 -5.82665225e-05 9.99993944e-01 1.02934360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters 0.05712063362374903 Centerline is valid? [True, True] Translation: X:262.49, Y:4.58, Z:1.03 [[ 9.99848821e-01 -1.68791566e-02 -4.17486960e-03 2.62487488e+02] [ 1.68792528e-02 9.99857535e-01 -1.21975716e-05 4.58374944e+00] [ 4.17448071e-03 -5.82729519e-05 9.99991285e-01 1.02888504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters 0.057482486061997934 Centerline is valid? [True, True] Translation: X:262.55, Y:4.59, Z:1.03 [[ 9.99854050e-01 -1.63487773e-02 -4.95946105e-03 2.62549767e+02] [ 1.63489072e-02 9.99866348e-01 -1.43562318e-05 4.58500630e+00] [ 4.95903291e-03 -6.67276321e-05 9.99987702e-01 1.02737890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters 0.057703863733165335 Centerline is valid? [True, True] Translation: X:262.61, Y:4.59, Z:1.03 [[ 9.99815000e-01 -1.85780143e-02 -4.98232450e-03 2.62611697e+02] [ 1.85781739e-02 9.99827411e-01 -1.42411567e-05 4.58633712e+00] [ 4.98172918e-03 -7.83239692e-05 9.99987588e-01 1.02739808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters 0.057267008642285476 Centerline is valid? [True, True] Translation: X:262.67, Y:4.58, Z:1.03 [[ 9.99713313e-01 -2.35653612e-02 -4.23855108e-03 2.62671532e+02] [ 2.35655225e-02 9.99722294e-01 -1.18991882e-05 4.58293851e+00] [ 4.23765442e-03 -8.79878939e-05 9.99991017e-01 1.02799897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.219254154 meters 0.05760517558914033 Centerline is valid? [True, True] Translation: X:262.73, Y:4.58, Z:1.03 [[ 9.99610802e-01 -2.77210908e-02 -3.12814692e-03 2.62731678e+02] [ 2.77211993e-02 9.99615694e-01 -8.70379416e-06 4.57999186e+00] [ 3.12718603e-03 -7.80155773e-05 9.99995107e-01 1.02913741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279254154 meters 0.057780800805443 Centerline is valid? [True, True] Translation: X:262.79, Y:4.57, Z:1.03 [[ 9.99428094e-01 -3.37265662e-02 -2.45004224e-03 2.62793138e+02] [ 3.37266508e-02 9.99431095e-01 -6.78168161e-06 4.57383706e+00] [ 2.44887712e-03 -7.58539161e-05 9.99996999e-01 1.02949946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339254154 meters 0.05865660996894637 Centerline is valid? [True, True] Translation: X:262.85, Y:4.57, Z:1.03 [[ 9.99245607e-01 -3.87216111e-02 -2.97568002e-03 2.62854119e+02] [ 3.87217583e-02 9.99250031e-01 -8.14692556e-06 4.56827189e+00] [ 2.97376382e-03 -1.07082783e-04 9.99995573e-01 1.02785127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399254154 meters 0.05848607752190299 Centerline is valid? [True, True] Translation: X:262.91, Y:4.57, Z:1.03 [[ 9.99176264e-01 -4.04839328e-02 -2.80092456e-03 2.62914883e+02] [ 4.04840702e-02 9.99180184e-01 -7.66772180e-06 4.56958181e+00] [ 2.79893873e-03 -1.05731421e-04 9.99996077e-01 1.02746656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459254154 meters 0.059794452510665175 Centerline is valid? [True, True] Translation: X:262.98, Y:4.57, Z:1.03 [[ 9.99235857e-01 -3.90422330e-02 -1.84570960e-03 2.62975412e+02] [ 3.90422902e-02 9.99237559e-01 -5.02952908e-06 4.56501956e+00] [ 1.84449872e-03 -6.70350440e-05 9.99998297e-01 1.02811843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519254154 meters 0.05780921575103739 Centerline is valid? [True, True] Translation: X:263.04, Y:4.57, Z:1.03 [[ 9.99353670e-01 -3.59293466e-02 -1.15055654e-03 2.63035952e+02] [ 3.59293668e-02 9.99354332e-01 -3.12610566e-06 4.57004911e+00] [ 1.14992598e-03 -3.82146828e-05 9.99999338e-01 1.02821619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579254154 meters 0.05836506888563937 Centerline is valid? [True, True] Translation: X:263.10, Y:4.57, Z:1.03 [[ 9.99523848e-01 -3.08358998e-02 -1.10672657e-03 2.63096404e+02] [ 3.08359154e-02 9.99524460e-01 -3.01411610e-06 4.57471688e+00] [ 1.10629322e-03 -3.11142460e-05 9.99999388e-01 1.02830463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639254154 meters 0.05988662504246529 Centerline is valid? [True, True] Translation: X:263.16, Y:4.57, Z:1.03 [[ 9.99605905e-01 -2.79935251e-02 -2.09683934e-03 2.63157118e+02] [ 2.79935748e-02 9.99608103e-01 -5.67203383e-06 4.57097623e+00] [ 2.09617637e-03 -5.30282302e-05 9.99997802e-01 1.02840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699254154 meters 0.057659282604764155 Centerline is valid? [True, True] Translation: X:263.22, Y:4.58, Z:1.03 [[ 9.99638516e-01 -2.65926472e-02 -3.95824059e-03 2.63219629e+02] [ 2.65928134e-02 9.99646349e-01 -1.06503232e-05 4.57997598e+00] [ 3.95712397e-03 -9.46142800e-05 9.99992166e-01 1.02594932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759254154 meters 0.057752367560472466 Centerline is valid? [True, True] Translation: X:263.28, Y:4.58, Z:1.02 [[ 9.99608936e-01 -2.71427870e-02 -6.72644180e-03 2.63281865e+02] [ 2.71432817e-02 9.99631553e-01 -1.77627850e-05 4.58003176e+00] [ 6.72444560e-03 -1.64821866e-04 9.99977377e-01 1.02337600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819254154 meters 0.058247672148476225 Centerline is valid? [True, True] Translation: X:263.34, Y:4.58, Z:1.02 [[ 9.99624764e-01 -2.64783314e-02 -7.01634203e-03 2.63344051e+02] [ 2.64788547e-02 9.99649373e-01 -1.83102820e-05 4.58211288e+00] [ 7.01436674e-03 -1.67481290e-04 9.99975385e-01 1.02360151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879254154 meters 0.056772412614746005 Centerline is valid? [True, True] Translation: X:263.40, Y:4.59, Z:1.03 [[ 9.99741584e-01 -2.21145934e-02 -5.26409451e-03 2.63404801e+02] [ 2.21148280e-02 9.99755437e-01 -1.36368669e-05 4.59254005e+00] [ 5.26310868e-03 -1.02781202e-04 9.99986144e-01 1.02629460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939254154 meters 0.0566715033820413 Centerline is valid? [True, True] Translation: X:263.47, Y:4.60, Z:1.03 [[ 9.99854378e-01 -1.66448368e-02 -3.76447222e-03 2.63466008e+02] [ 1.66449181e-02 9.99861464e-01 -9.73252706e-06 4.59855017e+00] [ 3.76411270e-03 -5.29282220e-05 9.99992914e-01 1.02731236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999254154 meters 0.05672346536853886 Centerline is valid? [True, True] Translation: X:263.53, Y:4.60, Z:1.03 [[ 9.99967553e-01 -7.03428985e-03 -3.92587597e-03 2.63525831e+02] [ 7.03430448e-03 9.99975259e-01 -1.00812933e-05 4.60264631e+00] [ 3.92584975e-03 -1.75348407e-05 9.99992294e-01 1.02809409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters 0.05632077467099905 Centerline is valid? [True, True] Translation: X:263.59, Y:4.61, Z:1.03 [[ 9.99987612e-01 -2.52763581e-03 -4.28805153e-03 2.63586787e+02] [ 2.52761199e-03 9.99996806e-01 -1.09724975e-05 4.60698877e+00] [ 4.28806556e-03 1.33831145e-07 9.99990806e-01 1.02799315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters 0.0562719860204373 Centerline is valid? [True, True] Translation: X:263.65, Y:4.61, Z:1.03 [[ 9.99989395e-01 -3.91858298e-04 -4.58867000e-03 2.63645096e+02] [ 3.91808409e-04 9.99999923e-01 -1.17712217e-05 4.60873131e+00] [ 4.58867426e-03 9.97321735e-06 9.99989472e-01 1.02768521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters 0.056207656303068815 Centerline is valid? [True, True] Translation: X:263.70, Y:4.61, Z:1.03 [[ 9.99982874e-01 -4.92263389e-04 -5.83177209e-03 2.63703890e+02] [ 4.92181358e-04 9.99999879e-01 -1.55013204e-05 4.60555862e+00] [ 5.83177901e-03 1.26307655e-05 9.99982995e-01 1.02727673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters 0.056243127189609506 Centerline is valid? [True, True] Translation: X:263.76, Y:4.60, Z:1.03 [[ 9.99977588e-01 1.64586787e-05 -6.69499752e-03 2.63762508e+02] [-1.65808453e-05 1.00000000e+00 -1.81919982e-05 4.60245272e+00] [ 6.69499722e-03 1.83025992e-05 9.99977588e-01 1.02695129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters 0.056883760155697675 Centerline is valid? [True, True] Translation: X:263.82, Y:4.60, Z:1.03 [[ 9.99982055e-01 1.19281116e-03 -5.87081454e-03 2.63820393e+02] [-1.19292871e-03 9.99999288e-01 -1.65218950e-05 4.60098388e+00] [ 5.87079066e-03 2.35250618e-05 9.99982766e-01 1.02727054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters 0.05654845690259991 Centerline is valid? [True, True] Translation: X:263.88, Y:4.60, Z:1.03 [[ 9.99974729e-01 4.42401228e-03 -5.56498366e-03 2.63878149e+02] [-4.42417092e-03 9.99990213e-01 -1.61981848e-05 4.59759312e+00] [ 5.56485754e-03 4.08182144e-05 9.99984515e-01 1.02789115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters 0.05695550835645321 Centerline is valid? [True, True] Translation: X:263.94, Y:4.59, Z:1.03 [[ 9.99963056e-01 6.33120755e-03 -5.81401099e-03 2.63936312e+02] [-6.33141438e-03 9.99979956e-01 -1.71689970e-05 4.59479998e+00] [ 5.81378576e-03 5.39792755e-05 9.99983098e-01 1.02805304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters 0.05690099551866874 Centerline is valid? [True, True] Translation: X:263.99, Y:4.59, Z:1.03 [[ 9.99982367e-01 4.45345391e-03 -3.92851349e-03 2.63994858e+02] [-4.45353426e-03 9.99990083e-01 -1.17053691e-05 4.58690298e+00] [ 3.92842240e-03 2.92009321e-05 9.99992283e-01 1.02879124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters 0.05688637463624207 Centerline is valid? [True, True] Translation: X:264.05, Y:4.58, Z:1.03 [[ 9.99983971e-01 -2.91946297e-03 -4.85120012e-03 2.64054011e+02] [ 2.91942599e-03 9.99995738e-01 -1.47039402e-05 4.57669584e+00] [ 4.85122237e-03 5.40984786e-07 9.99988233e-01 1.02872458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters 0.05703736980027969 Centerline is valid? [True, True] Translation: X:264.11, Y:4.57, Z:1.03 [[ 9.99918768e-01 -1.17180289e-02 -5.01449895e-03 2.64113226e+02] [ 1.17180996e-02 9.99931341e-01 -1.52846571e-05 4.56714212e+00] [ 5.01433376e-03 -4.34769826e-05 9.99987427e-01 1.02836086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters 0.05824763962791475 Centerline is valid? [True, True] Translation: X:264.17, Y:4.55, Z:1.03 [[ 9.99657186e-01 -2.55419041e-02 -5.75508444e-03 2.64172890e+02] [ 2.55422257e-02 9.99673744e-01 -1.76275265e-05 4.54762322e+00] [ 5.75365705e-03 -1.29376182e-04 9.99983439e-01 1.02804847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.719254154 meters 0.05880877231494824 Centerline is valid? [True, True] Translation: X:264.23, Y:4.54, Z:1.03 [[ 9.99536584e-01 -2.98008549e-02 -6.20687888e-03 2.64233609e+02] [ 2.98013109e-02 9.99555842e-01 -1.90284357e-05 4.54338062e+00] [ 6.20468911e-03 -1.65953510e-04 9.99980737e-01 1.02801706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779254154 meters 0.060812126050447474 Centerline is valid? [True, True] Translation: X:264.29, Y:4.53, Z:1.03 [[ 9.99165998e-01 -4.02810109e-02 -6.68951422e-03 2.64294250e+02] [ 4.02817753e-02 9.99188360e-01 -2.04900992e-05 4.53080537e+00] [ 6.68491010e-03 -2.48992498e-04 9.99977625e-01 1.02796373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839254154 meters 0.06097387250918871 Centerline is valid? [True, True] Translation: X:264.36, Y:4.53, Z:1.03 [[ 9.98959594e-01 -4.52412836e-02 -5.74066989e-03 2.64355013e+02] [ 4.52419284e-02 9.98976060e-01 -1.75623060e-05 4.52510419e+00] [ 5.73558633e-03 -2.42174942e-04 9.99983522e-01 1.02910579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899254154 meters 0.0593154699344055 Centerline is valid? [True, True] Translation: X:264.42, Y:4.53, Z:1.03 [[ 9.98801919e-01 -4.87521302e-02 -4.23751833e-03 2.64416485e+02] [ 4.87525132e-02 9.98810889e-01 -1.29430941e-05 4.52918894e+00] [ 4.23311045e-03 -1.93662081e-04 9.99991022e-01 1.03094378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959254154 meters 0.061874146005031425 Centerline is valid? [True, True] Translation: X:264.48, Y:4.52, Z:1.03 [[ 9.98791821e-01 -4.89403036e-02 -4.44348078e-03 2.64477374e+02] [ 4.89407268e-02 9.98801685e-01 -1.35135110e-05 4.52282808e+00] [ 4.43881744e-03 -2.03969995e-04 9.99990128e-01 1.03150957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019254154 meters 0.06118369430933717 Centerline is valid? [True, True] Translation: X:264.54, Y:4.52, Z:1.03 [[ 9.98801159e-01 -4.86094720e-02 -5.77618269e-03 2.64539124e+02] [ 4.86101826e-02 9.98817826e-01 -1.73925251e-05 4.52344214e+00] [ 5.77019968e-03 -2.63409621e-04 9.99983318e-01 1.03051491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079254154 meters 0.06367309809070656 Centerline is valid? [True, True] Translation: X:264.60, Y:4.52, Z:1.03 [[ 9.98820580e-01 -4.78730469e-02 -8.10063555e-03 2.64601368e+02] [ 4.78744227e-02 9.98853362e-01 -2.41020966e-05 4.51831870e+00] [ 8.09250090e-03 -3.63739581e-04 9.99967189e-01 1.02846411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139254154 meters 0.06047135762233231 Centerline is valid? [True, True] Translation: X:264.66, Y:4.53, Z:1.03 [[ 9.98850161e-01 -4.72146709e-02 -8.31445646e-03 2.64663897e+02] [ 4.72160999e-02 9.98884698e-01 -2.44557228e-05 4.52937980e+00] [ 8.30633800e-03 -3.68148604e-04 9.99965434e-01 1.02886022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199254154 meters 0.06103180312113097 Centerline is valid? [True, True] Translation: X:264.72, Y:4.53, Z:1.03 [[ 9.98967596e-01 -4.47819709e-02 -7.63658451e-03 2.64724165e+02] [ 4.47831067e-02 9.98996733e-01 -2.22869833e-05 4.53257611e+00] [ 7.62992103e-03 -3.19726004e-04 9.99970841e-01 1.02952814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259254154 meters 0.061264751888839994 Centerline is valid? [True, True] Translation: X:264.78, Y:4.53, Z:1.03 [[ 9.99117775e-01 -4.13209898e-02 -7.49981878e-03 2.64784173e+02] [ 4.13219883e-02 9.99145882e-01 -2.18370434e-05 4.53257128e+00] [ 7.49431538e-03 -2.88089646e-04 9.99971876e-01 1.02980157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319254154 meters 0.05897889987620819 Centerline is valid? [True, True] Translation: X:264.84, Y:4.55, Z:1.03 [[ 9.99341599e-01 -3.56516912e-02 -6.73240479e-03 2.64844569e+02] [ 3.56523673e-02 9.99364252e-01 -1.95965967e-05 4.54710434e+00] [ 6.72882333e-03 -2.20442474e-04 9.99977337e-01 1.03234239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379254154 meters 0.059399657329289084 Centerline is valid? [True, True] Translation: X:264.90, Y:4.55, Z:1.03 [[ 9.99467473e-01 -3.20185118e-02 -6.29176291e-03 2.64904997e+02] [ 3.20190304e-02 9.99487259e-01 -1.83188537e-05 4.54850024e+00] [ 6.28912340e-03 -1.83147049e-04 9.99980206e-01 1.03260786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439254154 meters 0.05818472630304917 Centerline is valid? [True, True] Translation: X:264.97, Y:4.56, Z:1.03 [[ 9.99615449e-01 -2.71870855e-02 -5.46037305e-03 2.64965959e+02] [ 2.71874038e-02 9.99630354e-01 -1.59352291e-05 4.55510595e+00] [ 5.45878788e-03 -1.32524266e-04 9.99985092e-01 1.03268334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499254154 meters 0.058717253932108186 Centerline is valid? [True, True] Translation: X:265.03, Y:4.56, Z:1.03 [[ 9.99776870e-01 -2.05205150e-02 -5.01183327e-03 2.65026879e+02] [ 2.05206989e-02 9.99789428e-01 -1.47278725e-05 4.56172809e+00] [ 5.01108014e-03 -8.81217353e-05 9.99987441e-01 1.03276663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters 0.057153986864447975 Centerline is valid? [True, True] Translation: X:265.09, Y:4.57, Z:1.03 [[ 9.99914899e-01 -1.22691229e-02 -4.43426959e-03 2.65087790e+02] [ 1.22691855e-02 9.99924731e-01 -1.30971570e-05 4.57366198e+00] [ 4.43409651e-03 -4.13088335e-05 9.99990168e-01 1.03394018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters 0.05758109647774288 Centerline is valid? [True, True] Translation: X:265.15, Y:4.58, Z:1.03 [[ 9.99970140e-01 -6.28286279e-03 -4.49945468e-03 2.65148074e+02] [ 6.28286666e-03 9.99980263e-01 -1.32767085e-05 4.57731291e+00] [ 4.49944929e-03 -1.49931617e-05 9.99989877e-01 1.03448608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters 0.056916651096396965 Centerline is valid? [True, True] Translation: X:265.21, Y:4.58, Z:1.03 [[ 9.99987813e-01 -2.14143209e-03 -4.44838501e-03 2.65208859e+02] [ 2.14139503e-03 9.99997707e-01 -1.30942604e-05 4.58030087e+00] [ 4.44840285e-03 3.56835127e-06 9.99990106e-01 1.03488248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters 0.057182737874854485 Centerline is valid? [True, True] Translation: X:265.27, Y:4.58, Z:1.03 [[ 9.99985389e-01 -5.52852473e-04 -5.37739015e-03 2.65267887e+02] [ 5.52774541e-04 9.99999847e-01 -1.59788349e-05 4.57944415e+00] [ 5.37739816e-03 1.30061171e-05 9.99985542e-01 1.03454241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters 0.057864651499865444 Centerline is valid? [True, True] Translation: X:265.33, Y:4.57, Z:1.03 [[ 9.99967162e-01 -5.18448178e-03 -6.22862323e-03 2.65327074e+02] [ 5.18446370e-03 9.99986560e-01 -1.90492329e-05 4.57441066e+00] [ 6.22863828e-03 -1.32434637e-05 9.99980602e-01 1.03403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters 0.05740164343104389 Centerline is valid? [True, True] Translation: X:265.39, Y:4.57, Z:1.03 [[ 9.99923339e-01 -1.05710959e-02 -6.44735585e-03 2.65386498e+02] [ 1.05711876e-02 9.99944123e-01 -1.98657929e-05 4.57061021e+00] [ 6.44720560e-03 -4.82919381e-05 9.99979215e-01 1.03461987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters 0.05783404829791823 Centerline is valid? [True, True] Translation: X:265.45, Y:4.55, Z:1.03 [[ 9.99773238e-01 -2.02033125e-02 -6.73036460e-03 2.65446800e+02] [ 2.02036303e-02 9.99795886e-01 -2.07769946e-05 4.55488793e+00] [ 6.72941060e-03 -1.15205515e-04 9.99977351e-01 1.03357488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters 0.05829887119976906 Centerline is valid? [True, True] Translation: X:265.51, Y:4.55, Z:1.03 [[ 9.99620396e-01 -2.67166344e-02 -6.72941367e-03 2.65507640e+02] [ 2.67170998e-02 9.99643034e-01 -2.07439701e-05 4.55217715e+00] [ 6.72756571e-03 -1.59054321e-04 9.99977357e-01 1.03425981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters 0.05751567490597838 Centerline is valid? [True, True] Translation: X:265.57, Y:4.55, Z:1.03 [[ 9.99388563e-01 -3.43548983e-02 -6.49928452e-03 2.65568349e+02] [ 3.43554939e-02 9.99409676e-01 -2.00157919e-05 4.54536592e+00] [ 6.49613548e-03 -2.03282576e-04 9.99978879e-01 1.03421801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters 0.05904058513738746 Centerline is valid? [True, True] Translation: X:265.63, Y:4.53, Z:1.03 [[ 9.99220573e-01 -3.89330252e-02 -6.51652921e-03 2.65628241e+02] [ 3.89337214e-02 9.99241795e-01 -2.00433463e-05 4.53497609e+00] [ 6.51236870e-03 -2.33685009e-04 9.99978767e-01 1.03422586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters 0.05992079710167196 Centerline is valid? [True, True] Translation: X:265.69, Y:4.53, Z:1.03 [[ 9.99120057e-01 -4.14214177e-02 -6.58616595e-03 2.65687850e+02] [ 4.14221828e-02 9.99141733e-01 -2.02487721e-05 4.52894690e+00] [ 6.58135199e-03 -2.52582416e-04 9.99978311e-01 1.03400706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.219254154 meters 0.05690729589031643 Centerline is valid? [True, True] Translation: X:265.75, Y:4.54, Z:1.04 [[ 9.98939353e-01 -4.55381197e-02 -6.81535457e-03 2.65748298e+02] [ 4.55390348e-02 9.98962560e-01 -2.09421640e-05 4.54021825e+00] [ 6.80923772e-03 -2.89444717e-04 9.99976775e-01 1.03503065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279254154 meters 0.060902636484479564 Centerline is valid? [True, True] Translation: X:265.81, Y:4.52, Z:1.03 [[ 9.98846729e-01 -4.73300927e-02 -8.06691313e-03 2.65808281e+02] [ 4.73314331e-02 9.98879239e-01 -2.47696778e-05 4.52302323e+00] [ 8.05904440e-03 -3.57077448e-04 9.99967462e-01 1.03369279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339254154 meters 0.05729959329503015 Centerline is valid? [True, True] Translation: X:265.87, Y:4.54, Z:1.04 [[ 9.98674358e-01 -5.08561958e-02 -7.94817198e-03 2.65868355e+02] [ 5.08576085e-02 9.98705914e-01 -2.43993074e-05 4.54287212e+00] [ 7.93912722e-03 -3.79858056e-04 9.99968412e-01 1.03521613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399254154 meters 0.05651397024295109 Centerline is valid? [True, True] Translation: X:265.93, Y:4.55, Z:1.04 [[ 9.98600198e-01 -5.22159245e-02 -8.43460369e-03 2.65929050e+02] [ 5.22175642e-02 9.98635732e-01 -2.58473680e-05 4.54541496e+00] [ 8.42444628e-03 -4.14623273e-04 9.99964428e-01 1.03531523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459254154 meters 0.05731790838616276 Centerline is valid? [True, True] Translation: X:265.99, Y:4.54, Z:1.03 [[ 9.98573989e-01 -5.24641980e-02 -9.87405887e-03 2.65989801e+02] [ 5.24664613e-02 9.98622686e-01 -2.98628863e-05 4.53881251e+00] [ 9.86202593e-03 -4.88236626e-04 9.99951250e-01 1.03450861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519254154 meters 0.05884568533893532 Centerline is valid? [True, True] Translation: X:266.05, Y:4.54, Z:1.03 [[ 9.98670861e-01 -5.04943003e-02 -1.03362035e-02 2.66050064e+02] [ 5.04966776e-02 9.98724229e-01 -3.10131957e-05 4.53784154e+00] [ 1.03245829e-02 -4.90971963e-04 9.99946580e-01 1.03460885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579254154 meters 0.0583776845598025 Centerline is valid? [True, True] Translation: X:266.11, Y:4.54, Z:1.04 [[ 9.98998581e-01 -4.36513787e-02 -9.81793555e-03 2.66110086e+02] [ 4.36531937e-02 9.99046745e-01 -2.94642241e-05 4.54171693e+00] [ 9.80986271e-03 -3.99149524e-04 9.99951802e-01 1.03546201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639254154 meters 0.058111561523501484 Centerline is valid? [True, True] Translation: X:266.17, Y:4.55, Z:1.04 [[ 9.99276772e-01 -3.69772034e-02 -8.86679995e-03 2.66170783e+02] [ 3.69784212e-02 9.99316064e-01 -2.66117194e-05 4.54692389e+00] [ 8.86171965e-03 -3.01287790e-04 9.99960689e-01 1.03606844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699254154 meters 0.0577898663196216 Centerline is valid? [True, True] Translation: X:266.23, Y:4.55, Z:1.04 [[ 9.99551836e-01 -2.89912106e-02 -7.45898883e-03 2.66230375e+02] [ 2.89918500e-02 9.99579648e-01 -2.24104162e-05 4.54911020e+00] [ 7.45650313e-03 -1.93849513e-04 9.99972181e-01 1.03599570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759254154 meters 0.056709229887060175 Centerline is valid? [True, True] Translation: X:266.29, Y:4.56, Z:1.04 [[ 9.99748197e-01 -2.16452063e-02 -5.91833415e-03 2.66290721e+02] [ 2.16454801e-02 9.99765709e-01 -1.77888473e-05 4.56034996e+00] [ 5.91733259e-03 -1.10320816e-04 9.99982486e-01 1.03706111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819254154 meters 0.057154481568436714 Centerline is valid? [True, True] Translation: X:266.35, Y:4.57, Z:1.04 [[ 9.99910946e-01 -1.17992478e-02 -6.23513315e-03 2.66351494e+02] [ 1.17993604e-02 9.99930385e-01 -1.87182693e-05 4.56563679e+00] [ 6.23491995e-03 -5.48539809e-05 9.99980561e-01 1.03600861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879254154 meters 0.05719035795465023 Centerline is valid? [True, True] Translation: X:266.41, Y:4.57, Z:1.04 [[ 9.99964310e-01 -4.15240840e-03 -7.35777814e-03 2.66410742e+02] [ 4.15235836e-03 9.99991379e-01 -2.20770763e-05 4.57168372e+00] [ 7.35780638e-03 -8.47584320e-06 9.99972931e-01 1.03582969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939254154 meters 0.05731028091602761 Centerline is valid? [True, True] Translation: X:266.47, Y:4.58, Z:1.04 [[ 9.99980013e-01 -7.63102612e-04 -6.27619536e-03 2.66469112e+02] [ 7.62998548e-04 9.99999709e-01 -1.89751937e-05 4.57512183e+00] [ 6.27620801e-03 1.41860865e-05 9.99980304e-01 1.03608930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999254154 meters 0.057689041427764785 Centerline is valid? [True, True] Translation: X:266.53, Y:4.58, Z:1.04 [[ 9.99988110e-01 1.48888665e-03 -4.64360290e-03 2.66527411e+02] [-1.48896908e-03 9.99998891e-01 -1.42948734e-05 4.57535158e+00] [ 4.64357647e-03 2.12088846e-05 9.99989218e-01 1.03674781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters 0.05749618885856272 Centerline is valid? [True, True] Translation: X:266.59, Y:4.57, Z:1.04 [[ 9.99991055e-01 5.13860251e-05 -4.22928004e-03 2.66585281e+02] [-5.14424547e-05 9.99999999e-01 -1.32339111e-05 4.57244701e+00] [ 4.22927935e-03 1.34513573e-05 9.99991056e-01 1.03595358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters 0.057558925286575115 Centerline is valid? [True, True] Translation: X:266.64, Y:4.57, Z:1.04 [[ 9.99985552e-01 -3.55065677e-03 -4.03580093e-03 2.66643917e+02] [ 3.55063416e-03 9.99993696e-01 -1.27672667e-05 4.56877902e+00] [ 4.03582082e-03 -1.56257041e-06 9.99991856e-01 1.03622178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters 0.05701241955493939 Centerline is valid? [True, True] Translation: X:266.70, Y:4.56, Z:1.04 [[ 9.99924808e-01 -1.18849926e-02 -3.02085452e-03 2.66704522e+02] [ 1.18850177e-02 9.99929371e-01 -9.62771005e-06 4.55972580e+00] [ 3.02075559e-03 -2.62759234e-05 9.99995437e-01 1.03686123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters 0.05792333512777808 Centerline is valid? [True, True] Translation: X:266.76, Y:4.55, Z:1.04 [[ 9.99818946e-01 -1.87991593e-02 -2.94383147e-03 2.66764556e+02] [ 1.87992131e-02 9.99823279e-01 -9.39012129e-06 4.54626451e+00] [ 2.94348776e-03 -4.59532942e-05 9.99995667e-01 1.03757434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters 0.058844973600706535 Centerline is valid? [True, True] Translation: X:266.82, Y:4.54, Z:1.04 [[ 9.99571399e-01 -2.90598114e-02 -3.54196894e-03 2.66824663e+02] [ 2.90599539e-02 9.99577670e-01 -1.12610206e-05 4.53811108e+00] [ 3.54080030e-03 -9.16732598e-05 9.99993727e-01 1.03584229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters 0.0586147274584981 Centerline is valid? [True, True] Translation: X:266.88, Y:4.53, Z:1.04 [[ 9.99406003e-01 -3.41518220e-02 -4.61464982e-03 2.66884959e+02] [ 3.41521180e-02 9.99416646e-01 -1.46651625e-05 4.53201851e+00] [ 4.61245869e-03 -1.42943614e-04 9.99989352e-01 1.03529288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters 0.05818855587726512 Centerline is valid? [True, True] Translation: X:266.95, Y:4.52, Z:1.03 [[ 9.99303993e-01 -3.70835398e-02 -4.04245372e-03 2.66945683e+02] [ 3.70837909e-02 9.99312160e-01 -1.28413913e-05 4.52484907e+00] [ 4.04014936e-03 -1.37077055e-04 9.99991829e-01 1.03443096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters 0.059387162432880065 Centerline is valid? [True, True] Translation: X:267.01, Y:4.52, Z:1.04 [[ 9.99399312e-01 -3.44712204e-02 -3.57077402e-03 2.67005403e+02] [ 3.44713998e-02 9.99405685e-01 -1.13145299e-05 4.51550308e+00] [ 3.56904188e-03 -1.11781845e-04 9.99993625e-01 1.03602457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters 0.059647086469562065 Centerline is valid? [True, True] Translation: X:267.07, Y:4.52, Z:1.04 [[ 9.99472619e-01 -3.23169347e-02 -3.17794732e-03 2.67066982e+02] [ 3.23170658e-02 9.99477667e-01 -1.00940554e-05 4.51758683e+00] [ 3.17661359e-03 -9.26132009e-05 9.99994950e-01 1.03637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters 0.05920386950603598 Centerline is valid? [True, True] Translation: X:267.13, Y:4.52, Z:1.03 [[ 9.99502820e-01 -3.13092895e-02 -3.72038148e-03 2.67129168e+02] [ 3.13094627e-02 9.99509739e-01 -1.16779489e-05 4.51503625e+00] [ 3.71892315e-03 -1.04811002e-04 9.99993079e-01 1.03486514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters 0.06039080275769374 Centerline is valid? [True, True] Translation: X:267.19, Y:4.51, Z:1.03 [[ 9.99373645e-01 -3.49754629e-02 -5.38830997e-03 2.67188864e+02] [ 3.49758806e-02 9.99388157e-01 -1.67132071e-05 4.50798479e+00] [ 5.38559772e-03 -1.71758148e-04 9.99985483e-01 1.03306813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.719254154 meters 0.058789210908721884 Centerline is valid? [True, True] Translation: X:267.25, Y:4.51, Z:1.03 [[ 9.99197000e-01 -3.95208057e-02 -6.59252557e-03 2.67249261e+02] [ 3.95215303e-02 9.99218719e-01 -2.03881244e-05 4.51008846e+00] [ 6.58818071e-03 -2.40174946e-04 9.99978269e-01 1.03315746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779254154 meters 0.05847221612428492 Centerline is valid? [True, True] Translation: X:267.31, Y:4.51, Z:1.03 [[ 9.98850012e-01 -4.74624488e-02 -6.78001253e-03 2.67309389e+02] [ 4.74633976e-02 9.98872978e-01 -2.09808441e-05 4.51210523e+00] [ 6.77336710e-03 -3.00845714e-04 9.99977015e-01 1.03361000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839254154 meters 0.056561569129658915 Centerline is valid? [True, True] Translation: X:267.37, Y:4.51, Z:1.03 [[ 9.98631726e-01 -5.18832613e-02 -6.54235223e-03 2.67370082e+02] [ 5.18842394e-02 9.98653106e-01 -2.02546775e-05 4.51344921e+00] [ 6.53459125e-03 -3.19218005e-04 9.99978598e-01 1.03426019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899254154 meters 0.05816281404472238 Centerline is valid? [True, True] Translation: X:267.43, Y:4.51, Z:1.03 [[ 9.98496783e-01 -5.44013376e-02 -6.68345563e-03 2.67429840e+02] [ 5.44024149e-02 9.98519092e-01 -2.06393516e-05 4.50860069e+00] [ 6.67468085e-03 -3.42987800e-04 9.99977665e-01 1.03462461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959254154 meters 0.057445539959267634 Centerline is valid? [True, True] Translation: X:267.49, Y:4.51, Z:1.04 [[ 9.98609044e-01 -5.25175196e-02 -4.67846578e-03 2.67490945e+02] [ 5.25180270e-02 9.98619976e-01 -1.44130172e-05 4.51055390e+00] [ 4.67276632e-03 -2.31310823e-04 9.99989056e-01 1.03613361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019254154 meters 0.06282966287514727 Centerline is valid? [True, True] Translation: X:267.55, Y:4.49, Z:1.04 [[ 9.98946914e-01 -4.56555331e-02 -4.54257753e-03 2.67550473e+02] [ 4.56559408e-02 9.98957224e-01 -1.39598222e-05 4.49455041e+00] [ 4.53847798e-03 -1.93450529e-04 9.99989682e-01 1.03741518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079254154 meters 0.05768894192211653 Centerline is valid? [True, True] Translation: X:267.61, Y:4.52, Z:1.04 [[ 9.99157092e-01 -4.08028165e-02 -4.49845259e-03 2.67610809e+02] [ 4.08031673e-02 9.99167204e-01 -1.38036824e-05 4.51765203e+00] [ 4.49526952e-03 -1.69759066e-04 9.99989882e-01 1.03830493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139254154 meters 0.05937221270135395 Centerline is valid? [True, True] Translation: X:267.67, Y:4.52, Z:1.04 [[ 9.99375034e-01 -3.49696047e-02 -5.16414682e-03 2.67670147e+02] [ 3.49699893e-02 9.99388363e-01 -1.58221242e-05 4.51721612e+00] [ 5.16154153e-03 -1.64777923e-04 9.99986666e-01 1.03799015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199254154 meters 0.05834675827230729 Centerline is valid? [True, True] Translation: X:267.73, Y:4.52, Z:1.04 [[ 9.99497406e-01 -3.11544536e-02 -5.85971394e-03 2.67731456e+02] [ 3.11548832e-02 9.99514569e-01 -1.79718113e-05 4.52343703e+00] [ 5.85742935e-03 -1.64595925e-04 9.99982832e-01 1.03745105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259254154 meters 0.05811903324473986 Centerline is valid? [True, True] Translation: X:267.79, Y:4.53, Z:1.04 [[ 9.99558188e-01 -2.89489300e-02 -6.73711378e-03 2.67792392e+02] [ 2.89494485e-02 9.99580877e-01 -2.05570871e-05 4.52869160e+00] [ 6.73488520e-03 -1.74487724e-04 9.99977305e-01 1.03798994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319254154 meters 0.058087136732756166 Centerline is valid? [True, True] Translation: X:267.85, Y:4.53, Z:1.04 [[ 9.99584256e-01 -2.79189092e-02 -7.20070304e-03 2.67853809e+02] [ 2.79194760e-02 9.99610175e-01 -2.18260432e-05 4.52554353e+00] [ 7.19850538e-03 -1.79222886e-04 9.99974074e-01 1.03751802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379254154 meters 0.05800068286018613 Centerline is valid? [True, True] Translation: X:267.92, Y:4.53, Z:1.04 [[ 9.99547364e-01 -2.90818626e-02 -7.70140648e-03 2.67915624e+02] [ 2.90825471e-02 9.99577013e-01 -2.31184629e-05 4.52772750e+00] [ 7.69882121e-03 -2.00868518e-04 9.99970343e-01 1.03762395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439254154 meters 0.05819167868690046 Centerline is valid? [True, True] Translation: X:267.98, Y:4.53, Z:1.04 [[ 9.99393811e-01 -3.40282312e-02 -7.35459878e-03 2.67975503e+02] [ 3.40289901e-02 9.99420846e-01 -2.19693545e-05 4.53046469e+00] [ 7.35108691e-03 -2.28313532e-04 9.99972954e-01 1.03856726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499254154 meters 0.05797270136204432 Centerline is valid? [True, True] Translation: X:268.04, Y:4.53, Z:1.04 [[ 9.99161463e-01 -4.04277928e-02 -6.47802247e-03 2.68035972e+02] [ 4.04285157e-02 9.99182433e-01 -1.93735832e-05 4.52838589e+00] [ 6.47350948e-03 -2.42539495e-04 9.99979017e-01 1.03990188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters 0.05758773523536319 Centerline is valid? [True, True] Translation: X:268.10, Y:4.53, Z:1.04 [[ 9.98789232e-01 -4.88258428e-02 -6.00896126e-03 2.68096509e+02] [ 4.88266164e-02 9.98807269e-01 -1.79755600e-05 4.52870363e+00] [ 6.00267186e-03 -2.75443451e-04 9.99981946e-01 1.04042761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters 0.058732439328154314 Centerline is valid? [True, True] Translation: X:268.16, Y:4.52, Z:1.04 [[ 9.98343706e-01 -5.72485911e-02 -5.69595437e-03 2.68156143e+02] [ 5.72494228e-02 9.98359907e-01 -1.70471673e-05 4.51666092e+00] [ 5.68758839e-03 -3.09071168e-04 9.99983778e-01 1.04049981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters 0.059846345599583954 Centerline is valid? [True, True] Translation: X:268.22, Y:4.51, Z:1.04 [[ 9.97612571e-01 -6.88329484e-02 -5.58414622e-03 2.68216601e+02] [ 6.88339286e-02 9.97628132e-01 -1.66917534e-05 4.51299580e+00] [ 5.57205031e-03 -3.67726819e-04 9.99984408e-01 1.04105557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters 0.06406107925438354 Centerline is valid? [True, True] Translation: X:268.28, Y:4.51, Z:1.04 [[ 9.97335755e-01 -7.26730308e-02 -6.32627939e-03 2.68275769e+02] [ 7.26743662e-02 9.97355722e-01 -1.88347687e-05 4.50554547e+00] [ 6.31091972e-03 -4.40973757e-04 9.99979989e-01 1.04125836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters 0.05742942226035239 Centerline is valid? [True, True] Translation: X:268.34, Y:4.54, Z:1.04 [[ 9.97303646e-01 -7.31480050e-02 -5.89982134e-03 2.68338154e+02] [ 7.31491758e-02 9.97321010e-01 -1.73852197e-05 4.53541847e+00] [ 5.88528748e-03 -4.14228726e-04 9.99982596e-01 1.04225742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters 0.05879557633417314 Centerline is valid? [True, True] Translation: X:268.40, Y:4.53, Z:1.04 [[ 9.97763373e-01 -6.65181976e-02 -6.60160494e-03 2.68398198e+02] [ 6.65195202e-02 9.97785124e-01 -1.92549324e-05 4.53434025e+00] [ 6.58826400e-03 -4.19923727e-04 9.99978209e-01 1.04221813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters 0.057746736121928786 Centerline is valid? [True, True] Translation: X:268.46, Y:4.55, Z:1.04 [[ 9.98366178e-01 -5.65717298e-02 -8.03834338e-03 2.68459157e+02] [ 5.65733693e-02 9.98398444e-01 -2.34512302e-05 4.54742452e+00] [ 8.02679621e-03 -4.31343254e-04 9.99967692e-01 1.04213194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters 0.05751671669847379 Centerline is valid? [True, True] Translation: X:268.52, Y:4.56, Z:1.04 [[ 9.98735450e-01 -4.95200657e-02 -8.67547932e-03 2.68519946e+02] [ 4.95217101e-02 9.98773047e-01 -2.52994862e-05 4.55536658e+00] [ 8.66608775e-03 -4.04357078e-04 9.99962367e-01 1.04274020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters 0.0579242720507389 Centerline is valid? [True, True] Translation: X:268.58, Y:4.56, Z:1.04 [[ 9.99029961e-01 -4.30851589e-02 -9.09980988e-03 2.68580302e+02] [ 4.30867018e-02 9.99071337e-01 -2.65120887e-05 4.56183391e+00] [ 9.09250150e-03 -3.65594424e-04 9.99958596e-01 1.04293321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters 0.056958484308479225 Centerline is valid? [True, True] Translation: X:268.64, Y:4.57, Z:1.04 [[ 9.99341709e-01 -3.50628030e-02 -9.31390561e-03 2.68640993e+02] [ 3.50640718e-02 9.99385066e-01 -2.70890208e-05 4.57296568e+00] [ 9.30912799e-03 -2.99512266e-04 9.99956624e-01 1.04332983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters 0.057271757421840555 Centerline is valid? [True, True] Translation: X:268.70, Y:4.58, Z:1.04 [[ 9.99569745e-01 -2.77106918e-02 -9.61468110e-03 2.68700888e+02] [ 2.77117046e-02 9.99615957e-01 -2.78982199e-05 4.57901709e+00] [ 9.61176172e-03 -2.38552986e-04 9.99953777e-01 1.04401642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.219254154 meters 0.05738214450646241 Centerline is valid? [True, True] Translation: X:268.76, Y:4.58, Z:1.04 [[ 9.99723758e-01 -2.13417439e-02 -9.84573558e-03 2.68760521e+02] [ 2.13424969e-02 9.99772223e-01 -2.85946239e-05 4.58410904e+00] [ 9.84410320e-03 -1.81545856e-04 9.99951529e-01 1.04396589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279254154 meters 0.05670308543263042 Centerline is valid? [True, True] Translation: X:268.82, Y:4.59, Z:1.04 [[ 9.99786801e-01 -1.82428521e-02 -9.67221674e-03 2.68820728e+02] [ 1.82434335e-02 9.99833574e-01 -2.81209412e-05 4.58802930e+00] [ 9.67112004e-03 -1.48339497e-04 9.99953223e-01 1.04488984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339254154 meters 0.05675433771573721 Centerline is valid? [True, True] Translation: X:268.88, Y:4.59, Z:1.05 [[ 9.99839775e-01 -1.54006780e-02 -9.12374081e-03 2.68880129e+02] [ 1.54010767e-02 9.99881396e-01 -2.65674789e-05 4.59150797e+00] [ 9.12306785e-03 -1.13952210e-04 9.99958377e-01 1.04559515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399254154 meters 0.05659055312793166 Centerline is valid? [True, True] Translation: X:268.94, Y:4.59, Z:1.05 [[ 9.99833547e-01 -1.61593918e-02 -8.47063630e-03 2.68939495e+02] [ 1.61597607e-02 9.99869422e-01 -2.48957700e-05 4.59415357e+00] [ 8.46993252e-03 -1.11991830e-04 9.99964123e-01 1.04675310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459254154 meters 0.05711770626226009 Centerline is valid? [True, True] Translation: X:269.00, Y:4.59, Z:1.05 [[ 9.99794345e-01 -1.86373961e-02 -7.99464498e-03 2.68999995e+02] [ 1.86378037e-02 9.99826301e-01 -2.35276935e-05 4.59028720e+00] [ 7.99369481e-03 -1.25479769e-04 9.99968042e-01 1.04617382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519254154 meters 0.05695374777103471 Centerline is valid? [True, True] Translation: X:269.06, Y:4.59, Z:1.05 [[ 9.99753279e-01 -2.06693241e-02 -8.13389534e-03 2.69061330e+02] [ 2.06698149e-02 9.99786356e-01 -2.37354205e-05 4.58926207e+00] [ 8.13264818e-03 -1.44396547e-04 9.99966919e-01 1.04651370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579254154 meters 0.05690783973337066 Centerline is valid? [True, True] Translation: X:269.12, Y:4.59, Z:1.05 [[ 9.99746732e-01 -2.06890543e-02 -8.85638080e-03 2.69123599e+02] [ 2.06896390e-02 9.99785946e-01 -2.56078008e-05 4.59116111e+00] [ 8.85501486e-03 -1.57634007e-04 9.99960781e-01 1.04707909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639254154 meters 0.056425461328444296 Centerline is valid? [True, True] Translation: X:269.18, Y:4.59, Z:1.05 [[ 9.99751784e-01 -2.06025608e-02 -8.47970885e-03 2.69184388e+02] [ 2.06030954e-02 9.99787733e-01 -2.43170722e-05 4.58758598e+00] [ 8.47840988e-03 -1.50397214e-04 9.99964046e-01 1.04572473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699254154 meters 0.05668253937477062 Centerline is valid? [True, True] Translation: X:269.25, Y:4.59, Z:1.05 [[ 9.99755597e-01 -2.04180278e-02 -8.47650521e-03 2.69246174e+02] [ 2.04185566e-02 9.99791519e-01 -2.41642233e-05 4.59146522e+00] [ 8.47523141e-03 -1.48919684e-04 9.99964073e-01 1.04704334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759254154 meters 0.05637794052387712 Centerline is valid? [True, True] Translation: X:269.31, Y:4.59, Z:1.05 [[ 9.99790649e-01 -1.87171385e-02 -8.26604790e-03 2.69307148e+02] [ 1.87175844e-02 9.99824810e-01 -2.34214617e-05 4.59145155e+00] [ 8.26503815e-03 -1.31303891e-04 9.99965835e-01 1.04719839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819254154 meters 0.056856813296716546 Centerline is valid? [True, True] Translation: X:269.37, Y:4.59, Z:1.05 [[ 9.99859424e-01 -1.47462428e-02 -7.97995029e-03 2.69367481e+02] [ 1.47465327e-02 9.99891264e-01 -2.25084108e-05 4.58706052e+00] [ 7.97941450e-03 -9.51713512e-05 9.99968159e-01 1.04572078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879254154 meters 0.05668040663679455 Centerline is valid? [True, True] Translation: X:269.43, Y:4.59, Z:1.05 [[ 9.99895466e-01 -1.24012609e-02 -7.43408268e-03 2.69427596e+02] [ 1.24014481e-02 9.99923099e-01 -2.09062174e-05 4.59052419e+00] [ 7.43377026e-03 -7.12893589e-05 9.99972367e-01 1.04713649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939254154 meters 0.056507899298205724 Centerline is valid? [True, True] Translation: X:269.49, Y:4.59, Z:1.05 [[ 9.99918277e-01 -1.01081412e-02 -7.82712292e-03 2.69486724e+02] [ 1.01082786e-02 9.99948910e-01 -2.20092175e-05 4.59076583e+00] [ 7.82694551e-03 -5.71113203e-05 9.99969367e-01 1.04817987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999254154 meters 0.056228215635653875 Centerline is valid? [True, True] Translation: X:269.55, Y:4.59, Z:1.05 [[ 9.99922085e-01 -9.81490396e-03 -7.71302958e-03 2.69545714e+02] [ 9.81502639e-03 9.99951831e-01 -2.19801797e-05 4.58875986e+00] [ 7.71287378e-03 -5.37251217e-05 9.99970254e-01 1.04849365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters 0.05767137860137211 Centerline is valid? [True, True] Translation: X:269.61, Y:4.58, Z:1.05 [[ 9.99879444e-01 -1.31854257e-02 -8.20012238e-03 2.69605760e+02] [ 1.31856747e-02 9.99913065e-01 -2.36930258e-05 4.58346805e+00] [ 8.19972191e-03 -8.44339769e-05 9.99966378e-01 1.04769633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters 0.0573725836359585 Centerline is valid? [True, True] Translation: X:269.67, Y:4.58, Z:1.05 [[ 9.99816543e-01 -1.66608846e-02 -9.44958949e-03 2.69665300e+02] [ 1.66613697e-02 9.99861189e-01 -2.73918838e-05 4.57711885e+00] [ 9.44873416e-03 -1.30056245e-04 9.99955351e-01 1.04660058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters 0.05730333530761581 Centerline is valid? [True, True] Translation: X:269.73, Y:4.57, Z:1.05 [[ 9.99664975e-01 -2.37352303e-02 -1.03236190e-02 2.69725523e+02] [ 2.37361859e-02 9.99718257e-01 -2.99626406e-05 4.57086077e+00] [ 1.03214216e-02 -2.15090738e-04 9.99946710e-01 1.04636677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters 0.05717343549885478 Centerline is valid? [True, True] Translation: X:269.78, Y:4.56, Z:1.05 [[ 9.99502057e-01 -2.99820366e-02 -9.83444879e-03 2.69784660e+02] [ 2.99832050e-02 9.99550402e-01 -2.86367344e-05 4.56325715e+00] [ 9.83088583e-03 -2.66245820e-04 9.99951640e-01 1.04767262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters 0.058452248367045996 Centerline is valid? [True, True] Translation: X:269.85, Y:4.55, Z:1.05 [[ 9.99456830e-01 -3.17555990e-02 -8.81060836e-03 2.69845867e+02] [ 3.17566063e-02 9.99495631e-01 -2.55876767e-05 4.55383341e+00] [ 8.80697712e-03 -2.54221242e-04 9.99961186e-01 1.04793207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters 0.05859505239756092 Centerline is valid? [True, True] Translation: X:269.91, Y:4.55, Z:1.05 [[ 9.99509292e-01 -3.05709510e-02 -6.82591004e-03 2.69906044e+02] [ 3.05715292e-02 9.99532581e-01 -1.96419165e-05 4.55100091e+00] [ 6.82331996e-03 -1.89046230e-04 9.99976703e-01 1.04918936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters 0.05786528348494534 Centerline is valid? [True, True] Translation: X:269.97, Y:4.55, Z:1.05 [[ 9.99549866e-01 -2.93292651e-02 -6.31338805e-03 2.69967461e+02] [ 2.93297361e-02 9.99569791e-01 -1.79811270e-05 4.55380333e+00] [ 6.31119935e-03 -1.67196973e-04 9.99980070e-01 1.04983683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters 0.05775501207406161 Centerline is valid? [True, True] Translation: X:270.03, Y:4.56, Z:1.05 [[ 9.99673788e-01 -2.48920245e-02 -5.71872052e-03 2.70028235e+02] [ 2.48923390e-02 9.99690138e-01 -1.61853961e-05 4.55507205e+00] [ 5.71735139e-03 -1.26172214e-04 9.99983648e-01 1.05037289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters 0.057707365174289524 Centerline is valid? [True, True] Translation: X:270.09, Y:4.56, Z:1.05 [[ 9.99720897e-01 -2.28905635e-02 -5.84385299e-03 2.70089290e+02] [ 2.28908583e-02 9.99737970e-01 -1.64448212e-05 4.55593487e+00] [ 5.84269815e-03 -1.17330579e-04 9.99982924e-01 1.05094197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters 0.05697595458105376 Centerline is valid? [True, True] Translation: X:270.15, Y:4.55, Z:1.05 [[ 9.99703336e-01 -2.30432987e-02 -7.88961919e-03 2.70151141e+02] [ 2.30438431e-02 9.99734455e-01 -2.19204400e-05 4.55475442e+00] [ 7.88802927e-03 -1.59893209e-04 9.99968876e-01 1.05071639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters 0.0580162270386877 Centerline is valid? [True, True] Translation: X:270.21, Y:4.55, Z:1.05 [[ 9.99601115e-01 -2.59917755e-02 -1.10471236e-02 2.70211298e+02] [ 2.59930280e-02 9.99662124e-01 -3.02066731e-05 4.54607318e+00] [ 1.10441762e-02 -2.56953569e-04 9.99938978e-01 1.04851224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.719254154 meters 0.057453864434018925 Centerline is valid? [True, True] Translation: X:270.27, Y:4.55, Z:1.05 [[ 9.99510680e-01 -2.90615516e-02 -1.15683697e-02 2.70271396e+02] [ 2.90631325e-02 9.99577577e-01 -3.14636567e-05 4.54521833e+00] [ 1.15643973e-02 -3.04764800e-04 9.99933084e-01 1.04839561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779254154 meters 0.05829984324942306 Centerline is valid? [True, True] Translation: X:270.33, Y:4.55, Z:1.05 [[ 9.99422797e-01 -3.19369926e-02 -1.15801725e-02 2.70332553e+02] [ 3.19387704e-02 9.99489827e-01 -3.14304089e-05 4.54687956e+00] [ 1.15752684e-02 -3.38444204e-04 9.99932947e-01 1.05022102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839254154 meters 0.058419791103812665 Centerline is valid? [True, True] Translation: X:270.39, Y:4.54, Z:1.05 [[ 9.99439796e-01 -3.13653736e-02 -1.16751136e-02 2.70393139e+02] [ 3.13671428e-02 9.99507930e-01 -3.15895760e-05 4.54255526e+00] [ 1.16703594e-02 -3.34643076e-04 9.99931843e-01 1.05030676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899254154 meters 0.057776814721669845 Centerline is valid? [True, True] Translation: X:270.45, Y:4.55, Z:1.05 [[ 9.99458647e-01 -3.12275279e-02 -1.03563754e-02 2.70454317e+02] [ 3.12289146e-02 9.99512258e-01 -2.78304237e-05 4.54649412e+00] [ 1.03521933e-02 -2.95603006e-04 9.99946371e-01 1.05265053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959254154 meters 0.05791024012513672 Centerline is valid? [True, True] Translation: X:270.52, Y:4.55, Z:1.05 [[ 9.99486715e-01 -3.08465711e-02 -8.64839187e-03 2.70515879e+02] [ 3.08475253e-02 9.99524102e-01 -2.30782043e-05 4.54712638e+00] [ 8.64498800e-03 -2.43715128e-04 9.99962602e-01 1.05375114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019254154 meters 0.05828557320521548 Centerline is valid? [True, True] Translation: X:270.58, Y:4.55, Z:1.05 [[ 9.99503343e-01 -3.02806799e-02 -8.72622747e-03 2.70578145e+02] [ 3.02816317e-02 9.99541406e-01 -2.30586700e-05 4.54692368e+00] [ 8.72292390e-03 -2.41197189e-04 9.99961925e-01 1.05419392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079254154 meters 0.05863308246349768 Centerline is valid? [True, True] Translation: X:270.64, Y:4.55, Z:1.05 [[ 9.99519942e-01 -2.91777563e-02 -1.04184202e-02 2.70638944e+02] [ 2.91790565e-02 9.99574200e-01 -2.72099989e-05 4.54550339e+00] [ 1.04147780e-02 -2.76802735e-04 9.99945726e-01 1.05328387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139254154 meters 0.05793133981785991 Centerline is valid? [True, True] Translation: X:270.70, Y:4.55, Z:1.05 [[ 9.99541792e-01 -2.80062019e-02 -1.14829710e-02 2.70700033e+02] [ 2.80077069e-02 9.99607707e-01 -2.97521627e-05 4.55071764e+00] [ 1.14792995e-02 -2.91873156e-04 9.99934068e-01 1.05412663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199254154 meters 0.058008276291223786 Centerline is valid? [True, True] Translation: X:270.76, Y:4.55, Z:1.05 [[ 9.99610522e-01 -2.50377690e-02 -1.23253350e-02 2.70760667e+02] [ 2.50392784e-02 9.99686468e-01 -3.18622551e-05 4.55249902e+00] [ 1.23222683e-02 -2.76767649e-04 9.99924040e-01 1.05387491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259254154 meters 0.058411480771328475 Centerline is valid? [True, True] Translation: X:270.82, Y:4.55, Z:1.05 [[ 9.99655970e-01 -2.30111048e-02 -1.25868891e-02 2.70821024e+02] [ 2.30125184e-02 9.99735176e-01 -3.25383995e-05 4.55430223e+00] [ 1.25843046e-02 -2.57128812e-04 9.99920781e-01 1.05436425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319254154 meters 0.05903726329584702 Centerline is valid? [True, True] Translation: X:270.88, Y:4.56, Z:1.05 [[ 9.99721970e-01 -2.01125526e-02 -1.23072433e-02 2.70880609e+02] [ 2.01136861e-02 9.99797699e-01 -3.16862101e-05 4.55506939e+00] [ 1.23053908e-02 -2.15866627e-04 9.99924263e-01 1.05443124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379254154 meters 0.05848530690334992 Centerline is valid? [True, True] Translation: X:270.94, Y:4.56, Z:1.06 [[ 9.99737823e-01 -1.92557135e-02 -1.23896346e-02 2.70940107e+02] [ 1.92567953e-02 9.99814570e-01 -3.19837018e-05 4.55729076e+00] [ 1.23879530e-02 -2.06609341e-04 9.99923245e-01 1.05604332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439254154 meters 0.05823978314353797 Centerline is valid? [True, True] Translation: X:271.00, Y:4.55, Z:1.06 [[ 9.99728977e-01 -1.98623558e-02 -1.21433167e-02 2.70998651e+02] [ 1.98634364e-02 9.99802702e-01 -3.16280217e-05 4.55361701e+00] [ 1.21415490e-02 -2.09588548e-04 9.99926267e-01 1.05572584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499254154 meters 0.058993001354203226 Centerline is valid? [True, True] Translation: X:271.06, Y:4.55, Z:1.06 [[ 9.99705834e-01 -2.17761220e-02 -1.06792020e-02 2.71057230e+02] [ 2.17770641e-02 9.99762851e-01 -2.80722103e-05 4.55221109e+00] [ 1.06772808e-02 -2.04497715e-04 9.99942975e-01 1.05792839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters 0.05847321033993024 Centerline is valid? [True, True] Translation: X:271.12, Y:4.55, Z:1.06 [[ 9.99668556e-01 -2.37522509e-02 -9.93020694e-03 2.71116935e+02] [ 2.37531616e-02 9.99717854e-01 -2.62436236e-05 4.54952246e+00] [ 9.92802851e-03 -2.09638885e-04 9.99950694e-01 1.05894335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters 0.058265088779394694 Centerline is valid? [True, True] Translation: X:271.18, Y:4.55, Z:1.06 [[ 9.99571513e-01 -2.75954003e-02 -9.76136969e-03 2.71177791e+02] [ 2.75964636e-02 9.99619145e-01 -2.57796536e-05 4.54756398e+00] [ 9.75836342e-03 -2.43610676e-04 9.99952356e-01 1.05960869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters 0.05804464264026166 Centerline is valid? [True, True] Translation: X:271.24, Y:4.55, Z:1.06 [[ 9.99429494e-01 -3.21798969e-02 -1.02538009e-02 2.71238393e+02] [ 3.21813116e-02 9.99482047e-01 -2.70331221e-05 4.54547900e+00] [ 1.02493598e-02 -3.02963062e-04 9.99947428e-01 1.06047041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters 0.061200115335906684 Centerline is valid? [True, True] Translation: X:271.30, Y:4.53, Z:1.06 [[ 9.99342195e-01 -3.47033991e-02 -1.05285642e-02 2.71298983e+02] [ 3.47050313e-02 9.99397599e-01 -2.76924838e-05 4.52657290e+00] [ 1.05231828e-02 -3.37719883e-04 9.99944573e-01 1.05737146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters 0.0600737814904145 Centerline is valid? [True, True] Translation: X:271.36, Y:4.53, Z:1.06 [[ 9.99278844e-01 -3.66051021e-02 -1.00924594e-02 2.71360359e+02] [ 3.66067000e-02 9.99329750e-01 -2.64150866e-05 4.53008744e+00] [ 1.00866619e-02 -3.43055597e-04 9.99949069e-01 1.05976349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters 0.059812447186148546 Centerline is valid? [True, True] Translation: X:271.42, Y:4.53, Z:1.06 [[ 9.99310053e-01 -3.58276242e-02 -9.78773403e-03 2.71421411e+02] [ 3.58290917e-02 9.99357932e-01 -2.54284821e-05 4.52739941e+00] [ 9.78236068e-03 -3.25274682e-04 9.99952099e-01 1.05983185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters 0.05993303770974501 Centerline is valid? [True, True] Translation: X:271.48, Y:4.53, Z:1.06 [[ 9.99335620e-01 -3.50064687e-02 -1.01423115e-02 2.71482654e+02] [ 3.50080042e-02 9.99387032e-01 -2.61583995e-05 4.53099803e+00] [ 1.01370103e-02 -3.28921064e-04 9.99948565e-01 1.06085273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters 0.058996494708114904 Centerline is valid? [True, True] Translation: X:271.54, Y:4.53, Z:1.06 [[ 9.99330983e-01 -3.48618765e-02 -1.10560263e-02 2.71544236e+02] [ 3.48636943e-02 9.99392076e-01 -2.83260913e-05 4.53256264e+00] [ 1.10502926e-02 -3.57146780e-04 9.99938880e-01 1.06109044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters 0.0594362052800886 Centerline is valid? [True, True] Translation: X:271.61, Y:4.53, Z:1.06 [[ 9.99274707e-01 -3.63265469e-02 -1.14210954e-02 2.71605647e+02] [ 3.63285846e-02 9.99339899e-01 -2.90684032e-05 4.53304793e+00] [ 1.14146123e-02 -3.85864911e-04 9.99934777e-01 1.06193079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters 0.059062872147165046 Centerline is valid? [True, True] Translation: X:271.67, Y:4.53, Z:1.06 [[ 9.99218382e-01 -3.78064810e-02 -1.15453217e-02 2.71666499e+02] [ 3.78086634e-02 9.99284996e-01 -2.92534176e-05 4.53404655e+00] [ 1.15381727e-02 -4.07282630e-04 9.99933350e-01 1.06232551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters 0.05947156124967546 Centerline is valid? [True, True] Translation: X:271.73, Y:4.53, Z:1.06 [[ 9.99166207e-01 -3.91394739e-02 -1.16186102e-02 2.71727773e+02] [ 3.91417760e-02 9.99233667e-01 -2.92751945e-05 4.53153369e+00] [ 1.16108523e-02 -4.25522255e-04 9.99932501e-01 1.06172076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.219254154 meters 0.05906249361907549 Centerline is valid? [True, True] Translation: X:271.79, Y:4.53, Z:1.06 [[ 9.99117909e-01 -4.02687862e-02 -1.19092091e-02 2.71789302e+02] [ 4.02712874e-02 9.99188782e-01 -2.98016162e-05 4.53437948e+00] [ 1.19007482e-02 -4.49823855e-04 9.99929082e-01 1.06291015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279254154 meters 0.05962590211996114 Centerline is valid? [True, True] Translation: X:271.85, Y:4.53, Z:1.06 [[ 9.99096765e-01 -4.11953815e-02 -1.04208541e-02 2.71850309e+02] [ 4.11973510e-02 9.99151028e-01 -2.56881984e-05 4.53178153e+00] [ 1.04130653e-02 -4.03646587e-04 9.99945701e-01 1.06384091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339254154 meters 0.06128352818538868 Centerline is valid? [True, True] Translation: X:271.91, Y:4.53, Z:1.06 [[ 9.99097403e-01 -4.12453709e-02 -1.01586416e-02 2.71911627e+02] [ 4.12472486e-02 9.99148970e-01 -2.46956315e-05 4.52607878e+00] [ 1.01510148e-02 -3.94342673e-04 9.99948399e-01 1.06321712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399254154 meters 0.05961914023598521 Centerline is valid? [True, True] Translation: X:271.97, Y:4.53, Z:1.06 [[ 9.99044169e-01 -4.26968583e-02 -9.36621899e-03 2.71972326e+02] [ 4.26985198e-02 9.99088002e-01 -2.25944653e-05 4.53398604e+00] [ 9.35864173e-03 -3.77350818e-04 9.99956136e-01 1.06459288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459254154 meters 0.06106100026365436 Centerline is valid? [True, True] Translation: X:272.03, Y:4.53, Z:1.06 [[ 9.99040739e-01 -4.27050975e-02 -9.68899191e-03 2.72033333e+02] [ 4.27068779e-02 9.99087645e-01 -2.31698064e-05 4.52741500e+00] [ 9.68114158e-03 -3.90639014e-04 9.99953060e-01 1.06318547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519254154 meters 0.06023909869637487 Centerline is valid? [True, True] Translation: X:272.09, Y:4.54, Z:1.06 [[ 9.99112428e-01 -4.10526897e-02 -9.43577134e-03 2.72094603e+02] [ 4.10543063e-02 9.99156916e-01 -2.23835462e-05 4.53845620e+00] [ 9.42873510e-03 -3.65015368e-04 9.99955482e-01 1.06357686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579254154 meters 0.057975797415998065 Centerline is valid? [True, True] Translation: X:272.16, Y:4.55, Z:1.06 [[ 9.99298088e-01 -3.66574590e-02 -7.71765768e-03 2.72155150e+02] [ 3.66584100e-02 9.99327854e-01 -1.82503542e-05 4.55421293e+00] [ 7.71313930e-03 -2.64679515e-04 9.99970218e-01 1.06426713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639254154 meters 0.059078501997033454 Centerline is valid? [True, True] Translation: X:272.21, Y:4.55, Z:1.06 [[ 9.99469082e-01 -3.15913110e-02 -7.97139847e-03 2.72214686e+02] [ 3.15921643e-02 9.99500843e-01 -1.88802341e-05 4.54954799e+00] [ 7.96801594e-03 -2.32963520e-04 9.99968228e-01 1.06276189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699254154 meters 0.05794226381187151 Centerline is valid? [True, True] Translation: X:272.28, Y:4.56, Z:1.06 [[ 9.99679527e-01 -2.40120006e-02 -8.01673862e-03 2.72275172e+02] [ 2.40126200e-02 9.99711655e-01 -1.89926656e-05 4.55665203e+00] [ 8.01488309e-03 -1.73516319e-04 9.99967865e-01 1.06134024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759254154 meters 0.057723146415993 Centerline is valid? [True, True] Translation: X:272.34, Y:4.56, Z:1.06 [[ 9.99804994e-01 -1.79658845e-02 -8.19756805e-03 2.72336157e+02] [ 1.79663294e-02 9.99838592e-01 -1.93714627e-05 4.56483919e+00] [ 8.19659292e-03 -1.27912523e-04 9.99966399e-01 1.06104359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819254154 meters 0.058314759833094476 Centerline is valid? [True, True] Translation: X:272.40, Y:4.57, Z:1.06 [[ 9.99850930e-01 -1.53347017e-02 -7.93504736e-03 2.72395511e+02] [ 1.53350362e-02 9.99882411e-01 -1.86956402e-05 4.56712408e+00] [ 7.93440098e-03 -1.02991385e-04 9.99968517e-01 1.06105846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879254154 meters 0.05702352620765304 Centerline is valid? [True, True] Translation: X:272.46, Y:4.57, Z:1.06 [[ 9.99863456e-01 -1.50934234e-02 -6.72739325e-03 2.72455855e+02] [ 1.50936586e-02 9.99886084e-01 -1.58186160e-05 4.57021367e+00] [ 6.72686565e-03 -8.57245209e-05 9.99977371e-01 1.06200552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939254154 meters 0.058669851753421084 Centerline is valid? [True, True] Translation: X:272.52, Y:4.57, Z:1.06 [[ 9.99823361e-01 -1.74581137e-02 -6.96133298e-03 2.72516447e+02] [ 1.74584230e-02 9.99847590e-01 -1.63439980e-05 4.56544818e+00] [ 6.96055734e-03 -1.05192785e-04 9.99975769e-01 1.06144108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999254154 meters 0.05760790177344573 Centerline is valid? [True, True] Translation: X:272.58, Y:4.57, Z:1.06 [[ 9.99674286e-01 -2.48940615e-02 -5.62203402e-03 2.72577012e+02] [ 2.48943809e-02 9.99690087e-01 -1.31708980e-05 4.56813183e+00] [ 5.62061955e-03 -1.26790448e-04 9.99984196e-01 1.06147686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters 0.05635819728269788 Centerline is valid? [True, True] Translation: X:272.64, Y:4.57, Z:1.06 [[ 9.99400041e-01 -3.42474319e-02 -5.16441541e-03 2.72637375e+02] [ 3.42478263e-02 9.99413371e-01 -1.20886529e-05 4.57184066e+00] [ 5.16179982e-03 -1.64788601e-04 9.99986664e-01 1.06112579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters 0.05650738404581919 Centerline is valid? [True, True] Translation: X:272.70, Y:4.57, Z:1.06 [[ 9.99158419e-01 -4.06754619e-02 -5.28776257e-03 2.72697367e+02] [ 4.06759653e-02 9.99172390e-01 -1.23634929e-05 4.56817416e+00] [ 5.28388926e-03 -2.02731759e-04 9.99986020e-01 1.06073489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters 0.05766525120523522 Centerline is valid? [True, True] Translation: X:272.76, Y:4.56, Z:1.06 [[ 9.98733156e-01 -4.99978200e-02 -5.68332440e-03 2.72756950e+02] [ 4.99985520e-02 9.98749290e-01 -1.32838018e-05 4.56334702e+00] [ 5.67688037e-03 -2.70891017e-04 9.99983850e-01 1.06072418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters 0.05758751777403161 Centerline is valid? [True, True] Translation: X:272.82, Y:4.57, Z:1.06 [[ 9.98489894e-01 -5.47744798e-02 -4.20579887e-03 2.72817133e+02] [ 5.47749230e-02 9.98498727e-01 -9.81502771e-06 4.56523380e+00] [ 4.20002243e-03 -2.20572103e-04 9.99991156e-01 1.06232269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters 0.05483183327267861 Centerline is valid? [True, True] Translation: X:272.88, Y:4.58, Z:1.06 [[ 9.98260885e-01 -5.88994365e-02 -2.46219866e-03 2.72877696e+02] [ 5.88996010e-02 9.98263911e-01 -5.73885553e-06 4.57810205e+00] [ 2.45826208e-03 -1.39293644e-04 9.99996969e-01 1.06315885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters 0.05596017439326501 Centerline is valid? [True, True] Translation: X:272.94, Y:4.57, Z:1.06 [[ 9.98227501e-01 -5.94046480e-02 -3.59789499e-03 2.72939135e+02] [ 5.94050023e-02 9.98233963e-01 -8.39371771e-06 4.57262075e+00] [ 3.59203960e-03 -2.05354120e-04 9.99993528e-01 1.06278960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters 0.05740767205965 Centerline is valid? [True, True] Translation: X:273.00, Y:4.57, Z:1.06 [[ 9.98284719e-01 -5.82359732e-02 -6.01599241e-03 2.72999465e+02] [ 5.82369442e-02 9.98302789e-01 -1.37952820e-05 4.56927601e+00] [ 6.00658538e-03 -3.36581395e-04 9.99981904e-01 1.06218011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters 0.058924226411083996 Centerline is valid? [True, True] Translation: X:273.06, Y:4.57, Z:1.06 [[ 9.98445746e-01 -5.51448091e-02 -8.07109739e-03 2.73059268e+02] [ 5.51464565e-02 9.98478276e-01 -1.84662800e-05 4.57035591e+00] [ 8.05983373e-03 -4.26654842e-04 9.99967428e-01 1.06164484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters 0.057909584350748215 Centerline is valid? [True, True] Translation: X:273.12, Y:4.58, Z:1.06 [[ 9.98699502e-01 -5.03993112e-02 -7.69505482e-03 2.73119840e+02] [ 5.04006681e-02 9.98729079e-01 -1.76108960e-05 4.57903311e+00] [ 7.68616259e-03 -3.70247911e-04 9.99970392e-01 1.06283279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters 0.056181918000054905 Centerline is valid? [True, True] Translation: X:273.18, Y:4.59, Z:1.06 [[ 9.98932693e-01 -4.57377104e-02 -6.44492742e-03 2.73180963e+02] [ 4.57385655e-02 9.98953444e-01 -1.47318330e-05 4.59059025e+00] [ 6.43885624e-03 -2.80065626e-04 9.99979231e-01 1.06384180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters 0.05711880286532598 Centerline is valid? [True, True] Translation: X:273.24, Y:4.60, Z:1.06 [[ 9.99353733e-01 -3.54226930e-02 -6.11133855e-03 2.73240258e+02] [ 3.54232693e-02 9.99372399e-01 -1.39563177e-05 4.59682797e+00] [ 6.10799744e-03 -2.02536293e-04 9.99981325e-01 1.06454908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.719254154 meters 0.056823891671648155 Centerline is valid? [True, True] Translation: X:273.30, Y:4.61, Z:1.07 [[ 9.99701655e-01 -2.39125552e-02 -4.97909106e-03 2.73301199e+02] [ 2.39127950e-02 9.99714048e-01 -1.13807452e-05 4.60860891e+00] [ 4.97793943e-03 -1.07686634e-04 9.99987604e-01 1.06563773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779254154 meters 0.056492481113273485 Centerline is valid? [True, True] Translation: X:273.36, Y:4.61, Z:1.07 [[ 9.99824565e-01 -1.79949215e-02 -5.19825163e-03 2.73361331e+02] [ 1.79951032e-02 9.99838075e-01 -1.18180728e-05 4.61367408e+00] [ 5.19762257e-03 -8.17270752e-05 9.99986489e-01 1.06685400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839254154 meters 0.05591350537070116 Centerline is valid? [True, True] Translation: X:273.42, Y:4.62, Z:1.07 [[ 9.99888102e-01 -1.36725925e-02 -6.06985372e-03 2.73421557e+02] [ 1.36727607e-02 9.99906523e-01 -1.37835811e-05 4.61735410e+00] [ 6.06947478e-03 -6.92096187e-05 9.99981578e-01 1.06715225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899254154 meters 0.057101260889314075 Centerline is valid? [True, True] Translation: X:273.48, Y:4.61, Z:1.07 [[ 9.99870767e-01 -1.45655989e-02 -6.80392486e-03 2.73482211e+02] [ 1.45658315e-02 9.99893913e-01 -1.53702196e-05 4.61223090e+00] [ 6.80342693e-03 -8.37365899e-05 9.99976853e-01 1.06550930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959254154 meters 0.056757689197813634 Centerline is valid? [True, True] Translation: X:273.54, Y:4.61, Z:1.07 [[ 9.99828815e-01 -1.71875789e-02 -6.85033169e-03 2.73543171e+02] [ 1.71878767e-02 9.99852277e-01 -1.53902871e-05 4.61061456e+00] [ 6.84958427e-03 -1.02355004e-04 9.99976536e-01 1.06595602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019254154 meters 0.057498133237145664 Centerline is valid? [True, True] Translation: X:273.60, Y:4.61, Z:1.07 [[ 9.99740300e-01 -2.16520094e-02 -7.10801718e-03 2.73604067e+02] [ 2.16524433e-02 9.99765558e-01 -1.59130341e-05 4.60991721e+00] [ 7.10669531e-03 -1.37997038e-04 9.99974738e-01 1.06634229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079254154 meters 0.05664126153940997 Centerline is valid? [True, True] Translation: X:273.67, Y:4.60, Z:1.07 [[ 9.99665343e-01 -2.49250274e-02 -6.92425312e-03 2.73665132e+02] [ 2.49255181e-02 9.99689311e-01 -1.54265378e-05 4.60268008e+00] [ 6.92248633e-03 -1.57169221e-04 9.99976027e-01 1.06578881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139254154 meters 0.05779307032281596 Centerline is valid? [True, True] Translation: X:273.73, Y:4.60, Z:1.07 [[ 9.99520610e-01 -3.01236153e-02 -7.14969563e-03 2.73725665e+02] [ 3.01242719e-02 9.99546161e-01 -1.58641507e-05 4.59614947e+00] [ 7.14692871e-03 -1.99522829e-04 9.99974440e-01 1.06575687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199254154 meters 0.05799894630982343 Centerline is valid? [True, True] Translation: X:273.79, Y:4.59, Z:1.07 [[ 9.99342639e-01 -3.55428280e-02 -7.14128160e-03 2.73786968e+02] [ 3.55436216e-02 9.99368126e-01 -1.58026207e-05 4.59209647e+00] [ 7.13733088e-03 -2.38034778e-04 9.99974501e-01 1.06604650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259254154 meters 0.05647276539476942 Centerline is valid? [True, True] Translation: X:273.85, Y:4.60, Z:1.07 [[ 9.99278331e-01 -3.73344993e-02 -6.99664607e-03 2.73847592e+02] [ 3.73353056e-02 9.99302794e-01 -1.53836892e-05 4.59889394e+00] [ 6.99234232e-03 -2.45849332e-04 9.99975523e-01 1.06688975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319254154 meters 0.05711109183210163 Centerline is valid? [True, True] Translation: X:273.91, Y:4.60, Z:1.07 [[ 9.99161107e-01 -4.02514228e-02 -7.54350952e-03 2.73907196e+02] [ 4.02524435e-02 9.99189542e-01 -1.65299090e-05 4.59604228e+00] [ 7.53806118e-03 -2.87128649e-04 9.99971547e-01 1.06656797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379254154 meters 0.056679196471883485 Centerline is valid? [True, True] Translation: X:273.97, Y:4.59, Z:1.07 [[ 9.98982310e-01 -4.44348378e-02 -7.73888805e-03 2.73968006e+02] [ 4.44360376e-02 9.99012231e-01 -1.69266526e-05 4.59389478e+00] [ 7.73199595e-03 -3.26976094e-04 9.99970054e-01 1.06687144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439254154 meters 0.05603405928317786 Centerline is valid? [True, True] Translation: X:274.03, Y:4.59, Z:1.07 [[ 9.98806907e-01 -4.81992415e-02 -7.84826282e-03 2.74027814e+02] [ 4.82005929e-02 9.98837676e-01 -1.69685490e-05 4.59116003e+00] [ 7.83995846e-03 -3.61342617e-04 9.99969202e-01 1.06628700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499254154 meters 0.05614440523616443 Centerline is valid? [True, True] Translation: X:274.09, Y:4.59, Z:1.07 [[ 9.98675744e-01 -5.09544668e-02 -7.09930163e-03 2.74088314e+02] [ 5.09556432e-02 9.98700917e-01 -1.51845654e-05 4.59020813e+00] [ 7.09085277e-03 -3.46585024e-04 9.99974800e-01 1.06624517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters 0.05870944036153927 Centerline is valid? [True, True] Translation: X:274.15, Y:4.58, Z:1.07 [[ 9.98642350e-01 -5.15760248e-02 -7.30550628e-03 2.74148961e+02] [ 5.15772888e-02 9.98669006e-01 -1.53918857e-05 4.58079633e+00] [ 7.29657654e-03 -3.61427219e-04 9.99973314e-01 1.06682440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters 0.056374561173033286 Centerline is valid? [True, True] Translation: X:274.21, Y:4.59, Z:1.07 [[ 9.98636839e-01 -5.17284287e-02 -6.97380836e-03 2.74211063e+02] [ 5.17295867e-02 9.98661129e-01 -1.43508761e-05 4.59220371e+00] [ 6.96521368e-03 -3.46420911e-04 9.99975683e-01 1.06694857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters 0.05626906816458015 Centerline is valid? [True, True] Translation: X:274.27, Y:4.59, Z:1.07 [[ 9.98625279e-01 -5.19236564e-02 -7.17537267e-03 2.74271717e+02] [ 5.19248889e-02 9.98650993e-01 -1.45453668e-05 4.59181734e+00] [ 7.16644829e-03 -3.58055058e-04 9.99974257e-01 1.06690064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters 0.0569360787682729 Centerline is valid? [True, True] Translation: X:274.33, Y:4.59, Z:1.07 [[ 9.98665959e-01 -5.11277401e-02 -7.22887588e-03 2.74334376e+02] [ 5.11289719e-02 9.98692059e-01 -1.44264908e-05 4.59433272e+00] [ 7.22015853e-03 -3.55197746e-04 9.99973871e-01 1.06745316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters 0.057870910699762836 Centerline is valid? [True, True] Translation: X:274.39, Y:4.59, Z:1.07 [[ 9.98865201e-01 -4.72119461e-02 -6.27241591e-03 2.74394231e+02] [ 4.72127975e-02 9.98884854e-01 -1.23509538e-05 4.59210024e+00] [ 6.26600437e-03 -2.83801364e-04 9.99980328e-01 1.06769437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters 0.058248647550680974 Centerline is valid? [True, True] Translation: X:274.45, Y:4.59, Z:1.07 [[ 9.99114946e-01 -4.16710536e-02 -5.73126426e-03 2.74454051e+02] [ 4.16716733e-02 9.99131358e-01 -1.12845634e-05 4.58795434e+00] [ 5.72675608e-03 -2.27556796e-04 9.99983576e-01 1.06812816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters 0.05701400415703715 Centerline is valid? [True, True] Translation: X:274.51, Y:4.60, Z:1.07 [[ 9.99539570e-01 -3.00416744e-02 -4.25974623e-03 2.74514771e+02] [ 3.00419112e-02 9.99548640e-01 -8.38059879e-06 4.60005444e+00] [ 4.25807531e-03 -1.19594178e-04 9.99990927e-01 1.06878570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters 0.05715337629191175 Centerline is valid? [True, True] Translation: X:274.57, Y:4.60, Z:1.07 [[ 9.99817866e-01 -1.86664207e-02 -3.97490752e-03 2.74574092e+02] [ 1.86665372e-02 9.99825765e-01 -7.81067777e-06 4.60336161e+00] [ 3.97436075e-03 -6.63885038e-05 9.99992100e-01 1.06928485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters 0.05640451307036311 Centerline is valid? [True, True] Translation: X:274.64, Y:4.61, Z:1.07 [[ 9.99900930e-01 -1.37365131e-02 -3.07227378e-03 2.74635176e+02] [ 1.37365594e-02 9.99905649e-01 -6.03624417e-06 4.61010641e+00] [ 3.07206683e-03 -3.61668250e-05 9.99995281e-01 1.06924556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters 0.056725694944387575 Centerline is valid? [True, True] Translation: X:274.70, Y:4.61, Z:1.07 [[ 9.99951163e-01 -9.22044826e-03 -3.55731272e-03 2.74695989e+02] [ 9.22048185e-03 9.99957490e-01 -6.95896166e-06 4.61157791e+00] [ 3.55722567e-03 -2.58415156e-05 9.99993673e-01 1.06920769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters 0.05626220748456863 Centerline is valid? [True, True] Translation: X:274.76, Y:4.61, Z:1.07 [[ 9.99959115e-01 -8.44334199e-03 -3.23710594e-03 2.74756475e+02] [ 8.44336589e-03 9.99964354e-01 -6.28358828e-06 4.61233637e+00] [ 3.23704361e-03 -2.10487385e-05 9.99994761e-01 1.06868067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.219254154 meters 0.05673154527790925 Centerline is valid? [True, True] Translation: X:274.82, Y:4.61, Z:1.07 [[ 9.99935406e-01 -1.02084866e-02 -4.99711364e-03 2.74816651e+02] [ 1.02085659e-02 9.99947891e-01 -9.63893228e-06 4.60675029e+00] [ 4.99695165e-03 -4.13750545e-05 9.99987514e-01 1.06813297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279254154 meters 0.056449532342373654 Centerline is valid? [True, True] Translation: X:274.88, Y:4.60, Z:1.07 [[ 9.99867202e-01 -1.51574199e-02 -5.98585028e-03 2.74876984e+02] [ 1.51576226e-02 9.99885117e-01 -1.15057202e-05 4.60272652e+00] [ 5.98533700e-03 -7.92270675e-05 9.99982085e-01 1.06809300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339254154 meters 0.05650244410953746 Centerline is valid? [True, True] Translation: X:274.94, Y:4.60, Z:1.07 [[ 9.99796451e-01 -1.93312852e-02 -5.77555935e-03 2.74936811e+02] [ 1.93315435e-02 9.99813128e-01 -1.11015088e-05 4.59605737e+00] [ 5.77469466e-03 -1.00551228e-04 9.99983321e-01 1.06777482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399254154 meters 0.05701781032088505 Centerline is valid? [True, True] Translation: X:275.00, Y:4.59, Z:1.07 [[ 9.99621710e-01 -2.69523098e-02 -5.47816549e-03 2.74997215e+02] [ 2.69526567e-02 9.99636711e-01 -1.05011352e-05 4.58588314e+00] [ 5.47645836e-03 -1.37153951e-04 9.99984995e-01 1.06804353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459254154 meters 0.05674946249222969 Centerline is valid? [True, True] Translation: X:275.06, Y:4.58, Z:1.07 [[ 9.99484772e-01 -3.16286843e-02 -5.46042270e-03 2.75057987e+02] [ 3.16290991e-02 9.99499675e-01 -1.03912444e-05 4.58416505e+00] [ 5.45801938e-03 -1.62322360e-04 9.99985092e-01 1.06866723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519254154 meters 0.057611689888027146 Centerline is valid? [True, True] Translation: X:275.12, Y:4.58, Z:1.07 [[ 9.99290274e-01 -3.72295640e-02 -5.73653998e-03 2.75119297e+02] [ 3.72301141e-02 9.99306719e-01 -1.08866021e-05 4.57857054e+00] [ 5.73296825e-03 -2.02693163e-04 9.99983546e-01 1.06864274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579254154 meters 0.05695690972674162 Centerline is valid? [True, True] Translation: X:275.18, Y:4.58, Z:1.07 [[ 9.99169632e-01 -4.01430487e-02 -6.97013444e-03 2.75179742e+02] [ 4.01439322e-02 9.99193907e-01 -1.31568853e-05 4.57710016e+00] [ 6.96504403e-03 -2.66662644e-04 9.99975708e-01 1.06849814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639254154 meters 0.05926092240694799 Centerline is valid? [True, True] Translation: X:275.24, Y:4.57, Z:1.07 [[ 9.99205163e-01 -3.90205215e-02 -8.15111879e-03 2.75241330e+02] [ 3.90216937e-02 9.99238364e-01 -1.52386504e-05 4.56590265e+00] [ 8.14550522e-03 -3.02843923e-04 9.99966779e-01 1.06763520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699254154 meters 0.058031334452556545 Centerline is valid? [True, True] Translation: X:275.30, Y:4.57, Z:1.07 [[ 9.99381178e-01 -3.42883239e-02 -7.84673869e-03 2.75301860e+02] [ 3.42892657e-02 9.99411950e-01 -1.45162263e-05 4.57244078e+00] [ 7.84262215e-03 -2.54551665e-04 9.99969214e-01 1.06886380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759254154 meters 0.0584876976512055 Centerline is valid? [True, True] Translation: X:275.36, Y:4.57, Z:1.07 [[ 9.99617843e-01 -2.67871732e-02 -6.82757366e-03 2.75361477e+02] [ 2.67877116e-02 9.99641145e-01 -1.25840542e-05 4.57055786e+00] [ 6.82546064e-03 -1.70315829e-04 9.99976692e-01 1.06940216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819254154 meters 0.057184474975304364 Centerline is valid? [True, True] Translation: X:275.42, Y:4.58, Z:1.07 [[ 9.99734003e-01 -2.22081786e-02 -6.22261117e-03 2.75422110e+02] [ 2.22085375e-02 9.99753360e-01 -1.14238894e-05 4.57761158e+00] [ 6.22133013e-03 -1.26774243e-04 9.99980639e-01 1.07081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879254154 meters 0.05717312047989568 Centerline is valid? [True, True] Translation: X:275.48, Y:4.58, Z:1.07 [[ 9.99815173e-01 -1.80347284e-02 -6.66089274e-03 2.75481857e+02] [ 1.80350473e-02 9.99837355e-01 -1.21928128e-05 4.57556412e+00] [ 6.66002927e-03 -1.07938956e-04 9.99977816e-01 1.06971567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939254154 meters 0.05707736095367215 Centerline is valid? [True, True] Translation: X:275.54, Y:4.58, Z:1.07 [[ 9.99771345e-01 -1.94842191e-02 -8.81036198e-03 2.75543252e+02] [ 1.94848340e-02 9.99810152e-01 -1.60458063e-05 4.57681466e+00] [ 8.80900199e-03 -1.55626304e-04 9.99961188e-01 1.06926859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999254154 meters 0.058682585242676125 Centerline is valid? [True, True] Translation: X:275.60, Y:4.57, Z:1.07 [[ 9.99687014e-01 -2.26998686e-02 -1.05162037e-02 2.75603075e+02] [ 2.27009260e-02 9.99742301e-01 -1.88150736e-05 4.56815706e+00] [ 1.05139208e-02 -2.19918377e-04 9.99944703e-01 1.06652092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters 0.05829558728720972 Centerline is valid? [True, True] Translation: X:275.66, Y:4.57, Z:1.07 [[ 9.99506616e-01 -2.97457455e-02 -1.00853757e-02 2.75663776e+02] [ 2.97470781e-02 9.99557458e-01 -1.78878001e-05 4.56628138e+00] [ 1.00814446e-02 -2.82131484e-04 9.99949141e-01 1.06831512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters 0.05779562217619175 Centerline is valid? [True, True] Translation: X:275.72, Y:4.57, Z:1.07 [[ 9.99430955e-01 -3.22814721e-02 -9.78120752e-03 2.75724640e+02] [ 3.22828473e-02 9.99478773e-01 -1.72963735e-05 4.56634776e+00] [ 9.77666765e-03 -2.98478698e-04 9.99952163e-01 1.06911648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters 0.0589454623813808 Centerline is valid? [True, True] Translation: X:275.78, Y:4.56, Z:1.07 [[ 9.99217015e-01 -3.89152439e-02 -7.13866681e-03 2.75784656e+02] [ 3.89161458e-02 9.99242480e-01 -1.25836455e-05 4.56058967e+00] [ 7.13374882e-03 -2.65235605e-04 9.99974519e-01 1.07016047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters 0.06120627250484418 Centerline is valid? [True, True] Translation: X:275.85, Y:4.55, Z:1.07 [[ 9.99119325e-01 -4.14540117e-02 -6.49147450e-03 2.75845079e+02] [ 4.14548112e-02 9.99140380e-01 -1.14036110e-05 4.54923011e+00] [ 6.48636703e-03 -2.57709282e-04 9.99978930e-01 1.07043993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters 0.05998886178235585 Centerline is valid? [True, True] Translation: X:275.91, Y:4.55, Z:1.07 [[ 9.98951298e-01 -4.55005005e-02 -5.09978352e-03 2.75906462e+02] [ 4.55010468e-02 9.98964291e-01 -8.91048108e-06 4.55333353e+00] [ 5.09490706e-03 -2.23144352e-04 9.99986996e-01 1.07187568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters 0.06271623218378708 Centerline is valid? [True, True] Translation: X:275.97, Y:4.54, Z:1.07 [[ 9.98696489e-01 -5.08724846e-02 -4.16096957e-03 2.75966478e+02] [ 5.08728951e-02 9.98705136e-01 -7.20658367e-06 4.54203922e+00] [ 4.15594829e-03 -2.04483378e-04 9.99991343e-01 1.07283088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters 0.06058563703949625 Centerline is valid? [True, True] Translation: X:276.03, Y:4.55, Z:1.07 [[ 9.98485902e-01 -5.48299057e-02 -4.42554173e-03 2.76026973e+02] [ 5.48304086e-02 9.98495682e-01 -7.68746777e-06 4.54675020e+00] [ 4.41930581e-03 -2.34978433e-04 9.99990207e-01 1.07239591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters 0.05986242230398733 Centerline is valid? [True, True] Translation: X:276.09, Y:4.55, Z:1.07 [[ 9.98194537e-01 -5.97391145e-02 -6.23730197e-03 2.76086981e+02] [ 5.97402093e-02 9.98213959e-01 -1.08074448e-05 4.55006194e+00] [ 6.22680751e-03 -3.61829792e-04 9.99980548e-01 1.07151561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters 0.05729683920514564 Centerline is valid? [True, True] Translation: X:276.15, Y:4.56, Z:1.07 [[ 9.98089831e-01 -6.13534253e-02 -7.24204214e-03 2.76147773e+02] [ 6.13549437e-02 9.98116011e-01 -1.25201469e-05 4.56046638e+00] [ 7.22916637e-03 -4.31838857e-04 9.99973776e-01 1.07143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters 0.05796279640422855 Centerline is valid? [True, True] Translation: X:276.21, Y:4.56, Z:1.07 [[ 9.98148241e-01 -6.02150855e-02 -8.61588133e-03 2.76208153e+02] [ 6.02171935e-02 9.98185298e-01 -1.47769579e-05 4.55699082e+00] [ 8.60113587e-03 -5.04074599e-04 9.99962882e-01 1.07053359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.659254154 meters 0.058890855863401925 Centerline is valid? [True, True] Translation: X:276.27, Y:4.56, Z:1.07 [[ 9.98370692e-01 -5.64667234e-02 -8.21401931e-03 2.76268442e+02] [ 5.64685131e-02 9.98404380e-01 -1.40606098e-05 4.55927903e+00] [ 8.20170681e-03 -4.49795756e-04 9.99966264e-01 1.07092861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.719254154 meters 0.06024106200123899 Centerline is valid? [True, True] Translation: X:276.33, Y:4.55, Z:1.07 [[ 9.98815005e-01 -4.81577815e-02 -7.02955654e-03 2.76328306e+02] [ 4.81588868e-02 9.98839688e-01 -1.20397856e-05 4.55266701e+00] [ 7.02197987e-03 -3.26510100e-04 9.99975292e-01 1.07151786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779254154 meters 0.06177102069345504 Centerline is valid? [True, True] Translation: X:276.39, Y:4.55, Z:1.07 [[ 9.99242946e-01 -3.84082626e-02 -6.19190389e-03 2.76389316e+02] [ 3.84089333e-02 9.99262105e-01 -1.05986625e-05 4.55418597e+00] [ 6.18774199e-03 -2.27233785e-04 9.99980830e-01 1.07205842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839254154 meters 0.057893788811374136 Centerline is valid? [True, True] Translation: X:276.45, Y:4.58, Z:1.07 [[ 9.99570631e-01 -2.89225578e-02 -4.69468153e-03 2.76449470e+02] [ 2.89228389e-02 9.99581647e-01 -8.01856097e-06 4.57553594e+00] [ 4.69294942e-03 -1.27768400e-04 9.99988980e-01 1.07378389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899254154 meters 0.057930548894917784 Centerline is valid? [True, True] Translation: X:276.51, Y:4.58, Z:1.07 [[ 9.99698853e-01 -2.40866931e-02 -4.69404687e-03 2.76508910e+02] [ 2.40869209e-02 9.99709868e-01 -8.00475721e-06 4.57706886e+00] [ 4.69287778e-03 -1.05062789e-04 9.99988983e-01 1.07369278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959254154 meters 0.05748571070634402 Centerline is valid? [True, True] Translation: X:276.57, Y:4.58, Z:1.07 [[ 9.99787943e-01 -1.97991660e-02 -5.66230962e-03 2.76568807e+02] [ 1.97994285e-02 9.99803972e-01 -9.68393643e-06 4.58174031e+00] [ 5.66139138e-03 -1.02428612e-04 9.99983969e-01 1.07274069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019254154 meters 0.05703501062902238 Centerline is valid? [True, True] Translation: X:276.63, Y:4.58, Z:1.07 [[ 9.99809599e-01 -1.88400132e-02 -5.08134614e-03 2.76629897e+02] [ 1.88402124e-02 9.99822507e-01 -8.66664690e-06 4.58474526e+00] [ 5.08060752e-03 -8.70686440e-05 9.99987090e-01 1.07239429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079254154 meters 0.05667575589802706 Centerline is valid? [True, True] Translation: X:276.69, Y:4.58, Z:1.07 [[ 9.99822801e-01 -1.80386770e-02 -5.38266094e-03 2.76691003e+02] [ 1.80388898e-02 9.99837286e-01 -9.00904548e-06 4.58361279e+00] [ 5.38194761e-03 -8.80897783e-05 9.99985513e-01 1.07240065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139254154 meters 0.057067737950776666 Centerline is valid? [True, True] Translation: X:276.75, Y:4.58, Z:1.07 [[ 9.99817806e-01 -1.84824684e-02 -4.77005604e-03 2.76752388e+02] [ 1.84826417e-02 9.99829181e-01 -7.75887594e-06 4.58058581e+00] [ 4.76938463e-03 -8.04057744e-05 9.99988623e-01 1.07329173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199254154 meters 0.05791288130525985 Centerline is valid? [True, True] Translation: X:276.81, Y:4.58, Z:1.07 [[ 9.99752900e-01 -2.17542856e-02 -4.57058376e-03 2.76813061e+02] [ 2.17544794e-02 9.99763343e-01 -7.32931213e-06 4.57916003e+00] [ 4.56966155e-03 -9.21031691e-05 9.99989555e-01 1.07335678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259254154 meters 0.056694841704664926 Centerline is valid? [True, True] Translation: X:276.87, Y:4.58, Z:1.07 [[ 9.99642826e-01 -2.63801327e-02 -4.27889170e-03 2.76873558e+02] [ 2.63803453e-02 9.99651978e-01 -6.76922392e-06 4.57600968e+00] [ 4.27758112e-03 -1.06111834e-04 9.99990845e-01 1.07389687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319254154 meters 0.05736032861893858 Centerline is valid? [True, True] Translation: X:276.93, Y:4.57, Z:1.07 [[ 9.99324489e-01 -3.64929751e-02 -4.33926869e-03 2.76933956e+02] [ 3.64932890e-02 9.99333898e-01 -6.83345938e-06 4.57344659e+00] [ 4.33662766e-03 -1.51525343e-04 9.99990585e-01 1.07334595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379254154 meters 0.058652937051594085 Centerline is valid? [True, True] Translation: X:276.99, Y:4.57, Z:1.07 [[ 9.99031782e-01 -4.35994416e-02 -5.88111327e-03 2.76993237e+02] [ 4.36001412e-02 9.99049062e-01 -9.25734144e-06 4.56557327e+00] [ 5.87592431e-03 -2.47168991e-04 9.99982706e-01 1.07264880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439254154 meters 0.06025459008087681 Centerline is valid? [True, True] Translation: X:277.05, Y:4.55, Z:1.07 [[ 9.98556744e-01 -5.31951841e-02 -7.39610451e-03 2.77052560e+02] [ 5.31965536e-02 9.98584061e-01 -1.15782908e-05 4.55302460e+00] [ 7.38624798e-03 -3.81885689e-04 9.99972648e-01 1.07048173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499254154 meters 0.057090784602516216 Centerline is valid? [True, True] Translation: X:277.11, Y:4.56, Z:1.07 [[ 9.98150220e-01 -6.04283021e-02 -6.67516100e-03 2.77113321e+02] [ 6.04295791e-02 9.98172463e-01 -1.03999545e-05 4.56482585e+00] [ 6.66359035e-03 -3.92996452e-04 9.99977721e-01 1.07164502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters 0.05632926037682096 Centerline is valid? [True, True] Translation: X:277.17, Y:4.58, Z:1.07 [[ 9.97963913e-01 -6.35529420e-02 -5.39001307e-03 2.77173867e+02] [ 6.35538201e-02 9.97978413e-01 -8.37027254e-06 4.57807281e+00] [ 5.37964865e-03 -3.34202692e-04 9.99985474e-01 1.07284427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters 0.055339017083647725 Centerline is valid? [True, True] Translation: X:277.23, Y:4.58, Z:1.07 [[ 9.97795086e-01 -6.62439716e-02 -4.08688967e-03 2.77234951e+02] [ 6.62444991e-02 9.97803421e-01 -6.30329795e-06 4.58231815e+00] [ 4.07833004e-03 -2.64444559e-04 9.99991649e-01 1.07302617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters 0.05558658499744364 Centerline is valid? [True, True] Translation: X:277.30, Y:4.58, Z:1.07 [[ 9.97723294e-01 -6.72422023e-02 -5.16864714e-03 2.77295559e+02] [ 6.72430598e-02 9.97736624e-01 -7.88760611e-06 4.58009932e+00] [ 5.15747893e-03 -3.39686000e-04 9.99986642e-01 1.07358334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters 0.05611712211580152 Centerline is valid? [True, True] Translation: X:277.36, Y:4.58, Z:1.07 [[ 9.97751627e-01 -6.66860988e-02 -6.68246322e-03 2.77357184e+02] [ 6.66875210e-02 9.97773909e-01 -1.00170358e-05 4.58306051e+00] [ 6.66825545e-03 -4.35642393e-04 9.99977672e-01 1.07300137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters 0.05749034259739374 Centerline is valid? [True, True] Translation: X:277.42, Y:4.58, Z:1.07 [[ 9.97830417e-01 -6.54275888e-02 -7.32736346e-03 2.77417311e+02] [ 6.54292660e-02 9.97857210e-01 -1.08363536e-05 4.57714796e+00] [ 7.31237145e-03 -4.68611170e-04 9.99973154e-01 1.07335041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters 0.05670349659093689 Centerline is valid? [True, True] Translation: X:277.48, Y:4.59, Z:1.07 [[ 9.98080784e-01 -6.14021262e-02 -8.03287179e-03 2.77477553e+02] [ 6.14040121e-02 9.98112993e-01 -1.18848532e-05 4.59042215e+00] [ 8.01844347e-03 -4.81388513e-04 9.99967736e-01 1.07439755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters 0.058142422245248356 Centerline is valid? [True, True] Translation: X:277.54, Y:4.59, Z:1.07 [[ 9.98436822e-01 -5.53310160e-02 -7.89884250e-03 2.77537361e+02] [ 5.53326499e-02 9.98467975e-01 -1.16993680e-05 4.58828531e+00] [ 7.88738862e-03 -4.25382807e-04 9.99968804e-01 1.07390951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters 0.05610576802956717 Centerline is valid? [True, True] Translation: X:277.60, Y:4.61, Z:1.07 [[ 9.99121149e-01 -4.12894096e-02 -7.21904017e-03 2.77598387e+02] [ 4.12904084e-02 9.99147187e-01 -1.06922233e-05 4.60535816e+00] [ 7.21332515e-03 -2.87394290e-04 9.99973942e-01 1.07485077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters 0.057329675430661343 Centerline is valid? [True, True] Translation: X:277.66, Y:4.60, Z:1.07 [[ 9.99329203e-01 -3.58926210e-02 -7.27074560e-03 2.77657943e+02] [ 3.58934916e-02 9.99355621e-01 -1.07623579e-05 4.60080268e+00] [ 7.26644677e-03 -2.50217307e-04 9.99973568e-01 1.07459660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters 0.05691370130474214 Centerline is valid? [True, True] Translation: X:277.72, Y:4.61, Z:1.08 [[ 9.99742306e-01 -2.20136138e-02 -5.54284807e-03 2.77717050e+02] [ 2.20139066e-02 9.99757665e-01 -8.20312905e-06 4.61155650e+00] [ 5.54168542e-03 -1.13818724e-04 9.99984638e-01 1.07659664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.159254154 meters 0.05603671358118653 Centerline is valid? [True, True] Translation: X:277.78, Y:4.62, Z:1.08 [[ 9.99873095e-01 -1.52443227e-02 -4.62642235e-03 2.77777426e+02] [ 1.52444543e-02 9.99883797e-01 -6.82945586e-06 4.62232514e+00] [ 4.62598885e-03 -6.36986946e-05 9.99989298e-01 1.07705788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.219254154 meters 0.05568137073417309 Centerline is valid? [True, True] Translation: X:277.84, Y:4.62, Z:1.08 [[ 9.99889678e-01 -1.41755324e-02 -4.43691190e-03 2.77839948e+02] [ 1.41756432e-02 9.99899521e-01 -6.48124242e-06 4.62401998e+00] [ 4.43655796e-03 -5.64155526e-05 9.99990157e-01 1.07724733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279254154 meters 0.055496384751552365 Centerline is valid? [True, True] Translation: X:277.90, Y:4.62, Z:1.08 [[ 9.99861137e-01 -1.56089920e-02 -5.83670443e-03 2.77902223e+02] [ 1.56092095e-02 9.99878169e-01 -8.28245918e-06 4.62246499e+00] [ 5.83612261e-03 -8.28250333e-05 9.99982966e-01 1.07612838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339254154 meters 0.055629636970596474 Centerline is valid? [True, True] Translation: X:277.96, Y:4.62, Z:1.08 [[ 9.99830580e-01 -1.72391224e-02 -6.45169342e-03 2.77962830e+02] [ 1.72394234e-02 9.99851390e-01 -8.96218823e-06 4.61880607e+00] [ 6.45088913e-03 -1.02262804e-04 9.99979188e-01 1.07546403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399254154 meters 0.056254013271820696 Centerline is valid? [True, True] Translation: X:278.02, Y:4.62, Z:1.08 [[ 9.99798880e-01 -1.89246902e-02 -6.63746260e-03 2.78024842e+02] [ 1.89250470e-02 9.99820905e-01 -9.06092700e-06 4.61750245e+00] [ 6.63644534e-03 -1.16555187e-04 9.99977972e-01 1.07631320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459254154 meters 0.056018602946998335 Centerline is valid? [True, True] Translation: X:278.09, Y:4.61, Z:1.08 [[ 9.99771072e-01 -2.02610775e-02 -6.87701471e-03 2.78087340e+02] [ 2.02614936e-02 9.99794715e-01 -9.15361538e-06 4.61372206e+00] [ 6.87578842e-03 -1.30187070e-04 9.99976353e-01 1.07614213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519254154 meters 0.05652344405316772 Centerline is valid? [True, True] Translation: X:278.15, Y:4.61, Z:1.08 [[ 9.99730131e-01 -2.21705260e-02 -6.93778017e-03 2.78147955e+02] [ 2.21709968e-02 9.99754193e-01 -9.05316704e-06 4.60904977e+00] [ 6.93627553e-03 -1.44766778e-04 9.99975933e-01 1.07635927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579254154 meters 0.05516742753468354 Centerline is valid? [True, True] Translation: X:278.21, Y:4.61, Z:1.08 [[ 9.99589011e-01 -2.79288970e-02 -6.46423644e-03 2.78208799e+02] [ 2.79294265e-02 9.99609897e-01 -8.37029219e-06 4.61230004e+00] [ 6.46194849e-03 -1.72175564e-04 9.99979107e-01 1.07765894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639254154 meters 0.05607600589224821 Centerline is valid? [True, True] Translation: X:278.27, Y:4.60, Z:1.08 [[ 9.99342012e-01 -3.55174064e-02 -7.35229671e-03 2.78268931e+02] [ 3.55182968e-02 9.99369026e-01 -9.48140068e-06 4.60386846e+00] [ 7.34799436e-03 -2.51665894e-04 9.99972971e-01 1.07748232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699254154 meters 0.056649672863331973 Centerline is valid? [True, True] Translation: X:278.33, Y:4.60, Z:1.08 [[ 9.98999828e-01 -4.39424303e-02 -8.27078478e-03 2.78329532e+02] [ 4.39438456e-02 9.99034003e-01 -1.06075442e-05 4.59882827e+00] [ 8.26326134e-03 -3.52853155e-04 9.99965796e-01 1.07771381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759254154 meters 0.05637881473473673 Centerline is valid? [True, True] Translation: X:278.39, Y:4.60, Z:1.08 [[ 9.98755728e-01 -4.91739374e-02 -8.30178258e-03 2.78390493e+02] [ 4.91755442e-02 9.98790151e-01 -1.05913717e-05 4.60251517e+00] [ 8.29225949e-03 -3.97666483e-04 9.99965540e-01 1.07869195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819254154 meters 0.05783149036232422 Centerline is valid? [True, True] Translation: X:278.45, Y:4.59, Z:1.08 [[ 9.98521200e-01 -5.37299395e-02 -8.27684999e-03 2.78450513e+02] [ 5.37316932e-02 9.98555409e-01 -1.05098834e-05 4.58917208e+00] [ 8.26545802e-03 -4.34234823e-04 9.99965746e-01 1.07812529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879254154 meters 0.05627710722787647 Centerline is valid? [True, True] Translation: X:278.51, Y:4.59, Z:1.08 [[ 9.98548840e-01 -5.32393022e-02 -8.11120932e-03 2.78513064e+02] [ 5.32409717e-02 9.98581694e-01 -1.01200417e-05 4.59468391e+00] [ 8.10024392e-03 -4.21743310e-04 9.99967104e-01 1.07906479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939254154 meters 0.056279416667326554 Centerline is valid? [True, True] Translation: X:278.57, Y:4.61, Z:1.08 [[ 9.98767773e-01 -4.89040484e-02 -8.44572278e-03 2.78573433e+02] [ 4.89057052e-02 9.98803400e-01 -1.03765854e-05 4.60588346e+00] [ 8.43612409e-03 -4.02680229e-04 9.99964334e-01 1.08056313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters 0.05629185362302411 Centerline is valid? [True, True] Translation: X:278.63, Y:4.61, Z:1.08 [[ 9.98979569e-01 -4.43139370e-02 -8.72326474e-03 2.78633327e+02] [ 4.43155297e-02 9.99017584e-01 -1.07248481e-05 4.60925590e+00] [ 8.71517012e-03 -3.75862193e-04 9.99961952e-01 1.08088008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters 0.05573940378128347 Centerline is valid? [True, True] Translation: X:278.69, Y:4.61, Z:1.08 [[ 9.99070561e-01 -4.20973870e-02 -9.26412944e-03 2.78693702e+02] [ 4.20990881e-02 9.99113440e-01 -1.13929604e-05 4.61235051e+00] [ 9.25639585e-03 -3.78629031e-04 9.99957087e-01 1.08130531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters 0.059001256552272306 Centerline is valid? [True, True] Translation: X:278.75, Y:4.60, Z:1.08 [[ 9.99163193e-01 -3.95778628e-02 -1.03202089e-02 2.78753953e+02] [ 3.95798398e-02 9.99216411e-01 -1.26917194e-05 4.60145110e+00] [ 1.03126245e-02 -3.95791118e-04 9.99946745e-01 1.07883634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters 0.058350115400051604 Centerline is valid? [True, True] Translation: X:278.81, Y:4.61, Z:1.08 [[ 9.99280001e-01 -3.63358530e-02 -1.09172307e-02 2.78814438e+02] [ 3.63378728e-02 9.99339561e-01 -1.33629986e-05 4.60970882e+00] [ 1.09105060e-02 -3.83355561e-04 9.99940405e-01 1.07901880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters 0.05619544313014627 Centerline is valid? [True, True] Translation: X:278.88, Y:4.62, Z:1.08 [[ 9.99366589e-01 -3.38028619e-02 -1.11259554e-02 2.78875596e+02] [ 3.38048039e-02 9.99428454e-01 -1.35165967e-05 4.62279249e+00] [ 1.11200533e-02 -3.62602706e-04 9.99938105e-01 1.08114969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters 0.056299792497658034 Centerline is valid? [True, True] Translation: X:278.94, Y:4.62, Z:1.08 [[ 9.99527321e-01 -2.89802982e-02 -1.02604298e-02 2.78935674e+02] [ 2.89816962e-02 9.99579942e-01 -1.24327607e-05 4.62251458e+00] [ 1.02564801e-02 -2.84937776e-04 9.99947360e-01 1.08030805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters 0.056131896260919634 Centerline is valid? [True, True] Translation: X:279.00, Y:4.63, Z:1.08 [[ 9.99638782e-01 -2.55343350e-02 -8.38466815e-03 2.78996265e+02] [ 2.55351477e-02 9.99673925e-01 -1.01250432e-05 4.63221584e+00] [ 8.38219265e-03 -2.03982354e-04 9.99964848e-01 1.08245301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters 0.055998360568008304 Centerline is valid? [True, True] Translation: X:279.06, Y:4.64, Z:1.08 [[ 9.99786625e-01 -1.96730955e-02 -6.29868126e-03 2.79056484e+02] [ 1.96734382e-02 9.99806459e-01 -7.56102355e-06 4.64002720e+00] [ 6.29761096e-03 -1.16357306e-04 9.99980163e-01 1.08418150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters 0.05532788782885274 Centerline is valid? [True, True] Translation: X:279.12, Y:4.64, Z:1.08 [[ 9.99843053e-01 -1.69056195e-02 -5.29801401e-03 2.79117789e+02] [ 1.69058233e-02 9.99857086e-01 -6.30696904e-06 4.64331409e+00] [ 5.29736348e-03 -8.32613096e-05 9.99985965e-01 1.08453716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters 0.05604451496126887 Centerline is valid? [True, True] Translation: X:279.18, Y:4.64, Z:1.08 [[ 9.99826401e-01 -1.75452242e-02 -6.27159553e-03 2.79178658e+02] [ 1.75455232e-02 9.99846065e-01 -7.33087017e-06 4.63799265e+00] [ 6.27075874e-03 -1.02708828e-04 9.99980333e-01 1.08260478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters 0.05577600517077878 Centerline is valid? [True, True] Translation: X:279.24, Y:4.64, Z:1.08 [[ 9.99725161e-01 -2.21790695e-02 -7.59544317e-03 2.79239440e+02] [ 2.21796430e-02 9.99754001e-01 -8.73085541e-06 4.63885004e+00] [ 7.59376834e-03 -1.59735762e-04 9.99971154e-01 1.08200997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.659254154 meters 0.055367470428010955 Centerline is valid? [True, True] Translation: X:279.30, Y:4.64, Z:1.08 [[ 9.99554615e-01 -2.87609966e-02 -7.96100078e-03 2.79299600e+02] [ 2.87618353e-02 9.99586293e-01 -9.14568205e-06 4.63817258e+00] [ 7.95797030e-03 -2.19831385e-04 9.99968311e-01 1.08191625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.719254154 meters 0.05462974734582997 Centerline is valid? [True, True] Translation: X:279.36, Y:4.64, Z:1.08 [[ 9.99433251e-01 -3.26451325e-02 -8.21414123e-03 2.79360353e+02] [ 3.26461562e-02 9.99466972e-01 -9.45713764e-06 4.63606893e+00] [ 8.21007159e-03 -2.58708360e-04 9.99966263e-01 1.08193870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779254154 meters 0.05725012169861793 Centerline is valid? [True, True] Translation: X:279.42, Y:4.63, Z:1.08 [[ 9.99290070e-01 -3.68756724e-02 -7.71630981e-03 2.79419480e+02] [ 3.68767026e-02 9.99319823e-01 -8.77813416e-06 4.62591900e+00] [ 7.71138505e-03 -2.75780160e-04 9.99970229e-01 1.08136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839254154 meters 0.05819595898680944 Centerline is valid? [True, True] Translation: X:279.48, Y:4.62, Z:1.08 [[ 9.99217994e-01 -3.89523200e-02 -6.79089897e-03 2.79479401e+02] [ 3.89531664e-02 9.99241037e-01 -7.63429892e-06 4.61919567e+00] [ 6.78604231e-03 -2.56898689e-04 9.99976942e-01 1.08191711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899254154 meters 0.055620434186044516 Centerline is valid? [True, True] Translation: X:279.54, Y:4.63, Z:1.08 [[ 9.99181896e-01 -4.00152598e-02 -5.85816397e-03 2.79541134e+02] [ 4.00159082e-02 9.99199043e-01 -6.52327742e-06 4.62927911e+00] [ 5.85373287e-03 -2.27901811e-04 9.99982841e-01 1.08312500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959254154 meters 0.055586171576165924 Centerline is valid? [True, True] Translation: X:279.60, Y:4.63, Z:1.08 [[ 9.99168144e-01 -4.04071363e-02 -5.50297125e-03 2.79603264e+02] [ 4.04077153e-02 9.99183275e-01 -5.95461617e-06 4.63314508e+00] [ 5.49871744e-03 -2.16412833e-04 9.99984859e-01 1.08334778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019254154 meters 0.05645367838688246 Centerline is valid? [True, True] Translation: X:279.66, Y:4.63, Z:1.08 [[ 9.99205269e-01 -3.93455303e-02 -6.38428986e-03 2.79664992e+02] [ 3.93462896e-02 9.99225635e-01 -6.67482115e-06 4.62695024e+00] [ 6.37960871e-03 -2.44528601e-04 9.99979620e-01 1.08280988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079254154 meters 0.05593572641884421 Centerline is valid? [True, True] Translation: X:279.73, Y:4.63, Z:1.08 [[ 9.99342449e-01 -3.57110172e-02 -6.27641443e-03 2.79725691e+02] [ 3.57116802e-02 9.99362135e-01 -6.43664435e-06 4.63120195e+00] [ 6.27264078e-03 -2.17708893e-04 9.99980303e-01 1.08295896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139254154 meters 0.05554009945744186 Centerline is valid? [True, True] Translation: X:279.79, Y:4.63, Z:1.08 [[ 9.99563799e-01 -2.88775659e-02 -6.18857357e-03 2.79785230e+02] [ 2.88780796e-02 9.99582941e-01 -6.35126200e-06 4.63038896e+00] [ 6.18617598e-03 -1.72365629e-04 9.99980851e-01 1.08273442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199254154 meters 0.055254363274598456 Centerline is valid? [True, True] Translation: X:279.85, Y:4.63, Z:1.08 [[ 9.99694725e-01 -2.39072268e-02 -6.23707134e-03 2.79845426e+02] [ 2.39076519e-02 9.99714171e-01 -6.40180052e-06 4.63374917e+00] [ 6.23544166e-03 -1.42713885e-04 9.99980549e-01 1.08328920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259254154 meters 0.05507660010466672 Centerline is valid? [True, True] Translation: X:279.91, Y:4.64, Z:1.08 [[ 9.99817099e-01 -1.78365993e-02 -6.90105921e-03 2.79906092e+02] [ 1.78369752e-02 9.99840908e-01 -7.07421980e-06 4.63791781e+00] [ 6.90008749e-03 -1.16021096e-04 9.99976187e-01 1.08324863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319254154 meters 0.05523325620372293 Centerline is valid? [True, True] Translation: X:279.97, Y:4.64, Z:1.08 [[ 9.99831595e-01 -1.58965927e-02 -9.16953569e-03 2.79966156e+02] [ 1.58971758e-02 9.99873632e-01 -9.30461687e-06 4.63737767e+00] [ 9.16852486e-03 -1.36466671e-04 9.99957959e-01 1.08226470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379254154 meters 0.055987518257072426 Centerline is valid? [True, True] Translation: X:280.03, Y:4.64, Z:1.08 [[ 9.99800015e-01 -1.73581685e-02 -9.93095651e-03 2.80026365e+02] [ 1.73589252e-02 9.99849322e-01 -1.00058810e-05 4.63619113e+00] [ 9.92963382e-03 -1.62386851e-04 9.99950687e-01 1.08232513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439254154 meters 0.056289696364469115 Centerline is valid? [True, True] Translation: X:280.09, Y:4.63, Z:1.08 [[ 9.99712285e-01 -2.20360260e-02 -9.47422845e-03 2.80087202e+02] [ 2.20369250e-02 9.99757157e-01 -9.49963656e-06 4.63431765e+00] [ 9.47213704e-03 -1.99285959e-04 9.99955118e-01 1.08407250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters 0.05526860577025577 Centerline is valid? [True, True] Translation: X:280.15, Y:4.64, Z:1.09 [[ 9.99575807e-01 -2.81791868e-02 -7.35802460e-03 2.80147916e+02] [ 2.81798956e-02 9.99602868e-01 -7.34731011e-06 4.63594558e+00] [ 7.35530953e-03 -2.00004172e-04 9.99972929e-01 1.08606502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters 0.056755142018913726 Centerline is valid? [True, True] Translation: X:280.21, Y:4.63, Z:1.09 [[ 9.99458464e-01 -3.21495109e-02 -7.01337622e-03 2.80207846e+02] [ 3.21502528e-02 9.99483047e-01 -6.95766125e-06 4.62943131e+00] [ 7.00997432e-03 -2.18527925e-04 9.99975406e-01 1.08614988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters 0.05612369748903031 Centerline is valid? [True, True] Translation: X:280.27, Y:4.63, Z:1.09 [[ 9.99221028e-01 -3.90115716e-02 -5.95274117e-03 2.80268185e+02] [ 3.90122280e-02 9.99238733e-01 -5.86047651e-06 4.62818770e+00] [ 5.94843818e-03 -2.26373784e-04 9.99982282e-01 1.08662208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters 0.05586619119305002 Centerline is valid? [True, True] Translation: X:280.33, Y:4.62, Z:1.09 [[ 9.98871655e-01 -4.70943636e-02 -6.12674806e-03 2.80328190e+02] [ 4.70952106e-02 9.98890405e-01 -6.03280355e-06 4.62242286e+00] [ 6.12023396e-03 -2.82514493e-04 9.99981231e-01 1.08723560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters 0.05467094757419597 Centerline is valid? [True, True] Translation: X:280.39, Y:4.63, Z:1.09 [[ 9.98523385e-01 -5.39133714e-02 -6.66325427e-03 2.80388920e+02] [ 5.39145246e-02 9.98545554e-01 -6.57135480e-06 4.62770446e+00] [ 6.65391721e-03 -3.52684534e-04 9.99977800e-01 1.08709002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters 0.05472829672446482 Centerline is valid? [True, True] Translation: X:280.45, Y:4.63, Z:1.09 [[ 9.98368220e-01 -5.66647736e-02 -7.07114912e-03 2.80449500e+02] [ 5.66661413e-02 9.98393183e-01 -6.94834358e-06 4.62613004e+00] [ 7.06018080e-03 -3.93757729e-04 9.99974999e-01 1.08698126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters 0.0557475495659002 Centerline is valid? [True, True] Translation: X:280.51, Y:4.62, Z:1.09 [[ 9.98242726e-01 -5.86827010e-02 -8.23407679e-03 2.80508933e+02] [ 5.86846247e-02 9.98276572e-01 -8.00404315e-06 4.61845155e+00] [ 8.22035566e-03 -4.75223728e-04 9.99966099e-01 1.08645965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters 0.05623426297745385 Centerline is valid? [True, True] Translation: X:280.57, Y:4.62, Z:1.09 [[ 9.98262795e-01 -5.82478068e-02 -8.86485981e-03 2.80570853e+02] [ 5.82500211e-02 9.98302026e-01 -8.41685032e-06 4.61897202e+00] [ 8.85029777e-03 -5.07976043e-04 9.99960706e-01 1.08641172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters 0.0552005207572988 Centerline is valid? [True, True] Translation: X:280.63, Y:4.63, Z:1.09 [[ 9.98439245e-01 -5.51474197e-02 -8.82251686e-03 2.80631732e+02] [ 5.51494937e-02 9.98478109e-01 -8.21397660e-06 4.63017899e+00] [ 8.80954293e-03 -4.78356182e-04 9.99961081e-01 1.08690420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters 0.05426311906461291 Centerline is valid? [True, True] Translation: X:280.69, Y:4.63, Z:1.09 [[ 9.98655383e-01 -5.10735170e-02 -8.88377382e-03 2.80692282e+02] [ 5.10754597e-02 9.98694797e-01 -8.20380084e-06 4.62943883e+00] [ 8.87259768e-03 -4.45550062e-04 9.99960538e-01 1.08785122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters 0.055466617322562924 Centerline is valid? [True, True] Translation: X:280.75, Y:4.63, Z:1.09 [[ 9.99088149e-01 -4.20318846e-02 -7.49611952e-03 2.80752141e+02] [ 4.20330140e-02 9.99116222e-01 -6.88762004e-06 4.63098492e+00] [ 7.48978411e-03 -3.08203157e-04 9.99971904e-01 1.08827272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.159254154 meters 0.057792543458488804 Centerline is valid? [True, True] Translation: X:280.81, Y:4.62, Z:1.09 [[ 9.99511398e-01 -3.04971936e-02 -6.84734612e-03 2.80812087e+02] [ 3.04978656e-02 9.99534832e-01 -6.27402790e-06 4.62380694e+00] [ 6.84435229e-03 -2.02558480e-04 9.99976557e-01 1.08813282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.219254154 meters 0.05527086154171773 Centerline is valid? [True, True] Translation: X:280.87, Y:4.64, Z:1.09 [[ 9.99785895e-01 -1.97691312e-02 -6.11116787e-03 2.80872474e+02] [ 1.97694662e-02 9.99804565e-01 -5.59173764e-06 4.64143588e+00] [ 6.11008407e-03 -1.15223986e-04 9.99981327e-01 1.08977318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279254154 meters 0.05569796294141063 Centerline is valid? [True, True] Translation: X:280.93, Y:4.64, Z:1.09 [[ 9.99871323e-01 -1.44388371e-02 -6.98985617e-03 2.80933313e+02] [ 1.44391453e-02 9.99895750e-01 -6.37235447e-06 4.64441499e+00] [ 6.98921949e-03 -9.45560141e-05 9.99975571e-01 1.08944132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339254154 meters 0.05569482965367421 Centerline is valid? [True, True] Translation: X:280.99, Y:4.65, Z:1.09 [[ 9.99912008e-01 -1.05696043e-02 -8.01627770e-03 2.80993163e+02] [ 1.05698857e-02 9.99944137e-01 -7.26787143e-06 4.64622046e+00] [ 8.01590670e-03 -7.74639067e-05 9.99967869e-01 1.08914972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399254154 meters 0.05564377634844127 Centerline is valid? [True, True] Translation: X:281.05, Y:4.65, Z:1.09 [[ 9.99906675e-01 -1.13832331e-02 -7.55398634e-03 2.81052549e+02] [ 1.13835054e-02 9.99935206e-01 -6.95542376e-06 4.64674695e+00] [ 7.55357606e-03 -7.90360695e-05 9.99971468e-01 1.08940463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459254154 meters 0.05559942602473231 Centerline is valid? [True, True] Translation: X:281.11, Y:4.65, Z:1.09 [[ 9.99875616e-01 -1.40923932e-02 -7.08210452e-03 2.81113080e+02] [ 1.40926996e-02 9.99900693e-01 -6.63020289e-06 4.64567573e+00] [ 7.08149466e-03 -9.31765936e-05 9.99974922e-01 1.08942598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519254154 meters 0.055435432727936274 Centerline is valid? [True, True] Translation: X:281.17, Y:4.64, Z:1.09 [[ 9.99835830e-01 -1.70764224e-02 -6.05884314e-03 2.81173919e+02] [ 1.70767023e-02 9.99854182e-01 -5.54887975e-06 4.64271985e+00] [ 6.05805441e-03 -9.79170917e-05 9.99981645e-01 1.08950921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579254154 meters 0.05515448958704308 Centerline is valid? [True, True] Translation: X:281.23, Y:4.64, Z:1.09 [[ 9.99692302e-01 -2.43265255e-02 -4.84981885e-03 2.81233102e+02] [ 2.43267911e-02 9.99704060e-01 -4.23384522e-06 4.63527926e+00] [ 4.84848658e-03 -1.13747987e-04 9.99988240e-01 1.08982449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639254154 meters 0.055447566590655924 Centerline is valid? [True, True] Translation: X:281.29, Y:4.63, Z:1.09 [[ 9.99491257e-01 -3.16532520e-02 -3.91132520e-03 2.81294394e+02] [ 3.16534811e-02 9.99498903e-01 -3.33201303e-06 4.63387665e+00] [ 3.90947071e-03 -1.20476740e-04 9.99992351e-01 1.08984003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699254154 meters 0.05711145193699287 Centerline is valid? [True, True] Translation: X:281.35, Y:4.62, Z:1.09 [[ 9.99010597e-01 -4.43267796e-02 -3.60060442e-03 2.81354806e+02] [ 4.43270561e-02 9.99017073e-01 -3.01709297e-06 4.62132858e+00] [ 3.59719902e-03 -1.56590086e-04 9.99993518e-01 1.08896676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759254154 meters 0.058207871364543286 Centerline is valid? [True, True] Translation: X:281.41, Y:4.61, Z:1.09 [[ 9.98448480e-01 -5.54757292e-02 -4.80382248e-03 2.81414127e+02] [ 5.54763501e-02 9.98460001e-01 -3.98850432e-06 4.60861969e+00] [ 4.79664587e-03 -2.62516222e-04 9.99988462e-01 1.08803498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819254154 meters 0.055523680533256035 Centerline is valid? [True, True] Translation: X:281.47, Y:4.62, Z:1.09 [[ 9.98152995e-01 -6.05344699e-02 -5.11633593e-03 2.81474711e+02] [ 6.05352411e-02 9.98166061e-01 -4.14372246e-06 4.61851898e+00] [ 5.10720371e-03 -3.05582560e-04 9.99986911e-01 1.08769218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879254154 meters 0.05775174475474928 Centerline is valid? [True, True] Translation: X:281.53, Y:4.60, Z:1.09 [[ 9.98016339e-01 -6.27670420e-02 -4.86687067e-03 2.81533862e+02] [ 6.27677664e-02 9.98028160e-01 -3.90943156e-06 4.60425803e+00] [ 4.85751936e-03 -3.01580925e-04 9.99988157e-01 1.08728157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939254154 meters 0.05392665341083052 Centerline is valid? [True, True] Translation: X:281.60, Y:4.63, Z:1.09 [[ 9.98032123e-01 -6.25463442e-02 -4.45381982e-03 2.81595942e+02] [ 6.25469493e-02 9.98042023e-01 -3.43026989e-06 4.62840271e+00] [ 4.44531389e-03 -2.75149323e-04 9.99990082e-01 1.08745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters 0.052938435405698266 Centerline is valid? [True, True] Translation: X:281.66, Y:4.63, Z:1.09 [[ 9.98103083e-01 -6.13087532e-02 -5.61003608e-03 2.81655584e+02] [ 6.13096969e-02 9.98118791e-01 -3.75797155e-06 4.62696483e+00] [ 5.59971283e-03 -3.40198769e-04 9.99984264e-01 1.08733612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters 0.05469147011999785 Centerline is valid? [True, True] Translation: X:281.71, Y:4.62, Z:1.09 [[ 9.98234471e-01 -5.88527141e-02 -8.01872125e-03 2.81714982e+02] [ 5.88545627e-02 9.98266568e-01 -5.45067334e-06 4.61730438e+00] [ 8.00514213e-03 -4.66497283e-04 9.99967850e-01 1.08601127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters 0.056329953261660626 Centerline is valid? [True, True] Translation: X:281.77, Y:4.61, Z:1.09 [[ 9.98396407e-01 -5.57329425e-02 -9.92239481e-03 2.81774257e+02] [ 5.57356185e-02 9.98445562e-01 -6.83405314e-06 4.61404206e+00] [ 9.90735195e-03 -5.46207718e-04 9.99950772e-01 1.08547539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters 0.054992025963862885 Centerline is valid? [True, True] Translation: X:281.84, Y:4.63, Z:1.09 [[ 9.98572964e-01 -5.24965861e-02 -9.80525933e-03 2.81835068e+02] [ 5.24990439e-02 9.98620974e-01 -6.74197508e-06 4.62530708e+00] [ 9.79209155e-03 -5.08034386e-04 9.99951927e-01 1.08673189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters 0.05570646115120132 Centerline is valid? [True, True] Translation: X:281.90, Y:4.63, Z:1.09 [[ 9.98998627e-01 -4.40045178e-02 -8.08367527e-03 2.81895397e+02] [ 4.40059110e-02 9.99031271e-01 -5.52668189e-06 4.62715656e+00] [ 8.07608757e-03 -3.50208347e-04 9.99967327e-01 1.08790918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters 0.05596997978262435 Centerline is valid? [True, True] Translation: X:281.95, Y:4.63, Z:1.09 [[ 9.99468130e-01 -3.18870299e-02 -6.83188786e-03 2.81954868e+02] [ 3.18877421e-02 9.99491457e-01 -4.69368938e-06 4.62907332e+00] [ 6.82856321e-03 -2.13162285e-04 9.99976662e-01 1.08890200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters 0.05584165517604951 Centerline is valid? [True, True] Translation: X:282.02, Y:4.64, Z:1.09 [[ 9.99703969e-01 -2.35489348e-02 -6.11739856e-03 2.82016058e+02] [ 2.35493496e-02 9.99722676e-01 -4.22406187e-06 4.63528143e+00] [ 6.11580152e-03 -1.39837946e-04 9.99981289e-01 1.08996653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters 0.055714751724431834 Centerline is valid? [True, True] Translation: X:282.08, Y:4.64, Z:1.09 [[ 9.99865392e-01 -1.49457291e-02 -6.76924198e-03 2.82076937e+02] [ 1.49460403e-02 9.99888302e-01 -4.62360400e-06 4.64437287e+00] [ 6.76855497e-03 -9.65503816e-05 9.99977088e-01 1.09062574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters 0.05540757431018012 Centerline is valid? [True, True] Translation: X:282.14, Y:4.64, Z:1.09 [[ 9.99881545e-01 -1.31447226e-02 -8.00701692e-03 2.82137743e+02] [ 1.31451013e-02 9.99913599e-01 -5.32827386e-06 4.64152070e+00] [ 8.00639515e-03 -9.99254056e-05 9.99967943e-01 1.08870774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters 0.055582170343170076 Centerline is valid? [True, True] Translation: X:282.20, Y:4.64, Z:1.09 [[ 9.99841292e-01 -1.54207029e-02 -8.92142836e-03 2.82197974e+02] [ 1.54212647e-02 9.99881085e-01 -5.82624550e-06 4.64366737e+00] [ 8.92045732e-03 -1.31754387e-04 9.99960203e-01 1.08919414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters 0.05541607727932004 Centerline is valid? [True, True] Translation: X:282.26, Y:4.64, Z:1.09 [[ 9.99748888e-01 -2.07976710e-02 -8.34367588e-03 2.82258745e+02] [ 2.07983498e-02 9.99783691e-01 -5.41191536e-06 4.64490316e+00] [ 8.34198363e-03 -1.68124133e-04 9.99965191e-01 1.09091084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.659254154 meters 0.05569281717867456 Centerline is valid? [True, True] Translation: X:282.32, Y:4.64, Z:1.09 [[ 9.99659160e-01 -2.47032566e-02 -8.44470161e-03 2.82319203e+02] [ 2.47040919e-02 9.99694807e-01 -5.40656562e-06 4.64234393e+00] [ 8.44225791e-03 -2.03213962e-04 9.99964343e-01 1.09135487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.719254154 meters 0.055440357541048216 Centerline is valid? [True, True] Translation: X:282.38, Y:4.64, Z:1.09 [[ 9.99471410e-01 -3.16299021e-02 -7.51336448e-03 2.82379891e+02] [ 3.16307594e-02 9.99499622e-01 -4.73269280e-06 4.64116855e+00] [ 7.50975466e-03 -2.32923233e-04 9.99971774e-01 1.09211282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779254154 meters 0.056256796308871954 Centerline is valid? [True, True] Translation: X:282.44, Y:4.63, Z:1.09 [[ 9.99182749e-01 -3.97096538e-02 -7.54837104e-03 2.82438933e+02] [ 3.97107503e-02 9.99211217e-01 -4.62314551e-06 4.63408074e+00] [ 7.54260060e-03 -2.95132110e-04 9.99971511e-01 1.09223699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839254154 meters 0.05496646031112843 Centerline is valid? [True, True] Translation: X:282.50, Y:4.64, Z:1.09 [[ 9.98904197e-01 -4.61604516e-02 -7.72124247e-03 2.82499852e+02] [ 4.61617919e-02 9.98933976e-01 -4.63518431e-06 4.64089136e+00] [ 7.71322540e-03 -3.51796283e-04 9.99970191e-01 1.09285774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899254154 meters 0.05481224194703945 Centerline is valid? [True, True] Translation: X:282.56, Y:4.64, Z:1.09 [[ 9.98471453e-01 -5.46617897e-02 -8.17593323e-03 2.82559141e+02] [ 5.46635775e-02 9.98504829e-01 -4.80809274e-06 4.63733496e+00] [ 8.16397163e-03 -4.42125016e-04 9.99966576e-01 1.09301225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959254154 meters 0.05613762553543209 Centerline is valid? [True, True] Translation: X:282.62, Y:4.63, Z:1.09 [[ 9.98272116e-01 -5.81412128e-02 -8.50773982e-03 2.82618842e+02] [ 5.81432766e-02 9.98308249e-01 -4.76887470e-06 4.63198696e+00] [ 8.49362411e-03 -4.89907235e-04 9.99963809e-01 1.09342746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019254154 meters 0.05537044514913702 Centerline is valid? [True, True] Translation: X:282.68, Y:4.63, Z:1.09 [[ 9.98303436e-01 -5.75720608e-02 -8.70105804e-03 2.82681347e+02] [ 5.75742007e-02 9.98341230e-01 -4.56057128e-06 4.63403937e+00] [ 8.68688755e-03 -4.96403628e-04 9.99962145e-01 1.09404660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079254154 meters 0.05434014721495135 Centerline is valid? [True, True] Translation: X:282.74, Y:4.64, Z:1.10 [[ 9.98550157e-01 -5.32018425e-02 -8.19436169e-03 2.82741872e+02] [ 5.32035950e-02 9.98583686e-01 -4.13355391e-06 4.64097611e+00] [ 8.18297581e-03 -4.31841939e-04 9.99966426e-01 1.09546770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139254154 meters 0.05497656247541605 Centerline is valid? [True, True] Translation: X:282.80, Y:4.64, Z:1.09 [[ 9.98778144e-01 -4.85926505e-02 -8.99850399e-03 2.82801692e+02] [ 4.85945776e-02 9.98818586e-01 -4.48925790e-06 4.63837006e+00] [ 8.98809117e-03 -4.32794727e-04 9.99959513e-01 1.09493533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199254154 meters 0.05494080170209566 Centerline is valid? [True, True] Translation: X:282.86, Y:4.65, Z:1.09 [[ 9.99113678e-01 -4.05448163e-02 -1.13126897e-02 2.82862836e+02] [ 4.05473482e-02 9.99177618e-01 -5.55342491e-06 4.64662255e+00] [ 1.13036115e-02 -4.53151065e-04 9.99936009e-01 1.09483549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259254154 meters 0.05545860769844864 Centerline is valid? [True, True] Translation: X:282.92, Y:4.65, Z:1.09 [[ 9.99416416e-01 -3.17756632e-02 -1.25353701e-02 2.82923121e+02] [ 3.17780841e-02 9.99494949e-01 -6.06183363e-06 4.65101864e+00] [ 1.25292317e-02 -3.92291749e-04 9.99921429e-01 1.09480937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319254154 meters 0.055762036103988506 Centerline is valid? [True, True] Translation: X:282.98, Y:4.65, Z:1.09 [[ 9.99584271e-01 -2.58353211e-02 -1.27992639e-02 2.82982347e+02] [ 2.58373577e-02 9.99666160e-01 -6.23684633e-06 4.64961788e+00] [ 1.27951521e-02 -3.24464907e-04 9.99918086e-01 1.09364757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379254154 meters 0.055031953288954896 Centerline is valid? [True, True] Translation: X:283.04, Y:4.66, Z:1.10 [[ 9.99800435e-01 -1.63549401e-02 -1.14719370e-02 2.83043050e+02] [ 1.63559532e-02 9.99866232e-01 -5.50981818e-06 4.65842477e+00] [ 1.14704926e-02 -1.82125746e-04 9.99934195e-01 1.09619233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439254154 meters 0.05618330776536322 Centerline is valid? [True, True] Translation: X:283.10, Y:4.67, Z:1.10 [[ 9.99924742e-01 -7.88319166e-03 -9.40027129e-03 2.83102928e+02] [ 7.88349738e-03 9.99968925e-01 -4.53221287e-06 4.66599399e+00] [ 9.40001490e-03 -6.95751423e-05 9.99955816e-01 1.09925864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters 0.055637976186876305 Centerline is valid? [True, True] Translation: X:283.16, Y:4.67, Z:1.10 [[ 9.99954521e-01 -4.16617953e-03 -8.57896204e-03 2.83160502e+02] [ 4.16629463e-03 9.99991321e-01 -4.45562798e-06 4.66618020e+00] [ 8.57890615e-03 -3.12870581e-05 9.99963200e-01 1.09924901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters 0.05563474499205637 Centerline is valid? [True, True] Translation: X:283.22, Y:4.66, Z:1.10 [[ 9.99943505e-01 -4.37566472e-03 -9.68708557e-03 2.83218439e+02] [ 4.37581641e-03 9.99990426e-01 -5.53647835e-06 4.66444540e+00] [ 9.68701706e-03 -3.68527424e-05 9.99953079e-01 1.09941474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters 0.055849192651150924 Centerline is valid? [True, True] Translation: X:283.28, Y:4.66, Z:1.10 [[ 9.99879882e-01 -1.07745338e-02 -1.11413821e-02 2.83278023e+02] [ 1.07751282e-02 9.99941947e-01 -6.67632399e-06 4.66037029e+00] [ 1.11408072e-02 -1.13374298e-04 9.99937933e-01 1.09980541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters 0.0565673329244546 Centerline is valid? [True, True] Translation: X:283.34, Y:4.66, Z:1.10 [[ 9.99785873e-01 -1.72317633e-02 -1.14575165e-02 2.83338120e+02] [ 1.72328143e-02 9.99851504e-01 -6.99504408e-06 4.65507115e+00] [ 1.14559356e-02 -1.90451708e-04 9.99934360e-01 1.09989041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters 0.05653273809865106 Centerline is valid? [True, True] Translation: X:283.40, Y:4.65, Z:1.10 [[ 9.99642735e-01 -2.40174783e-02 -1.17287374e-02 2.83398377e+02] [ 2.40190462e-02 9.99711501e-01 -7.18604351e-06 4.64980896e+00] [ 1.17255263e-02 -2.74529609e-04 9.99931216e-01 1.09999218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters 0.056527296647591666 Centerline is valid? [True, True] Translation: X:283.46, Y:4.65, Z:1.10 [[ 9.99448920e-01 -3.11901998e-02 -1.13590733e-02 2.83459079e+02] [ 3.11921337e-02 9.99513407e-01 -6.91450394e-06 4.64553203e+00] [ 1.13537617e-02 -3.47403038e-04 9.99935484e-01 1.10155443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters 0.056533811151887776 Centerline is valid? [True, True] Translation: X:283.52, Y:4.64, Z:1.10 [[ 9.99403923e-01 -3.24802463e-02 -1.16975442e-02 2.83520267e+02] [ 3.24823879e-02 9.99472308e-01 -6.90877089e-06 4.64268483e+00] [ 1.16915958e-02 -3.73059514e-04 9.99931581e-01 1.10171091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters 0.056108904590680284 Centerline is valid? [True, True] Translation: X:283.58, Y:4.65, Z:1.10 [[ 9.99428767e-01 -3.17733605e-02 -1.15149448e-02 2.83582135e+02] [ 3.17753937e-02 9.99495035e-01 -6.38895288e-06 4.64830835e+00] [ 1.15093331e-02 -3.59506599e-04 9.99933701e-01 1.10268710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters 0.05633006180334263 Centerline is valid? [True, True] Translation: X:283.64, Y:4.64, Z:1.10 [[ 9.99547733e-01 -2.78763449e-02 -1.12800565e-02 2.83641900e+02] [ 2.78780495e-02 9.99611332e-01 -6.11874430e-06 4.64195890e+00] [ 1.12758428e-02 -3.08349996e-04 9.99936378e-01 1.10159934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters 0.05532413051184736 Centerline is valid? [True, True] Translation: X:283.70, Y:4.65, Z:1.10 [[ 9.99690710e-01 -2.23062053e-02 -1.09962906e-02 2.83701949e+02] [ 2.23074884e-02 9.99751157e-01 -5.97391909e-06 4.65113501e+00] [ 1.09936875e-02 -2.39327554e-04 9.99939539e-01 1.10349313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters 0.056530079554597726 Centerline is valid? [True, True] Translation: X:283.76, Y:4.65, Z:1.10 [[ 9.99773532e-01 -1.79189392e-02 -1.14802780e-02 2.83761964e+02] [ 1.79200486e-02 9.99839423e-01 -6.23543589e-06 4.65010220e+00] [ 1.14785462e-02 -1.99493115e-04 9.99934099e-01 1.10207968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.159254154 meters 0.056434340311290465 Centerline is valid? [True, True] Translation: X:283.82, Y:4.66, Z:1.10 [[ 9.99854727e-01 -1.18345166e-02 -1.22665817e-02 2.83821879e+02] [ 1.18353245e-02 9.99929960e-01 -6.73235830e-06 4.65627783e+00] [ 1.22658022e-02 -1.38447594e-04 9.99924763e-01 1.10253896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.219254154 meters 0.055667912166170966 Centerline is valid? [True, True] Translation: X:283.88, Y:4.66, Z:1.10 [[ 9.99885355e-01 -7.97336602e-03 -1.28725080e-02 2.83880300e+02] [ 7.97392179e-03 9.99968208e-01 -8.14979313e-06 4.65895218e+00] [ 1.28721638e-02 -9.44955135e-05 9.99917146e-01 1.10262411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279254154 meters 0.05595488402377608 Centerline is valid? [True, True] Translation: X:283.94, Y:4.66, Z:1.10 [[ 9.99907627e-01 -3.62051052e-03 -1.31007226e-02 2.83938458e+02] [ 3.62070140e-03 9.99993445e-01 -9.14716519e-06 4.66174590e+00] [ 1.31006698e-02 -3.82874844e-05 9.99914182e-01 1.10297260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339254154 meters 0.05672932272750442 Centerline is valid? [True, True] Translation: X:284.00, Y:4.66, Z:1.10 [[ 9.99907033e-01 -2.98570089e-03 -1.33045412e-02 2.83996788e+02] [ 2.98582352e-03 9.99995542e-01 -1.06467356e-05 4.66238548e+00] [ 1.33045137e-02 -2.90792663e-05 9.99911491e-01 1.10303613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399254154 meters 0.05655068467191285 Centerline is valid? [True, True] Translation: X:284.05, Y:4.66, Z:1.10 [[ 9.99901157e-01 -3.97037628e-03 -1.34874803e-02 2.84054852e+02] [ 3.97057957e-03 9.99992117e-01 -1.17059491e-05 4.66266246e+00] [ 1.34874204e-02 -4.18483216e-05 9.99909040e-01 1.10412166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459254154 meters 0.056417834530632135 Centerline is valid? [True, True] Translation: X:284.11, Y:4.66, Z:1.10 [[ 9.99891397e-01 -7.17707988e-03 -1.28718532e-02 2.84113563e+02] [ 7.17752492e-03 9.99974241e-01 -1.16213843e-05 4.66049026e+00] [ 1.28716051e-02 -8.07679251e-05 9.99917154e-01 1.10488715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519254154 meters 0.05634091626227983 Centerline is valid? [True, True] Translation: X:284.17, Y:4.66, Z:1.11 [[ 9.99867425e-01 -1.13978526e-02 -1.16284551e-02 2.84172650e+02] [ 1.13984976e-02 9.99935035e-01 -1.08051528e-05 4.65682912e+00] [ 1.16278228e-02 -1.21743198e-04 9.99932387e-01 1.10541371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579254154 meters 0.05652117139602516 Centerline is valid? [True, True] Translation: X:284.23, Y:4.66, Z:1.11 [[ 9.99839729e-01 -1.42087029e-02 -1.08916615e-02 2.84232013e+02] [ 1.42094333e-02 9.99899041e-01 -1.03279714e-05 4.65539577e+00] [ 1.08907086e-02 -1.44438021e-04 9.99940684e-01 1.10697338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639254154 meters 0.05671632412552417 Centerline is valid? [True, True] Translation: X:284.29, Y:4.65, Z:1.11 [[ 9.99799758e-01 -1.73652334e-02 -9.94446985e-03 2.84291921e+02] [ 1.73659972e-02 9.99849200e-01 -9.53904106e-06 4.65160871e+00] [ 9.94313587e-03 -1.63158505e-04 9.99950552e-01 1.10812722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699254154 meters 0.05712016951168194 Centerline is valid? [True, True] Translation: X:284.35, Y:4.65, Z:1.11 [[ 9.99795043e-01 -1.83688379e-02 -8.51217495e-03 2.84352279e+02] [ 1.83694340e-02 9.99831268e-01 -8.15564737e-06 4.64686722e+00] [ 8.51088848e-03 -1.48209860e-04 9.99963771e-01 1.10752754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759254154 meters 0.0576035110789257 Centerline is valid? [True, True] Translation: X:284.41, Y:4.64, Z:1.11 [[ 9.99816286e-01 -1.73525497e-02 -8.14146723e-03 2.84413138e+02] [ 1.73530621e-02 9.99849424e-01 -7.70259961e-06 4.64302303e+00] [ 8.14037498e-03 -1.33578202e-04 9.99966858e-01 1.10722799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819254154 meters 0.05683138929658453 Centerline is valid? [True, True] Translation: X:284.47, Y:4.64, Z:1.11 [[ 9.99878520e-01 -1.35770131e-02 -7.65570689e-03 2.84473848e+02] [ 1.35773560e-02 9.99907823e-01 -7.18367157e-06 4.64340790e+00] [ 7.65509875e-03 -9.67614587e-05 9.99970695e-01 1.10770531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879254154 meters 0.05770837430921418 Centerline is valid? [True, True] Translation: X:284.53, Y:4.64, Z:1.11 [[ 9.99913390e-01 -1.05650538e-02 -7.84812770e-03 2.84533979e+02] [ 1.05653214e-02 9.99944185e-01 -7.36422810e-06 4.64241183e+00] [ 7.84776746e-03 -7.55544014e-05 9.99969203e-01 1.10710348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939254154 meters 0.058351337229285614 Centerline is valid? [True, True] Translation: X:284.59, Y:4.64, Z:1.11 [[ 9.99954133e-01 -6.65426572e-03 -6.88865722e-03 2.84594166e+02] [ 6.65437891e-03 9.99977859e-01 -6.48888682e-06 4.64117495e+00] [ 6.88854788e-03 -3.93511461e-05 9.99976273e-01 1.10802302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters 0.05786552919040832 Centerline is valid? [True, True] Translation: X:284.65, Y:4.64, Z:1.11 [[ 9.99966189e-01 -4.66139303e-03 -6.77441098e-03 2.84652394e+02] [ 4.66145621e-03 9.99989135e-01 -6.46229299e-06 4.63601650e+00] [ 6.77436750e-03 -2.51165457e-05 9.99977053e-01 1.10763765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters 0.05787115288942366 Centerline is valid? [True, True] Translation: X:284.71, Y:4.63, Z:1.11 [[ 9.99953617e-01 -5.52382276e-03 -7.88996403e-03 2.84710791e+02] [ 5.52393391e-03 9.99984743e-01 -7.70502277e-06 4.63125640e+00] [ 7.88988622e-03 -3.58789745e-05 9.99968874e-01 1.10666319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters 0.05845216569803175 Centerline is valid? [True, True] Translation: X:284.77, Y:4.62, Z:1.11 [[ 9.99911713e-01 -1.01952264e-02 -8.52189373e-03 2.84770171e+02] [ 1.01955241e-02 9.99948024e-01 -8.50974097e-06 4.62167937e+00] [ 8.52153756e-03 -7.83761829e-05 9.99963688e-01 1.10574116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters 0.059003308550246936 Centerline is valid? [True, True] Translation: X:284.83, Y:4.61, Z:1.11 [[ 9.99858930e-01 -1.44290538e-02 -8.59783726e-03 2.84828972e+02] [ 1.44295118e-02 9.99895889e-01 -8.77401919e-06 4.61143565e+00] [ 8.59706874e-03 -1.15289812e-04 9.99963038e-01 1.10673825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters 0.05798025270891077 Centerline is valid? [True, True] Translation: X:284.89, Y:4.61, Z:1.11 [[ 9.99836341e-01 -1.63920511e-02 -7.65450975e-03 2.84889459e+02] [ 1.63924709e-02 9.99865634e-01 -7.90162958e-06 4.60777665e+00] [ 7.65361077e-03 -1.17575992e-04 9.99970704e-01 1.10770912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters 0.058542516985902696 Centerline is valid? [True, True] Translation: X:284.95, Y:4.60, Z:1.11 [[ 9.99824956e-01 -1.73561035e-02 -6.98735162e-03 2.84950300e+02] [ 1.73564769e-02 9.99849365e-01 -7.18737817e-06 4.60092998e+00] [ 6.98642382e-03 -1.14089687e-04 9.99975588e-01 1.10754169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters 0.058936400761273926 Centerline is valid? [True, True] Translation: X:285.01, Y:4.59, Z:1.11 [[ 9.99830815e-01 -1.69334895e-02 -7.18322971e-03 2.85010438e+02] [ 1.69338737e-02 9.99856612e-01 -7.32796439e-06 4.59197339e+00] [ 7.18232381e-03 -1.14313180e-04 9.99974200e-01 1.10702153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters 0.05824985481470091 Centerline is valid? [True, True] Translation: X:285.07, Y:4.59, Z:1.11 [[ 9.99854759e-01 -1.58044582e-02 -6.37815412e-03 2.85070631e+02] [ 1.58047384e-02 9.99875097e-01 -6.47763530e-06 4.58650255e+00] [ 6.37745984e-03 -9.43283628e-05 9.99979659e-01 1.10775485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters 0.058950309493637845 Centerline is valid? [True, True] Translation: X:285.13, Y:4.58, Z:1.11 [[ 9.99884955e-01 -1.37346224e-02 -6.43720903e-03 2.85132088e+02] [ 1.37348652e-02 9.99905672e-01 -6.49823688e-06 4.58459018e+00] [ 6.43669108e-03 -8.19167089e-05 9.99979281e-01 1.10801578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters 0.05900361900575092 Centerline is valid? [True, True] Translation: X:285.19, Y:4.58, Z:1.11 [[ 9.99895043e-01 -1.31563356e-02 -6.06745984e-03 2.85192464e+02] [ 1.31565409e-02 9.99913449e-01 -6.06627570e-06 4.58322018e+00] [ 6.06701451e-03 -7.37611447e-05 9.99981593e-01 1.10824810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters 0.05912482195539015 Centerline is valid? [True, True] Translation: X:285.25, Y:4.57, Z:1.11 [[ 9.99893644e-01 -1.29663694e-02 -6.67632684e-03 2.85251610e+02] [ 1.29666138e-02 9.99915930e-01 -6.67502387e-06 4.57318435e+00] [ 6.67585211e-03 -7.98950379e-05 9.99977713e-01 1.10712833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.659254154 meters 0.05942326113032171 Centerline is valid? [True, True] Translation: X:285.31, Y:4.58, Z:1.11 [[ 9.99887498e-01 -1.33180668e-02 -6.90074883e-03 2.85312069e+02] [ 1.33183363e-02 9.99911307e-01 -6.89940206e-06 4.57780769e+00] [ 6.90022867e-03 -8.50078677e-05 9.99976190e-01 1.10840110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.719254154 meters 0.059226435150780715 Centerline is valid? [True, True] Translation: X:285.37, Y:4.57, Z:1.11 [[ 9.99847092e-01 -1.57997375e-02 -7.49412717e-03 2.85372182e+02] [ 1.58001251e-02 9.99875170e-01 -7.49266460e-06 4.56856519e+00] [ 7.49331006e-03 -1.10916628e-04 9.99971919e-01 1.10665883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779254154 meters 0.05939660831419974 Centerline is valid? [True, True] Translation: X:285.43, Y:4.57, Z:1.11 [[ 9.99807584e-01 -1.82005924e-02 -7.31668676e-03 2.85432204e+02] [ 1.82010261e-02 9.99834348e-01 -7.31525882e-06 4.56529975e+00] [ 7.31560787e-03 -1.25857355e-04 9.99973233e-01 1.10661226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839254154 meters 0.059233066428785876 Centerline is valid? [True, True] Translation: X:285.49, Y:4.56, Z:1.11 [[ 9.99726529e-01 -2.19578096e-02 -8.04500943e-03 2.85491835e+02] [ 2.19584555e-02 9.99758884e-01 -8.04343936e-06 4.55834246e+00] [ 8.04324627e-03 -1.68614742e-04 9.99967638e-01 1.10655242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899254154 meters 0.05990275476289267 Centerline is valid? [True, True] Translation: X:285.55, Y:4.56, Z:1.11 [[ 9.99687287e-01 -2.40147283e-02 -6.97290329e-03 2.85553383e+02] [ 2.40152639e-02 9.99711592e-01 -6.92062705e-06 4.55656229e+00] [ 6.97105845e-03 -1.60537650e-04 9.99975689e-01 1.10807476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959254154 meters 0.05924438678751848 Centerline is valid? [True, True] Translation: X:285.61, Y:4.55, Z:1.11 [[ 9.99699520e-01 -2.37470963e-02 -6.07824861e-03 2.85614240e+02] [ 2.37474989e-02 9.99717988e-01 -5.93946827e-06 4.55257909e+00] [ 6.07667552e-03 -1.38405519e-04 9.99981527e-01 1.10893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019254154 meters 0.05956495794976805 Centerline is valid? [True, True] Translation: X:285.68, Y:4.55, Z:1.11 [[ 9.99775150e-01 -2.05294817e-02 -5.30939722e-03 2.85675167e+02] [ 2.05297439e-02 9.99789243e-01 -5.10941864e-06 4.55075000e+00] [ 5.30838312e-03 -1.03892296e-04 9.99985905e-01 1.10908869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079254154 meters 0.05899854792243503 Centerline is valid? [True, True] Translation: X:285.74, Y:4.55, Z:1.11 [[ 9.99888859e-01 -1.37682287e-02 -5.71882773e-03 2.85736069e+02] [ 1.37684229e-02 9.99905211e-01 -5.42927396e-06 4.55319523e+00] [ 5.71836040e-03 -7.33105679e-05 9.99983647e-01 1.10881271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139254154 meters 0.05869170556915358 Centerline is valid? [True, True] Translation: X:285.80, Y:4.56, Z:1.11 [[ 9.99952162e-01 -7.98412923e-03 -5.65037518e-03 2.85796357e+02] [ 7.98422606e-03 9.99968126e-01 -5.42060658e-06 4.55620080e+00] [ 5.65023836e-03 -3.96935255e-05 9.99984036e-01 1.10871084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199254154 meters 0.0590239651674057 Centerline is valid? [True, True] Translation: X:285.86, Y:4.56, Z:1.11 [[ 9.99985898e-01 4.71093192e-04 -5.28987245e-03 2.85855704e+02] [-4.71128250e-04 9.99999889e-01 -5.38145316e-06 4.55809098e+00] [ 5.28986932e-03 7.87358562e-06 9.99986009e-01 1.10968334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259254154 meters 0.059033944550605934 Centerline is valid? [True, True] Translation: X:285.91, Y:4.56, Z:1.11 [[ 9.99973863e-01 4.36664315e-03 -5.76241351e-03 2.85913932e+02] [-4.36675267e-03 9.99990466e-01 -6.42374601e-06 4.55736044e+00] [ 5.76233052e-03 3.15866127e-05 9.99983397e-01 1.10984301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319254154 meters 0.05910550007312022 Centerline is valid? [True, True] Translation: X:285.97, Y:4.55, Z:1.11 [[ 9.99969156e-01 5.34225923e-03 -5.75737115e-03 2.85972862e+02] [-5.34238678e-03 9.99985729e-01 -6.77661406e-06 4.55376436e+00] [ 5.75725279e-03 3.75345086e-05 9.99983426e-01 1.10996312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379254154 meters 0.05893234636056787 Centerline is valid? [True, True] Translation: X:286.03, Y:4.55, Z:1.11 [[ 9.99980949e-01 2.43083572e-03 -5.67391296e-03 2.86031478e+02] [-2.43091528e-03 9.99997045e-01 -7.12583096e-06 4.54968857e+00] [ 5.67387888e-03 2.09184970e-05 9.99983903e-01 1.10922852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439254154 meters 0.05985222158793102 Centerline is valid? [True, True] Translation: X:286.09, Y:4.54, Z:1.11 [[ 9.99949897e-01 -8.29670571e-03 -5.60066848e-03 2.86090629e+02] [ 8.29679576e-03 9.99965581e-01 -7.15642499e-06 4.53860605e+00] [ 5.60053509e-03 -3.93115361e-05 9.99984316e-01 1.10938259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters 0.05897013518049636 Centerline is valid? [True, True] Translation: X:286.15, Y:4.54, Z:1.11 [[ 9.99729474e-01 -2.27838132e-02 -4.67727192e-03 2.86149966e+02] [ 2.27840342e-02 9.99740410e-01 -6.04459711e-06 4.53824094e+00] [ 4.67619547e-03 -1.00524161e-04 9.99989061e-01 1.11211077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters 0.06138847223388996 Centerline is valid? [True, True] Translation: X:286.21, Y:4.51, Z:1.11 [[ 9.99445158e-01 -3.30341173e-02 -4.25713331e-03 2.86209813e+02] [ 3.30343930e-02 9.99454215e-01 -5.55781301e-06 4.51176020e+00] [ 4.25499343e-03 -1.35077086e-04 9.99990938e-01 1.11214402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters 0.05926393905676976 Centerline is valid? [True, True] Translation: X:286.27, Y:4.51, Z:1.11 [[ 9.98911040e-01 -4.64801372e-02 -4.04128582e-03 2.86270298e+02] [ 4.64804955e-02 9.98919198e-01 -5.26797009e-06 4.51077839e+00] [ 4.03716285e-03 -1.82578734e-04 9.99991834e-01 1.11202259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters 0.059629100149629986 Centerline is valid? [True, True] Translation: X:286.33, Y:4.51, Z:1.11 [[ 9.98537171e-01 -5.39137701e-02 -4.10176619e-03 2.86330444e+02] [ 5.39142018e-02 9.98545572e-01 -5.33322351e-06 4.51023616e+00] [ 4.09608800e-03 -2.15818029e-04 9.99991588e-01 1.11212303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters 0.060699817259491556 Centerline is valid? [True, True] Translation: X:286.39, Y:4.51, Z:1.11 [[ 9.98068064e-01 -6.19219992e-02 -5.07986482e-03 2.86390010e+02] [ 6.19227646e-02 9.98080944e-01 -6.61321383e-06 4.50569578e+00] [ 5.07052578e-03 -3.07958836e-04 9.99987097e-01 1.11206088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters 0.05906024958515126 Centerline is valid? [True, True] Translation: X:286.45, Y:4.52, Z:1.11 [[ 9.97787132e-01 -6.63366216e-02 -4.50454598e-03 2.86450742e+02] [ 6.63372683e-02 9.97797257e-01 -5.86282058e-06 4.51732150e+00] [ 4.49501254e-03 -2.92969428e-04 9.99989854e-01 1.11277146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters 0.058264739309193896 Centerline is valid? [True, True] Translation: X:286.51, Y:4.52, Z:1.11 [[ 9.97738830e-01 -6.70177245e-02 -5.08441674e-03 2.86512355e+02] [ 6.70185574e-02 9.97751729e-01 -6.57831746e-06 4.52099080e+00] [ 5.07342646e-03 -3.34186832e-04 9.99987074e-01 1.11254297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters 0.05959518055661107 Centerline is valid? [True, True] Translation: X:286.57, Y:4.52, Z:1.11 [[ 9.97855673e-01 -6.51074413e-02 -6.71395756e-03 2.86572369e+02] [ 6.51088514e-02 9.97878168e-01 -8.56121192e-06 4.51528888e+00] [ 6.70026907e-03 -4.28595211e-04 9.99977461e-01 1.11183712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters 0.059673533756708336 Centerline is valid? [True, True] Translation: X:286.63, Y:4.52, Z:1.11 [[ 9.98151784e-01 -6.02631003e-02 -7.83420339e-03 2.86632845e+02] [ 6.02648717e-02 9.98182421e-01 -9.97949203e-06 4.52060032e+00] [ 7.82056550e-03 -4.62166214e-04 9.99969312e-01 1.11072666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters 0.05914214016016256 Centerline is valid? [True, True] Translation: X:286.69, Y:4.53, Z:1.11 [[ 9.98347988e-01 -5.68553535e-02 -8.29243704e-03 2.86693216e+02] [ 5.68572214e-02 9.98382320e-01 -1.05095764e-05 4.53280175e+00] [ 8.27962006e-03 -4.60992715e-04 9.99965617e-01 1.11173248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters 0.05927060125519698 Centerline is valid? [True, True] Translation: X:286.75, Y:4.54, Z:1.11 [[ 9.98612089e-01 -5.20601534e-02 -7.97723014e-03 2.86752341e+02] [ 5.20617293e-02 9.98643869e-01 -1.01173458e-05 4.53940463e+00] [ 7.96693868e-03 -4.05205093e-04 9.99968181e-01 1.11260557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.159254154 meters 0.05919333958511286 Centerline is valid? [True, True] Translation: X:286.81, Y:4.55, Z:1.11 [[ 9.98792688e-01 -4.86404442e-02 -6.87559346e-03 2.86813116e+02] [ 4.86415340e-02 9.98816300e-01 -8.72032646e-06 4.54517864e+00] [ 6.86787898e-03 -3.25729615e-04 9.99976363e-01 1.11318337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.219254154 meters 0.0625271593370606 Centerline is valid? [True, True] Translation: X:286.87, Y:4.54, Z:1.11 [[ 9.99005965e-01 -4.41655116e-02 -6.04057701e-03 2.86873041e+02] [ 4.41662713e-02 9.99024194e-01 -7.63570878e-06 4.53744156e+00] [ 6.03501982e-03 -2.59161645e-04 9.99981756e-01 1.11375406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279254154 meters 0.05991552626260819 Centerline is valid? [True, True] Translation: X:286.93, Y:4.55, Z:1.11 [[ 9.99106818e-01 -4.18892689e-02 -5.55485371e-03 2.86933368e+02] [ 4.18898763e-02 9.99122234e-01 -7.01169696e-06 4.55302643e+00] [ 5.55027156e-03 -2.25686700e-04 9.99984572e-01 1.11433306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339254154 meters 0.05778852517817463 Centerline is valid? [True, True] Translation: X:286.99, Y:4.57, Z:1.12 [[ 9.99207168e-01 -3.92510344e-02 -6.66264175e-03 2.86994554e+02] [ 3.92518500e-02 9.99229349e-01 -8.34773280e-06 4.57301305e+00] [ 6.65783483e-03 -2.53179900e-04 9.99977804e-01 1.11525365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399254154 meters 0.05838821988124274 Centerline is valid? [True, True] Translation: X:287.06, Y:4.57, Z:1.12 [[ 9.99222988e-01 -3.87484155e-02 -7.20973567e-03 2.87056533e+02] [ 3.87493588e-02 9.99248962e-01 -8.85357824e-06 4.57342889e+00] [ 7.20466394e-03 -2.70525935e-04 9.99974009e-01 1.11557830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459254154 meters 0.05827135230618439 Centerline is valid? [True, True] Translation: X:287.12, Y:4.58, Z:1.12 [[ 9.99267075e-01 -3.77047944e-02 -6.60770619e-03 2.87117892e+02] [ 3.77055655e-02 9.99288892e-01 -7.88723614e-06 4.57693608e+00] [ 6.60330478e-03 -2.41265843e-04 9.99978169e-01 1.11618097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519254154 meters 0.05957496257496456 Centerline is valid? [True, True] Translation: X:287.18, Y:4.58, Z:1.12 [[ 9.99392006e-01 -3.43028829e-02 -6.23941078e-03 2.87176991e+02] [ 3.43035049e-02 9.99411462e-01 -7.34692053e-06 4.57516574e+00] [ 6.23599067e-03 -2.06691204e-04 9.99980535e-01 1.11521805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579254154 meters 0.058004813057877844 Centerline is valid? [True, True] Translation: X:287.24, Y:4.58, Z:1.12 [[ 9.99457352e-01 -3.23585779e-02 -6.15826824e-03 2.87238495e+02] [ 3.23591473e-02 9.99476306e-01 -7.18992729e-06 4.58485272e+00] [ 6.15527585e-03 -1.92090283e-04 9.99981038e-01 1.11563845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639254154 meters 0.057568007313398104 Centerline is valid? [True, True] Translation: X:287.30, Y:4.59, Z:1.12 [[ 9.99642495e-01 -2.59447495e-02 -6.46156204e-03 2.87299629e+02] [ 2.59452432e-02 9.99663365e-01 -7.42126259e-06 4.59443238e+00] [ 6.45957939e-03 -1.60228189e-04 9.99979124e-01 1.11567594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699254154 meters 0.05766989541352152 Centerline is valid? [True, True] Translation: X:287.36, Y:4.59, Z:1.12 [[ 9.99732364e-01 -2.21771168e-02 -6.58601864e-03 2.87359453e+02] [ 2.21775483e-02 9.99754048e-01 -7.51116609e-06 4.59286572e+00] [ 6.58456537e-03 -1.38552591e-04 9.99978312e-01 1.11611932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759254154 meters 0.05731193176085187 Centerline is valid? [True, True] Translation: X:287.42, Y:4.59, Z:1.12 [[ 9.99803680e-01 -1.88857020e-02 -5.99425344e-03 2.87419524e+02] [ 1.88860005e-02 9.99821644e-01 -6.80251030e-06 4.59474721e+00] [ 5.99331280e-03 -1.06406299e-04 9.99982034e-01 1.11725638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819254154 meters 0.05753372042247322 Centerline is valid? [True, True] Translation: X:287.48, Y:4.60, Z:1.12 [[ 9.99780589e-01 -1.97157091e-02 -7.07570491e-03 2.87481813e+02] [ 1.97161467e-02 9.99805618e-01 -7.91620677e-06 4.59879292e+00] [ 7.07448559e-03 -1.31591166e-04 9.99974967e-01 1.11737482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879254154 meters 0.05709799417881668 Centerline is valid? [True, True] Translation: X:287.54, Y:4.60, Z:1.12 [[ 9.99723424e-01 -2.21027157e-02 -8.03404236e-03 2.87543075e+02] [ 2.21033586e-02 9.99755691e-01 -8.77308599e-06 4.59713470e+00] [ 8.03227348e-03 -1.68808660e-04 9.99967727e-01 1.11667225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939254154 meters 0.057790600530196884 Centerline is valid? [True, True] Translation: X:287.60, Y:4.60, Z:1.12 [[ 9.99591167e-01 -2.68271902e-02 -9.88938855e-03 2.87604161e+02] [ 2.68283967e-02 9.99640054e-01 -1.06588196e-05 4.59544310e+00] [ 9.88611484e-03 -2.54661977e-04 9.99951099e-01 1.11621103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters 0.057680048075026545 Centerline is valid? [True, True] Translation: X:287.67, Y:4.60, Z:1.12 [[ 9.99518956e-01 -2.93556379e-02 -1.00051182e-02 2.87665479e+02] [ 2.93570010e-02 9.99568990e-01 -1.06282942e-05 4.59914766e+00] [ 1.00011179e-02 -2.83097083e-04 9.99949947e-01 1.11795828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters 0.05725423125647701 Centerline is valid? [True, True] Translation: X:287.73, Y:4.59, Z:1.12 [[ 9.99476025e-01 -3.10917061e-02 -8.99891653e-03 2.87726258e+02] [ 3.10928826e-02 9.99516499e-01 -9.17905012e-06 4.59161823e+00] [ 8.99485094e-03 -2.70628014e-04 9.99959509e-01 1.11817932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters 0.05831414776650888 Centerline is valid? [True, True] Translation: X:287.79, Y:4.59, Z:1.12 [[ 9.99507231e-01 -3.04417693e-02 -7.65470670e-03 2.87787920e+02] [ 3.04426037e-02 9.99536517e-01 -7.51442710e-06 4.58988268e+00] [ 7.65138762e-03 -2.25518478e-04 9.99970702e-01 1.11887771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters 0.05813249018387889 Centerline is valid? [True, True] Translation: X:287.85, Y:4.59, Z:1.12 [[ 9.99548885e-01 -2.91375942e-02 -7.28204100e-03 2.87849657e+02] [ 2.91383160e-02 9.99575389e-01 -6.98422676e-06 4.59066731e+00] [ 7.27915247e-03 -2.05205336e-04 9.99973486e-01 1.11920190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters 0.058086843292634256 Centerline is valid? [True, True] Translation: X:287.91, Y:4.59, Z:1.12 [[ 9.99577062e-01 -2.80868497e-02 -7.53833393e-03 2.87911582e+02] [ 2.80875949e-02 9.99605466e-01 -7.02259443e-06 4.58934346e+00] [ 7.53555704e-03 -2.04714045e-04 9.99971586e-01 1.11922360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters 0.058876508554820475 Centerline is valid? [True, True] Translation: X:287.97, Y:4.59, Z:1.12 [[ 9.99556595e-01 -2.86409737e-02 -8.14293289e-03 2.87974024e+02] [ 2.86418637e-02 9.99589738e-01 -7.32049858e-06 4.58781257e+00] [ 8.13980181e-03 -2.25911521e-04 9.99966846e-01 1.11907767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters 0.06024746279215307 Centerline is valid? [True, True] Translation: X:288.03, Y:4.58, Z:1.12 [[ 9.99444865e-01 -3.21923138e-02 -8.58005227e-03 2.88034055e+02] [ 3.21934336e-02 9.99481657e-01 -7.61084138e-06 4.57954289e+00] [ 8.57584987e-03 -2.68614726e-04 9.99963191e-01 1.11840889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters 0.058424222307363036 Centerline is valid? [True, True] Translation: X:288.09, Y:4.59, Z:1.12 [[ 9.99285711e-01 -3.65377938e-02 -9.64667683e-03 2.88094086e+02] [ 3.65394114e-02 9.99332213e-01 -8.57333624e-06 4.58629253e+00] [ 9.64054815e-03 -3.43916681e-04 9.99953470e-01 1.11889953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters 0.05733436980978614 Centerline is valid? [True, True] Translation: X:288.16, Y:4.59, Z:1.12 [[ 9.99178825e-01 -3.91351094e-02 -1.04937443e-02 2.88155509e+02] [ 3.91371683e-02 9.99233848e-01 -9.15291234e-06 4.59033096e+00] [ 1.04860627e-02 -4.01550042e-04 9.99944939e-01 1.11942037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters 0.05859071762996029 Centerline is valid? [True, True] Translation: X:288.22, Y:4.59, Z:1.12 [[ 9.99103250e-01 -4.09128019e-02 -1.09012781e-02 2.88215277e+02] [ 4.09151306e-02 9.99162625e-01 -9.40499595e-06 4.58649510e+00] [ 1.08925344e-02 -4.36630655e-04 9.99940579e-01 1.11876189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters 0.057450709990410395 Centerline is valid? [True, True] Translation: X:288.28, Y:4.59, Z:1.12 [[ 9.99132861e-01 -4.04637375e-02 -9.80879638e-03 2.88277816e+02] [ 4.04656032e-02 9.99180932e-01 -8.27013765e-06 4.59439320e+00] [ 9.80109695e-03 -3.88655896e-04 9.99951893e-01 1.12121599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.659254154 meters 0.057428997501290324 Centerline is valid? [True, True] Translation: X:288.34, Y:4.60, Z:1.12 [[ 9.99165571e-01 -3.99831922e-02 -8.33706058e-03 2.88340403e+02] [ 3.99845256e-02 9.99200299e-01 -6.74557172e-06 4.59581392e+00] [ 8.33066314e-03 -3.26613470e-04 9.99965246e-01 1.12274959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.719254154 meters 0.058435660547971315 Centerline is valid? [True, True] Translation: X:288.40, Y:4.59, Z:1.12 [[ 9.99202490e-01 -3.94151306e-02 -6.38998442e-03 2.88401427e+02] [ 3.94159040e-02 9.99222891e-01 -4.90082818e-06 4.59048023e+00] [ 6.38521187e-03 -2.46970093e-04 9.99979584e-01 1.12325198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779254154 meters 0.056607381688282395 Centerline is valid? [True, True] Translation: X:288.46, Y:4.60, Z:1.12 [[ 9.99221631e-01 -3.90357057e-02 -5.68737881e-03 2.88463462e+02] [ 3.90363139e-02 9.99237793e-01 -4.08850056e-06 4.60264218e+00] [ 5.68320345e-03 -2.17928986e-04 9.99983827e-01 1.12430481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839254154 meters 0.05757819115534761 Centerline is valid? [True, True] Translation: X:288.52, Y:4.60, Z:1.12 [[ 9.99281209e-01 -3.72990411e-02 -6.77099138e-03 2.88524311e+02] [ 3.72998646e-02 9.99304118e-01 -4.66252904e-06 4.60031184e+00] [ 6.76645348e-03 -2.47897884e-04 9.99977077e-01 1.12347549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899254154 meters 0.05738907458716216 Centerline is valid? [True, True] Translation: X:288.58, Y:4.61, Z:1.12 [[ 9.99407400e-01 -3.37286524e-02 -6.87216216e-03 2.88584841e+02] [ 3.37294168e-02 9.99431001e-01 -4.66018580e-06 4.60802076e+00] [ 6.86840910e-03 -2.27136598e-04 9.99976386e-01 1.12343802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959254154 meters 0.05765452586089669 Centerline is valid? [True, True] Translation: X:288.64, Y:4.60, Z:1.12 [[ 9.99511186e-01 -3.04566784e-02 -7.05543126e-03 2.88644396e+02] [ 3.04574028e-02 9.99536066e-01 -4.77766490e-06 4.60495371e+00] [ 7.05230352e-03 -2.10114782e-04 9.99975110e-01 1.12293036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019254154 meters 0.056608250640255486 Centerline is valid? [True, True] Translation: X:288.71, Y:4.61, Z:1.12 [[ 9.99633295e-01 -2.58635022e-02 -8.02216967e-03 2.88705420e+02] [ 2.58642910e-02 9.99665463e-01 -5.42550398e-06 4.61373422e+00] [ 8.01962628e-03 -2.02064216e-04 9.99967822e-01 1.12303588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079254154 meters 0.0576303259202157 Centerline is valid? [True, True] Translation: X:288.77, Y:4.62, Z:1.12 [[ 9.99686350e-01 -2.35185545e-02 -8.60693691e-03 2.88766940e+02] [ 2.35193766e-02 9.99723381e-01 -5.70002202e-06 4.61602353e+00] [ 8.60469013e-03 -1.96731557e-04 9.99962960e-01 1.12267507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139254154 meters 0.05705508027007791 Centerline is valid? [True, True] Translation: X:288.83, Y:4.62, Z:1.12 [[ 9.99689281e-01 -2.35899148e-02 -8.05344055e-03 2.88828669e+02] [ 2.35906387e-02 9.99721702e-01 -5.10875065e-06 4.61790977e+00] [ 8.05131981e-03 -1.84878643e-04 9.99967571e-01 1.12286331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199254154 meters 0.057582520128382636 Centerline is valid? [True, True] Translation: X:288.89, Y:4.61, Z:1.12 [[ 9.99632074e-01 -2.60399063e-02 -7.59215232e-03 2.88889033e+02] [ 2.60406214e-02 9.99660886e-01 -4.66513034e-06 4.61375414e+00] [ 7.58969919e-03 -1.93040950e-04 9.99971179e-01 1.12366248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259254154 meters 0.05824282552710528 Centerline is valid? [True, True] Translation: X:288.95, Y:4.61, Z:1.12 [[ 9.99559790e-01 -2.88203628e-02 -7.04358034e-03 2.88949699e+02] [ 2.88210476e-02 9.99584587e-01 -4.27491628e-06 4.61292273e+00] [ 7.04077755e-03 -1.98730330e-04 9.99975194e-01 1.12456831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319254154 meters 0.058275710293077335 Centerline is valid? [True, True] Translation: X:289.01, Y:4.61, Z:1.13 [[ 9.99384871e-01 -3.43705639e-02 -6.96738190e-03 2.89010781e+02] [ 3.43713692e-02 9.99409130e-01 -4.16026369e-06 4.61333471e+00] [ 6.96340807e-03 -2.35320751e-04 9.99975727e-01 1.12520692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379254154 meters 0.05847318923299497 Centerline is valid? [True, True] Translation: X:289.07, Y:4.61, Z:1.13 [[ 9.99231020e-01 -3.85874467e-02 -6.95547314e-03 2.89071677e+02] [ 3.85883516e-02 9.99255192e-01 -4.09889076e-06 4.61312472e+00] [ 6.95045082e-03 -2.64304505e-04 9.99975810e-01 1.12570314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439254154 meters 0.05935275732421186 Centerline is valid? [True, True] Translation: X:289.13, Y:4.61, Z:1.13 [[ 9.99233058e-01 -3.84792711e-02 -7.25550477e-03 2.89133014e+02] [ 3.84802536e-02 9.99259361e-01 -4.19316245e-06 4.60744017e+00] [ 7.25029241e-03 -2.75003717e-04 9.99973678e-01 1.12514848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters 0.05973417514545586 Centerline is valid? [True, True] Translation: X:289.19, Y:4.61, Z:1.13 [[ 9.99324057e-01 -3.60171094e-02 -7.36192496e-03 2.89194095e+02] [ 3.60180550e-02 9.99351139e-01 -4.13982188e-06 4.61171868e+00] [ 7.35729720e-03 -2.61025195e-04 9.99972901e-01 1.12567870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters 0.059067252276330647 Centerline is valid? [True, True] Translation: X:289.25, Y:4.62, Z:1.13 [[ 9.99474777e-01 -3.17016511e-02 -6.72129992e-03 2.89254774e+02] [ 3.17023420e-02 9.99497354e-01 -3.74870522e-06 4.61525978e+00] [ 6.71804032e-03 -2.09334213e-04 9.99977412e-01 1.12676176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters 0.057692386254896 Centerline is valid? [True, True] Translation: X:289.32, Y:4.62, Z:1.13 [[ 9.99672209e-01 -2.48901111e-02 -5.99646741e-03 2.89315850e+02] [ 2.48905387e-02 9.99690183e-01 -3.32125565e-06 4.62371764e+00] [ 5.99469226e-03 -1.45935137e-04 9.99982021e-01 1.12815265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters 0.05757076931889425 Centerline is valid? [True, True] Translation: X:289.38, Y:4.63, Z:1.13 [[ 9.99763264e-01 -2.06765845e-02 -6.77452291e-03 2.89375701e+02] [ 2.06770338e-02 9.99786207e-01 -3.72303788e-06 4.62815017e+00] [ 6.77315154e-03 -1.36354882e-04 9.99977053e-01 1.12837759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters 0.0575494606223198 Centerline is valid? [True, True] Translation: X:289.44, Y:4.62, Z:1.13 [[ 9.99750733e-01 -2.06988627e-02 -8.36835527e-03 2.89437913e+02] [ 2.06995505e-02 9.99785741e-01 -4.42548878e-06 4.62467091e+00] [ 8.36665388e-03 -1.68796807e-04 9.99964985e-01 1.12744362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters 0.057206966811415794 Centerline is valid? [True, True] Translation: X:289.50, Y:4.62, Z:1.13 [[ 9.99712323e-01 -2.20508713e-02 -9.43557571e-03 2.89499519e+02] [ 2.20518087e-02 9.99756829e-01 -4.68413688e-06 4.62384350e+00] [ 9.43338454e-03 -2.03388721e-04 9.99955484e-01 1.12702278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters 0.057679435919715534 Centerline is valid? [True, True] Translation: X:289.56, Y:4.62, Z:1.13 [[ 9.99673821e-01 -2.30388957e-02 -1.10209714e-02 2.89559974e+02] [ 2.30402365e-02 9.99734539e-01 -5.30486469e-06 4.62147300e+00] [ 1.10181680e-02 -2.48622653e-04 9.99939267e-01 1.12653767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters 0.0578203538293759 Centerline is valid? [True, True] Translation: X:289.62, Y:4.62, Z:1.13 [[ 9.99684921e-01 -2.26363215e-02 -1.08469017e-02 2.89621052e+02] [ 2.26375982e-02 9.99743737e-01 -5.08195210e-06 4.62047755e+00] [ 1.08442370e-02 -2.40467450e-04 9.99941171e-01 1.12688919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters 0.05766617390906612 Centerline is valid? [True, True] Translation: X:289.68, Y:4.62, Z:1.13 [[ 9.99752053e-01 -2.04941391e-02 -8.70762976e-03 2.89680974e+02] [ 2.04948810e-02 9.99789958e-01 -4.02997083e-06 4.62072457e+00] [ 8.70588338e-03 -1.74432864e-04 9.99962088e-01 1.12833577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters 0.05728021763466799 Centerline is valid? [True, True] Translation: X:289.74, Y:4.63, Z:1.13 [[ 9.99858086e-01 -1.55185838e-02 -6.55594910e-03 2.89740350e+02] [ 1.55188973e-02 9.99879575e-01 -3.05449892e-06 4.62653919e+00] [ 6.55520700e-03 -9.86870355e-05 9.99978510e-01 1.13085099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters 0.057204682565672196 Centerline is valid? [True, True] Translation: X:289.80, Y:4.63, Z:1.13 [[ 9.99921048e-01 -1.10417394e-02 -5.99822935e-03 2.89799711e+02] [ 1.10419211e-02 9.99939036e-01 -2.82275738e-06 4.62742533e+00] [ 5.99789484e-03 -6.34094407e-05 9.99982010e-01 1.13151816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.159254154 meters 0.05792468537850942 Centerline is valid? [True, True] Translation: X:289.86, Y:4.63, Z:1.13 [[ 9.99959819e-01 -5.91475645e-03 -6.73614081e-03 2.89860775e+02] [ 5.91486943e-03 9.99982507e-01 -3.14922941e-06 4.63158269e+00] [ 6.73604160e-03 -3.66942905e-05 9.99977312e-01 1.13167946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.219254154 meters 0.05701246217028001 Centerline is valid? [True, True] Translation: X:289.92, Y:4.63, Z:1.13 [[ 9.99955379e-01 -5.73096713e-03 -7.50977921e-03 2.89919226e+02] [ 5.73110002e-03 9.99983577e-01 -3.82417942e-06 4.63022677e+00] [ 7.50967779e-03 -3.92152870e-05 9.99971801e-01 1.13116072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279254154 meters 0.05787506995728173 Centerline is valid? [True, True] Translation: X:289.98, Y:4.62, Z:1.13 [[ 9.99925151e-01 -9.18576958e-03 -8.08166875e-03 2.89979031e+02] [ 9.18603273e-03 9.99957808e-01 -4.55887266e-06 4.62135536e+00] [ 8.08136964e-03 -6.96799422e-05 9.99967343e-01 1.12861589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339254154 meters 0.05796496703030259 Centerline is valid? [True, True] Translation: X:290.04, Y:4.62, Z:1.13 [[ 9.99837284e-01 -1.47235537e-02 -1.04222396e-02 2.90039316e+02] [ 1.47242912e-02 9.99891592e-01 -5.96799397e-06 4.61585455e+00] [ 1.04211976e-02 -1.47493068e-04 9.99945687e-01 1.12641179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399254154 meters 0.0588464266661518 Centerline is valid? [True, True] Translation: X:290.10, Y:4.61, Z:1.12 [[ 9.99742718e-01 -1.91824065e-02 -1.21051032e-02 2.90099684e+02] [ 1.91837277e-02 9.99815975e-01 -6.96692646e-06 4.60890830e+00] [ 1.21030092e-02 -2.25255871e-04 9.99926731e-01 1.12384673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459254154 meters 0.05969752354385904 Centerline is valid? [True, True] Translation: X:290.16, Y:4.60, Z:1.12 [[ 9.99572278e-01 -2.63859332e-02 -1.26112209e-02 2.90159864e+02] [ 2.63879398e-02 9.99651778e-01 -7.28670777e-06 4.59997640e+00] [ 1.26070217e-02 -3.25500548e-04 9.99920475e-01 1.12332535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519254154 meters 0.05998802368974038 Centerline is valid? [True, True] Translation: X:290.22, Y:4.60, Z:1.13 [[ 9.99423779e-01 -3.17857493e-02 -1.19069559e-02 2.90219850e+02] [ 3.17879209e-02 9.99494636e-01 -6.87740401e-06 4.59859853e+00] [ 1.19011571e-02 -3.71623930e-04 9.99929110e-01 1.12539228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579254154 meters 0.06307316989793174 Centerline is valid? [True, True] Translation: X:290.28, Y:4.59, Z:1.13 [[ 9.99160442e-01 -3.96187260e-02 -1.04291655e-02 2.90280380e+02] [ 3.96208187e-02 9.99214787e-01 -5.95603946e-06 4.58972960e+00] [ 1.04212124e-02 -4.07261038e-04 9.99945615e-01 1.12615273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639254154 meters 0.06502102859105292 Centerline is valid? [True, True] Translation: X:290.34, Y:4.59, Z:1.13 [[ 9.98807550e-01 -4.79415737e-02 -9.22406662e-03 2.90341131e+02] [ 4.79435652e-02 9.98850046e-01 -5.22387017e-06 4.58596832e+00] [ 9.21370981e-03 -4.37016999e-04 9.99957457e-01 1.12789234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699254154 meters 0.0676949701873315 Centerline is valid? [True, True] Translation: X:290.40, Y:4.58, Z:1.13 [[ 9.98574534e-01 -5.27041028e-02 -8.43667349e-03 2.90402058e+02] [ 5.27059387e-02 9.98610076e-01 -4.72938406e-06 4.58086138e+00] [ 8.42519642e-03 -4.39940154e-04 9.99964411e-01 1.12851016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759254154 meters 0.07096047311202926 Centerline is valid? [True, True] Translation: X:290.46, Y:4.57, Z:1.13 [[ 9.98300280e-01 -5.77333144e-02 -7.96332718e-03 2.90462292e+02] [ 5.77351098e-02 9.98331937e-01 -4.42224633e-06 4.57471974e+00] [ 7.95029916e-03 -4.55348840e-04 9.99968292e-01 1.12855929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819254154 meters 0.0698215420524638 Centerline is valid? [True, True] Translation: X:290.52, Y:4.58, Z:1.13 [[ 9.98205003e-01 -5.93231699e-02 -8.21787527e-03 2.90523369e+02] [ 5.93251361e-02 9.98238713e-01 -4.52380557e-06 4.58033086e+00] [ 8.20366960e-03 -4.83010883e-04 9.99966233e-01 1.12878128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879254154 meters 0.07211318277321507 Centerline is valid? [True, True] Translation: X:290.58, Y:4.58, Z:1.13 [[ 9.98278372e-01 -5.81623930e-02 -7.57810878e-03 2.90583792e+02] [ 5.81640319e-02 9.98307040e-01 -4.11733159e-06 4.58041738e+00] [ 7.56551882e-03 -4.36663118e-04 9.99971286e-01 1.12833415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939254154 meters 0.07207535910331847 Centerline is valid? [True, True] Translation: X:290.65, Y:4.58, Z:1.13 [[ 9.98475983e-01 -5.44771205e-02 -8.82921354e-03 2.90645060e+02] [ 5.44792022e-02 9.98514906e-01 -4.74879634e-06 4.58344346e+00] [ 8.81636002e-03 -4.76266950e-04 9.99961022e-01 1.12620941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters 0.0680019686027349 Centerline is valid? [True, True] Translation: X:290.71, Y:4.60, Z:1.13 [[ 9.98957789e-01 -4.45532846e-02 -9.91669455e-03 2.90705409e+02] [ 4.45554229e-02 9.99006914e-01 -5.30811936e-06 4.59929718e+00] [ 9.90708292e-03 -4.36539932e-04 9.99950828e-01 1.12508587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters 0.06366387757135344 Centerline is valid? [True, True] Translation: X:290.77, Y:4.61, Z:1.13 [[ 9.99331621e-01 -3.51165031e-02 -1.01559362e-02 2.90766454e+02] [ 3.51182592e-02 9.99383164e-01 -5.42557700e-06 4.61465094e+00] [ 1.01498622e-02 -3.51236848e-04 9.99948427e-01 1.12565923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters 0.05827653922057262 Centerline is valid? [True, True] Translation: X:290.83, Y:4.64, Z:1.13 [[ 9.99764046e-01 -2.00658301e-02 -8.31951114e-03 2.90826615e+02] [ 2.00664877e-02 9.99798648e-01 -4.42699929e-06 4.64138251e+00] [ 8.31792482e-03 -1.62517413e-04 9.99965392e-01 1.12968395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters 0.05727415018092538 Centerline is valid? [True, True] Translation: X:290.89, Y:4.65, Z:1.13 [[ 9.99921542e-01 -1.10964590e-02 -5.81199670e-03 2.90886790e+02] [ 1.10966285e-02 9.99938431e-01 -3.06973903e-06 4.64990220e+00] [ 5.81167292e-03 -6.14240702e-05 9.99983110e-01 1.13118882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters 0.056749661542443965 Centerline is valid? [True, True] Translation: X:290.95, Y:4.67, Z:1.13 [[ 9.99990828e-01 -8.21949461e-04 -4.20344252e-03 2.90946294e+02] [ 8.21947463e-04 9.99999662e-01 -2.20297778e-06 4.66690668e+00] [ 4.20344291e-03 -1.25205133e-06 9.99991165e-01 1.13360171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters 0.05623952396725436 Centerline is valid? [True, True] Translation: X:291.01, Y:4.67, Z:1.13 [[ 9.99984909e-01 2.68807692e-03 -4.79118823e-03 2.91005372e+02] [-2.68812041e-03 9.99996387e-01 -2.63835408e-06 4.67181025e+00] [ 4.79116383e-03 1.55176051e-05 9.99988522e-01 1.13246948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters 0.05572307568315139 Centerline is valid? [True, True] Translation: X:291.06, Y:4.67, Z:1.13 [[ 9.99985859e-01 1.76871381e-03 -5.01527866e-03 2.91064210e+02] [-1.76875243e-03 9.99998436e-01 -3.26641562e-06 4.67082988e+00] [ 5.01526504e-03 1.21371558e-05 9.99987423e-01 1.13153000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters 0.056014076513982484 Centerline is valid? [True, True] Translation: X:291.12, Y:4.66, Z:1.13 [[ 9.99957128e-01 -5.94427649e-03 -7.09979503e-03 2.91124168e+02] [ 5.94439115e-03 9.99982332e-01 -4.95295750e-06 4.65833520e+00] [ 7.09969903e-03 -3.72512136e-05 9.99974796e-01 1.12863512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters 0.0568466751473093 Centerline is valid? [True, True] Translation: X:291.18, Y:4.65, Z:1.13 [[ 9.99885244e-01 -1.30725737e-02 -7.65546741e-03 2.91184107e+02] [ 1.30729152e-02 9.99914546e-01 -5.43517254e-06 4.64757103e+00] [ 7.65488427e-03 -9.46447272e-05 9.99970696e-01 1.12906612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters 0.055480058896658004 Centerline is valid? [True, True] Translation: X:291.25, Y:4.65, Z:1.13 [[ 9.99722426e-01 -2.29042901e-02 -5.51953418e-03 2.91245139e+02] [ 2.29046174e-02 9.99737655e-01 -3.92127666e-06 4.65235490e+00] [ 5.51817597e-03 -1.22502630e-04 9.99984767e-01 1.13307485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.599254154 meters 0.06345109582060851 Centerline is valid? [True, True] Translation: X:291.31, Y:4.62, Z:1.13 [[ 9.99618425e-01 -2.73490253e-02 -3.87762182e-03 2.91305300e+02] [ 2.73492204e-02 9.99625940e-01 -2.72178908e-06 4.61742673e+00] [ 3.87624580e-03 -1.03329183e-04 9.99992482e-01 1.13440477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.659254154 meters 0.05707503149601263 Centerline is valid? [True, True] Translation: X:291.37, Y:4.64, Z:1.13 [[ 9.99600523e-01 -2.81152405e-02 -2.88577607e-03 2.91367612e+02] [ 2.81153517e-02 9.99604685e-01 -2.02561467e-06 4.63537337e+00] [ 2.88469223e-03 -7.91098036e-05 9.99995836e-01 1.13484608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.719254154 meters 0.057217506853349386 Centerline is valid? [True, True] Translation: X:291.43, Y:4.63, Z:1.13 [[ 9.99645022e-01 -2.63804904e-02 -3.72834786e-03 2.91429614e+02] [ 2.63806645e-02 9.99651970e-01 -2.46745859e-06 4.63270487e+00] [ 3.72711538e-03 -9.58897115e-05 9.99993050e-01 1.13452142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779254154 meters 0.05630851643033289 Centerline is valid? [True, True] Translation: X:291.49, Y:4.64, Z:1.13 [[ 9.99685494e-01 -2.47174879e-02 -4.23788647e-03 2.91491466e+02] [ 2.47176985e-02 9.99694471e-01 -2.66115765e-06 4.63619862e+00] [ 4.23665745e-03 -1.02090480e-04 9.99991020e-01 1.13354745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839254154 meters 0.056373757901221115 Centerline is valid? [True, True] Translation: X:291.55, Y:4.63, Z:1.13 [[ 9.99753846e-01 -2.10505231e-02 -7.00878139e-03 2.91551795e+02] [ 2.10510104e-02 9.99778403e-01 -4.24303030e-06 4.63375759e+00] [ 7.00731758e-03 -1.43299944e-04 9.99975438e-01 1.13174414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899254154 meters 0.056114610892973656 Centerline is valid? [True, True] Translation: X:291.61, Y:4.64, Z:1.13 [[ 9.99842185e-01 -1.57616002e-02 -8.19613998e-03 2.91612576e+02] [ 1.57620888e-02 9.99875771e-01 -4.97616965e-06 4.63557739e+00] [ 8.19520021e-03 -1.24212902e-04 9.99966411e-01 1.13086071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959254154 meters 0.05595744901939075 Centerline is valid? [True, True] Translation: X:291.67, Y:4.64, Z:1.13 [[ 9.99907469e-01 -1.09023937e-02 -8.13575620e-03 2.91672663e+02] [ 1.09027142e-02 9.99940564e-01 -4.95269890e-06 4.63597849e+00] [ 8.13532664e-03 -8.37495840e-05 9.99966904e-01 1.13115028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019254154 meters 0.055974615859961434 Centerline is valid? [True, True] Translation: X:291.73, Y:4.64, Z:1.13 [[ 9.99955210e-01 -5.75119777e-03 -7.51675678e-03 2.91731984e+02] [ 5.75132538e-03 9.99983461e-01 -4.63837144e-06 4.63782178e+00] [ 7.51665914e-03 -3.85931504e-05 9.99971749e-01 1.13193137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079254154 meters 0.05620956674047576 Centerline is valid? [True, True] Translation: X:291.79, Y:4.64, Z:1.13 [[ 9.99974944e-01 9.48467887e-04 -7.01510559e-03 2.91789392e+02] [-9.48522988e-04 9.99999550e-01 -4.52755188e-06 4.63968571e+00] [ 7.01509814e-03 1.11814274e-05 9.99975394e-01 1.13364504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139254154 meters 0.05657796047190554 Centerline is valid? [True, True] Translation: X:291.85, Y:4.64, Z:1.13 [[ 9.99976540e-01 2.17689552e-03 -6.49473356e-03 2.91846918e+02] [-2.17697191e-03 9.99997630e-01 -4.69337299e-06 4.63766909e+00] [ 6.49470795e-03 1.88321154e-05 9.99978909e-01 1.13388267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199254154 meters 0.056683300402298284 Centerline is valid? [True, True] Translation: X:291.91, Y:4.63, Z:1.13 [[ 9.99967229e-01 -3.18305431e-03 -7.44370721e-03 2.91905386e+02] [ 3.18309639e-03 9.99994934e-01 -6.19448573e-06 4.63160690e+00] [ 7.44368921e-03 -1.74997548e-05 9.99972295e-01 1.13239915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259254154 meters 0.05642851550838843 Centerline is valid? [True, True] Translation: X:291.96, Y:4.63, Z:1.13 [[ 9.99927631e-01 -8.82081096e-03 -8.18083439e-03 2.91964248e+02] [ 8.82104754e-03 9.99961094e-01 -7.16409823e-06 4.62667278e+00] [ 8.18057930e-03 -6.49999493e-05 9.99966536e-01 1.13227931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319254154 meters 0.05658737711059593 Centerline is valid? [True, True] Translation: X:292.02, Y:4.62, Z:1.13 [[ 9.99823720e-01 -1.66047873e-02 -8.76418400e-03 2.92024285e+02] [ 1.66053566e-02 9.99862122e-01 -7.81182680e-06 4.61819125e+00] [ 8.76310532e-03 -1.37721951e-04 9.99961594e-01 1.13226586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379254154 meters 0.056894099369389495 Centerline is valid? [True, True] Translation: X:292.08, Y:4.61, Z:1.13 [[ 9.99763396e-01 -1.97661301e-02 -9.08029320e-03 2.92084734e+02] [ 1.97668717e-02 9.99804616e-01 -8.08506047e-06 4.61331961e+00] [ 9.07867887e-03 -1.71405843e-04 9.99958773e-01 1.13281223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439254154 meters 0.05691190781814241 Centerline is valid? [True, True] Translation: X:292.15, Y:4.61, Z:1.13 [[ 9.99766403e-01 -2.06237677e-02 -6.46528278e-03 2.92145406e+02] [ 2.06241618e-02 9.99787299e-01 -5.71221168e-06 4.60902266e+00] [ 6.46402541e-03 -1.27630161e-04 9.99979100e-01 1.13490735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters 0.05643128669996855 Centerline is valid? [True, True] Translation: X:292.21, Y:4.61, Z:1.14 [[ 9.99807752e-01 -1.89473627e-02 -5.04552649e-03 2.92205760e+02] [ 1.89475815e-02 9.99820478e-01 -4.42283324e-06 4.60538558e+00] [ 5.04470451e-03 -9.11785416e-05 9.99987271e-01 1.13616359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters 0.057065752230291644 Centerline is valid? [True, True] Translation: X:292.27, Y:4.61, Z:1.14 [[ 9.99895874e-01 -1.33720365e-02 -5.42484517e-03 2.92266315e+02] [ 1.33722077e-02 9.99910588e-01 -4.71982358e-06 4.60787148e+00] [ 5.42442324e-03 -6.78228241e-05 9.99985285e-01 1.13634305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters 0.056686014006746534 Centerline is valid? [True, True] Translation: X:292.33, Y:4.61, Z:1.14 [[ 9.99957179e-01 -6.27707037e-03 -6.79988359e-03 2.92327423e+02] [ 6.27717543e-03 9.99980298e-01 -5.89203339e-06 4.60811173e+00] [ 6.79978660e-03 -3.67922811e-05 9.99976880e-01 1.13625933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters 0.056531091615437616 Centerline is valid? [True, True] Translation: X:292.39, Y:4.61, Z:1.14 [[ 9.99971534e-01 -2.03194971e-03 -7.26656625e-03 2.92386078e+02] [ 2.03195517e-03 9.99997936e-01 -6.63106926e-06 4.60796945e+00] [ 7.26656472e-03 -8.13445639e-06 9.99973598e-01 1.13649971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters 0.05772726121727297 Centerline is valid? [True, True] Translation: X:292.44, Y:4.60, Z:1.14 [[ 9.99964646e-01 2.56261265e-03 -8.00868780e-03 2.92443773e+02] [-2.56275865e-03 9.99996716e-01 -7.96680824e-06 4.60451729e+00] [ 8.00864108e-03 2.84908605e-05 9.99967930e-01 1.13865143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters 0.05761794474386673 Centerline is valid? [True, True] Translation: X:292.50, Y:4.60, Z:1.14 [[ 9.99934634e-01 4.35833111e-03 -1.05703764e-02 2.92502001e+02] [-4.35869597e-03 9.99990501e-01 -1.14800902e-05 4.60188912e+00] [ 1.05702260e-02 5.75523969e-05 9.99944132e-01 1.13655358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters 0.058101732665709664 Centerline is valid? [True, True] Translation: X:292.56, Y:4.60, Z:1.14 [[ 9.99911506e-01 4.62084256e-03 -1.24751317e-02 2.92560656e+02] [-4.62138937e-03 9.99989321e-01 -1.50049329e-05 4.59709845e+00] [ 1.24749292e-02 7.26560463e-05 9.99922182e-01 1.13824230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters 0.05851196652963744 Centerline is valid? [True, True] Translation: X:292.62, Y:4.59, Z:1.14 [[ 9.99906351e-01 4.13369644e-03 -1.30461521e-02 2.92618449e+02] [-4.13426390e-03 9.99991454e-01 -1.65273178e-05 4.59243153e+00] [ 1.30459723e-02 7.04620057e-05 9.99914895e-01 1.14043193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters 0.05831132448001891 Centerline is valid? [True, True] Translation: X:292.68, Y:4.59, Z:1.14 [[ 9.99919323e-01 1.94292899e-03 -1.25528007e-02 2.92677381e+02] [-1.94328640e-03 9.99998112e-01 -1.62758014e-05 4.58731270e+00] [ 1.25527454e-02 4.06681752e-05 9.99921210e-01 1.14172913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters 0.058861318218051524 Centerline is valid? [True, True] Translation: X:292.74, Y:4.58, Z:1.14 [[ 9.99920202e-01 -3.77655192e-03 -1.20551484e-02 2.92735194e+02] [ 3.77663275e-03 9.99992868e-01 -1.60599881e-05 4.57884107e+00] [ 1.20551231e-02 -2.94691616e-05 9.99927334e-01 1.14452139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.099254154 meters 0.05898822076425313 Centerline is valid? [True, True] Translation: X:292.79, Y:4.57, Z:1.15 [[ 9.99862113e-01 -1.15924364e-02 -1.18899104e-02 2.92794293e+02] [ 1.15930637e-02 9.99932798e-01 -1.61684852e-05 4.57094241e+00] [ 1.18892988e-02 -1.21674232e-04 9.99929312e-01 1.14569004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.159254154 meters 0.05852110150017647 Centerline is valid? [True, True] Translation: X:292.85, Y:4.57, Z:1.15 [[ 9.99811171e-01 -1.53526630e-02 -1.19129189e-02 2.92854014e+02] [ 1.53535571e-02 9.99882127e-01 -1.64013129e-05 4.56823428e+00] [ 1.19117665e-02 -1.66507465e-04 9.99929039e-01 1.14798013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.219254154 meters 0.059064815571444426 Centerline is valid? [True, True] Translation: X:292.91, Y:4.56, Z:1.15 [[ 9.99804999e-01 -1.55749970e-02 -1.21401427e-02 2.92911945e+02] [ 1.55759371e-02 9.99878688e-01 -1.71147916e-05 4.55745090e+00] [ 1.21389365e-02 -1.71982645e-04 9.99926306e-01 1.14620367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279254154 meters 0.05952825818311141 Centerline is valid? [True, True] Translation: X:292.97, Y:4.55, Z:1.14 [[ 9.99827128e-01 -1.43981633e-02 -1.17646565e-02 2.92970880e+02] [ 1.43989535e-02 9.99896330e-01 -1.75349021e-05 4.55248427e+00] [ 1.17636893e-02 -1.51866871e-04 9.99930794e-01 1.14427060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339254154 meters 0.05831367308572983 Centerline is valid? [True, True] Translation: X:293.03, Y:4.55, Z:1.15 [[ 9.99902825e-01 -7.52152519e-03 -1.17374713e-02 2.93031035e+02] [ 7.52183334e-03 9.99971710e-01 -1.78920510e-05 4.55185290e+00] [ 1.17372739e-02 -7.03969908e-05 9.99931113e-01 1.14524491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399254154 meters 0.05764729150784963 Centerline is valid? [True, True] Translation: X:293.09, Y:4.55, Z:1.15 [[ 9.99921992e-01 -2.46061772e-03 -1.22456000e-02 2.93088675e+02] [ 2.46056943e-03 9.99996973e-01 -1.90096217e-05 4.55168927e+00] [ 1.22456097e-02 -1.11230102e-05 9.99925020e-01 1.14685161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459254154 meters 0.05904240290325264 Centerline is valid? [True, True] Translation: X:293.15, Y:4.55, Z:1.15 [[ 9.99908392e-01 1.68775269e-03 -1.34297944e-02 2.93147808e+02] [-1.68819967e-03 9.99998575e-01 -2.19455003e-05 4.54733879e+00] [ 1.34297382e-02 4.46156643e-05 9.99909816e-01 1.14861502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519254154 meters 0.059912038644848994 Centerline is valid? [True, True] Translation: X:293.21, Y:4.54, Z:1.15 [[ 9.99880717e-01 1.39553173e-03 -1.53819360e-02 2.93206405e+02] [-1.39609433e-03 9.99999025e-01 -2.58374716e-05 4.54158085e+00] [ 1.53818849e-02 4.73090233e-05 9.99881691e-01 1.14945669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579254154 meters 0.05942661375995402 Centerline is valid? [True, True] Translation: X:293.26, Y:4.54, Z:1.15 [[ 9.99871096e-01 -6.71814531e-04 -1.60418236e-02 2.93264240e+02] [ 6.71459666e-04 9.99999774e-01 -2.75072892e-05 4.53716536e+00] [ 1.60418384e-02 1.67323059e-05 9.99871321e-01 1.14961582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639254154 meters 0.05993923456990292 Centerline is valid? [True, True] Translation: X:293.32, Y:4.53, Z:1.15 [[ 9.99863389e-01 -7.43770044e-03 -1.47609259e-02 2.93322253e+02] [ 7.43812843e-03 9.99972336e-01 -2.59056013e-05 4.52787816e+00] [ 1.47607103e-02 -8.38916005e-05 9.99891051e-01 1.14992751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699254154 meters 0.05971726987415805 Centerline is valid? [True, True] Translation: X:293.38, Y:4.52, Z:1.15 [[ 9.99794919e-01 -1.56346516e-02 -1.28715685e-02 2.93380320e+02] [ 1.56356518e-02 9.99877755e-01 -2.29312508e-05 4.51793610e+00] [ 1.28703536e-02 -1.78328815e-04 9.99917158e-01 1.15244673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759254154 meters 0.059708493141778125 Centerline is valid? [True, True] Translation: X:293.44, Y:4.50, Z:1.15 [[ 9.99732147e-01 -1.97000288e-02 -1.21466951e-02 2.93438754e+02] [ 1.97012159e-02 9.99805912e-01 -2.19261871e-05 4.50353600e+00] [ 1.21447695e-02 -2.17384349e-04 9.99926226e-01 1.15051850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819254154 meters 0.059889578173119185 Centerline is valid? [True, True] Translation: X:293.50, Y:4.50, Z:1.15 [[ 9.99763634e-01 -1.84699730e-02 -1.14689511e-02 2.93497648e+02] [ 1.84709394e-02 9.99829397e-01 -2.16585040e-05 4.50494331e+00] [ 1.14673945e-02 -1.90188917e-04 9.99934229e-01 1.15298871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879254154 meters 0.06023423284384515 Centerline is valid? [True, True] Translation: X:293.56, Y:4.50, Z:1.15 [[ 9.99824536e-01 -1.46560339e-02 -1.16660851e-02 2.93556092e+02] [ 1.46567598e-02 9.99892584e-01 -2.32809303e-05 4.49818531e+00] [ 1.16651732e-02 -1.47710162e-04 9.99931949e-01 1.15151113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939254154 meters 0.060361118416571956 Centerline is valid? [True, True] Translation: X:293.61, Y:4.50, Z:1.15 [[ 9.99900048e-01 -8.47074996e-03 -1.13198907e-02 2.93614676e+02] [ 8.47103067e-03 9.99964120e-01 -2.31502110e-05 4.49802627e+00] [ 1.13196807e-02 -7.27432445e-05 9.99935928e-01 1.15374647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters 0.05980568112259848 Centerline is valid? [True, True] Translation: X:293.67, Y:4.49, Z:1.15 [[ 9.99920300e-01 -5.73575424e-03 -1.12469810e-02 2.93673222e+02] [ 5.73584903e-03 9.99983550e-01 -2.38284898e-05 4.49236190e+00] [ 1.12469326e-02 -4.06843943e-05 9.99936750e-01 1.15335807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters 0.060029550155243784 Centerline is valid? [True, True] Translation: X:293.73, Y:4.49, Z:1.15 [[ 9.99909762e-01 -6.87095389e-03 -1.15437153e-02 2.93732518e+02] [ 6.87112278e-03 9.99976393e-01 -2.50304038e-05 4.48702130e+00] [ 1.15436147e-02 -5.42901397e-05 9.99933369e-01 1.15255587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters 0.05979844896790775 Centerline is valid? [True, True] Translation: X:293.79, Y:4.48, Z:1.15 [[ 9.99838998e-01 -1.28172205e-02 -1.25577471e-02 2.93792225e+02] [ 1.28178866e-02 9.99917847e-01 -2.74468612e-05 4.47715993e+00] [ 1.25570672e-02 -1.33521336e-04 9.99921148e-01 1.15235944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters 0.06075182156203733 Centerline is valid? [True, True] Translation: X:293.85, Y:4.47, Z:1.15 [[ 9.99619642e-01 -2.43173813e-02 -1.30091027e-02 2.93852349e+02] [ 2.43190687e-02 9.99704247e-01 -2.84856851e-05 4.46702532e+00] [ 1.30059479e-02 -2.87894411e-04 9.99915378e-01 1.15381808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters 0.06052284173694262 Centerline is valid? [True, True] Translation: X:293.91, Y:4.46, Z:1.16 [[ 9.99371613e-01 -3.33613325e-02 -1.19749610e-02 2.93912964e+02] [ 3.33634116e-02 9.99443286e-01 -2.61632798e-05 4.46123180e+00] [ 1.19691672e-02 -3.73378712e-04 9.99928297e-01 1.15566791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters 0.06208845514631672 Centerline is valid? [True, True] Translation: X:293.97, Y:4.46, Z:1.16 [[ 9.98890675e-01 -4.59406657e-02 -1.03380588e-02 2.93973400e+02] [ 4.59428876e-02 9.98944068e-01 -2.25804939e-05 4.46141454e+00] [ 1.03281799e-02 -4.52404831e-04 9.99946561e-01 1.15841656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters 0.06533266322863518 Centerline is valid? [True, True] Translation: X:294.03, Y:4.44, Z:1.16 [[ 9.98611352e-01 -5.17516160e-02 -9.85586772e-03 2.94032687e+02] [ 5.17539173e-02 9.98659868e-01 -2.15801836e-05 4.43625420e+00] [ 9.84377636e-03 -4.88529546e-04 9.99951430e-01 1.15627917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters 0.06089952567907949 Centerline is valid? [True, True] Translation: X:294.09, Y:4.45, Z:1.16 [[ 9.98275896e-01 -5.78858794e-02 -9.71909633e-03 2.94092944e+02] [ 5.78884071e-02 9.98323060e-01 -2.12828975e-05 4.45364274e+00] [ 9.70402997e-03 -5.41376801e-04 9.99952768e-01 1.15831693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters 0.060968877356101424 Centerline is valid? [True, True] Translation: X:294.15, Y:4.46, Z:1.16 [[ 9.98078407e-01 -6.11364377e-02 -1.00910824e-02 2.94154351e+02] [ 6.11393296e-02 9.98129241e-01 -2.19448113e-05 4.46419959e+00] [ 1.00735461e-02 -5.95059372e-04 9.99949083e-01 1.15917328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters 0.06661562802738118 Centerline is valid? [True, True] Translation: X:294.21, Y:4.44, Z:1.16 [[ 9.98006731e-01 -6.21967840e-02 -1.06829543e-02 2.94214583e+02] [ 6.22000872e-02 9.98063700e-01 -2.30860700e-05 4.43821179e+00] [ 1.06637048e-02 -6.41440636e-04 9.99942935e-01 1.15622139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.599254154 meters 0.06387755720305252 Centerline is valid? [True, True] Translation: X:294.27, Y:4.45, Z:1.16 [[ 9.98022404e-01 -6.20375092e-02 -1.01305498e-02 2.94274967e+02] [ 6.20404718e-02 9.98073634e-01 -2.18619426e-05 4.45460384e+00] [ 1.01123909e-02 -6.06685378e-04 9.99948684e-01 1.15752800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.659254154 meters 0.06211453955487699 Centerline is valid? [True, True] Translation: X:294.34, Y:4.47, Z:1.16 [[ 9.98209825e-01 -5.89708741e-02 -9.97901560e-03 2.94335700e+02] [ 5.89735950e-02 9.98259543e-01 -2.16251550e-05 4.47296002e+00] [ 9.96292280e-03 -5.66911983e-04 9.99950208e-01 1.15750552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.719254154 meters 0.06057991785547281 Centerline is valid? [True, True] Translation: X:294.40, Y:4.49, Z:1.16 [[ 9.98419609e-01 -5.53546639e-02 -9.70281462e-03 2.94396270e+02] [ 5.53570654e-02 9.98466622e-01 -2.10884609e-05 4.48894939e+00] [ 9.68910388e-03 -5.16064211e-04 9.99952926e-01 1.15843240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779254154 meters 0.06069125376518155 Centerline is valid? [True, True] Translation: X:294.46, Y:4.50, Z:1.16 [[ 9.98838828e-01 -4.72344599e-02 -9.48167146e-03 2.94457108e+02] [ 4.72363880e-02 9.98883739e-01 -2.06157619e-05 4.49885225e+00] [ 9.47206121e-03 -4.27288088e-04 9.99955048e-01 1.15801609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839254154 meters 0.06298622064552073 Centerline is valid? [True, True] Translation: X:294.52, Y:4.49, Z:1.16 [[ 9.99137988e-01 -4.04160417e-02 -9.47762731e-03 2.94516805e+02] [ 4.04176614e-02 9.99182872e-01 -2.06580974e-05 4.48923414e+00] [ 9.47071779e-03 -3.62423241e-04 9.99955086e-01 1.15567713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899254154 meters 0.06140713462837937 Centerline is valid? [True, True] Translation: X:294.58, Y:4.51, Z:1.16 [[ 9.99479533e-01 -3.10094717e-02 -8.89242118e-03 2.94577258e+02] [ 3.10105253e-02 9.99519058e-01 -1.94087288e-05 4.50793650e+00] [ 8.88874630e-03 -2.56360025e-04 9.99960461e-01 1.15703247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959254154 meters 0.05998070087718063 Centerline is valid? [True, True] Translation: X:294.64, Y:4.53, Z:1.16 [[ 9.99647991e-01 -2.46791234e-02 -9.73832132e-03 2.94638221e+02] [ 2.46800872e-02 9.99695400e-01 -2.12144746e-05 4.52799310e+00] [ 9.73587858e-03 -2.19135612e-04 9.99952581e-01 1.15871451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019254154 meters 0.060313044696977465 Centerline is valid? [True, True] Translation: X:294.70, Y:4.53, Z:1.16 [[ 9.99682326e-01 -2.31086436e-02 -1.00617029e-02 2.94698028e+02] [ 2.31095927e-02 9.99732937e-01 -2.19453087e-05 4.52895049e+00] [ 1.00595230e-02 -2.10583519e-04 9.99949380e-01 1.15711567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079254154 meters 0.05939257634461253 Centerline is valid? [True, True] Translation: X:294.76, Y:4.53, Z:1.16 [[ 9.99664658e-01 -2.35641667e-02 -1.07378724e-02 2.94757580e+02] [ 2.35652729e-02 9.99722300e-01 -2.35125265e-05 4.53337922e+00] [ 1.07354446e-02 -2.29536252e-04 9.99942347e-01 1.15626791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139254154 meters 0.05940871193979166 Centerline is valid? [True, True] Translation: X:294.82, Y:4.54, Z:1.16 [[ 9.99632675e-01 -2.48703160e-02 -1.07695073e-02 2.94816701e+02] [ 2.48715036e-02 9.99690656e-01 -2.36704326e-05 4.54256633e+00] [ 1.07667645e-02 -2.44192100e-04 9.99942007e-01 1.15866429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199254154 meters 0.05996252168454452 Centerline is valid? [True, True] Translation: X:294.88, Y:4.55, Z:1.16 [[ 9.99642372e-01 -2.47471359e-02 -1.01345051e-02 2.94876726e+02] [ 2.47481808e-02 9.99693717e-01 -2.23048756e-05 4.54766347e+00] [ 1.01319530e-02 -2.28513666e-04 9.99948644e-01 1.16013809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259254154 meters 0.05972898417103444 Centerline is valid? [True, True] Translation: X:294.94, Y:4.56, Z:1.16 [[ 9.99735696e-01 -2.14243475e-02 -8.33875720e-03 2.94936846e+02] [ 2.14249393e-02 9.99770459e-01 -1.83671251e-05 4.55682751e+00] [ 8.33723662e-03 -1.60295096e-04 9.99965232e-01 1.16198926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319254154 meters 0.05927970559132319 Centerline is valid? [True, True] Translation: X:295.00, Y:4.56, Z:1.16 [[ 9.99807430e-01 -1.83144629e-02 -7.04867672e-03 2.94996866e+02] [ 1.83148084e-02 9.99832270e-01 -1.55365527e-05 4.55537604e+00] [ 7.04777899e-03 -1.13561603e-04 9.99975158e-01 1.16102961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379254154 meters 0.0597208628921014 Centerline is valid? [True, True] Translation: X:295.06, Y:4.56, Z:1.16 [[ 9.99880902e-01 -1.40724251e-02 -6.33630283e-03 2.95056895e+02] [ 1.40726191e-02 9.99900976e-01 -1.39663524e-05 4.55929871e+00] [ 6.33587193e-03 -7.52036876e-05 9.99979925e-01 1.16057754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439254154 meters 0.0583667279555621 Centerline is valid? [True, True] Translation: X:295.12, Y:4.57, Z:1.16 [[ 9.99892240e-01 -1.32949224e-02 -6.22527241e-03 2.95117021e+02] [ 1.32950946e-02 9.99911616e-01 -1.37216213e-05 4.56642276e+00] [ 6.22490462e-03 -6.90454430e-05 9.99980623e-01 1.16109708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters 0.059580405654236474 Centerline is valid? [True, True] Translation: X:295.18, Y:4.56, Z:1.16 [[ 9.99848116e-01 -1.61848016e-02 -6.46503010e-03 2.95176586e+02] [ 1.61850475e-02 9.99869013e-01 -1.42716123e-05 4.56468484e+00] [ 6.46441425e-03 -9.03673749e-05 9.99979101e-01 1.15906177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters 0.05909520996844104 Centerline is valid? [True, True] Translation: X:295.24, Y:4.56, Z:1.16 [[ 9.99690223e-01 -2.35290924e-02 -8.11416505e-03 2.95235948e+02] [ 2.35297212e-02 9.99723138e-01 -1.79834966e-05 4.55919958e+00] [ 8.11234167e-03 -1.72946115e-04 9.99967079e-01 1.15687961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters 0.059378691165154936 Centerline is valid? [True, True] Translation: X:295.30, Y:4.56, Z:1.16 [[ 9.99501364e-01 -3.06039266e-02 -7.77325953e-03 2.95297122e+02] [ 3.06047176e-02 9.99531566e-01 -1.72041532e-05 4.56225915e+00] [ 7.77014479e-03 -2.20702838e-04 9.99969788e-01 1.15726852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters 0.05860198685301921 Centerline is valid? [True, True] Translation: X:295.36, Y:4.57, Z:1.16 [[ 9.99103882e-01 -4.17760863e-02 -6.79648669e-03 2.95357685e+02] [ 4.17769495e-02 9.99126962e-01 -1.49876053e-05 4.56719114e+00] [ 6.79117922e-03 -2.68962306e-04 9.99976903e-01 1.15706755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters 0.0575172458601139 Centerline is valid? [True, True] Translation: X:295.42, Y:4.57, Z:1.16 [[ 9.98763862e-01 -4.92969002e-02 -6.36890176e-03 2.95418283e+02] [ 4.92978108e-02 9.98784124e-01 -1.40354671e-05 4.56735803e+00] [ 6.36184987e-03 -2.99954797e-04 9.99979718e-01 1.15645270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters 0.0638706498639161 Centerline is valid? [True, True] Translation: X:295.48, Y:4.55, Z:1.16 [[ 9.98226318e-01 -5.92236854e-02 -6.06412685e-03 2.95477477e+02] [ 5.92246936e-02 9.98244677e-01 -1.33466293e-05 4.54843830e+00] [ 6.05427278e-03 -3.45823098e-04 9.99981613e-01 1.15605422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters 0.05648527244166414 Centerline is valid? [True, True] Translation: X:295.54, Y:4.58, Z:1.16 [[ 9.97718380e-01 -6.74376742e-02 -3.19301031e-03 2.95537580e+02] [ 6.74379957e-02 9.97723467e-01 -7.00934722e-06 4.57846590e+00] [ 3.18621401e-03 -2.08336861e-04 9.99994902e-01 1.15657009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters 0.05781434253101222 Centerline is valid? [True, True] Translation: X:295.60, Y:4.57, Z:1.16 [[ 9.97537408e-01 -7.00402990e-02 -3.67091066e-03 2.95597531e+02] [ 7.00407415e-02 9.97544132e-01 -8.03963696e-06 4.57312696e+00] [ 3.66245849e-03 -2.49093466e-04 9.99993262e-01 1.15706003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters 0.05992869488544019 Centerline is valid? [True, True] Translation: X:295.66, Y:4.58, Z:1.16 [[ 9.97547831e-01 -6.98746632e-02 -3.98207842e-03 2.95659034e+02] [ 6.98751826e-02 9.97555742e-01 -8.70107584e-06 4.57665727e+00] [ 3.97295318e-03 -2.69568718e-04 9.99992071e-01 1.15694131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters 0.0553888130270047 Centerline is valid? [True, True] Translation: X:295.72, Y:4.61, Z:1.16 [[ 9.97769905e-01 -6.67060970e-02 -2.34820700e-03 2.95719384e+02] [ 6.67062690e-02 9.97772656e-01 -5.08697622e-06 4.60935460e+00] [ 2.34331607e-03 -1.51564496e-04 9.99997243e-01 1.15622349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.099254154 meters 0.057783751307681916 Centerline is valid? [True, True] Translation: X:295.78, Y:4.60, Z:1.16 [[ 9.98078802e-01 -6.18394281e-02 -3.81982729e-03 2.95778562e+02] [ 6.18398479e-02 9.98086085e-01 -8.22536885e-06 4.59846880e+00] [ 3.81302512e-03 -2.28007973e-04 9.99992704e-01 1.15655414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.159254154 meters 0.055117023820583096 Centerline is valid? [True, True] Translation: X:295.84, Y:4.62, Z:1.16 [[ 9.98633057e-01 -5.21347565e-02 -3.73964233e-03 2.95838699e+02] [ 5.21350909e-02 9.98640041e-01 -8.05623557e-06 4.62431541e+00] [ 3.73497658e-03 -1.86921370e-04 9.99993007e-01 1.15688296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.219254154 meters 0.05886111604689028 Centerline is valid? [True, True] Translation: X:295.90, Y:4.61, Z:1.16 [[ 9.98985620e-01 -4.47430700e-02 -5.07819690e-03 2.95898114e+02] [ 4.47435915e-02 9.98998504e-01 -1.09260376e-05 4.61440488e+00] [ 5.07359997e-03 -2.16301813e-04 9.99987106e-01 1.15750298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279254154 meters 0.05611551798925119 Centerline is valid? [True, True] Translation: X:295.96, Y:4.64, Z:1.16 [[ 9.99340015e-01 -3.61182187e-02 -3.87417057e-03 2.95958460e+02] [ 3.61184575e-02 9.99347516e-01 -8.33468146e-06 4.64330406e+00] [ 3.87194377e-03 -1.31599885e-04 9.99992495e-01 1.15790349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339254154 meters 0.05672799446768847 Centerline is valid? [True, True] Translation: X:296.02, Y:4.65, Z:1.16 [[ 9.99554462e-01 -2.96496105e-02 -3.43197161e-03 2.96017914e+02] [ 2.96497599e-02 9.99560349e-01 -7.35856948e-06 4.64633802e+00] [ 3.43068092e-03 -9.44018433e-05 9.99994111e-01 1.15835999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399254154 meters 0.05682037097521398 Centerline is valid? [True, True] Translation: X:296.08, Y:4.65, Z:1.16 [[ 9.99647042e-01 -2.63975899e-02 -2.99297911e-03 2.96078429e+02] [ 2.63976889e-02 9.99651520e-01 -6.44908478e-06 4.65142985e+00] [ 2.99210636e-03 -7.25609228e-05 9.99995521e-01 1.15826741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459254154 meters 0.057018189337765667 Centerline is valid? [True, True] Translation: X:296.14, Y:4.66, Z:1.16 [[ 9.99754398e-01 -2.20311752e-02 -2.40236353e-03 2.96138369e+02] [ 2.20312263e-02 9.99757283e-01 -5.17646315e-06 4.65560311e+00] [ 2.40189448e-03 -4.77518227e-05 9.99997114e-01 1.15864420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519254154 meters 0.05599428087559573 Centerline is valid? [True, True] Translation: X:296.20, Y:4.66, Z:1.16 [[ 9.99800253e-01 -1.99157471e-02 -1.67830858e-03 2.96199700e+02] [ 1.99157690e-02 9.99801661e-01 -3.65305671e-06 4.66253136e+00] [ 1.67804846e-03 -2.97724788e-05 9.99998592e-01 1.15815667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579254154 meters 0.0560204551990926 Centerline is valid? [True, True] Translation: X:296.26, Y:4.66, Z:1.16 [[ 9.99828591e-01 -1.84145830e-02 -1.92154700e-03 2.96261001e+02] [ 1.84146090e-02 9.99830437e-01 -4.15837368e-06 4.66413143e+00] [ 1.92129775e-03 -3.12268758e-05 9.99998154e-01 1.15769628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639254154 meters 0.055970453647397465 Centerline is valid? [True, True] Translation: X:296.32, Y:4.66, Z:1.16 [[ 9.99816623e-01 -1.89858493e-02 -2.50139601e-03 2.96321979e+02] [ 1.89858953e-02 9.99819752e-01 -5.35822447e-06 4.66325098e+00] [ 2.50104686e-03 -4.21340007e-05 9.99996871e-01 1.15554822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699254154 meters 0.05563766665758761 Centerline is valid? [True, True] Translation: X:296.38, Y:4.66, Z:1.15 [[ 9.99797828e-01 -1.99869714e-02 -2.19627507e-03 2.96384298e+02] [ 1.99870095e-02 9.99800240e-01 -4.59195999e-06 4.66418680e+00] [ 2.19592812e-03 -3.93059391e-05 9.99997588e-01 1.15499076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759254154 meters 0.0551650600252069 Centerline is valid? [True, True] Translation: X:296.45, Y:4.67, Z:1.15 [[ 9.99765763e-01 -2.16396764e-02 -3.78683830e-04 2.96446343e+02] [ 2.16396776e-02 9.99765835e-01 -8.90453985e-07 4.66749116e+00] [ 3.78614424e-04 -7.30435061e-06 9.99999928e-01 1.15295679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819254154 meters 0.05500899261973728 Centerline is valid? [True, True] Translation: X:296.51, Y:4.66, Z:1.15 [[ 9.99752032e-01 -2.22399304e-02 -1.12236900e-03 2.96507477e+02] [ 2.22399418e-02 9.99752662e-01 -2.31646199e-06 4.66318476e+00] [ 1.12214291e-03 -2.26455336e-05 9.99999370e-01 1.15333390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879254154 meters 0.055381168860153505 Centerline is valid? [True, True] Translation: X:296.57, Y:4.66, Z:1.15 [[ 9.99734445e-01 -2.29984579e-02 -1.45267817e-03 2.96569378e+02] [ 2.29984779e-02 9.99735500e-01 -2.96744887e-06 4.65913256e+00] [ 1.45236219e-03 -3.04427260e-05 9.99998945e-01 1.15313512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939254154 meters 0.05544230705522991 Centerline is valid? [True, True] Translation: X:296.63, Y:4.66, Z:1.15 [[ 9.99701091e-01 -2.44383035e-02 -7.06176108e-04 2.96631517e+02] [ 2.44383085e-02 9.99701340e-01 -1.47479914e-06 4.65956609e+00] [ 7.06001243e-04 -1.57833913e-05 9.99999751e-01 1.15078851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters 0.05527629983046689 Centerline is valid? [True, True] Translation: X:296.69, Y:4.65, Z:1.15 [[ 9.99672197e-01 -2.55684217e-02 -1.32453793e-03 2.96692343e+02] [ 2.55684406e-02 9.99673074e-01 -2.67238560e-06 4.65215965e+00] [ 1.32417323e-03 -3.11948598e-05 9.99999123e-01 1.15050807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters 0.054943242826462214 Centerline is valid? [True, True] Translation: X:296.75, Y:4.66, Z:1.15 [[ 9.99665020e-01 -2.58534533e-02 -1.20248060e-03 2.96754450e+02] [ 2.58534692e-02 9.99665743e-01 -2.31120044e-06 4.65674850e+00] [ 1.20213842e-03 -2.87778689e-05 9.99999277e-01 1.14967990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters 0.05549188934392511 Centerline is valid? [True, True] Translation: X:296.82, Y:4.65, Z:1.15 [[ 9.99641562e-01 -2.67248899e-02 -1.58995042e-03 2.96816034e+02] [ 2.67249189e-02 9.99642826e-01 -3.02241953e-06 4.65034841e+00] [ 1.58946330e-03 -3.94699598e-05 9.99998736e-01 1.15011462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters 0.05519981564746786 Centerline is valid? [True, True] Translation: X:296.88, Y:4.65, Z:1.15 [[ 9.99545398e-01 -3.01495477e-02 -3.45024649e-05 2.96877130e+02] [ 3.01495477e-02 9.99545399e-01 -1.26307941e-07 4.65232255e+00] [ 3.44905880e-05 -9.13983189e-07 9.99999999e-01 1.15026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters 0.054577647152516985 Centerline is valid? [True, True] Translation: X:296.94, Y:4.65, Z:1.15 [[ 9.99330534e-01 -3.65832738e-02 -3.84184258e-04 2.96937682e+02] [ 3.65832763e-02 9.99330608e-01 -6.67560074e-07 4.64955347e+00] [ 3.83951509e-04 -1.33876057e-05 9.99999926e-01 1.14954046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters 0.0550092115360626 Centerline is valid? [True, True] Translation: X:297.00, Y:4.65, Z:1.15 [[ 9.99116653e-01 -4.19870602e-02 -1.73223637e-03 2.96998439e+02] [ 4.19871179e-02 9.99118152e-01 -3.01243908e-06 4.64833431e+00] [ 1.73083528e-03 -6.97218347e-05 9.99998500e-01 1.14870384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters 0.054647384990117134 Centerline is valid? [True, True] Translation: X:297.06, Y:4.64, Z:1.15 [[ 9.98737347e-01 -5.00989377e-02 -3.71585632e-03 2.97057960e+02] [ 5.00992596e-02 9.98744244e-01 -6.45551344e-06 4.64227975e+00] [ 3.71151352e-03 -1.79714288e-04 9.99993096e-01 1.14800460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters 0.05363202747195583 Centerline is valid? [True, True] Translation: X:297.12, Y:4.65, Z:1.15 [[ 9.98427590e-01 -5.58689348e-02 -4.58372257e-03 2.97118163e+02] [ 5.58694851e-02 9.98438081e-01 -8.00072581e-06 4.64530290e+00] [ 4.57701016e-03 -2.48102074e-04 9.99989495e-01 1.14757815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters 0.05393603557726394 Centerline is valid? [True, True] Translation: X:297.18, Y:4.65, Z:1.15 [[ 9.98341488e-01 -5.74242710e-02 -4.08972310e-03 2.97179304e+02] [ 5.74247222e-02 9.98349839e-01 -7.12957802e-06 4.64608741e+00] [ 4.08338381e-03 -2.27733459e-04 9.99991637e-01 1.14894458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters 0.053053917682202856 Centerline is valid? [True, True] Translation: X:297.24, Y:4.65, Z:1.15 [[ 9.98394885e-01 -5.66268237e-02 -1.02832776e-03 2.97241538e+02] [ 5.66268517e-02 9.98395412e-01 -1.87430246e-06 4.65358474e+00] [ 1.02678385e-03 -5.63596697e-05 9.99999471e-01 1.15000971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.599254154 meters 0.058627891146939004 Centerline is valid? [True, True] Translation: X:297.30, Y:4.63, Z:1.15 [[ 9.98740917e-01 -5.01308270e-02 1.86585410e-03 2.97301724e+02] [ 5.01309084e-02 9.98742656e-01 3.12906928e-06 4.63427137e+00] [-1.86366494e-03 9.04118315e-05 9.99998259e-01 1.15382311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.659254154 meters 0.054712673769496865 Centerline is valid? [True, True] Translation: X:297.36, Y:4.66, Z:1.15 [[ 9.99196880e-01 -3.99854331e-02 2.60006918e-03 2.97362278e+02] [ 3.99855570e-02 9.99200258e-01 4.36602911e-06 4.65648576e+00] [-2.59816438e-03 9.96026918e-05 9.99996620e-01 1.15160351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.719254154 meters 0.055295435895192 Centerline is valid? [True, True] Translation: X:297.42, Y:4.65, Z:1.15 [[ 9.99320770e-01 -3.68212865e-02 1.48022628e-03 2.97422173e+02] [ 3.68213231e-02 9.99321865e-01 2.52824771e-06 4.65403901e+00] [-1.47931558e-03 5.19773597e-05 9.99998904e-01 1.15264096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779254154 meters 0.05570895454511945 Centerline is valid? [True, True] Translation: X:297.48, Y:4.65, Z:1.15 [[ 9.99517947e-01 -3.10388597e-02 -6.80590789e-04 2.97481707e+02] [ 3.10388661e-02 9.99518178e-01 -1.12245863e-06 4.65451575e+00] [ 6.80297705e-04 -2.00028488e-05 9.99999768e-01 1.15150693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839254154 meters 0.054464565697725 Centerline is valid? [True, True] Translation: X:297.54, Y:4.66, Z:1.15 [[ 9.99529536e-01 -3.05201166e-02 -3.03794314e-03 2.97543709e+02] [ 3.05202417e-02 9.99534149e-01 -5.19376257e-06 4.66360345e+00] [ 3.03668643e-03 -8.75274398e-05 9.99995385e-01 1.14943113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899254154 meters 0.05426227830994195 Centerline is valid? [True, True] Translation: X:297.61, Y:4.67, Z:1.15 [[ 9.99520973e-01 -3.06722746e-02 -4.12753302e-03 2.97605998e+02] [ 3.06725075e-02 9.99529488e-01 -6.87352479e-06 4.66524626e+00] [ 4.12580179e-03 -1.19731555e-04 9.99991482e-01 1.14863328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959254154 meters 0.055175841376361084 Centerline is valid? [True, True] Translation: X:297.67, Y:4.66, Z:1.15 [[ 9.99557074e-01 -2.94575938e-02 -4.23147895e-03 2.97667720e+02] [ 2.94578284e-02 9.99566024e-01 -6.90286338e-06 4.66229422e+00] [ 4.22984593e-03 -1.17750375e-04 9.99991047e-01 1.14953978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019254154 meters 0.05544540906703456 Centerline is valid? [True, True] Translation: X:297.73, Y:4.67, Z:1.15 [[ 9.99635201e-01 -2.69531859e-02 -1.72913712e-03 2.97729024e+02] [ 2.69532214e-02 9.99636696e-01 -2.80360400e-06 4.66866410e+00] [ 1.72858448e-03 -4.38032343e-05 9.99998505e-01 1.15132792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079254154 meters 0.054980533728491175 Centerline is valid? [True, True] Translation: X:297.79, Y:4.67, Z:1.15 [[ 9.99642519e-01 -2.67313629e-02 -5.17259304e-04 2.97792103e+02] [ 2.67313659e-02 9.99642653e-01 -9.88615534e-07 4.66983624e+00] [ 5.17100890e-04 -1.28387856e-05 9.99999866e-01 1.15280872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139254154 meters 0.054962912234274665 Centerline is valid? [True, True] Translation: X:297.85, Y:4.67, Z:1.15 [[ 9.99418565e-01 -3.40850305e-02 8.62024552e-04 2.97852378e+02] [ 3.40850420e-02 9.99418936e-01 1.32329183e-06 4.66884005e+00] [-8.61568766e-04 2.80596207e-05 9.99999628e-01 1.15330609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199254154 meters 0.054251304070891855 Centerline is valid? [True, True] Translation: X:297.91, Y:4.67, Z:1.15 [[ 9.99084524e-01 -4.27793641e-02 -1.98086560e-04 2.97913065e+02] [ 4.27793649e-02 9.99084544e-01 -3.47893220e-07 4.66922310e+00] [ 1.97920103e-04 -8.12644252e-06 9.99999980e-01 1.15208218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259254154 meters 0.05448132066303669 Centerline is valid? [True, True] Translation: X:297.97, Y:4.66, Z:1.15 [[ 9.98864589e-01 -4.75822641e-02 -2.33697644e-03 2.97972915e+02] [ 4.75823856e-02 9.98867317e-01 -3.61251354e-06 4.66300937e+00] [ 2.33450128e-03 -1.07590502e-04 9.99997269e-01 1.15205000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319254154 meters 0.05452942678305097 Centerline is valid? [True, True] Translation: X:298.03, Y:4.66, Z:1.15 [[ 9.98687623e-01 -5.10848320e-02 -3.65681238e-03 2.98032729e+02] [ 5.10851537e-02 9.98694301e-01 -5.44653558e-06 4.65886862e+00] [ 3.65231592e-03 -1.81369435e-04 9.99993314e-01 1.15183172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379254154 meters 0.054500220891056675 Centerline is valid? [True, True] Translation: X:298.09, Y:4.66, Z:1.15 [[ 9.98538641e-01 -5.37905853e-02 -5.21109115e-03 2.98093053e+02] [ 5.37912752e-02 9.98552201e-01 -7.78289604e-06 4.65984117e+00] [ 5.20396519e-03 -2.72539716e-04 9.99986422e-01 1.15228862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439254154 meters 0.05355817509870843 Centerline is valid? [True, True] Translation: X:298.16, Y:4.66, Z:1.15 [[ 9.98547437e-01 -5.36435270e-02 -5.03873359e-03 2.98155031e+02] [ 5.36441703e-02 9.98560115e-01 -7.48528904e-06 4.66243149e+00] [ 5.03187993e-03 -2.62824267e-04 9.99987305e-01 1.15273422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters 0.0566343377043736 Centerline is valid? [True, True] Translation: X:298.21, Y:4.65, Z:1.15 [[ 9.98664036e-01 -5.14698886e-02 -4.58185029e-03 2.98214632e+02] [ 5.14703983e-02 9.98674521e-01 -6.69030856e-06 4.64962441e+00] [ 4.57612149e-03 -2.29148289e-04 9.99989503e-01 1.15303377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters 0.054401755817195446 Centerline is valid? [True, True] Translation: X:298.28, Y:4.66, Z:1.15 [[ 9.98792722e-01 -4.88772936e-02 -4.90996505e-03 2.98275430e+02] [ 4.88778476e-02 9.98804764e-01 -7.17067311e-06 4.66148907e+00] [ 4.90444696e-03 -2.32826507e-04 9.99987946e-01 1.15349426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters 0.05418636205621537 Centerline is valid? [True, True] Translation: X:298.34, Y:4.66, Z:1.15 [[ 9.98809815e-01 -4.83919771e-02 -6.09665616e-03 2.98337258e+02] [ 4.83928229e-02 9.98828381e-01 -8.78613184e-06 4.66396920e+00] [ 6.08993838e-03 -2.86258727e-04 9.99981415e-01 1.15395626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters 0.0549138210463378 Centerline is valid? [True, True] Translation: X:298.40, Y:4.66, Z:1.15 [[ 9.98730892e-01 -4.98065927e-02 -7.47720469e-03 2.98397167e+02] [ 4.98079068e-02 9.98758816e-01 -1.04803477e-05 4.65917537e+00] [ 7.46844609e-03 -3.61956867e-04 9.99972045e-01 1.15296006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters 0.05524439853371699 Centerline is valid? [True, True] Translation: X:298.46, Y:4.67, Z:1.15 [[ 9.98584036e-01 -5.24904428e-02 -8.64157523e-03 2.98457792e+02] [ 5.24922999e-02 9.98621329e-01 -1.19310447e-05 4.66522317e+00] [ 8.63028761e-03 -4.41702008e-04 9.99962661e-01 1.15384615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters 0.05498493640383549 Centerline is valid? [True, True] Translation: X:298.52, Y:4.67, Z:1.16 [[ 9.98403304e-01 -5.59651670e-02 -7.66436585e-03 2.98517839e+02] [ 5.59667301e-02 9.98432634e-01 -1.05579914e-05 4.66794085e+00] [ 7.65294386e-03 -4.18408361e-04 9.99970628e-01 1.15505031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters 0.055002903109290326 Centerline is valid? [True, True] Translation: X:298.58, Y:4.66, Z:1.16 [[ 9.98302977e-01 -5.78828829e-02 -6.38259173e-03 2.98578029e+02] [ 5.78840064e-02 9.98323315e-01 -8.71658371e-06 4.66424547e+00] [ 6.37239467e-03 -3.60748189e-04 9.99979631e-01 1.15514708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters 0.05333064685722488 Centerline is valid? [True, True] Translation: X:298.64, Y:4.67, Z:1.16 [[ 9.98287500e-01 -5.81583946e-02 -6.29825743e-03 2.98640059e+02] [ 5.81594953e-02 9.98307304e-01 -8.40519314e-06 4.67312541e+00] [ 6.28808523e-03 -3.57912674e-04 9.99980166e-01 1.15573574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters 0.054593263396696005 Centerline is valid? [True, True] Translation: X:298.70, Y:4.67, Z:1.16 [[ 9.98302887e-01 -5.79575766e-02 -5.68027442e-03 2.98701280e+02] [ 5.79584707e-02 9.98318995e-01 -7.23150254e-06 4.66779254e+00] [ 5.67114497e-03 -3.22000788e-04 9.99983867e-01 1.15570506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters 0.05507960679193225 Centerline is valid? [True, True] Translation: X:298.76, Y:4.67, Z:1.16 [[ 9.98312303e-01 -5.78494266e-02 -5.09805474e-03 2.98762267e+02] [ 5.78501477e-02 9.98325278e-01 -6.01934135e-06 4.66571320e+00] [ 5.08986513e-03 -2.88914037e-04 9.99987005e-01 1.15620510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.099254154 meters 0.05349353579046095 Centerline is valid? [True, True] Translation: X:298.82, Y:4.68, Z:1.16 [[ 9.98230302e-01 -5.90919994e-02 -6.66325185e-03 2.98822900e+02] [ 5.90932613e-02 9.98252466e-01 -7.51851860e-06 4.67591185e+00] [ 6.65205187e-03 -3.86248069e-04 9.99977800e-01 1.15666500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.159254154 meters 0.053486022726379485 Centerline is valid? [True, True] Translation: X:298.88, Y:4.68, Z:1.16 [[ 9.98119090e-01 -6.06576326e-02 -8.88443926e-03 2.98884170e+02] [ 6.06599386e-02 9.98158490e-01 -9.94151230e-06 4.67873870e+00] [ 8.86868151e-03 -5.29006727e-04 9.99960533e-01 1.15667919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.219254154 meters 0.053458013178240484 Centerline is valid? [True, True] Translation: X:298.95, Y:4.68, Z:1.16 [[ 9.98185751e-01 -5.94485672e-02 -9.54329311e-03 2.98945415e+02] [ 5.94511740e-02 9.98231215e-01 -1.05512217e-05 4.68013537e+00] [ 9.52704032e-03 -5.56827900e-04 9.99954462e-01 1.15681221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279254154 meters 0.05393173725431784 Centerline is valid? [True, True] Translation: X:299.00, Y:4.68, Z:1.16 [[ 9.98535424e-01 -5.32125885e-02 -9.76867763e-03 2.99004729e+02] [ 5.32150233e-02 9.98583077e-01 -1.07004182e-05 4.67746592e+00] [ 9.75540556e-03 -5.09155661e-04 9.99952285e-01 1.15776477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339254154 meters 0.055474374368795966 Centerline is valid? [True, True] Translation: X:299.06, Y:4.67, Z:1.16 [[ 9.98862982e-01 -4.67979294e-02 -9.09380715e-03 2.99064647e+02] [ 4.67997746e-02 9.98904290e-01 -9.90412161e-06 4.67387317e+00] [ 9.08430647e-03 -4.15695264e-04 9.99958650e-01 1.15774531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399254154 meters 0.056014125855385094 Centerline is valid? [True, True] Translation: X:299.12, Y:4.68, Z:1.16 [[ 9.99359046e-01 -3.50609110e-02 -7.22707628e-03 2.99124447e+02] [ 3.50617698e-02 9.99385147e-01 -7.86614865e-06 4.67774659e+00] [ 7.22290849e-03 -2.45532978e-04 9.99973884e-01 1.15922575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459254154 meters 0.05487095863655539 Centerline is valid? [True, True] Translation: X:299.19, Y:4.69, Z:1.16 [[ 9.99720324e-01 -2.24863094e-02 -7.32396385e-03 2.99185434e+02] [ 2.24868540e-02 9.99747139e-01 -7.99570036e-06 4.68778164e+00] [ 7.32229170e-03 -1.56699442e-04 9.99973179e-01 1.15983902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519254154 meters 0.05457203788440325 Centerline is valid? [True, True] Translation: X:299.25, Y:4.69, Z:1.16 [[ 9.99876023e-01 -1.38401745e-02 -7.50917661e-03 2.99246318e+02] [ 1.38405032e-02 9.99904216e-01 -8.20169115e-06 4.69443047e+00] [ 7.50857087e-03 -9.57301085e-05 9.99971806e-01 1.16009039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579254154 meters 0.0550738971096371 Centerline is valid? [True, True] Translation: X:299.31, Y:4.70, Z:1.16 [[ 9.99953631e-01 -5.60653898e-03 -7.82959442e-03 2.99305980e+02] [ 5.60664388e-03 9.99984283e-01 -8.55147426e-06 4.69826922e+00] [ 7.82951931e-03 -3.53466699e-05 9.99969348e-01 1.15964776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639254154 meters 0.055361480110205565 Centerline is valid? [True, True] Translation: X:299.37, Y:4.70, Z:1.16 [[ 9.99959621e-01 4.55240011e-03 -7.74807666e-03 2.99365088e+02] [-4.55260578e-03 9.99989637e-01 -8.90672801e-06 4.70464575e+00] [ 7.74795582e-03 4.41803069e-05 9.99969983e-01 1.16143270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699254154 meters 0.05526971319474462 Centerline is valid? [True, True] Translation: X:299.42, Y:4.71, Z:1.16 [[ 9.99927858e-01 8.16507351e-03 -8.80970233e-03 2.99423630e+02] [-8.16548884e-03 9.99966662e-01 -1.11775945e-05 4.70801079e+00] [ 8.80931737e-03 8.31123142e-05 9.99961194e-01 1.16071248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759254154 meters 0.05456768803480418 Centerline is valid? [True, True] Translation: X:299.48, Y:4.71, Z:1.16 [[ 9.99940202e-01 6.69805768e-03 -8.64451572e-03 2.99482220e+02] [-6.69840777e-03 9.99977565e-01 -1.15457988e-05 4.70672387e+00] [ 8.64424445e-03 6.94495996e-05 9.99962635e-01 1.16131285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819254154 meters 0.05510324374323373 Centerline is valid? [True, True] Translation: X:299.54, Y:4.70, Z:1.16 [[ 9.99962882e-01 8.18119957e-04 -8.57703378e-03 2.99540011e+02] [-8.18251028e-04 9.99999665e-01 -1.17725781e-05 4.70161703e+00] [ 8.57702127e-03 1.87903079e-05 9.99963216e-01 1.16159445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879254154 meters 0.055445246168072546 Centerline is valid? [True, True] Translation: X:299.60, Y:4.70, Z:1.16 [[ 9.99948645e-01 -5.58604136e-03 -8.45599601e-03 2.99598991e+02] [ 5.58614032e-03 9.99984397e-01 -1.19165440e-05 4.69701660e+00] [ 8.45593064e-03 -3.53204482e-05 9.99964247e-01 1.16382137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939254154 meters 0.055537336337251705 Centerline is valid? [True, True] Translation: X:299.66, Y:4.69, Z:1.16 [[ 9.99823898e-01 -1.63962733e-02 -9.12880168e-03 2.99657873e+02] [ 1.63968369e-02 9.99865563e-01 -1.30996456e-05 4.68653832e+00] [ 9.12778922e-03 -1.36586134e-04 9.99958332e-01 1.16257257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters 0.055550875771869554 Centerline is valid? [True, True] Translation: X:299.72, Y:4.68, Z:1.16 [[ 9.99674789e-01 -2.37486552e-02 -9.29070393e-03 2.99718807e+02] [ 2.37495559e-02 9.99717939e-01 -1.33931439e-05 4.68304502e+00] [ 9.28840146e-03 -2.07261304e-04 9.99956840e-01 1.16312927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters 0.054644454312690494 Centerline is valid? [True, True] Translation: X:299.78, Y:4.68, Z:1.16 [[ 9.99445372e-01 -3.18560059e-02 -9.70278241e-03 2.99779770e+02] [ 3.18573703e-02 9.99492425e-01 -1.39483633e-05 4.67881616e+00] [ 9.69830186e-03 -2.95164505e-04 9.99952927e-01 1.16332028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters 0.054663737761778804 Centerline is valid? [True, True] Translation: X:299.84, Y:4.68, Z:1.16 [[ 9.99362386e-01 -3.43684499e-02 -9.67628677e-03 2.99841124e+02] [ 3.43699256e-02 9.99409179e-01 -1.37936978e-05 4.67618248e+00] [ 9.67104389e-03 -3.18788353e-04 9.99953184e-01 1.16341247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters 0.05584942560496279 Centerline is valid? [True, True] Translation: X:299.90, Y:4.67, Z:1.16 [[ 9.99362396e-01 -3.45022858e-02 -9.18656045e-03 2.99902064e+02] [ 3.45036233e-02 9.99404573e-01 -1.29067795e-05 4.67009581e+00] [ 9.18153584e-03 -3.04071071e-04 9.99957803e-01 1.16283093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters 0.056115247945157834 Centerline is valid? [True, True] Translation: X:299.96, Y:4.67, Z:1.16 [[ 9.99457784e-01 -3.14734755e-02 -9.67256645e-03 2.99961953e+02] [ 3.14748175e-02 9.99504545e-01 -1.34886664e-05 4.66865283e+00] [ 9.66819867e-03 -2.90960911e-04 9.99953220e-01 1.16233968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters 0.054781666657201813 Centerline is valid? [True, True] Translation: X:300.02, Y:4.68, Z:1.16 [[ 9.99507375e-01 -2.95917560e-02 -1.04563066e-02 3.00023797e+02] [ 2.95932230e-02 9.99562025e-01 -1.44242819e-05 4.67508581e+00] [ 1.04521538e-02 -2.95018637e-04 9.99945331e-01 1.16302130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters 0.05476491015624423 Centerline is valid? [True, True] Translation: X:300.09, Y:4.68, Z:1.16 [[ 9.99513136e-01 -2.90935465e-02 -1.12719319e-02 3.00085683e+02] [ 2.90952244e-02 9.99576644e-01 -1.51387401e-05 4.67512231e+00] [ 1.12676003e-02 -3.12828018e-04 9.99936470e-01 1.16278280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters 0.054986064365866234 Centerline is valid? [True, True] Translation: X:300.15, Y:4.67, Z:1.16 [[ 9.99417370e-01 -3.16066087e-02 -1.28818621e-02 3.00146155e+02] [ 3.16090133e-02 9.99500310e-01 -1.69438160e-05 4.67310142e+00] [ 1.28759607e-02 -3.90249007e-04 9.99917025e-01 1.16160776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters 0.055704390727511155 Centerline is valid? [True, True] Translation: X:300.21, Y:4.68, Z:1.16 [[ 9.99231367e-01 -3.67369720e-02 -1.36773790e-02 3.00206826e+02] [ 3.67401645e-02 9.99324852e-01 -1.78636302e-05 4.67631120e+00] [ 1.36688010e-02 -4.84659256e-04 9.99906460e-01 1.16367717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters 0.0548929987580521 Centerline is valid? [True, True] Translation: X:300.27, Y:4.68, Z:1.17 [[ 9.99122301e-01 -3.98318492e-02 -1.29634659e-02 3.00267236e+02] [ 3.98349781e-02 9.99206272e-01 -1.68600109e-05 4.67766328e+00] [ 1.29538480e-02 -4.99554166e-04 9.99915971e-01 1.16514299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.599254154 meters 0.05439071880691177 Centerline is valid? [True, True] Translation: X:300.33, Y:4.68, Z:1.17 [[ 9.99055357e-01 -4.21704091e-02 -1.04904413e-02 3.00328326e+02] [ 4.21725874e-02 9.99110341e-01 -1.35723665e-05 4.68108088e+00] [ 1.04816808e-02 -4.28849509e-04 9.99944974e-01 1.16713224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.659254154 meters 0.05531089850108746 Centerline is valid? [True, True] Translation: X:300.39, Y:4.68, Z:1.17 [[ 9.99056989e-01 -4.24803165e-02 -8.97523332e-03 3.00390658e+02] [ 4.24819255e-02 9.99097235e-01 -1.13824655e-05 4.67722446e+00] [ 8.96761432e-03 -3.69913462e-04 9.99959722e-01 1.16750551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.719254154 meters 0.05786352150126674 Centerline is valid? [True, True] Translation: X:300.45, Y:4.67, Z:1.17 [[ 9.99104413e-01 -4.15821648e-02 -7.82920328e-03 3.00450918e+02] [ 4.15833629e-02 9.99135038e-01 -9.75939970e-06 4.66785046e+00] [ 7.82283714e-03 -3.15813942e-04 9.99969351e-01 1.16722316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779254154 meters 0.05512543689633618 Centerline is valid? [True, True] Translation: X:300.51, Y:4.69, Z:1.17 [[ 9.99166792e-01 -4.01142530e-02 -7.52115956e-03 3.00512437e+02] [ 4.01153181e-02 9.99195057e-01 -9.25646113e-06 4.68677003e+00] [ 7.51547677e-03 -2.92464960e-04 9.99971716e-01 1.16881541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839254154 meters 0.05517034963868353 Centerline is valid? [True, True] Translation: X:300.57, Y:4.69, Z:1.17 [[ 9.99308462e-01 -3.61628321e-02 -8.65149568e-03 3.00572649e+02] [ 3.61640945e-02 9.99345865e-01 -1.05343182e-05 4.68857821e+00] [ 8.64621738e-03 -3.02346474e-04 9.99962575e-01 1.16844361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899254154 meters 0.05544806044532831 Centerline is valid? [True, True] Translation: X:300.63, Y:4.69, Z:1.17 [[ 9.99379192e-01 -3.40707640e-02 -8.96732889e-03 3.00633607e+02] [ 3.40720368e-02 9.99419380e-01 -1.08350146e-05 4.68795924e+00] [ 8.96249143e-03 -2.94706872e-04 9.99959793e-01 1.16793558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959254154 meters 0.054966782720312406 Centerline is valid? [True, True] Translation: X:300.69, Y:4.69, Z:1.17 [[ 9.99628274e-01 -2.56366628e-02 -9.27770890e-03 3.00694569e+02] [ 2.56376631e-02 9.99671301e-01 -1.11207039e-05 4.69446081e+00] [ 9.27494443e-03 -2.26742205e-04 9.99956961e-01 1.16812116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019254154 meters 0.055480795628727944 Centerline is valid? [True, True] Translation: X:300.75, Y:4.70, Z:1.17 [[ 9.99800771e-01 -1.78185823e-02 -8.99536838e-03 3.00753970e+02] [ 1.78192064e-02 9.99841225e-01 -1.07682006e-05 4.69701310e+00] [ 8.99413202e-03 -1.49524271e-04 9.99959541e-01 1.16830670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079254154 meters 0.055465005789333326 Centerline is valid? [True, True] Translation: X:300.81, Y:4.71, Z:1.17 [[ 9.99954671e-01 -4.73006925e-03 -8.26334599e-03 3.00813932e+02] [ 4.73014889e-03 9.99988813e-01 -9.90599050e-06 4.70623163e+00] [ 8.26330041e-03 -2.91813154e-05 9.99965858e-01 1.16944400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139254154 meters 0.05581609083088819 Centerline is valid? [True, True] Translation: X:300.87, Y:4.72, Z:1.17 [[ 9.99951484e-01 6.26117433e-03 -7.60445385e-03 3.00872666e+02] [-6.26142767e-03 9.99980397e-01 -9.50706429e-06 4.71510782e+00] [ 7.60424526e-03 5.71213408e-05 9.99971086e-01 1.16982721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199254154 meters 0.05611079634919306 Centerline is valid? [True, True] Translation: X:300.93, Y:4.72, Z:1.17 [[ 9.99908486e-01 1.12531176e-02 -7.50913112e-03 3.00932394e+02] [-1.12535089e-02 9.99936677e-01 -9.85064260e-06 4.71670171e+00] [ 7.50854477e-03 9.43538149e-05 9.99971806e-01 1.17072951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259254154 meters 0.05652072236374057 Centerline is valid? [True, True] Translation: X:300.99, Y:4.71, Z:1.17 [[ 9.99888234e-01 1.31907838e-02 -7.03718318e-03 3.00991248e+02] [-1.31911773e-02 9.99912993e-01 -9.50140529e-06 4.71440100e+00] [ 7.03644556e-03 1.02329074e-04 9.99975239e-01 1.17181765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319254154 meters 0.05539571346162801 Centerline is valid? [True, True] Translation: X:301.05, Y:4.71, Z:1.17 [[ 9.99901542e-01 1.13503982e-02 -8.25077223e-03 3.01048934e+02] [-1.13508809e-02 9.99935577e-01 -1.16752076e-05 4.70614101e+00] [ 8.25010817e-03 1.05327591e-04 9.99965962e-01 1.17255270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379254154 meters 0.05567516251032444 Centerline is valid? [True, True] Translation: X:301.11, Y:4.71, Z:1.17 [[ 9.99932801e-01 7.69238066e-03 -8.67304728e-03 3.01108105e+02] [-7.69277894e-03 9.99970410e-01 -1.25615855e-05 4.70538992e+00] [ 8.67269402e-03 7.92805768e-05 9.99962388e-01 1.17034028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439254154 meters 0.05509114191510745 Centerline is valid? [True, True] Translation: X:301.17, Y:4.69, Z:1.17 [[ 9.99954953e-01 -1.17634487e-04 -9.49096633e-03 3.01167003e+02] [ 1.17506937e-04 9.99999993e-01 -1.39967775e-05 4.69288580e+00] [ 9.49096791e-03 1.28808926e-05 9.99954960e-01 1.17021902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters 0.055472708557541044 Centerline is valid? [True, True] Translation: X:301.23, Y:4.69, Z:1.17 [[ 9.99939755e-01 -6.21696818e-03 -9.04631349e-03 3.01226186e+02] [ 6.21709921e-03 9.99980674e-01 -1.36383273e-05 4.68535601e+00] [ 9.04622345e-03 -4.26043228e-05 9.99959081e-01 1.17126017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters 0.055530028139742844 Centerline is valid? [True, True] Translation: X:301.28, Y:4.67, Z:1.17 [[ 9.99858153e-01 -1.46803398e-02 -8.25596197e-03 3.01284981e+02] [ 1.46807357e-02 9.99892232e-01 -1.26420802e-05 4.67469484e+00] [ 8.25525783e-03 -1.08563309e-04 9.99965919e-01 1.17187701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters 0.055914803475167627 Centerline is valid? [True, True] Translation: X:301.35, Y:4.67, Z:1.17 [[ 9.99781262e-01 -1.94604392e-02 -7.66291551e-03 3.01345459e+02] [ 1.94609204e-02 9.99810618e-01 -1.17648721e-05 4.66732277e+00] [ 7.66169324e-03 -1.37365090e-04 9.99970639e-01 1.17214674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters 0.056465745777502116 Centerline is valid? [True, True] Translation: X:301.41, Y:4.66, Z:1.17 [[ 9.99664024e-01 -2.45490481e-02 -8.31759828e-03 3.01406706e+02] [ 2.45497918e-02 9.99698608e-01 -1.26974807e-05 4.66353054e+00] [ 8.31540314e-03 -1.91502091e-04 9.99965408e-01 1.17276807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters 0.05929332782047584 Centerline is valid? [True, True] Translation: X:301.47, Y:4.64, Z:1.17 [[ 9.99575273e-01 -2.75203523e-02 -9.58664145e-03 3.01466493e+02] [ 2.75214772e-02 9.99621212e-01 -1.45962292e-05 4.64008504e+00] [ 9.58341184e-03 -2.49248504e-04 9.99954047e-01 1.16951560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters 0.057442501962669416 Centerline is valid? [True, True] Translation: X:301.53, Y:4.64, Z:1.17 [[ 9.99532719e-01 -2.90780072e-02 -9.42410880e-03 3.01528739e+02] [ 2.90791649e-02 9.99577112e-01 -1.41827077e-05 4.64272481e+00] [ 9.42053586e-03 -2.59869134e-04 9.99955592e-01 1.17137492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters 0.05638337347686367 Centerline is valid? [True, True] Translation: X:301.59, Y:4.64, Z:1.17 [[ 9.99486110e-01 -3.05431456e-02 -9.72787396e-03 3.01590732e+02] [ 3.05444519e-02 9.99533409e-01 -1.42867057e-05 4.64062376e+00] [ 9.72377138e-03 -2.82853215e-04 9.99952683e-01 1.17173066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters 0.056841391666071245 Centerline is valid? [True, True] Translation: X:301.65, Y:4.64, Z:1.17 [[ 9.99469428e-01 -3.06335553e-02 -1.10656051e-02 3.01653003e+02] [ 3.06352557e-02 9.99530630e-01 -1.58400046e-05 4.64030044e+00] [ 1.10608965e-02 -3.23166043e-04 9.99938774e-01 1.17176217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters 0.05594033239186694 Centerline is valid? [True, True] Translation: X:301.71, Y:4.64, Z:1.17 [[ 9.99467080e-01 -2.98835319e-02 -1.31351061e-02 3.01714946e+02] [ 2.98858693e-02 9.99553317e-01 -1.83427119e-05 4.64209994e+00] [ 1.31297870e-02 -3.74221128e-04 9.99913731e-01 1.17257632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters 0.057639770007061594 Centerline is valid? [True, True] Translation: X:301.78, Y:4.63, Z:1.17 [[ 9.99523686e-01 -2.79057736e-02 -1.31783698e-02 3.01775274e+02] [ 2.79079574e-02 9.99610497e-01 -1.81961265e-05 4.63368320e+00] [ 1.31737446e-02 -3.49593925e-04 9.99913161e-01 1.17059003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.099254154 meters 0.056671326449916695 Centerline is valid? [True, True] Translation: X:301.84, Y:4.63, Z:1.17 [[ 9.99662560e-01 -2.29562057e-02 -1.21564156e-02 3.01835540e+02] [ 2.29576991e-02 9.99736437e-01 -1.67031786e-05 4.63412241e+00] [ 1.21535951e-02 -2.62385790e-04 9.99926108e-01 1.17197000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.159254154 meters 0.05612704643870768 Centerline is valid? [True, True] Translation: X:301.90, Y:4.64, Z:1.18 [[ 9.99795079e-01 -1.71078272e-02 -1.08222776e-02 3.01895814e+02] [ 1.71086683e-02 9.99853636e-01 -1.48595677e-05 4.64168066e+00] [ 1.08209478e-02 -1.70298235e-04 9.99941437e-01 1.17553911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.219254154 meters 0.05690641168471026 Centerline is valid? [True, True] Translation: X:301.96, Y:4.64, Z:1.18 [[ 9.99849178e-01 -1.39880610e-02 -1.02934937e-02 3.01955661e+02] [ 1.39886560e-02 9.99902154e-01 -1.41930970e-05 4.64103481e+00] [ 1.02926850e-02 -1.29801186e-04 9.99947020e-01 1.17637430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279254154 meters 0.0568299788502084 Centerline is valid? [True, True] Translation: X:302.01, Y:4.64, Z:1.18 [[ 9.99880768e-01 -1.19275182e-02 -9.80733245e-03 3.02014054e+02] [ 1.19279575e-02 9.99928859e-01 -1.37013261e-05 4.63992176e+00] [ 9.80679818e-03 -1.03281752e-04 9.99951907e-01 1.17795339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339254154 meters 0.05705797286691373 Centerline is valid? [True, True] Translation: X:302.07, Y:4.64, Z:1.18 [[ 9.99870461e-01 -1.25875897e-02 -1.00306003e-02 3.02073331e+02] [ 1.25880806e-02 9.99920767e-01 -1.42008432e-05 4.63942387e+00] [ 1.00299843e-02 -1.12067000e-04 9.99949692e-01 1.17899181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399254154 meters 0.05669411243960261 Centerline is valid? [True, True] Translation: X:302.13, Y:4.63, Z:1.18 [[ 9.99789575e-01 -1.75682748e-02 -1.05906472e-02 3.02133308e+02] [ 1.75691002e-02 9.99845651e-01 -1.51007982e-05 4.63260684e+00] [ 1.05892778e-02 -1.70970520e-04 9.99943917e-01 1.17791570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459254154 meters 0.05887604724170595 Centerline is valid? [True, True] Translation: X:302.19, Y:4.62, Z:1.18 [[ 9.99589406e-01 -2.61409707e-02 -1.17332245e-02 3.02192828e+02] [ 2.61425738e-02 9.99658224e-01 -1.67446971e-05 4.61751951e+00] [ 1.17296520e-02 -2.89998865e-04 9.99931163e-01 1.17543271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519254154 meters 0.05865665320723537 Centerline is valid? [True, True] Translation: X:302.25, Y:4.61, Z:1.18 [[ 9.99385391e-01 -3.30997612e-02 -1.15431966e-02 3.02253455e+02] [ 3.31017769e-02 9.99451986e-01 -1.64423957e-05 4.61101670e+00] [ 1.15374150e-02 -3.65668030e-04 9.99933375e-01 1.17639690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579254154 meters 0.05734945090511595 Centerline is valid? [True, True] Translation: X:302.31, Y:4.62, Z:1.18 [[ 9.99140802e-01 -3.99629384e-02 -1.09828139e-02 3.02314139e+02] [ 3.99651779e-02 9.99201073e-01 -1.55682358e-05 4.62300055e+00] [ 1.09746615e-02 -4.23375250e-04 9.99939687e-01 1.18028752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639254154 meters 0.05712591987248671 Centerline is valid? [True, True] Translation: X:302.37, Y:4.62, Z:1.18 [[ 9.98766832e-01 -4.85912361e-02 -1.01836651e-02 3.02374869e+02] [ 4.85936094e-02 9.98818633e-01 -1.44016121e-05 4.62039507e+00] [ 1.01723343e-02 -4.80477193e-04 9.99948145e-01 1.18140387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699254154 meters 0.05809423979519057 Centerline is valid? [True, True] Translation: X:302.43, Y:4.61, Z:1.18 [[ 9.98488238e-01 -5.40492424e-02 -9.99592872e-03 3.02434470e+02] [ 5.40518014e-02 9.98538133e-01 -1.41759408e-05 4.61167699e+00] [ 9.98208220e-03 -5.26143444e-04 9.99950039e-01 1.18178368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759254154 meters 0.058755148170080915 Centerline is valid? [True, True] Translation: X:302.49, Y:4.60, Z:1.18 [[ 9.98384223e-01 -5.58978171e-02 -1.02165291e-02 3.02494699e+02] [ 5.59005865e-02 9.98436340e-01 -1.45160058e-05 4.60484602e+00] [ 1.02013653e-02 -5.56617415e-04 9.99947810e-01 1.18179102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819254154 meters 0.056786743333735096 Centerline is valid? [True, True] Translation: X:302.56, Y:4.61, Z:1.18 [[ 9.98320017e-01 -5.71301684e-02 -9.65851610e-03 3.02556181e+02] [ 5.71327019e-02 9.98366593e-01 -1.36257092e-05 4.61364604e+00] [ 9.64351825e-03 -5.38214303e-04 9.99953355e-01 1.18312909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879254154 meters 0.05777866032247457 Centerline is valid? [True, True] Translation: X:302.62, Y:4.61, Z:1.18 [[ 9.98257303e-01 -5.80659660e-02 -1.05214065e-02 3.02617425e+02] [ 5.80690268e-02 9.98312570e-01 -1.46070041e-05 4.61111586e+00] [ 1.05045006e-02 -5.96386289e-04 9.99944648e-01 1.18266763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939254154 meters 0.05743898326116384 Centerline is valid? [True, True] Translation: X:302.68, Y:4.62, Z:1.18 [[ 9.98198451e-01 -5.87326449e-02 -1.22608675e-02 3.02678985e+02] [ 5.87368555e-02 9.98273500e-01 -1.66997041e-05 4.61712673e+00] [ 1.22406799e-02 -7.03495182e-04 9.99924833e-01 1.18276196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters 0.05659061792473428 Centerline is valid? [True, True] Translation: X:302.74, Y:4.62, Z:1.18 [[ 9.98172522e-01 -5.88151026e-02 -1.38708475e-02 3.02741341e+02] [ 5.88205071e-02 9.98268575e-01 -1.83654435e-05 4.62269954e+00] [ 1.38479114e-02 -7.97558405e-04 9.99903795e-01 1.18254035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters 0.05835496533692785 Centerline is valid? [True, True] Translation: X:302.80, Y:4.62, Z:1.18 [[ 9.98247384e-01 -5.73286821e-02 -1.46827559e-02 3.02802211e+02] [ 5.73345828e-02 9.98355020e-01 -1.90883736e-05 4.61721485e+00] [ 1.46596974e-02 -8.22774764e-04 9.99892202e-01 1.18168956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters 0.05611809315033565 Centerline is valid? [True, True] Translation: X:302.86, Y:4.64, Z:1.19 [[ 9.98353714e-01 -5.55778655e-02 -1.41761075e-02 3.02863384e+02] [ 5.55831920e-02 9.98454059e-01 -1.82872862e-05 4.63638852e+00] [ 1.41552084e-02 -7.69696124e-04 9.99899514e-01 1.18551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters 0.05806737632934558 Centerline is valid? [True, True] Translation: X:302.92, Y:4.64, Z:1.19 [[ 9.98635817e-01 -5.07907678e-02 -1.21162459e-02 3.02923427e+02] [ 5.07943076e-02 9.98709136e-01 -1.55951410e-05 4.63522613e+00] [ 1.21013976e-02 -5.99862456e-04 9.99926595e-01 1.18582984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters 0.06096141239441882 Centerline is valid? [True, True] Translation: X:302.98, Y:4.63, Z:1.18 [[ 9.98832314e-01 -4.69148036e-02 -1.15329740e-02 3.02982712e+02] [ 4.69177522e-02 9.98898756e-01 -1.49042263e-05 4.62713497e+00] [ 1.15209726e-02 -5.26214394e-04 9.99933493e-01 1.18440901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters 0.057382848419326817 Centerline is valid? [True, True] Translation: X:303.04, Y:4.65, Z:1.19 [[ 9.99053340e-01 -4.18422799e-02 -1.19015945e-02 3.03043433e+02] [ 4.18450606e-02 9.99124112e-01 -1.53906651e-05 4.65096828e+00] [ 1.18918140e-02 -4.82646848e-04 9.99929173e-01 1.18736281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters 0.055965072984859726 Centerline is valid? [True, True] Translation: X:303.10, Y:4.66, Z:1.19 [[ 9.99190743e-01 -3.79415129e-02 -1.33529364e-02 3.03103494e+02] [ 3.79446654e-02 9.99279842e-01 -1.72631784e-05 4.66412665e+00] [ 1.33439751e-02 -4.89423496e-04 9.99910845e-01 1.18865057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters 0.056464042886378206 Centerline is valid? [True, True] Translation: X:303.16, Y:4.67, Z:1.19 [[ 9.99264420e-01 -3.55184928e-02 -1.44587355e-02 3.03163841e+02] [ 3.55219437e-02 9.99368896e-01 -1.81561049e-05 4.66522670e+00] [ 1.44502554e-02 -4.95459640e-04 9.99895467e-01 1.18827273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters 0.056321470149414334 Centerline is valid? [True, True] Translation: X:303.22, Y:4.67, Z:1.19 [[ 9.99403156e-01 -3.17159696e-02 -1.36904934e-02 3.03224757e+02] [ 3.17187097e-02 9.99496835e-01 -1.69885909e-05 4.67103017e+00] [ 1.36841436e-02 -4.17266335e-04 9.99906281e-01 1.18935717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters 0.0581891088503472 Centerline is valid? [True, True] Translation: X:303.28, Y:4.66, Z:1.19 [[ 9.99511861e-01 -2.85355785e-02 -1.27185019e-02 3.03284601e+02] [ 2.85376861e-02 9.99592717e-01 -1.57784016e-05 4.66429977e+00] [ 1.27137721e-02 -3.47185915e-04 9.99919116e-01 1.18708871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.599254154 meters 0.05656487958059139 Centerline is valid? [True, True] Translation: X:303.35, Y:4.67, Z:1.19 [[ 9.99600714e-01 -2.49734128e-02 -1.32189555e-02 3.03345146e+02] [ 2.49753793e-02 9.99688066e-01 -1.63275788e-05 4.67466656e+00] [ 1.32152398e-02 -3.13827367e-04 9.99912626e-01 1.18921632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.659254154 meters 0.05585560090646695 Centerline is valid? [True, True] Translation: X:303.41, Y:4.68, Z:1.19 [[ 9.99599985e-01 -2.50894211e-02 -1.30534086e-02 3.03407648e+02] [ 2.50913528e-02 9.99685162e-01 -1.57894022e-05 4.68335200e+00] [ 1.30496950e-02 -3.11744594e-04 9.99914800e-01 1.19172341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.719254154 meters 0.05672264118570298 Centerline is valid? [True, True] Translation: X:303.47, Y:4.69, Z:1.19 [[ 9.99493874e-01 -2.89747686e-02 -1.31323267e-02 3.03468304e+02] [ 2.89770616e-02 9.99580077e-01 -1.56762744e-05 4.68567088e+00] [ 1.31272664e-02 -3.64867900e-04 9.99913767e-01 1.19325056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779254154 meters 0.05646923362710881 Centerline is valid? [True, True] Translation: X:303.53, Y:4.69, Z:1.19 [[ 9.99243364e-01 -3.67011534e-02 -1.28734066e-02 3.03528362e+02] [ 3.67039980e-02 9.99326181e-01 -1.53050684e-05 4.68537690e+00] [ 1.28652939e-02 -4.57212001e-04 9.99917134e-01 1.19399590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839254154 meters 0.057057566168699544 Centerline is valid? [True, True] Translation: X:303.59, Y:4.68, Z:1.19 [[ 9.98895255e-01 -4.54482473e-02 -1.19468489e-02 3.03587928e+02] [ 4.54513208e-02 9.98966555e-01 -1.42559872e-05 4.67784450e+00] [ 1.19351504e-02 -5.28759826e-04 9.99928634e-01 1.19384997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899254154 meters 0.060165653316394375 Centerline is valid? [True, True] Translation: X:303.65, Y:4.67, Z:1.19 [[ 9.98645061e-01 -5.05902917e-02 -1.21928005e-02 3.03647902e+02] [ 5.05938755e-02 9.98719310e-01 -1.45412819e-05 4.66883057e+00] [ 1.21779210e-02 -6.02359452e-04 9.99925665e-01 1.19346378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959254154 meters 0.05622798650328496 Centerline is valid? [True, True] Translation: X:303.71, Y:4.68, Z:1.20 [[ 9.98335717e-01 -5.62643570e-02 -1.26538252e-02 3.03708002e+02] [ 5.62686719e-02 9.98415663e-01 -1.50511210e-05 4.67740182e+00] [ 1.26346241e-02 -6.96987866e-04 9.99919937e-01 1.19532765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019254154 meters 0.05932969225416397 Centerline is valid? [True, True] Translation: X:303.77, Y:4.67, Z:1.19 [[ 9.98186723e-01 -5.87677289e-02 -1.30238200e-02 3.03767943e+02] [ 5.87725143e-02 9.98271402e-01 -1.53294589e-05 4.66854277e+00] [ 1.30022079e-02 -7.50140984e-04 9.99915186e-01 1.19408711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079254154 meters 0.057528795903609396 Centerline is valid? [True, True] Translation: X:303.83, Y:4.68, Z:1.20 [[ 9.97999341e-01 -6.13963878e-02 -1.50930137e-02 3.03828512e+02] [ 6.14031183e-02 9.98113048e-01 -1.75072895e-05 4.67822179e+00] [ 1.50656088e-02 -9.09285841e-04 9.99886094e-01 1.19511667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139254154 meters 0.05679118658045349 Centerline is valid? [True, True] Translation: X:303.89, Y:4.68, Z:1.20 [[ 9.97985342e-01 -6.14484977e-02 -1.57904517e-02 3.03890075e+02] [ 6.14558765e-02 9.98109801e-01 -1.79764797e-05 4.68267557e+00] [ 1.57617092e-02 -9.52475785e-04 9.99875323e-01 1.19601879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199254154 meters 0.05526751367740211 Centerline is valid? [True, True] Translation: X:303.95, Y:4.70, Z:1.20 [[ 9.98108604e-01 -5.94072154e-02 -1.58112890e-02 3.03950291e+02] [ 5.94143602e-02 9.98233406e-01 -1.78863499e-05 4.69816866e+00] [ 1.57844195e-02 -9.21565101e-04 9.99874994e-01 1.19910548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259254154 meters 0.05497568024209647 Centerline is valid? [True, True] Translation: X:304.01, Y:4.71, Z:1.20 [[ 9.98493469e-01 -5.30845764e-02 -1.38860013e-02 3.04010836e+02] [ 5.30894771e-02 9.98589759e-01 -1.57156709e-05 4.70555492e+00] [ 1.38672530e-02 -7.21508555e-04 9.99903585e-01 1.20101296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319254154 meters 0.05573632879078612 Centerline is valid? [True, True] Translation: X:304.07, Y:4.71, Z:1.20 [[ 9.98847429e-01 -4.64162842e-02 -1.22205890e-02 3.04070369e+02] [ 4.64195815e-02 9.98922030e-01 -1.38466727e-05 4.70598587e+00] [ 1.22080583e-02 -5.53443914e-04 9.99925326e-01 1.20187416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379254154 meters 0.055923917930089266 Centerline is valid? [True, True] Translation: X:304.13, Y:4.71, Z:1.20 [[ 9.99322810e-01 -3.52795645e-02 -1.04533812e-02 3.04129836e+02] [ 3.52813689e-02 9.99377419e-01 -1.18102964e-05 4.70639449e+00] [ 1.04472898e-02 -3.57007300e-04 9.99945362e-01 1.20172100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439254154 meters 0.056238343008964714 Centerline is valid? [True, True] Translation: X:304.19, Y:4.71, Z:1.20 [[ 9.99517519e-01 -2.89938496e-02 -1.11394047e-02 3.04190095e+02] [ 2.89955088e-02 9.99579542e-01 -1.25653262e-05 4.71110551e+00] [ 1.11350853e-02 -3.10433441e-04 9.99937955e-01 1.20159996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters 0.05482037510135655 Centerline is valid? [True, True] Translation: X:304.25, Y:4.72, Z:1.20 [[ 9.99633976e-01 -2.35572898e-02 -1.33029306e-02 3.04251068e+02] [ 2.35591763e-02 9.99722444e-01 -1.49067184e-05 4.71931907e+00] [ 1.32995894e-02 -2.98504824e-04 9.99911512e-01 1.20179678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters 0.055059593840646105 Centerline is valid? [True, True] Translation: X:304.31, Y:4.72, Z:1.20 [[ 9.99630878e-01 -2.26649175e-02 -1.49802714e-02 3.04313220e+02] [ 2.26672158e-02 9.99743066e-01 -1.63697107e-05 4.72241092e+00] [ 1.49767935e-02 -3.23197376e-04 9.99887789e-01 1.20158881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters 0.056119260374421685 Centerline is valid? [True, True] Translation: X:304.37, Y:4.72, Z:1.20 [[ 9.99604740e-01 -2.33330930e-02 -1.56821471e-02 3.04374416e+02] [ 2.33356992e-02 9.99727685e-01 -1.68034543e-05 4.72360615e+00] [ 1.56782687e-02 -3.49157055e-04 9.99877027e-01 1.20142834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters 0.05540511161149086 Centerline is valid? [True, True] Translation: X:304.43, Y:4.72, Z:1.20 [[ 9.99596355e-01 -2.36695547e-02 -1.57123660e-02 3.04434499e+02] [ 2.36722151e-02 9.99719774e-01 -1.66727702e-05 4.72230319e+00] [ 1.57083576e-02 -3.55280466e-04 9.99876553e-01 1.20086075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters 0.05504245530456723 Centerline is valid? [True, True] Translation: X:304.50, Y:4.73, Z:1.20 [[ 9.99582410e-01 -2.49298414e-02 -1.46119362e-02 3.04496233e+02] [ 2.49322797e-02 9.99689142e-01 -1.52957568e-05 4.72705228e+00] [ 1.46077753e-02 -3.49019512e-04 9.99893240e-01 1.20304899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters 0.055813652145619494 Centerline is valid? [True, True] Translation: X:304.56, Y:4.73, Z:1.20 [[ 9.99556743e-01 -2.64386001e-02 -1.36864385e-02 3.04557529e+02] [ 2.64408894e-02 9.99650378e-01 -1.36896037e-05 4.72551420e+00] [ 1.36820154e-02 -3.48198071e-04 9.99906336e-01 1.20331972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters 0.05536029598022845 Centerline is valid? [True, True] Translation: X:304.62, Y:4.73, Z:1.20 [[ 9.99436621e-01 -3.15407712e-02 -1.14725842e-02 3.04617807e+02] [ 3.15427178e-02 9.99502405e-01 -1.12681691e-05 4.72928903e+00] [ 1.14672309e-02 -3.50614664e-04 9.99934188e-01 1.20494729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters 0.05460677742901958 Centerline is valid? [True, True] Translation: X:304.68, Y:4.73, Z:1.20 [[ 9.99171079e-01 -3.94358183e-02 -1.00980812e-02 3.04677642e+02] [ 3.94377287e-02 9.99222030e-01 -9.95192246e-06 4.72667587e+00] [ 1.00906177e-02 -3.88301713e-04 9.99949013e-01 1.20403288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters 0.05545822064130178 Centerline is valid? [True, True] Translation: X:304.74, Y:4.72, Z:1.20 [[ 9.98975529e-01 -4.41710551e-02 -9.83923022e-03 3.04737293e+02] [ 4.41730973e-02 9.99023892e-01 -9.77047272e-06 4.72032559e+00] [ 9.83005764e-03 -4.24868810e-04 9.99951594e-01 1.20287148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters 0.053020687399677344 Centerline is valid? [True, True] Translation: X:304.80, Y:4.73, Z:1.20 [[ 9.98751310e-01 -4.90980162e-02 -9.23072301e-03 3.04797679e+02] [ 4.91000233e-02 9.98793866e-01 -9.19350728e-06 4.72950220e+00] [ 9.22004091e-03 -4.44046687e-04 9.99957396e-01 1.20352730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.099254154 meters 0.05389090641203366 Centerline is valid? [True, True] Translation: X:304.86, Y:4.73, Z:1.20 [[ 9.98713948e-01 -4.98937830e-02 -9.00333745e-03 3.04858440e+02] [ 4.98957255e-02 9.98754433e-01 -8.88077533e-06 4.72679299e+00] [ 8.99256628e-03 -4.40358700e-04 9.99959469e-01 1.20302429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.159254154 meters 0.05421760921234449 Centerline is valid? [True, True] Translation: X:304.92, Y:4.73, Z:1.20 [[ 9.98782594e-01 -4.85559299e-02 -8.69774017e-03 3.04920008e+02] [ 4.85576940e-02 9.98820379e-01 -8.36036585e-06 4.72797480e+00] [ 8.68788608e-03 -4.13992018e-04 9.99962174e-01 1.20229154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.219254154 meters 0.05420359345705772 Centerline is valid? [True, True] Translation: X:304.98, Y:4.73, Z:1.20 [[ 9.98950266e-01 -4.50202081e-02 -8.45851909e-03 3.04979696e+02] [ 4.50217507e-02 9.98986007e-01 -8.04395140e-06 4.72664672e+00] [ 8.45030435e-03 -3.72781831e-04 9.99964226e-01 1.20182706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279254154 meters 0.05474044300824162 Centerline is valid? [True, True] Translation: X:305.04, Y:4.73, Z:1.20 [[ 9.99095622e-01 -4.15145567e-02 -9.19131447e-03 3.05039989e+02] [ 4.15162301e-02 9.99137830e-01 -8.73472826e-06 4.72902418e+00] [ 9.18375261e-03 -3.72861898e-04 9.99957759e-01 1.20120076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339254154 meters 0.055720854421876936 Centerline is valid? [True, True] Translation: X:305.10, Y:4.72, Z:1.20 [[ 9.99344568e-01 -3.45890327e-02 -1.06786472e-02 3.05099867e+02] [ 3.45908972e-02 9.99401556e-01 -1.00976631e-05 4.71964135e+00] [ 1.06726059e-02 -3.59292944e-04 9.99942982e-01 1.19846252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399254154 meters 0.054793674235440196 Centerline is valid? [True, True] Translation: X:305.16, Y:4.73, Z:1.20 [[ 9.99519670e-01 -2.94202494e-02 -9.74056614e-03 3.05160174e+02] [ 2.94215556e-02 9.99567092e-01 -9.20621209e-06 4.73183766e+00] [ 9.73662022e-03 -2.77380818e-04 9.99952560e-01 1.19980035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459254154 meters 0.05475523714360264 Centerline is valid? [True, True] Translation: X:305.22, Y:4.73, Z:1.20 [[ 9.99726215e-01 -2.12861813e-02 -9.71561240e-03 3.05219470e+02] [ 2.12870967e-02 9.99773404e-01 -9.18809444e-06 4.73321693e+00] [ 9.71360646e-03 -1.97631602e-04 9.99952802e-01 1.19911736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519254154 meters 0.055076047789222184 Centerline is valid? [True, True] Translation: X:305.28, Y:4.74, Z:1.20 [[ 9.99867097e-01 -1.34121186e-02 -9.26844757e-03 3.05278637e+02] [ 1.34126131e-02 9.99910047e-01 -8.80694078e-06 4.73723234e+00] [ 9.26773196e-03 -1.15508331e-04 9.99957047e-01 1.19850200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579254154 meters 0.05495809949194977 Centerline is valid? [True, True] Translation: X:305.34, Y:4.74, Z:1.20 [[ 9.99928664e-01 -8.56932450e-03 -8.32069315e-03 3.05337881e+02] [ 8.56955486e-03 9.99963281e-01 -7.96784816e-06 4.73896523e+00] [ 8.32045590e-03 -6.33373567e-05 9.99965382e-01 1.19786779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639254154 meters 0.0553757832090326 Centerline is valid? [True, True] Translation: X:305.40, Y:4.74, Z:1.20 [[ 9.99981117e-01 -3.09496384e-03 -5.30905270e-03 3.05397262e+02] [ 3.09498024e-03 9.99995211e-01 -5.12648452e-06 4.74374160e+00] [ 5.30904314e-03 -1.13050255e-05 9.99985907e-01 1.19863016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699254154 meters 0.05496273683489105 Centerline is valid? [True, True] Translation: X:305.46, Y:4.75, Z:1.20 [[ 9.99992140e-01 -5.56384184e-04 -3.92565026e-03 3.05455681e+02] [ 5.56373410e-04 9.99999845e-01 -3.83691924e-06 4.74527199e+00] [ 3.92565179e-03 1.65276166e-06 9.99992295e-01 1.19882509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759254154 meters 0.05551062211156336 Centerline is valid? [True, True] Translation: X:305.51, Y:4.75, Z:1.20 [[ 9.99993383e-01 1.30331768e-03 -3.39629659e-03 3.05514338e+02] [-1.30333715e-03 9.99999151e-01 -3.52016612e-06 4.74575787e+00] [ 3.39628912e-03 7.94666235e-06 9.99994233e-01 1.19741786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819254154 meters 0.054971796241912216 Centerline is valid? [True, True] Translation: X:305.57, Y:4.74, Z:1.20 [[ 9.99999561e-01 1.54725679e-04 -9.23667316e-04 3.05572675e+02] [-1.54726507e-04 9.99999988e-01 -8.24703942e-07 4.74255204e+00] [ 9.23667177e-04 9.67619400e-07 9.99999573e-01 1.19546498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879254154 meters 0.05512621960262482 Centerline is valid? [True, True] Translation: X:305.63, Y:4.74, Z:1.20 [[ 9.99998938e-01 -1.34231876e-03 5.68345688e-04 3.05633632e+02] [ 1.34231861e-03 9.99999099e-01 6.42157072e-07 4.73989509e+00] [-5.68346038e-04 1.20744606e-07 9.99999838e-01 1.19527350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939254154 meters 0.055380423145783945 Centerline is valid? [True, True] Translation: X:305.69, Y:4.73, Z:1.20 [[ 9.99992083e-01 -3.96410110e-03 -3.45063076e-04 3.05693488e+02] [ 3.96410120e-03 9.99992143e-01 -4.19450235e-07 4.73465135e+00] [ 3.45062028e-04 -9.48418037e-07 9.99999940e-01 1.19662544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters 0.05501275838347911 Centerline is valid? [True, True] Translation: X:305.76, Y:4.73, Z:1.20 [[ 9.99968761e-01 -7.90420219e-03 5.37201666e-06 3.05755017e+02] [ 7.90420219e-03 9.99968761e-01 -5.60666346e-08 4.72983134e+00] [-5.37140593e-06 9.85263907e-08 1.00000000e+00 1.19618493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters 0.055170383505125 Centerline is valid? [True, True] Translation: X:305.81, Y:4.72, Z:1.19 [[ 9.99848254e-01 -1.74156687e-02 -4.04512264e-04 3.05814231e+02] [ 1.74156700e-02 9.99848336e-01 -4.25399116e-07 4.71675526e+00] [ 4.04458323e-04 -6.61951754e-06 9.99999918e-01 1.19455707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters 0.055050413948618156 Centerline is valid? [True, True] Translation: X:305.88, Y:4.71, Z:1.19 [[ 9.99628336e-01 -2.72424176e-02 -1.02013604e-03 3.05875072e+02] [ 2.72424306e-02 9.99628856e-01 -1.15528521e-06 4.70758762e+00] [ 1.01978889e-03 -2.66361294e-05 9.99999480e-01 1.19231446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters 0.05385540949431299 Centerline is valid? [True, True] Translation: X:305.94, Y:4.71, Z:1.19 [[ 9.99301295e-01 -3.73649678e-02 -8.83568428e-04 3.05935441e+02] [ 3.73649815e-02 9.99301685e-01 -9.66787051e-07 4.70608522e+00] [ 8.82987543e-04 -3.20484064e-05 9.99999610e-01 1.19150114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters 0.05702324082842821 Centerline is valid? [True, True] Translation: X:305.99, Y:4.69, Z:1.19 [[ 9.98872874e-01 -4.74655158e-02 8.35335677e-05 3.05994646e+02] [ 4.74655159e-02 9.98872877e-01 2.10302508e-08 4.68631642e+00] [-8.34404136e-05 3.94395734e-06 9.99999997e-01 1.19323115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters 0.05794783759509498 Centerline is valid? [True, True] Translation: X:306.05, Y:4.68, Z:1.19 [[ 9.98611388e-01 -5.26782390e-02 5.46756809e-04 3.06054346e+02] [ 5.26782465e-02 9.98611537e-01 5.85421803e-07 4.67876398e+00] [-5.46028497e-04 2.82175811e-05 9.99999851e-01 1.19386174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters 0.05298819224572456 Centerline is valid? [True, True] Translation: X:306.11, Y:4.70, Z:1.19 [[ 9.98343368e-01 -5.74869734e-02 2.40137669e-03 3.06114640e+02] [ 5.74871330e-02 9.98346247e-01 2.54686156e-06 4.69674462e+00] [-2.39755182e-03 1.35505619e-04 9.99997117e-01 1.19130514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters 0.05397312058861398 Centerline is valid? [True, True] Translation: X:306.18, Y:4.68, Z:1.19 [[ 9.98305530e-01 -5.81764793e-02 1.25163738e-03 3.06175875e+02] [ 5.81765239e-02 9.98306312e-01 7.88642267e-07 4.68401073e+00] [-1.24956338e-03 7.20286063e-05 9.99999217e-01 1.19253796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters 0.05306483553609474 Centerline is valid? [True, True] Translation: X:306.24, Y:4.68, Z:1.19 [[ 9.98282822e-01 -5.85708887e-02 9.26684447e-04 3.06238077e+02] [ 5.85709135e-02 9.98283250e-01 3.55297946e-07 4.68421449e+00] [-9.25114373e-04 5.39220668e-05 9.99999571e-01 1.18996925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.539254154 meters 0.053737754630647484 Centerline is valid? [True, True] Translation: X:306.30, Y:4.68, Z:1.19 [[ 9.98504983e-01 -5.46332025e-02 -1.73569604e-03 3.06298788e+02] [ 5.46332822e-02 9.98506487e-01 -1.50174745e-06 4.68185692e+00] [ 1.73318580e-03 -9.33272691e-05 9.99998494e-01 1.18940923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.599254154 meters 0.05402865681038235 Centerline is valid? [True, True] Translation: X:306.36, Y:4.68, Z:1.19 [[ 9.98638889e-01 -5.21069457e-02 -2.28814001e-03 3.06359093e+02] [ 5.21070777e-02 9.98641503e-01 -1.95231630e-06 4.68465252e+00] [ 2.28513330e-03 -1.17278630e-04 9.99997382e-01 1.18971554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.659254154 meters 0.05611667967266279 Centerline is valid? [True, True] Translation: X:306.42, Y:4.68, Z:1.19 [[ 9.99321361e-01 -3.67143742e-02 -2.97865264e-03 3.06418680e+02] [ 3.67145295e-02 9.99325794e-01 -2.54117897e-06 4.67860404e+00] [ 2.97673771e-03 -1.06820376e-04 9.99995564e-01 1.19091875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.719254154 meters 0.05718003507055871 Centerline is valid? [True, True] Translation: X:306.48, Y:4.68, Z:1.19 [[ 9.99620939e-01 -2.74776666e-02 -1.71929950e-03 3.06478362e+02] [ 2.74777048e-02 9.99622417e-01 -1.45786203e-06 4.67633313e+00] [ 1.71869038e-03 -4.57850947e-05 9.99998522e-01 1.19243042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779254154 meters 0.0550829532119243 Centerline is valid? [True, True] Translation: X:306.54, Y:4.69, Z:1.19 [[ 9.99825476e-01 -1.86753332e-02 4.99031242e-04 3.06539312e+02] [ 1.86753353e-02 9.99825601e-01 4.40391197e-07 4.68539706e+00] [-4.98952436e-04 8.87926144e-06 9.99999875e-01 1.19271115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839254154 meters 0.055017581880967927 Centerline is valid? [True, True] Translation: X:306.60, Y:4.69, Z:1.19 [[ 9.99978481e-01 -6.54006507e-03 5.14524249e-04 3.06599533e+02] [ 6.54006573e-03 9.99978614e-01 3.96356776e-07 4.69226115e+00] [-5.14515838e-04 2.96867416e-06 9.99999868e-01 1.19026094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899254154 meters 0.05575889092405144 Centerline is valid? [True, True] Translation: X:306.66, Y:4.69, Z:1.19 [[ 9.99999121e-01 3.87887461e-04 -1.26802198e-03 3.06659847e+02] [-3.87889158e-04 9.99999925e-01 -1.09341666e-06 4.69410141e+00] [ 1.26802146e-03 1.58526768e-06 9.99999196e-01 1.19034781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959254154 meters 0.05631372845725495 Centerline is valid? [True, True] Translation: X:306.72, Y:4.70, Z:1.19 [[ 9.99955296e-01 9.35056502e-03 -1.40470463e-03 3.06719367e+02] [-9.35057586e-03 9.99956282e-01 -1.15225225e-06 4.69692845e+00] [ 1.40463244e-03 1.42869979e-05 9.99999013e-01 1.19097087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019254154 meters 0.05609925209648503 Centerline is valid? [True, True] Translation: X:306.78, Y:4.70, Z:1.19 [[ 9.99902259e-01 1.39794254e-02 2.19533699e-04 3.06778399e+02] [-1.39794258e-02 9.99902283e-01 2.58790399e-07 4.69681070e+00] [-2.19508629e-04 -3.32772015e-06 9.99999976e-01 1.19200484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079254154 meters 0.05715403588921745 Centerline is valid? [True, True] Translation: X:306.84, Y:4.69, Z:1.19 [[ 9.99853436e-01 1.71170491e-02 3.35575346e-04 3.06836721e+02] [-1.71170502e-02 9.99853493e-01 4.47369264e-07 4.69134552e+00] [-3.35518524e-04 -6.19136375e-06 9.99999944e-01 1.19192254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139254154 meters 0.05609389177969629 Centerline is valid? [True, True] Translation: X:306.90, Y:4.69, Z:1.19 [[ 9.99882039e-01 1.53560186e-02 3.16080677e-04 3.06895308e+02] [-1.53560195e-02 9.99882089e-01 3.83199757e-07 4.68693164e+00] [-3.16037523e-04 -5.23689558e-06 9.99999950e-01 1.19191917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199254154 meters 0.05675439337227751 Centerline is valid? [True, True] Translation: X:306.96, Y:4.68, Z:1.19 [[ 9.99966134e-01 8.22890739e-03 -1.28855520e-04 3.06955026e+02] [-8.22890747e-03 9.99966142e-01 -8.70838988e-08 4.67742437e+00] [ 1.28850441e-04 1.14742110e-06 9.99999992e-01 1.19257225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259254154 meters 0.055402498565765415 Centerline is valid? [True, True] Translation: X:307.01, Y:4.67, Z:1.19 [[ 9.99999953e-01 -9.33798597e-05 2.92569094e-04 3.07014345e+02] [ 9.33797638e-05 9.99999996e-01 3.42912079e-07 4.66611864e+00] [-2.92569125e-04 -3.15592028e-07 9.99999957e-01 1.19247033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319254154 meters 0.05681590923294932 Centerline is valid? [True, True] Translation: X:307.07, Y:4.65, Z:1.19 [[ 9.99864635e-01 -1.64133297e-02 1.14674988e-03 3.07074655e+02] [ 1.64133392e-02 9.99865292e-01 1.07164904e-06 4.64842441e+00] [-1.14661299e-03 1.77504908e-05 9.99999342e-01 1.19309251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379254154 meters 0.05611795244229875 Centerline is valid? [True, True] Translation: X:307.14, Y:4.64, Z:1.19 [[ 9.99622695e-01 -2.74659990e-02 2.95503413e-04 3.07135210e+02] [ 2.74660001e-02 9.99622738e-01 2.62808704e-07 4.63790061e+00] [-2.95399150e-04 7.85358723e-06 9.99999956e-01 1.19229756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439254154 meters 0.055745866794493906 Centerline is valid? [True, True] Translation: X:307.20, Y:4.63, Z:1.19 [[ 9.99138389e-01 -4.15014909e-02 -3.26004884e-04 3.07195421e+02] [ 4.15014930e-02 9.99138442e-01 -3.11658763e-07 4.63251731e+00] [ 3.25736946e-04 -1.32182992e-05 9.99999947e-01 1.19054504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters 0.05598115159515808 Centerline is valid? [True, True] Translation: X:307.26, Y:4.62, Z:1.19 [[ 9.98723709e-01 -5.05032625e-02 -6.10875309e-04 3.07255390e+02] [ 5.05032716e-02 9.98723896e-01 -5.51972325e-07 4.62243405e+00] [ 6.10123644e-04 -3.02999338e-05 9.99999813e-01 1.19167086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters 0.056960042100299195 Centerline is valid? [True, True] Translation: X:307.32, Y:4.61, Z:1.19 [[ 9.98527786e-01 -5.42250127e-02 -1.38129029e-03 3.07315489e+02] [ 5.42250626e-02 9.98528739e-01 -1.31949610e-06 4.60943588e+00] [ 1.37932960e-03 -7.35829986e-05 9.99999046e-01 1.19336598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters 0.05602741283654363 Centerline is valid? [True, True] Translation: X:307.38, Y:4.63, Z:1.19 [[ 9.98319943e-01 -5.78929547e-02 -2.38680147e-03 3.07376859e+02] [ 5.78931142e-02 9.98322787e-01 -2.26501874e-06 4.62514316e+00] [ 2.38292943e-03 -1.35918157e-04 9.99997152e-01 1.19201310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters 0.05793510544764973 Centerline is valid? [True, True] Translation: X:307.44, Y:4.61, Z:1.19 [[ 9.98320129e-01 -5.77617022e-02 -4.52835356e-03 3.07439393e+02] [ 5.77622758e-02 9.98330366e-01 -4.11101944e-06 4.60789130e+00] [ 4.52103032e-03 -2.57463894e-04 9.99989747e-01 1.19189291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters 0.05569005790820335 Centerline is valid? [True, True] Translation: X:307.50, Y:4.62, Z:1.19 [[ 9.98397041e-01 -5.64138333e-02 -4.56374017e-03 3.07500519e+02] [ 5.64144044e-02 9.98407439e-01 -3.60920876e-06 4.62056468e+00] [ 4.55667574e-03 -2.53857260e-04 9.99989586e-01 1.19222711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters 0.0577801745720977 Centerline is valid? [True, True] Translation: X:307.56, Y:4.61, Z:1.19 [[ 9.98648724e-01 -5.17098162e-02 -5.17895319e-03 3.07560411e+02] [ 5.17104889e-02 9.98662118e-01 -4.02244175e-06 4.60848082e+00] [ 5.17223236e-03 -2.63789195e-04 9.99986589e-01 1.19281048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters 0.05702502691718588 Centerline is valid? [True, True] Translation: X:307.62, Y:4.61, Z:1.19 [[ 9.98967678e-01 -4.50154335e-02 -6.09834849e-03 3.07619621e+02] [ 4.50162415e-02 9.98986255e-01 -4.77787847e-06 4.61177538e+00] [ 6.09238140e-03 -2.69751782e-04 9.99981405e-01 1.19285597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters 0.057607855422660025 Centerline is valid? [True, True] Translation: X:307.68, Y:4.62, Z:1.19 [[ 9.99179890e-01 -3.99522391e-02 -6.58535086e-03 3.07680448e+02] [ 3.99530711e-02 9.99201557e-01 -5.20621159e-06 4.61927499e+00] [ 6.58030084e-03 -2.57903050e-04 9.99978316e-01 1.19356271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters 0.057680201693195994 Centerline is valid? [True, True] Translation: X:307.74, Y:4.62, Z:1.19 [[ 9.99475485e-01 -3.18749673e-02 -5.72202454e-03 3.07740431e+02] [ 3.18754632e-02 9.99491848e-01 -4.53251100e-06 4.61940145e+00] [ 5.71926136e-03 -1.77862049e-04 9.99983629e-01 1.19419492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.039254154 meters 0.05751823513928101 Centerline is valid? [True, True] Translation: X:307.80, Y:4.62, Z:1.20 [[ 9.99717872e-01 -2.32177250e-02 -5.01126840e-03 3.07799704e+02] [ 2.32179966e-02 9.99730426e-01 -3.97219469e-06 4.62153792e+00] [ 5.01000972e-03 -1.12380539e-04 9.99987443e-01 1.19503611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.099254154 meters 0.057350161046572826 Centerline is valid? [True, True] Translation: X:307.86, Y:4.63, Z:1.20 [[ 9.99892147e-01 -1.40130422e-02 -4.39645605e-03 3.07860209e+02] [ 1.40131623e-02 9.99901811e-01 -3.49206261e-06 4.62888708e+00] [ 4.39607330e-03 -5.81165663e-05 9.99990336e-01 1.19600153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.159254154 meters 0.057254753410410746 Centerline is valid? [True, True] Translation: X:307.92, Y:4.63, Z:1.20 [[ 9.99959440e-01 -7.78696420e-03 -4.52576090e-03 3.07921280e+02] [ 7.78702786e-03 9.99969681e-01 -3.55683603e-06 4.63352368e+00] [ 4.52565138e-03 -3.16855344e-05 9.99989759e-01 1.19656606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.219254154 meters 0.057090090847913985 Centerline is valid? [True, True] Translation: X:307.98, Y:4.64, Z:1.20 [[ 9.99987186e-01 -2.51639042e-03 -4.39265104e-03 3.07980687e+02] [ 2.51639969e-03 9.99996834e-01 -3.41748903e-06 4.63605072e+00] [ 4.39264573e-03 -7.63622046e-06 9.99990352e-01 1.19714537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279254154 meters 0.057053965754138826 Centerline is valid? [True, True] Translation: X:308.04, Y:4.64, Z:1.20 [[ 9.99992957e-01 1.13769392e-03 -3.57661198e-03 3.08039146e+02] [-1.13771100e-03 9.99999353e-01 -2.74270714e-06 4.63655979e+00] [ 3.57660655e-03 6.81183863e-06 9.99993604e-01 1.19747128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339254154 meters 0.05608883193729903 Centerline is valid? [True, True] Translation: X:308.10, Y:4.63, Z:1.20 [[ 9.99992488e-01 -2.08670429e-05 -3.87608753e-03 3.08097360e+02] [ 2.08546421e-05 1.00000000e+00 -3.23980899e-06 4.63460582e+00] [ 3.87608760e-03 3.15895024e-06 9.99992488e-01 1.19783784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399254154 meters 0.057043256208506116 Centerline is valid? [True, True] Translation: X:308.16, Y:4.63, Z:1.20 [[ 9.99985120e-01 -3.13014439e-03 -4.46785979e-03 3.08155719e+02] [ 3.13015800e-03 9.99995101e-01 -3.94770280e-06 4.63146647e+00] [ 4.46785026e-03 -1.00374630e-05 9.99990019e-01 1.19748723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459254154 meters 0.05642963456948332 Centerline is valid? [True, True] Translation: X:308.21, Y:4.63, Z:1.20 [[ 9.99964308e-01 -7.42975315e-03 -4.02263290e-03 3.08214374e+02] [ 7.42979860e-03 9.99972399e-01 -3.64546665e-06 4.62770981e+00] [ 4.02254895e-03 -2.62420157e-05 9.99991909e-01 1.19728780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519254154 meters 0.056997777726597136 Centerline is valid? [True, True] Translation: X:308.27, Y:4.63, Z:1.20 [[ 9.99954700e-01 -8.71579771e-03 -3.82535921e-03 3.08274990e+02] [ 8.71584786e-03 9.99962016e-01 -3.56090902e-06 4.62717085e+00] [ 3.82524494e-03 -2.97805012e-05 9.99992683e-01 1.19730789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579254154 meters 0.057735216041835 Centerline is valid? [True, True] Translation: X:308.34, Y:4.62, Z:1.20 [[ 9.99932371e-01 -1.10589616e-02 -3.59899010e-03 3.08335173e+02] [ 1.10590212e-02 9.99938847e-01 -3.35298362e-06 4.62011543e+00] [ 3.59880709e-03 -3.64485509e-05 9.99993524e-01 1.19771195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639254154 meters 0.057815027945532255 Centerline is valid? [True, True] Translation: X:308.40, Y:4.61, Z:1.20 [[ 9.99918063e-01 -1.22253464e-02 -3.79575789e-03 3.08395182e+02] [ 1.22254212e-02 9.99925267e-01 -3.50510295e-06 4.61236384e+00] [ 3.79551707e-03 -4.28999232e-05 9.99992796e-01 1.19770461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699254154 meters 0.05720139653074633 Centerline is valid? [True, True] Translation: X:308.46, Y:4.61, Z:1.20 [[ 9.99869734e-01 -1.55791372e-02 -4.21976233e-03 3.08456062e+02] [ 1.55792598e-02 9.99878636e-01 -3.82031287e-06 4.61029399e+00] [ 4.21930972e-03 -6.19209586e-05 9.99991097e-01 1.19706715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759254154 meters 0.057890166965487176 Centerline is valid? [True, True] Translation: X:308.52, Y:4.60, Z:1.20 [[ 9.99839230e-01 -1.72877353e-02 -4.75893455e-03 3.08516868e+02] [ 1.72879108e-02 9.99850553e-01 -4.24872114e-06 4.60453643e+00] [ 4.75829679e-03 -7.80239980e-05 9.99988676e-01 1.19725778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819254154 meters 0.05761909611633482 Centerline is valid? [True, True] Translation: X:308.58, Y:4.60, Z:1.20 [[ 9.99876844e-01 -1.45924514e-02 -5.77550412e-03 3.08578710e+02] [ 1.45926659e-02 9.99893521e-01 -4.98544938e-06 4.60406671e+00] [ 5.77496191e-03 -7.92951670e-05 9.99983322e-01 1.19684708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879254154 meters 0.05787098498748841 Centerline is valid? [True, True] Translation: X:308.64, Y:4.60, Z:1.20 [[ 9.99925989e-01 -1.04797325e-02 -6.17995902e-03 3.08639450e+02] [ 1.04799003e-02 9.99945084e-01 -5.22700192e-06 4.60393351e+00] [ 6.17967442e-03 -5.95387393e-05 9.99980904e-01 1.19631277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939254154 meters 0.05785046533052643 Centerline is valid? [True, True] Translation: X:308.70, Y:4.61, Z:1.20 [[ 9.99973279e-01 -4.21177515e-03 -5.97514775e-03 3.08698483e+02] [ 4.21182002e-03 9.99991130e-01 -5.07525201e-06 4.60514980e+00] [ 5.97511613e-03 -2.00911305e-05 9.99982149e-01 1.19661069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters 0.0574317261808449 Centerline is valid? [True, True] Translation: X:308.76, Y:4.61, Z:1.20 [[ 9.99982896e-01 -1.29592607e-03 -5.70342073e-03 3.08757473e+02] [ 1.29591811e-03 9.99999160e-01 -5.09167911e-06 4.60548853e+00] [ 5.70342254e-03 -2.29957417e-06 9.99983735e-01 1.19773866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters 0.05773006496665167 Centerline is valid? [True, True] Translation: X:308.81, Y:4.60, Z:1.20 [[ 9.99984891e-01 -8.68328384e-04 -5.42804822e-03 3.08814905e+02] [ 8.68312043e-04 9.99999623e-01 -5.36719051e-06 4.60258593e+00] [ 5.42805083e-03 6.53869786e-07 9.99985268e-01 1.19829895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters 0.05903072810362661 Centerline is valid? [True, True] Translation: X:308.87, Y:4.60, Z:1.20 [[ 9.99964771e-01 -6.03639597e-03 -5.83255566e-03 3.08874039e+02] [ 6.03646367e-03 9.99981780e-01 -5.99803427e-06 4.59670908e+00] [ 5.83248560e-03 -2.92101874e-05 9.99982990e-01 1.19864378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters 0.05893745753619377 Centerline is valid? [True, True] Translation: X:308.93, Y:4.59, Z:1.20 [[ 9.99860833e-01 -1.51954002e-02 -6.88580966e-03 3.08934717e+02] [ 1.51957109e-02 9.99884539e-01 -7.20032358e-06 4.58754724e+00] [ 6.88512403e-03 -9.74354513e-05 9.99976292e-01 1.19873320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters 0.059157247268908725 Centerline is valid? [True, True] Translation: X:308.99, Y:4.58, Z:1.20 [[ 9.99729915e-01 -2.19374545e-02 -7.67102702e-03 3.08994762e+02] [ 2.19380388e-02 9.99759332e-01 -7.97985252e-06 4.57863072e+00] [ 7.66935591e-03 -1.60309591e-04 9.99970577e-01 1.19827712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters 0.05900245404472175 Centerline is valid? [True, True] Translation: X:309.06, Y:4.57, Z:1.20 [[ 9.99490615e-01 -3.09624809e-02 -7.73534758e-03 3.09055314e+02] [ 3.09633455e-02 9.99520521e-01 -7.98571440e-06 4.57404794e+00] [ 7.73188590e-03 -2.31530593e-04 9.99970082e-01 1.19878577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters 0.05946323794290427 Centerline is valid? [True, True] Translation: X:309.12, Y:4.57, Z:1.20 [[ 9.99380075e-01 -3.43550901e-02 -7.69373021e-03 3.09116704e+02] [ 3.43560465e-02 9.99409657e-01 -7.86253228e-06 4.57119607e+00] [ 7.68945839e-03 -2.56468495e-04 9.99970403e-01 1.19930158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters 0.06031091108134709 Centerline is valid? [True, True] Translation: X:309.18, Y:4.57, Z:1.20 [[ 9.99367060e-01 -3.50578371e-02 -6.03553192e-03 3.09178271e+02] [ 3.50584392e-02 9.99385264e-01 -6.04646465e-06 4.56716728e+00] [ 6.03203364e-03 -2.05553691e-04 9.99981786e-01 1.20031506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters 0.060411390749304995 Centerline is valid? [True, True] Translation: X:309.24, Y:4.57, Z:1.20 [[ 9.99448825e-01 -3.26497702e-02 -6.00316422e-03 3.09239392e+02] [ 3.26503233e-02 9.99466836e-01 -5.86650325e-06 4.56823067e+00] [ 6.00015509e-03 -1.90141983e-04 9.99981981e-01 1.20069734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.539254154 meters 0.06034012072511991 Centerline is valid? [True, True] Translation: X:309.30, Y:4.57, Z:1.20 [[ 9.99519204e-01 -3.02374358e-02 -6.85995377e-03 3.09299910e+02] [ 3.02381019e-02 9.99542724e-01 -6.62148160e-06 4.56694761e+00] [ 6.85701709e-03 -2.00813683e-04 9.99976470e-01 1.20076771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.599254154 meters 0.05943237052786248 Centerline is valid? [True, True] Translation: X:309.36, Y:4.57, Z:1.20 [[ 9.99602941e-01 -2.73759298e-02 -6.67218914e-03 3.09360197e+02] [ 2.73764966e-02 9.99625193e-01 -6.38110388e-06 4.57074250e+00] [ 6.66986305e-03 -1.76282593e-04 9.99977741e-01 1.20138863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.659254154 meters 0.05996750034270019 Centerline is valid? [True, True] Translation: X:309.42, Y:4.57, Z:1.20 [[ 9.99602833e-01 -2.71418955e-02 -7.58243906e-03 3.09421891e+02] [ 2.71426212e-02 9.99631571e-01 -7.19287296e-06 4.57488042e+00] [ 7.57984069e-03 -1.98617255e-04 9.99971253e-01 1.20083226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.719254154 meters 0.05965609871127475 Centerline is valid? [True, True] Translation: X:309.48, Y:4.58, Z:1.20 [[ 9.99572315e-01 -2.78413445e-02 -8.94688876e-03 3.09482962e+02] [ 2.78423843e-02 9.99612326e-01 -8.33355210e-06 4.57527067e+00] [ 8.94365230e-03 -2.40772727e-04 9.99959976e-01 1.19985958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779254154 meters 0.058877050048767816 Centerline is valid? [True, True] Translation: X:309.54, Y:4.58, Z:1.20 [[ 9.99519444e-01 -2.90660006e-02 -1.07725973e-02 3.09543810e+02] [ 2.90675813e-02 9.99577449e-01 -9.84366284e-06 4.58137322e+00] [ 1.07683314e-02 -3.03294415e-04 9.99941974e-01 1.19975263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839254154 meters 0.060178447280028524 Centerline is valid? [True, True] Translation: X:309.60, Y:4.58, Z:1.20 [[ 9.99496402e-01 -3.02472635e-02 -9.59398601e-03 3.09603902e+02] [ 3.02485726e-02 9.99542407e-01 -8.65908236e-06 4.57515346e+00] [ 9.58985778e-03 -2.81549661e-04 9.99953977e-01 1.19965172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899254154 meters 0.060234421185413715 Centerline is valid? [True, True] Translation: X:309.67, Y:4.58, Z:1.20 [[ 9.99508815e-01 -3.02138823e-02 -8.32171162e-03 3.09665302e+02] [ 3.02148669e-02 9.99543427e-01 -7.41271998e-06 4.57710449e+00] [ 8.31813611e-03 -2.44030330e-04 9.99965374e-01 1.20191381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959254154 meters 0.06024842070479012 Centerline is valid? [True, True] Translation: X:309.73, Y:4.58, Z:1.20 [[ 9.99530643e-01 -2.99177872e-02 -6.58933255e-03 3.09727135e+02] [ 2.99183988e-02 9.99552345e-01 -5.75851216e-06 4.57871438e+00] [ 6.58655508e-03 -1.91386470e-04 9.99978290e-01 1.20345335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019254154 meters 0.059766655747177405 Centerline is valid? [True, True] Translation: X:309.79, Y:4.58, Z:1.20 [[ 9.99544925e-01 -2.92279416e-02 -7.46125353e-03 3.09787811e+02] [ 2.92287076e-02 9.99572750e-01 -6.38876044e-06 4.58000517e+00] [ 7.45825244e-03 -2.11696945e-04 9.99972164e-01 1.20263734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079254154 meters 0.06031365218929838 Centerline is valid? [True, True] Translation: X:309.85, Y:4.58, Z:1.20 [[ 9.99608708e-01 -2.68405372e-02 -7.87507423e-03 3.09848488e+02] [ 2.68413166e-02 9.99639707e-01 -6.71070729e-06 4.58391147e+00] [ 7.87241702e-03 -2.04669280e-04 9.99968991e-01 1.20272354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139254154 meters 0.05844489574267156 Centerline is valid? [True, True] Translation: X:309.91, Y:4.59, Z:1.20 [[ 9.99755674e-01 -2.10063889e-02 -6.87924541e-03 3.09908632e+02] [ 2.10068456e-02 9.99779332e-01 -5.87576608e-06 4.59363043e+00] [ 6.87785080e-03 -1.38636915e-04 9.99976338e-01 1.20460133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199254154 meters 0.05798105926477805 Centerline is valid? [True, True] Translation: X:309.97, Y:4.60, Z:1.20 [[ 9.99813954e-01 -1.81255450e-02 -6.59715198e-03 3.09969154e+02] [ 1.81259023e-02 9.99835712e-01 -5.63017257e-06 4.59640323e+00] [ 6.59617020e-03 -1.13950207e-04 9.99978239e-01 1.20484842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259254154 meters 0.05819973238109782 Centerline is valid? [True, True] Translation: X:310.03, Y:4.60, Z:1.20 [[ 9.99944479e-01 -7.91055905e-03 -6.96142343e-03 3.10028229e+02] [ 7.91070944e-03 9.99968710e-01 -5.93266699e-06 4.60139748e+00] [ 6.96125254e-03 -4.91374605e-05 9.99975769e-01 1.20463204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319254154 meters 0.0582406734200247 Centerline is valid? [True, True] Translation: X:310.09, Y:4.61, Z:1.21 [[ 9.99979953e-01 1.76328116e-04 -6.32944857e-03 3.10087230e+02] [-1.76367613e-04 9.99999984e-01 -5.68202683e-06 4.60584376e+00] [ 6.32944747e-03 6.79822267e-06 9.99979969e-01 1.20521585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379254154 meters 0.05822567879614515 Centerline is valid? [True, True] Translation: X:310.15, Y:4.61, Z:1.21 [[ 9.99976795e-01 1.93579922e-03 -6.53168552e-03 3.10145132e+02] [-1.93588238e-03 9.99998126e-01 -6.40807917e-06 4.60636465e+00] [ 6.53166088e-03 1.90525054e-05 9.99978668e-01 1.20576039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439254154 meters 0.05851480183516624 Centerline is valid? [True, True] Translation: X:310.20, Y:4.60, Z:1.21 [[ 9.99981075e-01 -4.30053880e-04 -6.13723413e-03 3.10204319e+02] [ 4.30023740e-04 9.99999908e-01 -6.23065812e-06 4.60401370e+00] [ 6.13723624e-03 3.59138383e-06 9.99981167e-01 1.20606787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters 0.05810785002267608 Centerline is valid? [True, True] Translation: X:310.26, Y:4.59, Z:1.21 [[ 9.99925444e-01 -1.03186083e-02 -6.52936826e-03 3.10262354e+02] [ 1.03187837e-02 9.99946760e-01 -6.82533440e-06 4.59329949e+00] [ 6.52909107e-03 -6.05503130e-05 9.99978683e-01 1.20544935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters 0.05873988458597441 Centerline is valid? [True, True] Translation: X:310.32, Y:4.58, Z:1.21 [[ 9.99698665e-01 -2.35177578e-02 -7.03525681e-03 3.10323051e+02] [ 2.35182870e-02 9.99723407e-01 -7.51138493e-06 4.58142965e+00] [ 7.03348755e-03 -1.57948067e-04 9.99975252e-01 1.20593106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters 0.05919130679905185 Centerline is valid? [True, True] Translation: X:310.38, Y:4.57, Z:1.21 [[ 9.99401426e-01 -3.40452441e-02 -6.14101678e-03 3.10383031e+02] [ 3.40458457e-02 9.99420272e-01 -6.58312340e-06 4.57421983e+00] [ 6.13768079e-03 -2.02496927e-04 9.99981144e-01 1.20621270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters 0.05993510890473879 Centerline is valid? [True, True] Translation: X:310.44, Y:4.57, Z:1.21 [[ 9.99323828e-01 -3.62810362e-02 -5.96431913e-03 3.10444178e+02] [ 3.62816435e-02 9.99341604e-01 -6.37833570e-06 4.57083246e+00] [ 5.96062366e-03 -2.10021278e-04 9.99982213e-01 1.20641997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters 0.06046118748230462 Centerline is valid? [True, True] Translation: X:310.51, Y:4.57, Z:1.21 [[ 9.99140636e-01 -4.10821598e-02 -5.49958440e-03 3.10505154e+02] [ 4.10827493e-02 9.99155747e-01 -5.78746812e-06 4.56642131e+00] [ 5.49517912e-03 -2.20155553e-04 9.99984877e-01 1.20624600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters 0.060398128617802756 Centerline is valid? [True, True] Translation: X:310.57, Y:4.56, Z:1.21 [[ 9.99011921e-01 -4.41310515e-02 -5.25660008e-03 3.10565143e+02] [ 4.41316325e-02 9.99025725e-01 -5.46565179e-06 4.56362859e+00] [ 5.25171991e-03 -2.26522092e-04 9.99986184e-01 1.20690946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters 0.05943343400348297 Centerline is valid? [True, True] Translation: X:310.63, Y:4.57, Z:1.21 [[ 9.98922301e-01 -4.61730236e-02 -4.72111274e-03 3.10626480e+02] [ 4.61735152e-02 9.98933434e-01 -4.86913588e-06 4.56752819e+00] [ 4.71630218e-03 -2.13126483e-04 9.99988855e-01 1.20753868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters 0.058884116515304924 Centerline is valid? [True, True] Translation: X:310.69, Y:4.57, Z:1.21 [[ 9.98839901e-01 -4.78973776e-02 -4.96915029e-03 3.10687606e+02] [ 4.78979439e-02 9.98852235e-01 -5.04937411e-06 4.57352885e+00] [ 4.96368873e-03 -2.32968566e-04 9.99987654e-01 1.20718486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters 0.058663304819381916 Centerline is valid? [True, True] Translation: X:310.75, Y:4.57, Z:1.21 [[ 9.98852643e-01 -4.74057284e-02 -6.78929579e-03 3.10748986e+02] [ 4.74067749e-02 9.98875667e-01 -6.78473084e-06 4.57417160e+00] [ 6.78198400e-03 -3.15081671e-04 9.99976952e-01 1.20605964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.039254154 meters 0.05913206785814124 Centerline is valid? [True, True] Translation: X:310.81, Y:4.57, Z:1.21 [[ 9.98928908e-01 -4.56376745e-02 -7.63146685e-03 3.10810020e+02] [ 4.56389463e-02 9.98958000e-01 -7.50530173e-06 4.57454873e+00] [ 7.62385739e-03 -3.40794843e-04 9.99970880e-01 1.20523370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.099254154 meters 0.05726678668537309 Centerline is valid? [True, True] Translation: X:310.87, Y:4.59, Z:1.21 [[ 9.99111502e-01 -4.12820724e-02 -8.48513532e-03 3.10870253e+02] [ 4.12834880e-02 9.99147473e-01 -8.33286049e-06 4.58762869e+00] [ 8.47824552e-03 -3.41970525e-04 9.99964001e-01 1.20524518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.159254154 meters 0.058640235968898315 Centerline is valid? [True, True] Translation: X:310.93, Y:4.58, Z:1.20 [[ 9.99273682e-01 -3.71884311e-02 -8.31434657e-03 3.10929996e+02] [ 3.71896487e-02 9.99308226e-01 -8.16848855e-06 4.58114650e+00] [ 8.30889869e-03 -3.01045072e-04 9.99965435e-01 1.20467898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.219254154 meters 0.058536393684412436 Centerline is valid? [True, True] Translation: X:310.99, Y:4.59, Z:1.21 [[ 9.99476126e-01 -3.14602012e-02 -7.59791825e-03 3.10990971e+02] [ 3.14610527e-02 9.99504979e-01 -7.44461319e-06 4.59437550e+00] [ 7.59439133e-03 -2.31597794e-04 9.99971135e-01 1.20669034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279254154 meters 0.057705820087068996 Centerline is valid? [True, True] Translation: X:311.05, Y:4.60, Z:1.21 [[ 9.99607869e-01 -2.71763438e-02 -6.74946218e-03 3.11051275e+02] [ 2.71769185e-02 9.99630639e-01 -6.56578808e-06 4.59607559e+00] [ 6.74714763e-03 -1.76866370e-04 9.99977222e-01 1.20607991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339254154 meters 0.05806281840623028 Centerline is valid? [True, True] Translation: X:311.11, Y:4.60, Z:1.21 [[ 9.99666809e-01 -2.49156604e-02 -6.74394851e-03 3.11112041e+02] [ 2.49161834e-02 9.99689544e-01 -6.47604483e-06 4.60124953e+00] [ 6.74201617e-03 -1.61559571e-04 9.99977259e-01 1.20694654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399254154 meters 0.057813313032186314 Centerline is valid? [True, True] Translation: X:311.17, Y:4.61, Z:1.21 [[ 9.99720870e-01 -2.24350079e-02 -7.40622025e-03 3.11173245e+02] [ 2.24355717e-02 9.99748291e-01 -6.95935631e-06 4.60688637e+00] [ 7.40451217e-03 -1.59205372e-04 9.99972574e-01 1.20705708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459254154 meters 0.05823124415949225 Centerline is valid? [True, True] Translation: X:311.23, Y:4.60, Z:1.21 [[ 9.99752370e-01 -2.09001142e-02 -7.64096454e-03 3.11234181e+02] [ 2.09006707e-02 9.99781557e-01 -7.02522647e-06 4.60315820e+00] [ 7.63944225e-03 -1.52677797e-04 9.99970807e-01 1.20617508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519254154 meters 0.057595561328241306 Centerline is valid? [True, True] Translation: X:311.29, Y:4.61, Z:1.21 [[ 9.99792575e-01 -1.91069535e-02 -7.05202261e-03 3.11294962e+02] [ 1.91073833e-02 9.99817437e-01 -6.42635364e-06 4.61104927e+00] [ 7.05085796e-03 -1.28320679e-04 9.99975134e-01 1.20734320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579254154 meters 0.057316423608131266 Centerline is valid? [True, True] Translation: X:311.36, Y:4.61, Z:1.21 [[ 9.99839959e-01 -1.63496633e-02 -7.26262325e-03 3.11355782e+02] [ 1.63500461e-02 9.99866329e-01 -6.67292694e-06 4.61417978e+00] [ 7.26176155e-03 -1.12072366e-04 9.99973627e-01 1.20653894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639254154 meters 0.056850531707265735 Centerline is valid? [True, True] Translation: X:311.42, Y:4.62, Z:1.21 [[ 9.99884201e-01 -1.32054821e-02 -7.56301378e-03 3.11416428e+02] [ 1.32058067e-02 9.99912800e-01 -7.01656878e-06 4.61746467e+00] [ 7.56244694e-03 -9.28599418e-05 9.99971400e-01 1.20612259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699254154 meters 0.056119966664819484 Centerline is valid? [True, True] Translation: X:311.48, Y:4.62, Z:1.21 [[ 9.99896739e-01 -1.24184289e-02 -7.23151608e-03 3.11475652e+02] [ 1.24187047e-02 9.99922885e-01 -6.76321552e-06 4.61911964e+00] [ 7.23104241e-03 -8.30435459e-05 9.99973852e-01 1.20671442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759254154 meters 0.05706321200079717 Centerline is valid? [True, True] Translation: X:311.54, Y:4.62, Z:1.21 [[ 9.99876147e-01 -1.41071922e-02 -6.97700931e-03 3.11535169e+02] [ 1.41074897e-02 9.99900484e-01 -6.58071337e-06 4.61710135e+00] [ 6.97640782e-03 -9.18481885e-05 9.99975660e-01 1.20774021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819254154 meters 0.057394313932872046 Centerline is valid? [True, True] Translation: X:311.60, Y:4.61, Z:1.21 [[ 9.99819817e-01 -1.74952048e-02 -7.36557815e-03 3.11595728e+02] [ 1.74956283e-02 9.99846940e-01 -6.93732598e-06 4.61402943e+00] [ 7.36457214e-03 -1.21929342e-04 9.99972874e-01 1.20770110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879254154 meters 0.05806672113822788 Centerline is valid? [True, True] Translation: X:311.66, Y:4.61, Z:1.21 [[ 9.99665686e-01 -2.44279102e-02 -8.47310968e-03 3.11655754e+02] [ 2.44287196e-02 9.99701574e-01 -7.97424412e-06 4.60578452e+00] [ 8.47077588e-03 -1.99015642e-04 9.99964103e-01 1.20676299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939254154 meters 0.05792938928716106 Centerline is valid? [True, True] Translation: X:311.72, Y:4.61, Z:1.21 [[ 9.99520205e-01 -2.94837376e-02 -9.49047461e-03 3.11716748e+02] [ 2.94849808e-02 9.99565223e-01 -8.91735071e-06 4.60512067e+00] [ 9.48661129e-03 -2.70913390e-04 9.99954964e-01 1.20718373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters 0.05775954869644265 Centerline is valid? [True, True] Translation: X:311.78, Y:4.61, Z:1.21 [[ 9.99317251e-01 -3.56646144e-02 -9.64711172e-03 3.11777885e+02] [ 3.56661876e-02 9.99363759e-01 -8.97740671e-06 4.60775279e+00] [ 9.64129401e-03 -3.35104419e-04 9.99953465e-01 1.20826458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters 0.057751619424150205 Centerline is valid? [True, True] Translation: X:311.84, Y:4.60, Z:1.21 [[ 9.99207600e-01 -3.85786975e-02 -9.79063351e-03 3.11837756e+02] [ 3.85804589e-02 9.99255497e-01 -8.96830172e-06 4.60477366e+00] [ 9.78369034e-03 -3.68765939e-04 9.99952071e-01 1.20853739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters 0.05885517357895068 Centerline is valid? [True, True] Translation: X:311.90, Y:4.60, Z:1.21 [[ 9.99118597e-01 -4.10676466e-02 -8.68776367e-03 3.11898347e+02] [ 4.10691285e-02 9.99156307e-01 -7.83203155e-06 4.60281787e+00] [ 8.68075552e-03 -3.48973754e-04 9.99962261e-01 1.20973486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters 0.05987043718797828 Centerline is valid? [True, True] Translation: X:311.96, Y:4.60, Z:1.21 [[ 9.99117353e-01 -4.13804933e-02 -7.22290911e-03 3.11959955e+02] [ 4.13815267e-02 9.99143418e-01 -6.38216964e-06 4.59680033e+00] [ 7.21698619e-03 -2.92518470e-04 9.99973914e-01 1.21096282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters 0.060748186201568584 Centerline is valid? [True, True] Translation: X:312.02, Y:4.60, Z:1.21 [[ 9.99128374e-01 -4.11057183e-02 -7.26720401e-03 3.12022669e+02] [ 4.11067587e-02 9.99154760e-01 -6.20049299e-06 4.59621020e+00] [ 7.26131635e-03 -2.92536113e-04 9.99973593e-01 1.21135868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters 0.05935119811793083 Centerline is valid? [True, True] Translation: X:312.08, Y:4.60, Z:1.21 [[ 9.99145876e-01 -4.06734539e-02 -7.29310757e-03 3.12084581e+02] [ 4.06744922e-02 9.99172450e-01 -5.96666064e-06 4.60171419e+00] [ 7.28731485e-03 -2.90681882e-04 9.99973405e-01 1.21198241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters 0.06017108913404073 Centerline is valid? [True, True] Translation: X:312.15, Y:4.60, Z:1.21 [[ 9.99164192e-01 -4.01852809e-02 -7.48740784e-03 3.12146150e+02] [ 4.01863640e-02 9.99192202e-01 -5.79842127e-06 4.59823552e+00] [ 7.48159254e-03 -2.95098122e-04 9.99971969e-01 1.21127511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters 0.05935866435489901 Centerline is valid? [True, True] Translation: X:312.21, Y:4.61, Z:1.21 [[ 9.99172304e-01 -3.97998343e-02 -8.40712722e-03 3.12208010e+02] [ 3.98011895e-02 9.99207619e-01 -6.11983683e-06 4.60672047e+00] [ 8.40070914e-03 -3.28498892e-04 9.99964659e-01 1.21155119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters 0.06055257995413974 Centerline is valid? [True, True] Translation: X:312.27, Y:4.60, Z:1.21 [[ 9.99161111e-01 -4.00076435e-02 -8.74426003e-03 3.12269249e+02] [ 4.00091196e-02 9.99199315e-01 -6.12503884e-06 4.60347758e+00] [ 8.73750368e-03 -3.43730245e-04 9.99961768e-01 1.21071709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.539254154 meters 0.05873610298241826 Centerline is valid? [True, True] Translation: X:312.33, Y:4.61, Z:1.21 [[ 9.99195797e-01 -3.89762204e-02 -9.41347784e-03 3.12330325e+02] [ 3.89778872e-02 9.99240073e-01 -6.40850891e-06 4.61279961e+00] [ 9.40657407e-03 -3.60514122e-04 9.99955692e-01 1.21102608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.599254154 meters 0.05899993744042894 Centerline is valid? [True, True] Translation: X:312.39, Y:4.61, Z:1.21 [[ 9.99310509e-01 -3.56954626e-02 -1.02147048e-02 3.12389564e+02] [ 3.56972544e-02 9.99362650e-01 -6.92020408e-06 4.61358835e+00] [ 1.02084415e-02 -3.57721484e-04 9.99947829e-01 1.21030724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.659254154 meters 0.05878670075308334 Centerline is valid? [True, True] Translation: X:312.45, Y:4.62, Z:1.21 [[ 9.99430675e-01 -3.24481549e-02 -9.24358913e-03 3.12449786e+02] [ 3.24494833e-02 9.99473377e-01 -6.26765319e-06 4.61841532e+00] [ 9.23892461e-03 -2.93685606e-04 9.99957277e-01 1.21109495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.719254154 meters 0.05923010774253746 Centerline is valid? [True, True] Translation: X:312.51, Y:4.62, Z:1.21 [[ 9.99477250e-01 -3.13983065e-02 -7.70537431e-03 3.12510043e+02] [ 3.13991987e-02 9.99506924e-01 -5.18659883e-06 4.61753686e+00] [ 7.70173782e-03 -2.36758692e-04 9.99970313e-01 1.21187387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779254154 meters 0.058239720592570286 Centerline is valid? [True, True] Translation: X:312.57, Y:4.62, Z:1.21 [[ 9.99505624e-01 -3.09758126e-02 -5.38571280e-03 3.12571863e+02] [ 3.09762426e-02 9.99520121e-01 -3.57019400e-06 4.62318555e+00] [ 5.38323890e-03 -1.63260717e-04 9.99985497e-01 1.21460012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839254154 meters 0.0581450116331727 Centerline is valid? [True, True] Translation: X:312.63, Y:4.62, Z:1.22 [[ 9.99477382e-01 -3.20152713e-02 -4.47044846e-03 3.12633802e+02] [ 3.20155784e-02 9.99487370e-01 -2.86680343e-06 4.62394225e+00] [ 4.46824856e-03 -1.40258688e-04 9.99990007e-01 1.21510204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899254154 meters 0.058686626075864196 Centerline is valid? [True, True] Translation: X:312.70, Y:4.62, Z:1.21 [[ 9.99431450e-01 -3.31089855e-02 -6.36961759e-03 3.12695264e+02] [ 3.31096329e-02 9.99451726e-01 -3.80912135e-06 4.62451122e+00] [ 6.36625141e-03 -2.07088745e-04 9.99979714e-01 1.21355625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959254154 meters 0.05744178658499438 Centerline is valid? [True, True] Translation: X:312.76, Y:4.63, Z:1.21 [[ 9.99410314e-01 -3.35931873e-02 -7.10793870e-03 3.12757864e+02] [ 3.35940071e-02 9.99435562e-01 -4.04860457e-06 4.62887385e+00] [ 7.10406271e-03 -2.34737926e-04 9.99974738e-01 1.21358409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019254154 meters 0.0589281179339224 Centerline is valid? [True, True] Translation: X:312.82, Y:4.63, Z:1.21 [[ 9.99368033e-01 -3.44954337e-02 -8.57901595e-03 3.12818718e+02] [ 3.44966648e-02 9.99404813e-01 -4.48642910e-06 4.62629066e+00] [ 8.57406459e-03 -2.91463843e-04 9.99963200e-01 1.21162965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079254154 meters 0.05971412046023125 Centerline is valid? [True, True] Translation: X:312.88, Y:4.62, Z:1.21 [[ 9.99352272e-01 -3.47712290e-02 -9.27352442e-03 3.12880746e+02] [ 3.47726829e-02 9.99395247e-01 -4.45797312e-06 4.62451676e+00] [ 9.26807124e-03 -3.18010239e-04 9.99957000e-01 1.21105861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139254154 meters 0.05761665442710565 Centerline is valid? [True, True] Translation: X:312.94, Y:4.63, Z:1.21 [[ 9.99399477e-01 -3.34913461e-02 -8.88900594e-03 3.12942075e+02] [ 3.34926331e-02 9.99438964e-01 -4.08202354e-06 4.63478016e+00] [ 8.88415561e-03 -2.93636642e-04 9.99960492e-01 1.21263766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199254154 meters 0.057733238841240264 Centerline is valid? [True, True] Translation: X:313.00, Y:4.64, Z:1.21 [[ 9.99510594e-01 -2.99996681e-02 -8.86527731e-03 3.13002538e+02] [ 3.00008120e-02 9.99549874e-01 -3.95503869e-06 4.64241318e+00] [ 8.86140548e-03 -2.62012415e-04 9.99960703e-01 1.21311468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259254154 meters 0.05801894936463317 Centerline is valid? [True, True] Translation: X:313.06, Y:4.64, Z:1.21 [[ 9.99581624e-01 -2.77171400e-02 -8.26664545e-03 3.13063334e+02] [ 2.77180576e-02 9.99615781e-01 -3.57710006e-06 4.64322046e+00] [ 8.26356840e-03 -2.25559751e-04 9.99965831e-01 1.21331818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319254154 meters 0.057250922584975474 Centerline is valid? [True, True] Translation: X:313.13, Y:4.64, Z:1.21 [[ 9.99571435e-01 -2.83643600e-02 -7.23947043e-03 3.13125285e+02] [ 2.83650818e-02 9.99597630e-01 -2.97650717e-06 4.64496684e+00] [ 7.23664191e-03 -2.02372939e-04 9.99973795e-01 1.21435977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379254154 meters 0.05818561735881902 Centerline is valid? [True, True] Translation: X:313.19, Y:4.64, Z:1.21 [[ 9.99480202e-01 -3.14817323e-02 -6.94445460e-03 3.13185916e+02] [ 3.14824726e-02 9.99504304e-01 -2.71791893e-06 4.64447310e+00] [ 6.94109783e-03 -2.15912095e-04 9.99975887e-01 1.21469639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439254154 meters 0.05872367806677176 Centerline is valid? [True, True] Translation: X:313.25, Y:4.65, Z:1.21 [[ 9.99413178e-01 -3.33648233e-02 -7.75168638e-03 3.13247417e+02] [ 3.33658032e-02 9.99443207e-01 -2.91539343e-06 4.64702072e+00] [ 7.74746756e-03 -2.55727559e-04 9.99969955e-01 1.21464416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters 0.0583443195325762 Centerline is valid? [True, True] Translation: X:313.31, Y:4.65, Z:1.22 [[ 9.99433042e-01 -3.28533660e-02 -7.36555955e-03 3.13309579e+02] [ 3.28542382e-02 9.99460154e-01 -2.58180674e-06 4.65001737e+00] [ 7.36166811e-03 -2.39409505e-04 9.99972874e-01 1.21544014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters 0.05716662570836251 Centerline is valid? [True, True] Translation: X:313.37, Y:4.66, Z:1.22 [[ 9.99464903e-01 -3.18848264e-02 -7.29830126e-03 3.13371893e+02] [ 3.18856586e-02 9.99491523e-01 -2.33544876e-06 4.65595317e+00] [ 7.29466471e-03 -2.30376944e-04 9.99973367e-01 1.21624685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters 0.05680264375814093 Centerline is valid? [True, True] Translation: X:313.43, Y:4.66, Z:1.22 [[ 9.99508276e-01 -3.04095931e-02 -7.64608662e-03 3.13432622e+02] [ 3.04104648e-02 9.99537495e-01 -2.26148975e-06 4.66001577e+00] [ 7.64261904e-03 -2.30260671e-04 9.99970768e-01 1.21621183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters 0.05743449796625813 Centerline is valid? [True, True] Translation: X:313.49, Y:4.65, Z:1.22 [[ 9.99505328e-01 -3.04872885e-02 -7.72173808e-03 3.13494487e+02] [ 3.04881814e-02 9.99535127e-01 -2.07109755e-06 4.65413389e+00] [ 7.71821160e-03 -2.33351679e-04 9.99970187e-01 1.21526994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters 0.05854888606368487 Centerline is valid? [True, True] Translation: X:313.56, Y:4.66, Z:1.22 [[ 9.99476670e-01 -3.13625526e-02 -7.92320718e-03 3.13556920e+02] [ 3.13635225e-02 9.99508044e-01 -1.84206892e-06 4.65596082e+00] [ 7.91936708e-03 -2.46658582e-04 9.99968611e-01 1.21577628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters 0.056120715898859606 Centerline is valid? [True, True] Translation: X:313.62, Y:4.67, Z:1.22 [[ 9.99405795e-01 -3.35813051e-02 -7.76866416e-03 3.13617727e+02] [ 3.35823056e-02 9.99435955e-01 -1.65846280e-06 4.66741133e+00] [ 7.76433798e-03 -2.59232176e-04 9.99969823e-01 1.21727549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters 0.057729376299834725 Centerline is valid? [True, True] Translation: X:313.68, Y:4.66, Z:1.22 [[ 9.99360481e-01 -3.48632112e-02 -7.94892106e-03 3.13679013e+02] [ 3.48643002e-02 9.99392055e-01 -1.57089033e-06 4.66067186e+00] [ 7.94414332e-03 -2.75563684e-04 9.99968407e-01 1.21679959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters 0.05724858105119949 Centerline is valid? [True, True] Translation: X:313.74, Y:4.66, Z:1.22 [[ 9.99281693e-01 -3.71418092e-02 -7.52222996e-03 3.13739565e+02] [ 3.71428500e-02 9.99309966e-01 -1.33685925e-06 4.66156694e+00] [ 7.51708902e-03 -2.78061160e-04 9.99971708e-01 1.21680396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters 0.05836534376495187 Centerline is valid? [True, True] Translation: X:313.80, Y:4.66, Z:1.22 [[ 9.99288327e-01 -3.69789832e-02 -7.44275004e-03 3.13801018e+02] [ 3.69799987e-02 9.99316006e-01 -1.17708531e-06 4.65832045e+00] [ 7.43770277e-03 -2.74056639e-04 9.99972302e-01 1.21620687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.039254154 meters 0.05871990359301433 Centerline is valid? [True, True] Translation: X:313.86, Y:4.66, Z:1.22 [[ 9.99434977e-01 -3.28424648e-02 -7.14833824e-03 3.13861130e+02] [ 3.28432967e-02 9.99460513e-01 -1.02298180e-06 4.66066949e+00] [ 7.14451540e-03 -2.33752590e-04 9.99974450e-01 1.21628755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.099254154 meters 0.05647311901259524 Centerline is valid? [True, True] Translation: X:313.92, Y:4.67, Z:1.22 [[ 9.99688441e-01 -2.42084573e-02 -6.08043137e-03 3.13921297e+02] [ 2.42088997e-02 9.99706922e-01 -8.45574287e-07 4.67477754e+00] [ 6.07866980e-03 -1.46355242e-04 9.99981514e-01 1.21846578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.159254154 meters 0.05443430468185072 Centerline is valid? [True, True] Translation: X:313.98, Y:4.69, Z:1.22 [[ 9.99822219e-01 -1.81082390e-02 -5.25574854e-03 3.13981971e+02] [ 1.81084853e-02 9.99836028e-01 -7.27346979e-07 4.68557653e+00] [ 5.25489992e-03 -9.44464276e-05 9.99986188e-01 1.21950341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.219254154 meters 0.05599723664525649 Centerline is valid? [True, True] Translation: X:314.04, Y:4.68, Z:1.22 [[ 9.99891412e-01 -1.36620983e-02 -5.52377338e-03 3.14042228e+02] [ 1.36623026e-02 9.99906666e-01 -7.42832692e-07 4.68205188e+00] [ 5.52326797e-03 -7.47247115e-05 9.99984744e-01 1.21862133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279254154 meters 0.05556438779784317 Centerline is valid? [True, True] Translation: X:314.10, Y:4.68, Z:1.22 [[ 9.99909765e-01 -1.14602130e-02 -7.00898653e-03 3.14103280e+02] [ 1.14604886e-02 9.99934326e-01 -8.55478198e-07 4.68419474e+00] [ 7.00853603e-03 -7.94710090e-05 9.99975437e-01 1.21712968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339254154 meters 0.05553500953704137 Centerline is valid? [True, True] Translation: X:314.16, Y:4.68, Z:1.22 [[ 9.99886321e-01 -1.27252310e-02 -8.08784362e-03 3.14162409e+02] [ 1.27256398e-02 9.99919026e-01 -9.15845721e-07 4.68009749e+00] [ 8.08720037e-03 -1.02007243e-04 9.99967293e-01 1.21548997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399254154 meters 0.05701248283812671 Centerline is valid? [True, True] Translation: X:314.22, Y:4.68, Z:1.22 [[ 9.99817147e-01 -1.70626256e-02 -8.63365279e-03 3.14223081e+02] [ 1.70632531e-02 9.99854412e-01 -9.77651696e-07 4.67583237e+00] [ 8.63241251e-03 -1.46340730e-04 9.99962729e-01 1.21617176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459254154 meters 0.05693966566990052 Centerline is valid? [True, True] Translation: X:314.28, Y:4.67, Z:1.22 [[ 9.99744811e-01 -2.08758833e-02 -8.63194239e-03 3.14284434e+02] [ 2.08766532e-02 9.99782059e-01 -9.06750326e-07 4.67177340e+00] [ 8.63008006e-03 -1.79299549e-04 9.99962744e-01 1.21709861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519254154 meters 0.05682995760204004 Centerline is valid? [True, True] Translation: X:314.35, Y:4.67, Z:1.22 [[ 9.99600448e-01 -2.71116945e-02 -7.99380215e-03 3.14345087e+02] [ 2.71125546e-02 9.99632387e-01 -7.79421404e-07 4.67027654e+00] [ 7.99088465e-03 -2.15953287e-04 9.99968049e-01 1.21854845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579254154 meters 0.05511900237512974 Centerline is valid? [True, True] Translation: X:314.41, Y:4.68, Z:1.22 [[ 9.99489002e-01 -3.08988112e-02 -8.18530723e-03 3.14405644e+02] [ 3.08998401e-02 9.99522486e-01 -7.72806060e-07 4.67735132e+00] [ 8.18142251e-03 -2.52152273e-04 9.99966500e-01 1.22037945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639254154 meters 0.058481896213600386 Centerline is valid? [True, True] Translation: X:314.47, Y:4.66, Z:1.22 [[ 9.99342853e-01 -3.52956135e-02 -8.25113140e-03 3.14465667e+02] [ 3.52968085e-02 9.99376874e-01 -7.90495043e-07 4.65702881e+00] [ 8.24601780e-03 -2.90448629e-04 9.99965959e-01 1.21836378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699254154 meters 0.05648654547322482 Centerline is valid? [True, True] Translation: X:314.53, Y:4.67, Z:1.22 [[ 9.99206135e-01 -3.91296318e-02 -7.48140316e-03 3.14525888e+02] [ 3.91307214e-02 9.99234100e-01 -7.37451125e-07 4.66601829e+00] [ 7.47570201e-03 -2.92015837e-04 9.99972014e-01 1.22002153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759254154 meters 0.05684581014008491 Centerline is valid? [True, True] Translation: X:314.59, Y:4.66, Z:1.22 [[ 9.99154172e-01 -4.03610990e-02 -7.86912336e-03 3.14587425e+02] [ 4.03623431e-02 9.99185109e-01 -7.11060023e-07 4.66183852e+00] [ 7.86273958e-03 -3.16905799e-04 9.99969038e-01 1.22035538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819254154 meters 0.05975643216178991 Centerline is valid? [True, True] Translation: X:314.65, Y:4.65, Z:1.22 [[ 9.99164870e-01 -3.98952222e-02 -8.82800948e-03 3.14648203e+02] [ 3.98967727e-02 9.99203807e-01 -4.67275121e-07 4.64906168e+00] [ 8.82099932e-03 -3.51742203e-04 9.99961032e-01 1.21859781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879254154 meters 0.06128624247434696 Centerline is valid? [True, True] Translation: X:314.71, Y:4.65, Z:1.22 [[ 9.99328394e-01 -3.55351424e-02 -8.94514417e-03 3.14709076e+02] [ 3.55365625e-02 9.99368377e-01 -1.86527542e-07 4.64676771e+00] [ 8.93950084e-03 -3.17693273e-04 9.99959991e-01 1.21656318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939254154 meters 0.056464727393596044 Centerline is valid? [True, True] Translation: X:314.77, Y:4.67, Z:1.22 [[ 9.99589306e-01 -2.72983561e-02 -8.71885848e-03 3.14769577e+02] [ 2.72993927e-02 9.99627302e-01 -1.19580380e-07 4.66555390e+00] [ 8.71561225e-03 -2.37900011e-04 9.99961990e-01 1.21763259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters 0.05612051845452309 Centerline is valid? [True, True] Translation: X:314.83, Y:4.67, Z:1.22 [[ 9.99757938e-01 -2.02189656e-02 -8.67523491e-03 3.14830521e+02] [ 2.02197258e-02 9.99795560e-01 -7.94922948e-08 4.67457214e+00] [ 8.67346296e-03 -1.75331398e-04 9.99962369e-01 1.21791631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters 0.05516675674151649 Centerline is valid? [True, True] Translation: X:314.89, Y:4.68, Z:1.22 [[ 9.99924962e-01 -8.71875077e-03 -8.60548436e-03 3.14891313e+02] [ 8.71907376e-03 9.99961988e-01 1.61556545e-08 4.68360527e+00] [ 8.60515711e-03 -7.50480073e-05 9.99962972e-01 1.21794954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters 0.056278211102600596 Centerline is valid? [True, True] Translation: X:314.95, Y:4.69, Z:1.22 [[ 9.99960030e-01 7.01864878e-04 -8.91329420e-03 3.14950254e+02] [-7.01893512e-04 9.99999754e-01 -8.44562768e-08 4.68994611e+00] [ 8.91329194e-03 6.34063627e-06 9.99960276e-01 1.21916016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters 0.05629327836720089 Centerline is valid? [True, True] Translation: X:315.01, Y:4.69, Z:1.22 [[ 9.99951326e-01 5.22310594e-03 -8.37047485e-03 3.15008951e+02] [-5.22329460e-03 9.99986359e-01 -6.77944895e-07 4.69170317e+00] [ 8.37035712e-03 4.43993680e-05 9.99964967e-01 1.21875010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters 0.05567554948974748 Centerline is valid? [True, True] Translation: X:315.07, Y:4.69, Z:1.22 [[ 9.99918985e-01 9.56755478e-03 -8.39561460e-03 3.15066732e+02] [-9.56790568e-03 9.99954227e-01 -1.63091236e-06 4.69316212e+00] [ 8.39521470e-03 8.19592288e-05 9.99964756e-01 1.21831952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters 0.05648438971837 Centerline is valid? [True, True] Translation: X:315.13, Y:4.69, Z:1.22 [[ 9.99909302e-01 1.08098352e-02 -8.03336545e-03 3.15125623e+02] [-1.08102013e-02 9.99941568e-01 -2.14293056e-06 4.69120351e+00] [ 8.03287288e-03 8.89850336e-05 9.99967732e-01 1.21878037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters 0.05651369653767301 Centerline is valid? [True, True] Translation: X:315.18, Y:4.69, Z:1.22 [[ 9.99923185e-01 1.02630947e-02 -6.94938932e-03 3.15184692e+02] [-1.02633569e-02 9.99947330e-01 -2.07287409e-06 4.68733505e+00] [ 6.94900202e-03 7.33967777e-05 9.99975853e-01 1.21988996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters 0.05614840472952745 Centerline is valid? [True, True] Translation: X:315.24, Y:4.68, Z:1.22 [[ 9.99935518e-01 9.27473468e-03 -6.55279263e-03 3.15242207e+02] [-9.27494818e-03 9.99956987e-01 -2.19325767e-06 4.68401725e+00] [ 6.55249043e-03 6.29699284e-05 9.99978530e-01 1.22059314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters 0.05712318887734886 Centerline is valid? [True, True] Translation: X:315.30, Y:4.68, Z:1.22 [[ 9.99950213e-01 8.06167393e-03 -5.88051182e-03 3.15300312e+02] [-8.06182614e-03 9.99967503e-01 -2.18050160e-06 4.67997896e+00] [ 5.88030314e-03 4.95880569e-05 9.99982710e-01 1.22139595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.539254154 meters 0.05691770430265809 Centerline is valid? [True, True] Translation: X:315.36, Y:4.67, Z:1.22 [[ 9.99959134e-01 7.23905989e-03 -5.41531037e-03 3.15358971e+02] [-7.23917778e-03 9.99973797e-01 -2.16861928e-06 4.67290337e+00] [ 5.41515277e-03 4.13709251e-05 9.99985337e-01 1.22227953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.599254154 meters 0.05695837095717151 Centerline is valid? [True, True] Translation: X:315.42, Y:4.67, Z:1.22 [[ 9.99975923e-01 4.25233853e-03 -5.48376770e-03 3.15417487e+02] [-4.25241543e-03 9.99990958e-01 -2.36393218e-06 4.66522498e+00] [ 5.48370807e-03 2.56831337e-05 9.99984964e-01 1.22166205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.659254154 meters 0.05634595776931673 Centerline is valid? [True, True] Translation: X:315.48, Y:4.66, Z:1.22 [[ 9.99979102e-01 -8.81317401e-05 -6.46430028e-03 3.15476001e+02] [ 8.81142685e-05 9.99999996e-01 -2.98765445e-06 4.65724581e+00] [ 6.46430052e-03 2.41799493e-06 9.99979106e-01 1.22108139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.719254154 meters 0.05714460301901187 Centerline is valid? [True, True] Translation: X:315.53, Y:4.65, Z:1.22 [[ 9.99973510e-01 -3.75823378e-03 -6.23330943e-03 3.15534599e+02] [ 3.75828784e-03 9.99992938e-01 -3.04043524e-06 4.65035400e+00] [ 6.23327683e-03 -2.03862163e-05 9.99980573e-01 1.21970866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779254154 meters 0.056930950137755634 Centerline is valid? [True, True] Translation: X:315.59, Y:4.64, Z:1.22 [[ 9.99920938e-01 -1.10418346e-02 -6.01625794e-03 3.15593637e+02] [ 1.10420159e-02 9.99939035e-01 -3.07705764e-06 4.64281524e+00] [ 6.01592514e-03 -6.33548014e-05 9.99981902e-01 1.22079390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839254154 meters 0.05739730969416106 Centerline is valid? [True, True] Translation: X:315.65, Y:4.63, Z:1.22 [[ 9.99814242e-01 -1.83127780e-02 -6.01036878e-03 3.15653713e+02] [ 1.83130897e-02 9.99832301e-01 -3.17262328e-06 4.63233410e+00] [ 6.00941895e-03 -1.06896389e-04 9.99981938e-01 1.22047176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899254154 meters 0.058166739622868675 Centerline is valid? [True, True] Translation: X:315.71, Y:4.62, Z:1.22 [[ 9.99704073e-01 -2.34587313e-02 -6.43849805e-03 3.15713785e+02] [ 2.34591957e-02 9.99724795e-01 -3.39207035e-06 4.61993773e+00] [ 6.43680571e-03 -1.47650919e-04 9.99979273e-01 1.21977455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959254154 meters 0.0570793986877415 Centerline is valid? [True, True] Translation: X:315.77, Y:4.62, Z:1.22 [[ 9.99532911e-01 -2.98786740e-02 -6.42069602e-03 3.15774788e+02] [ 2.98792684e-02 9.99553515e-01 -3.34594315e-06 4.62218814e+00] [ 6.41792925e-03 -1.88501320e-04 9.99979387e-01 1.22053318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019254154 meters 0.06030005181933228 Centerline is valid? [True, True] Translation: X:315.83, Y:4.60, Z:1.22 [[ 9.99116823e-01 -4.12691101e-02 -7.90149298e-03 3.15834636e+02] [ 4.12703664e-02 9.99148015e-01 -4.06934765e-06 4.60172198e+00] [ 7.89492897e-03 -3.22031757e-04 9.99968783e-01 1.21931330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079254154 meters 0.05656995146183168 Centerline is valid? [True, True] Translation: X:315.90, Y:4.61, Z:1.22 [[ 9.98543500e-01 -5.35478059e-02 -6.59625457e-03 3.15895194e+02] [ 5.35489484e-02 9.98565226e-01 -3.41395039e-06 4.60704703e+00] [ 6.58697324e-03 -3.49813518e-04 9.99978244e-01 1.22065046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139254154 meters 0.05632922774440459 Centerline is valid? [True, True] Translation: X:315.96, Y:4.61, Z:1.22 [[ 9.98327024e-01 -5.74439872e-02 -6.58347853e-03 3.15956172e+02] [ 5.74452099e-02 9.98348660e-01 -3.37867163e-06 4.60887531e+00] [ 6.57280106e-03 -3.74816287e-04 9.99978329e-01 1.22137697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199254154 meters 0.06284767805755975 Centerline is valid? [True, True] Translation: X:316.02, Y:4.59, Z:1.22 [[ 9.97936347e-01 -6.37301000e-02 -7.84363593e-03 3.16015666e+02] [ 6.37320291e-02 9.97967048e-01 -4.01279145e-06 4.58597604e+00] [ 7.82794592e-03 -4.95886323e-04 9.99969238e-01 1.22059087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259254154 meters 0.056017559947930395 Centerline is valid? [True, True] Translation: X:316.08, Y:4.61, Z:1.22 [[ 9.97910484e-01 -6.42426703e-02 -6.89536305e-03 3.16077532e+02] [ 6.42441740e-02 9.97934209e-01 -3.42899794e-06 4.60798551e+00] [ 6.88133896e-03 -4.39565071e-04 9.99976227e-01 1.22202042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319254154 meters 0.05708530354286937 Centerline is valid? [True, True] Translation: X:316.14, Y:4.60, Z:1.22 [[ 9.98105125e-01 -6.11544348e-02 -6.80394573e-03 3.16137612e+02] [ 6.11558285e-02 9.98128231e-01 -3.22426444e-06 4.60290760e+00] [ 6.79140749e-03 -4.12882783e-04 9.99976853e-01 1.22192239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379254154 meters 0.05666650007580813 Centerline is valid? [True, True] Translation: X:316.20, Y:4.61, Z:1.22 [[ 9.98338747e-01 -5.72040926e-02 -6.88756609e-03 3.16197859e+02] [ 5.72054272e-02 9.98362429e-01 -3.25136392e-06 4.61230744e+00] [ 6.87647320e-03 -3.90760198e-04 9.99976280e-01 1.22280642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439254154 meters 0.05753095713105475 Centerline is valid? [True, True] Translation: X:316.26, Y:4.61, Z:1.22 [[ 9.98751569e-01 -4.95294884e-02 -6.49106049e-03 3.16257346e+02] [ 4.95305121e-02 9.98772611e-01 -3.04679262e-06 4.61232191e+00] [ 6.48324434e-03 -3.18462561e-04 9.99978933e-01 1.22305938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters 0.05802137629817721 Centerline is valid? [True, True] Translation: X:316.32, Y:4.61, Z:1.22 [[ 9.99018434e-01 -4.37512466e-02 -6.92798442e-03 3.16316482e+02] [ 4.37522739e-02 9.99042411e-01 -3.27921511e-06 4.61290769e+00] [ 6.92149373e-03 -2.99839076e-04 9.99976001e-01 1.22372360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters 0.057574171194493436 Centerline is valid? [True, True] Translation: X:316.38, Y:4.62, Z:1.22 [[ 9.99323693e-01 -3.58921514e-02 -7.99443816e-03 3.16377422e+02] [ 3.58932677e-02 9.99355629e-01 -3.84154635e-06 4.62369646e+00] [ 7.98942466e-03 -2.83107561e-04 9.99968044e-01 1.22353841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters 0.057274343757901774 Centerline is valid? [True, True] Translation: X:316.44, Y:4.63, Z:1.22 [[ 9.99602156e-01 -2.69622879e-02 -8.28036821e-03 3.16437177e+02] [ 2.69631793e-02 9.99636427e-01 -3.98773301e-06 4.62989930e+00] [ 8.27746521e-03 -2.19278906e-04 9.99965717e-01 1.22304758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters 0.05704753135106388 Centerline is valid? [True, True] Translation: X:316.50, Y:4.64, Z:1.22 [[ 9.99762471e-01 -2.04975928e-02 -7.40603202e-03 3.16497853e+02] [ 2.04981288e-02 9.99789891e-01 -3.52732903e-06 4.64115869e+00] [ 7.40454825e-03 -1.48283307e-04 9.99972575e-01 1.22443166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters 0.05687321999139735 Centerline is valid? [True, True] Translation: X:316.56, Y:4.64, Z:1.22 [[ 9.99876836e-01 -1.39513285e-02 -7.18835732e-03 3.16557554e+02] [ 1.39516646e-02 9.99902671e-01 -3.39079611e-06 4.64459717e+00] [ 7.18770499e-03 -9.68991721e-05 9.99974163e-01 1.22417726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters 0.056840167416876475 Centerline is valid? [True, True] Translation: X:316.62, Y:4.65, Z:1.23 [[ 9.99957121e-01 -6.57789653e-03 -6.51826263e-03 3.16617788e+02] [ 6.57801623e-03 9.99978365e-01 -3.07470797e-06 4.65443875e+00] [ 6.51814183e-03 -3.98026613e-05 9.99978756e-01 1.22664503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters 0.05622491670672087 Centerline is valid? [True, True] Translation: X:316.68, Y:4.66, Z:1.23 [[ 9.99975833e-01 -4.20908584e-03 -5.53327919e-03 3.16677184e+02] [ 4.20913568e-03 9.99991142e-01 -2.63767179e-06 4.65658611e+00] [ 5.53324128e-03 -2.06527148e-05 9.99984691e-01 1.22743131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters 0.05618639877571745 Centerline is valid? [True, True] Translation: X:316.74, Y:4.66, Z:1.23 [[ 9.99976811e-01 -4.48489667e-03 -5.12480878e-03 3.16736158e+02] [ 4.48494256e-03 9.99989943e-01 -2.53674565e-06 4.65548505e+00] [ 5.12476862e-03 -2.04477862e-05 9.99986868e-01 1.22789794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters 0.05557794994024386 Centerline is valid? [True, True] Translation: X:316.79, Y:4.65, Z:1.23 [[ 9.99948753e-01 -8.35960117e-03 -5.71031865e-03 3.16794853e+02] [ 8.35972043e-03 9.99965057e-01 -2.98349510e-06 4.64972500e+00] [ 5.71014405e-03 -4.47533253e-05 9.99983696e-01 1.22752924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.039254154 meters 0.05633695370788011 Centerline is valid? [True, True] Translation: X:316.86, Y:4.65, Z:1.23 [[ 9.99904610e-01 -1.23206111e-02 -6.24288527e-03 3.16855214e+02] [ 1.23208302e-02 9.99924096e-01 -3.36879115e-06 4.64598827e+00] [ 6.24245292e-03 -7.35490594e-05 9.99980513e-01 1.22751594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.099254154 meters 0.057161615804931454 Centerline is valid? [True, True] Translation: X:316.92, Y:4.64, Z:1.23 [[ 9.99796486e-01 -1.83724058e-02 -8.33309590e-03 3.16915746e+02] [ 1.83730063e-02 9.99831202e-01 -4.49671242e-06 4.64005529e+00] [ 8.33177190e-03 -1.48608226e-04 9.99965279e-01 1.22627016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.159254154 meters 0.05644413147826656 Centerline is valid? [True, True] Translation: X:316.98, Y:4.64, Z:1.23 [[ 9.99711999e-01 -2.22140365e-02 -9.08050294e-03 3.16976542e+02] [ 2.22149083e-02 9.99753218e-01 -4.85711865e-06 4.63630050e+00] [ 9.07836994e-03 -1.96866820e-04 9.99958771e-01 1.22581407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.219254154 meters 0.056818187859576784 Centerline is valid? [True, True] Translation: X:317.04, Y:4.63, Z:1.23 [[ 9.99636842e-01 -2.57012213e-02 -8.10136406e-03 3.17037988e+02] [ 2.57020305e-02 9.99669648e-01 -4.23334610e-06 4.63277005e+00] [ 8.09879656e-03 -2.03989697e-04 9.99967183e-01 1.22651061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279254154 meters 0.05706387945222373 Centerline is valid? [True, True] Translation: X:317.10, Y:4.63, Z:1.23 [[ 9.99633457e-01 -2.57168119e-02 -8.46156069e-03 3.17099310e+02] [ 2.57176968e-02 9.99669245e-01 -4.23614833e-06 4.62595239e+00] [ 8.45887093e-03 -2.13377257e-04 9.99964200e-01 1.22624406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339254154 meters 0.057720215357331954 Centerline is valid? [True, True] Translation: X:317.16, Y:4.63, Z:1.23 [[ 9.99664569e-01 -2.46639598e-02 -7.90185081e-03 3.17159410e+02] [ 2.46646996e-02 9.99695780e-01 -3.83098679e-06 4.62548832e+00] [ 7.89954140e-03 -1.91067075e-04 9.99968780e-01 1.22726796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399254154 meters 0.05840849457475243 Centerline is valid? [True, True] Translation: X:317.22, Y:4.62, Z:1.23 [[ 9.99711886e-01 -2.29660558e-02 -6.97891104e-03 3.17220528e+02] [ 2.29665912e-02 9.99736233e-01 -3.41434660e-06 4.62182161e+00] [ 6.97714865e-03 -1.56868434e-04 9.99975647e-01 1.22723566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459254154 meters 0.057088916556330305 Centerline is valid? [True, True] Translation: X:317.28, Y:4.63, Z:1.23 [[ 9.99800920e-01 -1.85759590e-02 -7.28388288e-03 3.17281724e+02] [ 1.85764254e-02 9.99827443e-01 -3.61621851e-06 4.63394495e+00] [ 7.28269317e-03 -1.31693008e-04 9.99973472e-01 1.22943337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519254154 meters 0.056711858381158116 Centerline is valid? [True, True] Translation: X:317.34, Y:4.63, Z:1.23 [[ 9.99885029e-01 -1.39661198e-02 -5.90565407e-03 3.17342959e+02] [ 1.39663461e-02 9.99902466e-01 -2.92223505e-06 4.62857071e+00] [ 5.90511888e-03 -7.95585098e-05 9.99982561e-01 1.22922694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579254154 meters 0.05731376485478503 Centerline is valid? [True, True] Translation: X:317.40, Y:4.63, Z:1.23 [[ 9.99918100e-01 -1.08947185e-02 -6.71550953e-03 3.17403057e+02] [ 1.08949416e-02 9.99940648e-01 -3.35752695e-06 4.62661628e+00] [ 6.71514753e-03 -6.98078321e-05 9.99977451e-01 1.22890567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639254154 meters 0.056685169915742906 Centerline is valid? [True, True] Translation: X:317.46, Y:4.63, Z:1.23 [[ 9.99934341e-01 -7.90001539e-03 -8.30085959e-03 3.17462457e+02] [ 7.90025185e-03 9.99968793e-01 -4.30400605e-06 4.62686103e+00] [ 8.30063454e-03 -6.12751579e-05 9.99965547e-01 1.22772999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699254154 meters 0.05722574095079596 Centerline is valid? [True, True] Translation: X:317.52, Y:4.63, Z:1.23 [[ 9.99928168e-01 -6.78614282e-03 -9.87964337e-03 3.17520038e+02] [ 6.78641809e-03 9.99976972e-01 -5.66170034e-06 4.62601290e+00] [ 9.87945428e-03 -6.13860969e-05 9.99951195e-01 1.22749125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759254154 meters 0.057611154826981585 Centerline is valid? [True, True] Translation: X:317.58, Y:4.62, Z:1.23 [[ 9.99930179e-01 -7.06519697e-03 -9.47209028e-03 3.17577828e+02] [ 7.06545360e-03 9.99975039e-01 -6.37076545e-06 4.62441163e+00] [ 9.47189886e-03 -6.05542937e-05 9.99955139e-01 1.22896858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819254154 meters 0.057535950592951766 Centerline is valid? [True, True] Translation: X:317.64, Y:4.62, Z:1.23 [[ 9.99902832e-01 -1.06325949e-02 -9.01525299e-03 3.17637053e+02] [ 1.06329668e-02 9.99943468e-01 -6.67275187e-06 4.62118954e+00] [ 9.01481429e-03 -8.91867826e-05 9.99959362e-01 1.23070264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879254154 meters 0.05773763858613757 Centerline is valid? [True, True] Translation: X:317.70, Y:4.62, Z:1.23 [[ 9.99842569e-01 -1.54033500e-02 -8.80765026e-03 3.17695944e+02] [ 1.54038884e-02 9.99881353e-01 -6.70197666e-06 4.61576218e+00] [ 8.80670849e-03 -1.28971141e-04 9.99961212e-01 1.23119599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939254154 meters 0.0573428806048137 Centerline is valid? [True, True] Translation: X:317.76, Y:4.61, Z:1.23 [[ 9.99621143e-01 -2.63239342e-02 -8.03867945e-03 3.17756266e+02] [ 2.63247350e-02 9.99653444e-01 -6.20180437e-06 4.61044855e+00] [ 8.03605685e-03 -2.05416651e-04 9.99967689e-01 1.23276442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters 0.060082744860336657 Centerline is valid? [True, True] Translation: X:317.82, Y:4.59, Z:1.23 [[ 9.99338883e-01 -3.54439353e-02 -8.09472728e-03 3.17815761e+02] [ 3.54450461e-02 9.99371627e-01 -6.24477774e-06 4.59290653e+00] [ 8.08986211e-03 -2.80677333e-04 9.99967237e-01 1.23138885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters 0.05940386444763158 Centerline is valid? [True, True] Translation: X:317.88, Y:4.60, Z:1.23 [[ 9.99153576e-01 -4.02579058e-02 -8.45182961e-03 3.17877040e+02] [ 4.02592894e-02 9.99189266e-01 -6.43768165e-06 4.59614911e+00] [ 8.44523659e-03 -3.33832422e-04 9.99964283e-01 1.23268442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters 0.05927146291640456 Centerline is valid? [True, True] Translation: X:317.94, Y:4.59, Z:1.23 [[ 9.98732858e-01 -4.96484098e-02 -8.22884275e-03 3.17937319e+02] [ 4.96500397e-02 9.98766676e-01 -6.21672579e-06 4.59127662e+00] [ 8.21900257e-03 -4.02353521e-04 9.99966142e-01 1.23314158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters 0.06013040814372438 Centerline is valid? [True, True] Translation: X:318.00, Y:4.59, Z:1.23 [[ 9.98114087e-01 -6.07405782e-02 -8.87984045e-03 3.17997759e+02] [ 6.07429138e-02 9.98153444e-01 -6.69351065e-06 4.58732245e+00] [ 8.86384989e-03 -5.32706495e-04 9.99960573e-01 1.23364867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters 0.06282171240014173 Centerline is valid? [True, True] Translation: X:318.06, Y:4.58, Z:1.23 [[ 9.97893021e-01 -6.42120931e-02 -9.29112622e-03 3.18057689e+02] [ 6.42148002e-02 9.97936100e-01 -6.97505892e-06 4.57933269e+00] [ 9.27239814e-03 -5.89667451e-04 9.99956837e-01 1.23306324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters 0.05768671995359084 Centerline is valid? [True, True] Translation: X:318.12, Y:4.60, Z:1.24 [[ 9.97950230e-01 -6.33818196e-02 -8.83645637e-03 3.18119551e+02] [ 6.33842369e-02 9.97989198e-01 -6.50529517e-06 4.60180584e+00] [ 8.81910032e-03 -5.53600083e-04 9.99960958e-01 1.23531869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters 0.056703421258168525 Centerline is valid? [True, True] Translation: X:318.18, Y:4.62, Z:1.24 [[ 9.98240183e-01 -5.85264353e-02 -9.54956705e-03 3.18179854e+02] [ 5.85290381e-02 9.98285706e-01 -6.92549392e-06 4.62014547e+00] [ 9.53360161e-03 -5.52013668e-04 9.99954402e-01 1.23641074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters 0.05682183796216812 Centerline is valid? [True, True] Translation: X:318.24, Y:4.62, Z:1.24 [[ 9.98414133e-01 -5.53878179e-02 -1.00702107e-02 3.18239095e+02] [ 5.53905531e-02 9.98464765e-01 -7.30325811e-06 4.61522579e+00] [ 1.00551551e-02 -5.50502865e-04 9.99949294e-01 1.23536081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters 0.06083473354842603 Centerline is valid? [True, True] Translation: X:318.30, Y:4.60, Z:1.23 [[ 9.98621140e-01 -5.15190837e-02 -1.00797811e-02 3.18299006e+02] [ 5.15216278e-02 9.98671879e-01 -7.28031755e-06 4.59851794e+00] [ 1.00667690e-02 -5.12056451e-04 9.99949198e-01 1.23350016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.539254154 meters 0.057147851304202336 Centerline is valid? [True, True] Translation: X:318.36, Y:4.62, Z:1.24 [[ 9.98711891e-01 -4.97196581e-02 -1.01249468e-02 3.18360063e+02] [ 4.97221341e-02 9.98763090e-01 -7.18790247e-06 4.62148509e+00] [ 1.01127805e-02 -4.96255317e-04 9.99948741e-01 1.23669390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.599254154 meters 0.057220239296215884 Centerline is valid? [True, True] Translation: X:318.42, Y:4.63, Z:1.24 [[ 9.98889595e-01 -4.62218661e-02 -9.11676746e-03 3.18420905e+02] [ 4.62237291e-02 9.98931112e-01 -6.37002545e-06 4.62693965e+00] [ 9.10731709e-03 -4.15048037e-04 9.99958441e-01 1.23739614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.659254154 meters 0.05812484328205308 Centerline is valid? [True, True] Translation: X:318.48, Y:4.62, Z:1.24 [[ 9.99051758e-01 -4.25782128e-02 -9.09292539e-03 3.18480522e+02] [ 4.25799153e-02 9.99093064e-01 -6.36698280e-06 4.62092245e+00] [ 9.08494978e-03 -3.80815047e-04 9.99958658e-01 1.23681776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.719254154 meters 0.057931318149200293 Centerline is valid? [True, True] Translation: X:318.54, Y:4.63, Z:1.24 [[ 9.99368657e-01 -3.43331709e-02 -9.13902598e-03 3.18541170e+02] [ 3.43345463e-02 9.99410396e-01 -6.39666992e-06 4.62967361e+00] [ 9.13385719e-03 -3.07391679e-04 9.99958238e-01 1.23677649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779254154 meters 0.05768313402316824 Centerline is valid? [True, True] Translation: X:318.60, Y:4.64, Z:1.24 [[ 9.99690267e-01 -2.31935163e-02 -9.02391664e-03 3.18601555e+02] [ 2.31944042e-02 9.99730974e-01 -6.26965959e-06 4.64126233e+00] [ 9.02163439e-03 -2.03036652e-04 9.99959284e-01 1.23774776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839254154 meters 0.05748408403079881 Centerline is valid? [True, True] Translation: X:318.66, Y:4.64, Z:1.24 [[ 9.99829076e-01 -1.63700656e-02 -8.59300388e-03 3.18660676e+02] [ 1.63706186e-02 9.99865992e-01 -5.99074143e-06 4.64487901e+00] [ 8.59195042e-03 -1.34683071e-04 9.99963079e-01 1.23758522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899254154 meters 0.05620532670177959 Centerline is valid? [True, True] Translation: X:318.72, Y:4.65, Z:1.24 [[ 9.99922558e-01 -1.02032341e-02 -7.12549321e-03 3.18721098e+02] [ 1.02034574e-02 9.99947943e-01 -5.01783492e-06 4.65471017e+00] [ 7.12517348e-03 -6.76872200e-05 9.99974613e-01 1.23893382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959254154 meters 0.056229992671303415 Centerline is valid? [True, True] Translation: X:318.78, Y:4.66, Z:1.24 [[ 9.99932119e-01 -9.49752511e-03 -6.74943541e-03 3.18780226e+02] [ 9.49770900e-03 9.99954896e-01 -4.80732763e-06 4.65623790e+00] [ 6.74917664e-03 -5.92971721e-05 9.99977222e-01 1.23911747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019254154 meters 0.05716938828003088 Centerline is valid? [True, True] Translation: X:318.84, Y:4.66, Z:1.24 [[ 9.99910716e-01 -1.17000626e-02 -6.45510445e-03 3.18840259e+02] [ 1.17002762e-02 9.99931549e-01 -4.67166629e-06 4.65782716e+00] [ 6.45471726e-03 -7.08552558e-05 9.99979166e-01 1.23970603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079254154 meters 0.056652328114759454 Centerline is valid? [True, True] Translation: X:318.90, Y:4.66, Z:1.24 [[ 9.99772417e-01 -2.03169764e-02 -6.50658757e-03 3.18900660e+02] [ 2.03173755e-02 9.99793581e-01 -4.76844689e-06 4.65504715e+00] [ 6.50534137e-03 -1.27429421e-04 9.99978832e-01 1.23928520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139254154 meters 0.05697251307901625 Centerline is valid? [True, True] Translation: X:318.96, Y:4.65, Z:1.24 [[ 9.99580757e-01 -2.79743855e-02 -7.46623061e-03 3.18961528e+02] [ 2.79751250e-02 9.99608620e-01 -5.39410660e-06 4.65207708e+00] [ 7.46345937e-03 -2.03476889e-04 9.99972127e-01 1.23879048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199254154 meters 0.05664530512641111 Centerline is valid? [True, True] Translation: X:319.02, Y:4.65, Z:1.24 [[ 9.99172919e-01 -3.96622606e-02 -8.96570626e-03 3.19021785e+02] [ 3.96637976e-02 9.99213082e-01 -6.38155266e-06 4.65103537e+00] [ 8.95890409e-03 -3.49237684e-04 9.99959807e-01 1.23854762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259254154 meters 0.05657273470535902 Centerline is valid? [True, True] Translation: X:319.08, Y:4.65, Z:1.24 [[ 9.98794854e-01 -4.81677272e-02 -9.41853972e-03 3.19082412e+02] [ 4.81698010e-02 9.98839161e-01 -6.67145743e-06 4.65221900e+00] [ 9.40792766e-03 -4.47025767e-04 9.99955645e-01 1.23852480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319254154 meters 0.056164562836125614 Centerline is valid? [True, True] Translation: X:319.14, Y:4.65, Z:1.24 [[ 9.98640253e-01 -5.12456458e-02 -9.56706679e-03 3.19142436e+02] [ 5.12479262e-02 9.98685962e-01 -6.79860002e-06 4.65381684e+00] [ 9.55484369e-03 -4.83502977e-04 9.99954235e-01 1.23861411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379254154 meters 0.05549664467400219 Centerline is valid? [True, True] Translation: X:319.20, Y:4.66, Z:1.24 [[ 9.98580567e-01 -5.24344964e-02 -9.35275417e-03 3.19202195e+02] [ 5.24367297e-02 9.98624248e-01 -6.44509714e-06 4.65753804e+00] [ 9.34022505e-03 -4.83991893e-04 9.99956262e-01 1.23938192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439254154 meters 0.056354785472056315 Centerline is valid? [True, True] Translation: X:319.26, Y:4.65, Z:1.24 [[ 9.98610759e-01 -5.18056486e-02 -9.62943297e-03 3.19263773e+02] [ 5.18079903e-02 9.98657064e-01 -6.27559677e-06 4.65385684e+00] [ 9.61682637e-03 -4.92614691e-04 9.99953636e-01 1.23920180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters 0.05521434104538155 Centerline is valid? [True, True] Translation: X:319.32, Y:4.66, Z:1.24 [[ 9.98754794e-01 -4.90448672e-02 -9.13576830e-03 3.19324265e+02] [ 4.90468613e-02 9.98796478e-01 -5.78219241e-06 4.66393255e+00] [ 9.12505679e-03 -4.42305768e-04 9.99958268e-01 1.24044912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters 0.05502076426500413 Centerline is valid? [True, True] Translation: X:319.38, Y:4.67, Z:1.24 [[ 9.98869431e-01 -4.66833966e-02 -8.97329253e-03 3.19384988e+02] [ 4.66852260e-02 9.98909650e-01 -5.60081234e-06 4.66839959e+00] [ 8.96376997e-03 -4.13325710e-04 9.99959739e-01 1.24082981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters 0.0562696412181289 Centerline is valid? [True, True] Translation: X:319.45, Y:4.67, Z:1.24 [[ 9.98973923e-01 -4.41976035e-02 -9.88297482e-03 3.19445071e+02] [ 4.41997016e-02 9.99022716e-01 -6.13138972e-06 4.66589519e+00] [ 9.87358733e-03 -4.30699439e-04 9.99951162e-01 1.23923933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters 0.056123029028812034 Centerline is valid? [True, True] Translation: X:319.51, Y:4.67, Z:1.24 [[ 9.99151207e-01 -3.95652534e-02 -1.14654147e-02 3.19505124e+02] [ 3.95677731e-02 9.99216889e-01 -7.08209312e-06 4.67096292e+00] [ 1.14567162e-02 -4.46584844e-04 9.99934270e-01 1.23885064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters 0.056524335915395824 Centerline is valid? [True, True] Translation: X:319.57, Y:4.68, Z:1.24 [[ 9.99305075e-01 -3.52363876e-02 -1.21558147e-02 3.19565364e+02] [ 3.52389004e-02 9.99378917e-01 -7.47652443e-06 4.67524358e+00] [ 1.21485284e-02 -4.20886213e-04 9.99926115e-01 1.23941122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters 0.055560412878658136 Centerline is valid? [True, True] Translation: X:319.63, Y:4.68, Z:1.24 [[ 9.99580415e-01 -2.65333877e-02 -1.16177659e-02 3.19625107e+02] [ 2.65350949e-02 9.99647882e-01 -7.20059905e-06 4.68422606e+00] [ 1.16138661e-02 -3.01080942e-04 9.99932511e-01 1.24044380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters 0.05558522447817123 Centerline is valid? [True, True] Translation: X:319.68, Y:4.69, Z:1.24 [[ 9.99813740e-01 -1.65396929e-02 -9.94604761e-03 3.19684688e+02] [ 1.65404499e-02 9.99863197e-01 -6.15058654e-06 4.69019813e+00] [ 9.94478869e-03 -1.58362661e-04 9.99950537e-01 1.24090833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters 0.05520931248582605 Centerline is valid? [True, True] Translation: X:319.75, Y:4.69, Z:1.24 [[ 9.99865513e-01 -1.33728273e-02 -9.49338883e-03 3.19745222e+02] [ 1.33733745e-02 9.99910572e-01 -5.84490147e-06 4.69417981e+00] [ 9.49261802e-03 -1.21114528e-04 9.99954937e-01 1.24177429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters 0.0562416555106052 Centerline is valid? [True, True] Translation: X:319.81, Y:4.70, Z:1.24 [[ 9.99938789e-01 -5.96880243e-03 -9.31621045e-03 3.19805424e+02] [ 5.96900603e-03 9.99982185e-01 -5.95024397e-06 4.70356583e+00] [ 9.31608000e-03 -4.96586366e-05 9.99956603e-01 1.24362157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.039254154 meters 0.05575299240689961 Centerline is valid? [True, True] Translation: X:319.86, Y:4.71, Z:1.24 [[ 9.99947070e-01 -4.04094632e-03 -9.46193585e-03 3.19864466e+02] [ 4.04106242e-03 9.99991835e-01 -6.84853935e-06 4.70629697e+00] [ 9.46188627e-03 -3.13880965e-05 9.99955235e-01 1.24366163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.099254154 meters 0.05585876163795169 Centerline is valid? [True, True] Translation: X:319.92, Y:4.71, Z:1.24 [[ 9.99938426e-01 -4.12784543e-03 -1.03007421e-02 3.19922460e+02] [ 4.12797974e-03 9.99991480e-01 -8.22211516e-06 4.70673348e+00] [ 1.03006882e-02 -3.42996457e-05 9.99946946e-01 1.24210488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.159254154 meters 0.05559191908107176 Centerline is valid? [True, True] Translation: X:319.98, Y:4.71, Z:1.25 [[ 9.99936060e-01 -4.97465093e-03 -1.01552348e-02 3.19981133e+02] [ 4.97482136e-03 9.99987625e-01 -8.47857029e-06 4.70852214e+00] [ 1.01551513e-02 -4.20424508e-05 9.99948434e-01 1.24516563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.219254154 meters 0.056110486744170705 Centerline is valid? [True, True] Translation: X:320.04, Y:4.71, Z:1.24 [[ 9.99942324e-01 -4.01907263e-03 -9.95967376e-03 3.20039166e+02] [ 4.01918534e-03 9.99991923e-01 -8.69854142e-06 4.70838489e+00] [ 9.95962827e-03 -3.13317350e-05 9.99950401e-01 1.24394700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279254154 meters 0.05581996324435155 Centerline is valid? [True, True] Translation: X:320.10, Y:4.71, Z:1.25 [[ 9.99951572e-01 -2.34264681e-03 -9.55855864e-03 3.20097680e+02] [ 2.34266626e-03 9.99997256e-01 -9.16105050e-06 4.70971904e+00] [ 9.55855387e-03 -1.32319060e-05 9.99954316e-01 1.24588611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339254154 meters 0.05565216291077157 Centerline is valid? [True, True] Translation: X:320.16, Y:4.71, Z:1.25 [[ 9.99965208e-01 1.14245804e-03 -8.26302036e-03 3.20155494e+02] [-1.14257067e-03 9.99999347e-01 -8.90917880e-06 4.70902632e+00] [ 8.26300479e-03 1.83499535e-05 9.99965861e-01 1.24711158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399254154 meters 0.05565823822571877 Centerline is valid? [True, True] Translation: X:320.21, Y:4.71, Z:1.25 [[ 9.99964459e-01 2.48678259e-03 -8.05581145e-03 3.20213116e+02] [-2.48693969e-03 9.99996908e-01 -9.48367938e-06 4.70884647e+00] [ 8.05576295e-03 2.95176595e-05 9.99967551e-01 1.24671238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459254154 meters 0.05575441791031479 Centerline is valid? [True, True] Translation: X:320.27, Y:4.70, Z:1.25 [[ 9.99966736e-01 -8.80171916e-04 -8.10871703e-03 3.20272256e+02] [ 8.80120501e-04 9.99999613e-01 -9.90921969e-06 4.70297400e+00] [ 8.10872261e-03 2.77224199e-06 9.99967124e-01 1.24651451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519254154 meters 0.05559402675087986 Centerline is valid? [True, True] Translation: X:320.33, Y:4.70, Z:1.25 [[ 9.99939074e-01 -6.92188083e-03 -8.59863229e-03 3.20331138e+02] [ 6.92204452e-03 9.99976042e-01 -1.07246189e-05 4.69508209e+00] [ 8.59850052e-03 -4.87961500e-05 9.99963031e-01 1.24578329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579254154 meters 0.055887032569151514 Centerline is valid? [True, True] Translation: X:320.39, Y:4.68, Z:1.25 [[ 9.99767902e-01 -1.93723553e-02 -9.42622396e-03 3.20391647e+02] [ 1.93731042e-02 9.99812324e-01 -1.18616192e-05 4.68187942e+00] [ 9.42468467e-03 -1.70756353e-04 9.99955572e-01 1.24575074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639254154 meters 0.05569549237686585 Centerline is valid? [True, True] Translation: X:320.45, Y:4.68, Z:1.25 [[ 9.99529542e-01 -2.90668644e-02 -9.78835735e-03 3.20452091e+02] [ 2.90681363e-02 9.99577432e-01 -1.23238038e-05 4.68007408e+00] [ 9.78457932e-03 -2.72211300e-04 9.99952093e-01 1.24761880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699254154 meters 0.056074385416799835 Centerline is valid? [True, True] Translation: X:320.51, Y:4.67, Z:1.25 [[ 9.98997956e-01 -4.35410703e-02 -1.03566250e-02 3.20512522e+02] [ 4.35432709e-02 9.99051542e-01 -1.30151139e-05 4.67227445e+00] [ 1.03473688e-02 -4.37959254e-04 9.99946369e-01 1.24858647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759254154 meters 0.05476573000846917 Centerline is valid? [True, True] Translation: X:320.57, Y:4.67, Z:1.25 [[ 9.98437274e-01 -5.48484835e-02 -1.07076550e-02 3.20572633e+02] [ 5.48514847e-02 9.98494524e-01 -1.34015602e-05 4.67243614e+00] [ 1.06922699e-02 -5.73950156e-04 9.99942671e-01 1.25107787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819254154 meters 0.0557831248403369 Centerline is valid? [True, True] Translation: X:320.63, Y:4.67, Z:1.25 [[ 9.98203709e-01 -5.89196667e-02 -1.08548941e-02 3.20633096e+02] [ 5.89229919e-02 9.98262531e-01 -1.35030595e-05 4.66677229e+00] [ 1.08368296e-02 -6.26124030e-04 9.99941084e-01 1.25183325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879254154 meters 0.054488309818938645 Centerline is valid? [True, True] Translation: X:320.69, Y:4.67, Z:1.25 [[ 9.98049725e-01 -6.15150289e-02 -1.06135683e-02 3.20693930e+02] [ 6.15183552e-02 9.98105952e-01 -1.31014261e-05 4.66735085e+00] [ 1.05942716e-02 -6.39853387e-04 9.99943674e-01 1.25278177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939254154 meters 0.056367263617204004 Centerline is valid? [True, True] Translation: X:320.76, Y:4.66, Z:1.25 [[ 9.98057121e-01 -6.11937781e-02 -1.17177240e-02 3.20756213e+02] [ 6.11978227e-02 9.98125657e-01 -1.34147906e-05 4.65859111e+00] [ 1.16965819e-02 -7.03710468e-04 9.99931345e-01 1.25196454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters 0.05655668944386774 Centerline is valid? [True, True] Translation: X:320.82, Y:4.66, Z:1.25 [[ 9.98102988e-01 -5.99948764e-02 -1.38217427e-02 3.20818062e+02] [ 6.00004026e-02 9.98198353e-01 -1.48797224e-05 4.66406709e+00] [ 1.37977335e-02 -8.14458629e-04 9.99904475e-01 1.25283375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters 0.0574744205252438 Centerline is valid? [True, True] Translation: X:320.88, Y:4.66, Z:1.25 [[ 9.98156337e-01 -5.88949034e-02 -1.46736733e-02 3.20878565e+02] [ 5.89010169e-02 9.98263828e-01 -1.55651291e-05 4.65662731e+00] [ 1.46491140e-02 -8.48757847e-04 9.99892336e-01 1.25200513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters 0.054328256657224565 Centerline is valid? [True, True] Translation: X:320.94, Y:4.67, Z:1.26 [[ 9.98266427e-01 -5.71296834e-02 -1.41541524e-02 3.20939650e+02] [ 5.71351976e-02 9.98366450e-01 -1.48145175e-05 4.67342225e+00] [ 1.41318772e-02 -7.93911457e-04 9.99899825e-01 1.25504236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters 0.05711869101066119 Centerline is valid? [True, True] Translation: X:321.00, Y:4.67, Z:1.25 [[ 9.98473991e-01 -5.33824391e-02 -1.41422726e-02 3.20998943e+02] [ 5.33875688e-02 9.98573867e-01 -1.48292146e-05 4.66517518e+00] [ 1.41228954e-02 -7.40214965e-04 9.99899993e-01 1.25274871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters 0.05494371982074357 Centerline is valid? [True, True] Translation: X:321.06, Y:4.68, Z:1.26 [[ 9.98654427e-01 -5.00510879e-02 -1.35729347e-02 3.21059248e+02] [ 5.00555065e-02 9.98746437e-01 -1.41888384e-05 4.68015489e+00] [ 1.35566304e-02 -6.65230376e-04 9.99907883e-01 1.25543211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters 0.05664192043551206 Centerline is valid? [True, True] Translation: X:321.12, Y:4.68, Z:1.25 [[ 9.98923639e-01 -4.44319818e-02 -1.33177704e-02 3.21118862e+02] [ 4.44357380e-02 9.99012245e-01 -1.38750543e-05 4.67576585e+00] [ 1.33052322e-02 -5.77924836e-04 9.99911314e-01 1.25483881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters 0.06005576022063006 Centerline is valid? [True, True] Translation: X:321.18, Y:4.66, Z:1.25 [[ 9.99052965e-01 -4.14442300e-02 -1.32494833e-02 3.21178419e+02] [ 4.14476847e-02 9.99140675e-01 -1.38613515e-05 4.66021314e+00] [ 1.32386722e-02 -5.35312184e-04 9.99912222e-01 1.25083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters 0.059257857024271554 Centerline is valid? [True, True] Translation: X:321.24, Y:4.67, Z:1.25 [[ 9.99152819e-01 -3.88440558e-02 -1.35935124e-02 3.21239505e+02] [ 3.88474526e-02 9.99245153e-01 -1.41786736e-05 4.67145235e+00] [ 1.35838021e-02 -5.13906667e-04 9.99907604e-01 1.25187546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.479254154 meters 0.05573777837923835 Centerline is valid? [True, True] Translation: X:321.30, Y:4.69, Z:1.26 [[ 9.99166057e-01 -3.88808685e-02 -1.24687095e-02 3.21301608e+02] [ 3.88837345e-02 9.99243742e-01 -1.25773361e-05 4.69175785e+00] [ 1.24597689e-02 -4.72263142e-04 9.99922263e-01 1.25593262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.539254154 meters 0.05674226041499991 Centerline is valid? [True, True] Translation: X:321.36, Y:4.69, Z:1.25 [[ 9.99158403e-01 -3.93398578e-02 -1.16130055e-02 3.21362399e+02] [ 3.93423818e-02 9.99225789e-01 -1.11201782e-05 4.68518833e+00] [ 1.16044520e-02 -4.45772475e-04 9.99932567e-01 1.25494293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.599254154 meters 0.055369699898646915 Centerline is valid? [True, True] Translation: X:321.42, Y:4.69, Z:1.26 [[ 9.99132097e-01 -4.03526167e-02 -1.03304964e-02 3.21424343e+02] [ 4.03546726e-02 9.99185418e-01 -9.44200961e-06 4.69291769e+00] [ 1.03224624e-02 -4.07449985e-04 9.99946639e-01 1.25672078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.659254154 meters 0.05634274092508776 Centerline is valid? [True, True] Translation: X:321.48, Y:4.69, Z:1.26 [[ 9.99061823e-01 -4.22055743e-02 -9.70382688e-03 3.21484883e+02] [ 4.22074774e-02 9.99108867e-01 -8.67343300e-06 4.69007404e+00] [ 9.69554555e-03 -4.00908758e-04 9.99952917e-01 1.25611013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.719254154 meters 0.05476603172372182 Centerline is valid? [True, True] Translation: X:321.55, Y:4.70, Z:1.26 [[ 9.98966562e-01 -4.44470202e-02 -9.50105746e-03 3.21545815e+02] [ 4.44489465e-02 9.99011657e-01 -8.41675641e-06 4.69870433e+00] [ 9.49204125e-03 -4.13903936e-04 9.99954864e-01 1.25714651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779254154 meters 0.054273680035379135 Centerline is valid? [True, True] Translation: X:321.61, Y:4.70, Z:1.26 [[ 9.98792391e-01 -4.82968276e-02 -9.00978748e-03 3.21606850e+02] [ 4.82987171e-02 9.98832936e-01 -7.88631326e-06 4.70399963e+00] [ 8.99965337e-03 -4.27284387e-04 9.99959411e-01 1.25660161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839254154 meters 0.0540526921987223 Centerline is valid? [True, True] Translation: X:321.67, Y:4.71, Z:1.26 [[ 9.98670237e-01 -5.08726845e-02 -8.35035734e-03 3.21667588e+02] [ 5.08743981e-02 9.98705059e-01 -7.21537669e-06 4.70783753e+00] [ 8.33991119e-03 -4.17613621e-04 9.99965135e-01 1.25627914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899254154 meters 0.05683161984737799 Centerline is valid? [True, True] Translation: X:321.73, Y:4.69, Z:1.25 [[ 9.98600036e-01 -5.21953324e-02 -8.57994554e-03 3.21727559e+02] [ 5.21971922e-02 9.98636797e-01 -7.18157229e-06 4.69109559e+00] [ 8.56862418e-03 -4.40677548e-04 9.99963192e-01 1.25387860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959254154 meters 0.05448231183834498 Centerline is valid? [True, True] Translation: X:321.79, Y:4.70, Z:1.25 [[ 9.98669313e-01 -5.06638586e-02 -9.63205597e-03 3.21789211e+02] [ 5.06661345e-02 9.98715647e-01 -7.74643939e-06 4.70432688e+00] [ 9.62007747e-03 -4.80282912e-04 9.99953611e-01 1.25380504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019254154 meters 0.053839916186544226 Centerline is valid? [True, True] Translation: X:321.85, Y:4.71, Z:1.25 [[ 9.98821773e-01 -4.77243346e-02 -8.80078456e-03 3.21849905e+02] [ 4.77261215e-02 9.98860459e-01 -6.99044406e-06 4.70927657e+00] [ 8.79108933e-03 -4.13045105e-04 9.99961272e-01 1.25368020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079254154 meters 0.054771196439271676 Centerline is valid? [True, True] Translation: X:321.91, Y:4.71, Z:1.25 [[ 9.99182150e-01 -3.97607295e-02 -7.35628118e-03 3.21909898e+02] [ 3.97617623e-02 9.99209188e-01 -5.85367141e-06 4.70990921e+00] [ 7.35069650e-03 -2.86649820e-04 9.99972942e-01 1.25443156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139254154 meters 0.05404367790524035 Centerline is valid? [True, True] Translation: X:321.97, Y:4.72, Z:1.26 [[ 9.99427051e-01 -3.34206933e-02 -5.35040963e-03 3.21971106e+02] [ 3.34211489e-02 9.99441357e-01 -4.24707000e-06 4.71673437e+00] [ 5.34756260e-03 -1.74572200e-04 9.99985686e-01 1.25520884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199254154 meters 0.05426679818204346 Centerline is valid? [True, True] Translation: X:322.03, Y:4.72, Z:1.25 [[ 9.99676255e-01 -2.48196094e-02 -5.60102731e-03 3.22030820e+02] [ 2.48199742e-02 9.99691937e-01 -4.38389700e-06 4.71852307e+00] [ 5.59941065e-03 -1.34634875e-04 9.99984314e-01 1.25402580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259254154 meters 0.05476558519663462 Centerline is valid? [True, True] Translation: X:322.09, Y:4.72, Z:1.25 [[ 9.99749430e-01 -2.13250483e-02 -6.80577834e-03 3.22091623e+02] [ 2.13255061e-02 9.99772586e-01 -5.31125940e-06 4.72010673e+00] [ 6.80434387e-03 -1.39826739e-04 9.99976840e-01 1.25280990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319254154 meters 0.0545608390162879 Centerline is valid? [True, True] Translation: X:322.15, Y:4.72, Z:1.25 [[ 9.99772411e-01 -1.91820567e-02 -9.33675450e-03 3.22153867e+02] [ 1.91828266e-02 9.99815993e-01 -7.09427366e-06 4.72337536e+00] [ 9.33517255e-03 -1.72012684e-04 9.99956412e-01 1.25085877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379254154 meters 0.05455230129110007 Centerline is valid? [True, True] Translation: X:322.22, Y:4.73, Z:1.25 [[ 9.99777355e-01 -1.87682072e-02 -9.64336308e-03 3.22215888e+02] [ 1.87690128e-02 9.99823847e-01 -6.96112125e-06 4.72588362e+00] [ 9.64179502e-03 -1.74036834e-04 9.99953502e-01 1.25113720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439254154 meters 0.05468966359231482 Centerline is valid? [True, True] Translation: X:322.28, Y:4.73, Z:1.25 [[ 9.99777812e-01 -1.86457445e-02 -9.83173695e-03 3.22277487e+02] [ 1.86465790e-02 9.99826137e-01 -6.78513138e-06 4.72694878e+00] [ 9.83015409e-03 -1.76544636e-04 9.99951667e-01 1.25082942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters 0.05408977535056704 Centerline is valid? [True, True] Translation: X:322.34, Y:4.73, Z:1.25 [[ 9.99772872e-01 -1.93034111e-02 -9.03236778e-03 3.22339454e+02] [ 1.93041446e-02 9.99813658e-01 -5.97786316e-06 4.72889733e+00] [ 9.03080006e-03 -1.68385628e-04 9.99959207e-01 1.25134998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters 0.05435079343245083 Centerline is valid? [True, True] Translation: X:322.40, Y:4.73, Z:1.25 [[ 9.99726219e-01 -2.20153349e-02 -7.92546859e-03 3.22401922e+02] [ 2.20159868e-02 9.99757619e-01 -5.00114423e-06 4.73071287e+00] [ 7.92365771e-03 -1.69487237e-04 9.99968593e-01 1.25201275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters 0.053076340013931356 Centerline is valid? [True, True] Translation: X:322.46, Y:4.73, Z:1.25 [[ 9.99516326e-01 -3.03186047e-02 -6.92070836e-03 3.22462214e+02] [ 3.03193013e-02 9.99540264e-01 -4.26040540e-06 4.72893664e+00] [ 6.91765584e-03 -2.05572698e-04 9.99976052e-01 1.25225660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters 0.0524993645701745 Centerline is valid? [True, True] Translation: X:322.52, Y:4.73, Z:1.25 [[ 9.99077989e-01 -4.24565405e-02 -6.37284620e-03 3.22523113e+02] [ 4.24573777e-02 9.99098279e-01 -3.92497538e-06 4.73218834e+00] [ 6.36726631e-03 -2.66652981e-04 9.99979693e-01 1.25221464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters 0.05540389068926497 Centerline is valid? [True, True] Translation: X:322.58, Y:4.71, Z:1.25 [[ 9.98702360e-01 -5.02745434e-02 -8.12809647e-03 3.22582757e+02] [ 5.02761640e-02 9.98735354e-01 -4.95088553e-06 4.71340875e+00] [ 8.11806621e-03 -4.03705050e-04 9.99966966e-01 1.25154256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters 0.05278745115382604 Centerline is valid? [True, True] Translation: X:322.64, Y:4.72, Z:1.25 [[ 9.98369187e-01 -5.64638540e-02 -8.41425793e-03 3.22643239e+02] [ 5.64658105e-02 9.98404533e-01 -5.04987744e-06 4.72095145e+00] [ 8.40111840e-03 -4.70076252e-04 9.99964599e-01 1.25109885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters 0.053205633102403824 Centerline is valid? [True, True] Translation: X:322.70, Y:4.73, Z:1.25 [[ 9.98465993e-01 -5.47436162e-02 -8.29446293e-03 3.22704104e+02] [ 5.47454587e-02 9.98500343e-01 -4.91583552e-06 4.72675817e+00] [ 8.28229319e-03 -4.49175883e-04 9.99965600e-01 1.25177276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters 0.05232905751650153 Centerline is valid? [True, True] Translation: X:322.76, Y:4.73, Z:1.25 [[ 9.98639984e-01 -5.15507837e-02 -7.79094517e-03 3.22763257e+02] [ 5.15523123e-02 9.98670295e-01 -4.62405849e-06 4.72535407e+00] [ 7.78082388e-03 -3.97023469e-04 9.99969650e-01 1.25210723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.979254154 meters 0.052863845378068555 Centerline is valid? [True, True] Translation: X:322.82, Y:4.73, Z:1.25 [[ 9.98991409e-01 -4.44553647e-02 -6.31553274e-03 3.22824027e+02] [ 4.44562275e-02 9.99011333e-01 -3.77228294e-06 4.73112539e+00] [ 6.30945648e-03 -2.76996282e-04 9.99980057e-01 1.25340888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.039254154 meters 0.05347502043533286 Centerline is valid? [True, True] Translation: X:322.88, Y:4.73, Z:1.25 [[ 9.99277168e-01 -3.75500192e-02 -5.92764557e-03 3.22883736e+02] [ 3.75506580e-02 9.99294725e-01 -3.53450068e-06 4.72839789e+00] [ 5.92359767e-03 -2.19055045e-04 9.99982431e-01 1.25375595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.099254154 meters 0.0529199649493183 Centerline is valid? [True, True] Translation: X:322.94, Y:4.74, Z:1.25 [[ 9.99635067e-01 -2.63992397e-02 -5.72817871e-03 3.22944004e+02] [ 2.63996533e-02 9.99651468e-01 -3.41854105e-06 4.73625788e+00] [ 5.72627250e-03 -1.47804638e-04 9.99983594e-01 1.25444697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.159254154 meters 0.05343013104815666 Centerline is valid? [True, True] Translation: X:323.00, Y:4.73, Z:1.25 [[ 9.99799325e-01 -1.90457342e-02 -6.21044053e-03 3.23003562e+02] [ 1.90460784e-02 9.99818607e-01 -3.73230441e-06 4.73434684e+00] [ 6.20938508e-03 -1.14552982e-04 9.99980715e-01 1.25483479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.219254154 meters 0.054131952764200124 Centerline is valid? [True, True] Translation: X:323.06, Y:4.74, Z:1.25 [[ 9.99933544e-01 -9.01123515e-03 -7.19067572e-03 3.23063666e+02] [ 9.01143677e-03 9.99959396e-01 -4.35961880e-06 4.74134095e+00] [ 7.19042303e-03 -6.04389905e-05 9.99974147e-01 1.25409021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279254154 meters 0.054795696862020724 Centerline is valid? [True, True] Translation: X:323.12, Y:4.75, Z:1.25 [[ 9.99962975e-01 -1.59606351e-03 -8.45586920e-03 3.23122989e+02] [ 1.59607725e-03 9.99998726e-01 -5.12366499e-06 4.74550392e+00] [ 8.45586661e-03 -8.37274514e-06 9.99964248e-01 1.25340923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339254154 meters 0.05438622188889179 Centerline is valid? [True, True] Translation: X:323.18, Y:4.75, Z:1.26 [[ 9.99923316e-01 9.32083589e-03 -8.15373847e-03 3.23182128e+02] [-9.32118662e-03 9.99956557e-01 -5.01341149e-06 4.75176133e+00] [ 8.15333752e-03 8.10155450e-05 9.99966758e-01 1.25550362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399254154 meters 0.054778451432494296 Centerline is valid? [True, True] Translation: X:323.24, Y:4.75, Z:1.26 [[ 9.99823366e-01 1.73860261e-02 -7.13885315e-03 3.23240918e+02] [-1.73865011e-02 9.99848843e-01 -4.47664918e-06 4.75492077e+00] [ 7.13769623e-03 1.28595536e-04 9.99974518e-01 1.25679228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459254154 meters 0.05537962827998201 Centerline is valid? [True, True] Translation: X:323.30, Y:4.76, Z:1.26 [[ 9.99789751e-01 1.92555855e-02 -7.04813442e-03 3.23298711e+02] [-1.92560961e-02 9.99814584e-01 -4.58513374e-06 4.75806150e+00] [ 7.04673930e-03 1.40303724e-04 9.99975162e-01 1.25720963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519254154 meters 0.05551825877822624 Centerline is valid? [True, True] Translation: X:323.36, Y:4.75, Z:1.26 [[ 9.99839597e-01 1.70169413e-02 -5.58600034e-03 3.23358148e+02] [-1.70172280e-02 9.99855196e-01 -3.79377828e-06 4.75354426e+00] [ 5.58512691e-03 9.88514110e-05 9.99984398e-01 1.25776177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579254154 meters 0.05533363274941613 Centerline is valid? [True, True] Translation: X:323.42, Y:4.75, Z:1.26 [[ 9.99891818e-01 1.38717587e-02 -4.89152853e-03 3.23417089e+02] [-1.38719413e-02 9.99903780e-01 -3.41142178e-06 4.74625056e+00] [ 4.89101055e-03 7.12660496e-05 9.99988036e-01 1.25826117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639254154 meters 0.05466068301479618 Centerline is valid? [True, True] Translation: X:323.48, Y:4.74, Z:1.26 [[ 9.99961356e-01 7.53524360e-03 -4.52846118e-03 3.23476592e+02] [-7.53533578e-03 9.99971609e-01 -3.29310648e-06 4.73528242e+00] [ 4.52830780e-03 3.74164548e-05 9.99989746e-01 1.25891375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699254154 meters 0.055210139792123344 Centerline is valid? [True, True] Translation: X:323.53, Y:4.72, Z:1.26 [[ 9.99990718e-01 7.99965744e-04 -4.23360308e-03 3.23534106e+02] [-7.99986275e-04 9.99999680e-01 -3.15630197e-06 4.72452426e+00] [ 4.23359920e-03 6.54309703e-06 9.99991038e-01 1.25966075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759254154 meters 0.05491242144690585 Centerline is valid? [True, True] Translation: X:323.59, Y:4.72, Z:1.26 [[ 9.99991513e-01 -1.55247602e-03 -3.81628150e-03 3.23593161e+02] [ 1.55247589e-03 9.99998795e-01 -2.99550388e-06 4.71944503e+00] [ 3.81628155e-03 -2.92920658e-06 9.99992718e-01 1.25980787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819254154 meters 0.05486741197238729 Centerline is valid? [True, True] Translation: X:323.65, Y:4.70, Z:1.26 [[ 9.99964994e-01 -7.71681013e-03 -3.23451188e-03 3.23652275e+02] [ 7.71684197e-03 9.99970225e-01 -2.63493760e-06 4.70396463e+00] [ 3.23443591e-03 -2.23253717e-05 9.99994769e-01 1.25889004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879254154 meters 0.05506265099371719 Centerline is valid? [True, True] Translation: X:323.71, Y:4.69, Z:1.26 [[ 9.99895471e-01 -1.38828478e-02 -4.03907183e-03 3.23713623e+02] [ 1.38829475e-02 9.99903627e-01 -3.36628347e-06 4.69234094e+00] [ 4.03872931e-03 -5.27082904e-05 9.99991843e-01 1.25755115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939254154 meters 0.05545463287421643 Centerline is valid? [True, True] Translation: X:323.78, Y:4.68, Z:1.26 [[ 9.99816572e-01 -1.85444665e-02 -4.78795730e-03 3.23775026e+02] [ 1.85446604e-02 9.99828033e-01 -3.89781563e-06 4.68299126e+00] [ 4.78720621e-03 -8.48939415e-05 9.99988538e-01 1.25615287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters 0.05563074662965287 Centerline is valid? [True, True] Translation: X:323.84, Y:4.67, Z:1.26 [[ 9.99633918e-01 -2.63068861e-02 -6.32284036e-03 3.23835264e+02] [ 2.63073803e-02 9.99653901e-01 -5.01228104e-06 4.66902251e+00] [ 6.32078389e-03 -1.61326920e-04 9.99980011e-01 1.25520049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters 0.0546960584173841 Centerline is valid? [True, True] Translation: X:323.90, Y:4.67, Z:1.26 [[ 9.99437716e-01 -3.28073863e-02 -6.92293720e-03 3.23896179e+02] [ 3.28081348e-02 9.99461668e-01 -5.45117789e-06 4.66708991e+00] [ 6.91938920e-03 -2.21680544e-04 9.99976036e-01 1.25566704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters 0.055647737301659325 Centerline is valid? [True, True] Translation: X:323.96, Y:4.66, Z:1.26 [[ 9.99043551e-01 -4.30522571e-02 -7.64767944e-03 3.23956650e+02] [ 4.30534704e-02 9.99072769e-01 -5.99056206e-06 4.65670468e+00] [ 7.64084619e-03 -3.23274308e-04 9.99970756e-01 1.25533643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters 0.055456935671517535 Centerline is valid? [True, True] Translation: X:324.02, Y:4.65, Z:1.26 [[ 9.98684060e-01 -5.07030320e-02 -7.70396731e-03 3.24017162e+02] [ 5.07044904e-02 9.98713700e-01 -6.02697054e-06 4.65223344e+00] [ 7.69436328e-03 -3.84606697e-04 9.99970324e-01 1.25570566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters 0.05479671127296585 Centerline is valid? [True, True] Translation: X:324.08, Y:4.66, Z:1.26 [[ 9.98433466e-01 -5.53904257e-02 -7.90660274e-03 3.24077750e+02] [ 5.53921085e-02 9.98464679e-01 -6.17078224e-06 4.65931726e+00] [ 7.89480536e-03 -4.31802281e-04 9.99968742e-01 1.25721068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters 0.059083481466440955 Centerline is valid? [True, True] Translation: X:324.14, Y:4.63, Z:1.25 [[ 9.98459750e-01 -5.47523357e-02 -8.96152867e-03 3.24138956e+02] [ 5.47544770e-02 9.98499848e-01 -6.40701960e-06 4.63310298e+00] [ 8.94843581e-03 -4.84286664e-04 9.99959845e-01 1.25499686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters 0.05501273498892349 Centerline is valid? [True, True] Translation: X:324.20, Y:4.65, Z:1.26 [[ 9.98601553e-01 -5.23249663e-02 -7.55223267e-03 3.24199778e+02] [ 5.23264210e-02 9.98630034e-01 -4.98948416e-06 4.65022426e+00] [ 7.54214744e-03 -3.90198799e-04 9.99971481e-01 1.25719236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters 0.05598557644444988 Centerline is valid? [True, True] Translation: X:324.26, Y:4.65, Z:1.26 [[ 9.98766572e-01 -4.91202460e-02 -7.24813543e-03 3.24259794e+02] [ 4.91215019e-02 9.98792810e-01 -4.75645288e-06 4.64732676e+00] [ 7.23961920e-03 -3.51288712e-04 9.99973732e-01 1.25707389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.479254154 meters 0.05630165091633558 Centerline is valid? [True, True] Translation: X:324.32, Y:4.65, Z:1.26 [[ 9.99133601e-01 -4.09454762e-02 -7.45090765e-03 3.24320411e+02] [ 4.09465764e-02 9.99161337e-01 -4.89465266e-06 4.64920941e+00] [ 7.44485926e-03 -3.00198747e-04 9.99972242e-01 1.25727936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.539254154 meters 0.057123255732471435 Centerline is valid? [True, True] Translation: X:324.38, Y:4.65, Z:1.26 [[ 9.99537720e-01 -2.94432888e-02 -7.57889848e-03 3.24380079e+02] [ 2.94440965e-02 9.99566429e-01 -5.01286381e-06 4.65263771e+00] [ 7.57576008e-03 -2.18143271e-04 9.99971280e-01 1.25753459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.599254154 meters 0.05631843242635427 Centerline is valid? [True, True] Translation: X:324.44, Y:4.66, Z:1.26 [[ 9.99736021e-01 -2.16938400e-02 -7.56738370e-03 3.24441051e+02] [ 2.16944235e-02 9.99764648e-01 -4.98037954e-06 4.66287863e+00] [ 7.56571074e-03 -1.59190962e-04 9.99971367e-01 1.25877020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.659254154 meters 0.055664263041820275 Centerline is valid? [True, True] Translation: X:324.50, Y:4.67, Z:1.26 [[ 9.99889887e-01 -1.26357084e-02 -7.78154120e-03 3.24500802e+02] [ 1.26360514e-02 9.99920162e-01 -5.08909988e-06 4.66824697e+00] [ 7.78098424e-03 -9.32394150e-05 9.99969723e-01 1.25818441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.719254154 meters 0.05602032993789185 Centerline is valid? [True, True] Translation: X:324.56, Y:4.67, Z:1.26 [[ 9.99947963e-01 -6.14603350e-03 -8.14234017e-03 3.24559703e+02] [ 6.14619333e-03 9.99981112e-01 -5.39320029e-06 4.67310868e+00] [ 8.14221952e-03 -4.46514772e-05 9.99966851e-01 1.25745833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779254154 meters 0.055895655453554446 Centerline is valid? [True, True] Translation: X:324.62, Y:4.68, Z:1.26 [[ 9.99963503e-01 -2.28344167e-03 -8.23282622e-03 3.24618576e+02] [ 2.28346997e-03 9.99997393e-01 -5.96270927e-06 4.67631432e+00] [ 8.23281837e-03 -1.28369198e-05 9.99966110e-01 1.25767601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839254154 meters 0.056090136528521246 Centerline is valid? [True, True] Translation: X:324.68, Y:4.68, Z:1.26 [[ 9.99966055e-01 3.63129756e-03 -7.39615463e-03 3.24677635e+02] [-3.63144228e-03 9.99993406e-01 -6.13754421e-06 4.67727122e+00] [ 7.39608358e-03 3.29960445e-05 9.99972648e-01 1.26125828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899254154 meters 0.056226158400493005 Centerline is valid? [True, True] Translation: X:324.74, Y:4.68, Z:1.26 [[ 9.99953781e-01 7.50583104e-03 -6.00819250e-03 3.24735212e+02] [-7.50599994e-03 9.99971830e-01 -5.56285793e-06 4.68011628e+00] [ 6.00798149e-03 5.06600934e-05 9.99981951e-01 1.26154714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959254154 meters 0.05648356354970533 Centerline is valid? [True, True] Translation: X:324.79, Y:4.67, Z:1.26 [[ 9.99970352e-01 6.13082221e-03 -4.65911337e-03 3.24794292e+02] [-6.13091046e-03 9.99981206e-01 -4.65911446e-06 4.67383140e+00] [ 4.65899724e-03 3.32235832e-05 9.99989146e-01 1.26233180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019254154 meters 0.056044742466112574 Centerline is valid? [True, True] Translation: X:324.85, Y:4.66, Z:1.26 [[ 9.99981659e-01 -3.62882058e-03 -4.84906686e-03 3.24853621e+02] [ 3.62883906e-03 9.99993416e-01 -4.98621681e-06 4.66283437e+00] [ 4.84905303e-03 -1.26103579e-05 9.99988243e-01 1.26100572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079254154 meters 0.05575985151821549 Centerline is valid? [True, True] Translation: X:324.91, Y:4.65, Z:1.26 [[ 9.99863584e-01 -1.54247286e-02 -5.90682389e-03 3.24913418e+02] [ 1.54249614e-02 9.99881028e-01 -6.15212981e-06 4.64741586e+00] [ 5.90621604e-03 -8.49612398e-05 9.99982555e-01 1.25915595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139254154 meters 0.05575985151821549 Centerline is valid? [True, True] Translation: X:324.97, Y:4.65, Z:1.26 [[ 9.99863814e-01 -1.54098538e-02 -5.90682391e-03 3.24974263e+02] [ 1.54100864e-02 9.99881258e-01 -6.13459476e-06 4.64746000e+00] [ 5.90621705e-03 -8.48909073e-05 9.99982555e-01 1.25939593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199254154 meters 0.056491892652905086 Centerline is valid? [True, True] Translation: X:325.04, Y:4.64, Z:1.26 [[ 9.99803609e-01 -1.89155128e-02 -5.91157552e-03 3.25035209e+02] [ 1.89158075e-02 9.99821080e-01 -6.04976104e-06 4.64232784e+00] [ 5.91063225e-03 -1.05773652e-04 9.99982526e-01 1.25911715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259254154 meters 0.056938770685367054 Centerline is valid? [True, True] Translation: X:325.10, Y:4.63, Z:1.26 [[ 9.99780608e-01 -2.00069038e-02 -6.20165476e-03 3.25096227e+02] [ 2.00072499e-02 9.99799835e-01 -6.22777419e-06 4.63448717e+00] [ 6.20053800e-03 -1.17851649e-04 9.99980770e-01 1.25830163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319254154 meters 0.05644413457423334 Centerline is valid? [True, True] Translation: X:325.16, Y:4.64, Z:1.26 [[ 9.99829111e-01 -1.77911764e-02 -5.02226208e-03 3.25158135e+02] [ 1.77913759e-02 9.99841721e-01 -4.94059442e-06 4.63757406e+00] [ 5.02155506e-03 -8.44132025e-05 9.99987388e-01 1.25847261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379254154 meters 0.056300673329026524 Centerline is valid? [True, True] Translation: X:325.22, Y:4.63, Z:1.26 [[ 9.99871139e-01 -1.49922262e-02 -5.73921664e-03 3.25218827e+02] [ 1.49924416e-02 9.99887607e-01 -5.50281344e-06 4.63262694e+00] [ 5.73865409e-03 -8.05427657e-05 9.99983531e-01 1.25772433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439254154 meters 0.05651867714750992 Centerline is valid? [True, True] Translation: X:325.28, Y:4.63, Z:1.26 [[ 9.99908879e-01 -1.21612021e-02 -5.85997971e-03 3.25279724e+02] [ 1.21613784e-02 9.99926048e-01 -5.53694635e-06 4.63440391e+00] [ 5.85961369e-03 -6.57289890e-05 9.99982830e-01 1.25797552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters 0.05637030622234895 Centerline is valid? [True, True] Translation: X:325.34, Y:4.63, Z:1.26 [[ 9.99902360e-01 -1.25446054e-02 -6.15653481e-03 3.25339810e+02] [ 1.25448076e-02 9.99921311e-01 -5.76861098e-06 4.62840761e+00] [ 6.15612272e-03 -7.14644970e-05 9.99981048e-01 1.25742826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters 0.05624086818551158 Centerline is valid? [True, True] Translation: X:325.40, Y:4.63, Z:1.26 [[ 9.99828968e-01 -1.71233827e-02 -6.98750512e-03 3.25400024e+02] [ 1.71237551e-02 9.99853378e-01 -6.53596939e-06 4.63000349e+00] [ 6.98659252e-03 -1.13117475e-04 9.99975587e-01 1.25808232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters 0.058324811210411054 Centerline is valid? [True, True] Translation: X:325.46, Y:4.61, Z:1.25 [[ 9.99654969e-01 -2.48705048e-02 -8.44991477e-03 3.25459465e+02] [ 2.48713257e-02 9.99690661e-01 -7.93657168e-06 4.60690516e+00] [ 8.44749827e-03 -2.02226749e-04 9.99964299e-01 1.25425652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters 0.05702738324013801 Centerline is valid? [True, True] Translation: X:325.52, Y:4.61, Z:1.26 [[ 9.99583330e-01 -2.77619900e-02 -7.90173052e-03 3.25520517e+02] [ 2.77627984e-02 9.99614539e-01 -7.38558987e-06 4.61173319e+00] [ 7.89888976e-03 -2.11991639e-04 9.99968781e-01 1.25541780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters 0.05762564215470429 Centerline is valid? [True, True] Translation: X:325.58, Y:4.61, Z:1.26 [[ 9.99367546e-01 -3.45648100e-02 -8.35350604e-03 3.25581264e+02] [ 3.45659513e-02 9.99402419e-01 -7.75795148e-06 4.60973116e+00] [ 8.34878229e-03 -2.80993838e-04 9.99965109e-01 1.25664611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters 0.05826820061704088 Centerline is valid? [True, True] Translation: X:325.64, Y:4.60, Z:1.26 [[ 9.99265155e-01 -3.74925685e-02 -7.96600607e-03 3.25641184e+02] [ 3.74936994e-02 9.99296864e-01 -7.38421745e-06 4.60310773e+00] [ 7.96068173e-03 -2.91296245e-04 9.99968271e-01 1.25695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters 0.05753745080861536 Centerline is valid? [True, True] Translation: X:325.70, Y:4.61, Z:1.26 [[ 9.99200324e-01 -3.93978090e-02 -6.82091661e-03 3.25702369e+02] [ 3.93986828e-02 9.99223570e-01 -6.27577903e-06 4.60573109e+00] [ 6.81586790e-03 -2.62464369e-04 9.99976737e-01 1.25901141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters 0.059623300506011015 Centerline is valid? [True, True] Translation: X:325.76, Y:4.60, Z:1.26 [[ 9.99201003e-01 -3.96994460e-02 -4.61629206e-03 3.25763924e+02] [ 3.96998498e-02 9.99211650e-01 -4.16915856e-06 4.59710634e+00] [ 4.61281832e-03 -1.79100274e-04 9.99989345e-01 1.26106726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.979254154 meters 0.05944609916663806 Centerline is valid? [True, True] Translation: X:325.82, Y:4.59, Z:1.26 [[ 9.99170727e-01 -4.05000613e-02 -4.19574616e-03 3.25824875e+02] [ 4.05004027e-02 9.99179522e-01 -3.59996196e-06 4.59427914e+00] [ 4.19244944e-03 -1.66332433e-04 9.99991198e-01 1.26205352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.039254154 meters 0.05653098607916454 Centerline is valid? [True, True] Translation: X:325.89, Y:4.61, Z:1.26 [[ 9.99080735e-01 -4.26020089e-02 -4.77006019e-03 3.25886113e+02] [ 4.26024746e-02 9.99092102e-01 -3.97367333e-06 4.61045399e+00] [ 4.76589875e-03 -1.99246348e-04 9.99988623e-01 1.26150725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.099254154 meters 0.062422363421436915 Centerline is valid? [True, True] Translation: X:325.95, Y:4.59, Z:1.26 [[ 9.99022994e-01 -4.36067889e-02 -7.17674342e-03 3.25947260e+02] [ 4.36078704e-02 9.99048724e-01 -5.79879440e-06 4.59033919e+00] [ 7.17016923e-03 -3.07169368e-04 9.99974247e-01 1.26078918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.159254154 meters 0.058106058458527746 Centerline is valid? [True, True] Translation: X:326.01, Y:4.61, Z:1.26 [[ 9.98960618e-01 -4.49590858e-02 -7.50757944e-03 3.26007931e+02] [ 4.49603084e-02 9.98988774e-01 -5.93506792e-06 4.60706513e+00] [ 7.50025442e-03 -3.31614188e-04 9.99971818e-01 1.26195868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.219254154 meters 0.0595061912844255 Centerline is valid? [True, True] Translation: X:326.07, Y:4.60, Z:1.26 [[ 9.99050849e-01 -4.28867794e-02 -7.62398245e-03 3.26067857e+02] [ 4.28879801e-02 9.99079887e-01 -5.99521239e-06 4.60142808e+00] [ 7.61722464e-03 -3.20987686e-04 9.99970937e-01 1.26162303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279254154 meters 0.05639630547770982 Centerline is valid? [True, True] Translation: X:326.13, Y:4.62, Z:1.26 [[ 9.99173126e-01 -4.01104750e-02 -6.64930643e-03 3.26128357e+02] [ 4.01113271e-02 9.99195217e-01 -5.20937811e-06 4.62251786e+00] [ 6.64416413e-03 -2.61507435e-04 9.99977893e-01 1.26358058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339254154 meters 0.05663190049636477 Centerline is valid? [True, True] Translation: X:326.19, Y:4.63, Z:1.26 [[ 9.99409461e-01 -3.38079012e-02 -6.14459406e-03 3.26187969e+02] [ 3.38085101e-02 9.99428329e-01 -4.77203392e-06 4.62612340e+00] [ 6.14124271e-03 -2.02970355e-04 9.99981122e-01 1.26399650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399254154 meters 0.05826178034261885 Centerline is valid? [True, True] Translation: X:326.25, Y:4.63, Z:1.27 [[ 9.99532329e-01 -3.00559054e-02 -5.63616477e-03 3.26247655e+02] [ 3.00563582e-02 9.99548206e-01 -4.35998892e-06 4.62533623e+00] [ 5.63374942e-03 -1.65044637e-04 9.99984117e-01 1.26502151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459254154 meters 0.05738102652778584 Centerline is valid? [True, True] Translation: X:326.31, Y:4.63, Z:1.27 [[ 9.99547725e-01 -2.96858477e-02 -4.80578456e-03 3.26310235e+02] [ 2.96861727e-02 9.99559268e-01 -3.69940203e-06 4.63319273e+00] [ 4.80377632e-03 -1.38967622e-04 9.99988452e-01 1.26553255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519254154 meters 0.057557642314311375 Centerline is valid? [True, True] Translation: X:326.37, Y:4.63, Z:1.27 [[ 9.99594386e-01 -2.78651844e-02 -5.88181648e-03 3.26371049e+02] [ 2.78656411e-02 9.99611678e-01 -4.29538573e-06 4.63362168e+00] [ 5.87965213e-03 -1.59606944e-04 9.99982702e-01 1.26540967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579254154 meters 0.057961843741933736 Centerline is valid? [True, True] Translation: X:326.43, Y:4.63, Z:1.26 [[ 9.99737481e-01 -2.20706010e-02 -6.15284355e-03 3.26430789e+02] [ 2.20709916e-02 9.99756406e-01 -4.42445488e-06 4.63437551e+00] [ 6.15144240e-03 -1.31376065e-04 9.99981071e-01 1.26481207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639254154 meters 0.056528702660581104 Centerline is valid? [True, True] Translation: X:326.49, Y:4.65, Z:1.27 [[ 9.99840575e-01 -1.65340623e-02 -6.74168359e-03 3.26492114e+02] [ 1.65344055e-02 9.99863297e-01 -4.82560576e-06 4.64585930e+00] [ 6.74084177e-03 -1.06644894e-04 9.99977275e-01 1.26538734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699254154 meters 0.056122937429919716 Centerline is valid? [True, True] Translation: X:326.55, Y:4.66, Z:1.27 [[ 9.99938725e-01 -8.57440946e-03 -7.00181850e-03 3.26552776e+02] [ 8.57458421e-03 9.99963238e-01 -5.06065381e-06 4.65538839e+00] [ 7.00160449e-03 -5.49773386e-05 9.99975487e-01 1.26611373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759254154 meters 0.056620887237526146 Centerline is valid? [True, True] Translation: X:326.61, Y:4.66, Z:1.27 [[ 9.99961316e-01 -5.39915514e-03 -6.94374090e-03 3.26612570e+02] [ 5.39924938e-03 9.99985424e-01 -5.17456972e-06 4.65816032e+00] [ 6.94366763e-03 -3.23166192e-05 9.99975892e-01 1.26655249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819254154 meters 0.055891651677878254 Centerline is valid? [True, True] Translation: X:326.67, Y:4.66, Z:1.27 [[ 9.99959728e-01 -4.78526268e-03 -7.59230615e-03 3.26671531e+02] [ 4.78535618e-03 9.99988550e-01 -5.85008990e-06 4.65830496e+00] [ 7.59224722e-03 -3.04820349e-05 9.99971178e-01 1.26673218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879254154 meters 0.056083032027190186 Centerline is valid? [True, True] Translation: X:326.73, Y:4.65, Z:1.27 [[ 9.99894653e-01 -1.22757168e-02 -7.74532437e-03 3.26729632e+02] [ 1.22760368e-02 9.99924647e-01 -6.22788707e-06 4.65259346e+00] [ 7.74481719e-03 -8.88546558e-05 9.99970004e-01 1.26683744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939254154 meters 0.056289775999095536 Centerline is valid? [True, True] Translation: X:326.79, Y:4.65, Z:1.27 [[ 9.99852525e-01 -1.52549510e-02 -7.88757646e-03 3.26789027e+02] [ 1.52553741e-02 9.99883630e-01 -6.51501853e-06 4.64953719e+00] [ 7.88675797e-03 -1.13813872e-04 9.99968893e-01 1.26688781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters 0.05765581219440375 Centerline is valid? [True, True] Translation: X:326.85, Y:4.64, Z:1.27 [[ 9.99645617e-01 -2.54386009e-02 -7.84337338e-03 3.26849538e+02] [ 2.54393324e-02 9.99676368e-01 -6.50653178e-06 4.64060345e+00] [ 7.84100053e-03 -1.93025956e-04 9.99969240e-01 1.26704456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters 0.056234884052126476 Centerline is valid? [True, True] Translation: X:326.91, Y:4.64, Z:1.27 [[ 9.99416570e-01 -3.34286249e-02 -7.00332240e-03 3.26910383e+02] [ 3.34294042e-02 9.99441081e-01 -5.78663567e-06 4.63992761e+00] [ 6.99960155e-03 -2.28333636e-04 9.99975476e-01 1.26864472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters 0.056151491510697794 Centerline is valid? [True, True] Translation: X:326.97, Y:4.64, Z:1.27 [[ 9.99325437e-01 -3.61612986e-02 -6.40552617e-03 3.26971352e+02] [ 3.61620070e-02 9.99345941e-01 -5.22717032e-06 4.63703098e+00] [ 6.40152560e-03 -2.26413038e-04 9.99979484e-01 1.26872682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters 0.05822543180458783 Centerline is valid? [True, True] Translation: X:327.03, Y:4.63, Z:1.27 [[ 9.99291107e-01 -3.72298091e-02 -5.58783619e-03 3.27032228e+02] [ 3.72303654e-02 9.99306710e-01 -4.45676570e-06 4.62523740e+00] [ 5.58412813e-03 -2.03583577e-04 9.99984388e-01 1.26853534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters 0.05807113640075261 Centerline is valid? [True, True] Translation: X:327.09, Y:4.63, Z:1.27 [[ 9.99293082e-01 -3.71247515e-02 -5.92356009e-03 3.27094572e+02] [ 3.71253759e-02 9.99310616e-01 -4.55580736e-06 4.62782527e+00] [ 5.91964562e-03 -2.15361808e-04 9.99982456e-01 1.26848445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters 0.05746170991467869 Centerline is valid? [True, True] Translation: X:327.16, Y:4.63, Z:1.27 [[ 9.99298787e-01 -3.67893995e-02 -6.96233022e-03 3.27157250e+02] [ 3.67902558e-02 9.99323009e-01 -5.08378941e-06 4.62719438e+00] [ 6.95780382e-03 -2.51065685e-04 9.99975763e-01 1.26793463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters 0.05710365992590947 Centerline is valid? [True, True] Translation: X:327.22, Y:4.63, Z:1.27 [[ 9.99294537e-01 -3.68328158e-02 -7.33297451e-03 3.27219284e+02] [ 3.68337690e-02 9.99321406e-01 -5.07512432e-06 4.63028014e+00] [ 7.32818533e-03 -2.65029545e-04 9.99973113e-01 1.26803611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters 0.05716015842745748 Centerline is valid? [True, True] Translation: X:327.28, Y:4.63, Z:1.27 [[ 9.99356916e-01 -3.48395795e-02 -8.48286469e-03 3.27280576e+02] [ 3.48407855e-02 9.99392876e-01 -5.60496465e-06 4.63177152e+00] [ 8.47790981e-03 -2.89948309e-04 9.99964020e-01 1.26801082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.479254154 meters 0.05791522436134804 Centerline is valid? [True, True] Translation: X:327.34, Y:4.63, Z:1.27 [[ 9.99531125e-01 -2.90884997e-02 -9.55978295e-03 3.27339861e+02] [ 2.90897692e-02 9.99576803e-01 -6.25461523e-06 4.63034305e+00] [ 9.55591922e-03 -2.71840197e-04 9.99954304e-01 1.26769403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.539254154 meters 0.05771796803084583 Centerline is valid? [True, True] Translation: X:327.40, Y:4.63, Z:1.27 [[ 9.99584183e-01 -2.73761512e-02 -9.05577442e-03 3.27401331e+02] [ 2.73772210e-02 9.99625174e-01 -5.83606853e-06 4.63499194e+00] [ 9.05253984e-03 -2.42088296e-04 9.99958996e-01 1.26857729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.599254154 meters 0.05808856376063877 Centerline is valid? [True, True] Translation: X:327.46, Y:4.63, Z:1.27 [[ 9.99652719e-01 -2.46547991e-02 -9.30495434e-03 3.27462239e+02] [ 2.46558124e-02 9.99695999e-01 -5.81497226e-06 4.63029764e+00] [ 9.30226899e-03 -2.23608256e-04 9.99956708e-01 1.26784670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.659254154 meters 0.05717891424566122 Centerline is valid? [True, True] Translation: X:327.52, Y:4.64, Z:1.27 [[ 9.99660126e-01 -2.45776676e-02 -8.69314445e-03 3.27524047e+02] [ 2.45785504e-02 9.99697902e-01 -5.28370872e-06 4.63892399e+00] [ 8.69064813e-03 -2.08382976e-04 9.99962214e-01 1.27024247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.719254154 meters 0.05769138009359118 Centerline is valid? [True, True] Translation: X:327.59, Y:4.64, Z:1.27 [[ 9.99634044e-01 -2.55477278e-02 -8.89329908e-03 3.27585322e+02] [ 2.55486918e-02 9.99673579e-01 -5.20473879e-06 4.63971778e+00] [ 8.89052909e-03 -2.22009324e-04 9.99960454e-01 1.27094296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779254154 meters 0.05795248677799143 Centerline is valid? [True, True] Translation: X:327.65, Y:4.64, Z:1.27 [[ 9.99551585e-01 -2.84142087e-02 -9.44785651e-03 3.27646427e+02] [ 2.84154265e-02 9.99596200e-01 -5.33576046e-06 4.63801975e+00] [ 9.44419308e-03 -2.63131505e-04 9.99955368e-01 1.27176010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839254154 meters 0.05781305710360902 Centerline is valid? [True, True] Translation: X:327.71, Y:4.64, Z:1.27 [[ 9.99470709e-01 -3.10305698e-02 -9.76762376e-03 3.27706043e+02] [ 3.10319970e-02 9.99518392e-01 -5.45034305e-06 4.63658478e+00] [ 9.76308871e-03 -2.97661413e-04 9.99952296e-01 1.27216700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899254154 meters 0.057509493165913875 Centerline is valid? [True, True] Translation: X:327.77, Y:4.64, Z:1.27 [[ 9.99425740e-01 -3.22527590e-02 -1.03898974e-02 3.27767640e+02] [ 3.22544411e-02 9.99479690e-01 -5.66880062e-06 4.63912809e+00] [ 1.03846743e-02 -3.29454788e-04 9.99946024e-01 1.27349862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959254154 meters 0.057545428112263354 Centerline is valid? [True, True] Translation: X:327.83, Y:4.64, Z:1.27 [[ 9.99381956e-01 -3.34293141e-02 -1.08713858e-02 3.27829702e+02] [ 3.34312290e-02 9.99441020e-01 -5.58567877e-06 4.64079771e+00] [ 1.08654957e-02 -3.57861562e-04 9.99940905e-01 1.27424201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019254154 meters 0.056889331640505934 Centerline is valid? [True, True] Translation: X:327.89, Y:4.64, Z:1.28 [[ 9.99370341e-01 -3.39032218e-02 -1.04638875e-02 3.27891335e+02] [ 3.39050251e-02 9.99425059e-01 -5.06875397e-06 4.64226626e+00] [ 1.04580433e-02 -3.49712807e-04 9.99945252e-01 1.27562547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079254154 meters 0.058725280143938206 Centerline is valid? [True, True] Translation: X:327.95, Y:4.64, Z:1.28 [[ 9.99384242e-01 -3.33982541e-02 -1.07560811e-02 3.27952808e+02] [ 3.34001337e-02 9.99442060e-01 -4.88400210e-06 4.63809425e+00] [ 1.07502430e-02 -3.54373554e-04 9.99942152e-01 1.27575642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139254154 meters 0.057716679828901066 Centerline is valid? [True, True] Translation: X:328.01, Y:4.65, Z:1.28 [[ 9.99396222e-01 -3.28024767e-02 -1.14538048e-02 3.28014574e+02] [ 3.28045735e-02 9.99461785e-01 -4.80700194e-06 4.64771454e+00] [ 1.14477979e-02 -3.70933083e-04 9.99934403e-01 1.27965411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199254154 meters 0.05822748979982146 Centerline is valid? [True, True] Translation: X:328.08, Y:4.64, Z:1.28 [[ 9.99400312e-01 -3.23745555e-02 -1.22843411e-02 3.28076142e+02] [ 3.23769395e-02 9.99475729e-01 -4.80358513e-06 4.64084600e+00] [ 1.22780563e-02 -3.92928663e-04 9.99924545e-01 1.27843407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259254154 meters 0.05718849925435457 Centerline is valid? [True, True] Translation: X:328.14, Y:4.65, Z:1.28 [[ 9.99389251e-01 -3.21780585e-02 -1.36270870e-02 3.28138039e+02] [ 3.21809809e-02 9.99482058e-01 -4.81865074e-06 4.64658458e+00] [ 1.36201841e-02 -4.33717320e-04 9.99907147e-01 1.28000548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319254154 meters 0.05834537316932913 Centerline is valid? [True, True] Translation: X:328.20, Y:4.65, Z:1.28 [[ 9.99501207e-01 -2.81624324e-02 -1.42904029e-02 3.28197801e+02] [ 2.81652384e-02 9.99603281e-01 -4.90123290e-06 4.64752472e+00] [ 1.42848717e-02 -3.97593817e-04 9.99897887e-01 1.27987581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379254154 meters 0.0574358863516604 Centerline is valid? [True, True] Translation: X:328.26, Y:4.65, Z:1.28 [[ 9.99625480e-01 -2.31695629e-02 -1.45626714e-02 3.28257741e+02] [ 2.31719470e-02 9.99731494e-01 -5.01895679e-06 4.65412951e+00] [ 1.45588775e-02 -3.32428373e-04 9.99893959e-01 1.28228259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439254154 meters 0.057472846305583296 Centerline is valid? [True, True] Translation: X:328.32, Y:4.66, Z:1.28 [[ 9.99809338e-01 -1.29868454e-02 -1.45818388e-02 3.28317177e+02] [ 1.29881501e-02 9.99915650e-01 -5.22494881e-06 4.65832944e+00] [ 1.45806767e-02 -1.84167159e-04 9.99893679e-01 1.28225389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters 0.05659995947149291 Centerline is valid? [True, True] Translation: X:328.38, Y:4.67, Z:1.28 [[ 9.99903463e-01 -3.26088690e-03 -1.35067133e-02 3.28377253e+02] [ 3.26111706e-03 9.99994683e-01 -4.98433640e-06 4.66515164e+00] [ 1.35066577e-02 -3.90631179e-05 9.99908780e-01 1.28413359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters 0.057435098618395485 Centerline is valid? [True, True] Translation: X:328.43, Y:4.67, Z:1.29 [[ 9.99911447e-01 8.63683345e-04 -1.32797655e-02 3.28434809e+02] [-8.63842375e-04 9.99999627e-01 -6.23934702e-06 4.66716248e+00] [ 1.32797551e-02 1.77104187e-05 9.99911820e-01 1.29171369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters 0.05684983452366148 Centerline is valid? [True, True] Translation: X:328.49, Y:4.67, Z:1.28 [[ 9.99895073e-01 2.91151365e-03 -1.41903277e-02 3.28492776e+02] [-2.91192741e-03 9.99995760e-01 -8.49621659e-06 4.66806290e+00] [ 1.41902428e-02 4.98165292e-05 9.99899312e-01 1.28468473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters 0.05782279654951142 Centerline is valid? [True, True] Translation: X:328.55, Y:4.67, Z:1.28 [[ 9.99879894e-01 2.06502011e-03 -1.53601017e-02 3.28551917e+02] [-2.06541744e-03 9.99997867e-01 -1.00042632e-05 4.66605417e+00] [ 1.53600483e-02 4.17280836e-05 9.99882027e-01 1.28465612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters 0.05753569699551713 Centerline is valid? [True, True] Translation: X:328.61, Y:4.66, Z:1.29 [[ 9.99862243e-01 -2.50844504e-03 -1.64073935e-02 3.28610642e+02] [ 2.50859854e-03 9.99996853e-01 -1.12257791e-05 4.66286429e+00] [ 1.64073700e-02 -2.99353306e-05 9.99865390e-01 1.28670830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters 0.05762564968259458 Centerline is valid? [True, True] Translation: X:328.67, Y:4.65, Z:1.29 [[ 9.99822359e-01 -1.07480746e-02 -1.54832075e-02 3.28668743e+02] [ 1.07491895e-02 9.99942226e-01 -1.12123641e-05 4.65472061e+00] [ 1.54824334e-02 -1.55221559e-04 9.99880128e-01 1.28664309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters 0.05769479492726337 Centerline is valid? [True, True] Translation: X:328.73, Y:4.65, Z:1.29 [[ 9.99745279e-01 -1.74633736e-02 -1.42971454e-02 3.28728129e+02] [ 1.74650071e-02 9.99847475e-01 -1.06013278e-05 4.64743496e+00] [ 1.42951499e-02 -2.39101120e-04 9.99897791e-01 1.28595908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters 0.058307938753880226 Centerline is valid? [True, True] Translation: X:328.79, Y:4.64, Z:1.29 [[ 9.99609230e-01 -2.47309674e-02 -1.30294132e-02 3.28787571e+02] [ 2.47329396e-02 9.99694094e-01 -9.77208044e-06 4.64419165e+00] [ 1.30256691e-02 -3.12487428e-04 9.99915114e-01 1.28848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.979254154 meters 0.0583657125208722 Centerline is valid? [True, True] Translation: X:328.85, Y:4.64, Z:1.29 [[ 9.99507128e-01 -2.90162280e-02 -1.19816193e-02 3.28847883e+02] [ 2.90182030e-02 9.99578883e-01 -9.01753019e-06 4.63981847e+00] [ 1.19768353e-02 -3.38671975e-04 9.99928218e-01 1.28874508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.039254154 meters 0.058907046175275604 Centerline is valid? [True, True] Translation: X:328.91, Y:4.63, Z:1.29 [[ 9.99389360e-01 -3.30037224e-02 -1.14744091e-02 3.28907633e+02] [ 3.30057971e-02 9.99455160e-01 -8.55529975e-06 4.63171014e+00] [ 1.14684398e-02 -3.70171945e-04 9.99934167e-01 1.28853425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.099254154 meters 0.05824339225470075 Centerline is valid? [True, True] Translation: X:328.97, Y:4.63, Z:1.29 [[ 9.99274647e-01 -3.62946663e-02 -1.15272640e-02 3.28967991e+02] [ 3.62969795e-02 9.99341048e-01 -8.53923518e-06 4.63357144e+00] [ 1.15199780e-02 -4.09871825e-04 9.99933559e-01 1.28927714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.159254154 meters 0.05745420044776837 Centerline is valid? [True, True] Translation: X:329.03, Y:4.64, Z:1.29 [[ 9.99098505e-01 -4.07907072e-02 -1.17599177e-02 3.29028545e+02] [ 4.07934262e-02 9.99167602e-01 -8.66887321e-06 4.63749799e+00] [ 1.17504823e-02 -4.71066275e-04 9.99930850e-01 1.28966048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.219254154 meters 0.0584926999146458 Centerline is valid? [True, True] Translation: X:329.09, Y:4.63, Z:1.29 [[ 9.98972242e-01 -4.34232801e-02 -1.29953082e-02 3.29088370e+02] [ 4.34268243e-02 9.99056610e-01 -9.46896122e-06 4.63082838e+00] [ 1.29834598e-02 -5.54885738e-04 9.99915557e-01 1.28718999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279254154 meters 0.05876888581262848 Centerline is valid? [True, True] Translation: X:329.15, Y:4.63, Z:1.29 [[ 9.98962173e-01 -4.34819628e-02 -1.35607956e-02 3.29150282e+02] [ 4.34858324e-02 9.99054044e-01 -9.52592463e-06 4.63333254e+00] [ 1.35483819e-02 -5.80186446e-04 9.99908048e-01 1.28693824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339254154 meters 0.058108009663715425 Centerline is valid? [True, True] Translation: X:329.21, Y:4.64, Z:1.29 [[ 9.99023977e-01 -4.20667539e-02 -1.34715285e-02 3.29212301e+02] [ 4.20704490e-02 9.99114647e-01 -9.10447959e-06 4.63538876e+00] [ 1.34599844e-02 -5.57657658e-04 9.99909255e-01 1.28751934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399254154 meters 0.058112090425814285 Centerline is valid? [True, True] Translation: X:329.27, Y:4.64, Z:1.29 [[ 9.99189895e-01 -3.80614394e-02 -1.30721210e-02 3.29272973e+02] [ 3.80645785e-02 9.99275281e-01 -8.67058217e-06 4.63982712e+00] [ 1.30629774e-02 -4.88921216e-04 9.99914556e-01 1.28854724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459254154 meters 0.05884315022109398 Centerline is valid? [True, True] Translation: X:329.33, Y:4.64, Z:1.29 [[ 9.99252668e-01 -3.63555733e-02 -1.31292888e-02 3.29334025e+02] [ 3.63585953e-02 9.99338808e-01 -8.52713089e-06 4.64276552e+00] [ 1.31209178e-02 -4.68841739e-04 9.99913807e-01 1.28943985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519254154 meters 0.05741532737622217 Centerline is valid? [True, True] Translation: X:329.39, Y:4.65, Z:1.29 [[ 9.99504497e-01 -2.94990092e-02 -1.09803805e-02 3.29394589e+02] [ 2.95007109e-02 9.99564759e-01 -6.99149778e-06 4.64858709e+00] [ 1.09758076e-02 -3.16940997e-04 9.99939714e-01 1.29079415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579254154 meters 0.05758039366380696 Centerline is valid? [True, True] Translation: X:329.45, Y:4.65, Z:1.29 [[ 9.99704303e-01 -2.21310168e-02 -1.00759246e-02 3.29453818e+02] [ 2.21320756e-02 9.99755056e-01 -6.42603951e-06 4.65381869e+00] [ 1.00735988e-02 -2.16576986e-04 9.99949237e-01 1.29246395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639254154 meters 0.05782043637332073 Centerline is valid? [True, True] Translation: X:329.51, Y:4.66, Z:1.29 [[ 9.99755341e-01 -1.94286009e-02 -1.05729516e-02 3.29513281e+02] [ 1.94296153e-02 9.99811227e-01 -6.77989767e-06 4.65603062e+00] [ 1.05710874e-02 -1.98650143e-04 9.99944105e-01 1.29203286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699254154 meters 0.057455583268101025 Centerline is valid? [True, True] Translation: X:329.57, Y:4.66, Z:1.29 [[ 9.99723836e-01 -2.04890940e-02 -1.15086229e-02 3.29573608e+02] [ 2.04903660e-02 9.99790050e-01 -7.37989621e-06 4.65585470e+00] [ 1.15063579e-02 -2.28438037e-04 9.99933774e-01 1.29154176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759254154 meters 0.057224070278695846 Centerline is valid? [True, True] Translation: X:329.63, Y:4.65, Z:1.29 [[ 9.99620041e-01 -2.46737841e-02 -1.22873272e-02 3.29633173e+02] [ 2.46755501e-02 9.99695512e-01 -7.87923982e-06 4.65445920e+00] [ 1.22837803e-02 -2.95320313e-04 9.99924508e-01 1.29219798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819254154 meters 0.057211420064773526 Centerline is valid? [True, True] Translation: X:329.69, Y:4.65, Z:1.29 [[ 9.99565411e-01 -2.69732903e-02 -1.18924574e-02 3.29694305e+02] [ 2.69751087e-02 9.99636106e-01 -7.50005219e-06 4.65292677e+00] [ 1.18883321e-02 -3.13303539e-04 9.99929282e-01 1.29291436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879254154 meters 0.05803838867141694 Centerline is valid? [True, True] Translation: X:329.76, Y:4.65, Z:1.29 [[ 9.99572797e-01 -2.72653325e-02 -1.05273570e-02 3.29755181e+02] [ 2.72667753e-02 9.99628192e-01 -6.48016091e-06 4.65192512e+00] [ 1.05236195e-02 -2.80569686e-04 9.99944586e-01 1.29389994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939254154 meters 0.05764415717972279 Centerline is valid? [True, True] Translation: X:329.82, Y:4.66, Z:1.30 [[ 9.99615497e-01 -2.60651484e-02 -9.45865186e-03 3.29816516e+02] [ 2.60662613e-02 9.99660217e-01 -5.62661510e-06 4.65880363e+00] [ 9.45558463e-03 -2.40927239e-04 9.99955266e-01 1.29559408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters 0.05727749010991396 Centerline is valid? [True, True] Translation: X:329.88, Y:4.66, Z:1.30 [[ 9.99654941e-01 -2.47930376e-02 -8.67777081e-03 3.29876655e+02] [ 2.47939275e-02 9.99692583e-01 -5.03033809e-06 4.65656077e+00] [ 8.67522784e-03 -2.10127418e-04 9.99962347e-01 1.29592902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters 0.058679152034005116 Centerline is valid? [True, True] Translation: X:329.94, Y:4.65, Z:1.30 [[ 9.99645418e-01 -2.53389711e-02 -8.18386356e-03 3.29937854e+02] [ 2.53397820e-02 9.99678896e-01 -4.61577335e-06 4.65052991e+00] [ 8.18135265e-03 -2.02763182e-04 9.99966512e-01 1.29501480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters 0.05665897516074735 Centerline is valid? [True, True] Translation: X:330.00, Y:4.66, Z:1.30 [[ 9.99603471e-01 -2.70209582e-02 -7.92261378e-03 3.29999411e+02] [ 2.70217724e-02 9.99634845e-01 -4.28240093e-06 4.65644082e+00] [ 7.91983652e-03 -2.09802363e-04 9.99968616e-01 1.29537825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters 0.05698038725699113 Centerline is valid? [True, True] Translation: X:330.06, Y:4.66, Z:1.29 [[ 9.99588292e-01 -2.74313067e-02 -8.41253679e-03 3.30061279e+02] [ 2.74322413e-02 9.99623665e-01 -4.29637562e-06 4.65539850e+00] [ 8.40948871e-03 -2.26480132e-04 9.99964614e-01 1.29470582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters 0.05740649006876494 Centerline is valid? [True, True] Translation: X:330.12, Y:4.66, Z:1.29 [[ 9.99669773e-01 -2.42119266e-02 -8.60973259e-03 3.30122166e+02] [ 2.42127874e-02 9.99706827e-01 -4.25420656e-06 4.65593269e+00] [ 8.60731146e-03 -2.04212823e-04 9.99962936e-01 1.29362477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters 0.05723283386317979 Centerline is valid? [True, True] Translation: X:330.18, Y:4.66, Z:1.29 [[ 9.99835704e-01 -1.66448879e-02 -7.17729968e-03 3.30181364e+02] [ 1.66452911e-02 9.99861458e-01 -3.56738756e-06 4.65566999e+00] [ 7.17636469e-03 -1.15901441e-04 9.99974243e-01 1.29328404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters 0.05660915789076135 Centerline is valid? [True, True] Translation: X:330.24, Y:4.66, Z:1.29 [[ 9.99921255e-01 -1.07820244e-02 -6.42113602e-03 3.30242216e+02] [ 1.07822261e-02 9.99941870e-01 -3.21386833e-06 4.65875803e+00] [ 6.42079741e-03 -6.60205251e-05 9.99979384e-01 1.29383611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters 0.05746252373433054 Centerline is valid? [True, True] Translation: X:330.30, Y:4.66, Z:1.29 [[ 9.99978162e-01 -3.75165092e-03 -5.44062502e-03 3.30301326e+02] [ 3.75169156e-03 9.99992962e-01 -2.73604503e-06 4.66323428e+00] [ 5.44059700e-03 -1.76755617e-05 9.99985200e-01 1.29425829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.479254154 meters 0.05733276798645372 Centerline is valid? [True, True] Translation: X:330.36, Y:4.66, Z:1.29 [[ 9.99988184e-01 -1.85901069e-03 -4.49185667e-03 3.30360148e+02] [ 1.85901879e-03 9.99998272e-01 -2.37220382e-06 4.66120630e+00] [ 4.49185332e-03 -5.97827017e-06 9.99989912e-01 1.29313034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.539254154 meters 0.057260119669441896 Centerline is valid? [True, True] Translation: X:330.42, Y:4.66, Z:1.29 [[ 9.99982004e-01 -3.68807867e-03 -4.73186775e-03 3.30418764e+02] [ 3.68810584e-03 9.99993199e-01 -2.98425888e-06 4.65885845e+00] [ 4.73184657e-03 -1.44674239e-05 9.99988805e-01 1.29210487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.599254154 meters 0.05713974450977617 Centerline is valid? [True, True] Translation: X:330.48, Y:4.65, Z:1.29 [[ 9.99930899e-01 -9.96150497e-03 -6.24230238e-03 3.30478228e+02] [ 9.96167338e-03 9.99950381e-01 -4.11327929e-06 4.65200852e+00] [ 6.24203362e-03 -5.80707824e-05 9.99980517e-01 1.29083735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.659254154 meters 0.05648866977709758 Centerline is valid? [True, True] Translation: X:330.54, Y:4.65, Z:1.29 [[ 9.99860902e-01 -1.54833777e-02 -6.20016074e-03 3.30537987e+02] [ 1.54836501e-02 9.99880121e-01 -4.07820648e-06 4.64549126e+00] [ 6.19948061e-03 -9.19234801e-05 9.99980779e-01 1.29018553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.719254154 meters 0.0571450821270775 Centerline is valid? [True, True] Translation: X:330.60, Y:4.64, Z:1.29 [[ 9.99714539e-01 -2.32334289e-02 -5.57214718e-03 3.30598650e+02] [ 2.32337692e-02 9.99730060e-01 -3.66291248e-06 4.63822400e+00] [ 5.57072814e-03 -1.25800115e-04 9.99984475e-01 1.29026134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779254154 meters 0.057873688708543175 Centerline is valid? [True, True] Translation: X:330.66, Y:4.63, Z:1.29 [[ 9.99570340e-01 -2.89878133e-02 -4.34086490e-03 3.30658207e+02] [ 2.89880741e-02 9.99579757e-01 -2.85203557e-06 4.63018242e+00] [ 4.33912336e-03 -1.22982503e-04 9.99990578e-01 1.28982986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839254154 meters 0.05810982463936063 Centerline is valid? [True, True] Translation: X:330.72, Y:4.63, Z:1.29 [[ 9.99470367e-01 -3.21379354e-02 -5.11266237e-03 3.30718397e+02] [ 3.21383381e-02 9.99483430e-01 -3.39067463e-06 4.62735855e+00] [ 5.11013029e-03 -1.60923593e-04 9.99986930e-01 1.29078227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899254154 meters 0.0572435952355058 Centerline is valid? [True, True] Translation: X:330.78, Y:4.63, Z:1.29 [[ 9.99279372e-01 -3.78615706e-02 -2.69027434e-03 3.30779265e+02] [ 3.78617028e-02 9.99282989e-01 -1.80215691e-06 4.63161159e+00] [ 2.68841362e-03 -1.00057509e-04 9.99996381e-01 1.29063972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959254154 meters 0.056321074928899206 Centerline is valid? [True, True] Translation: X:330.84, Y:4.63, Z:1.29 [[ 9.99110042e-01 -4.20748792e-02 -2.97143990e-03 3.30840430e+02] [ 4.20750592e-02 9.99114453e-01 -1.94004820e-06 4.62981326e+00] [ 2.96889017e-03 -1.23085188e-04 9.99995585e-01 1.28984768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019254154 meters 0.05602376970054343 Centerline is valid? [True, True] Translation: X:330.90, Y:4.63, Z:1.29 [[ 9.98852352e-01 -4.77756379e-02 -3.38630722e-03 3.30901138e+02] [ 4.77759045e-02 9.98858079e-01 -2.15732234e-06 4.63247143e+00] [ 3.38254339e-03 -1.59629044e-04 9.99994266e-01 1.28832547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079254154 meters 0.05661864621038347 Centerline is valid? [True, True] Translation: X:330.96, Y:4.63, Z:1.29 [[ 9.98670377e-01 -5.13415139e-02 -4.63972090e-03 3.30960909e+02] [ 5.13420530e-02 9.98681127e-01 -2.90811980e-06 4.62715007e+00] [ 4.63375101e-03 -2.35308543e-04 9.99989236e-01 1.28825331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139254154 meters 0.056512222216663445 Centerline is valid? [True, True] Translation: X:331.02, Y:4.63, Z:1.29 [[ 9.98629241e-01 -5.21196984e-02 -4.81416112e-03 3.31022764e+02] [ 5.21202888e-02 9.98640814e-01 -2.81025986e-06 4.62718238e+00] [ 4.80776425e-03 -2.48109060e-04 9.99988412e-01 1.28839280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199254154 meters 0.055852340553840904 Centerline is valid? [True, True] Translation: X:331.09, Y:4.63, Z:1.29 [[ 9.98628977e-01 -5.21025622e-02 -5.04866738e-03 3.31085832e+02] [ 5.21032128e-02 9.98641705e-01 -2.65957561e-06 4.63410173e+00] [ 5.04194837e-03 -2.60395862e-04 9.99987255e-01 1.28813806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259254154 meters 0.05532547513197997 Centerline is valid? [True, True] Translation: X:331.15, Y:4.64, Z:1.29 [[ 9.98712285e-01 -5.04919305e-02 -4.93319690e-03 3.31145565e+02] [ 5.04925333e-02 9.98724439e-01 -2.37252259e-06 4.63545266e+00] [ 4.92702410e-03 -2.46720141e-04 9.99987832e-01 1.28821307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319254154 meters 0.057518319924490954 Centerline is valid? [True, True] Translation: X:331.21, Y:4.63, Z:1.29 [[ 9.98772917e-01 -4.92316549e-02 -5.37632644e-03 3.31206453e+02] [ 4.92323527e-02 9.98787352e-01 -2.56197282e-06 4.63474109e+00] [ 5.36993298e-03 -2.62130370e-04 9.99985547e-01 1.28941647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379254154 meters 0.05654863444081733 Centerline is valid? [True, True] Translation: X:331.27, Y:4.64, Z:1.29 [[ 9.98843724e-01 -4.76846940e-02 -6.11433621e-03 3.31268323e+02] [ 4.76855684e-02 9.98862396e-01 -2.78553744e-06 4.64221596e+00] [ 6.10751335e-03 -2.88783281e-04 9.99981307e-01 1.28951109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439254154 meters 0.057194278824861215 Centerline is valid? [True, True] Translation: X:331.33, Y:4.64, Z:1.29 [[ 9.98950330e-01 -4.52796473e-02 -6.92760374e-03 3.31328061e+02] [ 4.52807128e-02 9.98974303e-01 -3.04515007e-06 4.64203987e+00] [ 6.92063599e-03 -3.10644881e-04 9.99976004e-01 1.28953541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters 0.05738463635492701 Centerline is valid? [True, True] Translation: X:331.39, Y:4.65, Z:1.29 [[ 9.99170410e-01 -4.02553261e-02 -6.16438039e-03 3.31387602e+02] [ 4.02560743e-02 9.99189396e-01 -2.71199154e-06 4.64621070e+00] [ 6.15949269e-03 -2.45444013e-04 9.99981000e-01 1.29108049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters 0.05712623096960677 Centerline is valid? [True, True] Translation: X:331.45, Y:4.65, Z:1.29 [[ 9.99346148e-01 -3.54510434e-02 -7.10637309e-03 3.31448013e+02] [ 3.54519164e-02 9.99371383e-01 -3.13243420e-06 4.65352473e+00] [ 7.10201696e-03 -2.48804159e-04 9.99974749e-01 1.29230236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters 0.055815090317087195 Centerline is valid? [True, True] Translation: X:331.51, Y:4.66, Z:1.29 [[ 9.99613273e-01 -2.63920520e-02 -8.76154154e-03 3.31508806e+02] [ 2.63930312e-02 9.99651643e-01 -3.86551831e-06 4.66024211e+00] [ 8.75859142e-03 -2.27379616e-04 9.99961617e-01 1.29224895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters 0.057035888132542636 Centerline is valid? [True, True] Translation: X:331.57, Y:4.67, Z:1.29 [[ 9.99839042e-01 -1.58944430e-02 -8.32212405e-03 3.31568273e+02] [ 1.58949629e-02 9.99873667e-01 -3.67542478e-06 4.66804200e+00] [ 8.32113111e-03 -1.28605020e-04 9.99965371e-01 1.29432876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters 0.056607190993811674 Centerline is valid? [True, True] Translation: X:331.63, Y:4.67, Z:1.30 [[ 9.99923560e-01 -9.95526322e-03 -7.33259624e-03 3.31628472e+02] [ 9.95550666e-03 9.99950443e-01 -3.30097468e-06 4.67452140e+00] [ 7.33226572e-03 -6.96989883e-05 9.99973116e-01 1.29679605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters 0.05652054184977575 Centerline is valid? [True, True] Translation: X:331.69, Y:4.68, Z:1.30 [[ 9.99960289e-01 -6.14069698e-03 -6.45857259e-03 3.31688121e+02] [ 6.14080561e-03 9.99981145e-01 -3.01089108e-06 4.68040165e+00] [ 6.45846930e-03 -3.66500673e-05 9.99979143e-01 1.29925238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters 0.056776454050548986 Centerline is valid? [True, True] Translation: X:331.75, Y:4.68, Z:1.30 [[ 9.99931558e-01 -9.56873580e-03 -6.73198678e-03 3.31746421e+02] [ 9.56893074e-03 9.99954217e-01 -3.25246346e-06 4.67659248e+00] [ 6.73170969e-03 -6.11656744e-05 9.99977340e-01 1.29913321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters 0.056776298895242314 Centerline is valid? [True, True] Translation: X:331.81, Y:4.67, Z:1.30 [[ 9.99852733e-01 -1.54826714e-02 -7.40260790e-03 3.31807033e+02] [ 1.54830686e-02 9.99880130e-01 -3.64700693e-06 4.67438254e+00] [ 7.40177701e-03 -1.10968616e-04 9.99972600e-01 1.29997737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.979254154 meters 0.056900567998998 Centerline is valid? [True, True] Translation: X:331.87, Y:4.67, Z:1.30 [[ 9.99622258e-01 -2.60377380e-02 -8.79641839e-03 3.31867039e+02] [ 2.60387073e-02 9.99660935e-01 -4.33988908e-06 4.67444649e+00] [ 8.79354884e-03 -2.24709114e-04 9.99961311e-01 1.30056371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.039254154 meters 0.05570429543690823 Centerline is valid? [True, True] Translation: X:331.93, Y:4.67, Z:1.30 [[ 9.99219164e-01 -3.82765014e-02 -9.79648815e-03 3.31927257e+02] [ 3.82782910e-02 9.99267118e-01 -4.82372227e-06 4.67162233e+00] [ 9.78949311e-03 -3.70172868e-04 9.99952013e-01 1.30084149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.099254154 meters 0.05704717101828451 Centerline is valid? [True, True] Translation: X:331.99, Y:4.67, Z:1.30 [[ 9.98927859e-01 -4.50807595e-02 -1.05288904e-02 3.31987039e+02] [ 4.50832042e-02 9.98983235e-01 -5.15506336e-06 4.66727253e+00] [ 1.05184174e-02 -4.69526579e-04 9.99944570e-01 1.30065385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.159254154 meters 0.0556354965767266 Centerline is valid? [True, True] Translation: X:332.05, Y:4.67, Z:1.30 [[ 9.98857003e-01 -4.65250251e-02 -1.09594294e-02 3.32048617e+02] [ 4.65277620e-02 9.98916997e-01 -5.23790427e-06 4.67169324e+00] [ 1.09478040e-02 -5.04685806e-04 9.99939944e-01 1.30136782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.219254154 meters 0.05579217590317128 Centerline is valid? [True, True] Translation: X:332.11, Y:4.68, Z:1.30 [[ 9.98864624e-01 -4.64216850e-02 -1.07000319e-02 3.32110518e+02] [ 4.64242912e-02 9.98921811e-01 -4.82104751e-06 4.67811058e+00] [ 1.06887190e-02 -4.91925821e-04 9.99942753e-01 1.30246663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279254154 meters 0.05728475216161058 Centerline is valid? [True, True] Translation: X:332.17, Y:4.67, Z:1.30 [[ 9.98883798e-01 -4.58615130e-02 -1.13084183e-02 3.32171923e+02] [ 4.58643917e-02 9.98947675e-01 -4.77065900e-06 4.66699079e+00] [ 1.12967369e-02 -5.13888391e-04 9.99936058e-01 1.30130753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339254154 meters 0.056204438938580445 Centerline is valid? [True, True] Translation: X:332.23, Y:4.67, Z:1.30 [[ 9.98911051e-01 -4.50661479e-02 -1.20729152e-02 3.32234498e+02] [ 4.50693772e-02 9.98983859e-01 -4.59475060e-06 4.67163318e+00] [ 1.20608545e-02 -5.39529022e-04 9.99927120e-01 1.30166217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399254154 meters 0.05701714859485455 Centerline is valid? [True, True] Translation: X:332.29, Y:4.67, Z:1.30 [[ 9.99020401e-01 -4.20916234e-02 -1.36577142e-02 3.32294573e+02] [ 4.20954811e-02 9.99113592e-01 -5.02620765e-06 4.66978360e+00] [ 1.36458194e-02 -5.69906763e-04 9.99906729e-01 1.30075028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459254154 meters 0.05689235443645341 Centerline is valid? [True, True] Translation: X:332.35, Y:4.68, Z:1.30 [[ 9.99192615e-01 -3.74183323e-02 -1.46283117e-02 3.32354917e+02] [ 3.74222587e-02 9.99299542e-01 -5.31783560e-06 4.68306762e+00] [ 1.46182642e-02 -5.42110924e-04 9.99893000e-01 1.30372758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519254154 meters 0.0562263836664739 Centerline is valid? [True, True] Translation: X:332.41, Y:4.68, Z:1.30 [[ 9.99336200e-01 -3.32632713e-02 -1.48564807e-02 3.32414202e+02] [ 3.32668617e-02 9.99446505e-01 -5.45867512e-06 4.68494445e+00] [ 1.48484393e-02 -4.88773437e-04 9.99889636e-01 1.30439659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579254154 meters 0.05657111562412898 Centerline is valid? [True, True] Translation: X:332.47, Y:4.69, Z:1.31 [[ 9.99548082e-01 -2.69073107e-02 -1.34025628e-02 3.32473928e+02] [ 2.69096612e-02 9.99637869e-01 -4.96118993e-06 4.68917375e+00] [ 1.33978428e-02 -3.55699475e-04 9.99910182e-01 1.30563770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639254154 meters 0.056435806148879206 Centerline is valid? [True, True] Translation: X:332.53, Y:4.69, Z:1.31 [[ 9.99673792e-01 -2.20348299e-02 -1.29142023e-02 3.32533455e+02] [ 2.20366050e-02 9.99757165e-01 -4.84085205e-06 4.69201530e+00] [ 1.29111729e-02 -2.79745903e-04 9.99916608e-01 1.30635216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699254154 meters 0.05676060967043989 Centerline is valid? [True, True] Translation: X:332.59, Y:4.69, Z:1.31 [[ 9.99696109e-01 -2.09688408e-02 -1.29613748e-02 3.32593564e+02] [ 2.09705400e-02 9.99780094e-01 -4.81252147e-06 4.69055205e+00] [ 1.29586254e-02 -2.66995969e-04 9.99915998e-01 1.30520408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759254154 meters 0.056694767041248 Centerline is valid? [True, True] Translation: X:332.65, Y:4.70, Z:1.31 [[ 9.99637775e-01 -2.34328983e-02 -1.32370094e-02 3.32654656e+02] [ 2.34348900e-02 9.99725365e-01 -4.65301901e-06 4.69679638e+00] [ 1.32334831e-02 -3.05556525e-04 9.99912387e-01 1.30774865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819254154 meters 0.05651404602800544 Centerline is valid? [True, True] Translation: X:332.71, Y:4.69, Z:1.31 [[ 9.99529384e-01 -2.75517556e-02 -1.34874590e-02 3.32713957e+02] [ 2.75542014e-02 9.99620311e-01 -4.48530507e-06 4.69155132e+00] [ 1.34824616e-02 -3.67152969e-04 9.99909040e-01 1.30682567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879254154 meters 0.05706997531417834 Centerline is valid? [True, True] Translation: X:332.78, Y:4.70, Z:1.31 [[ 9.99445035e-01 -3.03011728e-02 -1.38369084e-02 3.32775067e+02] [ 3.03040123e-02 9.99540728e-01 -4.45481161e-06 4.69809812e+00] [ 1.38306884e-02 -4.14861501e-04 9.99904265e-01 1.30974310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939254154 meters 0.0563207875692388 Centerline is valid? [True, True] Translation: X:332.84, Y:4.70, Z:1.31 [[ 9.99375379e-01 -3.26349463e-02 -1.35577632e-02 3.32836653e+02] [ 3.26378894e-02 9.99467242e-01 -4.17858828e-06 4.69757273e+00] [ 1.35506766e-02 -4.38320799e-04 9.99908089e-01 1.30986742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters 0.056784507045498214 Centerline is valid? [True, True] Translation: X:332.90, Y:4.70, Z:1.31 [[ 9.99407487e-01 -3.18071427e-02 -1.31522244e-02 3.32897848e+02] [ 3.18098445e-02 9.99493939e-01 -3.76945524e-06 4.69503962e+00] [ 1.31456885e-02 -4.14602993e-04 9.99913506e-01 1.30955170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters 0.05612286607181599 Centerline is valid? [True, True] Translation: X:332.96, Y:4.69, Z:1.31 [[ 9.99568397e-01 -2.72843987e-02 -1.08894611e-02 3.32957648e+02] [ 2.72859828e-02 9.99627668e-01 -3.09883414e-06 4.69397899e+00] [ 1.08854912e-02 -2.94032152e-04 9.99940708e-01 1.31035244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters 0.05663748021446508 Centerline is valid? [True, True] Translation: X:333.02, Y:4.70, Z:1.31 [[ 9.99747046e-01 -2.01186571e-02 -1.00540673e-02 3.33018364e+02] [ 2.01196454e-02 9.99797579e-01 -2.84765625e-06 4.70053861e+00] [ 1.00520894e-02 -1.99437332e-04 9.99949457e-01 1.31193320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters 0.05592544147818516 Centerline is valid? [True, True] Translation: X:333.08, Y:4.71, Z:1.31 [[ 9.99828743e-01 -1.56364889e-02 -9.89869491e-03 3.33078850e+02] [ 1.56372276e-02 9.99877731e-01 -2.77618448e-06 4.70713574e+00] [ 9.89752802e-03 -1.52012436e-04 9.99951007e-01 1.31333434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters 0.05573134935524384 Centerline is valid? [True, True] Translation: X:333.14, Y:4.71, Z:1.31 [[ 9.99889622e-01 -1.02631850e-02 -1.07429297e-02 3.33139121e+02] [ 1.02637449e-02 9.99947326e-01 -3.01295827e-06 4.70963946e+00] [ 1.07423947e-02 -1.07250065e-04 9.99942293e-01 1.31268147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters 0.05639357462146511 Centerline is valid? [True, True] Translation: X:333.20, Y:4.71, Z:1.31 [[ 9.99897382e-01 -9.12224050e-03 -1.10458490e-02 3.33198176e+02] [ 9.12276096e-03 9.99958387e-01 -3.26722886e-06 4.70807665e+00] [ 1.10454191e-02 -9.75017464e-05 9.99938993e-01 1.31124229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters 0.05574254709947763 Centerline is valid? [True, True] Translation: X:333.26, Y:4.71, Z:1.31 [[ 9.99901006e-01 -8.33219133e-03 -1.13380745e-02 3.33256592e+02] [ 8.33267925e-03 9.99965283e-01 -4.20646465e-06 4.70824173e+00] [ 1.13377159e-02 -9.02704900e-05 9.99935722e-01 1.31143404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters 0.05583010265619675 Centerline is valid? [True, True] Translation: X:333.32, Y:4.71, Z:1.31 [[ 9.99882982e-01 -9.70275795e-03 -1.18270689e-02 3.33315672e+02] [ 9.70337681e-03 9.99952921e-01 -5.05819298e-06 4.70667938e+00] [ 1.18265612e-02 -1.09704905e-04 9.99930058e-01 1.31116174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.479254154 meters 0.056156510960131086 Centerline is valid? [True, True] Translation: X:333.37, Y:4.70, Z:1.31 [[ 9.99813046e-01 -1.42907278e-02 -1.30248930e-02 3.33374673e+02] [ 1.42918630e-02 9.99897866e-01 -5.92484836e-06 4.70201761e+00] [ 1.30236474e-02 -1.80226245e-04 9.99915172e-01 1.31087133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.539254154 meters 0.05632889751622008 Centerline is valid? [True, True] Translation: X:333.44, Y:4.70, Z:1.31 [[ 9.99688773e-01 -2.08863211e-02 -1.36425665e-02 3.33435039e+02] [ 2.08881785e-02 9.99781818e-01 -6.34575105e-06 4.70039335e+00] [ 1.36397225e-02 -2.78624588e-04 9.99906936e-01 1.31298416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.599254154 meters 0.05666758228313985 Centerline is valid? [True, True] Translation: X:333.50, Y:4.69, Z:1.31 [[ 9.99589774e-01 -2.53647130e-02 -1.33009165e-02 3.33495015e+02] [ 2.53668746e-02 9.99678209e-01 -6.19458552e-06 4.69460161e+00] [ 1.32967935e-02 -3.31210638e-04 9.99911539e-01 1.31280610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.659254154 meters 0.05637149908731773 Centerline is valid? [True, True] Translation: X:333.56, Y:4.69, Z:1.32 [[ 9.99440866e-01 -3.14127871e-02 -1.14539491e-02 3.33555716e+02] [ 3.14147870e-02 9.99506434e-01 -5.32051369e-06 4.69396855e+00] [ 1.14484629e-02 -3.54505831e-04 9.99934401e-01 1.31500229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.719254154 meters 0.05667842589914475 Centerline is valid? [True, True] Translation: X:333.62, Y:4.68, Z:1.31 [[ 9.99396875e-01 -3.31013812e-02 -1.04968932e-02 3.33616746e+02] [ 3.31031579e-02 9.99451940e-01 -4.48989093e-06 4.68261994e+00] [ 1.04912889e-02 -3.42993129e-04 9.99944906e-01 1.31382020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779254154 meters 0.05603982750922813 Centerline is valid? [True, True] Translation: X:333.68, Y:4.68, Z:1.32 [[ 9.99375519e-01 -3.43419072e-02 -8.31898865e-03 3.33678348e+02] [ 3.43430695e-02 9.99410103e-01 -3.13997759e-06 4.68403456e+00] [ 8.31418914e-03 -2.82561589e-04 9.99965397e-01 1.31597103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839254154 meters 0.0574280791011393 Centerline is valid? [True, True] Translation: X:333.74, Y:4.67, Z:1.32 [[ 9.99376735e-01 -3.42838081e-02 -8.41206362e-03 3.33740610e+02] [ 3.42849979e-02 9.99412097e-01 -2.77309771e-06 4.67272150e+00] [ 8.40721321e-03 -2.85636214e-04 9.99964618e-01 1.31514632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899254154 meters 0.05667485671910073 Centerline is valid? [True, True] Translation: X:333.80, Y:4.68, Z:1.32 [[ 9.99336520e-01 -3.51764756e-02 -9.44110293e-03 3.33802528e+02] [ 3.51780175e-02 9.99381062e-01 -2.74791320e-06 4.67627625e+00] [ 9.43535613e-03 -3.29373194e-04 9.99955432e-01 1.31518660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959254154 meters 0.05770865454680641 Centerline is valid? [True, True] Translation: X:333.86, Y:4.67, Z:1.31 [[ 9.99282201e-01 -3.60645673e-02 -1.15943723e-02 3.33863115e+02] [ 3.60669557e-02 9.99349376e-01 -3.09115250e-06 4.66707138e+00] [ 1.15869402e-02 -4.15084778e-04 9.99932783e-01 1.31141347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019254154 meters 0.05576467355264477 Centerline is valid? [True, True] Translation: X:333.93, Y:4.68, Z:1.31 [[ 9.99297512e-01 -3.53054999e-02 -1.25699670e-02 3.33925020e+02] [ 3.53082528e-02 9.99376469e-01 -2.92089262e-06 4.67680932e+00] [ 1.25622323e-02 -4.40904731e-04 9.99920995e-01 1.31275951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079254154 meters 0.056322691399549256 Centerline is valid? [True, True] Translation: X:333.98, Y:4.68, Z:1.31 [[ 9.99449071e-01 -3.06877261e-02 -1.26418867e-02 3.33984567e+02] [ 3.06901427e-02 9.99528947e-01 -2.84490690e-06 4.67583699e+00] [ 1.26360190e-02 -3.85137968e-04 9.99920088e-01 1.31300405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139254154 meters 0.05632467214174027 Centerline is valid? [True, True] Translation: X:334.05, Y:4.68, Z:1.32 [[ 9.99657135e-01 -2.43643393e-02 -9.59117200e-03 3.34045498e+02] [ 2.43654395e-02 9.99703119e-01 -2.14097075e-06 4.68074941e+00] [ 9.58837672e-03 -2.31552885e-04 9.99954004e-01 1.31533885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199254154 meters 0.05716635848085484 Centerline is valid? [True, True] Translation: X:334.11, Y:4.68, Z:1.32 [[ 9.99757398e-01 -2.01057014e-02 -8.99478580e-03 3.34105116e+02] [ 2.01064969e-02 9.99797844e-01 -1.97998014e-06 4.67791256e+00] [ 8.99300726e-03 -1.78874133e-04 9.99959546e-01 1.31534555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259254154 meters 0.05671770225069601 Centerline is valid? [True, True] Translation: X:334.17, Y:4.68, Z:1.32 [[ 9.99833602e-01 -1.67462515e-02 -7.23406793e-03 3.34166323e+02] [ 1.67466785e-02 9.99859765e-01 -1.54205118e-06 4.68158634e+00] [ 7.23307928e-03 -1.19604815e-04 9.99973834e-01 1.31613356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319254154 meters 0.056463130304191124 Centerline is valid? [True, True] Translation: X:334.23, Y:4.68, Z:1.32 [[ 9.99844849e-01 -1.61918082e-02 -6.93566776e-03 3.34228830e+02] [ 1.61921885e-02 9.99868898e-01 -1.32374242e-06 4.68462380e+00] [ 6.93477991e-03 -1.10980102e-04 9.99975948e-01 1.31743336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379254154 meters 0.05680928261128184 Centerline is valid? [True, True] Translation: X:334.29, Y:4.68, Z:1.32 [[ 9.99796009e-01 -1.88545689e-02 -7.24195654e-03 3.34289794e+02] [ 1.88550546e-02 9.99822228e-01 -1.19418682e-06 4.68114719e+00] [ 7.24069164e-03 -1.35353543e-04 9.99973777e-01 1.31656909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439254154 meters 0.05740813390943308 Centerline is valid? [True, True] Translation: X:334.35, Y:4.68, Z:1.32 [[ 9.99693949e-01 -2.30122917e-02 -9.07985157e-03 3.34350727e+02] [ 2.30132279e-02 9.99735161e-01 -1.37187796e-06 4.67849177e+00] [ 9.07747844e-03 -2.07585236e-04 9.99958777e-01 1.31549738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters 0.05745563999359736 Centerline is valid? [True, True] Translation: X:334.41, Y:4.68, Z:1.32 [[ 9.99639171e-01 -2.51329067e-02 -9.47968161e-03 3.34413122e+02] [ 2.51340245e-02 9.99684091e-01 -1.21234182e-06 4.67595173e+00] [ 9.47671735e-03 -2.37050646e-04 9.99955067e-01 1.31541508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters 0.05749235765630123 Centerline is valid? [True, True] Translation: X:334.47, Y:4.67, Z:1.31 [[ 9.99672720e-01 -2.40542798e-02 -8.70883382e-03 3.34473604e+02] [ 2.40551838e-02 9.99710632e-01 -9.52977968e-07 4.67173824e+00] [ 8.70633669e-03 -2.08539932e-04 9.99962077e-01 1.31472960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters 0.05725255984895476 Centerline is valid? [True, True] Translation: X:334.53, Y:4.67, Z:1.31 [[ 9.99783136e-01 -1.91727641e-02 -8.12931124e-03 3.34533074e+02] [ 1.91733904e-02 9.99816174e-01 -8.93641287e-07 4.66900999e+00] [ 8.12783399e-03 -1.54973011e-04 9.99966957e-01 1.31474266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters 0.057531829072652446 Centerline is valid? [True, True] Translation: X:334.59, Y:4.67, Z:1.32 [[ 9.99859169e-01 -1.49999663e-02 -7.52614930e-03 3.34593804e+02] [ 1.50003849e-02 9.99887488e-01 -8.28701930e-07 4.67201704e+00] [ 7.52531495e-03 -1.12066551e-04 9.99971678e-01 1.31596927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters 0.05739404718386946 Centerline is valid? [True, True] Translation: X:334.65, Y:4.67, Z:1.32 [[ 9.99922844e-01 -1.02228263e-02 -7.05689419e-03 3.34654353e+02] [ 1.02230756e-02 9.99947743e-01 -7.47241581e-07 4.67247445e+00] [ 7.05653305e-03 -7.13959788e-05 9.99975100e-01 1.31632297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters 0.057877318026228 Centerline is valid? [True, True] Translation: X:334.71, Y:4.67, Z:1.32 [[ 9.99944876e-01 -7.36665787e-03 -7.48183161e-03 3.34713666e+02] [ 7.36685792e-03 9.99972864e-01 -8.20645581e-07 4.67042003e+00] [ 7.48163463e-03 -5.42969901e-05 9.99972011e-01 1.31550873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters 0.056715790039808575 Centerline is valid? [True, True] Translation: X:334.77, Y:4.67, Z:1.32 [[ 9.99976518e-01 -2.58229872e-03 -6.34791429e-03 3.34773178e+02] [ 2.58234590e-03 9.99996666e-01 -7.63913531e-07 4.67092124e+00] [ 6.34789509e-03 -1.56286148e-05 9.99979852e-01 1.31596983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters 0.057160542819299595 Centerline is valid? [True, True] Translation: X:334.83, Y:4.67, Z:1.32 [[ 9.99975306e-01 1.49071809e-03 -6.86765225e-03 3.34831113e+02] [-1.49076026e-03 9.99998889e-01 -1.02219629e-06 4.67138099e+00] [ 6.86764309e-03 1.12601941e-05 9.99976417e-01 1.31637746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.979254154 meters 0.057702439574777706 Centerline is valid? [True, True] Translation: X:334.89, Y:4.67, Z:1.32 [[ 9.99963747e-01 6.17499038e-03 -5.86295086e-03 3.34889552e+02] [-6.17510370e-03 9.99980934e-01 -1.22656032e-06 4.66622766e+00] [ 5.86283150e-03 3.74308454e-05 9.99982813e-01 1.31704681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.039254154 meters 0.05831054377553158 Centerline is valid? [True, True] Translation: X:334.95, Y:4.66, Z:1.32 [[ 9.99967924e-01 5.75902994e-03 -5.56642395e-03 3.34948685e+02] [-5.75912819e-03 9.99983416e-01 -1.62152195e-06 4.66026308e+00] [ 5.56632230e-03 3.36792191e-05 9.99984507e-01 1.31585846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.099254154 meters 0.057656738134944194 Centerline is valid? [True, True] Translation: X:335.01, Y:4.65, Z:1.32 [[ 9.99983640e-01 -1.68378925e-03 -5.46664541e-03 3.35006901e+02] [ 1.68380476e-03 9.99998582e-01 -1.76496161e-06 4.64891172e+00] [ 5.46664063e-03 -7.43983080e-06 9.99985058e-01 1.31685067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.159254154 meters 0.05814637405464867 Centerline is valid? [True, True] Translation: X:335.07, Y:4.64, Z:1.32 [[ 9.99968217e-01 -5.57818652e-03 -5.69634295e-03 3.35065508e+02] [ 5.57826528e-03 9.99984441e-01 -2.06171425e-06 4.64485120e+00] [ 5.69626582e-03 -2.97140634e-05 9.99983776e-01 1.31688507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.219254154 meters 0.058087305111581874 Centerline is valid? [True, True] Translation: X:335.13, Y:4.63, Z:1.32 [[ 9.99813235e-01 -1.85595542e-02 -5.38870999e-03 3.35126438e+02] [ 1.85598128e-02 9.99827752e-01 -2.01936315e-06 4.62844071e+00] [ 5.38781928e-03 -9.79944624e-05 9.99985481e-01 1.31519899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279254154 meters 0.058685831563352234 Centerline is valid? [True, True] Translation: X:335.19, Y:4.62, Z:1.32 [[ 9.99642884e-01 -2.61049677e-02 -5.71269368e-03 3.35186119e+02] [ 2.61053816e-02 9.99659196e-01 -2.10116809e-06 4.61684407e+00] [ 5.71080162e-03 -1.47031631e-04 9.99983682e-01 1.31546839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339254154 meters 0.0592503991275368 Centerline is valid? [True, True] Translation: X:335.25, Y:4.60, Z:1.32 [[ 9.99461588e-01 -3.24308370e-02 -4.97740289e-03 3.35246502e+02] [ 3.24312298e-02 9.99473969e-01 -1.80539919e-06 4.60204637e+00] [ 4.97484317e-03 -1.59618870e-04 9.99987613e-01 1.31616947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399254154 meters 0.05882167308697974 Centerline is valid? [True, True] Translation: X:335.31, Y:4.60, Z:1.32 [[ 9.99452764e-01 -3.26595599e-02 -5.24643135e-03 3.35307375e+02] [ 3.26599999e-02 9.99466520e-01 -1.79695401e-06 4.60350226e+00] [ 5.24369117e-03 -1.69552477e-04 9.99986237e-01 1.31651353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459254154 meters 0.058477102993110486 Centerline is valid? [True, True] Translation: X:335.37, Y:4.60, Z:1.32 [[ 9.99630799e-01 -2.69362812e-02 -3.56416013e-03 3.35368088e+02] [ 2.69364481e-02 9.99637148e-01 -1.15814240e-06 4.59585047e+00] [ 3.56289806e-03 -9.48480996e-05 9.99993648e-01 1.31642787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519254154 meters 0.05895501561732467 Centerline is valid? [True, True] Translation: X:335.43, Y:4.59, Z:1.32 [[ 9.99883278e-01 -1.49081852e-02 -3.34319813e-03 3.35427873e+02] [ 1.49082650e-02 9.99888866e-01 -1.05819416e-06 4.59395120e+00] [ 3.34284236e-03 -4.87832130e-05 9.99994411e-01 1.31716903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579254154 meters 0.05895962698919293 Centerline is valid? [True, True] Translation: X:335.49, Y:4.60, Z:1.32 [[ 9.99972381e-01 -6.63501171e-03 -3.34878933e-03 3.35488260e+02] [ 6.63504540e-03 9.99977988e-01 -1.04880290e-06 4.59850374e+00] [ 3.34872258e-03 -2.11705953e-05 9.99994393e-01 1.31693294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639254154 meters 0.05943336913688354 Centerline is valid? [True, True] Translation: X:335.55, Y:4.60, Z:1.32 [[ 9.99990475e-01 2.55571376e-03 -3.53804628e-03 3.35548438e+02] [-2.55573368e-03 9.99996734e-01 -1.10807604e-06 4.59603890e+00] [ 3.53803190e-03 1.01503695e-05 9.99993741e-01 1.31583018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699254154 meters 0.059426924894226546 Centerline is valid? [True, True] Translation: X:335.61, Y:4.59, Z:1.31 [[ 9.99975743e-01 5.06723210e-03 -4.77877896e-03 3.35606651e+02] [-5.06729724e-03 9.99987161e-01 -1.52285756e-06 4.59163080e+00] [ 4.77870989e-03 2.57383141e-05 9.99988582e-01 1.31484216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759254154 meters 0.05870235706227658 Centerline is valid? [True, True] Translation: X:335.67, Y:4.59, Z:1.31 [[ 9.99987469e-01 2.54068366e-03 -4.31363376e-03 3.35665692e+02] [-2.54071376e-03 9.99996772e-01 -1.49592678e-06 4.58509985e+00] [ 4.31361604e-03 1.24556167e-05 9.99990696e-01 1.31374656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819254154 meters 0.059566067444280155 Centerline is valid? [True, True] Translation: X:335.72, Y:4.57, Z:1.31 [[ 9.99979122e-01 -3.31438637e-03 -5.54717965e-03 3.35724490e+02] [ 3.31442574e-03 9.99994507e-01 -2.09663467e-06 4.57335465e+00] [ 5.54715613e-03 -1.62891241e-05 9.99984614e-01 1.31307443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879254154 meters 0.05951286288791448 Centerline is valid? [True, True] Translation: X:335.78, Y:4.57, Z:1.31 [[ 9.99960094e-01 -7.67161635e-03 -4.57795416e-03 3.35784461e+02] [ 7.67168838e-03 9.99970572e-01 -1.82523329e-06 4.56741507e+00] [ 4.57783345e-03 -3.32954773e-05 9.99989521e-01 1.31340101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939254154 meters 0.058944986391350165 Centerline is valid? [True, True] Translation: X:335.84, Y:4.56, Z:1.31 [[ 9.99891790e-01 -1.41904723e-02 -3.87791653e-03 3.35844025e+02] [ 1.41905728e-02 9.99899309e-01 -1.60138631e-06 4.55872763e+00] [ 3.87754878e-03 -5.34286438e-05 9.99992481e-01 1.31418679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters 0.059777997317493184 Centerline is valid? [True, True] Translation: X:335.91, Y:4.55, Z:1.31 [[ 9.99786635e-01 -2.05288139e-02 -2.29166174e-03 3.35905264e+02] [ 2.05288655e-02 9.99789261e-01 -9.86782635e-07 4.55134006e+00] [ 2.29119905e-03 -4.60586435e-05 9.99997374e-01 1.31447912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters 0.06015650302416329 Centerline is valid? [True, True] Translation: X:335.96, Y:4.54, Z:1.31 [[ 9.99663276e-01 -2.58491216e-02 -2.27106789e-03 3.35964726e+02] [ 2.58491861e-02 9.99665854e-01 -9.31053871e-07 4.54203023e+00] [ 2.27033309e-03 -5.77745161e-05 9.99997421e-01 1.31497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters 0.06046041710070479 Centerline is valid? [True, True] Translation: X:336.03, Y:4.54, Z:1.31 [[ 9.99618305e-01 -2.75241724e-02 -2.38012731e-03 3.36025349e+02] [ 2.75242480e-02 9.99621136e-01 -9.94573910e-07 4.53639525e+00] [ 2.37925294e-03 -6.45170201e-05 9.99997167e-01 1.31471329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters 0.06287920438238095 Centerline is valid? [True, True] Translation: X:336.09, Y:4.52, Z:1.32 [[ 9.99651267e-01 -2.61927313e-02 -3.35922347e-03 3.36085474e+02] [ 2.61928746e-02 9.99656908e-01 -1.31671909e-06 4.52249851e+00] [ 3.35810543e-03 -8.66714592e-05 9.99994358e-01 1.31553725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters 0.06010368749287771 Centerline is valid? [True, True] Translation: X:336.15, Y:4.53, Z:1.32 [[ 9.99719909e-01 -2.35560350e-02 -2.28387842e-03 3.36146593e+02] [ 2.35560944e-02 9.99722517e-01 -8.86465716e-07 4.52985625e+00] [ 2.28326556e-03 -5.29130382e-05 9.99997392e-01 1.31615988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters 0.05951269235707734 Centerline is valid? [True, True] Translation: X:336.21, Y:4.54, Z:1.32 [[ 9.99839083e-01 -1.78554649e-02 -1.72954274e-03 3.36207615e+02] [ 1.78554905e-02 9.99840578e-01 -6.50663601e-07 4.53667184e+00] [ 1.72927863e-03 -3.02312751e-05 9.99998504e-01 1.31520437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters 0.06028892279212871 Centerline is valid? [True, True] Translation: X:336.27, Y:4.54, Z:1.31 [[ 9.99908708e-01 -1.32739470e-02 -2.52543292e-03 3.36268230e+02] [ 1.32739869e-02 9.99911897e-01 -9.56512401e-07 4.53879909e+00] [ 2.52522311e-03 -3.25661383e-05 9.99996811e-01 1.31449197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.419254154 meters 0.06066645080907455 Centerline is valid? [True, True] Translation: X:336.33, Y:4.54, Z:1.31 [[ 9.99907799e-01 -1.29066533e-02 -4.22041654e-03 3.36329985e+02] [ 1.29067617e-02 9.99916704e-01 -1.53652585e-06 4.53795276e+00] [ 4.22008483e-03 -5.29355266e-05 9.99991094e-01 1.31370224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.479254154 meters 0.06031087089412173 Centerline is valid? [True, True] Translation: X:336.39, Y:4.54, Z:1.31 [[ 9.99873471e-01 -1.51395806e-02 -4.88210008e-03 3.36389989e+02] [ 1.51397527e-02 9.99885387e-01 -1.70628184e-06 4.53571622e+00] [ 4.88156636e-03 -7.22077217e-05 9.99988082e-01 1.31397461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.539254154 meters 0.06004233960922964 Centerline is valid? [True, True] Translation: X:336.45, Y:4.53, Z:1.32 [[ 9.99751387e-01 -2.18292147e-02 -4.54427242e-03 3.36449783e+02] [ 2.18294327e-02 9.99761710e-01 -1.62374505e-06 4.53095489e+00] [ 4.54322501e-03 -9.75755476e-05 9.99989675e-01 1.31534495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.599254154 meters 0.060440136560780636 Centerline is valid? [True, True] Translation: X:336.51, Y:4.53, Z:1.32 [[ 9.99531937e-01 -3.04172906e-02 -3.27031354e-03 3.36509327e+02] [ 3.04174493e-02 9.99537282e-01 -1.19566354e-06 4.52748574e+00] [ 3.26883667e-03 -9.82794924e-05 9.99994652e-01 1.31613416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.659254154 meters 0.06113651308225222 Centerline is valid? [True, True] Translation: X:336.57, Y:4.52, Z:1.32 [[ 9.99341054e-01 -3.61908011e-02 -2.77186199e-03 3.36570468e+02] [ 3.61909373e-02 9.99344893e-01 -1.00018184e-06 4.51987126e+00] [ 2.77008233e-03 -9.93167609e-05 9.99996158e-01 1.31628627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.719254154 meters 0.06170510178992273 Centerline is valid? [True, True] Translation: X:336.63, Y:4.52, Z:1.32 [[ 9.99097864e-01 -4.23289442e-02 -3.42312645e-03 3.36630642e+02] [ 4.23291883e-02 9.99103718e-01 -1.13304127e-06 4.51756567e+00] [ 3.42010633e-03 -1.43766145e-04 9.99994141e-01 1.31557976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779254154 meters 0.05933051520345888 Centerline is valid? [True, True] Translation: X:336.69, Y:4.52, Z:1.32 [[ 9.99054613e-01 -4.33728227e-02 -2.94580439e-03 3.36693075e+02] [ 4.33730080e-02 9.99058948e-01 -9.79941759e-07 4.52420381e+00] [ 2.94307474e-03 -1.26789382e-04 9.99995661e-01 1.31627166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839254154 meters 0.05992012621693162 Centerline is valid? [True, True] Translation: X:336.75, Y:4.53, Z:1.32 [[ 9.99099129e-01 -4.23661779e-02 -2.45723259e-03 3.36754217e+02] [ 4.23663040e-02 9.99102145e-01 -7.27940895e-07 4.52962085e+00] [ 2.45505719e-03 -1.03376578e-04 9.99996981e-01 1.31718104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899254154 meters 0.06271050158360585 Centerline is valid? [True, True] Translation: X:336.81, Y:4.52, Z:1.32 [[ 9.99284801e-01 -3.76003831e-02 -4.01214490e-03 3.36814248e+02] [ 3.76006814e-02 9.99292844e-01 -1.07753185e-06 4.51575690e+00] [ 4.00934820e-03 -1.49782621e-04 9.99991951e-01 1.31762263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959254154 meters 0.06050102179546232 Centerline is valid? [True, True] Translation: X:336.87, Y:4.53, Z:1.32 [[ 9.99506917e-01 -3.10058678e-02 -4.95577846e-03 3.36874631e+02] [ 3.10062420e-02 9.99519191e-01 -1.32568091e-06 4.53381450e+00] [ 4.95343679e-03 -1.52335039e-04 9.99987720e-01 1.31680196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019254154 meters 0.06119607134671523 Centerline is valid? [True, True] Translation: X:336.93, Y:4.53, Z:1.32 [[ 9.99635522e-01 -2.62981159e-02 -6.10178085e-03 3.36934212e+02] [ 2.62985957e-02 9.99654132e-01 -1.60633818e-06 4.53459836e+00] [ 6.09971269e-03 -1.58862515e-04 9.99981384e-01 1.31642613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079254154 meters 0.06046038899639891 Centerline is valid? [True, True] Translation: X:336.99, Y:4.54, Z:1.32 [[ 9.99740420e-01 -2.18180352e-02 -6.56247980e-03 3.36994427e+02] [ 2.18184935e-02 9.99761948e-01 -1.75958638e-06 4.53833840e+00] [ 6.56095598e-03 -1.41424293e-04 9.99978467e-01 1.31666193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139254154 meters 0.06010461660445449 Centerline is valid? [True, True] Translation: X:337.05, Y:4.54, Z:1.32 [[ 9.99749803e-01 -2.13658080e-02 -6.62073117e-03 3.37054949e+02] [ 2.13662645e-02 9.99771715e-01 -1.77531698e-06 4.54183153e+00] [ 6.61925769e-03 -1.39685421e-04 9.99978083e-01 1.31737650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199254154 meters 0.06071772443037042 Centerline is valid? [True, True] Translation: X:337.12, Y:4.54, Z:1.32 [[ 9.99729680e-01 -2.23213965e-02 -6.50556054e-03 3.37115108e+02] [ 2.23218575e-02 9.99750836e-01 -1.74443454e-06 4.54433139e+00] [ 6.50397853e-03 -1.43472233e-04 9.99978839e-01 1.31820055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259254154 meters 0.061185371786355774 Centerline is valid? [True, True] Translation: X:337.18, Y:4.54, Z:1.32 [[ 9.99654840e-01 -2.55859517e-02 -5.96329069e-03 3.37175340e+02] [ 2.55863972e-02 9.99672615e-01 -1.59902751e-06 4.54343354e+00] [ 5.96137931e-03 -1.50980648e-04 9.99982219e-01 1.31834207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319254154 meters 0.06040412336460587 Centerline is valid? [True, True] Translation: X:337.24, Y:4.55, Z:1.32 [[ 9.99584274e-01 -2.81504566e-02 -6.23152122e-03 3.37236071e+02] [ 2.81509929e-02 9.99603682e-01 -1.65112585e-06 4.54562049e+00] [ 6.22909804e-03 -1.73773070e-04 9.99980584e-01 1.31893505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379254154 meters 0.06063766358413991 Centerline is valid? [True, True] Translation: X:337.30, Y:4.55, Z:1.32 [[ 9.99440668e-01 -3.29498700e-02 -5.71471905e-03 3.37295360e+02] [ 3.29503995e-02 9.99456988e-01 -1.49561567e-06 4.54546238e+00] [ 5.71166517e-03 -1.86807497e-04 9.99983671e-01 1.31920858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439254154 meters 0.06128154414364141 Centerline is valid? [True, True] Translation: X:337.36, Y:4.55, Z:1.32 [[ 9.99237585e-01 -3.87876089e-02 -4.44646787e-03 3.37355991e+02] [ 3.87879871e-02 9.99247463e-01 -1.18482795e-06 4.54526978e+00] [ 4.44316769e-03 -1.71285614e-04 9.99990114e-01 1.31990364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters 0.06087858109367621 Centerline is valid? [True, True] Translation: X:337.42, Y:4.55, Z:1.32 [[ 9.99128826e-01 -4.15216095e-02 -4.18871129e-03 3.37417261e+02] [ 4.15219691e-02 9.99137591e-01 -1.10665890e-06 4.54676244e+00] [ 4.18514485e-03 -1.72817846e-04 9.99991227e-01 1.32055070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters 0.06108910994517803 Centerline is valid? [True, True] Translation: X:337.48, Y:4.55, Z:1.32 [[ 9.99139134e-01 -4.13855591e-02 -2.86821095e-03 3.37478648e+02] [ 4.13857271e-02 9.99143244e-01 -7.62783872e-07 4.54630648e+00] [ 2.86578516e-03 -1.17940869e-04 9.99995887e-01 1.32121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters 0.060256557880399166 Centerline is valid? [True, True] Translation: X:337.54, Y:4.55, Z:1.32 [[ 9.99304831e-01 -3.71764087e-02 -2.78719879e-03 3.37538493e+02] [ 3.71765513e-02 9.99308713e-01 -6.41141546e-07 4.55241373e+00] [ 2.78529587e-03 -1.02977743e-04 9.99996116e-01 1.32034349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters 0.059255481347456396 Centerline is valid? [True, True] Translation: X:337.60, Y:4.57, Z:1.32 [[ 9.99465203e-01 -3.24519098e-02 -4.02267543e-03 3.37599107e+02] [ 3.24521687e-02 9.99473290e-01 -9.27270539e-07 4.56755352e+00] [ 4.02058674e-03 -1.29617767e-04 9.99991909e-01 1.31938642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters 0.06110169248704012 Centerline is valid? [True, True] Translation: X:337.66, Y:4.56, Z:1.32 [[ 9.99557848e-01 -2.93478902e-02 -4.77600876e-03 3.37658761e+02] [ 2.93482199e-02 9.99569248e-01 -1.05898851e-06 4.56071656e+00] [ 4.77398257e-03 -1.39108835e-04 9.99988595e-01 1.31854862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters 0.05963685098084249 Centerline is valid? [True, True] Translation: X:337.72, Y:4.57, Z:1.32 [[ 9.99637774e-01 -2.64393192e-02 -5.02832682e-03 3.37719249e+02] [ 2.64396481e-02 9.99650411e-01 -1.07111677e-06 4.56748589e+00] [ 5.02659729e-03 -1.31876463e-04 9.99987358e-01 1.31839277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters 0.05947065565321386 Centerline is valid? [True, True] Translation: X:337.78, Y:4.57, Z:1.32 [[ 9.99686502e-01 -2.42245818e-02 -6.32980256e-03 3.37779928e+02] [ 2.42250591e-02 9.99706530e-01 -1.26459353e-06 4.56984381e+00] [ 6.32797559e-03 -1.52075644e-04 9.99979967e-01 1.31785477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.919254154 meters 0.05952178523621876 Centerline is valid? [True, True] Translation: X:337.84, Y:4.58, Z:1.32 [[ 9.99726112e-01 -2.28205174e-02 -5.18897299e-03 3.37841213e+02] [ 2.28208197e-02 9.99739571e-01 -9.50853107e-07 4.57632439e+00] [ 5.18764333e-03 -1.17466024e-04 9.99986537e-01 1.31843243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.979254154 meters 0.05902544744250873 Centerline is valid? [True, True] Translation: X:337.90, Y:4.58, Z:1.32 [[ 9.99765381e-01 -2.12173068e-02 -4.35994451e-03 3.37902154e+02] [ 2.12175054e-02 9.99774883e-01 -7.12118626e-07 4.57711146e+00] [ 4.35897812e-03 -9.17951946e-05 9.99990495e-01 1.31901332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.039254154 meters 0.059836529857362764 Centerline is valid? [True, True] Translation: X:337.96, Y:4.57, Z:1.32 [[ 9.99759711e-01 -2.14706151e-02 -4.41960881e-03 3.37963019e+02] [ 2.14708220e-02 9.99769475e-01 -6.34610922e-07 4.57279401e+00] [ 4.41860361e-03 -9.42581758e-05 9.99990233e-01 1.31910946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.099254154 meters 0.059439692405047886 Centerline is valid? [True, True] Translation: X:338.02, Y:4.58, Z:1.32 [[ 9.99716078e-01 -2.36735114e-02 -2.70707430e-03 3.38024521e+02] [ 2.36735973e-02 9.99719741e-01 -3.13025512e-07 4.57655577e+00] [ 2.70632303e-03 -6.37732502e-05 9.99996336e-01 1.32024808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.159254154 meters 0.06073396625199858 Centerline is valid? [True, True] Translation: X:338.09, Y:4.57, Z:1.32 [[ 9.99691694e-01 -2.46871529e-02 -2.65719112e-03 3.38086022e+02] [ 2.46872395e-02 9.99695224e-01 -2.13720133e-07 4.56918784e+00] [ 2.65638654e-03 -6.53850592e-05 9.99996470e-01 1.32121969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.219254154 meters 0.059901414252203626 Centerline is valid? [True, True] Translation: X:338.15, Y:4.57, Z:1.32 [[ 9.99706654e-01 -2.39647931e-02 -3.50649810e-03 3.38148289e+02] [ 2.39649398e-02 9.99712800e-01 -1.69803486e-07 4.57393824e+00] [ 3.50549511e-03 -8.38632623e-05 9.99993852e-01 1.32049201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279254154 meters 0.05946142171372745 Centerline is valid? [True, True] Translation: X:338.21, Y:4.58, Z:1.32 [[ 9.99769199e-01 -2.10382719e-02 -4.35209845e-03 3.38210190e+02] [ 2.10384710e-02 9.99778667e-01 -4.16811038e-08 4.58004459e+00] [ 4.35113607e-03 -9.15198256e-05 9.99990530e-01 1.32024683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339254154 meters 0.05975441958138684 Centerline is valid? [True, True] Translation: X:338.27, Y:4.58, Z:1.32 [[ 9.99816794e-01 -1.83691753e-02 -5.38067464e-03 3.38270586e+02] [ 1.83694419e-02 9.99831268e-01 1.28412949e-07 4.57669617e+00] [ 5.37976439e-03 -9.89683797e-05 9.99985524e-01 1.32001154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399254154 meters 0.05945833858045296 Centerline is valid? [True, True] Translation: X:338.33, Y:4.58, Z:1.32 [[ 9.99822534e-01 -1.79286857e-02 -5.78476092e-03 3.38331787e+02] [ 1.79289868e-02 9.99839263e-01 2.05195631e-07 4.57593541e+00] [ 5.78382742e-03 -1.03920062e-04 9.99983268e-01 1.31967027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459254154 meters 0.05965873492450389 Centerline is valid? [True, True] Translation: X:338.39, Y:4.57, Z:1.32 [[ 9.99789223e-01 -1.92921523e-02 -7.02303545e-03 3.38392093e+02] [ 1.92926305e-02 9.99813880e-01 3.53772991e-07 4.57370020e+00] [ 7.02172150e-03 -1.35846527e-04 9.99975338e-01 1.31989701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519254154 meters 0.059674616559116454 Centerline is valid? [True, True] Translation: X:338.45, Y:4.57, Z:1.32 [[ 9.99717714e-01 -2.27202654e-02 -6.94846043e-03 3.38451904e+02] [ 2.27208165e-02 9.99741849e-01 3.82067540e-07 4.57341260e+00] [ 6.94665800e-03 -1.58256654e-04 9.99975859e-01 1.32044183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579254154 meters 0.061557374726457496 Centerline is valid? [True, True] Translation: X:338.51, Y:4.56, Z:1.32 [[ 9.99540240e-01 -2.94209542e-02 -7.32911291e-03 3.38511712e+02] [ 2.94217472e-02 9.99567087e-01 3.89023414e-07 4.56085186e+00] [ 7.32592860e-03 -2.16024152e-04 9.99973142e-01 1.31998291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639254154 meters 0.06072815846033393 Centerline is valid? [True, True] Translation: X:338.57, Y:4.56, Z:1.32 [[ 9.99273353e-01 -3.75369268e-02 -6.61394805e-03 3.38571838e+02] [ 3.75377502e-02 9.99295210e-01 3.53761755e-07 4.56386870e+00] [ 6.60927333e-03 -2.48626235e-04 9.99978128e-01 1.32202078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699254154 meters 0.06433570611619724 Centerline is valid? [True, True] Translation: X:338.63, Y:4.55, Z:1.32 [[ 9.99013542e-01 -4.38097889e-02 -7.25568190e-03 3.38631865e+02] [ 4.38109453e-02 9.99039840e-01 4.43442247e-07 4.54536116e+00] [ 7.24869585e-03 -3.18321288e-04 9.99973677e-01 1.32104817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759254154 meters 0.06373628231625333 Centerline is valid? [True, True] Translation: X:338.69, Y:4.55, Z:1.32 [[ 9.98822663e-01 -4.78279798e-02 -8.11004662e-03 3.38692204e+02] [ 4.78295569e-02 9.98855512e-01 5.06463936e-07 4.54829528e+00] [ 8.10074055e-03 -3.88405804e-04 9.99967113e-01 1.32192186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819254154 meters 0.0610425489645373 Centerline is valid? [True, True] Translation: X:338.75, Y:4.56, Z:1.32 [[ 9.98704477e-01 -5.02016857e-02 -8.31614429e-03 3.38753136e+02] [ 5.02034262e-02 9.98739013e-01 5.39398923e-07 4.55934194e+00] [ 8.30563066e-03 -4.18037636e-04 9.99965420e-01 1.32418501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879254154 meters 0.05921421792377673 Centerline is valid? [True, True] Translation: X:338.81, Y:4.57, Z:1.33 [[ 9.98601689e-01 -5.20727658e-02 -9.11553524e-03 3.38813911e+02] [ 5.20749355e-02 9.98643180e-01 6.79612899e-07 4.56919387e+00] [ 9.10313171e-03 -4.75369573e-04 9.99958453e-01 1.32534327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters 0.05962478513490645 Centerline is valid? [True, True] Translation: X:338.88, Y:4.57, Z:1.33 [[ 9.98596023e-01 -5.20757709e-02 -9.70037215e-03 3.38875983e+02] [ 5.20782304e-02 9.98643008e-01 9.55802552e-07 4.57199046e+00] [ 9.68715905e-03 -5.06132676e-04 9.99952950e-01 1.32597023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters 0.05892715191622129 Centerline is valid? [True, True] Translation: X:338.94, Y:4.57, Z:1.33 [[ 9.98634644e-01 -5.13582118e-02 -9.54893985e-03 3.38937965e+02] [ 5.13605663e-02 9.98680175e-01 1.34401038e-06 4.57351750e+00] [ 9.53626789e-03 -4.91781133e-04 9.99954408e-01 1.32666295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters 0.060398349765059485 Centerline is valid? [True, True] Translation: X:339.00, Y:4.57, Z:1.33 [[ 9.98683443e-01 -5.03540804e-02 -9.79019374e-03 3.38998340e+02] [ 5.03565120e-02 9.98731306e-01 1.86064780e-06 4.57376067e+00] [ 9.77767929e-03 -4.94858206e-04 9.99952075e-01 1.32711638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters 0.059698200626842446 Centerline is valid? [True, True] Translation: X:339.06, Y:4.58, Z:1.33 [[ 9.98692287e-01 -5.00853939e-02 -1.02551878e-02 3.39060528e+02] [ 5.00880521e-02 9.98744806e-01 2.36648890e-06 4.58070844e+00] [ 1.02421970e-02 -5.16025775e-04 9.99947414e-01 1.32793273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters 0.06018958190433524 Centerline is valid? [True, True] Translation: X:339.12, Y:4.58, Z:1.33 [[ 9.98720402e-01 -4.92517918e-02 -1.14812368e-02 3.39121745e+02] [ 4.92550726e-02 9.98786232e-01 2.98633163e-06 4.58120765e+00] [ 1.14671542e-02 -5.68491664e-04 9.99934088e-01 1.32829064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters 0.061916235043924586 Centerline is valid? [True, True] Translation: X:339.18, Y:4.58, Z:1.33 [[ 9.98823278e-01 -4.70919216e-02 -1.15935733e-02 3.39181218e+02] [ 4.70951221e-02 9.98890409e-01 3.05296651e-06 4.57588096e+00] [ 1.15805654e-02 -5.49050125e-04 9.99932792e-01 1.32782650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters 0.059560605648240755 Centerline is valid? [True, True] Translation: X:339.24, Y:4.59, Z:1.33 [[ 9.99059793e-01 -4.21669845e-02 -1.00734768e-02 3.39242305e+02] [ 4.21691506e-02 9.99110486e-01 2.63248210e-06 4.59125022e+00] [ 1.00644052e-02 -4.27419965e-04 9.99949261e-01 1.33032086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters 0.059383385800272775 Centerline is valid? [True, True] Translation: X:339.30, Y:4.60, Z:1.33 [[ 9.99339083e-01 -3.51438174e-02 -9.29032589e-03 3.39303268e+02] [ 3.51453568e-02 9.99382211e-01 2.43425864e-06 4.60021453e+00] [ 9.28450088e-03 -3.28944468e-04 9.99956844e-01 1.33039263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.419254154 meters 0.060510801508783595 Centerline is valid? [True, True] Translation: X:339.36, Y:4.60, Z:1.33 [[ 9.99591129e-01 -2.69385268e-02 -9.58598565e-03 3.39362648e+02] [ 2.69397888e-02 9.99637058e-01 2.52263006e-06 4.59759924e+00] [ 9.58243854e-03 -2.60766027e-04 9.99954053e-01 1.32782738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.479254154 meters 0.05914459366367699 Centerline is valid? [True, True] Translation: X:339.42, Y:4.61, Z:1.33 [[ 9.99721549e-01 -2.16931647e-02 -9.28604753e-03 3.39422875e+02] [ 2.16941231e-02 9.99764655e-01 2.48739941e-06 4.60716352e+00] [ 9.28380815e-03 -2.03939365e-04 9.99956884e-01 1.32948263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.539254154 meters 0.0590202461418223 Centerline is valid? [True, True] Translation: X:339.48, Y:4.61, Z:1.33 [[ 9.99818012e-01 -1.68021170e-02 -9.03499719e-03 3.39483423e+02] [ 1.68028247e-02 9.99858823e-01 2.42174595e-06 4.61185471e+00] [ 9.03368096e-03 -1.54234779e-04 9.99959184e-01 1.32978609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.599254154 meters 0.059631176038918376 Centerline is valid? [True, True] Translation: X:339.54, Y:4.61, Z:1.33 [[ 9.99821811e-01 -1.64154521e-02 -9.32086056e-03 3.39542869e+02] [ 1.64161879e-02 9.99865245e-01 2.43405983e-06 4.61194981e+00] [ 9.31956458e-03 -1.55446625e-04 9.99956560e-01 1.32959163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.659254154 meters 0.05867044215720096 Centerline is valid? [True, True] Translation: X:339.60, Y:4.62, Z:1.33 [[ 9.99743684e-01 -2.06065559e-02 -9.37739529e-03 3.39603275e+02] [ 2.06074846e-02 9.99787643e-01 2.41627024e-06 4.61692451e+00] [ 9.37535415e-03 -1.95660180e-04 9.99956031e-01 1.33192730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.719254154 meters 0.058706437183153395 Centerline is valid? [True, True] Translation: X:339.66, Y:4.61, Z:1.33 [[ 9.99518711e-01 -2.94595270e-02 -9.72020443e-03 3.39663654e+02] [ 2.94609429e-02 9.99565932e-01 2.48449225e-06 4.61472296e+00] [ 9.71591201e-03 -2.88849685e-04 9.99952758e-01 1.33124419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779254154 meters 0.058853447241389766 Centerline is valid? [True, True] Translation: X:339.72, Y:4.61, Z:1.33 [[ 9.99172941e-01 -3.92600808e-02 -1.05867855e-02 3.39724384e+02] [ 3.92623097e-02 9.99228938e-01 2.70688682e-06 4.61295030e+00] [ 1.05785162e-02 -4.18366299e-04 9.99943958e-01 1.33214717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839254154 meters 0.05912607449503355 Centerline is valid? [True, True] Translation: X:339.78, Y:4.61, Z:1.33 [[ 9.98931774e-01 -4.50738941e-02 -1.01811338e-02 3.39784343e+02] [ 4.50762577e-02 9.98983549e-01 2.68430821e-06 4.60905719e+00] [ 1.01706641e-02 -4.61608850e-04 9.99948171e-01 1.33299918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899254154 meters 0.05969263877529362 Centerline is valid? [True, True] Translation: X:339.84, Y:4.60, Z:1.33 [[ 9.98596730e-01 -5.20866954e-02 -9.56803751e-03 3.39843862e+02] [ 5.20891049e-02 9.98642441e-01 2.63145257e-06 4.60294771e+00] [ 9.55491127e-03 -5.01018269e-04 9.99954225e-01 1.33353636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959254154 meters 0.05816187139778186 Centerline is valid? [True, True] Translation: X:339.90, Y:4.62, Z:1.34 [[ 9.98335018e-01 -5.70191027e-02 -8.71855222e-03 3.39904642e+02] [ 5.70212913e-02 9.98372963e-01 2.45315249e-06 4.61752996e+00] [ 8.70422693e-03 -4.99592174e-04 9.99961993e-01 1.33538167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019254154 meters 0.057898636832107414 Centerline is valid? [True, True] Translation: X:339.97, Y:4.62, Z:1.34 [[ 9.98239522e-01 -5.86942050e-02 -8.53501806e-03 3.39965909e+02] [ 5.86963638e-02 9.98275882e-01 2.45181892e-06 4.61819360e+00] [ 8.52015878e-03 -5.03422028e-04 9.99963576e-01 1.33532772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079254154 meters 0.05779069798406528 Centerline is valid? [True, True] Translation: X:340.03, Y:4.61, Z:1.33 [[ 9.98168982e-01 -5.98799512e-02 -8.54841161e-03 3.40025886e+02] [ 5.98821621e-02 9.98205453e-01 2.67763397e-06 4.61461479e+00] [ 8.53291075e-03 -5.14570101e-04 9.99963462e-01 1.33487859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139254154 meters 0.057823120807363806 Centerline is valid? [True, True] Translation: X:340.09, Y:4.62, Z:1.34 [[ 9.98205253e-01 -5.91320356e-02 -9.46968392e-03 3.40088295e+02] [ 5.91347186e-02 9.98250011e-01 3.33294530e-06 4.62346556e+00] [ 9.45291499e-03 -5.63314058e-04 9.99955162e-01 1.33580114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199254154 meters 0.05908918282425499 Centerline is valid? [True, True] Translation: X:340.15, Y:4.62, Z:1.33 [[ 9.98407893e-01 -5.53718674e-02 -1.07533934e-02 3.40148368e+02] [ 5.53751114e-02 9.98465621e-01 3.93138587e-06 4.61982666e+00] [ 1.07366760e-02 -5.99395485e-04 9.99942181e-01 1.33480272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259254154 meters 0.060794361874181156 Centerline is valid? [True, True] Translation: X:340.21, Y:4.62, Z:1.33 [[ 9.98701636e-01 -4.97277128e-02 -1.10542366e-02 3.40208165e+02] [ 4.97307959e-02 9.98762658e-01 4.03222331e-06 4.61623000e+00] [ 1.10403582e-02 -5.53762972e-04 9.99938900e-01 1.33307192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319254154 meters 0.05699106640518704 Centerline is valid? [True, True] Translation: X:340.27, Y:4.64, Z:1.34 [[ 9.98916716e-01 -4.53960595e-02 -1.02270260e-02 3.40268698e+02] [ 4.53984722e-02 9.98968958e-01 3.76519048e-06 4.63917642e+00] [ 1.02163106e-02 -4.68052466e-04 9.99947703e-01 1.33623362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379254154 meters 0.058319418147103064 Centerline is valid? [True, True] Translation: X:340.33, Y:4.64, Z:1.34 [[ 9.99224134e-01 -3.78366496e-02 -1.09323903e-02 3.40328488e+02] [ 3.78389553e-02 9.99283850e-01 4.07467150e-06 4.64288931e+00] [ 1.09244069e-02 -4.17741738e-04 9.99940240e-01 1.33628763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters 0.057878330016651595 Centerline is valid? [True, True] Translation: X:340.39, Y:4.65, Z:1.34 [[ 9.99434836e-01 -3.21131557e-02 -9.93752585e-03 3.40388809e+02] [ 3.21147783e-02 9.99484187e-01 3.71125241e-06 4.65372082e+00] [ 9.93228077e-03 -3.22850595e-04 9.99950622e-01 1.33761017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters 0.05748284681439108 Centerline is valid? [True, True] Translation: X:340.45, Y:4.66, Z:1.34 [[ 9.99519558e-01 -2.95186178e-02 -9.45005749e-03 3.40449501e+02] [ 2.95199694e-02 9.99564191e-01 3.54378366e-06 4.65672934e+00] [ 9.44583446e-03 -2.82507489e-04 9.99955347e-01 1.33819814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters 0.05778472954905802 Centerline is valid? [True, True] Translation: X:340.51, Y:4.66, Z:1.34 [[ 9.99569254e-01 -2.79763751e-02 -8.86731037e-03 3.40510395e+02] [ 2.79775053e-02 9.99608553e-01 3.41958404e-06 4.65671373e+00] [ 8.86374362e-03 -2.51503334e-04 9.99960685e-01 1.33721766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters 0.05756096139609029 Centerline is valid? [True, True] Translation: X:340.57, Y:4.66, Z:1.34 [[ 9.99585103e-01 -2.74860189e-02 -8.61048185e-03 3.40572971e+02] [ 2.74870683e-02 9.99622159e-01 3.53503581e-06 4.65859803e+00] [ 8.60713130e-03 -2.40210472e-04 9.99962929e-01 1.33711736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters 0.0570658949718617 Centerline is valid? [True, True] Translation: X:340.63, Y:4.66, Z:1.34 [[ 9.99618064e-01 -2.62622459e-02 -8.60355528e-03 3.40633733e+02] [ 2.62632501e-02 9.99655061e-01 3.73361077e-06 4.66275841e+00] [ 8.60048953e-03 -2.29689509e-04 9.99962989e-01 1.33723916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters 0.057307432199415025 Centerline is valid? [True, True] Translation: X:340.70, Y:4.67, Z:1.34 [[ 9.99677056e-01 -2.40318103e-02 -8.26164972e-03 3.40695749e+02] [ 2.40326615e-02 9.99711174e-01 3.74534576e-06 4.66652185e+00] [ 8.25917354e-03 -2.02293567e-04 9.99965872e-01 1.33761610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters 0.057950724429246835 Centerline is valid? [True, True] Translation: X:340.76, Y:4.66, Z:1.34 [[ 9.99738284e-01 -2.13879231e-02 -8.11914682e-03 3.40755841e+02] [ 2.13886589e-02 9.99771236e-01 3.80234348e-06 4.66464287e+00] [ 8.11720813e-03 -1.77459010e-04 9.99967039e-01 1.33715668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters 0.058002729164590226 Centerline is valid? [True, True] Translation: X:340.82, Y:4.67, Z:1.34 [[ 9.99756612e-01 -2.07146499e-02 -7.59079239e-03 3.40817194e+02] [ 2.07152745e-02 9.99785416e-01 3.66822061e-06 4.66780451e+00] [ 7.58908754e-03 -1.60912676e-04 9.99971190e-01 1.33749280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.919254154 meters 0.05689296390806772 Centerline is valid? [True, True] Translation: X:340.88, Y:4.67, Z:1.34 [[ 9.99739093e-01 -2.14185797e-02 -7.93660528e-03 3.40879582e+02] [ 2.14192868e-02 9.99770581e-01 4.10045361e-06 4.67068515e+00] [ 7.93469665e-03 -1.74095809e-04 9.99968505e-01 1.33768500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.979254154 meters 0.05909159947051848 Centerline is valid? [True, True] Translation: X:340.94, Y:4.66, Z:1.34 [[ 9.99682299e-01 -2.33837915e-02 -9.40742461e-03 3.40940798e+02] [ 2.33848768e-02 9.99726536e-01 5.36775495e-06 4.65822983e+00] [ 9.40472650e-03 -2.25357515e-04 9.99955749e-01 1.33506693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.039254154 meters 0.05716677372660336 Centerline is valid? [True, True] Translation: X:341.00, Y:4.66, Z:1.34 [[ 9.99535979e-01 -2.90814492e-02 -9.06071703e-03 3.41001058e+02] [ 2.90826918e-02 9.99577009e-01 5.39183159e-06 4.66487198e+00] [ 9.05672762e-03 -2.68899371e-04 9.99958951e-01 1.33645659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.099254154 meters 0.05872983108319352 Centerline is valid? [True, True] Translation: X:341.06, Y:4.65, Z:1.34 [[ 9.99381110e-01 -3.38983768e-02 -9.39668062e-03 3.41060995e+02] [ 3.38999257e-02 9.99425232e-01 5.55985300e-06 4.65270938e+00] [ 9.39109124e-03 -3.24103187e-04 9.99955850e-01 1.33590419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.159254154 meters 0.057889087844572175 Centerline is valid? [True, True] Translation: X:341.12, Y:4.66, Z:1.34 [[ 9.99289842e-01 -3.66879800e-02 -8.59090758e-03 3.41122325e+02] [ 3.66893780e-02 9.99326718e-01 5.13481250e-06 4.65843193e+00] [ 8.58493509e-03 -3.20326221e-04 9.99963097e-01 1.33715244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.219254154 meters 0.05745674009845067 Centerline is valid? [True, True] Translation: X:341.18, Y:4.66, Z:1.34 [[ 9.99280167e-01 -3.70229077e-02 -8.27356054e-03 3.41184512e+02] [ 3.70242175e-02 9.99314369e-01 5.15239504e-06 4.66108018e+00] [ 8.26769717e-03 -3.11470791e-04 9.99965773e-01 1.33787028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279254154 meters 0.059113955594008165 Centerline is valid? [True, True] Translation: X:341.25, Y:4.65, Z:1.34 [[ 9.99322879e-01 -3.57073923e-02 -8.87494980e-03 3.41245227e+02] [ 3.57088497e-02 9.99362236e-01 5.75009320e-06 4.65193381e+00] [ 8.86908435e-03 -3.22660448e-04 9.99960617e-01 1.33816104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339254154 meters 0.05835892512265619 Centerline is valid? [True, True] Translation: X:341.31, Y:4.65, Z:1.34 [[ 9.99428159e-01 -3.28284849e-02 -8.10219143e-03 3.41306018e+02] [ 3.28296058e-02 9.99460963e-01 5.35427684e-06 4.65374923e+00] [ 8.09764828e-03 -2.71342966e-04 9.99967177e-01 1.34033360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399254154 meters 0.05890059409725755 Centerline is valid? [True, True] Translation: X:341.37, Y:4.65, Z:1.34 [[ 9.99541659e-01 -2.93083342e-02 -7.58246510e-03 3.41366293e+02] [ 2.93092152e-02 9.99570393e-01 5.06417821e-06 4.65426616e+00] [ 7.57905919e-03 -2.27297958e-04 9.99971253e-01 1.34179168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459254154 meters 0.05968084624554622 Centerline is valid? [True, True] Translation: X:341.43, Y:4.66, Z:1.34 [[ 9.99599615e-01 -2.72814853e-02 -7.50538676e-03 3.41428143e+02] [ 2.72822921e-02 9.99627769e-01 5.11085316e-06 4.65506824e+00] [ 7.50245359e-03 -2.09872961e-04 9.99971834e-01 1.34227415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519254154 meters 0.05858171577256433 Centerline is valid? [True, True] Translation: X:341.49, Y:4.66, Z:1.34 [[ 9.99630117e-01 -2.57351534e-02 -8.79377517e-03 3.41489381e+02] [ 2.57362032e-02 9.99668769e-01 6.21710699e-06 4.65996935e+00] [ 8.79070240e-03 -2.32533192e-04 9.99961334e-01 1.34224352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579254154 meters 0.058652578016127256 Centerline is valid? [True, True] Translation: X:341.55, Y:4.66, Z:1.34 [[ 9.99595579e-01 -2.64522997e-02 -1.04381351e-02 3.41550357e+02] [ 2.64538208e-02 9.99650036e-01 7.65614877e-06 4.65717874e+00] [ 1.04342796e-02 -2.83781608e-04 9.99945521e-01 1.34139831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639254154 meters 0.05818635296894027 Centerline is valid? [True, True] Translation: X:341.61, Y:4.66, Z:1.34 [[ 9.99533747e-01 -2.87879859e-02 -1.01755142e-02 3.41611477e+02] [ 2.87895539e-02 9.99585495e-01 7.61090434e-06 4.66234362e+00] [ 1.01710773e-02 -3.00555870e-04 9.99948228e-01 1.34358499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699254154 meters 0.05893986223148677 Centerline is valid? [True, True] Translation: X:341.67, Y:4.65, Z:1.34 [[ 9.99403865e-01 -3.33521263e-02 -8.91913231e-03 3.41671236e+02] [ 3.33535130e-02 9.99443617e-01 6.72840156e-06 4.65337068e+00] [ 8.91394544e-03 -3.04208786e-04 9.99960224e-01 1.34325254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759254154 meters 0.05755717762794912 Centerline is valid? [True, True] Translation: X:341.73, Y:4.66, Z:1.35 [[ 9.99154404e-01 -4.04529282e-02 -7.35103238e-03 3.41732228e+02] [ 4.04540621e-02 9.99181399e-01 5.57355571e-06 4.66223423e+00] [ 7.34478935e-03 -3.02947963e-04 9.99972981e-01 1.34555350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819254154 meters 0.05839142307904472 Centerline is valid? [True, True] Translation: X:341.79, Y:4.66, Z:1.34 [[ 9.98917921e-01 -4.59740174e-02 -7.02680334e-03 3.41792099e+02] [ 4.59751901e-02 9.98942582e-01 5.37102191e-06 4.65515095e+00] [ 7.01912614e-03 -3.28423829e-04 9.99975312e-01 1.34486855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879254154 meters 0.05688619874866058 Centerline is valid? [True, True] Translation: X:341.85, Y:4.66, Z:1.35 [[ 9.98420918e-01 -5.58357665e-02 -6.16745200e-03 3.41852910e+02] [ 5.58368578e-02 9.98439906e-01 4.75853855e-06 4.66386484e+00] [ 6.15756450e-03 -3.49122165e-04 9.99980981e-01 1.34641343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters 0.06022077458760018 Centerline is valid? [True, True] Translation: X:341.91, Y:4.64, Z:1.35 [[ 9.97962928e-01 -6.35331355e-02 -5.79092919e-03 3.41912307e+02] [ 6.35342269e-02 9.97979660e-01 4.51450542e-06 4.64210124e+00] [ 5.77894272e-03 -3.72427518e-04 9.99983232e-01 1.34601363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters 0.06041045722375716 Centerline is valid? [True, True] Translation: X:341.97, Y:4.64, Z:1.35 [[ 9.97784430e-01 -6.63309548e-02 -5.14154772e-03 3.41972214e+02] [ 6.63318526e-02 9.97797617e-01 4.10830944e-06 4.64126451e+00] [ 5.12995155e-03 -3.45147593e-04 9.99986782e-01 1.34728353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters 0.06128356900996434 Centerline is valid? [True, True] Translation: X:342.03, Y:4.64, Z:1.35 [[ 9.97852396e-01 -6.52886911e-02 -5.28990693e-03 3.42032591e+02] [ 6.52896276e-02 9.97866356e-01 4.35009853e-06 4.64050739e+00] [ 5.27833613e-03 -3.49716809e-04 9.99986008e-01 1.34711347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters 0.05791172339869011 Centerline is valid? [True, True] Translation: X:342.09, Y:4.66, Z:1.35 [[ 9.98119178e-01 -6.10928858e-02 -5.07593532e-03 3.42093508e+02] [ 6.10936939e-02 9.98132036e-01 4.15569391e-06 4.65687280e+00] [ 5.06619977e-03 -3.14255516e-04 9.99987117e-01 1.34705112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters 0.05728684546950211 Centerline is valid? [True, True] Translation: X:342.15, Y:4.66, Z:1.35 [[ 9.98472676e-01 -5.49340164e-02 -5.87955867e-03 3.42153813e+02] [ 5.49349937e-02 9.98489933e-01 4.74204765e-06 4.66092047e+00] [ 5.87041964e-03 -3.27728324e-04 9.99982715e-01 1.34730241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters 0.05733246503227439 Centerline is valid? [True, True] Translation: X:342.21, Y:4.67, Z:1.35 [[ 9.98696931e-01 -5.06432870e-02 -6.30059422e-03 3.42214646e+02] [ 5.06443243e-02 9.98716753e-01 5.09627028e-06 4.66502721e+00] [ 6.29225091e-03 -3.24178967e-04 9.99980151e-01 1.34787580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters 0.05830179974348011 Centerline is valid? [True, True] Translation: X:342.27, Y:4.67, Z:1.35 [[ 9.99026883e-01 -4.35561078e-02 -6.93924509e-03 3.42274417e+02] [ 4.35571956e-02 9.99050935e-01 5.63908232e-06 4.66632920e+00] [ 6.93241368e-03 -3.07887651e-04 9.99975923e-01 1.34868989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters 0.05885073111483038 Centerline is valid? [True, True] Translation: X:342.33, Y:4.67, Z:1.35 [[ 9.99366140e-01 -3.48546642e-02 -7.24365977e-03 3.42333742e+02] [ 3.48556213e-02 9.99392358e-01 5.88147122e-06 4.66942548e+00] [ 7.23905322e-03 -2.58360005e-04 9.99973764e-01 1.34936116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.419254154 meters 0.05810910413984933 Centerline is valid? [True, True] Translation: X:342.39, Y:4.68, Z:1.35 [[ 9.99651087e-01 -2.52542833e-02 -7.74120500e-03 3.42394371e+02] [ 2.52550887e-02 9.99681039e-01 6.28624832e-06 4.68052150e+00] [ 7.73857710e-03 -2.01788874e-04 9.99970036e-01 1.35100989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.479254154 meters 0.0573575421861112 Centerline is valid? [True, True] Translation: X:342.46, Y:4.69, Z:1.35 [[ 9.99784555e-01 -1.93830805e-02 -7.42555538e-03 3.42455323e+02] [ 1.93836598e-02 9.99812119e-01 6.05420461e-06 4.68688645e+00] [ 7.42404291e-03 -1.49987340e-04 9.99972430e-01 1.35176344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.539254154 meters 0.05841256293642699 Centerline is valid? [True, True] Translation: X:342.51, Y:4.69, Z:1.35 [[ 9.99895506e-01 -1.20177994e-02 -8.03422198e-03 3.42514828e+02] [ 1.20182397e-02 9.99927778e-01 6.52445725e-06 4.68660422e+00] [ 8.03356332e-03 -1.03080981e-04 9.99967725e-01 1.35136666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.599254154 meters 0.05760811825097547 Centerline is valid? [True, True] Translation: X:342.58, Y:4.69, Z:1.35 [[ 9.99928039e-01 -7.45282991e-03 -9.40061792e-03 3.42575057e+02] [ 7.45323036e-03 9.99972224e-01 7.56525736e-06 4.69264085e+00] [ 9.40030043e-03 -7.76296838e-05 9.99955813e-01 1.35218446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.659254154 meters 0.05720280515085671 Centerline is valid? [True, True] Translation: X:342.63, Y:4.69, Z:1.35 [[ 9.99928209e-01 -6.09191676e-03 -1.03182337e-02 3.42633536e+02] [ 6.09231951e-03 9.99981442e-01 7.60179691e-06 4.69283891e+00] [ 1.03179959e-02 -7.04632279e-05 9.99946766e-01 1.35139502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.719254154 meters 0.058111065151429164 Centerline is valid? [True, True] Translation: X:342.69, Y:4.69, Z:1.35 [[ 9.99917319e-01 -6.42019883e-03 -1.11416335e-02 3.42692325e+02] [ 6.42067493e-03 9.99979387e-01 6.96221479e-06 4.69222041e+00] [ 1.11413591e-02 -7.84984457e-05 9.99937930e-01 1.35194042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779254154 meters 0.05731042905812298 Centerline is valid? [True, True] Translation: X:342.75, Y:4.69, Z:1.35 [[ 9.99908019e-01 -6.91797968e-03 -1.16659425e-02 3.42749868e+02] [ 6.91852632e-03 9.99976067e-01 6.50144192e-06 4.68911160e+00] [ 1.16656183e-02 -8.72119742e-05 9.99931951e-01 1.34989641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839254154 meters 0.058316950165702694 Centerline is valid? [True, True] Translation: X:342.81, Y:4.68, Z:1.35 [[ 9.99866420e-01 -1.00948910e-02 -1.28544032e-02 3.42808639e+02] [ 1.00958117e-02 9.99949036e-01 6.73507198e-06 4.68403490e+00] [ 1.28536801e-02 -1.36509806e-04 9.99917379e-01 1.34932460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899254154 meters 0.05740601010570447 Centerline is valid? [True, True] Translation: X:342.87, Y:4.68, Z:1.35 [[ 9.99806141e-01 -1.38831871e-02 -1.39620081e-02 3.42868328e+02] [ 1.38846386e-02 9.99903604e-01 7.03180606e-06 4.68265739e+00] [ 1.39605646e-02 -2.00887880e-04 9.99902526e-01 1.35188140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959254154 meters 0.05776696801192742 Centerline is valid? [True, True] Translation: X:342.93, Y:4.67, Z:1.35 [[ 9.99741110e-01 -1.76817572e-02 -1.43201929e-02 3.42926382e+02] [ 1.76836691e-02 9.99843632e-01 6.88842280e-06 4.67497919e+00] [ 1.43178319e-02 -2.60120192e-04 9.99897461e-01 1.35055578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019254154 meters 0.05873408563394592 Centerline is valid? [True, True] Translation: X:342.99, Y:4.67, Z:1.35 [[ 9.99685842e-01 -2.03483682e-02 -1.46342809e-02 3.42985627e+02] [ 2.03506451e-02 9.99792904e-01 6.67212282e-06 4.67366784e+00] [ 1.46311144e-02 -3.04487083e-04 9.99892913e-01 1.35233500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079254154 meters 0.05779798677676965 Centerline is valid? [True, True] Translation: X:343.05, Y:4.67, Z:1.35 [[ 9.99598366e-01 -2.33038391e-02 -1.61256669e-02 3.43045424e+02] [ 2.33069847e-02 9.99728355e-01 7.14067382e-06 4.67152405e+00] [ 1.61211200e-02 -3.82978478e-04 9.99869973e-01 1.35265715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139254154 meters 0.05804906216579545 Centerline is valid? [True, True] Translation: X:343.10, Y:4.67, Z:1.35 [[ 9.99547536e-01 -2.45300589e-02 -1.74068980e-02 3.43104201e+02] [ 2.45339038e-02 9.99698998e-01 7.33949655e-06 4.66612218e+00] [ 1.74014785e-02 -4.34395337e-04 9.99848488e-01 1.35214396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199254154 meters 0.05772250444234243 Centerline is valid? [True, True] Translation: X:343.16, Y:4.66, Z:1.35 [[ 9.99543783e-01 -2.50515811e-02 -1.68713966e-02 3.43163378e+02] [ 2.50552427e-02 9.99686068e-01 5.65796759e-06 4.66043433e+00] [ 1.68659584e-02 -4.28372322e-04 9.99857668e-01 1.35170425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259254154 meters 0.05876677081740325 Centerline is valid? [True, True] Translation: X:343.22, Y:4.66, Z:1.35 [[ 9.99577806e-01 -2.37547038e-02 -1.67309019e-02 3.43222796e+02] [ 2.37581126e-02 9.99717736e-01 4.98552930e-06 4.66173190e+00] [ 1.67260609e-02 -4.02478075e-04 9.99860029e-01 1.35384546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319254154 meters 0.05829688870927188 Centerline is valid? [True, True] Translation: X:343.28, Y:4.66, Z:1.35 [[ 9.99690904e-01 -1.89595168e-02 -1.60820810e-02 3.43281909e+02] [ 1.89620429e-02 9.99820204e-01 4.59396257e-06 4.66008259e+00] [ 1.60791024e-02 -3.09541652e-04 9.99870675e-01 1.35336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379254154 meters 0.05770884980357617 Centerline is valid? [True, True] Translation: X:343.34, Y:4.66, Z:1.35 [[ 9.99750660e-01 -1.54051503e-02 -1.61647494e-02 3.43341346e+02] [ 1.54072341e-02 9.99881302e-01 4.37403025e-06 4.66044964e+00] [ 1.61627633e-02 -2.53427017e-04 9.99869342e-01 1.35413124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters 0.05805420571650907 Centerline is valid? [True, True] Translation: X:343.40, Y:4.66, Z:1.35 [[ 9.99814540e-01 -1.12715222e-02 -1.56153177e-02 3.43401544e+02] [ 1.12729542e-02 9.99936458e-01 3.68664764e-06 4.65977759e+00] [ 1.56142839e-02 -1.79716725e-04 9.99878073e-01 1.35415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters 0.05873406703086647 Centerline is valid? [True, True] Translation: X:343.46, Y:4.66, Z:1.36 [[ 9.99844637e-01 -9.62373547e-03 -1.47677160e-02 3.43459989e+02] [ 9.62481553e-03 9.99953680e-01 2.06446313e-06 4.65984298e+00] [ 1.47670121e-02 -1.44200684e-04 9.99890951e-01 1.35776571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters 0.058354538788025434 Centerline is valid? [True, True] Translation: X:343.52, Y:4.65, Z:1.36 [[ 9.99849642e-01 -1.09467680e-02 -1.34484905e-02 3.43517891e+02] [ 1.09477724e-02 9.99940071e-01 1.06437404e-06 4.65451852e+00] [ 1.34476729e-02 -1.48295227e-04 9.99909565e-01 1.35623968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters 0.05831507182828656 Centerline is valid? [True, True] Translation: X:343.58, Y:4.65, Z:1.36 [[ 9.99807575e-01 -1.43875099e-02 -1.33346368e-02 3.43577582e+02] [ 1.43887990e-02 9.99896476e-01 7.35948033e-07 4.65058148e+00] [ 1.33332458e-02 -1.92605215e-04 9.99911090e-01 1.35682198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters 0.05920355215461999 Centerline is valid? [True, True] Translation: X:343.64, Y:4.65, Z:1.36 [[ 9.99765043e-01 -1.72971696e-02 -1.30639518e-02 3.43637597e+02] [ 1.72986524e-02 9.99850367e-01 5.03312108e-07 4.64817563e+00] [ 1.30619883e-02 -2.26491954e-04 9.99914663e-01 1.35754673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters 0.05876420171701537 Centerline is valid? [True, True] Translation: X:343.70, Y:4.64, Z:1.36 [[ 9.99697488e-01 -2.16625918e-02 -1.16475516e-02 3.43697639e+02] [ 2.16640655e-02 9.99765307e-01 3.58449784e-07 4.64450875e+00] [ 1.16448102e-02 -2.52691662e-04 9.99932165e-01 1.35888326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters 0.058700288094589735 Centerline is valid? [True, True] Translation: X:343.76, Y:4.64, Z:1.36 [[ 9.99638412e-01 -2.46745968e-02 -1.06869028e-02 3.43758676e+02] [ 2.46760099e-02 9.99695501e-01 3.70686121e-07 4.64199068e+00] [ 1.06836395e-02 -2.64080671e-04 9.99942893e-01 1.35909778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters 0.059102590207885324 Centerline is valid? [True, True] Translation: X:343.82, Y:4.64, Z:1.36 [[ 9.99479740e-01 -3.05874221e-02 -1.02303328e-02 3.43819466e+02] [ 3.05890268e-02 9.99532046e-01 3.84874415e-07 4.64096482e+00] [ 1.02255337e-02 -3.13320598e-04 9.99947669e-01 1.35996262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.919254154 meters 0.05901134417771674 Centerline is valid? [True, True] Translation: X:343.88, Y:4.64, Z:1.36 [[ 9.99238860e-01 -3.78584686e-02 -9.40413361e-03 3.43879658e+02] [ 3.78601461e-02 9.99283048e-01 3.60692754e-07 4.63766143e+00] [ 9.39737764e-03 -3.56402291e-04 9.99955780e-01 1.35942007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.979254154 meters 0.05934415765571603 Centerline is valid? [True, True] Translation: X:343.94, Y:4.63, Z:1.36 [[ 9.98905295e-01 -4.57097395e-02 -9.94138588e-03 3.43938780e+02] [ 4.57120029e-02 9.98954660e-01 4.57179879e-07 4.63121420e+00] [ 9.93097285e-03 -4.54897340e-04 9.99950583e-01 1.35883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.039254154 meters 0.05720217072243912 Centerline is valid? [True, True] Translation: X:344.00, Y:4.64, Z:1.36 [[ 9.98503711e-01 -5.39177473e-02 -9.12222111e-03 3.43999563e+02] [ 5.39199951e-02 9.98545259e-01 4.75689003e-07 4.64107727e+00] [ 9.10892499e-03 -4.92345095e-04 9.99958392e-01 1.35962281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.099254154 meters 0.0582181336613313 Centerline is valid? [True, True] Translation: X:344.06, Y:4.63, Z:1.36 [[ 9.98283614e-01 -5.78599122e-02 -9.05846539e-03 3.44058987e+02] [ 5.78622901e-02 9.98324574e-01 4.36835534e-07 4.63488728e+00] [ 9.04326333e-03 -5.24579638e-04 9.99958971e-01 1.35912145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.159254154 meters 0.057802838187679006 Centerline is valid? [True, True] Translation: X:344.12, Y:4.64, Z:1.36 [[ 9.98088196e-01 -6.12288521e-02 -8.42504890e-03 3.44120016e+02] [ 6.12310290e-02 9.98123620e-01 4.49481827e-07 4.63814480e+00] [ 8.40921278e-03 -5.16323036e-04 9.99964509e-01 1.35938372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.219254154 meters 0.05784929184618134 Centerline is valid? [True, True] Translation: X:344.18, Y:4.64, Z:1.36 [[ 9.98097861e-01 -6.10884081e-02 -8.29853894e-03 3.44181922e+02] [ 6.10905171e-02 9.98132230e-01 6.54327002e-07 4.64328184e+00] [ 8.28299921e-03 -5.07615118e-04 9.99965567e-01 1.35959875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279254154 meters 0.05712454989033965 Centerline is valid? [True, True] Translation: X:344.24, Y:4.64, Z:1.36 [[ 9.98120556e-01 -6.07638256e-02 -7.94440318e-03 3.44243948e+02] [ 6.07657505e-02 9.98152054e-01 9.20089403e-07 4.64110871e+00] [ 7.92966644e-03 -4.83665982e-04 9.99968443e-01 1.35912857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339254154 meters 0.05716976812362041 Centerline is valid? [True, True] Translation: X:344.31, Y:4.65, Z:1.36 [[ 9.98082637e-01 -6.13991279e-02 -7.82282562e-03 3.44305477e+02] [ 6.14010158e-02 9.98113178e-01 1.16626763e-06 4.64628318e+00] [ 7.80799373e-03 -4.81493471e-04 9.99969401e-01 1.35953723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399254154 meters 0.056848609998217565 Centerline is valid? [True, True] Translation: X:344.37, Y:4.65, Z:1.36 [[ 9.98013495e-01 -6.25141188e-02 -7.81334724e-03 3.44366903e+02] [ 6.25160374e-02 9.98043959e-01 1.32636229e-06 4.65012004e+00] [ 7.79798110e-03 -4.89783236e-04 9.99969475e-01 1.35943925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459254154 meters 0.05720372944369549 Centerline is valid? [True, True] Translation: X:344.43, Y:4.66, Z:1.36 [[ 9.98001017e-01 -6.28401747e-02 -6.71431824e-03 3.44429022e+02] [ 6.28416004e-02 9.98023513e-01 1.37059554e-06 4.65618454e+00] [ 6.70096136e-03 -4.23306360e-04 9.99977459e-01 1.35960929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519254154 meters 0.0564216506680912 Centerline is valid? [True, True] Translation: X:344.49, Y:4.66, Z:1.36 [[ 9.98078581e-01 -6.17541916e-02 -5.05633777e-03 3.44489558e+02] [ 6.17549873e-02 9.98091339e-01 1.24014723e-06 4.65757618e+00] [ 5.04661036e-03 -3.13491840e-04 9.99987217e-01 1.36010861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579254154 meters 0.056003276349792866 Centerline is valid? [True, True] Translation: X:344.55, Y:4.66, Z:1.36 [[ 9.98092007e-01 -6.15853187e-02 -4.42649234e-03 3.44552049e+02] [ 6.15859272e-02 9.98101785e-01 1.16158548e-06 4.66486324e+00] [ 4.41801837e-03 -2.73769004e-04 9.99990203e-01 1.35978666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639254154 meters 0.056390404135603235 Centerline is valid? [True, True] Translation: X:344.61, Y:4.67, Z:1.36 [[ 9.98053387e-01 -6.20660740e-02 -6.10246006e-03 3.44612957e+02] [ 6.20672421e-02 9.98071970e-01 2.02573211e-06 4.67004041e+00] [ 6.09056861e-03 -3.80784655e-04 9.99981380e-01 1.35976974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699254154 meters 0.056556008549535526 Centerline is valid? [True, True] Translation: X:344.68, Y:4.67, Z:1.36 [[ 9.98054577e-01 -6.19671754e-02 -6.86523119e-03 3.44675019e+02] [ 6.19686572e-02 9.98078096e-01 3.12916106e-06 4.66969368e+00] [ 6.85184297e-03 -4.28552232e-04 9.99976434e-01 1.35912916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759254154 meters 0.05597744398242286 Centerline is valid? [True, True] Translation: X:344.74, Y:4.68, Z:1.36 [[ 9.98109287e-01 -6.11093148e-02 -6.59565866e-03 3.44736312e+02] [ 6.11106672e-02 9.98130997e-01 3.51565121e-06 4.67504424e+00] [ 6.58311651e-03 -4.06574105e-04 9.99978248e-01 1.35909658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819254154 meters 0.05665287762134752 Centerline is valid? [True, True] Translation: X:344.80, Y:4.67, Z:1.36 [[ 9.98236775e-01 -5.90804865e-02 -5.73036050e-03 3.44796401e+02] [ 5.90814745e-02 9.98253164e-01 3.12501209e-06 4.67279597e+00] [ 5.72016587e-03 -3.41677649e-04 9.99983581e-01 1.35885845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879254154 meters 0.056379108615726606 Centerline is valid? [True, True] Translation: X:344.86, Y:4.68, Z:1.36 [[ 9.98582687e-01 -5.29505727e-02 -5.37165989e-03 3.44857300e+02] [ 5.29513526e-02 9.98597093e-01 2.97266353e-06 4.68369494e+00] [ 5.36396654e-03 -2.87405107e-04 9.99985573e-01 1.35953570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters 0.056137975394625915 Centerline is valid? [True, True] Translation: X:344.92, Y:4.69, Z:1.36 [[ 9.99012061e-01 -4.40926258e-02 -5.54462218e-03 3.44918084e+02] [ 4.40933206e-02 9.99027417e-01 3.08245884e-06 4.68797786e+00] [ 5.53909366e-03 -2.47560217e-04 9.99984628e-01 1.36001020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters 0.056578437502193914 Centerline is valid? [True, True] Translation: X:344.98, Y:4.69, Z:1.36 [[ 9.99252457e-01 -3.82144361e-02 -5.84666844e-03 3.44977938e+02] [ 3.82151080e-02 9.99269536e-01 3.20254177e-06 4.68752683e+00] [ 5.84227528e-03 -2.26631214e-04 9.99982908e-01 1.36022507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters 0.05646791936370694 Centerline is valid? [True, True] Translation: X:345.04, Y:4.70, Z:1.36 [[ 9.99498164e-01 -3.14069177e-02 -4.12613860e-03 3.45038395e+02] [ 3.14071943e-02 9.99506672e-01 2.24645633e-06 4.69623632e+00] [ 4.12403251e-03 -1.31835766e-04 9.99991487e-01 1.36026012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters 0.05706474379514431 Centerline is valid? [True, True] Translation: X:345.10, Y:4.70, Z:1.36 [[ 9.99671695e-01 -2.54083053e-02 -3.30463832e-03 3.45097529e+02] [ 2.54084502e-02 9.99677153e-01 1.84355618e-06 4.69551491e+00] [ 3.30352459e-03 -8.58086891e-05 9.99994540e-01 1.36066102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters 0.05650430486137218 Centerline is valid? [True, True] Translation: X:345.16, Y:4.70, Z:1.36 [[ 9.99767428e-01 -2.12943129e-02 -3.41209759e-03 3.45158779e+02] [ 2.12944432e-02 9.99773248e-01 1.85842579e-06 4.69834366e+00] [ 3.41128431e-03 -7.45167117e-05 9.99994179e-01 1.36014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters 0.05599192034692693 Centerline is valid? [True, True] Translation: X:345.22, Y:4.70, Z:1.36 [[ 9.99888283e-01 -1.44048863e-02 -3.99005896e-03 3.45219244e+02] [ 1.44050099e-02 9.99896242e-01 2.24694850e-06 4.70467644e+00] [ 3.98961260e-03 -5.97235363e-05 9.99992040e-01 1.35963307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters 0.05672641992250647 Centerline is valid? [True, True] Translation: X:345.28, Y:4.71, Z:1.36 [[ 9.99939909e-01 -1.04635158e-02 -3.27011389e-03 3.45279840e+02] [ 1.04635777e-02 9.99945255e-01 1.83311537e-06 4.70523912e+00] [ 3.26991568e-03 -3.60500960e-05 9.99994653e-01 1.35950164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters 0.05569164244635804 Centerline is valid? [True, True] Translation: X:345.34, Y:4.71, Z:1.36 [[ 9.99970586e-01 -7.39077618e-03 -2.05018627e-03 3.45341695e+02] [ 7.39079398e-03 9.99972688e-01 1.10572262e-06 4.70895238e+00] [ 2.05012210e-03 -1.62581944e-05 9.99997898e-01 1.35829706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.419254154 meters 0.05624585034828039 Centerline is valid? [True, True] Translation: X:345.40, Y:4.71, Z:1.36 [[ 9.99970612e-01 -7.26806831e-03 -2.43915512e-03 3.45403300e+02] [ 7.26809347e-03 9.99973587e-01 1.44891640e-06 4.70799500e+00] [ 2.43908017e-03 -1.91768812e-05 9.99997025e-01 1.35685162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.479254154 meters 0.0560456082832446 Centerline is valid? [True, True] Translation: X:345.46, Y:4.71, Z:1.36 [[ 9.99948072e-01 -9.72104306e-03 -3.05846823e-03 3.45464570e+02] [ 9.72109430e-03 9.99952749e-01 1.88616317e-06 4.70507260e+00] [ 3.05830537e-03 -3.16177233e-05 9.99995323e-01 1.35555575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.539254154 meters 0.056431029117755445 Centerline is valid? [True, True] Translation: X:345.53, Y:4.69, Z:1.36 [[ 9.99896743e-01 -1.40458438e-02 -3.03615488e-03 3.45525149e+02] [ 1.40459142e-02 9.99901351e-01 1.88573890e-06 4.69435966e+00] [ 3.03582888e-03 -4.45311153e-05 9.99995391e-01 1.35629696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.599254154 meters 0.05660025271264694 Centerline is valid? [True, True] Translation: X:345.59, Y:4.70, Z:1.36 [[ 9.99834086e-01 -1.81318471e-02 -1.74245367e-03 3.45586056e+02] [ 1.81318767e-02 9.99835604e-01 1.19663102e-06 4.69609041e+00] [ 1.74214552e-03 -3.27903875e-05 9.99998482e-01 1.35585396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.659254154 meters 0.05655738808261641 Centerline is valid? [True, True] Translation: X:345.65, Y:4.69, Z:1.35 [[ 9.99711816e-01 -2.39242582e-02 -1.97847820e-03 3.45646317e+02] [ 2.39243078e-02 9.99713773e-01 1.39292266e-06 4.69124117e+00] [ 1.97787858e-03 -4.87262428e-05 9.99998043e-01 1.35493613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.719254154 meters 0.05834711943547525 Centerline is valid? [True, True] Translation: X:345.71, Y:4.68, Z:1.36 [[ 9.99656141e-01 -2.60555511e-02 -2.95083908e-03 3.45707502e+02] [ 2.60556704e-02 9.99660493e-01 1.97952003e-06 4.67798564e+00] [ 2.94978567e-03 -7.88649297e-05 9.99995646e-01 1.35512786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779254154 meters 0.05639156238556058 Centerline is valid? [True, True] Translation: X:345.77, Y:4.68, Z:1.35 [[ 9.99591695e-01 -2.85171497e-02 -1.79307267e-03 3.45768305e+02] [ 2.85171982e-02 9.99593302e-01 1.44241755e-06 4.68405565e+00] [ 1.79230229e-03 -5.25752372e-05 9.99998392e-01 1.35484017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839254154 meters 0.05604114499009282 Centerline is valid? [True, True] Translation: X:345.83, Y:4.68, Z:1.36 [[ 9.99552519e-01 -2.98798160e-02 -1.39966863e-03 3.45829093e+02] [ 2.98798467e-02 9.99553498e-01 1.00360578e-06 4.68082349e+00] [ 1.39901369e-03 -4.28250409e-05 9.99999020e-01 1.35500815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899254154 meters 0.05590382532175016 Centerline is valid? [True, True] Translation: X:345.89, Y:4.68, Z:1.35 [[ 9.99523435e-01 -3.08421992e-02 -1.28872143e-03 3.45891213e+02] [ 3.08422261e-02 9.99524265e-01 1.04682199e-06 4.68121830e+00] [ 1.28807605e-03 -4.07933608e-05 9.99999170e-01 1.35486198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959254154 meters 0.056487302544626035 Centerline is valid? [True, True] Translation: X:345.95, Y:4.68, Z:1.35 [[ 9.99462333e-01 -3.27430365e-02 -1.71434583e-03 3.45950868e+02] [ 3.27430873e-02 9.99463801e-01 1.56741724e-06 4.67768356e+00] [ 1.71337528e-03 -5.76995495e-05 9.99998530e-01 1.35489683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019254154 meters 0.055816457888373645 Centerline is valid? [True, True] Translation: X:346.01, Y:4.68, Z:1.35 [[ 9.99387648e-01 -3.48901646e-02 -2.64695035e-03 3.46011880e+02] [ 3.48902932e-02 9.99391148e-01 2.40909181e-06 4.68263061e+00] [ 2.64525470e-03 -9.47604907e-05 9.99996497e-01 1.35451414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079254154 meters 0.05654803324300609 Centerline is valid? [True, True] Translation: X:346.07, Y:4.68, Z:1.35 [[ 9.99350316e-01 -3.58903786e-02 -3.29039793e-03 3.46072825e+02] [ 3.58905827e-02 9.99355725e-01 2.99938661e-06 4.67987069e+00] [ 3.28817036e-03 -1.21091737e-04 9.99994587e-01 1.35492966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139254154 meters 0.05604627852764038 Centerline is valid? [True, True] Translation: X:346.14, Y:4.68, Z:1.36 [[ 9.99322694e-01 -3.66430712e-02 -3.38207130e-03 3.46135109e+02] [ 3.66432919e-02 9.99328409e-01 3.29348964e-06 4.68295046e+00] [ 3.37967925e-03 -1.27221485e-04 9.99994281e-01 1.35561959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199254154 meters 0.05585710649270611 Centerline is valid? [True, True] Translation: X:346.20, Y:4.68, Z:1.36 [[ 9.99377506e-01 -3.52060585e-02 -2.26599404e-03 3.46197067e+02] [ 3.52061540e-02 9.99380071e-01 2.23835402e-06 4.68354251e+00] [ 2.26451049e-03 -8.20138959e-05 9.99997433e-01 1.35702623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259254154 meters 0.05627100874387352 Centerline is valid? [True, True] Translation: X:346.26, Y:4.68, Z:1.36 [[ 9.99454564e-01 -3.29982460e-02 -1.30004907e-03 3.46257258e+02] [ 3.29982756e-02 9.99455409e-01 1.35833463e-06 4.68190059e+00] [ 1.29929625e-03 -4.42569712e-05 9.99999155e-01 1.35782895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319254154 meters 0.056376035156250684 Centerline is valid? [True, True] Translation: X:346.32, Y:4.69, Z:1.36 [[ 9.99557370e-01 -2.97500211e-02 2.28614179e-05 3.46317729e+02] [ 2.97500211e-02 9.99557370e-01 -5.60601228e-08 4.68587066e+00] [-2.28496312e-05 7.36162975e-07 1.00000000e+00 1.35864497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379254154 meters 0.05655398197295802 Centerline is valid? [True, True] Translation: X:346.38, Y:4.69, Z:1.36 [[ 9.99615608e-01 -2.77242769e-02 1.71232745e-05 3.46379267e+02] [ 2.77242769e-02 9.99615608e-01 -1.15438687e-07 4.68937288e+00] [-1.71134922e-05 5.90124717e-07 1.00000000e+00 1.35874429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters 0.05717512889779198 Centerline is valid? [True, True] Translation: X:346.44, Y:4.69, Z:1.36 [[ 9.99653085e-01 -2.62869472e-02 -1.64507393e-03 3.46440038e+02] [ 2.62869856e-02 9.99654437e-01 1.73489195e-06 4.68767820e+00] [ 1.64445984e-03 -4.49783247e-05 9.99998647e-01 1.35873025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters 0.05746687474071456 Centerline is valid? [True, True] Translation: X:346.50, Y:4.69, Z:1.36 [[ 9.99672880e-01 -2.55192330e-02 -1.70360397e-03 3.46501615e+02] [ 2.55192730e-02 9.99674330e-01 1.73496237e-06 4.68809773e+00] [ 1.70300489e-03 -4.52091298e-05 9.99998549e-01 1.35870587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters 0.05710874883058748 Centerline is valid? [True, True] Translation: X:346.56, Y:4.70, Z:1.36 [[ 9.99715019e-01 -2.38079708e-02 -1.74949350e-03 3.46563529e+02] [ 2.38080107e-02 9.99716549e-01 1.94590824e-06 4.69639284e+00] [ 1.74895127e-03 -4.35973135e-05 9.99998470e-01 1.35817759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters 0.05699324117515738 Centerline is valid? [True, True] Translation: X:346.62, Y:4.69, Z:1.36 [[ 9.99735910e-01 -2.28247475e-02 -2.67245068e-03 3.46624685e+02] [ 2.28248374e-02 9.99739479e-01 3.13026754e-06 4.69497342e+00] [ 2.67168300e-03 -6.41276930e-05 9.99996429e-01 1.35842838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters 0.05635372423728025 Centerline is valid? [True, True] Translation: X:346.69, Y:4.70, Z:1.36 [[ 9.99773690e-01 -2.09317649e-02 -3.79856474e-03 3.46686467e+02] [ 2.09319333e-02 9.99780903e-01 4.57848400e-06 4.70288403e+00] [ 3.79763665e-03 -8.40887518e-05 9.99992785e-01 1.35710658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters 0.05610160872405667 Centerline is valid? [True, True] Translation: X:346.75, Y:4.70, Z:1.36 [[ 9.99784123e-01 -2.03398262e-02 -4.24261426e-03 3.46747317e+02] [ 2.03400315e-02 9.99793120e-01 5.23246253e-06 4.69997931e+00] [ 4.24163012e-03 -9.15262406e-05 9.99991000e-01 1.35753580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters 0.057205323870112894 Centerline is valid? [True, True] Translation: X:346.81, Y:4.69, Z:1.36 [[ 9.99779614e-01 -2.06948271e-02 -3.52825109e-03 3.46808110e+02] [ 2.06949715e-02 9.99785836e-01 4.42329976e-06 4.69475531e+00] [ 3.52740392e-03 -7.74393805e-05 9.99993776e-01 1.35931245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters 0.05703759058633544 Centerline is valid? [True, True] Translation: X:346.87, Y:4.69, Z:1.36 [[ 9.99770718e-01 -2.11453338e-02 -3.37446718e-03 3.46869310e+02] [ 2.11454687e-02 9.99776410e-01 4.31014033e-06 4.69133833e+00] [ 3.37362155e-03 -7.56638425e-05 9.99994306e-01 1.35915527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.919254154 meters 0.056085844898920156 Centerline is valid? [True, True] Translation: X:346.93, Y:4.69, Z:1.36 [[ 9.99716467e-01 -2.31856784e-02 -5.42300803e-03 3.46931047e+02] [ 2.31860581e-02 9.99731167e-01 7.15189650e-06 4.69194454e+00] [ 5.42138432e-03 -1.32888048e-04 9.99985295e-01 1.35755558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.979254154 meters 0.057192202287330816 Centerline is valid? [True, True] Translation: X:346.99, Y:4.69, Z:1.36 [[ 9.99687924e-01 -2.41729083e-02 -6.30282776e-03 3.46992265e+02] [ 2.41734427e-02 9.99707780e-01 8.60750119e-06 4.68733784e+00] [ 6.30077788e-03 -1.60965861e-04 9.99980137e-01 1.35714846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.039254154 meters 0.05660683075477573 Centerline is valid? [True, True] Translation: X:347.05, Y:4.69, Z:1.36 [[ 9.99729756e-01 -2.22199559e-02 -6.83285101e-03 3.47053714e+02] [ 2.22205396e-02 9.99753093e-01 9.50187663e-06 4.68786970e+00] [ 6.83095280e-03 -1.61328945e-04 9.99976656e-01 1.35762793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.099254154 meters 0.05648009256914328 Centerline is valid? [True, True] Translation: X:347.11, Y:4.69, Z:1.36 [[ 9.99863394e-01 -1.54283726e-02 -5.92940120e-03 3.47114293e+02] [ 1.54286932e-02 9.99880971e-01 8.32630598e-06 4.69204760e+00] [ 5.92856697e-03 -9.98080807e-05 9.99982421e-01 1.35988081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.159254154 meters 0.056888361200714894 Centerline is valid? [True, True] Translation: X:347.17, Y:4.69, Z:1.36 [[ 9.99933971e-01 -1.00154081e-02 -5.63437036e-03 3.47174012e+02] [ 1.00156117e-02 9.99949842e-01 7.92432487e-06 4.69098270e+00] [ 5.63400838e-03 -6.43554672e-05 9.99984127e-01 1.36037940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.219254154 meters 0.05718511339518371 Centerline is valid? [True, True] Translation: X:347.23, Y:4.69, Z:1.36 [[ 9.99977737e-01 -3.48544806e-03 -5.69013772e-03 3.47234197e+02] [ 3.48554980e-03 9.99993925e-01 7.96287193e-06 4.69045648e+00] [ 5.69007540e-03 -2.77959530e-05 9.99983811e-01 1.36090688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279254154 meters 0.05725673918194673 Centerline is valid? [True, True] Translation: X:347.29, Y:4.69, Z:1.36 [[ 9.99974584e-01 -1.97288982e-03 -6.85126214e-03 3.47293187e+02] [ 1.97299980e-03 9.99998054e-01 9.29388521e-06 4.68664981e+00] [ 6.85123047e-03 -2.28111878e-05 9.99976530e-01 1.36062684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339254154 meters 0.05766759973826632 Centerline is valid? [True, True] Translation: X:347.35, Y:4.68, Z:1.36 [[ 9.99960598e-01 -4.42416883e-03 -7.69601524e-03 3.47350930e+02] [ 4.42437792e-03 9.99990212e-01 1.01425601e-05 4.68103111e+00] [ 7.69589504e-03 -4.41922403e-05 9.99970385e-01 1.35993018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399254154 meters 0.0568248090498131 Centerline is valid? [True, True] Translation: X:347.41, Y:4.67, Z:1.36 [[ 9.99872536e-01 -1.30064095e-02 -9.25986065e-03 3.47410874e+02] [ 1.30070781e-02 9.99915404e-01 1.19811547e-05 4.67254060e+00] [ 9.25892148e-03 -1.32423358e-04 9.99957126e-01 1.36028725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459254154 meters 0.058303248087568676 Centerline is valid? [True, True] Translation: X:347.47, Y:4.66, Z:1.36 [[ 9.99656326e-01 -2.44576020e-02 -9.43692942e-03 3.47471673e+02] [ 2.44588061e-02 9.99700839e-01 1.21852974e-05 4.66266537e+00] [ 9.43380824e-03 -2.42997136e-04 9.99955471e-01 1.36057488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519254154 meters 0.05774618878711795 Centerline is valid? [True, True] Translation: X:347.53, Y:4.66, Z:1.36 [[ 9.99484569e-01 -3.08465583e-02 -8.89305712e-03 3.47532438e+02] [ 3.08478805e-02 9.99524091e-01 1.15058328e-05 4.65801731e+00] [ 8.88846992e-03 -2.85831865e-04 9.99960456e-01 1.36131464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579254154 meters 0.05868136370235869 Centerline is valid? [True, True] Translation: X:347.59, Y:4.65, Z:1.36 [[ 9.99282400e-01 -3.72209731e-02 -7.02023801e-03 3.47591784e+02] [ 3.72219544e-02 9.99307023e-01 9.13582162e-06 4.64641791e+00] [ 7.01503310e-03 -2.70436245e-04 9.99975358e-01 1.36195873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639254154 meters 0.05815639862614888 Centerline is valid? [True, True] Translation: X:347.65, Y:4.64, Z:1.36 [[ 9.99082400e-01 -4.24418137e-02 -5.74897379e-03 3.47652296e+02] [ 4.24425583e-02 9.99098909e-01 7.51894703e-06 4.64205631e+00] [ 5.74347432e-03 -2.51513203e-04 9.99983474e-01 1.36295345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699254154 meters 0.05767928220765576 Centerline is valid? [True, True] Translation: X:347.71, Y:4.64, Z:1.36 [[ 9.98919426e-01 -4.61908333e-02 -5.13677509e-03 3.47713484e+02] [ 4.61914772e-02 9.98932604e-01 6.73035488e-06 4.64267440e+00] [ 5.13098123e-03 -2.43998312e-04 9.99986807e-01 1.36344979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759254154 meters 0.058473528422631406 Centerline is valid? [True, True] Translation: X:347.77, Y:4.64, Z:1.36 [[ 9.98688859e-01 -5.09515949e-02 -4.94959124e-03 3.47773154e+02] [ 5.09522514e-02 9.98701090e-01 6.54381243e-06 4.63618863e+00] [ 4.94282875e-03 -2.58728050e-04 9.99987751e-01 1.36365849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819254154 meters 0.05757380991299487 Centerline is valid? [True, True] Translation: X:347.83, Y:4.63, Z:1.36 [[ 9.98582043e-01 -5.28413891e-02 -6.45686690e-03 3.47833401e+02] [ 5.28425464e-02 9.98602857e-01 8.65473552e-06 4.63024731e+00] [ 6.44738840e-03 -3.49839752e-04 9.99979154e-01 1.36257888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879254154 meters 0.05723500556089906 Centerline is valid? [True, True] Translation: X:347.90, Y:4.64, Z:1.36 [[ 9.98593104e-01 -5.23746325e-02 -8.28921343e-03 3.47895842e+02] [ 5.23765262e-02 9.98627408e-01 1.13930065e-05 4.63958797e+00] [ 8.27723902e-03 -4.45537183e-04 9.99965644e-01 1.36223790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters 0.0601860814347218 Centerline is valid? [True, True] Translation: X:347.96, Y:4.62, Z:1.36 [[ 9.98653335e-01 -5.09430420e-02 -9.81447481e-03 3.47956291e+02] [ 5.09456299e-02 9.98701428e-01 1.36991694e-05 4.62482283e+00] [ 9.80103213e-03 -5.13685323e-04 9.99951837e-01 1.36036351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters 0.05891522701612081 Centerline is valid? [True, True] Translation: X:348.02, Y:4.63, Z:1.36 [[ 9.98793599e-01 -4.81994903e-02 -9.38916906e-03 3.48016749e+02] [ 4.82017386e-02 9.98837621e-01 1.31811947e-05 4.63166374e+00] [ 9.37761996e-03 -4.65739566e-04 9.99955921e-01 1.36145466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters 0.05747122984576805 Centerline is valid? [True, True] Translation: X:348.08, Y:4.64, Z:1.36 [[ 9.98951513e-01 -4.49739848e-02 -8.55657654e-03 3.48077741e+02] [ 4.49757342e-02 9.98988080e-01 1.20471361e-05 4.64214983e+00] [ 8.54737615e-03 -3.96872817e-04 9.99963392e-01 1.36403604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters 0.057752955763814735 Centerline is valid? [True, True] Translation: X:348.14, Y:4.64, Z:1.37 [[ 9.99254831e-01 -3.81221932e-02 -6.04003495e-03 3.48137452e+02] [ 3.81229400e-02 9.99273056e-01 8.51472052e-06 4.64442473e+00] [ 6.03531959e-03 -2.38772266e-04 9.99981759e-01 1.36522805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters 0.06026332530118786 Centerline is valid? [True, True] Translation: X:348.20, Y:4.64, Z:1.37 [[ 9.99441302e-01 -3.29789852e-02 -5.42875733e-03 3.48196821e+02] [ 3.29795127e-02 9.99456028e-01 7.65133408e-06 4.63785443e+00] [ 5.42555190e-03 -1.86684831e-04 9.99985264e-01 1.36531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters 0.05759762478157452 Centerline is valid? [True, True] Translation: X:348.26, Y:4.65, Z:1.37 [[ 9.99620506e-01 -2.69536322e-02 -5.68738551e-03 3.48257702e+02] [ 2.69541134e-02 9.99636672e-01 7.96700560e-06 4.65357617e+00] [ 5.68510438e-03 -1.61262416e-04 9.99983827e-01 1.36603372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters 0.05808094962233934 Centerline is valid? [True, True] Translation: X:348.32, Y:4.66, Z:1.37 [[ 9.99706358e-01 -2.31572286e-02 -7.13726752e-03 3.48318372e+02] [ 2.31578897e-02 9.99731820e-01 9.99304624e-06 4.65747914e+00] [ 7.13512204e-03 -1.75274166e-04 9.99974529e-01 1.36598658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters 0.057864812255602194 Centerline is valid? [True, True] Translation: X:348.38, Y:4.66, Z:1.36 [[ 9.99754713e-01 -2.04226320e-02 -8.56909674e-03 3.48380024e+02] [ 2.04234860e-02 9.99791419e-01 1.21608730e-05 4.66056993e+00] [ 8.56706103e-03 -1.87168718e-04 9.99963285e-01 1.36494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.419254154 meters 0.05753443154247666 Centerline is valid? [True, True] Translation: X:348.44, Y:4.66, Z:1.36 [[ 9.99785042e-01 -1.85909133e-02 -9.17867150e-03 3.48440098e+02] [ 1.85918189e-02 9.99827157e-01 1.33355204e-05 4.65999612e+00] [ 9.17683712e-03 -1.83980852e-04 9.99957875e-01 1.36425588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.479254154 meters 0.05798775238747132 Centerline is valid? [True, True] Translation: X:348.50, Y:4.66, Z:1.37 [[ 9.99839264e-01 -1.62019401e-02 -7.67743434e-03 3.48501265e+02] [ 1.62025047e-02 9.99868731e-01 1.13423234e-05 4.66302949e+00] [ 7.67624277e-03 -1.35734167e-04 9.99970528e-01 1.36557458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.539254154 meters 0.05808997063424406 Centerline is valid? [True, True] Translation: X:348.56, Y:4.66, Z:1.37 [[ 9.99866185e-01 -1.49893552e-02 -6.55219517e-03 3.48562553e+02] [ 1.49897410e-02 9.99887647e-01 9.78165375e-06 4.66366875e+00] [ 6.55131240e-03 -1.07996053e-04 9.99978534e-01 1.36630395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.599254154 meters 0.05786576019876059 Centerline is valid? [True, True] Translation: X:348.62, Y:4.67, Z:1.37 [[ 9.99875446e-01 -1.44713244e-02 -6.29865310e-03 3.48623755e+02] [ 1.44716714e-02 9.99895280e-01 9.52717486e-06 4.66563338e+00] [ 6.29785563e-03 -1.00678026e-04 9.99980163e-01 1.36698489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.659254154 meters 0.0580701791597088 Centerline is valid? [True, True] Translation: X:348.68, Y:4.66, Z:1.37 [[ 9.99858796e-01 -1.52399594e-02 -7.08034778e-03 3.48684469e+02] [ 1.52404182e-02 9.99883858e-01 1.08467947e-05 4.65972701e+00] [ 7.07936015e-03 -1.18752724e-04 9.99974934e-01 1.36640126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.719254154 meters 0.05724447577376155 Centerline is valid? [True, True] Translation: X:348.75, Y:4.66, Z:1.37 [[ 9.99812842e-01 -1.77492285e-02 -7.69717190e-03 3.48745776e+02] [ 1.77498458e-02 9.99842459e-01 1.18897726e-05 4.65701211e+00] [ 7.69574824e-03 -1.48511162e-04 9.99970376e-01 1.36615569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779254154 meters 0.05794562854578432 Centerline is valid? [True, True] Translation: X:348.81, Y:4.66, Z:1.37 [[ 9.99784864e-01 -1.90803967e-02 -8.13409378e-03 3.48807344e+02] [ 1.90811313e-02 9.99817939e-01 1.27053308e-05 4.65523564e+00] [ 8.13237046e-03 -1.67910309e-04 9.99966918e-01 1.36576898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839254154 meters 0.05840057017980325 Centerline is valid? [True, True] Translation: X:348.87, Y:4.65, Z:1.36 [[ 9.99790933e-01 -1.79503072e-02 -9.79167024e-03 3.48867852e+02] [ 1.79513202e-02 9.99838862e-01 1.55631863e-05 4.65167525e+00] [ 9.78981307e-03 -1.91333340e-04 9.99952060e-01 1.36475415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899254154 meters 0.057510037804632895 Centerline is valid? [True, True] Translation: X:348.93, Y:4.65, Z:1.37 [[ 9.99833383e-01 -1.54121465e-02 -9.78123365e-03 3.48928727e+02] [ 1.54130376e-02 9.99881212e-01 1.57225565e-05 4.65415479e+00] [ 9.77982944e-03 -1.66478459e-04 9.99952162e-01 1.36544652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959254154 meters 0.058175942225479824 Centerline is valid? [True, True] Translation: X:348.99, Y:4.65, Z:1.37 [[ 9.99919580e-01 -8.90842193e-03 -9.02628408e-03 3.48987529e+02] [ 8.90891533e-03 9.99960315e-01 1.44551331e-05 4.65396665e+00] [ 9.02579710e-03 -9.48683712e-05 9.99959262e-01 1.36594588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019254154 meters 0.05880207413250121 Centerline is valid? [True, True] Translation: X:349.05, Y:4.66, Z:1.37 [[ 9.99961209e-01 -3.61963697e-03 -8.02988898e-03 3.49046629e+02] [ 3.61985538e-03 9.99993448e-01 1.26667734e-05 4.65707049e+00] [ 8.02979052e-03 -4.17333189e-05 9.99967760e-01 1.36849763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079254154 meters 0.057979327231370045 Centerline is valid? [True, True] Translation: X:349.10, Y:4.66, Z:1.37 [[ 9.99960032e-01 4.51456015e-03 -7.71708939e-03 3.49104235e+02] [-4.51460479e-03 9.99989809e-01 1.16364941e-05 4.65833319e+00] [ 7.71706328e-03 2.32035797e-05 9.99970223e-01 1.36938972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139254154 meters 0.058805963874235034 Centerline is valid? [True, True] Translation: X:349.16, Y:4.65, Z:1.37 [[ 9.99914993e-01 9.72532682e-03 -8.68470715e-03 3.49162663e+02] [-9.72558567e-03 9.99952705e-01 1.24280361e-05 4.65431164e+00] [ 8.68441727e-03 7.20368837e-05 9.99962287e-01 1.37039125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199254154 meters 0.05863428610482817 Centerline is valid? [True, True] Translation: X:349.22, Y:4.65, Z:1.37 [[ 9.99905651e-01 1.01445272e-02 -9.26160944e-03 3.49220968e+02] [-1.01448462e-02 9.99948540e-01 1.25358846e-05 4.65014932e+00] [ 9.26126000e-03 8.14229012e-05 9.99957110e-01 1.37000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259254154 meters 0.059038221743762595 Centerline is valid? [True, True] Translation: X:349.28, Y:4.65, Z:1.37 [[ 9.99926342e-01 8.11908199e-03 -9.02166269e-03 3.49279672e+02] [-8.11930725e-03 9.99967038e-01 1.16575715e-05 4.64649983e+00] [ 9.02145996e-03 6.15929385e-05 9.99959304e-01 1.36973248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319254154 meters 0.05835537271215137 Centerline is valid? [True, True] Translation: X:349.34, Y:4.64, Z:1.37 [[ 9.99953717e-01 2.72851865e-03 -9.22603919e-03 3.49338893e+02] [-2.72852703e-03 9.99996278e-01 1.16795276e-05 4.63970392e+00] [ 9.22603672e-03 1.34945103e-05 9.99957439e-01 1.37042541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379254154 meters 0.058660790611526924 Centerline is valid? [True, True] Translation: X:349.40, Y:4.63, Z:1.37 [[ 9.99960580e-01 -1.31977684e-03 -8.78042692e-03 3.49397093e+02] [ 1.31992321e-03 9.99999129e-01 1.08753065e-05 4.63452253e+00] [ 8.78040491e-03 -2.24643671e-05 9.99961451e-01 1.36830827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters 0.059358119185306375 Centerline is valid? [True, True] Translation: X:349.46, Y:4.63, Z:1.37 [[ 9.99942105e-01 -8.32200314e-03 -6.82131260e-03 3.49456907e+02] [ 8.32225356e-03 9.99965369e-01 8.32767699e-06 4.62633509e+00] [ 6.82100707e-03 -6.50958879e-05 9.99976735e-01 1.36975755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters 0.05943924921334507 Centerline is valid? [True, True] Translation: X:349.52, Y:4.62, Z:1.37 [[ 9.99868771e-01 -1.48356346e-02 -6.50724578e-03 3.49516107e+02] [ 1.48360000e-02 9.99889940e-01 7.87135781e-06 4.61597753e+00] [ 6.50641282e-03 -1.04411823e-04 9.99978828e-01 1.36957891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters 0.059026646093546874 Centerline is valid? [True, True] Translation: X:349.58, Y:4.61, Z:1.37 [[ 9.99762770e-01 -2.11832454e-02 -5.06694491e-03 3.49576311e+02] [ 2.11835482e-02 9.99775603e-01 6.09032506e-06 4.61409023e+00] [ 5.06567889e-03 -1.13424752e-04 9.99987163e-01 1.37077678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters 0.05935383946249546 Centerline is valid? [True, True] Translation: X:349.64, Y:4.61, Z:1.37 [[ 9.99658921e-01 -2.56216412e-02 -5.05694119e-03 3.49635785e+02] [ 2.56219998e-02 9.99671703e-01 6.11371981e-06 4.60717234e+00] [ 5.05512437e-03 -1.35680580e-04 9.99987214e-01 1.37063913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters 0.06126365682188894 Centerline is valid? [True, True] Translation: X:349.70, Y:4.60, Z:1.37 [[ 9.99504558e-01 -3.09312062e-02 -5.82232695e-03 3.49695350e+02] [ 3.09317713e-02 9.99521498e-01 7.00504733e-06 4.59579440e+00] [ 5.81932428e-03 -1.87096462e-04 9.99983050e-01 1.36955274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters 0.05971643261793153 Centerline is valid? [True, True] Translation: X:349.76, Y:4.60, Z:1.37 [[ 9.99424844e-01 -3.33748367e-02 -6.00838145e-03 3.49756340e+02] [ 3.33754825e-02 9.99442883e-01 7.23462323e-06 4.59750747e+00] [ 6.00479262e-03 -2.07763092e-04 9.99981949e-01 1.36943542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters 0.06055727898350299 Centerline is valid? [True, True] Translation: X:349.82, Y:4.59, Z:1.37 [[ 9.99341909e-01 -3.55029936e-02 -7.43542085e-03 3.49816522e+02] [ 3.55040422e-02 9.99369533e-01 9.03267714e-06 4.59295804e+00] [ 7.43041237e-03 -2.73014228e-04 9.99972357e-01 1.36855425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters 0.06000278577193234 Centerline is valid? [True, True] Translation: X:349.88, Y:4.60, Z:1.37 [[ 9.99303286e-01 -3.66716924e-02 -6.93750581e-03 3.49878365e+02] [ 3.66726341e-02 9.99327333e-01 8.52725372e-06 4.59694735e+00] [ 6.93252647e-03 -2.62937924e-04 9.99975935e-01 1.36826310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.919254154 meters 0.05966696224305068 Centerline is valid? [True, True] Translation: X:349.94, Y:4.60, Z:1.37 [[ 9.99311434e-01 -3.64020456e-02 -7.17981139e-03 3.49940009e+02] [ 3.64030490e-02 9.99337189e-01 9.06818859e-06 4.59861363e+00] [ 7.17472244e-03 -2.70428970e-04 9.99974225e-01 1.36928866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.979254154 meters 0.05912386000441247 Centerline is valid? [True, True] Translation: X:350.00, Y:4.60, Z:1.37 [[ 9.99339026e-01 -3.59019199e-02 -5.70643798e-03 3.50002633e+02] [ 3.59025466e-02 9.99355296e-01 7.38427663e-06 4.60328115e+00] [ 5.70249390e-03 -2.12255051e-04 9.99983718e-01 1.37072896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.039254154 meters 0.06017111499224669 Centerline is valid? [True, True] Translation: X:350.06, Y:4.60, Z:1.37 [[ 9.99422315e-01 -3.35821457e-02 -5.22269983e-03 3.50062014e+02] [ 3.35826397e-02 9.99435944e-01 6.89694940e-06 4.59947354e+00] [ 5.21952232e-03 -1.82285012e-04 9.99986362e-01 1.37178023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.099254154 meters 0.059503274258643636 Centerline is valid? [True, True] Translation: X:350.12, Y:4.60, Z:1.37 [[ 9.99495557e-01 -3.15567026e-02 -3.57852456e-03 3.50124053e+02] [ 3.15569215e-02 9.99501956e-01 4.69655508e-06 4.60240295e+00] [ 3.57659409e-03 -1.17621404e-04 9.99993597e-01 1.37237053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.159254154 meters 0.0605531193557378 Centerline is valid? [True, True] Translation: X:350.18, Y:4.60, Z:1.37 [[ 9.99582101e-01 -2.85857566e-02 -4.29850008e-03 3.50183709e+02] [ 2.85860453e-02 9.99591335e-01 5.73070449e-06 4.60118888e+00] [ 4.29657962e-03 -1.28605428e-04 9.99990761e-01 1.37229604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.219254154 meters 0.05852660096223353 Centerline is valid? [True, True] Translation: X:350.25, Y:4.61, Z:1.37 [[ 9.99652376e-01 -2.58987874e-02 -4.93756556e-03 3.50245046e+02] [ 2.58991357e-02 9.99664561e-01 6.60839293e-06 4.61201170e+00] [ 4.93573815e-03 -1.34484776e-04 9.99987810e-01 1.37098889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279254154 meters 0.059850793923536524 Centerline is valid? [True, True] Translation: X:350.31, Y:4.61, Z:1.37 [[ 9.99700059e-01 -2.36896601e-02 -6.21226851e-03 3.50305620e+02] [ 2.36901698e-02 9.99719349e-01 8.46241485e-06 4.61047300e+00] [ 6.21032455e-03 -1.55629573e-04 9.99980704e-01 1.36989715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339254154 meters 0.05883647934684846 Centerline is valid? [True, True] Translation: X:350.37, Y:4.62, Z:1.37 [[ 9.99772456e-01 -2.01565479e-02 -6.98206865e-03 3.50366308e+02] [ 2.01571061e-02 9.99796825e-01 9.57497238e-06 4.61617690e+00] [ 6.98045707e-03 -1.50311092e-04 9.99975625e-01 1.37038383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399254154 meters 0.05852478492810787 Centerline is valid? [True, True] Translation: X:350.43, Y:4.62, Z:1.37 [[ 9.99810186e-01 -1.80029968e-02 -7.44874456e-03 3.50427258e+02] [ 1.80035730e-02 9.99837923e-01 1.03089407e-05 4.62013292e+00] [ 7.44735169e-03 -1.44411000e-04 9.99972258e-01 1.37037312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459254154 meters 0.05896183241014941 Centerline is valid? [True, True] Translation: X:350.49, Y:4.62, Z:1.37 [[ 9.99838408e-01 -1.66783091e-02 -6.70754729e-03 3.50488129e+02] [ 1.66787469e-02 9.99860900e-01 9.33677144e-06 4.62030509e+00] [ 6.70645855e-03 -1.21208746e-04 9.99977504e-01 1.37051892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519254154 meters 0.05813944342319309 Centerline is valid? [True, True] Translation: X:350.55, Y:4.62, Z:1.37 [[ 9.99859936e-01 -1.57045814e-02 -5.78570232e-03 3.50549341e+02] [ 1.57048910e-02 9.99876671e-01 8.07774976e-06 4.62424964e+00] [ 5.78486191e-03 -9.89404427e-05 9.99983263e-01 1.37157679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579254154 meters 0.05824599720282283 Centerline is valid? [True, True] Translation: X:350.61, Y:4.63, Z:1.37 [[ 9.99840235e-01 -1.70920414e-02 -5.23122398e-03 3.50610577e+02] [ 1.70923139e-02 9.99853916e-01 7.38606305e-06 4.62592847e+00] [ 5.23033353e-03 -9.67986052e-05 9.99986317e-01 1.37239640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639254154 meters 0.058674379574958684 Centerline is valid? [True, True] Translation: X:350.67, Y:4.62, Z:1.37 [[ 9.99758180e-01 -2.13437662e-02 -5.29389707e-03 3.50670221e+02] [ 2.13441055e-02 9.99772189e-01 7.58894016e-06 4.61954651e+00] [ 5.29252909e-03 -1.20580603e-04 9.99985987e-01 1.37212158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699254154 meters 0.058767095438291755 Centerline is valid? [True, True] Translation: X:350.73, Y:4.62, Z:1.37 [[ 9.99648387e-01 -2.59952371e-02 -5.22971185e-03 3.50731163e+02] [ 2.59956326e-02 9.99662056e-01 7.64437224e-06 4.62450597e+00] [ 5.22774579e-03 -1.43591352e-04 9.99986325e-01 1.37262427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759254154 meters 0.058520129741642356 Centerline is valid? [True, True] Translation: X:350.79, Y:4.63, Z:1.37 [[ 9.99610798e-01 -2.75408304e-02 -4.44478063e-03 3.50793258e+02] [ 2.75411315e-02 9.99620671e-01 6.54839138e-06 4.62772238e+00] [ 4.44291425e-03 -1.28960131e-04 9.99990122e-01 1.37284583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819254154 meters 0.05935221183671265 Centerline is valid? [True, True] Translation: X:350.85, Y:4.62, Z:1.37 [[ 9.99648924e-01 -2.62925337e-02 -3.27585462e-03 3.50854746e+02] [ 2.62926908e-02 9.99654287e-01 4.90809589e-06 4.62318804e+00] [ 3.27459307e-03 -9.10374054e-05 9.99994634e-01 1.37484081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879254154 meters 0.059325500929259985 Centerline is valid? [True, True] Translation: X:350.91, Y:4.63, Z:1.38 [[ 9.99773994e-01 -2.11099184e-02 -2.51629648e-03 3.50914127e+02] [ 2.11099949e-02 9.99777159e-01 3.84528995e-06 4.62878789e+00] [ 2.51565457e-03 -5.69634267e-05 9.99996834e-01 1.37653443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters 0.05958489402015304 Centerline is valid? [True, True] Translation: X:350.97, Y:4.63, Z:1.38 [[ 9.99853568e-01 -1.69912872e-02 -2.03432396e-03 3.50974548e+02] [ 1.69913287e-02 9.99855637e-01 3.10984427e-06 4.63414871e+00] [ 2.03397744e-03 -3.76752560e-05 9.99997931e-01 1.37704447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters 0.059048360040535264 Centerline is valid? [True, True] Translation: X:351.04, Y:4.64, Z:1.38 [[ 9.99867693e-01 -1.61006041e-02 -2.31668696e-03 3.51037291e+02] [ 1.61006554e-02 9.99870376e-01 3.47887664e-06 4.63736255e+00] [ 2.31633065e-03 -4.07785947e-05 9.99997316e-01 1.37690141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters 0.05756627937656822 Centerline is valid? [True, True] Translation: X:351.10, Y:4.64, Z:1.38 [[ 9.99837036e-01 -1.78350752e-02 -2.79486658e-03 3.51099855e+02] [ 1.78351570e-02 9.99840941e-01 4.34433612e-06 4.64340326e+00] [ 2.79434455e-03 -5.41905124e-05 9.99996094e-01 1.37667426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters 0.05776044673469161 Centerline is valid? [True, True] Translation: X:351.16, Y:4.65, Z:1.38 [[ 9.99775595e-01 -2.09287757e-02 -3.27813031e-03 3.51160519e+02] [ 2.09289053e-02 9.99780966e-01 5.22487458e-06 4.64589673e+00] [ 3.27730294e-03 -7.38313808e-05 9.99994627e-01 1.37620667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters 0.05797171707535552 Centerline is valid? [True, True] Translation: X:351.22, Y:4.64, Z:1.38 [[ 9.99742558e-01 -2.23593504e-02 -3.85700632e-03 3.51221855e+02] [ 2.23595408e-02 9.99749994e-01 6.24493477e-06 4.64409291e+00] [ 3.85590241e-03 -9.24842173e-05 9.99992562e-01 1.37677494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters 0.057594067953425324 Centerline is valid? [True, True] Translation: X:351.28, Y:4.65, Z:1.38 [[ 9.99723626e-01 -2.33906672e-02 -2.35541094e-03 3.51284417e+02] [ 2.33907411e-02 9.99726399e-01 3.80967264e-06 4.65158919e+00] [ 2.35467738e-03 -5.89034271e-05 9.99997226e-01 1.37710908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters 0.05862083955645733 Centerline is valid? [True, True] Translation: X:351.35, Y:4.65, Z:1.38 [[ 9.99723218e-01 -2.34349075e-02 -2.07205501e-03 3.51345224e+02] [ 2.34349649e-02 9.99725364e-01 3.42717513e-06 4.64789205e+00] [ 2.07140563e-03 -5.19847628e-05 9.99997853e-01 1.37727031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.359254154 meters 0.05822084515200475 Centerline is valid? [True, True] Translation: X:351.41, Y:4.65, Z:1.38 [[ 9.99694946e-01 -2.46118175e-02 -2.06717210e-03 3.51407347e+02] [ 2.46118773e-02 9.99697082e-01 3.48380917e-06 4.65137399e+00] [ 2.06646017e-03 -5.43597324e-05 9.99997863e-01 1.37692588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.419254154 meters 0.05865191080866246 Centerline is valid? [True, True] Translation: X:351.47, Y:4.65, Z:1.38 [[ 9.99570609e-01 -2.91549697e-02 -2.93018087e-03 3.51466898e+02] [ 2.91551098e-02 9.99574899e-01 5.11767403e-06 4.64810106e+00] [ 2.92878605e-03 -9.05452217e-05 9.99995707e-01 1.37556068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.479254154 meters 0.057655100051405395 Centerline is valid? [True, True] Translation: X:351.53, Y:4.65, Z:1.37 [[ 9.99313279e-01 -3.67463597e-02 -4.76183155e-03 3.51527023e+02] [ 3.67468157e-02 9.99324608e-01 8.27905697e-06 4.65442960e+00] [ 4.75831122e-03 -1.83255518e-04 9.99988662e-01 1.37455257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.539254154 meters 0.056357750665655994 Centerline is valid? [True, True] Translation: X:351.59, Y:4.66, Z:1.37 [[ 9.99097258e-01 -4.20124009e-02 -6.29500011e-03 3.51587800e+02] [ 4.20133024e-02 9.99117051e-01 1.09751006e-05 4.66168897e+00] [ 6.28898085e-03 -2.75438936e-04 9.99980186e-01 1.37450886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.599254154 meters 0.05638299671369517 Centerline is valid? [True, True] Translation: X:351.65, Y:4.66, Z:1.37 [[ 9.98787140e-01 -4.86188938e-02 -7.77506101e-03 3.51647981e+02] [ 4.86204690e-02 9.98817326e-01 1.35940754e-05 4.65833297e+00] [ 7.76520471e-03 -3.91604700e-04 9.99969774e-01 1.37284190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.659254154 meters 0.05727860990745299 Centerline is valid? [True, True] Translation: X:351.71, Y:4.66, Z:1.37 [[ 9.98544210e-01 -5.30976833e-02 -9.49194957e-03 3.51708567e+02] [ 5.31002332e-02 9.98589187e-01 1.66516626e-05 4.65531574e+00] [ 9.47767404e-03 -5.20652157e-04 9.99954950e-01 1.37180842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.719254154 meters 0.05553292653022762 Centerline is valid? [True, True] Translation: X:351.77, Y:4.67, Z:1.37 [[ 9.98410601e-01 -5.54703555e-02 -9.96550882e-03 3.51768741e+02] [ 5.54732844e-02 9.98460172e-01 1.75110103e-05 4.66913113e+00] [ 9.94919230e-03 -5.70302683e-04 9.99950343e-01 1.37282446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779254154 meters 0.05527841913924177 Centerline is valid? [True, True] Translation: X:351.83, Y:4.67, Z:1.37 [[ 9.98311864e-01 -5.72557990e-02 -9.75680501e-03 3.51828698e+02] [ 5.72586932e-02 9.98359375e-01 1.73265003e-05 4.66827037e+00] [ 9.73980571e-03 -5.75959156e-04 9.99952401e-01 1.37297906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839254154 meters 0.05526432579479184 Centerline is valid? [True, True] Translation: X:351.89, Y:4.67, Z:1.37 [[ 9.98265660e-01 -5.80414502e-02 -9.84181031e-03 3.51891094e+02] [ 5.80444361e-02 9.98314000e-01 1.77903257e-05 4.67165627e+00] [ 9.82418444e-03 -5.89021801e-04 9.99951568e-01 1.37384858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899254154 meters 0.05462644086470279 Centerline is valid? [True, True] Translation: X:351.95, Y:4.68, Z:1.37 [[ 9.98228528e-01 -5.86411641e-02 -1.00508431e-02 3.51953560e+02] [ 5.86443119e-02 9.98278941e-01 1.85019464e-05 4.67867813e+00] [ 1.00324600e-02 -6.07893948e-04 9.99949489e-01 1.37431195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959254154 meters 0.05493432068747223 Centerline is valid? [True, True] Translation: X:352.02, Y:4.68, Z:1.37 [[ 9.98190175e-01 -5.91812277e-02 -1.06750495e-02 3.52015455e+02] [ 5.91848186e-02 9.98247042e-01 2.05118388e-05 4.68060597e+00] [ 1.06551226e-02 -6.52275582e-04 9.99943020e-01 1.37343936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019254154 meters 0.056425375704768466 Centerline is valid? [True, True] Translation: X:352.08, Y:4.67, Z:1.37 [[ 9.98205104e-01 -5.85495664e-02 -1.25904348e-02 3.52077030e+02] [ 5.85545295e-02 9.98284211e-01 2.56133027e-05 4.67016835e+00] [ 1.25673326e-02 -7.62794313e-04 9.99920737e-01 1.37135099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079254154 meters 0.054450058696530655 Centerline is valid? [True, True] Translation: X:352.14, Y:4.68, Z:1.37 [[ 9.98252701e-01 -5.75085299e-02 -1.35762132e-02 3.52138333e+02] [ 5.75142143e-02 9.98344687e-01 2.83216058e-05 4.68486898e+00] [ 1.35521115e-02 -8.09097353e-04 9.99907839e-01 1.37314369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139254154 meters 0.05531513984582249 Centerline is valid? [True, True] Translation: X:352.20, Y:4.69, Z:1.37 [[ 9.98464243e-01 -5.34908485e-02 -1.44181814e-02 3.52197616e+02] [ 5.34968425e-02 9.98568018e-01 3.00862455e-05 4.68765610e+00] [ 1.43959255e-02 -8.01367217e-04 9.99896052e-01 1.37380544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199254154 meters 0.055020025055594876 Centerline is valid? [True, True] Translation: X:352.26, Y:4.69, Z:1.37 [[ 9.98815590e-01 -4.67300981e-02 -1.35541858e-02 3.52257932e+02] [ 4.67347735e-02 9.98907333e-01 2.82378310e-05 4.69249050e+00] [ 1.35380560e-02 -6.61656187e-04 9.99908137e-01 1.37476759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259254154 meters 0.05650557411006435 Centerline is valid? [True, True] Translation: X:352.32, Y:4.68, Z:1.37 [[ 9.99113555e-01 -4.02034493e-02 -1.24814852e-02 3.52317501e+02] [ 4.02069045e-02 9.99191375e-01 2.59202546e-05 4.68384162e+00] [ 1.24703502e-02 -5.27739160e-04 9.99922103e-01 1.37359856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319254154 meters 0.05637612390234304 Centerline is valid? [True, True] Translation: X:352.38, Y:4.70, Z:1.38 [[ 9.99467450e-01 -3.07413836e-02 -1.09445733e-02 3.52377773e+02] [ 3.07434732e-02 9.99527307e-01 2.26953000e-05 4.69633886e+00] [ 1.09387022e-02 -3.59157410e-04 9.99940106e-01 1.37622690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379254154 meters 0.05735113823569048 Centerline is valid? [True, True] Translation: X:352.44, Y:4.70, Z:1.37 [[ 9.99615410e-01 -2.54864829e-02 -1.09303228e-02 3.52437759e+02] [ 2.54882532e-02 9.99675121e-01 2.26622336e-05 4.69510794e+00] [ 1.09261942e-02 -3.01248352e-04 9.99940262e-01 1.37495063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters 0.055945144710590304 Centerline is valid? [True, True] Translation: X:352.50, Y:4.71, Z:1.38 [[ 9.99708839e-01 -2.16955375e-02 -1.05613149e-02 3.52499050e+02] [ 2.16969799e-02 9.99764593e-01 2.20028712e-05 4.70593621e+00] [ 1.05583513e-02 -2.51145103e-04 9.99944228e-01 1.37702548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters 0.055895841330932804 Centerline is valid? [True, True] Translation: X:352.56, Y:4.71, Z:1.38 [[ 9.99813782e-01 -1.63176854e-02 -1.03021802e-02 3.52559518e+02] [ 1.63187740e-02 9.99866840e-01 2.16080830e-05 4.71061552e+00] [ 1.03004558e-02 -1.89723009e-04 9.99946931e-01 1.37764281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters 0.05602035850142921 Centerline is valid? [True, True] Translation: X:352.62, Y:4.71, Z:1.38 [[ 9.99870478e-01 -1.18258636e-02 -1.09167425e-02 3.52619663e+02] [ 1.18268189e-02 9.99930060e-01 2.29514602e-05 4.71335497e+00] [ 1.09157076e-02 -1.52058825e-04 9.99940410e-01 1.37793929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters 0.05603308864923036 Centerline is valid? [True, True] Translation: X:352.68, Y:4.72, Z:1.38 [[ 9.99937987e-01 -4.68334869e-03 -1.01039188e-02 3.52679766e+02] [ 4.68380189e-03 9.99989031e-01 2.11913225e-05 4.71936147e+00] [ 1.01037087e-02 -6.85147623e-05 9.99948954e-01 1.37922729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters 0.056141409974978816 Centerline is valid? [True, True] Translation: X:352.74, Y:4.72, Z:1.38 [[ 9.99967375e-01 2.01577418e-03 -7.82208858e-03 3.52737227e+02] [-2.01571130e-03 9.99997968e-01 1.59233669e-05 4.72200383e+00] [ 7.82210479e-03 -1.55775084e-07 9.99969407e-01 1.37996385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters 0.055506003990949494 Centerline is valid? [True, True] Translation: X:352.79, Y:4.72, Z:1.38 [[ 9.99969082e-01 4.97011432e-03 -6.09367623e-03 3.52794454e+02] [-4.97013398e-03 9.99987649e-01 1.19171101e-05 4.72293722e+00] [ 6.09366020e-03 1.83696456e-05 9.99981433e-01 1.38163945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters 0.055847018823300974 Centerline is valid? [True, True] Translation: X:352.85, Y:4.72, Z:1.38 [[ 9.99978512e-01 2.69104679e-03 -5.97781903e-03 3.52852800e+02] [-2.69102665e-03 9.99996379e-01 1.14136674e-05 4.71949780e+00] [ 5.97782810e-03 4.67304815e-06 9.99982133e-01 1.38242410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.859254154 meters 0.05526033902291738 Centerline is valid? [True, True] Translation: X:352.91, Y:4.71, Z:1.38 [[ 9.99960682e-01 -5.90634341e-03 -6.61433730e-03 3.52911523e+02] [ 5.90655499e-03 9.99982556e-01 1.24547984e-05 4.70812010e+00] [ 6.61414836e-03 -5.15222558e-05 9.99978125e-01 1.38136100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.919254154 meters 0.054703014930975645 Centerline is valid? [True, True] Translation: X:352.97, Y:4.70, Z:1.38 [[ 9.99884541e-01 -1.33370045e-02 -7.28206798e-03 3.52972144e+02] [ 1.33374572e-02 9.99911052e-01 1.36045901e-05 4.70132306e+00] [ 7.28123881e-03 -1.10727289e-04 9.99973485e-01 1.38126148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.979254154 meters 0.05682715828032207 Centerline is valid? [True, True] Translation: X:353.03, Y:4.69, Z:1.38 [[ 9.99714409e-01 -2.23179003e-02 -8.54472751e-03 3.53031851e+02] [ 2.23188527e-02 9.99750903e-01 1.61126684e-05 4.68861033e+00] [ 8.54223944e-03 -2.06816581e-04 9.99963493e-01 1.38016435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.039254154 meters 0.05531194247975616 Centerline is valid? [True, True] Translation: X:353.09, Y:4.69, Z:1.38 [[ 9.99602057e-01 -2.68875076e-02 -8.53164896e-03 3.53092613e+02] [ 2.68886246e-02 9.99638435e-01 1.62304113e-05 4.68930470e+00] [ 8.52812782e-03 -2.45628258e-04 9.99963605e-01 1.38141321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.099254154 meters 0.05501189116345874 Centerline is valid? [True, True] Translation: X:353.16, Y:4.69, Z:1.38 [[ 9.99623857e-01 -2.61907883e-02 -8.13558730e-03 3.53155112e+02] [ 2.61917822e-02 9.99656936e-01 1.56322478e-05 4.69034457e+00] [ 8.13238686e-03 -2.28711899e-04 9.99966905e-01 1.38269351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.159254154 meters 0.05633109471672309 Centerline is valid? [True, True] Translation: X:353.22, Y:4.69, Z:1.38 [[ 9.99727586e-01 -2.17449355e-02 -8.48009294e-03 3.53215382e+02] [ 2.17458568e-02 9.99763531e-01 1.64334253e-05 4.68530140e+00] [ 8.47773031e-03 -2.00835835e-04 9.99964043e-01 1.38324765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.219254154 meters 0.05687138089802824 Centerline is valid? [True, True] Translation: X:353.28, Y:4.68, Z:1.38 [[ 9.99784458e-01 -1.88954071e-02 -8.60242710e-03 3.53275538e+02] [ 1.88962500e-02 9.99821450e-01 1.67079029e-05 4.68057951e+00] [ 8.60057544e-03 -1.79257914e-04 9.99962998e-01 1.38241852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279254154 meters 0.057020085060102636 Centerline is valid? [True, True] Translation: X:353.34, Y:4.68, Z:1.38 [[ 9.99806523e-01 -1.74648617e-02 -9.04956211e-03 3.53335543e+02] [ 1.74657366e-02 9.99847462e-01 1.76504054e-05 4.67720675e+00] [ 9.04787345e-03 -1.75704259e-04 9.99959052e-01 1.38221359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339254154 meters 0.056789971448340075 Centerline is valid? [True, True] Translation: X:353.40, Y:4.68, Z:1.38 [[ 9.99769805e-01 -1.85331153e-02 -1.08102037e-02 3.53397262e+02] [ 1.85344277e-02 9.99828223e-01 2.12286468e-05 4.67630910e+00] [ 1.08079533e-02 -2.21584699e-04 9.99941568e-01 1.38189679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399254154 meters 0.05671704835461274 Centerline is valid? [True, True] Translation: X:353.46, Y:4.67, Z:1.38 [[ 9.99738619e-01 -1.92407896e-02 -1.23484905e-02 3.53457412e+02] [ 1.92425570e-02 9.99814845e-01 2.43200328e-05 4.67498926e+00] [ 1.23457361e-02 -2.61930208e-04 9.99923754e-01 1.38109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459254154 meters 0.05665181291940021 Centerline is valid? [True, True] Translation: X:353.52, Y:4.68, Z:1.38 [[ 9.99736126e-01 -1.96286122e-02 -1.19329585e-02 3.53516882e+02] [ 1.96302895e-02 9.99807307e-01 2.34361726e-05 4.67759531e+00] [ 1.19301991e-02 -2.57677419e-04 9.99928799e-01 1.38388903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519254154 meters 0.05669899831415364 Centerline is valid? [True, True] Translation: X:353.58, Y:4.68, Z:1.39 [[ 9.99760131e-01 -1.88428822e-02 -1.11636095e-02 3.53576992e+02] [ 1.88443016e-02 9.99822430e-01 2.19549109e-05 4.67685071e+00] [ 1.11612134e-02 -2.32320068e-04 9.99937685e-01 1.38523673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579254154 meters 0.056843633448402785 Centerline is valid? [True, True] Translation: X:353.64, Y:4.68, Z:1.39 [[ 9.99775455e-01 -1.83536548e-02 -1.05916109e-02 3.53637436e+02] [ 1.83549052e-02 9.99831534e-01 2.08610707e-05 4.67963641e+00] [ 1.05894437e-02 -2.15264401e-04 9.99943907e-01 1.38621452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639254154 meters 0.05644576683272895 Centerline is valid? [True, True] Translation: X:353.70, Y:4.68, Z:1.39 [[ 9.99777188e-01 -1.83820644e-02 -1.03766599e-02 3.53698213e+02] [ 1.83832668e-02 9.99831013e-01 2.04916277e-05 4.67610327e+00] [ 1.03745297e-02 -2.11243968e-04 9.99946161e-01 1.38616338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699254154 meters 0.05714554431687808 Centerline is valid? [True, True] Translation: X:353.76, Y:4.68, Z:1.39 [[ 9.99742862e-01 -2.06742828e-02 -9.31581621e-03 3.53759169e+02] [ 2.06753520e-02 9.99786242e-01 1.84715174e-05 4.67803976e+00] [ 9.31344299e-03 -2.11074547e-04 9.99956607e-01 1.38776732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759254154 meters 0.05772394045953373 Centerline is valid? [True, True] Translation: X:353.82, Y:4.67, Z:1.39 [[ 9.99716005e-01 -2.18182345e-02 -9.58509809e-03 3.53820540e+02] [ 2.18194206e-02 9.99761928e-01 1.91808990e-05 4.66647763e+00] [ 9.58239765e-03 -2.28316739e-04 9.99954062e-01 1.38569556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819254154 meters 0.05706371294704462 Centerline is valid? [True, True] Translation: X:353.88, Y:4.67, Z:1.39 [[ 9.99643987e-01 -2.48941282e-02 -9.60112086e-03 3.53881830e+02] [ 2.48954619e-02 9.99690060e-01 1.94022835e-05 4.67078018e+00] [ 9.59766208e-03 -2.58419714e-04 9.99953908e-01 1.38647363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879254154 meters 0.0578869628462371 Centerline is valid? [True, True] Translation: X:353.94, Y:4.66, Z:1.39 [[ 9.99544601e-01 -2.83883770e-02 -1.02318665e-02 3.53941360e+02] [ 2.83900750e-02 9.99596920e-01 2.07155477e-05 4.66314420e+00] [ 1.02271541e-02 -3.11189570e-04 9.99947653e-01 1.38539722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters 0.05630063030792622 Centerline is valid? [True, True] Translation: X:354.00, Y:4.67, Z:1.39 [[ 9.99439359e-01 -3.23507721e-02 -8.62523696e-03 3.54001853e+02] [ 3.23521264e-02 9.99476533e-01 1.74966042e-05 4.67491097e+00] [ 8.62015591e-03 -2.96531551e-04 9.99962802e-01 1.38805291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters 0.05788832378591371 Centerline is valid? [True, True] Translation: X:354.06, Y:4.66, Z:1.39 [[ 9.99368821e-01 -3.43344973e-02 -9.11599881e-03 3.54061808e+02] [ 3.43360928e-02 9.99410342e-01 1.85356883e-05 4.66182216e+00] [ 9.10998708e-03 -3.31531770e-04 9.99958448e-01 1.38687807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters 0.05896461964640378 Centerline is valid? [True, True] Translation: X:354.12, Y:4.66, Z:1.39 [[ 9.99180421e-01 -3.94197757e-02 -9.19608153e-03 3.54122040e+02] [ 3.94216144e-02 9.99222666e-01 1.86931382e-05 4.66158325e+00] [ 9.18819623e-03 -3.81202198e-04 9.99957715e-01 1.38691389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters 0.05567654938547771 Centerline is valid? [True, True] Translation: X:354.18, Y:4.68, Z:1.39 [[ 9.98979617e-01 -4.41166677e-02 -9.66661846e-03 3.54182376e+02] [ 4.41189188e-02 9.99026286e-01 1.96422492e-05 4.67925118e+00] [ 9.65633939e-03 -4.46102961e-04 9.99953277e-01 1.38935457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters 0.05535592888073686 Centerline is valid? [True, True] Translation: X:354.24, Y:4.68, Z:1.39 [[ 9.98697893e-01 -5.02365293e-02 -8.87753133e-03 3.54243130e+02] [ 5.02386691e-02 9.98737241e-01 1.80533814e-05 4.68058970e+00] [ 8.86541421e-03 -4.64025233e-04 9.99960594e-01 1.38957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters 0.0583119330098495 Centerline is valid? [True, True] Translation: X:354.30, Y:4.66, Z:1.39 [[ 9.98563211e-01 -5.27955105e-02 -9.17322467e-03 3.54302365e+02] [ 5.27979027e-02 9.98605218e-01 1.86305258e-05 4.66135312e+00] [ 9.15944641e-03 -5.02930781e-04 9.99957925e-01 1.38814036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters 0.05486044856448404 Centerline is valid? [True, True] Translation: X:354.36, Y:4.68, Z:1.39 [[ 9.98431936e-01 -5.52361840e-02 -9.09028709e-03 3.54362596e+02] [ 5.52386340e-02 9.98473181e-01 1.84839445e-05 4.68248476e+00] [ 9.07538688e-03 -5.20590002e-04 9.99958682e-01 1.38989352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.359254154 meters 0.055205977289734955 Centerline is valid? [True, True] Translation: X:354.42, Y:4.68, Z:1.39 [[ 9.98376462e-01 -5.59748363e-02 -1.05478550e-02 3.54424740e+02] [ 5.59781790e-02 9.98431992e-01 2.17108258e-05 4.68491357e+00] [ 1.05301006e-02 -6.12125293e-04 9.99944370e-01 1.38936077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.419254154 meters 0.05539063962764066 Centerline is valid? [True, True] Translation: X:354.49, Y:4.69, Z:1.39 [[ 9.98494056e-01 -5.40057229e-02 -9.64379940e-03 3.54485310e+02] [ 5.40084273e-02 9.98540480e-01 2.00257693e-05 4.69071207e+00] [ 9.62864257e-03 -5.40842050e-04 9.99953497e-01 1.39044194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.479254154 meters 0.055820991250899205 Centerline is valid? [True, True] Translation: X:354.55, Y:4.69, Z:1.39 [[ 9.98622236e-01 -5.16766671e-02 -9.11878020e-03 3.54545351e+02] [ 5.16789882e-02 9.98663748e-01 1.89360276e-05 4.68523751e+00] [ 9.10561666e-03 -4.90159272e-04 9.99958423e-01 1.39000465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.539254154 meters 0.05659302647836554 Centerline is valid? [True, True] Translation: X:354.60, Y:4.69, Z:1.39 [[ 9.98862053e-01 -4.69302913e-02 -8.49387300e-03 3.54604523e+02] [ 4.69321335e-02 9.98898080e-01 1.75807930e-05 4.68698646e+00] [ 8.48368836e-03 -4.16196369e-04 9.99963926e-01 1.39095964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.599254154 meters 0.057319411322000795 Centerline is valid? [True, True] Translation: X:354.66, Y:4.69, Z:1.39 [[ 9.99081718e-01 -4.20718178e-02 -8.10454613e-03 3.54664054e+02] [ 4.20733352e-02 9.99114525e-01 1.67542032e-05 4.68689269e+00] [ 8.09666488e-03 -3.57724104e-04 9.99967157e-01 1.39056687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.659254154 meters 0.056781865392196575 Centerline is valid? [True, True] Translation: X:354.72, Y:4.69, Z:1.39 [[ 9.99262552e-01 -3.72090701e-02 -9.47827557e-03 3.54724755e+02] [ 3.72109276e-02 9.99307433e-01 1.96382865e-05 4.69476284e+00] [ 9.47098051e-03 -3.72319230e-04 9.99955080e-01 1.39080157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.719254154 meters 0.05750289337198155 Centerline is valid? [True, True] Translation: X:354.78, Y:4.69, Z:1.39 [[ 9.99340070e-01 -3.48428362e-02 -1.02665228e-02 3.54784917e+02] [ 3.48448911e-02 9.99392732e-01 2.13009544e-05 4.69428584e+00] [ 1.02595460e-02 -3.79022765e-04 9.99947298e-01 1.39087025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779254154 meters 0.05665134257742376 Centerline is valid? [True, True] Translation: X:354.85, Y:4.70, Z:1.39 [[ 9.99438380e-01 -3.16780470e-02 -1.09282084e-02 3.54845857e+02] [ 3.16801871e-02 9.99498057e-01 2.27374494e-05 4.70389694e+00] [ 1.09220028e-02 -3.68932366e-04 9.99940285e-01 1.39195260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839254154 meters 0.055290838304175347 Centerline is valid? [True, True] Translation: X:354.91, Y:4.72, Z:1.39 [[ 9.99589238e-01 -2.68332627e-02 -1.00663247e-02 3.54906340e+02] [ 2.68348334e-02 9.99639881e-01 2.09757593e-05 4.71759827e+00] [ 1.00621368e-02 -2.91095289e-04 9.99949333e-01 1.39400246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899254154 meters 0.05611258376387466 Centerline is valid? [True, True] Translation: X:354.97, Y:4.71, Z:1.39 [[ 9.99743480e-01 -2.03640056e-02 -9.91372446e-03 3.54965566e+02] [ 2.03652106e-02 9.99792607e-01 2.06046715e-05 4.71455750e+00] [ 9.91124883e-03 -2.22494472e-04 9.99950858e-01 1.39383420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959254154 meters 0.0564677253568326 Centerline is valid? [True, True] Translation: X:355.03, Y:4.71, Z:1.39 [[ 9.99818114e-01 -1.63162020e-02 -9.87528005e-03 3.55025462e+02] [ 1.63172002e-02 9.99866865e-01 2.05190122e-05 4.71443026e+00] [ 9.87363052e-03 -1.81652202e-04 9.99951238e-01 1.39432759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019254154 meters 0.056364715633755974 Centerline is valid? [True, True] Translation: X:355.09, Y:4.72, Z:1.40 [[ 9.99841396e-01 -1.51122740e-02 -9.42350081e-03 3.55086673e+02] [ 1.51131305e-02 9.99885790e-01 1.96858792e-05 4.71876049e+00] [ 9.42212705e-03 -1.62101354e-04 9.99955598e-01 1.39614504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079254154 meters 0.05625211716602374 Centerline is valid? [True, True] Translation: X:355.15, Y:4.72, Z:1.40 [[ 9.99856246e-01 -1.38733603e-02 -9.74772313e-03 3.55148223e+02] [ 1.38742195e-02 9.99903748e-01 2.05208112e-05 4.71934091e+00] [ 9.74650020e-03 -1.55759912e-04 9.99952490e-01 1.39598967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139254154 meters 0.055918800429766796 Centerline is valid? [True, True] Translation: X:355.21, Y:4.72, Z:1.40 [[ 9.99871979e-01 -1.21668095e-02 -1.03920156e-02 3.55208484e+02] [ 1.21676945e-02 9.99925971e-01 2.19441854e-05 4.72038557e+00] [ 1.03909793e-02 -1.48388247e-04 9.99946001e-01 1.39531087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199254154 meters 0.057057327226146315 Centerline is valid? [True, True] Translation: X:355.27, Y:4.72, Z:1.39 [[ 9.99905595e-01 -7.93496220e-03 -1.12177070e-02 3.55267644e+02] [ 7.93572594e-03 9.99968511e-01 2.35725635e-05 4.72035273e+00] [ 1.12171667e-02 -1.12590987e-04 9.99937079e-01 1.39418259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259254154 meters 0.05645140753624317 Centerline is valid? [True, True] Translation: X:355.33, Y:4.72, Z:1.40 [[ 9.99941332e-01 -3.24590511e-03 -1.03342915e-02 3.55326137e+02] [ 3.24629538e-03 9.99994731e-01 2.09902207e-05 4.72235159e+00] [ 1.03341689e-02 -5.45371519e-05 9.99946600e-01 1.39684552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319254154 meters 0.056403384470946887 Centerline is valid? [True, True] Translation: X:355.39, Y:4.72, Z:1.40 [[ 9.99948904e-01 -9.85128245e-04 -1.00607642e-02 3.55385112e+02] [ 9.85372671e-04 9.99999514e-01 1.93380002e-05 4.72277472e+00] [ 1.00607403e-02 -2.92506143e-05 9.99949389e-01 1.39835448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379254154 meters 0.05651021526239454 Centerline is valid? [True, True] Translation: X:355.44, Y:4.72, Z:1.40 [[ 9.99942482e-01 1.73857829e-04 -1.07239268e-02 3.55443431e+02] [-1.73661326e-04 9.99999985e-01 1.92549676e-05 4.72087485e+00] [ 1.07239299e-02 -1.73915288e-05 9.99942497e-01 1.39858091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters 0.056760417110684185 Centerline is valid? [True, True] Translation: X:355.50, Y:4.72, Z:1.40 [[ 9.99921381e-01 -1.28028585e-03 -1.24736607e-02 3.55501008e+02] [ 1.28065312e-03 9.99999180e-01 2.14560613e-05 4.71698368e+00] [ 1.24736230e-02 -3.74288070e-05 9.99922201e-01 1.39860660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters 0.05646861447986303 Centerline is valid? [True, True] Translation: X:355.56, Y:4.71, Z:1.40 [[ 9.99895307e-01 -5.20666621e-03 -1.35005910e-02 3.55559504e+02] [ 5.20744888e-03 9.99986441e-01 2.28200325e-05 4.71215732e+00] [ 1.35002892e-02 -9.31212810e-05 9.99908863e-01 1.39900022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters 0.05676169391327939 Centerline is valid? [True, True] Translation: X:355.62, Y:4.71, Z:1.40 [[ 9.99874668e-01 -8.20475356e-03 -1.35399297e-02 3.55616879e+02] [ 8.20580811e-03 9.99966332e-01 2.23298435e-05 4.70783375e+00] [ 1.35392906e-02 -1.33433110e-04 9.99908331e-01 1.39907265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters 0.05695635660683065 Centerline is valid? [True, True] Translation: X:355.68, Y:4.70, Z:1.40 [[ 9.99801533e-01 -1.39092463e-02 -1.42628115e-02 3.55676643e+02] [ 1.39109928e-02 9.99903237e-01 2.32397170e-05 4.70412426e+00] [ 1.42611081e-02 -2.21644972e-04 9.99898281e-01 1.40053572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters 0.05660969435010209 Centerline is valid? [True, True] Translation: X:355.74, Y:4.70, Z:1.40 [[ 9.99701286e-01 -1.99738575e-02 -1.40849132e-02 3.55736886e+02] [ 1.99761611e-02 9.99800456e-01 2.28680715e-05 4.69941877e+00] [ 1.40816459e-02 -3.04223736e-04 9.99900802e-01 1.40103034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters 0.05685966060937268 Centerline is valid? [True, True] Translation: X:355.80, Y:4.70, Z:1.40 [[ 9.99642130e-01 -2.35320635e-02 -1.27221547e-02 3.55797297e+02] [ 2.35342315e-02 9.99723031e-01 2.07121043e-05 4.70198702e+00] [ 1.27181437e-02 -3.20110827e-04 9.99919070e-01 1.40342709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters 0.05883553678753574 Centerline is valid? [True, True] Translation: X:355.86, Y:4.69, Z:1.40 [[ 9.99522139e-01 -2.86566763e-02 -1.15882779e-02 3.55856810e+02] [ 2.86588189e-02 9.99589252e-01 1.88426406e-05 4.68544529e+00] [ 1.15829781e-02 -3.50939994e-04 9.99932853e-01 1.40100232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.859254154 meters 0.05714060722384078 Centerline is valid? [True, True] Translation: X:355.92, Y:4.69, Z:1.40 [[ 9.99298851e-01 -3.56591924e-02 -1.14117974e-02 3.55917448e+02] [ 3.56617260e-02 9.99363918e-01 1.85376802e-05 4.69138701e+00] [ 1.14038776e-02 -4.25489076e-04 9.99934883e-01 1.40351655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.919254154 meters 0.05760741439458719 Centerline is valid? [True, True] Translation: X:355.98, Y:4.68, Z:1.40 [[ 9.99098553e-01 -4.06798658e-02 -1.21338379e-02 3.55976725e+02] [ 4.06830990e-02 9.99172100e-01 1.96445082e-05 4.68254737e+00] [ 1.21229932e-02 -5.13268930e-04 9.99926382e-01 1.40175261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.979254154 meters 0.05548821309504844 Centerline is valid? [True, True] Translation: X:356.04, Y:4.70, Z:1.40 [[ 9.98844098e-01 -4.61676620e-02 -1.33796122e-02 3.56037252e+02] [ 4.61720841e-02 9.98933500e-01 2.16396820e-05 4.69598905e+00] [ 1.33643438e-02 -6.39379248e-04 9.99910489e-01 1.40374675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.039254154 meters 0.05693272997784001 Centerline is valid? [True, True] Translation: X:356.10, Y:4.68, Z:1.40 [[ 9.98887114e-01 -4.54456167e-02 -1.26185855e-02 3.56098206e+02] [ 4.54494944e-02 9.98966638e-01 2.05571165e-05 4.68382535e+00] [ 1.26046117e-02 -5.94042568e-04 9.99920382e-01 1.40091691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.099254154 meters 0.05682295817236324 Centerline is valid? [True, True] Translation: X:356.16, Y:4.69, Z:1.40 [[ 9.99186394e-01 -3.92373184e-02 -9.32644498e-03 3.56158899e+02] [ 3.92391673e-02 9.99229847e-01 1.52615585e-05 4.69125167e+00] [ 9.31866337e-03 -3.81211076e-04 9.99956508e-01 1.40234168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.159254154 meters 0.056014733151093024 Centerline is valid? [True, True] Translation: X:356.22, Y:4.70, Z:1.40 [[ 9.99299500e-01 -3.63061186e-02 -9.07607331e-03 3.56219781e+02] [ 3.63077490e-02 9.99340656e-01 1.48791941e-05 4.69512028e+00] [ 9.06954885e-03 -3.44400563e-04 9.99958811e-01 1.40305906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.219254154 meters 0.05568164174282973 Centerline is valid? [True, True] Translation: X:356.28, Y:4.70, Z:1.40 [[ 9.99528899e-01 -2.97949708e-02 -7.36477359e-03 3.56280506e+02] [ 2.97958678e-02 9.99556005e-01 1.20806844e-05 4.69666873e+00] [ 7.36114372e-03 -2.31514813e-04 9.99972880e-01 1.40232442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279254154 meters 0.05606668052921061 Centerline is valid? [True, True] Translation: X:356.34, Y:4.70, Z:1.40 [[ 9.99787258e-01 -1.95709736e-02 -6.51277783e-03 3.56341526e+02] [ 1.95714585e-02 9.99808461e-01 1.07257193e-05 4.70229049e+00] [ 6.51132047e-03 -1.38187999e-04 9.99978792e-01 1.40194626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339254154 meters 0.0565248579482693 Centerline is valid? [True, True] Translation: X:356.40, Y:4.71, Z:1.40 [[ 9.99934260e-01 -9.95860047e-03 -5.68354609e-03 3.56400740e+02] [ 9.95881476e-03 9.99950410e-01 9.40359839e-06 4.70791846e+00] [ 5.68317060e-03 -6.60043629e-05 9.99983848e-01 1.40185320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399254154 meters 0.05585464667855448 Centerline is valid? [True, True] Translation: X:356.46, Y:4.71, Z:1.40 [[ 9.99968314e-01 -4.26873322e-03 -6.71933791e-03 3.56460705e+02] [ 4.26890401e-03 9.99990888e-01 1.10767547e-05 4.71082484e+00] [ 6.71922940e-03 -3.97606122e-05 9.99977425e-01 1.40148059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459254154 meters 0.056488893397620456 Centerline is valid? [True, True] Translation: X:356.52, Y:4.72, Z:1.40 [[ 9.99973744e-01 3.04878622e-03 -6.57385482e-03 3.56519258e+02] [-3.04878272e-03 9.99995352e-01 1.05531212e-05 4.71680339e+00] [ 6.57385644e-03 9.48941083e-06 9.99978392e-01 1.40073456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519254154 meters 0.0561243851572538 Centerline is valid? [True, True] Translation: X:356.58, Y:4.72, Z:1.40 [[ 9.99936264e-01 9.73933767e-03 -5.71076736e-03 3.56578347e+02] [-9.73944748e-03 9.99952570e-01 8.58216657e-06 4.72085110e+00] [ 5.71058008e-03 4.70380992e-05 9.99983693e-01 1.40075659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579254154 meters 0.05712182985811961 Centerline is valid? [True, True] Translation: X:356.64, Y:4.73, Z:1.40 [[ 9.99854968e-01 1.61561357e-02 -5.38724794e-03 3.56636840e+02] [-1.61563292e-02 9.99869478e-01 7.60421898e-06 4.72712156e+00] [ 5.38666764e-03 7.94350348e-05 9.99985489e-01 1.40022434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639254154 meters 0.057587662607548815 Centerline is valid? [True, True] Translation: X:356.70, Y:4.73, Z:1.40 [[ 9.99802192e-01 1.93076782e-02 -4.77398484e-03 3.56696049e+02] [-1.93078666e-02 9.99813586e-01 6.61844946e-06 4.72993562e+00] [ 4.77322269e-03 8.55583223e-05 9.99988604e-01 1.40017277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699254154 meters 0.056918798411867116 Centerline is valid? [True, True] Translation: X:356.75, Y:4.73, Z:1.40 [[ 9.99787546e-01 2.01373090e-02 -4.39909384e-03 3.56754618e+02] [-2.01374778e-02 9.99797220e-01 5.92190113e-06 4.72988159e+00] [ 4.39832105e-03 8.26660115e-05 9.99990324e-01 1.40031153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759254154 meters 0.056351930724185005 Centerline is valid? [True, True] Translation: X:356.81, Y:4.72, Z:1.40 [[ 9.99848444e-01 1.67929209e-02 -4.59209702e-03 3.56813560e+02] [-1.67930717e-02 9.99858986e-01 5.71613255e-06 4.72335952e+00] [ 4.59154547e-03 7.14001484e-05 9.99989456e-01 1.40024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819254154 meters 0.056575768401873026 Centerline is valid? [True, True] Translation: X:356.87, Y:4.72, Z:1.40 [[ 9.99952180e-01 8.31454059e-03 -5.14834613e-03 3.56872186e+02] [-8.31461874e-03 9.99965433e-01 6.22434501e-06 4.71619393e+00] [ 5.14821992e-03 3.65824878e-05 9.99986747e-01 1.39986894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879254154 meters 0.05613467522674695 Centerline is valid? [True, True] Translation: X:356.93, Y:4.71, Z:1.40 [[ 9.99989539e-01 -2.18032641e-03 -4.02090372e-03 3.56931199e+02] [ 2.18036325e-03 9.99997623e-01 4.77877645e-06 4.70603556e+00] [ 4.02088374e-03 -1.35457572e-05 9.99991916e-01 1.39955579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters 0.05707825376554978 Centerline is valid? [True, True] Translation: X:356.99, Y:4.70, Z:1.40 [[ 9.99920393e-01 -1.18287531e-02 -4.39173984e-03 3.56990835e+02] [ 1.18288894e-02 9.99930036e-01 5.06700748e-06 4.69663912e+00] [ 4.39137264e-03 -5.70160090e-05 9.99990356e-01 1.39987817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters 0.05591882996539354 Centerline is valid? [True, True] Translation: X:357.05, Y:4.69, Z:1.40 [[ 9.99836250e-01 -1.75491002e-02 -4.41624632e-03 3.57052177e+02] [ 1.75492938e-02 9.99845999e-01 5.06907787e-06 4.69237515e+00] [ 4.41547726e-03 -8.25702518e-05 9.99990248e-01 1.39932318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters 0.05549577794164383 Centerline is valid? [True, True] Translation: X:357.11, Y:4.69, Z:1.40 [[ 9.99693398e-01 -2.42747795e-02 -4.88321432e-03 3.57112671e+02] [ 2.42750966e-02 9.99705316e-01 5.67864815e-06 4.68648102e+00] [ 4.88163747e-03 -1.24217406e-04 9.99988077e-01 1.39884948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters 0.05572357737131845 Centerline is valid? [True, True] Translation: X:357.17, Y:4.68, Z:1.40 [[ 9.99561893e-01 -2.92339398e-02 -4.62579457e-03 3.57173069e+02] [ 2.92342775e-02 9.99572587e-01 5.39142921e-06 4.67963862e+00] [ 4.62365984e-03 -1.40620829e-04 9.99989301e-01 1.39915327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters 0.05678951543511399 Centerline is valid? [True, True] Translation: X:357.23, Y:4.67, Z:1.40 [[ 9.99413964e-01 -3.39049002e-02 -4.71033547e-03 3.57232395e+02] [ 3.39053024e-02 9.99425050e-01 5.53122797e-06 4.67196269e+00] [ 4.70743973e-03 -1.65233335e-04 9.99988906e-01 1.39863197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters 0.059922631129904924 Centerline is valid? [True, True] Translation: X:357.29, Y:4.66, Z:1.40 [[ 9.99300894e-01 -3.69268944e-02 -5.84194052e-03 3.57292253e+02] [ 3.69275646e-02 9.99317945e-01 6.85946253e-06 4.65549815e+00] [ 5.83770269e-03 -2.22583303e-04 9.99982936e-01 1.39789208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters 0.05579538177171084 Centerline is valid? [True, True] Translation: X:357.35, Y:4.67, Z:1.40 [[ 9.99068732e-01 -4.28494772e-02 -5.05877065e-03 3.57352738e+02] [ 4.28500554e-02 9.99081515e-01 5.92899322e-06 4.67020649e+00] [ 5.05387019e-03 -2.22692075e-04 9.99987204e-01 1.39910604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.359254154 meters 0.05577718190122254 Centerline is valid? [True, True] Translation: X:357.41, Y:4.67, Z:1.40 [[ 9.98938702e-01 -4.57519094e-02 -5.31348001e-03 3.57413629e+02] [ 4.57525886e-02 9.98952802e-01 6.28033684e-06 4.66694830e+00] [ 5.30762841e-03 -2.49379136e-04 9.99985883e-01 1.39893505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.419254154 meters 0.05506396157873835 Centerline is valid? [True, True] Translation: X:357.47, Y:4.68, Z:1.40 [[ 9.98775680e-01 -4.90869127e-02 -6.13325255e-03 3.57473755e+02] [ 4.90878806e-02 9.98794463e-01 7.27845966e-06 4.67568837e+00] [ 6.12550141e-03 -3.08337917e-04 9.99981191e-01 1.39981819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.479254154 meters 0.055158080987620546 Centerline is valid? [True, True] Translation: X:357.54, Y:4.67, Z:1.40 [[ 9.98693040e-01 -5.07309172e-02 -6.21169228e-03 3.57535203e+02] [ 5.07319419e-02 9.98712306e-01 7.40247224e-06 4.67162339e+00] [ 6.20331799e-03 -3.22524009e-04 9.99980707e-01 1.40019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.539254154 meters 0.058224086147614026 Centerline is valid? [True, True] Translation: X:357.60, Y:4.65, Z:1.40 [[ 9.98727044e-01 -4.98678526e-02 -7.58216452e-03 3.57596233e+02] [ 4.98693584e-02 9.98755749e-01 9.55509077e-06 4.65430629e+00] [ 7.57225392e-03 -3.87660608e-04 9.99971255e-01 1.39944069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.599254154 meters 0.056901893561070255 Centerline is valid? [True, True] Translation: X:357.66, Y:4.66, Z:1.40 [[ 9.98939985e-01 -4.55047378e-02 -6.94444613e-03 3.57657122e+02] [ 4.55058986e-02 9.98964070e-01 9.15869351e-06 4.66342129e+00] [ 6.93683541e-03 -3.25162247e-04 9.99975887e-01 1.40125118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.659254154 meters 0.05621874681735593 Centerline is valid? [True, True] Translation: X:357.72, Y:4.68, Z:1.40 [[ 9.99295603e-01 -3.72673125e-02 -4.40972929e-03 3.57717898e+02] [ 3.72677005e-02 9.99305318e-01 5.83156797e-06 4.67929697e+00] [ 4.40644860e-03 -1.70167931e-04 9.99990277e-01 1.40379761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.719254154 meters 0.05681262314426744 Centerline is valid? [True, True] Translation: X:357.78, Y:4.68, Z:1.40 [[ 9.99641240e-01 -2.65835177e-02 -3.27214779e-03 3.57777935e+02] [ 2.65836743e-02 9.99646592e-01 4.35953515e-06 4.67748623e+00] [ 3.27087550e-03 -9.13436823e-05 9.99994646e-01 1.40426164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779254154 meters 0.056552761587009254 Centerline is valid? [True, True] Translation: X:357.84, Y:4.68, Z:1.40 [[ 9.99871314e-01 -1.57675460e-02 -2.95635489e-03 3.57838386e+02] [ 1.57676266e-02 9.99875683e-01 3.95602585e-06 4.68409354e+00] [ 2.95592499e-03 -5.05702168e-05 9.99995630e-01 1.40394939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839254154 meters 0.05582958085954776 Centerline is valid? [True, True] Translation: X:357.90, Y:4.69, Z:1.40 [[ 9.99955150e-01 -8.70205326e-03 -3.73799426e-03 3.57899031e+02] [ 8.70213275e-03 9.99962136e-01 5.00109799e-06 4.68871688e+00] [ 3.73780921e-03 -3.75293960e-05 9.99993014e-01 1.40346615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899254154 meters 0.05643858343185797 Centerline is valid? [True, True] Translation: X:357.96, Y:4.69, Z:1.40 [[ 9.99987168e-01 2.12535648e-03 -4.59863023e-03 3.57958985e+02] [-2.12535047e-03 9.99997741e-01 6.19351346e-06 4.69415010e+00] [ 4.59863301e-03 3.58026697e-06 9.99989426e-01 1.40315831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959254154 meters 0.05676944799598378 Centerline is valid? [True, True] Translation: X:358.02, Y:4.70, Z:1.40 [[ 9.99948265e-01 8.84085769e-03 -5.03055332e-03 3.58016470e+02] [-8.84093571e-03 9.99960918e-01 6.72881617e-06 4.69854669e+00] [ 5.03041620e-03 3.77463304e-05 9.99987347e-01 1.40325694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019254154 meters 0.056595700200461535 Centerline is valid? [True, True] Translation: X:358.07, Y:4.69, Z:1.40 [[ 9.99928381e-01 1.12102965e-02 -4.19079654e-03 3.58074713e+02] [-1.12103721e-02 9.99937162e-01 5.45576531e-06 4.69480252e+00] [ 4.19059435e-03 4.15250141e-05 9.99991219e-01 1.40391205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079254154 meters 0.05709632967471453 Centerline is valid? [True, True] Translation: X:358.13, Y:4.70, Z:1.40 [[ 9.99906973e-01 1.33161660e-02 -2.95370158e-03 3.58133607e+02] [-1.33162127e-02 9.99911335e-01 3.85155409e-06 4.69521514e+00] [ 2.95349098e-03 3.54809228e-05 9.99995638e-01 1.40358319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139254154 meters 0.057341608635878984 Centerline is valid? [True, True] Translation: X:358.19, Y:4.69, Z:1.40 [[ 9.99955160e-01 8.78154545e-03 -3.54441656e-03 3.58191329e+02] [-8.78158607e-03 9.99961441e-01 4.10097323e-06 4.68759705e+00] [ 3.54431590e-03 2.70248098e-05 9.99993719e-01 1.40354287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199254154 meters 0.05653072418641884 Centerline is valid? [True, True] Translation: X:358.25, Y:4.68, Z:1.40 [[ 9.99992808e-01 -3.36855018e-03 -1.74261511e-03 3.58249796e+02] [ 3.36855876e-03 9.99994326e-01 1.98710181e-06 4.67921507e+00] [ 1.74259853e-03 -7.85718891e-06 9.99998482e-01 1.40425527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259254154 meters 0.05692815668312222 Centerline is valid? [True, True] Translation: X:358.31, Y:4.67, Z:1.40 [[ 9.99916444e-01 -1.25544795e-02 -3.08046154e-03 3.58309584e+02] [ 1.25545494e-02 9.99921189e-01 3.33641728e-06 4.66838633e+00] [ 3.08017688e-03 -4.20099450e-05 9.99995255e-01 1.40478443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319254154 meters 0.058709652631241296 Centerline is valid? [True, True] Translation: X:358.37, Y:4.65, Z:1.40 [[ 9.99666302e-01 -2.53450786e-02 -4.99113257e-03 3.58368812e+02] [ 2.53454215e-02 9.99678753e-01 5.43196722e-06 4.65248170e+00] [ 4.98939151e-03 -1.31932513e-04 9.99987544e-01 1.40331780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379254154 meters 0.058677791393417646 Centerline is valid? [True, True] Translation: X:358.43, Y:4.64, Z:1.40 [[ 9.99382563e-01 -3.46866255e-02 -5.59735460e-03 3.58429017e+02] [ 3.46872036e-02 9.99398218e-01 6.19934826e-06 4.64333504e+00] [ 5.59377118e-03 -2.00352099e-04 9.99984335e-01 1.40252888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters 0.05690536576989687 Centerline is valid? [True, True] Translation: X:358.49, Y:4.65, Z:1.40 [[ 9.99244177e-01 -3.85659987e-02 -4.87211953e-03 3.58489571e+02] [ 3.85664827e-02 9.99256036e-01 5.39050374e-06 4.64724336e+00] [ 4.86828696e-03 -1.93286943e-04 9.99988131e-01 1.40369588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters 0.05609667696032518 Centerline is valid? [True, True] Translation: X:358.55, Y:4.65, Z:1.40 [[ 9.99257092e-01 -3.82890631e-02 -4.38307280e-03 3.58552249e+02] [ 3.82894523e-02 9.99266690e-01 4.88092135e-06 4.65183467e+00] [ 4.37967176e-03 -1.72702752e-04 9.99990394e-01 1.40391140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters 0.05774075080786387 Centerline is valid? [True, True] Translation: X:358.61, Y:4.64, Z:1.40 [[ 9.99362456e-01 -3.52407807e-02 -5.72434423e-03 3.58612074e+02] [ 3.52413967e-02 9.99378829e-01 6.74251919e-06 4.64070190e+00] [ 5.72055082e-03 -2.08472106e-04 9.99983616e-01 1.40342869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters 0.056049443957704434 Centerline is valid? [True, True] Translation: X:358.67, Y:4.65, Z:1.40 [[ 9.99466877e-01 -3.19152937e-02 -6.88299744e-03 3.58672865e+02] [ 3.19161057e-02 9.99490551e-01 8.14185591e-06 4.64618069e+00] [ 6.87923105e-03 -2.27815989e-04 9.99976312e-01 1.40308250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters 0.057670871643275216 Centerline is valid? [True, True] Translation: X:358.73, Y:4.65, Z:1.40 [[ 9.99549424e-01 -2.86286840e-02 -9.01931695e-03 3.58734138e+02] [ 2.86299457e-02 9.99590079e-01 1.07744840e-05 4.64767889e+00] [ 9.01531128e-03 -2.68992183e-04 9.99959325e-01 1.40284566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters 0.0577660805549975 Centerline is valid? [True, True] Translation: X:358.80, Y:4.65, Z:1.40 [[ 9.99580836e-01 -2.68061083e-02 -1.09355044e-02 3.58795105e+02] [ 2.68078558e-02 9.99640605e-01 1.32200719e-05 4.64737659e+00] [ 1.09312198e-02 -3.06371954e-04 9.99940205e-01 1.40262625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters 0.057112633369287666 Centerline is valid? [True, True] Translation: X:358.86, Y:4.65, Z:1.40 [[ 9.99633198e-01 -2.43930111e-02 -1.17664814e-02 3.58856996e+02] [ 2.43948704e-02 9.99702401e-01 1.44905077e-05 4.65129240e+00] [ 1.17626263e-02 -3.01526982e-04 9.99930772e-01 1.40401464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.859254154 meters 0.05827620391201615 Centerline is valid? [True, True] Translation: X:358.92, Y:4.65, Z:1.40 [[ 9.99679238e-01 -2.30695306e-02 -1.04507519e-02 3.58916987e+02] [ 2.30709265e-02 9.99733831e-01 1.30115762e-05 4.64608878e+00] [ 1.04476700e-02 -2.54115931e-04 9.99945389e-01 1.40437983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.919254154 meters 0.057031012081533924 Centerline is valid? [True, True] Translation: X:358.98, Y:4.66, Z:1.41 [[ 9.99703976e-01 -2.29359946e-02 -8.11787585e-03 3.58979417e+02] [ 2.29368337e-02 9.99736916e-01 1.02717746e-05 4.65589729e+00] [ 8.11550457e-03 -1.96467102e-04 9.99967049e-01 1.40817145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.979254154 meters 0.057362051414596785 Centerline is valid? [True, True] Translation: X:359.04, Y:4.66, Z:1.41 [[ 9.99704700e-01 -2.30998900e-02 -7.54373544e-03 3.59041422e+02] [ 2.31006212e-02 9.99733145e-01 9.78837798e-06 4.65740609e+00] [ 7.54149625e-03 -1.84050462e-04 9.99971546e-01 1.40903666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.039254154 meters 0.05697051846349106 Centerline is valid? [True, True] Translation: X:359.10, Y:4.66, Z:1.41 [[ 9.99710504e-01 -2.28575777e-02 -7.51263772e-03 3.59102791e+02] [ 2.28582977e-02 9.99738715e-01 9.96850090e-06 4.65676982e+00] [ 7.51044692e-03 -1.81691724e-04 9.99971780e-01 1.40919338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.099254154 meters 0.057305604917242285 Centerline is valid? [True, True] Translation: X:359.16, Y:4.66, Z:1.41 [[ 9.99716286e-01 -2.21426605e-02 -8.77785561e-03 3.59164124e+02] [ 2.21436179e-02 9.99754800e-01 1.18804504e-05 4.65619256e+00] [ 8.77544021e-03 -2.06250560e-04 9.99961474e-01 1.40868555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.159254154 meters 0.05790606731625755 Centerline is valid? [True, True] Translation: X:359.23, Y:4.66, Z:1.41 [[ 9.99757278e-01 -2.01783171e-02 -8.84425385e-03 3.59225210e+02] [ 2.01792138e-02 9.99796379e-01 1.21469551e-05 4.65794239e+00] [ 8.84220787e-03 -1.90614096e-04 9.99960889e-01 1.40927645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.219254154 meters 0.05725029531884357 Centerline is valid? [True, True] Translation: X:359.29, Y:4.66, Z:1.41 [[ 9.99844046e-01 -1.58567927e-02 -7.77474661e-03 3.59286356e+02] [ 1.58573556e-02 9.99874264e-01 1.07647685e-05 4.66123602e+00] [ 7.77359835e-03 -1.34050012e-04 9.99969776e-01 1.41055966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279254154 meters 0.056989441233203764 Centerline is valid? [True, True] Translation: X:359.35, Y:4.66, Z:1.41 [[ 9.99892342e-01 -1.25697701e-02 -7.57000026e-03 3.59346650e+02] [ 1.25702100e-02 9.99920992e-01 1.05423713e-05 4.66341568e+00] [ 7.56926965e-03 -1.05697730e-04 9.99971347e-01 1.41011003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339254154 meters 0.05697474818338875 Centerline is valid? [True, True] Translation: X:359.41, Y:4.66, Z:1.41 [[ 9.99943734e-01 -7.45760791e-03 -7.54412160e-03 3.59406153e+02] [ 7.45789942e-03 9.99972189e-01 1.05090781e-05 4.66357300e+00] [ 7.54383342e-03 -6.67717869e-05 9.99971543e-01 1.40978749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399254154 meters 0.056905928172394114 Centerline is valid? [True, True] Translation: X:359.46, Y:4.66, Z:1.41 [[ 9.99962666e-01 -5.10590254e-03 -6.97106379e-03 3.59464553e+02] [ 5.10609185e-03 9.99986964e-01 9.35861640e-06 4.66418648e+00] [ 6.97092513e-03 -4.49531590e-05 9.99975702e-01 1.41048826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459254154 meters 0.05711605229564168 Centerline is valid? [True, True] Translation: X:359.52, Y:4.66, Z:1.41 [[ 9.99956150e-01 -6.55033583e-03 -6.69263658e-03 3.59523343e+02] [ 6.55053952e-03 9.99978545e-01 8.51505040e-06 4.66065114e+00] [ 6.69243721e-03 -5.23550574e-05 9.99977604e-01 1.41119827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519254154 meters 0.057336976707635844 Centerline is valid? [True, True] Translation: X:359.58, Y:4.65, Z:1.41 [[ 9.99927916e-01 -1.00150217e-02 -6.62291847e-03 3.59582632e+02] [ 1.00152963e-02 9.99949846e-01 8.28963360e-06 4.65483460e+00] [ 6.62250328e-03 -7.46195267e-05 9.99978068e-01 1.41052118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579254154 meters 0.056723907836419035 Centerline is valid? [True, True] Translation: X:359.64, Y:4.65, Z:1.41 [[ 9.99834185e-01 -1.68936452e-02 -6.79754886e-03 3.59643041e+02] [ 1.68940929e-02 9.99857285e-01 8.44631810e-06 4.65488729e+00] [ 6.79643606e-03 -1.23283339e-04 9.99976896e-01 1.41214366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639254154 meters 0.056550027609928014 Centerline is valid? [True, True] Translation: X:359.70, Y:4.65, Z:1.41 [[ 9.99747890e-01 -2.13322800e-02 -7.00644618e-03 3.59703784e+02] [ 2.13328650e-02 9.99772429e-01 8.75543198e-06 4.64621840e+00] [ 7.00466494e-03 -1.58220795e-04 9.99975455e-01 1.41151084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699254154 meters 0.056529099960860446 Centerline is valid? [True, True] Translation: X:359.76, Y:4.65, Z:1.41 [[ 9.99618035e-01 -2.67478813e-02 -6.95226968e-03 3.59764784e+02] [ 2.67485886e-02 9.99642192e-01 8.75552831e-06 4.64543604e+00] [ 6.94954791e-03 -1.94715586e-04 9.99975833e-01 1.41127951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759254154 meters 0.05959471088414971 Centerline is valid? [True, True] Translation: X:359.82, Y:4.63, Z:1.41 [[ 9.99534908e-01 -2.96352080e-02 -7.19182480e-03 3.59824543e+02] [ 2.96360396e-02 9.99560756e-01 9.06362904e-06 4.62858114e+00] [ 7.18839723e-03 -2.22196619e-04 9.99974138e-01 1.40995608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819254154 meters 0.05672038876589326 Centerline is valid? [True, True] Translation: X:359.89, Y:4.64, Z:1.41 [[ 9.99497912e-01 -3.10001328e-02 -6.55102195e-03 3.59886200e+02] [ 3.10008525e-02 9.99519358e-01 8.32131305e-06 4.64054093e+00] [ 6.54761529e-03 -2.11404400e-04 9.99978542e-01 1.41136059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879254154 meters 0.059002970938942245 Centerline is valid? [True, True] Translation: X:359.95, Y:4.63, Z:1.41 [[ 9.99529613e-01 -2.99214884e-02 -6.72740933e-03 3.59947043e+02] [ 2.99222241e-02 9.99552230e-01 8.71622191e-06 4.62730712e+00] [ 6.72413619e-03 -2.10011172e-04 9.99977371e-01 1.41036731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters 0.058386824390713514 Centerline is valid? [True, True] Translation: X:360.01, Y:4.63, Z:1.41 [[ 9.99560337e-01 -2.88137736e-02 -6.99278994e-03 3.60009483e+02] [ 2.88145428e-02 9.99584775e-01 9.25500817e-06 4.62599661e+00] [ 6.98961969e-03 -2.10744985e-04 9.99975550e-01 1.40995605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters 0.057552835552591226 Centerline is valid? [True, True] Translation: X:360.07, Y:4.63, Z:1.41 [[ 9.99688708e-01 -2.36852791e-02 -7.84185338e-03 3.60069652e+02] [ 2.36860899e-02 9.99719445e-01 1.05134238e-05 4.63076217e+00] [ 7.83940430e-03 -1.96252995e-04 9.99969252e-01 1.40983276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters 0.05718363264461805 Centerline is valid? [True, True] Translation: X:360.13, Y:4.64, Z:1.41 [[ 9.99850224e-01 -1.52290075e-02 -8.22234629e-03 3.60130288e+02] [ 1.52296132e-02 9.99884023e-01 1.10570410e-05 4.63825572e+00] [ 8.22122430e-03 -1.36278538e-04 9.99966196e-01 1.41029545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters 0.05738344368879481 Centerline is valid? [True, True] Translation: X:360.19, Y:4.64, Z:1.41 [[ 9.99924532e-01 -8.90668075e-03 -8.46177132e-03 3.60189944e+02] [ 8.90709619e-03 9.99960331e-01 1.14105095e-05 4.64301794e+00] [ 8.46133402e-03 -8.67794594e-05 9.99964198e-01 1.41145408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters 0.056471762200013154 Centerline is valid? [True, True] Translation: X:360.25, Y:4.64, Z:1.41 [[ 9.99972920e-01 -1.91277267e-03 -7.10639529e-03 3.60249287e+02] [ 1.91288870e-03 9.99998170e-01 9.52978585e-06 4.64490221e+00] [ 7.10636406e-03 -2.31232710e-05 9.99974749e-01 1.41161900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters 0.05755235691574067 Centerline is valid? [True, True] Translation: X:360.31, Y:4.65, Z:1.41 [[ 9.99972965e-01 9.80348806e-04 -7.28754924e-03 3.60306651e+02] [-9.80305138e-04 9.99999519e-01 9.56414495e-06 4.64605604e+00] [ 7.28755512e-03 -2.41986441e-06 9.99973445e-01 1.41245778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters 0.05770892452015257 Centerline is valid? [True, True] Translation: X:360.37, Y:4.64, Z:1.41 [[ 9.99969219e-01 -5.39523303e-04 -7.82756416e-03 3.60365624e+02] [ 5.39618069e-04 9.99999854e-01 9.99471861e-06 4.64391143e+00] [ 7.82755763e-03 -1.42183060e-05 9.99969364e-01 1.41250118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.359254154 meters 0.05756560235313092 Centerline is valid? [True, True] Translation: X:360.42, Y:4.64, Z:1.41 [[ 9.99961555e-01 -3.31322271e-03 -8.11854581e-03 3.60423475e+02] [ 3.31341376e-03 9.99994511e-01 1.00822545e-05 4.64145900e+00] [ 8.11846784e-03 -3.69819683e-05 9.99967044e-01 1.41312743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.419254154 meters 0.05691257706980065 Centerline is valid? [True, True] Translation: X:360.48, Y:4.64, Z:1.41 [[ 9.99923041e-01 -9.82953894e-03 -7.56918814e-03 3.60483270e+02] [ 9.82989026e-03 9.99951685e-01 9.21154953e-06 4.63715984e+00] [ 7.56873189e-03 -8.36151293e-05 9.99971353e-01 1.41413081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.479254154 meters 0.05751309934368993 Centerline is valid? [True, True] Translation: X:360.54, Y:4.63, Z:1.41 [[ 9.99835342e-01 -1.64253682e-02 -7.71336125e-03 3.60542229e+02] [ 1.64259285e-02 9.99865085e-01 9.28841105e-06 4.63140200e+00] [ 7.71216804e-03 -1.35986002e-04 9.99970252e-01 1.41432133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.539254154 meters 0.05793300060697203 Centerline is valid? [True, True] Translation: X:360.60, Y:4.63, Z:1.41 [[ 9.99747644e-01 -2.09443151e-02 -8.12304150e-03 3.60603115e+02] [ 2.09450856e-02 9.99780628e-01 9.78076219e-06 4.62752524e+00] [ 8.12105468e-03 -1.79916093e-04 9.99967007e-01 1.41400675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.599254154 meters 0.05700609828655422 Centerline is valid? [True, True] Translation: X:360.67, Y:4.63, Z:1.41 [[ 9.99718962e-01 -2.20198028e-02 -8.78212703e-03 3.60665671e+02] [ 2.20207469e-02 9.99757514e-01 1.08088484e-05 4.62860073e+00] [ 8.77975948e-03 -2.04194808e-04 9.99961436e-01 1.41451274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.659254154 meters 0.05942567975528068 Centerline is valid? [True, True] Translation: X:360.73, Y:4.62, Z:1.41 [[ 9.99743581e-01 -2.09734951e-02 -8.53723538e-03 3.60726156e+02] [ 2.09743509e-02 9.99780014e-01 1.07127811e-05 4.62142445e+00] [ 8.53513263e-03 -1.89773005e-04 9.99963557e-01 1.41338850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.719254154 meters 0.05760668044756425 Centerline is valid? [True, True] Translation: X:360.79, Y:4.63, Z:1.42 [[ 9.99795555e-01 -1.87082309e-02 -7.67141356e-03 3.60787272e+02] [ 1.87088562e-02 9.99824974e-01 9.74645512e-06 4.62800322e+00] [ 7.66988853e-03 -1.53267836e-04 9.99970574e-01 1.41554530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779254154 meters 0.05797007417130867 Centerline is valid? [True, True] Translation: X:360.85, Y:4.63, Z:1.41 [[ 9.99825833e-01 -1.70038785e-02 -7.69232653e-03 3.60847958e+02] [ 1.70044582e-02 9.99855414e-01 9.96607650e-06 4.62623886e+00] [ 7.69104487e-03 -1.40768186e-04 9.99970414e-01 1.41494805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839254154 meters 0.056915017405979894 Centerline is valid? [True, True] Translation: X:360.91, Y:4.63, Z:1.41 [[ 9.99847428e-01 -1.54963636e-02 -8.06121505e-03 3.60909465e+02] [ 1.54969530e-02 9.99879915e-01 1.06521569e-05 4.63133994e+00] [ 8.06008195e-03 -1.35574802e-04 9.99967508e-01 1.41483479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899254154 meters 0.05806480420028257 Centerline is valid? [True, True] Translation: X:360.97, Y:4.63, Z:1.41 [[ 9.99848284e-01 -1.48782901e-02 -9.05787473e-03 3.60970247e+02] [ 1.48790099e-02 9.99889301e-01 1.20829740e-05 4.62762459e+00] [ 9.05669226e-03 -1.46853349e-04 9.99958977e-01 1.41307541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959254154 meters 0.057588001187437586 Centerline is valid? [True, True] Translation: X:361.03, Y:4.63, Z:1.41 [[ 9.99842542e-01 -1.50565557e-02 -9.39098001e-03 3.61029896e+02] [ 1.50573372e-02 9.99886632e-01 1.25165488e-05 4.63421106e+00] [ 9.38972691e-03 -1.53917731e-04 9.99955904e-01 1.41454147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019254154 meters 0.05658923393392866 Centerline is valid? [True, True] Translation: X:361.09, Y:4.64, Z:1.42 [[ 9.99838700e-01 -1.59055675e-02 -8.34193111e-03 3.61090140e+02] [ 1.59062135e-02 9.99873488e-01 1.10900823e-05 4.63616966e+00] [ 8.34069936e-03 -1.43776831e-04 9.99965205e-01 1.41617237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079254154 meters 0.0576676289666663 Centerline is valid? [True, True] Translation: X:361.15, Y:4.64, Z:1.42 [[ 9.99822804e-01 -1.74614263e-02 -7.03275499e-03 3.61150472e+02] [ 1.74619239e-02 9.99847529e-01 9.34961351e-06 4.63603726e+00] [ 7.03151944e-03 -1.32153389e-04 9.99975270e-01 1.41671645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139254154 meters 0.057747281958299077 Centerline is valid? [True, True] Translation: X:361.21, Y:4.63, Z:1.42 [[ 9.99733392e-01 -2.20610019e-02 -6.81591180e-03 3.61210135e+02] [ 2.20615761e-02 9.99756614e-01 9.06133388e-06 4.63423101e+00] [ 6.81405300e-03 -1.59428675e-04 9.99976771e-01 1.41716585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199254154 meters 0.057485780777653796 Centerline is valid? [True, True] Translation: X:361.27, Y:4.64, Z:1.42 [[ 9.99504554e-01 -3.04931270e-02 -7.79843507e-03 3.61271240e+02] [ 3.04941354e-02 9.99534946e-01 1.04035578e-05 4.63578868e+00] [ 7.79449113e-03 -2.48204938e-04 9.99969592e-01 1.41738743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259254154 meters 0.059112377944193585 Centerline is valid? [True, True] Translation: X:361.33, Y:4.62, Z:1.42 [[ 9.99261431e-01 -3.76719772e-02 -7.57728219e-03 3.61330775e+02] [ 3.76731357e-02 9.99290115e-01 1.01646103e-05 4.62474640e+00] [ 7.57152027e-03 -2.95617083e-04 9.99971292e-01 1.41653094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319254154 meters 0.056656858298563845 Centerline is valid? [True, True] Translation: X:361.39, Y:4.64, Z:1.42 [[ 9.98793222e-01 -4.86151621e-02 -6.97608670e-03 3.61391213e+02] [ 4.86164105e-02 9.98817523e-01 9.38157260e-06 4.63611899e+00] [ 6.96738155e-03 -3.48522546e-04 9.99975667e-01 1.41818692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379254154 meters 0.05508327094989011 Centerline is valid? [True, True] Translation: X:361.45, Y:4.64, Z:1.42 [[ 9.98427707e-01 -5.56284008e-02 -6.89893696e-03 3.61451562e+02] [ 5.56297888e-02 9.98451464e-01 9.31015052e-06 4.64171359e+00] [ 6.88773581e-03 -3.93081918e-04 9.99976202e-01 1.41799682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters 0.05543355307636614 Centerline is valid? [True, True] Translation: X:361.51, Y:4.64, Z:1.42 [[ 9.98363416e-01 -5.67821453e-02 -6.80280835e-03 3.61511674e+02] [ 5.67835226e-02 9.98386514e-01 9.33679774e-06 4.64486084e+00] [ 6.79130195e-03 -3.95608939e-04 9.99976861e-01 1.41834089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters 0.0571545088828163 Centerline is valid? [True, True] Translation: X:361.57, Y:4.64, Z:1.42 [[ 9.98418550e-01 -5.57674536e-02 -7.09863902e-03 3.61572186e+02] [ 5.57689292e-02 9.98443702e-01 9.94100328e-06 4.63904449e+00] [ 7.08703704e-03 -4.05808779e-04 9.99974804e-01 1.41825698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters 0.05754610465063719 Centerline is valid? [True, True] Translation: X:361.63, Y:4.64, Z:1.42 [[ 9.98560771e-01 -5.29806479e-02 -8.33289343e-03 3.61631600e+02] [ 5.29825846e-02 9.98595436e-01 1.16730365e-05 4.63882205e+00] [ 8.32057090e-03 -4.53154467e-04 9.99965281e-01 1.41762481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters 0.05748422463654906 Centerline is valid? [True, True] Translation: X:361.69, Y:4.64, Z:1.42 [[ 9.98745826e-01 -4.93678771e-02 -8.34193037e-03 3.61692696e+02] [ 4.93696920e-02 9.98780573e-01 1.16502352e-05 4.64441259e+00] [ 8.33118284e-03 -4.23474156e-04 9.99965205e-01 1.41760386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters 0.05698859620812678 Centerline is valid? [True, True] Translation: X:361.75, Y:4.65, Z:1.42 [[ 9.99183678e-01 -3.95035004e-02 -8.45282293e-03 3.61753584e+02] [ 3.95050117e-02 9.99219372e-01 1.18278765e-05 4.65472130e+00] [ 8.44575718e-03 -3.45747090e-04 9.99964274e-01 1.41862468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters 0.05780157619468486 Centerline is valid? [True, True] Translation: X:361.81, Y:4.66, Z:1.42 [[ 9.99497029e-01 -3.06750646e-02 -8.04540975e-03 3.61812827e+02] [ 3.06761478e-02 9.99529376e-01 1.12415202e-05 4.65732710e+00] [ 8.04127856e-03 -2.58038045e-04 9.99967635e-01 1.41878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters 0.05747826883738795 Centerline is valid? [True, True] Translation: X:361.87, Y:4.67, Z:1.42 [[ 9.99832385e-01 -1.68957217e-02 -7.05240050e-03 3.61873208e+02] [ 1.68962112e-02 9.99857249e-01 9.81984604e-06 4.67025373e+00] [ 7.05122784e-03 -1.28977048e-04 9.99975131e-01 1.42007631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.859254154 meters 0.056700290659889574 Centerline is valid? [True, True] Translation: X:361.93, Y:4.67, Z:1.42 [[ 9.99890777e-01 -1.26036772e-02 -7.71891046e-03 3.61934025e+02] [ 1.26041358e-02 9.99920565e-01 1.07737368e-05 4.67466476e+00] [ 7.71816152e-03 -1.08062756e-04 9.99970209e-01 1.41977422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.919254154 meters 0.05646129709973164 Centerline is valid? [True, True] Translation: X:361.99, Y:4.69, Z:1.42 [[ 9.99955585e-01 -2.53328908e-03 -9.07799793e-03 3.61993904e+02] [ 2.53350882e-03 9.99996791e-01 1.27061906e-05 4.68684482e+00] [ 9.07793660e-03 -3.57048140e-05 9.99958794e-01 1.41908548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.979254154 meters 0.05615040156747194 Centerline is valid? [True, True] Translation: X:362.05, Y:4.69, Z:1.42 [[ 9.99957104e-01 1.02961826e-03 -9.20484796e-03 3.62052893e+02] [-1.02954904e-03 9.99999470e-01 1.22583507e-05 4.69046023e+00] [ 9.20485570e-03 -2.78098250e-06 9.99957634e-01 1.42052134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.039254154 meters 0.05665728516142432 Centerline is valid? [True, True] Translation: X:362.11, Y:4.69, Z:1.42 [[ 9.99953100e-01 2.43601145e-03 -9.37354963e-03 3.62110582e+02] [-2.43601246e-03 9.99997033e-01 1.13101976e-05 4.69170706e+00] [ 9.37354937e-03 1.15244165e-05 9.99956067e-01 1.42124024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.099254154 meters 0.05641099968028408 Centerline is valid? [True, True] Translation: X:362.17, Y:4.69, Z:1.42 [[ 9.99966551e-01 1.20689422e-03 -8.08947941e-03 3.62168644e+02] [-1.20685971e-03 9.99999272e-01 9.14805531e-06 4.69120532e+00] [ 8.08948456e-03 6.15117438e-07 9.99967280e-01 1.42239260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.159254154 meters 0.05662587915208635 Centerline is valid? [True, True] Translation: X:362.23, Y:4.69, Z:1.42 [[ 9.99974986e-01 -1.14944298e-03 -6.97894555e-03 3.62227639e+02] [ 1.14952455e-03 9.99999339e-01 7.67726136e-06 4.68911375e+00] [ 6.97893212e-03 -1.56995386e-05 9.99975647e-01 1.42374747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.219254154 meters 0.056177304086612444 Centerline is valid? [True, True] Translation: X:362.29, Y:4.69, Z:1.42 [[ 9.99967031e-01 -4.69978369e-03 -6.62183258e-03 3.62286773e+02] [ 4.69993385e-03 9.99988955e-01 7.11556312e-06 4.68526394e+00] [ 6.62172601e-03 -3.82375036e-05 9.99978075e-01 1.42492690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279254154 meters 0.056123886037270365 Centerline is valid? [True, True] Translation: X:362.35, Y:4.68, Z:1.43 [[ 9.99912395e-01 -1.12772239e-02 -6.93013054e-03 3.62346493e+02] [ 1.12775453e-02 9.99936406e-01 7.29636705e-06 4.67889550e+00] [ 6.92960755e-03 -8.54505891e-05 9.99975986e-01 1.42504564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339254154 meters 0.05648312520747737 Centerline is valid? [True, True] Translation: X:362.41, Y:4.68, Z:1.43 [[ 9.99806028e-01 -1.81793669e-02 -7.57739427e-03 3.62406664e+02] [ 1.81799493e-02 9.99834731e-01 7.98141309e-06 4.67567628e+00] [ 7.57599687e-03 -1.45736509e-04 9.99971291e-01 1.42514194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399254154 meters 0.05728978128082235 Centerline is valid? [True, True] Translation: X:362.47, Y:4.66, Z:1.42 [[ 9.99731080e-01 -2.14467520e-02 -8.82063830e-03 3.62466773e+02] [ 2.14476687e-02 9.99769972e-01 9.33713762e-06 4.66437912e+00] [ 8.81840905e-03 -1.98516755e-04 9.99961097e-01 1.42284205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459254154 meters 0.05737107500571408 Centerline is valid? [True, True] Translation: X:362.53, Y:4.66, Z:1.42 [[ 9.99680493e-01 -2.35920508e-02 -9.07341253e-03 3.62527832e+02] [ 2.35931095e-02 9.99721644e-01 9.64356282e-06 4.66280381e+00] [ 9.07065938e-03 -2.23710497e-04 9.99958836e-01 1.42277891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519254154 meters 0.05787636520100059 Centerline is valid? [True, True] Translation: X:362.59, Y:4.66, Z:1.42 [[ 9.99686109e-01 -2.38089384e-02 -7.79853370e-03 3.62590310e+02] [ 2.38097281e-02 9.99716508e-01 8.43066184e-06 4.65944067e+00] [ 7.79612216e-03 -1.94108983e-04 9.99969591e-01 1.42437136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579254154 meters 0.057881468640719934 Centerline is valid? [True, True] Translation: X:362.65, Y:4.66, Z:1.43 [[ 9.99699761e-01 -2.34523076e-02 -7.09766299e-03 3.62652454e+02] [ 2.34529543e-02 9.99724942e-01 7.87580156e-06 4.65812947e+00] [ 7.09552601e-03 -1.74334603e-04 9.99974811e-01 1.42512565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639254154 meters 0.05767795800818914 Centerline is valid? [True, True] Translation: X:362.72, Y:4.66, Z:1.42 [[ 9.99693702e-01 -2.37140470e-02 -7.08138372e-03 3.62715008e+02] [ 2.37146987e-02 9.99718767e-01 8.06998239e-06 4.65626241e+00] [ 7.07920083e-03 -1.76000392e-04 9.99974927e-01 1.42489716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699254154 meters 0.056531081707929254 Centerline is valid? [True, True] Translation: X:362.78, Y:4.66, Z:1.42 [[ 9.99602915e-01 -2.68438158e-02 -8.56862137e-03 3.62775567e+02] [ 2.68448865e-02 9.99639611e-01 9.94618311e-06 4.66383803e+00] [ 8.56526634e-03 -2.39965902e-04 9.99963289e-01 1.42497387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759254154 meters 0.057532550216559515 Centerline is valid? [True, True] Translation: X:362.84, Y:4.65, Z:1.42 [[ 9.99447184e-01 -3.13417595e-02 -1.10914240e-02 3.62835546e+02] [ 3.13438309e-02 9.99508661e-01 1.29341608e-05 4.65428075e+00] [ 1.10855690e-02 -3.60574728e-04 9.99938488e-01 1.42205214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819254154 meters 0.05609384007539098 Centerline is valid? [True, True] Translation: X:362.90, Y:4.66, Z:1.42 [[ 9.99335355e-01 -3.46913200e-02 -1.11964172e-02 3.62896150e+02] [ 3.46936410e-02 9.99397994e-01 1.30789261e-05 4.66000801e+00] [ 1.11892231e-02 -4.01514711e-04 9.99937318e-01 1.42386081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879254154 meters 0.056299743780098076 Centerline is valid? [True, True] Translation: X:362.96, Y:4.66, Z:1.42 [[ 9.99269588e-01 -3.67592237e-02 -1.04426936e-02 3.62957675e+02] [ 3.67613572e-02 9.99324073e-01 1.23656968e-05 4.66054549e+00] [ 1.04351805e-02 -3.96244254e-04 9.99945474e-01 1.42463636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters 0.058523574286102414 Centerline is valid? [True, True] Translation: X:363.02, Y:4.65, Z:1.42 [[ 9.99354779e-01 -3.46309694e-02 -9.52479633e-03 3.63017024e+02] [ 3.46326481e-02 9.99400110e-01 1.13217708e-05 4.64852576e+00] [ 9.51869041e-03 -3.41183385e-04 9.99954638e-01 1.42392498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters 0.059033680757462986 Centerline is valid? [True, True] Translation: X:363.08, Y:4.65, Z:1.43 [[ 9.99557797e-01 -2.87245071e-02 -7.68855858e-03 3.63077643e+02] [ 2.87254264e-02 9.99587340e-01 9.13784715e-06 4.65166618e+00] [ 7.68512334e-03 -2.29990930e-04 9.99970443e-01 1.42557877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters 0.05595894748202251 Centerline is valid? [True, True] Translation: X:363.14, Y:4.67, Z:1.43 [[ 9.99656085e-01 -2.56070145e-02 -5.65627043e-03 3.63138310e+02] [ 2.56074624e-02 9.99672075e-01 6.77032292e-06 4.67050598e+00] [ 5.65424223e-03 -1.51610727e-04 9.99984003e-01 1.42745051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters 0.05522118318358054 Centerline is valid? [True, True] Translation: X:363.20, Y:4.67, Z:1.43 [[ 9.99750361e-01 -2.17927788e-02 -4.92860691e-03 3.63198589e+02] [ 2.17930728e-02 9.99762503e-01 5.95642608e-06 4.67106238e+00] [ 4.92730658e-03 -1.13364428e-04 9.99987854e-01 1.42690881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters 0.05685793381129427 Centerline is valid? [True, True] Translation: X:363.26, Y:4.67, Z:1.43 [[ 9.99824641e-01 -1.73374912e-02 -7.07804350e-03 3.63258533e+02] [ 1.73379860e-02 9.99849686e-01 8.55410943e-06 4.66741365e+00] [ 7.07683126e-03 -1.31271629e-04 9.99974950e-01 1.42502176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters 0.055435865332525466 Centerline is valid? [True, True] Translation: X:363.32, Y:4.68, Z:1.42 [[ 9.99906415e-01 -1.13355717e-02 -7.65933298e-03 3.63319742e+02] [ 1.13359753e-02 9.99935746e-01 9.28448433e-06 4.67562971e+00] [ 7.65873559e-03 -9.61096253e-05 9.99970667e-01 1.42486671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters 0.05645023855261239 Centerline is valid? [True, True] Translation: X:363.38, Y:4.67, Z:1.42 [[ 9.99918239e-01 -1.00813904e-02 -7.86643603e-03 3.63379101e+02] [ 1.00817767e-02 9.99949178e-01 9.44424527e-06 4.67402979e+00] [ 7.86594103e-03 -8.87511243e-05 9.99969059e-01 1.42349728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.359254154 meters 0.055888474901507605 Centerline is valid? [True, True] Translation: X:363.44, Y:4.68, Z:1.42 [[ 9.99925253e-01 -8.37545499e-03 -8.90729615e-03 3.63438367e+02] [ 8.37588057e-03 9.99964922e-01 1.04755425e-05 4.67950461e+00] [ 8.90689596e-03 -8.50812082e-05 9.99960329e-01 1.42436272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.419254154 meters 0.056705537400833325 Centerline is valid? [True, True] Translation: X:363.50, Y:4.68, Z:1.42 [[ 9.99917684e-01 -8.08876946e-03 -9.95975495e-03 3.63496766e+02] [ 8.08927996e-03 9.99967281e-01 1.09721763e-05 4.68103136e+00] [ 9.95934033e-03 -9.15385193e-05 9.99950400e-01 1.42382041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.479254154 meters 0.05629895207197487 Centerline is valid? [True, True] Translation: X:363.56, Y:4.68, Z:1.43 [[ 9.99895403e-01 -1.11835590e-02 -9.17122623e-03 3.63556147e+02] [ 1.11841175e-02 9.99937456e-01 9.61430372e-06 4.67957558e+00] [ 9.17054510e-03 -1.12185370e-04 9.99957943e-01 1.42508445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.539254154 meters 0.05617219973658388 Centerline is valid? [True, True] Translation: X:363.62, Y:4.68, Z:1.43 [[ 9.99861693e-01 -1.45560270e-02 -8.04469192e-03 3.63616005e+02] [ 1.45565649e-02 9.99894048e-01 8.31122973e-06 4.67730985e+00] [ 8.04371859e-03 -1.25413160e-04 9.99967641e-01 1.42627097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.599254154 meters 0.05694557062612589 Centerline is valid? [True, True] Translation: X:363.68, Y:4.67, Z:1.43 [[ 9.99748390e-01 -2.12048963e-02 -7.31501136e-03 3.63675893e+02] [ 2.12055184e-02 9.99775138e-01 7.47772321e-06 4.67018912e+00] [ 7.31320793e-03 -1.62594449e-04 9.99973245e-01 1.42703856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.659254154 meters 0.0566070634722092 Centerline is valid? [True, True] Translation: X:363.74, Y:4.67, Z:1.43 [[ 9.99637709e-01 -2.60570557e-02 -6.74394750e-03 3.63736899e+02] [ 2.60576946e-02 9.99660441e-01 6.87458933e-06 4.66873559e+00] [ 6.74147840e-03 -1.82603823e-04 9.99977259e-01 1.42734619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.719254154 meters 0.05609968379255484 Centerline is valid? [True, True] Translation: X:363.80, Y:4.67, Z:1.43 [[ 9.99484471e-01 -3.12567341e-02 -7.33543534e-03 3.63797776e+02] [ 3.12576302e-02 9.99511361e-01 7.51657475e-06 4.66973209e+00] [ 7.33161601e-03 -2.36801025e-04 9.99973095e-01 1.42647946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779254154 meters 0.055941133296312895 Centerline is valid? [True, True] Translation: X:363.86, Y:4.67, Z:1.43 [[ 9.99456815e-01 -3.20294092e-02 -7.75834219e-03 3.63860155e+02] [ 3.20304362e-02 9.99486894e-01 8.11441873e-06 4.66971947e+00] [ 7.75410144e-03 -2.56613095e-04 9.99969904e-01 1.42634779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839254154 meters 0.05646255421927009 Centerline is valid? [True, True] Translation: X:363.92, Y:4.67, Z:1.43 [[ 9.99446867e-01 -3.20399614e-02 -8.91071614e-03 3.63921508e+02] [ 3.20413189e-02 9.99486545e-01 9.58670887e-06 4.66808389e+00] [ 8.90583373e-03 -2.95092503e-04 9.99960299e-01 1.42619253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899254154 meters 0.05722759529509991 Centerline is valid? [True, True] Translation: X:363.98, Y:4.66, Z:1.43 [[ 9.99523865e-01 -2.95223982e-02 -8.97062106e-03 3.63981411e+02] [ 2.95236736e-02 9.99564081e-01 9.74658365e-06 4.66279143e+00] [ 8.96642286e-03 -2.74587631e-04 9.99959763e-01 1.42582253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959254154 meters 0.05575865840047046 Centerline is valid? [True, True] Translation: X:364.04, Y:4.67, Z:1.43 [[ 9.99600447e-01 -2.72156367e-02 -7.63258330e-03 3.64041869e+02] [ 2.72164930e-02 9.99629563e-01 8.32189374e-06 4.67379017e+00] [ 7.62952942e-03 -2.16050719e-04 9.99970871e-01 1.42775069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019254154 meters 0.05686856447776544 Centerline is valid? [True, True] Translation: X:364.10, Y:4.67, Z:1.43 [[ 9.99633798e-01 -2.59561850e-02 -7.65157097e-03 3.64103254e+02] [ 2.59570096e-02 9.99663060e-01 8.46169699e-06 4.67008391e+00] [ 7.64877321e-03 -2.07070499e-04 9.99970726e-01 1.42757735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079254154 meters 0.056705758691294676 Centerline is valid? [True, True] Translation: X:364.17, Y:4.67, Z:1.43 [[ 9.99638164e-01 -2.55007299e-02 -8.55887259e-03 3.64165639e+02] [ 2.55017474e-02 9.99674778e-01 9.75126129e-06 4.67407055e+00] [ 8.55584038e-03 -2.28013940e-04 9.99963372e-01 1.42771678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139254154 meters 0.056484269715221996 Centerline is valid? [True, True] Translation: X:364.23, Y:4.67, Z:1.43 [[ 9.99606845e-01 -2.59453067e-02 -1.06300268e-02 3.64226932e+02] [ 2.59469051e-02 9.99663322e-01 1.24617412e-05 4.67448049e+00] [ 1.06261246e-02 -2.88273138e-04 9.99943500e-01 1.42688117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199254154 meters 0.056478258949398084 Centerline is valid? [True, True] Translation: X:364.29, Y:4.67, Z:1.43 [[ 9.99583573e-01 -2.65314113e-02 -1.13474706e-02 3.64287851e+02] [ 2.65332755e-02 9.99647931e-01 1.37475392e-05 4.67155452e+00] [ 1.13431107e-02 -3.14827378e-04 9.99935615e-01 1.42678563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259254154 meters 0.056254546367527865 Centerline is valid? [True, True] Translation: X:364.35, Y:4.67, Z:1.43 [[ 9.99631174e-01 -2.49166853e-02 -1.08016017e-02 3.64349454e+02] [ 2.49182839e-02 9.99689491e-01 1.34186023e-05 4.67419800e+00] [ 1.07979133e-02 -2.82571030e-04 9.99941661e-01 1.42776128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319254154 meters 0.056020090931881296 Centerline is valid? [True, True] Translation: X:364.41, Y:4.68, Z:1.43 [[ 9.99744957e-01 -2.04983692e-02 -9.47833171e-03 3.64410435e+02] [ 2.04994026e-02 9.99789865e-01 1.18731492e-05 4.68135303e+00] [ 9.47609660e-03 -2.06170258e-04 9.99955080e-01 1.43001528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379254154 meters 0.05628418675445603 Centerline is valid? [True, True] Translation: X:364.47, Y:4.69, Z:1.43 [[ 9.99920191e-01 -1.03665267e-02 -7.22133151e-03 3.64471264e+02] [ 1.03668627e-02 9.99946263e-01 9.10633200e-06 4.68920288e+00] [ 7.22084905e-03 -8.39681577e-05 9.99973926e-01 1.43275351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters 0.055462508260500136 Centerline is valid? [True, True] Translation: X:364.53, Y:4.69, Z:1.43 [[ 9.99983570e-01 -9.61134857e-04 -5.65117237e-03 3.64530076e+02] [ 9.61190586e-04 9.99999538e-01 7.14531908e-06 4.69289297e+00] [ 5.65116290e-03 -1.25770554e-05 9.99984032e-01 1.43392401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters 0.05641651172111656 Centerline is valid? [True, True] Translation: X:364.59, Y:4.69, Z:1.43 [[ 9.99984856e-01 2.35763095e-03 -4.97288389e-03 3.64588014e+02] [-2.35762975e-03 9.99997221e-01 6.10305629e-06 4.69326891e+00] [ 4.97288446e-03 5.62125515e-06 9.99987635e-01 1.43449541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters 0.05633545499042614 Centerline is valid? [True, True] Translation: X:364.65, Y:4.69, Z:1.43 [[ 9.99985406e-01 1.89683841e-03 -5.05870691e-03 3.64646393e+02] [-1.89683398e-03 9.99998201e-01 5.67428543e-06 4.68991331e+00] [ 5.05870857e-03 3.92132453e-06 9.99987205e-01 1.43411964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters 0.056636912419914844 Centerline is valid? [True, True] Translation: X:364.70, Y:4.69, Z:1.43 [[ 9.99982444e-01 -1.47414479e-03 -5.73918621e-03 3.64704923e+02] [ 1.47420480e-03 9.99998913e-01 6.22650185e-06 4.68551020e+00] [ 5.73917080e-03 -1.46871284e-05 9.99983531e-01 1.43339022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters 0.05623871812715668 Centerline is valid? [True, True] Translation: X:364.77, Y:4.68, Z:1.43 [[ 9.99925687e-01 -1.02111216e-02 -6.65986864e-03 3.64765395e+02] [ 1.02113952e-02 9.99947862e-01 7.07199850e-06 4.67645992e+00] [ 6.65944920e-03 -7.50780235e-05 9.99977823e-01 1.43117950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters 0.05668017803439765 Centerline is valid? [True, True] Translation: X:364.83, Y:4.67, Z:1.43 [[ 9.99769579e-01 -2.01718338e-02 -7.34064632e-03 3.64826152e+02] [ 2.01724345e-02 9.99796516e-01 7.79948871e-06 4.66783406e+00] [ 7.33899528e-03 -1.55876399e-04 9.99973057e-01 1.43084253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters 0.056576776631895 Centerline is valid? [True, True] Translation: X:364.89, Y:4.66, Z:1.43 [[ 9.99565591e-01 -2.86727706e-02 -6.81919132e-03 3.64886744e+02] [ 2.86734867e-02 9.99588831e-01 7.25294811e-06 4.65964076e+00] [ 6.81617952e-03 -2.02779789e-04 9.99976749e-01 1.43033287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.859254154 meters 0.056238871882463286 Centerline is valid? [True, True] Translation: X:364.95, Y:4.65, Z:1.43 [[ 9.99391528e-01 -3.45193243e-02 -4.99890940e-03 3.64948126e+02] [ 3.45197823e-02 9.99404015e-01 5.33516052e-06 4.65285955e+00] [ 4.99574595e-03 -1.77893178e-04 9.99987505e-01 1.42959935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.919254154 meters 0.056294169074987854 Centerline is valid? [True, True] Translation: X:365.01, Y:4.65, Z:1.43 [[ 9.99274390e-01 -3.79093651e-02 -3.68416875e-03 3.65009162e+02] [ 3.79096370e-02 9.99281171e-01 3.97480459e-06 4.65383124e+00] [ 3.68136978e-03 -1.43637420e-04 9.99993213e-01 1.42962613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.979254154 meters 0.05859750531120837 Centerline is valid? [True, True] Translation: X:365.07, Y:4.64, Z:1.43 [[ 9.99105413e-01 -4.21155162e-02 -3.82845889e-03 3.65069482e+02] [ 4.21158406e-02 9.99112734e-01 4.13686091e-06 4.63631815e+00] [ 3.82488780e-03 -1.65371925e-04 9.99992671e-01 1.42910315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.039254154 meters 0.05766758894044573 Centerline is valid? [True, True] Translation: X:365.13, Y:4.64, Z:1.43 [[ 9.98987533e-01 -4.48945722e-02 -2.89601199e-03 3.65130310e+02] [ 4.48947696e-02 9.98991722e-01 3.14184360e-06 4.63900593e+00] [ 2.89295095e-03 -1.33154454e-04 9.99995807e-01 1.42827263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.099254154 meters 0.05743547857317326 Centerline is valid? [True, True] Translation: X:365.19, Y:4.64, Z:1.43 [[ 9.98858678e-01 -4.76880647e-02 -2.68153192e-03 3.65191047e+02] [ 4.76882440e-02 9.98862268e-01 2.91334859e-06 4.63799242e+00] [ 2.67834212e-03 -1.30787572e-04 9.99996405e-01 1.42729603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.159254154 meters 0.055008672032047935 Centerline is valid? [True, True] Translation: X:365.25, Y:4.65, Z:1.43 [[ 9.98789428e-01 -4.90556562e-02 -3.63603127e-03 3.65252000e+02] [ 4.90559948e-02 9.98796030e-01 3.94928757e-06 4.64837678e+00] [ 3.63145987e-03 -1.82313638e-04 9.99993390e-01 1.42618554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.219254154 meters 0.05529998007891339 Centerline is valid? [True, True] Translation: X:365.31, Y:4.65, Z:1.43 [[ 9.98832235e-01 -4.80055468e-02 -5.44360967e-03 3.65312868e+02] [ 4.80062909e-02 9.98847033e-01 6.03294174e-06 4.64693067e+00] [ 5.43704375e-03 -2.67353406e-04 9.99985183e-01 1.42531898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279254154 meters 0.05575004321216579 Centerline is valid? [True, True] Translation: X:365.37, Y:4.65, Z:1.43 [[ 9.99000530e-01 -4.43377233e-02 -5.66630476e-03 3.65373861e+02] [ 4.43384712e-02 9.99016566e-01 6.37377726e-06 4.64893770e+00] [ 5.66044972e-03 -2.57602697e-04 9.99983946e-01 1.42555190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339254154 meters 0.055313340328894664 Centerline is valid? [True, True] Translation: X:365.43, Y:4.65, Z:1.43 [[ 9.99183938e-01 -4.00384495e-02 -5.32740120e-03 3.65434800e+02] [ 4.00390499e-02 9.99198116e-01 6.06118424e-06 4.65191767e+00] [ 5.32288656e-03 -2.19360320e-04 9.99985809e-01 1.42696538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399254154 meters 0.05714347133391935 Centerline is valid? [True, True] Translation: X:365.49, Y:4.65, Z:1.43 [[ 9.99484388e-01 -3.19423309e-02 -3.26265096e-03 3.65494121e+02] [ 3.19425131e-02 9.99489708e-01 3.73608710e-06 4.65375887e+00] [ 3.26086671e-03 -1.07951432e-04 9.99994678e-01 1.42883831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459254154 meters 0.055608152964670796 Centerline is valid? [True, True] Translation: X:365.55, Y:4.66, Z:1.43 [[ 9.99640422e-01 -2.67828732e-02 -1.30571174e-03 3.65554397e+02] [ 2.67828979e-02 9.99641274e-01 1.45982830e-06 4.66427501e+00] [ 1.30520425e-03 -3.64300476e-05 9.99999148e-01 1.42922259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519254154 meters 0.056760028812336764 Centerline is valid? [True, True] Translation: X:365.61, Y:4.66, Z:1.43 [[ 9.99822108e-01 -1.87678153e-02 -1.87642145e-03 3.65613644e+02] [ 1.87678524e-02 9.99823868e-01 2.16139692e-06 4.66281131e+00] [ 1.87605039e-03 -3.73774132e-05 9.99998240e-01 1.43095533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579254154 meters 0.055118448342604355 Centerline is valid? [True, True] Translation: X:365.67, Y:4.67, Z:1.43 [[ 9.99885952e-01 -1.49521130e-02 -2.12556486e-03 3.65674864e+02] [ 1.49521518e-02 9.99888210e-01 2.36450403e-06 4.67211760e+00] [ 2.12529189e-03 -3.41460027e-05 9.99997741e-01 1.42969848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639254154 meters 0.0558763737423851 Centerline is valid? [True, True] Translation: X:365.74, Y:4.68, Z:1.43 [[ 9.99950163e-01 -9.04632791e-03 -4.22322446e-03 3.65735177e+02] [ 9.04642923e-03 9.99959080e-01 4.88930300e-06 4.67742355e+00] [ 4.22300742e-03 -4.30941605e-05 9.99991082e-01 1.42874451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699254154 meters 0.055622548963540325 Centerline is valid? [True, True] Translation: X:365.80, Y:4.68, Z:1.43 [[ 9.99973313e-01 -5.29013899e-03 -5.03862524e-03 3.65795266e+02] [ 5.29023578e-03 9.99986007e-01 5.88115428e-06 4.67999805e+00] [ 5.03852362e-03 -3.25365128e-05 9.99987306e-01 1.42933914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759254154 meters 0.0563156909620482 Centerline is valid? [True, True] Translation: X:365.85, Y:4.68, Z:1.43 [[ 9.99985028e-01 -2.60229312e-03 -4.81381511e-03 3.65854731e+02] [ 2.60235043e-03 9.99996614e-01 5.64261466e-06 4.68182088e+00] [ 4.81378413e-03 -1.81697640e-05 9.99988413e-01 1.42958157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819254154 meters 0.0554889800151759 Centerline is valid? [True, True] Translation: X:365.91, Y:4.68, Z:1.43 [[ 9.99989782e-01 -1.75429852e-03 -4.16634253e-03 3.65914857e+02] [ 1.75433396e-03 9.99998461e-01 4.85155321e-06 4.68199534e+00] [ 4.16632760e-03 -1.21606598e-05 9.99991321e-01 1.43060785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879254154 meters 0.0561052645493609 Centerline is valid? [True, True] Translation: X:365.97, Y:4.68, Z:1.43 [[ 9.99987932e-01 -3.08375719e-03 -3.82448652e-03 3.65973922e+02] [ 3.08379655e-03 9.99995245e-01 4.39491804e-06 4.67959138e+00] [ 3.82445478e-03 -1.61888033e-05 9.99992687e-01 1.43134145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters 0.055408586460189924 Centerline is valid? [True, True] Translation: X:366.03, Y:4.67, Z:1.43 [[ 9.99946377e-01 -9.56262968e-03 -3.97473521e-03 3.66033490e+02] [ 9.56272305e-03 9.99954276e-01 4.48833370e-06 4.67076898e+00] [ 3.97451055e-03 -4.24973850e-05 9.99992101e-01 1.43212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters 0.055968793952529676 Centerline is valid? [True, True] Translation: X:366.10, Y:4.67, Z:1.43 [[ 9.99898747e-01 -1.35727828e-02 -4.27497388e-03 3.66095145e+02] [ 1.35729276e-02 9.99907884e-01 4.86610810e-06 4.67063570e+00] [ 4.27451404e-03 -6.28895264e-05 9.99990862e-01 1.43206600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters 0.055881997289019866 Centerline is valid? [True, True] Translation: X:366.16, Y:4.66, Z:1.43 [[ 9.99846941e-01 -1.68034426e-02 -4.87223928e-03 3.66156016e+02] [ 1.68036715e-02 9.99858808e-01 6.05363515e-06 4.65720528e+00] [ 4.87144964e-03 -8.79242171e-05 9.99988131e-01 1.43174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters 0.05618222790733469 Centerline is valid? [True, True] Translation: X:366.22, Y:4.66, Z:1.43 [[ 9.99872719e-01 -1.52752361e-02 -4.60578514e-03 3.66217862e+02] [ 1.52754248e-02 9.99883324e-01 5.79938925e-06 4.65861316e+00] [ 4.60515916e-03 -7.61539758e-05 9.99989393e-01 1.43220264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters 0.056004647972892056 Centerline is valid? [True, True] Translation: X:366.28, Y:4.66, Z:1.43 [[ 9.99951722e-01 -8.67994320e-03 -4.60574612e-03 3.66278199e+02] [ 8.68006245e-03 9.99962328e-01 5.90299173e-06 4.65601717e+00] [ 4.60552137e-03 -4.58808707e-05 9.99989393e-01 1.43157326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters 0.056172954324988804 Centerline is valid? [True, True] Translation: X:366.34, Y:4.66, Z:1.43 [[ 9.99979203e-01 -2.34831135e-03 -6.00660374e-03 3.66337853e+02] [ 2.34840011e-03 9.99997242e-01 7.72399044e-06 4.65615622e+00] [ 6.00656904e-03 -2.18297387e-05 9.99981960e-01 1.43143959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.299254154 meters 0.056338690733722906 Centerline is valid? [True, True] Translation: X:366.40, Y:4.66, Z:1.43 [[ 9.99953312e-01 6.37966936e-03 -7.25767955e-03 3.66395491e+02] [-6.37977129e-03 9.99979649e-01 9.10704838e-06 4.65635901e+00] [ 7.25758995e-03 3.71957124e-05 9.99973663e-01 1.43232694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.359254154 meters 0.05741464703885177 Centerline is valid? [True, True] Translation: X:366.45, Y:4.66, Z:1.43 [[ 9.99917957e-01 1.11440236e-02 -6.31578594e-03 3.66454169e+02] [-1.11441986e-02 9.99937901e-01 7.47885100e-06 4.65506522e+00] [ 6.31547709e-03 6.29061357e-05 9.99980055e-01 1.43169497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.419254154 meters 0.057348085259938945 Centerline is valid? [True, True] Translation: X:366.51, Y:4.65, Z:1.43 [[ 9.99905817e-01 1.19574905e-02 -6.73611180e-03 3.66512896e+02] [-1.19577117e-02 9.99928504e-01 7.43470309e-06 4.65011078e+00] [ 6.73571910e-03 7.31144803e-05 9.99977312e-01 1.43214613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.479254154 meters 0.05703316555455016 Centerline is valid? [True, True] Translation: X:366.57, Y:4.65, Z:1.43 [[ 9.99910083e-01 1.12729316e-02 -7.26270327e-03 3.66571968e+02] [-1.12731724e-02 9.99936456e-01 7.79347530e-06 4.64739582e+00] [ 7.26232962e-03 7.40809312e-05 9.99973626e-01 1.43180157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.539254154 meters 0.05762115690551549 Centerline is valid? [True, True] Translation: X:366.63, Y:4.64, Z:1.43 [[ 9.99937734e-01 7.49253726e-03 -8.26977825e-03 3.66629649e+02] [-7.49272247e-03 9.99971929e-01 8.58528736e-06 4.63747747e+00] [ 8.26961043e-03 5.33784005e-05 9.99965805e-01 1.43143418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.599254154 meters 0.057798560775720334 Centerline is valid? [True, True] Translation: X:366.69, Y:4.63, Z:1.43 [[ 9.99971817e-01 9.49938175e-04 -7.44727448e-03 3.66688705e+02] [-9.49909261e-04 9.99999549e-01 7.41969228e-06 4.62511255e+00] [ 7.44727817e-03 -3.45248176e-07 9.99972269e-01 1.43295404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.659254154 meters 0.05779091334978834 Centerline is valid? [True, True] Translation: X:366.75, Y:4.61, Z:1.43 [[ 9.99950648e-01 -6.62591944e-03 -7.40261948e-03 3.66747812e+02] [ 6.62615355e-03 9.99978047e-01 7.09988610e-06 4.61373210e+00] [ 7.40240992e-03 -5.61504290e-05 9.99972600e-01 1.43454185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.719254154 meters 0.057695581849197694 Centerline is valid? [True, True] Translation: X:366.81, Y:4.60, Z:1.43 [[ 9.99898164e-01 -1.21700203e-02 -7.45331560e-03 3.66806529e+02] [ 1.21704102e-02 9.99925938e-01 6.95565483e-06 4.60440872e+00] [ 7.45267894e-03 -9.76648545e-05 9.99972224e-01 1.43473554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779254154 meters 0.05798601937856649 Centerline is valid? [True, True] Translation: X:366.87, Y:4.59, Z:1.44 [[ 9.99751386e-01 -2.11469110e-02 -7.06928675e-03 3.66866798e+02] [ 2.11474854e-02 9.99776367e-01 6.50582561e-06 4.59320589e+00] [ 7.06756824e-03 -1.56001847e-04 9.99975012e-01 1.43523663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839254154 meters 0.05907233148850564 Centerline is valid? [True, True] Translation: X:366.93, Y:4.58, Z:1.44 [[ 9.99495838e-01 -3.09020391e-02 -7.28929956e-03 3.66926685e+02] [ 3.09029088e-02 9.99522391e-01 6.68980594e-06 4.57984341e+00] [ 7.28561140e-03 -2.31946993e-04 9.99973433e-01 1.43656022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899254154 meters 0.05878910732766069 Centerline is valid? [True, True] Translation: X:366.99, Y:4.58, Z:1.44 [[ 9.99183221e-01 -3.97533858e-02 -7.24977283e-03 3.66986592e+02] [ 3.97544784e-02 9.99209478e-01 6.60545431e-06 4.57516067e+00] [ 7.24377914e-03 -2.94810996e-04 9.99973720e-01 1.43771626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959254154 meters 0.05912913298352317 Centerline is valid? [True, True] Translation: X:367.05, Y:4.57, Z:1.44 [[ 9.99020274e-01 -4.36352797e-02 -7.37939282e-03 3.67047443e+02] [ 4.36365176e-02 9.99047474e-01 6.74174685e-06 4.57079158e+00] [ 7.37206957e-03 -3.28746146e-04 9.99972772e-01 1.43814511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019254154 meters 0.058413298505597365 Centerline is valid? [True, True] Translation: X:367.11, Y:4.57, Z:1.44 [[ 9.98913745e-01 -4.59161659e-02 -7.93955665e-03 3.67108529e+02] [ 4.59176717e-02 9.98945227e-01 7.37524716e-06 4.57214974e+00] [ 7.93084358e-03 -3.71933191e-04 9.99968481e-01 1.43817936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079254154 meters 0.06061639489816966 Centerline is valid? [True, True] Translation: X:367.17, Y:4.56, Z:1.44 [[ 9.98937431e-01 -4.51061646e-02 -9.45738986e-03 3.67169788e+02] [ 4.51082670e-02 9.98982104e-01 9.00902314e-06 4.56330727e+00] [ 9.44735686e-03 -4.35605917e-04 9.99955278e-01 1.43724996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139254154 meters 0.060605561077628815 Centerline is valid? [True, True] Translation: X:367.23, Y:4.56, Z:1.44 [[ 9.98962056e-01 -4.45123269e-02 -9.66766669e-03 3.67232227e+02] [ 4.45144995e-02 9.99008738e-01 9.54893744e-06 4.56486747e+00] [ 9.65765846e-03 -4.39890370e-04 9.99953267e-01 1.43741943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199254154 meters 0.05859226019424835 Centerline is valid? [True, True] Translation: X:367.29, Y:4.58, Z:1.44 [[ 9.99029963e-01 -4.28727701e-02 -1.00527454e-02 3.67293482e+02] [ 4.28750391e-02 9.99080443e-01 1.02029485e-05 4.57514462e+00] [ 1.00430639e-02 -4.41204902e-04 9.99949470e-01 1.43907959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259254154 meters 0.058940980414503685 Centerline is valid? [True, True] Translation: X:367.35, Y:4.57, Z:1.44 [[ 9.99226181e-01 -3.81039567e-02 -9.75335311e-03 3.67352757e+02] [ 3.81058663e-02 9.99273708e-01 9.96067536e-06 4.57418550e+00] [ 9.74588979e-03 -3.81612938e-04 9.99952435e-01 1.43891547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319254154 meters 0.05927881898251581 Centerline is valid? [True, True] Translation: X:367.41, Y:4.58, Z:1.44 [[ 9.99394979e-01 -3.33541332e-02 -9.85784064e-03 3.67412920e+02] [ 3.33558536e-02 9.99443539e-01 1.01123163e-05 4.57589119e+00] [ 9.85201785e-03 -3.38922887e-04 9.99951410e-01 1.43973343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379254154 meters 0.05892065184632703 Centerline is valid? [True, True] Translation: X:367.47, Y:4.58, Z:1.44 [[ 9.99602316e-01 -2.65479684e-02 -9.50872698e-03 3.67472445e+02] [ 2.65492612e-02 9.99647506e-01 9.73317899e-06 4.58077380e+00] [ 9.50511682e-03 -2.62178984e-04 9.99954791e-01 1.43975458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters 0.05986901262593037 Centerline is valid? [True, True] Translation: X:367.53, Y:4.58, Z:1.44 [[ 9.99720945e-01 -2.15586525e-02 -9.65698888e-03 3.67532372e+02] [ 2.15597525e-02 9.99767561e-01 9.81023821e-06 4.58162945e+00] [ 9.65453273e-03 -2.18009791e-04 9.99953370e-01 1.43907654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters 0.05977439610155703 Centerline is valid? [True, True] Translation: X:367.59, Y:4.59, Z:1.44 [[ 9.99811761e-01 -1.69357037e-02 -9.46706353e-03 3.67592654e+02] [ 1.69365535e-02 9.99856566e-01 9.59199822e-06 4.59022121e+00] [ 9.46554318e-03 -1.69929620e-04 9.99955186e-01 1.44148684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters 0.05911929457563171 Centerline is valid? [True, True] Translation: X:367.65, Y:4.59, Z:1.44 [[ 9.99840196e-01 -1.52327616e-02 -9.35662672e-03 3.67651858e+02] [ 1.52335167e-02 9.99883963e-01 9.43478751e-06 4.59102545e+00] [ 9.35539728e-03 -1.51967609e-04 9.99956226e-01 1.44217933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters 0.05852750652203618 Centerline is valid? [True, True] Translation: X:367.71, Y:4.60, Z:1.44 [[ 9.99892878e-01 -1.12432468e-02 -9.37136197e-03 3.67711342e+02] [ 1.12438279e-02 9.99936786e-01 9.32540723e-06 4.59571374e+00] [ 9.37066472e-03 -1.14694390e-04 9.99956088e-01 1.44308556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters 0.058961379293097624 Centerline is valid? [True, True] Translation: X:367.77, Y:4.59, Z:1.44 [[ 9.99901489e-01 -1.05799747e-02 -9.22366779e-03 3.67769910e+02] [ 1.05805076e-02 9.99944025e-01 8.98084593e-06 4.59442702e+00] [ 9.22305648e-03 -1.06571049e-04 9.99957461e-01 1.44259712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters 0.05865003599423709 Centerline is valid? [True, True] Translation: X:367.83, Y:4.59, Z:1.44 [[ 9.99873934e-01 -1.27087299e-02 -9.51864687e-03 3.67828522e+02] [ 1.27093912e-02 9.99919232e-01 8.98081175e-06 4.59339305e+00] [ 9.51776393e-03 -1.29955886e-04 9.99954697e-01 1.44285152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.799254154 meters 0.05889141846381238 Centerline is valid? [True, True] Translation: X:367.89, Y:4.59, Z:1.44 [[ 9.99795244e-01 -1.78678844e-02 -9.49781702e-03 3.67887368e+02] [ 1.78687734e-02 9.99840341e-01 8.73897142e-06 4.58582271e+00] [ 9.49614445e-03 -1.78451522e-04 9.99954895e-01 1.44261661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.859254154 meters 0.05993034166117272 Centerline is valid? [True, True] Translation: X:367.95, Y:4.58, Z:1.44 [[ 9.99702810e-01 -2.24899052e-02 -9.40718676e-03 3.67947202e+02] [ 2.24909808e-02 9.99747046e-01 8.54862555e-06 4.58229273e+00] [ 9.40461492e-03 -2.20122942e-04 9.99955751e-01 1.44311739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.919254154 meters 0.0580414706081295 Centerline is valid? [True, True] Translation: X:368.01, Y:4.58, Z:1.45 [[ 9.99491045e-01 -3.05169781e-02 -9.29332004e-03 3.68007546e+02] [ 3.05183743e-02 9.99534206e-01 8.43046038e-06 4.58386984e+00] [ 9.28873399e-03 -2.92043189e-04 9.99956816e-01 1.44504279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.979254154 meters 0.05842364952847437 Centerline is valid? [True, True] Translation: X:368.07, Y:4.58, Z:1.45 [[ 9.99259082e-01 -3.71603497e-02 -1.00197498e-02 3.68068318e+02] [ 3.71623065e-02 9.99309243e-01 9.12262424e-06 4.58351095e+00] [ 1.00124896e-02 -3.81472878e-04 9.99949801e-01 1.44513597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.039254154 meters 0.05840571264999137 Centerline is valid? [True, True] Translation: X:368.13, Y:4.58, Z:1.44 [[ 9.99138629e-01 -4.00935754e-02 -1.07006950e-02 3.68128643e+02] [ 4.00959757e-02 9.99195833e-01 9.78539754e-06 4.58324685e+00] [ 1.06916975e-02 -4.38831775e-04 9.99942746e-01 1.44494187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.099254154 meters 0.059096489869750295 Centerline is valid? [True, True] Translation: X:368.19, Y:4.58, Z:1.44 [[ 9.99188798e-01 -3.89344065e-02 -1.02887195e-02 3.68189394e+02] [ 3.89365654e-02 9.99241684e-01 9.53289435e-06 4.58105309e+00] [ 1.02805462e-02 -4.10132560e-04 9.99947070e-01 1.44421315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.159254154 meters 0.058333920110335974 Centerline is valid? [True, True] Translation: X:368.25, Y:4.58, Z:1.44 [[ 9.99460501e-01 -3.14714564e-02 -9.39433676e-03 3.68249893e+02] [ 3.14729275e-02 9.99504605e-01 8.76708484e-06 4.58381746e+00] [ 9.38940694e-03 -3.04429635e-04 9.99955872e-01 1.44438632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.219254154 meters 0.058631167778429645 Centerline is valid? [True, True] Translation: X:368.31, Y:4.59, Z:1.44 [[ 9.99806033e-01 -1.78552231e-02 -8.31193151e-03 3.68309454e+02] [ 1.78559044e-02 9.99840571e-01 7.74933660e-06 4.58887129e+00] [ 8.31046797e-03 -1.56164888e-04 9.99965455e-01 1.44486425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279254154 meters 0.05857726345517629 Centerline is valid? [True, True] Translation: X:368.37, Y:4.59, Z:1.44 [[ 9.99941091e-01 -8.07866061e-03 -7.24911924e-03 3.68369553e+02] [ 8.07892166e-03 9.99967365e-01 6.72964966e-06 4.59315484e+00] [ 7.24882830e-03 -6.52943197e-05 9.99973725e-01 1.44493754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339254154 meters 0.05903521304034558 Centerline is valid? [True, True] Translation: X:368.43, Y:4.60, Z:1.44 [[ 9.99967026e-01 2.82466218e-04 -8.11581728e-03 3.68427943e+02] [-2.82415482e-04 9.99999960e-01 7.39737441e-06 4.59684709e+00] [ 8.11581904e-03 -5.10509804e-06 9.99967066e-01 1.44422405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399254154 meters 0.05877301884214281 Centerline is valid? [True, True] Translation: X:368.49, Y:4.59, Z:1.45 [[ 9.99943817e-01 5.87714185e-03 -8.82169500e-03 3.68486633e+02] [-5.87730520e-03 9.99982728e-01 7.40800915e-06 4.59466995e+00] [ 8.82158617e-03 4.44402009e-05 9.99961088e-01 1.44702840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459254154 meters 0.05851811453393274 Centerline is valid? [True, True] Translation: X:368.55, Y:4.60, Z:1.44 [[ 9.99941228e-01 4.28651370e-03 -9.95821158e-03 3.68545028e+02] [-4.28665118e-03 9.99990812e-01 7.53872891e-06 4.59597117e+00] [ 9.95815240e-03 3.51490936e-05 9.99950416e-01 1.44291222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519254154 meters 0.05813023285908069 Centerline is valid? [True, True] Translation: X:368.60, Y:4.59, Z:1.44 [[ 9.99952379e-01 1.26360910e-04 -9.75822400e-03 3.68604035e+02] [-1.26298980e-04 9.99999992e-01 6.96264991e-06 4.59186804e+00] [ 9.75822480e-03 -5.72986460e-06 9.99952387e-01 1.44351458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579254154 meters 0.05848508621020036 Centerline is valid? [True, True] Translation: X:368.66, Y:4.58, Z:1.44 [[ 9.99930299e-01 -7.58473552e-03 -9.04812399e-03 3.68662531e+02] [ 7.58510209e-03 9.99971233e-01 6.19710847e-06 4.58405163e+00] [ 9.04781670e-03 -7.48276207e-05 9.99959065e-01 1.44476211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639254154 meters 0.05976764145105401 Centerline is valid? [True, True] Translation: X:368.72, Y:4.57, Z:1.44 [[ 9.99861108e-01 -1.46032847e-02 -8.03174646e-03 3.68721852e+02] [ 1.46037986e-02 9.99893359e-01 5.34182342e-06 4.57172366e+00] [ 8.03081193e-03 -1.22635089e-04 9.99967745e-01 1.44465163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699254154 meters 0.05999300004207639 Centerline is valid? [True, True] Translation: X:368.78, Y:4.57, Z:1.45 [[ 9.99776444e-01 -1.99872983e-02 -6.89707951e-03 3.68782474e+02] [ 1.99878049e-02 9.99800224e-01 4.53027826e-06 4.56503588e+00] [ 6.89561109e-03 -1.42386745e-04 9.99976215e-01 1.44602415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759254154 meters 0.058776916869487536 Centerline is valid? [True, True] Translation: X:368.84, Y:4.56, Z:1.45 [[ 9.99734867e-01 -2.21295833e-02 -6.36224240e-03 3.68844143e+02] [ 2.21300580e-02 9.99755100e-01 4.21778223e-06 4.56471755e+00] [ 6.36059095e-03 -1.45013457e-04 9.99979761e-01 1.44666874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819254154 meters 0.059446208762451394 Centerline is valid? [True, True] Translation: X:368.90, Y:4.56, Z:1.45 [[ 9.99688108e-01 -2.40991321e-02 -6.55124940e-03 3.68904058e+02] [ 2.40996783e-02 9.99709561e-01 4.42878702e-06 4.55726499e+00] [ 6.54923993e-03 -1.62310409e-04 9.99978540e-01 1.44638269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879254154 meters 0.059870602323455015 Centerline is valid? [True, True] Translation: X:368.97, Y:4.56, Z:1.45 [[ 9.99671241e-01 -2.47728119e-02 -6.61197026e-03 3.68965060e+02] [ 2.47733834e-02 9.99693093e-01 4.54379016e-06 4.55669104e+00] [ 6.60982843e-03 -1.68343171e-04 9.99978141e-01 1.44533687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters 0.058702024035213386 Centerline is valid? [True, True] Translation: X:369.03, Y:4.56, Z:1.44 [[ 9.99709112e-01 -2.33522314e-02 -6.03025933e-03 3.69026205e+02] [ 2.33526815e-02 9.99727289e-01 4.23643069e-06 4.55924105e+00] [ 6.02851588e-03 -1.45057924e-04 9.99981818e-01 1.44496348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters 0.059306788744082364 Centerline is valid? [True, True] Translation: X:369.09, Y:4.56, Z:1.45 [[ 9.99785838e-01 -1.99076690e-02 -5.65358704e-03 3.69086387e+02] [ 1.99080100e-02 9.99801816e-01 4.03376752e-06 4.56092528e+00] [ 5.65238628e-03 -1.16584571e-04 9.99984018e-01 1.44531760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters 0.0582204398071365 Centerline is valid? [True, True] Translation: X:369.15, Y:4.56, Z:1.44 [[ 9.99901994e-01 -1.28944295e-02 -5.45304043e-03 3.69145604e+02] [ 1.28946424e-02 9.99916861e-01 3.88143295e-06 4.56330881e+00] [ 5.45253702e-03 -7.41960588e-05 9.99985132e-01 1.44492411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters 0.05913634685479919 Centerline is valid? [True, True] Translation: X:369.21, Y:4.56, Z:1.44 [[ 9.99957726e-01 -7.42297186e-03 -5.42638517e-03 3.69205755e+02] [ 7.42310198e-03 9.99972448e-01 3.83841146e-06 4.56493039e+00] [ 5.42620717e-03 -4.41188597e-05 9.99985277e-01 1.44413943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters 0.059267198805518756 Centerline is valid? [True, True] Translation: X:369.27, Y:4.57, Z:1.44 [[ 9.99964171e-01 -6.51516330e-03 -5.40449037e-03 3.69265798e+02] [ 6.51527897e-03 9.99978775e-01 3.79772147e-06 4.56559606e+00] [ 5.40435092e-03 -3.90093479e-05 9.99985396e-01 1.44422412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters 0.058730146359352565 Centerline is valid? [True, True] Translation: X:369.32, Y:4.56, Z:1.44 [[ 9.99933202e-01 -9.81552070e-03 -6.10311518e-03 3.69324479e+02] [ 9.81572899e-03 9.99951825e-01 4.17531876e-06 4.55933247e+00] [ 6.10278017e-03 -6.40815644e-05 9.99981376e-01 1.44410047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.299254154 meters 0.05937863876081825 Centerline is valid? [True, True] Translation: X:369.38, Y:4.55, Z:1.44 [[ 9.99859406e-01 -1.57932029e-02 -5.63415435e-03 3.69384445e+02] [ 1.57934748e-02 9.99875275e-01 3.77909196e-06 4.55228506e+00] [ 5.63339195e-03 -9.27614356e-05 9.99984128e-01 1.44399225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.359254154 meters 0.05903650237875533 Centerline is valid? [True, True] Translation: X:369.45, Y:4.55, Z:1.44 [[ 9.99798399e-01 -1.93353855e-02 -5.41337642e-03 3.69445133e+02] [ 1.93356884e-02 9.99813048e-01 3.61197630e-06 4.55188766e+00] [ 5.41229454e-03 -1.08282608e-04 9.99985348e-01 1.44466900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.419254154 meters 0.0589284928262266 Centerline is valid? [True, True] Translation: X:369.51, Y:4.55, Z:1.45 [[ 9.99678662e-01 -2.47063260e-02 -5.67185980e-03 3.69505245e+02] [ 2.47067452e-02 9.99694742e-01 3.83628493e-06 4.54524022e+00] [ 5.67003364e-03 -1.43968247e-04 9.99983915e-01 1.44506312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.479254154 meters 0.05979796284045576 Centerline is valid? [True, True] Translation: X:369.57, Y:4.54, Z:1.44 [[ 9.99639581e-01 -2.62483763e-02 -5.63302257e-03 3.69566504e+02] [ 2.62488146e-02 9.99655441e-01 3.89294415e-06 4.54486197e+00] [ 5.63097947e-03 -1.51751706e-04 9.99984134e-01 1.44499936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.539254154 meters 0.059048308985847585 Centerline is valid? [True, True] Translation: X:369.63, Y:4.54, Z:1.45 [[ 9.99475404e-01 -3.19264205e-02 -5.44243401e-03 3.69627932e+02] [ 3.19269145e-02 9.99490206e-01 3.88910172e-06 4.53933020e+00] [ 5.43953533e-03 -1.77647187e-04 9.99985190e-01 1.44580081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.599254154 meters 0.060093019033012875 Centerline is valid? [True, True] Translation: X:369.69, Y:4.54, Z:1.45 [[ 9.99375930e-01 -3.48881297e-02 -5.52888477e-03 3.69688289e+02] [ 3.48886854e-02 9.99391205e-01 4.06177400e-06 4.53596868e+00] [ 5.52537710e-03 -1.96954760e-04 9.99984716e-01 1.44710382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.659254154 meters 0.060438622149032006 Centerline is valid? [True, True] Translation: X:369.75, Y:4.53, Z:1.45 [[ 9.99287697e-01 -3.72299463e-02 -6.16681388e-03 3.69748016e+02] [ 3.72306826e-02 9.99306698e-01 4.60435779e-06 4.52972703e+00] [ 6.16236699e-03 -2.34195768e-04 9.99980985e-01 1.44734504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.719254154 meters 0.05943127909205199 Centerline is valid? [True, True] Translation: X:369.81, Y:4.54, Z:1.45 [[ 9.99231180e-01 -3.86020953e-02 -6.85039184e-03 3.69809411e+02] [ 3.86030365e-02 9.99254625e-01 5.16193034e-06 4.54044221e+00] [ 6.84508647e-03 -2.69603888e-04 9.99976536e-01 1.44889329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779254154 meters 0.05913352194331975 Centerline is valid? [True, True] Translation: X:369.87, Y:4.54, Z:1.45 [[ 9.99044770e-01 -4.29070539e-02 -8.27843576e-03 3.69869940e+02] [ 4.29085770e-02 9.99079003e-01 6.38286695e-06 4.54112685e+00] [ 8.27053747e-03 -3.61592668e-04 9.99965733e-01 1.45042773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839254154 meters 0.05889888183143022 Centerline is valid? [True, True] Translation: X:369.93, Y:4.54, Z:1.45 [[ 9.98988338e-01 -4.41145676e-02 -8.72959092e-03 3.69931390e+02] [ 4.41163090e-02 9.99026402e-01 6.91829945e-06 4.53907893e+00] [ 8.72078661e-03 -3.92028631e-04 9.99961896e-01 1.45075638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899254154 meters 0.06125565891957288 Centerline is valid? [True, True] Translation: X:369.99, Y:4.53, Z:1.45 [[ 9.98814607e-01 -4.74324345e-02 -1.09336750e-02 3.69991712e+02] [ 4.74353674e-02 9.98874309e-01 8.92483623e-06 4.53210585e+00] [ 1.09209437e-02 -5.27557147e-04 9.99940226e-01 1.45085927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959254154 meters 0.058554097068071485 Centerline is valid? [True, True] Translation: X:370.05, Y:4.55, Z:1.45 [[ 9.98659033e-01 -5.06235541e-02 -1.08347253e-02 3.70052329e+02] [ 5.06266230e-02 9.98717650e-01 8.98972676e-06 4.54754393e+00] [ 1.08203763e-02 -5.57503227e-04 9.99941303e-01 1.45381392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019254154 meters 0.05887913573088829 Centerline is valid? [True, True] Translation: X:370.11, Y:4.55, Z:1.46 [[ 9.98609143e-01 -5.15127957e-02 -1.12343719e-02 3.70114622e+02] [ 5.15161548e-02 9.98672161e-01 9.62290896e-06 4.55316738e+00] [ 1.12189588e-02 -5.88361166e-04 9.99936892e-01 1.45524020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079254154 meters 0.060127027182 Centerline is valid? [True, True] Translation: X:370.17, Y:4.55, Z:1.45 [[ 9.98769299e-01 -4.83272589e-02 -1.11517981e-02 3.70174243e+02] [ 4.83303722e-02 9.98831405e-01 9.69019649e-06 4.54617111e+00] [ 1.11382979e-02 -5.48648825e-04 9.99937817e-01 1.45478664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139254154 meters 0.05982973707866059 Centerline is valid? [True, True] Translation: X:370.23, Y:4.56, Z:1.46 [[ 9.99078444e-01 -4.15828174e-02 -1.06363951e-02 3.70234577e+02] [ 4.15852680e-02 9.99134959e-01 9.23432165e-06 4.55923710e+00] [ 1.06268102e-02 -4.51543152e-04 9.99943432e-01 1.45661384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199254154 meters 0.06006189838494514 Centerline is valid? [True, True] Translation: X:370.30, Y:4.56, Z:1.46 [[ 9.99180320e-01 -3.91662320e-02 -1.02320477e-02 3.70295799e+02] [ 3.91683736e-02 9.99232625e-01 8.91808492e-06 4.56284468e+00] [ 1.02238466e-02 -4.09683440e-04 9.99947651e-01 1.45699027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259254154 meters 0.059870563961988504 Centerline is valid? [True, True] Translation: X:370.36, Y:4.56, Z:1.46 [[ 9.99444622e-01 -3.15365885e-02 -1.07652913e-02 3.70355018e+02] [ 3.15385167e-02 9.99502537e-01 9.35290784e-06 4.56368929e+00] [ 1.07596410e-02 -3.48869035e-04 9.99942053e-01 1.45594177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319254154 meters 0.05928029465579236 Centerline is valid? [True, True] Translation: X:370.42, Y:4.58, Z:1.46 [[ 9.99595972e-01 -2.66325829e-02 -9.92962951e-03 3.70415835e+02] [ 2.66339813e-02 9.99645253e-01 8.59542547e-06 4.57589228e+00] [ 9.92587808e-03 -2.73057519e-04 9.99950700e-01 1.45755706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379254154 meters 0.059423387623098914 Centerline is valid? [True, True] Translation: X:370.48, Y:4.58, Z:1.46 [[ 9.99752475e-01 -1.99352629e-02 -9.87800548e-03 3.70475124e+02] [ 1.99363195e-02 9.99801252e-01 8.50223894e-06 4.58193064e+00] [ 9.87587275e-03 -2.05431208e-04 9.99951211e-01 1.45800795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters 0.05889846263218902 Centerline is valid? [True, True] Translation: X:370.53, Y:4.59, Z:1.46 [[ 9.99825846e-01 -1.51932159e-02 -1.08371576e-02 3.70534640e+02] [ 1.51942083e-02 9.99884561e-01 9.24313172e-06 4.59225661e+00] [ 1.08357662e-02 -1.73903553e-04 9.99941276e-01 1.45949113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters 0.05985826454820778 Centerline is valid? [True, True] Translation: X:370.59, Y:4.59, Z:1.46 [[ 9.99839811e-01 -1.37335202e-02 -1.14779578e-02 3.70594586e+02] [ 1.37345357e-02 9.99905677e-01 9.64898391e-06 4.59108234e+00] [ 1.14767426e-02 -1.67291859e-04 9.99934126e-01 1.45773176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters 0.05927092162184743 Centerline is valid? [True, True] Translation: X:370.65, Y:4.60, Z:1.46 [[ 9.99828457e-01 -1.41958471e-02 -1.18967925e-02 3.70653408e+02] [ 1.41969603e-02 9.99899218e-01 9.12039430e-06 4.59961506e+00] [ 1.18954641e-02 -1.78017121e-04 9.99929231e-01 1.46075700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters 0.05882626581951058 Centerline is valid? [True, True] Translation: X:370.71, Y:4.60, Z:1.46 [[ 9.99811876e-01 -1.55530503e-02 -1.15894678e-02 3.70711533e+02] [ 1.55541934e-02 9.99879026e-01 8.49967206e-06 4.59997755e+00] [ 1.15879336e-02 -1.88762896e-04 9.99932840e-01 1.46079971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters 0.05936867067867221 Centerline is valid? [True, True] Translation: X:370.77, Y:4.59, Z:1.46 [[ 9.99743522e-01 -1.96064763e-02 -1.13346998e-02 3.70770595e+02] [ 1.96078307e-02 9.99807748e-01 8.36497112e-06 4.59399410e+00] [ 1.13323567e-02 -2.30611701e-04 9.99935760e-01 1.45921584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters 0.05956309616655693 Centerline is valid? [True, True] Translation: X:370.83, Y:4.60, Z:1.46 [[ 9.99587878e-01 -2.65892668e-02 -1.08206012e-02 3.70830731e+02] [ 2.65909102e-02 9.99646399e-01 8.01558290e-06 4.59554125e+00] [ 1.08165619e-02 -2.95741915e-04 9.99941456e-01 1.46134142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.799254154 meters 0.059234661380382435 Centerline is valid? [True, True] Translation: X:370.89, Y:4.60, Z:1.46 [[ 9.99411367e-01 -3.23729992e-02 -1.13538222e-02 3.70892039e+02] [ 3.23751826e-02 9.99475786e-01 8.51172717e-06 4.59731584e+00] [ 1.13475948e-02 -3.76088784e-04 9.99935543e-01 1.46282338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.859254154 meters 0.059212713393366194 Centerline is valid? [True, True] Translation: X:370.95, Y:4.60, Z:1.46 [[ 9.99062545e-01 -4.16728967e-02 -1.17218529e-02 3.70952907e+02] [ 4.16758638e-02 9.99131184e-01 8.87136941e-06 4.60174829e+00] [ 1.17112991e-02 -4.97381399e-04 9.99931297e-01 1.46402924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.919254154 meters 0.057847589049448624 Centerline is valid? [True, True] Translation: X:371.01, Y:4.61, Z:1.46 [[ 9.98818094e-01 -4.71869481e-02 -1.16536244e-02 3.71013196e+02] [ 4.71902556e-02 9.98885919e-01 8.84399819e-06 4.60579975e+00] [ 1.16402240e-02 -5.58771059e-04 9.99932094e-01 1.46497502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.979254154 meters 0.05883426277539347 Centerline is valid? [True, True] Translation: X:371.07, Y:4.59, Z:1.46 [[ 9.98549978e-01 -5.25895214e-02 -1.15014608e-02 3.71072839e+02] [ 5.25930998e-02 9.98616025e-01 8.68303736e-06 4.59267227e+00] [ 1.14850864e-02 -6.13567922e-04 9.99933856e-01 1.46328599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.039254154 meters 0.059577575466824614 Centerline is valid? [True, True] Translation: X:371.13, Y:4.60, Z:1.46 [[ 9.98512443e-01 -5.33853713e-02 -1.10861579e-02 3.71134983e+02] [ 5.33887478e-02 9.98573804e-01 8.62730459e-06 4.59638800e+00] [ 1.10698863e-02 -6.00490559e-04 9.99938547e-01 1.46404762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.099254154 meters 0.058893812762140514 Centerline is valid? [True, True] Translation: X:371.20, Y:4.60, Z:1.46 [[ 9.98700002e-01 -4.98427234e-02 -1.06774886e-02 3.71195409e+02] [ 4.98456551e-02 9.98756933e-01 8.45476455e-06 4.60341417e+00] [ 1.06637943e-02 -5.40670185e-04 9.99942994e-01 1.46444213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.159254154 meters 0.058546272149834405 Centerline is valid? [True, True] Translation: X:371.26, Y:4.61, Z:1.46 [[ 9.99011655e-01 -4.32439553e-02 -1.02797669e-02 3.71256519e+02] [ 4.32463238e-02 9.99064440e-01 8.12313832e-06 4.60925249e+00] [ 1.02697983e-02 -4.52677237e-04 9.99947162e-01 1.46467473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.219254154 meters 0.05881332585842832 Centerline is valid? [True, True] Translation: X:371.32, Y:4.61, Z:1.46 [[ 9.99209365e-01 -3.81456971e-02 -1.12049507e-02 3.71315957e+02] [ 3.81481903e-02 9.99272093e-01 8.78071154e-06 4.61413977e+00] [ 1.11964596e-02 -4.36222360e-04 9.99937223e-01 1.46472872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279254154 meters 0.05876309139411621 Centerline is valid? [True, True] Translation: X:371.38, Y:4.62, Z:1.46 [[ 9.99412985e-01 -3.16600727e-02 -1.30891454e-02 3.71376842e+02] [ 3.16629191e-02 9.99498604e-01 1.02400820e-05 4.62458946e+00] [ 1.30822584e-02 -4.24674624e-04 9.99914333e-01 1.46475300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339254154 meters 0.05758907238787282 Centerline is valid? [True, True] Translation: X:371.44, Y:4.63, Z:1.46 [[ 9.99507753e-01 -2.81562278e-02 -1.38375513e-02 3.71436360e+02] [ 2.81590727e-02 9.99603455e-01 1.07558823e-05 4.62615181e+00] [ 1.38317612e-02 -4.00403200e-04 9.99904256e-01 1.46367611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399254154 meters 0.05739148218050467 Centerline is valid? [True, True] Translation: X:371.50, Y:4.63, Z:1.46 [[ 9.99545775e-01 -2.67193453e-02 -1.39398727e-02 3.71497730e+02] [ 2.67220958e-02 9.99642901e-01 1.10517970e-05 4.62993712e+00] [ 1.39345995e-02 -3.83549391e-04 9.99902835e-01 1.46442673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459254154 meters 0.057124389194173196 Centerline is valid? [True, True] Translation: X:371.56, Y:4.64, Z:1.47 [[ 9.99680715e-01 -2.20315592e-02 -1.23724890e-02 3.71558532e+02] [ 2.20333682e-02 9.99757236e-01 9.90548848e-06 4.63871808e+00] [ 1.23692672e-02 -2.82509932e-04 9.99923458e-01 1.46621576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519254154 meters 0.05767090772087804 Centerline is valid? [True, True] Translation: X:371.62, Y:4.64, Z:1.47 [[ 9.99790570e-01 -1.71831592e-02 -1.11155650e-02 3.71618444e+02] [ 1.71843195e-02 9.99852339e-01 8.87201437e-06 4.63945332e+00] [ 1.11137712e-02 -1.99883577e-04 9.99938220e-01 1.46544176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579254154 meters 0.05765941707672749 Centerline is valid? [True, True] Translation: X:371.68, Y:4.65, Z:1.47 [[ 9.99821237e-01 -1.56072109e-02 -1.06728575e-02 3.71678342e+02] [ 1.56081884e-02 9.99878185e-01 8.29295986e-06 4.64719467e+00] [ 1.06714279e-02 -1.74875447e-04 9.99943043e-01 1.46788910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639254154 meters 0.0570214384549065 Centerline is valid? [True, True] Translation: X:371.74, Y:4.65, Z:1.47 [[ 9.99820304e-01 -1.61892401e-02 -9.86241698e-03 3.71738136e+02] [ 1.61901020e-02 9.99868932e-01 7.54987514e-06 4.64750969e+00] [ 9.86100211e-03 -1.67222055e-04 9.99951365e-01 1.46809030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699254154 meters 0.05689800703292373 Centerline is valid? [True, True] Translation: X:371.80, Y:4.65, Z:1.47 [[ 9.99797351e-01 -1.77964112e-02 -9.40987049e-03 3.71798822e+02] [ 1.77972673e-02 9.99841616e-01 7.24879364e-06 4.64956039e+00] [ 9.40825112e-03 -1.74717305e-04 9.99955726e-01 1.46857308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759254154 meters 0.056962132604859016 Centerline is valid? [True, True] Translation: X:371.86, Y:4.65, Z:1.47 [[ 9.99776547e-01 -1.84167060e-02 -1.03769265e-02 3.71858770e+02] [ 1.84177815e-02 9.99830378e-01 8.08324384e-06 4.64983300e+00] [ 1.03750175e-02 -1.99201403e-04 9.99946158e-01 1.46761490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819254154 meters 0.058199720571139084 Centerline is valid? [True, True] Translation: X:371.92, Y:4.65, Z:1.47 [[ 9.99806823e-01 -1.63881045e-02 -1.08511002e-02 3.71919332e+02] [ 1.63891621e-02 9.99865689e-01 8.54196150e-06 4.64791974e+00] [ 1.08495028e-02 -1.86380752e-04 9.99941125e-01 1.46592187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879254154 meters 0.057096578863418256 Centerline is valid? [True, True] Translation: X:371.98, Y:4.65, Z:1.47 [[ 9.99877793e-01 -1.16874784e-02 -1.03827711e-02 3.71979248e+02] [ 1.16881930e-02 9.99931691e-01 8.15274671e-06 4.65414325e+00] [ 1.03819666e-02 -1.29507584e-04 9.99946098e-01 1.46741573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters 0.056376646755189413 Centerline is valid? [True, True] Translation: X:372.04, Y:4.66, Z:1.47 [[ 9.99926131e-01 -8.25603587e-03 -8.92017919e-03 3.72038408e+02] [ 8.25642205e-03 9.99965915e-01 6.46712036e-06 4.65828152e+00] [ 8.91982175e-03 -8.01154067e-05 9.99960214e-01 1.46897107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters 0.05664083967099142 Centerline is valid? [True, True] Translation: X:372.10, Y:4.66, Z:1.47 [[ 9.99935364e-01 -7.93480402e-03 -8.14286894e-03 3.72096995e+02] [ 7.93510858e-03 9.99968517e-01 5.09483944e-06 4.65788588e+00] [ 8.14257215e-03 -6.97090593e-05 9.99966846e-01 1.46867413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters 0.05700521014041293 Centerline is valid? [True, True] Translation: X:372.16, Y:4.66, Z:1.47 [[ 9.99899266e-01 -1.10472627e-02 -8.91153557e-03 3.72156841e+02] [ 1.10477463e-02 9.99938972e-01 5.04237319e-06 4.65585259e+00] [ 8.91093601e-03 -1.03494249e-04 9.99960291e-01 1.46840367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters 0.057135914948585755 Centerline is valid? [True, True] Translation: X:372.22, Y:4.66, Z:1.47 [[ 9.99825503e-01 -1.61219424e-02 -9.43645187e-03 3.72217133e+02] [ 1.61227098e-02 9.99870021e-01 5.24624714e-06 4.65554295e+00] [ 9.43514074e-03 -1.57386506e-04 9.99955476e-01 1.46919226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters 0.05688342591423201 Centerline is valid? [True, True] Translation: X:372.28, Y:4.65, Z:1.47 [[ 9.99593749e-01 -2.64295772e-02 -1.06684242e-02 3.72277204e+02] [ 2.64311445e-02 9.99650636e-01 5.91516026e-06 4.64560525e+00] [ 1.06645407e-02 -2.87891417e-04 9.99943091e-01 1.46814781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters 0.056436690742868875 Centerline is valid? [True, True] Translation: X:372.34, Y:4.65, Z:1.47 [[ 9.99371843e-01 -3.39596792e-02 -1.01321027e-02 3.72337979e+02] [ 3.39614794e-02 9.99423143e-01 5.61729047e-06 4.64675569e+00] [ 1.01260672e-02 -3.49714959e-04 9.99948669e-01 1.46961586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.299254154 meters 0.05612767984291983 Centerline is valid? [True, True] Translation: X:372.40, Y:4.64, Z:1.47 [[ 9.99044616e-01 -4.26371554e-02 -9.58794315e-03 3.72397260e+02] [ 4.26391669e-02 9.99090537e-01 5.38544865e-06 4.64102938e+00] [ 9.57899365e-03 -4.14202212e-04 9.99954035e-01 1.47005128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.359254154 meters 0.057916810367293736 Centerline is valid? [True, True] Translation: X:372.46, Y:4.63, Z:1.47 [[ 9.98895381e-01 -4.60823477e-02 -9.18889318e-03 3.72456513e+02] [ 4.60843408e-02 9.98937552e-01 5.17352738e-06 4.62971426e+00] [ 9.17889206e-03 -4.28631898e-04 9.99957781e-01 1.46987952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.419254154 meters 0.05756460561411486 Centerline is valid? [True, True] Translation: X:372.52, Y:4.63, Z:1.47 [[ 9.98797302e-01 -4.82702050e-02 -8.59866968e-03 3.72517298e+02] [ 4.82720311e-02 9.98834226e-01 4.83111573e-06 4.63056127e+00] [ 8.58841237e-03 -4.19900555e-04 9.99963031e-01 1.47002158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.479254154 meters 0.05969127575638345 Centerline is valid? [True, True] Translation: X:372.58, Y:4.62, Z:1.47 [[ 9.98823580e-01 -4.77451687e-02 -8.47667608e-03 3.72578208e+02] [ 4.77469254e-02 9.98859465e-01 4.87873397e-06 4.62435568e+00] [ 8.46677520e-03 -4.09608215e-04 9.99964072e-01 1.47029335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.539254154 meters 0.05938715648801392 Centerline is valid? [True, True] Translation: X:372.64, Y:4.63, Z:1.47 [[ 9.98874734e-01 -4.66823099e-02 -8.36826468e-03 3.72639821e+02] [ 4.66839863e-02 9.98909708e-01 5.00473117e-06 4.62781212e+00] [ 8.35890720e-03 -3.95663053e-04 9.99964985e-01 1.47104178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.599254154 meters 0.05856217326945398 Centerline is valid? [True, True] Translation: X:372.70, Y:4.63, Z:1.47 [[ 9.98990303e-01 -4.39395006e-02 -9.36455936e-03 3.72700830e+02] [ 4.39414811e-02 9.99034107e-01 5.74321922e-06 4.63109608e+00] [ 9.35526184e-03 -4.17230028e-04 9.99956152e-01 1.47079141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.659254154 meters 0.056458927006784475 Centerline is valid? [True, True] Translation: X:372.76, Y:4.65, Z:1.47 [[ 9.99102517e-01 -4.11875764e-02 -9.88661015e-03 3.72761598e+02] [ 4.11896500e-02 9.99151346e-01 6.12372222e-06 4.65064206e+00] [ 9.87796762e-03 -4.13344238e-04 9.99951126e-01 1.47233694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.719254154 meters 0.05588384867756623 Centerline is valid? [True, True] Translation: X:372.82, Y:4.65, Z:1.47 [[ 9.99319372e-01 -3.52381895e-02 -1.09115809e-02 3.72821727e+02] [ 3.52403620e-02 9.99378866e-01 6.82952214e-06 4.64817403e+00] [ 1.09045627e-02 -3.91352936e-04 9.99940467e-01 1.47111265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779254154 meters 0.056134779970291405 Centerline is valid? [True, True] Translation: X:372.88, Y:4.65, Z:1.47 [[ 9.99499196e-01 -2.97418133e-02 -1.08065785e-02 3.72881556e+02] [ 2.97436238e-02 9.99557561e-01 6.82027058e-06 4.65001854e+00] [ 1.08015944e-02 -3.28243659e-04 9.99941607e-01 1.47141739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839254154 meters 0.05599255381839313 Centerline is valid? [True, True] Translation: X:372.94, Y:4.65, Z:1.47 [[ 9.99735804e-01 -2.07400486e-02 -9.90816945e-03 3.72941673e+02] [ 2.07411291e-02 9.99784880e-01 6.29246136e-06 4.65204460e+00] [ 9.90590750e-03 -2.11797421e-04 9.99950913e-01 1.47177561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899254154 meters 0.05588777361002863 Centerline is valid? [True, True] Translation: X:373.00, Y:4.65, Z:1.47 [[ 9.99853701e-01 -1.52321680e-02 -7.78193643e-03 3.73001070e+02] [ 1.52326677e-02 9.99883976e-01 4.93840699e-06 4.65448453e+00] [ 7.78095831e-03 -1.23477336e-04 9.99969720e-01 1.47311985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959254154 meters 0.05723216249351294 Centerline is valid? [True, True] Translation: X:373.06, Y:4.65, Z:1.47 [[ 9.99877721e-01 -1.38623566e-02 -7.23729946e-03 3.73061296e+02] [ 1.38627530e-02 9.99903907e-01 4.60263258e-06 4.65362539e+00] [ 7.23654021e-03 -1.04930964e-04 9.99973810e-01 1.47303451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019254154 meters 0.056315705968765915 Centerline is valid? [True, True] Translation: X:373.12, Y:4.66, Z:1.47 [[ 9.99864575e-01 -1.42781297e-02 -8.18336399e-03 3.73122438e+02] [ 1.42786512e-02 9.99898055e-01 5.30875858e-06 4.65710341e+00] [ 8.18245393e-03 -1.22155440e-04 9.99966516e-01 1.47263555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079254154 meters 0.05682999124828415 Centerline is valid? [True, True] Translation: X:373.18, Y:4.65, Z:1.47 [[ 9.99834816e-01 -1.58446420e-02 -8.90439536e-03 3.73183165e+02] [ 1.58453226e-02 9.99874455e-01 5.88785823e-06 4.65442262e+00] [ 8.90318417e-03 -1.46979903e-04 9.99960355e-01 1.47145863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139254154 meters 0.05681018479535259 Centerline is valid? [True, True] Translation: X:373.24, Y:4.65, Z:1.47 [[ 9.99794400e-01 -1.81507208e-02 -9.03935058e-03 3.73243701e+02] [ 1.81515171e-02 9.99835248e-01 6.05158319e-06 4.65207539e+00] [ 9.03775148e-03 -1.70128266e-04 9.99959144e-01 1.47083991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199254154 meters 0.05719156811219721 Centerline is valid? [True, True] Translation: X:373.30, Y:4.65, Z:1.47 [[ 9.99728814e-01 -2.09875018e-02 -1.00907632e-02 3.73304270e+02] [ 2.09886394e-02 9.99779714e-01 6.84168053e-06 4.64810082e+00] [ 1.00883968e-02 -2.18631215e-04 9.99949087e-01 1.47018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259254154 meters 0.057065438513076064 Centerline is valid? [True, True] Translation: X:373.37, Y:4.65, Z:1.47 [[ 9.99736352e-01 -2.12165137e-02 -8.77990684e-03 3.73365818e+02] [ 2.12173847e-02 9.99774886e-01 6.05622861e-06 4.64888997e+00] [ 8.77780186e-03 -1.92341293e-04 9.99961456e-01 1.47111272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319254154 meters 0.05716037200470405 Centerline is valid? [True, True] Translation: X:373.43, Y:4.65, Z:1.47 [[ 9.99753454e-01 -2.07442844e-02 -7.91871229e-03 3.73427654e+02] [ 2.07449795e-02 9.99784800e-01 5.64049740e-06 4.64767361e+00] [ 7.91689117e-03 -1.69912631e-04 9.99968646e-01 1.47136890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379254154 meters 0.05681081835997023 Centerline is valid? [True, True] Translation: X:373.49, Y:4.65, Z:1.47 [[ 9.99781268e-01 -1.96923436e-02 -7.04476162e-03 3.73489283e+02] [ 1.96928687e-02 9.99806077e-01 5.17481601e-06 4.64767349e+00] [ 7.04329358e-03 -1.43905250e-04 9.99975185e-01 1.47200496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters 0.05755454745612521 Centerline is valid? [True, True] Translation: X:373.55, Y:4.64, Z:1.47 [[ 9.99772899e-01 -2.01099049e-02 -7.05287015e-03 3.73550229e+02] [ 2.01104426e-02 9.99797765e-01 5.31479856e-06 4.64322795e+00] [ 7.05133693e-03 -1.47149932e-04 9.99975128e-01 1.47102538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters 0.05639444866507218 Centerline is valid? [True, True] Translation: X:373.61, Y:4.64, Z:1.47 [[ 9.99685325e-01 -2.38028472e-02 -7.91682415e-03 3.73611313e+02] [ 2.38036417e-02 9.99716653e-01 6.13681515e-06 4.64359627e+00] [ 7.91443487e-03 -1.94584130e-04 9.99968661e-01 1.46993468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters 0.05735930002595306 Centerline is valid? [True, True] Translation: X:373.67, Y:4.64, Z:1.47 [[ 9.99613609e-01 -2.65216169e-02 -8.32085224e-03 3.73672243e+02] [ 2.65225896e-02 9.99648214e-01 6.55486824e-06 4.64072353e+00] [ 8.31775123e-03 -2.27242885e-04 9.99965381e-01 1.46888173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters 0.056541232729266484 Centerline is valid? [True, True] Translation: X:373.73, Y:4.65, Z:1.47 [[ 9.99606875e-01 -2.67510909e-02 -8.39496526e-03 3.73734255e+02] [ 2.67520906e-02 9.99642099e-01 6.79052305e-06 4.64559025e+00] [ 8.39177903e-03 -2.31370724e-04 9.99964762e-01 1.46906792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters 0.056309183364925686 Centerline is valid? [True, True] Translation: X:373.79, Y:4.65, Z:1.47 [[ 9.99684911e-01 -2.38769718e-02 -7.74401635e-03 3.73794977e+02] [ 2.38777374e-02 9.99714886e-01 6.41532806e-06 4.64800230e+00] [ 7.74165525e-03 -1.91322896e-04 9.99970015e-01 1.46942526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters 0.056543574677778013 Centerline is valid? [True, True] Translation: X:373.86, Y:4.65, Z:1.47 [[ 9.99856077e-01 -1.57322946e-02 -6.34977178e-03 3.73855730e+02] [ 1.57326454e-02 9.99876234e-01 5.29378499e-06 4.65098978e+00] [ 6.34890261e-03 -1.05191731e-04 9.99979840e-01 1.46985769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.799254154 meters 0.05647340403243319 Centerline is valid? [True, True] Translation: X:373.92, Y:4.65, Z:1.47 [[ 9.99957786e-01 -6.93794823e-03 -6.02413102e-03 3.73915305e+02] [ 6.93810444e-03 9.99975931e-01 5.03220325e-06 4.65178320e+00] [ 6.02395111e-03 -4.68280410e-05 9.99981855e-01 1.47018544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.859254154 meters 0.056719910024693655 Centerline is valid? [True, True] Translation: X:373.97, Y:4.66, Z:1.47 [[ 9.99980724e-01 -2.89753328e-03 -5.49142487e-03 3.73974798e+02] [ 2.89760203e-03 9.99995802e-01 4.56344929e-06 4.65537333e+00] [ 5.49138860e-03 -2.04753252e-05 9.99984922e-01 1.47025309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.919254154 meters 0.05575918357399394 Centerline is valid? [True, True] Translation: X:374.03, Y:4.66, Z:1.47 [[ 9.99980562e-01 -7.50089220e-04 -6.18967183e-03 3.74033542e+02] [ 7.50133423e-04 9.99999719e-01 4.81978649e-06 4.65567703e+00] [ 6.18966647e-03 -9.46277251e-06 9.99980844e-01 1.46969455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.979254154 meters 0.056875126388597104 Centerline is valid? [True, True] Translation: X:374.09, Y:4.65, Z:1.47 [[ 9.99968710e-01 -3.11391692e-03 -7.27209635e-03 3.74092383e+02] [ 3.11403602e-03 9.99995151e-01 5.05525290e-06 4.65210997e+00] [ 7.27204535e-03 -2.77006647e-05 9.99973558e-01 1.46890212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.039254154 meters 0.057466077169724426 Centerline is valid? [True, True] Translation: X:374.15, Y:4.65, Z:1.47 [[ 9.99949022e-01 -6.93103259e-03 -7.34258708e-03 3.74151405e+02] [ 6.93125560e-03 9.99975979e-01 4.92577921e-06 4.64774828e+00] [ 7.34237656e-03 -5.58188760e-05 9.99973043e-01 1.46856075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.099254154 meters 0.05637126629808997 Centerline is valid? [True, True] Translation: X:374.21, Y:4.64, Z:1.47 [[ 9.99877898e-01 -1.43761269e-02 -6.12499524e-03 3.74211178e+02] [ 1.43764211e-02 9.99896654e-01 4.01033449e-06 4.64305111e+00] [ 6.12430460e-03 -9.20653559e-05 9.99981242e-01 1.46984554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.159254154 meters 0.05688154292831736 Centerline is valid? [True, True] Translation: X:374.27, Y:4.64, Z:1.47 [[ 9.99800119e-01 -1.94211584e-02 -4.74767904e-03 3.74272313e+02] [ 1.94213919e-02 9.99811387e-01 3.08951215e-06 4.63949837e+00] [ 4.74672357e-03 -9.52954302e-05 9.99988730e-01 1.47096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.219254154 meters 0.057337165968385964 Centerline is valid? [True, True] Translation: X:374.33, Y:4.63, Z:1.47 [[ 9.99638761e-01 -2.67236192e-02 -2.86283094e-03 3.74332138e+02] [ 2.67237340e-02 9.99642857e-01 1.84162275e-06 4.62898710e+00] [ 2.86175928e-03 -7.83464900e-05 9.99995902e-01 1.47233300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279254154 meters 0.057259185714214574 Centerline is valid? [True, True] Translation: X:374.39, Y:4.63, Z:1.47 [[ 9.99378228e-01 -3.51775471e-02 -2.38701750e-03 3.74392724e+02] [ 3.51776513e-02 9.99381075e-01 1.65836704e-06 4.62587667e+00] [ 2.38548177e-03 -8.56270051e-05 9.99997151e-01 1.47200095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339254154 meters 0.05827404564203239 Centerline is valid? [True, True] Translation: X:374.45, Y:4.62, Z:1.47 [[ 9.99132281e-01 -4.15098646e-02 -3.40834872e-03 3.74451854e+02] [ 4.15101138e-02 9.99138084e-01 2.37457261e-06 4.61818165e+00] [ 3.40531244e-03 -1.43853455e-04 9.99994192e-01 1.47057489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399254154 meters 0.05580390435877339 Centerline is valid? [True, True] Translation: X:374.51, Y:4.62, Z:1.47 [[ 9.98676142e-01 -5.12166295e-02 -4.77697442e-03 3.74512643e+02] [ 5.12172300e-02 9.98687536e-01 3.37466173e-06 4.62482001e+00] [ 4.77053197e-03 -2.48033592e-04 9.99988590e-01 1.46891164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459254154 meters 0.05510182214311131 Centerline is valid? [True, True] Translation: X:374.57, Y:4.63, Z:1.47 [[ 9.98393011e-01 -5.65245225e-02 -4.04636058e-03 3.74572813e+02] [ 5.65249968e-02 9.98401184e-01 2.86704089e-06 4.62615123e+00] [ 4.03972914e-03 -2.31582952e-04 9.99991813e-01 1.46806428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519254154 meters 0.056165416395698636 Centerline is valid? [True, True] Translation: X:374.63, Y:4.62, Z:1.47 [[ 9.98431707e-01 -5.58814979e-02 -3.37415707e-03 3.74634093e+02] [ 5.58818239e-02 9.98437390e-01 2.33752568e-06 4.62334199e+00] [ 3.36875395e-03 -1.90887911e-04 9.99994308e-01 1.46842479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579254154 meters 0.05812544196306109 Centerline is valid? [True, True] Translation: X:374.69, Y:4.62, Z:1.47 [[ 9.98609064e-01 -5.26312579e-02 -3.14441368e-03 3.74693971e+02] [ 5.26315262e-02 9.98614001e-01 2.57513013e-06 4.61616500e+00] [ 3.13991999e-03 -1.68066839e-04 9.99995056e-01 1.46817890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639254154 meters 0.05611599821706269 Centerline is valid? [True, True] Translation: X:374.75, Y:4.63, Z:1.47 [[ 9.98933630e-01 -4.60274343e-02 -3.61633656e-03 3.74754868e+02] [ 4.60277461e-02 9.98940162e-01 2.99531077e-06 4.62940710e+00] [ 3.61236596e-03 -1.69443937e-04 9.99993461e-01 1.46719492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699254154 meters 0.056306220590370534 Centerline is valid? [True, True] Translation: X:374.81, Y:4.63, Z:1.47 [[ 9.99221327e-01 -3.93016836e-02 -3.48098861e-03 3.74814016e+02] [ 3.93019318e-02 9.99227381e-01 2.88348782e-06 4.62749922e+00] [ 3.47818581e-03 -1.39690819e-04 9.99993941e-01 1.46703544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759254154 meters 0.055133975654825695 Centerline is valid? [True, True] Translation: X:374.87, Y:4.64, Z:1.47 [[ 9.99396800e-01 -3.46265803e-02 -2.65245690e-03 3.74874719e+02] [ 3.46267079e-02 9.99400316e-01 2.16568613e-06 4.64329487e+00] [ 2.65079127e-03 -9.40102301e-05 9.99996482e-01 1.46689191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819254154 meters 0.05618382927649585 Centerline is valid? [True, True] Translation: X:374.93, Y:4.64, Z:1.47 [[ 9.99572587e-01 -2.91265232e-02 -2.50792653e-03 3.74933980e+02] [ 2.91266200e-02 9.99575730e-01 2.07385142e-06 4.63831700e+00] [ 2.50680209e-03 -7.51203880e-05 9.99996855e-01 1.46709845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879254154 meters 0.05646756520545015 Centerline is valid? [True, True] Translation: X:374.99, Y:4.64, Z:1.47 [[ 9.99793441e-01 -2.01978785e-02 -2.26276065e-03 3.74994774e+02] [ 2.01979343e-02 9.99796001e-01 1.81164249e-06 4.64377898e+00] [ 2.26226246e-03 -4.75143594e-05 9.99997440e-01 1.46683807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters 0.056050901307327615 Centerline is valid? [True, True] Translation: X:375.06, Y:4.65, Z:1.47 [[ 9.99933647e-01 -1.13947411e-02 -1.69178314e-03 3.75055809e+02] [ 1.13947598e-02 9.99935078e-01 1.36263871e-06 4.64853646e+00] [ 1.69165778e-03 -2.06400107e-05 9.99998569e-01 1.46641202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters 0.05629405289298141 Centerline is valid? [True, True] Translation: X:375.12, Y:4.65, Z:1.47 [[ 9.99992504e-01 -3.73016853e-03 -1.03838663e-03 3.75116958e+02] [ 3.73017140e-03 9.99993043e-01 8.27393359e-07 4.65446981e+00] [ 1.03837632e-03 -4.70074726e-06 9.99999461e-01 1.46569635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters 0.05633965010541584 Centerline is valid? [True, True] Translation: X:375.18, Y:4.66, Z:1.47 [[ 9.99998131e-01 1.66480815e-03 -9.83256877e-04 3.75176955e+02] [-1.66480814e-03 9.99998614e-01 8.22504536e-07 4.65681619e+00] [ 9.83256884e-04 8.14431058e-07 9.99999517e-01 1.46604563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters 0.056245140049340815 Centerline is valid? [True, True] Translation: X:375.24, Y:4.66, Z:1.47 [[ 9.99996176e-01 2.69229197e-03 -6.31504158e-04 3.75236345e+02] [-2.69229213e-03 9.99996376e-01 6.05300506e-07 4.65587747e+00] [ 6.31503498e-04 1.09489548e-06 9.99999801e-01 1.46617072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters 0.056842311144889704 Centerline is valid? [True, True] Translation: X:375.30, Y:4.65, Z:1.47 [[ 9.99997506e-01 2.16884121e-03 -5.33670059e-04 3.75296277e+02] [-2.16884124e-03 9.99997648e-01 5.11379184e-07 4.65486000e+00] [ 5.33669913e-04 6.46067728e-07 9.99999858e-01 1.46648327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters 0.05545455003330896 Centerline is valid? [True, True] Translation: X:375.36, Y:4.65, Z:1.47 [[ 9.99996847e-01 -2.46662149e-03 -4.71621912e-04 3.75356176e+02] [ 2.46662198e-03 9.99996958e-01 4.53606974e-07 4.64907703e+00] [ 4.71619358e-04 -1.61691851e-06 9.99999889e-01 1.46541702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.299254154 meters 0.05606985067927953 Centerline is valid? [True, True] Translation: X:375.42, Y:4.64, Z:1.47 [[ 9.99948680e-01 -1.00807173e-02 -1.00844244e-03 3.75416259e+02] [ 1.00807232e-02 9.99949188e-01 7.49917494e-07 4.63856553e+00] [ 1.00838364e-03 -1.09157081e-05 9.99999492e-01 1.46627050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.359254154 meters 0.056996117648134295 Centerline is valid? [True, True] Translation: X:375.48, Y:4.63, Z:1.47 [[ 9.99831924e-01 -1.83277386e-02 -4.65702213e-04 3.75476208e+02] [ 1.83277407e-02 9.99832033e-01 3.71145629e-07 4.62668478e+00] [ 4.65617188e-04 -8.90635267e-06 9.99999892e-01 1.46668938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.419254154 meters 0.05687031731616358 Centerline is valid? [True, True] Translation: X:375.54, Y:4.62, Z:1.47 [[ 9.99717390e-01 -2.37706324e-02 -3.12519715e-04 3.75537213e+02] [ 2.37706336e-02 9.99717439e-01 2.61518106e-07 4.62314932e+00] [ 3.12425192e-04 -7.69023584e-06 9.99999951e-01 1.46690883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.479254154 meters 0.05727252499177269 Centerline is valid? [True, True] Translation: X:375.60, Y:4.61, Z:1.47 [[ 9.99497096e-01 -3.17072501e-02 -4.53711404e-04 3.75598012e+02] [ 3.17072535e-02 9.99497199e-01 3.83506607e-07 4.61229172e+00] [ 4.53471118e-04 -1.47692563e-05 9.99999897e-01 1.46627600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.539254154 meters 0.05960728258750649 Centerline is valid? [True, True] Translation: X:375.66, Y:4.60, Z:1.47 [[ 9.99278121e-01 -3.79631651e-02 -1.42651250e-03 3.75657425e+02] [ 3.79632055e-02 9.99279138e-01 1.22071498e-06 4.59703345e+00] [ 1.42543783e-03 -5.53748208e-05 9.99998983e-01 1.46653483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.599254154 meters 0.05729494050113195 Centerline is valid? [True, True] Translation: X:375.72, Y:4.60, Z:1.47 [[ 9.99171349e-01 -4.06689382e-02 -1.62898995e-03 3.75718333e+02] [ 4.06689944e-02 9.99172674e-01 1.39345018e-06 4.60082812e+00] [ 1.62758557e-03 -6.76416787e-05 9.99998673e-01 1.46515557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.659254154 meters 0.057614243327142746 Centerline is valid? [True, True] Translation: X:375.78, Y:4.60, Z:1.46 [[ 9.99019379e-01 -4.41896075e-02 -2.74926761e-03 3.75778118e+02] [ 4.41897810e-02 9.99023155e-01 2.36379502e-06 4.59852648e+00] [ 2.74647754e-03 -1.23851011e-04 9.99996221e-01 1.46409154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.719254154 meters 0.057207387737769504 Centerline is valid? [True, True] Translation: X:375.84, Y:4.60, Z:1.46 [[ 9.98771169e-01 -4.95167917e-02 -2.05887967e-03 3.75838945e+02] [ 4.95169003e-02 9.98773286e-01 1.77241439e-06 4.59680377e+00] [ 2.05626625e-03 -1.03719576e-04 9.99997880e-01 1.46380536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779254154 meters 0.05770608548096287 Centerline is valid? [True, True] Translation: X:375.90, Y:4.59, Z:1.46 [[ 9.98583882e-01 -5.31319307e-02 -2.68844271e-03 3.75898963e+02] [ 5.31321288e-02 9.98587491e-01 2.28337878e-06 4.59371427e+00] [ 2.68452394e-03 -1.45122830e-04 9.99996386e-01 1.46370770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839254154 meters 0.055636762932335375 Centerline is valid? [True, True] Translation: X:375.96, Y:4.60, Z:1.46 [[ 9.98336672e-01 -5.75489130e-02 -3.46586108e-03 3.75959327e+02] [ 5.75492693e-02 9.98342667e-01 3.10583541e-06 4.60370077e+00] [ 3.45993826e-03 -2.02558442e-04 9.99993994e-01 1.46277084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899254154 meters 0.05947712538164835 Centerline is valid? [True, True] Translation: X:376.02, Y:4.58, Z:1.46 [[ 9.98188426e-01 -5.99589561e-02 -4.97884853e-03 3.76019043e+02] [ 5.99597215e-02 9.98200797e-01 4.46263086e-06 4.58411428e+00] [ 4.96962300e-03 -3.02984918e-04 9.99987605e-01 1.46275959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959254154 meters 0.06206341253545015 Centerline is valid? [True, True] Translation: X:376.08, Y:4.58, Z:1.46 [[ 9.98098557e-01 -6.14190408e-02 -5.19344979e-03 3.76079772e+02] [ 6.14198932e-02 9.98112016e-01 4.64609340e-06 4.58030621e+00] [ 5.18335928e-03 -3.23618391e-04 9.99986514e-01 1.46264145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019254154 meters 0.059216908029272444 Centerline is valid? [True, True] Translation: X:376.14, Y:4.59, Z:1.46 [[ 9.98110937e-01 -6.12008334e-02 -5.38656127e-03 3.76142148e+02] [ 6.12017478e-02 9.98125416e-01 4.92582689e-06 4.58764986e+00] [ 5.37616225e-03 -3.34583486e-04 9.99985492e-01 1.46324005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079254154 meters 0.06061286037918574 Centerline is valid? [True, True] Translation: X:376.20, Y:4.58, Z:1.46 [[ 9.98194323e-01 -5.99113803e-02 -4.32655668e-03 3.76201714e+02] [ 5.99119586e-02 9.98203665e-01 4.06547990e-06 4.58442048e+00] [ 4.31854117e-03 -2.63270624e-04 9.99990640e-01 1.46476790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139254154 meters 0.05667815641294604 Centerline is valid? [True, True] Translation: X:376.26, Y:4.61, Z:1.47 [[ 9.98420320e-01 -5.61372246e-02 -2.34019620e-03 3.76262852e+02] [ 5.61373836e-02 9.98423054e-01 2.23728356e-06 4.60535206e+00] [ 2.33638024e-03 -1.33606241e-04 9.99997262e-01 1.46650447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199254154 meters 0.060815583925219206 Centerline is valid? [True, True] Translation: X:376.32, Y:4.59, Z:1.47 [[ 9.98641235e-01 -5.20773211e-02 -1.90713826e-03 3.76322272e+02] [ 5.20774194e-02 9.98643051e-01 1.89285876e-06 4.59459649e+00] [ 1.90445180e-03 -1.01209126e-04 9.99998181e-01 1.46797472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259254154 meters 0.059362064452193934 Centerline is valid? [True, True] Translation: X:376.38, Y:4.60, Z:1.47 [[ 9.98974898e-01 -4.52075266e-02 -2.33094289e-03 3.76383113e+02] [ 4.52076547e-02 9.98977611e-01 2.27053747e-06 4.60296005e+00] [ 2.32845712e-03 -1.07644671e-04 9.99997283e-01 1.46790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319254154 meters 0.054467052838532856 Centerline is valid? [True, True] Translation: X:376.44, Y:4.63, Z:1.47 [[ 9.99284415e-01 -3.76782389e-02 -3.31782640e-03 3.76443579e+02] [ 3.76784570e-02 9.99289915e-01 3.22614992e-06 4.63047190e+00] [ 3.31534891e-03 -1.28234421e-04 9.99994496e-01 1.46649153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379254154 meters 0.05563259186661505 Centerline is valid? [True, True] Translation: X:376.50, Y:4.63, Z:1.47 [[ 9.99461180e-01 -3.23550194e-02 -5.52286193e-03 3.76503106e+02] [ 3.23555424e-02 9.99476422e-01 5.34886221e-06 4.62613777e+00] [ 5.51979722e-03 -1.84041173e-04 9.99984749e-01 1.46616983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters 0.0545814404717428 Centerline is valid? [True, True] Translation: X:376.56, Y:4.64, Z:1.47 [[ 9.99663383e-01 -2.53199574e-02 -5.65859422e-03 3.76563846e+02] [ 2.53203937e-02 9.99679387e-01 5.45551479e-06 4.63505610e+00] [ 5.65664187e-03 -1.48731512e-04 9.99983990e-01 1.46682286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters 0.05575217393075249 Centerline is valid? [True, True] Translation: X:376.62, Y:4.64, Z:1.47 [[ 9.99776266e-01 -2.06802111e-02 -4.44364794e-03 3.76624903e+02] [ 2.06804345e-02 9.99786137e-01 4.31530642e-06 4.63967292e+00] [ 4.44260837e-03 -9.62109111e-05 9.99990127e-01 1.46794406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters 0.056074995079088606 Centerline is valid? [True, True] Translation: X:376.68, Y:4.64, Z:1.47 [[ 9.99822516e-01 -1.85384798e-02 -3.35568284e-03 3.76684920e+02] [ 1.85385953e-02 9.99828145e-01 3.30334422e-06 4.63770847e+00] [ 3.35504491e-03 -6.55124041e-05 9.99994370e-01 1.46926523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters 0.056126246672829914 Centerline is valid? [True, True] Translation: X:376.75, Y:4.64, Z:1.47 [[ 9.99780870e-01 -2.07409812e-02 -2.83257671e-03 3.76746973e+02] [ 2.07410723e-02 9.99784881e-01 2.77053303e-06 4.64246887e+00] [ 2.83190991e-03 -6.15206042e-05 9.99995988e-01 1.46944775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters 0.058014545144921506 Centerline is valid? [True, True] Translation: X:376.81, Y:4.63, Z:1.47 [[ 9.99704343e-01 -2.41318090e-02 -2.98026925e-03 3.76807428e+02] [ 2.41319254e-02 9.99708783e-01 3.07814240e-06 4.62938949e+00] [ 2.97932706e-03 -7.49968674e-05 9.99995559e-01 1.46984519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters 0.056474877023795174 Centerline is valid? [True, True] Translation: X:376.87, Y:4.64, Z:1.47 [[ 9.99566188e-01 -2.91737358e-02 -4.04100256e-03 3.76867749e+02] [ 2.91739910e-02 9.99574349e-01 4.21780138e-06 4.63527078e+00] [ 4.03915945e-03 -1.22108144e-04 9.99991835e-01 1.46935310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.799254154 meters 0.05777229371947899 Centerline is valid? [True, True] Translation: X:376.93, Y:4.63, Z:1.47 [[ 9.99310412e-01 -3.67367743e-02 -5.39532663e-03 3.76927934e+02] [ 3.67373393e-02 9.99324956e-01 5.62409194e-06 4.63053668e+00] [ 5.39147794e-03 -2.03830159e-04 9.99985445e-01 1.46844417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.859254154 meters 0.055002781586254226 Centerline is valid? [True, True] Translation: X:376.99, Y:4.64, Z:1.47 [[ 9.99096067e-01 -4.20651002e-02 -6.12993886e-03 3.76988190e+02] [ 4.20659295e-02 9.99114837e-01 6.36267479e-06 4.64206387e+00] [ 6.12424522e-03 -2.64218499e-04 9.99981212e-01 1.46935585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.919254154 meters 0.05500382202447378 Centerline is valid? [True, True] Translation: X:377.05, Y:4.64, Z:1.47 [[ 9.99057238e-01 -4.31017244e-02 -5.18426029e-03 3.77049004e+02] [ 4.31023316e-02 9.99070663e-01 5.41113110e-06 4.63772214e+00] [ 5.17920913e-03 -2.28859736e-04 9.99986562e-01 1.46980818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.979254154 meters 0.05835749794574179 Centerline is valid? [True, True] Translation: X:377.11, Y:4.63, Z:1.47 [[ 9.99065298e-01 -4.30061311e-02 -4.35923452e-03 3.77110547e+02] [ 4.30065599e-02 9.99074790e-01 4.64091283e-06 4.62517504e+00] [ 4.35500172e-03 -1.92112255e-04 9.99990498e-01 1.47022297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.039254154 meters 0.05493717801096938 Centerline is valid? [True, True] Translation: X:377.17, Y:4.64, Z:1.47 [[ 9.99046389e-01 -4.33792288e-02 -4.95526844e-03 3.77173187e+02] [ 4.33797882e-02 9.99058654e-01 5.42620721e-06 4.64219828e+00] [ 4.95036843e-03 -2.20379528e-04 9.99987723e-01 1.47059202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.099254154 meters 0.05521411945884148 Centerline is valid? [True, True] Translation: X:377.23, Y:4.65, Z:1.47 [[ 9.99006255e-01 -4.40890900e-02 -6.53104693e-03 3.77234854e+02] [ 4.40900788e-02 9.99027560e-01 7.43379021e-06 4.64534813e+00] [ 6.52436813e-03 -2.95380777e-04 9.99978672e-01 1.47075592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.159254154 meters 0.055572446385412845 Centerline is valid? [True, True] Translation: X:377.30, Y:4.64, Z:1.47 [[ 9.98945505e-01 -4.52496955e-02 -7.76813758e-03 3.77295068e+02] [ 4.52511307e-02 9.98975643e-01 8.99413134e-06 4.64286003e+00] [ 7.75977325e-03 -3.60501656e-04 9.99969828e-01 1.47060431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.219254154 meters 0.05445132581569632 Centerline is valid? [True, True] Translation: X:377.36, Y:4.65, Z:1.47 [[ 9.98972343e-01 -4.43539100e-02 -9.32675956e-03 3.77357376e+02] [ 4.43559420e-02 9.99015791e-01 1.10208799e-05 4.65119978e+00] [ 9.31709126e-03 -4.24706760e-04 9.99956505e-01 1.47202485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279254154 meters 0.055571970340642644 Centerline is valid? [True, True] Translation: X:377.42, Y:4.65, Z:1.47 [[ 9.99105554e-01 -4.12448670e-02 -9.32483451e-03 3.77417552e+02] [ 4.12467647e-02 9.99148990e-01 1.12014553e-05 4.64979850e+00] [ 9.31643698e-03 -3.95810691e-04 9.99956523e-01 1.47209021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339254154 meters 0.05532448795099482 Centerline is valid? [True, True] Translation: X:377.48, Y:4.65, Z:1.47 [[ 9.99412568e-01 -3.31343705e-02 -8.75404698e-03 3.77477727e+02] [ 3.31357326e-02 9.99450861e-01 1.05676745e-05 4.65435417e+00] [ 8.74888964e-03 -3.00633227e-04 9.99961683e-01 1.47298522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399254154 meters 0.055416900860247 Centerline is valid? [True, True] Translation: X:377.54, Y:4.66, Z:1.47 [[ 9.99716720e-01 -2.26213172e-02 -7.39971664e-03 3.77537127e+02] [ 2.26220025e-02 9.99744090e-01 8.91300293e-06 4.65747318e+00] [ 7.39762135e-03 -1.76306886e-04 9.99972622e-01 1.47389760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459254154 meters 0.055866667332141684 Centerline is valid? [True, True] Translation: X:377.60, Y:4.66, Z:1.48 [[ 9.99916356e-01 -1.14708363e-02 -5.97502585e-03 3.77596727e+02] [ 1.14710839e-02 9.99934205e-01 7.18233902e-06 4.66359958e+00] [ 5.97455034e-03 -7.57217614e-05 9.99982149e-01 1.47534338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519254154 meters 0.05638152707330291 Centerline is valid? [True, True] Translation: X:377.66, Y:4.67, Z:1.48 [[ 9.99980566e-01 -2.47714678e-03 -5.72118486e-03 3.77656253e+02] [ 2.47722675e-03 9.99996932e-01 6.89075815e-06 4.66929372e+00] [ 5.72115023e-03 -2.10632964e-05 9.99983634e-01 1.47608053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579254154 meters 0.05574019865944842 Centerline is valid? [True, True] Translation: X:377.72, Y:4.67, Z:1.48 [[ 9.99981051e-01 -2.82808300e-04 -6.14957266e-03 3.77715575e+02] [ 2.82858171e-04 9.99999960e-01 7.23984768e-06 4.67139602e+00] [ 6.14957036e-03 -8.97916736e-06 9.99981091e-01 1.47529146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639254154 meters 0.05579039549392358 Centerline is valid? [True, True] Translation: X:377.77, Y:4.67, Z:1.47 [[ 9.99963257e-01 -3.31197797e-03 -7.90667309e-03 3.77774246e+02] [ 3.31215197e-03 9.99994515e-01 8.91194880e-06 4.66754174e+00] [ 7.90660020e-03 -3.50997242e-05 9.99968742e-01 1.47327461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699254154 meters 0.05562942543527735 Centerline is valid? [True, True] Translation: X:377.83, Y:4.66, Z:1.47 [[ 9.99896935e-01 -1.12197102e-02 -8.95751029e-03 3.77834061e+02] [ 1.12202495e-02 9.99937051e-01 9.95422895e-06 4.65975263e+00] [ 8.95683474e-03 -1.10458704e-04 9.99959881e-01 1.47228403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759254154 meters 0.05626245796352132 Centerline is valid? [True, True] Translation: X:377.89, Y:4.65, Z:1.47 [[ 9.99808644e-01 -1.73773634e-02 -8.98344301e-03 3.77894404e+02] [ 1.73781537e-02 9.99848988e-01 9.91375958e-06 4.65450191e+00] [ 8.98191413e-03 -1.66027516e-04 9.99959648e-01 1.47254629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819254154 meters 0.05559457568705421 Centerline is valid? [True, True] Translation: X:377.96, Y:4.66, Z:1.47 [[ 9.99627808e-01 -2.60313077e-02 -8.16189579e-03 3.77955333e+02] [ 2.60322483e-02 9.99661104e-01 9.00378701e-06 4.65604706e+00] [ 8.15889537e-03 -2.21472934e-04 9.99966691e-01 1.47481972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879254154 meters 0.056503822104619655 Centerline is valid? [True, True] Translation: X:378.02, Y:4.65, Z:1.47 [[ 9.99492144e-01 -3.08864569e-02 -7.84098221e-03 3.78015103e+02] [ 3.08874742e-02 9.99522868e-01 8.64552612e-06 4.64749401e+00] [ 7.83697400e-03 -2.50829271e-04 9.99969259e-01 1.47448921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters 0.05546526054563522 Centerline is valid? [True, True] Translation: X:378.08, Y:4.65, Z:1.48 [[ 9.99298815e-01 -3.69119398e-02 -6.27591893e-03 3.78076123e+02] [ 3.69127102e-02 9.99318494e-01 6.93367177e-06 4.64917392e+00] [ 6.27138592e-03 -2.38589987e-04 9.99980306e-01 1.47559759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters 0.06806603471210787 Centerline is valid? [True, True] Translation: X:378.14, Y:4.61, Z:1.47 [[ 9.99095569e-01 -4.20393760e-02 -6.38231743e-03 3.78136078e+02] [ 4.20402776e-02 9.99115917e-01 7.10865568e-06 4.61064858e+00] [ 6.37637608e-03 -2.75416623e-04 9.99979633e-01 1.47376610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters 0.05648860953708571 Centerline is valid? [True, True] Translation: X:378.20, Y:4.64, Z:1.48 [[ 9.98749251e-01 -4.96025256e-02 -6.28668600e-03 3.78196563e+02] [ 4.96035499e-02 9.98768986e-01 7.02051118e-06 4.64022077e+00] [ 6.27859876e-03 -3.18853673e-04 9.99980239e-01 1.47517892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters 0.05414537035414847 Centerline is valid? [True, True] Translation: X:378.26, Y:4.66, Z:1.48 [[ 9.98494744e-01 -5.45468567e-02 -5.73468634e-03 3.78257645e+02] [ 5.45477906e-02 9.98511161e-01 6.44127193e-06 4.66073696e+00] [ 5.72579697e-03 -3.19246046e-04 9.99983557e-01 1.47537742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters 0.05401562788136147 Centerline is valid? [True, True] Translation: X:378.32, Y:4.65, Z:1.47 [[ 9.98175997e-01 -5.99787893e-02 -6.87190623e-03 3.78317463e+02] [ 5.99802585e-02 9.98199563e-01 7.71903503e-06 4.65130697e+00] [ 6.85907082e-03 -4.19883668e-04 9.99976388e-01 1.47435966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters 0.05938806985619981 Centerline is valid? [True, True] Translation: X:378.38, Y:4.63, Z:1.47 [[ 9.98114019e-01 -6.05383456e-02 -1.01742046e-02 3.78378287e+02] [ 6.05415960e-02 9.98165675e-01 1.15128329e-05 4.63293973e+00] [ 1.01548448e-02 -6.27453703e-04 9.99948241e-01 1.47144496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.299254154 meters 0.05475384995076085 Centerline is valid? [True, True] Translation: X:378.44, Y:4.66, Z:1.47 [[ 9.98196565e-01 -5.90002349e-02 -1.10720669e-02 3.78439060e+02] [ 5.90039916e-02 9.98257747e-01 1.26544021e-05 4.65761493e+00] [ 1.10520299e-02 -6.65927722e-04 9.99938703e-01 1.47349324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.359254154 meters 0.05461314260002867 Centerline is valid? [True, True] Translation: X:378.50, Y:4.66, Z:1.47 [[ 9.98538117e-01 -5.29662822e-02 -1.07796809e-02 3.78499974e+02] [ 5.29694932e-02 9.98596131e-01 1.23808834e-05 4.66336183e+00] [ 1.07638918e-02 -5.83357016e-04 9.99941897e-01 1.47473835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.419254154 meters 0.05435781215710574 Centerline is valid? [True, True] Translation: X:378.56, Y:4.67, Z:1.48 [[ 9.98964311e-01 -4.45722532e-02 -9.14435934e-03 3.78560543e+02] [ 4.45742131e-02 9.99006076e-01 1.05341172e-05 4.67232529e+00] [ 9.13480101e-03 -4.18125828e-04 9.99958189e-01 1.47698606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.479254154 meters 0.05491403072084928 Centerline is valid? [True, True] Translation: X:378.62, Y:4.67, Z:1.48 [[ 9.99245337e-01 -3.80329525e-02 -7.88992259e-03 3.78619921e+02] [ 3.80342078e-02 9.99276438e-01 9.06570772e-06 4.67347467e+00] [ 7.88386894e-03 -3.09145822e-04 9.99968874e-01 1.47777153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.539254154 meters 0.05500610233120538 Centerline is valid? [True, True] Translation: X:378.68, Y:4.68, Z:1.48 [[ 9.99566025e-01 -2.87201286e-02 -6.55108469e-03 3.78680859e+02] [ 2.87207943e-02 9.99587473e-01 7.53838996e-06 4.67821637e+00] [ 6.54816569e-03 -1.95687474e-04 9.99978541e-01 1.47890190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.599254154 meters 0.0545968226202409 Centerline is valid? [True, True] Translation: X:378.74, Y:4.68, Z:1.48 [[ 9.99750172e-01 -2.11469495e-02 -7.23875279e-03 3.78740636e+02] [ 2.11475645e-02 9.99776365e-01 8.41172210e-06 4.68470699e+00] [ 7.23695607e-03 -1.61491612e-04 9.99973800e-01 1.47941359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.659254154 meters 0.055758070345307574 Centerline is valid? [True, True] Translation: X:378.80, Y:4.69, Z:1.48 [[ 9.99864663e-01 -1.44931378e-02 -7.78488186e-03 3.78801342e+02] [ 1.44936476e-02 9.99894962e-01 9.07291479e-06 4.68908778e+00] [ 7.78393265e-03 -1.21903021e-04 9.99969697e-01 1.47893355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.719254154 meters 0.0552855502757225 Centerline is valid? [True, True] Translation: X:378.86, Y:4.69, Z:1.48 [[ 9.99915068e-01 -1.00008828e-02 -8.35692604e-03 3.78861690e+02] [ 1.00013135e-02 9.99949986e-01 9.74623717e-06 4.69129377e+00] [ 8.35641060e-03 -9.33256469e-05 9.99965080e-01 1.47859625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779254154 meters 0.0550770822768373 Centerline is valid? [True, True] Translation: X:378.92, Y:4.69, Z:1.48 [[ 9.99952069e-01 -3.39225052e-03 -9.18436379e-03 3.78920811e+02] [ 3.39248912e-03 9.99994245e-01 1.04002853e-05 4.69493596e+00] [ 9.18427566e-03 -4.15576411e-05 9.99957823e-01 1.47905409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839254154 meters 0.055713829781771564 Centerline is valid? [True, True] Translation: X:378.98, Y:4.70, Z:1.48 [[ 9.99958838e-01 -4.07768604e-04 -9.06401668e-03 3.78979112e+02] [ 4.07870786e-04 9.99999917e-01 9.42473947e-06 4.69587889e+00] [ 9.06401209e-03 -1.31212991e-05 9.99958921e-01 1.47928416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899254154 meters 0.05569258728551607 Centerline is valid? [True, True] Translation: X:379.04, Y:4.69, Z:1.48 [[ 9.99970018e-01 1.42281639e-03 -7.61174273e-03 3.79036754e+02] [-1.42280152e-03 9.99998988e-01 7.36938027e-06 4.69489549e+00] [ 7.61174551e-03 3.46083978e-06 9.99971030e-01 1.47952512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959254154 meters 0.05618244879148384 Centerline is valid? [True, True] Translation: X:379.10, Y:4.69, Z:1.48 [[ 9.99982492e-01 1.81743228e-04 -5.91454310e-03 3.79096000e+02] [-1.81713586e-04 9.99999983e-01 5.54899836e-06 4.69118281e+00] [ 5.91454401e-03 -4.47414837e-06 9.99982509e-01 1.48087113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019254154 meters 0.055376576401468966 Centerline is valid? [True, True] Translation: X:379.15, Y:4.69, Z:1.48 [[ 9.99982764e-01 -1.36448787e-03 -5.71054839e-03 3.79154272e+02] [ 1.36453972e-03 9.99999069e-01 5.18490871e-06 4.68965119e+00] [ 5.71053600e-03 -1.29770895e-05 9.99983695e-01 1.48105246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079254154 meters 0.05545615313503022 Centerline is valid? [True, True] Translation: X:379.21, Y:4.68, Z:1.48 [[ 9.99937780e-01 -9.31149169e-03 -6.14258967e-03 3.79213375e+02] [ 9.31170028e-03 9.99956645e-01 5.35990373e-06 4.68116836e+00] [ 6.14227345e-03 -6.25575242e-05 9.99981134e-01 1.48093564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139254154 meters 0.056094262855380495 Centerline is valid? [True, True] Translation: X:379.27, Y:4.67, Z:1.48 [[ 9.99839720e-01 -1.64955359e-02 -6.95924402e-03 3.79273871e+02] [ 1.64959773e-02 9.99863932e-01 6.02348443e-06 4.66747668e+00] [ 6.95819773e-03 -1.20822050e-04 9.99975784e-01 1.47855659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199254154 meters 0.05548709865836251 Centerline is valid? [True, True] Translation: X:379.33, Y:4.66, Z:1.48 [[ 9.99628552e-01 -2.64955402e-02 -6.38321174e-03 3.79334946e+02] [ 2.64961155e-02 9.99648916e-01 5.57549852e-06 4.66159599e+00] [ 6.38082297e-03 -1.74703743e-04 9.99979627e-01 1.47833546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259254154 meters 0.055846709558441 Centerline is valid? [True, True] Translation: X:379.40, Y:4.66, Z:1.48 [[ 9.99469265e-01 -3.17320124e-02 -7.36664847e-03 3.79395566e+02] [ 3.17329215e-02 9.99496384e-01 6.53565920e-06 4.65566051e+00] [ 7.36273111e-03 -2.40297468e-04 9.99972866e-01 1.47792886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319254154 meters 0.05506372198296461 Centerline is valid? [True, True] Translation: X:379.46, Y:4.66, Z:1.48 [[ 9.99424882e-01 -3.31245009e-02 -7.25758726e-03 3.79457571e+02] [ 3.31254215e-02 9.99451203e-01 6.64898834e-06 4.65634239e+00] [ 7.25338407e-03 -2.47055802e-04 9.99973663e-01 1.47783926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379254154 meters 0.05560090299777699 Centerline is valid? [True, True] Translation: X:379.52, Y:4.65, Z:1.48 [[ 9.99429984e-01 -3.29356634e-02 -7.41282829e-03 3.79519190e+02] [ 3.29366206e-02 9.99457442e-01 7.04754323e-06 4.65017522e+00] [ 7.40857429e-03 -2.51197039e-04 9.99972525e-01 1.47780976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters 0.05488924582656378 Centerline is valid? [True, True] Translation: X:379.58, Y:4.65, Z:1.48 [[ 9.99462837e-01 -3.18488971e-02 -7.72561752e-03 3.79581060e+02] [ 3.18499063e-02 9.99492663e-01 7.60806183e-06 4.65139869e+00] [ 7.72145572e-03 -2.53664169e-04 9.99970157e-01 1.47834651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters 0.05580687587512063 Centerline is valid? [True, True] Translation: X:379.64, Y:4.65, Z:1.48 [[ 9.99537923e-01 -2.91932182e-02 -8.46737752e-03 3.79640946e+02] [ 2.91943369e-02 9.99573754e-01 8.52094148e-06 4.64609219e+00] [ 8.46351958e-03 -2.55716476e-04 9.99964151e-01 1.47764608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters 0.055312565708631765 Centerline is valid? [True, True] Translation: X:379.70, Y:4.64, Z:1.48 [[ 9.99634884e-01 -2.51889662e-02 -9.77831239e-03 3.79700570e+02] [ 2.51902667e-02 9.99682675e-01 9.84016922e-06 4.64156253e+00] [ 9.77496163e-03 -2.56154873e-04 9.99952191e-01 1.47683034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters 0.055386154015399 Centerline is valid? [True, True] Translation: X:379.76, Y:4.65, Z:1.48 [[ 9.99704203e-01 -2.21880672e-02 -9.95970468e-03 3.79761498e+02] [ 2.21892685e-02 9.99753788e-01 1.01219477e-05 4.64514897e+00] [ 9.95702789e-03 -2.31117515e-04 9.99950401e-01 1.47826541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters 0.05544145509590878 Centerline is valid? [True, True] Translation: X:379.82, Y:4.64, Z:1.48 [[ 9.99797936e-01 -1.70443435e-02 -1.06573196e-02 3.79821693e+02] [ 1.70454277e-02 9.99854716e-01 1.09005433e-05 4.64318577e+00] [ 1.06555855e-02 -1.92556912e-04 9.99943209e-01 1.47810978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters 0.055816975131042446 Centerline is valid? [True, True] Translation: X:379.88, Y:4.64, Z:1.48 [[ 9.99866759e-01 -1.09695302e-02 -1.20886025e-02 3.79880772e+02] [ 1.09704797e-02 9.99939822e-01 1.22347012e-05 4.64420896e+00] [ 1.20877408e-02 -1.44850840e-04 9.99926930e-01 1.47689690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.799254154 meters 0.05537667747809212 Centerline is valid? [True, True] Translation: X:379.94, Y:4.65, Z:1.48 [[ 9.99906747e-01 -6.92153008e-03 -1.17723902e-02 3.79939251e+02] [ 6.92213919e-03 9.99976042e-01 1.09941045e-05 4.64884783e+00] [ 1.17720321e-02 -9.24832031e-05 9.99930703e-01 1.47992191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.859254154 meters 0.055558132631780346 Centerline is valid? [True, True] Translation: X:380.00, Y:4.65, Z:1.48 [[ 9.99940898e-01 -1.41336941e-03 -1.07797028e-02 3.79997656e+02] [ 1.41354711e-03 9.99999001e-01 8.86507509e-06 4.65136839e+00] [ 1.07796795e-02 -2.41021689e-05 9.99941897e-01 1.48113527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.919254154 meters 0.05657266274480385 Centerline is valid? [True, True] Translation: X:380.06, Y:4.65, Z:1.48 [[ 9.99942964e-01 2.39224571e-03 -1.04089106e-02 3.80055772e+02] [-2.39230013e-03 9.99997138e-01 7.22233568e-06 4.65303537e+00] [ 1.04088980e-02 1.76793143e-05 9.99945826e-01 1.48193869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.979254154 meters 0.05673116547300792 Centerline is valid? [True, True] Translation: X:380.11, Y:4.65, Z:1.48 [[ 9.99937379e-01 4.11806424e-03 -1.04057207e-02 3.80113829e+02] [-4.11822060e-03 9.99991520e-01 6.40076185e-06 4.65296898e+00] [ 1.04056588e-02 3.64526924e-05 9.99945859e-01 1.48447029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.039254154 meters 0.05634704336231946 Centerline is valid? [True, True] Translation: X:380.17, Y:4.65, Z:1.48 [[ 9.99940977e-01 5.29648050e-03 -9.48625346e-03 3.80171566e+02] [-5.29666944e-03 9.99985973e-01 5.20607599e-06 4.65292855e+00] [ 9.48614797e-03 4.50397801e-05 9.99955004e-01 1.48427083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.099254154 meters 0.05634639786355406 Centerline is valid? [True, True] Translation: X:380.23, Y:4.65, Z:1.48 [[ 9.99946667e-01 4.63501909e-03 -9.22926480e-03 3.80229957e+02] [-4.63517409e-03 9.99989258e-01 4.59551774e-06 4.64952792e+00] [ 9.22918695e-03 3.81839764e-05 9.99957409e-01 1.48464823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.159254154 meters 0.055776258415960164 Centerline is valid? [True, True] Translation: X:380.29, Y:4.64, Z:1.49 [[ 9.99954659e-01 3.47098785e-03 -8.86747283e-03 3.80287511e+02] [-3.47108800e-03 9.99993976e-01 4.09584903e-06 4.64439945e+00] [ 8.86743363e-03 2.66841153e-05 9.99960683e-01 1.48568347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.219254154 meters 0.056114850748614296 Centerline is valid? [True, True] Translation: X:380.34, Y:4.64, Z:1.49 [[ 9.99961046e-01 2.26565634e-03 -8.53075120e-03 3.80344978e+02] [-2.26570810e-03 9.99997433e-01 3.59732999e-06 4.64183653e+00] [ 8.53073745e-03 1.57310022e-05 9.99963612e-01 1.48530749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279254154 meters 0.05666818545332754 Centerline is valid? [True, True] Translation: X:380.40, Y:4.64, Z:1.48 [[ 9.99966898e-01 -1.03818164e-03 -8.06999184e-03 3.80403866e+02] [ 1.03824082e-03 9.99999461e-01 3.14341926e-06 4.63616400e+00] [ 8.06998423e-03 -1.15219101e-05 9.99967437e-01 1.48390634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339254154 meters 0.056421978495016935 Centerline is valid? [True, True] Translation: X:380.46, Y:4.63, Z:1.48 [[ 9.99968043e-01 -3.98358570e-03 -6.93136903e-03 3.80462180e+02] [ 3.98369874e-03 9.99992065e-01 2.50153043e-06 4.63180032e+00] [ 6.93130407e-03 -3.01139366e-05 9.99975978e-01 1.48292770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399254154 meters 0.056909751746857085 Centerline is valid? [True, True] Translation: X:380.52, Y:4.63, Z:1.48 [[ 9.99936955e-01 -9.09754014e-03 -6.58191367e-03 3.80521239e+02] [ 9.09775161e-03 9.99958615e-01 2.18821373e-06 4.63014579e+00] [ 6.58162137e-03 -6.20686915e-05 9.99978339e-01 1.48417017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459254154 meters 0.05617932963822211 Centerline is valid? [True, True] Translation: X:380.58, Y:4.62, Z:1.48 [[ 9.99845538e-01 -1.59236337e-02 -7.43897753e-03 3.80580038e+02] [ 1.59240918e-02 9.99873204e-01 2.34286920e-06 4.61884328e+00] [ 7.43799699e-03 -1.20801468e-04 9.99972330e-01 1.48144950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519254154 meters 0.0556000151510786 Centerline is valid? [True, True] Translation: X:380.64, Y:4.62, Z:1.48 [[ 9.99689421e-01 -2.40181346e-02 -6.64757695e-03 3.80641272e+02] [ 2.40186794e-02 9.99711510e-01 2.11819736e-06 4.62105731e+00] [ 6.64560832e-03 -1.61783559e-04 9.99977905e-01 1.48205252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579254154 meters 0.055459930396248976 Centerline is valid? [True, True] Translation: X:380.70, Y:4.61, Z:1.48 [[ 9.99570091e-01 -2.87400062e-02 -5.80037582e-03 3.80700689e+02] [ 2.87405007e-02 9.99586906e-01 1.90539011e-06 4.61379375e+00] [ 5.79792496e-03 -1.68610276e-04 9.99983178e-01 1.48179427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639254154 meters 0.056686642212945025 Centerline is valid? [True, True] Translation: X:380.76, Y:4.60, Z:1.48 [[ 9.99419937e-01 -3.35485864e-02 -5.85508117e-03 3.80760387e+02] [ 3.35491728e-02 9.99437068e-01 1.93186321e-06 4.60331669e+00] [ 5.85172034e-03 -1.98363872e-04 9.99982859e-01 1.48151869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699254154 meters 0.05621663784573808 Centerline is valid? [True, True] Translation: X:380.82, Y:4.60, Z:1.48 [[ 9.99368646e-01 -3.51302461e-02 -5.30798340e-03 3.80821695e+02] [ 3.51307508e-02 9.99382725e-01 1.83655937e-06 4.60206138e+00] [ 5.30464239e-03 -1.88308842e-04 9.99985913e-01 1.48131093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759254154 meters 0.05426675375689499 Centerline is valid? [True, True] Translation: X:380.88, Y:4.62, Z:1.48 [[ 9.99410873e-01 -3.40398031e-02 -4.38169342e-03 3.80884263e+02] [ 3.40401368e-02 9.99420467e-01 1.58406452e-06 4.61593394e+00] [ 4.37910016e-03 -1.50736575e-04 9.99990400e-01 1.48148606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819254154 meters 0.055808687409458005 Centerline is valid? [True, True] Translation: X:380.94, Y:4.61, Z:1.48 [[ 9.99536781e-01 -3.00192967e-02 -5.00642825e-03 3.80943945e+02] [ 3.00196830e-02 9.99549308e-01 2.00138546e-06 4.61457735e+00] [ 5.00411181e-03 -1.52291847e-04 9.99987468e-01 1.48102650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879254154 meters 0.054995315582112896 Centerline is valid? [True, True] Translation: X:381.00, Y:4.62, Z:1.48 [[ 9.99627248e-01 -2.67360514e-02 -5.52705220e-03 3.81004536e+02] [ 2.67364721e-02 9.99642517e-01 2.23476043e-06 4.61886804e+00] [ 5.52501662e-03 -1.50007804e-04 9.99984726e-01 1.48114668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters 0.056234545678528446 Centerline is valid? [True, True] Translation: X:381.06, Y:4.62, Z:1.48 [[ 9.99713657e-01 -2.31532811e-02 -6.04392913e-03 3.81063944e+02] [ 2.31537194e-02 9.99731917e-01 2.55061387e-06 4.61736702e+00] [ 6.04224979e-03 -1.42489322e-04 9.99981735e-01 1.48075782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters 0.05571805494144554 Centerline is valid? [True, True] Translation: X:381.12, Y:4.62, Z:1.48 [[ 9.99795755e-01 -1.89494390e-02 -7.02612686e-03 3.81124886e+02] [ 1.89499290e-02 9.99820434e-01 3.16921950e-06 4.62180864e+00] [ 7.02480515e-03 -1.36313177e-04 9.99975316e-01 1.48042457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters 0.05572617243539962 Centerline is valid? [True, True] Translation: X:381.19, Y:4.63, Z:1.48 [[ 9.99834170e-01 -1.66761376e-02 -7.31707944e-03 3.81186550e+02] [ 1.66766093e-02 9.99860936e-01 3.45234585e-06 4.62597156e+00] [ 7.31600433e-03 -1.25475849e-04 9.99973230e-01 1.48130100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters 0.055107190635525174 Centerline is valid? [True, True] Translation: X:381.25, Y:4.63, Z:1.48 [[ 9.99848405e-01 -1.58629120e-02 -7.17881202e-03 3.81247997e+02] [ 1.58633464e-02 9.99874169e-01 3.56544586e-06 4.62616526e+00] [ 7.17785215e-03 -1.17444887e-04 9.99974232e-01 1.48183068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters 0.05526210484874077 Centerline is valid? [True, True] Translation: X:381.31, Y:4.63, Z:1.48 [[ 9.99790015e-01 -1.95029592e-02 -6.28967201e-03 3.81309388e+02] [ 1.95033654e-02 9.99809791e-01 3.24884829e-06 4.63183274e+00] [ 6.28841230e-03 -1.25917938e-04 9.99980220e-01 1.48337986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.239254154 meters 0.05550873012297794 Centerline is valid? [True, True] Translation: X:381.37, Y:4.63, Z:1.48 [[ 9.99726978e-01 -2.26777154e-02 -5.62942370e-03 3.81370891e+02] [ 2.26780917e-02 9.99742819e-01 3.00723765e-06 4.62697880e+00] [ 5.62790772e-03 -1.30671004e-04 9.99984155e-01 1.48369545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.299254154 meters 0.05667367616028667 Centerline is valid? [True, True] Translation: X:381.43, Y:4.62, Z:1.48 [[ 9.99671323e-01 -2.49580561e-02 -5.86018520e-03 3.81430591e+02] [ 2.49585036e-02 9.99688488e-01 3.23153297e-06 4.62362260e+00] [ 5.85827903e-03 -1.49491924e-04 9.99982829e-01 1.48472679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.359254154 meters 0.05631175143482157 Centerline is valid? [True, True] Translation: X:381.49, Y:4.63, Z:1.49 [[ 9.99652224e-01 -2.58228520e-02 -5.34890409e-03 3.81492907e+02] [ 2.58232375e-02 9.99666525e-01 3.00563810e-06 4.62797203e+00] [ 5.34704275e-03 -1.41130614e-04 9.99985694e-01 1.48669463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.419254154 meters 0.05526113485042105 Centerline is valid? [True, True] Translation: X:381.56, Y:4.63, Z:1.49 [[ 9.99639057e-01 -2.63506181e-02 -5.23453219e-03 3.81555514e+02] [ 2.63509955e-02 9.99652752e-01 3.13689327e-06 4.62928841e+00] [ 5.23263185e-03 -1.41070895e-04 9.99986300e-01 1.48782943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.479254154 meters 0.05711742529499257 Centerline is valid? [True, True] Translation: X:381.62, Y:4.62, Z:1.49 [[ 9.99637924e-01 -2.62417670e-02 -5.94894925e-03 3.81616664e+02] [ 2.62422537e-02 9.99655613e-01 3.75711854e-06 4.62344116e+00] [ 5.94680192e-03 -1.59869594e-04 9.99982305e-01 1.48793971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.539254154 meters 0.05579221792721173 Centerline is valid? [True, True] Translation: X:381.68, Y:4.63, Z:1.49 [[ 9.99681524e-01 -2.41948237e-02 -7.17357401e-03 3.81677907e+02] [ 2.41954799e-02 9.99707247e-01 4.69587005e-06 4.63111180e+00] [ 7.17136031e-03 -1.78262441e-04 9.99974270e-01 1.48849041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.599254154 meters 0.05584444439956236 Centerline is valid? [True, True] Translation: X:381.74, Y:4.64, Z:1.49 [[ 9.99755864e-01 -2.04487185e-02 -8.37029536e-03 3.81738718e+02] [ 2.04494817e-02 9.99790887e-01 5.58970999e-06 4.63533275e+00] [ 8.36843072e-03 -1.76756547e-04 9.99964968e-01 1.48887440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.659254154 meters 0.05642640680700552 Centerline is valid? [True, True] Translation: X:381.80, Y:4.63, Z:1.49 [[ 9.99815008e-01 -1.61036603e-02 -1.05177445e-02 3.81798709e+02] [ 1.61046253e-02 9.99870312e-01 7.06445914e-06 4.63381367e+00] [ 1.05162667e-02 -1.76447487e-04 9.99944687e-01 1.48738943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.719254154 meters 0.05639412455636477 Centerline is valid? [True, True] Translation: X:381.86, Y:4.64, Z:1.49 [[ 9.99801917e-01 -1.62765701e-02 -1.14542470e-02 3.81858748e+02] [ 1.62777259e-02 9.99867509e-01 7.67976716e-06 4.63638229e+00] [ 1.14526045e-02 -1.94127340e-04 9.99934398e-01 1.48909336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779254154 meters 0.05637483942098025 Centerline is valid? [True, True] Translation: X:381.92, Y:4.64, Z:1.49 [[ 9.99781542e-01 -1.70267304e-02 -1.21226491e-02 3.81918480e+02] [ 1.70280785e-02 9.99855012e-01 7.98606854e-06 4.64339841e+00] [ 1.21207555e-02 -2.14409744e-04 9.99926518e-01 1.49276950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839254154 meters 0.056259823584561455 Centerline is valid? [True, True] Translation: X:381.98, Y:4.64, Z:1.49 [[ 9.99791394e-01 -1.63939126e-02 -1.21822578e-02 3.81977080e+02] [ 1.63952246e-02 9.99865589e-01 7.82609838e-06 4.63876157e+00] [ 1.21804921e-02 -2.07555318e-04 9.99925794e-01 1.49166046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899254154 meters 0.05625394075417301 Centerline is valid? [True, True] Translation: X:382.04, Y:4.64, Z:1.49 [[ 9.99825011e-01 -1.51098713e-02 -1.10289980e-02 3.82035506e+02] [ 1.51108660e-02 9.99885824e-01 6.85663093e-06 4.63865917e+00] [ 1.10276351e-02 -1.73513141e-04 9.99939179e-01 1.49459859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959254154 meters 0.05547972799158355 Centerline is valid? [True, True] Translation: X:382.10, Y:4.64, Z:1.50 [[ 9.99823472e-01 -1.54326823e-02 -1.07171742e-02 3.82095224e+02] [ 1.54336385e-02 9.99880894e-01 6.51468538e-06 4.63988490e+00] [ 1.07157972e-02 -1.71918528e-04 9.99942569e-01 1.49689296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019254154 meters 0.05576423094596745 Centerline is valid? [True, True] Translation: X:382.15, Y:4.64, Z:1.50 [[ 9.99789805e-01 -1.70342376e-02 -1.14096934e-02 3.82154917e+02] [ 1.70354245e-02 9.99854887e-01 6.83935897e-06 4.63664824e+00] [ 1.14079212e-02 -2.01206892e-04 9.99934907e-01 1.49736969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079254154 meters 0.05647406691631758 Centerline is valid? [True, True] Translation: X:382.21, Y:4.63, Z:1.50 [[ 9.99745671e-01 -1.91666700e-02 -1.18840932e-02 3.82214575e+02] [ 1.91681071e-02 9.99816275e-01 7.02519847e-06 4.63268098e+00] [ 1.18817751e-02 -2.34818984e-04 9.99929382e-01 1.49779775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139254154 meters 0.05699616790862144 Centerline is valid? [True, True] Translation: X:382.27, Y:4.63, Z:1.50 [[ 9.99716746e-01 -1.97706395e-02 -1.32494917e-02 3.82274640e+02] [ 1.97724784e-02 9.99804505e-01 7.79656197e-06 4.63027292e+00] [ 1.32467474e-02 -2.69769642e-04 9.99912222e-01 1.49806971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199254154 meters 0.056970577417759447 Centerline is valid? [True, True] Translation: X:382.33, Y:4.63, Z:1.50 [[ 9.99713392e-01 -1.92594057e-02 -1.42200488e-02 3.82334762e+02] [ 1.92614710e-02 9.99814481e-01 8.28473458e-06 4.62904791e+00] [ 1.42172511e-02 -2.82181418e-04 9.99898890e-01 1.49835832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259254154 meters 0.056819090802110055 Centerline is valid? [True, True] Translation: X:382.39, Y:4.63, Z:1.50 [[ 9.99714075e-01 -1.87019314e-02 -1.48998765e-02 3.82393117e+02] [ 1.87041326e-02 9.99825062e-01 8.38206721e-06 4.62646662e+00] [ 1.48971132e-02 -2.87068936e-04 9.99888991e-01 1.49756050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319254154 meters 0.05718685293492309 Centerline is valid? [True, True] Translation: X:382.45, Y:4.63, Z:1.50 [[ 9.99777013e-01 -1.62140133e-02 -1.35288314e-02 3.82453415e+02] [ 1.62155980e-02 9.99868519e-01 7.44412306e-06 4.62970530e+00] [ 1.35269319e-02 -2.26820555e-04 9.99908481e-01 1.50073264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379254154 meters 0.05730781902610738 Centerline is valid? [True, True] Translation: X:382.51, Y:4.63, Z:1.50 [[ 9.99855741e-01 -1.16001414e-02 -1.24070101e-02 3.82512063e+02] [ 1.16011161e-02 9.99932705e-01 6.58649926e-06 4.62854077e+00] [ 1.24060987e-02 -1.50520713e-04 9.99923030e-01 1.50014536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters 0.057975748910834506 Centerline is valid? [True, True] Translation: X:382.57, Y:4.63, Z:1.51 [[ 9.99931220e-01 -2.99862290e-03 -1.13385881e-02 3.82572283e+02] [ 2.99888228e-03 9.99995503e-01 5.87345060e-06 4.63472707e+00] [ 1.13385195e-02 -3.98761375e-05 9.99935716e-01 1.50545719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters 0.05775562544357051 Centerline is valid? [True, True] Translation: X:382.63, Y:4.63, Z:1.50 [[ 9.99926231e-01 2.55173428e-03 -1.18752284e-02 3.82628972e+02] [-2.55184905e-03 9.99996744e-01 5.48771237e-06 4.63409196e+00] [ 1.18752038e-02 2.48164829e-05 9.99929487e-01 1.50490116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters 0.05673163155797846 Centerline is valid? [True, True] Translation: X:382.69, Y:4.63, Z:1.50 [[ 9.99913064e-01 1.80491213e-03 -1.30616416e-02 3.82687550e+02] [-1.80499465e-03 9.99998371e-01 5.47023548e-06 4.63040934e+00] [ 1.30616302e-02 1.81064334e-05 9.99914693e-01 1.50404085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters 0.05707447012030922 Centerline is valid? [True, True] Translation: X:382.75, Y:4.62, Z:1.50 [[ 9.99903850e-01 -2.96843424e-03 -1.35454377e-02 3.82746583e+02] [ 2.96877885e-03 9.99995593e-01 5.33365580e-06 4.62433495e+00] [ 1.35453622e-02 -4.55465520e-05 9.99908256e-01 1.50165040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters 0.056812787976249 Centerline is valid? [True, True] Translation: X:382.81, Y:4.62, Z:1.50 [[ 9.99880947e-01 -6.79519038e-03 -1.38534559e-02 3.82805219e+02] [ 6.79591209e-03 9.99976908e-01 5.02026709e-06 4.62049739e+00] [ 1.38531019e-02 -9.91665381e-05 9.99904036e-01 1.50167936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.739254154 meters 0.057534219045768394 Centerline is valid? [True, True] Translation: X:382.86, Y:4.62, Z:1.50 [[ 9.99801723e-01 -1.37148027e-02 -1.44366883e-02 3.82864089e+02] [ 1.37163032e-02 9.99905927e-01 4.91800709e-06 4.61728459e+00] [ 1.44352627e-02 -2.02935025e-04 9.99895786e-01 1.50379913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.799254154 meters 0.0578992668103822 Centerline is valid? [True, True] Translation: X:382.92, Y:4.61, Z:1.50 [[ 9.99767391e-01 -1.64857653e-02 -1.39062520e-02 3.82923249e+02] [ 1.64874223e-02 9.99864073e-01 4.50576248e-06 4.61395790e+00] [ 1.39042874e-02 -2.33782963e-04 9.99903303e-01 1.50256634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.859254154 meters 0.05800963009809635 Centerline is valid? [True, True] Translation: X:382.98, Y:4.61, Z:1.50 [[ 9.99615269e-01 -2.46153545e-02 -1.27826984e-02 3.82983712e+02] [ 2.46174176e-02 9.99696945e-01 4.05659372e-06 4.60975764e+00] [ 1.27787247e-02 -3.18732059e-04 9.99918298e-01 1.50318606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.919254154 meters 0.05888621913944786 Centerline is valid? [True, True] Translation: X:383.04, Y:4.59, Z:1.50 [[ 9.99422535e-01 -3.22688935e-02 -1.06449954e-02 3.83043069e+02] [ 3.22707567e-02 9.99479164e-01 3.26654200e-06 4.59469527e+00] [ 1.06393457e-02 -3.46786713e-04 9.99943340e-01 1.50173244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.979254154 meters 0.058664639226367526 Centerline is valid? [True, True] Translation: X:383.10, Y:4.60, Z:1.50 [[ 9.99258388e-01 -3.73268136e-02 -9.45424638e-03 3.83104062e+02] [ 3.73285094e-02 9.99303048e-01 2.91730880e-06 4.59883106e+00] [ 9.44754833e-03 -3.55828070e-04 9.99955308e-01 1.50338825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.039254154 meters 0.05874607426833879 Centerline is valid? [True, True] Translation: X:383.16, Y:4.59, Z:1.50 [[ 9.98904542e-01 -4.57509635e-02 -9.82672086e-03 3.83164327e+02] [ 4.57532030e-02 9.98952774e-01 3.09449645e-06 4.59277180e+00] [ 9.81628848e-03 -4.52695061e-04 9.99951717e-01 1.50166255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.099254154 meters 0.0555956544360211 Centerline is valid? [True, True] Translation: X:383.22, Y:4.61, Z:1.50 [[ 9.98487014e-01 -5.40812315e-02 -9.94496734e-03 3.83224876e+02] [ 5.40839373e-02 9.98536393e-01 3.14296514e-06 4.61005894e+00] [ 9.93024183e-03 -5.41001200e-04 9.99950548e-01 1.50249640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.159254154 meters 0.05487495802485966 Centerline is valid? [True, True] Translation: X:383.29, Y:4.61, Z:1.50 [[ 9.98288590e-01 -5.78180889e-02 -8.77262458e-03 3.83285661e+02] [ 5.78203389e-02 9.98327005e-01 2.85199548e-06 4.61421693e+00] [ 8.75778313e-03 -5.10083241e-04 9.99961520e-01 1.50191642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.219254154 meters 0.05754702590954164 Centerline is valid? [True, True] Translation: X:383.35, Y:4.60, Z:1.50 [[ 9.98163796e-01 -5.97565639e-02 -9.90904201e-03 3.83345630e+02] [ 5.97595300e-02 9.98212802e-01 3.25291415e-06 4.59825228e+00] [ 9.89113821e-03 -5.95406635e-04 9.99950904e-01 1.49983234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279254154 meters 0.05539726494559753 Centerline is valid? [True, True] Translation: X:383.41, Y:4.62, Z:1.50 [[ 9.98183466e-01 -5.94015351e-02 -1.00611425e-02 3.83407382e+02] [ 5.94045767e-02 9.98233989e-01 3.47709769e-06 4.61585564e+00] [ 1.00431678e-02 -6.01148691e-04 9.99949385e-01 1.50009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339254154 meters 0.05550404457714951 Centerline is valid? [True, True] Translation: X:383.47, Y:4.62, Z:1.50 [[ 9.98337290e-01 -5.67503727e-02 -1.01020035e-02 3.83467259e+02] [ 5.67533051e-02 9.98388232e-01 3.61914800e-06 4.61730778e+00] [ 1.00855160e-02 -5.76935216e-04 9.99948973e-01 1.49901709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399254154 meters 0.05546392109855208 Centerline is valid? [True, True] Translation: X:383.53, Y:4.62, Z:1.50 [[ 9.98451218e-01 -5.48295328e-02 -9.42803169e-03 3.83528281e+02] [ 5.48320019e-02 9.98495594e-01 3.41090546e-06 4.62433227e+00] [ 9.41366109e-03 -5.20363474e-04 9.99955555e-01 1.49978403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459254154 meters 0.06307505595259312 Centerline is valid? [True, True] Translation: X:383.59, Y:4.60, Z:1.50 [[ 9.98601727e-01 -5.21802203e-02 -8.47445512e-03 3.83588314e+02] [ 5.21821204e-02 9.98637585e-01 3.09871997e-06 4.59935503e+00] [ 8.46274771e-03 -4.45309424e-04 9.99964091e-01 1.49849179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519254154 meters 0.055322484323383714 Centerline is valid? [True, True] Translation: X:383.65, Y:4.63, Z:1.50 [[ 9.98720676e-01 -5.02674866e-02 -5.49473804e-03 3.83648829e+02] [ 5.02682566e-02 9.98735752e-01 2.02204212e-06 4.62865235e+00] [ 5.48768969e-03 -2.78230357e-04 9.99984904e-01 1.50058168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579254154 meters 0.05561423401994851 Centerline is valid? [True, True] Translation: X:383.71, Y:4.63, Z:1.50 [[ 9.98758362e-01 -4.95206888e-02 -5.42555574e-03 3.83709899e+02] [ 4.95214287e-02 9.98773061e-01 2.03711046e-06 4.63296906e+00] [ 5.41879804e-03 -2.70715853e-04 9.99985282e-01 1.50064610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639254154 meters 0.05410903804136562 Centerline is valid? [True, True] Translation: X:383.77, Y:4.65, Z:1.50 [[ 9.98696126e-01 -5.08152405e-02 -4.88454187e-03 3.83771027e+02] [ 5.08158560e-02 9.98708040e-01 1.90546068e-06 4.64937310e+00] [ 4.87813441e-03 -2.50115152e-04 9.99988071e-01 1.49985455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699254154 meters 0.05525347663822559 Centerline is valid? [True, True] Translation: X:383.83, Y:4.64, Z:1.50 [[ 9.98471457e-01 -5.48092035e-02 -7.12048240e-03 3.83830293e+02] [ 5.48106139e-02 9.98496768e-01 2.93805999e-06 4.64336895e+00] [ 7.10961763e-03 -3.93211580e-04 9.99974649e-01 1.49870622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759254154 meters 0.05409896821665739 Centerline is valid? [True, True] Translation: X:383.89, Y:4.65, Z:1.50 [[ 9.98294875e-01 -5.79164600e-02 -7.28195842e-03 3.83891746e+02] [ 5.79180184e-02 9.98321343e-01 3.12730054e-06 4.65324412e+00] [ 7.26955339e-03 -4.24878570e-04 9.99973486e-01 1.49906361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819254154 meters 0.05469727506720813 Centerline is valid? [True, True] Translation: X:383.95, Y:4.65, Z:1.50 [[ 9.98310715e-01 -5.76539672e-02 -7.19283445e-03 3.83953407e+02] [ 5.76554836e-02 9.98336539e-01 3.46811666e-06 4.65115110e+00] [ 7.18066950e-03 -4.18168606e-04 9.99974131e-01 1.49937193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879254154 meters 0.05278051470929734 Centerline is valid? [True, True] Translation: X:384.01, Y:4.66, Z:1.50 [[ 9.98479854e-01 -5.48582215e-02 -5.34386027e-03 3.84013773e+02] [ 5.48590202e-02 9.98494110e-01 2.88332476e-06 4.66332460e+00] [ 5.33565483e-03 -2.96037880e-04 9.99985721e-01 1.50039539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters 0.05503959241853419 Centerline is valid? [True, True] Translation: X:384.07, Y:4.66, Z:1.50 [[ 9.98752497e-01 -4.97507543e-02 -4.27930531e-03 3.84073105e+02] [ 4.97512198e-02 9.98761641e-01 2.33024380e-06 4.65884380e+00] [ 4.27389006e-03 -2.15227996e-04 9.99990844e-01 1.50096850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters 0.0539837572105487 Centerline is valid? [True, True] Translation: X:384.13, Y:4.67, Z:1.50 [[ 9.98916570e-01 -4.64266692e-02 -3.20167393e-03 3.84133584e+02] [ 4.64269127e-02 9.98921690e-01 1.71917703e-06 4.66992597e+00] [ 3.19814171e-03 -1.50361150e-04 9.99994875e-01 1.50088041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters 0.053920165122144245 Centerline is valid? [True, True] Translation: X:384.19, Y:4.68, Z:1.50 [[ 9.99074764e-01 -4.29302521e-02 -2.57075953e-03 3.84194577e+02] [ 4.29303975e-02 9.99078066e-01 1.36846790e-06 4.67601448e+00] [ 2.56833071e-03 -1.11730930e-04 9.99996696e-01 1.50124813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters 0.05408309257108555 Centerline is valid? [True, True] Translation: X:384.25, Y:4.67, Z:1.50 [[ 9.99109108e-01 -4.20079310e-02 -4.04037716e-03 3.84254601e+02] [ 4.20082828e-02 9.99117262e-01 2.19938021e-06 4.67138738e+00] [ 4.03671818e-03 -1.71926727e-04 9.99991838e-01 1.50073635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters 0.05292533842106935 Centerline is valid? [True, True] Translation: X:384.32, Y:4.68, Z:1.50 [[ 9.99094737e-01 -4.22049128e-02 -5.33400782e-03 3.84317205e+02] [ 4.22055294e-02 9.99108950e-01 3.03145500e-06 4.67975877e+00] [ 5.32912700e-03 -2.28153334e-04 9.99985774e-01 1.49893757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.239254154 meters 0.05540816247813448 Centerline is valid? [True, True] Translation: X:384.38, Y:4.67, Z:1.50 [[ 9.99100555e-01 -4.17974390e-02 -7.14526475e-03 3.84378296e+02] [ 4.17985378e-02 9.99126059e-01 4.44015607e-06 4.66975806e+00] [ 7.13883463e-03 -3.03097781e-04 9.99974472e-01 1.49812423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.299254154 meters 0.05466044511400802 Centerline is valid? [True, True] Translation: X:384.44, Y:4.68, Z:1.50 [[ 9.99205196e-01 -3.90438053e-02 -8.03482769e-03 3.84439383e+02] [ 3.90451082e-02 9.99237449e-01 5.29340875e-06 4.67778219e+00] [ 8.02849405e-03 -3.19009918e-04 9.99967720e-01 1.49792042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.359254154 meters 0.05400518579681965 Centerline is valid? [True, True] Translation: X:384.50, Y:4.68, Z:1.50 [[ 9.99390565e-01 -3.43448791e-02 -6.23924522e-03 3.84500372e+02] [ 3.43455734e-02 9.99410017e-01 4.13338752e-06 4.68242256e+00] [ 6.23542220e-03 -2.18421323e-04 9.99980536e-01 1.49852373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.419254154 meters 0.053672498048017714 Centerline is valid? [True, True] Translation: X:384.56, Y:4.69, Z:1.50 [[ 9.99504386e-01 -3.12883209e-02 -3.46756645e-03 3.84560967e+02] [ 3.12885170e-02 9.99510395e-01 2.30499275e-06 4.68822966e+00] [ 3.46579659e-03 -1.10798862e-04 9.99993988e-01 1.49948066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.479254154 meters 0.05392426562765561 Centerline is valid? [True, True] Translation: X:384.62, Y:4.69, Z:1.50 [[ 9.99608467e-01 -2.79684853e-02 -8.23023668e-04 3.84620321e+02] [ 2.79684952e-02 9.99608805e-01 5.55549679e-07 4.68790025e+00] [ 8.22686167e-04 -2.35740657e-05 9.99999661e-01 1.50093566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.539254154 meters 0.05546977682144086 Centerline is valid? [True, True] Translation: X:384.68, Y:4.68, Z:1.50 [[ 9.99669205e-01 -2.56587292e-02 -1.76330542e-03 3.84680548e+02] [ 2.56587710e-02 9.99670760e-01 1.08393739e-06 4.67897252e+00] [ 1.76269706e-03 -4.63278288e-05 9.99998445e-01 1.50177051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.599254154 meters 0.054653144328060406 Centerline is valid? [True, True] Translation: X:384.74, Y:4.68, Z:1.50 [[ 9.99672591e-01 -2.55464430e-02 -1.44568443e-03 3.84743312e+02] [ 2.55464710e-02 9.99673636e-01 9.33387638e-07 4.68110667e+00] [ 1.44518877e-03 -3.78652176e-05 9.99998955e-01 1.50111676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.659254154 meters 0.05415517178023738 Centerline is valid? [True, True] Translation: X:384.81, Y:4.68, Z:1.50 [[ 9.99630892e-01 -2.71427340e-02 -1.16297917e-03 3.84805521e+02] [ 2.71427532e-02 9.99631568e-01 7.80966816e-07 4.68383595e+00] [ 1.16252949e-03 -3.23471352e-05 9.99999324e-01 1.49937711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.719254154 meters 0.05399365181905187 Centerline is valid? [True, True] Translation: X:384.87, Y:4.68, Z:1.50 [[ 9.99613112e-01 -2.77594185e-02 -1.74378361e-03 3.84866374e+02] [ 2.77594631e-02 9.99614632e-01 1.35811941e-06 4.68292679e+00] [ 1.74307391e-03 -4.97640907e-05 9.99998480e-01 1.49945053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779254154 meters 0.05757066939213255 Centerline is valid? [True, True] Translation: X:384.93, Y:4.67, Z:1.50 [[ 9.99559816e-01 -2.94628135e-02 -3.48095880e-03 3.84927662e+02] [ 2.94630021e-02 9.99565872e-01 2.89305094e-06 4.66616981e+00] [ 3.47936238e-03 -1.05451274e-04 9.99993941e-01 1.49986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839254154 meters 0.05466369592140025 Centerline is valid? [True, True] Translation: X:384.99, Y:4.68, Z:1.50 [[ 9.99531306e-01 -3.05743641e-02 -1.54132366e-03 3.84989276e+02] [ 3.05744024e-02 9.99532494e-01 1.26529512e-06 4.67603127e+00] [ 1.54056439e-03 -4.83897517e-05 9.99998812e-01 1.49887627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899254154 meters 0.05309778600259238 Centerline is valid? [True, True] Translation: X:385.05, Y:4.68, Z:1.50 [[ 9.99547099e-01 -3.00606882e-02 -1.39681530e-03 3.85051041e+02] [ 3.00607191e-02 9.99548074e-01 1.14845692e-06 4.67665270e+00] [ 1.39614952e-03 -4.31372091e-05 9.99999024e-01 1.49929814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959254154 meters 0.053381871758062506 Centerline is valid? [True, True] Translation: X:385.11, Y:4.68, Z:1.50 [[ 9.99580056e-01 -2.89355824e-02 -1.56339935e-03 3.85113594e+02] [ 2.89356198e-02 9.99581277e-01 1.33142351e-06 4.67501310e+00] [ 1.56270619e-03 -4.65687935e-05 9.99998778e-01 1.49890923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019254154 meters 0.055030887100535365 Centerline is valid? [True, True] Translation: X:385.17, Y:4.67, Z:1.50 [[ 9.99662917e-01 -2.55867632e-02 -4.40116513e-03 3.85173669e+02] [ 2.55870295e-02 9.99672598e-01 4.19777281e-06 4.66575301e+00] [ 4.39961678e-03 -1.16809100e-04 9.99990315e-01 1.49851731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079254154 meters 0.054141769116478264 Centerline is valid? [True, True] Translation: X:385.23, Y:4.67, Z:1.50 [[ 9.99747721e-01 -2.20909439e-02 -4.06005832e-03 3.85234269e+02] [ 2.20911417e-02 9.99755961e-01 3.87311330e-06 4.67325929e+00] [ 4.05898194e-03 -9.35634598e-05 9.99991758e-01 1.49868933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139254154 meters 0.05424787473158981 Centerline is valid? [True, True] Translation: X:385.29, Y:4.68, Z:1.50 [[ 9.99895444e-01 -1.40327676e-02 -3.49048981e-03 3.85294038e+02] [ 1.40328647e-02 9.99901535e-01 3.35355860e-06 4.67702246e+00] [ 3.49009906e-03 -5.23347794e-05 9.99993908e-01 1.49904588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199254154 meters 0.05416339881492031 Centerline is valid? [True, True] Translation: X:385.36, Y:4.68, Z:1.50 [[ 9.99960843e-01 -8.52067855e-03 -2.38959880e-03 3.85355107e+02] [ 8.52070825e-03 9.99963698e-01 2.24829579e-06 4.67845724e+00] [ 2.38949290e-03 -2.26092820e-05 9.99997145e-01 1.50024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259254154 meters 0.054890395664476094 Centerline is valid? [True, True] Translation: X:385.42, Y:4.68, Z:1.50 [[ 9.99990172e-01 -4.41307504e-03 -4.24043445e-04 3.85415661e+02] [ 4.41307560e-03 9.99990262e-01 3.82043729e-07 4.67914453e+00] [ 4.24037629e-04 -2.25337575e-06 9.99999910e-01 1.50348651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319254154 meters 0.05371200128216103 Centerline is valid? [True, True] Translation: X:385.48, Y:4.68, Z:1.50 [[ 9.99980702e-01 -6.18526861e-03 5.81883293e-04 3.85476680e+02] [ 6.18527004e-03 9.99980871e-01 -6.42886840e-07 4.67869729e+00] [-5.81868186e-04 4.24197973e-06 9.99999831e-01 1.50278976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379254154 meters 0.0552602471567034 Centerline is valid? [True, True] Translation: X:385.54, Y:4.67, Z:1.50 [[ 9.99904133e-01 -1.37911624e-02 -1.23607308e-03 3.85536546e+02] [ 1.37911745e-02 9.99904897e-01 1.22599770e-06 4.66952208e+00] [ 1.23593861e-03 -1.82727796e-05 9.99999236e-01 1.50195385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters 0.053872825187411294 Centerline is valid? [True, True] Translation: X:385.60, Y:4.67, Z:1.50 [[ 9.99688711e-01 -2.48427611e-02 -2.30603508e-03 3.85597379e+02] [ 2.48428324e-02 9.99691369e-01 2.27566829e-06 4.66642825e+00] [ 2.30526683e-03 -5.95634029e-05 9.99997341e-01 1.50026359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters 0.05402474917981922 Centerline is valid? [True, True] Translation: X:385.66, Y:4.66, Z:1.50 [[ 9.99482174e-01 -3.19577666e-02 -3.75295385e-03 3.85658211e+02] [ 3.19580057e-02 9.99489212e-01 3.74583716e-06 4.66147726e+00] [ 3.75091718e-03 -1.23680818e-04 9.99992958e-01 1.49975759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters 0.054893316681104254 Centerline is valid? [True, True] Translation: X:385.72, Y:4.65, Z:1.50 [[ 9.99164388e-01 -4.05482531e-02 -5.13460643e-03 3.85717345e+02] [ 4.05488144e-02 9.99177559e-01 5.23000039e-06 4.65397658e+00] [ 5.13017145e-03 -2.13427833e-04 9.99986818e-01 1.50010639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters 0.05209995753262939 Centerline is valid? [True, True] Translation: X:385.78, Y:4.67, Z:1.50 [[ 9.98943222e-01 -4.57739279e-02 -4.14580888e-03 3.85777896e+02] [ 4.57743390e-02 9.98951806e-01 4.27472425e-06 4.66588654e+00] [ 4.14126760e-03 -1.94041868e-04 9.99991406e-01 1.50007424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters 0.05262201433985753 Centerline is valid? [True, True] Translation: X:385.84, Y:4.66, Z:1.50 [[ 9.98652657e-01 -5.18025854e-02 -3.05994586e-03 3.85837004e+02] [ 5.18028375e-02 9.98657332e-01 3.13716027e-06 4.65702227e+00] [ 3.05567485e-03 -1.61646811e-04 9.99995318e-01 1.50023977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.739254154 meters 0.05250477276566086 Centerline is valid? [True, True] Translation: X:385.90, Y:4.66, Z:1.50 [[ 9.98469408e-01 -5.52568950e-02 -2.34868540e-03 3.85897668e+02] [ 5.52570532e-02 9.98472162e-01 2.46695840e-06 4.66389675e+00] [ 2.34496067e-03 -1.32244617e-04 9.99997242e-01 1.50025154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.799254154 meters 0.054882982561722575 Centerline is valid? [True, True] Translation: X:385.96, Y:4.64, Z:1.50 [[ 9.98305355e-01 -5.81356413e-02 -2.58163207e-03 3.85957699e+02] [ 5.81358420e-02 9.98308682e-01 2.73039937e-06 4.63972417e+00] [ 2.57710698e-03 -1.52811127e-04 9.99996668e-01 1.50050815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.859254154 meters 0.0522616975637765 Centerline is valid? [True, True] Translation: X:386.02, Y:4.66, Z:1.50 [[ 9.98260262e-01 -5.89292463e-02 -1.94752602e-03 3.86020109e+02] [ 5.89293619e-02 9.98262155e-01 1.95417152e-06 4.65821020e+00] [ 1.94402637e-03 -1.16717238e-04 9.99998104e-01 1.49988391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.919254154 meters 0.054423971788950955 Centerline is valid? [True, True] Translation: X:386.08, Y:4.64, Z:1.50 [[ 9.98353013e-01 -5.72771573e-02 -3.25408137e-03 3.86080202e+02] [ 5.72774724e-02 9.98358298e-01 3.65046422e-06 4.64400045e+00] [ 3.24853005e-03 -1.90030008e-04 9.99994705e-01 1.49945920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.979254154 meters 0.053562338800580436 Centerline is valid? [True, True] Translation: X:386.14, Y:4.65, Z:1.50 [[ 9.98571167e-01 -5.31152171e-02 -5.86500586e-03 3.86140772e+02] [ 5.31161693e-02 9.98588340e-01 6.58659653e-06 4.64707528e+00] [ 5.85637661e-03 -3.18103829e-04 9.99982801e-01 1.49838089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.039254154 meters 0.05362983500589955 Centerline is valid? [True, True] Translation: X:386.20, Y:4.65, Z:1.50 [[ 9.98804798e-01 -4.84678243e-02 -6.31225570e-03 3.86201480e+02] [ 4.84688347e-02 9.98824695e-01 7.11003400e-06 4.65165404e+00] [ 6.30449227e-03 -3.13049214e-04 9.99980077e-01 1.49863181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.099254154 meters 0.05468684411097331 Centerline is valid? [True, True] Translation: X:386.26, Y:4.65, Z:1.50 [[ 9.99277699e-01 -3.75149706e-02 -6.05858196e-03 3.86261071e+02] [ 3.75157004e-02 9.99296038e-01 6.82006141e-06 4.64579171e+00] [ 6.05406110e-03 -2.34107081e-04 9.99981647e-01 1.49877706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.159254154 meters 0.05371448624987985 Centerline is valid? [True, True] Translation: X:386.32, Y:4.66, Z:1.50 [[ 9.99706529e-01 -2.38550549e-02 -4.21813844e-03 3.86322030e+02] [ 2.38552870e-02 9.99715422e-01 4.72814427e-06 4.66265886e+00] [ 4.21682526e-03 -1.05351660e-04 9.99991104e-01 1.50057643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.219254154 meters 0.05470610951935648 Centerline is valid? [True, True] Translation: X:386.38, Y:4.66, Z:1.50 [[ 9.99887929e-01 -1.45332363e-02 -3.59372233e-03 3.86381578e+02] [ 1.45333445e-02 9.99894385e-01 3.98724803e-06 4.66031323e+00] [ 3.59328483e-03 -5.62156058e-05 9.99993543e-01 1.50130691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279254154 meters 0.05397555960069641 Centerline is valid? [True, True] Translation: X:386.44, Y:4.67, Z:1.50 [[ 9.99992900e-01 -2.33370221e-03 -2.95866326e-03 3.86442462e+02] [ 2.33372202e-03 9.99997277e-01 3.24324231e-06 4.66544313e+00] [ 2.95864763e-03 -1.01479169e-05 9.99995623e-01 1.50193128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339254154 meters 0.0543559610313042 Centerline is valid? [True, True] Translation: X:386.50, Y:4.67, Z:1.50 [[ 9.99966587e-01 7.37418139e-03 -3.52794851e-03 3.86502458e+02] [-7.37421347e-03 9.99972810e-01 3.91642938e-06 4.66995358e+00] [ 3.52788147e-03 2.20995469e-05 9.99993777e-01 1.50155881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399254154 meters 0.054685534048021824 Centerline is valid? [True, True] Translation: X:386.56, Y:4.67, Z:1.50 [[ 9.99913894e-01 1.25432827e-02 -3.85631302e-03 3.86560797e+02] [-1.25433596e-02 9.99921329e-01 4.24695164e-06 4.67175961e+00] [ 3.85606292e-03 4.41245351e-05 9.99992564e-01 1.50144927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459254154 meters 0.05504342443588171 Centerline is valid? [True, True] Translation: X:386.62, Y:4.67, Z:1.50 [[ 9.99836284e-01 1.76080890e-02 -4.16669811e-03 3.86620005e+02] [-1.76082233e-02 9.99844963e-01 4.43851807e-06 4.67241317e+00] [ 4.16613027e-03 6.89303595e-05 9.99991319e-01 1.50214218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519254154 meters 0.05539089111922735 Centerline is valid? [True, True] Translation: X:386.68, Y:4.67, Z:1.50 [[ 9.99819197e-01 1.85225774e-02 -4.29966962e-03 3.86678714e+02] [-1.85227293e-02 9.99828440e-01 4.49780716e-06 4.66902781e+00] [ 4.29901528e-03 7.51446225e-05 9.99990756e-01 1.50164908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579254154 meters 0.055165953785953965 Centerline is valid? [True, True] Translation: X:386.74, Y:4.66, Z:1.50 [[ 9.99862099e-01 1.58992954e-02 -4.79539415e-03 3.86736206e+02] [-1.58994550e-02 9.99873596e-01 4.82531362e-06 4.66027574e+00] [ 4.79486471e-03 7.14195053e-05 9.99988502e-01 1.50146704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639254154 meters 0.05534640022136231 Centerline is valid? [True, True] Translation: X:386.79, Y:4.66, Z:1.50 [[ 9.99891350e-01 1.39332952e-02 -4.81168571e-03 3.86794202e+02] [-1.39334343e-02 9.99902925e-01 4.62933510e-06 4.65945432e+00] [ 4.81128312e-03 6.24144745e-05 9.99988424e-01 1.50142085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699254154 meters 0.054773495122569384 Centerline is valid? [True, True] Translation: X:386.85, Y:4.64, Z:1.50 [[ 9.99979180e-01 4.11049177e-03 -4.97424788e-03 3.86854110e+02] [-4.11051963e-03 9.99991552e-01 4.62247280e-06 4.64445101e+00] [ 4.97422486e-03 1.58243670e-05 9.99987628e-01 1.50253153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759254154 meters 0.05494374149296911 Centerline is valid? [True, True] Translation: X:386.91, Y:4.63, Z:1.50 [[ 9.99978182e-01 -4.73454631e-03 -4.60651307e-03 3.86912401e+02] [ 4.73461619e-03 9.99988792e-01 4.26385427e-06 4.63192381e+00] [ 4.60644125e-03 -2.60738326e-05 9.99989390e-01 1.50266514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819254154 meters 0.055539032023147604 Centerline is valid? [True, True] Translation: X:386.97, Y:4.62, Z:1.50 [[ 9.99841369e-01 -1.74605681e-02 -3.51652830e-03 3.86972453e+02] [ 1.74606873e-02 9.99847551e-01 3.17763933e-06 4.61722970e+00] [ 3.51593673e-03 -6.45781363e-05 9.99993817e-01 1.50350277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879254154 meters 0.056010834754640075 Centerline is valid? [True, True] Translation: X:387.03, Y:4.60, Z:1.50 [[ 9.99708810e-01 -2.38426034e-02 -3.71824214e-03 3.87032320e+02] [ 2.38427807e-02 9.99715721e-01 3.36428863e-06 4.60492724e+00] [ 3.71710491e-03 -9.20165410e-05 9.99993087e-01 1.50328833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters 0.05642098430446596 Centerline is valid? [True, True] Translation: X:387.09, Y:4.60, Z:1.50 [[ 9.99522930e-01 -3.05349979e-02 -4.63969109e-03 3.87092895e+02] [ 3.05353461e-02 9.99533688e-01 4.22581033e-06 4.59698996e+00] [ 4.63739851e-03 -1.45898368e-04 9.99989237e-01 1.50279640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters 0.0564927366311871 Centerline is valid? [True, True] Translation: X:387.15, Y:4.59, Z:1.50 [[ 9.99370524e-01 -3.50338224e-02 -5.58458266e-03 3.87152767e+02] [ 3.50343971e-02 9.99386107e-01 5.10163050e-06 4.58531213e+00] [ 5.58097559e-03 -2.00750906e-04 9.99984406e-01 1.50256795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters 0.05624685364766453 Centerline is valid? [True, True] Translation: X:387.21, Y:4.59, Z:1.50 [[ 9.99283193e-01 -3.73208001e-02 -6.34498411e-03 3.87214155e+02] [ 3.73215881e-02 9.99303307e-01 5.80449225e-06 4.58651016e+00] [ 6.34034697e-03 -2.42605215e-04 9.99979870e-01 1.50306761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters 0.055793720956476875 Centerline is valid? [True, True] Translation: X:387.27, Y:4.58, Z:1.50 [[ 9.99205280e-01 -3.90308896e-02 -8.08686364e-03 3.87274945e+02] [ 3.90322267e-02 9.99237952e-01 7.51363905e-06 4.58440048e+00] [ 8.08040780e-03 -3.23155962e-04 9.99967301e-01 1.50267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters 0.05785554237334291 Centerline is valid? [True, True] Translation: X:387.34, Y:4.57, Z:1.50 [[ 9.99183544e-01 -3.93226976e-02 -9.27203078e-03 3.87336091e+02] [ 3.93244697e-02 9.99226494e-01 8.82432555e-06 4.57402423e+00] [ 9.26451181e-03 -3.73434815e-04 9.99957014e-01 1.50103114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.239254154 meters 0.05653837546861318 Centerline is valid? [True, True] Translation: X:387.40, Y:4.58, Z:1.50 [[ 9.99192145e-01 -3.89418735e-02 -9.92910596e-03 3.87398395e+02] [ 3.89438903e-02 9.99241399e-01 9.78628376e-06 4.58436810e+00] [ 9.92119263e-03 -3.96456392e-04 9.99950705e-01 1.50256159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.299254154 meters 0.05693499662974211 Centerline is valid? [True, True] Translation: X:387.46, Y:4.59, Z:1.50 [[ 9.99266630e-01 -3.69659454e-02 -9.98603914e-03 3.87458577e+02] [ 3.69678912e-02 9.99316454e-01 1.02739540e-05 4.58589351e+00] [ 9.97883344e-03 -3.79429228e-04 9.99950138e-01 1.50320806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.359254154 meters 0.05567431102324429 Centerline is valid? [True, True] Translation: X:387.52, Y:4.59, Z:1.50 [[ 9.99363511e-01 -3.43590964e-02 -9.59301678e-03 3.87519081e+02] [ 3.43607743e-02 9.99409494e-01 1.01041185e-05 4.58794625e+00] [ 9.58700488e-03 -3.39721172e-04 9.99953986e-01 1.50388344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.419254154 meters 0.05665237028103075 Centerline is valid? [True, True] Translation: X:387.58, Y:4.59, Z:1.51 [[ 9.99564397e-01 -2.81351287e-02 -8.91238893e-03 3.87578563e+02] [ 2.81363297e-02 9.99604095e-01 9.37216178e-06 4.59208651e+00] [ 8.90859678e-03 -2.60129992e-04 9.99960284e-01 1.50533360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.479254154 meters 0.05689166095007136 Centerline is valid? [True, True] Translation: X:387.64, Y:4.60, Z:1.51 [[ 9.99680019e-01 -2.37778379e-02 -8.62985624e-03 3.87639047e+02] [ 2.37788015e-02 9.99717244e-01 9.04861083e-06 4.59644336e+00] [ 8.62720094e-03 -2.14253354e-04 9.99962762e-01 1.50639165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.539254154 meters 0.056158257911871984 Centerline is valid? [True, True] Translation: X:387.70, Y:4.60, Z:1.51 [[ 9.99802227e-01 -1.80961775e-02 -8.24830755e-03 3.87698673e+02] [ 1.80968643e-02 9.99836238e-01 8.62693469e-06 4.59731383e+00] [ 8.24680068e-03 -1.57893731e-04 9.99965982e-01 1.50634788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.599254154 meters 0.056748396706400805 Centerline is valid? [True, True] Translation: X:387.76, Y:4.60, Z:1.51 [[ 9.99849379e-01 -1.53076271e-02 -8.17901669e-03 3.87757997e+02] [ 1.53082086e-02 9.99882822e-01 8.49429940e-06 4.59912555e+00] [ 8.17792826e-03 -1.33699113e-04 9.99966551e-01 1.50626831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.659254154 meters 0.057253943649795504 Centerline is valid? [True, True] Translation: X:387.82, Y:4.61, Z:1.51 [[ 9.99900225e-01 -1.08255140e-02 -9.07462607e-03 3.87818430e+02] [ 1.08260450e-02 9.99941397e-01 9.38901228e-06 4.60950361e+00] [ 9.07399263e-03 -1.07630386e-04 9.99958825e-01 1.50790155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.719254154 meters 0.05555086000870835 Centerline is valid? [True, True] Translation: X:387.88, Y:4.61, Z:1.51 [[ 9.99924961e-01 -7.35622300e-03 -9.79583026e-03 3.87877404e+02] [ 7.35666882e-03 9.99972939e-01 9.47821241e-06 4.61154124e+00] [ 9.79549545e-03 -8.15421802e-05 9.99952020e-01 1.50739359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779254154 meters 0.05558085139542485 Centerline is valid? [True, True] Translation: X:387.93, Y:4.62, Z:1.51 [[ 9.99955610e-01 -3.31465737e-05 -9.42219788e-03 3.87934993e+02] [ 3.32277074e-05 9.99999999e-01 8.45432084e-06 4.61595534e+00] [ 9.42219760e-03 -8.76702357e-06 9.99955610e-01 1.50743076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839254154 meters 0.05618453809610631 Centerline is valid? [True, True] Translation: X:387.99, Y:4.62, Z:1.51 [[ 9.99948296e-01 5.50671836e-03 -8.54881908e-03 3.87992735e+02] [-5.50685699e-03 9.99984837e-01 7.32350587e-06 4.62037574e+00] [ 8.54872978e-03 3.97539969e-05 9.99963458e-01 1.50804287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899254154 meters 0.055923077432429004 Centerline is valid? [True, True] Translation: X:388.05, Y:4.62, Z:1.51 [[ 9.99929922e-01 9.69565253e-03 -6.79308399e-03 3.88051201e+02] [-9.69583978e-03 9.99952994e-01 5.36778555e-06 4.62239146e+00] [ 6.79281672e-03 6.04972446e-05 9.99976927e-01 1.51002618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959254154 meters 0.05740433383747418 Centerline is valid? [True, True] Translation: X:388.11, Y:4.62, Z:1.51 [[ 9.99893782e-01 1.28632898e-02 -6.85282272e-03 3.88109340e+02] [-1.28635587e-02 9.99917261e-01 4.84161009e-06 4.62007175e+00] [ 6.85231801e-03 8.33105912e-05 9.99976519e-01 1.51086902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019254154 meters 0.056428198637130396 Centerline is valid? [True, True] Translation: X:388.17, Y:4.62, Z:1.51 [[ 9.99918789e-01 1.07731708e-02 -6.80835645e-03 3.88166985e+02] [-1.07733896e-02 9.99941965e-01 4.53586636e-06 4.61612157e+00] [ 6.80801020e-03 6.88135788e-05 9.99976823e-01 1.51161887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079254154 meters 0.05651868914667832 Centerline is valid? [True, True] Translation: X:388.23, Y:4.61, Z:1.51 [[ 9.99977850e-01 1.55921602e-03 -6.47055654e-03 3.88226354e+02] [-1.55922178e-03 9.99998784e-01 4.15537531e-06 4.61075456e+00] [ 6.47055515e-03 5.93374940e-06 9.99979066e-01 1.51264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139254154 meters 0.05566423224122441 Centerline is valid? [True, True] Translation: X:388.28, Y:4.60, Z:1.51 [[ 9.99950003e-01 -7.21138914e-03 -6.92723900e-03 3.88284934e+02] [ 7.21159246e-03 9.99973996e-01 4.37196667e-06 4.60299166e+00] [ 6.92702734e-03 -5.43281726e-05 9.99976006e-01 1.51121153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199254154 meters 0.05589794329643365 Centerline is valid? [True, True] Translation: X:388.34, Y:4.59, Z:1.51 [[ 9.99762424e-01 -2.04025499e-02 -7.67017360e-03 3.88344903e+02] [ 2.04031867e-02 9.99791833e-01 4.77709768e-06 4.59266896e+00] [ 7.66847946e-03 -1.61271947e-04 9.99970584e-01 1.50955742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259254154 meters 0.05703861747879217 Centerline is valid? [True, True] Translation: X:388.41, Y:4.59, Z:1.51 [[ 9.99592288e-01 -2.74149512e-02 -7.97981226e-03 3.88405929e+02] [ 2.74158643e-02 9.99624115e-01 5.03995342e-06 4.58774262e+00] [ 7.97667460e-03 -2.23811349e-04 9.99968161e-01 1.50914323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319254154 meters 0.05720906393514136 Centerline is valid? [True, True] Translation: X:388.47, Y:4.58, Z:1.51 [[ 9.99365705e-01 -3.46588287e-02 -8.18255318e-03 3.88465424e+02] [ 3.46600323e-02 9.99399161e-01 5.28267868e-06 4.58275248e+00] [ 8.17745368e-03 -2.88886885e-04 9.99966522e-01 1.50963266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379254154 meters 0.0578869083098501 Centerline is valid? [True, True] Translation: X:388.53, Y:4.58, Z:1.51 [[ 9.99230027e-01 -3.83763619e-02 -8.16133515e-03 3.88525299e+02] [ 3.83776832e-02 9.99263305e-01 5.28593455e-06 4.57589116e+00] [ 8.15511988e-03 -3.18494999e-04 9.99966696e-01 1.50954638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters 0.05879033935626574 Centerline is valid? [True, True] Translation: X:388.58, Y:4.57, Z:1.51 [[ 9.98982342e-01 -4.45151771e-02 -7.25799568e-03 3.88584808e+02] [ 4.45163836e-02 9.99008654e-01 4.69125485e-06 4.56845450e+00] [ 7.25059166e-03 -3.27786201e-04 9.99973660e-01 1.51087799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters 0.05670593420026051 Centerline is valid? [True, True] Translation: X:388.65, Y:4.58, Z:1.51 [[ 9.98875274e-01 -4.69672697e-02 -6.50093957e-03 3.88645823e+02] [ 4.69682897e-02 9.98896381e-01 4.22720146e-06 4.57540913e+00] [ 6.49356647e-03 -3.09560460e-04 9.99978869e-01 1.51197203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters 0.059613499824710064 Centerline is valid? [True, True] Translation: X:388.71, Y:4.57, Z:1.51 [[ 9.98669995e-01 -5.11902455e-02 -6.14821984e-03 3.88705492e+02] [ 5.11912378e-02 9.98688869e-01 4.04162747e-06 4.56913086e+00] [ 6.13995182e-03 -3.18771236e-04 9.99981099e-01 1.51240133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters 0.057858948816764795 Centerline is valid? [True, True] Translation: X:388.77, Y:4.57, Z:1.51 [[ 9.98354688e-01 -5.69090711e-02 -7.01955377e-03 3.88766225e+02] [ 5.69105063e-02 9.98379284e-01 4.71519246e-06 4.57168314e+00] [ 7.00790873e-03 -4.04193794e-04 9.99975363e-01 1.51154152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters 0.05512275548595445 Centerline is valid? [True, True] Translation: X:388.83, Y:4.59, Z:1.51 [[ 9.98214761e-01 -5.90813637e-02 -8.75688332e-03 3.88827071e+02] [ 5.90836812e-02 9.98253033e-01 5.95866554e-06 4.58680157e+00] [ 8.74123329e-03 -5.23336930e-04 9.99961658e-01 1.51207598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.739254154 meters 0.05830693737263446 Centerline is valid? [True, True] Translation: X:388.89, Y:4.57, Z:1.51 [[ 9.98223167e-01 -5.85903251e-02 -1.08481919e-02 3.88888426e+02] [ 5.85938548e-02 9.98281904e-01 7.55820396e-06 4.57261875e+00] [ 1.08291109e-02 -6.43182158e-04 9.99941157e-01 1.50987793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.799254154 meters 0.05681012206927887 Centerline is valid? [True, True] Translation: X:388.95, Y:4.59, Z:1.51 [[ 9.98377664e-01 -5.59821076e-02 -1.03943701e-02 3.88948702e+02] [ 5.59852083e-02 9.98431598e-01 7.34089208e-06 4.58865155e+00] [ 1.03776566e-02 -5.89259956e-04 9.99945977e-01 1.51192427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.859254154 meters 0.057438703857103 Centerline is valid? [True, True] Translation: X:389.01, Y:4.59, Z:1.51 [[ 9.98793977e-01 -4.83839204e-02 -8.34188037e-03 3.89008419e+02] [ 4.83856527e-02 9.98828728e-01 5.85572365e-06 4.58697878e+00] [ 8.33182644e-03 -4.09475988e-04 9.99965206e-01 1.51299142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.919254154 meters 0.0596609244193506 Centerline is valid? [True, True] Translation: X:389.07, Y:4.58, Z:1.51 [[ 9.99105324e-01 -4.17216131e-02 -6.91804384e-03 3.89067809e+02] [ 4.17226449e-02 9.99129231e-01 4.82371512e-06 4.57986895e+00] [ 6.91181857e-03 -2.93458486e-04 9.99976070e-01 1.51266575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.979254154 meters 0.057710016632376994 Centerline is valid? [True, True] Translation: X:389.13, Y:4.59, Z:1.51 [[ 9.99508038e-01 -3.07228168e-02 -6.30792564e-03 3.89128526e+02] [ 3.07234559e-02 9.99527923e-01 4.40429020e-06 4.59211482e+00] [ 6.30481250e-03 -1.98203399e-04 9.99980105e-01 1.51304948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.039254154 meters 0.057932478969708816 Centerline is valid? [True, True] Translation: X:389.19, Y:4.60, Z:1.51 [[ 9.99689070e-01 -2.38576129e-02 -7.25100243e-03 3.89188958e+02] [ 2.38582771e-02 9.99715351e-01 5.10334032e-06 4.59834219e+00] [ 7.24881668e-03 -1.78098178e-04 9.99973711e-01 1.51186230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.099254154 meters 0.056078500940798366 Centerline is valid? [True, True] Translation: X:389.25, Y:4.61, Z:1.51 [[ 9.99843638e-01 -1.57783957e-02 -7.98379109e-03 3.89249320e+02] [ 1.57789439e-02 9.99875505e-01 5.67785571e-06 4.61310460e+00] [ 7.98270756e-03 -1.31652760e-04 9.99968129e-01 1.51292770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.159254154 meters 0.05683739764757753 Centerline is valid? [True, True] Translation: X:389.31, Y:4.61, Z:1.51 [[ 9.99896966e-01 -1.19825806e-02 -7.90408759e-03 3.89308551e+02] [ 1.19829994e-02 9.99928201e-01 5.61924398e-06 4.61327414e+00] [ 7.90345275e-03 -1.00333342e-04 9.99968762e-01 1.51183402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.219254154 meters 0.05613603721684549 Centerline is valid? [True, True] Translation: X:389.37, Y:4.62, Z:1.51 [[ 9.99953476e-01 -6.39402222e-03 -7.22229810e-03 3.89368276e+02] [ 6.39422548e-03 9.99979557e-01 5.05179132e-06 4.62444322e+00] [ 7.22211815e-03 -5.12325588e-05 9.99973919e-01 1.51365554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279254154 meters 0.05586720525323176 Centerline is valid? [True, True] Translation: X:389.43, Y:4.63, Z:1.51 [[ 9.99972833e-01 -7.63469291e-04 -7.33148107e-03 3.89426859e+02] [ 7.63524027e-04 9.99999709e-01 4.66699403e-06 4.63046293e+00] [ 7.33147537e-03 -1.02646292e-05 9.99973124e-01 1.51367749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339254154 meters 0.05558018801358975 Centerline is valid? [True, True] Translation: X:389.49, Y:4.63, Z:1.51 [[ 9.99976950e-01 1.71390522e-03 -6.56983883e-03 3.89485235e+02] [-1.71391974e-03 9.99998531e-01 3.41990350e-06 4.63340771e+00] [ 6.56983504e-03 7.84035181e-06 9.99978418e-01 1.51422350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399254154 meters 0.05669892275351222 Centerline is valid? [True, True] Translation: X:389.54, Y:4.63, Z:1.51 [[ 9.99980005e-01 2.57297040e-03 -5.77660569e-03 3.89541887e+02] [-2.57299959e-03 9.99996690e-01 2.37901923e-06 4.63394028e+00] [ 5.77659269e-03 1.24842324e-05 9.99983315e-01 1.51429959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459254154 meters 0.0554253769583589 Centerline is valid? [True, True] Translation: X:389.60, Y:4.63, Z:1.52 [[ 9.99984270e-01 -1.54198816e-03 -5.39282118e-03 3.89600952e+02] [ 1.54202049e-03 9.99998811e-01 1.83788663e-06 4.63026429e+00] [ 5.39281194e-03 -1.01536985e-05 9.99985459e-01 1.51515974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519254154 meters 0.055817289720208246 Centerline is valid? [True, True] Translation: X:389.66, Y:4.62, Z:1.51 [[ 9.99957600e-01 -7.46240733e-03 -5.39544611e-03 3.89659454e+02] [ 7.46252496e-03 9.99972155e-01 1.66884037e-06 4.62488592e+00] [ 5.39528342e-03 -4.19324209e-05 9.99985444e-01 1.51487974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579254154 meters 0.056126456150552145 Centerline is valid? [True, True] Translation: X:389.72, Y:4.61, Z:1.51 [[ 9.99800626e-01 -1.90194291e-02 -6.08021357e-03 3.89718969e+02] [ 1.90197914e-02 9.99819107e-01 1.75352616e-06 4.61149841e+00] [ 6.07908035e-03 -1.17397570e-04 9.99981515e-01 1.51317011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639254154 meters 0.057183094558378215 Centerline is valid? [True, True] Translation: X:389.78, Y:4.60, Z:1.51 [[ 9.99626930e-01 -2.64172084e-02 -6.93773679e-03 3.89780373e+02] [ 2.64178581e-02 9.99650987e-01 2.00733340e-06 4.60372229e+00] [ 6.93526240e-03 -1.85286731e-04 9.99975934e-01 1.51243807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699254154 meters 0.056423520903720284 Centerline is valid? [True, True] Translation: X:389.84, Y:4.61, Z:1.51 [[ 9.99372598e-01 -3.47687585e-02 -6.74861366e-03 3.89840604e+02] [ 3.47695638e-02 9.99395356e-01 2.00735412e-06 4.60691085e+00] [ 6.74446336e-03 -2.36652448e-04 9.99977228e-01 1.51387653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759254154 meters 0.05623938257999771 Centerline is valid? [True, True] Translation: X:389.90, Y:4.61, Z:1.51 [[ 9.99254095e-01 -3.80681252e-02 -6.48629734e-03 3.89901446e+02] [ 3.80689386e-02 9.99275115e-01 1.94203572e-06 4.60757304e+00] [ 6.48152159e-03 -2.48867042e-04 9.99978964e-01 1.51443768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819254154 meters 0.05521112455482786 Centerline is valid? [True, True] Translation: X:389.96, Y:4.61, Z:1.51 [[ 9.99146545e-01 -4.09552621e-02 -5.37113710e-03 3.89962322e+02] [ 4.09558616e-02 9.99160957e-01 1.62045132e-06 4.61192620e+00] [ 5.36656412e-03 -2.21598616e-04 9.99985575e-01 1.51419497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879254154 meters 0.0554111986643373 Centerline is valid? [True, True] Translation: X:390.02, Y:4.60, Z:1.51 [[ 9.99130586e-01 -4.14191496e-02 -4.74628073e-03 3.90023509e+02] [ 4.14196231e-02 9.99141839e-01 1.46950503e-06 4.60311558e+00] [ 4.74214679e-03 -1.98057386e-04 9.99988736e-01 1.51450246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters 0.05897854343445974 Centerline is valid? [True, True] Translation: X:390.08, Y:4.59, Z:1.51 [[ 9.99154842e-01 -4.07739141e-02 -5.20472020e-03 3.90084823e+02] [ 4.07744758e-02 9.99168375e-01 1.80169869e-06 4.59229316e+00] [ 5.20031837e-03 -2.14019914e-04 9.99986455e-01 1.51485184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters 0.057010850522164216 Centerline is valid? [True, True] Translation: X:390.15, Y:4.60, Z:1.51 [[ 9.99177781e-01 -4.01635610e-02 -5.53629454e-03 3.90147313e+02] [ 4.01641890e-02 9.99193093e-01 2.23919833e-06 4.59963076e+00] [ 5.53173733e-03 -2.24598137e-04 9.99984675e-01 1.51457286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters 0.05736938526754057 Centerline is valid? [True, True] Translation: X:390.21, Y:4.60, Z:1.51 [[ 9.99199307e-01 -3.95340085e-02 -6.14880084e-03 3.90208295e+02] [ 3.95347725e-02 9.99218195e-01 2.70565397e-06 4.59967620e+00] [ 6.14388671e-03 -2.45794930e-04 9.99981096e-01 1.51401549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters 0.05635658802635834 Centerline is valid? [True, True] Translation: X:390.27, Y:4.61, Z:1.51 [[ 9.99215347e-01 -3.91515822e-02 -5.98692363e-03 3.90270833e+02] [ 3.91523006e-02 9.99233255e-01 2.80365767e-06 4.60599957e+00] [ 5.98222342e-03 -2.37203292e-04 9.99982078e-01 1.51355051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters 0.056509145257309705 Centerline is valid? [True, True] Translation: X:390.33, Y:4.61, Z:1.51 [[ 9.99299372e-01 -3.66999440e-02 -7.34031252e-03 3.90331905e+02] [ 3.67009596e-02 9.99326293e-01 3.65552365e-06 4.60754859e+00] [ 7.33523314e-03 -2.73049476e-04 9.99973060e-01 1.51263045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.239254154 meters 0.057620685575296496 Centerline is valid? [True, True] Translation: X:390.39, Y:4.61, Z:1.51 [[ 9.99419803e-01 -3.30543429e-02 -8.21392131e-03 3.90391111e+02] [ 3.30554916e-02 9.99453518e-01 4.09553725e-06 4.60609835e+00] [ 8.20929717e-03 -2.75608368e-04 9.99966265e-01 1.51172966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.299254154 meters 0.0559617500398619 Centerline is valid? [True, True] Translation: X:390.45, Y:4.62, Z:1.51 [[ 9.99643227e-01 -2.55669637e-02 -7.72971040e-03 3.90451716e+02] [ 2.55677571e-02 9.99673091e-01 3.82498358e-06 4.61806328e+00] [ 7.72708570e-03 -2.01454977e-04 9.99970125e-01 1.51285287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.359254154 meters 0.054762431970476075 Centerline is valid? [True, True] Translation: X:390.51, Y:4.63, Z:1.52 [[ 9.99789624e-01 -1.94861859e-02 -6.40287816e-03 3.90512669e+02] [ 1.94866057e-02 9.99810118e-01 3.18644093e-06 4.63033832e+00] [ 6.40160027e-03 -1.27956133e-04 9.99979501e-01 1.51507274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.419254154 meters 0.05480821546996411 Centerline is valid? [True, True] Translation: X:390.57, Y:4.63, Z:1.52 [[ 9.99855114e-01 -1.59933928e-02 -5.82772147e-03 3.90573553e+02] [ 1.59936818e-02 9.99872093e-01 2.97742257e-06 4.63092738e+00] [ 5.82692845e-03 -9.61837139e-05 9.99983019e-01 1.51533547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.479254154 meters 0.0554896074075364 Centerline is valid? [True, True] Translation: X:390.63, Y:4.64, Z:1.52 [[ 9.99969376e-01 -6.67224539e-03 -4.09003034e-03 3.90633339e+02] [ 6.67231003e-03 9.99977740e-01 2.15963187e-06 4.63796809e+00] [ 4.08992489e-03 -2.94495162e-05 9.99991636e-01 1.51698464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.539254154 meters 0.0547518686371521 Centerline is valid? [True, True] Translation: X:390.69, Y:4.64, Z:1.52 [[ 9.99989427e-01 -2.22011101e-03 -4.02710717e-03 3.90694027e+02] [ 2.22013768e-03 9.99997536e-01 2.15150648e-06 4.64326879e+00] [ 4.02709247e-03 -1.10922161e-05 9.99991891e-01 1.51761124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.599254154 meters 0.055883830931562614 Centerline is valid? [True, True] Translation: X:390.75, Y:4.65, Z:1.52 [[ 9.99991845e-01 7.38483063e-04 -3.97044261e-03 3.90752949e+02] [-7.38480472e-04 9.99999727e-01 2.11843735e-06 4.64626460e+00] [ 3.97044309e-03 8.13674256e-07 9.99992118e-01 1.51676554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.659254154 meters 0.05471683625251164 Centerline is valid? [True, True] Translation: X:390.81, Y:4.65, Z:1.52 [[ 9.99989772e-01 9.44574642e-04 -4.42306719e-03 3.90810480e+02] [-9.44575581e-04 9.99999554e-01 1.87670469e-06 4.64693364e+00] [ 4.42306699e-03 2.30123577e-06 9.99990218e-01 1.51641086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.719254154 meters 0.05520560556792136 Centerline is valid? [True, True] Translation: X:390.87, Y:4.65, Z:1.52 [[ 9.99989811e-01 -2.47341124e-04 -4.50730478e-03 3.90868464e+02] [ 2.47351421e-04 9.99999969e-01 1.72691147e-06 4.64676497e+00] [ 4.50730422e-03 -2.84178211e-06 9.99989842e-01 1.51693956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779254154 meters 0.05519013591991601 Centerline is valid? [True, True] Translation: X:390.93, Y:4.65, Z:1.52 [[ 9.99988285e-01 -1.85793702e-03 -4.46977682e-03 3.90927160e+02] [ 1.85796248e-03 9.99998274e-01 1.54358296e-06 4.64652685e+00] [ 4.46976623e-03 -9.84824251e-06 9.99990010e-01 1.51736679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839254154 meters 0.05573007824068248 Centerline is valid? [True, True] Translation: X:390.99, Y:4.64, Z:1.52 [[ 9.99977627e-01 -4.52709594e-03 -4.92459851e-03 3.90985377e+02] [ 4.52715855e-03 9.99989752e-01 1.56699731e-06 4.64340643e+00] [ 4.92454095e-03 -2.38614005e-05 9.99987874e-01 1.51683739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899254154 meters 0.05502831459981885 Centerline is valid? [True, True] Translation: X:391.04, Y:4.64, Z:1.52 [[ 9.99970684e-01 -6.39624053e-03 -4.20931447e-03 3.91044707e+02] [ 6.39630246e-03 9.99979543e-01 1.25054771e-06 4.64184573e+00] [ 4.20922036e-03 -2.81745595e-05 9.99991141e-01 1.51707322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959254154 meters 0.0554790068235778 Centerline is valid? [True, True] Translation: X:391.10, Y:4.64, Z:1.52 [[ 9.99967054e-01 -7.11738202e-03 -3.90301314e-03 3.91104352e+02] [ 7.11744053e-03 9.99974671e-01 1.10156258e-06 4.63979082e+00] [ 3.90290644e-03 -2.88809902e-05 9.99992383e-01 1.51741793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019254154 meters 0.055008316261987066 Centerline is valid? [True, True] Translation: X:391.17, Y:4.64, Z:1.52 [[ 9.99972101e-01 -6.10853099e-03 -4.29931001e-03 3.91165086e+02] [ 6.10859251e-03 9.99981342e-01 1.17895996e-06 4.64020010e+00] [ 4.29922260e-03 -2.74416600e-05 9.99990758e-01 1.51761029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079254154 meters 0.05540682818896724 Centerline is valid? [True, True] Translation: X:391.23, Y:4.64, Z:1.52 [[ 9.99980610e-01 -4.35157602e-03 -4.45453249e-03 3.91225002e+02] [ 4.35162455e-03 9.99990532e-01 1.20326503e-06 4.63735596e+00] [ 4.45448508e-03 -2.05876947e-05 9.99990079e-01 1.51726006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139254154 meters 0.05529364623265826 Centerline is valid? [True, True] Translation: X:391.28, Y:4.64, Z:1.52 [[ 9.99984371e-01 -2.27040494e-03 -5.10911020e-03 3.91284281e+02] [ 2.27044081e-03 9.99997423e-01 1.22004301e-06 4.63542303e+00] [ 5.10909426e-03 -1.28199562e-05 9.99986948e-01 1.51708729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199254154 meters 0.055260096849192974 Centerline is valid? [True, True] Translation: X:391.34, Y:4.63, Z:1.52 [[ 9.99986096e-01 1.42839615e-03 -5.07612140e-03 3.91343014e+02] [-1.42840901e-03 9.99998980e-01 1.09138985e-06 4.63466549e+00] [ 5.07611778e-03 6.15940287e-06 9.99987116e-01 1.51765873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259254154 meters 0.05540985618111598 Centerline is valid? [True, True] Translation: X:391.40, Y:4.64, Z:1.52 [[ 9.99974755e-01 4.41156493e-03 -5.57018977e-03 3.91401179e+02] [-4.41163038e-03 9.99990269e-01 5.36215624e-07 4.63551696e+00] [ 5.57013793e-03 2.40374163e-05 9.99984486e-01 1.51735408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319254154 meters 0.05603168452513158 Centerline is valid? [True, True] Translation: X:391.46, Y:4.63, Z:1.52 [[ 9.99945382e-01 8.02090876e-03 -6.70067415e-03 3.91460060e+02] [-8.02109002e-03 9.99967831e-01 -1.76591032e-07 4.63263237e+00] [ 6.70045718e-03 5.39232920e-05 9.99977550e-01 1.51743839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379254154 meters 0.0562694708665649 Centerline is valid? [True, True] Translation: X:391.52, Y:4.63, Z:1.52 [[ 9.99940528e-01 9.04374047e-03 -6.09510846e-03 3.91518992e+02] [-9.04391271e-03 9.99959103e-01 -6.97647465e-07 4.63091515e+00] [ 6.09485288e-03 5.58212349e-05 9.99981425e-01 1.51764139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters 0.05636882030124474 Centerline is valid? [True, True] Translation: X:391.58, Y:4.62, Z:1.52 [[ 9.99943258e-01 9.16945304e-03 -5.42243875e-03 3.91576872e+02] [-9.16959281e-03 9.99957958e-01 -9.16249241e-07 4.62268333e+00] [ 5.42220238e-03 5.06377526e-05 9.99985298e-01 1.51950826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters 0.056568700332954434 Centerline is valid? [True, True] Translation: X:391.64, Y:4.62, Z:1.52 [[ 9.99955408e-01 7.95108084e-03 -5.09531362e-03 3.91635595e+02] [-7.95118942e-03 9.99968389e-01 -1.05225927e-06 4.61846805e+00] [ 5.09514418e-03 4.15660160e-05 9.99987019e-01 1.51952852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters 0.05642981416637677 Centerline is valid? [True, True] Translation: X:391.69, Y:4.61, Z:1.52 [[ 9.99951121e-01 8.05452050e-03 -5.73408334e-03 3.91693835e+02] [-8.05466071e-03 9.99967561e-01 -1.35908004e-06 4.61153128e+00] [ 5.73388638e-03 4.75451094e-05 9.99983560e-01 1.51974567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters 0.056502068464503764 Centerline is valid? [True, True] Translation: X:391.75, Y:4.60, Z:1.52 [[ 9.99945098e-01 8.10313660e-03 -6.64374507e-03 3.91752772e+02] [-8.10332811e-03 9.99967168e-01 -1.90799854e-06 4.60278389e+00] [ 6.64351148e-03 5.57443400e-05 9.99977930e-01 1.51954040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters 0.05711587517495571 Centerline is valid? [True, True] Translation: X:391.81, Y:4.60, Z:1.52 [[ 9.99945620e-01 8.06252375e-03 -6.61451572e-03 3.91809583e+02] [-8.06271526e-03 9.99967496e-01 -2.28709093e-06 4.59851669e+00] [ 6.61428228e-03 5.56179234e-05 9.99978124e-01 1.51951013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.739254154 meters 0.05743978146354078 Centerline is valid? [True, True] Translation: X:391.87, Y:4.59, Z:1.52 [[ 9.99962866e-01 6.52132372e-03 -5.63379300e-03 3.91868688e+02] [-6.52143956e-03 9.99978735e-01 -2.19036640e-06 4.58860464e+00] [ 5.63365891e-03 3.89307256e-05 9.99984130e-01 1.52036494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.799254154 meters 0.05705677348434589 Centerline is valid? [True, True] Translation: X:391.93, Y:4.58, Z:1.52 [[ 9.99975592e-01 4.17998312e-03 -5.59858827e-03 3.91927075e+02] [-4.18006152e-03 9.99991264e-01 -2.30240664e-06 4.57823761e+00] [ 5.59852974e-03 2.57047938e-05 9.99984328e-01 1.51996529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.859254154 meters 0.05743505303541543 Centerline is valid? [True, True] Translation: X:391.99, Y:4.57, Z:1.52 [[ 9.99975675e-01 3.38323858e-03 -6.09943437e-03 3.91985371e+02] [-3.38331801e-03 9.99994277e-01 -2.70590802e-06 4.57274219e+00] [ 6.09939031e-03 2.33421684e-05 9.99981398e-01 1.51962302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.919254154 meters 0.05776597570312577 Centerline is valid? [True, True] Translation: X:392.04, Y:4.56, Z:1.52 [[ 9.99977203e-01 2.68247317e-03 -6.19659556e-03 3.92043896e+02] [-2.68254315e-03 9.99996402e-01 -2.98203918e-06 4.56330415e+00] [ 6.19656527e-03 1.96046062e-05 9.99980801e-01 1.52032163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.979254154 meters 0.05792793783540429 Centerline is valid? [True, True] Translation: X:392.10, Y:4.56, Z:1.52 [[ 9.99984553e-01 2.16791442e-03 -5.11799195e-03 3.92102843e+02] [-2.16795606e-03 9.99997650e-01 -2.58726120e-06 4.55798927e+00] [ 5.11797432e-03 1.36828029e-05 9.99986903e-01 1.52082125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.039254154 meters 0.05812550283416394 Centerline is valid? [True, True] Translation: X:392.16, Y:4.55, Z:1.52 [[ 9.99984479e-01 2.72418181e-03 -4.86011698e-03 3.92160618e+02] [-2.72422697e-03 9.99996289e-01 -2.67227164e-06 4.55291423e+00] [ 4.86009167e-03 1.59122920e-05 9.99988190e-01 1.52125091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.099254154 meters 0.057459294809059494 Centerline is valid? [True, True] Translation: X:392.22, Y:4.55, Z:1.52 [[ 9.99974960e-01 5.66370261e-03 -4.24274769e-03 3.92218668e+02] [-5.66376549e-03 9.99983961e-01 -2.80522706e-06 4.54861573e+00] [ 4.24266375e-03 2.68350848e-05 9.99990999e-01 1.52184219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.159254154 meters 0.05812859403561093 Centerline is valid? [True, True] Translation: X:392.28, Y:4.54, Z:1.52 [[ 9.99964414e-01 7.19571398e-03 -4.40365651e-03 3.92277242e+02] [-7.19579754e-03 9.99974110e-01 -3.13082990e-06 4.54122268e+00] [ 4.40351997e-03 3.48185392e-05 9.99990304e-01 1.52182247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.219254154 meters 0.05833803580533287 Centerline is valid? [True, True] Translation: X:392.34, Y:4.53, Z:1.52 [[ 9.99959729e-01 7.27771223e-03 -5.25119416e-03 3.92336210e+02] [-7.27783508e-03 9.99973516e-01 -4.28510100e-06 4.53187181e+00] [ 5.25102390e-03 4.25022535e-05 9.99986212e-01 1.52122310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279254154 meters 0.057980969797960004 Centerline is valid? [True, True] Translation: X:392.39, Y:4.52, Z:1.52 [[ 9.99971315e-01 4.73879513e-03 -5.90866611e-03 3.92394656e+02] [-4.73890751e-03 9.99988771e-01 -5.01934343e-06 4.52488817e+00] [ 5.90857598e-03 3.30198217e-05 9.99982544e-01 1.52136960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339254154 meters 0.05876619248407342 Centerline is valid? [True, True] Translation: X:392.45, Y:4.52, Z:1.52 [[ 9.99976439e-01 2.43409106e-04 -6.86019689e-03 3.92452602e+02] [-2.43456530e-04 9.99999970e-01 -6.07801917e-06 4.51881999e+00] [ 6.86019521e-03 7.74803571e-06 9.99976469e-01 1.52055410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399254154 meters 0.05808866349797916 Centerline is valid? [True, True] Translation: X:392.51, Y:4.51, Z:1.52 [[ 9.99960147e-01 -5.52590696e-03 -7.01208909e-03 3.92511217e+02] [ 5.52599694e-03 9.99984732e-01 -6.54184096e-06 4.51059922e+00] [ 7.01201818e-03 -3.22072026e-05 9.99975415e-01 1.52074281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459254154 meters 0.058823734754081404 Centerline is valid? [True, True] Translation: X:392.57, Y:4.50, Z:1.52 [[ 9.99896846e-01 -1.26846031e-02 -6.73784025e-03 3.92570773e+02] [ 1.26848469e-02 9.99919544e-01 -6.55469194e-06 4.50009099e+00] [ 6.73738129e-03 -7.89144561e-05 9.99977300e-01 1.52164922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519254154 meters 0.05909891941906972 Centerline is valid? [True, True] Translation: X:392.63, Y:4.49, Z:1.52 [[ 9.99862791e-01 -1.55180204e-02 -5.79579720e-03 3.92630082e+02] [ 1.55182478e-02 9.99879585e-01 -5.72902574e-06 4.49486002e+00] [ 5.79518820e-03 -8.42123776e-05 9.99983204e-01 1.52252635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579254154 meters 0.05940319036286047 Centerline is valid? [True, True] Translation: X:392.69, Y:4.49, Z:1.52 [[ 9.99847645e-01 -1.65677104e-02 -5.49522539e-03 3.92689896e+02] [ 1.65679303e-02 9.99862742e-01 -5.51177790e-06 4.48795140e+00] [ 5.49456244e-03 -8.55335728e-05 9.99984901e-01 1.52302429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639254154 meters 0.059272316197804584 Centerline is valid? [True, True] Translation: X:392.75, Y:4.48, Z:1.52 [[ 9.99851829e-01 -1.62519624e-02 -5.67398903e-03 3.92750414e+02] [ 1.62521915e-02 9.99867924e-01 -5.72710207e-06 4.48400422e+00] [ 5.67333272e-03 -8.64885028e-05 9.99983903e-01 1.52307904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699254154 meters 0.05924971588330783 Centerline is valid? [True, True] Translation: X:392.81, Y:4.48, Z:1.52 [[ 9.99894134e-01 -1.35491950e-02 -5.30475155e-03 3.92809854e+02] [ 1.35493572e-02 9.99908203e-01 -5.36687894e-06 4.48171313e+00] [ 5.30433731e-03 -6.65096627e-05 9.99985930e-01 1.52297420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759254154 meters 0.0588792484601294 Centerline is valid? [True, True] Translation: X:392.87, Y:4.48, Z:1.52 [[ 9.99939970e-01 -9.26197435e-03 -5.85424907e-03 3.92869660e+02] [ 9.26209806e-03 9.99957106e-01 -5.98021277e-06 4.48090249e+00] [ 5.85405334e-03 -4.82427751e-05 9.99982864e-01 1.52386028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819254154 meters 0.059842513365582474 Centerline is valid? [True, True] Translation: X:392.93, Y:4.48, Z:1.52 [[ 9.99983287e-01 -2.09082928e-03 -5.39027626e-03 3.92928327e+02] [ 2.09082905e-03 9.99997814e-01 -5.67705355e-06 4.48004510e+00] [ 5.39027635e-03 -5.59318752e-06 9.99985472e-01 1.52404604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879254154 meters 0.0592357115385808 Centerline is valid? [True, True] Translation: X:392.99, Y:4.48, Z:1.52 [[ 9.99980334e-01 1.97131906e-03 -5.95364335e-03 3.92986867e+02] [-1.97139495e-03 9.99998057e-01 -6.87711232e-06 4.47901019e+00] [ 5.95361822e-03 1.86139595e-05 9.99982277e-01 1.52401259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters 0.05932193735847947 Centerline is valid? [True, True] Translation: X:393.05, Y:4.48, Z:1.52 [[ 9.99970839e-01 3.48922460e-03 -6.79319555e-03 3.93045808e+02] [-3.48936340e-03 9.99993912e-01 -8.58085305e-06 4.47543187e+00] [ 6.79312426e-03 3.22845308e-05 9.99976926e-01 1.52367016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters 0.05937838737210169 Centerline is valid? [True, True] Translation: X:393.10, Y:4.47, Z:1.52 [[ 9.99970170e-01 7.67161561e-04 -7.68576225e-03 3.93104385e+02] [-7.67263357e-04 9.99999706e-01 -1.02963434e-05 4.47138097e+00] [ 7.68575208e-03 1.61930400e-05 9.99970464e-01 1.52332343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters 0.059054385804244755 Centerline is valid? [True, True] Translation: X:393.16, Y:4.46, Z:1.52 [[ 9.99936799e-01 -8.37289108e-03 -7.50279784e-03 3.93163199e+02] [ 8.37304986e-03 9.99964945e-01 -1.02493561e-05 4.46287894e+00] [ 7.50262065e-03 -5.25725920e-05 9.99971854e-01 1.52338207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters 0.0590467248855358 Centerline is valid? [True, True] Translation: X:393.22, Y:4.45, Z:1.52 [[ 9.99830392e-01 -1.69315569e-02 -7.24630290e-03 3.93223303e+02] [ 1.69319291e-02 9.99856645e-01 -9.98558904e-06 4.45385853e+00] [ 7.24543317e-03 -1.12709991e-04 9.99973745e-01 1.52335247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters 0.060248861413255556 Centerline is valid? [True, True] Translation: X:393.28, Y:4.44, Z:1.52 [[ 9.99505494e-01 -3.03382752e-02 -8.26783933e-03 3.93282496e+02] [ 3.03392189e-02 9.99539660e-01 -1.12900867e-05 4.44256428e+00] [ 8.26437583e-03 -2.39555284e-04 9.99965821e-01 1.52351850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.239254154 meters 0.060657865221533054 Centerline is valid? [True, True] Translation: X:393.34, Y:4.43, Z:1.52 [[ 9.99228952e-01 -3.85597596e-02 -7.39236888e-03 3.93342815e+02] [ 3.85607395e-02 9.99256258e-01 -9.98411563e-06 4.43492794e+00] [ 7.38725585e-03 -2.75078794e-04 9.99972676e-01 1.52408160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.299254154 meters 0.06212554428272181 Centerline is valid? [True, True] Translation: X:393.40, Y:4.43, Z:1.53 [[ 9.98820022e-01 -4.82307448e-02 -5.68845812e-03 3.93403051e+02] [ 4.82314817e-02 9.98836185e-01 -7.65995542e-06 4.42554249e+00] [ 5.68220725e-03 -2.66711847e-04 9.99983821e-01 1.52561501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.359254154 meters 0.06052619024491431 Centerline is valid? [True, True] Translation: X:393.46, Y:4.43, Z:1.53 [[ 9.98524238e-01 -5.40463233e-02 -5.32360782e-03 3.93462259e+02] [ 5.40470512e-02 9.98538390e-01 -7.13153448e-06 4.42977997e+00] [ 5.31621222e-03 -2.80604295e-04 9.99985829e-01 1.52640813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.419254154 meters 0.06106833302024987 Centerline is valid? [True, True] Translation: X:393.52, Y:4.43, Z:1.53 [[ 9.98506469e-01 -5.43320790e-02 -5.73201801e-03 3.93523317e+02] [ 5.43329285e-02 9.98522875e-01 -7.51975300e-06 4.43047103e+00] [ 5.72395967e-03 -3.03928803e-04 9.99983572e-01 1.52732230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.479254154 meters 0.06098436481198038 Centerline is valid? [True, True] Translation: X:393.58, Y:4.43, Z:1.53 [[ 9.98624820e-01 -5.21355718e-02 -5.50924751e-03 3.93582547e+02] [ 5.21363237e-02 9.98639977e-01 -7.14705986e-06 4.42792212e+00] [ 5.50212742e-03 -2.80094680e-04 9.99984824e-01 1.52767022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.539254154 meters 0.060576308846103634 Centerline is valid? [True, True] Translation: X:393.64, Y:4.44, Z:1.53 [[ 9.98926373e-01 -4.60486928e-02 -5.06156719e-03 3.93643162e+02] [ 4.60492494e-02 9.98939171e-01 -6.58939049e-06 4.43864591e+00] [ 5.05650117e-03 -2.26499054e-04 9.99987190e-01 1.52793238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.599254154 meters 0.061954755383236935 Centerline is valid? [True, True] Translation: X:393.70, Y:4.44, Z:1.53 [[ 9.99091531e-01 -4.21753783e-02 -6.11140314e-03 3.93702605e+02] [ 4.21761173e-02 9.99110192e-01 -7.97345718e-06 4.43808519e+00] [ 6.10630144e-03 -2.49789042e-04 9.99981325e-01 1.52707105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.659254154 meters 0.06247957599002813 Centerline is valid? [True, True] Translation: X:393.76, Y:4.44, Z:1.53 [[ 9.99204845e-01 -3.91308303e-02 -7.64568538e-03 3.93762757e+02] [ 3.91318974e-02 9.99234054e-01 -1.00266245e-05 4.43982281e+00] [ 7.64022155e-03 -2.89171524e-04 9.99970771e-01 1.52540350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.719254154 meters 0.05886479814140062 Centerline is valid? [True, True] Translation: X:393.82, Y:4.46, Z:1.53 [[ 9.99235571e-01 -3.82083365e-02 -8.27025240e-03 3.93823888e+02] [ 3.82095540e-02 9.99269748e-01 -1.07891521e-05 4.45809065e+00] [ 8.26462527e-03 -3.05221751e-04 9.99965801e-01 1.52651862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779254154 meters 0.05833523096295554 Centerline is valid? [True, True] Translation: X:393.88, Y:4.47, Z:1.53 [[ 9.99256000e-01 -3.74403468e-02 -9.25559060e-03 3.93884351e+02] [ 3.74418399e-02 9.99298808e-01 -1.19646358e-05 4.46738300e+00] [ 9.24954861e-03 -3.34590607e-04 9.99957166e-01 1.52658473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839254154 meters 0.05787360620245033 Centerline is valid? [True, True] Translation: X:393.95, Y:4.47, Z:1.53 [[ 9.99235910e-01 -3.79523568e-02 -9.33891234e-03 3.93946015e+02] [ 3.79539004e-02 9.99279491e-01 -1.19532342e-05 4.47353597e+00] [ 9.33263722e-03 -3.42504048e-04 9.99956391e-01 1.52765472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899254154 meters 0.058479588178240706 Centerline is valid? [True, True] Translation: X:394.01, Y:4.48, Z:1.53 [[ 9.99172241e-01 -3.97072340e-02 -8.84125565e-03 3.94005681e+02] [ 3.97086873e-02 9.99211299e-01 -1.11748783e-05 4.47595984e+00] [ 8.83472626e-03 -3.39909028e-04 9.99960915e-01 1.52817701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959254154 meters 0.05950238118391319 Centerline is valid? [True, True] Translation: X:394.07, Y:4.48, Z:1.53 [[ 9.99131583e-01 -4.08629281e-02 -8.14252989e-03 3.94067337e+02] [ 4.08642004e-02 9.99164710e-01 -1.01273984e-05 4.48153613e+00] [ 8.13614235e-03 -3.22619369e-04 9.99966849e-01 1.52919141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019254154 meters 0.06215402416056798 Centerline is valid? [True, True] Translation: X:394.13, Y:4.47, Z:1.53 [[ 9.99198492e-01 -3.92017385e-02 -8.09915782e-03 3.94127436e+02] [ 3.92029436e-02 9.99231269e-01 -9.97589200e-06 4.47416068e+00] [ 8.09332282e-03 -3.07542931e-04 9.99967201e-01 1.52929908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079254154 meters 0.059240747854967156 Centerline is valid? [True, True] Translation: X:394.19, Y:4.49, Z:1.53 [[ 9.99301351e-01 -3.65309095e-02 -7.89319956e-03 3.94188150e+02] [ 3.65319708e-02 9.99332485e-01 -9.72801013e-06 4.48955797e+00] [ 7.88828610e-03 -2.78632922e-04 9.99968848e-01 1.53127578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139254154 meters 0.06084610116515692 Centerline is valid? [True, True] Translation: X:394.25, Y:4.49, Z:1.53 [[ 9.99378884e-01 -3.41520630e-02 -8.68807115e-03 3.94248293e+02] [ 3.41532590e-02 9.99416607e-01 -1.07140298e-05 4.48687371e+00] [ 8.68336850e-03 -2.86018569e-04 9.99962258e-01 1.53049108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199254154 meters 0.05858947156450241 Centerline is valid? [True, True] Translation: X:394.31, Y:4.50, Z:1.53 [[ 9.99440413e-01 -3.21903388e-02 -9.09078825e-03 3.94308796e+02] [ 3.21915676e-02 9.99481717e-01 -1.11667025e-05 4.50301336e+00] [ 9.08643611e-03 -2.81486271e-04 9.99958678e-01 1.53221510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259254154 meters 0.06042123307988102 Centerline is valid? [True, True] Translation: X:394.37, Y:4.50, Z:1.53 [[ 9.99451852e-01 -3.17082712e-02 -9.51746388e-03 3.94368728e+02] [ 3.17095969e-02 9.99497124e-01 -1.16079352e-05 4.49938708e+00] [ 9.51304585e-03 -2.90193371e-04 9.99954708e-01 1.53137217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319254154 meters 0.06019362574054563 Centerline is valid? [True, True] Translation: X:394.43, Y:4.51, Z:1.53 [[ 9.99476572e-01 -3.06102647e-02 -1.04687478e-02 3.94429107e+02] [ 3.06118087e-02 9.99531349e-01 -1.27581333e-05 4.50599973e+00] [ 1.04642321e-02 -3.07715850e-04 9.99945201e-01 1.53133569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379254154 meters 0.05928289332788116 Centerline is valid? [True, True] Translation: X:394.49, Y:4.51, Z:1.53 [[ 9.99507795e-01 -2.93326603e-02 -1.11248872e-02 3.94489311e+02] [ 2.93343246e-02 9.99569656e-01 -1.35751234e-05 4.51271279e+00] [ 1.11204979e-02 -3.12772612e-04 9.99938116e-01 1.53203169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters 0.05932997074785176 Centerline is valid? [True, True] Translation: X:394.55, Y:4.52, Z:1.53 [[ 9.99593616e-01 -2.59057774e-02 -1.18951113e-02 3.94548955e+02] [ 2.59074362e-02 9.99664346e-01 -1.46493517e-05 4.51906236e+00] [ 1.18914982e-02 -2.93528439e-04 9.99929251e-01 1.53271913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters 0.05896755224796837 Centerline is valid? [True, True] Translation: X:394.61, Y:4.53, Z:1.53 [[ 9.99702386e-01 -2.14906145e-02 -1.15452895e-02 3.94607856e+02] [ 2.14918806e-02 9.99769023e-01 -1.44115335e-05 4.52566206e+00] [ 1.15429326e-02 -2.33722740e-04 9.99933351e-01 1.53420335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters 0.058630742314525704 Centerline is valid? [True, True] Translation: X:394.67, Y:4.53, Z:1.54 [[ 9.99744728e-01 -2.00442246e-02 -1.04262795e-02 3.94666555e+02] [ 2.00451701e-02 9.99799075e-01 -1.38207442e-05 4.53135345e+00] [ 1.04244616e-02 -1.95179329e-04 9.99945645e-01 1.53639549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters 0.05874933277186266 Centerline is valid? [True, True] Translation: X:394.73, Y:4.53, Z:1.54 [[ 9.99790363e-01 -1.78056868e-02 -1.01088095e-02 3.94725268e+02] [ 1.78064550e-02 9.99841452e-01 -1.40035381e-05 4.53295317e+00] [ 1.01074561e-02 -1.66001460e-04 9.99948905e-01 1.53656114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters 0.05863438571969912 Centerline is valid? [True, True] Translation: X:394.78, Y:4.54, Z:1.54 [[ 9.99814675e-01 -1.60823812e-02 -1.05816918e-02 3.94784529e+02] [ 1.60831242e-02 9.99870658e-01 -1.48756478e-05 4.53611914e+00] [ 1.05805624e-02 -1.55313773e-04 9.99944012e-01 1.53681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.739254154 meters 0.05834755449050368 Centerline is valid? [True, True] Translation: X:394.84, Y:4.54, Z:1.54 [[ 9.99850598e-01 -1.33275837e-02 -1.10071312e-02 3.94843771e+02] [ 1.33282187e-02 9.99911175e-01 -1.56611772e-05 4.53716238e+00] [ 1.10063622e-02 -1.31046615e-04 9.99939420e-01 1.53604384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.799254154 meters 0.05819777828229321 Centerline is valid? [True, True] Translation: X:394.90, Y:4.54, Z:1.54 [[ 9.99905555e-01 -8.49213251e-03 -1.08057741e-02 3.94901700e+02] [ 8.49245831e-03 9.99963938e-01 -1.57351240e-05 4.54039292e+00] [ 1.08055181e-02 -7.60339483e-05 9.99941616e-01 1.53650496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.859254154 meters 0.05831961295116035 Centerline is valid? [True, True] Translation: X:394.96, Y:4.54, Z:1.54 [[ 9.99929150e-01 -5.74343485e-03 -1.04263136e-02 3.94960654e+02] [ 5.74358271e-03 9.99983505e-01 -1.57612859e-05 4.54149241e+00] [ 1.04262321e-02 -4.41242252e-05 9.99945644e-01 1.53702290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.919254154 meters 0.05875694520627452 Centerline is valid? [True, True] Translation: X:395.02, Y:4.54, Z:1.54 [[ 9.99949308e-01 -4.08007399e-03 -9.20508584e-03 3.95018627e+02] [ 4.08011361e-03 9.99991676e-01 -1.44751210e-05 4.54212304e+00] [ 9.20506828e-03 -2.30834088e-05 9.99957632e-01 1.54007319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.979254154 meters 0.05913480359107376 Centerline is valid? [True, True] Translation: X:395.08, Y:4.54, Z:1.54 [[ 9.99950055e-01 -5.45427560e-03 -8.37489329e-03 3.95077679e+02] [ 5.45435256e-03 9.99985125e-01 -1.36511981e-05 4.54000957e+00] [ 8.37484317e-03 -3.20291044e-05 9.99964930e-01 1.53831901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.039254154 meters 0.05858061918853482 Centerline is valid? [True, True] Translation: X:395.14, Y:4.54, Z:1.54 [[ 9.99892742e-01 -1.09772363e-02 -9.69556489e-03 3.95136160e+02] [ 1.09775951e-02 9.99939744e-01 -1.62068216e-05 4.53555987e+00] [ 9.69515858e-03 -9.02289028e-05 9.99952997e-01 1.53853278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.099254154 meters 0.05850788162829828 Centerline is valid? [True, True] Translation: X:395.19, Y:4.53, Z:1.54 [[ 9.99816666e-01 -1.62642377e-02 -1.01048873e-02 3.95194242e+02] [ 1.62648952e-02 9.99867718e-01 -1.71092345e-05 4.53184587e+00] [ 1.01038289e-02 -1.47248836e-04 9.99948944e-01 1.53870153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.159254154 meters 0.058666497799439325 Centerline is valid? [True, True] Translation: X:395.25, Y:4.52, Z:1.54 [[ 9.99607685e-01 -2.61588236e-02 -1.00096274e-02 3.95254623e+02] [ 2.61599644e-02 9.99657769e-01 -1.69664751e-05 4.52343668e+00] [ 1.00066456e-02 -2.44891676e-04 9.99949902e-01 1.53820374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.219254154 meters 0.05808477484954084 Centerline is valid? [True, True] Translation: X:395.31, Y:4.52, Z:1.54 [[ 9.99360272e-01 -3.46021473e-02 -9.04086778e-03 3.95314811e+02] [ 3.46034235e-02 9.99401122e-01 -1.52699465e-05 4.52036931e+00] [ 9.03598177e-03 -2.97584799e-04 9.99959130e-01 1.53882418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279254154 meters 0.05946425198495707 Centerline is valid? [True, True] Translation: X:395.37, Y:4.52, Z:1.54 [[ 9.99189757e-01 -3.94441120e-02 -7.99941178e-03 3.95374207e+02] [ 3.94452660e-02 9.99221733e-01 -1.35243442e-05 4.51580177e+00] [ 7.99371955e-03 -3.02025539e-04 9.99968004e-01 1.53890105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339254154 meters 0.06095406127145947 Centerline is valid? [True, True] Translation: X:395.43, Y:4.51, Z:1.54 [[ 9.98985133e-01 -4.42479161e-02 -8.41580090e-03 3.95434239e+02] [ 4.42493635e-02 9.99020517e-01 -1.42317597e-05 4.51145225e+00] [ 8.40818749e-03 -3.58176516e-04 9.99964586e-01 1.53820424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399254154 meters 0.058648335012901114 Centerline is valid? [True, True] Translation: X:395.49, Y:4.53, Z:1.54 [[ 9.98670638e-01 -5.08433325e-02 -8.48007305e-03 3.95494676e+02] [ 5.08450395e-02 9.98706554e-01 -1.43076473e-05 4.52742174e+00] [ 8.46983198e-03 -4.16881022e-04 9.99964043e-01 1.53974166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459254154 meters 0.06013357160454889 Centerline is valid? [True, True] Translation: X:395.55, Y:4.52, Z:1.54 [[ 9.98501462e-01 -5.40620134e-02 -8.49283698e-03 3.95554564e+02] [ 5.40638425e-02 9.98537481e-01 -1.42307086e-05 4.51676588e+00] [ 8.48118539e-03 -4.44946018e-04 9.99963935e-01 1.53888351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519254154 meters 0.06529172651175658 Centerline is valid? [True, True] Translation: X:395.61, Y:4.51, Z:1.54 [[ 9.98306746e-01 -5.75635477e-02 -8.37133907e-03 3.95613962e+02] [ 5.75654482e-02 9.98341735e-01 -1.39436392e-05 4.50556528e+00] [ 8.35825981e-03 -4.67979857e-04 9.99964960e-01 1.53887799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579254154 meters 0.05763685036031549 Centerline is valid? [True, True] Translation: X:395.67, Y:4.54, Z:1.54 [[ 9.98178035e-01 -5.98903277e-02 -7.33207327e-03 3.95674531e+02] [ 5.98918483e-02 9.98204872e-01 -1.22018257e-05 4.53775690e+00] [ 7.31964203e-03 -4.26951825e-04 9.99973120e-01 1.54154848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639254154 meters 0.056821133804936495 Centerline is valid? [True, True] Translation: X:395.74, Y:4.54, Z:1.54 [[ 9.98036359e-01 -6.21775065e-02 -7.57522386e-03 3.95735441e+02] [ 6.21791956e-02 9.98065002e-01 -1.25631046e-05 4.54231893e+00] [ 7.56134696e-03 -4.58482891e-04 9.99971307e-01 1.54070557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699254154 meters 0.05672482253949599 Centerline is valid? [True, True] Translation: X:395.80, Y:4.55, Z:1.54 [[ 9.98029872e-01 -6.21326836e-02 -8.71233176e-03 3.95797232e+02] [ 6.21349180e-02 9.98067759e-01 -1.42360054e-05 4.55330984e+00] [ 8.69638196e-03 -5.27132061e-04 9.99962047e-01 1.54044140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759254154 meters 0.05708407881473749 Centerline is valid? [True, True] Translation: X:395.86, Y:4.56, Z:1.54 [[ 9.98135984e-01 -6.01621410e-02 -1.02505362e-02 3.95857201e+02] [ 6.01651322e-02 9.98188437e-01 -1.65867803e-05 4.55543185e+00] [ 1.02329646e-02 -6.00169003e-04 9.99947462e-01 1.54052674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819254154 meters 0.05810051928743953 Centerline is valid? [True, True] Translation: X:395.92, Y:4.56, Z:1.54 [[ 9.98514602e-01 -5.35505265e-02 -1.00464037e-02 3.95917304e+02] [ 5.35530657e-02 9.98565005e-01 -1.62818708e-05 4.55637429e+00] [ 1.00328590e-02 -5.21758031e-04 9.99949533e-01 1.54041745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879254154 meters 0.05716610365611925 Centerline is valid? [True, True] Translation: X:395.98, Y:4.57, Z:1.54 [[ 9.98982869e-01 -4.42164811e-02 -8.83913978e-03 3.95977683e+02] [ 4.42180818e-02 9.99021902e-01 -1.43467935e-05 4.57417596e+00] [ 8.83112860e-03 -3.76517605e-04 9.99960934e-01 1.54203727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters 0.057472329666395656 Centerline is valid? [True, True] Translation: X:396.04, Y:4.58, Z:1.54 [[ 9.99305073e-01 -3.63924275e-02 -8.05993752e-03 3.96037630e+02] [ 3.63935043e-02 9.99337537e-01 -1.30707083e-05 4.57947925e+00] [ 8.05507378e-03 -2.80267746e-04 9.99967518e-01 1.54192614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters 0.05721464143350084 Centerline is valid? [True, True] Translation: X:396.10, Y:4.59, Z:1.54 [[ 9.99560553e-01 -2.87094740e-02 -7.38021215e-03 3.96097996e+02] [ 2.87101678e-02 9.99587778e-01 -1.19394216e-05 4.58889726e+00] [ 7.37751264e-03 -1.99952955e-04 9.99972766e-01 1.54233210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters 0.05673811276006717 Centerline is valid? [True, True] Translation: X:396.16, Y:4.60, Z:1.54 [[ 9.99775836e-01 -1.98273162e-02 -7.42665050e-03 3.96157959e+02] [ 1.98277739e-02 9.99803410e-01 -1.20002877e-05 4.60040796e+00] [ 7.42542843e-03 -1.35256349e-04 9.99972422e-01 1.54238414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters 0.056720398223036254 Centerline is valid? [True, True] Translation: X:396.22, Y:4.60, Z:1.54 [[ 9.99802162e-01 -1.83623000e-02 -7.64610119e-03 3.96219149e+02] [ 1.83627430e-02 9.99831391e-01 -1.22653978e-05 4.60235152e+00] [ 7.64503720e-03 -1.28140420e-04 9.99970768e-01 1.54247058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.179254154 meters 0.056388151685742356 Centerline is valid? [True, True] Translation: X:396.28, Y:4.61, Z:1.54 [[ 9.99816543e-01 -1.72087024e-02 -8.41073934e-03 3.96280497e+02] [ 1.72091992e-02 9.99851911e-01 -1.33076219e-05 4.60790361e+00] [ 8.40972281e-03 -1.31436908e-04 9.99964629e-01 1.54215178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.239254154 meters 0.056251349246635586 Centerline is valid? [True, True] Translation: X:396.34, Y:4.61, Z:1.54 [[ 9.99777671e-01 -1.92905691e-02 -8.51371817e-03 3.96340664e+02] [ 1.92911545e-02 9.99813908e-01 -1.33639172e-05 4.61050860e+00] [ 8.51239163e-03 -1.50878507e-04 9.99963758e-01 1.54117974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.299254154 meters 0.056526769687096 Centerline is valid? [True, True] Translation: X:396.40, Y:4.61, Z:1.54 [[ 9.99727273e-01 -2.20543673e-02 -7.68010930e-03 3.96402160e+02] [ 2.20549259e-02 9.99756760e-01 -1.19632430e-05 4.61319010e+00] [ 7.67850504e-03 -1.57424261e-04 9.99970507e-01 1.54167061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.359254154 meters 0.05538618557199692 Centerline is valid? [True, True] Translation: X:396.46, Y:4.62, Z:1.54 [[ 9.99699757e-01 -2.35733051e-02 -6.68549794e-03 3.96464719e+02] [ 2.35737633e-02 9.99722100e-01 -1.02643282e-05 4.61639816e+00] [ 6.68388201e-03 -1.47341099e-04 9.99977652e-01 1.54215775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.419254154 meters 0.056248586499871085 Centerline is valid? [True, True] Translation: X:396.53, Y:4.61, Z:1.54 [[ 9.99675111e-01 -2.45192913e-02 -6.96256897e-03 3.96525706e+02] [ 2.45198127e-02 9.99699344e-01 -1.04753120e-05 4.61391417e+00] [ 6.96073248e-03 -1.60248979e-04 9.99975761e-01 1.54138607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.479254154 meters 0.05643159170900814 Centerline is valid? [True, True] Translation: X:396.59, Y:4.62, Z:1.54 [[ 9.99688062e-01 -2.40225900e-02 -6.83332986e-03 3.96587515e+02] [ 2.40230812e-02 9.99711404e-01 -1.01916278e-05 4.61725358e+00] [ 6.83160262e-03 -1.53969190e-04 9.99976652e-01 1.54179834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.539254154 meters 0.05586004667328378 Centerline is valid? [True, True] Translation: X:396.65, Y:4.62, Z:1.54 [[ 9.99697843e-01 -2.34713512e-02 -7.30188241e-03 3.96648369e+02] [ 2.34718987e-02 9.99724497e-01 -1.07244915e-05 4.61799837e+00] [ 7.30012244e-03 -1.60667793e-04 9.99973341e-01 1.54202685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.599254154 meters 0.05654608362355383 Centerline is valid? [True, True] Translation: X:396.71, Y:4.62, Z:1.54 [[ 9.99700573e-01 -2.35416804e-02 -6.67491857e-03 3.96710765e+02] [ 2.35421414e-02 9.99722845e-01 -9.50667917e-06 4.61782818e+00] [ 6.67329239e-03 -1.47638044e-04 9.99977722e-01 1.54188959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.659254154 meters 0.056018381579875896 Centerline is valid? [True, True] Translation: X:396.77, Y:4.62, Z:1.54 [[ 9.99730719e-01 -2.23502978e-02 -6.24133715e-03 3.96772026e+02] [ 2.23506789e-02 9.99750192e-01 -8.68818449e-06 4.62246988e+00] [ 6.23997220e-03 -1.30812278e-04 9.99980523e-01 1.54297268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.719254154 meters 0.05510865006059002 Centerline is valid? [True, True] Translation: X:396.83, Y:4.63, Z:1.54 [[ 9.99780293e-01 -2.01657468e-02 -5.71908171e-03 3.96833612e+02] [ 2.01660317e-02 9.99796645e-01 -7.84056996e-06 4.62638902e+00] [ 5.71807682e-03 -1.07492336e-04 9.99983646e-01 1.54312404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779254154 meters 0.05554857691361138 Centerline is valid? [True, True] Translation: X:396.89, Y:4.63, Z:1.54 [[ 9.99877090e-01 -1.42688902e-02 -6.49649063e-03 3.96894687e+02] [ 1.42691343e-02 9.99898191e-01 -8.78641286e-06 4.62822254e+00] [ 6.49595460e-03 -8.39139642e-05 9.99978898e-01 1.54240760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839254154 meters 0.055369829524905274 Centerline is valid? [True, True] Translation: X:396.95, Y:4.63, Z:1.54 [[ 9.99929829e-01 -9.59043014e-03 -6.95423464e-03 3.96954689e+02] [ 9.59059732e-03 9.99954009e-01 -9.30863826e-06 4.62927566e+00] [ 6.95400408e-03 -5.73872790e-05 9.99975819e-01 1.54248091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899254154 meters 0.056442487435850675 Centerline is valid? [True, True] Translation: X:397.01, Y:4.63, Z:1.54 [[ 9.99976024e-01 -2.92884865e-03 -6.27479385e-03 3.97014009e+02] [ 2.92885354e-03 9.99995711e-01 -8.40917756e-06 4.63256929e+00] [ 6.27479157e-03 -9.96897626e-06 9.99980313e-01 1.54305626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959254154 meters 0.05646031111570585 Centerline is valid? [True, True] Translation: X:397.07, Y:4.63, Z:1.54 [[ 9.99973887e-01 -3.53527937e-05 -7.22663450e-03 3.97071452e+02] [ 3.52821410e-05 9.99999999e-01 -9.90426974e-06 4.63330795e+00] [ 7.22663485e-03 9.64903998e-06 9.99973887e-01 1.54270635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019254154 meters 0.05633680533759619 Centerline is valid? [True, True] Translation: X:397.13, Y:4.63, Z:1.54 [[ 9.99969376e-01 2.67257901e-04 -7.82144041e-03 3.97129784e+02] [-2.67355446e-04 9.99999964e-01 -1.14259374e-05 4.63147655e+00] [ 7.82143707e-03 1.35166922e-05 9.99969412e-01 1.54129812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079254154 meters 0.05613232269408387 Centerline is valid? [True, True] Translation: X:397.19, Y:4.63, Z:1.54 [[ 9.99968031e-01 -2.19579149e-03 -7.68864637e-03 3.97188765e+02] [ 2.19576503e-03 9.99997589e-01 -1.18837539e-05 4.62807669e+00] [ 7.68865393e-03 -4.99908677e-06 9.99970442e-01 1.54218492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139254154 meters 0.05650672460305996 Centerline is valid? [True, True] Translation: X:397.25, Y:4.62, Z:1.54 [[ 9.99920684e-01 -9.27970466e-03 -8.51539346e-03 3.97247431e+02] [ 9.27992677e-03 9.99956940e-01 -1.34291809e-05 4.62174342e+00] [ 8.51515141e-03 -6.55941119e-05 9.99963743e-01 1.54364759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199254154 meters 0.055755351972624045 Centerline is valid? [True, True] Translation: X:397.31, Y:4.61, Z:1.54 [[ 9.99847289e-01 -1.60638564e-02 -6.88120788e-03 3.97308210e+02] [ 1.60641617e-02 9.99870963e-01 -1.09091800e-05 4.61412526e+00] [ 6.88049520e-03 -9.96333221e-05 9.99976324e-01 1.54347093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259254154 meters 0.05615155103741785 Centerline is valid? [True, True] Translation: X:397.37, Y:4.60, Z:1.54 [[ 9.99609109e-01 -2.73040913e-02 -6.00967941e-03 3.97368446e+02] [ 2.73045273e-02 9.99627162e-01 -9.50311183e-06 4.60466375e+00] [ 6.00769825e-03 -1.54592058e-04 9.99981942e-01 1.54324923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319254154 meters 0.05546986267421028 Centerline is valid? [True, True] Translation: X:397.43, Y:4.61, Z:1.54 [[ 9.99341635e-01 -3.59372729e-02 -4.98090549e-03 3.97429454e+02] [ 3.59376794e-02 9.99354033e-01 -7.88142649e-06 4.60765406e+00] [ 4.97797123e-03 -1.71125947e-04 9.99987595e-01 1.54347752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379254154 meters 0.05489394742827467 Centerline is valid? [True, True] Translation: X:397.49, Y:4.60, Z:1.54 [[ 9.98826074e-01 -4.82390688e-02 -4.41197302e-03 3.97490239e+02] [ 4.82395076e-02 9.98835797e-01 -6.97201847e-06 4.59695518e+00] [ 4.40717292e-03 -2.05867572e-04 9.99990267e-01 1.54320773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters 0.05442319241551685 Centerline is valid? [True, True] Translation: X:397.55, Y:4.60, Z:1.54 [[ 9.98476153e-01 -5.49818136e-02 -4.72992852e-03 3.97550515e+02] [ 5.49823935e-02 9.98487324e-01 -7.43816122e-06 4.59679099e+00] [ 4.72318264e-03 -2.52635965e-04 9.99988814e-01 1.54359603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters 0.06596054253216961 Centerline is valid? [True, True] Translation: X:397.61, Y:4.56, Z:1.54 [[ 9.98193982e-01 -5.97288154e-02 -6.42207388e-03 3.97609782e+02] [ 5.97299824e-02 9.98214571e-01 -1.00979930e-05 4.55988931e+00] [ 6.41121086e-03 -3.73510604e-04 9.99979378e-01 1.54280469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters 0.05488549463919614 Centerline is valid? [True, True] Translation: X:397.67, Y:4.59, Z:1.54 [[ 9.98200861e-01 -5.98103688e-02 -4.21446828e-03 3.97671649e+02] [ 5.98108722e-02 9.98209727e-01 -6.59927069e-06 4.59330712e+00] [ 4.20731793e-03 -2.45483626e-04 9.99991119e-01 1.54391595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters 0.055795719403685023 Centerline is valid? [True, True] Translation: X:397.73, Y:4.59, Z:1.54 [[ 9.98478517e-01 -5.49434094e-02 -4.67695072e-03 3.97732424e+02] [ 5.49439769e-02 9.98489439e-01 -7.14410799e-06 4.59459373e+00] [ 4.67027842e-03 -2.49837034e-04 9.99989063e-01 1.54398457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.679254154 meters 0.05873713714505104 Centerline is valid? [True, True] Translation: X:397.79, Y:4.59, Z:1.54 [[ 9.98923586e-01 -4.59645894e-02 -6.23912073e-03 3.97792156e+02] [ 4.59654247e-02 9.98943031e-01 -9.52175944e-06 4.58852636e+00] [ 6.23296384e-03 -2.77272324e-04 9.99980536e-01 1.54286275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.739254154 meters 0.05680669699592207 Centerline is valid? [True, True] Translation: X:397.85, Y:4.60, Z:1.54 [[ 9.99209323e-01 -3.93309664e-02 -5.81410530e-03 3.97852373e+02] [ 3.93315798e-02 9.99226214e-01 -8.85956556e-06 4.60206826e+00] [ 5.80995488e-03 -2.19825386e-04 9.99983098e-01 1.54350147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.799254154 meters 0.05612180689522386 Centerline is valid? [True, True] Translation: X:397.91, Y:4.60, Z:1.54 [[ 9.99466341e-01 -3.22658749e-02 -5.09383191e-03 3.97912180e+02] [ 3.22662540e-02 9.99479309e-01 -7.75738204e-06 4.60383099e+00] [ 5.09142990e-03 -1.56605632e-04 9.99987026e-01 1.54400323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.859254154 meters 0.056179247507635775 Centerline is valid? [True, True] Translation: X:397.97, Y:4.61, Z:1.55 [[ 9.99757848e-01 -2.14659458e-02 -4.84340645e-03 3.97972613e+02] [ 2.14661619e-02 9.99769575e-01 -7.36097194e-06 4.61167324e+00] [ 4.84244842e-03 -9.66101576e-05 9.99988271e-01 1.54512883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.919254154 meters 0.05643804613667117 Centerline is valid? [True, True] Translation: X:398.03, Y:4.62, Z:1.55 [[ 9.99887975e-01 -1.43083454e-02 -4.39425212e-03 3.98033097e+02] [ 1.43084543e-02 9.99897629e-01 -6.66667331e-06 4.61743180e+00] [ 4.39389766e-03 -5.62090291e-05 9.99990345e-01 1.54631936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.979254154 meters 0.05605806005431408 Centerline is valid? [True, True] Translation: X:398.09, Y:4.62, Z:1.55 [[ 9.99982109e-01 -4.62752011e-03 -3.79040736e-03 3.98093918e+02] [ 4.62753162e-03 9.99989293e-01 -5.73318240e-06 4.62354546e+00] [ 3.79039331e-03 -1.18071501e-05 9.99992816e-01 1.54681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.039254154 meters 0.056521568566283494 Centerline is valid? [True, True] Translation: X:398.15, Y:4.62, Z:1.55 [[ 9.99992031e-01 -1.93854005e-03 -3.49012435e-03 3.98153364e+02] [ 1.93853333e-03 9.99998121e-01 -5.30877891e-06 4.62494483e+00] [ 3.49012808e-03 -1.45698577e-06 9.99993909e-01 1.54671583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.099254154 meters 0.05612062063684134 Centerline is valid? [True, True] Translation: X:398.21, Y:4.63, Z:1.55 [[ 9.99990007e-01 2.08090104e-03 -3.95677552e-03 3.98213281e+02] [-2.08094145e-03 9.99997835e-01 -6.09608896e-06 4.62659491e+00] [ 3.95675427e-03 1.43298462e-05 9.99992172e-01 1.54657512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.159254154 meters 0.05578256846486679 Centerline is valid? [True, True] Translation: X:398.27, Y:4.63, Z:1.55 [[ 9.99985158e-01 3.56194316e-03 -4.12278417e-03 3.98270569e+02] [-3.56199997e-03 9.99993656e-01 -6.43594924e-06 4.62536803e+00] [ 4.12273510e-03 2.11212108e-05 9.99991501e-01 1.54727319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.219254154 meters 0.056414043411303544 Centerline is valid? [True, True] Translation: X:398.33, Y:4.62, Z:1.55 [[ 9.99992041e-01 -5.03153083e-04 -3.95775911e-03 3.98328277e+02] [ 5.03131459e-04 9.99999873e-01 -6.45960961e-06 4.62026087e+00] [ 3.95776185e-03 4.46828509e-06 9.99992168e-01 1.54776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279254154 meters 0.056310169493113384 Centerline is valid? [True, True] Translation: X:398.39, Y:4.61, Z:1.55 [[ 9.99973088e-01 -6.18624168e-03 -3.94389844e-03 3.98387444e+02] [ 6.18626388e-03 9.99980865e-01 -6.56947872e-06 4.61371147e+00] [ 3.94386362e-03 -1.78286946e-05 9.99992223e-01 1.54792269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339254154 meters 0.05614979089728915 Centerline is valid? [True, True] Translation: X:398.45, Y:4.61, Z:1.55 [[ 9.99913769e-01 -1.23322315e-02 -4.51332770e-03 3.98447353e+02] [ 1.23323227e-02 9.99923954e-01 -7.61095262e-06 4.60563397e+00] [ 4.51307834e-03 -4.80495175e-05 9.99989815e-01 1.54788824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399254154 meters 0.056664300272886915 Centerline is valid? [True, True] Translation: X:398.51, Y:4.60, Z:1.55 [[ 9.99753010e-01 -2.16871739e-02 -4.85656975e-03 3.98508033e+02] [ 2.16873908e-02 9.99764801e-01 -7.99918241e-06 4.59684376e+00] [ 4.85560097e-03 -9.73291197e-05 9.99988207e-01 1.54832232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459254154 meters 0.058062148253479384 Centerline is valid? [True, True] Translation: X:398.57, Y:4.58, Z:1.55 [[ 9.99634647e-01 -2.64903719e-02 -5.36965326e-03 3.98568270e+02] [ 2.64907068e-02 9.99649060e-01 -8.75950781e-06 4.58321864e+00] [ 5.36800087e-03 -1.33489603e-04 9.99985583e-01 1.54800656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519254154 meters 0.058824286984433524 Centerline is valid? [True, True] Translation: X:398.63, Y:4.57, Z:1.55 [[ 9.99535117e-01 -3.00994339e-02 -4.85520571e-03 3.98629077e+02] [ 3.00997508e-02 9.99546900e-01 -7.81152984e-06 4.57383061e+00] [ 4.85324094e-03 -1.38332584e-04 9.99988213e-01 1.54826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579254154 meters 0.05881570098727797 Centerline is valid? [True, True] Translation: X:398.69, Y:4.57, Z:1.55 [[ 9.99543873e-01 -2.98829664e-02 -4.36514229e-03 3.98691725e+02] [ 2.98832207e-02 9.99553397e-01 -6.98015924e-06 4.56998699e+00] [ 4.36340139e-03 -1.23467535e-04 9.99990473e-01 1.54836705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639254154 meters 0.05950712846899468 Centerline is valid? [True, True] Translation: X:398.75, Y:4.57, Z:1.55 [[ 9.99680395e-01 -2.47680806e-02 -5.06461475e-03 3.98751514e+02] [ 2.47683581e-02 9.99693217e-01 -7.93104399e-06 4.56701816e+00] [ 5.06325744e-03 -1.17513682e-04 9.99987175e-01 1.54779740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699254154 meters 0.0568185246871172 Centerline is valid? [True, True] Translation: X:398.81, Y:4.57, Z:1.55 [[ 9.99863947e-01 -1.56130203e-02 -5.32175091e-03 3.98812218e+02] [ 1.56131969e-02 9.99878107e-01 -8.35937566e-06 4.57362590e+00] [ 5.32123274e-03 -7.47313065e-05 9.99985839e-01 1.54766950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759254154 meters 0.05755830087630532 Centerline is valid? [True, True] Translation: X:398.87, Y:4.57, Z:1.55 [[ 9.99936374e-01 -9.85490569e-03 -5.48900196e-03 3.98872820e+02] [ 9.85500698e-03 9.99951438e-01 -8.59482294e-06 4.57273592e+00] [ 5.48882011e-03 -4.54998766e-05 9.99984935e-01 1.54709838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819254154 meters 0.05748207840075761 Centerline is valid? [True, True] Translation: X:398.93, Y:4.57, Z:1.55 [[ 9.99962854e-01 -5.33364130e-03 -6.77077163e-03 3.98932350e+02] [ 5.33369187e-03 9.99985776e-01 -1.05873227e-05 4.57318366e+00] [ 6.77073179e-03 -2.55262802e-05 9.99977078e-01 1.54679095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879254154 meters 0.05699395791124806 Centerline is valid? [True, True] Translation: X:398.99, Y:4.57, Z:1.55 [[ 9.99942225e-01 -5.68358234e-03 -9.12378671e-03 3.98990439e+02] [ 5.68368629e-03 9.99983848e-01 -1.45359249e-05 4.57027993e+00] [ 9.12372196e-03 -3.73216563e-05 9.99958377e-01 1.54612398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters 0.05723725285040239 Centerline is valid? [True, True] Translation: X:399.05, Y:4.57, Z:1.55 [[ 9.99907893e-01 -8.37727041e-03 -1.06783617e-02 3.99049613e+02] [ 8.37755986e-03 9.99964907e-01 -1.76250823e-05 4.56509096e+00] [ 1.06781346e-02 -7.18351554e-05 9.99942985e-01 1.54525713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters 0.05745642900299371 Centerline is valid? [True, True] Translation: X:399.11, Y:4.56, Z:1.55 [[ 9.99843090e-01 -1.33708117e-02 -1.16196572e-02 3.99108619e+02] [ 1.33714870e-02 9.99910597e-01 -1.95705916e-05 4.55608732e+00] [ 1.16188800e-02 -1.35804574e-04 9.99932489e-01 1.54596659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters 0.05811014847275328 Centerline is valid? [True, True] Translation: X:399.17, Y:4.55, Z:1.55 [[ 9.99804276e-01 -1.61352868e-02 -1.14482115e-02 3.99167596e+02] [ 1.61361198e-02 9.99869804e-01 -1.96060249e-05 4.55303257e+00] [ 1.14470373e-02 -1.65127524e-04 9.99934467e-01 1.54808105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters 0.05778112354626042 Centerline is valid? [True, True] Translation: X:399.23, Y:4.55, Z:1.55 [[ 9.99783404e-01 -1.77993742e-02 -1.07855202e-02 3.99225515e+02] [ 1.78002058e-02 9.99841564e-01 -1.88915060e-05 4.54930772e+00] [ 1.07841477e-02 -1.73097066e-04 9.99941834e-01 1.54980351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.179254154 meters 0.05797940724705107 Centerline is valid? [True, True] Translation: X:399.28, Y:4.55, Z:1.55 [[ 9.99807859e-01 -1.71501484e-02 -9.49300677e-03 3.99284055e+02] [ 1.71507560e-02 9.99852915e-01 -1.74063161e-05 4.54626022e+00] [ 9.49190901e-03 -1.45409271e-04 9.99954940e-01 1.55039033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.239254154 meters 0.05743835191390818 Centerline is valid? [True, True] Translation: X:399.34, Y:4.55, Z:1.55 [[ 9.99889424e-01 -1.24866219e-02 -8.07617593e-03 3.99343314e+02] [ 1.24869059e-02 9.99922035e-01 -1.52566806e-05 4.54541624e+00] [ 8.07573678e-03 -8.55914551e-05 9.99967387e-01 1.55268965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.299254154 meters 0.0579969336074992 Centerline is valid? [True, True] Translation: X:399.40, Y:4.54, Z:1.55 [[ 9.99946190e-01 -6.21610207e-03 -8.30526507e-03 3.99401945e+02] [ 6.21618228e-03 9.99980679e-01 -1.61561925e-05 4.54333060e+00] [ 8.30520504e-03 -3.54717184e-05 9.99965511e-01 1.55336560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.359254154 meters 0.057898081357503205 Centerline is valid? [True, True] Translation: X:399.46, Y:4.54, Z:1.55 [[ 9.99962988e-01 -2.70552503e-03 -8.16718828e-03 3.99461002e+02] [ 2.70547917e-03 9.99996340e-01 -1.66637297e-05 4.54143843e+00] [ 8.16720348e-03 -5.43304481e-06 9.99966648e-01 1.55349522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.419254154 meters 0.05779770143202455 Centerline is valid? [True, True] Translation: X:399.52, Y:4.54, Z:1.55 [[ 9.99963121e-01 6.28068762e-04 -8.56520265e-03 3.99519335e+02] [-6.28249003e-04 9.99999802e-01 -1.83528624e-05 4.53714334e+00] [ 8.56518943e-03 2.37332656e-05 9.99963318e-01 1.55378897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.479254154 meters 0.05894669927074818 Centerline is valid? [True, True] Translation: X:399.58, Y:4.53, Z:1.55 [[ 9.99950584e-01 1.37107698e-03 -9.84629982e-03 3.99578139e+02] [-1.37136158e-03 9.99999059e-01 -2.21521769e-05 4.53376894e+00] [ 9.84626019e-03 3.56539195e-05 9.99951524e-01 1.55393292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.539254154 meters 0.058806027265243845 Centerline is valid? [True, True] Translation: X:399.64, Y:4.53, Z:1.55 [[ 9.99941447e-01 5.83813728e-05 -1.08211946e-02 3.99636486e+02] [-5.86555519e-05 9.99999998e-01 -2.50199088e-05 4.52967775e+00] [ 1.08211931e-02 2.56531670e-05 9.99941449e-01 1.55279051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.599254154 meters 0.05897268694788997 Centerline is valid? [True, True] Translation: X:399.69, Y:4.52, Z:1.55 [[ 9.99902619e-01 -5.79372586e-03 -1.26958590e-02 3.99694801e+02] [ 5.79381334e-03 9.99983215e-01 -2.98906565e-05 4.52076488e+00] [ 1.26958191e-02 -4.36696913e-05 9.99919404e-01 1.55312192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.659254154 meters 0.05973565904418681 Centerline is valid? [True, True] Translation: X:399.75, Y:4.51, Z:1.55 [[ 9.99834212e-01 -1.26644801e-02 -1.30828057e-02 3.99752956e+02] [ 1.26651547e-02 9.99919793e-01 -3.12884566e-05 4.51284726e+00] [ 1.30821527e-02 -1.34412489e-04 9.99914416e-01 1.55283854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.719254154 meters 0.0601182009910102 Centerline is valid? [True, True] Translation: X:399.81, Y:4.50, Z:1.56 [[ 9.99598017e-01 -2.57575034e-02 -1.18471971e-02 3.99812964e+02] [ 2.57589735e-02 9.99668182e-01 -2.85113051e-05 4.49954273e+00] [ 1.18440004e-02 -2.76671793e-04 9.99929819e-01 1.55542738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779254154 meters 0.061335260541350134 Centerline is valid? [True, True] Translation: X:399.87, Y:4.49, Z:1.56 [[ 9.99352996e-01 -3.41894442e-02 -1.11656514e-02 3.99872054e+02] [ 3.41912755e-02 9.99415307e-01 -2.68905843e-05 4.48736036e+00] [ 1.11600423e-02 -3.54894676e-04 9.99937662e-01 1.55588567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839254154 meters 0.06335330987732551 Centerline is valid? [True, True] Translation: X:399.93, Y:4.48, Z:1.56 [[ 9.98919790e-01 -4.52146740e-02 -1.07185043e-02 3.99932940e+02] [ 4.52169952e-02 9.98977188e-01 -2.58006575e-05 4.47506615e+00] [ 1.07087078e-02 -4.58885770e-04 9.99942555e-01 1.55646073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899254154 meters 0.06206762035378507 Centerline is valid? [True, True] Translation: X:399.99, Y:4.47, Z:1.56 [[ 9.98578494e-01 -5.21954876e-02 -1.07991658e-02 3.99993086e+02] [ 5.21982510e-02 9.98636742e-01 -2.60008794e-05 4.47246639e+00] [ 1.07858009e-02 -5.37733647e-04 9.99941687e-01 1.55726234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959254154 meters 0.06565070002953029 Centerline is valid? [True, True] Translation: X:400.05, Y:4.46, Z:1.56 [[ 9.98237031e-01 -5.81771116e-02 -1.17581734e-02 4.00052878e+02] [ 5.81808022e-02 9.98306062e-01 -2.82328674e-05 4.46316481e+00] [ 1.17398983e-02 -6.55916865e-04 9.99930870e-01 1.55607368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019254154 meters 0.0730701027363315 Centerline is valid? [True, True] Translation: X:400.11, Y:4.45, Z:1.55 [[ 9.97933023e-01 -6.30742465e-02 -1.23012854e-02 4.00113498e+02] [ 6.30786572e-02 9.98008558e-01 -2.94843900e-05 4.44571543e+00] [ 1.22786478e-02 -7.46525121e-04 9.99924336e-01 1.55407501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079254154 meters 0.06292846361887738 Centerline is valid? [True, True] Translation: X:400.17, Y:4.47, Z:1.56 [[ 9.97577385e-01 -6.84995472e-02 -1.21314951e-02 4.00174454e+02] [ 6.85042381e-02 9.97650825e-01 -2.89367471e-05 4.47298751e+00] [ 1.21049782e-02 -8.02192183e-04 9.99926410e-01 1.55804273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139254154 meters 0.06220466897137871 Centerline is valid? [True, True] Translation: X:400.24, Y:4.47, Z:1.56 [[ 9.97531207e-01 -6.91713081e-02 -1.21170168e-02 4.00235805e+02] [ 6.91760396e-02 9.97604468e-01 -2.87064875e-05 4.47470268e+00] [ 1.20899758e-02 -8.09571620e-04 9.99926586e-01 1.55819000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199254154 meters 0.061132258277849766 Centerline is valid? [True, True] Translation: X:400.30, Y:4.49, Z:1.56 [[ 9.97612524e-01 -6.79166402e-02 -1.25132364e-02 4.00296894e+02] [ 6.79215895e-02 9.97690662e-01 -2.95104109e-05 4.48539693e+00] [ 1.24863433e-02 -8.20478951e-04 9.99921706e-01 1.55890466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259254154 meters 0.06002601493472657 Centerline is valid? [True, True] Translation: X:400.36, Y:4.50, Z:1.56 [[ 9.97740637e-01 -6.57846458e-02 -1.36382268e-02 4.00357119e+02] [ 6.57903276e-02 9.97833469e-01 -3.21121484e-05 4.49771072e+00] [ 1.36107917e-02 -8.65223815e-04 9.99906995e-01 1.55962921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319254154 meters 0.05940061000273703 Centerline is valid? [True, True] Translation: X:400.42, Y:4.51, Z:1.56 [[ 9.97816976e-01 -6.44225070e-02 -1.45266292e-02 4.00418095e+02] [ 6.44288109e-02 9.97922305e-01 -3.41091615e-05 4.50535543e+00] [ 1.44986447e-02 -9.01898745e-04 9.99894482e-01 1.56020608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379254154 meters 0.06348848746630895 Centerline is valid? [True, True] Translation: X:400.48, Y:4.50, Z:1.56 [[ 9.97873026e-01 -6.34762937e-02 -1.48386039e-02 4.00478371e+02] [ 6.34827689e-02 9.97982934e-01 -3.47181379e-05 4.49710819e+00] [ 1.48108773e-02 -9.07351369e-04 9.99889901e-01 1.55840281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters 0.05989467314772917 Centerline is valid? [True, True] Translation: X:400.54, Y:4.52, Z:1.56 [[ 9.97957945e-01 -6.23915324e-02 -1.36834320e-02 4.00538895e+02] [ 6.23969374e-02 9.98051412e-01 -3.19852711e-05 4.51892577e+00] [ 1.36587643e-02 -8.21884296e-04 9.99906377e-01 1.56259603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters 0.05981980738722747 Centerline is valid? [True, True] Translation: X:400.60, Y:4.52, Z:1.56 [[ 9.98033928e-01 -6.12798895e-02 -1.31550140e-02 4.00600702e+02] [ 6.12847927e-02 9.98120320e-01 -3.04488060e-05 4.52275371e+00] [ 1.31321526e-02 -7.75813363e-04 9.99913469e-01 1.56280743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters 0.061089682642619325 Centerline is valid? [True, True] Translation: X:400.66, Y:4.53, Z:1.56 [[ 9.98220879e-01 -5.81492653e-02 -1.31810615e-02 4.00659974e+02] [ 5.81539165e-02 9.98307628e-01 -3.04619198e-05 4.52874288e+00] [ 1.31605256e-02 -7.36122625e-04 9.99913126e-01 1.56332194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters 0.06747552068128868 Centerline is valid? [True, True] Translation: X:400.72, Y:4.52, Z:1.56 [[ 9.98437800e-01 -5.43544564e-02 -1.29442156e-02 4.00719447e+02] [ 5.43586225e-02 9.98521477e-01 -3.00289016e-05 4.51517161e+00] [ 1.29267094e-02 -6.73647737e-04 9.99916220e-01 1.56028681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.679254154 meters 0.060159943743005796 Centerline is valid? [True, True] Translation: X:400.78, Y:4.54, Z:1.56 [[ 9.98794818e-01 -4.75209664e-02 -1.22747055e-02 4.00780218e+02] [ 4.75241971e-02 9.98870087e-01 -2.85149758e-05 4.54433238e+00] [ 1.22621912e-02 -5.54864912e-04 9.99924663e-01 1.56361563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.739254154 meters 0.06002600803148207 Centerline is valid? [True, True] Translation: X:400.84, Y:4.55, Z:1.56 [[ 9.99065350e-01 -4.16698687e-02 -1.14912359e-02 4.00840533e+02] [ 4.16723144e-02 9.99131331e-01 -2.66282916e-05 4.55360005e+00] [ 1.14823634e-02 -4.52262992e-04 9.99933973e-01 1.56426659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.799254154 meters 0.05869625043140624 Centerline is valid? [True, True] Translation: X:400.90, Y:4.57, Z:1.56 [[ 9.99432450e-01 -3.17459053e-02 -1.12683110e-02 4.00901262e+02] [ 3.17476285e-02 9.99495917e-01 -2.59695694e-05 4.56603889e+00] [ 1.12634553e-02 -3.31787322e-04 9.99936510e-01 1.56385900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.859254154 meters 0.05731127457641192 Centerline is valid? [True, True] Translation: X:400.96, Y:4.58, Z:1.56 [[ 9.99617137e-01 -2.54649597e-02 -1.08219610e-02 4.00961977e+02] [ 2.54661817e-02 9.99675684e-01 -2.48887770e-05 4.57790642e+00] [ 1.08190851e-02 -2.50714777e-04 9.99941441e-01 1.56478814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.919254154 meters 0.05731351474009422 Centerline is valid? [True, True] Translation: X:401.02, Y:4.59, Z:1.56 [[ 9.99780188e-01 -1.82078032e-02 -1.03948050e-02 4.01021369e+02] [ 1.82085379e-02 9.99834211e-01 -2.39650237e-05 4.58665105e+00] [ 1.03935180e-02 -1.65314444e-04 9.99945972e-01 1.56436548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.979254154 meters 0.05759576137479631 Centerline is valid? [True, True] Translation: X:401.08, Y:4.59, Z:1.56 [[ 9.99822551e-01 -1.58608506e-02 -1.01636681e-02 4.01080702e+02] [ 1.58614275e-02 9.99874199e-01 -2.38504342e-05 4.59232801e+00] [ 1.01627678e-02 -1.37364083e-04 9.99948348e-01 1.56473751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.039254154 meters 0.057461688581879666 Centerline is valid? [True, True] Translation: X:401.14, Y:4.59, Z:1.56 [[ 9.99823206e-01 -1.52380052e-02 -1.10163805e-02 4.01139226e+02] [ 1.52386398e-02 9.99883885e-01 -2.63325618e-05 4.58996864e+00] [ 1.10155026e-02 -1.41546749e-04 9.99939317e-01 1.56232206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.099254154 meters 0.05797910753185158 Centerline is valid? [True, True] Translation: X:401.20, Y:4.59, Z:1.56 [[ 9.99749998e-01 -1.96298672e-02 -1.07056427e-02 4.01198246e+02] [ 1.96307159e-02 9.99807299e-01 -2.58104872e-05 4.58926035e+00] [ 1.07040863e-02 -1.84355395e-04 9.99942693e-01 1.56245613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.159254154 meters 0.05787611887639195 Centerline is valid? [True, True] Translation: X:401.26, Y:4.59, Z:1.56 [[ 9.99554182e-01 -2.80053032e-02 -1.03508739e-02 4.01258289e+02] [ 2.80065443e-02 9.99607740e-01 -2.50566476e-05 4.58932501e+00] [ 1.03475153e-02 -2.64846730e-04 9.99946428e-01 1.56444328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.219254154 meters 0.05768980050405577 Centerline is valid? [True, True] Translation: X:401.32, Y:4.59, Z:1.56 [[ 9.99370079e-01 -3.40449746e-02 -1.00192328e-02 4.01318495e+02] [ 3.40464415e-02 9.99420252e-01 -2.41701003e-05 4.58607024e+00] [ 1.00142470e-02 -3.16964348e-04 9.99949806e-01 1.56435330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279254154 meters 0.05743569820340717 Centerline is valid? [True, True] Translation: X:401.38, Y:4.59, Z:1.57 [[ 9.99082134e-01 -4.18177604e-02 -9.28249119e-03 4.01378539e+02] [ 4.18193552e-02 9.99125188e-01 -2.23111003e-05 4.58690150e+00] [ 9.27530376e-03 -3.65897174e-04 9.99956916e-01 1.56501526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339254154 meters 0.0571181203451296 Centerline is valid? [True, True] Translation: X:401.44, Y:4.60, Z:1.57 [[ 9.98927160e-01 -4.54703727e-02 -8.77351188e-03 4.01438833e+02] [ 4.54719386e-02 9.98965616e-01 -2.10280152e-05 4.59546923e+00] [ 8.76539285e-03 -3.77943138e-04 9.99961512e-01 1.56623946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399254154 meters 0.05729885646570198 Centerline is valid? [True, True] Translation: X:401.50, Y:4.59, Z:1.57 [[ 9.98806681e-01 -4.81295502e-02 -8.29217020e-03 4.01498994e+02] [ 4.81310408e-02 9.98841030e-01 -1.98263258e-05 4.59306749e+00] [ 8.28351405e-03 -3.79308115e-04 9.99965619e-01 1.56633542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459254154 meters 0.05789135998402638 Centerline is valid? [True, True] Translation: X:401.56, Y:4.59, Z:1.57 [[ 9.98650297e-01 -5.13152031e-02 -8.02085866e-03 4.01558277e+02] [ 5.13167004e-02 9.98682430e-01 -1.91544677e-05 4.58829831e+00] [ 8.01127353e-03 -3.92475386e-04 9.99967832e-01 1.56619115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519254154 meters 0.058261197127509504 Centerline is valid? [True, True] Translation: X:401.62, Y:4.59, Z:1.57 [[ 9.98585522e-01 -5.25824796e-02 -7.87644894e-03 4.01619089e+02] [ 5.25839633e-02 9.98616506e-01 -1.87343184e-05 4.58763991e+00] [ 7.86653702e-03 -3.95467083e-04 9.99968980e-01 1.56591736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579254154 meters 0.057535899044064955 Centerline is valid? [True, True] Translation: X:401.68, Y:4.59, Z:1.57 [[ 9.98610981e-01 -5.19470204e-02 -8.80998447e-03 4.01681077e+02] [ 5.19488544e-02 9.98649746e-01 -2.06872653e-05 4.59401993e+00] [ 8.79916340e-03 -4.37010070e-04 9.99961191e-01 1.56601643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639254154 meters 0.05808549327199984 Centerline is valid? [True, True] Translation: X:401.74, Y:4.59, Z:1.57 [[ 9.98723844e-01 -4.96745275e-02 -9.11731395e-03 4.01741180e+02] [ 4.96763987e-02 9.98765365e-01 -2.12440181e-05 4.59263332e+00] [ 9.10711269e-03 -4.31698416e-04 9.99958436e-01 1.56549408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699254154 meters 0.05571030000626194 Centerline is valid? [True, True] Translation: X:401.80, Y:4.61, Z:1.57 [[ 9.98925336e-01 -4.53308152e-02 -9.65871758e-03 4.01802109e+02] [ 4.53327130e-02 9.98971944e-01 -2.24614573e-05 4.61079437e+00] [ 9.64980608e-03 -4.15418554e-04 9.99953353e-01 1.56712308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759254154 meters 0.05759979121463168 Centerline is valid? [True, True] Translation: X:401.86, Y:4.61, Z:1.57 [[ 9.99156568e-01 -3.96312540e-02 -1.07478691e-02 4.01861552e+02] [ 3.96332745e-02 9.99214293e-01 -2.50244029e-05 4.60614594e+00] [ 1.07404162e-02 -4.00969950e-04 9.99942240e-01 1.56574238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819254154 meters 0.055884254795252414 Centerline is valid? [True, True] Translation: X:401.92, Y:4.62, Z:1.57 [[ 9.99298827e-01 -3.58587526e-02 -1.07705121e-02 4.01922218e+02] [ 3.58605630e-02 9.99356803e-01 -2.50495852e-05 4.61710008e+00] [ 1.07644828e-02 -3.61204607e-04 9.99941996e-01 1.56712242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters 0.055878972837248374 Centerline is valid? [True, True] Translation: X:401.98, Y:4.62, Z:1.57 [[ 9.99442441e-01 -3.16299785e-02 -1.06935791e-02 4.01982503e+02] [ 3.16315219e-02 9.99499598e-01 -2.48155863e-05 4.62152972e+00] [ 1.06890129e-02 -3.13452431e-04 9.99942822e-01 1.56781770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters 0.05765222493569151 Centerline is valid? [True, True] Translation: X:402.04, Y:4.62, Z:1.57 [[ 9.99558463e-01 -2.77696889e-02 -1.05699787e-02 4.02042409e+02] [ 2.77709812e-02 9.99614312e-01 -2.45185145e-05 4.61654276e+00] [ 1.05665829e-02 -2.69030992e-04 9.99944136e-01 1.56702134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters 0.05688526958294442 Centerline is valid? [True, True] Translation: X:402.10, Y:4.63, Z:1.57 [[ 9.99622003e-01 -2.62241352e-02 -8.25505114e-03 4.02103916e+02] [ 2.62248713e-02 9.99656069e-01 -1.90780472e-05 4.62511172e+00] [ 8.25271227e-03 -1.97416818e-04 9.99965926e-01 1.57019971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters 0.05715171783632811 Centerline is valid? [True, True] Translation: X:402.16, Y:4.62, Z:1.57 [[ 9.99612589e-01 -2.66381033e-02 -8.06737127e-03 4.02164980e+02] [ 2.66388214e-02 9.99645123e-01 -1.84461260e-05 4.62233540e+00] [ 8.06499972e-03 -1.96466283e-04 9.99967458e-01 1.56965224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters 0.05775847488838983 Centerline is valid? [True, True] Translation: X:402.23, Y:4.62, Z:1.57 [[ 9.99567868e-01 -2.81125318e-02 -8.58858370e-03 4.02226085e+02] [ 2.81134022e-02 9.99604740e-01 -1.93879744e-05 4.62035154e+00] [ 8.58573402e-03 -2.22074712e-04 9.99963117e-01 1.56879525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.179254154 meters 0.05639924104635962 Centerline is valid? [True, True] Translation: X:402.29, Y:4.63, Z:1.57 [[ 9.99554237e-01 -2.87657503e-02 -7.99122000e-03 4.02287757e+02] [ 2.87665263e-02 9.99586158e-01 -1.78478694e-05 4.62835852e+00] [ 7.98842630e-03 -2.12039727e-04 9.99968070e-01 1.57041663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.239254154 meters 0.05775526294992159 Centerline is valid? [True, True] Translation: X:402.35, Y:4.62, Z:1.57 [[ 9.99529838e-01 -2.96099950e-02 -7.95931245e-03 4.02348611e+02] [ 2.96107939e-02 9.99561504e-01 -1.74756155e-05 4.61914762e+00] [ 7.95633977e-03 -2.18214161e-04 9.99968324e-01 1.57029994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.299254154 meters 0.05647361360705223 Centerline is valid? [True, True] Translation: X:402.41, Y:4.62, Z:1.57 [[ 9.99489611e-01 -3.08472638e-02 -8.30447120e-03 4.02410396e+02] [ 3.08481787e-02 9.99524082e-01 -1.79275396e-05 4.62031881e+00] [ 8.30107196e-03 -2.38259422e-04 9.99965517e-01 1.57051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.359254154 meters 0.057106962616350156 Centerline is valid? [True, True] Translation: X:402.47, Y:4.62, Z:1.57 [[ 9.99408789e-01 -3.29489789e-02 -9.82023909e-03 4.02471812e+02] [ 3.29503621e-02 9.99456989e-01 -2.09573757e-05 4.61908585e+00] [ 9.81559711e-03 -3.02635448e-04 9.99951780e-01 1.56855626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.419254154 meters 0.0566057334977057 Centerline is valid? [True, True] Translation: X:402.53, Y:4.62, Z:1.57 [[ 9.99382286e-01 -3.36011240e-02 -1.02961642e-02 4.02534084e+02] [ 3.36026827e-02 9.99435270e-01 -2.16194054e-05 4.62304417e+00] [ 1.02910761e-02 -3.24372689e-04 9.99946993e-01 1.56879621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.479254154 meters 0.05660362602087231 Centerline is valid? [True, True] Translation: X:402.60, Y:4.62, Z:1.57 [[ 9.99375241e-01 -3.38243530e-02 -1.02489877e-02 4.02596459e+02] [ 3.38259130e-02 9.99427740e-01 -2.11533305e-05 4.62452774e+00] [ 1.02438381e-02 -3.25541252e-04 9.99947478e-01 1.56902818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.539254154 meters 0.05675405546239635 Centerline is valid? [True, True] Translation: X:402.66, Y:4.62, Z:1.57 [[ 9.99354904e-01 -3.45545856e-02 -9.78548872e-03 4.02657882e+02] [ 3.45560452e-02 9.99402761e-01 -1.99316279e-05 4.62246227e+00] [ 9.78033317e-03 -3.18229020e-04 9.99952121e-01 1.56868586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.599254154 meters 0.058078207489870554 Centerline is valid? [True, True] Translation: X:402.72, Y:4.61, Z:1.57 [[ 9.99290116e-01 -3.63085397e-02 -1.00475963e-02 4.02717974e+02] [ 3.63101704e-02 9.99340568e-01 -2.01340996e-05 4.61416963e+00] [ 1.00417016e-02 -3.44710126e-04 9.99949521e-01 1.56711267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.659254154 meters 0.05614980500997052 Centerline is valid? [True, True] Translation: X:402.78, Y:4.62, Z:1.57 [[ 9.99287659e-01 -3.65301405e-02 -9.47221669e-03 4.02780150e+02] [ 3.65316028e-02 9.99332498e-01 -1.86590139e-05 4.62383499e+00] [ 9.46657559e-03 -3.27389535e-04 9.99955137e-01 1.56867945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.719254154 meters 0.05576222577662951 Centerline is valid? [True, True] Translation: X:402.84, Y:4.63, Z:1.57 [[ 9.99415188e-01 -3.29165335e-02 -9.26197401e-03 4.02841240e+02] [ 3.29177779e-02 9.99458063e-01 -1.81024274e-05 4.62793702e+00] [ 9.25755048e-03 -2.86791763e-04 9.99957107e-01 1.56889868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779254154 meters 0.05583750542754569 Centerline is valid? [True, True] Translation: X:402.90, Y:4.63, Z:1.57 [[ 9.99575130e-01 -2.77763465e-02 -8.83370302e-03 4.02901457e+02] [ 2.77772783e-02 9.99614137e-01 -1.72101651e-05 4.63138782e+00] [ 8.83077245e-03 -2.28173374e-04 9.99960982e-01 1.57003070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839254154 meters 0.05619233924468652 Centerline is valid? [True, True] Translation: X:402.96, Y:4.63, Z:1.57 [[ 9.99800455e-01 -1.82820281e-02 -8.05093845e-03 4.02961360e+02] [ 1.82824946e-02 9.99832861e-01 -1.56568554e-05 4.63335165e+00] [ 8.04987907e-03 -1.31537507e-04 9.99967591e-01 1.57095179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899254154 meters 0.0555495107993201 Centerline is valid? [True, True] Translation: X:403.02, Y:4.64, Z:1.57 [[ 9.99915176e-01 -1.03583460e-02 -7.89592424e-03 4.03021752e+02] [ 1.03585479e-02 9.99946349e-01 -1.53257210e-05 4.63731720e+00] [ 7.89565936e-03 -6.64658889e-05 9.99968827e-01 1.57110336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959254154 meters 0.0561529150803719 Centerline is valid? [True, True] Translation: X:403.08, Y:4.64, Z:1.57 [[ 9.99935910e-01 -7.05181643e-03 -8.85708419e-03 4.03081927e+02] [ 7.05193957e-03 9.99975135e-01 -1.73282682e-05 4.63807983e+00] [ 8.85698615e-03 -4.51324648e-05 9.99960775e-01 1.57084239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019254154 meters 0.05616099141524517 Centerline is valid? [True, True] Translation: X:403.14, Y:4.64, Z:1.57 [[ 9.99930838e-01 -6.21521716e-03 -9.98453466e-03 4.03140532e+02] [ 6.21532316e-03 9.99980684e-01 -2.04130856e-05 4.63730576e+00] [ 9.98446867e-03 -4.16454357e-05 9.99950153e-01 1.57074193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079254154 meters 0.05540155749503342 Centerline is valid? [True, True] Translation: X:403.20, Y:4.63, Z:1.57 [[ 9.99901468e-01 -8.68607552e-03 -1.10275151e-02 4.03198278e+02] [ 8.68634672e-03 9.99962273e-01 -2.33033937e-05 4.63395420e+00] [ 1.10273015e-02 -7.24877218e-05 9.99939195e-01 1.56935080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139254154 meters 0.05611134711976375 Centerline is valid? [True, True] Translation: X:403.26, Y:4.63, Z:1.57 [[ 9.99792581e-01 -1.72805187e-02 -1.07785857e-02 4.03258634e+02] [ 1.72812751e-02 9.99850667e-01 -2.29638588e-05 4.62764306e+00] [ 1.07773729e-02 -1.63308608e-04 9.99941909e-01 1.57068921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199254154 meters 0.05669597544290022 Centerline is valid? [True, True] Translation: X:403.32, Y:4.62, Z:1.57 [[ 9.99638359e-01 -2.51610134e-02 -9.49074598e-03 4.03319496e+02] [ 2.51619545e-02 9.99683388e-01 -2.02456675e-05 4.62325666e+00] [ 9.48825049e-03 -2.18567373e-04 9.99954962e-01 1.57151725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259254154 meters 0.056779811300796595 Centerline is valid? [True, True] Translation: X:403.38, Y:4.61, Z:1.57 [[ 9.99256947e-01 -3.78440656e-02 -7.30623367e-03 4.03379084e+02] [ 3.78449621e-02 9.99283623e-01 -1.55508144e-05 4.61386692e+00] [ 7.30158816e-03 -2.60964877e-04 9.99973309e-01 1.57198915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319254154 meters 0.058295938828754515 Centerline is valid? [True, True] Translation: X:403.44, Y:4.60, Z:1.57 [[ 9.98774167e-01 -4.90806677e-02 -6.42275217e-03 4.03439157e+02] [ 4.90815926e-02 9.98794772e-01 -1.36342679e-05 4.60058200e+00] [ 6.41568047e-03 -3.01621351e-04 9.99979374e-01 1.57253639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters 0.05602398528299373 Centerline is valid? [True, True] Translation: X:403.50, Y:4.61, Z:1.57 [[ 9.98471101e-01 -5.49930407e-02 -5.58800969e-03 4.03499430e+02] [ 5.49938331e-02 9.98486694e-01 -1.18584285e-05 4.61164256e+00] [ 5.58020545e-03 -2.95465774e-04 9.99984387e-01 1.57335621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters 0.05525995172663887 Centerline is valid? [True, True] Translation: X:403.56, Y:4.61, Z:1.57 [[ 9.98152316e-01 -6.05758870e-02 -4.74509026e-03 4.03559878e+02] [ 6.05765213e-02 9.98163556e-01 -1.00587897e-05 4.61278930e+00] [ 4.73698549e-03 -2.77400857e-04 9.99988742e-01 1.57375862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters 0.05896589021905049 Centerline is valid? [True, True] Translation: X:403.62, Y:4.60, Z:1.57 [[ 9.98037255e-01 -6.24109655e-02 -5.14875293e-03 4.03620172e+02] [ 6.24117370e-02 9.98050487e-01 -1.08607159e-05 4.59650361e+00] [ 5.13939320e-03 -3.10503215e-04 9.99986745e-01 1.57352434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters 0.055421297270379984 Centerline is valid? [True, True] Translation: X:403.68, Y:4.61, Z:1.57 [[ 9.97993138e-01 -6.30282877e-02 -6.09358185e-03 4.03682406e+02] [ 6.30293804e-02 9.98011672e-01 -1.27479206e-05 4.60838172e+00] [ 6.08226929e-03 -3.71352351e-04 9.99981434e-01 1.57186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters 0.05511277757806098 Centerline is valid? [True, True] Translation: X:403.74, Y:4.62, Z:1.57 [[ 9.98114073e-01 -6.10216570e-02 -6.68240678e-03 4.03742739e+02] [ 6.10229276e-02 9.98136365e-01 -1.37826345e-05 4.61870979e+00] [ 6.67079425e-03 -3.94023384e-04 9.99977672e-01 1.57122801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.679254154 meters 0.05518257172972665 Centerline is valid? [True, True] Translation: X:403.80, Y:4.61, Z:1.57 [[ 9.98553556e-01 -5.31676045e-02 -8.00012891e-03 4.03802344e+02] [ 5.31691741e-02 9.98585519e-01 -1.64995504e-05 4.61483866e+00] [ 7.98969012e-03 -4.08884562e-04 9.99967998e-01 1.57077365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.739254154 meters 0.05598551869606374 Centerline is valid? [True, True] Translation: X:403.86, Y:4.62, Z:1.57 [[ 9.98737383e-01 -4.95688989e-02 -8.15873664e-03 4.03863392e+02] [ 4.95704116e-02 9.98770631e-01 -1.68312923e-05 4.61585636e+00] [ 8.14954086e-03 -3.87621893e-04 9.99966717e-01 1.57093806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.799254154 meters 0.05685247752493409 Centerline is valid? [True, True] Translation: X:403.92, Y:4.61, Z:1.57 [[ 9.99083398e-01 -4.20343499e-02 -8.09182244e-03 4.03923301e+02] [ 4.20355916e-02 9.99116114e-01 -1.66432707e-05 4.61355082e+00] [ 8.08536978e-03 -3.23516528e-04 9.99967261e-01 1.57085225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.859254154 meters 0.056858359624009855 Centerline is valid? [True, True] Translation: X:403.98, Y:4.62, Z:1.57 [[ 9.99519362e-01 -3.02405540e-02 -6.82309488e-03 4.03982408e+02] [ 3.02411622e-02 9.99542631e-01 -1.40428139e-05 4.62016667e+00] [ 6.82039888e-03 -1.92302255e-04 9.99976722e-01 1.57156793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.919254154 meters 0.05718787307499048 Centerline is valid? [True, True] Translation: X:404.04, Y:4.62, Z:1.57 [[ 9.99738012e-01 -2.22559226e-02 -5.34610470e-03 4.04042653e+02] [ 2.22561817e-02 9.99752300e-01 -1.10204233e-05 4.62364677e+00] [ 5.34502574e-03 -1.07966342e-04 9.99985709e-01 1.57308650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.979254154 meters 0.05590227930074644 Centerline is valid? [True, True] Translation: X:404.10, Y:4.63, Z:1.57 [[ 9.99927115e-01 -1.10241766e-02 -4.92271124e-03 4.04102777e+02] [ 1.10242604e-02 9.99939231e-01 -1.01147623e-05 4.63426299e+00] [ 4.92252360e-03 -4.41552252e-05 9.99987883e-01 1.57288077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.039254154 meters 0.056427751964734534 Centerline is valid? [True, True] Translation: X:404.16, Y:4.64, Z:1.57 [[ 9.99973636e-01 -5.05430624e-03 -5.21365517e-03 4.04163496e+02] [ 5.05431925e-03 9.99987227e-01 -1.06803922e-05 4.63876626e+00] [ 5.21364256e-03 -1.56713671e-05 9.99986409e-01 1.57325009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.099254154 meters 0.05618387990065058 Centerline is valid? [True, True] Translation: X:404.22, Y:4.64, Z:1.57 [[ 9.99984236e-01 -4.29828570e-04 -5.59849293e-03 4.04222229e+02] [ 4.29770185e-04 9.99999908e-01 -1.16318834e-05 4.63949216e+00] [ 5.59849742e-03 9.22563468e-06 9.99984328e-01 1.57345817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.159254154 meters 0.05622855793104969 Centerline is valid? [True, True] Translation: X:404.28, Y:4.64, Z:1.57 [[ 9.99983793e-01 2.70444022e-04 -5.68685477e-03 4.04279660e+02] [-2.70518211e-04 9.99999963e-01 -1.22765453e-05 4.63761240e+00] [ 5.68685124e-03 1.38147441e-05 9.99983830e-01 1.57396456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.219254154 meters 0.05671693948912535 Centerline is valid? [True, True] Translation: X:404.34, Y:4.63, Z:1.57 [[ 9.99991898e-01 -1.63416884e-03 -3.67877791e-03 4.04338803e+02] [ 1.63415035e-03 9.99998665e-01 -8.03198647e-06 4.63440208e+00] [ 3.67878612e-03 2.02024520e-06 9.99993233e-01 1.57417683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279254154 meters 0.056862902492640234 Centerline is valid? [True, True] Translation: X:404.40, Y:4.63, Z:1.57 [[ 9.99985907e-01 -4.30449381e-03 -3.10751880e-03 4.04397290e+02] [ 4.30449333e-03 9.99990736e-01 -6.84391366e-06 4.63008515e+00] [ 3.10751947e-03 -6.53247672e-06 9.99995172e-01 1.57448386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339254154 meters 0.05558891985942758 Centerline is valid? [True, True] Translation: X:404.46, Y:4.62, Z:1.57 [[ 9.99936998e-01 -1.05523851e-02 -3.82707184e-03 4.04457315e+02] [ 1.05524297e-02 9.99944322e-01 -8.54545962e-06 4.62364365e+00] [ 3.82694893e-03 -3.18399852e-05 9.99992677e-01 1.57441767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399254154 meters 0.056691735271143975 Centerline is valid? [True, True] Translation: X:404.52, Y:4.61, Z:1.57 [[ 9.99831024e-01 -1.76382053e-02 -5.17845180e-03 4.04517293e+02] [ 1.76383818e-02 9.99844432e-01 -1.15819352e-05 4.61333931e+00] [ 5.17785048e-03 -7.97595318e-05 9.99986592e-01 1.57391084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459254154 meters 0.057020050816405085 Centerline is valid? [True, True] Translation: X:404.58, Y:4.60, Z:1.57 [[ 9.99723863e-01 -2.28571592e-02 -5.45419902e-03 4.04576943e+02] [ 2.28574332e-02 9.99738735e-01 -1.21163730e-05 4.60385781e+00] [ 5.45305097e-03 -1.12555962e-04 9.99985126e-01 1.57368519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519254154 meters 0.057995771008873334 Centerline is valid? [True, True] Translation: X:404.64, Y:4.59, Z:1.57 [[ 9.99535233e-01 -2.99996406e-02 -5.41658164e-03 4.04637849e+02] [ 3.00000156e-02 9.99549898e-01 -1.20140375e-05 4.59115108e+00] [ 5.41450404e-03 -1.50489080e-04 9.99985330e-01 1.57378699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579254154 meters 0.05738762449124435 Centerline is valid? [True, True] Translation: X:404.70, Y:4.59, Z:1.57 [[ 9.99419746e-01 -3.36942364e-02 -4.98692469e-03 4.04698461e+02] [ 3.36946005e-02 9.99432176e-01 -1.10123373e-05 4.58766416e+00] [ 4.98446404e-03 -1.57026487e-04 9.99987565e-01 1.57346158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639254154 meters 0.05927934074319907 Centerline is valid? [True, True] Translation: X:404.76, Y:4.57, Z:1.57 [[ 9.99353776e-01 -3.54802559e-02 -5.76035321e-03 4.04758964e+02] [ 3.54807715e-02 9.99370359e-01 -1.26950487e-05 4.57451006e+00] [ 5.75717668e-03 -1.91694931e-04 9.99983409e-01 1.57238980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699254154 meters 0.057072736046614725 Centerline is valid? [True, True] Translation: X:404.82, Y:4.58, Z:1.57 [[ 9.99360470e-01 -3.54333972e-02 -4.80880364e-03 4.04821376e+02] [ 3.54337562e-02 9.99372027e-01 -1.05336280e-05 4.58270077e+00] [ 4.80615709e-03 -1.59867085e-04 9.99988438e-01 1.57307567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759254154 meters 0.057056058544806304 Centerline is valid? [True, True] Translation: X:404.88, Y:4.58, Z:1.57 [[ 9.99440850e-01 -3.30308900e-02 -5.19112779e-03 4.04882067e+02] [ 3.30312771e-02 9.99454318e-01 -1.11632808e-05 4.57952267e+00] [ 5.18866382e-03 -1.60312542e-04 9.99986526e-01 1.57371329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819254154 meters 0.058496366071206535 Centerline is valid? [True, True] Translation: X:404.94, Y:4.57, Z:1.57 [[ 9.99508052e-01 -3.09060892e-02 -5.33548589e-03 4.04942590e+02] [ 3.09064683e-02 9.99522281e-01 -1.13936095e-05 4.57367724e+00] [ 5.33328916e-03 -1.53513021e-04 9.99985766e-01 1.57397401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters 0.058424606164132 Centerline is valid? [True, True] Translation: X:405.00, Y:4.57, Z:1.57 [[ 9.99589856e-01 -2.81067404e-02 -5.48912394e-03 4.05003815e+02] [ 2.81070997e-02 9.99604917e-01 -1.16861795e-05 4.57055584e+00] [ 5.48728375e-03 -1.42601968e-04 9.99984935e-01 1.57327036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters 0.05867850408577087 Centerline is valid? [True, True] Translation: X:405.06, Y:4.57, Z:1.57 [[ 9.99642816e-01 -2.58742438e-02 -6.69056641e-03 4.05064894e+02] [ 2.58747280e-02 9.99665193e-01 -1.41938624e-05 4.56971660e+00] [ 6.68869362e-03 -1.58927793e-04 9.99977618e-01 1.57318470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters 0.05866242871272564 Centerline is valid? [True, True] Translation: X:405.12, Y:4.57, Z:1.57 [[ 9.99725187e-01 -2.20981767e-02 -7.82434509e-03 4.05124600e+02] [ 2.20987239e-02 9.99755793e-01 -1.65238335e-05 4.56964911e+00] [ 7.82279948e-03 -1.56388749e-04 9.99969389e-01 1.57287706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters 0.05810438259680782 Centerline is valid? [True, True] Translation: X:405.18, Y:4.57, Z:1.57 [[ 9.99776537e-01 -1.97655585e-02 -7.49657591e-03 4.05183979e+02] [ 1.97659950e-02 9.99804634e-01 -1.58599078e-05 4.57268027e+00] [ 7.49542481e-03 -1.32320919e-04 9.99971900e-01 1.57420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters 0.058347736083610734 Centerline is valid? [True, True] Translation: X:405.24, Y:4.57, Z:1.58 [[ 9.99836461e-01 -1.73084208e-02 -5.24113488e-03 4.05243940e+02] [ 1.73086003e-02 9.99850195e-01 -1.11101950e-05 4.57156132e+00] [ 5.24054203e-03 -7.96083309e-05 9.99986265e-01 1.57630212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.179254154 meters 0.05836706320823204 Centerline is valid? [True, True] Translation: X:405.30, Y:4.57, Z:1.58 [[ 9.99841736e-01 -1.69442498e-02 -5.42176909e-03 4.05304783e+02] [ 1.69444367e-02 9.99856433e-01 -1.14680001e-05 4.56742031e+00] [ 5.42118502e-03 -8.04026380e-05 9.99985302e-01 1.57653340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.239254154 meters 0.05825805337374683 Centerline is valid? [True, True] Translation: X:405.37, Y:4.57, Z:1.58 [[ 9.99801826e-01 -1.90836097e-02 -5.66789157e-03 4.05365595e+02] [ 1.90838488e-02 9.99817887e-01 -1.19047653e-05 4.56699270e+00] [ 5.66708655e-03 -9.62627795e-05 9.99983937e-01 1.57682290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.299254154 meters 0.05872301843913363 Centerline is valid? [True, True] Translation: X:405.43, Y:4.56, Z:1.58 [[ 9.99728578e-01 -2.24291640e-02 -6.30108772e-03 4.05427039e+02] [ 2.24295264e-02 9.99748426e-01 -1.31429709e-05 4.56255600e+00] [ 6.29979732e-03 -1.28191010e-04 9.99980148e-01 1.57626764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.359254154 meters 0.05893685106075836 Centerline is valid? [True, True] Translation: X:405.49, Y:4.55, Z:1.58 [[ 9.99555104e-01 -2.87776297e-02 -7.83853724e-03 4.05486526e+02] [ 2.87783867e-02 9.99585816e-01 -1.62263330e-05 4.55424422e+00] [ 7.83575760e-03 -2.09361342e-04 9.99969278e-01 1.57577568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.419254154 meters 0.059090582246293696 Centerline is valid? [True, True] Translation: X:405.55, Y:4.55, Z:1.58 [[ 9.99371768e-01 -3.45866923e-02 -7.73501095e-03 4.05547153e+02] [ 3.45876034e-02 9.99401670e-01 -1.59897398e-05 4.55076799e+00] [ 7.73093589e-03 -2.51555797e-04 9.99970084e-01 1.57645379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.479254154 meters 0.05978721794624989 Centerline is valid? [True, True] Translation: X:405.61, Y:4.55, Z:1.58 [[ 9.99321880e-01 -3.60118126e-02 -7.67662018e-03 4.05607953e+02] [ 3.60127526e-02 9.99351330e-01 -1.57894277e-05 4.54686007e+00] [ 7.67220919e-03 -2.60677503e-04 9.99970534e-01 1.57708913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.539254154 meters 0.05871806757341846 Centerline is valid? [True, True] Translation: X:405.67, Y:4.55, Z:1.58 [[ 9.99365150e-01 -3.49047200e-02 -7.13849259e-03 4.05669714e+02] [ 3.49055058e-02 9.99390617e-01 -1.45157564e-05 4.55382391e+00] [ 7.13464918e-03 -2.34666154e-04 9.99974521e-01 1.57857689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.599254154 meters 0.05984905558469673 Centerline is valid? [True, True] Translation: X:405.73, Y:4.54, Z:1.58 [[ 9.99409452e-01 -3.36793635e-02 -6.81519994e-03 4.05730245e+02] [ 3.36800523e-02 9.99432666e-01 -1.37101197e-05 4.54310496e+00] [ 6.81179520e-03 -2.15834267e-04 9.99976776e-01 1.57819744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.659254154 meters 0.05861021866977998 Centerline is valid? [True, True] Translation: X:405.79, Y:4.55, Z:1.58 [[ 9.99420764e-01 -3.34444680e-02 -6.29317051e-03 4.05792247e+02] [ 3.34450513e-02 9.99440558e-01 -1.25554208e-05 4.55132197e+00] [ 6.29006975e-03 -1.97927263e-04 9.99980198e-01 1.57992475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.719254154 meters 0.060305616398353135 Centerline is valid? [True, True] Translation: X:405.85, Y:4.54, Z:1.58 [[ 9.99384325e-01 -3.44355648e-02 -6.72037298e-03 4.05853684e+02] [ 3.44362538e-02 9.99406896e-01 -1.31860303e-05 4.54378031e+00] [ 6.71684117e-03 -2.18246558e-04 9.99977418e-01 1.57948141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779254154 meters 0.05932677137736342 Centerline is valid? [True, True] Translation: X:405.91, Y:4.54, Z:1.58 [[ 9.99286376e-01 -3.70663402e-02 -7.26806244e-03 4.05914542e+02] [ 3.70672170e-02 9.99312774e-01 -1.40714954e-05 4.54484428e+00] [ 7.26358922e-03 -2.55345394e-04 9.99973587e-01 1.57956940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839254154 meters 0.059929462889486536 Centerline is valid? [True, True] Translation: X:405.98, Y:4.55, Z:1.58 [[ 9.99071366e-01 -4.22884708e-02 -8.25177246e-03 4.05975143e+02] [ 4.22897800e-02 9.99105387e-01 -1.58409434e-05 4.54574960e+00] [ 8.24506021e-03 -3.33139409e-04 9.99965953e-01 1.58038951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899254154 meters 0.06001093901482601 Centerline is valid? [True, True] Translation: X:406.04, Y:4.54, Z:1.58 [[ 9.98925373e-01 -4.55127092e-02 -8.75747093e-03 4.06035600e+02] [ 4.55143081e-02 9.98963687e-01 -1.67437146e-05 4.54404501e+00] [ 8.74915750e-03 -3.81864509e-04 9.99961652e-01 1.57969381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959254154 meters 0.059002165111049026 Centerline is valid? [True, True] Translation: X:406.10, Y:4.55, Z:1.58 [[ 9.98916588e-01 -4.55842020e-02 -9.36644083e-03 4.06097726e+02] [ 4.55860360e-02 9.98960416e-01 -1.77126836e-05 4.54965324e+00] [ 9.35751105e-03 -4.09285415e-04 9.99956134e-01 1.58006482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019254154 meters 0.05867563660548358 Centerline is valid? [True, True] Translation: X:406.16, Y:4.55, Z:1.58 [[ 9.98990217e-01 -4.39265247e-02 -9.43434219e-03 4.06159712e+02] [ 4.39283142e-02 9.99034686e-01 -1.75590587e-05 4.55091337e+00] [ 9.42600639e-03 -3.96893420e-04 9.99955495e-01 1.58014449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079254154 meters 0.058355324596286916 Centerline is valid? [True, True] Translation: X:406.22, Y:4.56, Z:1.58 [[ 9.99182947e-01 -3.94806484e-02 -8.64385032e-03 4.06219927e+02] [ 3.94819853e-02 9.99220282e-01 -1.59956369e-05 4.55514345e+00] [ 8.63774208e-03 -3.25293803e-04 9.99962641e-01 1.58132842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139254154 meters 0.05983521890681916 Centerline is valid? [True, True] Translation: X:406.28, Y:4.55, Z:1.58 [[ 9.99419787e-01 -3.34398859e-02 -6.47012858e-03 4.06279784e+02] [ 3.34405084e-02 9.99440710e-01 -1.19768112e-05 4.55260456e+00] [ 6.46691040e-03 -2.04394527e-04 9.99979068e-01 1.58270148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199254154 meters 0.05873285195835877 Centerline is valid? [True, True] Translation: X:406.34, Y:4.56, Z:1.58 [[ 9.99566798e-01 -2.88989128e-02 -5.57389069e-03 4.06340428e+02] [ 2.88993042e-02 9.99582328e-01 -1.03174860e-05 4.56175924e+00] [ 5.57186079e-03 -1.50768546e-04 9.99984466e-01 1.58388313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259254154 meters 0.0590240638546537 Centerline is valid? [True, True] Translation: X:406.40, Y:4.57, Z:1.58 [[ 9.99727443e-01 -2.26060434e-02 -5.83154925e-03 4.06399819e+02] [ 2.26063649e-02 9.99744443e-01 -1.08014797e-05 4.56893083e+00] [ 5.83030313e-03 -1.21031594e-04 9.99982996e-01 1.58398975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319254154 meters 0.05765652638961164 Centerline is valid? [True, True] Translation: X:406.46, Y:4.57, Z:1.58 [[ 9.99791406e-01 -1.93769954e-02 -6.45567953e-03 4.06460863e+02] [ 1.93773220e-02 9.99812242e-01 -1.19527871e-05 4.57169464e+00] [ 6.45469903e-03 -1.13143487e-04 9.99979162e-01 1.58343508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters 0.05830664307286723 Centerline is valid? [True, True] Translation: X:406.52, Y:4.58, Z:1.58 [[ 9.99853071e-01 -1.55720745e-02 -7.16570307e-03 4.06520880e+02] [ 1.55723798e-02 9.99878743e-01 -1.31958834e-05 4.57554494e+00] [ 7.16503967e-03 -9.83931053e-05 9.99974326e-01 1.58361587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters 0.05871886009723763 Centerline is valid? [True, True] Translation: X:406.58, Y:4.58, Z:1.58 [[ 9.99887960e-01 -1.28807447e-02 -7.62591622e-03 4.06581298e+02] [ 1.28810121e-02 9.99917036e-01 -1.40433814e-05 4.58108525e+00] [ 7.62546444e-03 -8.41877115e-05 9.99970922e-01 1.58416024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters 0.058651151988160316 Centerline is valid? [True, True] Translation: X:406.64, Y:4.58, Z:1.58 [[ 9.99910244e-01 -1.12184402e-02 -7.32466413e-03 4.06640709e+02] [ 1.12186422e-02 9.99937069e-01 -1.35169708e-05 4.58163906e+00] [ 7.32435482e-03 -6.86570283e-05 9.99973174e-01 1.58378832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters 0.05873143626919152 Centerline is valid? [True, True] Translation: X:406.70, Y:4.58, Z:1.58 [[ 9.99919060e-01 -1.03112057e-02 -7.45333334e-03 4.06699978e+02] [ 1.03113889e-02 9.99946836e-01 -1.38475108e-05 4.58241373e+00] [ 7.45307988e-03 -6.30078288e-05 9.99972223e-01 1.58400963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters 0.05843979514277688 Centerline is valid? [True, True] Translation: X:406.76, Y:4.58, Z:1.58 [[ 9.99902066e-01 -1.20281388e-02 -7.15411396e-03 4.06758738e+02] [ 1.20283496e-02 9.99927657e-01 -1.35542074e-05 4.58144558e+00] [ 7.15375944e-03 -7.24993042e-05 9.99974409e-01 1.58491776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.679254154 meters 0.05818703975744277 Centerline is valid? [True, True] Translation: X:406.82, Y:4.58, Z:1.59 [[ 9.99852565e-01 -1.55777373e-02 -7.22372765e-03 4.06818379e+02] [ 1.55780431e-02 9.99878655e-01 -1.39302651e-05 4.58333092e+00] [ 7.22306809e-03 -9.86033295e-05 9.99973908e-01 1.58671726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.739254154 meters 0.05818722011097027 Centerline is valid? [True, True] Translation: X:406.88, Y:4.57, Z:1.59 [[ 9.99681024e-01 -2.41712065e-02 -7.32135560e-03 4.06878687e+02] [ 2.41717513e-02 9.99707820e-01 -1.40855786e-05 4.57213093e+00] [ 7.31955691e-03 -1.62888901e-04 9.99973198e-01 1.58629424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.799254154 meters 0.05850195949562985 Centerline is valid? [True, True] Translation: X:406.94, Y:4.57, Z:1.59 [[ 9.99438328e-01 -3.27159867e-02 -7.25897152e-03 4.06939250e+02] [ 3.27167478e-02 9.99464664e-01 -1.39060395e-05 4.56912750e+00] [ 7.25554048e-03 -2.23591712e-04 9.99973653e-01 1.58663394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.859254154 meters 0.05868204684637049 Centerline is valid? [True, True] Translation: X:407.00, Y:4.57, Z:1.59 [[ 9.99280545e-01 -3.71803005e-02 -7.48450633e-03 4.07000235e+02] [ 3.71812349e-02 9.99308539e-01 -1.43051172e-05 4.56695108e+00] [ 7.47986295e-03 -2.63988363e-04 9.99971991e-01 1.58712201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.919254154 meters 0.058311722098520084 Centerline is valid? [True, True] Translation: X:407.06, Y:4.57, Z:1.59 [[ 9.99124316e-01 -4.11599181e-02 -7.51418472e-03 4.07061215e+02] [ 4.11609726e-02 9.99152528e-01 -1.43217319e-05 4.56828026e+00] [ 7.50840614e-03 -2.94981961e-04 9.99971768e-01 1.58801061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.979254154 meters 0.0587811816588881 Centerline is valid? [True, True] Translation: X:407.12, Y:4.57, Z:1.59 [[ 9.99085608e-01 -4.19675261e-02 -8.16545775e-03 4.07122233e+02] [ 4.19688003e-02 9.99118922e-01 -1.53195285e-05 4.56744580e+00] [ 8.15890627e-03 -3.27388945e-04 9.99966662e-01 1.58881015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.039254154 meters 0.05839016553676413 Centerline is valid? [True, True] Translation: X:407.18, Y:4.57, Z:1.59 [[ 9.99031807e-01 -4.30475948e-02 -9.07488663e-03 4.07184420e+02] [ 4.30492167e-02 9.99072953e-01 -1.66273096e-05 4.57248199e+00] [ 9.06718954e-03 -3.74055549e-04 9.99958822e-01 1.58887492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.099254154 meters 0.05857689681090155 Centerline is valid? [True, True] Translation: X:407.25, Y:4.57, Z:1.59 [[ 9.98978250e-01 -4.40434559e-02 -1.01306986e-02 4.07246847e+02] [ 4.40455325e-02 9.99029524e-01 -1.81469612e-05 4.56987439e+00] [ 1.01216663e-02 -4.28083597e-04 9.99948683e-01 1.58855229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.159254154 meters 0.059547584406373005 Centerline is valid? [True, True] Translation: X:407.31, Y:4.57, Z:1.59 [[ 9.98866427e-01 -4.63560844e-02 -1.08154795e-02 4.07306414e+02] [ 4.63585883e-02 9.98924863e-01 -1.92149609e-05 4.57096763e+00] [ 1.08047421e-02 -4.82197181e-04 9.99941511e-01 1.58799010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.219254154 meters 0.05845719383342409 Centerline is valid? [True, True] Translation: X:407.37, Y:4.57, Z:1.59 [[ 9.98775931e-01 -4.81983939e-02 -1.11155225e-02 4.07367453e+02] [ 4.82011537e-02 9.98837649e-01 -1.96395718e-05 4.57378760e+00] [ 1.11035489e-02 -5.16165475e-04 9.99938220e-01 1.58803986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279254154 meters 0.0586122521897675 Centerline is valid? [True, True] Translation: X:407.43, Y:4.58, Z:1.59 [[ 9.98692210e-01 -4.97763990e-02 -1.16696418e-02 4.07428726e+02] [ 4.97795506e-02 9.98760229e-01 -2.04226812e-05 4.58450611e+00] [ 1.16561907e-02 -5.60513553e-04 9.99931907e-01 1.58958502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339254154 meters 0.058205120501359925 Centerline is valid? [True, True] Translation: X:407.49, Y:4.58, Z:1.59 [[ 9.98713748e-01 -4.94641605e-02 -1.11421385e-02 4.07490422e+02] [ 4.94670175e-02 9.98775758e-01 -1.91981416e-05 4.58480856e+00] [ 1.11294474e-02 -5.31994911e-04 9.99937924e-01 1.58974618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399254154 meters 0.05852397248616552 Centerline is valid? [True, True] Translation: X:407.55, Y:4.59, Z:1.59 [[ 9.98930217e-01 -4.53395420e-02 -9.09656640e-03 4.07550933e+02] [ 4.53412765e-02 9.98971555e-01 -1.55706929e-05 4.59193423e+00] [ 9.08791705e-03 -3.96895897e-04 9.99958625e-01 1.59115332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459254154 meters 0.05741915670351288 Centerline is valid? [True, True] Translation: X:407.61, Y:4.60, Z:1.59 [[ 9.99177705e-01 -3.96947304e-02 -8.26088536e-03 4.07611122e+02] [ 3.96959680e-02 9.99211804e-01 -1.41568737e-05 4.59625263e+00] [ 8.25493612e-03 -3.13778609e-04 9.99965878e-01 1.59146286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519254154 meters 0.059894678097098204 Centerline is valid? [True, True] Translation: X:407.67, Y:4.59, Z:1.59 [[ 9.99519158e-01 -2.97370665e-02 -8.78401053e-03 4.07670593e+02] [ 2.97380811e-02 9.99557725e-01 -1.51134126e-05 4.59210691e+00] [ 8.78057502e-03 -2.46113472e-04 9.99961420e-01 1.59044771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579254154 meters 0.05867813624309055 Centerline is valid? [True, True] Translation: X:407.73, Y:4.60, Z:1.59 [[ 9.99605209e-01 -2.67301994e-02 -8.65575520e-03 4.07731254e+02] [ 2.67310722e-02 9.99642661e-01 -1.48560518e-05 4.60011449e+00] [ 8.65305926e-03 -2.16527431e-04 9.99962538e-01 1.59141785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639254154 meters 0.058330434930397766 Centerline is valid? [True, True] Translation: X:407.79, Y:4.61, Z:1.59 [[ 9.99767373e-01 -1.94943468e-02 -9.22882702e-03 4.07791210e+02] [ 1.94950314e-02 9.99809954e-01 -1.57749445e-05 4.60547409e+00] [ 9.22738064e-03 -1.64144998e-04 9.99957413e-01 1.59027652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699254154 meters 0.057731487754804335 Centerline is valid? [True, True] Translation: X:407.85, Y:4.61, Z:1.59 [[ 9.99812218e-01 -1.68297051e-02 -9.60675218e-03 4.07852031e+02] [ 1.68303245e-02 9.99858360e-01 -1.63758934e-05 4.61277103e+00] [ 9.60566708e-03 -1.45311938e-04 9.99953854e-01 1.59133436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759254154 meters 0.057745566569417914 Centerline is valid? [True, True] Translation: X:407.91, Y:4.62, Z:1.59 [[ 9.99832710e-01 -1.54206669e-02 -9.83643225e-03 4.07912156e+02] [ 1.54212460e-02 9.99881085e-01 -1.69768419e-05 4.61564539e+00] [ 9.83552435e-03 -1.34716040e-04 9.99951621e-01 1.59189270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819254154 meters 0.05761323465227832 Centerline is valid? [True, True] Translation: X:407.97, Y:4.62, Z:1.59 [[ 9.99827758e-01 -1.58911097e-02 -9.58788308e-03 4.07971676e+02] [ 1.58916796e-02 9.99873719e-01 -1.67523919e-05 4.61533443e+00] [ 9.58693853e-03 -1.35618059e-04 9.99954035e-01 1.59242024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters 0.05853428954728093 Centerline is valid? [True, True] Translation: X:408.03, Y:4.61, Z:1.59 [[ 9.99805267e-01 -1.74811524e-02 -9.15625749e-03 4.08030959e+02] [ 1.74817377e-02 9.99847183e-01 -1.61139828e-05 4.61373412e+00] [ 9.15513994e-03 -1.43956447e-04 9.99958080e-01 1.59244034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters 0.05821221127097759 Centerline is valid? [True, True] Translation: X:408.09, Y:4.61, Z:1.59 [[ 9.99727065e-01 -2.18774687e-02 -8.19586892e-03 4.08090932e+02] [ 2.18780848e-02 9.99760646e-01 -1.44812022e-05 4.60844638e+00] [ 8.19422402e-03 -1.64832666e-04 9.99966413e-01 1.59307681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters 0.05846974542782209 Centerline is valid? [True, True] Translation: X:408.15, Y:4.61, Z:1.59 [[ 9.99652800e-01 -2.50633114e-02 -8.13079675e-03 4.08150569e+02] [ 2.50640242e-02 9.99685848e-01 -1.42288922e-05 4.60603206e+00] [ 8.12859906e-03 -1.89566535e-04 9.99966944e-01 1.59377322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters 0.058540235816555194 Centerline is valid? [True, True] Translation: X:408.21, Y:4.60, Z:1.59 [[ 9.99534758e-01 -2.96656812e-02 -7.08621522e-03 4.08211062e+02] [ 2.96663392e-02 9.99559857e-01 -1.22564357e-05 4.60308462e+00] [ 7.08345987e-03 -1.97971331e-04 9.99974892e-01 1.59423462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters 0.05784169837487136 Centerline is valid? [True, True] Translation: X:408.27, Y:4.60, Z:1.59 [[ 9.99525549e-01 -3.00670213e-02 -6.68210163e-03 4.08273206e+02] [ 3.00676164e-02 9.99547867e-01 -1.14021378e-05 4.60475897e+00] [ 6.67942326e-03 -1.89518141e-04 9.99977674e-01 1.59497684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.179254154 meters 0.05864663641399877 Centerline is valid? [True, True] Translation: X:408.33, Y:4.60, Z:1.60 [[ 9.99616690e-01 -2.69476151e-02 -6.34809025e-03 4.08332671e+02] [ 2.69480902e-02 9.99636834e-01 -1.06916385e-05 4.59879986e+00] [ 6.34607295e-03 -1.60381368e-04 9.99979851e-01 1.59509703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.239254154 meters 0.0577835980710203 Centerline is valid? [True, True] Translation: X:408.39, Y:4.60, Z:1.59 [[ 9.99775408e-01 -2.03524073e-02 -5.90865978e-03 4.08392305e+02] [ 2.03527036e-02 9.99792862e-01 -9.99911761e-06 4.59643264e+00] [ 5.90763938e-03 -1.10260329e-04 9.99982544e-01 1.59489511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.299254154 meters 0.05833051848350306 Centerline is valid? [True, True] Translation: X:408.45, Y:4.60, Z:1.59 [[ 9.99848989e-01 -1.63912188e-02 -5.77302574e-03 4.08452234e+02] [ 1.63914353e-02 9.99865651e-01 -9.80098946e-06 4.59585355e+00] [ 5.77241079e-03 -8.48286688e-05 9.99983336e-01 1.59447306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.359254154 meters 0.05731125298840087 Centerline is valid? [True, True] Translation: X:408.51, Y:4.60, Z:1.59 [[ 9.99872446e-01 -1.40687866e-02 -7.56043605e-03 4.08513223e+02] [ 1.40690922e-02 9.99901025e-01 -1.27733120e-05 4.59749291e+00] [ 7.55986746e-03 -9.35967888e-05 9.99971419e-01 1.59463334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.419254154 meters 0.05804289592663088 Centerline is valid? [True, True] Translation: X:408.57, Y:4.59, Z:1.59 [[ 9.99847672e-01 -1.55575603e-02 -7.91177065e-03 4.08572649e+02] [ 1.55579421e-02 9.99878968e-01 -1.32959039e-05 4.59052669e+00] [ 7.91101993e-03 -1.09796991e-04 9.99968701e-01 1.59389765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.479254154 meters 0.05926587509100967 Centerline is valid? [True, True] Translation: X:408.63, Y:4.58, Z:1.59 [[ 9.99743951e-01 -2.07985034e-02 -8.91378562e-03 4.08632367e+02] [ 2.07991960e-02 9.99783673e-01 -1.50046607e-05 4.58043307e+00] [ 8.91216940e-03 -1.70398755e-04 9.99960271e-01 1.59349920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.539254154 meters 0.05872452883699475 Centerline is valid? [True, True] Translation: X:408.69, Y:4.58, Z:1.59 [[ 9.99619553e-01 -2.60323604e-02 -9.11403797e-03 4.08692680e+02] [ 2.60333018e-02 9.99661076e-01 -1.53471215e-05 4.57782966e+00] [ 9.11134853e-03 -2.21927219e-04 9.99958466e-01 1.59444139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.599254154 meters 0.06043767012923579 Centerline is valid? [True, True] Translation: X:408.75, Y:4.57, Z:1.59 [[ 9.99391458e-01 -3.37981317e-02 -8.62553926e-03 4.08753669e+02] [ 3.37992643e-02 9.99428642e-01 -1.44730146e-05 4.56697605e+00] [ 8.62110015e-03 -2.77072674e-04 9.99962799e-01 1.59421017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.659254154 meters 0.0588553201021629 Centerline is valid? [True, True] Translation: X:408.81, Y:4.58, Z:1.60 [[ 9.99221300e-01 -3.86250262e-02 -8.05616904e-03 4.08814354e+02] [ 3.86261714e-02 9.99253731e-01 -1.34438882e-05 4.57614708e+00] [ 8.05067624e-03 -2.97745547e-04 9.99967548e-01 1.59612449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.719254154 meters 0.0653285761897901 Centerline is valid? [True, True] Translation: X:408.87, Y:4.55, Z:1.59 [[ 9.98966541e-01 -4.46394540e-02 -8.55386515e-03 4.08874194e+02] [ 4.46409653e-02 9.99003095e-01 -1.42694361e-05 4.54619365e+00] [ 8.54597474e-03 -3.67598108e-04 9.99963415e-01 1.59348278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779254154 meters 0.06022560937791514 Centerline is valid? [True, True] Translation: X:408.93, Y:4.56, Z:1.60 [[ 9.98726071e-01 -4.98584230e-02 -7.77000520e-03 4.08934940e+02] [ 4.98598274e-02 9.98756225e-01 -1.29830566e-05 4.56201921e+00] [ 7.76098838e-03 -3.74444601e-04 9.99969813e-01 1.59589264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839254154 meters 0.057240233655604475 Centerline is valid? [True, True] Translation: X:409.00, Y:4.58, Z:1.60 [[ 9.98266381e-01 -5.85197439e-02 -6.29854811e-03 4.08995843e+02] [ 5.85208386e-02 9.98286187e-01 -1.05097990e-05 4.58042023e+00] [ 6.28836861e-03 -3.58104738e-04 9.99980164e-01 1.59720981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899254154 meters 0.05834321166357542 Centerline is valid? [True, True] Translation: X:409.06, Y:4.57, Z:1.60 [[ 9.98017395e-01 -6.26329784e-02 -6.19598542e-03 4.09055715e+02] [ 6.26341167e-02 9.98036556e-01 -1.03446233e-05 4.57143995e+00] [ 6.18446787e-03 -3.77755960e-04 9.99980805e-01 1.59685018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959254154 meters 0.06194855543449244 Centerline is valid? [True, True] Translation: X:409.12, Y:4.56, Z:1.60 [[ 9.97858488e-01 -6.49083686e-02 -8.08337982e-03 4.09115456e+02] [ 6.49103802e-02 9.97891097e-01 -1.35251340e-05 4.55797236e+00] [ 8.06721065e-03 -5.11199088e-04 9.99967329e-01 1.59524813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019254154 meters 0.05841759309373145 Centerline is valid? [True, True] Translation: X:409.18, Y:4.58, Z:1.60 [[ 9.97890380e-01 -6.44251301e-02 -8.01199050e-03 4.09177568e+02] [ 6.44270929e-02 9.97922417e-01 -1.31379837e-05 4.58016738e+00] [ 7.99619134e-03 -5.03078989e-04 9.99967903e-01 1.59584280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079254154 meters 0.05860590137625807 Centerline is valid? [True, True] Translation: X:409.24, Y:4.58, Z:1.60 [[ 9.98188625e-01 -5.95327661e-02 -8.67858271e-03 4.09236654e+02] [ 5.95348869e-02 9.98226225e-01 -1.40072167e-05 4.58280389e+00] [ 8.66402275e-03 -5.02696596e-04 9.99962340e-01 1.59565398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139254154 meters 0.05840163605566025 Centerline is valid? [True, True] Translation: X:409.30, Y:4.58, Z:1.60 [[ 9.98621889e-01 -5.18373807e-02 -8.19810156e-03 4.09296535e+02] [ 5.18390143e-02 9.98655454e-01 -1.32520419e-05 4.58482877e+00] [ 8.18776579e-03 -4.11747725e-04 9.99966395e-01 1.59613251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199254154 meters 0.0585122014795313 Centerline is valid? [True, True] Translation: X:409.36, Y:4.59, Z:1.60 [[ 9.98930242e-01 -4.56780058e-02 -7.20351692e-03 4.09356864e+02] [ 4.56791074e-02 9.98956165e-01 -1.16101986e-05 4.59011029e+00] [ 7.19652797e-03 -3.17452445e-04 9.99974054e-01 1.59686246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259254154 meters 0.058781711470210295 Centerline is valid? [True, True] Translation: X:409.42, Y:4.60, Z:1.60 [[ 9.99342144e-01 -3.56589897e-02 -6.61173685e-03 4.09416750e+02] [ 3.56596990e-02 9.99363991e-01 -1.06239971e-05 4.59688675e+00] [ 6.60791057e-03 -2.25155538e-04 9.99978142e-01 1.59710860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319254154 meters 0.05867125259056802 Centerline is valid? [True, True] Translation: X:409.48, Y:4.60, Z:1.60 [[ 9.99532494e-01 -2.99616709e-02 -6.09029281e-03 4.09477171e+02] [ 2.99621671e-02 9.99551033e-01 -9.76090355e-06 4.60477972e+00] [ 6.08785092e-03 -1.72722031e-04 9.99981454e-01 1.59768452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters 0.057944170967036725 Centerline is valid? [True, True] Translation: X:409.54, Y:4.61, Z:1.60 [[ 9.99684417e-01 -2.45597919e-02 -5.28050464e-03 4.09538176e+02] [ 2.45600898e-02 9.99698355e-01 -8.43813104e-06 4.61398029e+00] [ 5.27911904e-03 -1.21254200e-04 9.99986058e-01 1.59782569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters 0.057957599894486 Centerline is valid? [True, True] Translation: X:409.60, Y:4.61, Z:1.60 [[ 9.99731922e-01 -2.23757868e-02 -5.95045934e-03 4.09599084e+02] [ 2.23761266e-02 9.99749623e-01 -9.47777807e-06 4.61227768e+00] [ 5.94918156e-03 -1.23672994e-04 9.99982296e-01 1.59746014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters 0.05751777278864784 Centerline is valid? [True, True] Translation: X:409.66, Y:4.62, Z:1.60 [[ 9.99754443e-01 -2.14036750e-02 -5.73898142e-03 4.09661560e+02] [ 2.14039757e-02 9.99770909e-01 -9.01689398e-06 4.61873761e+00] [ 5.73785966e-03 -1.13822339e-04 9.99983532e-01 1.59780029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters 0.05767867739911339 Centerline is valid? [True, True] Translation: X:409.72, Y:4.62, Z:1.60 [[ 9.99778050e-01 -2.01822995e-02 -6.04363954e-03 4.09722948e+02] [ 2.01826119e-02 9.99796310e-01 -9.30284299e-06 4.61897950e+00] [ 6.04259627e-03 -1.12675653e-04 9.99981737e-01 1.59754279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters 0.05760013685323241 Centerline is valid? [True, True] Translation: X:409.78, Y:4.62, Z:1.60 [[ 9.99817340e-01 -1.81784117e-02 -5.90184884e-03 4.09783197e+02] [ 1.81786756e-02 9.99834754e-01 -8.92080306e-06 4.62434812e+00] [ 5.90103575e-03 -9.83686222e-05 9.99982584e-01 1.59814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.679254154 meters 0.056850686259300176 Centerline is valid? [True, True] Translation: X:409.84, Y:4.62, Z:1.60 [[ 9.99823305e-01 -1.79134256e-02 -5.69808933e-03 4.09844730e+02] [ 1.79136684e-02 9.99839537e-01 -8.44370533e-06 4.61735934e+00] [ 5.69732625e-03 -9.36314691e-05 9.99983766e-01 1.59781716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.739254154 meters 0.0575513167039099 Centerline is valid? [True, True] Translation: X:409.91, Y:4.62, Z:1.60 [[ 9.99800460e-01 -1.95403504e-02 -4.14901043e-03 4.09906453e+02] [ 1.95404934e-02 9.99809066e-01 -6.07946863e-06 4.61652541e+00] [ 4.14833704e-03 -7.49954555e-05 9.99991393e-01 1.59813528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.799254154 meters 0.057549242682918514 Centerline is valid? [True, True] Translation: X:409.97, Y:4.61, Z:1.60 [[ 9.99769362e-01 -2.10992490e-02 -4.00559952e-03 4.09967325e+02] [ 2.10993952e-02 9.99777383e-01 -5.77254328e-06 4.61039391e+00] [ 4.00482960e-03 -7.87445153e-05 9.99991978e-01 1.59828104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.859254154 meters 0.0580277454468916 Centerline is valid? [True, True] Translation: X:410.03, Y:4.61, Z:1.60 [[ 9.99755476e-01 -2.16251794e-02 -4.61940211e-03 4.10029777e+02] [ 2.16253800e-02 9.99766144e-01 -6.52031003e-06 4.60943107e+00] [ 4.61846284e-03 -9.33776103e-05 9.99989330e-01 1.59817149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.919254154 meters 0.05750029687540653 Centerline is valid? [True, True] Translation: X:410.09, Y:4.61, Z:1.60 [[ 9.99757320e-01 -2.10860128e-02 -6.37813324e-03 4.10092009e+02] [ 2.10863860e-02 9.99777657e-01 -8.73757389e-06 4.60664054e+00] [ 6.37689935e-03 -1.25756326e-04 9.99979659e-01 1.59729556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.979254154 meters 0.05754183589429667 Centerline is valid? [True, True] Translation: X:410.15, Y:4.60, Z:1.60 [[ 9.99765129e-01 -2.04120175e-02 -7.28262057e-03 4.10153876e+02] [ 2.04124879e-02 9.99791643e-01 -9.74123180e-06 4.60479059e+00] [ 7.28130203e-03 -1.38917460e-04 9.99973481e-01 1.59665991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.039254154 meters 0.05740246908503532 Centerline is valid? [True, True] Translation: X:410.21, Y:4.60, Z:1.60 [[ 9.99774589e-01 -1.98657499e-02 -7.49159905e-03 4.10214827e+02] [ 1.98662338e-02 9.99802647e-01 -9.82658205e-06 4.60388622e+00] [ 7.49031577e-03 -1.39005491e-04 9.99971938e-01 1.59686076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.099254154 meters 0.0578328044341438 Centerline is valid? [True, True] Translation: X:410.28, Y:4.60, Z:1.60 [[ 9.99810573e-01 -1.77936075e-02 -7.88708934e-03 4.10275522e+02] [ 1.77940807e-02 9.99841673e-01 -1.01690203e-05 4.59813522e+00] [ 7.88602154e-03 -1.30176411e-04 9.99968896e-01 1.59696846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.159254154 meters 0.058227343008740544 Centerline is valid? [True, True] Translation: X:410.34, Y:4.60, Z:1.60 [[ 9.99886226e-01 -1.31167368e-02 -7.44897418e-03 4.10335431e+02] [ 1.31170297e-02 9.99913968e-01 -9.53957296e-06 4.59791522e+00] [ 7.44845846e-03 -8.81699280e-05 9.99972256e-01 1.59754001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.219254154 meters 0.05754293353309687 Centerline is valid? [True, True] Translation: X:410.40, Y:4.60, Z:1.60 [[ 9.99919726e-01 -1.08539664e-02 -6.53699520e-03 4.10395296e+02] [ 1.08541433e-02 9.99941092e-01 -8.41558440e-06 4.59969902e+00] [ 6.53670146e-03 -6.25385736e-05 9.99978634e-01 1.59879150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279254154 meters 0.05719115676261224 Centerline is valid? [True, True] Translation: X:410.46, Y:4.60, Z:1.60 [[ 9.99899607e-01 -1.24594607e-02 -6.74824216e-03 4.10455165e+02] [ 1.24596850e-02 9.99922375e-01 -8.80259580e-06 4.59628585e+00] [ 6.74782800e-03 -7.52792594e-05 9.99977230e-01 1.60037703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339254154 meters 0.05832429104113457 Centerline is valid? [True, True] Translation: X:410.52, Y:4.59, Z:1.60 [[ 9.99816535e-01 -1.74186192e-02 -7.96788759e-03 4.10515105e+02] [ 1.74190900e-02 9.99848276e-01 -1.03150791e-05 4.59112712e+00] [ 7.96685834e-03 -1.28480164e-04 9.99968256e-01 1.60024928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399254154 meters 0.05890495017724001 Centerline is valid? [True, True] Translation: X:410.58, Y:4.58, Z:1.60 [[ 9.99583053e-01 -2.76198818e-02 -8.41798472e-03 4.10575585e+02] [ 2.76207702e-02 9.99618474e-01 -1.07261142e-05 4.57886047e+00] [ 8.41506929e-03 -2.21789580e-04 9.99964568e-01 1.59941555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459254154 meters 0.05917597732021278 Centerline is valid? [True, True] Translation: X:410.64, Y:4.57, Z:1.60 [[ 9.99283896e-01 -3.69655592e-02 -8.07727862e-03 4.10635938e+02] [ 3.69666822e-02 9.99316499e-01 -1.02786335e-05 4.57417203e+00] [ 8.07213775e-03 -2.88318919e-04 9.99967378e-01 1.60083870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519254154 meters 0.059258678116679446 Centerline is valid? [True, True] Translation: X:410.70, Y:4.57, Z:1.60 [[ 9.99086050e-01 -4.19250159e-02 -8.32817458e-03 4.10696597e+02] [ 4.19263824e-02 9.99120703e-01 -1.05143076e-05 4.57120093e+00] [ 8.32129245e-03 -3.38665535e-04 9.99965320e-01 1.60175259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579254154 meters 0.05816712973540631 Centerline is valid? [True, True] Translation: X:410.76, Y:4.57, Z:1.60 [[ 9.98839695e-01 -4.77102592e-02 -6.55710566e-03 4.10757159e+02] [ 4.77112311e-02 9.98861171e-01 -8.21239859e-06 4.57030973e+00] [ 6.55003005e-03 -3.04644714e-04 9.99978502e-01 1.60304680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639254154 meters 0.05880755757737396 Centerline is valid? [True, True] Translation: X:410.82, Y:4.56, Z:1.60 [[ 9.98744680e-01 -4.97755297e-02 -5.60896119e-03 4.10817445e+02] [ 4.97762735e-02 9.98760393e-01 -6.99833136e-06 4.56496548e+00] [ 5.60235663e-03 -2.72203640e-04 9.99984270e-01 1.60372841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699254154 meters 0.05945251239007651 Centerline is valid? [True, True] Translation: X:410.88, Y:4.56, Z:1.60 [[ 9.98709072e-01 -5.05377807e-02 -5.11103181e-03 4.10878628e+02] [ 5.05384085e-02 9.98722118e-01 -6.31722254e-06 4.56115706e+00] [ 5.10481978e-03 -2.51994346e-04 9.99986939e-01 1.60402289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759254154 meters 0.061175177483163604 Centerline is valid? [True, True] Translation: X:410.94, Y:4.56, Z:1.60 [[ 9.98735863e-01 -5.00364245e-02 -4.79911182e-03 4.10939761e+02] [ 5.00369728e-02 9.98747366e-01 -5.82003768e-06 4.55502018e+00] [ 4.79339150e-03 -2.34320347e-04 9.99988484e-01 1.60401407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819254154 meters 0.059310356718117435 Centerline is valid? [True, True] Translation: X:411.00, Y:4.56, Z:1.60 [[ 9.98757652e-01 -4.94843739e-02 -5.86938247e-03 4.11001667e+02] [ 4.94851856e-02 9.98774858e-01 -6.94072716e-06 4.56200421e+00] [ 5.86253509e-03 -2.83515376e-04 9.99982775e-01 1.60390727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters 0.06108887587418025 Centerline is valid? [True, True] Translation: X:411.06, Y:4.56, Z:1.60 [[ 9.98769514e-01 -4.89452823e-02 -7.98852977e-03 4.11063130e+02] [ 4.89467709e-02 9.98801388e-01 -9.17600946e-06 4.55636860e+00] [ 7.97940375e-03 -3.81848018e-04 9.99968091e-01 1.60266103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters 0.058480906383146465 Centerline is valid? [True, True] Translation: X:411.13, Y:4.57, Z:1.60 [[ 9.98765674e-01 -4.90619800e-02 -7.74919334e-03 4.11125710e+02] [ 4.90633863e-02 9.98795667e-01 -8.63568911e-06 4.57002733e+00] [ 7.74028441e-03 -3.71576637e-04 9.99969975e-01 1.60372651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters 0.0580911310109662 Centerline is valid? [True, True] Translation: X:411.19, Y:4.58, Z:1.60 [[ 9.98821153e-01 -4.79886066e-02 -7.30742014e-03 4.11186883e+02] [ 4.79898301e-02 9.98847824e-01 -7.91512732e-06 4.57997841e+00] [ 7.29938054e-03 -3.42776055e-04 9.99973300e-01 1.60458685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters 0.05883590139543682 Centerline is valid? [True, True] Translation: X:411.25, Y:4.57, Z:1.60 [[ 9.99051779e-01 -4.28966893e-02 -7.44429140e-03 4.11246404e+02] [ 4.28978185e-02 9.99079465e-01 -7.99604017e-06 4.57443702e+00] [ 7.43778167e-03 -3.11355403e-04 9.99972291e-01 1.60452004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.119254154 meters 0.05964352371363478 Centerline is valid? [True, True] Translation: X:411.31, Y:4.57, Z:1.60 [[ 9.99263511e-01 -3.75456608e-02 -7.92200072e-03 4.11306503e+02] [ 3.75467716e-02 9.99294871e-01 -8.51631007e-06 4.57159564e+00] [ 7.91673444e-03 -2.88935514e-04 9.99968620e-01 1.60410090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.179254154 meters 0.05962151971296803 Centerline is valid? [True, True] Translation: X:411.37, Y:4.58, Z:1.61 [[ 9.99475476e-01 -3.15067250e-02 -7.48999959e-03 4.11367120e+02] [ 3.15075487e-02 9.99503514e-01 -8.03007512e-06 4.57741951e+00] [ 7.48653391e-03 -2.27965664e-04 9.99971950e-01 1.60526728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.239254154 meters 0.060313020284351405 Centerline is valid? [True, True] Translation: X:411.43, Y:4.57, Z:1.61 [[ 9.99545864e-01 -2.94115124e-02 -6.55956436e-03 4.11427199e+02] [ 2.94120993e-02 9.99567371e-01 -6.98746664e-06 4.57478476e+00] [ 6.55693201e-03 -1.85946265e-04 9.99978486e-01 1.60613932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.299254154 meters 0.05946043729251407 Centerline is valid? [True, True] Translation: X:411.49, Y:4.58, Z:1.61 [[ 9.99640252e-01 -2.63903072e-02 -4.78735475e-03 4.11487914e+02] [ 2.63905853e-02 9.99651708e-01 -5.07985309e-06 4.58318434e+00] [ 4.78582141e-03 -1.21263068e-04 9.99988541e-01 1.60876161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.359254154 meters 0.05760873840364095 Centerline is valid? [True, True] Translation: X:411.55, Y:4.60, Z:1.61 [[ 9.99673386e-01 -2.51296405e-02 -4.65007077e-03 4.11549601e+02] [ 2.51298893e-02 9.99684194e-01 -4.92516972e-06 4.59815240e+00] [ 4.64872602e-03 -1.11932202e-04 9.99989188e-01 1.60892689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.419254154 meters 0.05818643994288177 Centerline is valid? [True, True] Translation: X:411.61, Y:4.59, Z:1.61 [[ 9.99738746e-01 -2.19612502e-02 -6.33590165e-03 4.11609839e+02] [ 2.19616498e-02 9.99758814e-01 -6.52013507e-06 4.58838251e+00] [ 6.33451670e-03 -1.32628421e-04 9.99979928e-01 1.60710900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.479254154 meters 0.057514513093031495 Centerline is valid? [True, True] Translation: X:411.67, Y:4.59, Z:1.61 [[ 9.99760502e-01 -2.06252941e-02 -7.31679690e-03 4.11670178e+02] [ 2.06257916e-02 9.99787266e-01 -7.46976289e-06 4.59414481e+00] [ 7.31539443e-03 -1.43446754e-04 9.99973232e-01 1.60666220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.539254154 meters 0.058286383220061036 Centerline is valid? [True, True] Translation: X:411.73, Y:4.59, Z:1.61 [[ 9.99751829e-01 -2.04809308e-02 -8.76420473e-03 4.11730210e+02] [ 2.04816397e-02 9.99790229e-01 -8.87180400e-06 4.58756847e+00] [ 8.76254796e-03 -1.70635681e-04 9.99961594e-01 1.60504588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.599254154 meters 0.05860278435361681 Centerline is valid? [True, True] Translation: X:411.79, Y:4.59, Z:1.61 [[ 9.99732733e-01 -2.13427254e-02 -8.88537253e-03 4.11790114e+02] [ 2.13434884e-02 9.99772202e-01 -8.96116894e-06 4.58827840e+00] [ 8.88353972e-03 -1.80686072e-04 9.99960524e-01 1.60560449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.659254154 meters 0.05902083628103123 Centerline is valid? [True, True] Translation: X:411.85, Y:4.58, Z:1.61 [[ 9.99652561e-01 -2.46563649e-02 -9.31773216e-03 4.11850254e+02] [ 2.46573477e-02 9.99695961e-01 -9.39721680e-06 4.58409491e+00] [ 9.31513091e-03 -2.20356610e-04 9.99956589e-01 1.60622108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.719254154 meters 0.058392802087416984 Centerline is valid? [True, True] Translation: X:411.91, Y:4.59, Z:1.61 [[ 9.99495432e-01 -3.02739585e-02 -9.61087976e-03 4.11909548e+02] [ 3.02752638e-02 9.99541599e-01 -9.68468081e-06 4.59156369e+00] [ 9.60676732e-03 -2.81292126e-04 9.99953814e-01 1.60890760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779254154 meters 0.059912909702655955 Centerline is valid? [True, True] Translation: X:411.97, Y:4.58, Z:1.61 [[ 9.99349617e-01 -3.47028298e-02 -9.80087491e-03 4.11969724e+02] [ 3.47044000e-02 9.99397621e-01 -9.86256554e-06 4.57615470e+00] [ 9.79531333e-03 -3.30277333e-04 9.99951970e-01 1.60677975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839254154 meters 0.059907011748173346 Centerline is valid? [True, True] Translation: X:412.03, Y:4.57, Z:1.61 [[ 9.99095600e-01 -4.12662403e-02 -1.02507870e-02 4.12030003e+02] [ 4.12683031e-02 9.99148101e-01 -1.02948099e-05 4.57243139e+00] [ 1.02424792e-02 -4.12747087e-04 9.99947459e-01 1.60712397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899254154 meters 0.05765365538568857 Centerline is valid? [True, True] Translation: X:412.09, Y:4.58, Z:1.61 [[ 9.98882309e-01 -4.62742923e-02 -9.63440588e-03 4.12090899e+02] [ 4.62763471e-02 9.98928676e-01 -9.66106003e-06 4.57849108e+00] [ 9.62453137e-03 -4.36194849e-04 9.99953588e-01 1.60842628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959254154 meters 0.05832524305119398 Centerline is valid? [True, True] Translation: X:412.15, Y:4.58, Z:1.61 [[ 9.98528138e-01 -5.33233578e-02 -9.90846861e-03 4.12151117e+02] [ 5.33258775e-02 9.98577163e-01 -9.91730606e-06 4.57768586e+00] [ 9.89489930e-03 -5.18475074e-04 9.99950910e-01 1.60906676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019254154 meters 0.05877498010213045 Centerline is valid? [True, True] Translation: X:412.21, Y:4.58, Z:1.61 [[ 9.98326056e-01 -5.69987438e-02 -9.80963455e-03 4.12211708e+02] [ 5.70013902e-02 9.98374099e-01 -9.81897291e-06 4.57864475e+00] [ 9.79424472e-03 -5.49360271e-04 9.99951884e-01 1.60989648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079254154 meters 0.05816100349145875 Centerline is valid? [True, True] Translation: X:412.27, Y:4.58, Z:1.61 [[ 9.98117442e-01 -6.07124028e-02 -8.69346122e-03 4.12271825e+02] [ 6.07146215e-02 9.98155166e-01 -8.71244464e-06 4.58163224e+00] [ 8.67795218e-03 -5.19124165e-04 9.99962211e-01 1.61045138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139254154 meters 0.06849776518592342 Centerline is valid? [True, True] Translation: X:412.33, Y:4.55, Z:1.61 [[ 9.98065274e-01 -6.14204372e-02 -9.65601374e-03 4.12333258e+02] [ 6.14232088e-02 9.98111812e-01 -9.54122095e-06 4.55158088e+00] [ 9.63836739e-03 -5.83580587e-04 9.99953380e-01 1.60829064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199254154 meters 0.06480269424331161 Centerline is valid? [True, True] Translation: X:412.40, Y:4.56, Z:1.61 [[ 9.98017976e-01 -6.21135260e-02 -1.01009672e-02 4.12395478e+02] [ 6.21165972e-02 9.98068900e-01 -9.69686704e-06 4.56376864e+00] [ 1.00820636e-02 -6.17760066e-04 9.99948984e-01 1.60817158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259254154 meters 0.05783723282550014 Centerline is valid? [True, True] Translation: X:412.46, Y:4.59, Z:1.61 [[ 9.97966275e-01 -6.29723645e-02 -9.88912322e-03 4.12457630e+02] [ 6.29753538e-02 9.98015082e-01 -9.13235282e-06 4.59202304e+00] [ 9.87006921e-03 -6.13657253e-04 9.99951101e-01 1.61009551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319254154 meters 0.05713754173151312 Centerline is valid? [True, True] Translation: X:412.52, Y:4.59, Z:1.61 [[ 9.97894643e-01 -6.39420586e-02 -1.08487528e-02 4.12518322e+02] [ 6.39457169e-02 9.97953378e-01 -9.68580617e-06 4.59313451e+00] [ 1.08271688e-02 -6.84065860e-04 9.99941150e-01 1.60891786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters 0.05620584859836121 Centerline is valid? [True, True] Translation: X:412.58, Y:4.61, Z:1.61 [[ 9.97965385e-01 -6.27931035e-02 -1.10506076e-02 4.12579984e+02] [ 6.27968329e-02 9.98026331e-01 -9.51059760e-06 4.61241969e+00] [ 1.10293946e-02 -6.84451915e-04 9.99938940e-01 1.61032267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters 0.05750319808846065 Centerline is valid? [True, True] Translation: X:412.64, Y:4.60, Z:1.61 [[ 9.98145099e-01 -5.99095910e-02 -1.08260236e-02 4.12639815e+02] [ 5.99130030e-02 9.98203602e-01 -9.17626837e-06 4.60378835e+00] [ 1.08071255e-02 -6.39460338e-04 9.99941397e-01 1.60922886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters 0.059269812712560085 Centerline is valid? [True, True] Translation: X:412.70, Y:4.61, Z:1.61 [[ 9.98591274e-01 -5.23574825e-02 -8.61169944e-03 4.12698966e+02] [ 5.23593614e-02 9.98628308e-01 -7.28324885e-06 4.60775768e+00] [ 8.60026817e-03 -4.43630094e-04 9.99962919e-01 1.61081535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters 0.05638398028116616 Centerline is valid? [True, True] Translation: X:412.76, Y:4.62, Z:1.61 [[ 9.98920814e-01 -4.60207802e-02 -6.26856108e-03 4.12759383e+02] [ 4.60216512e-02 9.98940442e-01 -5.29322273e-06 4.62457416e+00] [ 6.26216277e-03 -2.83202021e-04 9.99980352e-01 1.61271090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.619254154 meters 0.058099605963458985 Centerline is valid? [True, True] Translation: X:412.82, Y:4.62, Z:1.61 [[ 9.99291907e-01 -3.71867514e-02 -5.72970191e-03 4.12819191e+02] [ 3.71873341e-02 9.99308312e-01 -4.83769187e-06 4.62413818e+00] [ 5.72591864e-03 -2.08238073e-04 9.99983585e-01 1.61338226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.679254154 meters 0.057081450991196964 Centerline is valid? [True, True] Translation: X:412.88, Y:4.63, Z:1.61 [[ 9.99420224e-01 -3.35629330e-02 -5.72229782e-03 4.12879356e+02] [ 3.35634550e-02 9.99436589e-01 -4.81960475e-06 4.63374132e+00] [ 5.71923557e-03 -1.87243275e-04 9.99983627e-01 1.61313031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.739254154 meters 0.055971908223275996 Centerline is valid? [True, True] Translation: X:412.94, Y:4.64, Z:1.61 [[ 9.99396882e-01 -3.39702561e-02 -7.20376341e-03 4.12941830e+02] [ 3.39710947e-02 9.99422816e-01 -5.95333094e-06 4.64318401e+00] [ 7.19980774e-03 -2.38769989e-04 9.99974053e-01 1.61319404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.799254154 meters 0.05749426268216843 Centerline is valid? [True, True] Translation: X:413.00, Y:4.64, Z:1.61 [[ 9.99298140e-01 -3.64616801e-02 -8.58917667e-03 4.13002200e+02] [ 3.64629662e-02 9.99335005e-01 -6.85868863e-06 4.63703844e+00] [ 8.58371499e-03 -3.06332984e-04 9.99963112e-01 1.61143895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.859254154 meters 0.056671709275758354 Centerline is valid? [True, True] Translation: X:413.06, Y:4.65, Z:1.61 [[ 9.99262581e-01 -3.75752784e-02 -7.89888670e-03 4.13064711e+02] [ 3.75764024e-02 9.99293758e-01 -6.11388438e-06 4.64567918e+00] [ 7.89353791e-03 -2.90702370e-04 9.99968803e-01 1.61302235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.919254154 meters 0.058333877488317386 Centerline is valid? [True, True] Translation: X:413.13, Y:4.64, Z:1.61 [[ 9.99275018e-01 -3.74410467e-02 -6.89981126e-03 4.13125821e+02] [ 3.74419025e-02 9.99298806e-01 -5.15619375e-06 4.63731104e+00] [ 6.89516621e-03 -2.53189605e-04 9.99976196e-01 1.61353038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.979254154 meters 0.05812128385353993 Centerline is valid? [True, True] Translation: X:413.19, Y:4.64, Z:1.61 [[ 9.99309631e-01 -3.66539145e-02 -6.06237663e-03 4.13187769e+02] [ 3.66545615e-02 9.99327996e-01 -4.38133221e-06 4.64002450e+00] [ 6.05846328e-03 -2.17835450e-04 9.99981624e-01 1.61425769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.039254154 meters 0.05849134582611077 Centerline is valid? [True, True] Translation: X:413.25, Y:4.64, Z:1.61 [[ 9.99333084e-01 -3.60013988e-02 -6.10627305e-03 4.13248966e+02] [ 3.60020441e-02 9.99351716e-01 -4.24116011e-06 4.64029473e+00] [ 6.10246714e-03 -2.15599980e-04 9.99981357e-01 1.61489750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.099254154 meters 0.057960960379484866 Centerline is valid? [True, True] Translation: X:413.31, Y:4.64, Z:1.62 [[ 9.99326279e-01 -3.64091246e-02 -4.62216537e-03 4.13310634e+02] [ 3.64094991e-02 9.99336954e-01 -3.12596145e-06 4.64297639e+00] [ 4.61921447e-03 -1.65166870e-04 9.99989318e-01 1.61611376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.159254154 meters 0.05763179872871529 Centerline is valid? [True, True] Translation: X:413.37, Y:4.64, Z:1.62 [[ 9.99336247e-01 -3.62020414e-02 -4.05933985e-03 4.13372866e+02] [ 3.62023288e-02 9.99344481e-01 -2.66135358e-06 4.64407044e+00] [ 4.05677522e-03 -1.44297969e-04 9.99991761e-01 1.61645718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.219254154 meters 0.05804677916541361 Centerline is valid? [True, True] Translation: X:413.43, Y:4.64, Z:1.62 [[ 9.99390895e-01 -3.46821940e-02 -3.87095060e-03 4.13433100e+02] [ 3.46824446e-02 9.99398383e-01 -2.39364703e-06 4.64064192e+00] [ 3.86870479e-03 -1.31861841e-04 9.99992508e-01 1.61555924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279254154 meters 0.055002074712439016 Centerline is valid? [True, True] Translation: X:413.50, Y:4.65, Z:1.62 [[ 9.99414356e-01 -3.41190641e-02 -2.61424306e-03 4.13495557e+02] [ 3.41191765e-02 9.99417771e-01 -1.64042113e-06 4.65245712e+00] [ 2.61277694e-03 -8.75563597e-05 9.99996583e-01 1.61511587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339254154 meters 0.057429795404992455 Centerline is valid? [True, True] Translation: X:413.56, Y:4.65, Z:1.62 [[ 9.99486905e-01 -3.18849724e-02 -3.04561084e-03 4.13556584e+02] [ 3.18851149e-02 9.99491540e-01 -1.77237759e-06 4.64625879e+00] [ 3.04411878e-03 -9.53381833e-05 9.99995362e-01 1.61571740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399254154 meters 0.05713980839789921 Centerline is valid? [True, True] Translation: X:413.62, Y:4.64, Z:1.62 [[ 9.99532972e-01 -3.02840302e-02 -4.08842985e-03 4.13617128e+02] [ 3.02842740e-02 9.99541326e-01 -2.28390544e-06 4.64335862e+00] [ 4.08662376e-03 -1.21532291e-04 9.99991642e-01 1.61511780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459254154 meters 0.05744340703239569 Centerline is valid? [True, True] Translation: X:413.68, Y:4.64, Z:1.61 [[ 9.99562583e-01 -2.90695551e-02 -5.44095688e-03 4.13679315e+02] [ 2.90699706e-02 9.99577379e-01 -2.72953574e-06 4.64056820e+00] [ 5.43873677e-03 -1.55440115e-04 9.99985198e-01 1.61396042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519254154 meters 0.05543311023752127 Centerline is valid? [True, True] Translation: X:413.74, Y:4.65, Z:1.61 [[ 9.99567112e-01 -2.87661007e-02 -6.17252671e-03 4.13741578e+02] [ 2.87666311e-02 9.99586155e-01 -2.84768036e-06 4.64504652e+00] [ 6.17005415e-03 -1.74716351e-04 9.99980950e-01 1.61354499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579254154 meters 0.05802230549517723 Centerline is valid? [True, True] Translation: X:413.80, Y:4.63, Z:1.61 [[ 9.99546693e-01 -2.91464951e-02 -7.54256446e-03 4.13802394e+02] [ 2.91472999e-02 9.99575127e-01 -3.23148195e-06 4.63450994e+00] [ 7.53945402e-03 -2.16615371e-04 9.99971554e-01 1.61287679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639254154 meters 0.05698199338079086 Centerline is valid? [True, True] Translation: X:413.86, Y:4.63, Z:1.61 [[ 9.99499917e-01 -3.08245294e-02 -7.05437492e-03 4.13863526e+02] [ 3.08252761e-02 9.99524788e-01 -2.88396437e-06 4.63423868e+00] [ 7.05111149e-03 -2.14570532e-04 9.99975118e-01 1.61398018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699254154 meters 0.05662252656337837 Centerline is valid? [True, True] Translation: X:413.92, Y:4.64, Z:1.61 [[ 9.99379937e-01 -3.47358519e-02 -5.75861330e-03 4.13923844e+02] [ 3.47364147e-02 9.99396509e-01 -2.28746497e-06 4.63819755e+00] [ 5.75521748e-03 -1.97747533e-04 9.99983419e-01 1.61497550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759254154 meters 0.05723595600811553 Centerline is valid? [True, True] Translation: X:413.99, Y:4.64, Z:1.61 [[ 9.99308293e-01 -3.68363386e-02 -5.10104029e-03 4.13985422e+02] [ 3.68368078e-02 9.99321294e-01 -1.97340444e-06 4.63610932e+00] [ 5.09765088e-03 -1.85934001e-04 9.99986990e-01 1.61490121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819254154 meters 0.05597055908756939 Centerline is valid? [True, True] Translation: X:414.05, Y:4.64, Z:1.62 [[ 9.99277678e-01 -3.78180926e-02 -3.73021375e-03 4.14047368e+02] [ 3.78183505e-02 9.99284630e-01 -1.40277178e-06 4.63669112e+00] [ 3.72759832e-03 -1.39668772e-04 9.99993043e-01 1.61564745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters 0.05876889831687227 Centerline is valid? [True, True] Translation: X:414.11, Y:4.63, Z:1.62 [[ 9.99276876e-01 -3.78553040e-02 -3.56375020e-03 4.14108442e+02] [ 3.78555401e-02 9.99283222e-01 -1.22460883e-06 4.62881424e+00] [ 3.56124214e-03 -1.33683965e-04 9.99993650e-01 1.61612505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters 0.057000643999249076 Centerline is valid? [True, True] Translation: X:414.17, Y:4.63, Z:1.62 [[ 9.99272910e-01 -3.79337287e-02 -3.83187681e-03 4.14170410e+02] [ 3.79340025e-02 9.99280247e-01 -1.21655033e-06 4.63188667e+00] [ 3.82916495e-03 -1.44142759e-04 9.99992658e-01 1.61592562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters 0.05960300166306991 Centerline is valid? [True, True] Translation: X:414.23, Y:4.62, Z:1.62 [[ 9.99270532e-01 -3.79751401e-02 -4.03637637e-03 4.14231610e+02] [ 3.79754448e-02 9.99278673e-01 -1.14281635e-06 4.62036516e+00] [ 4.03350822e-03 -1.52141205e-04 9.99991854e-01 1.61588936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters 0.05639740773911269 Centerline is valid? [True, True] Translation: X:414.29, Y:4.64, Z:1.62 [[ 9.99289226e-01 -3.75069337e-02 -3.77803304e-03 4.14293471e+02] [ 3.75071982e-02 9.99296358e-01 -8.50039544e-07 4.63676397e+00] [ 3.77540654e-03 -1.40853999e-04 9.99992863e-01 1.61544422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.119254154 meters 0.055454747869710615 Centerline is valid? [True, True] Translation: X:414.35, Y:4.64, Z:1.61 [[ 9.99372977e-01 -3.51323383e-02 -4.40131552e-03 4.14354181e+02] [ 3.51326751e-02 9.99382657e-01 -7.95829885e-07 4.63900951e+00] [ 4.39862636e-03 -1.53834657e-04 9.99990314e-01 1.61456871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.179254154 meters 0.05616654580894197 Centerline is valid? [True, True] Translation: X:414.41, Y:4.63, Z:1.61 [[ 9.99439081e-01 -3.31446889e-02 -4.79100414e-03 4.14414249e+02] [ 3.31450654e-02 9.99450551e-01 -8.22603415e-07 4.63432194e+00] [ 4.78839900e-03 -1.57976003e-04 9.99988523e-01 1.61499121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.239254154 meters 0.05996970139442343 Centerline is valid? [True, True] Translation: X:414.47, Y:4.62, Z:1.61 [[ 9.99494295e-01 -3.13192130e-02 -5.50104502e-03 4.14474702e+02] [ 3.13196823e-02 9.99509418e-01 -8.29770442e-07 4.61812900e+00] [ 5.49837230e-03 -1.71461632e-04 9.99984869e-01 1.61484723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.299254154 meters 0.0560698568363713 Centerline is valid? [True, True] Translation: X:414.54, Y:4.63, Z:1.62 [[ 9.99540454e-01 -3.01057462e-02 -3.53894190e-03 4.14537455e+02] [ 3.01059333e-02 9.99546714e-01 -4.29382913e-07 4.63368977e+00] [ 3.53735067e-03 -1.06113963e-04 9.99993738e-01 1.61549621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.359254154 meters 0.05541511872296106 Centerline is valid? [True, True] Translation: X:414.60, Y:4.64, Z:1.62 [[ 9.99589075e-01 -2.85226842e-02 -2.85272535e-03 4.14599201e+02] [ 2.85227997e-02 9.99593142e-01 -2.19039202e-07 4.64034215e+00] [ 2.85157094e-03 -8.11487644e-05 9.99995931e-01 1.61528879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.419254154 meters 0.05681708747682641 Centerline is valid? [True, True] Translation: X:414.66, Y:4.64, Z:1.62 [[ 9.99643806e-01 -2.65011309e-02 -3.15458537e-03 4.14660129e+02] [ 2.65012623e-02 9.99648780e-01 -1.42236655e-07 4.63728491e+00] [ 3.15348119e-03 -8.34583083e-05 9.99995024e-01 1.61633995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.479254154 meters 0.05774497699062468 Centerline is valid? [True, True] Translation: X:414.72, Y:4.63, Z:1.62 [[ 9.99710444e-01 -2.38891486e-02 -2.88729612e-03 4.14720316e+02] [ 2.38892479e-02 9.99714611e-01 -8.47332002e-08 4.63151239e+00] [ 2.88647414e-03 -6.88906241e-05 9.99995832e-01 1.61717929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.539254154 meters 0.05753714238021733 Centerline is valid? [True, True] Translation: X:414.78, Y:4.63, Z:1.62 [[ 9.99730515e-01 -2.31133213e-02 -2.16150903e-03 4.14782268e+02] [ 2.31133752e-02 9.99732850e-01 -7.14039844e-08 4.63308041e+00] [ 2.16093324e-03 -4.98883845e-05 9.99997664e-01 1.61719491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.599254154 meters 0.05828589960838788 Centerline is valid? [True, True] Translation: X:414.84, Y:4.63, Z:1.62 [[ 9.99714388e-01 -2.38180325e-02 -1.96077181e-03 4.14843007e+02] [ 2.38180784e-02 9.99716309e-01 1.46634875e-08 4.62985646e+00] [ 1.96021521e-03 -4.67164759e-05 9.99998078e-01 1.61736623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.659254154 meters 0.05544876716012356 Centerline is valid? [True, True] Translation: X:414.90, Y:4.64, Z:1.62 [[ 9.99668906e-01 -2.57063515e-02 -1.12323898e-03 4.14904531e+02] [ 2.57063677e-02 9.99669537e-01 -2.55705202e-08 4.63534827e+00] [ 1.12286845e-03 -2.88488321e-05 9.99999369e-01 1.61612392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.719254154 meters 0.05727123632246767 Centerline is valid? [True, True] Translation: X:414.97, Y:4.63, Z:1.62 [[ 9.99623358e-01 -2.73769280e-02 -1.90967585e-03 4.14965431e+02] [ 2.73769780e-02 9.99625180e-01 7.06407990e-08 4.62983568e+00] [ 1.90895813e-03 -5.23517680e-05 9.99998177e-01 1.61606262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779254154 meters 0.0564135984329721 Centerline is valid? [True, True] Translation: X:415.03, Y:4.63, Z:1.62 [[ 9.99573887e-01 -2.91064070e-02 -2.20492784e-03 4.15027283e+02] [ 2.91064781e-02 9.99576317e-01 1.49386935e-07 4.62907824e+00] [ 2.20398930e-03 -6.43270070e-05 9.99997569e-01 1.61511479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839254154 meters 0.0568504795689 Centerline is valid? [True, True] Translation: X:415.09, Y:4.63, Z:1.61 [[ 9.99560964e-01 -2.94706666e-02 -3.05917198e-03 4.15088011e+02] [ 2.94708055e-02 9.99565641e-01 3.19292549e-07 4.62718213e+00] [ 3.05783379e-03 -9.04754147e-05 9.99995321e-01 1.61495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899254154 meters 0.058828019731995675 Centerline is valid? [True, True] Translation: X:415.15, Y:4.62, Z:1.62 [[ 9.99574638e-01 -2.89630106e-02 -3.41873937e-03 4.15148855e+02] [ 2.89631814e-02 9.99580479e-01 4.47396018e-07 4.61541302e+00] [ 3.41729218e-03 -9.94647741e-05 9.99994156e-01 1.61500174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959254154 meters 0.05830962276694512 Centerline is valid? [True, True] Translation: X:415.21, Y:4.62, Z:1.61 [[ 9.99663204e-01 -2.57912179e-02 -2.87956700e-03 4.15209442e+02] [ 2.57913262e-02 9.99667348e-01 4.69922123e-07 4.61942478e+00] [ 2.87859699e-03 -7.47376157e-05 9.99995854e-01 1.61478934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019254154 meters 0.05616281549409074 Centerline is valid? [True, True] Translation: X:415.27, Y:4.63, Z:1.61 [[ 9.99772058e-01 -2.12092245e-02 -2.44979040e-03 4.15269982e+02] [ 2.12092891e-02 9.99775058e-01 3.95615269e-07 4.62531782e+00] [ 2.44923095e-03 -5.23538380e-05 9.99996999e-01 1.61444486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079254154 meters 0.056471959790832915 Centerline is valid? [True, True] Translation: X:415.33, Y:4.63, Z:1.61 [[ 9.99873494e-01 -1.57303036e-02 -2.35654879e-03 4.15330585e+02] [ 1.57303483e-02 9.99876270e-01 4.26686467e-07 4.63071353e+00] [ 2.35625050e-03 -3.74959658e-05 9.99997223e-01 1.61473157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139254154 meters 0.05647534043893772 Centerline is valid? [True, True] Translation: X:415.39, Y:4.63, Z:1.62 [[ 9.99941568e-01 -1.05387652e-02 -2.40710715e-03 4.15391164e+02] [ 1.05387968e-02 9.99944465e-01 4.44516319e-07 4.63239799e+00] [ 2.40696879e-03 -2.58125034e-05 9.99997103e-01 1.61527996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199254154 meters 0.05596176109419604 Centerline is valid? [True, True] Translation: X:415.45, Y:4.63, Z:1.62 [[ 9.99945055e-01 -1.00716869e-02 -2.90667655e-03 4.15452000e+02] [ 1.00717312e-02 9.99949279e-01 5.87472850e-07 4.63085425e+00] [ 2.90652320e-03 -2.98627054e-05 9.99995776e-01 1.61542686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259254154 meters 0.05676695159316911 Centerline is valid? [True, True] Translation: X:415.51, Y:4.63, Z:1.61 [[ 9.99916511e-01 -1.25042804e-02 -3.25784084e-03 4.15513698e+02] [ 1.25043490e-02 9.99921818e-01 6.96398846e-07 4.63213548e+00] [ 3.25757743e-03 -4.14335197e-05 9.99994693e-01 1.61442241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319254154 meters 0.05608610440405776 Centerline is valid? [True, True] Translation: X:415.57, Y:4.62, Z:1.61 [[ 9.99853925e-01 -1.67020407e-02 -3.62916238e-03 4.15574385e+02] [ 1.67021550e-02 9.99860509e-01 1.19884600e-06 4.62356271e+00] [ 3.62863613e-03 -6.18135036e-05 9.99993415e-01 1.61439018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters 0.05709519404741994 Centerline is valid? [True, True] Translation: X:415.63, Y:4.62, Z:1.61 [[ 9.99725189e-01 -2.28993146e-02 -5.01686094e-03 4.15634866e+02] [ 2.28996116e-02 9.99737770e-01 1.74849985e-06 4.61670634e+00] [ 5.01550533e-03 -1.16632186e-04 9.99987415e-01 1.61304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters 0.05671669474718239 Centerline is valid? [True, True] Translation: X:415.70, Y:4.62, Z:1.61 [[ 9.99643563e-01 -2.62186468e-02 -5.03287607e-03 4.15696134e+02] [ 2.62189878e-02 9.99656223e-01 1.77926515e-06 4.61918316e+00] [ 5.03109924e-03 -1.33735547e-04 9.99987335e-01 1.61340016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters 0.05773834882482389 Centerline is valid? [True, True] Translation: X:415.76, Y:4.61, Z:1.61 [[ 9.99584010e-01 -2.85300948e-02 -4.22375411e-03 4.15756087e+02] [ 2.85303558e-02 9.99592927e-01 1.55099274e-06 4.60713059e+00] [ 4.22199049e-03 -1.22055555e-04 9.99991080e-01 1.61496995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters 0.057444593252216555 Centerline is valid? [True, True] Translation: X:415.82, Y:4.61, Z:1.62 [[ 9.99598303e-01 -2.82032175e-02 -2.79484047e-03 4.15818346e+02] [ 2.82033304e-02 9.99602207e-01 9.81060655e-07 4.60725105e+00] [ 2.79370103e-03 -7.98044757e-05 9.99996094e-01 1.61618566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.619254154 meters 0.056804550475848876 Centerline is valid? [True, True] Translation: X:415.88, Y:4.61, Z:1.62 [[ 9.99654898e-01 -2.62111857e-02 -1.74886121e-03 4.15879604e+02] [ 2.62112270e-02 9.99656427e-01 6.74379075e-07 4.61139128e+00] [ 1.74824267e-03 -4.65139444e-05 9.99998471e-01 1.61641238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.679254154 meters 0.057310417671299164 Centerline is valid? [True, True] Translation: X:415.94, Y:4.61, Z:1.62 [[ 9.99775571e-01 -2.11310523e-02 -1.51193268e-03 4.15939564e+02] [ 2.11310775e-02 9.99776714e-01 6.54604258e-07 4.60771741e+00] [ 1.51158126e-03 -3.26032240e-05 9.99998857e-01 1.61698437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.739254154 meters 0.0568945294600864 Centerline is valid? [True, True] Translation: X:416.00, Y:4.61, Z:1.62 [[ 9.99859050e-01 -1.66463254e-02 -2.18634230e-03 4.16000044e+02] [ 1.66463672e-02 9.99861440e-01 9.12197811e-07 4.60914828e+00] [ 2.18602418e-03 -3.73067260e-05 9.99997610e-01 1.61618298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.799254154 meters 0.05628891443926834 Centerline is valid? [True, True] Translation: X:416.06, Y:4.61, Z:1.62 [[ 9.99885620e-01 -1.48201284e-02 -3.01852981e-03 4.16061837e+02] [ 1.48201996e-02 9.99890175e-01 1.23888222e-06 4.60775868e+00] [ 3.01817994e-03 -4.59739550e-05 9.99995444e-01 1.61547198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.859254154 meters 0.05668351634105416 Centerline is valid? [True, True] Translation: X:416.12, Y:4.61, Z:1.62 [[ 9.99893829e-01 -1.41151300e-02 -3.61847541e-03 4.16123987e+02] [ 1.41152281e-02 9.99900375e-01 1.57901214e-06 4.60847418e+00] [ 3.61809263e-03 -5.26544504e-05 9.99993453e-01 1.61532459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.919254154 meters 0.0571945537255019 Centerline is valid? [True, True] Translation: X:416.19, Y:4.63, Z:1.62 [[ 9.99901892e-01 -1.31103160e-02 -4.93218412e-03 4.16185393e+02] [ 1.31104873e-02 9.99914054e-01 2.39114877e-06 4.62762096e+00] [ 4.93172887e-03 -6.70542513e-05 9.99987837e-01 1.61589291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.979254154 meters 0.056775843984434776 Centerline is valid? [True, True] Translation: X:416.25, Y:4.60, Z:1.61 [[ 9.99907516e-01 -1.28110445e-02 -4.56479095e-03 4.16246273e+02] [ 1.28111891e-02 9.99917933e-01 2.43154757e-06 4.60262719e+00] [ 4.56438518e-03 -6.09117226e-05 9.99989581e-01 1.61471667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.039254154 meters 0.056555424472705854 Centerline is valid? [True, True] Translation: X:416.31, Y:4.60, Z:1.61 [[ 9.99873576e-01 -1.53114354e-02 -4.28854717e-03 4.16307072e+02] [ 1.53115861e-02 9.99882771e-01 2.31775611e-06 4.60102876e+00] [ 4.28800894e-03 -6.79819223e-05 9.99990804e-01 1.61475958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.099254154 meters 0.058148375491405294 Centerline is valid? [True, True] Translation: X:416.37, Y:4.63, Z:1.62 [[ 9.99814748e-01 -1.87782459e-02 -4.22456330e-03 4.16366830e+02] [ 1.87784232e-02 9.99823670e-01 2.31615768e-06 4.62676425e+00] [ 4.22377489e-03 -8.16463663e-05 9.99991076e-01 1.61569617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.159254154 meters 0.0570691919449244 Centerline is valid? [True, True] Translation: X:416.43, Y:4.60, Z:1.62 [[ 9.99664897e-01 -2.56707360e-02 -3.33273376e-03 4.16427253e+02] [ 2.56708846e-02 9.99670449e-01 1.82129387e-06 4.59567582e+00] [ 3.33158870e-03 -8.73749073e-05 9.99994446e-01 1.61573299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.219254154 meters 0.05685739843074489 Centerline is valid? [True, True] Translation: X:416.49, Y:4.59, Z:1.62 [[ 9.99537253e-01 -3.02874853e-02 -2.81927407e-03 4.16488114e+02] [ 3.02876101e-02 9.99541225e-01 1.57130030e-06 4.59381206e+00] [ 2.81793306e-03 -8.69596470e-05 9.99996026e-01 1.61591495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279254154 meters 0.062179457683452566 Centerline is valid? [True, True] Translation: X:416.55, Y:4.64, Z:1.61 [[ 9.99375386e-01 -3.52099320e-02 -3.01630310e-03 4.16547835e+02] [ 3.52100973e-02 9.99379932e-01 1.69398161e-06 4.63810272e+00] [ 3.01437314e-03 -1.07897249e-04 9.99995451e-01 1.61442073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339254154 meters 0.05678110563688806 Centerline is valid? [True, True] Translation: X:416.61, Y:4.59, Z:1.62 [[ 9.99336394e-01 -3.63065511e-02 -2.93357818e-03 4.16609548e+02] [ 3.63067120e-02 9.99340694e-01 1.58644680e-06 4.58919407e+00] [ 2.93158646e-03 -1.08093972e-04 9.99995697e-01 1.61588635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399254154 meters 0.06050034144532886 Centerline is valid? [True, True] Translation: X:416.67, Y:4.63, Z:1.62 [[ 9.99319438e-01 -3.66416967e-02 -4.24808265e-03 4.16670804e+02] [ 3.66420379e-02 9.99328455e-01 2.49422471e-06 4.63387417e+00] [ 4.24513848e-03 -1.58150933e-04 9.99990977e-01 1.61578282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459254154 meters 0.05940758450018285 Centerline is valid? [True, True] Translation: X:416.73, Y:4.63, Z:1.62 [[ 9.99300237e-01 -3.70887713e-02 -4.84353594e-03 4.16733110e+02] [ 3.70892210e-02 9.99311958e-01 3.03929961e-06 4.62965461e+00] [ 4.84009066e-03 -1.82680148e-04 9.99988270e-01 1.61631599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519254154 meters 0.06261877687831406 Centerline is valid? [True, True] Translation: X:416.80, Y:4.64, Z:1.62 [[ 9.99282644e-01 -3.76092406e-02 -4.44319571e-03 4.16795018e+02] [ 3.76096259e-02 9.99292508e-01 3.17277756e-06 4.64113290e+00] [ 4.43993286e-03 -1.70277430e-04 9.99990129e-01 1.61602118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579254154 meters 0.0628888406634304 Centerline is valid? [True, True] Translation: X:416.86, Y:4.64, Z:1.62 [[ 9.99270854e-01 -3.78761447e-02 -4.81238556e-03 4.16857124e+02] [ 3.78766023e-02 9.99282424e-01 3.93730608e-06 4.64252969e+00] [ 4.80878317e-03 -1.86211249e-04 9.99988420e-01 1.61633339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639254154 meters 0.05881443027756891 Centerline is valid? [True, True] Translation: X:416.92, Y:4.63, Z:1.62 [[ 9.99246264e-01 -3.84046707e-02 -5.65556252e-03 4.16918089e+02] [ 3.84053141e-02 9.99262244e-01 5.16427890e-06 4.63170750e+00] [ 5.65119176e-03 -2.22364041e-04 9.99984007e-01 1.61665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699254154 meters 0.05648102412422009 Centerline is valid? [True, True] Translation: X:416.98, Y:4.60, Z:1.62 [[ 9.99222909e-01 -3.91452819e-02 -4.60700269e-03 4.16980065e+02] [ 3.91457175e-02 9.99233513e-01 4.39573852e-06 4.60007337e+00] [ 4.60329941e-03 -1.84736749e-04 9.99989388e-01 1.61523882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759254154 meters 0.05992157047611938 Centerline is valid? [True, True] Translation: X:417.04, Y:4.64, Z:1.62 [[ 9.99242597e-01 -3.85855466e-02 -5.03872147e-03 4.17041654e+02] [ 3.85860617e-02 9.99255281e-01 5.02176274e-06 4.64303652e+00] [ 5.03477527e-03 -1.99442377e-04 9.99987306e-01 1.61683827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819254154 meters 0.05754825670677405 Centerline is valid? [True, True] Translation: X:417.10, Y:4.60, Z:1.62 [[ 9.99292611e-01 -3.73714426e-02 -4.20163527e-03 4.17103190e+02] [ 3.73717904e-02 9.99301431e-01 4.27860796e-06 4.59593220e+00] [ 4.19854024e-03 -1.61298214e-04 9.99991173e-01 1.61610831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters 0.05701994781674016 Centerline is valid? [True, True] Translation: X:417.16, Y:4.61, Z:1.62 [[ 9.99386583e-01 -3.48051959e-02 -3.88026227e-03 4.17164055e+02] [ 3.48054736e-02 9.99394106e-01 4.03583673e-06 4.60679234e+00] [ 3.87777077e-03 -1.39087727e-04 9.99992472e-01 1.61591227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters 0.05568591897957141 Centerline is valid? [True, True] Translation: X:417.23, Y:4.61, Z:1.62 [[ 9.99454698e-01 -3.27877455e-02 -3.90771686e-03 4.17225321e+02] [ 3.27880118e-02 9.99462329e-01 4.09638424e-06 4.60879214e+00] [ 3.90548148e-03 -1.32220417e-04 9.99992365e-01 1.61573519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters 0.05590311461407773 Centerline is valid? [True, True] Translation: X:417.29, Y:4.61, Z:1.62 [[ 9.99494720e-01 -3.14994317e-02 -4.25331774e-03 4.17286309e+02] [ 3.14997359e-02 9.99503760e-01 4.53495841e-06 4.61316455e+00] [ 4.25106422e-03 -1.38511052e-04 9.99990955e-01 1.61605393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters 0.056141504574290804 Centerline is valid? [True, True] Translation: X:417.35, Y:4.61, Z:1.62 [[ 9.99509538e-01 -3.09295975e-02 -4.90338245e-03 4.17347361e+02] [ 3.09299956e-02 9.99521553e-01 5.35829353e-06 4.61243153e+00] [ 4.90087071e-03 -1.57017263e-04 9.99987978e-01 1.61614624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.119254154 meters 0.05645726397068697 Centerline is valid? [True, True] Translation: X:417.41, Y:4.61, Z:1.62 [[ 9.99515240e-01 -3.06488822e-02 -5.47094956e-03 4.17409275e+02] [ 3.06493753e-02 9.99530198e-01 6.27651820e-06 4.61158474e+00] [ 5.46818692e-03 -1.73954662e-04 9.99985034e-01 1.61589504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.179254154 meters 0.05710003993322042 Centerline is valid? [True, True] Translation: X:417.47, Y:4.61, Z:1.61 [[ 9.99541115e-01 -2.93312951e-02 -7.56540249e-03 4.17470646e+02] [ 2.93322022e-02 9.99569718e-01 8.94902052e-06 4.60807773e+00] [ 7.56188475e-03 -2.30854830e-04 9.99971382e-01 1.61418687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.239254154 meters 0.05634719155955139 Centerline is valid? [True, True] Translation: X:417.53, Y:4.61, Z:1.62 [[ 9.99603130e-01 -2.72271218e-02 -7.22953962e-03 4.17532639e+02] [ 2.72278966e-02 9.99629252e-01 8.75064990e-06 4.61139388e+00] [ 7.22662103e-03 -2.05592334e-04 9.99973866e-01 1.61523939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.299254154 meters 0.055671181212412386 Centerline is valid? [True, True] Translation: X:417.59, Y:4.61, Z:1.62 [[ 9.99634402e-01 -2.64451691e-02 -5.63171643e-03 4.17593665e+02] [ 2.64456276e-02 9.99650253e-01 6.95615681e-06 4.61496524e+00] [ 5.62956280e-03 -1.55887889e-04 9.99984142e-01 1.61667008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.359254154 meters 0.056453193993148305 Centerline is valid? [True, True] Translation: X:417.66, Y:4.61, Z:1.62 [[ 9.99651793e-01 -2.60679044e-02 -4.09346051e-03 4.17656103e+02] [ 2.60681438e-02 9.99660168e-01 5.13118925e-06 4.61124471e+00] [ 4.09193566e-03 -1.11838320e-04 9.99991622e-01 1.61836143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.419254154 meters 0.05501673328282557 Centerline is valid? [True, True] Translation: X:417.72, Y:4.63, Z:1.62 [[ 9.99680680e-01 -2.50393802e-02 -3.40107483e-03 4.17717733e+02] [ 2.50395399e-02 9.99686462e-01 4.37456090e-06 4.63163843e+00] [ 3.39989893e-03 -8.95345128e-05 9.99994216e-01 1.61832394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.479254154 meters 0.05507107448384755 Centerline is valid? [True, True] Translation: X:417.78, Y:4.63, Z:1.62 [[ 9.99720889e-01 -2.35599587e-02 -1.75311724e-03 4.17779313e+02] [ 2.35599989e-02 9.99722425e-01 2.28879495e-06 4.63361903e+00] [ 1.75257669e-03 -4.35915963e-05 9.99998463e-01 1.61719390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.539254154 meters 0.05497473655910633 Centerline is valid? [True, True] Translation: X:417.84, Y:4.63, Z:1.62 [[ 9.99730766e-01 -2.31477653e-02 -1.60485029e-03 4.17840664e+02] [ 2.31477985e-02 9.99732054e-01 2.09693800e-06 4.62754398e+00] [ 1.60437173e-03 -3.92451244e-05 9.99998712e-01 1.61749414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.599254154 meters 0.05524143454393954 Centerline is valid? [True, True] Translation: X:417.90, Y:4.63, Z:1.62 [[ 9.99711935e-01 -2.37103259e-02 -3.72389312e-03 4.17902963e+02] [ 2.37105090e-02 9.99718866e-01 5.03069731e-06 4.62792379e+00] [ 3.72272693e-03 -9.33246495e-05 9.99993066e-01 1.61679577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.659254154 meters 0.05590920474483234 Centerline is valid? [True, True] Translation: X:417.96, Y:4.61, Z:1.62 [[ 9.99678194e-01 -2.47921394e-02 -5.37192945e-03 4.17964997e+02] [ 2.47925393e-02 9.99692618e-01 7.84822145e-06 4.60591557e+00] [ 5.37008364e-03 -1.41029468e-04 9.99985571e-01 1.61585525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.719254154 meters 0.05736038376342334 Centerline is valid? [True, True] Translation: X:418.03, Y:4.63, Z:1.62 [[ 9.99650138e-01 -2.55712621e-02 -6.76111441e-03 4.18026869e+02] [ 2.55719154e-02 9.99672985e-01 1.01795388e-05 4.63074617e+00] [ 6.75864312e-03 -1.83070623e-04 9.99977143e-01 1.61807066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779254154 meters 0.05621917614591123 Centerline is valid? [True, True] Translation: X:418.09, Y:4.63, Z:1.62 [[ 9.99666769e-01 -2.50112253e-02 -6.38674599e-03 4.18088279e+02] [ 2.50117991e-02 9.99687156e-01 9.96998400e-06 4.62607258e+00] [ 6.38449857e-03 -1.69710669e-04 9.99979604e-01 1.61812680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839254154 meters 0.05556901887932901 Centerline is valid? [True, True] Translation: X:418.15, Y:4.62, Z:1.62 [[ 9.99703425e-01 -2.38589172e-02 -4.87992412e-03 4.18149455e+02] [ 2.38592403e-02 9.99715328e-01 7.98373375e-06 4.62129711e+00] [ 4.87834446e-03 -1.24412648e-04 9.99988093e-01 1.61811423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899254154 meters 0.056105714123355646 Centerline is valid? [True, True] Translation: X:418.21, Y:4.62, Z:1.62 [[ 9.99725443e-01 -2.30664742e-02 -4.12032275e-03 4.18211191e+02] [ 2.30666991e-02 9.99733928e-01 7.05059144e-06 4.61677815e+00] [ 4.11906382e-03 -1.02090901e-04 9.99991511e-01 1.61834928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959254154 meters 0.054926581153649075 Centerline is valid? [True, True] Translation: X:418.27, Y:4.61, Z:1.62 [[ 9.99738986e-01 -2.27021308e-02 -2.56367783e-03 4.18272984e+02] [ 2.27022165e-02 9.99742271e-01 4.32293140e-06 4.61228251e+00] [ 2.56291896e-03 -6.25229722e-05 9.99996714e-01 1.61713677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019254154 meters 0.05500634772333372 Centerline is valid? [True, True] Translation: X:418.34, Y:4.61, Z:1.62 [[ 9.99740170e-01 -2.27065326e-02 -2.00167737e-03 4.18335740e+02] [ 2.27065850e-02 9.99742172e-01 3.45699775e-06 4.61010222e+00] [ 2.00108279e-03 -4.89073569e-05 9.99997997e-01 1.61693105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079254154 meters 0.055565504384858126 Centerline is valid? [True, True] Translation: X:418.40, Y:4.60, Z:1.62 [[ 9.99754088e-01 -2.20762462e-02 -2.09838282e-03 4.18397250e+02] [ 2.20763033e-02 9.99756289e-01 4.03837394e-06 4.60205080e+00] [ 2.09778227e-03 -5.03619165e-05 9.99997798e-01 1.61744519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139254154 meters 0.05554514902584386 Centerline is valid? [True, True] Translation: X:418.46, Y:4.60, Z:1.62 [[ 9.99767685e-01 -2.14106227e-02 -2.48217546e-03 4.18459488e+02] [ 2.14107007e-02 9.99770765e-01 4.83307511e-06 4.60027842e+00] [ 2.48150298e-03 -5.79770680e-05 9.99996919e-01 1.61669722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199254154 meters 0.05494509809542157 Centerline is valid? [True, True] Translation: X:418.52, Y:4.60, Z:1.62 [[ 9.99797999e-01 -1.96165720e-02 -4.37632737e-03 4.18521381e+02] [ 1.96167979e-02 9.99807572e-01 8.71589095e-06 4.59832653e+00] [ 4.37531426e-03 -9.45636600e-05 9.99990424e-01 1.61570070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259254154 meters 0.05523928665037953 Centerline is valid? [True, True] Translation: X:418.58, Y:4.60, Z:1.62 [[ 9.99825522e-01 -1.81411434e-02 -4.45239732e-03 4.18583708e+02] [ 1.81413632e-02 9.99835432e-01 8.96381575e-06 4.59950004e+00] [ 4.45150198e-03 -8.97348085e-05 9.99990088e-01 1.61509110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319254154 meters 0.05538782750728048 Centerline is valid? [True, True] Translation: X:418.65, Y:4.60, Z:1.61 [[ 9.99843101e-01 -1.70579521e-02 -4.77497272e-03 4.18646211e+02] [ 1.70581934e-02 9.99854498e-01 9.81581321e-06 4.59615280e+00] [ 4.77411051e-03 -9.12666812e-05 9.99988600e-01 1.61473251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters 0.055860061750523916 Centerline is valid? [True, True] Translation: X:418.71, Y:4.60, Z:1.62 [[ 9.99817437e-01 -1.83490282e-02 -5.32976234e-03 4.18707761e+02] [ 1.83493497e-02 9.99831636e-01 1.14232401e-05 4.59517780e+00] [ 5.32865539e-03 -1.09218828e-04 9.99985797e-01 1.61588012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters 0.05594046127672749 Centerline is valid? [True, True] Translation: X:418.77, Y:4.59, Z:1.62 [[ 9.99762811e-01 -2.08000638e-02 -6.45593831e-03 4.18767783e+02] [ 2.08005879e-02 9.99783644e-01 1.40296610e-05 4.58526128e+00] [ 6.45424971e-03 -1.48313645e-04 9.99979160e-01 1.61615639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters 0.05621625514788086 Centerline is valid? [True, True] Translation: X:418.83, Y:4.59, Z:1.62 [[ 9.99662384e-01 -2.53255587e-02 -5.80803007e-03 4.18828329e+02] [ 2.53260600e-02 9.99679244e-01 1.27629538e-05 4.58830554e+00] [ 5.80584388e-03 -1.59853163e-04 9.99983133e-01 1.61657995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters 0.055147018320030834 Centerline is valid? [True, True] Translation: X:418.89, Y:4.58, Z:1.62 [[ 9.99389050e-01 -3.46126063e-02 -4.84706067e-03 4.18887805e+02] [ 3.46130647e-02 9.99400788e-01 1.06810531e-05 4.58146815e+00] [ 4.84378656e-03 -1.78446152e-04 9.99988253e-01 1.61650963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.619254154 meters 0.05492759483313399 Centerline is valid? [True, True] Translation: X:418.95, Y:4.58, Z:1.62 [[ 9.99113288e-01 -4.18922522e-02 -4.20446946e-03 4.18948262e+02] [ 4.18926614e-02 9.99122117e-01 9.27585317e-06 4.58008518e+00] [ 4.20038984e-03 -1.85404044e-04 9.99991161e-01 1.61730468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.679254154 meters 0.054674088227425054 Centerline is valid? [True, True] Translation: X:419.01, Y:4.58, Z:1.62 [[ 9.98616872e-01 -5.24596166e-02 -3.51174528e-03 4.19008842e+02] [ 5.24599673e-02 9.98623028e-01 7.76671568e-06 4.57551027e+00] [ 3.50650226e-03 -1.91982016e-04 9.99993834e-01 1.61698635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.739254154 meters 0.05454348642376318 Centerline is valid? [True, True] Translation: X:419.07, Y:4.58, Z:1.62 [[ 9.98357979e-01 -5.71193865e-02 -4.32674811e-03 4.19068680e+02] [ 5.71199626e-02 9.98367322e-01 9.58975623e-06 4.57688077e+00] [ 4.31913616e-03 -2.56717700e-04 9.99990640e-01 1.61733518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.799254154 meters 0.05640632893666159 Centerline is valid? [True, True] Translation: X:419.13, Y:4.61, Z:1.62 [[ 9.98118194e-01 -6.11772928e-02 -4.17244967e-03 4.19129137e+02] [ 6.11778638e-02 9.98126880e-01 9.22436878e-06 4.60515862e+00] [ 4.16406985e-03 -2.64468568e-04 9.99991295e-01 1.61777541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.859254154 meters 0.05564224495445715 Centerline is valid? [True, True] Translation: X:419.19, Y:4.58, Z:1.62 [[ 9.98175710e-01 -6.01753643e-02 -4.91696800e-03 4.19189735e+02] [ 6.01761453e-02 9.98187774e-01 1.09317343e-05 4.57781320e+00] [ 4.90739952e-03 -3.06795973e-04 9.99987912e-01 1.61817616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.919254154 meters 0.054261597453377976 Centerline is valid? [True, True] Translation: X:419.25, Y:4.59, Z:1.62 [[ 9.98349893e-01 -5.71137160e-02 -5.95940440e-03 4.19250086e+02] [ 5.71148095e-02 9.98367617e-01 1.33366001e-05 4.59400824e+00] [ 5.94891467e-03 -3.53684840e-04 9.99982242e-01 1.61847399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.979254154 meters 0.055963737994939214 Centerline is valid? [True, True] Translation: X:419.31, Y:4.58, Z:1.62 [[ 9.98440312e-01 -5.54750281e-02 -6.28202620e-03 4.19309974e+02] [ 5.54762111e-02 9.98460009e-01 1.40800099e-05 4.57778871e+00] [ 6.27157084e-03 -3.62561061e-04 9.99980268e-01 1.61780430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.039254154 meters 0.05359524260806566 Centerline is valid? [True, True] Translation: X:419.37, Y:4.60, Z:1.62 [[ 9.98650497e-01 -5.16246128e-02 -5.66424783e-03 4.19371247e+02] [ 5.16255128e-02 9.98666514e-01 1.27015902e-05 4.60403328e+00] [ 5.65603892e-03 -3.05104148e-04 9.99983958e-01 1.61870196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.099254154 meters 0.055535974579581496 Centerline is valid? [True, True] Translation: X:419.43, Y:4.60, Z:1.62 [[ 9.98812068e-01 -4.83720830e-02 -5.88168406e-03 4.19430989e+02] [ 4.83729973e-02 9.98829341e-01 1.32029753e-05 4.59585763e+00] [ 5.87415996e-03 -2.97701978e-04 9.99982703e-01 1.61938846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.159254154 meters 0.05534101834383997 Centerline is valid? [True, True] Translation: X:419.49, Y:4.60, Z:1.62 [[ 9.99043218e-01 -4.33780890e-02 -5.56692574e-03 4.19490648e+02] [ 4.33788306e-02 9.99058695e-01 1.24828095e-05 4.59623121e+00] [ 5.56114409e-03 -2.53957595e-04 9.99984504e-01 1.61891616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.219254154 meters 0.05441849008158759 Centerline is valid? [True, True] Translation: X:419.55, Y:4.61, Z:1.62 [[ 9.99202347e-01 -3.96247375e-02 -4.95477212e-03 4.19551263e+02] [ 3.96252788e-02 9.99214610e-01 1.10922766e-05 4.60963344e+00] [ 4.95044116e-03 -2.07417655e-04 9.99987725e-01 1.61922269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279254154 meters 0.05527363774016804 Centerline is valid? [True, True] Translation: X:419.61, Y:4.60, Z:1.62 [[ 9.99488083e-01 -3.16798341e-02 -4.46769455e-03 4.19611223e+02] [ 3.16801950e-02 9.99498057e-01 1.00314402e-05 4.60373975e+00] [ 4.46513422e-03 -1.51563740e-04 9.99990020e-01 1.61906581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339254154 meters 0.05453090838163041 Centerline is valid? [True, True] Translation: X:419.67, Y:4.61, Z:1.62 [[ 9.99627647e-01 -2.70051395e-02 -3.91014713e-03 4.19671498e+02] [ 2.70053804e-02 9.99635288e-01 8.80332154e-06 4.61024257e+00] [ 3.90848332e-03 -1.14395054e-04 9.99992355e-01 1.61898214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399254154 meters 0.053702108370809964 Centerline is valid? [True, True] Translation: X:419.73, Y:4.62, Z:1.62 [[ 9.99737473e-01 -2.24861802e-02 -4.39953454e-03 4.19732419e+02] [ 2.24864413e-02 9.99747148e-01 9.90417669e-06 4.61528970e+00] [ 4.39819940e-03 -1.08831452e-04 9.99990322e-01 1.61870602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459254154 meters 0.055056976216676254 Centerline is valid? [True, True] Translation: X:419.79, Y:4.61, Z:1.62 [[ 9.99763109e-01 -2.11315003e-02 -5.21397592e-03 4.19793773e+02] [ 2.11318490e-02 9.99776697e-01 1.17743413e-05 4.61103998e+00] [ 5.21256282e-03 -1.21952504e-04 9.99986407e-01 1.61845746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519254154 meters 0.05561981327462577 Centerline is valid? [True, True] Translation: X:419.85, Y:4.61, Z:1.62 [[ 9.99733781e-01 -2.22992419e-02 -5.92540635e-03 4.19854843e+02] [ 2.22997135e-02 9.99751330e-01 1.35326665e-05 4.60807008e+00] [ 5.92363112e-03 -1.45663928e-04 9.99982445e-01 1.61755609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579254154 meters 0.05481452508687088 Centerline is valid? [True, True] Translation: X:419.92, Y:4.61, Z:1.62 [[ 9.99668254e-01 -2.50468456e-02 -6.00314129e-03 4.19915687e+02] [ 2.50473799e-02 9.99686265e-01 1.38363025e-05 4.60873386e+00] [ 6.00091133e-03 -1.64194673e-04 9.99981981e-01 1.61751546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639254154 meters 0.05573046577780665 Centerline is valid? [True, True] Translation: X:419.97, Y:4.60, Z:1.62 [[ 9.99545055e-01 -2.95742402e-02 -5.92006869e-03 4.19974853e+02] [ 2.95748395e-02 9.99562569e-01 1.36973923e-05 4.60167168e+00] [ 5.91707397e-03 -1.88776242e-04 9.99982476e-01 1.61730645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699254154 meters 0.05564847215918044 Centerline is valid? [True, True] Translation: X:420.04, Y:4.60, Z:1.62 [[ 9.99452019e-01 -3.26185626e-02 -5.62954963e-03 4.20035585e+02] [ 3.26191527e-02 9.99467854e-01 1.30279250e-05 4.60310824e+00] [ 5.62612893e-03 -1.96651925e-04 9.99984154e-01 1.61802073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759254154 meters 0.05625416050583347 Centerline is valid? [True, True] Translation: X:420.10, Y:4.60, Z:1.62 [[ 9.99331070e-01 -3.61477500e-02 -5.54542803e-03 4.20095331e+02] [ 3.61483774e-02 9.99346434e-01 1.29148488e-05 4.59866152e+00] [ 5.54133688e-03 -2.13364435e-04 9.99984624e-01 1.61805542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819254154 meters 0.054653904370958996 Centerline is valid? [True, True] Translation: X:420.16, Y:4.60, Z:1.62 [[ 9.99230040e-01 -3.88541107e-02 -5.44833616e-03 4.20156549e+02] [ 3.88547568e-02 9.99244869e-01 1.27539908e-05 4.60362430e+00] [ 5.44372641e-03 -2.24437948e-04 9.99985158e-01 1.61854739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters 0.053021848775946706 Centerline is valid? [True, True] Translation: X:420.22, Y:4.61, Z:1.62 [[ 9.99069421e-01 -4.28205576e-02 -5.16648976e-03 4.20217193e+02] [ 4.28211919e-02 9.99082752e-01 1.21725845e-05 4.60883215e+00] [ 5.16122958e-03 -2.33396507e-04 9.99986654e-01 1.61809244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters 0.0575573171875878 Centerline is valid? [True, True] Translation: X:420.28, Y:4.59, Z:1.62 [[ 9.98965629e-01 -4.49706133e-02 -6.73173547e-03 4.20277008e+02] [ 4.49717391e-02 9.98988259e-01 1.58818851e-05 4.59396869e+00] [ 6.72421048e-03 -3.18603309e-04 9.99977341e-01 1.61671033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters 0.05584174189945102 Centerline is valid? [True, True] Translation: X:420.34, Y:4.60, Z:1.62 [[ 9.98947674e-01 -4.53453094e-02 -6.88093137e-03 4.20339196e+02] [ 4.53464951e-02 9.98971318e-01 1.63272875e-05 4.60080233e+00] [ 6.87311271e-03 -3.28336227e-04 9.99976326e-01 1.61709418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters 0.05558103830744373 Centerline is valid? [True, True] Translation: X:420.40, Y:4.60, Z:1.62 [[ 9.98994511e-01 -4.42300011e-02 -7.32630504e-03 4.20401158e+02] [ 4.42313172e-02 9.99021316e-01 1.76280710e-05 4.60287902e+00] [ 7.31835521e-03 -3.41662468e-04 9.99973162e-01 1.61733418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.119254154 meters 0.05388903244546238 Centerline is valid? [True, True] Translation: X:420.46, Y:4.62, Z:1.62 [[ 9.99114699e-01 -4.15497193e-02 -6.59091002e-03 4.20461348e+02] [ 4.15507270e-02 9.99136396e-01 1.59793871e-05 4.61501700e+00] [ 6.58455414e-03 -2.89822344e-04 9.99978280e-01 1.61856778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.179254154 meters 0.05390211245877882 Centerline is valid? [True, True] Translation: X:420.52, Y:4.62, Z:1.62 [[ 9.99293717e-01 -3.68319313e-02 -7.44824393e-03 4.20521504e+02] [ 3.68330875e-02 9.99321431e-01 1.80636309e-05 4.61811949e+00] [ 7.44252447e-03 -2.92392693e-04 9.99972261e-01 1.61853841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.239254154 meters 0.05396796526055582 Centerline is valid? [True, True] Translation: X:420.58, Y:4.62, Z:1.62 [[ 9.99409760e-01 -3.34632373e-02 -7.76808038e-03 4.20581771e+02] [ 3.34643932e-02 9.99439910e-01 1.88312823e-05 4.62162311e+00] [ 7.76309940e-03 -2.78774263e-04 9.99969828e-01 1.61842645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.299254154 meters 0.053569960273943215 Centerline is valid? [True, True] Translation: X:420.64, Y:4.63, Z:1.62 [[ 9.99555351e-01 -2.87860472e-02 -7.77587355e-03 4.20642708e+02] [ 2.87870642e-02 9.99585566e-01 1.88774608e-05 4.62873794e+00] [ 7.77210756e-03 -2.42713638e-04 9.99969767e-01 1.61879275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.359254154 meters 0.05398840083393213 Centerline is valid? [True, True] Translation: X:420.70, Y:4.63, Z:1.62 [[ 9.99616359e-01 -2.66562228e-02 -7.52205911e-03 4.20703812e+02] [ 2.66571149e-02 9.99644636e-01 1.83543242e-05 4.63083430e+00] [ 7.51889679e-03 -2.18863677e-04 9.99971709e-01 1.61893744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.419254154 meters 0.05520573324141054 Centerline is valid? [True, True] Translation: X:420.76, Y:4.63, Z:1.62 [[ 9.99708672e-01 -2.29869864e-02 -7.35999849e-03 4.20763152e+02] [ 2.29877425e-02 9.99735747e-01 1.81394004e-05 4.62581450e+00] [ 7.35763662e-03 -1.87323866e-04 9.99972915e-01 1.61848323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.479254154 meters 0.05467209454238952 Centerline is valid? [True, True] Translation: X:420.82, Y:4.63, Z:1.62 [[ 9.99789840e-01 -1.94521803e-02 -6.47214658e-03 4.20823780e+02] [ 1.94526918e-02 9.99810778e-01 1.60879183e-05 4.62936610e+00] [ 6.47060897e-03 -1.41985210e-04 9.99979055e-01 1.61914236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.539254154 meters 0.055359341917120976 Centerline is valid? [True, True] Translation: X:420.88, Y:4.63, Z:1.62 [[ 9.99881133e-01 -1.45200165e-02 -5.18540365e-03 4.20883646e+02] [ 1.45202788e-02 9.99894575e-01 1.29245735e-05 4.62737320e+00] [ 5.18466931e-03 -8.82165437e-05 9.99986556e-01 1.61997109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.599254154 meters 0.05456328848668354 Centerline is valid? [True, True] Translation: X:420.94, Y:4.64, Z:1.62 [[ 9.99963858e-01 -7.86441266e-03 -3.23015697e-03 4.20944749e+02] [ 7.86447974e-03 9.99969074e-01 8.06503631e-06 4.63636481e+00] [ 3.22999365e-03 -3.34682488e-05 9.99994783e-01 1.62163679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.659254154 meters 0.05368470032752126 Centerline is valid? [True, True] Translation: X:421.01, Y:4.64, Z:1.62 [[ 9.99979332e-01 -6.08503132e-03 -2.07541227e-03 4.21005935e+02] [ 6.08505515e-03 9.99981486e-01 5.17133632e-06 4.63772575e+00] [ 2.07534238e-03 -1.78002276e-05 9.99997846e-01 1.62251303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.719254154 meters 0.05379714276325063 Centerline is valid? [True, True] Translation: X:421.07, Y:4.64, Z:1.62 [[ 9.99961743e-01 -8.26007849e-03 -2.87826379e-03 4.21066602e+02] [ 8.26013350e-03 9.99965885e-01 7.22358447e-06 4.63554526e+00] [ 2.87810593e-03 -3.09981512e-05 9.99995858e-01 1.62166764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779254154 meters 0.053823609440150334 Centerline is valid? [True, True] Translation: X:421.13, Y:4.63, Z:1.62 [[ 9.99857402e-01 -1.63110115e-02 -4.37341422e-03 4.21126910e+02] [ 1.63112164e-02 9.99866963e-01 1.11894233e-05 4.63161626e+00] [ 4.37264988e-03 -8.25235333e-05 9.99990437e-01 1.61989577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839254154 meters 0.05432190713000846 Centerline is valid? [True, True] Translation: X:421.19, Y:4.63, Z:1.62 [[ 9.99731438e-01 -2.26658358e-02 -4.82832939e-03 4.21187557e+02] [ 2.26661597e-02 9.99743090e-01 1.23692117e-05 4.62586305e+00] [ 4.82680859e-03 -1.21805575e-04 9.99988343e-01 1.61910549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899254154 meters 0.054201411678688145 Centerline is valid? [True, True] Translation: X:421.25, Y:4.62, Z:1.62 [[ 9.99587072e-01 -2.82095799e-02 -5.46854957e-03 4.21248334e+02] [ 2.82100786e-02 9.99602016e-01 1.40671014e-05 4.62006621e+00] [ 5.46597635e-03 -1.68329506e-04 9.99985047e-01 1.61894963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959254154 meters 0.05383235240447344 Centerline is valid? [True, True] Translation: X:421.31, Y:4.61, Z:1.62 [[ 9.99440284e-01 -3.29020145e-02 -6.04783739e-03 4.21307819e+02] [ 3.29027105e-02 9.99458559e-01 1.55848921e-05 4.61347402e+00] [ 6.04405007e-03 -2.14566412e-04 9.99981712e-01 1.61861441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019254154 meters 0.0555709421058946 Centerline is valid? [True, True] Translation: X:421.37, Y:4.61, Z:1.62 [[ 9.99295891e-01 -3.71233240e-02 -5.43879391e-03 4.21367577e+02] [ 3.71239491e-02 9.99310669e-01 1.39810174e-05 4.60513939e+00] [ 5.43452575e-03 -2.15880681e-04 9.99985210e-01 1.61870352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079254154 meters 0.054625106991385855 Centerline is valid? [True, True] Translation: X:421.43, Y:4.61, Z:1.62 [[ 9.99286204e-01 -3.75816364e-02 -3.83436239e-03 4.21429616e+02] [ 3.75819504e-02 9.99293549e-01 9.83428401e-06 4.60782172e+00] [ 3.83128401e-03 -1.53930081e-04 9.99992649e-01 1.61973964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139254154 meters 0.053271618158629 Centerline is valid? [True, True] Translation: X:421.49, Y:4.61, Z:1.62 [[ 9.99285809e-01 -3.77364407e-02 -1.95779911e-03 4.21492229e+02] [ 3.77365228e-02 9.99287724e-01 5.02083449e-06 4.61097270e+00] [ 1.95621515e-03 -7.88977794e-05 9.99998083e-01 1.61975574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199254154 meters 0.05355050252729227 Centerline is valid? [True, True] Translation: X:421.55, Y:4.61, Z:1.62 [[ 9.99278050e-01 -3.79219428e-02 -2.30317727e-03 4.21554764e+02] [ 3.79220572e-02 9.99280700e-01 6.00618788e-06 4.60995324e+00] [ 2.30129283e-03 -9.33430720e-05 9.99997348e-01 1.61964915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259254154 meters 0.05461775668160659 Centerline is valid? [True, True] Translation: X:421.62, Y:4.61, Z:1.62 [[ 9.99253286e-01 -3.83507191e-02 -4.70037969e-03 4.21615526e+02] [ 3.83512016e-02 9.99264322e-01 1.25440152e-05 4.60662713e+00] [ 4.69644065e-03 -1.92799858e-04 9.99988953e-01 1.61911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319254154 meters 0.05501512714316616 Centerline is valid? [True, True] Translation: X:421.68, Y:4.60, Z:1.62 [[ 9.99245243e-01 -3.83300192e-02 -6.30508629e-03 4.21676260e+02] [ 3.83308884e-02 9.99265101e-01 1.70156121e-05 4.60479233e+00] [ 6.29980048e-03 -2.58682328e-04 9.99980123e-01 1.61867124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters 0.0563388433150102 Centerline is valid? [True, True] Translation: X:421.74, Y:4.60, Z:1.62 [[ 9.99281562e-01 -3.72738044e-02 -6.85742176e-03 4.21737821e+02] [ 3.72748089e-02 9.99305053e-01 1.86798327e-05 4.60338880e+00] [ 6.85195994e-03 -2.74275498e-04 9.99976487e-01 1.61793159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters 0.053752631573898736 Centerline is valid? [True, True] Translation: X:421.80, Y:4.61, Z:1.62 [[ 9.99348339e-01 -3.53889814e-02 -7.10760994e-03 4.21799332e+02] [ 3.53900139e-02 9.99373577e-01 1.95119828e-05 4.61454155e+00] [ 7.10246707e-03 -2.71037683e-04 9.99974740e-01 1.61907389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters 0.055678009552583514 Centerline is valid? [True, True] Translation: X:421.86, Y:4.61, Z:1.62 [[ 9.99471009e-01 -3.15471516e-02 -7.90441448e-03 4.21858470e+02] [ 3.15483090e-02 9.99502228e-01 2.17426756e-05 4.60708513e+00] [ 7.89979396e-03 -2.71102084e-04 9.99968759e-01 1.61845088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters 0.05427483554555046 Centerline is valid? [True, True] Translation: X:421.92, Y:4.61, Z:1.62 [[ 9.99550268e-01 -2.90546633e-02 -7.42216450e-03 4.21919141e+02] [ 2.90556152e-02 9.99577796e-01 2.04434673e-05 4.61496249e+00] [ 7.41843685e-03 -2.36089829e-04 9.99972455e-01 1.61946088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.619254154 meters 0.05344379334715152 Centerline is valid? [True, True] Translation: X:421.98, Y:4.62, Z:1.62 [[ 9.99726498e-01 -2.26382987e-02 -5.86834524e-03 4.21980275e+02] [ 2.26387838e-02 9.99743710e-01 1.62457654e-05 4.61931098e+00] [ 5.86647346e-03 -1.49093521e-04 9.99982781e-01 1.62066920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.679254154 meters 0.05459428200833037 Centerline is valid? [True, True] Translation: X:422.04, Y:4.62, Z:1.62 [[ 9.99840655e-01 -1.70891572e-02 -5.16004317e-03 4.22039643e+02] [ 1.70894586e-02 9.99853964e-01 1.43335711e-05 4.62247633e+00] [ 5.15904467e-03 -1.02513631e-04 9.99986687e-01 1.62142307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.739254154 meters 0.05337456188685774 Centerline is valid? [True, True] Translation: X:422.10, Y:4.63, Z:1.62 [[ 9.99944464e-01 -9.44258966e-03 -4.68045863e-03 4.22098797e+02] [ 9.44275380e-03 9.99955416e-01 1.29731640e-05 4.62746212e+00] [ 4.68012746e-03 -5.71688620e-05 9.99989046e-01 1.62221750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.799254154 meters 0.05378749812288568 Centerline is valid? [True, True] Translation: X:422.16, Y:4.63, Z:1.62 [[ 9.99971192e-01 -6.44602050e-03 -4.00801525e-03 4.22158984e+02] [ 6.44611672e-03 9.99979224e-01 1.10891005e-05 4.63113707e+00] [ 4.00786050e-03 -3.69249152e-05 9.99991968e-01 1.62224862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.859254154 meters 0.05367346129268548 Centerline is valid? [True, True] Translation: X:422.22, Y:4.63, Z:1.62 [[ 9.99972263e-01 -5.55691567e-03 -4.95920070e-03 4.22218470e+02] [ 5.55705222e-03 9.99984559e-01 1.37541363e-05 4.63000021e+00] [ 4.95904770e-03 -4.13122920e-05 9.99987703e-01 1.62171188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.919254154 meters 0.053435286853503905 Centerline is valid? [True, True] Translation: X:422.28, Y:4.63, Z:1.62 [[ 9.99942971e-01 -8.89856639e-03 -5.90515929e-03 4.22278385e+02] [ 8.89881781e-03 9.99960405e-01 1.63029848e-05 4.62826969e+00] [ 5.90478040e-03 -6.88509917e-05 9.99982564e-01 1.62160766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.979254154 meters 0.0539535771081609 Centerline is valid? [True, True] Translation: X:422.34, Y:4.62, Z:1.62 [[ 9.99899085e-01 -1.24553976e-02 -6.83244374e-03 4.22337492e+02] [ 1.24558170e-02 9.99922423e-01 1.88351863e-05 4.62343161e+00] [ 6.83167910e-03 -1.03936954e-04 9.99976658e-01 1.62108758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.039254154 meters 0.05346842247913466 Centerline is valid? [True, True] Translation: X:422.40, Y:4.62, Z:1.62 [[ 9.99780093e-01 -1.95696009e-02 -7.53636318e-03 4.22398338e+02] [ 1.95703138e-02 9.99808483e-01 2.08586902e-05 4.61956414e+00] [ 7.53451164e-03 -1.68343096e-04 9.99971601e-01 1.62112276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.099254154 meters 0.05373366876508542 Centerline is valid? [True, True] Translation: X:422.46, Y:4.62, Z:1.62 [[ 9.99681389e-01 -2.39357989e-02 -8.01234085e-03 4.22459620e+02] [ 2.39367454e-02 9.99713475e-01 2.22442502e-05 4.61528469e+00] [ 8.00951268e-03 -2.14026526e-04 9.99967900e-01 1.62081044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.159254154 meters 0.054339423358203756 Centerline is valid? [True, True] Translation: X:422.52, Y:4.61, Z:1.62 [[ 9.99584398e-01 -2.76038832e-02 -8.31010840e-03 4.22519315e+02] [ 2.76050296e-02 9.99618908e-01 2.32577629e-05 4.60939172e+00] [ 8.30629948e-03 -2.52648885e-04 9.99965470e-01 1.62124710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.219254154 meters 0.054587446617100625 Centerline is valid? [True, True] Translation: X:422.58, Y:4.61, Z:1.62 [[ 9.99604128e-01 -2.69472738e-02 -8.08903790e-03 4.22581009e+02] [ 2.69483401e-02 9.99636827e-01 2.28345782e-05 4.61044863e+00] [ 8.08548486e-03 -2.40811683e-04 9.99967283e-01 1.62190750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279254154 meters 0.05443698341726131 Centerline is valid? [True, True] Translation: X:422.64, Y:4.61, Z:1.62 [[ 9.99648115e-01 -2.52612035e-02 -8.09427924e-03 4.22641828e+02] [ 2.52622172e-02 9.99680859e-01 2.30001495e-05 4.60937518e+00] [ 8.09111502e-03 -2.27471496e-04 9.99967241e-01 1.62261792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339254154 meters 0.05409102479139796 Centerline is valid? [True, True] Translation: X:422.70, Y:4.62, Z:1.62 [[ 9.99746984e-01 -2.11428181e-02 -7.67783760e-03 4.22702297e+02] [ 2.11436095e-02 9.99776449e-01 2.19109495e-05 4.61626468e+00] [ 7.67565795e-03 -1.84242606e-04 9.99970525e-01 1.62488071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399254154 meters 0.053985552104561185 Centerline is valid? [True, True] Translation: X:422.76, Y:4.62, Z:1.63 [[ 9.99809364e-01 -1.78795754e-02 -7.84584700e-03 4.22762487e+02] [ 1.78803016e-02 9.99840134e-01 2.24251236e-05 4.61687289e+00] [ 7.84419177e-03 -1.62706959e-04 9.99969221e-01 1.62581929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459254154 meters 0.053107885661649215 Centerline is valid? [True, True] Translation: X:422.82, Y:4.62, Z:1.63 [[ 9.99848315e-01 -1.53259979e-02 -8.27416561e-03 4.22823462e+02] [ 1.53267189e-02 9.99882539e-01 2.37246766e-05 4.61847833e+00] [ 8.27283011e-03 -1.50536888e-04 9.99965768e-01 1.62614821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519254154 meters 0.053690480417269836 Centerline is valid? [True, True] Translation: X:422.88, Y:4.62, Z:1.63 [[ 9.99850370e-01 -1.40597634e-02 -1.00777821e-02 4.22883344e+02] [ 1.40607689e-02 9.99901142e-01 2.89263990e-05 4.61793012e+00] [ 1.00763791e-02 -1.70623436e-04 9.99949217e-01 1.62577586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579254154 meters 0.05436510742523135 Centerline is valid? [True, True] Translation: X:422.94, Y:4.61, Z:1.62 [[ 9.99766526e-01 -1.81395002e-02 -1.17410579e-02 4.22942931e+02] [ 1.81411450e-02 9.99835435e-01 3.35953926e-05 4.61313681e+00] [ 1.17385164e-02 -2.46583783e-04 9.99931071e-01 1.62489484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639254154 meters 0.05540048137621353 Centerline is valid? [True, True] Translation: X:423.00, Y:4.61, Z:1.62 [[ 9.99650878e-01 -2.30496072e-02 -1.29165673e-02 4.23002796e+02] [ 2.30520072e-02 9.99734267e-01 3.69366607e-05 4.60804093e+00] [ 1.29122836e-02 -3.34676568e-04 9.99916577e-01 1.62432654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699254154 meters 0.05371712308361644 Centerline is valid? [True, True] Translation: X:423.06, Y:4.61, Z:1.63 [[ 9.99460241e-01 -3.03706166e-02 -1.25240794e-02 4.23062871e+02] [ 3.03734464e-02 9.99538620e-01 3.57614393e-05 4.60881629e+00] [ 1.25172149e-02 -4.16141591e-04 9.99921570e-01 1.62627168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759254154 meters 0.05360296795732411 Centerline is valid? [True, True] Translation: X:423.12, Y:4.61, Z:1.63 [[ 9.99362843e-01 -3.37942655e-02 -1.14828831e-02 4.23124060e+02] [ 3.37968707e-02 9.99428722e-01 3.28470996e-05 4.61193357e+00] [ 1.14752132e-02 -4.20911688e-04 9.99934069e-01 1.62871938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819254154 meters 0.05425289873576279 Centerline is valid? [True, True] Translation: X:423.18, Y:4.61, Z:1.63 [[ 9.99372824e-01 -3.36130860e-02 -1.11408415e-02 4.23184874e+02] [ 3.36155321e-02 9.99434838e-01 3.23190846e-05 4.60941424e+00] [ 1.11334587e-02 -4.06804128e-04 9.99937938e-01 1.62892516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters 0.054045147558399245 Centerline is valid? [True, True] Translation: X:423.25, Y:4.61, Z:1.63 [[ 9.99430468e-01 -3.23020305e-02 -9.76311382e-03 4.23246635e+02] [ 3.23038494e-02 9.99478094e-01 2.86139274e-05 4.60945618e+00] [ 9.75709411e-03 -3.43983789e-04 9.99952339e-01 1.63016396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters 0.055220077307065726 Centerline is valid? [True, True] Translation: X:423.31, Y:4.61, Z:1.63 [[ 9.99532862e-01 -2.93860242e-02 -8.39758078e-03 4.23306390e+02] [ 2.93872675e-02 9.99568101e-01 2.46675397e-05 4.60982770e+00] [ 8.39322898e-03 -2.71437969e-04 9.99964739e-01 1.63251685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters 0.0550176245316336 Centerline is valid? [True, True] Translation: X:423.37, Y:4.61, Z:1.63 [[ 9.99553030e-01 -2.85441625e-02 -8.88658520e-03 4.23368768e+02] [ 2.85455230e-02 9.99592493e-01 2.62649092e-05 4.61183397e+00] [ 8.88221415e-03 -2.79925392e-04 9.99960513e-01 1.63322840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters 0.054703937473586574 Centerline is valid? [True, True] Translation: X:423.43, Y:4.61, Z:1.63 [[ 9.99490862e-01 -3.02216808e-02 -1.02306613e-02 4.23429050e+02] [ 3.02235738e-02 9.99543163e-01 3.04362480e-05 4.60913373e+00] [ 1.02250677e-02 -3.39627899e-04 9.99947665e-01 1.63233547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.119254154 meters 0.05488651729059062 Centerline is valid? [True, True] Translation: X:423.49, Y:4.61, Z:1.63 [[ 9.99380103e-01 -3.33168583e-02 -1.13752772e-02 4.23489715e+02] [ 3.33193996e-02 9.99444754e-01 3.39087839e-05 4.60924689e+00] [ 1.13678314e-02 -4.12905170e-04 9.99935299e-01 1.63225038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.179254154 meters 0.054570287533009784 Centerline is valid? [True, True] Translation: X:423.55, Y:4.62, Z:1.63 [[ 9.99329376e-01 -3.45397159e-02 -1.21575685e-02 4.23551572e+02] [ 3.45427205e-02 9.99403221e-01 3.71791195e-05 4.61824614e+00] [ 1.21490289e-02 -4.57109675e-04 9.99926093e-01 1.63464175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.239254154 meters 0.05519415234661656 Centerline is valid? [True, True] Translation: X:423.61, Y:4.61, Z:1.63 [[ 9.99332053e-01 -3.39559689e-02 -1.35070680e-02 4.23613138e+02] [ 3.39596344e-02 9.99423204e-01 4.20424163e-05 4.61254328e+00] [ 1.34978496e-02 -5.00709426e-04 9.99908774e-01 1.63302285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.299254154 meters 0.05451222575846149 Centerline is valid? [True, True] Translation: X:423.67, Y:4.61, Z:1.63 [[ 9.99409942e-01 -3.16660324e-02 -1.33052698e-02 4.23673225e+02] [ 3.16693878e-02 9.99498398e-01 4.15139857e-05 4.61084521e+00] [ 1.32972812e-02 -4.62859239e-04 9.99911480e-01 1.63171357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.359254154 meters 0.053967059045375916 Centerline is valid? [True, True] Translation: X:423.73, Y:4.62, Z:1.63 [[ 9.99590669e-01 -2.61681194e-02 -1.15639442e-02 4.23734185e+02] [ 2.61702870e-02 9.99657499e-01 3.61347550e-05 4.61665778e+00] [ 1.15590379e-02 -3.38751702e-04 9.99933135e-01 1.63321672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.419254154 meters 0.05420553481847578 Centerline is valid? [True, True] Translation: X:423.80, Y:4.62, Z:1.63 [[ 9.99696208e-01 -2.20760922e-02 -1.09606993e-02 4.23795312e+02] [ 2.20777935e-02 9.99756255e-01 3.42288546e-05 4.62339849e+00] [ 1.09572720e-02 -2.76206511e-04 9.99939929e-01 1.63443343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.479254154 meters 0.05364403270656145 Centerline is valid? [True, True] Translation: X:423.86, Y:4.63, Z:1.63 [[ 9.99792066e-01 -1.76812956e-02 -1.01586218e-02 4.23856210e+02] [ 1.76825305e-02 9.99843651e-01 3.17526894e-05 4.62579910e+00] [ 1.01564721e-02 -2.11376227e-04 9.99948399e-01 1.63439321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.539254154 meters 0.05404087404844018 Centerline is valid? [True, True] Translation: X:423.92, Y:4.62, Z:1.63 [[ 9.99813205e-01 -1.63372850e-02 -1.03270536e-02 4.23916218e+02] [ 1.63384899e-02 9.99866517e-01 3.23135262e-05 4.62087941e+00] [ 1.03251472e-02 -2.01035951e-04 9.99946674e-01 1.63283928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.599254154 meters 0.05370432676650399 Centerline is valid? [True, True] Translation: X:423.98, Y:4.62, Z:1.63 [[ 9.99794322e-01 -1.73142920e-02 -1.05607249e-02 4.23975619e+02] [ 1.73156053e-02 9.99850073e-01 3.29309812e-05 4.62448764e+00] [ 1.05585714e-02 -2.15789553e-04 9.99944233e-01 1.63394051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.659254154 meters 0.054824912719601666 Centerline is valid? [True, True] Translation: X:424.04, Y:4.62, Z:1.63 [[ 9.99761356e-01 -1.88557549e-02 -1.10313887e-02 4.24035409e+02] [ 1.88572796e-02 9.99822185e-01 3.42060410e-05 4.62256003e+00] [ 1.10287822e-02 -2.42219859e-04 9.99939152e-01 1.63416200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.719254154 meters 0.0540326960960626 Centerline is valid? [True, True] Translation: X:424.09, Y:4.62, Z:1.63 [[ 9.99715603e-01 -2.10473096e-02 -1.12126971e-02 4.24094567e+02] [ 2.10490204e-02 9.99778444e-01 3.45753965e-05 4.61766080e+00] [ 1.12094852e-02 -2.70581854e-04 9.99937135e-01 1.63281658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779254154 meters 0.05473037613360444 Centerline is valid? [True, True] Translation: X:424.15, Y:4.61, Z:1.63 [[ 9.99684589e-01 -2.19182703e-02 -1.22601707e-02 4.24154800e+02] [ 2.19203803e-02 9.99759719e-01 3.77318406e-05 4.61361806e+00] [ 1.22563978e-02 -3.06467544e-04 9.99924841e-01 1.63225000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839254154 meters 0.05544224757482986 Centerline is valid? [True, True] Translation: X:424.21, Y:4.60, Z:1.63 [[ 9.99666745e-01 -2.24901163e-02 -1.26725276e-02 4.24214083e+02] [ 2.24924156e-02 9.99747013e-01 3.89286463e-05 4.60052667e+00] [ 1.26684461e-02 -3.23951431e-04 9.99919700e-01 1.62883528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899254154 meters 0.05467806370711972 Centerline is valid? [True, True] Translation: X:424.27, Y:4.60, Z:1.63 [[ 9.99613548e-01 -2.56427609e-02 -1.07332718e-02 4.24273950e+02] [ 2.56445911e-02 9.99671123e-01 3.28974480e-05 4.60489016e+00] [ 1.07288983e-02 -3.08135102e-04 9.99942396e-01 1.63183129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959254154 meters 0.05416568619187178 Centerline is valid? [True, True] Translation: X:424.33, Y:4.60, Z:1.63 [[ 9.99544747e-01 -2.86223136e-02 -9.54259155e-03 4.24334943e+02] [ 2.86238961e-02 9.99590252e-01 2.92706874e-05 4.60189777e+00] [ 9.53784370e-03 -3.02403511e-04 9.99954468e-01 1.63194301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019254154 meters 0.054383997107927885 Centerline is valid? [True, True] Translation: X:424.40, Y:4.60, Z:1.63 [[ 9.99521573e-01 -2.96324769e-02 -8.86231910e-03 4.24396067e+02] [ 2.96338828e-02 9.99560820e-01 2.73366769e-05 4.59642385e+00] [ 8.85761689e-03 -2.89948523e-04 9.99960728e-01 1.63225939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079254154 meters 0.054352604656488286 Centerline is valid? [True, True] Translation: X:424.46, Y:4.59, Z:1.63 [[ 9.99526149e-01 -2.98528337e-02 -7.50242897e-03 4.24458098e+02] [ 2.98538491e-02 9.99554274e-01 2.33746201e-05 4.59460148e+00] [ 7.49838715e-03 -2.47339927e-04 9.99971856e-01 1.63279416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139254154 meters 0.054403549171943136 Centerline is valid? [True, True] Translation: X:424.52, Y:4.59, Z:1.63 [[ 9.99539554e-01 -2.93397856e-02 -7.73673469e-03 4.24520619e+02] [ 2.93408524e-02 9.99569464e-01 2.44043077e-05 4.59321294e+00] [ 7.73268773e-03 -2.51395462e-04 9.99970071e-01 1.63265826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199254154 meters 0.055256081180885194 Centerline is valid? [True, True] Translation: X:424.58, Y:4.59, Z:1.63 [[ 9.99582554e-01 -2.79588397e-02 -7.28148863e-03 4.24582016e+02] [ 2.79597495e-02 9.99609050e-01 2.31510537e-05 4.59273631e+00] [ 7.27799465e-03 -2.26729987e-04 9.99973489e-01 1.63269882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259254154 meters 0.05470978425336264 Centerline is valid? [True, True] Translation: X:424.64, Y:4.59, Z:1.63 [[ 9.99597461e-01 -2.74230275e-02 -7.27280241e-03 4.24644379e+02] [ 2.74239222e-02 9.99623893e-01 2.33041840e-05 4.59083386e+00] [ 7.26942799e-03 -2.22743571e-04 9.99973553e-01 1.63249268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319254154 meters 0.05519740453266803 Centerline is valid? [True, True] Translation: X:424.71, Y:4.59, Z:1.63 [[ 9.99561947e-01 -2.83086331e-02 -8.63339607e-03 4.24705923e+02] [ 2.83099293e-02 9.99599193e-01 2.79432831e-05 4.58619349e+00] [ 8.62914471e-03 -2.72341875e-04 9.99962731e-01 1.63151575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters 0.05620648437521918 Centerline is valid? [True, True] Translation: X:424.77, Y:4.58, Z:1.63 [[ 9.99498482e-01 -3.00998659e-02 -9.83785741e-03 4.24765699e+02] [ 3.01016391e-02 9.99546842e-01 3.21874290e-05 4.58056274e+00] [ 9.83243047e-03 -3.28306919e-04 9.99951607e-01 1.63005566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters 0.05545341260915647 Centerline is valid? [True, True] Translation: X:424.83, Y:4.58, Z:1.63 [[ 9.99422326e-01 -3.25189613e-02 -9.87580323e-03 4.24826635e+02] [ 3.25208682e-02 9.99471056e-01 3.25151818e-05 4.57979708e+00] [ 9.86952212e-03 -3.53666093e-04 9.99951233e-01 1.63059162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters 0.05557277184868082 Centerline is valid? [True, True] Translation: X:424.89, Y:4.58, Z:1.63 [[ 9.99350499e-01 -3.50958559e-02 -8.17683048e-03 4.24888041e+02] [ 3.50972500e-02 9.99383901e-01 2.70192146e-05 4.58397028e+00] [ 8.17084449e-03 -3.13985929e-04 9.99966569e-01 1.63212545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters 0.055253887608605404 Centerline is valid? [True, True] Translation: X:424.95, Y:4.58, Z:1.63 [[ 9.99279597e-01 -3.73431134e-02 -6.76597619e-03 4.24948961e+02] [ 3.73441199e-02 9.99302465e-01 2.24355038e-05 4.58430365e+00] [ 6.76041887e-03 -2.75088767e-04 9.99977110e-01 1.63302401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.619254154 meters 0.053819063523703005 Centerline is valid? [True, True] Translation: X:425.01, Y:4.59, Z:1.63 [[ 9.99100560e-01 -4.21498149e-02 -4.63304230e-03 4.25009312e+02] [ 4.21503385e-02 9.99111279e-01 1.53838251e-05 4.58888508e+00] [ 4.62827639e-03 -2.10654289e-04 9.99989267e-01 1.63458466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.679254154 meters 0.05466937588387854 Centerline is valid? [True, True] Translation: X:425.07, Y:4.59, Z:1.64 [[ 9.98936141e-01 -4.58590254e-02 -4.85136719e-03 4.25069086e+02] [ 4.58596433e-02 9.98947893e-01 1.61347706e-05 4.58653117e+00] [ 4.84552311e-03 -2.38599574e-04 9.99988232e-01 1.63535329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.739254154 meters 0.0555937404865959 Centerline is valid? [True, True] Translation: X:425.13, Y:4.58, Z:1.64 [[ 9.98744763e-01 -4.97983689e-02 -5.38714049e-03 4.25129329e+02] [ 4.97991888e-02 9.98759251e-01 1.80841491e-05 4.58364624e+00] [ 5.37955583e-03 -2.86336675e-04 9.99985489e-01 1.63519649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.799254154 meters 0.05461313192088383 Centerline is valid? [True, True] Translation: X:425.19, Y:4.59, Z:1.63 [[ 9.98520598e-01 -5.41238720e-02 -5.21749717e-03 4.25189903e+02] [ 5.41246999e-02 9.98534184e-01 1.75181927e-05 4.58641413e+00] [ 5.20890113e-03 -2.99887745e-04 9.99986389e-01 1.63472141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.859254154 meters 0.054604613847375395 Centerline is valid? [True, True] Translation: X:425.25, Y:4.59, Z:1.64 [[ 9.98244070e-01 -5.89837464e-02 -5.44922721e-03 4.25249367e+02] [ 5.89847217e-02 9.98258885e-01 1.83017477e-05 4.58680551e+00] [ 5.43865997e-03 -3.39690761e-04 9.99985153e-01 1.63539772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.919254154 meters 0.05490885398160957 Centerline is valid? [True, True] Translation: X:425.31, Y:4.58, Z:1.64 [[ 9.98125668e-01 -6.08209558e-02 -6.77961918e-03 4.25310155e+02] [ 6.08225077e-02 9.98148597e-01 2.27681657e-05 4.58389800e+00] [ 6.76568259e-03 -4.35078930e-04 9.99977018e-01 1.63509043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.979254154 meters 0.05294744975838453 Centerline is valid? [True, True] Translation: X:425.37, Y:4.59, Z:1.63 [[ 9.98135961e-01 -6.04000045e-02 -8.74312254e-03 4.25372361e+02] [ 6.04025713e-02 9.98174097e-01 2.95757298e-05 4.59425269e+00] [ 8.72537208e-03 -5.57627682e-04 9.99961778e-01 1.63489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.039254154 meters 0.05361869284333659 Centerline is valid? [True, True] Translation: X:425.43, Y:4.60, Z:1.64 [[ 9.98328963e-01 -5.71900670e-02 -8.28115303e-03 4.25433309e+02] [ 5.71922613e-02 9.98363183e-01 2.82128314e-05 4.60152858e+00] [ 8.26598480e-03 -5.01783555e-04 9.99965710e-01 1.63520715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.099254154 meters 0.05385423859202556 Centerline is valid? [True, True] Translation: X:425.49, Y:4.60, Z:1.64 [[ 9.98864166e-01 -4.67716178e-02 -9.09905786e-03 4.25492772e+02] [ 4.67738364e-02 9.98905505e-01 3.10680895e-05 4.59974307e+00] [ 9.08764588e-03 -4.56630645e-04 9.99958602e-01 1.63607805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.159254154 meters 0.05461480748009679 Centerline is valid? [True, True] Translation: X:425.55, Y:4.60, Z:1.63 [[ 9.99378567e-01 -3.40687529e-02 -9.04433518e-03 4.25552826e+02] [ 3.40704256e-02 9.99419434e-01 3.08943127e-05 4.59650956e+00] [ 9.03803182e-03 -3.39019463e-04 9.99959099e-01 1.63411504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.219254154 meters 0.054448057904409104 Centerline is valid? [True, True] Translation: X:425.61, Y:4.60, Z:1.63 [[ 9.99641441e-01 -2.54864097e-02 -8.21177772e-03 4.25613302e+02] [ 2.54874997e-02 9.99675141e-01 2.80925366e-05 4.60421786e+00] [ 8.20839407e-03 -2.37380146e-04 9.99966282e-01 1.63498703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279254154 meters 0.05441399882040368 Centerline is valid? [True, True] Translation: X:425.67, Y:4.62, Z:1.64 [[ 9.99880975e-01 -1.40800602e-02 -6.30771623e-03 4.25674288e+02] [ 1.40804765e-02 9.99900865e-01 2.15927871e-05 4.61793459e+00] [ 6.30678689e-03 -1.10405867e-04 9.99980106e-01 1.63798755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339254154 meters 0.05415751476134066 Centerline is valid? [True, True] Translation: X:425.73, Y:4.62, Z:1.64 [[ 9.99939984e-01 -9.30867103e-03 -5.77724161e-03 4.25734333e+02] [ 9.30894056e-03 9.99956671e-01 1.97653280e-05 4.62116275e+00] [ 5.77680730e-03 -7.35441405e-05 9.99983311e-01 1.63852368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399254154 meters 0.053997321210293485 Centerline is valid? [True, True] Translation: X:425.79, Y:4.62, Z:1.64 [[ 9.99948321e-01 -7.39306408e-03 -6.97846155e-03 4.25794491e+02] [ 7.39341072e-03 9.99972668e-01 2.38749893e-05 4.62411042e+00] [ 6.97809431e-03 -7.54683878e-05 9.99975650e-01 1.63846096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459254154 meters 0.053714675001147016 Centerline is valid? [True, True] Translation: X:425.85, Y:4.62, Z:1.64 [[ 9.99927989e-01 -9.32798035e-03 -7.55014476e-03 4.25853446e+02] [ 9.32844193e-03 9.99956489e-01 2.59199509e-05 4.62306815e+00] [ 7.54957446e-03 -9.63491713e-05 9.99971497e-01 1.63825105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519254154 meters 0.05405837890503477 Centerline is valid? [True, True] Translation: X:425.91, Y:4.62, Z:1.64 [[ 9.99857786e-01 -1.49070591e-02 -7.88586642e-03 4.25913152e+02] [ 1.49077366e-02 9.99888873e-01 2.71415103e-05 4.61844867e+00] [ 7.88458549e-03 -1.44698070e-04 9.99968906e-01 1.63791077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579254154 meters 0.053731844009024546 Centerline is valid? [True, True] Translation: X:425.97, Y:4.62, Z:1.64 [[ 9.99715245e-01 -2.27089607e-02 -7.33027399e-03 4.25973614e+02] [ 2.27097555e-02 9.99742100e-01 2.52037593e-05 4.61522458e+00] [ 7.32781116e-03 -1.91665312e-04 9.99973133e-01 1.63931191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639254154 meters 0.05458362739999126 Centerline is valid? [True, True] Translation: X:426.03, Y:4.61, Z:1.64 [[ 9.99567957e-01 -2.84329623e-02 -7.44754325e-03 4.26033456e+02] [ 2.84339417e-02 9.99595673e-01 2.56268975e-05 4.60903511e+00] [ 7.44380337e-03 -2.37378836e-04 9.99972266e-01 1.64009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699254154 meters 0.05483161523791652 Centerline is valid? [True, True] Translation: X:426.09, Y:4.61, Z:1.64 [[ 9.99313920e-01 -3.62888372e-02 -7.40336123e-03 4.26093992e+02] [ 3.62900204e-02 9.99341300e-01 2.54974702e-05 4.60835327e+00] [ 7.39755936e-03 -2.94148107e-04 9.99972594e-01 1.64173884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759254154 meters 0.05724229260310218 Centerline is valid? [True, True] Translation: X:426.15, Y:4.59, Z:1.64 [[ 9.99154514e-01 -4.03799270e-02 -7.72782568e-03 4.26154363e+02] [ 4.03813388e-02 9.99184341e-01 2.66917748e-05 4.59266956e+00] [ 7.72044459e-03 -3.38729154e-04 9.99970140e-01 1.64096990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819254154 meters 0.05286565313938959 Centerline is valid? [True, True] Translation: X:426.22, Y:4.61, Z:1.64 [[ 9.98970961e-01 -4.47903514e-02 -7.13041953e-03 4.26215444e+02] [ 4.47916661e-02 9.98996349e-01 2.47138902e-05 4.60765849e+00] [ 7.12215613e-03 -3.44071829e-04 9.99974578e-01 1.64254988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters 0.055701235205964914 Centerline is valid? [True, True] Translation: X:426.28, Y:4.59, Z:1.64 [[ 9.98959982e-01 -4.49216264e-02 -7.81038350e-03 4.26276205e+02] [ 4.49232089e-02 9.98990443e-01 2.71961064e-05 4.59244248e+00] [ 7.80127677e-03 -3.78035311e-04 9.99969498e-01 1.64173205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters 0.053249723075473473 Centerline is valid? [True, True] Translation: X:426.34, Y:4.60, Z:1.64 [[ 9.99053193e-01 -4.28023986e-02 -7.78924280e-03 4.26337163e+02] [ 4.28039092e-02 9.99083492e-01 2.72547254e-05 4.60005516e+00] [ 7.78093733e-03 -3.60638962e-04 9.99969663e-01 1.64214389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters 0.05443115612649049 Centerline is valid? [True, True] Translation: X:426.40, Y:4.60, Z:1.64 [[ 9.99206529e-01 -3.89821048e-02 -8.16755247e-03 4.26396677e+02] [ 3.89836383e-02 9.99239849e-01 2.85752092e-05 4.59633591e+00] [ 8.16022997e-03 -3.46953447e-04 9.99966645e-01 1.64168750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.059254154 meters 0.053228358664801745 Centerline is valid? [True, True] Translation: X:426.46, Y:4.61, Z:1.64 [[ 9.99425787e-01 -3.27395635e-02 -8.73025962e-03 4.26456879e+02] [ 3.27410772e-02 9.99463867e-01 3.04832128e-05 4.60558210e+00] [ 8.72458103e-03 -3.16303813e-04 9.99961890e-01 1.64243330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.119254154 meters 0.053759152911410646 Centerline is valid? [True, True] Translation: X:426.52, Y:4.60, Z:1.64 [[ 9.99523321e-01 -2.96256765e-02 -8.68623366e-03 4.26516713e+02] [ 2.96270573e-02 9.99561022e-01 3.03100679e-05 4.60475758e+00] [ 8.68152264e-03 -2.87643162e-04 9.99962273e-01 1.64183884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.179254154 meters 0.0549122462208893 Centerline is valid? [True, True] Translation: X:426.58, Y:4.60, Z:1.64 [[ 9.99601885e-01 -2.62038372e-02 -1.04608952e-02 4.26576678e+02] [ 2.62056528e-02 9.99656572e-01 3.65026381e-05 4.60383777e+00] [ 1.04563461e-02 -3.10622693e-04 9.99945283e-01 1.64009480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.239254154 meters 0.053370082091717425 Centerline is valid? [True, True] Translation: X:426.64, Y:4.61, Z:1.64 [[ 9.99665371e-01 -2.27792702e-02 -1.22576990e-02 4.26637213e+02] [ 2.27815059e-02 9.99740467e-01 4.27724724e-05 4.60727671e+00] [ 1.22535434e-02 -3.22007003e-04 9.99924871e-01 1.63961113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.299254154 meters 0.054326408772622084 Centerline is valid? [True, True] Translation: X:426.70, Y:4.61, Z:1.64 [[ 9.99706967e-01 -2.09461699e-02 -1.21341374e-02 4.26697806e+02] [ 2.09482257e-02 9.99780561e-01 4.23413119e-05 4.60819003e+00] [ 1.21305878e-02 -2.96517554e-04 9.99926378e-01 1.63972285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.359254154 meters 0.05520952120640767 Centerline is valid? [True, True] Translation: X:426.76, Y:4.61, Z:1.64 [[ 9.99750909e-01 -1.97559409e-02 -1.03838182e-02 4.26756992e+02] [ 1.97573817e-02 9.99804803e-01 3.61806347e-05 4.60742225e+00] [ 1.03810766e-02 -2.41328682e-04 9.99946086e-01 1.64109269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.419254154 meters 0.054815491175811824 Centerline is valid? [True, True] Translation: X:426.82, Y:4.60, Z:1.64 [[ 9.99795819e-01 -1.81039961e-02 -8.97585571e-03 4.26816280e+02] [ 1.81050063e-02 9.99836090e-01 3.13019089e-05 4.60328040e+00] [ 8.97381779e-03 -1.93803442e-04 9.99959716e-01 1.64077326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.479254154 meters 0.05353559586129143 Centerline is valid? [True, True] Translation: X:426.88, Y:4.61, Z:1.64 [[ 9.99877694e-01 -1.36728569e-02 -7.59279006e-03 4.26876841e+02] [ 1.36734523e-02 9.99906514e-01 2.65152524e-05 4.61260609e+00] [ 7.59171770e-03 -1.30331662e-04 9.99971174e-01 1.64372901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.539254154 meters 0.05478203828360696 Centerline is valid? [True, True] Translation: X:426.94, Y:4.61, Z:1.64 [[ 9.99934126e-01 -9.25713219e-03 -6.78595066e-03 4.26936599e+02] [ 9.25750598e-03 9.99957148e-01 2.36736070e-05 4.61207813e+00] [ 6.78544072e-03 -8.64930264e-05 9.99976975e-01 1.64423345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.599254154 meters 0.05494393060536561 Centerline is valid? [True, True] Translation: X:427.00, Y:4.61, Z:1.64 [[ 9.99942540e-01 -7.98825015e-03 -7.14874480e-03 4.26996397e+02] [ 7.98863212e-03 9.99968090e-01 2.48770171e-05 4.60824856e+00] [ 7.14831796e-03 -8.19842800e-05 9.99974447e-01 1.64348249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.659254154 meters 0.054628216866036215 Centerline is valid? [True, True] Translation: X:427.06, Y:4.61, Z:1.64 [[ 9.99940928e-01 -7.97613456e-03 -7.38382553e-03 4.27055690e+02] [ 7.97654106e-03 9.99968187e-01 2.56036167e-05 4.60853940e+00] [ 7.38338641e-03 -8.44994918e-05 9.99972739e-01 1.64403870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.719254154 meters 0.054415726671197796 Centerline is valid? [True, True] Translation: X:427.11, Y:4.61, Z:1.65 [[ 9.99911832e-01 -1.03006009e-02 -8.38010038e-03 4.27113800e+02] [ 1.03012042e-02 9.99946941e-01 2.88383470e-05 4.61087007e+00] [ 8.37935869e-03 -1.15160930e-04 9.99964886e-01 1.64601746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779254154 meters 0.054606984944803975 Centerline is valid? [True, True] Translation: X:427.17, Y:4.61, Z:1.65 [[ 9.99897593e-01 -1.13867779e-02 -8.66857484e-03 4.27172224e+02] [ 1.13874623e-02 9.99935160e-01 2.95976503e-05 4.60693247e+00] [ 8.66767575e-03 -1.28307688e-04 9.99962427e-01 1.64593008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839254154 meters 0.054464469761356334 Centerline is valid? [True, True] Translation: X:427.23, Y:4.60, Z:1.64 [[ 9.99894824e-01 -1.14077126e-02 -8.95575726e-03 4.27230733e+02] [ 1.14084402e-02 9.99934921e-01 3.01542696e-05 4.59934558e+00] [ 8.95483044e-03 -1.32322319e-04 9.99959896e-01 1.64484103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899254154 meters 0.054706966403907265 Centerline is valid? [True, True] Translation: X:427.29, Y:4.60, Z:1.65 [[ 9.99893793e-01 -1.18464747e-02 -8.48899206e-03 4.27289540e+02] [ 1.18471374e-02 9.99929820e-01 2.77885305e-05 4.59546229e+00] [ 8.48806710e-03 -1.28355835e-04 9.99963967e-01 1.64535009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959254154 meters 0.055163873848849694 Centerline is valid? [True, True] Translation: X:427.35, Y:4.59, Z:1.65 [[ 9.99876505e-01 -1.34787305e-02 -8.08075980e-03 4.27348353e+02] [ 1.34793800e-02 9.99909149e-01 2.59144716e-05 4.58969260e+00] [ 8.07967636e-03 -1.34834903e-04 9.99967350e-01 1.64500727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019254154 meters 0.05431116748524792 Centerline is valid? [True, True] Translation: X:427.41, Y:4.59, Z:1.65 [[ 9.99793992e-01 -1.81550077e-02 -9.07576082e-03 4.27408623e+02] [ 1.81560183e-02 9.99835166e-01 2.89661861e-05 4.58555317e+00] [ 9.07373894e-03 -1.93739898e-04 9.99958814e-01 1.64556492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079254154 meters 0.05586681789159121 Centerline is valid? [True, True] Translation: X:427.47, Y:4.58, Z:1.65 [[ 9.99720269e-01 -2.16589237e-02 -9.50133336e-03 4.27469142e+02] [ 2.16601892e-02 9.99765390e-01 3.02901016e-05 4.58297094e+00] [ 9.49844820e-03 -2.36082306e-04 9.99954861e-01 1.64601799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139254154 meters 0.05647664290689219 Centerline is valid? [True, True] Translation: X:427.53, Y:4.58, Z:1.65 [[ 9.99638781e-01 -2.50451372e-02 -9.74930231e-03 4.27529567e+02] [ 2.50466310e-02 9.99686283e-01 3.11295993e-05 4.57688270e+00] [ 9.74546414e-03 -2.75305532e-04 9.99952474e-01 1.64712825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199254154 meters 0.05643784837794695 Centerline is valid? [True, True] Translation: X:427.59, Y:4.58, Z:1.65 [[ 9.99597734e-01 -2.68611860e-02 -9.10201705e-03 4.27590437e+02] [ 2.68625643e-02 9.99639136e-01 2.91784470e-05 4.57603626e+00] [ 9.09794869e-03 -2.73670227e-04 9.99958575e-01 1.64873356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259254154 meters 0.05543409169576204 Centerline is valid? [True, True] Translation: X:427.65, Y:4.58, Z:1.65 [[ 9.99523195e-01 -2.93638534e-02 -9.54713426e-03 4.27651959e+02] [ 2.93654854e-02 9.99568741e-01 3.07669763e-05 4.57557729e+00] [ 9.54211353e-03 -3.11108538e-04 9.99954425e-01 1.65016771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319254154 meters 0.057567604598436316 Centerline is valid? [True, True] Translation: X:427.71, Y:4.56, Z:1.65 [[ 9.99416317e-01 -3.26364779e-02 -1.00938577e-02 4.27711200e+02] [ 3.26384702e-02 9.99467223e-01 3.26685556e-05 4.56168095e+00] [ 1.00874137e-02 -3.62097561e-04 9.99949055e-01 1.64883969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters 0.05615381420608959 Centerline is valid? [True, True] Translation: X:427.77, Y:4.57, Z:1.65 [[ 9.99321320e-01 -3.54489372e-02 -1.00135603e-02 4.27771688e+02] [ 3.54510399e-02 9.99371414e-01 3.25012944e-05 4.56658902e+00] [ 1.00061138e-02 -3.87470364e-04 9.99949863e-01 1.65010220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters 0.05648728219101471 Centerline is valid? [True, True] Translation: X:427.83, Y:4.56, Z:1.65 [[ 9.99094626e-01 -4.09710306e-02 -1.14587413e-02 4.27832465e+02] [ 4.09741470e-02 9.99160206e-01 3.72367784e-05 4.56233310e+00] [ 1.14475927e-02 -5.06715215e-04 9.99934346e-01 1.65012692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters 0.05823386290832155 Centerline is valid? [True, True] Translation: X:427.89, Y:4.56, Z:1.65 [[ 9.98883712e-01 -4.55075504e-02 -1.26646063e-02 4.27892086e+02] [ 4.55117223e-02 9.98963804e-01 4.12615366e-05 4.55843562e+00] [ 1.26496056e-02 -6.17603522e-04 9.99919800e-01 1.64976216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.559254154 meters 0.05746966922002067 Centerline is valid? [True, True] Translation: X:427.95, Y:4.56, Z:1.65 [[ 9.98529150e-01 -5.25250598e-02 -1.34408226e-02 4.27952413e+02] [ 5.25303936e-02 9.98619325e-01 4.38590304e-05 4.55583873e+00] [ 1.34199615e-02 -7.49846221e-04 9.99909667e-01 1.65040078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.619254154 meters 0.058514478135349504 Centerline is valid? [True, True] Translation: X:428.01, Y:4.56, Z:1.65 [[ 9.98295564e-01 -5.72850286e-02 -1.11531446e-02 4.28013359e+02] [ 5.72889973e-02 9.98357636e-01 3.64140495e-05 4.55666556e+00] [ 1.11327411e-02 -6.75304455e-04 9.99937801e-01 1.65231749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.679254154 meters 0.05883461322893528 Centerline is valid? [True, True] Translation: X:428.07, Y:4.56, Z:1.65 [[ 9.98238949e-01 -5.84821844e-02 -9.94153137e-03 4.28073256e+02] [ 5.84853968e-02 9.98288264e-01 3.24646008e-05 4.55778705e+00] [ 9.92261549e-03 -6.13841836e-04 9.99950581e-01 1.65359013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.739254154 meters 0.05683094388026279 Centerline is valid? [True, True] Translation: X:428.14, Y:4.57, Z:1.65 [[ 9.98227395e-01 -5.87202693e-02 -9.69524714e-03 4.28135047e+02] [ 5.87233374e-02 9.98274295e-01 3.18359339e-05 4.56610703e+00] [ 9.67664660e-03 -6.01116771e-04 9.99952999e-01 1.65440992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.799254154 meters 0.0583299648958239 Centerline is valid? [True, True] Translation: X:428.20, Y:4.57, Z:1.65 [[ 9.98256905e-01 -5.80815407e-02 -1.04730826e-02 4.28196934e+02] [ 5.80850905e-02 9.98311635e-01 3.48278029e-05 4.56692823e+00] [ 1.04533774e-02 -6.43097046e-04 9.99945155e-01 1.65415147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.859254154 meters 0.05389252985723426 Centerline is valid? [True, True] Translation: X:428.26, Y:4.59, Z:1.66 [[ 9.98180617e-01 -5.92102098e-02 -1.13844940e-02 4.28258278e+02] [ 5.92144820e-02 9.98245282e-01 3.82548256e-05 4.59148516e+00] [ 1.13622524e-02 -7.12312141e-04 9.99935194e-01 1.65587732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.919254154 meters 0.059770513896181196 Centerline is valid? [True, True] Translation: X:428.32, Y:4.57, Z:1.65 [[ 9.98005522e-01 -6.17796780e-02 -1.29710645e-02 4.28318410e+02] [ 6.17854422e-02 9.98089454e-01 4.37455580e-05 4.56898799e+00] [ 1.29435801e-02 -8.45081266e-04 9.99915871e-01 1.65294827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.979254154 meters 0.0601608102834813 Centerline is valid? [True, True] Translation: X:428.38, Y:4.57, Z:1.65 [[ 9.97709173e-01 -6.62443170e-02 -1.37148549e-02 4.28378682e+02] [ 6.62511810e-02 9.97802976e-01 4.62532795e-05 4.57286067e+00] [ 1.36816590e-02 -9.54772652e-04 9.99905946e-01 1.65312689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.039254154 meters 0.06033597639784669 Centerline is valid? [True, True] Translation: X:428.44, Y:4.57, Z:1.65 [[ 9.97598279e-01 -6.79307125e-02 -1.35311884e-02 4.28438814e+02] [ 6.79375493e-02 9.97689575e-01 4.57128533e-05 4.57194630e+00] [ 1.34968203e-02 -9.64878844e-04 9.99908448e-01 1.65202888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.099254154 meters 0.061016154110537325 Centerline is valid? [True, True] Translation: X:428.50, Y:4.58, Z:1.65 [[ 9.97758229e-01 -6.57199760e-02 -1.26254227e-02 4.28498305e+02] [ 6.57257514e-02 9.97837724e-01 4.26154559e-05 4.57710624e+00] [ 1.25953224e-02 -8.72335319e-04 9.99920295e-01 1.65293379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.159254154 meters 0.06121862399199727 Centerline is valid? [True, True] Translation: X:428.56, Y:4.58, Z:1.65 [[ 9.97994092e-01 -6.23438898e-02 -1.10014372e-02 4.28558983e+02] [ 6.23480705e-02 9.98054466e-01 3.71224374e-05 4.57983978e+00] [ 1.09777192e-02 -7.22966359e-04 9.99939482e-01 1.65443505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.219254154 meters 0.059119580529466746 Centerline is valid? [True, True] Translation: X:428.62, Y:4.59, Z:1.66 [[ 9.98411800e-01 -5.55350103e-02 -9.47316384e-03 4.28619168e+02] [ 5.55378049e-02 9.98456585e-01 3.19850537e-05 4.58956893e+00] [ 9.45676652e-03 -5.58052980e-04 9.99955128e-01 1.65627000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279254154 meters 0.05188293047770635 Centerline is valid? [True, True] Translation: X:428.68, Y:4.62, Z:1.66 [[ 9.98684107e-01 -5.03398958e-02 -9.79537436e-03 4.28679643e+02] [ 5.03426346e-02 9.98732005e-01 3.30780472e-05 4.62335346e+00] [ 9.78128873e-03 -5.26159472e-04 9.99952024e-01 1.65871514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339254154 meters 0.05339022431234816 Centerline is valid? [True, True] Translation: X:428.74, Y:4.62, Z:1.66 [[ 9.99068560e-01 -4.13297490e-02 -1.24042267e-02 4.28739326e+02] [ 4.13334471e-02 9.99145407e-01 4.18065192e-05 4.62348823e+00] [ 1.23918982e-02 -5.54477025e-04 9.99923064e-01 1.65664553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399254154 meters 0.0531766813232814 Centerline is valid? [True, True] Translation: X:428.80, Y:4.63, Z:1.66 [[ 9.99296347e-01 -3.48135244e-02 -1.39581120e-02 4.28800361e+02] [ 3.48175718e-02 9.99393683e-01 4.69931431e-05 4.62607848e+00] [ 1.39480130e-02 -5.32947644e-04 9.99902580e-01 1.65585005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459254154 meters 0.05631982652297762 Centerline is valid? [True, True] Translation: X:428.86, Y:4.62, Z:1.65 [[ 9.99633823e-01 -2.34240368e-02 -1.35475038e-02 4.28860159e+02] [ 2.34268036e-02 9.99725554e-01 4.55473684e-05 4.61588906e+00] [ 1.35427189e-02 -3.62905401e-04 9.99908227e-01 1.65018624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519254154 meters 0.05550797993570755 Centerline is valid? [True, True] Translation: X:428.92, Y:4.62, Z:1.65 [[ 9.99725360e-01 -1.94119573e-02 -1.31293983e-02 4.28920499e+02] [ 1.94142096e-02 9.99811526e-01 4.41005357e-05 4.62020509e+00] [ 1.31260677e-02 -2.98985315e-04 9.99913805e-01 1.65138569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579254154 meters 0.0536359682346652 Centerline is valid? [True, True] Translation: X:428.98, Y:4.64, Z:1.66 [[ 9.99913452e-01 -7.83888474e-03 -1.05659870e-02 4.28981172e+02] [ 7.83969716e-03 9.99969268e-01 3.54736515e-05 4.63976237e+00] [ 1.05653843e-02 -1.18304720e-04 9.99944178e-01 1.65889889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639254154 meters 0.053499744409517956 Centerline is valid? [True, True] Translation: X:429.04, Y:4.64, Z:1.66 [[ 9.99950174e-01 -1.63358411e-03 -9.84785469e-03 4.29039875e+02] [ 1.63398262e-03 9.99998665e-01 3.24206794e-05 4.64240985e+00] [ 9.84778857e-03 -4.85102874e-05 9.99951508e-01 1.65916835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699254154 meters 0.0533433033708903 Centerline is valid? [True, True] Translation: X:429.10, Y:4.64, Z:1.66 [[ 9.99941451e-01 3.79535316e-03 -1.01336526e-02 4.29098007e+02] [-3.79521699e-03 9.99992798e-01 3.26678558e-05 4.64431521e+00] [ 1.01337036e-02 5.79346747e-06 9.99948653e-01 1.65628874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759254154 meters 0.05371021264255285 Centerline is valid? [True, True] Translation: X:429.16, Y:4.64, Z:1.66 [[ 9.99936782e-01 3.47981014e-03 -1.06921900e-02 4.29157206e+02] [-3.47964713e-03 9.99993945e-01 3.38490982e-05 4.64248845e+00] [ 1.06922430e-02 3.35808986e-06 9.99942836e-01 1.66090036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819254154 meters 0.05409251420352586 Centerline is valid? [True, True] Translation: X:429.22, Y:4.64, Z:1.66 [[ 9.99922290e-01 -1.69179522e-03 -1.23511687e-02 4.29215267e+02] [ 1.69239845e-03 9.99998567e-01 3.83878424e-05 4.63813317e+00] [ 1.23510860e-02 -5.92879580e-05 9.99923721e-01 1.66369988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters 0.05482350960845026 Centerline is valid? [True, True] Translation: X:429.27, Y:4.63, Z:1.66 [[ 9.99881707e-01 -8.00628045e-03 -1.31328475e-02 4.29274937e+02] [ 8.00750333e-03 9.99967939e-01 4.05349640e-05 4.63061807e+00] [ 1.31321019e-02 -1.45691489e-04 9.99913760e-01 1.66161792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters 0.055097612023467704 Centerline is valid? [True, True] Translation: X:429.33, Y:4.62, Z:1.66 [[ 9.99756069e-01 -1.79135472e-02 -1.29192705e-02 4.29334633e+02] [ 1.79155561e-02 9.99839503e-01 3.97689211e-05 4.62364327e+00] [ 1.29164846e-02 -2.71215136e-04 9.99916542e-01 1.66349649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters 0.054173797995261654 Centerline is valid? [True, True] Translation: X:429.40, Y:4.62, Z:1.66 [[ 9.99637605e-01 -2.38506625e-02 -1.24821767e-02 4.29395487e+02] [ 2.38530007e-02 9.99715476e-01 3.84583147e-05 4.61668954e+00] [ 1.24777080e-02 -3.36181747e-04 9.99922094e-01 1.66349585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.059254154 meters 0.061782330528421525 Centerline is valid? [True, True] Translation: X:429.45, Y:4.58, Z:1.66 [[ 9.99426112e-01 -3.16580184e-02 -1.20506183e-02 4.29454950e+02] [ 3.16607649e-02 9.99498672e-01 3.71653429e-05 4.58074308e+00] [ 1.20434004e-02 -4.18675807e-04 9.99927388e-01 1.65734313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.119254154 meters 0.0549269286659976 Centerline is valid? [True, True] Translation: X:429.52, Y:4.60, Z:1.66 [[ 9.99226502e-01 -3.73958237e-02 -1.21634543e-02 4.29515275e+02] [ 3.73990464e-02 9.99300410e-01 3.75186616e-05 4.59809960e+00] [ 1.21535418e-02 -4.92391232e-04 9.99926022e-01 1.66289929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.179254154 meters 0.05404769600229432 Centerline is valid? [True, True] Translation: X:429.58, Y:4.60, Z:1.66 [[ 9.98781199e-01 -4.78400113e-02 -1.21428829e-02 4.29575993e+02] [ 4.78439934e-02 9.98854820e-01 3.74823693e-05 4.59925311e+00] [ 1.21271839e-02 -6.18400694e-04 9.99926272e-01 1.66357108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.239254154 meters 0.0557380765002782 Centerline is valid? [True, True] Translation: X:429.64, Y:4.59, Z:1.66 [[ 9.98429770e-01 -5.46953277e-02 -1.21002702e-02 4.29635064e+02] [ 5.46997845e-02 9.98502845e-01 3.74335572e-05 4.58814840e+00] [ 1.20801067e-02 -6.99256948e-04 9.99926788e-01 1.66284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.299254154 meters 0.05610662124846007 Centerline is valid? [True, True] Translation: X:429.69, Y:4.58, Z:1.66 [[ 9.98097931e-01 -6.05421692e-02 -1.16260473e-02 4.29694876e+02] [ 6.05466797e-02 9.98165366e-01 3.60629919e-05 4.58331687e+00] [ 1.16025345e-02 -7.39912962e-04 9.99932415e-01 1.66255125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.359254154 meters 0.05361936691150238 Centerline is valid? [True, True] Translation: X:429.75, Y:4.60, Z:1.66 [[ 9.97853032e-01 -6.44185248e-02 -1.18143963e-02 4.29754996e+02] [ 6.44234529e-02 9.97922651e-01 3.66278463e-05 4.59690376e+00] [ 1.17874942e-02 -7.97673412e-04 9.99930207e-01 1.66284825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.419254154 meters 0.05392142151850214 Centerline is valid? [True, True] Translation: X:429.82, Y:4.60, Z:1.66 [[ 9.98016428e-01 -6.16516714e-02 -1.27389272e-02 4.29816127e+02] [ 6.16571771e-02 9.98097386e-01 3.95334974e-05 4.59695471e+00] [ 1.27122526e-02 -8.24901368e-04 9.99918856e-01 1.66248229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.479254154 meters 0.05466988721603071 Centerline is valid? [True, True] Translation: X:429.88, Y:4.59, Z:1.66 [[ 9.98262166e-01 -5.77635087e-02 -1.16629824e-02 4.29876996e+02] [ 5.77678604e-02 9.98330042e-01 3.63010728e-05 4.59328696e+00] [ 1.16414088e-02 -7.09983524e-04 9.99931984e-01 1.66161419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.539254154 meters 0.05347251798806156 Centerline is valid? [True, True] Translation: X:429.94, Y:4.61, Z:1.66 [[ 9.98672151e-01 -5.01989782e-02 -1.15757179e-02 4.29937305e+02] [ 5.02027587e-02 9.98739046e-01 3.60641194e-05 4.60664386e+00] [ 1.15593111e-02 -6.17149206e-04 9.99932998e-01 1.66319385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.599254154 meters 0.053660416737826795 Centerline is valid? [True, True] Translation: X:430.00, Y:4.61, Z:1.66 [[ 9.98946592e-01 -4.43606129e-02 -1.17406631e-02 4.29996921e+02] [ 4.43640988e-02 9.99015428e-01 3.65045763e-05 4.60515991e+00] [ 1.17274842e-02 -5.57330059e-04 9.99931075e-01 1.66218933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.659254154 meters 0.05334638967025546 Centerline is valid? [True, True] Translation: X:430.06, Y:4.61, Z:1.66 [[ 9.99337725e-01 -3.46435227e-02 -1.11327547e-02 4.30057427e+02] [ 3.46460547e-02 9.99399645e-01 3.46002025e-05 4.61264655e+00] [ 1.11248725e-02 -4.20283318e-04 9.99938028e-01 1.66260102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.719254154 meters 0.054141432747238066 Centerline is valid? [True, True] Translation: X:430.12, Y:4.62, Z:1.66 [[ 9.99629514e-01 -2.50945041e-02 -1.05404123e-02 4.30118463e+02] [ 2.50962430e-02 9.99685039e-01 3.27216009e-05 4.61826002e+00] [ 1.05362714e-02 -2.97234228e-04 9.99944448e-01 1.66270800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779254154 meters 0.05338868268221753 Centerline is valid? [True, True] Translation: X:430.18, Y:4.62, Z:1.66 [[ 9.99776217e-01 -1.86818487e-02 -9.92498784e-03 4.30178390e+02] [ 1.86830744e-02 9.99825456e-01 3.07820009e-05 4.61873380e+00] [ 9.92268042e-03 -2.16204398e-04 9.99950746e-01 1.66240929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839254154 meters 0.055040907323320884 Centerline is valid? [True, True] Translation: X:430.24, Y:4.62, Z:1.66 [[ 9.99893269e-01 -1.17077625e-02 -8.73948520e-03 4.30238440e+02] [ 1.17084464e-02 9.99931453e-01 2.70966567e-05 4.62411541e+00] [ 8.73856889e-03 -1.29419559e-04 9.99961810e-01 1.66335989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899254154 meters 0.05421618174330463 Centerline is valid? [True, True] Translation: X:430.30, Y:4.63, Z:1.66 [[ 9.99921958e-01 -9.63652174e-03 -7.95077590e-03 4.30298587e+02] [ 9.63702202e-03 9.99953563e-01 2.46121494e-05 4.62678526e+00] [ 7.95016951e-03 -1.01232031e-04 9.99968392e-01 1.66409144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959254154 meters 0.05631055917338453 Centerline is valid? [True, True] Translation: X:430.36, Y:4.61, Z:1.66 [[ 9.99921794e-01 -1.00101576e-02 -7.49679255e-03 4.30357625e+02] [ 1.00106120e-02 9.99949892e-01 2.30860305e-05 4.60966229e+00] [ 7.49618581e-03 -9.81317064e-05 9.99971898e-01 1.65944310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019254154 meters 0.054271661319395564 Centerline is valid? [True, True] Translation: X:430.42, Y:4.62, Z:1.66 [[ 9.99898512e-01 -1.21075148e-02 -7.50823032e-03 4.30417321e+02] [ 1.21080285e-02 9.99926695e-01 2.29665709e-05 4.62216366e+00] [ 7.50740186e-03 -1.13874107e-04 9.99971813e-01 1.66334267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079254154 meters 0.05501218185235086 Centerline is valid? [True, True] Translation: X:430.48, Y:4.62, Z:1.66 [[ 9.99855612e-01 -1.59089893e-02 -5.97158716e-03 4.30477242e+02] [ 1.59093818e-02 9.99873438e-01 1.82176856e-05 4.61562798e+00] [ 5.97054156e-03 -1.13219315e-04 9.99982170e-01 1.66459683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139254154 meters 0.0543171963244449 Centerline is valid? [True, True] Translation: X:430.54, Y:4.61, Z:1.67 [[ 9.99815771e-01 -1.86087071e-02 -4.70538187e-03 4.30539084e+02] [ 1.86089810e-02 9.99826838e-01 1.44319127e-05 4.61455822e+00] [ 4.70429851e-03 -1.01991616e-04 9.99988930e-01 1.66626463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199254154 meters 0.05529806468140464 Centerline is valid? [True, True] Translation: X:430.60, Y:4.60, Z:1.67 [[ 9.99682581e-01 -2.48333282e-02 -4.24774611e-03 4.30599239e+02] [ 2.48336091e-02 9.99691598e-01 1.33897707e-05 4.60344969e+00] [ 4.24610359e-03 -1.18872387e-04 9.99990978e-01 1.66626182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259254154 meters 0.05349035207714675 Centerline is valid? [True, True] Translation: X:430.66, Y:4.61, Z:1.67 [[ 9.99535566e-01 -3.03481074e-02 -2.76507305e-03 4.30659998e+02] [ 3.03482475e-02 9.99539386e-01 8.71040766e-06 4.60981820e+00] [ 2.76353508e-03 -9.26214836e-05 9.99996177e-01 1.66561718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319254154 meters 0.0531161653431385 Centerline is valid? [True, True] Translation: X:430.72, Y:4.61, Z:1.66 [[ 9.99331472e-01 -3.62843943e-02 -4.47804067e-03 4.30720879e+02] [ 3.62848216e-02 9.99341489e-01 1.41896829e-05 4.60815646e+00] [ 4.47457696e-03 -1.76665103e-04 9.99989973e-01 1.66453907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters 0.054260513169998616 Centerline is valid? [True, True] Translation: X:430.78, Y:4.60, Z:1.66 [[ 9.99239743e-01 -3.85732525e-02 -5.66045614e-03 4.30780697e+02] [ 3.85739720e-02 9.99255747e-01 1.79595326e-05 4.60301583e+00] [ 5.65555057e-03 -2.36292155e-04 9.99983979e-01 1.66392372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters 0.05284176417665384 Centerline is valid? [True, True] Translation: X:430.84, Y:4.60, Z:1.66 [[ 9.99220149e-01 -3.91084080e-02 -5.44301720e-03 4.30843209e+02] [ 3.91090815e-02 9.99234947e-01 1.73200766e-05 4.60044463e+00] [ 5.43817564e-03 -2.30177973e-04 9.99985187e-01 1.66367859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters 0.05550246221471125 Centerline is valid? [True, True] Translation: X:430.90, Y:4.59, Z:1.66 [[ 9.99310850e-01 -3.66029984e-02 -6.16815004e-03 4.30902593e+02] [ 3.66038166e-02 9.99329856e-01 1.97592202e-05 4.58692915e+00] [ 6.16329324e-03 -2.45523436e-04 9.99980977e-01 1.66403837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.559254154 meters 0.05737766658039907 Centerline is valid? [True, True] Translation: X:430.96, Y:4.58, Z:1.66 [[ 9.99571365e-01 -2.87065934e-02 -5.74602670e-03 4.30962113e+02] [ 2.87071729e-02 9.99587864e-01 1.83752413e-05 4.58146811e+00] [ 5.74313106e-03 -1.83319547e-04 9.99983491e-01 1.66485636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.619254154 meters 0.05654244154144835 Centerline is valid? [True, True] Translation: X:431.02, Y:4.58, Z:1.66 [[ 9.99740285e-01 -2.20096525e-02 -5.91073928e-03 4.31022744e+02] [ 2.20101487e-02 9.99757747e-01 1.89130453e-05 4.58196646e+00] [ 5.90889112e-03 -1.49004384e-04 9.99982531e-01 1.66485208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.679254154 meters 0.055460171936858996 Centerline is valid? [True, True] Translation: X:431.08, Y:4.59, Z:1.67 [[ 9.99900060e-01 -1.31451222e-02 -5.20337886e-03 4.31083846e+02] [ 1.31453870e-02 9.99913596e-01 1.66815621e-05 4.59109577e+00] [ 5.20270998e-03 -8.50803235e-05 9.99986462e-01 1.66563091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.739254154 meters 0.05523233920288634 Centerline is valid? [True, True] Translation: X:431.14, Y:4.59, Z:1.67 [[ 9.99929519e-01 -1.03732512e-02 -5.77526128e-03 4.31144317e+02] [ 1.03735313e-02 9.99946193e-01 1.85448625e-05 4.58981218e+00] [ 5.77475816e-03 -7.84534091e-05 9.99983323e-01 1.66572611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.799254154 meters 0.054186118434348896 Centerline is valid? [True, True] Translation: X:431.20, Y:4.59, Z:1.66 [[ 9.99899610e-01 -1.16922323e-02 -8.00390038e-03 4.31204556e+02] [ 1.16928126e-02 9.99931636e-01 2.57004598e-05 4.58967241e+00] [ 8.00305271e-03 -1.19285987e-04 9.99967968e-01 1.66499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.859254154 meters 0.05496638732659417 Centerline is valid? [True, True] Translation: X:431.26, Y:4.58, Z:1.66 [[ 9.99846937e-01 -1.48924701e-02 -9.18239959e-03 4.31263788e+02] [ 1.48933683e-02 9.99889087e-01 2.94415517e-05 4.58144045e+00] [ 9.18094269e-03 -1.66193905e-04 9.99957840e-01 1.66365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.919254154 meters 0.05515782000170971 Centerline is valid? [True, True] Translation: X:431.32, Y:4.57, Z:1.66 [[ 9.99731533e-01 -2.08820429e-02 -1.00400743e-02 4.31324073e+02] [ 2.08834187e-02 9.99781917e-01 3.22001162e-05 4.57331134e+00] [ 1.00372123e-02 -2.41862546e-04 9.99949597e-01 1.66392970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.979254154 meters 0.05582292723825607 Centerline is valid? [True, True] Translation: X:431.38, Y:4.57, Z:1.67 [[ 9.99627700e-01 -2.59552356e-02 -8.41350457e-03 4.31384441e+02] [ 2.59563816e-02 9.99663076e-01 2.70312719e-05 4.56845057e+00] [ 8.40996826e-03 -2.45405344e-04 9.99964605e-01 1.66603247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.039254154 meters 0.055790388008995905 Centerline is valid? [True, True] Translation: X:431.45, Y:4.57, Z:1.67 [[ 9.99596737e-01 -2.75159796e-02 -7.01671923e-03 4.31446612e+02] [ 2.75168159e-02 9.99621340e-01 2.26648430e-05 4.56594041e+00] [ 7.01343863e-03 -2.15733475e-04 9.99975382e-01 1.66755468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.099254154 meters 0.05838520245730034 Centerline is valid? [True, True] Translation: X:431.51, Y:4.55, Z:1.67 [[ 9.99619755e-01 -2.70250822e-02 -5.47642028e-03 4.31508062e+02] [ 2.70255850e-02 9.99634742e-01 1.78317647e-05 4.55256125e+00] [ 5.47393807e-03 -1.65828446e-04 9.99985004e-01 1.66885226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.159254154 meters 0.055884941544768967 Centerline is valid? [True, True] Translation: X:431.57, Y:4.56, Z:1.67 [[ 9.99669045e-01 -2.52378822e-02 -4.98495708e-03 4.31569210e+02] [ 2.52382772e-02 9.99681464e-01 1.63376854e-05 4.56222821e+00] [ 4.98295686e-03 -1.42144007e-04 9.99987575e-01 1.67061048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.219254154 meters 0.05514343463105813 Centerline is valid? [True, True] Translation: X:431.63, Y:4.56, Z:1.67 [[ 9.99725961e-01 -2.30655165e-02 -3.99821371e-03 4.31630815e+02] [ 2.30657535e-02 9.99733950e-01 1.31538421e-05 4.56295895e+00] [ 3.99684658e-03 -1.05372049e-04 9.99992007e-01 1.67134834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279254154 meters 0.05647411677338423 Centerline is valid? [True, True] Translation: X:431.69, Y:4.55, Z:1.67 [[ 9.99740111e-01 -2.25818699e-02 -3.12563291e-03 4.31693341e+02] [ 2.25820125e-02 9.99744994e-01 1.03285488e-05 4.55370595e+00] [ 3.12460262e-03 -8.09089459e-05 9.99995115e-01 1.67071298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339254154 meters 0.05729053904111509 Centerline is valid? [True, True] Translation: X:431.75, Y:4.55, Z:1.67 [[ 9.99737564e-01 -2.23741885e-02 -4.91926906e-03 4.31754314e+02] [ 2.23745408e-02 9.99749659e-01 1.65705014e-05 4.54559866e+00] [ 4.91766682e-03 -1.26632539e-04 9.99987900e-01 1.66940947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399254154 meters 0.05671180208654601 Centerline is valid? [True, True] Translation: X:431.82, Y:4.55, Z:1.67 [[ 9.99730970e-01 -2.22348349e-02 -6.60297203e-03 4.31815198e+02] [ 2.22354679e-02 9.99752761e-01 2.24558781e-05 4.54718297e+00] [ 6.60084021e-03 -1.69270009e-04 9.99978200e-01 1.66787507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459254154 meters 0.05573277055377311 Centerline is valid? [True, True] Translation: X:431.88, Y:4.55, Z:1.67 [[ 9.99672572e-01 -2.40743004e-02 -8.67042962e-03 4.31876789e+02] [ 2.40754627e-02 9.99710144e-01 2.96889400e-05 4.54746959e+00] [ 8.66720170e-03 -2.38423824e-04 9.99962411e-01 1.66657999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519254154 meters 0.05630054265093228 Centerline is valid? [True, True] Translation: X:431.94, Y:4.55, Z:1.67 [[ 9.99600095e-01 -2.67632247e-02 -9.13130011e-03 4.31937488e+02] [ 2.67646273e-02 9.99641763e-01 3.14167930e-05 4.54769769e+00] [ 9.12718812e-03 -2.75800074e-04 9.99958308e-01 1.66709606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579254154 meters 0.05690248551195776 Centerline is valid? [True, True] Translation: X:432.00, Y:4.54, Z:1.67 [[ 9.99454738e-01 -3.22344092e-02 -7.15326499e-03 4.31997175e+02] [ 3.22354109e-02 9.99480304e-01 2.47618852e-05 4.54207146e+00] [ 7.14874928e-03 -2.55336820e-04 9.99974415e-01 1.66759546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639254154 meters 0.05494706471516514 Centerline is valid? [True, True] Translation: X:432.06, Y:4.55, Z:1.67 [[ 9.99201588e-01 -3.95206222e-02 -5.85729466e-03 4.32057554e+02] [ 3.95214196e-02 9.99218723e-01 2.04043275e-05 4.54547050e+00] [ 5.85191210e-03 -2.51876636e-04 9.99982846e-01 1.66831425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699254154 meters 0.055986893094070164 Centerline is valid? [True, True] Translation: X:432.12, Y:4.54, Z:1.67 [[ 9.98992411e-01 -4.44892683e-02 -5.90493953e-03 4.32117999e+02] [ 4.44901655e-02 9.99009822e-01 2.05950606e-05 4.53968827e+00] [ 5.89817633e-03 -2.83286046e-04 9.99982565e-01 1.66852086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759254154 meters 0.055908705834501936 Centerline is valid? [True, True] Translation: X:432.18, Y:4.54, Z:1.67 [[ 9.98697818e-01 -5.08096548e-02 -4.58783773e-03 4.32178508e+02] [ 5.08102630e-02 9.98708324e-01 1.60269181e-05 4.53896420e+00] [ 4.58109740e-03 -2.49115290e-04 9.99989476e-01 1.66894024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819254154 meters 0.05843481390361669 Centerline is valid? [True, True] Translation: X:432.24, Y:4.53, Z:1.67 [[ 9.98545997e-01 -5.36946103e-02 -4.77297091e-03 4.32238388e+02] [ 5.36953013e-02 9.98557367e-01 1.66641289e-05 4.52882239e+00] [ 4.76519049e-03 -2.72926010e-04 9.99988609e-01 1.66964857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters 0.059517989748037015 Centerline is valid? [True, True] Translation: X:432.30, Y:4.53, Z:1.67 [[ 9.98444424e-01 -5.55250501e-02 -5.06953750e-03 4.32298272e+02] [ 5.55258530e-02 9.98457250e-01 1.76634522e-05 4.52606946e+00] [ 5.06073571e-03 -2.99126370e-04 9.99987150e-01 1.66977581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters 0.05499020687714615 Centerline is valid? [True, True] Translation: X:432.36, Y:4.55, Z:1.67 [[ 9.98499392e-01 -5.45040569e-02 -5.31718128e-03 4.32360272e+02] [ 5.45049258e-02 9.98513502e-01 1.85480425e-05 4.54631651e+00] [ 5.30826635e-03 -3.08332781e-04 9.99985864e-01 1.66953921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters 0.054681355119360356 Centerline is valid? [True, True] Translation: X:432.42, Y:4.55, Z:1.67 [[ 9.98616340e-01 -5.21732505e-02 -6.58459767e-03 4.32421290e+02] [ 5.21745339e-02 9.98637981e-01 2.31682944e-05 4.54705391e+00] [ 6.57442056e-03 -3.66684552e-04 9.99978321e-01 1.66867036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.059254154 meters 0.05620738832767782 Centerline is valid? [True, True] Translation: X:432.48, Y:4.55, Z:1.67 [[ 9.98863656e-01 -4.68884403e-02 -8.53647146e-03 4.32481292e+02] [ 4.68904054e-02 9.98900040e-01 3.00988547e-05 4.54808348e+00] [ 8.52567039e-03 -4.30343260e-04 9.99963563e-01 1.66750475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.119254154 meters 0.05737251592122178 Centerline is valid? [True, True] Translation: X:432.54, Y:4.55, Z:1.67 [[ 9.99093877e-01 -4.15827071e-02 -9.07209033e-03 4.32541186e+02] [ 4.15847080e-02 9.99134981e-01 3.19552561e-05 4.54587011e+00] [ 9.06291401e-03 -4.09186528e-04 9.99958847e-01 1.66732851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.179254154 meters 0.05512584201378431 Centerline is valid? [True, True] Translation: X:432.60, Y:4.56, Z:1.67 [[ 9.99466726e-01 -3.16763077e-02 -7.92933885e-03 4.32601602e+02] [ 3.16775248e-02 9.99498141e-01 2.79085410e-05 4.56038405e+00] [ 7.92447540e-03 -2.79075486e-04 9.99968562e-01 1.66928262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.239254154 meters 0.055795873263791027 Centerline is valid? [True, True] Translation: X:432.66, Y:4.57, Z:1.67 [[ 9.99674004e-01 -2.45061790e-02 -7.16474820e-03 4.32661990e+02] [ 2.45069889e-02 9.99699658e-01 2.52458386e-05 4.56625747e+00] [ 7.16197764e-03 -2.00824013e-04 9.99974333e-01 1.67004531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.299254154 meters 0.054818237278475124 Centerline is valid? [True, True] Translation: X:432.72, Y:4.58, Z:1.67 [[ 9.99887787e-01 -1.40496524e-02 -5.19811863e-03 4.32721527e+02] [ 1.40499375e-02 9.99901295e-01 1.83355112e-05 4.57563843e+00] [ 5.19734794e-03 -9.13666956e-05 9.99986490e-01 1.67170191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.359254154 meters 0.054740499952983974 Centerline is valid? [True, True] Translation: X:432.78, Y:4.58, Z:1.67 [[ 9.99927810e-01 -1.09244289e-02 -5.00309155e-03 4.32781893e+02] [ 1.09246538e-02 9.99940324e-01 1.76386835e-05 4.57773398e+00] [ 5.00260029e-03 -7.22944535e-05 9.99987484e-01 1.67200290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.419254154 meters 0.055437932278060584 Centerline is valid? [True, True] Translation: X:432.84, Y:4.59, Z:1.67 [[ 9.99960961e-01 -6.26294828e-03 -6.23311657e-03 4.32842211e+02] [ 6.26320658e-03 9.99980386e-01 2.19201904e-05 4.58511477e+00] [ 6.23285703e-03 -6.09586313e-05 9.99980574e-01 1.67266916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.479254154 meters 0.05521832058362682 Centerline is valid? [True, True] Translation: X:432.90, Y:4.59, Z:1.67 [[ 9.99954206e-01 -6.55411083e-03 -6.97344665e-03 4.32901941e+02] [ 6.55443956e-03 9.99978519e-01 2.42863463e-05 4.58681981e+00] [ 6.97313768e-03 -6.99922687e-05 9.99975685e-01 1.67225463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.539254154 meters 0.05558713672998689 Centerline is valid? [True, True] Translation: X:432.96, Y:4.58, Z:1.67 [[ 9.99921359e-01 -9.03255002e-03 -8.69993358e-03 4.32960479e+02] [ 9.03315367e-03 9.99959200e-01 3.00918233e-05 4.58337111e+00] [ 8.69930681e-03 -1.08677294e-04 9.99962154e-01 1.67104383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.599254154 meters 0.0553802471795319 Centerline is valid? [True, True] Translation: X:433.02, Y:4.58, Z:1.67 [[ 9.99890518e-01 -1.05081692e-02 -1.04177727e-02 4.33019247e+02] [ 1.05091118e-02 9.99944777e-01 3.57477121e-05 4.58310754e+00] [ 1.04168217e-02 -1.45225337e-04 9.99945733e-01 1.67153868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.659254154 meters 0.05561745044783411 Centerline is valid? [True, True] Translation: X:433.08, Y:4.58, Z:1.67 [[ 9.99891054e-01 -1.05049200e-02 -1.03695578e-02 4.33077348e+02] [ 1.05058499e-02 9.99944811e-01 3.52101063e-05 4.57905956e+00] [ 1.03686157e-02 -1.44147289e-04 9.99946234e-01 1.67055059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.719254154 meters 0.05558021889329811 Centerline is valid? [True, True] Translation: X:433.14, Y:4.58, Z:1.67 [[ 9.99873703e-01 -1.12922416e-02 -1.11831563e-02 4.33135831e+02] [ 1.12933613e-02 9.99936227e-01 3.69809021e-05 4.57981592e+00] [ 1.11820255e-02 -1.63271656e-04 9.99937466e-01 1.67278325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779254154 meters 0.05537784427230229 Centerline is valid? [True, True] Translation: X:433.19, Y:4.58, Z:1.67 [[ 9.99872936e-01 -1.17980285e-02 -1.07200313e-02 4.33193957e+02] [ 1.17990788e-02 9.99930388e-01 3.47336187e-05 4.57731307e+00] [ 1.07188753e-02 -1.61215700e-04 9.99942538e-01 1.67354674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839254154 meters 0.05541921756022132 Centerline is valid? [True, True] Translation: X:433.25, Y:4.57, Z:1.67 [[ 9.99874003e-01 -1.19322800e-02 -1.04689084e-02 4.33253127e+02] [ 1.19332791e-02 9.99928795e-01 3.29759696e-05 4.57381326e+00] [ 1.04677695e-02 -1.57900221e-04 9.99945199e-01 1.67428135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899254154 meters 0.054956871411609244 Centerline is valid? [True, True] Translation: X:433.31, Y:4.57, Z:1.67 [[ 9.99879220e-01 -1.13194610e-02 -1.06496707e-02 4.33310834e+02] [ 1.13204520e-02 9.99935921e-01 3.27822586e-05 4.56752024e+00] [ 1.06486172e-02 -1.53337385e-04 9.99943290e-01 1.67301616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959254154 meters 0.05546232345764204 Centerline is valid? [True, True] Translation: X:433.37, Y:4.57, Z:1.67 [[ 9.99884847e-01 -1.02125575e-02 -1.12248320e-02 4.33369793e+02] [ 1.02135777e-02 9.99947840e-01 3.35731994e-05 4.56711540e+00] [ 1.12239036e-02 -1.48215028e-04 9.99936999e-01 1.67498568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019254154 meters 0.05556722774026263 Centerline is valid? [True, True] Translation: X:433.43, Y:4.56, Z:1.67 [[ 9.99890432e-01 -8.96775338e-03 -1.17772483e-02 4.33428215e+02] [ 8.96877387e-03 9.99959779e-01 3.38350540e-05 4.56475650e+00] [ 1.17764712e-02 -1.39458824e-04 9.99930645e-01 1.67461076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079254154 meters 0.05635099084953821 Centerline is valid? [True, True] Translation: X:433.49, Y:4.56, Z:1.67 [[ 9.99891316e-01 -6.71324875e-03 -1.31258996e-02 4.33486689e+02] [ 6.71430087e-03 9.99977458e-01 3.60898589e-05 4.56180022e+00] [ 1.31253614e-02 -1.24217176e-04 9.99913851e-01 1.67398875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139254154 meters 0.05592928675145713 Centerline is valid? [True, True] Translation: X:433.54, Y:4.56, Z:1.67 [[ 9.99882393e-01 -6.19585762e-03 -1.40289718e-02 4.33544786e+02] [ 6.19699552e-03 9.99980798e-01 3.76407432e-05 4.55859156e+00] [ 1.40284692e-02 -1.24573792e-04 9.99901588e-01 1.67269552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199254154 meters 0.05634138067316627 Centerline is valid? [True, True] Translation: X:433.60, Y:4.56, Z:1.67 [[ 9.99880914e-01 -7.15565313e-03 -1.36731055e-02 4.33603403e+02] [ 7.15681692e-03 9.99974389e-01 3.61866032e-05 4.55616009e+00] [ 1.36724964e-02 -1.34038207e-04 9.99906518e-01 1.67420095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259254154 meters 0.05563586976365736 Centerline is valid? [True, True] Translation: X:433.66, Y:4.55, Z:1.68 [[ 9.99853481e-01 -1.10836702e-02 -1.30448868e-02 4.33662052e+02] [ 1.10850580e-02 9.99938558e-01 3.40843633e-05 4.55457349e+00] [ 1.30437075e-02 -1.78682697e-04 9.99914911e-01 1.67704956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319254154 meters 0.05626569220398794 Centerline is valid? [True, True] Translation: X:433.72, Y:4.55, Z:1.68 [[ 9.99795855e-01 -1.53366323e-02 -1.31543488e-02 4.33721076e+02] [ 1.53384076e-02 9.99882359e-01 3.40796652e-05 4.54853101e+00] [ 1.31522787e-02 -2.35839472e-04 9.99913477e-01 1.67567267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters 0.056868892404161625 Centerline is valid? [True, True] Translation: X:433.78, Y:4.54, Z:1.68 [[ 9.99664876e-01 -2.27122662e-02 -1.24212637e-02 4.33781961e+02] [ 2.27144174e-02 9.99741994e-01 3.21176147e-05 4.54205493e+00] [ 1.24173294e-02 -3.14248618e-04 9.99922853e-01 1.67637910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters 0.0563383290306229 Centerline is valid? [True, True] Translation: X:433.84, Y:4.54, Z:1.68 [[ 9.99547897e-01 -2.79030333e-02 -1.11992383e-02 4.33841097e+02] [ 2.79051067e-02 9.99610576e-01 2.88892033e-05 4.54045772e+00] [ 1.11940710e-02 -3.41392083e-04 9.99937286e-01 1.67791040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters 0.05586826898155186 Centerline is valid? [True, True] Translation: X:433.90, Y:4.54, Z:1.68 [[ 9.99312775e-01 -3.58086540e-02 -9.57698114e-03 4.33901735e+02] [ 3.58105330e-02 9.99358597e-01 2.47303835e-05 4.53740338e+00] [ 9.56995288e-03 -3.67670187e-04 9.99954139e-01 1.67907729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.559254154 meters 0.05672494617015614 Centerline is valid? [True, True] Translation: X:433.96, Y:4.54, Z:1.68 [[ 9.99101508e-01 -4.13990885e-02 -9.07150961e-03 4.33962130e+02] [ 4.14010048e-02 9.99142611e-01 2.34799731e-05 4.53535144e+00] [ 9.06275975e-03 -3.99028489e-04 9.99958853e-01 1.68022009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.619254154 meters 0.05588223472313506 Centerline is valid? [True, True] Translation: X:434.02, Y:4.54, Z:1.68 [[ 9.99014347e-01 -4.35669036e-02 -8.50055092e-03 4.34023664e+02] [ 4.35686653e-02 9.99050435e-01 2.20918983e-05 4.53828585e+00] [ 8.49151662e-03 -3.92427782e-04 9.99963869e-01 1.68067035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.679254154 meters 0.05558476765527646 Centerline is valid? [True, True] Translation: X:434.08, Y:4.54, Z:1.68 [[ 9.98987161e-01 -4.39091187e-02 -9.83061669e-03 4.34084928e+02] [ 4.39114937e-02 9.99035425e-01 2.57766057e-05 4.53938757e+00] [ 9.82000249e-03 -4.57427561e-04 9.99951678e-01 1.68042497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.739254154 meters 0.05627183532665181 Centerline is valid? [True, True] Translation: X:434.14, Y:4.54, Z:1.68 [[ 9.99057322e-01 -4.18960175e-02 -1.13662432e-02 4.34144524e+02] [ 4.18990632e-02 9.99121848e-01 2.98570694e-05 4.54185579e+00] [ 1.13550110e-02 -5.06063866e-04 9.99935402e-01 1.68072608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.799254154 meters 0.05655672793564658 Centerline is valid? [True, True] Translation: X:434.20, Y:4.54, Z:1.68 [[ 9.99234966e-01 -3.70555200e-02 -1.25048080e-02 4.34203887e+02] [ 3.70588266e-02 9.99313085e-01 3.27342824e-05 4.54439673e+00] [ 1.24950053e-02 -4.96122751e-04 9.99921811e-01 1.68086244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.859254154 meters 0.05756681693385787 Centerline is valid? [True, True] Translation: X:434.26, Y:4.55, Z:1.68 [[ 9.99444565e-01 -3.12466290e-02 -1.15849132e-02 4.34263947e+02] [ 3.12490767e-02 9.99511628e-01 3.02859560e-05 4.54805482e+00] [ 1.15783091e-02 -3.92286975e-04 9.99932892e-01 1.68162909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.919254154 meters 0.056675791297965745 Centerline is valid? [True, True] Translation: X:434.32, Y:4.55, Z:1.68 [[ 9.99588003e-01 -2.65722880e-02 -1.08507306e-02 4.34324051e+02] [ 2.65741597e-02 9.99646844e-01 2.83275604e-05 4.55391125e+00] [ 1.08461459e-02 -3.16664937e-04 9.99941129e-01 1.68306117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.979254154 meters 0.055963365426867404 Centerline is valid? [True, True] Translation: X:434.38, Y:4.56, Z:1.68 [[ 9.99777867e-01 -1.83917246e-02 -1.02937564e-02 4.34383870e+02] [ 1.83929760e-02 9.99830835e-01 2.68988245e-05 4.55797070e+00] [ 1.02915204e-02 -2.16225664e-04 9.99947018e-01 1.68390302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.039254154 meters 0.05578399406752469 Centerline is valid? [True, True] Translation: X:434.44, Y:4.56, Z:1.68 [[ 9.99864108e-01 -1.31959517e-02 -9.88090212e-03 4.34442752e+02] [ 1.31968503e-02 9.99912917e-01 2.57481085e-05 4.56222932e+00] [ 9.87970189e-03 -1.56141396e-04 9.99951182e-01 1.68384013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.099254154 meters 0.056004389534497705 Centerline is valid? [True, True] Translation: X:434.50, Y:4.56, Z:1.68 [[ 9.99912775e-01 -8.77189167e-03 -9.87399889e-03 4.34502157e+02] [ 8.77257225e-03 9.99961520e-01 2.56160623e-05 4.56476693e+00] [ 9.87339424e-03 -1.12234197e-04 9.99951251e-01 1.68363680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.159254154 meters 0.05603243317857875 Centerline is valid? [True, True] Translation: X:434.56, Y:4.57, Z:1.68 [[ 9.99932170e-01 -7.21450110e-03 -9.14363560e-03 4.34560758e+02] [ 7.21501375e-03 9.99973971e-01 2.30810885e-05 4.56610440e+00] [ 9.14323109e-03 -8.90509795e-05 9.99958196e-01 1.68406837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.219254154 meters 0.05614613453276155 Centerline is valid? [True, True] Translation: X:434.62, Y:4.57, Z:1.68 [[ 9.99939614e-01 -5.70072515e-03 -9.39526472e-03 4.34618836e+02] [ 5.70119302e-03 9.99983748e-01 2.30163378e-05 4.56515608e+00] [ 9.39498082e-03 -7.65791656e-05 9.99955863e-01 1.68394499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279254154 meters 0.05557831829011627 Centerline is valid? [True, True] Translation: X:434.68, Y:4.57, Z:1.68 [[ 9.99943753e-01 -4.61797327e-03 -9.54808419e-03 4.34677983e+02] [ 4.61839978e-03 9.99989335e-01 2.26209677e-05 4.56534491e+00] [ 9.54787789e-03 -6.67165652e-05 9.99954416e-01 1.68413564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339254154 meters 0.056174956262136956 Centerline is valid? [True, True] Translation: X:434.74, Y:4.57, Z:1.68 [[ 9.99948574e-01 -2.34359951e-03 -9.86698336e-03 4.34736416e+02] [ 2.34393290e-03 9.99997253e-01 2.22242507e-05 4.56550248e+00] [ 9.86690416e-03 -4.53506547e-05 9.99951320e-01 1.68474367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399254154 meters 0.05655724065575277 Centerline is valid? [True, True] Translation: X:434.79, Y:4.56, Z:1.68 [[ 9.99946418e-01 -6.70793033e-04 -1.03301244e-02 4.34794102e+02] [ 6.71055649e-04 9.99999775e-01 2.19562489e-05 4.56301505e+00] [ 1.03301073e-02 -2.88871608e-05 9.99946643e-01 1.68395269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459254154 meters 0.0562256204429484 Centerline is valid? [True, True] Translation: X:434.85, Y:4.56, Z:1.68 [[ 9.99940967e-01 -1.07242149e-03 -1.08126172e-02 4.34852202e+02] [ 1.07272384e-03 9.99999424e-01 2.21634725e-05 4.55999895e+00] [ 1.08125872e-02 -3.37611163e-05 9.99941542e-01 1.68347663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519254154 meters 0.056144239969693664 Centerline is valid? [True, True] Translation: X:434.91, Y:4.55, Z:1.68 [[ 9.99937995e-01 -3.86997172e-03 -1.04417482e-02 4.34910880e+02] [ 3.87040278e-03 9.99992510e-01 2.10759292e-05 4.55427051e+00] [ 1.04415885e-02 -6.14883939e-05 9.99945483e-01 1.68388928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579254154 meters 0.05670564485171469 Centerline is valid? [True, True] Translation: X:434.97, Y:4.55, Z:1.68 [[ 9.99918036e-01 -6.14064693e-03 -1.12344617e-02 4.34969525e+02] [ 6.14128518e-03 9.99981142e-01 2.23145134e-05 4.55032743e+00] [ 1.12341128e-02 -9.13067174e-05 9.99936891e-01 1.68452551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639254154 meters 0.0569477075793426 Centerline is valid? [True, True] Translation: X:435.03, Y:4.55, Z:1.68 [[ 9.99890535e-01 -9.09058855e-03 -1.16739133e-02 4.35028540e+02] [ 9.09147396e-03 9.99958671e-01 2.27779089e-05 4.54502115e+00] [ 1.16732238e-02 -1.28908495e-04 9.99931857e-01 1.68470802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699254154 meters 0.05613481229544586 Centerline is valid? [True, True] Translation: X:435.09, Y:4.54, Z:1.68 [[ 9.99842009e-01 -1.28804769e-02 -1.22495398e-02 4.35086767e+02] [ 1.28817328e-02 9.99917027e-01 2.36274891e-05 4.53836599e+00] [ 1.22482191e-02 -1.81419055e-04 9.99924971e-01 1.68486770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759254154 meters 0.056761928052521934 Centerline is valid? [True, True] Translation: X:435.15, Y:4.54, Z:1.69 [[ 9.99799411e-01 -1.61884517e-02 -1.17928649e-02 4.35146256e+02] [ 1.61898435e-02 9.99868936e-01 2.25550632e-05 4.53781584e+00] [ 1.17909542e-02 -2.13475177e-04 9.99930461e-01 1.68688379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819254154 meters 0.05715366688896658 Centerline is valid? [True, True] Translation: X:435.21, Y:4.53, Z:1.69 [[ 9.99699215e-01 -2.19695633e-02 -1.09003279e-02 4.35205978e+02] [ 2.19710948e-02 9.99758606e-01 2.07616290e-05 4.52694495e+00] [ 1.08972405e-02 -2.60247523e-04 9.99940589e-01 1.68589157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters 0.05719173374579385 Centerline is valid? [True, True] Translation: X:435.27, Y:4.53, Z:1.69 [[ 9.99629677e-01 -2.49543353e-02 -1.08531230e-02 4.35265936e+02] [ 2.49560292e-02 9.99688550e-01 2.06575385e-05 4.52685996e+00] [ 1.08492273e-02 -2.91500744e-04 9.99941103e-01 1.68772130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters 0.05778652034029838 Centerline is valid? [True, True] Translation: X:435.33, Y:4.52, Z:1.69 [[ 9.99582455e-01 -2.69364281e-02 -1.04568167e-02 4.35326519e+02] [ 2.69381090e-02 9.99637103e-01 1.99032200e-05 4.52251671e+00] [ 1.04524859e-02 -3.01581778e-04 9.99945326e-01 1.68908652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters 0.057046901667653256 Centerline is valid? [True, True] Translation: X:435.39, Y:4.52, Z:1.69 [[ 9.99602654e-01 -2.63329755e-02 -1.00552939e-02 4.35387203e+02] [ 2.63344992e-02 9.99653187e-01 1.91389724e-05 4.52051762e+00] [ 1.00513026e-02 -2.83932497e-04 9.99949444e-01 1.68962264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.059254154 meters 0.05741812839198307 Centerline is valid? [True, True] Translation: X:435.45, Y:4.52, Z:1.69 [[ 9.99666069e-01 -2.40356562e-02 -9.48885636e-03 4.35447811e+02] [ 2.40369096e-02 9.99711072e-01 1.80608306e-05 4.52304888e+00] [ 9.48568066e-03 -2.46137582e-04 9.99954980e-01 1.69233434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.119254154 meters 0.058243182536158775 Centerline is valid? [True, True] Translation: X:435.51, Y:4.52, Z:1.69 [[ 9.99734686e-01 -2.07015778e-02 -1.00995987e-02 4.35507588e+02] [ 2.07028283e-02 9.99785673e-01 1.92728930e-05 4.52048721e+00] [ 1.00970351e-02 -2.28358038e-04 9.99948998e-01 1.69225018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.179254154 meters 0.05738506945589643 Centerline is valid? [True, True] Translation: X:435.57, Y:4.52, Z:1.69 [[ 9.99775770e-01 -1.82317595e-02 -1.07709078e-02 4.35566992e+02] [ 1.82330367e-02 9.99833764e-01 2.03804812e-05 4.51798879e+00] [ 1.07687457e-02 -2.16762268e-04 9.99941992e-01 1.69140052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.239254154 meters 0.05850175481599074 Centerline is valid? [True, True] Translation: X:435.63, Y:4.52, Z:1.69 [[ 9.99823765e-01 -1.42635456e-02 -1.22061319e-02 4.35627004e+02] [ 1.42648877e-02 9.99898251e-01 2.28891798e-05 4.51827369e+00] [ 1.22045634e-02 -1.97004246e-04 9.99925502e-01 1.69142376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.299254154 meters 0.05820643106351928 Centerline is valid? [True, True] Translation: X:435.69, Y:4.52, Z:1.69 [[ 9.99848899e-01 -1.25969964e-02 -1.19789210e-02 4.35685148e+02] [ 1.25981649e-02 9.99920640e-01 2.20836234e-05 4.51530219e+00] [ 1.19776921e-02 -1.72992708e-04 9.99928250e-01 1.69002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.359254154 meters 0.05882658147567908 Centerline is valid? [True, True] Translation: X:435.74, Y:4.52, Z:1.69 [[ 9.99824593e-01 -1.42676531e-02 -1.21332789e-02 4.35743687e+02] [ 1.42689608e-02 9.99898193e-01 2.12157205e-05 4.51624975e+00] [ 1.21317410e-02 -1.94341280e-04 9.99926389e-01 1.69319816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.419254154 meters 0.058396162109503304 Centerline is valid? [True, True] Translation: X:435.80, Y:4.51, Z:1.70 [[ 9.99735015e-01 -2.03885000e-02 -1.06868241e-02 4.35804277e+02] [ 2.03898596e-02 9.99792105e-01 1.82706631e-05 4.51298886e+00] [ 1.06842299e-02 -2.36168665e-04 9.99942894e-01 1.69549668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.479254154 meters 0.05939481091208108 Centerline is valid? [True, True] Translation: X:435.86, Y:4.51, Z:1.70 [[ 9.99628165e-01 -2.51858481e-02 -1.04501242e-02 4.35863944e+02] [ 2.51874101e-02 9.99682747e-01 1.78709035e-05 4.50688197e+00] [ 1.04463588e-02 -2.81075822e-04 9.99945396e-01 1.69552155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.539254154 meters 0.06026869262243943 Centerline is valid? [True, True] Translation: X:435.92, Y:4.50, Z:1.70 [[ 9.99511746e-01 -2.94961943e-02 -1.03075003e-02 4.35922941e+02] [ 2.94979424e-02 9.99564841e-01 1.75789573e-05 4.49961227e+00] [ 1.03024964e-02 -3.21620424e-04 9.99946876e-01 1.69525427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.599254154 meters 0.06006260123993279 Centerline is valid? [True, True] Translation: X:435.98, Y:4.50, Z:1.70 [[ 9.99351218e-01 -3.45579495e-02 -1.01435069e-02 4.35982596e+02] [ 3.45599021e-02 9.99402628e-01 1.72267171e-05 4.49726166e+00] [ 1.01368521e-02 -3.67774146e-04 9.99948553e-01 1.69652646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.659254154 meters 0.059725340743202376 Centerline is valid? [True, True] Translation: X:436.04, Y:4.50, Z:1.70 [[ 9.99255350e-01 -3.73140405e-02 -9.81874392e-03 4.36043077e+02] [ 3.73160008e-02 9.99303515e-01 1.64589171e-05 4.49560805e+00] [ 9.81129117e-03 -3.82842917e-04 9.99951795e-01 1.69688800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.719254154 meters 0.0584759441222507 Centerline is valid? [True, True] Translation: X:436.10, Y:4.51, Z:1.70 [[ 9.99127929e-01 -4.04838986e-02 -1.02193995e-02 4.36103229e+02] [ 4.04861864e-02 9.99180098e-01 1.70080118e-05 4.50572245e+00] [ 1.02103321e-02 -4.30737695e-04 9.99947780e-01 1.69754705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779254154 meters 0.058886366650340215 Centerline is valid? [True, True] Translation: X:436.16, Y:4.51, Z:1.70 [[ 9.99057979e-01 -4.18345601e-02 -1.15336153e-02 4.36164291e+02] [ 4.18375656e-02 9.99124426e-01 1.93276171e-05 4.50503044e+00] [ 1.15227082e-02 -5.01847798e-04 9.99933485e-01 1.69644950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839254154 meters 0.05912206994222848 Centerline is valid? [True, True] Translation: X:436.23, Y:4.50, Z:1.70 [[ 9.99066180e-01 -4.13603647e-02 -1.24935003e-02 4.36225230e+02] [ 4.13638579e-02 9.99144149e-01 2.12176811e-05 4.50328533e+00] [ 1.24819301e-02 -5.37977237e-04 9.99921953e-01 1.69565933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899254154 meters 0.05834908577601936 Centerline is valid? [True, True] Translation: X:436.29, Y:4.51, Z:1.70 [[ 9.99126839e-01 -3.96014494e-02 -1.33148346e-02 4.36286566e+02] [ 3.96052654e-02 9.99215403e-01 2.29365555e-05 4.51175171e+00] [ 1.33034795e-02 -5.50254085e-04 9.99911353e-01 1.69681659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959254154 meters 0.0589448184249161 Centerline is valid? [True, True] Translation: X:436.35, Y:4.51, Z:1.70 [[ 9.99124739e-01 -3.97907501e-02 -1.29016140e-02 4.36347399e+02] [ 3.97943527e-02 9.99207891e-01 2.25440641e-05 4.51045165e+00] [ 1.28904975e-02 -5.35935710e-04 9.99916770e-01 1.69654604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019254154 meters 0.058669700046366915 Centerline is valid? [True, True] Translation: X:436.41, Y:4.52, Z:1.70 [[ 9.99057974e-01 -4.17348122e-02 -1.18899522e-02 4.36408275e+02] [ 4.17380113e-02 9.99128589e-01 2.09374938e-05 4.51529903e+00] [ 1.18787174e-02 -5.17180730e-04 9.99929312e-01 1.69826137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079254154 meters 0.05942623245966255 Centerline is valid? [True, True] Translation: X:436.47, Y:4.52, Z:1.70 [[ 9.98928389e-01 -4.49699329e-02 -1.09443202e-02 4.36467383e+02] [ 4.49728369e-02 9.98988210e-01 1.92537240e-05 4.51549450e+00] [ 1.09323810e-02 -5.11430221e-04 9.99940109e-01 1.69904755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139254154 meters 0.05778082427038021 Centerline is valid? [True, True] Translation: X:436.53, Y:4.53, Z:1.70 [[ 9.98851783e-01 -4.66248463e-02 -1.10108833e-02 4.36528829e+02] [ 4.66278870e-02 9.98912328e-01 1.94629416e-05 4.52955628e+00] [ 1.09979996e-02 -5.32854815e-04 9.99939378e-01 1.70032723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199254154 meters 0.05764685388382619 Centerline is valid? [True, True] Translation: X:436.59, Y:4.53, Z:1.70 [[ 9.98789353e-01 -4.79496825e-02 -1.09844097e-02 4.36589050e+02] [ 4.79527899e-02 9.98849603e-01 1.95426599e-05 4.52720280e+00] [ 1.09708362e-02 -5.46252090e-04 9.99939669e-01 1.69958815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259254154 meters 0.057689369648437315 Centerline is valid? [True, True] Translation: X:436.65, Y:4.53, Z:1.70 [[ 9.98752108e-01 -4.87332471e-02 -1.09223302e-02 4.36651266e+02] [ 4.87363692e-02 9.98811677e-01 1.97008128e-05 4.53388530e+00] [ 1.09083908e-02 -5.51990943e-04 9.99940349e-01 1.70081240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319254154 meters 0.05668694701129012 Centerline is valid? [True, True] Translation: X:436.71, Y:4.55, Z:1.70 [[ 9.98854715e-01 -4.65061199e-02 -1.12445102e-02 4.36711875e+02] [ 4.65092903e-02 9.98917857e-01 2.04793769e-05 4.54604022e+00] [ 1.12313896e-02 -5.43430112e-04 9.99936778e-01 1.70169543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters 0.058321756729646276 Centerline is valid? [True, True] Translation: X:436.77, Y:4.54, Z:1.70 [[ 9.99084060e-01 -4.12575698e-02 -1.13513831e-02 4.36771677e+02] [ 4.12604630e-02 9.99148424e-01 2.07004875e-05 4.53807640e+00] [ 1.13408625e-02 -4.89044850e-04 9.99935571e-01 1.69941501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters 0.05735709865161166 Centerline is valid? [True, True] Translation: X:436.83, Y:4.55, Z:1.70 [[ 9.99216544e-01 -3.80784530e-02 -1.07856002e-02 4.36832748e+02] [ 3.80808813e-02 9.99274660e-01 1.97849793e-05 4.54771310e+00] [ 1.07770236e-02 -4.30494641e-04 9.99941834e-01 1.70005128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters 0.05697549543155372 Centerline is valid? [True, True] Translation: X:436.89, Y:4.55, Z:1.70 [[ 9.99383677e-01 -3.33641931e-02 -1.09131035e-02 4.36892610e+02] [ 3.33663994e-02 9.99443186e-01 2.01138993e-05 4.54940760e+00] [ 1.09063558e-02 -3.84232473e-04 9.99940450e-01 1.69917648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.559254154 meters 0.0570710954143423 Centerline is valid? [True, True] Translation: X:436.95, Y:4.56, Z:1.70 [[ 9.99458455e-01 -3.14342478e-02 -9.73062537e-03 4.36953713e+02] [ 3.14359116e-02 9.99505769e-01 1.80450693e-05 4.55893770e+00] [ 9.72524896e-03 -3.23926376e-04 9.99952656e-01 1.70120634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.619254154 meters 0.056331280604235076 Centerline is valid? [True, True] Translation: X:437.02, Y:4.57, Z:1.70 [[ 9.99441700e-01 -3.25250134e-02 -7.64282693e-03 4.37015331e+02] [ 3.25260735e-02 9.99470887e-01 1.44146160e-05 4.56643059e+00] [ 7.63831418e-03 -2.62997719e-04 9.99970793e-01 1.70313092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.679254154 meters 0.05732597562633428 Centerline is valid? [True, True] Translation: X:437.08, Y:4.56, Z:1.70 [[ 9.99273807e-01 -3.74831964e-02 -6.84608924e-03 4.37075296e+02] [ 3.74841645e-02 9.99297222e-01 1.31072865e-05 4.56398357e+00] [ 6.84078666e-03 -2.69717704e-04 9.99976565e-01 1.70307048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.739254154 meters 0.05584466953972231 Centerline is valid? [True, True] Translation: X:437.14, Y:4.57, Z:1.70 [[ 9.99129893e-01 -4.10743674e-02 -7.23551392e-03 4.37136252e+02] [ 4.10755431e-02 9.99156044e-01 1.39072577e-05 4.56844577e+00] [ 7.22883623e-03 -3.11097821e-04 9.99973823e-01 1.70236514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.799254154 meters 0.05605307932728443 Centerline is valid? [True, True] Translation: X:437.20, Y:4.58, Z:1.70 [[ 9.98927506e-01 -4.56343905e-02 -7.83201726e-03 4.37197196e+02] [ 4.56359085e-02 9.98958139e-01 1.51264748e-05 4.57709503e+00] [ 7.82316710e-03 -3.72531475e-04 9.99969329e-01 1.70262850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.859254154 meters 0.05737313704001833 Centerline is valid? [True, True] Translation: X:437.26, Y:4.57, Z:1.70 [[ 9.98860444e-01 -4.70646867e-02 -7.92015700e-03 4.37257445e+02] [ 4.70662845e-02 9.98891768e-01 1.53606030e-05 4.56998712e+00] [ 7.91065668e-03 -3.88115461e-04 9.99968635e-01 1.70287741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.919254154 meters 0.05547968924564674 Centerline is valid? [True, True] Translation: X:437.32, Y:4.58, Z:1.70 [[ 9.98883296e-01 -4.68503468e-02 -6.09969493e-03 4.37319791e+02] [ 4.68512914e-02 9.98901875e-01 1.19941495e-05 4.58498788e+00] [ 6.09243477e-03 -2.97759341e-04 9.99981397e-01 1.70375707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.979254154 meters 0.057977979973316066 Centerline is valid? [True, True] Translation: X:437.38, Y:4.57, Z:1.70 [[ 9.98997124e-01 -4.42126637e-02 -7.07008221e-03 4.37379824e+02] [ 4.42138689e-02 9.99022089e-01 1.41811563e-05 4.57033486e+00] [ 7.06254131e-03 -3.26762622e-04 9.99975007e-01 1.70274551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.039254154 meters 0.055046978798833364 Centerline is valid? [True, True] Translation: X:437.44, Y:4.59, Z:1.70 [[ 9.99095139e-01 -4.20298708e-02 -6.51106866e-03 4.37440966e+02] [ 4.20308467e-02 9.99116313e-01 1.30638447e-05 4.59328398e+00] [ 6.50476584e-03 -2.86717753e-04 9.99978803e-01 1.70347691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.099254154 meters 0.05570663694398275 Centerline is valid? [True, True] Translation: X:437.50, Y:4.60, Z:1.70 [[ 9.99197328e-01 -3.94738440e-02 -6.82019364e-03 4.37500423e+02] [ 3.94748563e-02 9.99220564e-01 1.38172121e-05 4.59750958e+00] [ 6.81433231e-03 -2.83032285e-04 9.99976742e-01 1.70349254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.159254154 meters 0.05591669079254145 Centerline is valid? [True, True] Translation: X:437.56, Y:4.60, Z:1.70 [[ 9.99223336e-01 -3.88648207e-02 -6.50000282e-03 4.37561240e+02] [ 3.88657285e-02 9.99244442e-01 1.33612287e-05 4.60019174e+00] [ 6.49457241e-03 -2.65978196e-04 9.99978875e-01 1.70384369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.219254154 meters 0.0550044408483946 Centerline is valid? [True, True] Translation: X:437.62, Y:4.60, Z:1.70 [[ 9.99236231e-01 -3.87168910e-02 -5.28735001e-03 4.37623533e+02] [ 3.87174902e-02 9.99250197e-01 1.09956175e-05 4.60374644e+00] [ 5.28295982e-03 -2.15700142e-04 9.99986022e-01 1.70392014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279254154 meters 0.05840581379318583 Centerline is valid? [True, True] Translation: X:437.68, Y:4.59, Z:1.70 [[ 9.99330626e-01 -3.61307584e-02 -5.73317249e-03 4.37683153e+02] [ 3.61314214e-02 9.99347047e-01 1.20677796e-05 4.59431171e+00] [ 5.72899298e-03 -2.19207373e-04 9.99983565e-01 1.70390636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339254154 meters 0.056337718392401995 Centerline is valid? [True, True] Translation: X:437.74, Y:4.60, Z:1.70 [[ 9.99415311e-01 -3.39064090e-02 -4.40353194e-03 4.37744229e+02] [ 3.39067785e-02 9.99425000e-01 9.27263267e-06 4.60497321e+00] [ 4.40068551e-03 -1.58576793e-04 9.99990304e-01 1.70490944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399254154 meters 0.05666789320630877 Centerline is valid? [True, True] Translation: X:437.80, Y:4.61, Z:1.71 [[ 9.99509181e-01 -3.11849134e-02 -2.98310788e-03 4.37803617e+02] [ 3.11850710e-02 9.99513627e-01 6.31020679e-06 4.60663374e+00] [ 2.98146020e-03 -9.93355406e-05 9.99995550e-01 1.70613705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459254154 meters 0.05614944134247543 Centerline is valid? [True, True] Translation: X:437.87, Y:4.61, Z:1.71 [[ 9.99499466e-01 -3.13261302e-02 -4.41486667e-03 4.37865174e+02] [ 3.13264766e-02 9.99509205e-01 9.30381383e-06 4.61101647e+00] [ 4.41240843e-03 -1.47601374e-04 9.99990254e-01 1.70655083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519254154 meters 0.05678593111873125 Centerline is valid? [True, True] Translation: X:437.93, Y:4.61, Z:1.71 [[ 9.99456080e-01 -3.26862641e-02 -4.37633827e-03 4.37927633e+02] [ 3.26866179e-02 9.99465650e-01 9.32968457e-06 4.60846002e+00] [ 4.37369482e-03 -1.52372307e-04 9.99990424e-01 1.70639737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579254154 meters 0.05528971153084969 Centerline is valid? [True, True] Translation: X:437.99, Y:4.62, Z:1.71 [[ 9.99419730e-01 -3.38749684e-02 -3.56215002e-03 4.37989645e+02] [ 3.38752107e-02 9.99426070e-01 7.70447128e-06 4.61612890e+00] [ 3.55984461e-03 -1.28368583e-04 9.99993655e-01 1.70563867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639254154 meters 0.05483850729954555 Centerline is valid? [True, True] Translation: X:438.05, Y:4.62, Z:1.71 [[ 9.99477617e-01 -3.21059592e-02 -3.70129514e-03 4.38050789e+02] [ 3.21062092e-02 9.99484463e-01 8.13006283e-06 4.61988248e+00] [ 3.69912596e-03 -1.26960372e-04 9.99993150e-01 1.70550310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699254154 meters 0.05623084386311146 Centerline is valid? [True, True] Translation: X:438.11, Y:4.62, Z:1.70 [[ 9.99536177e-01 -2.98984952e-02 -5.78894188e-03 4.38111618e+02] [ 2.98990712e-02 9.99552923e-01 1.29682370e-05 4.61591205e+00] [ 5.78596604e-03 -1.86046208e-04 9.99983244e-01 1.70458032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759254154 meters 0.05662378779726133 Centerline is valid? [True, True] Translation: X:438.17, Y:4.61, Z:1.70 [[ 9.99614587e-01 -2.69942233e-02 -6.47989411e-03 4.38172273e+02] [ 2.69948846e-02 9.99635572e-01 1.46059423e-05 4.61336196e+00] [ 6.47713838e-03 -1.89524307e-04 9.99979005e-01 1.70329260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819254154 meters 0.05520991955187534 Centerline is valid? [True, True] Translation: X:438.23, Y:4.62, Z:1.70 [[ 9.99681247e-01 -2.47361103e-02 -5.05258640e-03 4.38233693e+02] [ 2.47364838e-02 9.99694006e-01 1.14432740e-05 4.62245730e+00] [ 5.05075727e-03 -1.36422848e-04 9.99987236e-01 1.70448315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters 0.05617734951722478 Centerline is valid? [True, True] Translation: X:438.29, Y:4.62, Z:1.71 [[ 9.99794942e-01 -1.98660953e-02 -3.92581259e-03 4.38293278e+02] [ 1.98662837e-02 9.99802646e-01 8.99008119e-06 4.61914872e+00] [ 3.92485922e-03 -8.69795445e-05 9.99992294e-01 1.70619156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters 0.05517514482847775 Centerline is valid? [True, True] Translation: X:438.36, Y:4.63, Z:1.71 [[ 9.99846543e-01 -1.73011876e-02 -2.74958144e-03 4.38355197e+02] [ 1.73012701e-02 9.99850322e-01 6.24418809e-06 4.62543285e+00] [ 2.74906186e-03 -5.38144812e-05 9.99996220e-01 1.70685320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters 0.05439459079015746 Centerline is valid? [True, True] Translation: X:438.42, Y:4.63, Z:1.71 [[ 9.99848111e-01 -1.71248682e-02 -3.23940382e-03 4.38416314e+02] [ 1.71249822e-02 9.99853357e-01 7.48217702e-06 4.63140931e+00] [ 3.23880065e-03 -6.29557735e-05 9.99994753e-01 1.70613490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.059254154 meters 0.0543896360818613 Centerline is valid? [True, True] Translation: X:438.48, Y:4.63, Z:1.71 [[ 9.99824809e-01 -1.83542980e-02 -3.67040720e-03 4.38478564e+02] [ 1.83544531e-02 9.99831543e-01 8.55357628e-06 4.63139338e+00] [ 3.66963189e-03 -7.59203943e-05 9.99993264e-01 1.70592499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.119254154 meters 0.054618740490611 Centerline is valid? [True, True] Translation: X:438.54, Y:4.64, Z:1.71 [[ 9.99771871e-01 -2.09985680e-02 -3.90725033e-03 4.38539672e+02] [ 2.09987654e-02 9.99779502e-01 9.51125213e-06 4.63817559e+00] [ 3.90618906e-03 -9.15565154e-05 9.99992367e-01 1.70508276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.179254154 meters 0.054347788863064087 Centerline is valid? [True, True] Translation: X:438.60, Y:4.63, Z:1.70 [[ 9.99650150e-01 -2.57528747e-02 -6.03052276e-03 4.38599945e+02] [ 2.57534319e-02 9.99668325e-01 1.47455101e-05 4.62670983e+00] [ 6.02814285e-03 -1.70047009e-04 9.99981816e-01 1.70376750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.239254154 meters 0.054748305814008184 Centerline is valid? [True, True] Translation: X:438.66, Y:4.62, Z:1.70 [[ 9.99574839e-01 -2.80915565e-02 -7.81066919e-03 4.38660275e+02] [ 2.80925636e-02 9.99605326e-01 1.92272572e-05 4.62155188e+00] [ 7.80704639e-03 -2.38640803e-04 9.99969496e-01 1.70296084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.299254154 meters 0.05446692685716645 Centerline is valid? [True, True] Translation: X:438.72, Y:4.63, Z:1.70 [[ 9.99560188e-01 -2.86746284e-02 -7.56278253e-03 4.38722763e+02] [ 2.86755906e-02 9.99588771e-01 1.88126377e-05 4.62655653e+00] [ 7.55913305e-03 -2.35671620e-04 9.99971402e-01 1.70372371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.359254154 meters 0.05446347598357944 Centerline is valid? [True, True] Translation: X:438.78, Y:4.63, Z:1.70 [[ 9.99630124e-01 -2.65949312e-02 -5.68545097e-03 4.38784792e+02] [ 2.65954423e-02 9.99646279e-01 1.42949991e-05 4.62623289e+00] [ 5.68305973e-03 -1.65496795e-04 9.99983838e-01 1.70464069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.419254154 meters 0.05442648327809589 Centerline is valid? [True, True] Translation: X:438.84, Y:4.63, Z:1.71 [[ 9.99731100e-01 -2.27234114e-02 -4.62325611e-03 4.38844764e+02] [ 2.27237085e-02 9.99741783e-01 1.17284166e-05 4.62926400e+00] [ 4.62179580e-03 -1.16782787e-04 9.99989313e-01 1.70566397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.479254154 meters 0.05438110266198221 Centerline is valid? [True, True] Translation: X:438.91, Y:4.63, Z:1.71 [[ 9.99844416e-01 -1.72358160e-02 -3.75102087e-03 4.38905724e+02] [ 1.72359729e-02 9.99851450e-01 9.51398494e-06 4.63068213e+00] [ 3.75029967e-03 -7.41649988e-05 9.99992965e-01 1.70668980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.539254154 meters 0.05444725674739881 Centerline is valid? [True, True] Translation: X:438.97, Y:4.63, Z:1.71 [[ 9.99884428e-01 -1.49036276e-02 -3.00208202e-03 4.38967624e+02] [ 1.49037176e-02 9.99888933e-01 7.61843197e-06 4.63112438e+00] [ 3.00163504e-03 -5.23597342e-05 9.99995494e-01 1.70698581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.599254154 meters 0.05502413917110129 Centerline is valid? [True, True] Translation: X:439.03, Y:4.62, Z:1.71 [[ 9.99877090e-01 -1.53062356e-02 -3.39460051e-03 4.39028563e+02] [ 1.53063533e-02 9.99882851e-01 8.70540658e-06 4.62224116e+00] [ 3.39406959e-03 -6.06632914e-05 9.99994238e-01 1.70739627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.659254154 meters 0.054272435633463297 Centerline is valid? [True, True] Translation: X:439.09, Y:4.62, Z:1.71 [[ 9.99839019e-01 -1.72183389e-02 -5.04628747e-03 4.39090447e+02] [ 1.72186243e-02 9.99851748e-01 1.31181378e-05 4.62195597e+00] [ 5.04531347e-03 -1.00006154e-04 9.99987267e-01 1.70665850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.719254154 meters 0.054670351819968474 Centerline is valid? [True, True] Translation: X:439.15, Y:4.62, Z:1.71 [[ 9.99835422e-01 -1.67899506e-02 -6.87210399e-03 4.39152309e+02] [ 1.67904718e-02 9.99859030e-01 1.81560127e-05 4.62263518e+00] [ 6.87083039e-03 -1.33538893e-04 9.99976387e-01 1.70602104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779254154 meters 0.05535457676575758 Centerline is valid? [True, True] Translation: X:439.21, Y:4.62, Z:1.71 [[ 9.99862372e-01 -1.48048005e-02 -7.48694365e-03 4.39213919e+02] [ 1.48053652e-02 9.99890394e-01 1.99994401e-05 4.62378016e+00] [ 7.48582695e-03 -1.30843622e-04 9.99971972e-01 1.70618575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839254154 meters 0.055856056188109605 Centerline is valid? [True, True] Translation: X:439.27, Y:4.62, Z:1.71 [[ 9.99890937e-01 -1.35548735e-02 -5.86335215e-03 4.39274562e+02] [ 1.35551988e-02 9.99908124e-01 1.57532262e-05 4.61669966e+00] [ 5.86259992e-03 -9.52304125e-05 9.99982810e-01 1.70654867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899254154 meters 0.054844113755873176 Centerline is valid? [True, True] Translation: X:439.34, Y:4.62, Z:1.71 [[ 9.99921928e-01 -1.19457658e-02 -3.66562235e-03 4.39335556e+02] [ 1.19458822e-02 9.99928645e-01 9.86189781e-06 4.61972467e+00] [ 3.66524298e-03 -5.36502206e-05 9.99993282e-01 1.70791327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959254154 meters 0.05487278913839443 Centerline is valid? [True, True] Translation: X:439.40, Y:4.62, Z:1.71 [[ 9.99961446e-01 -8.07586741e-03 -3.44759910e-03 4.39396010e+02] [ 8.07594767e-03 9.99967389e-01 9.35953355e-06 4.61922219e+00] [ 3.44741109e-03 -3.72018026e-05 9.99994057e-01 1.70811146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019254154 meters 0.0549218738591133 Centerline is valid? [True, True] Translation: X:439.46, Y:4.62, Z:1.71 [[ 9.99971746e-01 -6.62470455e-03 -3.55267477e-03 4.39457124e+02] [ 6.62478072e-03 9.99978056e-01 9.67071538e-06 4.62037434e+00] [ 3.55253275e-03 -3.32061335e-05 9.99993689e-01 1.70768153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079254154 meters 0.05517854112901362 Centerline is valid? [True, True] Translation: X:439.52, Y:4.62, Z:1.71 [[ 9.99955738e-01 -8.24211951e-03 -4.53765803e-03 4.39516363e+02] [ 8.24226078e-03 9.99966032e-01 1.24345766e-05 4.61577175e+00] [ 4.53740141e-03 -4.98345871e-05 9.99989705e-01 1.70717265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139254154 meters 0.055946979762489565 Centerline is valid? [True, True] Translation: X:439.58, Y:4.61, Z:1.71 [[ 9.99912468e-01 -1.17773498e-02 -6.02909514e-03 4.39576277e+02] [ 1.17776634e-02 9.99930641e-01 1.65215723e-05 4.60906579e+00] [ 6.02848239e-03 -8.75287795e-05 9.99981825e-01 1.70669966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199254154 meters 0.05508563191026489 Centerline is valid? [True, True] Translation: X:439.64, Y:4.61, Z:1.71 [[ 9.99875809e-01 -1.46051957e-02 -5.92067459e-03 4.39637545e+02] [ 1.46055480e-02 9.99893333e-01 1.62581475e-05 4.61077793e+00] [ 5.91980559e-03 -1.02730825e-04 9.99982473e-01 1.70721177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259254154 meters 0.055309114046888756 Centerline is valid? [True, True] Translation: X:439.70, Y:4.61, Z:1.71 [[ 9.99819385e-01 -1.77277214e-02 -6.85020900e-03 4.39697515e+02] [ 1.77282676e-02 9.99842842e-01 1.90111581e-05 4.60586046e+00] [ 6.84879541e-03 -1.40450063e-04 9.99976537e-01 1.70661343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319254154 meters 0.055171332903296955 Centerline is valid? [True, True] Translation: X:439.76, Y:4.60, Z:1.71 [[ 9.99778338e-01 -1.98692566e-02 -6.96333493e-03 4.39759627e+02] [ 1.98698748e-02 9.99802574e-01 1.95957390e-05 4.60412291e+00] [ 6.96157084e-03 -1.57951988e-04 9.99975755e-01 1.70694773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters 0.05540629873565656 Centerline is valid? [True, True] Translation: X:439.82, Y:4.60, Z:1.71 [[ 9.99758722e-01 -2.09547808e-02 -6.58746763e-03 4.39821460e+02] [ 2.09553590e-02 9.99780412e-01 1.87535556e-05 4.60476724e+00] [ 6.58562813e-03 -1.56791780e-04 9.99978302e-01 1.70803385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters 0.0560917229196695 Centerline is valid? [True, True] Translation: X:439.88, Y:4.60, Z:1.71 [[ 9.99743887e-01 -2.19357202e-02 -5.56641705e-03 4.39882975e+02] [ 2.19361491e-02 9.99759374e-01 1.60021563e-05 4.60217011e+00] [ 5.56472660e-03 -1.38103812e-04 9.99984507e-01 1.70863584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters 0.05583299771906074 Centerline is valid? [True, True] Translation: X:439.94, Y:4.60, Z:1.71 [[ 9.99732351e-01 -2.25220025e-02 -5.29025429e-03 4.39943740e+02] [ 2.25223988e-02 9.99746339e-01 1.53367380e-05 4.59994368e+00] [ 5.28856695e-03 -1.34481850e-04 9.99986006e-01 1.70891587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.559254154 meters 0.056244683475612206 Centerline is valid? [True, True] Translation: X:440.01, Y:4.60, Z:1.71 [[ 9.99712077e-01 -2.34012665e-02 -5.30513628e-03 4.40005299e+02] [ 2.34016780e-02 9.99726143e-01 1.55087992e-05 4.59740253e+00] [ 5.30332051e-03 -1.39653425e-04 9.99985928e-01 1.70924270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.619254154 meters 0.05617522063652092 Centerline is valid? [True, True] Translation: X:440.07, Y:4.60, Z:1.71 [[ 9.99678960e-01 -2.48405140e-02 -4.99263815e-03 4.40067621e+02] [ 2.48408971e-02 9.99691417e-01 1.47258431e-05 4.59676789e+00] [ 4.99073171e-03 -1.38742726e-04 9.99987537e-01 1.70989699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.679254154 meters 0.055002959364147126 Centerline is valid? [True, True] Translation: X:440.13, Y:4.60, Z:1.71 [[ 9.99652056e-01 -2.60044327e-02 -4.41996360e-03 4.40129764e+02] [ 2.60047450e-02 9.99661819e-01 1.31925228e-05 4.60287041e+00] [ 4.41812579e-03 -1.28127959e-04 9.99990232e-01 1.71078287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.739254154 meters 0.055171942698877985 Centerline is valid? [True, True] Translation: X:440.19, Y:4.60, Z:1.71 [[ 9.99658607e-01 -2.54600368e-02 -5.86998075e-03 4.40190738e+02] [ 2.54605796e-02 9.99675827e-01 1.77462626e-05 4.60093898e+00] [ 5.86762604e-03 -1.67193316e-04 9.99982771e-01 1.71064078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.799254154 meters 0.05610434452632153 Centerline is valid? [True, True] Translation: X:440.25, Y:4.59, Z:1.71 [[ 9.99691021e-01 -2.36268242e-02 -7.72236463e-03 4.40251394e+02] [ 2.36277105e-02 9.99720826e-01 2.35388802e-05 4.59343790e+00] [ 7.71965260e-03 -2.05993403e-04 9.99970182e-01 1.70871208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.859254154 meters 0.05559683033556735 Centerline is valid? [True, True] Translation: X:440.31, Y:4.60, Z:1.71 [[ 9.99705792e-01 -2.30202671e-02 -7.64181899e-03 4.40314077e+02] [ 2.30211189e-02 9.99734979e-01 2.35096203e-05 4.59850750e+00] [ 7.63925255e-03 -1.99425927e-04 9.99970801e-01 1.70966056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.919254154 meters 0.055169246802906094 Centerline is valid? [True, True] Translation: X:440.38, Y:4.60, Z:1.71 [[ 9.99750386e-01 -2.14370526e-02 -6.29434751e-03 4.40375978e+02] [ 2.14376004e-02 9.99770188e-01 1.95554416e-05 4.59891497e+00] [ 6.29248178e-03 -1.54486267e-04 9.99980190e-01 1.71092046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.979254154 meters 0.05549596945846112 Centerline is valid? [True, True] Translation: X:440.44, Y:4.60, Z:1.71 [[ 9.99780408e-01 -2.01244894e-02 -5.84297160e-03 4.40437518e+02] [ 2.01249398e-02 9.99797473e-01 1.82914971e-05 4.60009812e+00] [ 5.84142014e-03 -1.35876932e-04 9.99982930e-01 1.71187604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.039254154 meters 0.05596110072952833 Centerline is valid? [True, True] Translation: X:440.50, Y:4.60, Z:1.71 [[ 9.99900847e-01 -1.36559969e-02 -3.43646633e-03 4.40497440e+02] [ 1.36561147e-02 9.99906751e-01 1.08202550e-05 4.59654506e+00] [ 3.43599812e-03 -5.77479606e-05 9.99994095e-01 1.71398061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.099254154 meters 0.05583261459962257 Centerline is valid? [True, True] Translation: X:440.56, Y:4.60, Z:1.72 [[ 9.99961277e-01 -8.61188816e-03 -1.81125521e-03 4.40557979e+02] [ 8.61191258e-03 9.99962917e-01 5.68165552e-06 4.59862713e+00] [ 1.81113911e-03 -2.12798070e-05 9.99998360e-01 1.71554383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.159254154 meters 0.055986044200175465 Centerline is valid? [True, True] Translation: X:440.62, Y:4.60, Z:1.71 [[ 9.99961422e-01 -8.55429457e-03 -1.99453178e-03 4.40619698e+02] [ 8.55432397e-03 9.99963411e-01 6.20638871e-06 4.59792578e+00] [ 1.99440572e-03 -2.32680203e-05 9.99998011e-01 1.71494963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.219254154 meters 0.055997431373827 Centerline is valid? [True, True] Translation: X:440.68, Y:4.59, Z:1.71 [[ 9.99912736e-01 -1.24556800e-02 -4.40179066e-03 4.40680860e+02] [ 1.24558622e-02 9.99922423e-01 1.39828678e-05 4.59405560e+00] [ 4.40127502e-03 -6.88097456e-05 9.99990312e-01 1.71234934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279254154 meters 0.0548471497274695 Centerline is valid? [True, True] Translation: X:440.74, Y:4.59, Z:1.71 [[ 9.99814925e-01 -1.83664893e-02 -5.72598605e-03 4.40741808e+02] [ 1.83668951e-02 9.99831314e-01 1.82922972e-05 4.58853507e+00] [ 5.72468420e-03 -1.23457497e-04 9.99983606e-01 1.71074019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339254154 meters 0.05553131742524399 Centerline is valid? [True, True] Translation: X:440.80, Y:4.59, Z:1.71 [[ 9.99735672e-01 -2.19657509e-02 -6.78913073e-03 4.40802654e+02] [ 2.19664048e-02 9.99758709e-01 2.17634868e-05 4.58627447e+00] [ 6.78701452e-03 -1.70890528e-04 9.99976953e-01 1.71081673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399254154 meters 0.056147399044669005 Centerline is valid? [True, True] Translation: X:440.86, Y:4.58, Z:1.71 [[ 9.99625698e-01 -2.66775254e-02 -6.06409215e-03 4.40861905e+02] [ 2.66781340e-02 9.99644075e-01 1.94724025e-05 4.57774560e+00] [ 6.06141432e-03 -1.81243777e-04 9.99981613e-01 1.71055984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459254154 meters 0.05548587135421299 Centerline is valid? [True, True] Translation: X:440.92, Y:4.58, Z:1.71 [[ 9.99569540e-01 -2.88313432e-02 -5.43028284e-03 4.40923263e+02] [ 2.88318632e-02 9.99584275e-01 1.74681253e-05 4.58204108e+00] [ 5.42752171e-03 -1.74025778e-04 9.99985256e-01 1.71170031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519254154 meters 0.0558228976237506 Centerline is valid? [True, True] Translation: X:440.98, Y:4.57, Z:1.71 [[ 9.99519044e-01 -3.06891702e-02 -4.45601219e-03 4.40983807e+02] [ 3.06895390e-02 9.99528965e-01 1.43930195e-05 4.57312315e+00] [ 4.45347154e-03 -1.51139057e-04 9.99990072e-01 1.71217240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579254154 meters 0.05671007723565876 Centerline is valid? [True, True] Translation: X:441.05, Y:4.57, Z:1.71 [[ 9.99501697e-01 -3.12966032e-02 -4.10846508e-03 4.41045433e+02] [ 3.12969220e-02 9.99510131e-01 1.33042408e-05 4.57210437e+00] [ 4.10603609e-03 -1.41879922e-04 9.99991560e-01 1.71254752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639254154 meters 0.055353962520370004 Centerline is valid? [True, True] Translation: X:441.11, Y:4.58, Z:1.71 [[ 9.99474628e-01 -3.19812336e-02 -5.26010352e-03 4.41107153e+02] [ 3.19817664e-02 9.99488452e-01 1.71837877e-05 4.57966904e+00] [ 5.25686317e-03 -1.85402162e-04 9.99986165e-01 1.71235288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699254154 meters 0.056595971596906824 Centerline is valid? [True, True] Translation: X:441.17, Y:4.57, Z:1.71 [[ 9.99460985e-01 -3.24637111e-02 -4.88334396e-03 4.41168026e+02] [ 3.24641766e-02 9.99472900e-01 1.60656916e-05 4.57410845e+00] [ 4.88024839e-03 -1.74590772e-04 9.99988076e-01 1.71194483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759254154 meters 0.05563602474275893 Centerline is valid? [True, True] Translation: X:441.23, Y:4.57, Z:1.71 [[ 9.99477511e-01 -3.20227719e-02 -4.38715577e-03 4.41230003e+02] [ 3.20231438e-02 9.99487128e-01 1.45334286e-05 4.57486100e+00] [ 4.38444032e-03 -1.55016355e-04 9.99990376e-01 1.71240463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819254154 meters 0.057099885435006485 Centerline is valid? [True, True] Translation: X:441.29, Y:4.57, Z:1.71 [[ 9.99509083e-01 -3.09605208e-02 -4.79990682e-03 4.41290613e+02] [ 3.09609545e-02 9.99520595e-01 1.60423105e-05 4.57463711e+00] [ 4.79710904e-03 -1.64644132e-04 9.99988480e-01 1.71274670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters 0.05531505546649986 Centerline is valid? [True, True] Translation: X:441.35, Y:4.58, Z:1.71 [[ 9.99550145e-01 -2.94286559e-02 -5.78458326e-03 4.41352127e+02] [ 2.94292605e-02 9.99566865e-01 1.94136436e-05 4.58261210e+00] [ 5.78150644e-03 -1.89640918e-04 9.99983269e-01 1.71230282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters 0.05628382167790581 Centerline is valid? [True, True] Translation: X:441.41, Y:4.58, Z:1.71 [[ 9.99551433e-01 -2.89799405e-02 -7.55616910e-03 4.41413551e+02] [ 2.89809609e-02 9.99579963e-01 2.55670517e-05 4.58197502e+00] [ 7.55225430e-03 -2.44540624e-04 9.99971451e-01 1.71074639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99925415399997 meters 0.055482483658274684 Centerline is valid? [True, True] Translation: X:441.48, Y:4.59, Z:1.71 [[ 9.99522212e-01 -2.99598793e-02 -7.59958554e-03 4.41475275e+02] [ 2.99609418e-02 9.99551070e-01 2.59714734e-05 4.58717194e+00] [ 7.59539575e-03 -2.53649804e-04 9.99971122e-01 1.71087235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.059254154 meters 0.055451964800528504 Centerline is valid? [True, True] Translation: X:441.54, Y:4.59, Z:1.71 [[ 9.99525830e-01 -3.00437863e-02 -6.74432890e-03 4.41537056e+02] [ 3.00446266e-02 9.99548558e-01 2.32951356e-05 4.58840745e+00] [ 6.74058435e-03 -2.25914933e-04 9.99977256e-01 1.71115147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.119254154 meters 0.05457461140857253 Centerline is valid? [True, True] Translation: X:441.60, Y:4.60, Z:1.71 [[ 9.99626004e-01 -2.67946951e-02 -5.46774793e-03 4.41597775e+02] [ 2.67951995e-02 9.99640944e-01 1.90014054e-05 4.59913088e+00] [ 5.46527557e-03 -1.65503696e-04 9.99985052e-01 1.71255670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.179254154 meters 0.05485731382469101 Centerline is valid? [True, True] Translation: X:441.66, Y:4.60, Z:1.71 [[ 9.99716232e-01 -2.33388881e-02 -4.76991142e-03 4.41658043e+02] [ 2.33392328e-02 9.99727603e-01 1.66053639e-05 4.59839585e+00] [ 4.76822456e-03 -1.27926725e-04 9.99988624e-01 1.71315932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.239254154 meters 0.05593471362052057 Centerline is valid? [True, True] Translation: X:441.72, Y:4.60, Z:1.71 [[ 9.99828671e-01 -1.80065572e-02 -4.28868756e-03 4.41717611e+02] [ 1.80067868e-02 9.99837865e-01 1.49275690e-05 4.59810799e+00] [ 4.28772341e-03 -9.21504940e-05 9.99990803e-01 1.71412419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.299254154 meters 0.05472012344620731 Centerline is valid? [True, True] Translation: X:441.78, Y:4.60, Z:1.71 [[ 9.99860468e-01 -1.60329782e-02 -4.68911662e-03 4.41779522e+02] [ 1.60332309e-02 9.99871459e-01 1.63066946e-05 4.60110661e+00] [ 4.68825244e-03 -9.14861087e-05 9.99989006e-01 1.71385132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.359254154 meters 0.05487651067788142 Centerline is valid? [True, True] Translation: X:441.84, Y:4.60, Z:1.71 [[ 9.99831048e-01 -1.74771219e-02 -5.69433767e-03 4.41841488e+02] [ 1.74775189e-02 9.99847256e-01 1.99672415e-05 4.60205375e+00] [ 5.69311893e-03 -1.19486762e-04 9.99983787e-01 1.71330049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.419254154 meters 0.055138530195114256 Centerline is valid? [True, True] Translation: X:441.90, Y:4.60, Z:1.71 [[ 9.99799938e-01 -1.90801638e-02 -6.00265556e-03 4.41903505e+02] [ 1.90806352e-02 9.99817948e-01 2.12660746e-05 4.60211770e+00] [ 6.00115700e-03 -1.35796301e-04 9.99981984e-01 1.71308024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.479254154 meters 0.05480318751919504 Centerline is valid? [True, True] Translation: X:441.97, Y:4.60, Z:1.71 [[ 9.99765199e-01 -2.06789526e-02 -6.47523130e-03 4.41965709e+02] [ 2.06795363e-02 9.99786155e-01 2.31988054e-05 4.60132390e+00] [ 6.47336688e-03 -1.57098139e-04 9.99979035e-01 1.71282338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.539254154 meters 0.05423237489767803 Centerline is valid? [True, True] Translation: X:442.03, Y:4.60, Z:1.71 [[ 9.99761064e-01 -2.08914755e-02 -6.43129215e-03 4.42027682e+02] [ 2.08920570e-02 9.99781737e-01 2.32543099e-05 4.60303629e+00] [ 6.42940262e-03 -1.57611676e-04 9.99979319e-01 1.71397943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.599254154 meters 0.05527826864202333 Centerline is valid? [True, True] Translation: X:442.09, Y:4.60, Z:1.71 [[ 9.99810691e-01 -1.84170619e-02 -6.27643140e-03 4.42088026e+02] [ 1.84175680e-02 9.99830382e-01 2.28423230e-05 4.59811095e+00] [ 6.27494611e-03 -1.38434601e-04 9.99980303e-01 1.71385506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.659254154 meters 0.05545633016723852 Centerline is valid? [True, True] Translation: X:442.15, Y:4.60, Z:1.71 [[ 9.99885668e-01 -1.41989070e-02 -5.20020857e-03 4.42149302e+02] [ 1.41991976e-02 9.99899186e-01 1.89732025e-05 4.60325602e+00] [ 5.19941492e-03 -9.28098224e-05 9.99986479e-01 1.71428239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.719254154 meters 0.054890315610015505 Centerline is valid? [True, True] Translation: X:442.21, Y:4.60, Z:1.71 [[ 9.99950449e-01 -8.42686428e-03 -5.29982525e-03 4.42208643e+02] [ 8.42708540e-03 9.99964491e-01 1.93913149e-05 4.60475934e+00] [ 5.29947365e-03 -6.40524340e-05 9.99985956e-01 1.71462671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779254154 meters 0.054225804881524856 Centerline is valid? [True, True] Translation: X:442.27, Y:4.61, Z:1.71 [[ 9.99975875e-01 -1.82305810e-03 -6.70262740e-03 4.42268126e+02] [ 1.82326301e-03 9.99998338e-01 2.44610802e-05 4.60627592e+00] [ 6.70257166e-03 -3.66811427e-05 9.99977537e-01 1.71407208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839254154 meters 0.05438094836369816 Centerline is valid? [True, True] Translation: X:442.33, Y:4.61, Z:1.71 [[ 9.99979670e-01 -1.99319126e-04 -6.37344872e-03 4.42327151e+02] [ 1.99469590e-04 9.99999980e-01 2.29721374e-05 4.60811802e+00] [ 6.37344401e-03 -2.42429795e-05 9.99979689e-01 1.71459249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899254154 meters 0.054731247640551525 Centerline is valid? [True, True] Translation: X:442.38, Y:4.61, Z:1.71 [[ 9.99965124e-01 2.82574441e-03 -7.85915398e-03 4.42384113e+02] [-2.82561485e-03 9.99996008e-01 2.75880094e-05 4.60808376e+00] [ 7.85920056e-03 -5.38010500e-06 9.99969116e-01 1.71388954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959254154 meters 0.05510134044212498 Centerline is valid? [True, True] Translation: X:442.44, Y:4.61, Z:1.71 [[ 9.99961810e-01 4.04176446e-03 -7.74873045e-03 4.42442315e+02] [-4.04167926e-03 9.99991832e-01 2.66549895e-05 4.60730741e+00] [ 7.74877489e-03 4.66391158e-06 9.99969978e-01 1.71438012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019254154 meters 0.0552932142080716 Centerline is valid? [True, True] Translation: X:442.50, Y:4.60, Z:1.71 [[ 9.99959895e-01 3.27639033e-03 -8.33511746e-03 4.42499987e+02] [-3.27626998e-03 9.99994633e-01 2.80937132e-05 4.60486283e+00] [ 8.33516477e-03 -7.84491414e-07 9.99965262e-01 1.71386172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079254154 meters 0.055596363634924 Centerline is valid? [True, True] Translation: X:442.56, Y:4.60, Z:1.71 [[ 9.99957433e-01 -1.67779318e-03 -9.07286988e-03 4.42558667e+02] [ 1.67813622e-03 9.99998591e-01 3.01960275e-05 4.59891178e+00] [ 9.07280644e-03 -4.54202536e-05 9.99958840e-01 1.71339424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139254154 meters 0.055686696263550745 Centerline is valid? [True, True] Translation: X:442.62, Y:4.59, Z:1.71 [[ 9.99900623e-01 -1.11756711e-02 -8.59347590e-03 4.42617938e+02] [ 1.11763284e-02 9.99937543e-01 2.84645539e-05 4.58946633e+00] [ 8.59262106e-03 -1.24505234e-04 9.99963075e-01 1.71466457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199254154 meters 0.05474584779363343 Centerline is valid? [True, True] Translation: X:442.68, Y:4.58, Z:1.72 [[ 9.99741557e-01 -2.18224654e-02 -6.37179461e-03 4.42677994e+02] [ 2.18230428e-02 9.99761849e-01 2.10921301e-05 4.58409524e+00] [ 6.36981687e-03 -1.60138625e-04 9.99979700e-01 1.71765881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259254154 meters 0.05647924261505248 Centerline is valid? [True, True] Translation: X:442.74, Y:4.58, Z:1.72 [[ 9.99581923e-01 -2.83547956e-02 -5.65549769e-03 4.42738267e+02] [ 2.83553549e-02 9.99597906e-01 1.87207338e-05 4.57574793e+00] [ 5.65269283e-03 -1.79076551e-04 9.99984007e-01 1.71843951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319254154 meters 0.05665422271072359 Centerline is valid? [True, True] Translation: X:442.80, Y:4.57, Z:1.72 [[ 9.99284886e-01 -3.74958255e-02 -4.87651192e-03 4.42797388e+02] [ 3.74963501e-02 9.99296764e-01 1.61711656e-05 4.56522048e+00] [ 4.87247623e-03 -1.99011000e-04 9.99988110e-01 1.71872024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters 0.05642047017413909 Centerline is valid? [True, True] Translation: X:442.86, Y:4.57, Z:1.72 [[ 9.99096056e-01 -4.22126903e-02 -5.01604301e-03 4.42857811e+02] [ 4.22133049e-02 9.99108621e-01 1.66818073e-05 4.56540504e+00] [ 5.01086763e-03 -2.28410481e-04 9.99987419e-01 1.71873735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters 0.05718053938848444 Centerline is valid? [True, True] Translation: X:442.92, Y:4.56, Z:1.72 [[ 9.98891463e-01 -4.67871056e-02 -5.17795229e-03 4.42918540e+02] [ 4.67878219e-02 9.98904850e-01 1.72204010e-05 4.56110789e+00] [ 5.17147596e-03 -2.59466421e-04 9.99986594e-01 1.71879954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49925415399997 meters 0.0547092263800906 Centerline is valid? [True, True] Translation: X:442.98, Y:4.57, Z:1.72 [[ 9.98830793e-01 -4.80476915e-02 -5.33532982e-03 4.42979698e+02] [ 4.80484700e-02 9.98845005e-01 1.77697801e-05 4.56647868e+00] [ 5.32831374e-03 -2.74103439e-04 9.99985767e-01 1.71880832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.559254154 meters 0.05682884791805173 Centerline is valid? [True, True] Translation: X:443.04, Y:4.56, Z:1.72 [[ 9.98961729e-01 -4.49368262e-02 -7.49304738e-03 4.43039235e+02] [ 4.49382750e-02 9.98989765e-01 2.50154084e-05 4.55631559e+00] [ 7.48435353e-03 -3.61714059e-04 9.99971926e-01 1.71663132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.619254154 meters 0.05482581581478274 Centerline is valid? [True, True] Translation: X:443.10, Y:4.57, Z:1.72 [[ 9.99110702e-01 -4.13512186e-02 -8.23907011e-03 4.43099898e+02] [ 4.13528484e-02 9.99144605e-01 2.74838248e-05 4.56775994e+00] [ 8.23088596e-03 -3.68168401e-04 9.99966058e-01 1.71634613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.679254154 meters 0.05523543402780312 Centerline is valid? [True, True] Translation: X:443.16, Y:4.58, Z:1.72 [[ 9.99404271e-01 -3.34831853e-02 -8.36534342e-03 4.43160085e+02] [ 3.34845905e-02 9.99439233e-01 2.79371521e-05 4.57647265e+00] [ 8.35971699e-03 -3.08030608e-04 9.99965009e-01 1.71721084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.739254154 meters 0.05471702463713774 Centerline is valid? [True, True] Translation: X:443.22, Y:4.58, Z:1.72 [[ 9.99708594e-01 -2.28793463e-02 -7.69818976e-03 4.43220574e+02] [ 2.28802224e-02 9.99738213e-01 2.57426932e-05 4.58213628e+00] [ 7.69558550e-03 -2.01871485e-04 9.99970368e-01 1.71817130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.799254154 meters 0.055424227093993986 Centerline is valid? [True, True] Translation: X:443.28, Y:4.58, Z:1.72 [[ 9.99913975e-01 -1.13194330e-02 -6.62662335e-03 4.43280413e+02] [ 1.13198285e-02 9.99935928e-01 2.21903775e-05 4.58330197e+00] [ 6.62594759e-03 -9.72007087e-05 9.99978043e-01 1.71873496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.859254154 meters 0.05600869839825013 Centerline is valid? [True, True] Translation: X:443.34, Y:4.59, Z:1.72 [[ 9.99972693e-01 -4.73517251e-03 -5.67380192e-03 4.43339928e+02] [ 4.73535642e-03 9.99988788e-01 1.89798075e-05 4.58937685e+00] [ 5.67364843e-03 -4.58467636e-05 9.99983904e-01 1.72002127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.919254154 meters 0.05466558118251909 Centerline is valid? [True, True] Translation: X:443.40, Y:4.59, Z:1.72 [[ 9.99982939e-01 2.26051373e-03 -5.38623728e-03 4.43398572e+02] [-2.26045011e-03 9.99997445e-01 1.79000312e-05 4.59365397e+00] [ 5.38626398e-03 -5.72440514e-06 9.99985494e-01 1.71985327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.979254154 meters 0.05517769901671732 Centerline is valid? [True, True] Translation: X:443.46, Y:4.59, Z:1.72 [[ 9.99973948e-01 2.68522984e-03 -6.70027474e-03 4.43456470e+02] [-2.68514402e-03 9.99996395e-01 2.18039617e-05 4.59337516e+00] [ 6.70030913e-03 -3.81219093e-06 9.99977553e-01 1.71917181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.039254154 meters 0.05488127033899602 Centerline is valid? [True, True] Translation: X:443.51, Y:4.59, Z:1.72 [[ 9.99974699e-01 -7.98888322e-04 -7.06841237e-03 4.43514327e+02] [ 7.99066252e-04 9.99999681e-01 2.23484014e-05 4.59006047e+00] [ 7.06839225e-03 -2.79959657e-05 9.99975018e-01 1.71831318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.099254154 meters 0.05439461474786838 Centerline is valid? [True, True] Translation: X:443.57, Y:4.58, Z:1.72 [[ 9.99917159e-01 -1.05158209e-02 -7.42241849e-03 4.43574660e+02] [ 1.05162833e-02 9.99944702e-01 2.32645100e-05 4.58284295e+00] [ 7.42176340e-03 -1.01318838e-04 9.99972453e-01 1.71895488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.159254154 meters 0.055329138539500666 Centerline is valid? [True, True] Translation: X:443.63, Y:4.57, Z:1.72 [[ 9.99760802e-01 -2.04529360e-02 -7.74695755e-03 4.43634423e+02] [ 2.04537387e-02 9.99790800e-01 2.43933806e-05 4.57091072e+00] [ 7.74483797e-03 -1.82841791e-04 9.99969992e-01 1.71904655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.219254154 meters 0.056220598078380334 Centerline is valid? [True, True] Translation: X:443.69, Y:4.56, Z:1.72 [[ 9.99588560e-01 -2.79640140e-02 -6.38165303e-03 4.43694583e+02] [ 2.79647124e-02 9.99608911e-01 2.02182090e-05 4.56455298e+00] [ 6.37859185e-03 -1.98670982e-04 9.99979637e-01 1.71980569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279254154 meters 0.05482562530529315 Centerline is valid? [True, True] Translation: X:443.76, Y:4.56, Z:1.72 [[ 9.99452918e-01 -3.25245917e-02 -6.00133655e-03 4.43755439e+02] [ 3.25252915e-02 9.99470913e-01 1.90133300e-05 4.56392658e+00] [ 5.99754291e-03 -2.14198149e-04 9.99981992e-01 1.72009918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339254154 meters 0.056000434610039916 Centerline is valid? [True, True] Translation: X:443.82, Y:4.56, Z:1.72 [[ 9.99337897e-01 -3.58412144e-02 -6.25898483e-03 4.43815867e+02] [ 3.58420405e-02 9.99357467e-01 1.98387024e-05 4.56405542e+00] [ 6.25425219e-03 -2.44160355e-04 9.99980412e-01 1.72012754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399254154 meters 0.056404330630722296 Centerline is valid? [True, True] Translation: X:443.87, Y:4.56, Z:1.72 [[ 9.99209576e-01 -3.91910908e-02 -6.65439926e-03 4.43874959e+02] [ 3.91920985e-02 9.99231694e-01 2.10587047e-05 4.55561847e+00] [ 6.64846134e-03 -2.81841931e-04 9.99977859e-01 1.71960732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459254154 meters 0.055565803556251125 Centerline is valid? [True, True] Translation: X:443.94, Y:4.56, Z:1.72 [[ 9.99012188e-01 -4.39295302e-02 -6.69665398e-03 4.43935219e+02] [ 4.39306567e-02 9.99034582e-01 2.11419118e-05 4.56027619e+00] [ 6.68926016e-03 -3.15309435e-04 9.99977577e-01 1.71955353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519254154 meters 0.05378642709792905 Centerline is valid? [True, True] Translation: X:444.00, Y:4.58, Z:1.72 [[ 9.98837520e-01 -4.75887677e-02 -7.67578084e-03 4.43996377e+02] [ 4.75903560e-02 9.98866937e-01 2.42976293e-05 4.57743160e+00] [ 7.66592740e-03 -3.89562526e-04 9.99970540e-01 1.72003953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579254154 meters 0.05351154619088976 Centerline is valid? [True, True] Translation: X:444.06, Y:4.58, Z:1.72 [[ 9.98822602e-01 -4.78394973e-02 -8.04932379e-03 4.44058137e+02] [ 4.78412539e-02 9.98854951e-01 2.57101566e-05 4.57580389e+00] [ 8.03887696e-03 -4.10769629e-04 9.99967603e-01 1.71997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639254154 meters 0.05371702324399852 Centerline is valid? [True, True] Translation: X:444.12, Y:4.58, Z:1.72 [[ 9.98870967e-01 -4.67503653e-02 -8.43765721e-03 4.44119708e+02] [ 4.67522588e-02 9.98906515e-01 2.72035050e-05 4.58093433e+00] [ 8.42715898e-03 -4.21652325e-04 9.99964402e-01 1.72018258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699254154 meters 0.05394041594419388 Centerline is valid? [True, True] Translation: X:444.18, Y:4.58, Z:1.72 [[ 9.98956846e-01 -4.47391793e-02 -9.14467221e-03 4.44179459e+02] [ 4.47413201e-02 9.98998605e-01 2.95570096e-05 4.57585157e+00] [ 9.13419243e-03 -4.38670884e-04 9.99958186e-01 1.71937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759254154 meters 0.054425985819871736 Centerline is valid? [True, True] Translation: X:444.24, Y:4.58, Z:1.72 [[ 9.99140058e-01 -4.00311970e-02 -1.08003866e-02 4.44239743e+02] [ 4.00339093e-02 9.99198321e-01 3.49598924e-05 4.58261043e+00] [ 1.07903287e-02 -4.67311527e-04 9.99941673e-01 1.71865778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819254154 meters 0.05455281628197952 Centerline is valid? [True, True] Translation: X:444.30, Y:4.58, Z:1.72 [[ 9.99235727e-01 -3.74396153e-02 -1.12355314e-02 4.44300037e+02] [ 3.74423874e-02 9.99298787e-01 3.63991466e-05 4.58308695e+00] [ 1.12262901e-02 -4.57056445e-04 9.99936879e-01 1.71859562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters 0.053386779751779405 Centerline is valid? [True, True] Translation: X:444.36, Y:4.59, Z:1.72 [[ 9.99601386e-01 -2.63892142e-02 -1.00338817e-02 4.44360561e+02] [ 2.63908688e-02 9.99651700e-01 3.25057823e-05 4.59499212e+00] [ 1.00295291e-02 -2.97295679e-04 9.99949659e-01 1.72096762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters 0.054306414902081 Centerline is valid? [True, True] Translation: X:444.42, Y:4.60, Z:1.72 [[ 9.99894321e-01 -1.20649900e-02 -8.11066413e-03 4.44419879e+02] [ 1.20655996e-02 9.99927208e-01 2.62346846e-05 4.60444457e+00] [ 8.10975721e-03 -1.24091938e-04 9.99967108e-01 1.72271620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99925415399997 meters 0.053800546934759004 Centerline is valid? [True, True] Translation: X:444.48, Y:4.61, Z:1.72 [[ 9.99971538e-01 -2.90791744e-03 -6.96186727e-03 4.44479005e+02] [ 2.90814429e-03 9.99995771e-01 2.24615368e-05 4.61065930e+00] [ 6.96177252e-03 -4.27070120e-05 9.99975766e-01 1.72336457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.059254154 meters 0.053864366707813915 Centerline is valid? [True, True] Translation: X:444.54, Y:4.62, Z:1.72 [[ 9.99966375e-01 6.08270103e-03 -5.49995295e-03 4.44538057e+02] [-6.08269653e-03 9.99981500e-01 1.75455318e-05 4.61890697e+00] [ 5.49995792e-03 1.59096029e-05 9.99984875e-01 1.72453229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.119254154 meters 0.05378195273155699 Centerline is valid? [True, True] Translation: X:444.60, Y:4.62, Z:1.72 [[ 9.99940381e-01 8.72330586e-03 -6.56802493e-03 4.44596575e+02] [-8.72336180e-03 9.99961951e-01 2.01306267e-05 4.62110546e+00] [ 6.56795063e-03 3.71658313e-05 9.99978430e-01 1.72401808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.179254154 meters 0.054021275417283326 Centerline is valid? [True, True] Translation: X:444.65, Y:4.62, Z:1.72 [[ 9.99946283e-01 6.12139452e-03 -8.36419170e-03 4.44654221e+02] [-6.12140043e-03 9.99981264e-01 2.48947663e-05 4.61698236e+00] [ 8.36418738e-03 2.63071376e-05 9.99965019e-01 1.72379665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.239254154 meters 0.05377681853180591 Centerline is valid? [True, True] Translation: X:444.71, Y:4.61, Z:1.72 [[ 9.99960839e-01 1.49214278e-03 -8.72316449e-03 4.44712993e+02] [-1.49197555e-03 9.99998887e-01 2.56774058e-05 4.61188572e+00] [ 8.72319309e-03 -1.26616520e-05 9.99961952e-01 1.72258916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.299254154 meters 0.053562309170008815 Centerline is valid? [True, True] Translation: X:444.77, Y:4.61, Z:1.72 [[ 9.99963103e-01 -2.10943148e-04 -8.58763075e-03 4.44770829e+02] [ 2.11165470e-04 9.99999977e-01 2.49817462e-05 4.60835300e+00] [ 8.58762529e-03 -2.67942355e-05 9.99963125e-01 1.72275497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.359254154 meters 0.05367042815052686 Centerline is valid? [True, True] Translation: X:444.83, Y:4.60, Z:1.72 [[ 9.99976985e-01 -1.86158082e-03 -6.52414632e-03 4.44829160e+02] [ 1.86174303e-03 9.99998267e-01 1.87900813e-05 4.60262731e+00] [ 6.52410004e-03 -3.09359328e-05 9.99978717e-01 1.72288871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.419254154 meters 0.05400747559217451 Centerline is valid? [True, True] Translation: X:444.89, Y:4.60, Z:1.72 [[ 9.99984238e-01 -1.30913225e-03 -5.45990440e-03 4.44887370e+02] [ 1.30923610e-03 9.99999143e-01 1.54469121e-05 4.60082371e+00] [ 5.45987950e-03 -2.25949726e-05 9.99985094e-01 1.72366319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.479254154 meters 0.05364772071006977 Centerline is valid? [True, True] Translation: X:444.95, Y:4.59, Z:1.72 [[ 9.99991415e-01 3.35489296e-04 -4.13006814e-03 4.44945191e+02] [-3.35445604e-04 9.99999944e-01 1.12715046e-05 4.59488044e+00] [ 4.13007169e-03 -9.88599462e-06 9.99991471e-01 1.72391921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.539254154 meters 0.05386307667608409 Centerline is valid? [True, True] Translation: X:445.00, Y:4.59, Z:1.72 [[ 9.99994266e-01 -2.29981462e-04 -3.37873471e-03 4.45004020e+02] [ 2.30012791e-04 9.99999974e-01 8.88370446e-06 4.58823864e+00] [ 3.37873258e-03 -9.66080571e-06 9.99994292e-01 1.72490083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.599254154 meters 0.05404491810636718 Centerline is valid? [True, True] Translation: X:445.06, Y:4.58, Z:1.72 [[ 9.99982574e-01 -2.92213357e-03 -5.12955570e-03 4.45063255e+02] [ 2.92224005e-03 9.99995730e-01 1.32634966e-05 4.58034302e+00] [ 5.12949504e-03 -2.82530586e-05 9.99986844e-01 1.72313888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.659254154 meters 0.054390803848013196 Centerline is valid? [True, True] Translation: X:445.12, Y:4.57, Z:1.72 [[ 9.99950057e-01 -6.45209701e-03 -7.63239198e-03 4.45123027e+02] [ 6.45243397e-03 9.99979183e-01 1.95253239e-05 4.56940053e+00] [ 7.63210712e-03 -6.87718540e-05 9.99970873e-01 1.72040771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.719254154 meters 0.05477768200110992 Centerline is valid? [True, True] Translation: X:445.18, Y:4.56, Z:1.72 [[ 9.99938127e-01 -7.61069412e-03 -8.11294752e-03 4.45181925e+02] [ 7.61111073e-03 9.99971035e-01 2.04765404e-05 4.56484513e+00] [ 8.11255669e-03 -8.22238154e-05 9.99967089e-01 1.71980469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779254154 meters 0.05444382098696601 Centerline is valid? [True, True] Translation: X:445.24, Y:4.56, Z:1.72 [[ 9.99936145e-01 -6.35591983e-03 -9.34386922e-03 4.45241110e+02] [ 6.35640913e-03 9.99979798e-01 2.26690401e-05 4.56276365e+00] [ 9.34353636e-03 -8.20610482e-05 9.99956345e-01 1.72117493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839254154 meters 0.05482233654399858 Centerline is valid? [True, True] Translation: X:445.30, Y:4.56, Z:1.72 [[ 9.99941934e-01 -5.66198912e-03 -9.16904151e-03 4.45298517e+02] [ 5.66242395e-03 9.99983968e-01 2.14644009e-05 4.55936692e+00] [ 9.16877298e-03 -7.33821549e-05 9.99957963e-01 1.72084165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899254154 meters 0.05470195803921182 Centerline is valid? [True, True] Translation: X:445.36, Y:4.55, Z:1.72 [[ 9.99946960e-01 -6.75092879e-03 -7.77826153e-03 4.45356342e+02] [ 6.75127209e-03 9.99977210e-01 1.78800172e-05 4.55245341e+00] [ 7.77796356e-03 -7.03922288e-05 9.99969749e-01 1.72098690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959254154 meters 0.05433029725193178 Centerline is valid? [True, True] Translation: X:445.42, Y:4.55, Z:1.72 [[ 9.99941645e-01 -8.09940475e-03 -7.14887663e-03 4.45415316e+02] [ 8.09972780e-03 9.99967197e-01 1.62367379e-05 4.54545959e+00] [ 7.14851062e-03 -7.41397451e-05 9.99974446e-01 1.72138908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019254154 meters 0.054418494235569374 Centerline is valid? [True, True] Translation: X:445.47, Y:4.54, Z:1.72 [[ 9.99957978e-01 -6.60565711e-03 -6.35668357e-03 4.45473726e+02] [ 6.60588012e-03 9.99978181e-01 1.40867321e-05 4.54255621e+00] [ 6.35645182e-03 -5.60776298e-05 9.99979796e-01 1.72222542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079254154 meters 0.05488061284103659 Centerline is valid? [True, True] Translation: X:445.53, Y:4.54, Z:1.72 [[ 9.99983021e-01 -4.06670937e-03 -4.17362591e-03 4.45533044e+02] [ 4.06678219e-03 9.99991731e-01 8.96036251e-06 4.53953269e+00] [ 4.17355496e-03 -2.59334379e-05 9.99991290e-01 1.72434719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139254154 meters 0.0554420103771558 Centerline is valid? [True, True] Translation: X:445.59, Y:4.53, Z:1.73 [[ 9.99992613e-01 -3.23077515e-03 -2.08244229e-03 4.45592032e+02] [ 3.23079183e-03 9.99994781e-01 4.64531889e-06 4.53355621e+00] [ 2.08241641e-03 -1.13732221e-05 9.99997832e-01 1.72545621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199254154 meters 0.05516778596489179 Centerline is valid? [True, True] Translation: X:445.65, Y:4.53, Z:1.72 [[ 9.99987261e-01 -4.32097858e-03 -2.60905532e-03 4.45651676e+02] [ 4.32100706e-03 9.99990664e-01 5.27900452e-06 4.52954667e+00] [ 2.60900815e-03 -1.65526837e-05 9.99996596e-01 1.72486752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259254154 meters 0.05557040191106548 Centerline is valid? [True, True] Translation: X:445.71, Y:4.52, Z:1.72 [[ 9.99951488e-01 -8.35355237e-03 -5.21910139e-03 4.45711036e+02] [ 8.35372085e-03 9.99965107e-01 1.04818929e-05 4.52385952e+00] [ 5.21883172e-03 -5.40803005e-05 9.99986380e-01 1.72357782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319254154 meters 0.05605631556656746 Centerline is valid? [True, True] Translation: X:445.77, Y:4.52, Z:1.72 [[ 9.99894105e-01 -1.33603290e-02 -5.76886442e-03 4.45771382e+02] [ 1.33606180e-02 9.99910743e-01 1.15653121e-05 4.51777591e+00] [ 5.76819499e-03 -8.86396814e-05 9.99983360e-01 1.72236294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters 0.05594895795928146 Centerline is valid? [True, True] Translation: X:445.83, Y:4.51, Z:1.72 [[ 9.99835503e-01 -1.72642669e-02 -5.55992551e-03 4.45831469e+02] [ 1.72645959e-02 9.99850956e-01 1.11765742e-05 4.50880005e+00] [ 5.55890388e-03 -1.07164603e-04 9.99984543e-01 1.72239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters 0.05668863514261496 Centerline is valid? [True, True] Translation: X:445.89, Y:4.50, Z:1.72 [[ 9.99806841e-01 -1.89663913e-02 -5.15325688e-03 4.45892110e+02] [ 1.89666965e-02 9.99820116e-01 1.03694322e-05 4.50149599e+00] [ 5.15213322e-03 -1.08107689e-04 9.99986722e-01 1.72267529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49925415399997 meters 0.05610104557559958 Centerline is valid? [True, True] Translation: X:445.95, Y:4.50, Z:1.72 [[ 9.99772259e-01 -2.09776967e-02 -3.92005110e-03 4.45953984e+02] [ 2.09778889e-02 9.99779940e-01 7.91115820e-06 4.50227224e+00] [ 3.91902249e-03 -9.01437529e-05 9.99992317e-01 1.72281485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.559254154 meters 0.05582878849196849 Centerline is valid? [True, True] Translation: X:446.02, Y:4.50, Z:1.72 [[ 9.99752477e-01 -2.20362272e-02 -3.06426036e-03 4.46016276e+02] [ 2.20363505e-02 9.99757170e-01 6.47361832e-06 4.50165866e+00] [ 3.06337361e-03 -7.39971313e-05 9.99995305e-01 1.72274038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.619254154 meters 0.057587979955854275 Centerline is valid? [True, True] Translation: X:446.08, Y:4.49, Z:1.72 [[ 9.99698507e-01 -2.44538883e-02 -2.21398980e-03 4.46076754e+02] [ 2.44539587e-02 9.99700957e-01 4.74238069e-06 4.49185647e+00] [ 2.21321175e-03 -5.88817661e-05 9.99997549e-01 1.72363133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.679254154 meters 0.05779153614509658 Centerline is valid? [True, True] Translation: X:446.14, Y:4.49, Z:1.72 [[ 9.99674344e-01 -2.54135145e-02 -2.31522547e-03 4.46137718e+02] [ 2.54135940e-02 9.99677022e-01 4.95021081e-06 4.48752729e+00] [ 2.31435190e-03 -6.37867990e-05 9.99997320e-01 1.72394039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.739254154 meters 0.05646438436241457 Centerline is valid? [True, True] Translation: X:446.20, Y:4.49, Z:1.72 [[ 9.99587325e-01 -2.85320959e-02 -3.33145529e-03 4.46199224e+02] [ 2.85322788e-02 9.99592872e-01 7.38016000e-06 4.49415030e+00] [ 3.32988839e-03 -1.02431125e-04 9.99994451e-01 1.72258417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.799254154 meters 0.05548248140920659 Centerline is valid? [True, True] Translation: X:446.26, Y:4.49, Z:1.72 [[ 9.99490570e-01 -3.16529777e-02 -4.08539339e-03 4.46260138e+02] [ 3.16532792e-02 9.99498909e-01 9.13231913e-06 4.49392433e+00] [ 4.08305717e-03 -1.38443764e-04 9.99991655e-01 1.72080930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.859254154 meters 0.05747361740682263 Centerline is valid? [True, True] Translation: X:446.32, Y:4.49, Z:1.72 [[ 9.99446064e-01 -3.29421313e-02 -4.73097147e-03 4.46322329e+02] [ 3.29425503e-02 9.99457247e-01 1.06428350e-05 4.49113755e+00] [ 4.72805312e-03 -1.66487205e-04 9.99988809e-01 1.72066896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.919254154 meters 0.05686757128357864 Centerline is valid? [True, True] Translation: X:446.38, Y:4.49, Z:1.72 [[ 9.99437545e-01 -3.30120766e-02 -5.89879039e-03 4.46384104e+02] [ 3.30127307e-02 9.99454931e-01 1.35178786e-05 4.49485760e+00] [ 5.89512889e-03 -2.08245454e-04 9.99982602e-01 1.72061658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.979254154 meters 0.055515089242861713 Centerline is valid? [True, True] Translation: X:446.45, Y:4.51, Z:1.72 [[ 9.99460309e-01 -3.21039427e-02 -6.95902385e-03 4.46446244e+02] [ 3.21048328e-02 9.99484507e-01 1.62084177e-05 4.50507228e+00] [ 6.95491616e-03 -2.39617967e-04 9.99975786e-01 1.72022546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.039254154 meters 0.05577944760689269 Centerline is valid? [True, True] Translation: X:446.51, Y:4.50, Z:1.72 [[ 9.99479745e-01 -3.15336337e-02 -6.77272439e-03 4.46507573e+02] [ 3.15344651e-02 9.99502665e-01 1.59831088e-05 4.50073153e+00] [ 6.76885207e-03 -2.29549035e-04 9.99977065e-01 1.72037604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.099254154 meters 0.056298755149391394 Centerline is valid? [True, True] Translation: X:446.57, Y:4.50, Z:1.72 [[ 9.99585262e-01 -2.82929241e-02 -5.36790585e-03 4.46567127e+02] [ 2.82934001e-02 9.99599662e-01 1.27495758e-05 4.50402558e+00] [ 5.36539615e-03 -1.64620596e-04 9.99985593e-01 1.72192375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.159254154 meters 0.05554369274064916 Centerline is valid? [True, True] Translation: X:446.63, Y:4.51, Z:1.72 [[ 9.99714424e-01 -2.34786693e-02 -4.45221058e-03 4.46626731e+02] [ 2.34789490e-02 9.99724331e-01 1.05706619e-05 4.50821937e+00] [ 4.45073506e-03 -1.15100868e-04 9.99990089e-01 1.72285009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.219254154 meters 0.054967055016275114 Centerline is valid? [True, True] Translation: X:446.69, Y:4.52, Z:1.72 [[ 9.99756574e-01 -2.16874121e-02 -4.05575993e-03 4.46688589e+02] [ 2.16876294e-02 9.99764796e-01 9.60483778e-06 4.51703305e+00] [ 4.05459770e-03 -9.75623181e-05 9.99991775e-01 1.72252975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279254154 meters 0.055163905197631986 Centerline is valid? [True, True] Translation: X:446.75, Y:4.52, Z:1.72 [[ 9.99734610e-01 -2.22734485e-02 -5.88242426e-03 4.46749478e+02] [ 2.22739172e-02 9.99751905e-01 1.41702693e-05 4.51641242e+00] [ 5.88064924e-03 -1.45191139e-04 9.99982698e-01 1.72250100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339254154 meters 0.05461121827877333 Centerline is valid? [True, True] Translation: X:446.81, Y:4.52, Z:1.72 [[ 9.99677063e-01 -2.47379129e-02 -5.81422773e-03 4.46810791e+02] [ 2.47384133e-02 9.99693959e-01 1.41496955e-05 4.51611758e+00] [ 5.81209830e-03 -1.57979895e-04 9.99983097e-01 1.72205868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399254154 meters 0.05523157872789633 Centerline is valid? [True, True] Translation: X:446.87, Y:4.52, Z:1.72 [[ 9.99643600e-01 -2.58019496e-02 -6.85065479e-03 4.46871916e+02] [ 2.58026705e-02 9.99667056e-01 1.68579813e-05 4.51557460e+00] [ 6.84793893e-03 -1.93617161e-04 9.99976534e-01 1.72193160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459254154 meters 0.055415845658051584 Centerline is valid? [True, True] Translation: X:446.93, Y:4.52, Z:1.72 [[ 9.99641854e-01 -2.56550824e-02 -7.61449115e-03 4.46933885e+02] [ 2.56559709e-02 9.99670831e-01 1.89997210e-05 4.52102456e+00] [ 7.61149726e-03 -2.14350079e-04 9.99971009e-01 1.72221330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519254154 meters 0.055408557335504635 Centerline is valid? [True, True] Translation: X:447.00, Y:4.52, Z:1.72 [[ 9.99627164e-01 -2.62922558e-02 -7.36545313e-03 4.46995022e+02] [ 2.62931062e-02 9.99654276e-01 1.86246092e-05 4.52114269e+00] [ 7.36241704e-03 -2.12278306e-04 9.99972874e-01 1.72178622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579254154 meters 0.05682884316476994 Centerline is valid? [True, True] Translation: X:447.06, Y:4.52, Z:1.72 [[ 9.99562938e-01 -2.89441759e-02 -6.01389422e-03 4.47055599e+02] [ 2.89447915e-02 9.99581012e-01 1.53294092e-05 4.51864498e+00] [ 6.01093077e-03 -1.89393624e-04 9.99981916e-01 1.72312108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639254154 meters 0.0550288879536866 Centerline is valid? [True, True] Translation: X:447.12, Y:4.52, Z:1.72 [[ 9.99464372e-01 -3.24564072e-02 -4.18939432e-03 4.47116293e+02] [ 3.24567370e-02 9.99473141e-01 1.07345367e-05 4.52347877e+00] [ 4.18683869e-03 -1.46702856e-04 9.99991224e-01 1.72396415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699254154 meters 0.0556808850226994 Centerline is valid? [True, True] Translation: X:447.18, Y:4.52, Z:1.72 [[ 9.99325048e-01 -3.64534390e-02 -4.53813060e-03 4.47176054e+02] [ 3.64538672e-02 9.99335337e-01 1.16420573e-05 4.51782978e+00] [ 4.53468988e-03 -1.77066609e-04 9.99989703e-01 1.72429050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759254154 meters 0.05320567048399983 Centerline is valid? [True, True] Translation: X:447.24, Y:4.53, Z:1.72 [[ 9.99200340e-01 -3.97154743e-02 -4.62179288e-03 4.47236315e+02] [ 3.97159531e-02 9.99211010e-01 1.18365044e-05 4.53187351e+00] [ 4.61767624e-03 -1.95385949e-04 9.99989319e-01 1.72438161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819254154 meters 0.05338457171149265 Centerline is valid? [True, True] Translation: X:447.30, Y:4.53, Z:1.72 [[ 9.99054301e-01 -4.32153461e-02 -4.78936678e-03 4.47296544e+02] [ 4.32159007e-02 9.99065756e-01 1.23091372e-05 4.53408879e+00] [ 4.78436040e-03 -2.19274295e-04 9.99988531e-01 1.72437799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters 0.0564715280924725 Centerline is valid? [True, True] Translation: X:447.36, Y:4.52, Z:1.72 [[ 9.99056147e-01 -4.31646435e-02 -4.86102769e-03 4.47358668e+02] [ 4.31652144e-02 9.99067948e-01 1.25388598e-05 4.51933058e+00] [ 4.85595572e-03 -2.22354327e-04 9.99988185e-01 1.72457776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters 0.05704901437409548 Centerline is valid? [True, True] Translation: X:447.42, Y:4.52, Z:1.72 [[ 9.99194431e-01 -3.97565099e-02 -5.46885117e-03 4.47418537e+02] [ 3.97571826e-02 9.99209371e-01 1.42991797e-05 4.52312582e+00] [ 5.46395885e-03 -2.31713775e-04 9.99985046e-01 1.72468772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99925415399997 meters 0.0539678105182773 Centerline is valid? [True, True] Translation: X:447.48, Y:4.54, Z:1.73 [[ 9.99300065e-01 -3.71569712e-02 -4.32891519e-03 4.47479554e+02] [ 3.71573683e-02 9.99309426e-01 1.13226093e-05 4.54498944e+00] [ 4.32550505e-03 -1.72165780e-04 9.99990630e-01 1.72541188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.059254154 meters 0.05655314179418393 Centerline is valid? [True, True] Translation: X:447.54, Y:4.53, Z:1.73 [[ 9.99396844e-01 -3.43595360e-02 -5.03688167e-03 4.47539218e+02] [ 3.43600385e-02 9.99409519e-01 1.32403581e-05 4.52966197e+00] [ 5.03345255e-03 -1.86299820e-04 9.99987315e-01 1.72505298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.119254154 meters 0.053708105413999944 Centerline is valid? [True, True] Translation: X:447.60, Y:4.54, Z:1.73 [[ 9.99479066e-01 -3.19093014e-02 -4.83655809e-03 4.47599319e+02] [ 3.19097363e-02 9.99490755e-01 1.27574109e-05 4.54401199e+00] [ 4.83368801e-03 -1.67084058e-04 9.99988304e-01 1.72564526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.179254154 meters 0.05416529033580045 Centerline is valid? [True, True] Translation: X:447.66, Y:4.54, Z:1.73 [[ 9.99646397e-01 -2.60659786e-02 -5.25798101e-03 4.47659308e+02] [ 2.60664119e-02 9.99660213e-01 1.38681385e-05 4.54494561e+00] [ 5.25583293e-03 -1.50919933e-04 9.99986177e-01 1.72570986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.239254154 meters 0.0535848202405923 Centerline is valid? [True, True] Translation: X:447.72, Y:4.55, Z:1.73 [[ 9.99817771e-01 -1.85347217e-02 -4.57036559e-03 4.47719539e+02] [ 1.85349704e-02 9.99828213e-01 1.20571265e-05 4.54700196e+00] [ 4.56935699e-03 -9.67665203e-05 9.99989556e-01 1.72610416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.299254154 meters 0.05382431983632993 Centerline is valid? [True, True] Translation: X:447.78, Y:4.55, Z:1.73 [[ 9.99891741e-01 -1.39249452e-02 -4.75421558e-03 4.47779424e+02] [ 1.39251624e-02 9.99903040e-01 1.25806911e-05 4.54751683e+00] [ 4.75357943e-03 -7.87825530e-05 9.99988699e-01 1.72620159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.359254154 meters 0.05473166830844543 Centerline is valid? [True, True] Translation: X:447.84, Y:4.55, Z:1.73 [[ 9.99947821e-01 -8.66760937e-03 -5.40633578e-03 4.47839259e+02] [ 8.66781359e-03 9.99962434e-01 1.43439234e-05 4.55338258e+00] [ 5.40600835e-03 -6.12042857e-05 9.99985386e-01 1.72661783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.419254154 meters 0.054572918559572456 Centerline is valid? [True, True] Translation: X:447.90, Y:4.55, Z:1.73 [[ 9.99952956e-01 -7.17893477e-03 -6.52287665e-03 4.47899739e+02] [ 7.17920039e-03 9.99974229e-01 1.73062952e-05 4.55290475e+00] [ 6.52258431e-03 -6.41345197e-05 9.99978726e-01 1.72643595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.479254154 meters 0.054352472765762515 Centerline is valid? [True, True] Translation: X:447.96, Y:4.55, Z:1.73 [[ 9.99933789e-01 -9.33887441e-03 -6.72327945e-03 4.47959781e+02] [ 9.33920512e-03 9.99956389e-01 1.77948470e-05 4.55099752e+00] [ 6.72282006e-03 -8.05837547e-05 9.99977398e-01 1.72631791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.539254154 meters 0.05465348720278022 Centerline is valid? [True, True] Translation: X:448.02, Y:4.54, Z:1.73 [[ 9.99841400e-01 -1.65931450e-02 -6.46853939e-03 4.48020231e+02] [ 1.65936025e-02 9.99862317e-01 1.70641502e-05 4.54001949e+00] [ 6.46736563e-03 -1.24397815e-04 9.99979079e-01 1.72619603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.599254154 meters 0.05470693251206281 Centerline is valid? [True, True] Translation: X:448.08, Y:4.53, Z:1.73 [[ 9.99729446e-01 -2.24033221e-02 -6.25501770e-03 4.48080004e+02] [ 2.24038635e-02 9.99749002e-01 1.64884306e-05 4.53319183e+00] [ 6.25307831e-03 -1.56620532e-04 9.99980437e-01 1.72678134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.659254154 meters 0.05416254924139233 Centerline is valid? [True, True] Translation: X:448.14, Y:4.54, Z:1.73 [[ 9.99542476e-01 -2.94895845e-02 -6.72334388e-03 4.48140981e+02] [ 2.94903702e-02 9.99565064e-01 1.77290511e-05 4.53622003e+00] [ 6.71989684e-03 -2.15994840e-04 9.99977398e-01 1.72809656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.719254154 meters 0.05549567947481011 Centerline is valid? [True, True] Translation: X:448.20, Y:4.52, Z:1.73 [[ 9.99436327e-01 -3.29237778e-02 -6.56151695e-03 4.48201014e+02] [ 3.29246005e-02 9.99457838e-01 1.73765255e-05 4.52431332e+00] [ 6.55738744e-03 -2.33402055e-04 9.99978473e-01 1.72742504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779254154 meters 0.05665765230755706 Centerline is valid? [True, True] Translation: X:448.26, Y:4.51, Z:1.73 [[ 9.99296861e-01 -3.70212652e-02 -5.93377851e-03 4.48262219e+02] [ 3.70220106e-02 9.99314450e-01 1.57857634e-05 4.51361866e+00] [ 5.92912620e-03 -2.35455074e-04 9.99982395e-01 1.72751322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839254154 meters 0.058155669705387096 Centerline is valid? [True, True] Translation: X:448.32, Y:4.51, Z:1.73 [[ 9.99195951e-01 -3.95156504e-02 -6.77979809e-03 4.48321659e+02] [ 3.95166816e-02 9.99218911e-01 1.81579598e-05 4.50616736e+00] [ 6.77378494e-03 -2.86058483e-04 9.99977017e-01 1.72695617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899254154 meters 0.05447234283403527 Centerline is valid? [True, True] Translation: X:448.38, Y:4.52, Z:1.73 [[ 9.99154410e-01 -4.05017222e-02 -7.07637572e-03 4.48383300e+02] [ 4.05028714e-02 9.99179422e-01 1.91053544e-05 4.51613503e+00] [ 7.06979520e-03 -3.05702735e-04 9.99974962e-01 1.72761013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959254154 meters 0.05413522569879686 Centerline is valid? [True, True] Translation: X:448.44, Y:4.52, Z:1.73 [[ 9.99147829e-01 -4.05998439e-02 -7.43429309e-03 4.48444985e+02] [ 4.06011167e-02 9.99175435e-01 2.02930567e-05 4.51902722e+00] [ 7.42733913e-03 -3.22116364e-04 9.99972365e-01 1.72712535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019254154 meters 0.05836316139927316 Centerline is valid? [True, True] Translation: X:448.51, Y:4.51, Z:1.73 [[ 9.99138284e-01 -4.06219041e-02 -8.51760973e-03 4.48505912e+02] [ 4.06235785e-02 9.99174521e-01 2.35991862e-05 4.50543716e+00] [ 8.50961998e-03 -3.69594638e-04 9.99963724e-01 1.72611569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079254154 meters 0.0559209603486748 Centerline is valid? [True, True] Translation: X:448.57, Y:4.51, Z:1.73 [[ 9.99065800e-01 -4.21979048e-02 -9.32006588e-03 4.48567071e+02] [ 4.21999812e-02 9.99109184e-01 2.61540562e-05 4.51320401e+00] [ 9.31065976e-03 -4.19436227e-04 9.99956567e-01 1.72694034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139254154 meters 0.05520294275039514 Centerline is valid? [True, True] Translation: X:448.63, Y:4.51, Z:1.73 [[ 9.98876446e-01 -4.60834063e-02 -1.10528840e-02 4.48627557e+02] [ 4.60865654e-02 9.98937449e-01 3.11512987e-05 4.51393121e+00] [ 1.10397042e-02 -5.40505761e-04 9.99938915e-01 1.72649106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199254154 meters 0.05650112573620796 Centerline is valid? [True, True] Translation: X:448.69, Y:4.51, Z:1.73 [[ 9.98790900e-01 -4.77869182e-02 -1.15389838e-02 4.48687128e+02] [ 4.77904778e-02 9.98857382e-01 3.27900976e-05 4.50985959e+00] [ 1.15242323e-02 -5.84204003e-04 9.99933423e-01 1.72595996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259254154 meters 0.05430924716626653 Centerline is valid? [True, True] Translation: X:448.75, Y:4.52, Z:1.73 [[ 9.98926744e-01 -4.52835329e-02 -9.73456506e-03 4.48747673e+02] [ 4.52859487e-02 9.98974065e-01 2.77721354e-05 4.52074298e+00] [ 9.72332040e-03 -4.68581343e-04 9.99952618e-01 1.72898315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319254154 meters 0.05439702031217894 Centerline is valid? [True, True] Translation: X:448.81, Y:4.53, Z:1.73 [[ 9.99161802e-01 -3.99708222e-02 -8.83326477e-03 4.48808744e+02] [ 3.99726041e-02 9.99200776e-01 2.51988237e-05 4.52941382e+00] [ 8.82519779e-03 -3.78266297e-04 9.99960986e-01 1.73092172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters 0.055003366295641336 Centerline is valid? [True, True] Translation: X:448.87, Y:4.52, Z:1.73 [[ 9.99306208e-01 -3.61801883e-02 -8.83727961e-03 4.48867865e+02] [ 3.61818234e-02 9.99345223e-01 2.51652382e-05 4.52447655e+00] [ 8.83058268e-03 -3.44896669e-04 9.99960950e-01 1.73066922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters 0.05506755461002134 Centerline is valid? [True, True] Translation: X:448.93, Y:4.53, Z:1.73 [[ 9.99427732e-01 -3.27015526e-02 -8.64965956e-03 4.48928910e+02] [ 3.27029890e-02 9.99465114e-01 2.46378121e-05 4.52957091e+00] [ 8.64422729e-03 -3.07493434e-04 9.99962591e-01 1.73128159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49925415399997 meters 0.05421694701381458 Centerline is valid? [True, True] Translation: X:448.99, Y:4.54, Z:1.73 [[ 9.99456887e-01 -3.17692935e-02 -8.75461591e-03 4.48990367e+02] [ 3.17707306e-02 9.99495183e-01 2.50855586e-05 4.54108645e+00] [ 8.74939948e-03 -3.03212478e-04 9.99961677e-01 1.73287039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.559254154 meters 0.0558269283256552 Centerline is valid? [True, True] Translation: X:449.05, Y:4.53, Z:1.73 [[ 9.99429268e-01 -3.25519213e-02 -9.02830846e-03 4.49052044e+02] [ 3.25534837e-02 9.99469995e-01 2.61212863e-05 4.53212690e+00] [ 9.02267311e-03 -3.20009271e-04 9.99959244e-01 1.73165208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.619254154 meters 0.056328438531837166 Centerline is valid? [True, True] Translation: X:449.11, Y:4.53, Z:1.73 [[ 9.99358453e-01 -3.43453647e-02 -1.01527342e-02 4.49111707e+02] [ 3.43474344e-02 9.99409952e-01 2.95094283e-05 4.52846154e+00] [ 1.01457301e-02 -3.78210870e-04 9.99948459e-01 1.73004852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.679254154 meters 0.054105701395280745 Centerline is valid? [True, True] Translation: X:449.17, Y:4.54, Z:1.73 [[ 9.99289316e-01 -3.59478700e-02 -1.13407763e-02 4.49173167e+02] [ 3.59505576e-02 9.99353569e-01 3.31438167e-05 4.54249298e+00] [ 1.13322538e-02 -4.40827492e-04 9.99935691e-01 1.73163269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.739254154 meters 0.05419762708556551 Centerline is valid? [True, True] Translation: X:449.23, Y:4.54, Z:1.73 [[ 9.99390317e-01 -3.34421847e-02 -1.00306771e-02 4.49232629e+02] [ 3.34441614e-02 9.99440587e-01 2.93507447e-05 4.54455810e+00] [ 1.00240843e-02 -3.64800435e-04 9.99949691e-01 1.73180500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.799254154 meters 0.05424267342611572 Centerline is valid? [True, True] Translation: X:449.29, Y:4.55, Z:1.73 [[ 9.99554506e-01 -2.85761607e-02 -8.61348591e-03 4.49293696e+02] [ 2.85774378e-02 9.99591581e-01 2.52118748e-05 4.54735227e+00] [ 8.60924754e-03 -2.71352001e-04 9.99962903e-01 1.73275042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.859254154 meters 0.05466307084480405 Centerline is valid? [True, True] Translation: X:449.35, Y:4.55, Z:1.73 [[ 9.99776766e-01 -1.90849575e-02 -9.06542150e-03 4.49353655e+02] [ 1.90859822e-02 9.99817846e-01 2.65301823e-05 4.55070900e+00] [ 9.06326387e-03 -1.99546733e-04 9.99958908e-01 1.73219444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.919254154 meters 0.05464750962878192 Centerline is valid? [True, True] Translation: X:449.41, Y:4.55, Z:1.73 [[ 9.99824769e-01 -1.66025322e-02 -8.64801789e-03 4.49413120e+02] [ 1.66033714e-02 9.99862154e-01 2.52454554e-05 4.55244144e+00] [ 8.64640666e-03 -1.68827284e-04 9.99962605e-01 1.73150664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.979254154 meters 0.05438020349183899 Centerline is valid? [True, True] Translation: X:449.47, Y:4.56, Z:1.73 [[ 9.99823767e-01 -1.67691341e-02 -8.43988010e-03 4.49474097e+02] [ 1.67699391e-02 9.99859374e-01 2.46079213e-05 4.55794113e+00] [ 8.43828058e-03 -1.66139860e-04 9.99964383e-01 1.73240151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.039254154 meters 0.05419806701647669 Centerline is valid? [True, True] Translation: X:449.53, Y:4.56, Z:1.73 [[ 9.99787838e-01 -1.79586664e-02 -1.00878335e-02 4.49534611e+02] [ 1.79598782e-02 9.99838708e-01 2.95407717e-05 4.55664384e+00] [ 1.00856759e-02 -2.10710765e-04 9.99949116e-01 1.73110895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.099254154 meters 0.05394842107743691 Centerline is valid? [True, True] Translation: X:449.60, Y:4.56, Z:1.73 [[ 9.99721794e-01 -2.01728358e-02 -1.22226154e-02 4.49595131e+02] [ 2.01747814e-02 9.99796468e-01 3.58916940e-05 4.56055833e+00] [ 1.22194037e-02 -2.82470302e-04 9.99925300e-01 1.73033747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.159254154 meters 0.054179836564114396 Centerline is valid? [True, True] Translation: X:449.65, Y:4.56, Z:1.73 [[ 9.99676750e-01 -2.19979968e-02 -1.27468951e-02 4.49654639e+02] [ 2.20002603e-02 9.99757964e-01 3.73618969e-05 4.56009550e+00] [ 1.27429880e-02 -3.17784830e-04 9.99918754e-01 1.72922896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.219254154 meters 0.05432333356826856 Centerline is valid? [True, True] Translation: X:449.71, Y:4.56, Z:1.73 [[ 9.99607493e-01 -2.52641015e-02 -1.21072271e-02 4.49714632e+02] [ 2.52663818e-02 9.99680753e-01 3.53931559e-05 4.56153798e+00] [ 1.21024677e-02 -3.41285086e-04 9.99926704e-01 1.72999711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279254154 meters 0.05388902821268178 Centerline is valid? [True, True] Translation: X:449.78, Y:4.57, Z:1.73 [[ 9.99575343e-01 -2.69746144e-02 -1.10229110e-02 4.49776177e+02] [ 2.69766093e-02 9.99636065e-01 3.23092244e-05 4.56689481e+00] [ 1.10180278e-02 -3.29656267e-04 9.99939245e-01 1.73162322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339254154 meters 0.05239822793069249 Centerline is valid? [True, True] Translation: X:449.84, Y:4.57, Z:1.73 [[ 9.99568691e-01 -2.76782295e-02 -9.81568372e-03 4.49838363e+02] [ 2.76798483e-02 9.99616839e-01 2.90811192e-05 4.57333668e+00] [ 9.81111782e-03 -3.00765212e-04 9.99951825e-01 1.73372534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399254154 meters 0.05262027440384256 Centerline is valid? [True, True] Translation: X:449.90, Y:4.57, Z:1.74 [[ 9.99598908e-01 -2.69488561e-02 -8.70525309e-03 4.49899169e+02] [ 2.69501057e-02 9.99636780e-01 2.62414429e-05 4.57499250e+00] [ 8.70138399e-03 -2.60838408e-04 9.99962108e-01 1.73522380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459254154 meters 0.054681392539416944 Centerline is valid? [True, True] Translation: X:449.96, Y:4.57, Z:1.73 [[ 9.99609205e-01 -2.65833034e-02 -8.64671663e-03 4.49960579e+02] [ 2.65845257e-02 9.99646569e-01 2.64275304e-05 4.56852996e+00] [ 8.64295808e-03 -2.56286063e-04 9.99962616e-01 1.73459899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519254154 meters 0.0550610747209235 Centerline is valid? [True, True] Translation: X:450.02, Y:4.57, Z:1.73 [[ 9.99588215e-01 -2.74916077e-02 -8.22264512e-03 4.50021486e+02] [ 2.74927461e-02 9.99622003e-01 2.54193804e-05 4.56684171e+00] [ 8.21883816e-03 -2.51472008e-04 9.99966193e-01 1.73426531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579254154 meters 0.054178025427170484 Centerline is valid? [True, True] Translation: X:450.08, Y:4.57, Z:1.73 [[ 9.99542599e-01 -2.91285972e-02 -8.13132000e-03 4.50082681e+02] [ 2.91297665e-02 9.99575638e-01 2.53775960e-05 4.56838006e+00] [ 8.12713016e-03 -2.62229441e-04 9.99966940e-01 1.73488142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639254154 meters 0.053404800674348614 Centerline is valid? [True, True] Translation: X:450.14, Y:4.58, Z:1.74 [[ 9.99499845e-01 -3.01333359e-02 -9.59386996e-03 4.50144482e+02] [ 3.01350119e-02 9.99545837e-01 3.01445111e-05 4.57742314e+00] [ 9.58860443e-03 -3.19240819e-04 9.99953977e-01 1.73546485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699254154 meters 0.05391152462656551 Centerline is valid? [True, True] Translation: X:450.21, Y:4.58, Z:1.73 [[ 9.99474426e-01 -3.05529706e-02 -1.08345751e-02 4.50206573e+02] [ 3.05551368e-02 9.99533082e-01 3.44146589e-05 4.57668214e+00] [ 1.08284648e-02 -3.65448495e-04 9.99941304e-01 1.73464020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759254154 meters 0.053268827947510096 Centerline is valid? [True, True] Translation: X:450.27, Y:4.58, Z:1.74 [[ 9.99402373e-01 -3.25580937e-02 -1.16132165e-02 4.50267458e+02] [ 3.25607212e-02 9.99469758e-01 3.71978265e-05 4.58302231e+00] [ 1.16058476e-02 -4.15310301e-04 9.99932564e-01 1.73523092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819254154 meters 0.0525734673965875 Centerline is valid? [True, True] Translation: X:450.33, Y:4.58, Z:1.74 [[ 9.99285935e-01 -3.63271253e-02 -1.03903885e-02 4.50327551e+02] [ 3.63294328e-02 9.99339868e-01 3.33567408e-05 4.58260143e+00] [ 1.03823177e-02 -4.10809842e-04 9.99946018e-01 1.73505853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters 0.056118591190702546 Centerline is valid? [True, True] Translation: X:450.39, Y:4.57, Z:1.73 [[ 9.99167545e-01 -3.98038174e-02 -8.93715351e-03 4.50387339e+02] [ 3.98056636e-02 9.99207440e-01 2.87214025e-05 4.57082143e+00] [ 8.92892706e-03 -3.84446820e-04 9.99960062e-01 1.73488387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters 0.05485969032356664 Centerline is valid? [True, True] Translation: X:450.45, Y:4.58, Z:1.74 [[ 9.99105123e-01 -4.15676175e-02 -7.81581185e-03 4.50448400e+02] [ 4.15690837e-02 9.99135632e-01 2.51637190e-05 4.57753753e+00] [ 7.80801012e-03 -3.50037338e-04 9.99969456e-01 1.73688515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99925415399997 meters 0.054996416995598416 Centerline is valid? [True, True] Translation: X:450.51, Y:4.58, Z:1.74 [[ 9.99085264e-01 -4.21489042e-02 -7.21842663e-03 4.50510309e+02] [ 4.21501709e-02 9.99111286e-01 2.33631051e-05 4.57830642e+00] [ 7.21102679e-03 -3.27599650e-04 9.99973947e-01 1.73816709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.059254154 meters 0.05519479148468517 Centerline is valid? [True, True] Translation: X:450.57, Y:4.58, Z:1.74 [[ 9.99023003e-01 -4.37803121e-02 -6.02700065e-03 4.50571283e+02] [ 4.37812254e-02 9.99041142e-01 1.96188776e-05 4.57922864e+00] [ 6.02036269e-03 -2.83469184e-04 9.99981837e-01 1.73895631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.119254154 meters 0.05525107000496803 Centerline is valid? [True, True] Translation: X:450.63, Y:4.58, Z:1.74 [[ 9.98970860e-01 -4.48893472e-02 -6.49360597e-03 4.50632525e+02] [ 4.48904312e-02 9.98991916e-01 2.12063107e-05 4.57733944e+00] [ 6.48610794e-03 -3.12685259e-04 9.99978916e-01 1.73888534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.179254154 meters 0.052390557177622706 Centerline is valid? [True, True] Translation: X:450.69, Y:4.59, Z:1.74 [[ 9.98967770e-01 -4.45800269e-02 -8.71868885e-03 4.50694783e+02] [ 4.45819717e-02 9.99005729e-01 2.87380795e-05 4.58956699e+00] [ 8.70873896e-03 -4.17404754e-04 9.99961991e-01 1.73773211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.239254154 meters 0.05343130625587897 Centerline is valid? [True, True] Translation: X:450.75, Y:4.59, Z:1.74 [[ 9.99200889e-01 -3.86069066e-02 -1.03484664e-02 4.50754406e+02] [ 3.86093281e-02 9.99254381e-01 3.42446843e-05 4.59173809e+00] [ 1.03394283e-02 -4.33764654e-04 9.99946453e-01 1.73644560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.299254154 meters 0.05210693099251208 Centerline is valid? [True, True] Translation: X:450.81, Y:4.60, Z:1.74 [[ 9.99604711e-01 -2.68615073e-02 -8.29946689e-03 4.50814813e+02] [ 2.68626602e-02 9.99639133e-01 2.74559557e-05 4.60007408e+00] [ 8.29573438e-03 -2.50390862e-04 9.99965558e-01 1.73867699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.359254154 meters 0.052623464566061914 Centerline is valid? [True, True] Translation: X:450.87, Y:4.60, Z:1.74 [[ 9.99835215e-01 -1.69859090e-02 -6.40478080e-03 4.50874045e+02] [ 1.69863930e-02 9.99855721e-01 2.11816827e-05 4.60439566e+00] [ 6.40349693e-03 -1.29972316e-04 9.99979489e-01 1.74020374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.419254154 meters 0.05314916144291796 Centerline is valid? [True, True] Translation: X:450.93, Y:4.61, Z:1.74 [[ 9.99977738e-01 -2.96406638e-03 -5.97808947e-03 4.50933301e+02] [ 2.96423727e-03 9.99995606e-01 1.97263220e-05 4.61124119e+00] [ 5.97800473e-03 -3.74463585e-05 9.99982131e-01 1.74026511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.479254154 meters 0.05275168257268003 Centerline is valid? [True, True] Translation: X:450.99, Y:4.62, Z:1.74 [[ 9.99965859e-01 4.01650904e-03 -7.22143709e-03 4.50992067e+02] [-4.01644434e-03 9.99991934e-01 2.34618037e-05 4.61636507e+00] [ 7.22147307e-03 5.54349743e-06 9.99973925e-01 1.73810374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.539254154 meters 0.05328542056758913 Centerline is valid? [True, True] Translation: X:451.05, Y:4.61, Z:1.74 [[ 9.99966054e-01 1.50401237e-03 -8.10120455e-03 4.51050443e+02] [-1.50385317e-03 9.99998869e-01 2.57436498e-05 4.61359174e+00] [ 8.10123410e-03 -1.35597537e-05 9.99967184e-01 1.73851464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.599254154 meters 0.05309798047885279 Centerline is valid? [True, True] Translation: X:451.11, Y:4.61, Z:1.74 [[ 9.99952846e-01 -3.88416968e-03 -8.90046056e-03 4.51107848e+02] [ 3.88457200e-03 9.99992455e-01 2.79146637e-05 4.60791824e+00] [ 8.90028498e-03 -6.24878273e-05 9.99960390e-01 1.73712579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.659254154 meters 0.05297005238488232 Centerline is valid? [True, True] Translation: X:451.17, Y:4.60, Z:1.74 [[ 9.99830783e-01 -1.63364281e-02 -8.45729701e-03 4.51168255e+02] [ 1.63372353e-02 9.99866538e-01 2.63558930e-05 4.60075609e+00] [ 8.45573773e-03 -1.64520284e-04 9.99964236e-01 1.73805410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.719254154 meters 0.05247450450563575 Centerline is valid? [True, True] Translation: X:451.23, Y:4.59, Z:1.74 [[ 9.99536109e-01 -2.91972608e-02 -8.66531508e-03 4.51228281e+02] [ 2.91985908e-02 9.99573630e-01 2.69872187e-05 4.59453669e+00] [ 8.66083250e-03 -2.79989689e-04 9.99962455e-01 1.73833894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779254154 meters 0.05221594527218076 Centerline is valid? [True, True] Translation: X:451.29, Y:4.60, Z:1.74 [[ 9.99319584e-01 -3.60937826e-02 -7.58999518e-03 4.51289370e+02] [ 3.60950018e-02 9.99348363e-01 2.36600728e-05 4.59594833e+00] [ 7.58419527e-03 -2.97604863e-04 9.99971195e-01 1.73930494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839254154 meters 0.061459987236329505 Centerline is valid? [True, True] Translation: X:451.35, Y:4.56, Z:1.74 [[ 9.99011141e-01 -4.37998360e-02 -7.63643532e-03 4.51348335e+02] [ 4.38012954e-02 9.99040262e-01 2.38924092e-05 4.55809558e+00] [ 7.62805986e-03 -3.58354542e-04 9.99970842e-01 1.73698784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899254154 meters 0.05398212244786842 Centerline is valid? [True, True] Translation: X:451.41, Y:4.58, Z:1.74 [[ 9.98794084e-01 -4.87258999e-02 -6.01364503e-03 4.51408659e+02] [ 4.87268943e-02 9.98812139e-01 1.88642341e-05 4.57766277e+00] [ 6.00558248e-03 -3.11867731e-04 9.99981918e-01 1.73876683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959254154 meters 0.05223869289372398 Centerline is valid? [True, True] Translation: X:451.47, Y:4.59, Z:1.74 [[ 9.98753414e-01 -4.96053092e-02 -5.56157673e-03 4.51470339e+02] [ 4.96061743e-02 9.98768856e-01 1.76267434e-05 4.58823540e+00] [ 5.55385525e-03 -2.93493315e-04 9.99984534e-01 1.73901856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019254154 meters 0.052180440491849736 Centerline is valid? [True, True] Translation: X:451.53, Y:4.59, Z:1.74 [[ 9.98829304e-01 -4.79024398e-02 -6.73631044e-03 4.51530159e+02] [ 4.79036736e-02 9.98851960e-01 2.18415925e-05 4.58853764e+00] [ 6.72753062e-03 -3.44510039e-04 9.99977311e-01 1.73803892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079254154 meters 0.052523873602500125 Centerline is valid? [True, True] Translation: X:451.59, Y:4.59, Z:1.74 [[ 9.98880130e-01 -4.66976064e-02 -7.60390459e-03 4.51590949e+02] [ 4.66991442e-02 9.98909000e-01 2.47120295e-05 4.58599488e+00] [ 7.59445474e-03 -3.79780192e-04 9.99971090e-01 1.73727232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139254154 meters 0.05364488749458177 Centerline is valid? [True, True] Translation: X:451.65, Y:4.59, Z:1.74 [[ 9.98914116e-01 -4.56073179e-02 -9.51634024e-03 4.51651476e+02] [ 4.56096783e-02 9.98959337e-01 3.10469954e-05 4.58520342e+00] [ 9.50502096e-03 -4.65050498e-04 9.99954718e-01 1.73601647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199254154 meters 0.05196964261936299 Centerline is valid? [True, True] Translation: X:451.71, Y:4.60, Z:1.74 [[ 9.98947289e-01 -4.46966076e-02 -1.03211668e-02 4.51712518e+02] [ 4.46993375e-02 9.99000485e-01 3.38563850e-05 4.60067211e+00] [ 1.03093374e-02 -4.95170064e-04 9.99946735e-01 1.73663858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259254154 meters 0.054641704524746246 Centerline is valid? [True, True] Translation: X:451.77, Y:4.59, Z:1.74 [[ 9.98972313e-01 -4.38442460e-02 -1.14891136e-02 4.51774214e+02] [ 4.38475765e-02 9.99038232e-01 3.80299668e-05 4.58882226e+00] [ 1.14763963e-02 -5.41760670e-04 9.99933997e-01 1.73538051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319254154 meters 0.05288952264546272 Centerline is valid? [True, True] Translation: X:451.84, Y:4.60, Z:1.74 [[ 9.99039824e-01 -4.24187394e-02 -1.09580986e-02 4.51836244e+02] [ 4.24216866e-02 9.99099794e-01 3.65499601e-05 4.59922342e+00] [ 1.09466837e-02 -5.01375891e-04 9.99939958e-01 1.73691123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters 0.051497395949127465 Centerline is valid? [True, True] Translation: X:451.90, Y:4.61, Z:1.74 [[ 9.99072345e-01 -4.19134165e-02 -9.88510400e-03 4.51898395e+02] [ 4.19157928e-02 9.99121146e-01 3.32411422e-05 4.60812238e+00] [ 9.87502319e-03 -4.47552277e-04 9.99951141e-01 1.73879974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters 0.0545932820219049 Centerline is valid? [True, True] Translation: X:451.96, Y:4.60, Z:1.74 [[ 9.99215173e-01 -3.87448732e-02 -8.23852497e-03 4.51958266e+02] [ 3.87464171e-02 9.99249075e-01 2.78083027e-05 4.59869775e+00] [ 8.23126103e-03 -3.46999803e-04 9.99966062e-01 1.73861741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49925415399997 meters 0.05324351441594853 Centerline is valid? [True, True] Translation: X:452.02, Y:4.61, Z:1.74 [[ 9.99420512e-01 -3.33170602e-02 -6.97230830e-03 4.52019186e+02] [ 3.33180341e-02 9.99444800e-01 2.35425384e-05 4.60679689e+00] [ 6.96765291e-03 -2.55832502e-04 9.99975693e-01 1.74004904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.559254154 meters 0.052256824482793236 Centerline is valid? [True, True] Translation: X:452.08, Y:4.62, Z:1.74 [[ 9.99636554e-01 -2.61475836e-02 -6.56222888e-03 4.52080198e+02] [ 2.61482921e-02 9.99658075e-01 2.21746744e-05 4.61649088e+00] [ 6.55940527e-03 -1.93757693e-04 9.99978468e-01 1.74150526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.619254154 meters 0.05132667936405759 Centerline is valid? [True, True] Translation: X:452.14, Y:4.62, Z:1.74 [[ 9.99742479e-01 -2.19899955e-02 -5.60504260e-03 4.52140459e+02] [ 2.19904471e-02 9.99758181e-01 1.89571863e-05 4.62406602e+00] [ 5.60327032e-03 -1.42209697e-04 9.99984291e-01 1.74314742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.679254154 meters 0.05164770467950557 Centerline is valid? [True, True] Translation: X:452.20, Y:4.63, Z:1.74 [[ 9.99851686e-01 -1.66499869e-02 -4.40274265e-03 4.52200045e+02] [ 1.66502139e-02 9.99861375e-01 1.49051490e-05 4.62565737e+00] [ 4.40188415e-03 -8.82095451e-05 9.99990308e-01 1.74447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.739254154 meters 0.05263916268237941 Centerline is valid? [True, True] Translation: X:452.26, Y:4.62, Z:1.74 [[ 9.99922594e-01 -1.16423143e-02 -4.38890144e-03 4.52259818e+02] [ 1.16424916e-02 9.99932224e-01 1.48356147e-05 4.62160036e+00] [ 4.38843126e-03 -6.59322144e-05 9.99990369e-01 1.74453783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.799254154 meters 0.05277756428097219 Centerline is valid? [True, True] Translation: X:452.32, Y:4.62, Z:1.75 [[ 9.99954166e-01 -8.50546087e-03 -4.39579878e-03 4.52320506e+02] [ 8.50560839e-03 9.99963827e-01 1.48658991e-05 4.62134514e+00] [ 4.39551333e-03 -5.22541608e-05 9.99990338e-01 1.74511613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.859254154 meters 0.05286353635772879 Centerline is valid? [True, True] Translation: X:452.38, Y:4.62, Z:1.75 [[ 9.99966147e-01 -6.36872373e-03 -5.21007506e-03 4.52381742e+02] [ 6.36890244e-03 9.99979718e-01 1.77109501e-05 4.62289800e+00] [ 5.20985660e-03 -5.08928103e-05 9.99986427e-01 1.74505693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.919254154 meters 0.05383550954454599 Centerline is valid? [True, True] Translation: X:452.44, Y:4.62, Z:1.74 [[ 9.99962368e-01 -6.41712814e-03 -5.83813771e-03 4.52441035e+02] [ 6.41735367e-03 9.99979408e-01 1.98984152e-05 4.61787654e+00] [ 5.83788980e-03 -5.73630608e-05 9.99982958e-01 1.74406814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.979254154 meters 0.05352031195253916 Centerline is valid? [True, True] Translation: X:452.50, Y:4.61, Z:1.74 [[ 9.99965082e-01 -6.48126855e-03 -5.27525216e-03 4.52500310e+02] [ 6.48145339e-03 9.99978995e-01 1.79422927e-05 4.61230813e+00] [ 5.27502507e-03 -5.21329671e-05 9.99986086e-01 1.74433338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.039254154 meters 0.05317604270252186 Centerline is valid? [True, True] Translation: X:452.56, Y:4.61, Z:1.75 [[ 9.99963483e-01 -6.86000090e-03 -5.09628423e-03 4.52560617e+02] [ 6.86017817e-03 9.99976469e-01 1.73043003e-05 4.60776693e+00] [ 5.09604560e-03 -5.22650862e-05 9.99987014e-01 1.74595343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.099254154 meters 0.05321954996845062 Centerline is valid? [True, True] Translation: X:452.62, Y:4.60, Z:1.75 [[ 9.99938329e-01 -9.87356543e-03 -5.08445268e-03 4.52621240e+02] [ 9.87378083e-03 9.99951253e-01 1.72641266e-05 4.59959154e+00] [ 5.08403437e-03 -6.74658332e-05 9.99987074e-01 1.74559457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.159254154 meters 0.05344316984730875 Centerline is valid? [True, True] Translation: X:452.68, Y:4.59, Z:1.75 [[ 9.99897183e-01 -1.32815435e-02 -5.40601382e-03 4.52681094e+02] [ 1.32818371e-02 9.99911792e-01 1.84127559e-05 4.59089963e+00] [ 5.40529242e-03 -9.02126575e-05 9.99985387e-01 1.74524721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.219254154 meters 0.05348949085140534 Centerline is valid? [True, True] Translation: X:452.74, Y:4.58, Z:1.74 [[ 9.99781489e-01 -2.00626147e-02 -5.87071158e-03 4.52741154e+02] [ 2.00630787e-02 9.99798716e-01 2.01495224e-05 4.58118718e+00] [ 5.86912565e-03 -1.37929668e-04 9.99982767e-01 1.74475751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279254154 meters 0.05325894413984353 Centerline is valid? [True, True] Translation: X:452.80, Y:4.57, Z:1.74 [[ 9.99566933e-01 -2.88222322e-02 -5.93515485e-03 4.52801368e+02] [ 2.88228606e-02 9.99584535e-01 2.03498938e-05 4.57409851e+00] [ 5.93210247e-03 -1.91409221e-04 9.99982387e-01 1.74486757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339254154 meters 0.053171710177618556 Centerline is valid? [True, True] Translation: X:452.86, Y:4.56, Z:1.74 [[ 9.99216282e-01 -3.90234404e-02 -6.63278082e-03 4.52861150e+02] [ 3.90244497e-02 9.99238256e-01 2.27629897e-05 4.56203681e+00] [ 6.62684005e-03 -2.81585772e-04 9.99978003e-01 1.74397979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399254154 meters 0.053173629709962374 Centerline is valid? [True, True] Translation: X:452.92, Y:4.56, Z:1.74 [[ 9.98957435e-01 -4.50772008e-02 -7.21729964e-03 4.52922024e+02] [ 4.50785536e-02 9.98983445e-01 2.47858031e-05 4.55892603e+00] [ 7.20884558e-03 -3.50105391e-04 9.99973955e-01 1.74330778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459254154 meters 0.05236571325520378 Centerline is valid? [True, True] Translation: X:452.98, Y:4.56, Z:1.74 [[ 9.98667878e-01 -5.09331167e-02 -8.26364183e-03 4.52982427e+02] [ 5.09350900e-02 9.98701965e-01 2.83820001e-05 4.56042973e+00] [ 8.25146976e-03 -4.49253533e-04 9.99965855e-01 1.74399367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519254154 meters 0.05552403429702547 Centerline is valid? [True, True] Translation: X:453.04, Y:4.54, Z:1.74 [[ 9.98653367e-01 -5.09680267e-02 -9.68055157e-03 4.53043024e+02] [ 5.09707397e-02 9.98700146e-01 3.35731467e-05 4.54090617e+00] [ 9.66625711e-03 -5.26952810e-04 9.99953142e-01 1.74177469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579254154 meters 0.05559640991404538 Centerline is valid? [True, True] Translation: X:453.10, Y:4.54, Z:1.74 [[ 9.98824631e-01 -4.75496986e-02 -9.40121584e-03 4.53103598e+02] [ 4.75521085e-02 9.98868758e-01 3.28570543e-05 4.54391635e+00] [ 9.38901845e-03 -4.79866071e-04 9.99955807e-01 1.74284675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639254154 meters 0.051873858641005854 Centerline is valid? [True, True] Translation: X:453.16, Y:4.56, Z:1.75 [[ 9.98982142e-01 -4.42617169e-02 -8.69372921e-03 4.53164001e+02] [ 4.42636537e-02 9.99019884e-01 3.04080587e-05 4.56086758e+00] [ 8.68386243e-03 -4.15193327e-04 9.99962208e-01 1.74548587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699254154 meters 0.0523289232323648 Centerline is valid? [True, True] Translation: X:453.22, Y:4.56, Z:1.74 [[ 9.99274272e-01 -3.70391807e-02 -8.88974800e-03 4.53223375e+02] [ 3.70409207e-02 9.99313749e-01 3.11141697e-05 4.55608166e+00] [ 8.88249496e-03 -3.60376041e-04 9.99960485e-01 1.74484929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759254154 meters 0.05362650842315113 Centerline is valid? [True, True] Translation: X:453.28, Y:4.56, Z:1.74 [[ 9.99563064e-01 -2.79361135e-02 -9.65685612e-03 4.53282690e+02] [ 2.79377421e-02 9.99609665e-01 3.37649391e-05 4.55797667e+00] [ 9.65214344e-03 -3.03540942e-04 9.99953371e-01 1.74440743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819254154 meters 0.05303291221155003 Centerline is valid? [True, True] Translation: X:453.34, Y:4.56, Z:1.74 [[ 9.99778392e-01 -1.85397762e-02 -9.97214277e-03 4.53343357e+02] [ 1.85410453e-02 9.99828099e-01 3.48212310e-05 4.56489397e+00] [ 9.96978298e-03 -2.19707465e-04 9.99950276e-01 1.74477973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters 0.05331536137106131 Centerline is valid? [True, True] Translation: X:453.40, Y:4.57, Z:1.75 [[ 9.99870790e-01 -1.24762478e-02 -1.01363554e-02 4.53404157e+02] [ 1.24772479e-02 9.99922156e-01 3.54287721e-05 4.56808800e+00] [ 1.01351244e-02 -1.61898014e-04 9.99948625e-01 1.74510495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters 0.05312841129748435 Centerline is valid? [True, True] Translation: X:453.46, Y:4.57, Z:1.75 [[ 9.99950463e-01 -3.39191407e-03 -9.35771695e-03 4.53463965e+02] [ 3.39236847e-03 9.99994245e-01 3.26863323e-05 4.57324407e+00] [ 9.35755223e-03 -6.44295371e-05 9.99956215e-01 1.74657596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99925415399997 meters 0.05411300607754548 Centerline is valid? [True, True] Translation: X:453.52, Y:4.58, Z:1.75 [[ 9.99942019e-01 5.27070752e-03 -9.39038407e-03 4.53521699e+02] [-5.27063436e-03 9.99986110e-01 3.25379982e-05 4.57879482e+00] [ 9.39042513e-03 1.69571694e-05 9.99955909e-01 1.74679068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.059254154 meters 0.05399093478559427 Centerline is valid? [True, True] Translation: X:453.58, Y:4.58, Z:1.75 [[ 9.99901529e-01 1.11869291e-02 -8.47265570e-03 4.53579972e+02] [-1.11870878e-02 9.99937422e-01 2.86637187e-05 4.57956523e+00] [ 8.47244616e-03 6.61234468e-05 9.99964106e-01 1.74889719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.119254154 meters 0.05424781807518982 Centerline is valid? [True, True] Translation: X:453.64, Y:4.58, Z:1.75 [[ 9.99879629e-01 1.34004996e-02 -7.82007367e-03 4.53638083e+02] [-1.34007072e-02 9.99910206e-01 2.58525702e-05 4.57974924e+00] [ 7.81971791e-03 7.89450590e-05 9.99969422e-01 1.75005461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.179254154 meters 0.05380908120729503 Centerline is valid? [True, True] Translation: X:453.70, Y:4.57, Z:1.75 [[ 9.99926877e-01 1.06353140e-02 -5.75598895e-03 4.53696865e+02] [-1.06353817e-02 9.99943443e-01 1.88515528e-05 4.57289735e+00] [ 5.75586389e-03 4.23669650e-05 9.99983434e-01 1.75212783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.239254154 meters 0.053942509430216196 Centerline is valid? [True, True] Translation: X:453.75, Y:4.57, Z:1.75 [[ 9.99973232e-01 4.89307735e-03 -5.43999356e-03 4.53754614e+02] [-4.89305368e-03 9.99988029e-01 1.76599128e-05 4.57017961e+00] [ 5.44001485e-03 8.95874044e-06 9.99985203e-01 1.75102418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.299254154 meters 0.05368796608505828 Centerline is valid? [True, True] Translation: X:453.81, Y:4.56, Z:1.75 [[ 9.99977721e-01 -4.20387728e-03 -5.18502454e-03 4.53813268e+02] [ 4.20402003e-03 9.99991163e-01 1.66321322e-05 4.56082346e+00] [ 5.18490880e-03 -3.84297087e-05 9.99986558e-01 1.75170021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.359254154 meters 0.0548806897665024 Centerline is valid? [True, True] Translation: X:453.87, Y:4.54, Z:1.75 [[ 9.99802227e-01 -1.87642102e-02 -6.58874994e-03 4.53872575e+02] [ 1.87647546e-02 9.99823926e-01 2.08200122e-05 4.54430695e+00] [ 6.58719917e-03 -1.44452171e-04 9.99978294e-01 1.74981870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.419254154 meters 0.05375583529468777 Centerline is valid? [True, True] Translation: X:453.93, Y:4.54, Z:1.75 [[ 9.99616076e-01 -2.68286931e-02 -6.92260002e-03 4.53932898e+02] [ 2.68294874e-02 9.99640024e-01 2.18828147e-05 4.54444963e+00] [ 6.91952096e-03 -2.07604223e-04 9.99976038e-01 1.75064067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.479254154 meters 0.055663071527901536 Centerline is valid? [True, True] Translation: X:453.99, Y:4.53, Z:1.75 [[ 9.99396574e-01 -3.40186821e-02 -7.01543707e-03 4.53992119e+02] [ 3.40196749e-02 9.99421163e-01 2.22054979e-05 4.52860628e+00] [ 7.01062088e-03 -2.60854987e-04 9.99975391e-01 1.74972810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.539254154 meters 0.054750309092784305 Centerline is valid? [True, True] Translation: X:454.05, Y:4.53, Z:1.75 [[ 9.99303031e-01 -3.66748024e-02 -6.95786039e-03 4.54052950e+02] [ 3.66758437e-02 9.99327215e-01 2.20871430e-05 4.53446038e+00] [ 6.95236920e-03 -2.77257149e-04 9.99975794e-01 1.75010122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.599254154 meters 0.0536436796800609 Centerline is valid? [True, True] Translation: X:454.12, Y:4.53, Z:1.75 [[ 9.99307160e-01 -3.66311376e-02 -6.58478168e-03 4.54115725e+02] [ 3.66320704e-02 9.99328820e-01 2.10652067e-05 4.53282279e+00] [ 6.57959047e-03 -2.62264798e-04 9.99978320e-01 1.75001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.659254154 meters 0.05454079497657113 Centerline is valid? [True, True] Translation: X:454.18, Y:4.53, Z:1.75 [[ 9.99390600e-01 -3.42365187e-02 -6.80369730e-03 4.54175353e+02] [ 3.42374605e-02 9.99413726e-01 2.19690237e-05 4.53164970e+00] [ 6.79895633e-03 -2.54896953e-04 9.99976854e-01 1.75008335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.719254154 meters 0.05357690489426578 Centerline is valid? [True, True] Translation: X:454.24, Y:4.54, Z:1.75 [[ 9.99511159e-01 -3.03719340e-02 -7.41548180e-03 4.54236120e+02] [ 3.03729467e-02 9.99538635e-01 2.39520721e-05 4.53603581e+00] [ 7.41133309e-03 -2.49170397e-04 9.99972505e-01 1.74978164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.779254154 meters 0.05422945154760406 Centerline is valid? [True, True] Translation: X:454.30, Y:4.54, Z:1.75 [[ 9.99620448e-01 -2.60727221e-02 -8.89789971e-03 4.54296346e+02] [ 2.60740100e-02 9.99660015e-01 2.87565534e-05 4.53905900e+00] [ 8.89412479e-03 -2.60749565e-04 9.99960412e-01 1.75010733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.839254154 meters 0.05487510069841793 Centerline is valid? [True, True] Translation: X:454.36, Y:4.53, Z:1.75 [[ 9.99684026e-01 -2.25510847e-02 -1.11039312e-02 4.54356396e+02] [ 2.25528735e-02 9.99745651e-01 3.58919364e-05 4.53338348e+00] [ 1.11002976e-02 -2.86306153e-04 9.99938349e-01 1.74774929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.899254154 meters 0.0538382616351077 Centerline is valid? [True, True] Translation: X:454.42, Y:4.54, Z:1.75 [[ 9.99708887e-01 -2.08414866e-02 -1.21562340e-02 4.54417869e+02] [ 2.08435059e-02 9.99782750e-01 3.94267828e-05 4.54030517e+00] [ 1.21527713e-02 -2.92793839e-04 9.99926109e-01 1.74847607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.959254154 meters 0.05461612889015098 Centerline is valid? [True, True] Translation: X:454.48, Y:4.54, Z:1.75 [[ 9.99743978e-01 -1.80831210e-02 -1.36007338e-02 4.54477471e+02] [ 1.80853936e-02 9.99836445e-01 4.41054971e-05 4.54152616e+00] [ 1.35977117e-02 -2.90068828e-04 9.99907505e-01 1.74723616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.019254154 meters 0.054286259245112184 Centerline is valid? [True, True] Translation: X:454.54, Y:4.55, Z:1.75 [[ 9.99795481e-01 -1.48201211e-02 -1.37608097e-02 4.54537835e+02] [ 1.48221381e-02 9.99890145e-01 4.45923855e-05 4.54613318e+00] [ 1.37586371e-02 -2.48547886e-04 9.99905315e-01 1.74805468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.079254154 meters 0.05346014417979549 Centerline is valid? [True, True] Translation: X:454.60, Y:4.55, Z:1.75 [[ 9.99849167e-01 -1.21290619e-02 -1.24310068e-02 4.54597332e+02] [ 1.21304982e-02 9.99926422e-01 4.01437399e-05 4.54890407e+00] [ 1.24296053e-02 -1.90931991e-04 9.99922731e-01 1.74957384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.139254154 meters 0.05404048136321242 Centerline is valid? [True, True] Translation: X:454.66, Y:4.55, Z:1.75 [[ 9.99909884e-01 -8.54728002e-03 -1.03522363e-02 4.54657280e+02] [ 8.54808076e-03 9.99963464e-01 3.31037112e-05 4.55374333e+00] [ 1.03515752e-02 -1.21592480e-04 9.99946414e-01 1.75249839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.199254154 meters 0.053382786518196564 Centerline is valid? [True, True] Translation: X:454.71, Y:4.55, Z:1.75 [[ 9.99936403e-01 -8.11952122e-03 -7.82711013e-03 4.54714722e+02] [ 8.11996354e-03 9.99967032e-01 2.47345524e-05 4.55343410e+00] [ 7.82665126e-03 -8.82888283e-05 9.99969367e-01 1.75379593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.259254154 meters 0.05409067625802855 Centerline is valid? [True, True] Translation: X:454.77, Y:4.55, Z:1.75 [[ 9.99910923e-01 -1.10852521e-02 -7.43396573e-03 4.54773487e+02] [ 1.10857312e-02 9.99938551e-01 2.32421939e-05 4.54586200e+00] [ 7.43325128e-03 -1.05651069e-04 9.99972367e-01 1.75339439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.319254154 meters 0.053573177885652135 Centerline is valid? [True, True] Translation: X:454.83, Y:4.55, Z:1.75 [[ 9.99871346e-01 -1.44684262e-02 -6.92504153e-03 4.54833310e+02] [ 1.44689222e-02 9.99895319e-01 2.15328461e-05 4.54882973e+00] [ 6.92400507e-03 -1.21727963e-04 9.99976021e-01 1.75411964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters 0.05471319224145979 Centerline is valid? [True, True] Translation: X:454.89, Y:4.54, Z:1.75 [[ 9.99812642e-01 -1.77893559e-02 -7.63017878e-03 4.54893498e+02] [ 1.77900547e-02 9.99841744e-01 2.37198813e-05 4.54230204e+00] [ 7.62854930e-03 -1.59456735e-04 9.99970889e-01 1.75314412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters 0.0541362159407364 Centerline is valid? [True, True] Translation: X:454.95, Y:4.55, Z:1.75 [[ 9.99745602e-01 -2.09763378e-02 -8.28998388e-03 4.54954697e+02] [ 2.09772731e-02 9.99779952e-01 2.58796984e-05 4.54544262e+00] [ 8.28761683e-03 -1.99774371e-04 9.99965637e-01 1.75386019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.49925415399997 meters 0.05400939759453032 Centerline is valid? [True, True] Translation: X:455.02, Y:4.54, Z:1.75 [[ 9.99707794e-01 -2.27216659e-02 -8.24945410e-03 4.55016055e+02] [ 2.27226538e-02 9.99741807e-01 2.60347040e-05 4.53846876e+00] [ 8.24673259e-03 -2.13476586e-04 9.99965972e-01 1.75265559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.559254154 meters 0.054867915689034374 Centerline is valid? [True, True] Translation: X:455.08, Y:4.54, Z:1.75 [[ 9.99678914e-01 -2.42587244e-02 -7.32001858e-03 4.55078146e+02] [ 2.42595455e-02 9.99705694e-01 2.33849900e-05 4.53770971e+00] [ 7.31729696e-03 -2.00957805e-04 9.99973208e-01 1.75298681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.619254154 meters 0.054661573841884255 Centerline is valid? [True, True] Translation: X:455.14, Y:4.54, Z:1.75 [[ 9.99708074e-01 -2.33085828e-02 -6.36216615e-03 4.55139205e+02] [ 2.33091847e-02 9.99728304e-01 2.04730799e-05 4.53802763e+00] [ 6.35996037e-03 -1.68764009e-04 9.99979761e-01 1.75258340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.679254154 meters 0.055048265298215146 Centerline is valid? [True, True] Translation: X:455.20, Y:4.53, Z:1.75 [[ 9.99755073e-01 -2.13093404e-02 -5.97553956e-03 4.55200180e+02] [ 2.13098363e-02 9.99772919e-01 1.93199758e-05 4.53483676e+00] [ 5.97377094e-03 -1.46653014e-04 9.99982146e-01 1.75271092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.739254154 meters 0.05488911604782513 Centerline is valid? [True, True] Translation: X:455.26, Y:4.53, Z:1.75 [[ 9.99754810e-01 -2.12761894e-02 -6.13548089e-03 4.55262417e+02] [ 2.12767123e-02 9.99773625e-01 1.99676860e-05 4.53446291e+00] [ 6.13366714e-03 -1.50505652e-04 9.99981178e-01 1.75242763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.799254154 meters 0.05366739744525886 Centerline is valid? [True, True] Translation: X:455.32, Y:4.54, Z:1.75 [[ 9.99698477e-01 -2.38151621e-02 -5.98270531e-03 4.55323130e+02] [ 2.38157056e-02 9.99716366e-01 1.96037431e-05 4.54022084e+00] [ 5.98054155e-03 -1.62080181e-04 9.99982103e-01 1.75235355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.859254154 meters 0.05367525018951369 Centerline is valid? [True, True] Translation: X:455.38, Y:4.54, Z:1.75 [[ 9.99583896e-01 -2.80154975e-02 -6.86782009e-03 4.55384188e+02] [ 2.80163130e-02 9.99607466e-01 2.25455534e-05 4.54035800e+00] [ 6.86449261e-03 -2.14947169e-04 9.99976416e-01 1.75175835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.919254154 meters 0.0547005027438499 Centerline is valid? [True, True] Translation: X:455.44, Y:4.53, Z:1.75 [[ 9.99517674e-01 -2.99352233e-02 -8.26447720e-03 4.55444536e+02] [ 2.99364702e-02 9.99551803e-01 2.71725106e-05 4.53223581e+00] [ 8.25995967e-03 -2.74568680e-04 9.99965848e-01 1.74975627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.979254154 meters 0.05270575871592706 Centerline is valid? [True, True] Translation: X:455.51, Y:4.54, Z:1.75 [[ 9.99517682e-01 -3.01455421e-02 -7.45981914e-03 4.55506718e+02] [ 3.01465649e-02 9.99545489e-01 2.46716463e-05 4.54368492e+00] [ 7.45568483e-03 -2.49547668e-04 9.99972175e-01 1.75182033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.039254154 meters 0.05303332524639947 Centerline is valid? [True, True] Translation: X:455.57, Y:4.54, Z:1.75 [[ 9.99583230e-01 -2.81487815e-02 -6.40406914e-03 4.55567754e+02] [ 2.81494953e-02 9.99603724e-01 2.13325103e-05 4.54415244e+00] [ 6.40093088e-03 -2.01594933e-04 9.99979493e-01 1.75236954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.099254154 meters 0.05256116912136817 Centerline is valid? [True, True] Translation: X:455.63, Y:4.55, Z:1.75 [[ 9.99779719e-01 -2.05886471e-02 -4.07696390e-03 4.55628804e+02] [ 2.05888738e-02 9.99788027e-01 1.36232270e-05 4.55341579e+00] [ 4.07581921e-03 -9.75603212e-05 9.99991689e-01 1.75317310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.159254154 meters 0.052762684354922984 Centerline is valid? [True, True] Translation: X:455.69, Y:4.55, Z:1.75 [[ 9.99844258e-01 -1.72792708e-02 -3.58969248e-03 4.55689777e+02] [ 1.72794253e-02 9.99850700e-01 1.20151642e-05 4.55333430e+00] [ 3.58894892e-03 -7.40411159e-05 9.99993557e-01 1.75396805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.219254154 meters 0.05305905198430532 Centerline is valid? [True, True] Translation: X:455.75, Y:4.55, Z:1.75 [[ 9.99864843e-01 -1.60566085e-02 -3.53293209e-03 4.55750906e+02] [ 1.60567507e-02 9.99871082e-01 1.18828832e-05 4.55440007e+00] [ 3.53228583e-03 -6.86086870e-05 9.99993759e-01 1.75411646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.279254154 meters 0.05314587782466441 Centerline is valid? [True, True] Translation: X:455.81, Y:4.55, Z:1.75 [[ 9.99868315e-01 -1.55949217e-02 -4.48900667e-03 4.55811773e+02] [ 1.55951470e-02 9.99878388e-01 1.51919833e-05 4.55254500e+00] [ 4.48822384e-03 -8.51967019e-05 9.99989924e-01 1.75325261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.339254154 meters 0.054107542660610346 Centerline is valid? [True, True] Translation: X:455.87, Y:4.55, Z:1.75 [[ 9.99787877e-01 -1.94051653e-02 -6.90223537e-03 4.55872871e+02] [ 1.94057901e-02 9.99811690e-01 2.35538264e-05 4.55089094e+00] [ 6.90047854e-03 -1.57492161e-04 9.99976179e-01 1.75166991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.399254154 meters 0.05415043484985688 Centerline is valid? [True, True] Translation: X:455.93, Y:4.55, Z:1.75 [[ 9.99723861e-01 -2.23520757e-02 -7.25172407e-03 4.55934173e+02] [ 2.23528437e-02 9.99750144e-01 2.48669822e-05 4.55251596e+00] [ 7.24935636e-03 -1.86956770e-04 9.99973706e-01 1.75183688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.459254154 meters 0.052460910143776365 Centerline is valid? [True, True] Translation: X:456.00, Y:4.56, Z:1.75 [[ 9.99669474e-01 -2.45122552e-02 -7.75191066e-03 4.55995343e+02] [ 2.45131990e-02 9.99699506e-01 2.67411011e-05 4.55900444e+00] [ 7.74892577e-03 -2.16756391e-04 9.99969953e-01 1.75288725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.519254154 meters 0.053427712728237375 Centerline is valid? [True, True] Translation: X:456.06, Y:4.55, Z:1.75 [[ 9.99645693e-01 -2.53910584e-02 -7.98641990e-03 4.56056752e+02] [ 2.53920897e-02 9.99677569e-01 2.77496451e-05 4.55478754e+00] [ 7.98314023e-03 -2.30531704e-04 9.99968108e-01 1.75232089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.579254154 meters 0.05344541531196468 Centerline is valid? [True, True] Translation: X:456.12, Y:4.56, Z:1.75 [[ 9.99642970e-01 -2.58023851e-02 -6.94039686e-03 4.56118950e+02] [ 2.58031751e-02 9.99667042e-01 2.42948824e-05 4.55727777e+00] [ 6.93745913e-03 -2.03370484e-04 9.99975915e-01 1.75258109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.639254154 meters 0.053378781379041285 Centerline is valid? [True, True] Translation: X:456.18, Y:4.55, Z:1.75 [[ 9.99658003e-01 -2.49803604e-02 -7.73689202e-03 4.56180678e+02] [ 2.49813196e-02 9.99687918e-01 2.73411349e-05 4.55382179e+00] [ 7.73379448e-03 -2.20609556e-04 9.99970069e-01 1.75252409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.699254154 meters 0.05196799541313154 Centerline is valid? [True, True] Translation: X:456.24, Y:4.57, Z:1.75 [[ 9.99662884e-01 -2.45410080e-02 -8.47691525e-03 4.56243151e+02] [ 2.45421464e-02 9.99698796e-01 3.02795563e-05 4.56889562e+00] [ 8.47361888e-03 -2.38311043e-04 9.99964070e-01 1.75478402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.759254154 meters 0.05298639141275994 Centerline is valid? [True, True] Translation: X:456.30, Y:4.56, Z:1.75 [[ 9.99632508e-01 -2.52872473e-02 -9.76751197e-03 4.56304173e+02] [ 2.52887976e-02 9.99680187e-01 3.52239405e-05 4.56215287e+00] [ 9.76349747e-03 -2.82219629e-04 9.99952296e-01 1.75339433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.819254154 meters 0.05330756904753221 Centerline is valid? [True, True] Translation: X:456.37, Y:4.56, Z:1.75 [[ 9.99594862e-01 -2.68956092e-02 -9.31337134e-03 4.56365859e+02] [ 2.68970905e-02 9.99638207e-01 3.38075108e-05 4.56402681e+00] [ 9.30909256e-03 -2.84296406e-04 9.99956629e-01 1.75384330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters 0.05296097265085046 Centerline is valid? [True, True] Translation: X:456.43, Y:4.57, Z:1.76 [[ 9.99535701e-01 -2.89569628e-02 -9.48029562e-03 4.56426996e+02] [ 2.89585916e-02 9.99580611e-01 3.45529758e-05 4.56875860e+00] [ 9.47531914e-03 -3.09072942e-04 9.99955060e-01 1.75513197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.93925415399997 meters 0.05180074891162893 Centerline is valid? [True, True] Translation: X:456.49, Y:4.58, Z:1.76 [[ 9.99499368e-01 -3.01955452e-02 -9.44686929e-03 4.56488686e+02] [ 3.01972193e-02 9.99543959e-01 3.45956540e-05 4.57913540e+00] [ 9.44151650e-03 -3.19847518e-04 9.99955377e-01 1.75683269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.99925415399997 meters 0.052782154030655046 Centerline is valid? [True, True] Translation: X:456.55, Y:4.57, Z:1.76 [[ 9.99435786e-01 -3.23170280e-02 -9.14982040e-03 4.56548868e+02] [ 3.23186889e-02 9.99477614e-01 3.36820608e-05 4.56910790e+00] [ 9.14395216e-03 -3.29373256e-04 9.99958139e-01 1.75514750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.059254154 meters 0.052168177454403435 Centerline is valid? [True, True] Translation: X:456.61, Y:4.57, Z:1.76 [[ 9.99309828e-01 -3.61496179e-02 -8.54827286e-03 4.56609608e+02] [ 3.61512081e-02 9.99346331e-01 3.15322329e-05 4.57064493e+00] [ 8.54154524e-03 -3.40540861e-04 9.99963462e-01 1.75514932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.119254154 meters 0.05207201705862082 Centerline is valid? [True, True] Translation: X:456.67, Y:4.57, Z:1.76 [[ 9.99226493e-01 -3.85051701e-02 -7.98549432e-03 4.56671023e+02] [ 3.85066334e-02 9.99258344e-01 2.95254246e-05 4.57439431e+00] [ 7.97843495e-03 -3.36997089e-04 9.99968115e-01 1.75523110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.179254154 meters 0.05236494830549639 Centerline is valid? [True, True] Translation: X:456.73, Y:4.57, Z:1.75 [[ 9.99197778e-01 -3.91242177e-02 -8.54959967e-03 4.56732586e+02] [ 3.91259192e-02 9.99234288e-01 3.17866036e-05 4.57387280e+00] [ 8.54180951e-03 -3.66272050e-04 9.99963451e-01 1.75457468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.239254154 meters 0.05294313419991263 Centerline is valid? [True, True] Translation: X:456.79, Y:4.58, Z:1.75 [[ 9.99281750e-01 -3.68898022e-02 -8.66761506e-03 4.56793333e+02] [ 3.68914685e-02 9.99319278e-01 3.23935553e-05 4.57683859e+00] [ 8.66051983e-03 -3.52131337e-04 9.99962435e-01 1.75455195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.299254154 meters 0.05313773954634207 Centerline is valid? [True, True] Translation: X:456.85, Y:4.58, Z:1.76 [[ 9.99395733e-01 -3.38179683e-02 -8.03211433e-03 4.56854386e+02] [ 3.38193006e-02 9.99427963e-01 3.00716535e-05 4.57866684e+00] [ 8.02650270e-03 -3.01693971e-04 9.99967742e-01 1.75549112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.359254154 meters 0.05328322782558193 Centerline is valid? [True, True] Translation: X:456.92, Y:4.58, Z:1.76 [[ 9.99546674e-01 -2.91977253e-02 -7.34429501e-03 4.56915452e+02] [ 2.91987149e-02 9.99573626e-01 2.75445843e-05 4.58079799e+00] [ 7.34035935e-03 -2.41976074e-04 9.99973030e-01 1.75603514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.419254154 meters 0.052628098322097173 Centerline is valid? [True, True] Translation: X:456.98, Y:4.58, Z:1.76 [[ 9.99645533e-01 -2.56403835e-02 -7.16794281e-03 4.56976507e+02] [ 2.56412353e-02 9.99671209e-01 2.69525980e-05 4.58392013e+00] [ 7.16489498e-03 -2.10737953e-04 9.99974310e-01 1.75577580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.479254154 meters 0.053062275805546726 Centerline is valid? [True, True] Translation: X:457.04, Y:4.58, Z:1.75 [[ 9.99738557e-01 -2.15584304e-02 -7.61911586e-03 4.57036609e+02] [ 2.15592746e-02 9.99767571e-01 2.86795174e-05 4.58453554e+00] [ 7.61672668e-03 -1.92934631e-04 9.99970974e-01 1.75496158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.539254154 meters 0.0528450518638608 Centerline is valid? [True, True] Translation: X:457.10, Y:4.59, Z:1.76 [[ 9.99814512e-01 -1.76893479e-02 -7.61767595e-03 4.57097219e+02] [ 1.76900799e-02 9.99843518e-01 2.87194046e-05 4.58857599e+00] [ 7.61597590e-03 -1.63471374e-04 9.99970985e-01 1.75526380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.599254154 meters 0.0515779283026338 Centerline is valid? [True, True] Translation: X:457.16, Y:4.59, Z:1.75 [[ 9.99868246e-01 -1.44873970e-02 -7.32154888e-03 4.57158522e+02] [ 1.44879880e-02 9.99895043e-01 2.76836746e-05 4.59134095e+00] [ 7.32037937e-03 -1.33754539e-04 9.99973197e-01 1.75484649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.659254154 meters 0.052184930115507885 Centerline is valid? [True, True] Translation: X:457.22, Y:4.59, Z:1.75 [[ 9.99923122e-01 -9.34700788e-03 -8.14755656e-03 4.57218422e+02] [ 9.34756994e-03 9.99956310e-01 3.09073655e-05 4.58694658e+00] [ 8.14691170e-03 -1.07064844e-04 9.99966808e-01 1.75339877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.719254154 meters 0.052316637200382855 Centerline is valid? [True, True] Translation: X:457.28, Y:4.59, Z:1.75 [[ 9.99948498e-01 -5.11297705e-03 -8.76688042e-03 4.57278030e+02] [ 5.11346506e-03 9.99986926e-01 3.32510478e-05 4.58969679e+00] [ 8.76659579e-03 -7.80784720e-05 9.99961570e-01 1.75417264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.779254154 meters 0.05186614202050911 Centerline is valid? [True, True] Translation: X:457.34, Y:4.59, Z:1.75 [[ 9.99943626e-01 -3.00714216e-03 -1.01834304e-02 4.57336351e+02] [ 3.00768373e-03 9.99995476e-01 3.78674923e-05 4.58826438e+00] [ 1.01832705e-02 -6.84938955e-05 9.99948147e-01 1.75374763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.839254154 meters 0.05199395649913805 Centerline is valid? [True, True] Translation: X:457.40, Y:4.59, Z:1.75 [[ 9.99942953e-01 -3.35459992e-03 -1.01408573e-02 4.57395021e+02] [ 3.35514818e-03 9.99994371e-01 3.70522199e-05 4.58604879e+00] [ 1.01406759e-02 -7.10741851e-05 9.99948579e-01 1.75475041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.899254154 meters 0.05251667344398733 Centerline is valid? [True, True] Translation: X:457.45, Y:4.58, Z:1.76 [[ 9.99944091e-01 -7.29137514e-03 -7.65836568e-03 4.57453576e+02] [ 7.29180158e-03 9.99973414e-01 2.77613738e-05 4.58100765e+00] [ 7.65795965e-03 -8.36031046e-05 9.99970674e-01 1.75682271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.959254154 meters 0.05320250392862639 Centerline is valid? [True, True] Translation: X:457.51, Y:4.58, Z:1.76 [[ 9.99864981e-01 -1.43203416e-02 -8.05906464e-03 4.57513280e+02] [ 1.43210407e-02 9.99897448e-01 2.90438765e-05 4.57546714e+00] [ 8.05782225e-03 -1.44454148e-04 9.99967525e-01 1.75756736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.019254154 meters 0.05268929572383353 Centerline is valid? [True, True] Translation: X:457.57, Y:4.56, Z:1.76 [[ 9.99643725e-01 -2.51425414e-02 -8.95970489e-03 4.57572832e+02] [ 2.51438398e-02 9.99683843e-01 3.22855858e-05 4.56460922e+00] [ 8.95606048e-03 -2.57555468e-04 9.99959861e-01 1.75602688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.079254154 meters 0.05353351341713498 Centerline is valid? [True, True] Translation: X:457.63, Y:4.56, Z:1.76 [[ 9.99395323e-01 -3.34453448e-02 -9.50779378e-03 4.57633572e+02] [ 3.34471824e-02 9.99440486e-01 3.42871097e-05 4.56045901e+00] [ 9.50132729e-03 -3.52275290e-04 9.99954799e-01 1.75621298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.139254154 meters 0.052057813110216254 Centerline is valid? [True, True] Translation: X:457.69, Y:4.56, Z:1.76 [[ 9.99086933e-01 -4.16461826e-02 -9.53392553e-03 4.57693790e+02] [ 4.16484030e-02 9.99132328e-01 3.43901306e-05 4.56274008e+00] [ 9.52422099e-03 -4.31431503e-04 9.99954550e-01 1.75733223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.199254154 meters 0.05365323466155276 Centerline is valid? [True, True] Translation: X:457.75, Y:4.55, Z:1.76 [[ 9.98651114e-01 -5.09600773e-02 -9.95102004e-03 4.57752904e+02] [ 5.09629581e-02 9.98700544e-01 3.59787502e-05 4.54971953e+00] [ 9.93625564e-03 -5.43063636e-04 9.99950487e-01 1.75596498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.259254154 meters 0.051551855330070326 Centerline is valid? [True, True] Translation: X:457.81, Y:4.56, Z:1.76 [[ 9.98408815e-01 -5.55280843e-02 -9.82187903e-03 4.57813726e+02] [ 5.55311117e-02 9.98456957e-01 3.55729112e-05 4.56262772e+00] [ 9.80474815e-03 -5.80936170e-04 9.99951764e-01 1.75796987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.319254154 meters 0.05175609282031285 Centerline is valid? [True, True] Translation: X:457.87, Y:4.55, Z:1.76 [[ 9.98206237e-01 -5.91549666e-02 -9.21948361e-03 4.57873280e+02] [ 5.91577889e-02 9.98248644e-01 3.34734110e-05 4.55417041e+00] [ 9.20135689e-03 -5.78817632e-04 9.99957499e-01 1.75768982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters 0.051950228868393254 Centerline is valid? [True, True] Translation: X:457.93, Y:4.55, Z:1.76 [[ 9.98241038e-01 -5.85657353e-02 -9.21333102e-03 4.57934962e+02] [ 5.85685309e-02 9.98283390e-01 3.36750004e-05 4.54995271e+00] [ 9.19554311e-03 -5.73227029e-04 9.99957556e-01 1.75713860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.43925415399997 meters 0.05823605115839522 Centerline is valid? [True, True] Translation: X:457.99, Y:4.53, Z:1.75 [[ 9.98487939e-01 -5.38227450e-02 -1.11780361e-02 4.57994749e+02] [ 5.38265655e-02 9.98550299e-01 4.10040253e-05 4.52865595e+00] [ 1.11596243e-02 -6.42617316e-04 9.99937523e-01 1.75355328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.49925415399997 meters 0.053679837226603924 Centerline is valid? [True, True] Translation: X:458.06, Y:4.55, Z:1.75 [[ 9.98857667e-01 -4.56218975e-02 -1.42128246e-02 4.58055030e+02] [ 4.56272469e-02 9.98958533e-01 5.21757423e-05 4.54673255e+00] [ 1.41956420e-02 -7.00608196e-04 9.99898991e-01 1.75392226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.559254154 meters 0.053201307992175505 Centerline is valid? [True, True] Translation: X:458.12, Y:4.56, Z:1.75 [[ 9.99311871e-01 -3.35398827e-02 -1.58385768e-02 4.58115625e+02] [ 3.35450114e-02 9.99437206e-01 5.81742793e-05 4.55531102e+00] [ 1.58277118e-02 -5.89439488e-04 9.99874560e-01 1.75332033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.619254154 meters 0.05334925129900367 Centerline is valid? [True, True] Translation: X:458.18, Y:4.56, Z:1.75 [[ 9.99704669e-01 -1.70882441e-02 -1.72791005e-02 4.58175033e+02] [ 1.70918914e-02 9.99853921e-01 6.34176150e-05 4.55915898e+00] [ 1.72754927e-02 -3.58731395e-04 9.99850703e-01 1.75020987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.679254154 meters 0.05313413229811851 Centerline is valid? [True, True] Translation: X:458.23, Y:4.57, Z:1.75 [[ 9.99841765e-01 -4.84363707e-03 -1.71167552e-02 4.58234927e+02] [ 4.84541890e-03 9.99988259e-01 6.26279657e-05 4.56944406e+00] [ 1.71162509e-02 -1.45555905e-04 9.99853496e-01 1.75097690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.739254154 meters 0.05369231978616143 Centerline is valid? [True, True] Translation: X:458.29, Y:4.58, Z:1.76 [[ 9.99811822e-01 1.29518105e-02 -1.44419853e-02 4.58294111e+02] [-1.29524149e-02 9.99916113e-01 5.16864218e-05 4.57836282e+00] [ 1.44414433e-02 1.35381891e-04 9.99895708e-01 1.76130040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.799254154 meters 0.05382511808072303 Centerline is valid? [True, True] Translation: X:458.35, Y:4.58, Z:1.76 [[ 9.99565661e-01 2.74634201e-02 -1.06887652e-02 4.58354074e+02] [-2.74645840e-02 9.99622776e-01 3.79051530e-05 4.58134636e+00] [ 1.06857742e-02 2.55673801e-04 9.99942873e-01 1.76291689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.859254154 meters 0.05421959504694285 Centerline is valid? [True, True] Translation: X:458.42, Y:4.58, Z:1.76 [[ 9.99422094e-01 3.27592850e-02 -9.07235815e-03 4.58415004e+02] [-3.27603417e-02 9.99463235e-01 3.21518437e-05 4.58127580e+00] [ 9.06854170e-03 2.65080290e-04 9.99958845e-01 1.76376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.919254154 meters 0.054229130491497024 Centerline is valid? [True, True] Translation: X:458.47, Y:4.57, Z:1.76 [[ 9.99441208e-01 3.22442374e-02 -8.80800739e-03 4.58474095e+02] [-3.22452181e-02 9.99479987e-01 3.06783093e-05 4.57426706e+00] [ 8.80441631e-03 2.53354953e-04 9.99961208e-01 1.76484719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.979254154 meters 0.05464030650995441 Centerline is valid? [True, True] Translation: X:458.53, Y:4.57, Z:1.76 [[ 9.99604226e-01 2.64344960e-02 -9.62337324e-03 4.58533187e+02] [-2.64354023e-02 9.99650523e-01 3.30336611e-05 4.57185424e+00] [ 9.62088333e-03 2.21377156e-04 9.99953694e-01 1.76368413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.039254154 meters 0.053181726240783815 Centerline is valid? [True, True] Translation: X:458.59, Y:4.57, Z:1.76 [[ 9.99774881e-01 1.86342669e-02 -1.01464720e-02 4.58592876e+02] [-1.86348730e-02 9.99826355e-01 3.48126620e-05 4.56892538e+00] [ 1.01453588e-02 1.54273392e-04 9.99948523e-01 1.76200163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.099254154 meters 0.054108976412916066 Centerline is valid? [True, True] Translation: X:458.65, Y:4.56, Z:1.76 [[ 9.99873896e-01 1.25297189e-02 -9.75693668e-03 4.58651892e+02] [-1.25299897e-02 9.99921496e-01 3.33767963e-05 4.55756721e+00] [ 9.75658893e-03 8.88817287e-05 9.99952399e-01 1.76405665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.159254154 meters 0.053656087818805986 Centerline is valid? [True, True] Translation: X:458.71, Y:4.55, Z:1.76 [[ 9.99955178e-01 3.01874599e-03 -8.97382792e-03 4.58710853e+02] [-3.01859368e-03 9.99995444e-01 3.05177882e-05 4.54610212e+00] [ 8.97387916e-03 -3.42808010e-06 9.99959734e-01 1.76294778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.219254154 meters 0.053743623619336565 Centerline is valid? [True, True] Translation: X:458.77, Y:4.53, Z:1.76 [[ 9.99942350e-01 -5.27153392e-03 -9.35457555e-03 4.58769291e+02] [ 5.27206003e-03 9.99986102e-01 3.15821810e-05 4.53126120e+00] [ 9.35427905e-03 -8.08982441e-05 9.99956244e-01 1.76437325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.279254154 meters 0.05439127551439652 Centerline is valid? [True, True] Translation: X:458.83, Y:4.52, Z:1.76 [[ 9.99904490e-01 -1.05222639e-02 -8.96065547e-03 4.58828762e+02] [ 1.05229563e-02 9.99944632e-01 3.01220817e-05 4.51837031e+00] [ 8.95984238e-03 -1.24411790e-04 9.99959852e-01 1.76351770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.339254154 meters 0.05375574798306428 Centerline is valid? [True, True] Translation: X:458.89, Y:4.51, Z:1.76 [[ 9.99761170e-01 -1.93820390e-02 -1.00965210e-02 4.58888728e+02] [ 1.93833687e-02 9.99812124e-01 3.38587008e-05 4.50525596e+00] [ 1.00939679e-02 -2.29555204e-04 9.99949028e-01 1.76334885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.399254154 meters 0.05502627764090502 Centerline is valid? [True, True] Translation: X:458.95, Y:4.49, Z:1.76 [[ 9.99563963e-01 -2.73536009e-02 -1.11204832e-02 4.58948741e+02] [ 2.73557065e-02 9.99625762e-01 3.72494695e-05 4.49237164e+00] [ 1.11153026e-02 -3.41441903e-04 9.99938165e-01 1.76270911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.459254154 meters 0.055352550263486955 Centerline is valid? [True, True] Translation: X:459.01, Y:4.48, Z:1.76 [[ 9.99457604e-01 -3.03674799e-02 -1.27402636e-02 4.59009901e+02] [ 3.03704894e-02 9.99538709e-01 4.27704119e-05 4.48477363e+00] [ 1.27330878e-02 -4.29675253e-04 9.99918839e-01 1.76297826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.519254154 meters 0.055780030124808914 Centerline is valid? [True, True] Translation: X:459.07, Y:4.47, Z:1.76 [[ 9.99455099e-01 -2.96526986e-02 -1.44990773e-02 4.59069977e+02] [ 2.96565235e-02 9.99560147e-01 4.88135505e-05 4.47436745e+00] [ 1.44912524e-02 -4.78779178e-04 9.99894882e-01 1.76122622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.579254154 meters 0.05578858054589833 Centerline is valid? [True, True] Translation: X:459.13, Y:4.48, Z:1.76 [[ 9.99492617e-01 -2.86232373e-02 -1.39720715e-02 4.59129961e+02] [ 2.86266879e-02 9.99590171e-01 4.69891369e-05 4.47689261e+00] [ 1.39650003e-02 -4.46939425e-04 9.99902385e-01 1.76267976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.639254154 meters 0.056119386317198316 Centerline is valid? [True, True] Translation: X:459.19, Y:4.48, Z:1.76 [[ 9.99485144e-01 -2.83193108e-02 -1.50818901e-02 4.59189693e+02] [ 2.83232936e-02 9.99598814e-01 5.05046233e-05 4.47604453e+00] [ 1.50744092e-02 -4.77647422e-04 9.99886261e-01 1.76319882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.699254154 meters 0.05540761142044314 Centerline is valid? [True, True] Translation: X:459.25, Y:4.47, Z:1.76 [[ 9.99427547e-01 -2.97668578e-02 -1.60783465e-02 4.59249098e+02] [ 2.97715656e-02 9.99556727e-01 5.34750693e-05 4.47494677e+00] [ 1.60696276e-02 -5.32122004e-04 9.99870734e-01 1.76299252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.759254154 meters 0.0553500101736714 Centerline is valid? [True, True] Translation: X:459.31, Y:4.48, Z:1.77 [[ 9.99301618e-01 -3.30863104e-02 -1.73658525e-02 4.59310021e+02] [ 3.30923010e-02 9.99452298e-01 5.76397936e-05 4.48104682e+00] [ 1.73544341e-02 -6.32275556e-04 9.99849201e-01 1.76645315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.819254154 meters 0.055682588013252717 Centerline is valid? [True, True] Translation: X:459.37, Y:4.48, Z:1.77 [[ 9.99228731e-01 -3.52214521e-02 -1.73606812e-02 4.59369342e+02] [ 3.52277589e-02 9.99379308e-01 5.75111748e-05 4.47534373e+00] [ 1.73478800e-02 -6.69044712e-04 9.99849290e-01 1.76575234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters 0.05655148470575341 Centerline is valid? [True, True] Translation: X:459.43, Y:4.48, Z:1.77 [[ 9.99331744e-01 -3.24622130e-02 -1.68009060e-02 4.59428906e+02] [ 3.24677275e-02 9.99472783e-01 5.54969199e-05 4.47542111e+00] [ 1.67902467e-02 -6.00947070e-04 9.99858853e-01 1.76582849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.93925415399997 meters 0.054559098717778476 Centerline is valid? [True, True] Translation: X:459.49, Y:4.49, Z:1.77 [[ 9.99479098e-01 -2.80829082e-02 -1.59022946e-02 4.59489106e+02] [ 2.80872939e-02 9.99605473e-01 5.24744958e-05 4.48503861e+00] [ 1.58945470e-02 -4.99099584e-04 9.99873549e-01 1.76970913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.99925415399997 meters 0.05463959448020307 Centerline is valid? [True, True] Translation: X:459.55, Y:4.49, Z:1.77 [[ 9.99628940e-01 -2.28961122e-02 -1.47563583e-02 4.59549497e+02] [ 2.28993238e-02 9.99737775e-01 4.86965159e-05 4.49135648e+00] [ 1.47513739e-02 -3.86589074e-04 9.99891118e-01 1.77153399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.059254154 meters 0.05527675310108572 Centerline is valid? [True, True] Translation: X:459.61, Y:4.50, Z:1.77 [[ 9.99767543e-01 -1.62799295e-02 -1.41358910e-02 4.59609414e+02] [ 1.62822155e-02 9.99867435e-01 4.66364550e-05 4.49558732e+00] [ 1.41332578e-02 -2.76789238e-04 9.99900082e-01 1.77217089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.119254154 meters 0.05540514564186419 Centerline is valid? [True, True] Translation: X:459.67, Y:4.50, Z:1.77 [[ 9.99804690e-01 -1.36826798e-02 -1.42606385e-02 4.59667473e+02] [ 1.36847361e-02 9.99906359e-01 4.66158205e-05 4.50097398e+00] [ 1.42586653e-02 -2.41759790e-04 9.99898311e-01 1.77491353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.179254154 meters 0.05518664265057697 Centerline is valid? [True, True] Translation: X:459.73, Y:4.50, Z:1.77 [[ 9.99812957e-01 -1.28052632e-02 -1.44939765e-02 4.59726509e+02] [ 1.28072765e-02 9.99917982e-01 4.60872017e-05 4.49902606e+00] [ 1.44921976e-02 -2.31706946e-04 9.99894956e-01 1.77270892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.239254154 meters 0.055194049596128135 Centerline is valid? [True, True] Translation: X:459.79, Y:4.50, Z:1.77 [[ 9.99762069e-01 -1.59091438e-02 -1.49232635e-02 4.59786061e+02] [ 1.59116144e-02 9.99873401e-01 4.68336378e-05 4.50127034e+00] [ 1.49206291e-02 -2.84275709e-04 9.99888641e-01 1.77388387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.299254154 meters 0.05540001671825922 Centerline is valid? [True, True] Translation: X:459.85, Y:4.50, Z:1.77 [[ 9.99652144e-01 -2.17155799e-02 -1.49674367e-02 4.59845629e+02] [ 2.17187131e-02 9.99764120e-01 4.67968465e-05 4.49955504e+00] [ 1.49628899e-02 -3.71854030e-04 9.99887981e-01 1.77428999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.359254154 meters 0.05531564942803288 Centerline is valid? [True, True] Translation: X:459.91, Y:4.50, Z:1.78 [[ 9.99563038e-01 -2.60652583e-02 -1.39404567e-02 4.59906094e+02] [ 2.60683983e-02 9.99660161e-01 4.35497069e-05 4.49979807e+00] [ 1.39345840e-02 -4.06936055e-04 9.99902826e-01 1.77600443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.419254154 meters 0.05449255611169039 Centerline is valid? [True, True] Translation: X:459.97, Y:4.51, Z:1.78 [[ 9.99450533e-01 -3.09546260e-02 -1.18509049e-02 4.59966180e+02] [ 3.09572378e-02 9.99520709e-01 3.69645807e-05 4.50540515e+00] [ 1.18440806e-02 -4.03815550e-04 9.99929775e-01 1.77872658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.479254154 meters 0.05708456240658366 Centerline is valid? [True, True] Translation: X:460.03, Y:4.49, Z:1.78 [[ 9.99384226e-01 -3.30987228e-02 -1.16466144e-02 4.60026432e+02] [ 3.31013911e-02 9.99451998e-01 3.63643402e-05 4.49341406e+00] [ 1.16390284e-02 -4.21861085e-04 9.99932175e-01 1.77665000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.539254154 meters 0.05604343341619499 Centerline is valid? [True, True] Translation: X:460.09, Y:4.49, Z:1.78 [[ 9.99375053e-01 -3.31958590e-02 -1.21465262e-02 4.60087978e+02] [ 3.31987703e-02 9.99448768e-01 3.80735373e-05 4.49282321e+00] [ 1.21385668e-02 -4.41299477e-04 9.99926227e-01 1.77603401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.599254154 meters 0.056498323045028026 Centerline is valid? [True, True] Translation: X:460.15, Y:4.50, Z:1.78 [[ 9.99356397e-01 -3.32458769e-02 -1.34723383e-02 4.60149038e+02] [ 3.32494659e-02 9.99447083e-01 4.24393850e-05 4.49788179e+00] [ 1.34634783e-02 -4.90360123e-04 9.99909243e-01 1.77596299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.659254154 meters 0.054864715241739595 Centerline is valid? [True, True] Translation: X:460.21, Y:4.50, Z:1.78 [[ 9.99406114e-01 -3.18395538e-02 -1.31780882e-02 4.60210124e+02] [ 3.18428646e-02 9.99492887e-01 4.14346649e-05 4.50238985e+00] [ 1.31700861e-02 -4.61038135e-04 9.99913164e-01 1.77702227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.719254154 meters 0.0550931825256177 Centerline is valid? [True, True] Translation: X:460.27, Y:4.51, Z:1.78 [[ 9.99563318e-01 -2.58889733e-02 -1.42455089e-02 4.60271266e+02] [ 2.58922377e-02 9.99664739e-01 4.47362799e-05 4.51046393e+00] [ 1.42395747e-02 -4.13564847e-04 9.99898527e-01 1.77822063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.779254154 meters 0.05523960983927269 Centerline is valid? [True, True] Translation: X:460.33, Y:4.51, Z:1.78 [[ 9.99745041e-01 -1.67221081e-02 -1.51731362e-02 4.60330700e+02] [ 1.67247547e-02 9.99860130e-01 4.75427264e-05 4.51384022e+00] [ 1.51702190e-02 -3.01297586e-04 9.99884880e-01 1.77755532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.839254154 meters 0.05462341225982327 Centerline is valid? [True, True] Translation: X:460.39, Y:4.52, Z:1.78 [[ 9.99835960e-01 -1.13106429e-02 -1.41464730e-02 4.60389578e+02] [ 1.13123991e-02 9.99936012e-01 4.41273710e-05 4.51718644e+00] [ 1.41450687e-02 -2.04150680e-04 9.99899933e-01 1.77757820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.899254154 meters 0.055130482513668845 Centerline is valid? [True, True] Translation: X:460.45, Y:4.52, Z:1.78 [[ 9.99858638e-01 -1.00492100e-02 -1.34802371e-02 4.60447996e+02] [ 1.00506745e-02 9.99949490e-01 4.08939971e-05 4.51988636e+00] [ 1.34791453e-02 -1.76373691e-04 9.99909137e-01 1.77917063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.959254154 meters 0.05553401710770641 Centerline is valid? [True, True] Translation: X:460.51, Y:4.52, Z:1.78 [[ 9.99864607e-01 -9.58562387e-03 -1.33747496e-02 4.60506514e+02] [ 9.58700342e-03 9.99954043e-01 3.90330566e-05 4.52450132e+00] [ 1.33737608e-02 -1.67251542e-04 9.99910553e-01 1.78228098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.019254154 meters 0.054732765933641334 Centerline is valid? [True, True] Translation: X:460.56, Y:4.52, Z:1.78 [[ 9.99867345e-01 -1.01664589e-02 -1.27253615e-02 4.60563865e+02] [ 1.01677347e-02 9.99948307e-01 3.55664656e-05 4.52078841e+00] [ 1.27243421e-02 -1.64949848e-04 9.99919029e-01 1.78023244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.079254154 meters 0.055358989348423426 Centerline is valid? [True, True] Translation: X:460.62, Y:4.52, Z:1.78 [[ 9.99844289e-01 -1.36821417e-02 -1.11443596e-02 4.60623331e+02] [ 1.36833322e-02 9.99906378e-01 3.05794823e-05 4.52058518e+00] [ 1.11428979e-02 -1.83066696e-04 9.99937899e-01 1.78294340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.139254154 meters 0.05485961284187365 Centerline is valid? [True, True] Translation: X:460.68, Y:4.51, Z:1.78 [[ 9.99723421e-01 -2.01653103e-02 -1.21013524e-02 4.60683237e+02] [ 2.01671870e-02 9.99796621e-01 3.30583455e-05 4.51470928e+00] [ 1.20982246e-02 -2.77099439e-04 9.99926775e-01 1.78238890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.199254154 meters 0.05580831518342025 Centerline is valid? [True, True] Translation: X:460.74, Y:4.51, Z:1.78 [[ 9.99559394e-01 -2.69465783e-02 -1.24458967e-02 4.60744069e+02] [ 2.69490882e-02 9.99636807e-01 3.39708783e-05 4.50996805e+00] [ 1.24404610e-02 -3.69361477e-04 9.99922546e-01 1.78214836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.259254154 meters 0.05441876067411635 Centerline is valid? [True, True] Translation: X:460.81, Y:4.52, Z:1.79 [[ 9.99486105e-01 -2.95192450e-02 -1.24955944e-02 4.60805388e+02] [ 2.95219777e-02 9.99564131e-01 3.42557078e-05 4.51771308e+00] [ 1.24891368e-02 -4.03132764e-04 9.99921926e-01 1.78538810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.319254154 meters 0.0543139134374446 Centerline is valid? [True, True] Translation: X:460.87, Y:4.51, Z:1.78 [[ 9.99468427e-01 -3.04464876e-02 -1.16565427e-02 4.60866632e+02] [ 3.04489316e-02 9.99536323e-01 3.22106303e-05 4.50969464e+00] [ 1.16501571e-02 -3.87122778e-04 9.99932060e-01 1.78478525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters 0.05511749645215923 Centerline is valid? [True, True] Translation: X:460.93, Y:4.51, Z:1.78 [[ 9.99536991e-01 -2.80378561e-02 -1.18186982e-02 4.60926722e+02] [ 2.80402023e-02 9.99606796e-01 3.28219122e-05 4.50688973e+00] [ 1.18131307e-02 -3.64205403e-04 9.99930156e-01 1.78419922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.43925415399997 meters 0.054776162256719524 Centerline is valid? [True, True] Translation: X:460.99, Y:4.51, Z:1.78 [[ 9.99699256e-01 -2.14203545e-02 -1.19401194e-02 4.60987395e+02] [ 2.14222785e-02 9.99770516e-01 3.32490488e-05 4.50779546e+00] [ 1.19366672e-02 -2.89023613e-04 9.99928714e-01 1.78346956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.49925415399997 meters 0.05513179283347662 Centerline is valid? [True, True] Translation: X:461.05, Y:4.51, Z:1.78 [[ 9.99815447e-01 -1.43304791e-02 -1.27949314e-02 4.61047336e+02] [ 1.43321083e-02 9.99897289e-01 3.56472524e-05 4.51058575e+00] [ 1.27931064e-02 -2.19019016e-04 9.99918141e-01 1.78385129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.559254154 meters 0.05548311535178087 Centerline is valid? [True, True] Translation: X:461.11, Y:4.52, Z:1.78 [[ 9.99909217e-01 -4.16077609e-03 -1.28158163e-02 4.61107535e+02] [ 4.16157614e-03 9.99991340e-01 3.57589221e-05 4.51521262e+00] [ 1.28155565e-02 -8.90896712e-05 9.99917873e-01 1.78419921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.619254154 meters 0.055608003750655326 Centerline is valid? [True, True] Translation: X:461.17, Y:4.52, Z:1.78 [[ 9.99914737e-01 2.90845330e-03 -1.27302831e-02 4.61165191e+02] [-2.90824116e-03 9.99995770e-01 3.51766833e-05 4.51884011e+00] [ 1.27303316e-02 1.84904925e-06 9.99918966e-01 1.78387860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.679254154 meters 0.055702212762576246 Centerline is valid? [True, True] Translation: X:461.22, Y:4.52, Z:1.78 [[ 9.99897123e-01 5.37182087e-03 -1.32999153e-02 4.61223017e+02] [-5.37181465e-03 9.99985571e-01 3.61916689e-05 4.52038520e+00] [ 1.32999178e-02 3.52567344e-05 9.99911552e-01 1.78326061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.739254154 meters 0.055721786617918816 Centerline is valid? [True, True] Translation: X:461.28, Y:4.52, Z:1.79 [[ 9.99908221e-01 4.55695977e-03 -1.27586398e-02 4.61281964e+02] [-4.55689331e-03 9.99989617e-01 3.42804312e-05 4.51958854e+00] [ 1.27586635e-02 2.38624752e-05 9.99918605e-01 1.78604144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.799254154 meters 0.05567732230977561 Centerline is valid? [True, True] Translation: X:461.34, Y:4.51, Z:1.79 [[ 9.99917258e-01 -2.44855411e-03 -1.26286092e-02 4.61340828e+02] [ 2.44917356e-03 9.99997000e-01 3.35866344e-05 4.51360249e+00] [ 1.26284890e-02 -6.45135110e-05 9.99920255e-01 1.78565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.859254154 meters 0.05566543661505018 Centerline is valid? [True, True] Translation: X:461.40, Y:4.51, Z:1.79 [[ 9.99813568e-01 -1.41247161e-02 -1.31651995e-02 4.61401159e+02] [ 1.41263997e-02 9.99900217e-01 3.48978558e-05 4.50754113e+00] [ 1.31633929e-02 -2.20868220e-04 9.99913334e-01 1.78672136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.919254154 meters 0.055790911633285985 Centerline is valid? [True, True] Translation: X:461.46, Y:4.51, Z:1.79 [[ 9.99746176e-01 -1.81412418e-02 -1.33596396e-02 4.61460899e+02] [ 1.81433329e-02 9.99835396e-01 3.53294027e-05 4.50522509e+00] [ 1.33567996e-02 -2.77708823e-04 9.99910755e-01 1.78735355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.979254154 meters 0.055469116819885284 Centerline is valid? [True, True] Translation: X:461.52, Y:4.50, Z:1.79 [[ 9.99475318e-01 -2.98319036e-02 -1.26152822e-02 4.61521376e+02] [ 2.98346976e-02 9.99554846e-01 3.33034191e-05 4.50109221e+00] [ 1.26086730e-02 -4.09659076e-04 9.99920424e-01 1.78882997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.039254154 meters 0.056186605832895316 Centerline is valid? [True, True] Translation: X:461.58, Y:4.50, Z:1.79 [[ 9.99206041e-01 -3.83341989e-02 -1.08525372e-02 4.61582296e+02] [ 3.83367671e-02 9.99264876e-01 2.86334539e-05 4.49548643e+00] [ 1.08434616e-02 -4.44661912e-04 9.99941109e-01 1.78974289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.099254154 meters 0.05629885327033159 Centerline is valid? [True, True] Translation: X:461.64, Y:4.49, Z:1.79 [[ 9.99064654e-01 -4.20571066e-02 -1.00506815e-02 4.61641957e+02] [ 4.20594968e-02 9.99115108e-01 2.64725792e-05 4.48971991e+00] [ 1.00406743e-02 -4.49174423e-04 9.99949490e-01 1.78957565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.159254154 meters 0.0560330622206769 Centerline is valid? [True, True] Translation: X:461.70, Y:4.49, Z:1.79 [[ 9.98919386e-01 -4.54186347e-02 -9.85939905e-03 4.61702170e+02] [ 4.54210980e-02 9.98967929e-01 2.59509987e-05 4.49113574e+00] [ 9.84804480e-03 -4.73747686e-04 9.99951395e-01 1.79024077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.219254154 meters 0.05566851704210227 Centerline is valid? [True, True] Translation: X:461.76, Y:4.49, Z:1.79 [[ 9.98874995e-01 -4.63698131e-02 -9.92900297e-03 4.61764435e+02] [ 4.63723601e-02 9.98924223e-01 2.63357748e-05 4.49307746e+00] [ 9.91710040e-03 -4.86737449e-04 9.99950706e-01 1.79029475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.279254154 meters 0.05549938464926326 Centerline is valid? [True, True] Translation: X:461.83, Y:4.50, Z:1.79 [[ 9.98830006e-01 -4.74607476e-02 -9.27882027e-03 4.61826052e+02] [ 4.74630213e-02 9.98872995e-01 2.48653056e-05 4.49637098e+00] [ 9.26718287e-03 -4.65237057e-04 9.99956950e-01 1.79120472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.339254154 meters 0.056900071040739936 Centerline is valid? [True, True] Translation: X:461.89, Y:4.49, Z:1.79 [[ 9.98813208e-01 -4.76969093e-02 -9.85801319e-03 4.61887403e+02] [ 4.76994896e-02 9.98861731e-01 2.66703027e-05 4.49312320e+00] [ 9.84552003e-03 -4.96860848e-04 9.99951408e-01 1.79127155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.399254154 meters 0.05741831709461319 Centerline is valid? [True, True] Translation: X:461.95, Y:4.49, Z:1.79 [[ 9.98831002e-01 -4.68233302e-02 -1.20085601e-02 4.61949163e+02] [ 4.68271008e-02 9.98903009e-01 3.28567090e-05 4.49013416e+00] [ 1.19938484e-02 -5.95144356e-04 9.99927894e-01 1.78891042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.459254154 meters 0.055617297659760874 Centerline is valid? [True, True] Translation: X:462.01, Y:4.50, Z:1.79 [[ 9.98905820e-01 -4.52534673e-02 -1.18020019e-02 4.62010071e+02] [ 4.52570016e-02 9.98975376e-01 3.24331205e-05 4.50299519e+00] [ 1.17884416e-02 -5.66520852e-04 9.99930353e-01 1.79053846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.519254154 meters 0.05662802451109101 Centerline is valid? [True, True] Translation: X:462.07, Y:4.50, Z:1.79 [[ 9.99143353e-01 -4.00342413e-02 -1.04795309e-02 4.62069959e+02] [ 4.00367410e-02 9.99198208e-01 2.87656458e-05 4.50477685e+00] [ 1.04699769e-02 -4.48307269e-04 9.99945088e-01 1.79244883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.579254154 meters 0.05623601081808651 Centerline is valid? [True, True] Translation: X:462.13, Y:4.51, Z:1.79 [[ 9.99352686e-01 -3.47980596e-02 -9.12715270e-03 4.62130409e+02] [ 3.47997374e-02 9.99394305e-01 2.50264056e-05 4.51403349e+00] [ 9.12075356e-03 -3.42632723e-04 9.99958346e-01 1.79464616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.639254154 meters 0.05553468155615165 Centerline is valid? [True, True] Translation: X:462.19, Y:4.52, Z:1.79 [[ 9.99485624e-01 -3.04868034e-02 -9.95196304e-03 4.62189828e+02] [ 3.04885841e-02 9.99535115e-01 2.72353243e-05 4.51666742e+00] [ 9.94650620e-03 -3.30642578e-04 9.99950478e-01 1.79404863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.699254154 meters 0.05577973067244648 Centerline is valid? [True, True] Translation: X:462.25, Y:4.52, Z:1.79 [[ 9.99566879e-01 -2.74890472e-02 -1.05074430e-02 4.62250524e+02] [ 2.74908671e-02 9.99622054e-01 2.87737856e-05 4.51971509e+00] [ 1.05026808e-02 -3.17620042e-04 9.99944795e-01 1.79409704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.759254154 meters 0.05571125536637562 Centerline is valid? [True, True] Translation: X:462.31, Y:4.52, Z:1.79 [[ 9.99663512e-01 -2.34241843e-02 -1.11431744e-02 4.62310154e+02] [ 2.34259788e-02 9.99725574e-01 3.05235121e-05 4.52238196e+00] [ 1.11394015e-02 -2.91553010e-04 9.99937912e-01 1.79399176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters 0.05620853816520812 Centerline is valid? [True, True] Translation: X:462.37, Y:4.52, Z:1.79 [[ 9.99733458e-01 -1.99977180e-02 -1.15371086e-02 4.62369684e+02] [ 1.99994127e-02 9.99799991e-01 3.15294209e-05 4.52028483e+00] [ 1.15341705e-02 -2.62256413e-04 9.99933445e-01 1.79340120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters 0.05562188012361007 Centerline is valid? [True, True] Translation: X:462.43, Y:4.53, Z:1.80 [[ 9.99826248e-01 -1.49945777e-02 -1.10741454e-02 4.62430111e+02] [ 1.49958300e-02 9.99887556e-01 3.00475689e-05 4.52833916e+00] [ 1.10724497e-02 -1.96108350e-04 9.99938679e-01 1.79527349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.93925415399997 meters 0.0554480008178049 Centerline is valid? [True, True] Translation: X:462.49, Y:4.53, Z:1.80 [[ 9.99884129e-01 -1.09410589e-02 -1.05840848e-02 4.62489697e+02] [ 1.09419735e-02 9.99940134e-01 2.85078492e-05 4.53180731e+00] [ 1.05831393e-02 -1.44315322e-04 9.99943987e-01 1.79601284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.99925415399997 meters 0.05618835261369814 Centerline is valid? [True, True] Translation: X:462.55, Y:4.53, Z:1.80 [[ 9.99932809e-01 -5.01613574e-03 -1.04506578e-02 4.62548530e+02] [ 5.01670186e-03 9.99987416e-01 2.79564419e-05 4.53248509e+00] [ 1.04503861e-02 -8.03823978e-05 9.99945390e-01 1.79523502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.059254154 meters 0.05527775407503319 Centerline is valid? [True, True] Translation: X:462.61, Y:4.53, Z:1.80 [[ 9.99953219e-01 -3.35806518e-03 -9.07098336e-03 4.62607479e+02] [ 3.35842020e-03 9.99994360e-01 2.39063897e-05 4.53151450e+00] [ 9.07085193e-03 -5.43694452e-05 9.99958857e-01 1.79561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.119254154 meters 0.05582764684803652 Centerline is valid? [True, True] Translation: X:462.67, Y:4.53, Z:1.80 [[ 9.99925244e-01 -7.32045516e-03 -9.79373687e-03 4.62667069e+02] [ 7.32105579e-03 9.99973200e-01 2.54779269e-05 4.52697396e+00] [ 9.79328789e-03 -9.71765163e-05 9.99952040e-01 1.79573607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.179254154 meters 0.0560502222105998 Centerline is valid? [True, True] Translation: X:462.73, Y:4.52, Z:1.80 [[ 9.99863392e-01 -1.30476046e-02 -1.01467794e-02 4.62726952e+02] [ 1.30485435e-02 9.99914864e-01 2.63332859e-05 4.52257642e+00] [ 1.01455719e-02 -1.58730380e-04 9.99948520e-01 1.79631389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.239254154 meters 0.05633032564523779 Centerline is valid? [True, True] Translation: X:462.79, Y:4.51, Z:1.80 [[ 9.99671377e-01 -2.33201267e-02 -1.06447021e-02 4.62786126e+02] [ 2.33217429e-02 9.99728011e-01 2.77055565e-05 4.51062102e+00] [ 1.06411608e-02 -2.75949457e-04 9.99943343e-01 1.79570987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.299254154 meters 0.055403550823758925 Centerline is valid? [True, True] Translation: X:462.85, Y:4.51, Z:1.80 [[ 9.99410364e-01 -3.25488433e-02 -1.09314663e-02 4.62846566e+02] [ 3.25510997e-02 9.99470072e-01 2.85031360e-05 4.51194375e+00] [ 1.09247457e-02 -3.84317580e-04 9.99940249e-01 1.79792238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.359254154 meters 0.05697268516623025 Centerline is valid? [True, True] Translation: X:462.91, Y:4.50, Z:1.80 [[ 9.99233328e-01 -3.71007402e-02 -1.25016342e-02 4.62906494e+02] [ 3.71040510e-02 9.99311407e-01 3.29169531e-05 4.50061139e+00] [ 1.24918044e-02 -4.96752989e-04 9.99921851e-01 1.79606600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.419254154 meters 0.055882705085283875 Centerline is valid? [True, True] Translation: X:462.97, Y:4.51, Z:1.80 [[ 9.99041622e-01 -4.16684152e-02 -1.34007427e-02 4.62967308e+02] [ 4.16726323e-02 9.99131318e-01 3.54858456e-05 4.50556089e+00] [ 1.33876231e-02 -5.93896060e-04 9.99910205e-01 1.79742045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.479254154 meters 0.05533283437761283 Centerline is valid? [True, True] Translation: X:463.03, Y:4.50, Z:1.80 [[ 9.98965556e-01 -4.37923267e-02 -1.22495201e-02 4.63027746e+02] [ 4.37960115e-02 9.99040494e-01 3.25933613e-05 4.50205917e+00] [ 1.22363392e-02 -5.69039768e-04 9.99924971e-01 1.79824245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.539254154 meters 0.05567374221756132 Centerline is valid? [True, True] Translation: X:463.09, Y:4.50, Z:1.80 [[ 9.98955313e-01 -4.43565929e-02 -1.09897457e-02 4.63090046e+02] [ 4.43595958e-02 9.99015628e-01 2.95187653e-05 4.50307028e+00] [ 1.09776184e-02 -5.16988606e-04 9.99939610e-01 1.79913091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.599254154 meters 0.055983654726190976 Centerline is valid? [True, True] Translation: X:463.15, Y:4.50, Z:1.80 [[ 9.98957039e-01 -4.45323798e-02 -1.00847342e-02 4.63152578e+02] [ 4.45349209e-02 9.99007828e-01 2.74384518e-05 4.50440669e+00] [ 1.00735065e-02 -4.76532673e-04 9.99949147e-01 1.79989282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.659254154 meters 0.05559133458142238 Centerline is valid? [True, True] Translation: X:463.21, Y:4.51, Z:1.80 [[ 9.98964364e-01 -4.41491821e-02 -1.10022723e-02 4.63214689e+02] [ 4.41521896e-02 9.99024816e-01 3.04824515e-05 4.51104776e+00] [ 1.09901973e-02 -5.16225297e-04 9.99939473e-01 1.80056541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.719254154 meters 0.05711366429665485 Centerline is valid? [True, True] Translation: X:463.28, Y:4.51, Z:1.80 [[ 9.98947681e-01 -4.41327814e-02 -1.24830874e-02 4.63275709e+02] [ 4.41366607e-02 9.99025502e-01 3.53105090e-05 4.50509584e+00] [ 1.24693643e-02 -5.86235145e-04 9.99922083e-01 1.79949796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.779254154 meters 0.061838326653658064 Centerline is valid? [True, True] Translation: X:463.34, Y:4.49, Z:1.80 [[ 9.98951469e-01 -4.37886103e-02 -1.33611625e-02 4.63336639e+02] [ 4.37930335e-02 9.99040624e-01 3.85191592e-05 4.49173486e+00] [ 1.33466574e-02 -6.23604607e-04 9.99910735e-01 1.79690063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.839254154 meters 0.059635434560631875 Centerline is valid? [True, True] Translation: X:463.40, Y:4.50, Z:1.80 [[ 9.99016785e-01 -4.20867962e-02 -1.39342880e-02 4.63396990e+02] [ 4.20914459e-02 9.99113762e-01 4.04565707e-05 4.49870645e+00] [ 1.39202362e-02 -6.26931122e-04 9.99902912e-01 1.79731279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.899254154 meters 0.056317807842550645 Centerline is valid? [True, True] Translation: X:463.46, Y:4.52, Z:1.80 [[ 9.99280836e-01 -3.52878144e-02 -1.38773538e-02 4.63458092e+02] [ 3.52917702e-02 9.99377051e-01 4.01916409e-05 4.51894300e+00] [ 1.38672906e-02 -5.29919117e-04 9.99903704e-01 1.80069875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.959254154 meters 0.056368310831070495 Centerline is valid? [True, True] Translation: X:463.52, Y:4.52, Z:1.80 [[ 9.99547020e-01 -2.70571180e-02 -1.31782910e-02 4.63518035e+02] [ 2.70599699e-02 9.99633811e-01 3.81120459e-05 4.51765252e+00] [ 1.31724340e-02 -3.94698938e-04 9.99913162e-01 1.79985387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.019254154 meters 0.05552342765089921 Centerline is valid? [True, True] Translation: X:463.58, Y:4.53, Z:1.80 [[ 9.99853632e-01 -1.35534461e-02 -1.04412169e-02 4.63578707e+02] [ 1.35545000e-02 9.99908133e-01 3.01720818e-05 4.53258427e+00] [ 1.04398488e-02 -1.71693141e-04 9.99945489e-01 1.80393022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.079254154 meters 0.05555320108116172 Centerline is valid? [True, True] Translation: X:463.64, Y:4.54, Z:1.81 [[ 9.99965559e-01 -2.82626254e-03 -7.80340650e-03 4.63639365e+02] [ 2.82652467e-03 9.99996005e-01 2.25642097e-05 4.54034446e+00] [ 7.80331155e-03 -4.46199536e-05 9.99969553e-01 1.80556334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.139254154 meters 0.05569793543997817 Centerline is valid? [True, True] Translation: X:463.70, Y:4.54, Z:1.81 [[ 9.99972256e-01 5.59673326e-04 -7.42798034e-03 4.63697742e+02] [-5.59531757e-04 9.99999843e-01 2.11368829e-05 4.54354767e+00] [ 7.42799101e-03 -1.69801056e-05 9.99972412e-01 1.80554121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.199254154 meters 0.0554343879830248 Centerline is valid? [True, True] Translation: X:463.76, Y:4.54, Z:1.80 [[ 9.99960816e-01 4.39450665e-04 -8.84155103e-03 4.63756043e+02] [-4.39251490e-04 9.99999903e-01 2.44689337e-05 4.54253777e+00] [ 8.84156093e-03 -2.05843105e-05 9.99960912e-01 1.80295305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.259254154 meters 0.055385001099646336 Centerline is valid? [True, True] Translation: X:463.81, Y:4.54, Z:1.80 [[ 9.99945830e-01 -2.96431997e-03 -9.97748242e-03 4.63814514e+02] [ 2.96473981e-03 9.99995605e-01 2.72881163e-05 4.53948151e+00] [ 9.97735767e-03 -5.68672775e-05 9.99950223e-01 1.80191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters 0.05474971067045854 Centerline is valid? [True, True] Translation: X:463.87, Y:4.53, Z:1.80 [[ 9.99892289e-01 -8.88102110e-03 -1.16849272e-02 4.63874015e+02] [ 8.88199815e-03 9.99960554e-01 3.17229727e-05 4.53365166e+00] [ 1.16841845e-02 -1.35505057e-04 9.99931728e-01 1.80065179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters 0.055629411209871756 Centerline is valid? [True, True] Translation: X:463.93, Y:4.53, Z:1.80 [[ 9.99853833e-01 -1.27218407e-02 -1.14222261e-02 4.63933641e+02] [ 1.27230227e-02 9.99919059e-01 3.08241690e-05 4.53163257e+00] [ 1.14209094e-02 -1.76144906e-04 9.99934764e-01 1.80306541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.43925415399997 meters 0.054989571429160056 Centerline is valid? [True, True] Translation: X:463.99, Y:4.53, Z:1.80 [[ 9.99840867e-01 -1.43386264e-02 -1.06134343e-02 4.63992743e+02] [ 1.43397356e-02 9.99897180e-01 2.84133145e-05 4.53005939e+00] [ 1.06119356e-02 -1.80602634e-04 9.99943676e-01 1.80367164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.49925415399997 meters 0.0571755164883403 Centerline is valid? [True, True] Translation: X:464.05, Y:4.52, Z:1.80 [[ 9.99830134e-01 -1.55369399e-02 -9.91497609e-03 4.64051022e+02] [ 1.55379644e-02 9.99879278e-01 2.63018591e-05 4.51608278e+00] [ 9.91337049e-03 -1.80355937e-04 9.99950845e-01 1.80105866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.559254154 meters 0.055815094418143946 Centerline is valid? [True, True] Translation: X:464.11, Y:4.52, Z:1.80 [[ 9.99818885e-01 -1.65072742e-02 -9.47140038e-03 4.64111851e+02] [ 1.65082517e-02 9.99863729e-01 2.50311252e-05 4.52257009e+00] [ 9.46969650e-03 -1.81382853e-04 9.99955145e-01 1.80453280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.619254154 meters 0.0562847865806204 Centerline is valid? [True, True] Translation: X:464.17, Y:4.52, Z:1.80 [[ 9.99770266e-01 -1.90592960e-02 -9.80603968e-03 4.64171814e+02] [ 1.90604665e-02 9.99818332e-01 2.59155138e-05 4.51955883e+00] [ 9.80376431e-03 -2.12817251e-04 9.99951919e-01 1.80499600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.679254154 meters 0.05607226692956019 Centerline is valid? [True, True] Translation: X:464.23, Y:4.52, Z:1.80 [[ 9.99715792e-01 -2.19658378e-02 -9.26478705e-03 4.64232953e+02] [ 2.19670078e-02 9.99758696e-01 2.45276084e-05 4.51674258e+00] [ 9.26201265e-03 -2.28040287e-04 9.99957081e-01 1.80486999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.739254154 meters 0.05656444126386752 Centerline is valid? [True, True] Translation: X:464.29, Y:4.51, Z:1.80 [[ 9.99626206e-01 -2.55831973e-02 -9.64092562e-03 4.64292990e+02] [ 2.55846341e-02 9.99672659e-01 2.57153433e-05 4.50832241e+00] [ 9.63711188e-03 -2.72365286e-04 9.99953525e-01 1.80416266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.799254154 meters 0.056750324697227975 Centerline is valid? [True, True] Translation: X:464.35, Y:4.51, Z:1.80 [[ 9.99610598e-01 -2.57670740e-02 -1.07102914e-02 4.64354643e+02] [ 2.57688603e-02 9.99667927e-01 2.87935538e-05 4.50889935e+00] [ 1.07059928e-02 -3.04774343e-04 9.99942643e-01 1.80381004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.859254154 meters 0.056430346079161205 Centerline is valid? [True, True] Translation: X:464.42, Y:4.51, Z:1.80 [[ 9.99648314e-01 -2.37833364e-02 -1.17303573e-02 4.64416076e+02] [ 2.37853449e-02 9.99717088e-01 3.17253338e-05 4.51301005e+00] [ 1.17262841e-02 -3.10724770e-04 9.99931196e-01 1.80490240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.919254154 meters 0.055624828727485996 Centerline is valid? [True, True] Translation: X:464.48, Y:4.52, Z:1.81 [[ 9.99742789e-01 -1.97499426e-02 -1.11488181e-02 4.64476963e+02] [ 1.97515072e-02 9.99804920e-01 3.02352394e-05 4.51888016e+00] [ 1.11460460e-02 -2.50433423e-04 9.99937850e-01 1.80654888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.979254154 meters 0.055525499888364985 Centerline is valid? [True, True] Translation: X:464.54, Y:4.52, Z:1.81 [[ 9.99790143e-01 -1.70524582e-02 -1.13526628e-02 4.64537020e+02] [ 1.70539068e-02 9.99854571e-01 3.08010571e-05 4.51888850e+00] [ 1.13504866e-02 -2.24401847e-04 9.99935556e-01 1.80720488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.039254154 meters 0.05517241159360266 Centerline is valid? [True, True] Translation: X:464.60, Y:4.52, Z:1.81 [[ 9.99833648e-01 -1.40704814e-02 -1.16059484e-02 4.64596907e+02] [ 1.40717931e-02 9.99900987e-01 3.13598996e-05 4.52214722e+00] [ 1.16043580e-02 -1.94671187e-04 9.99932648e-01 1.80819385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.099254154 meters 0.05623905765721508 Centerline is valid? [True, True] Translation: X:464.65, Y:4.52, Z:1.81 [[ 9.99840469e-01 -1.24851330e-02 -1.27733078e-02 4.64654727e+02] [ 1.24865783e-02 9.99922039e-01 3.34089347e-05 4.51892651e+00] [ 1.27718948e-02 -1.92898513e-04 9.99918417e-01 1.80627466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.159254154 meters 0.05560946335729647 Centerline is valid? [True, True] Translation: X:464.71, Y:4.52, Z:1.81 [[ 9.99844355e-01 -1.24610658e-02 -1.24895301e-02 4.64712760e+02] [ 1.24624259e-02 9.99922340e-01 3.10807050e-05 4.52084226e+00] [ 1.24881728e-02 -1.86725711e-04 9.99922002e-01 1.80798777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.219254154 meters 0.056238790554053106 Centerline is valid? [True, True] Translation: X:464.77, Y:4.52, Z:1.81 [[ 9.99848190e-01 -1.32914917e-02 -1.12664450e-02 4.64771252e+02] [ 1.32926364e-02 9.99911649e-01 2.67263623e-05 4.52032045e+00] [ 1.12650944e-02 -1.76483062e-04 9.99936531e-01 1.80948498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.279254154 meters 0.05643608931613679 Centerline is valid? [True, True] Translation: X:464.83, Y:4.51, Z:1.81 [[ 9.99809473e-01 -1.68914686e-02 -9.78243308e-03 4.64829412e+02] [ 1.68924991e-02 9.99857311e-01 2.27226037e-05 4.51410800e+00] [ 9.78065342e-03 -1.87968016e-04 9.99952151e-01 1.80949373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.339254154 meters 0.05661698764695742 Centerline is valid? [True, True] Translation: X:464.89, Y:4.51, Z:1.81 [[ 9.99719761e-01 -2.21020720e-02 -8.47924724e-03 4.64890404e+02] [ 2.21030332e-02 9.99755698e-01 1.96472673e-05 4.51047891e+00] [ 8.47674150e-03 -2.07058844e-04 9.99964050e-01 1.81058118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.399254154 meters 0.058281075265378304 Centerline is valid? [True, True] Translation: X:464.95, Y:4.50, Z:1.81 [[ 9.99437565e-01 -3.28384976e-02 -6.79613394e-03 4.64950546e+02] [ 3.28393630e-02 9.99460643e-01 1.57471244e-05 4.50172445e+00] [ 6.79195128e-03 -2.38918977e-04 9.99976906e-01 1.81138309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.459254154 meters 0.055499981690589575 Centerline is valid? [True, True] Translation: X:465.01, Y:4.51, Z:1.81 [[ 9.99141225e-01 -4.10052792e-02 -5.94808749e-03 4.65011236e+02] [ 4.10060865e-02 9.99158897e-01 1.37872760e-05 4.51193718e+00] [ 5.94251918e-03 -2.57683226e-04 9.99982310e-01 1.81265725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.519254154 meters 0.05715288928087153 Centerline is valid? [True, True] Translation: X:465.07, Y:4.50, Z:1.81 [[ 9.98677174e-01 -5.09650580e-02 -6.81650133e-03 4.65070795e+02] [ 5.09663499e-02 9.98700371e-01 1.58390726e-05 4.50328999e+00] [ 6.80683516e-03 -3.63230312e-04 9.99976767e-01 1.81170310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.579254154 meters 0.055080541747866384 Centerline is valid? [True, True] Translation: X:465.13, Y:4.51, Z:1.81 [[ 9.98331681e-01 -5.71499254e-02 -8.23053668e-03 4.65131256e+02] [ 5.71520188e-02 9.98365487e-01 1.91712038e-05 4.50934101e+00] [ 8.21598813e-03 -4.89531007e-04 9.99966128e-01 1.81130546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.639254154 meters 0.05522260983000794 Centerline is valid? [True, True] Translation: X:465.19, Y:4.51, Z:1.81 [[ 9.98270069e-01 -5.80438714e-02 -9.36896326e-03 4.65191778e+02] [ 5.80466237e-02 9.98313873e-01 2.18852515e-05 4.50836238e+00] [ 9.35189570e-03 -5.65684076e-04 9.99956110e-01 1.81089588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.699254154 meters 0.055232090921213936 Centerline is valid? [True, True] Translation: X:465.25, Y:4.51, Z:1.81 [[ 9.98421866e-01 -5.55267459e-02 -8.39987063e-03 4.65252083e+02] [ 5.55288700e-02 9.98457082e-01 1.96842252e-05 4.51133258e+00] [ 8.38581732e-03 -4.86088486e-04 9.99964720e-01 1.81078697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.759254154 meters 0.05687331336349357 Centerline is valid? [True, True] Translation: X:465.31, Y:4.50, Z:1.81 [[ 9.98522377e-01 -5.36599416e-02 -8.58329280e-03 4.65311854e+02] [ 5.36620910e-02 9.98559152e-01 2.01452040e-05 4.50390779e+00] [ 8.56984459e-03 -4.80712876e-04 9.99963163e-01 1.81053574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters 0.05731697801920244 Centerline is valid? [True, True] Translation: X:465.37, Y:4.51, Z:1.81 [[ 9.98741277e-01 -4.95210778e-02 -7.97022083e-03 4.65372609e+02] [ 4.95227997e-02 9.98772993e-01 1.87142829e-05 4.50940944e+00] [ 7.95951456e-03 -4.13398376e-04 9.99968237e-01 1.81116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters 0.05763316550737337 Centerline is valid? [True, True] Translation: X:465.43, Y:4.52, Z:1.81 [[ 9.99067112e-01 -4.25667837e-02 -7.27842265e-03 4.65432311e+02] [ 4.25680356e-02 9.99093570e-01 1.70998943e-05 4.51513406e+00] [ 7.27109739e-03 -3.26912096e-04 9.99973512e-01 1.81152236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.93925415399997 meters 0.0569921074324798 Centerline is valid? [True, True] Translation: X:465.49, Y:4.52, Z:1.81 [[ 9.99322044e-01 -3.64102319e-02 -5.45409735e-03 4.65492784e+02] [ 3.64108434e-02 9.99336905e-01 1.28266311e-05 4.52165834e+00] [ 5.45001375e-03 -2.11406220e-04 9.99985126e-01 1.81184784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.99925415399997 meters 0.059804556825688956 Centerline is valid? [True, True] Translation: X:465.55, Y:4.52, Z:1.81 [[ 9.99485407e-01 -3.13267495e-02 -6.89607136e-03 4.65552658e+02] [ 3.13276064e-02 9.99509170e-01 1.62500710e-05 4.51689440e+00] [ 6.89217750e-03 -2.32279118e-04 9.99976222e-01 1.81069416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.059254154 meters 0.058641180691657364 Centerline is valid? [True, True] Translation: X:465.61, Y:4.52, Z:1.81 [[ 9.99565225e-01 -2.85376862e-02 -7.41361860e-03 4.65613498e+02] [ 2.85386003e-02 9.99592691e-01 1.75176432e-05 4.52162486e+00] [ 7.41009905e-03 -2.29084325e-04 9.99972519e-01 1.80960506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.119254154 meters 0.05496390008505071 Centerline is valid? [True, True] Translation: X:465.67, Y:4.55, Z:1.81 [[ 9.99661843e-01 -2.46786366e-02 -8.19535703e-03 4.65674868e+02] [ 2.46796251e-02 9.99695411e-01 1.94996109e-05 4.54519941e+00] [ 8.19237960e-03 -2.21751356e-04 9.99966417e-01 1.81008200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.179254154 meters 0.0551888012728165 Centerline is valid? [True, True] Translation: X:465.74, Y:4.54, Z:1.81 [[ 9.99754744e-01 -2.04272924e-02 -8.55436853e-03 4.65735011e+02] [ 2.04282145e-02 9.99791322e-01 2.04219328e-05 4.54356131e+00] [ 8.55216625e-03 -1.95167400e-04 9.99963410e-01 1.81001612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.239254154 meters 0.05450387406495301 Centerline is valid? [True, True] Translation: X:465.80, Y:4.55, Z:1.81 [[ 9.99807651e-01 -1.81674891e-02 -7.38943003e-03 4.65796499e+02] [ 1.81681158e-02 9.99834946e-01 1.76939876e-05 4.54545374e+00] [ 7.38788892e-03 -1.51942605e-04 9.99972698e-01 1.81135232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.299254154 meters 0.054944510844541626 Centerline is valid? [True, True] Translation: X:465.86, Y:4.55, Z:1.81 [[ 9.99838384e-01 -1.69363600e-02 -6.03041558e-03 4.65857476e+02] [ 1.69367555e-02 9.99856563e-01 1.45218362e-05 4.54713191e+00] [ 6.02930465e-03 -1.16655163e-04 9.99981817e-01 1.81215767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.359254154 meters 0.055337586074412894 Centerline is valid? [True, True] Translation: X:465.92, Y:4.54, Z:1.81 [[ 9.99804378e-01 -1.86929853e-02 -6.46352874e-03 4.65918642e+02] [ 1.86934772e-02 9.99825262e-01 1.56888443e-05 4.54358840e+00] [ 6.46210604e-03 -1.36511602e-04 9.99979111e-01 1.81163362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.419254154 meters 0.05581501165404335 Centerline is valid? [True, True] Translation: X:465.98, Y:4.54, Z:1.81 [[ 9.99687823e-01 -2.35109914e-02 -8.45522479e-03 4.65978960e+02] [ 2.35120064e-02 9.99723554e-01 2.06488661e-05 4.53999437e+00] [ 8.45240190e-03 -2.19441720e-04 9.99964254e-01 1.81025657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.479254154 meters 0.054325127880248215 Centerline is valid? [True, True] Translation: X:466.04, Y:4.55, Z:1.81 [[ 9.99578202e-01 -2.75470126e-02 -9.19677300e-03 4.66039820e+02] [ 2.75483842e-02 9.99620471e-01 2.24747686e-05 4.54713978e+00] [ 9.19266344e-03 -2.75821525e-04 9.99957709e-01 1.81192924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.539254154 meters 0.056703807184388624 Centerline is valid? [True, True] Translation: X:466.10, Y:4.53, Z:1.81 [[ 9.99511956e-01 -2.98825538e-02 -9.10402483e-03 4.66099944e+02] [ 2.98839965e-02 9.99553373e-01 2.24410013e-05 4.53225417e+00] [ 9.09928814e-03 -2.94494695e-04 9.99958557e-01 1.81039159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.599254154 meters 0.05439033326844103 Centerline is valid? [True, True] Translation: X:466.16, Y:4.54, Z:1.81 [[ 9.99537108e-01 -2.94919443e-02 -7.46955137e-03 4.66162255e+02] [ 2.94929064e-02 9.99564989e-01 1.86695313e-05 4.54454624e+00] [ 7.46575143e-03 -2.38959669e-04 9.99972102e-01 1.81251433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.659254154 meters 0.054420243103910984 Centerline is valid? [True, True] Translation: X:466.22, Y:4.54, Z:1.81 [[ 9.99702192e-01 -2.34413294e-02 -6.78464801e-03 4.66221714e+02] [ 2.34419847e-02 9.99725199e-01 1.70764644e-05 4.54422862e+00] [ 6.78238328e-03 -1.76116994e-04 9.99976984e-01 1.81243967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.719254154 meters 0.055891233106943335 Centerline is valid? [True, True] Translation: X:466.28, Y:4.54, Z:1.81 [[ 9.99814422e-01 -1.82296719e-02 -6.22905170e-03 4.66282200e+02] [ 1.82301231e-02 9.99833817e-01 1.56450991e-05 4.54133174e+00] [ 6.22773134e-03 -1.29198575e-04 9.99980599e-01 1.81262430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.779254154 meters 0.05577142683820068 Centerline is valid? [True, True] Translation: X:466.34, Y:4.54, Z:1.81 [[ 9.99891303e-01 -1.28510401e-02 -7.22719520e-03 4.66343332e+02] [ 1.28515070e-02 9.99917416e-01 1.81726919e-05 4.54050737e+00] [ 7.22636481e-03 -1.11051066e-04 9.99973883e-01 1.81180268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.839254154 meters 0.054873006590177145 Centerline is valid? [True, True] Translation: X:466.40, Y:4.55, Z:1.81 [[ 9.99887749e-01 -1.25477825e-02 -8.18801340e-03 4.66404295e+02] [ 1.25483726e-02 9.99921266e-01 2.06897475e-05 4.54904708e+00] [ 8.18710911e-03 -1.23433668e-04 9.99966477e-01 1.81261643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.899254154 meters 0.05420933073494724 Centerline is valid? [True, True] Translation: X:466.46, Y:4.54, Z:1.81 [[ 9.99813982e-01 -1.54200398e-02 -1.15855432e-02 4.66464803e+02] [ 1.54214156e-02 9.99881082e-01 2.94245652e-05 4.54398448e+00] [ 1.15837117e-02 -2.08084568e-04 9.99932885e-01 1.81007341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.959254154 meters 0.054813738061079496 Centerline is valid? [True, True] Translation: X:466.53, Y:4.54, Z:1.81 [[ 9.99737624e-01 -1.86733528e-02 -1.32660621e-02 4.66525515e+02] [ 1.86754435e-02 9.99825598e-01 3.37288260e-05 4.54205900e+00] [ 1.32631186e-02 -2.81469569e-04 9.99912001e-01 1.81004872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.019254154 meters 0.054792981741148 Centerline is valid? [True, True] Translation: X:466.59, Y:4.54, Z:1.81 [[ 9.99704801e-01 -2.07426893e-02 -1.26511313e-02 4.66585220e+02] [ 2.07447554e-02 9.99784804e-01 3.20956031e-05 4.53986285e+00] [ 1.26477431e-02 -2.94530754e-04 9.99919971e-01 1.81066524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.079254154 meters 0.05569875066576596 Centerline is valid? [True, True] Translation: X:466.65, Y:4.54, Z:1.81 [[ 9.99658433e-01 -2.34651850e-02 -1.15066470e-02 4.66645211e+02] [ 2.34670741e-02 9.99724610e-01 2.91633338e-05 4.53664261e+00] [ 1.15027938e-02 -2.99180709e-04 9.99933796e-01 1.81202187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.139254154 meters 0.05591183876823333 Centerline is valid? [True, True] Translation: X:466.71, Y:4.54, Z:1.81 [[ 9.99603804e-01 -2.59553435e-02 -1.08883152e-02 4.66706271e+02] [ 2.59571832e-02 9.99663055e-01 2.76512475e-05 4.53561631e+00] [ 1.08839288e-02 -3.10270285e-04 9.99940720e-01 1.81307181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.199254154 meters 0.0547533717380628 Centerline is valid? [True, True] Translation: X:466.77, Y:4.54, Z:1.81 [[ 9.99391639e-01 -3.34111620e-02 -1.00023077e-02 4.66766625e+02] [ 3.34130879e-02 9.99441627e-01 2.54485300e-05 4.53515735e+00] [ 9.99587237e-03 -3.59641033e-04 9.99949975e-01 1.81368176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.259254154 meters 0.054280565590170624 Centerline is valid? [True, True] Translation: X:466.83, Y:4.54, Z:1.82 [[ 9.99131610e-01 -4.04411822e-02 -1.00268063e-02 4.66826899e+02] [ 4.04434710e-02 9.99181828e-01 2.55273555e-05 4.53882387e+00] [ 1.00175703e-02 -4.31024037e-04 9.99949730e-01 1.81549454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters 0.053893273580931225 Centerline is valid? [True, True] Translation: X:466.89, Y:4.53, Z:1.82 [[ 9.98700426e-01 -5.02325653e-02 -8.61092724e-03 4.66886809e+02] [ 5.02346164e-02 9.98737444e-01 2.19381382e-05 4.52972245e+00] [ 8.59895346e-03 -4.54476255e-04 9.99962925e-01 1.81566935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters 0.05414033733932676 Centerline is valid? [True, True] Translation: X:466.95, Y:4.53, Z:1.82 [[ 9.98303398e-01 -5.76742890e-02 -8.00013030e-03 4.66947677e+02] [ 5.76762977e-02 9.98335337e-01 2.04043890e-05 4.53345878e+00] [ 7.98563597e-03 -4.81787667e-04 9.99967998e-01 1.81641911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.43925415399997 meters 0.06727503819182315 Centerline is valid? [True, True] Translation: X:467.01, Y:4.49, Z:1.81 [[ 9.98040877e-01 -6.14836313e-02 -1.15832501e-02 4.67007356e+02] [ 6.14880987e-02 9.98107816e-01 2.96041632e-05 4.49084274e+00] [ 1.15595123e-02 -7.41778193e-04 9.99932911e-01 1.81011475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.49925415399997 meters 0.05441210009481813 Centerline is valid? [True, True] Translation: X:467.07, Y:4.53, Z:1.81 [[ 9.97949298e-01 -6.31273194e-02 -1.05895898e-02 4.67068734e+02] [ 6.31311466e-02 9.98005239e-01 2.71907607e-05 4.52709423e+00] [ 1.05667496e-02 -6.95667944e-04 9.99943928e-01 1.81361305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.559254154 meters 0.05379255391089368 Centerline is valid? [True, True] Translation: X:467.13, Y:4.53, Z:1.81 [[ 9.98122509e-01 -6.03401452e-02 -1.05130793e-02 4.67127921e+02] [ 6.03437633e-02 9.98177654e-01 2.69990471e-05 4.53172149e+00] [ 1.04922918e-02 -6.61347128e-04 9.99944736e-01 1.81466629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.619254154 meters 0.0633007270583336 Centerline is valid? [True, True] Translation: X:467.19, Y:4.50, Z:1.81 [[ 9.98253766e-01 -5.80143498e-02 -1.11244560e-02 4.67187487e+02] [ 5.80182561e-02 9.98315522e-01 2.84765508e-05 4.50285503e+00] [ 1.11040651e-02 -6.73848363e-04 9.99938121e-01 1.81181713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.679254154 meters 0.05464914658026987 Centerline is valid? [True, True] Translation: X:467.25, Y:4.54, Z:1.82 [[ 9.98780508e-01 -4.85462083e-02 -8.98677896e-03 4.67248657e+02] [ 4.85483747e-02 9.98820832e-01 2.29478737e-05 4.53680140e+00] [ 8.97506801e-03 -4.59213401e-04 9.99959618e-01 1.81618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.739254154 meters 0.056014201735799046 Centerline is valid? [True, True] Translation: X:467.31, Y:4.53, Z:1.82 [[ 9.99329916e-01 -3.58242276e-02 -7.50629774e-03 4.67308402e+02] [ 3.58253805e-02 9.99358065e-01 1.91555022e-05 4.53067954e+00] [ 7.50079295e-03 -2.88058640e-04 9.99971827e-01 1.81574385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.799254154 meters 0.056079353954477835 Centerline is valid? [True, True] Translation: X:467.37, Y:4.53, Z:1.82 [[ 9.99617552e-01 -2.68010410e-02 -6.81567357e-03 4.67368742e+02] [ 2.68017822e-02 9.99640768e-01 1.74201976e-05 4.53353679e+00] [ 6.81275828e-03 -2.00085734e-04 9.99976773e-01 1.81580690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.859254154 meters 0.05538132860208074 Centerline is valid? [True, True] Translation: X:467.43, Y:4.54, Z:1.82 [[ 9.99870855e-01 -1.46375687e-02 -6.63440504e-03 4.67429731e+02] [ 1.46380034e-02 9.99892859e-01 1.69632139e-05 4.54314564e+00] [ 6.63344592e-03 -1.14075467e-04 9.99977992e-01 1.81639472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.919254154 meters 0.05523430098781595 Centerline is valid? [True, True] Translation: X:467.49, Y:4.55, Z:1.82 [[ 9.99954172e-01 -5.92036075e-03 -7.52356316e-03 4.67490690e+02] [ 5.92067308e-03 9.99982472e-01 1.92408253e-05 4.55338301e+00] [ 7.52331738e-03 -6.37845014e-05 9.99971697e-01 1.81638255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.979254154 meters 0.0546560796871797 Centerline is valid? [True, True] Translation: X:467.55, Y:4.56, Z:1.82 [[ 9.99956934e-01 -2.56364989e-03 -8.91956007e-03 4.67549475e+02] [ 2.56395064e-03 9.99996713e-01 2.22836099e-05 4.55510472e+00] [ 8.91947362e-03 -4.51519620e-05 9.99960220e-01 1.81580504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.039254154 meters 0.054484658582433086 Centerline is valid? [True, True] Translation: X:467.61, Y:4.55, Z:1.82 [[ 9.99955833e-01 -1.16625623e-03 -9.32589451e-03 4.67606827e+02] [ 1.16651776e-03 9.99999319e-01 2.26041505e-05 4.55442081e+00] [ 9.32586180e-03 -3.34819737e-05 9.99956513e-01 1.81599690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.099254154 meters 0.05482472377004622 Centerline is valid? [True, True] Translation: X:467.67, Y:4.55, Z:1.82 [[ 9.99958903e-01 -3.93648098e-03 -8.16677396e-03 4.67665235e+02] [ 3.93677197e-03 9.99992251e-01 1.95553096e-05 4.54944410e+00] [ 8.16663370e-03 -5.17052328e-05 9.99966651e-01 1.81548557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.159254154 meters 0.05490173684835302 Centerline is valid? [True, True] Translation: X:467.72, Y:4.55, Z:1.82 [[ 9.99943895e-01 -7.51903995e-03 -7.46128341e-03 4.67724519e+02] [ 7.51938152e-03 9.99971729e-01 1.77273430e-05 4.54608164e+00] [ 7.46093918e-03 -7.38305850e-05 9.99972164e-01 1.81601574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.219254154 meters 0.0544204609809566 Centerline is valid? [True, True] Translation: X:467.78, Y:4.54, Z:1.82 [[ 9.99846458e-01 -1.58161687e-02 -7.54376075e-03 4.67784719e+02] [ 1.58167533e-02 9.99874907e-01 1.78425432e-05 4.54470303e+00] [ 7.54253488e-03 -1.37157606e-04 9.99971545e-01 1.81764589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.279254154 meters 0.053924867595294475 Centerline is valid? [True, True] Translation: X:467.84, Y:4.54, Z:1.82 [[ 9.99624390e-01 -2.63596142e-02 -7.49992654e-03 4.67844457e+02] [ 2.63604887e-02 9.99652502e-01 1.77511881e-05 4.53683986e+00] [ 7.49685241e-03 -2.15446249e-04 9.99971875e-01 1.81733939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.339254154 meters 0.0550810583418116 Centerline is valid? [True, True] Translation: X:467.90, Y:4.53, Z:1.82 [[ 9.99279261e-01 -3.73299558e-02 -6.88721020e-03 4.67903834e+02] [ 3.73309535e-02 9.99302957e-01 1.63152144e-05 4.52667915e+00] [ 6.88180047e-03 -2.73409579e-04 9.99976283e-01 1.81727753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.399254154 meters 0.056794718306508354 Centerline is valid? [True, True] Translation: X:467.96, Y:4.51, Z:1.82 [[ 9.99039186e-01 -4.32453675e-02 -7.10933745e-03 4.67963054e+02] [ 4.32465800e-02 9.99064429e-01 1.68306921e-05 4.51247336e+00] [ 7.10195831e-03 -3.24269051e-04 9.99974728e-01 1.81641160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.459254154 meters 0.05502872406234432 Centerline is valid? [True, True] Translation: X:468.02, Y:4.52, Z:1.82 [[ 9.98748986e-01 -4.95407043e-02 -6.79578020e-03 4.68023169e+02] [ 4.95419576e-02 9.98772043e-01 1.60984256e-05 4.51675383e+00] [ 6.78663775e-03 -3.52754541e-04 9.99976908e-01 1.81621736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.519254154 meters 0.05506722757904632 Centerline is valid? [True, True] Translation: X:468.08, Y:4.52, Z:1.82 [[ 9.98632763e-01 -5.17583448e-02 -7.32651958e-03 4.68083302e+02] [ 5.17598609e-02 9.98659560e-01 1.73493885e-05 4.51542027e+00] [ 7.31580085e-03 -3.96545302e-04 9.99973161e-01 1.81612675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.579254154 meters 0.05362990542552264 Centerline is valid? [True, True] Translation: X:468.15, Y:4.53, Z:1.82 [[ 9.98596182e-01 -5.24786117e-02 -7.18748723e-03 4.68145847e+02] [ 5.24800903e-02 9.98621970e-01 1.71341196e-05 4.52823303e+00] [ 7.17668349e-03 -3.94310045e-04 9.99974170e-01 1.81784120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.639254154 meters 0.05611155179190129 Centerline is valid? [True, True] Translation: X:468.21, Y:4.51, Z:1.82 [[ 9.98692065e-01 -5.03748118e-02 -8.74856376e-03 4.68205516e+02] [ 5.03769233e-02 9.98730276e-01 2.10152042e-05 4.51037483e+00] [ 8.73639686e-03 -4.61713443e-04 9.99961730e-01 1.81645072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.699254154 meters 0.05503389867090735 Centerline is valid? [True, True] Translation: X:468.27, Y:4.51, Z:1.81 [[ 9.98816733e-01 -4.72895522e-02 -1.13504131e-02 4.68265730e+02] [ 4.72929078e-02 9.98881064e-01 2.72637193e-05 4.51440733e+00] [ 1.13364234e-02 -5.64025500e-04 9.99935582e-01 1.81429094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.759254154 meters 0.05514811395849672 Centerline is valid? [True, True] Translation: X:468.33, Y:4.52, Z:1.81 [[ 9.98950963e-01 -4.39586531e-02 -1.28300949e-02 4.68326039e+02] [ 4.39626668e-02 9.99033174e-01 3.08270733e-05 4.51762248e+00] [ 1.28163353e-02 -5.94839921e-04 9.99917690e-01 1.81380795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters 0.056065589486999724 Centerline is valid? [True, True] Translation: X:468.39, Y:4.52, Z:1.81 [[ 9.99268698e-01 -3.57909280e-02 -1.34565219e-02 4.68385564e+02] [ 3.57946033e-02 9.99359167e-01 3.23008671e-05 4.51622422e+00] [ 1.34467424e-02 -5.13948109e-04 9.99909456e-01 1.81363659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters 0.05467231587209414 Centerline is valid? [True, True] Translation: X:468.45, Y:4.53, Z:1.82 [[ 9.99535500e-01 -2.81742753e-02 -1.16187241e-02 4.68446274e+02] [ 2.81765017e-02 9.99602963e-01 2.79366857e-05 4.52689616e+00] [ 1.16133240e-02 -3.55298709e-04 9.99932500e-01 1.81726036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.93925415399997 meters 0.05519175193590187 Centerline is valid? [True, True] Translation: X:468.51, Y:4.53, Z:1.82 [[ 9.99812398e-01 -1.72944282e-02 -8.72191692e-03 4.68507247e+02] [ 1.72952692e-02 9.99850425e-01 2.10032669e-05 4.53485394e+00] [ 8.72024910e-03 -1.71847228e-04 9.99961963e-01 1.82055574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.99925415399997 meters 0.05486750579836428 Centerline is valid? [True, True] Translation: X:468.57, Y:4.54, Z:1.82 [[ 9.99919293e-01 -1.02327819e-02 -7.52979864e-03 4.68566858e+02] [ 1.02332086e-02 9.99947639e-01 1.81444597e-05 4.53619768e+00] [ 7.52921871e-03 -9.51969957e-05 9.99971650e-01 1.82010987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.059254154 meters 0.054609332202798955 Centerline is valid? [True, True] Translation: X:468.63, Y:4.54, Z:1.82 [[ 9.99957675e-01 -6.10132329e-03 -6.88636214e-03 4.68627539e+02] [ 6.10158228e-03 9.99981385e-01 1.65998027e-05 4.54181622e+00] [ 6.88613267e-03 -5.86168053e-05 9.99976289e-01 1.82162840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.119254154 meters 0.0548235726018957 Centerline is valid? [True, True] Translation: X:468.69, Y:4.54, Z:1.82 [[ 9.99961382e-01 -3.28096251e-03 -8.15284752e-03 4.68685847e+02] [ 3.28123093e-03 9.99994617e-01 1.95465594e-05 4.54146774e+00] [ 8.15273950e-03 -4.62971800e-05 9.99966765e-01 1.82079890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.179254154 meters 0.05559322865064192 Centerline is valid? [True, True] Translation: X:468.74, Y:4.54, Z:1.82 [[ 9.99958641e-01 -1.62889345e-03 -8.94783314e-03 4.68743803e+02] [ 1.62914392e-03 9.99998673e-01 2.07026525e-05 4.54311781e+00] [ 8.94778754e-03 -3.52791041e-05 9.99959967e-01 1.82271374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.239254154 meters 0.0551813784626143 Centerline is valid? [True, True] Translation: X:468.80, Y:4.54, Z:1.82 [[ 9.99951410e-01 -3.70948819e-03 -9.13332656e-03 4.68801555e+02] [ 3.70982920e-03 9.99993118e-01 2.03950617e-05 4.53815216e+00] [ 9.13318805e-03 -5.42771522e-05 9.99958290e-01 1.82145536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.299254154 meters 0.055458241582462785 Centerline is valid? [True, True] Translation: X:468.86, Y:4.53, Z:1.82 [[ 9.99927557e-01 -7.30728354e-03 -9.56478238e-03 4.68860836e+02] [ 7.30781954e-03 9.99973297e-01 2.10901392e-05 4.53430473e+00] [ 9.56437286e-03 -9.09863149e-05 9.99954256e-01 1.82176626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.359254154 meters 0.054341089149905424 Centerline is valid? [True, True] Translation: X:468.92, Y:4.53, Z:1.82 [[ 9.99827480e-01 -1.53633102e-02 -1.04392716e-02 4.68920867e+02] [ 1.53643866e-02 9.99881961e-01 2.29103370e-05 4.52808748e+00] [ 1.04376874e-02 -1.83299389e-04 9.99945509e-01 1.82190347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.419254154 meters 0.05530078721342756 Centerline is valid? [True, True] Translation: X:468.98, Y:4.52, Z:1.82 [[ 9.99637003e-01 -2.48326548e-02 -1.04499943e-02 4.68979882e+02] [ 2.48342507e-02 9.99691582e-01 2.29662090e-05 4.51805407e+00] [ 1.04462011e-02 -2.82475651e-04 9.99945397e-01 1.82210308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.479254154 meters 0.056221387394404417 Centerline is valid? [True, True] Translation: X:469.04, Y:4.51, Z:1.82 [[ 9.99283892e-01 -3.62915759e-02 -1.07062788e-02 4.69039067e+02] [ 3.62939085e-02 9.99341159e-01 2.35984612e-05 4.50633598e+00] [ 1.06983686e-02 -4.12154266e-04 9.99942686e-01 1.82297869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.539254154 meters 0.055739517778250855 Centerline is valid? [True, True] Translation: X:469.10, Y:4.51, Z:1.82 [[ 9.99148630e-01 -4.00355865e-02 -9.95828351e-03 4.69099855e+02] [ 4.00377905e-02 9.99198166e-01 2.19765013e-05 4.50868667e+00] [ 9.94941878e-03 -4.20665460e-04 9.99950415e-01 1.82449649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.599254154 meters 0.056303741827036694 Centerline is valid? [True, True] Translation: X:469.16, Y:4.50, Z:1.82 [[ 9.98918799e-01 -4.53425432e-02 -1.02609467e-02 4.69160371e+02] [ 4.53451627e-02 9.98971379e-01 2.26641577e-05 4.50328744e+00] [ 1.02493644e-02 -4.87923952e-04 9.99947355e-01 1.82478844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.659254154 meters 0.055726422314024596 Centerline is valid? [True, True] Translation: X:469.22, Y:4.50, Z:1.82 [[ 9.98939792e-01 -4.47302362e-02 -1.08856473e-02 4.69222283e+02] [ 4.47331506e-02 9.98998971e-01 2.42703468e-05 4.49855569e+00] [ 1.08736648e-02 -5.11193915e-04 9.99940749e-01 1.82402969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.719254154 meters 0.057043361183205646 Centerline is valid? [True, True] Translation: X:469.28, Y:4.50, Z:1.82 [[ 9.99355004e-01 -3.43896247e-02 -1.03406608e-02 4.69281710e+02] [ 3.43917028e-02 9.99408430e-01 2.31615965e-05 4.49593265e+00] [ 1.03337470e-02 -3.78779590e-04 9.99946534e-01 1.82413540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.779254154 meters 0.05611216541471082 Centerline is valid? [True, True] Translation: X:469.34, Y:4.51, Z:1.83 [[ 9.99732343e-01 -2.07485990e-02 -1.02341345e-02 4.69342223e+02] [ 2.07499204e-02 9.99784697e-01 2.29339383e-05 4.50709395e+00] [ 1.02314552e-02 -2.35285276e-04 9.99947630e-01 1.82642760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.839254154 meters 0.05588832135550947 Centerline is valid? [True, True] Translation: X:469.40, Y:4.51, Z:1.83 [[ 9.99842960e-01 -1.38727788e-02 -1.10272617e-02 4.69401414e+02] [ 1.38738944e-02 9.99903753e-01 2.46716918e-05 4.50889337e+00] [ 1.10258581e-02 -1.77658882e-04 9.99939198e-01 1.82557050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.899254154 meters 0.05619600315618801 Centerline is valid? [True, True] Translation: X:469.46, Y:4.51, Z:1.83 [[ 9.99887977e-01 -1.00583586e-02 -1.10843868e-02 4.69461749e+02] [ 1.00592511e-02 9.99949404e-01 2.47707435e-05 4.50999272e+00] [ 1.10835768e-02 -1.36268599e-04 9.99938566e-01 1.82603879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.959254154 meters 0.0561449840842492 Centerline is valid? [True, True] Translation: X:469.52, Y:4.51, Z:1.83 [[ 9.99854026e-01 -1.32681272e-02 -1.07649234e-02 4.69521279e+02] [ 1.32691538e-02 9.99911961e-01 2.39461066e-05 4.50816159e+00] [ 1.07636579e-02 -1.66784035e-04 9.99942056e-01 1.82676999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.019254154 meters 0.05527917878396794 Centerline is valid? [True, True] Translation: X:469.58, Y:4.50, Z:1.83 [[ 9.99771659e-01 -1.80988207e-02 -1.13605847e-02 4.69581403e+02] [ 1.81002744e-02 9.99836176e-01 2.51440027e-05 4.50493309e+00] [ 1.13582685e-02 -2.30767961e-04 9.99935466e-01 1.82731854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.079254154 meters 0.05576859755040474 Centerline is valid? [True, True] Translation: X:469.64, Y:4.50, Z:1.83 [[ 9.99531976e-01 -2.80458023e-02 -1.22172525e-02 4.69642170e+02] [ 2.80482256e-02 9.99606571e-01 2.70210095e-05 4.50180072e+00] [ 1.22116880e-02 -3.69680617e-04 9.99925366e-01 1.82821242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.139254154 meters 0.05551010849568163 Centerline is valid? [True, True] Translation: X:469.70, Y:4.50, Z:1.83 [[ 9.99187140e-01 -3.85672044e-02 -1.17315606e-02 4.69703160e+02] [ 3.85701631e-02 9.99255894e-01 2.59616585e-05 4.49985543e+00] [ 1.17218298e-02 -4.78428759e-04 9.99931183e-01 1.83009829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.199254154 meters 0.05816528294701341 Centerline is valid? [True, True] Translation: X:469.76, Y:4.49, Z:1.83 [[ 9.98937690e-01 -4.47301877e-02 -1.10770598e-02 4.69762780e+02] [ 4.47332039e-02 9.98998969e-01 2.45537033e-05 4.48694795e+00] [ 1.10648730e-02 -5.20039992e-04 9.99938647e-01 1.82951278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.259254154 meters 0.056497170000761064 Centerline is valid? [True, True] Translation: X:469.82, Y:4.49, Z:1.83 [[ 9.98563615e-01 -5.28549420e-02 -8.77847473e-03 4.69822796e+02] [ 5.28571494e-02 9.98602084e-01 1.94811744e-05 4.49122796e+00] [ 8.76517348e-03 -4.83458343e-04 9.99961468e-01 1.83199682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters 0.05731136281423801 Centerline is valid? [True, True] Translation: X:469.88, Y:4.49, Z:1.83 [[ 9.98229859e-01 -5.88392556e-02 -8.66546550e-03 4.69882044e+02] [ 5.88416309e-02 9.98267330e-01 1.92045159e-05 4.48643980e+00] [ 8.64932113e-03 -5.29060644e-04 9.99962454e-01 1.83235732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters 0.055366498828250246 Centerline is valid? [True, True] Translation: X:469.94, Y:4.50, Z:1.83 [[ 9.98015040e-01 -6.23280199e-02 -9.01102449e-03 4.69943086e+02] [ 6.23307301e-02 9.98055549e-01 1.99677905e-05 4.49699645e+00] [ 8.99225845e-03 -5.81591890e-04 9.99959400e-01 1.83369605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.43925415399997 meters 0.06475721880486364 Centerline is valid? [True, True] Translation: X:470.00, Y:4.46, Z:1.83 [[ 9.97855880e-01 -6.47034686e-02 -9.85418172e-03 4.70002881e+02] [ 6.47068263e-02 9.97904317e-01 2.19637594e-05 4.46484233e+00] [ 9.83210935e-03 -6.59549491e-04 9.99951446e-01 1.83163590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.49925415399997 meters 0.061041416544192796 Centerline is valid? [True, True] Translation: X:470.06, Y:4.48, Z:1.83 [[ 9.97891800e-01 -6.42475796e-02 -9.17631912e-03 4.70064965e+02] [ 6.42504741e-02 9.97933804e-01 2.06701663e-05 4.47574509e+00] [ 9.15603103e-03 -6.10209443e-04 9.99957896e-01 1.83253801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.559254154 meters 0.06151541956006582 Centerline is valid? [True, True] Translation: X:470.13, Y:4.47, Z:1.83 [[ 9.98049253e-01 -6.16797632e-02 -9.65891108e-03 4.70125185e+02] [ 6.16828517e-02 9.98095800e-01 2.19023980e-05 4.47492970e+00] [ 9.63916765e-03 -6.17648852e-04 9.99953351e-01 1.83206689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.619254154 meters 0.05595722368883126 Centerline is valid? [True, True] Translation: X:470.19, Y:4.50, Z:1.83 [[ 9.98515418e-01 -5.34420311e-02 -1.05313354e-02 4.70185507e+02] [ 5.34452465e-02 9.98570781e-01 2.39154069e-05 4.50249909e+00] [ 1.05150057e-02 -5.86729717e-04 9.99944544e-01 1.83373603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.679254154 meters 0.057203623717200475 Centerline is valid? [True, True] Translation: X:470.24, Y:4.50, Z:1.83 [[ 9.99066513e-01 -4.16545376e-02 -1.14455761e-02 4.70244678e+02] [ 4.16575633e-02 9.99131947e-01 2.59707274e-05 4.50246565e+00] [ 1.14345589e-02 -5.02741293e-04 9.99934497e-01 1.83278779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.739254154 meters 0.05566821210511151 Centerline is valid? [True, True] Translation: X:470.31, Y:4.52, Z:1.84 [[ 9.99524347e-01 -2.86754563e-02 -1.13489360e-02 4.70305098e+02] [ 2.86775950e-02 9.99588713e-01 2.57235426e-05 4.51806735e+00] [ 1.13435307e-02 -3.51171496e-04 9.99935598e-01 1.83514258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.799254154 meters 0.05552093572628158 Centerline is valid? [True, True] Translation: X:470.37, Y:4.52, Z:1.84 [[ 9.99746440e-01 -2.00311915e-02 -1.02862947e-02 4.70365145e+02] [ 2.00324908e-02 9.99799329e-01 2.32798802e-05 4.52174564e+00] [ 1.02837642e-02 -2.29334081e-04 9.99947094e-01 1.83503904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.859254154 meters 0.05573826099219756 Centerline is valid? [True, True] Translation: X:470.42, Y:4.53, Z:1.83 [[ 9.99910619e-01 -8.86728644e-03 -1.00062828e-02 4.70424848e+02] [ 8.86795696e-03 9.99960679e-01 2.26426716e-05 4.52633187e+00] [ 1.00056886e-02 -1.11375933e-04 9.99949936e-01 1.83435156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.919254154 meters 0.05563092682683078 Centerline is valid? [True, True] Translation: X:470.48, Y:4.53, Z:1.83 [[ 9.99952928e-01 -9.41267964e-04 -9.65692001e-03 4.70483489e+02] [ 9.41521691e-04 9.99999557e-01 2.17278524e-05 4.53366996e+00] [ 9.65689528e-03 -3.08190292e-05 9.99953371e-01 1.83440113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.979254154 meters 0.05575615865271624 Centerline is valid? [True, True] Translation: X:470.54, Y:4.54, Z:1.83 [[ 9.99947631e-01 1.38091351e-03 -1.01404505e-02 4.70541167e+02] [-1.38076185e-03 9.99999047e-01 2.19568620e-05 4.53577281e+00] [ 1.01404712e-02 -7.95416491e-06 9.99948584e-01 1.83446643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.039254154 meters 0.05563215984281644 Centerline is valid? [True, True] Translation: X:470.60, Y:4.53, Z:1.84 [[ 9.99929770e-01 3.60584082e-04 -1.18458765e-02 4.70599929e+02] [-3.60315405e-04 9.99999935e-01 2.48151256e-05 4.53499670e+00] [ 1.18458847e-02 -2.05451310e-05 9.99929835e-01 1.83638975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.099254154 meters 0.0559221066514231 Centerline is valid? [True, True] Translation: X:470.66, Y:4.53, Z:1.84 [[ 9.99904272e-01 -5.16061725e-03 -1.28379987e-02 4.70658124e+02] [ 5.16138117e-03 9.99986680e-01 2.63731422e-05 4.53116892e+00] [ 1.28376916e-02 -9.26324224e-05 9.99917589e-01 1.83615515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.159254154 meters 0.05564406326357496 Centerline is valid? [True, True] Translation: X:470.72, Y:4.53, Z:1.84 [[ 9.99874363e-01 -9.82480882e-03 -1.24391206e-02 4.70717444e+02] [ 9.82588186e-03 9.99951725e-01 2.51496747e-05 4.52723055e+00] [ 1.24382730e-02 -1.47371845e-04 9.99922631e-01 1.83626583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.219254154 meters 0.055913570672852055 Centerline is valid? [True, True] Translation: X:470.78, Y:4.53, Z:1.84 [[ 9.99814511e-01 -1.53105794e-02 -1.16846154e-02 4.70776854e+02] [ 1.53118970e-02 9.99882766e-01 2.33036862e-05 4.52519256e+00] [ 1.16828887e-02 -2.02212990e-04 9.99931732e-01 1.83866209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.279254154 meters 0.05544777874588545 Centerline is valid? [True, True] Translation: X:470.84, Y:4.52, Z:1.84 [[ 9.99787619e-01 -1.73856084e-02 -1.10660487e-02 4.70835579e+02] [ 1.73869147e-02 9.99848836e-01 2.18460007e-05 4.52124814e+00] [ 1.10639961e-02 -2.14245805e-04 9.99938769e-01 1.83904050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.339254154 meters 0.056689179655363464 Centerline is valid? [True, True] Translation: X:470.89, Y:4.51, Z:1.84 [[ 9.99773528e-01 -1.85433913e-02 -1.04419817e-02 4.70894764e+02] [ 1.85446163e-02 9.99828034e-01 2.04966192e-05 4.51363574e+00] [ 1.04398060e-02 -2.14134522e-04 9.99945481e-01 1.83844753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.399254154 meters 0.05618016948185509 Centerline is valid? [True, True] Translation: X:470.96, Y:4.51, Z:1.84 [[ 9.99779440e-01 -1.83679654e-02 -1.01828353e-02 4.70956008e+02] [ 1.83691220e-02 9.99831273e-01 2.00529090e-05 4.51401978e+00] [ 1.01807489e-02 -2.07098230e-04 9.99948153e-01 1.83954964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.459254154 meters 0.05679522662671693 Centerline is valid? [True, True] Translation: X:471.02, Y:4.51, Z:1.84 [[ 9.99784927e-01 -1.80921547e-02 -1.01377874e-02 4.71015074e+02] [ 1.80932874e-02 9.99836303e-01 2.00253671e-05 4.50593919e+00] [ 1.01357656e-02 -2.03446962e-04 9.99948611e-01 1.83728951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.519254154 meters 0.056094487924551545 Centerline is valid? [True, True] Translation: X:471.08, Y:4.51, Z:1.84 [[ 9.99788242e-01 -1.68202603e-02 -1.18553724e-02 4.71075545e+02] [ 1.68217208e-02 9.99858505e-01 2.34823177e-05 4.51009942e+00] [ 1.18532999e-02 -2.22905109e-04 9.99929722e-01 1.83851957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.579254154 meters 0.056427653683877886 Centerline is valid? [True, True] Translation: X:471.14, Y:4.51, Z:1.84 [[ 9.99819376e-01 -1.33383610e-02 -1.35389985e-02 4.71135223e+02] [ 1.33399461e-02 9.99911019e-01 2.67738836e-05 4.50935727e+00] [ 1.35374366e-02 -2.07378557e-04 9.99908343e-01 1.83833835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.639254154 meters 0.056902695175900006 Centerline is valid? [True, True] Translation: X:471.19, Y:4.51, Z:1.84 [[ 9.99872623e-01 -6.76771080e-03 -1.44546117e-02 4.71194338e+02] [ 6.76882809e-03 9.99977091e-01 2.83747314e-05 4.50839202e+00] [ 1.44540885e-02 -1.26211899e-04 9.99895526e-01 1.83649855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.699254154 meters 0.05629192589156178 Centerline is valid? [True, True] Translation: X:471.25, Y:4.51, Z:1.84 [[ 9.99893518e-01 -1.94266230e-03 -1.44630037e-02 4.71253129e+02] [ 1.94325897e-03 9.99998112e-01 2.72020168e-05 4.50952399e+00] [ 1.44629236e-02 -5.53044821e-05 9.99895405e-01 1.83766221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.759254154 meters 0.056376248881044935 Centerline is valid? [True, True] Translation: X:471.31, Y:4.51, Z:1.84 [[ 9.99894005e-01 3.66827136e-03 -1.40897974e-02 4.71312293e+02] [-3.66828443e-03 9.99993272e-01 2.49162380e-05 4.51068626e+00] [ 1.40897940e-02 2.67717874e-05 9.99900734e-01 1.83865778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters 0.056836662339830826 Centerline is valid? [True, True] Translation: X:471.37, Y:4.51, Z:1.84 [[ 9.99897636e-01 6.99589129e-03 -1.24809519e-02 4.71370581e+02] [-6.99617945e-03 9.99975526e-01 2.05739823e-05 4.50929626e+00] [ 1.24807904e-02 6.67471030e-05 9.99922110e-01 1.84036969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87925415399997 meters 0.05687825522663524 Centerline is valid? [True, True] Translation: X:471.43, Y:4.51, Z:1.84 [[ 9.99894969e-01 7.79157315e-03 -1.22205718e-02 4.71428629e+02] [-7.79191918e-03 9.99969642e-01 1.92973563e-05 4.50666497e+00] [ 1.22203511e-02 7.59263782e-05 9.99925326e-01 1.84063419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.93925415399997 meters 0.057405343466637455 Centerline is valid? [True, True] Translation: X:471.49, Y:4.50, Z:1.84 [[ 9.99930468e-01 5.23585113e-03 -1.05661962e-02 4.71487523e+02] [-5.23597081e-03 9.99986292e-01 1.63358669e-05 4.50156598e+00] [ 1.05661369e-02 3.89895638e-05 9.99944176e-01 1.84291285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.99925415399997 meters 0.05733772490310723 Centerline is valid? [True, True] Translation: X:471.55, Y:4.50, Z:1.84 [[ 9.99952648e-01 2.21276945e-03 -9.47661954e-03 4.71545985e+02] [-2.21273225e-03 9.99997552e-01 1.44098925e-05 4.49680310e+00] [ 9.47662823e-03 6.56001158e-06 9.99955096e-01 1.84190224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.059254154 meters 0.05750038347888358 Centerline is valid? [True, True] Translation: X:471.60, Y:4.49, Z:1.84 [[ 9.99952191e-01 -3.13681400e-03 -9.26152446e-03 4.71604282e+02] [ 3.13707614e-03 9.99995079e-01 1.37763833e-05 4.48824790e+00] [ 9.26143568e-03 -4.28298320e-05 9.99957111e-01 1.84298202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.119254154 meters 0.05721257675189898 Centerline is valid? [True, True] Translation: X:471.66, Y:4.48, Z:1.84 [[ 9.99938485e-01 -6.15762453e-03 -9.22550725e-03 4.71662032e+02] [ 6.15800988e-03 9.99981039e-01 1.33640792e-05 4.48123834e+00] [ 9.22525003e-03 -7.01740218e-05 9.99957444e-01 1.84215592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.179254154 meters 0.05777855243202198 Centerline is valid? [True, True] Translation: X:471.72, Y:4.48, Z:1.84 [[ 9.99934472e-01 -7.24786133e-03 -8.86119985e-03 4.71720695e+02] [ 7.24825707e-03 9.99973731e-01 1.25453562e-05 4.47615361e+00] [ 8.86087615e-03 -7.67727886e-05 9.99960739e-01 1.84242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.239254154 meters 0.05812797999359792 Centerline is valid? [True, True] Translation: X:471.78, Y:4.47, Z:1.84 [[ 9.99930919e-01 -8.30134144e-03 -8.32132885e-03 4.71779268e+02] [ 8.30172489e-03 9.99965540e-01 1.15396435e-05 4.46864518e+00] [ 8.32094630e-03 -8.06202291e-05 9.99965377e-01 1.84316947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.299254154 meters 0.057833468292636026 Centerline is valid? [True, True] Translation: X:471.84, Y:4.46, Z:1.84 [[ 9.99936620e-01 -7.87830343e-03 -8.04285804e-03 4.71838586e+02] [ 7.87864530e-03 9.99968963e-01 1.08224362e-05 4.46346828e+00] [ 8.04252315e-03 -7.41885759e-05 9.99967656e-01 1.84335493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.359254154 meters 0.057388917654323766 Centerline is valid? [True, True] Translation: X:471.90, Y:4.47, Z:1.85 [[ 9.99937837e-01 -7.82505291e-03 -7.94297496e-03 4.71897422e+02] [ 7.82537953e-03 9.99969381e-01 1.00419359e-05 4.46759885e+00] [ 7.94265317e-03 -7.21981053e-05 9.99968454e-01 1.84604331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.419254154 meters 0.05778424078701515 Centerline is valid? [True, True] Translation: X:471.96, Y:4.46, Z:1.84 [[ 9.99951047e-01 -5.83134715e-03 -7.99369986e-03 4.71955270e+02] [ 5.83160734e-03 9.99982996e-01 9.24080356e-06 4.45665837e+00] [ 7.99351005e-03 -5.58564699e-05 9.99968050e-01 1.84300203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.479254154 meters 0.05845474754065523 Centerline is valid? [True, True] Translation: X:472.01, Y:4.45, Z:1.85 [[ 9.99962419e-01 -3.43641079e-03 -7.95932850e-03 4.72014141e+02] [ 3.43658614e-03 9.99994095e-01 8.35419786e-06 4.45497715e+00] [ 7.95925279e-03 -3.57068019e-05 9.99968324e-01 1.84589468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.539254154 meters 0.057962408181890794 Centerline is valid? [True, True] Translation: X:472.07, Y:4.45, Z:1.85 [[ 9.99971105e-01 -1.31582436e-03 -7.48720657e-03 4.72072620e+02] [ 1.31591562e-03 9.99999134e-01 7.26214013e-06 4.44590484e+00] [ 7.48719053e-03 -1.71144624e-05 9.99971970e-01 1.84624027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.599254154 meters 0.057651689393920534 Centerline is valid? [True, True] Translation: X:472.13, Y:4.44, Z:1.84 [[ 9.99969432e-01 -9.60282836e-04 -7.75967032e-03 4.72129326e+02] [ 9.60364707e-04 9.99999539e-01 6.82458548e-06 4.44182704e+00] [ 7.75966019e-03 -1.42764904e-05 9.99969893e-01 1.84449322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.659254154 meters 0.05815706351021951 Centerline is valid? [True, True] Translation: X:472.19, Y:4.43, Z:1.85 [[ 9.99973879e-01 -1.85605521e-03 -6.98550022e-03 4.72188432e+02] [ 1.85613979e-03 9.99998277e-01 5.62445950e-06 4.43438586e+00] [ 6.98547775e-03 -1.85903775e-05 9.99975601e-01 1.84505485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.719254154 meters 0.05840020264179261 Centerline is valid? [True, True] Translation: X:472.25, Y:4.43, Z:1.85 [[ 9.99963875e-01 -4.80548660e-03 -7.01115727e-03 4.72246132e+02] [ 4.80564264e-03 9.99988453e-01 5.40906789e-06 4.42545262e+00] [ 7.01105031e-03 -3.91019888e-05 9.99975422e-01 1.84541288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.779254154 meters 0.05836336034280848 Centerline is valid? [True, True] Translation: X:472.31, Y:4.41, Z:1.85 [[ 9.99909721e-01 -1.17530306e-02 -6.51270246e-03 4.72305982e+02] [ 1.17533114e-02 9.99930927e-01 4.84378099e-06 4.41185318e+00] [ 6.51219568e-03 -8.13891640e-05 9.99978792e-01 1.84537665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.839254154 meters 0.059026842345584 Centerline is valid? [True, True] Translation: X:472.37, Y:4.40, Z:1.85 [[ 9.99808826e-01 -1.81344776e-02 -7.31106764e-03 4.72365259e+02] [ 1.81350013e-02 9.99835547e-01 5.34275740e-06 4.40296992e+00] [ 7.30976843e-03 -1.37927958e-04 9.99973274e-01 1.84602945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.899254154 meters 0.06000312478455172 Centerline is valid? [True, True] Translation: X:472.42, Y:4.39, Z:1.85 [[ 9.99583148e-01 -2.78959321e-02 -7.43956682e-03 4.72424548e+02] [ 2.78967442e-02 9.99610810e-01 5.39676053e-06 4.38806680e+00] [ 7.43652087e-03 -2.12934204e-04 9.99972326e-01 1.84594799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.959254154 meters 0.06146059199530971 Centerline is valid? [True, True] Translation: X:472.49, Y:4.37, Z:1.85 [[ 9.99336858e-01 -3.57723815e-02 -6.79566397e-03 4.72485337e+02] [ 3.57732412e-02 9.99359933e-01 4.96382444e-06 4.37374914e+00] [ 6.79113672e-03 -2.48063459e-04 9.99976909e-01 1.84615504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.019254154 meters 0.06080801286110559 Centerline is valid? [True, True] Translation: X:472.55, Y:4.38, Z:1.85 [[ 9.99157693e-01 -4.05660069e-02 -6.18903254e-03 4.72545912e+02] [ 4.05668120e-02 9.99176828e-01 4.55746746e-06 4.37944635e+00] [ 6.18375302e-03 -2.55622948e-04 9.99980848e-01 1.84715465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.079254154 meters 0.06159701199933319 Centerline is valid? [True, True] Translation: X:472.61, Y:4.37, Z:1.85 [[ 9.98924399e-01 -4.57502839e-02 -7.54691902e-03 4.72605486e+02] [ 4.57516290e-02 9.98952846e-01 5.59419167e-06 4.37261191e+00] [ 7.53876030e-03 -3.50872014e-04 9.99971522e-01 1.84679450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.139254154 meters 0.060592488665998916 Centerline is valid? [True, True] Translation: X:472.67, Y:4.37, Z:1.85 [[ 9.98702073e-01 -5.02520352e-02 -8.30070723e-03 4.72666352e+02] [ 5.02538176e-02 9.98736479e-01 6.15661731e-06 4.36662828e+00] [ 8.28990973e-03 -4.23290854e-04 9.99965549e-01 1.84621246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.199254154 meters 0.05777711852366401 Centerline is valid? [True, True] Translation: X:472.73, Y:4.38, Z:1.85 [[ 9.98555233e-01 -5.31375379e-02 -7.99057802e-03 4.72727265e+02] [ 5.31392823e-02 9.98587110e-01 6.00169665e-06 4.38357238e+00] [ 7.97896930e-03 -4.30606607e-04 9.99968075e-01 1.84767544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.259254154 meters 0.06140770373559549 Centerline is valid? [True, True] Translation: X:472.79, Y:4.37, Z:1.85 [[ 9.98423660e-01 -5.55454859e-02 -8.05564484e-03 4.72787044e+02] [ 5.55473376e-02 9.98456055e-01 6.13094994e-06 4.37045098e+00] [ 8.04286682e-03 -4.53590909e-04 9.99967553e-01 1.84718647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters 0.05865960206404063 Centerline is valid? [True, True] Translation: X:472.85, Y:4.39, Z:1.85 [[ 9.98353365e-01 -5.68354591e-02 -7.76458149e-03 4.72847936e+02] [ 5.68372188e-02 9.98383459e-01 5.97866713e-06 4.39023704e+00] [ 7.75168992e-03 -4.47286039e-04 9.99969855e-01 1.84841133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37925415399997 meters 0.060542185237137267 Centerline is valid? [True, True] Translation: X:472.91, Y:4.38, Z:1.85 [[ 9.98365726e-01 -5.65617133e-02 -8.16390880e-03 4.72909294e+02] [ 5.65636507e-02 9.98398995e-01 6.43144680e-06 4.37772906e+00] [ 8.15047457e-03 -4.68201422e-04 9.99966675e-01 1.84821211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.43925415399997 meters 0.05853120316385545 Centerline is valid? [True, True] Translation: X:472.97, Y:4.40, Z:1.85 [[ 9.98345652e-01 -5.69606898e-02 -7.83824856e-03 4.72971617e+02] [ 5.69624907e-02 9.98376319e-01 6.51751660e-06 4.40017869e+00] [ 7.82515050e-03 -4.52992895e-04 9.99969280e-01 1.85061007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.49925415399997 meters 0.058583765647872245 Centerline is valid? [True, True] Translation: X:473.03, Y:4.40, Z:1.85 [[ 9.98363868e-01 -5.65587103e-02 -8.40825447e-03 4.73034309e+02] [ 5.65607727e-02 9.98399158e-01 7.50455955e-06 4.40103618e+00] [ 8.39436973e-03 -4.83069651e-04 9.99964650e-01 1.85075853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.559254154 meters 0.05884346685635183 Centerline is valid? [True, True] Translation: X:473.10, Y:4.40, Z:1.85 [[ 9.98436675e-01 -5.52873629e-02 -8.21665736e-03 4.73095201e+02] [ 5.52892919e-02 9.98470377e-01 7.62044040e-06 4.40107393e+00] [ 8.20366766e-03 -4.61901694e-04 9.99966243e-01 1.85041426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.619254154 meters 0.05824636543699759 Centerline is valid? [True, True] Translation: X:473.15, Y:4.41, Z:1.85 [[ 9.98576880e-01 -5.26992660e-02 -8.18542281e-03 4.73154743e+02] [ 5.27010939e-02 9.98610332e-01 7.62407945e-06 4.40826022e+00] [ 8.17364600e-03 -4.38993966e-04 9.99966499e-01 1.85090810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.679254154 meters 0.06072648642269303 Centerline is valid? [True, True] Translation: X:473.21, Y:4.40, Z:1.85 [[ 9.98936422e-01 -4.53192372e-02 -8.49661274e-03 4.73214715e+02] [ 4.53209401e-02 9.98972478e-01 7.88900236e-06 4.40242367e+00] [ 8.48752476e-03 -3.92955088e-04 9.99963903e-01 1.84994446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.739254154 meters 0.05896683533991731 Centerline is valid? [True, True] Translation: X:473.28, Y:4.42, Z:1.85 [[ 9.99379020e-01 -3.44391208e-02 -7.45126613e-03 4.73275576e+02] [ 3.44401287e-02 9.99406763e-01 6.94613652e-06 4.41874320e+00] [ 7.44660655e-03 -2.63564387e-04 9.99972239e-01 1.85148494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.799254154 meters 0.05938391643950765 Centerline is valid? [True, True] Translation: X:473.34, Y:4.42, Z:1.85 [[ 9.99688252e-01 -2.40729947e-02 -6.62500361e-03 4.73335355e+02] [ 2.40735640e-02 9.99710190e-01 6.19390684e-06 4.42369262e+00] [ 6.62293451e-03 -1.65679424e-04 9.99978054e-01 1.85214737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.859254154 meters 0.05936091153193724 Centerline is valid? [True, True] Translation: X:473.40, Y:4.43, Z:1.85 [[ 9.99799805e-01 -1.87095250e-02 -7.09244455e-03 4.73395802e+02] [ 1.87100426e-02 9.99824952e-01 6.62847742e-06 4.43039362e+00] [ 7.09107901e-03 -1.39327090e-04 9.99974848e-01 1.85188503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.919254154 meters 0.05870639370518181 Centerline is valid? [True, True] Translation: X:473.46, Y:4.44, Z:1.85 [[ 9.99851166e-01 -1.54960785e-02 -7.58397140e-03 4.73456369e+02] [ 1.54965779e-02 9.99879921e-01 7.09117471e-06 4.43775810e+00] [ 7.58295084e-03 -1.24615723e-04 9.99971241e-01 1.85134344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.979254154 meters 0.05868512461527222 Centerline is valid? [True, True] Translation: X:473.52, Y:4.44, Z:1.85 [[ 9.99841659e-01 -1.55406357e-02 -8.66868564e-03 4.73517227e+02] [ 1.55412899e-02 9.99879227e-01 8.10540560e-06 4.43933994e+00] [ 8.66751273e-03 -1.42826679e-04 9.99962426e-01 1.85042836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.039254154 meters 0.059065997062377 Centerline is valid? [True, True] Translation: X:473.58, Y:4.44, Z:1.85 [[ 9.99852879e-01 -1.50171078e-02 -8.28894904e-03 4.73577157e+02] [ 1.50176877e-02 9.99887228e-01 7.71719329e-06 4.44054210e+00] [ 8.28789839e-03 -1.32196906e-04 9.99965646e-01 1.85075293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.099254154 meters 0.05801429337315036 Centerline is valid? [True, True] Translation: X:473.64, Y:4.45, Z:1.85 [[ 9.99868656e-01 -1.46805127e-02 -6.86679158e-03 4.73637242e+02] [ 1.46809024e-02 9.99892230e-01 6.34315649e-06 4.44918995e+00] [ 6.86595843e-03 -1.07153020e-04 9.99976423e-01 1.85300993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.159254154 meters 0.058801904423486276 Centerline is valid? [True, True] Translation: X:473.70, Y:4.45, Z:1.85 [[ 9.99875777e-01 -1.41396623e-02 -6.96418159e-03 4.73697325e+02] [ 1.41400500e-02 9.99900024e-01 6.42473174e-06 4.44664210e+00] [ 6.96339450e-03 -1.04897809e-04 9.99975750e-01 1.85281367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.219254154 meters 0.05800908527942441 Centerline is valid? [True, True] Translation: X:473.76, Y:4.45, Z:1.85 [[ 9.99854919e-01 -1.57207121e-02 -6.55744450e-03 4.73757464e+02] [ 1.57210901e-02 9.99876416e-01 6.10223195e-06 4.44597824e+00] [ 6.55653817e-03 -1.09191523e-04 9.99978500e-01 1.85300841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.279254154 meters 0.05791782862104391 Centerline is valid? [True, True] Translation: X:473.82, Y:4.45, Z:1.85 [[ 9.99785668e-01 -1.96139778e-02 -6.62647837e-03 4.73818608e+02] [ 1.96144497e-02 9.99807618e-01 6.21992965e-06 4.44573030e+00] [ 6.62508155e-03 -1.36193323e-04 9.99978045e-01 1.85227297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.339254154 meters 0.056618097128887296 Centerline is valid? [True, True] Translation: X:473.88, Y:4.44, Z:1.85 [[ 9.99723069e-01 -2.21613981e-02 -7.91569844e-03 4.73880049e+02] [ 2.21621524e-02 9.99754389e-01 7.56919076e-06 4.44488924e+00] [ 7.91358652e-03 -1.82996010e-04 9.99968670e-01 1.85181424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.399254154 meters 0.05831381752255325 Centerline is valid? [True, True] Translation: X:473.94, Y:4.44, Z:1.85 [[ 9.99727423e-01 -2.14920066e-02 -9.11996279e-03 4.73941045e+02] [ 2.14929818e-02 9.99768999e-01 8.92531436e-06 4.44303323e+00] [ 9.11766425e-03 -2.04938076e-04 9.99958412e-01 1.85134647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.459254154 meters 0.05753787668354394 Centerline is valid? [True, True] Translation: X:474.00, Y:4.44, Z:1.85 [[ 9.99829654e-01 -1.59748952e-02 -9.24479830e-03 4.74001020e+02] [ 1.59756620e-02 9.99872381e-01 9.09753356e-06 4.44174749e+00] [ 9.24347316e-03 -1.56787757e-04 9.99957266e-01 1.85085361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.519254154 meters 0.05814947575150408 Centerline is valid? [True, True] Translation: X:474.06, Y:4.45, Z:1.85 [[ 9.99940060e-01 -7.34579189e-03 -8.11880724e-03 4.74061663e+02] [ 7.34609869e-03 9.99973017e-01 7.96720893e-06 4.44565634e+00] [ 8.11852964e-03 -6.76082906e-05 9.99967042e-01 1.85239591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.579254154 meters 0.058251750753707504 Centerline is valid? [True, True] Translation: X:474.12, Y:4.45, Z:1.85 [[ 9.99979693e-01 1.34209741e-05 -6.37289921e-03 4.74119655e+02] [-1.33820867e-05 1.00000000e+00 6.14455089e-06 4.44733042e+00] [ 6.37289929e-03 -6.05914342e-06 9.99979693e-01 1.85366499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.639254154 meters 0.05834636939971242 Centerline is valid? [True, True] Translation: X:474.18, Y:4.44, Z:1.85 [[ 9.99970202e-01 3.46881260e-03 -6.89658726e-03 4.74177348e+02] [-3.46885254e-03 9.99993984e-01 6.17054803e-06 4.44404821e+00] [ 6.89656717e-03 1.77528801e-05 9.99976218e-01 1.85353875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.699254154 meters 0.05831875659177626 Centerline is valid? [True, True] Translation: X:474.24, Y:4.44, Z:1.85 [[ 9.99970038e-01 2.89038518e-03 -7.18108189e-03 4.74236232e+02] [-2.89041725e-03 9.99995823e-01 5.91275130e-06 4.43978025e+00] [ 7.18106898e-03 1.48437489e-05 9.99974216e-01 1.85386429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.759254154 meters 0.057953434508420706 Centerline is valid? [True, True] Translation: X:474.29, Y:4.43, Z:1.85 [[ 9.99963783e-01 -3.93270741e-03 -7.54766222e-03 4.74294678e+02] [ 3.93286475e-03 9.99992266e-01 6.00418100e-06 4.43050214e+00] [ 7.54758023e-03 -3.56878982e-05 9.99971516e-01 1.85285074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters 0.05903780208242285 Centerline is valid? [True, True] Translation: X:474.36, Y:4.42, Z:1.85 [[ 9.99864786e-01 -1.44164995e-02 -7.91044258e-03 4.74355138e+02] [ 1.44169992e-02 9.99896070e-01 6.15824785e-06 4.42068159e+00] [ 7.90953167e-03 -1.20202260e-04 9.99968712e-01 1.85286964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87925415399997 meters 0.05815776378125254 Centerline is valid? [True, True] Translation: X:474.42, Y:4.41, Z:1.85 [[ 9.99744408e-01 -2.12367791e-02 -7.75356238e-03 4.74415740e+02] [ 2.12374642e-02 9.99774460e-01 6.02986478e-06 4.41014546e+00] [ 7.75168558e-03 -1.70694327e-04 9.99969941e-01 1.85257289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.93925415399997 meters 0.058893900318983304 Centerline is valid? [True, True] Translation: X:474.48, Y:4.40, Z:1.85 [[ 9.99522477e-01 -3.00217219e-02 -7.31539152e-03 4.74476529e+02] [ 3.00225670e-02 9.99549221e-01 5.71399093e-06 4.40162229e+00] [ 7.31192235e-03 -2.25338094e-04 9.99973242e-01 1.85340351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.99925415399997 meters 0.05922628215060765 Centerline is valid? [True, True] Translation: X:474.54, Y:4.40, Z:1.85 [[ 9.99376567e-01 -3.47448420e-02 -6.26686702e-03 4.74536757e+02] [ 3.47455550e-02 9.99396191e-01 4.89809702e-06 4.39669736e+00] [ 6.26291284e-03 -2.22640816e-04 9.99980363e-01 1.85440925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.059254154 meters 0.062180521692097805 Centerline is valid? [True, True] Translation: X:474.60, Y:4.38, Z:1.86 [[ 9.99155387e-01 -4.08342923e-02 -4.59049325e-03 4.74596176e+02] [ 4.08347391e-02 9.99165914e-01 3.59980524e-06 4.38214510e+00] [ 4.58651739e-03 -1.91048359e-04 9.99989464e-01 1.85559188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.119254154 meters 0.06379523870058458 Centerline is valid? [True, True] Translation: X:474.66, Y:4.37, Z:1.85 [[ 9.98937538e-01 -4.58830155e-02 -4.30627511e-03 4.74655891e+02] [ 4.58834557e-02 9.98946800e-01 3.42501753e-06 4.37386574e+00] [ 4.30158259e-03 -2.01008161e-04 9.99990728e-01 1.85448316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.179254154 meters 0.0586622027750447 Centerline is valid? [True, True] Translation: X:474.72, Y:4.39, Z:1.85 [[ 9.98834646e-01 -4.80418519e-02 -4.61841698e-03 4.74716718e+02] [ 4.80423815e-02 9.98845298e-01 3.72503334e-06 4.39332756e+00] [ 4.61290513e-03 -2.25600443e-04 9.99989335e-01 1.85341530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.239254154 meters 0.058342445684222956 Centerline is valid? [True, True] Translation: X:474.78, Y:4.39, Z:1.85 [[ 9.98840884e-01 -4.78354943e-02 -5.35302557e-03 4.74778251e+02] [ 4.78362033e-02 9.98855194e-01 4.43187941e-06 4.38916887e+00] [ 5.34668539e-03 -2.60495162e-04 9.99985672e-01 1.85296943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.299254154 meters 0.05917392494405326 Centerline is valid? [True, True] Translation: X:474.84, Y:4.39, Z:1.85 [[ 9.98983066e-01 -4.46406737e-02 -6.32801883e-03 4.74838715e+02] [ 4.46416014e-02 9.99003067e-01 5.35920018e-06 4.39368644e+00] [ 6.32147098e-03 -2.87846644e-04 9.99979978e-01 1.85303245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.359254154 meters 0.059558875922463256 Centerline is valid? [True, True] Translation: X:474.90, Y:4.39, Z:1.85 [[ 9.99153296e-01 -4.07844786e-02 -5.41454070e-03 4.74898296e+02] [ 4.07851013e-02 9.99167942e-01 4.59127397e-06 4.39368365e+00] [ 5.40984823e-03 -2.25419977e-04 9.99985341e-01 1.85374034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.419254154 meters 0.05728593818766617 Centerline is valid? [True, True] Translation: X:474.96, Y:4.41, Z:1.85 [[ 9.99454095e-01 -3.24809664e-02 -6.04151013e-03 4.74957652e+02] [ 3.24815901e-02 9.99472334e-01 5.11892279e-06 4.40965325e+00] [ 6.03815596e-03 -2.01353984e-04 9.99981750e-01 1.85407138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.479254154 meters 0.0584887471291327 Centerline is valid? [True, True] Translation: X:475.02, Y:4.41, Z:1.85 [[ 9.99619905e-01 -2.68644019e-02 -6.19270280e-03 4.75018059e+02] [ 2.68649494e-02 9.99639072e-01 5.22552384e-06 4.40947177e+00] [ 6.19032730e-03 -1.71590185e-04 9.99980825e-01 1.85372110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.539254154 meters 0.058536852804468395 Centerline is valid? [True, True] Translation: X:475.08, Y:4.42, Z:1.85 [[ 9.99771361e-01 -2.02771428e-02 -6.78703988e-03 4.75078836e+02] [ 2.02776489e-02 9.99794387e-01 5.75788818e-06 4.41523744e+00] [ 6.78552762e-03 -1.43381784e-04 9.99976968e-01 1.85374139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.599254154 meters 0.05812543503086721 Centerline is valid? [True, True] Translation: X:475.14, Y:4.42, Z:1.85 [[ 9.99804477e-01 -1.81374031e-02 -7.87673210e-03 4.75139001e+02] [ 1.81380186e-02 9.99835493e-01 6.71300307e-06 4.41531262e+00] [ 7.87531456e-03 -1.49580004e-04 9.99968978e-01 1.85357997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.659254154 meters 0.0589241654120122 Centerline is valid? [True, True] Translation: X:475.20, Y:4.42, Z:1.85 [[ 9.99788858e-01 -1.89439897e-02 -7.96024852e-03 4.75198534e+02] [ 1.89446439e-02 9.99820534e-01 6.78391020e-06 4.41657185e+00] [ 7.95869142e-03 -1.57586551e-04 9.99968317e-01 1.85411341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.719254154 meters 0.05864118713256067 Centerline is valid? [True, True] Translation: X:475.26, Y:4.42, Z:1.86 [[ 9.99771176e-01 -2.01099746e-02 -7.29284410e-03 4.75258749e+02] [ 2.01105547e-02 9.99797762e-01 6.21199187e-06 4.41530336e+00] [ 7.29124429e-03 -1.52873710e-04 9.99973407e-01 1.85520487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.779254154 meters 0.05964212603614971 Centerline is valid? [True, True] Translation: X:475.32, Y:4.41, Z:1.86 [[ 9.99736730e-01 -2.21911969e-02 -5.83276252e-03 4.75318893e+02] [ 2.21916036e-02 9.99753736e-01 4.99377289e-06 4.41345607e+00] [ 5.83121530e-03 -1.34430812e-04 9.99982989e-01 1.85583312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.839254154 meters 0.05806027820351154 Centerline is valid? [True, True] Translation: X:475.38, Y:4.42, Z:1.86 [[ 9.99765229e-01 -2.12593440e-02 -4.18666152e-03 4.75380513e+02] [ 2.12595453e-02 9.99773990e-01 3.59027449e-06 4.42191623e+00] [ 4.18563896e-03 -9.25959518e-05 9.99991236e-01 1.85697288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.899254154 meters 0.05815189903821967 Centerline is valid? [True, True] Translation: X:475.44, Y:4.43, Z:1.86 [[ 9.99808087e-01 -1.90925482e-02 -4.38916005e-03 4.75441163e+02] [ 1.90927491e-02 9.99817717e-01 3.87032598e-06 4.42741035e+00] [ 4.38828609e-03 -8.76707150e-05 9.99990368e-01 1.85733279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.959254154 meters 0.05704323065292876 Centerline is valid? [True, True] Translation: X:475.50, Y:4.43, Z:1.86 [[ 9.99869558e-01 -1.54119350e-02 -4.83110030e-03 4.75502317e+02] [ 1.54121359e-02 9.99881226e-01 4.35225114e-06 4.43411880e+00] [ 4.83045941e-03 -7.88092577e-05 9.99988330e-01 1.85659067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.019254154 meters 0.05669369064158645 Centerline is valid? [True, True] Translation: X:475.56, Y:4.44, Z:1.86 [[ 9.99912683e-01 -1.23140094e-02 -4.79493213e-03 4.75562678e+02] [ 1.23141722e-02 9.99924178e-01 4.42625663e-06 4.44142663e+00] [ 4.79451406e-03 -6.34714898e-05 9.99988504e-01 1.85713901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.079254154 meters 0.05756462068717915 Centerline is valid? [True, True] Translation: X:475.62, Y:4.44, Z:1.86 [[ 9.99916210e-01 -1.16196275e-02 -5.70592933e-03 4.75623043e+02] [ 1.16198468e-02 9.99932487e-01 5.29907511e-06 4.44139421e+00] [ 5.70548253e-03 -7.16006560e-05 9.99983721e-01 1.85660972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.139254154 meters 0.05753072218684521 Centerline is valid? [True, True] Translation: X:475.68, Y:4.44, Z:1.85 [[ 9.99888312e-01 -1.28817356e-02 -7.57790989e-03 4.75683034e+02] [ 1.28821585e-02 9.99917022e-01 6.98687732e-06 4.43992369e+00] [ 7.57719108e-03 -1.04605933e-04 9.99971287e-01 1.85472889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.199254154 meters 0.05750163589256159 Centerline is valid? [True, True] Translation: X:475.74, Y:4.44, Z:1.85 [[ 9.99818913e-01 -1.65290605e-02 -9.43035489e-03 4.75743421e+02] [ 1.65298776e-02 9.99863372e-01 8.70187249e-06 4.43808374e+00] [ 9.42892260e-03 -1.64582909e-04 9.99955533e-01 1.85379031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.259254154 meters 0.05789487371058946 Centerline is valid? [True, True] Translation: X:475.80, Y:4.43, Z:1.85 [[ 9.99697183e-01 -2.24331873e-02 -1.01140453e-02 4.75803348e+02] [ 2.24344294e-02 9.99748316e-01 9.35824720e-06 4.43395330e+00] [ 1.01112898e-02 -2.36258249e-04 9.99948852e-01 1.85358639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters 0.057134580964304356 Centerline is valid? [True, True] Translation: X:475.86, Y:4.43, Z:1.85 [[ 9.99603176e-01 -2.67067951e-02 -8.95756575e-03 4.75863885e+02] [ 2.67079408e-02 9.99643279e-01 8.28331702e-06 4.43488146e+00] [ 8.95414918e-03 -2.47518166e-04 9.99959880e-01 1.85498633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37925415399997 meters 0.059156865517932436 Centerline is valid? [True, True] Translation: X:475.92, Y:4.43, Z:1.86 [[ 9.99393963e-01 -3.39102094e-02 -7.86156547e-03 4.75923184e+02] [ 3.39113148e-02 9.99424846e-01 7.31114429e-06 4.42718635e+00] [ 7.85679594e-03 -2.73902735e-04 9.99969097e-01 1.85575334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.43925415399997 meters 0.05678925086042489 Centerline is valid? [True, True] Translation: X:475.98, Y:4.44, Z:1.86 [[ 9.99190651e-01 -3.97545576e-02 -6.13342612e-03 4.75984104e+02] [ 3.97553406e-02 9.99209444e-01 5.74932944e-06 4.43788938e+00] [ 6.12834874e-03 -2.49581120e-04 9.99981190e-01 1.85749000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.49925415399997 meters 0.05754205284587647 Centerline is valid? [True, True] Translation: X:476.04, Y:4.43, Z:1.86 [[ 9.98831560e-01 -4.80138300e-02 -5.49425847e-03 4.76043445e+02] [ 4.80145832e-02 9.98846635e-01 5.18959706e-06 4.43268385e+00] [ 5.48767241e-03 -2.68988064e-04 9.99984906e-01 1.85784503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.559254154 meters 0.057900562740719815 Centerline is valid? [True, True] Translation: X:476.10, Y:4.43, Z:1.86 [[ 9.98576299e-01 -5.30715967e-02 -5.36478817e-03 4.76104134e+02] [ 5.30723878e-02 9.98590668e-01 5.11614729e-06 4.43279061e+00] [ 5.35695588e-03 -2.89830982e-04 9.99985609e-01 1.85857048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.619254154 meters 0.06366020384013757 Centerline is valid? [True, True] Translation: X:476.16, Y:4.41, Z:1.86 [[ 9.98322983e-01 -5.75360460e-02 -6.38943485e-03 4.76163365e+02] [ 5.75372594e-02 9.98343360e-01 6.08594278e-06 4.41464685e+00] [ 6.37849970e-03 -3.73706307e-04 9.99979587e-01 1.85813162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.679254154 meters 0.06331918286231557 Centerline is valid? [True, True] Translation: X:476.23, Y:4.42, Z:1.86 [[ 9.98333655e-01 -5.73222156e-02 -6.63899362e-03 4.76225286e+02] [ 5.73235212e-02 9.98355655e-01 6.37781381e-06 4.41883524e+00] [ 6.62771124e-03 -3.86937678e-04 9.99977962e-01 1.85791662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.739254154 meters 0.05689884280430938 Centerline is valid? [True, True] Translation: X:476.29, Y:4.44, Z:1.86 [[ 9.98481708e-01 -5.46493453e-02 -6.90850785e-03 4.76285809e+02] [ 5.46506961e-02 9.98505534e-01 6.75847443e-06 4.44384071e+00] [ 6.89781397e-03 -3.84302976e-04 9.99976136e-01 1.85817540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.799254154 meters 0.05691883656532778 Centerline is valid? [True, True] Translation: X:476.35, Y:4.45, Z:1.86 [[ 9.98879201e-01 -4.65565781e-02 -8.53381411e-03 4.76346477e+02] [ 4.65583446e-02 9.98915572e-01 8.34304581e-06 4.45120926e+00] [ 8.52417138e-03 -4.05653953e-04 9.99963586e-01 1.85759210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.859254154 meters 0.0564455344453342 Centerline is valid? [True, True] Translation: X:476.41, Y:4.46, Z:1.86 [[ 9.99334656e-01 -3.54373507e-02 -8.62780195e-03 4.76406827e+02] [ 3.54387427e-02 9.99371850e-01 8.46143175e-06 4.46139058e+00] [ 8.62208255e-03 -3.14214256e-04 9.99962780e-01 1.85873575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.919254154 meters 0.05620328128343726 Centerline is valid? [True, True] Translation: X:476.47, Y:4.47, Z:1.86 [[ 9.99701365e-01 -2.34422462e-02 -6.90230405e-03 4.76467200e+02] [ 2.34428514e-02 9.99725179e-01 6.78624077e-06 4.47473512e+00] [ 6.90024806e-03 -1.68593902e-04 9.99976179e-01 1.86128908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.979254154 meters 0.057182739143967265 Centerline is valid? [True, True] Translation: X:476.53, Y:4.47, Z:1.86 [[ 9.99847217e-01 -1.63631032e-02 -6.14743555e-03 4.76526809e+02] [ 1.63634494e-02 9.99866110e-01 6.02170791e-06 4.47438531e+00] [ 6.14651393e-03 -1.06614038e-04 9.99981104e-01 1.86166090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.039254154 meters 0.05551080156379727 Centerline is valid? [True, True] Translation: X:476.59, Y:4.49, Z:1.86 [[ 9.99945808e-01 -8.75273750e-03 -5.63652078e-03 4.76587319e+02] [ 8.75290753e-03 9.99961693e-01 5.49834402e-06 4.48941414e+00] [ 5.63625673e-03 -5.48339912e-05 9.99984115e-01 1.86319729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.099254154 meters 0.057397198762042696 Centerline is valid? [True, True] Translation: X:476.65, Y:4.49, Z:1.86 [[ 9.99970445e-01 -4.97499214e-03 -5.86167592e-03 4.76647344e+02] [ 4.97511116e-03 9.99987624e-01 5.72344637e-06 4.49120158e+00] [ 5.86157490e-03 -3.48857665e-05 9.99982820e-01 1.86331531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.159254154 meters 0.05705426534361523 Centerline is valid? [True, True] Translation: X:476.71, Y:4.49, Z:1.86 [[ 9.99971996e-01 -4.55786810e-03 -5.93577883e-03 4.76707419e+02] [ 4.55798248e-03 9.99989612e-01 5.74132429e-06 4.49094339e+00] [ 5.93569100e-03 -3.27963394e-05 9.99982383e-01 1.86363100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.219254154 meters 0.05643548192783955 Centerline is valid? [True, True] Translation: X:476.77, Y:4.48, Z:1.86 [[ 9.99970186e-01 -5.61632005e-03 -5.29945294e-03 4.76765238e+02] [ 5.61642561e-03 9.99984228e-01 5.03675369e-06 4.48478951e+00] [ 5.29934107e-03 -3.48005867e-05 9.99985958e-01 1.86282551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.279254154 meters 0.056971650503556945 Centerline is valid? [True, True] Translation: X:476.83, Y:4.48, Z:1.86 [[ 9.99958241e-01 -7.44870216e-03 -5.29471430e-03 4.76825170e+02] [ 7.44883253e-03 9.99972257e-01 4.90253932e-06 4.48261941e+00] [ 5.29453089e-03 -4.43417747e-05 9.99985983e-01 1.86336374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.339254154 meters 0.057265694171548004 Centerline is valid? [True, True] Translation: X:476.89, Y:4.48, Z:1.86 [[ 9.99927198e-01 -1.09270493e-02 -5.11852219e-03 4.76885716e+02] [ 1.09272165e-02 9.99940296e-01 4.70928502e-06 4.47690168e+00] [ 5.11816513e-03 -6.06401424e-05 9.99986900e-01 1.86214649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.399254154 meters 0.05667460948188033 Centerline is valid? [True, True] Translation: X:476.95, Y:4.47, Z:1.86 [[ 9.99886508e-01 -1.41056493e-02 -5.29164579e-03 4.76946113e+02] [ 1.41058726e-02 9.99900507e-01 4.87927201e-06 4.47276234e+00] [ 5.29105048e-03 -7.95219998e-05 9.99985999e-01 1.86115898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.459254154 meters 0.057460529959777976 Centerline is valid? [True, True] Translation: X:477.01, Y:4.47, Z:1.86 [[ 9.99794890e-01 -1.99428254e-02 -3.53012300e-03 4.77006913e+02] [ 1.99429612e-02 9.99801119e-01 3.26890886e-06 4.46868856e+00] [ 3.52935574e-03 -7.36693443e-05 9.99993769e-01 1.86044011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.519254154 meters 0.05817385332691644 Centerline is valid? [True, True] Translation: X:477.07, Y:4.46, Z:1.86 [[ 9.99691977e-01 -2.44145644e-02 -4.45874437e-03 4.77066656e+02] [ 2.44148259e-02 9.99701914e-01 4.21323973e-06 4.45537764e+00] [ 4.45731242e-03 -1.13071410e-04 9.99990060e-01 1.86102676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.579254154 meters 0.05914692369433821 Centerline is valid? [True, True] Translation: X:477.13, Y:4.45, Z:1.86 [[ 9.99604791e-01 -2.76707998e-02 -4.95868842e-03 4.77127393e+02] [ 2.76711633e-02 9.99617080e-01 4.69345608e-06 4.44896102e+00] [ 4.95665977e-03 -1.41904278e-04 9.99987706e-01 1.86035554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.639254154 meters 0.05747587395249567 Centerline is valid? [True, True] Translation: X:477.19, Y:4.46, Z:1.86 [[ 9.99571256e-01 -2.89623384e-02 -4.29965101e-03 4.77188955e+02] [ 2.89626237e-02 9.99580495e-01 4.10494112e-06 4.45647717e+00] [ 4.29772840e-03 -1.28632356e-04 9.99990756e-01 1.86068410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.699254154 meters 0.05786800033759627 Centerline is valid? [True, True] Translation: X:477.25, Y:4.45, Z:1.86 [[ 9.99567214e-01 -2.91367782e-02 -4.05385500e-03 4.77249995e+02] [ 2.91370337e-02 9.99575427e-01 3.96697589e-06 4.45015515e+00] [ 4.05201826e-03 -1.22082569e-04 9.99991783e-01 1.86136322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.759254154 meters 0.05915805512568043 Centerline is valid? [True, True] Translation: X:477.31, Y:4.44, Z:1.86 [[ 9.99629629e-01 -2.69275181e-02 -3.93866014e-03 4.77310524e+02] [ 2.69277425e-02 9.99637383e-01 3.95079014e-06 4.44426971e+00] [ 3.93712553e-03 -1.10008553e-04 9.99992243e-01 1.86170703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters 0.05890512727610208 Centerline is valid? [True, True] Translation: X:477.37, Y:4.44, Z:1.86 [[ 9.99680510e-01 -2.48445690e-02 -4.65025332e-03 4.77372023e+02] [ 2.48448596e-02 9.99691319e-01 4.71860208e-06 4.44180410e+00] [ 4.64870064e-03 -1.20251985e-04 9.99989187e-01 1.86151884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87925415399997 meters 0.05848839492081512 Centerline is valid? [True, True] Translation: X:477.43, Y:4.44, Z:1.86 [[ 9.99720269e-01 -2.30809305e-02 -5.16276869e-03 4.77433452e+02] [ 2.30812658e-02 9.99733592e-01 5.36626340e-06 4.44230999e+00] [ 5.16126943e-03 -1.24527999e-04 9.99986673e-01 1.86167672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.93925415399997 meters 0.05890050611767413 Centerline is valid? [True, True] Translation: X:477.50, Y:4.44, Z:1.86 [[ 9.99661729e-01 -2.53058098e-02 -6.00366692e-03 4.77495045e+02] [ 2.53063042e-02 9.99679744e-01 6.38288401e-06 4.44121559e+00] [ 6.00158268e-03 -1.58311346e-04 9.99981978e-01 1.86135931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.99925415399997 meters 0.057245354545516804 Centerline is valid? [True, True] Translation: X:477.56, Y:4.44, Z:1.86 [[ 9.99554133e-01 -2.91122841e-02 -6.63402041e-03 4.77555908e+02] [ 2.91129722e-02 9.99576128e-01 7.15211447e-06 4.44416256e+00] [ 6.63100021e-03 -2.00284977e-04 9.99977995e-01 1.86086368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.059254154 meters 0.05711740312359144 Centerline is valid? [True, True] Translation: X:477.62, Y:4.44, Z:1.86 [[ 9.99391709e-01 -3.39423915e-02 -8.00786215e-03 4.77616101e+02] [ 3.39435491e-02 9.99423752e-01 8.66117964e-06 4.44384663e+00] [ 8.00295365e-03 -2.80471173e-04 9.99967937e-01 1.86075069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.119254154 meters 0.056333067624197986 Centerline is valid? [True, True] Translation: X:477.68, Y:4.45, Z:1.86 [[ 9.99362483e-01 -3.47779939e-02 -8.06965087e-03 4.77678606e+02] [ 3.47791976e-02 9.99395021e-01 8.83988617e-06 4.44686754e+00] [ 8.06446147e-03 -2.89490233e-04 9.99967440e-01 1.86148353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.179254154 meters 0.05792203093169719 Centerline is valid? [True, True] Translation: X:477.74, Y:4.44, Z:1.86 [[ 9.99448572e-01 -3.26046837e-02 -6.28389167e-03 4.77738645e+02] [ 3.26053714e-02 9.99468304e-01 6.98816214e-06 4.44092266e+00] [ 6.28032270e-03 -2.11872930e-04 9.99980256e-01 1.86218603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.239254154 meters 0.05749641827243124 Centerline is valid? [True, True] Translation: X:477.80, Y:4.45, Z:1.86 [[ 9.99562771e-01 -2.92758302e-02 -4.14631506e-03 4.77798737e+02] [ 2.92761009e-02 9.99571363e-01 4.61015297e-06 4.44512401e+00] [ 4.14440283e-03 -1.25996075e-04 9.99991404e-01 1.86327287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.299254154 meters 0.05942226635975903 Centerline is valid? [True, True] Translation: X:477.86, Y:4.44, Z:1.86 [[ 9.99615520e-01 -2.75009991e-02 -3.53667038e-03 4.77859546e+02] [ 2.75011849e-02 9.99621771e-01 3.91195978e-06 4.44067934e+00] [ 3.53522512e-03 -1.01173082e-04 9.99993746e-01 1.86420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.359254154 meters 0.05871767252928007 Centerline is valid? [True, True] Translation: X:477.92, Y:4.44, Z:1.86 [[ 9.99690827e-01 -2.46928165e-02 -2.91822752e-03 4.77920341e+02] [ 2.46929311e-02 9.99695083e-01 3.26019316e-06 4.44465210e+00] [ 2.91725720e-03 -7.53187763e-05 9.99995742e-01 1.86349584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.419254154 meters 0.0578195747188532 Centerline is valid? [True, True] Translation: X:477.98, Y:4.45, Z:1.86 [[ 9.99798275e-01 -1.96568864e-02 -4.12500359e-03 4.77980884e+02] [ 1.96570730e-02 9.99806781e-01 4.69555635e-06 4.44753955e+00] [ 4.12411426e-03 -8.57801059e-05 9.99991492e-01 1.86295528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.479254154 meters 0.05830865265274039 Centerline is valid? [True, True] Translation: X:478.04, Y:4.45, Z:1.86 [[ 9.99877118e-01 -1.48752623e-02 -4.94731613e-03 4.78040232e+02] [ 1.48754724e-02 9.99889354e-01 5.66848005e-06 4.44965584e+00] [ 4.94668441e-03 -7.92614482e-05 9.99987762e-01 1.86216243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.539254154 meters 0.05747755359719702 Centerline is valid? [True, True] Translation: X:478.10, Y:4.46, Z:1.86 [[ 9.99950004e-01 -8.35767389e-03 -5.48986137e-03 4.78100786e+02] [ 8.35783425e-03 9.99965073e-01 6.26923276e-06 4.45934158e+00] [ 5.48961723e-03 -5.21522707e-05 9.99984931e-01 1.86164748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.599254154 meters 0.057857954659936005 Centerline is valid? [True, True] Translation: X:478.16, Y:4.46, Z:1.86 [[ 9.99960390e-01 -5.69150899e-03 -6.84294403e-03 4.78160647e+02] [ 5.69169566e-03 9.99983802e-01 7.80622146e-06 4.46085229e+00] [ 6.84278876e-03 -4.67538671e-05 9.99976587e-01 1.86060429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.659254154 meters 0.05706638680331194 Centerline is valid? [True, True] Translation: X:478.22, Y:4.46, Z:1.86 [[ 9.99955937e-01 -4.81784833e-03 -8.05683851e-03 4.78219522e+02] [ 4.81807705e-03 9.99988393e-01 8.97905672e-06 4.46036094e+00] [ 8.05670173e-03 -4.77971298e-05 9.99967543e-01 1.85977500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.719254154 meters 0.05691868244862652 Centerline is valid? [True, True] Translation: X:478.28, Y:4.46, Z:1.86 [[ 9.99944565e-01 -7.32770180e-03 -7.56116479e-03 4.78277742e+02] [ 7.32797280e-03 9.99973150e-01 8.13626192e-06 4.46123354e+00] [ 7.56090215e-03 -6.35438208e-05 9.99971414e-01 1.86169634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.779254154 meters 0.05810506128479838 Centerline is valid? [True, True] Translation: X:478.34, Y:4.45, Z:1.86 [[ 9.99867733e-01 -1.46680188e-02 -7.02603393e-03 4.78338250e+02] [ 1.46684329e-02 9.99892413e-01 7.41147570e-06 4.44982215e+00] [ 7.02516931e-03 -1.10471403e-04 9.99975317e-01 1.86188846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.839254154 meters 0.05829024238421614 Centerline is valid? [True, True] Translation: X:478.40, Y:4.44, Z:1.86 [[ 9.99675342e-01 -2.47388397e-02 -6.09923746e-03 4.78398126e+02] [ 2.47393392e-02 9.99693936e-01 6.44624819e-06 4.44421472e+00] [ 6.09721123e-03 -1.57335260e-04 9.99981399e-01 1.86350240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.899254154 meters 0.05904059868003416 Centerline is valid? [True, True] Translation: X:478.46, Y:4.43, Z:1.86 [[ 9.99494267e-01 -3.11749313e-02 -6.27175689e-03 4.78458038e+02] [ 3.11755857e-02 9.99513923e-01 6.59534880e-06 4.43454706e+00] [ 6.26850273e-03 -2.02117708e-04 9.99980332e-01 1.86341626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.959254154 meters 0.05970843321574012 Centerline is valid? [True, True] Translation: X:478.52, Y:4.43, Z:1.86 [[ 9.99215658e-01 -3.91274310e-02 -6.09203001e-03 4.78518421e+02] [ 3.91281961e-02 9.99234199e-01 6.40216599e-06 4.42942517e+00] [ 6.08711423e-03 -2.44767289e-04 9.99981443e-01 1.86450079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.019254154 meters 0.05969324991876845 Centerline is valid? [True, True] Translation: X:478.58, Y:4.43, Z:1.86 [[ 9.99075858e-01 -4.25362788e-02 -6.17212307e-03 4.78578832e+02] [ 4.25371291e-02 9.99094887e-01 6.49875021e-06 4.42617637e+00] [ 6.16626016e-03 -2.69037140e-04 9.99980952e-01 1.86477263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.079254154 meters 0.058546106565172895 Centerline is valid? [True, True] Translation: X:478.64, Y:4.43, Z:1.87 [[ 9.98995460e-01 -4.44143446e-02 -5.95283627e-03 4.78639521e+02] [ 4.44151690e-02 9.99013159e-01 6.28864401e-06 4.42503602e+00] [ 5.94668247e-03 -2.70678556e-04 9.99982282e-01 1.86519951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.139254154 meters 0.060897258215497366 Centerline is valid? [True, True] Translation: X:478.70, Y:4.42, Z:1.87 [[ 9.98984218e-01 -4.45586942e-02 -6.71234561e-03 4.78701116e+02] [ 4.45597468e-02 9.99006721e-01 7.26041729e-06 4.41743507e+00] [ 6.70535486e-03 -3.06353463e-04 9.99977472e-01 1.86506622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.199254154 meters 0.06037995988979718 Centerline is valid? [True, True] Translation: X:478.76, Y:4.42, Z:1.87 [[ 9.99062764e-01 -4.26400386e-02 -7.44451196e-03 4.78762119e+02] [ 4.26412819e-02 9.99090447e-01 8.29174788e-06 4.42444113e+00] [ 7.43738722e-03 -3.25727509e-04 9.99972289e-01 1.86506091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.259254154 meters 0.059542940381355866 Centerline is valid? [True, True] Translation: X:478.82, Y:4.43, Z:1.86 [[ 9.99255986e-01 -3.77204450e-02 -8.04004834e-03 4.78821674e+02] [ 3.77217364e-02 9.99288282e-01 8.98433340e-06 4.42588357e+00] [ 8.03398720e-03 -3.12262233e-04 9.99967678e-01 1.86442448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters 0.057049371790726104 Centerline is valid? [True, True] Translation: X:478.88, Y:4.44, Z:1.87 [[ 9.99425138e-01 -3.28040797e-02 -8.56076852e-03 4.78882020e+02] [ 3.28053639e-02 9.99461759e-01 9.59952626e-06 4.44263246e+00] [ 8.55584586e-03 -2.90433134e-04 9.99963356e-01 1.86617541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37925415399997 meters 0.05747130834046475 Centerline is valid? [True, True] Translation: X:478.94, Y:4.44, Z:1.87 [[ 9.99491387e-01 -3.04869609e-02 -9.35479799e-03 4.78943491e+02] [ 3.04883943e-02 9.99535121e-01 1.06150577e-05 4.44378204e+00] [ 9.35012552e-03 -2.95822428e-04 9.99956243e-01 1.86614357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.43925415399997 meters 0.05836089851262888 Centerline is valid? [True, True] Translation: X:479.00, Y:4.44, Z:1.87 [[ 9.99531652e-01 -2.92701378e-02 -8.92944349e-03 4.79003733e+02] [ 2.92713975e-02 9.99571501e-01 1.03851999e-05 4.43940666e+00] [ 8.92531325e-03 -2.71757626e-04 9.99960132e-01 1.86636205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.49925415399997 meters 0.0580006670618396 Centerline is valid? [True, True] Translation: X:479.07, Y:4.44, Z:1.87 [[ 9.99540607e-01 -2.92328416e-02 -8.00101820e-03 4.79065299e+02] [ 2.92338536e-02 9.99572600e-01 9.53645546e-06 4.43745362e+00] [ 7.99731979e-03 -2.43432669e-04 9.99967991e-01 1.86749982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.559254154 meters 0.059489904627917214 Centerline is valid? [True, True] Translation: X:479.13, Y:4.43, Z:1.87 [[ 9.99530433e-01 -2.96181441e-02 -7.85359794e-03 4.79126607e+02] [ 2.96191325e-02 9.99561257e-01 9.54661389e-06 4.43461638e+00] [ 7.84986947e-03 -2.42158889e-04 9.99969160e-01 1.86866513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.619254154 meters 0.05798152867087704 Centerline is valid? [True, True] Translation: X:479.19, Y:4.44, Z:1.87 [[ 9.99441330e-01 -3.26168211e-02 -7.29188179e-03 4.79187589e+02] [ 3.26177537e-02 9.99467899e-01 8.97756300e-06 4.43951256e+00] [ 7.28770896e-03 -2.46817352e-04 9.99973414e-01 1.86965427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.679254154 meters 0.05630162829862575 Centerline is valid? [True, True] Translation: X:479.25, Y:4.45, Z:1.87 [[ 9.99278713e-01 -3.73007380e-02 -7.12106848e-03 4.79248434e+02] [ 3.73017466e-02 9.99304048e-01 8.83747701e-06 4.44808433e+00] [ 7.11578291e-03 -2.74459395e-04 9.99974645e-01 1.87058488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.739254154 meters 0.056267692325737806 Centerline is valid? [True, True] Translation: X:479.31, Y:4.45, Z:1.87 [[ 9.98908524e-01 -4.61839365e-02 -6.98603227e-03 4.79308226e+02] [ 4.61851245e-02 9.98932898e-01 8.74579330e-06 4.44711266e+00] [ 6.97817354e-03 -3.31387018e-04 9.99975597e-01 1.87078177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.799254154 meters 0.058429993475419356 Centerline is valid? [True, True] Translation: X:479.37, Y:4.44, Z:1.87 [[ 9.98705368e-01 -5.03935107e-02 -6.93419425e-03 4.79368187e+02] [ 5.03947826e-02 9.98729376e-01 8.71384462e-06 4.43596847e+00] [ 6.92494437e-03 -3.58149775e-04 9.99975958e-01 1.87096695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.859254154 meters 0.05498343784044137 Centerline is valid? [True, True] Translation: X:479.43, Y:4.46, Z:1.87 [[ 9.98538518e-01 -5.37328848e-02 -5.79695578e-03 4.79429278e+02] [ 5.37338301e-02 9.98555294e-01 7.32288251e-06 4.45749259e+00] [ 5.78818741e-03 -3.18804817e-04 9.99983197e-01 1.87216373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.919254154 meters 0.05560824918643398 Centerline is valid? [True, True] Translation: X:479.49, Y:4.46, Z:1.87 [[ 9.98592277e-01 -5.26936375e-02 -6.06992697e-03 4.79490337e+02] [ 5.26946555e-02 9.98610672e-01 7.79459785e-06 4.46294922e+00] [ 6.06108312e-03 -3.27636336e-04 9.99981578e-01 1.87251977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.979254154 meters 0.05814827453670527 Centerline is valid? [True, True] Translation: X:479.55, Y:4.45, Z:1.87 [[ 9.98715300e-01 -5.02452848e-02 -6.56965885e-03 4.79549557e+02] [ 5.02464249e-02 9.98736851e-01 8.49413176e-06 4.44831595e+00] [ 6.56093360e-03 -3.38585090e-04 9.99978420e-01 1.87186452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.039254154 meters 0.05762932763577146 Centerline is valid? [True, True] Translation: X:479.61, Y:4.45, Z:1.87 [[ 9.98921695e-01 -4.59599146e-02 -6.56763966e-03 4.79610474e+02] [ 4.59609615e-02 9.98943237e-01 8.48427762e-06 4.45270629e+00] [ 6.56030928e-03 -3.10330162e-04 9.99978433e-01 1.87159011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.099254154 meters 0.0589201393360079 Centerline is valid? [True, True] Translation: X:479.67, Y:4.45, Z:1.87 [[ 9.99087183e-01 -4.21504672e-02 -6.93815465e-03 4.79670083e+02] [ 4.21515441e-02 9.99111229e-01 8.99012114e-06 4.45169417e+00] [ 6.93160928e-03 -3.01435847e-04 9.99975931e-01 1.87196969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.159254154 meters 0.05827960872324084 Centerline is valid? [True, True] Translation: X:479.73, Y:4.46, Z:1.87 [[ 9.99358647e-01 -3.51027684e-02 -7.07738764e-03 4.79729500e+02] [ 3.51037124e-02 9.99383675e-01 9.16657488e-06 4.45668407e+00] [ 7.07270390e-03 -2.57603277e-04 9.99974955e-01 1.87196623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.219254154 meters 0.05709294851143012 Centerline is valid? [True, True] Translation: X:479.79, Y:4.47, Z:1.87 [[ 9.99587546e-01 -2.80715142e-02 -6.06030448e-03 4.79790218e+02] [ 2.80720774e-02 9.99605902e-01 7.87101383e-06 4.46953704e+00] [ 6.05769518e-03 -1.77993104e-04 9.99981636e-01 1.87166576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.279254154 meters 0.056519067789479994 Centerline is valid? [True, True] Translation: X:479.85, Y:4.47, Z:1.87 [[ 9.99716299e-01 -2.31869269e-02 -5.44868558e-03 4.79850955e+02] [ 2.31873100e-02 9.99731138e-01 7.12897113e-06 4.47272693e+00] [ 5.44705533e-03 -1.33467310e-04 9.99985156e-01 1.87171698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.339254154 meters 0.056543769801487904 Centerline is valid? [True, True] Translation: X:479.91, Y:4.48, Z:1.87 [[ 9.99859916e-01 -1.59055521e-02 -5.21168869e-03 4.79910111e+02] [ 1.59058038e-02 9.99873495e-01 6.84125702e-06 4.47852246e+00] [ 5.21092057e-03 -8.97363965e-05 9.99986419e-01 1.87263336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.399254154 meters 0.056305971945017116 Centerline is valid? [True, True] Translation: X:479.97, Y:4.48, Z:1.87 [[ 9.99907111e-01 -1.28356703e-02 -4.58417675e-03 4.79971271e+02] [ 1.28358327e-02 9.99917617e-01 6.00524967e-06 4.48367539e+00] [ 4.58372201e-03 -6.48464178e-05 9.99989493e-01 1.87271131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.459254154 meters 0.05604942810127424 Centerline is valid? [True, True] Translation: X:480.03, Y:4.48, Z:1.87 [[ 9.99940252e-01 -9.73255402e-03 -4.97698796e-03 4.80032267e+02] [ 9.73270765e-03 9.99952636e-01 6.64806944e-06 4.48425818e+00] [ 4.97668753e-03 -5.50872410e-05 9.99987615e-01 1.87240849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.519254154 meters 0.05641925048638462 Centerline is valid? [True, True] Translation: X:480.09, Y:4.49, Z:1.87 [[ 9.99948032e-01 -8.58984128e-03 -5.49062692e-03 4.80092232e+02] [ 8.59001144e-03 9.99963105e-01 7.40942280e-06 4.48527240e+00] [ 5.49036070e-03 -5.45735858e-05 9.99984926e-01 1.87282702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.579254154 meters 0.056455640941296445 Centerline is valid? [True, True] Translation: X:480.15, Y:4.48, Z:1.87 [[ 9.99947376e-01 -8.54106686e-03 -5.68291148e-03 4.80151621e+02] [ 8.54124829e-03 9.99963523e-01 7.65465269e-06 4.48200921e+00] [ 5.68263880e-03 -5.61934078e-05 9.99983852e-01 1.87235087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.639254154 meters 0.056850533795919055 Centerline is valid? [True, True] Translation: X:480.21, Y:4.48, Z:1.87 [[ 9.99911116e-01 -1.20300764e-02 -5.74781315e-03 4.80211503e+02] [ 1.20303193e-02 9.99927633e-01 7.69595054e-06 4.47908161e+00] [ 5.74730462e-03 -7.68432940e-05 9.99983481e-01 1.87239061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.699254154 meters 0.05700551304887856 Centerline is valid? [True, True] Translation: X:480.27, Y:4.47, Z:1.87 [[ 9.99792352e-01 -1.96335660e-02 -5.45677502e-03 4.80271561e+02] [ 1.96338980e-02 9.99807236e-01 7.26893328e-06 4.47341312e+00] [ 5.45558044e-03 -1.14405188e-04 9.99985112e-01 1.87248641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.759254154 meters 0.057926827847480544 Centerline is valid? [True, True] Translation: X:480.33, Y:4.47, Z:1.87 [[ 9.99653846e-01 -2.56605106e-02 -5.80744612e-03 4.80332715e+02] [ 2.56609882e-02 9.99670703e-01 7.73441359e-06 4.46850981e+00] [ 5.80533527e-03 -1.56756543e-04 9.99983137e-01 1.87229653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters 0.05817193264996048 Centerline is valid? [True, True] Translation: X:480.39, Y:4.46, Z:1.87 [[ 9.99372338e-01 -3.49295616e-02 -5.90394484e-03 4.80393134e+02] [ 3.49302172e-02 9.99389754e-01 7.93508099e-06 4.46461652e+00] [ 5.90006481e-03 -2.14156176e-04 9.99982572e-01 1.87159883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87925415399997 meters 0.055168033321885204 Centerline is valid? [True, True] Translation: X:480.45, Y:4.47, Z:1.87 [[ 9.99024267e-01 -4.38876078e-02 -4.93885881e-03 4.80454194e+02] [ 4.38881761e-02 9.99036450e-01 6.67902826e-06 4.47299963e+00] [ 4.93380685e-03 -2.23430016e-04 9.99987804e-01 1.87173297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.93925415399997 meters 0.05610816131805604 Centerline is valid? [True, True] Translation: X:480.51, Y:4.47, Z:1.87 [[ 9.98890060e-01 -4.68149288e-02 -5.19718966e-03 4.80513847e+02] [ 4.68155977e-02 9.98903549e-01 7.05585817e-06 4.46913075e+00] [ 5.19116088e-03 -2.50357567e-04 9.99986494e-01 1.87162671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.99925415399997 meters 0.05507951288173988 Centerline is valid? [True, True] Translation: X:480.57, Y:4.47, Z:1.87 [[ 9.98611303e-01 -5.24258724e-02 -5.19557703e-03 4.80574493e+02] [ 5.24266164e-02 9.98624779e-01 7.02866088e-06 4.46802387e+00] [ 5.18806348e-03 -2.79405424e-04 9.99986503e-01 1.87076440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.059254154 meters 0.05422117066993916 Centerline is valid? [True, True] Translation: X:480.63, Y:4.48, Z:1.87 [[ 9.98255928e-01 -5.88379781e-02 -4.81603669e-03 4.80634872e+02] [ 5.88386919e-02 9.98267503e-01 6.52332245e-06 4.48017231e+00] [ 4.80730910e-03 -2.89881244e-04 9.99988403e-01 1.87069850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.119254154 meters 0.05592202803512798 Centerline is valid? [True, True] Translation: X:480.70, Y:4.47, Z:1.87 [[ 9.98175766e-01 -6.02350222e-02 -4.10890940e-03 4.80695260e+02] [ 6.02355535e-02 9.98184190e-01 5.56896217e-06 4.46811988e+00] [ 4.10111295e-03 -2.53061235e-04 9.99991558e-01 1.87111603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.179254154 meters 0.05871809389197258 Centerline is valid? [True, True] Translation: X:480.75, Y:4.46, Z:1.87 [[ 9.98321741e-01 -5.76540465e-02 -5.45091946e-03 4.80754347e+02] [ 5.76549437e-02 9.98336570e-01 7.46295066e-06 4.45792530e+00] [ 5.44142197e-03 -3.21722880e-04 9.99985144e-01 1.87102444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.239254154 meters 0.053781005212881185 Centerline is valid? [True, True] Translation: X:480.82, Y:4.48, Z:1.87 [[ 9.98616285e-01 -5.22392886e-02 -6.04750442e-03 4.80815313e+02] [ 5.22402937e-02 9.98634544e-01 8.25048114e-06 4.48265795e+00] [ 6.03881582e-03 -3.24162472e-04 9.99981714e-01 1.87033540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.299254154 meters 0.05594145321435979 Centerline is valid? [True, True] Translation: X:480.88, Y:4.48, Z:1.87 [[ 9.98844329e-01 -4.76300113e-02 -6.43338107e-03 4.80875170e+02] [ 4.76310536e-02 9.98864997e-01 8.80596981e-06 4.47585602e+00] [ 6.42565974e-03 -3.15224512e-04 9.99979306e-01 1.86958985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.359254154 meters 0.05469007703424357 Centerline is valid? [True, True] Translation: X:480.94, Y:4.49, Z:1.87 [[ 9.99083877e-01 -4.22975658e-02 -6.50560914e-03 4.80935948e+02] [ 4.22985190e-02 9.99105017e-01 8.93543594e-06 4.49114776e+00] [ 6.49940878e-03 -2.84104882e-04 9.99978838e-01 1.87069876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.419254154 meters 0.054209141172007196 Centerline is valid? [True, True] Translation: X:481.00, Y:4.50, Z:1.87 [[ 9.99289303e-01 -3.73585645e-02 -5.02266029e-03 4.80996399e+02] [ 3.73590705e-02 9.99301906e-01 6.91625044e-06 4.49878172e+00] [ 5.01889562e-03 -1.94553255e-04 9.99987386e-01 1.87215020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.479254154 meters 0.054524918211428484 Centerline is valid? [True, True] Translation: X:481.06, Y:4.50, Z:1.87 [[ 9.99442348e-01 -3.30897242e-02 -4.47917401e-03 4.81055516e+02] [ 3.30900839e-02 9.99452373e-01 6.19398904e-06 4.50120644e+00] [ 4.47651614e-03 -1.54406779e-04 9.99989968e-01 1.87365121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.539254154 meters 0.056028005216670625 Centerline is valid? [True, True] Translation: X:481.11, Y:4.50, Z:1.87 [[ 9.99677134e-01 -2.49698585e-02 -4.70465794e-03 4.81114906e+02] [ 2.49701654e-02 9.99688197e-01 6.50003761e-06 4.50193561e+00] [ 4.70302870e-03 -1.23974026e-04 9.99988933e-01 1.87488063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.599254154 meters 0.05557081246350874 Centerline is valid? [True, True] Translation: X:481.17, Y:4.51, Z:1.88 [[ 9.99827175e-01 -1.80515220e-02 -4.44562760e-03 4.81174034e+02] [ 1.80517276e-02 9.99837054e-01 6.11555202e-06 4.50726854e+00] [ 4.44479281e-03 -8.63657534e-05 9.99990118e-01 1.87501387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.659254154 meters 0.054975009037526494 Centerline is valid? [True, True] Translation: X:481.24, Y:4.52, Z:1.87 [[ 9.99905186e-01 -1.27156852e-02 -5.28501188e-03 4.81235315e+02] [ 1.27159011e-02 9.99919150e-01 7.25329834e-06 4.51576349e+00] [ 5.28449236e-03 -7.44562990e-05 9.99986034e-01 1.87394023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.719254154 meters 0.05540814976770275 Centerline is valid? [True, True] Translation: X:481.30, Y:4.52, Z:1.87 [[ 9.99940360e-01 -9.59023435e-03 -5.22526560e-03 4.81296156e+02] [ 9.59040319e-03 9.99954011e-01 7.25638589e-06 4.51803390e+00] [ 5.22495570e-03 -5.73683570e-05 9.99986348e-01 1.87429627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.779254154 meters 0.05551856567362008 Centerline is valid? [True, True] Translation: X:481.36, Y:4.52, Z:1.88 [[ 9.99954833e-01 -8.37626773e-03 -4.49116589e-03 4.81356507e+02] [ 8.37638047e-03 9.99964918e-01 6.29275004e-06 4.51927029e+00] [ 4.49095562e-03 -4.39121801e-05 9.99989915e-01 1.87515793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.839254154 meters 0.05554658205466004 Centerline is valid? [True, True] Translation: X:481.42, Y:4.52, Z:1.88 [[ 9.99939108e-01 -9.75328383e-03 -5.16264312e-03 4.81416838e+02] [ 9.75345120e-03 9.99952434e-01 7.24351448e-06 4.51747802e+00] [ 5.16232691e-03 -5.75966612e-05 9.99986673e-01 1.87502721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.899254154 meters 0.05578478363457707 Centerline is valid? [True, True] Translation: X:481.48, Y:4.51, Z:1.87 [[ 9.99891364e-01 -1.38292400e-02 -5.10020691e-03 4.81477178e+02] [ 1.38294566e-02 9.99904368e-01 7.19699475e-06 4.51137668e+00] [ 5.09961964e-03 -7.77293029e-05 9.99986994e-01 1.87467169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.959254154 meters 0.05546899356590573 Centerline is valid? [True, True] Translation: X:481.54, Y:4.52, Z:1.88 [[ 9.99824691e-01 -1.82336551e-02 -4.25681897e-03 4.81538332e+02] [ 1.82338461e-02 9.99833750e-01 6.03878248e-06 4.51536730e+00] [ 4.25600116e-03 -8.36559055e-05 9.99990940e-01 1.87563289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.019254154 meters 0.05611885783491631 Centerline is valid? [True, True] Translation: X:481.60, Y:4.51, Z:1.88 [[ 9.99665750e-01 -2.56897623e-02 -2.90253525e-03 4.81598574e+02] [ 2.56898826e-02 9.99669961e-01 4.15882960e-06 4.50770194e+00] [ 2.90147046e-03 -7.87232293e-05 9.99995788e-01 1.87622516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.079254154 meters 0.05529590934206262 Centerline is valid? [True, True] Translation: X:481.66, Y:4.50, Z:1.88 [[ 9.99496348e-01 -3.14970373e-02 -3.87130459e-03 4.81659141e+02] [ 3.14972949e-02 9.99503837e-01 5.57009137e-06 4.50353454e+00] [ 3.86920835e-03 -1.27502908e-04 9.99992506e-01 1.87633516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.139254154 meters 0.053799543255265175 Centerline is valid? [True, True] Translation: X:481.72, Y:4.50, Z:1.88 [[ 9.99436610e-01 -3.32610126e-02 -4.49094189e-03 4.81720570e+02] [ 3.32613772e-02 9.99446687e-01 6.49289601e-06 4.50472060e+00] [ 4.48824104e-03 -1.55864150e-04 9.99989916e-01 1.87611911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.199254154 meters 0.05531372481759308 Centerline is valid? [True, True] Translation: X:481.78, Y:4.50, Z:1.88 [[ 9.99543186e-01 -2.97020957e-02 -5.58610491e-03 4.81780137e+02] [ 2.97026046e-02 9.99558780e-01 8.15477509e-06 4.49776327e+00] [ 5.58339800e-03 -1.74072915e-04 9.99984398e-01 1.87574532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.259254154 meters 0.055194828787170115 Centerline is valid? [True, True] Translation: X:481.84, Y:4.50, Z:1.88 [[ 9.99713478e-01 -2.33038304e-02 -5.46751317e-03 4.81840387e+02] [ 2.33042224e-02 9.99728420e-01 7.98353676e-06 4.49781649e+00] [ 5.46584225e-03 -1.35397392e-04 9.99985053e-01 1.87613365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters 0.054928164627663825 Centerline is valid? [True, True] Translation: X:481.90, Y:4.50, Z:1.88 [[ 9.99927315e-01 -1.08276428e-02 -5.30355316e-03 4.81900007e+02] [ 1.08278364e-02 9.99941377e-01 7.78294181e-06 4.50219093e+00] [ 5.30315798e-03 -6.52083820e-05 9.99985936e-01 1.87698657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37925415399997 meters 0.05631145800510354 Centerline is valid? [True, True] Translation: X:481.96, Y:4.51, Z:1.88 [[ 9.99985672e-01 -7.85961255e-04 -5.29509840e-03 4.81959898e+02] [ 7.86013508e-04 9.99999691e-01 7.78701124e-06 4.50617891e+00] [ 5.29509065e-03 -1.19489185e-05 9.99985981e-01 1.87687338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.43925415399997 meters 0.05560252591665355 Centerline is valid? [True, True] Translation: X:482.02, Y:4.51, Z:1.88 [[ 9.99982262e-01 2.19381874e-03 -5.53735349e-03 4.82017951e+02] [-2.19380803e-03 9.99997594e-01 8.00890152e-06 4.50518966e+00] [ 5.53735774e-03 4.13913110e-06 9.99984669e-01 1.87709610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.49925415399997 meters 0.05595100428684179 Centerline is valid? [True, True] Translation: X:482.08, Y:4.50, Z:1.88 [[ 9.99985692e-01 8.90788454e-04 -5.27463252e-03 4.82076596e+02] [-8.90762064e-04 9.99999603e-01 7.35232183e-06 4.50021840e+00] [ 5.27463698e-03 -2.65377408e-06 9.99986089e-01 1.87679758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.559254154 meters 0.05579021424269903 Centerline is valid? [True, True] Translation: X:482.14, Y:4.49, Z:1.88 [[ 9.99970208e-01 -4.71254557e-03 -6.11351628e-03 4.82136260e+02] [ 4.71268474e-03 9.99988895e-01 8.35844570e-06 4.49450815e+00] [ 6.11340900e-03 -3.71692716e-05 9.99981312e-01 1.87677295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.619254154 meters 0.05619120424249996 Centerline is valid? [True, True] Translation: X:482.20, Y:4.48, Z:1.88 [[ 9.99793347e-01 -1.86658614e-02 -8.05287325e-03 4.82197083e+02] [ 1.86665550e-02 9.99825765e-01 1.09702868e-05 4.48323964e+00] [ 8.05126539e-03 -1.61287421e-04 9.99967575e-01 1.87613707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.679254154 meters 0.05617875428007984 Centerline is valid? [True, True] Translation: X:482.26, Y:4.47, Z:1.88 [[ 9.99413672e-01 -3.32445653e-02 -8.19208172e-03 4.82256852e+02] [ 3.32457725e-02 9.99447206e-01 1.11967290e-05 4.47056036e+00] [ 8.18718096e-03 -2.83542249e-04 9.99966444e-01 1.87638169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.739254154 meters 0.05693580357967796 Centerline is valid? [True, True] Translation: X:482.32, Y:4.46, Z:1.88 [[ 9.99119396e-01 -4.13993453e-02 -6.82100354e-03 4.82316036e+02] [ 4.14003723e-02 9.99142637e-01 9.38412667e-06 4.46472117e+00] [ 6.81476696e-03 -2.91767949e-04 9.99976737e-01 1.87776013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.799254154 meters 0.05640226159626897 Centerline is valid? [True, True] Translation: X:482.38, Y:4.46, Z:1.88 [[ 9.98720174e-01 -5.03210459e-02 -5.08005181e-03 4.82376830e+02] [ 5.03217309e-02 9.98733059e-01 7.02570059e-06 4.45840341e+00] [ 5.07326214e-03 -2.62653709e-04 9.99987096e-01 1.87890634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.859254154 meters 0.0567753722688196 Centerline is valid? [True, True] Translation: X:482.44, Y:4.46, Z:1.88 [[ 9.98613402e-01 -5.24573777e-02 -4.41544360e-03 4.82437422e+02] [ 5.24579160e-02 9.98623136e-01 6.10734058e-06 4.45783866e+00] [ 4.40904376e-03 -2.37723842e-04 9.99990252e-01 1.87952807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.919254154 meters 0.055952681536521935 Centerline is valid? [True, True] Translation: X:482.50, Y:4.46, Z:1.88 [[ 9.98404962e-01 -5.63310746e-02 -3.78709554e-03 4.82498225e+02] [ 5.63314984e-02 9.98412120e-01 5.24438155e-06 4.46429937e+00] [ 3.78078666e-03 -2.18568783e-04 9.99992829e-01 1.87933507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.979254154 meters 0.05508994732935676 Centerline is valid? [True, True] Translation: X:482.56, Y:4.47, Z:1.88 [[ 9.98387180e-01 -5.66723548e-02 -3.35908155e-03 4.82559869e+02] [ 5.66726899e-02 9.98392812e-01 4.59001013e-06 4.46687040e+00] [ 3.35342275e-03 -1.94950794e-04 9.99994358e-01 1.87933204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.039254154 meters 0.05496440105897587 Centerline is valid? [True, True] Translation: X:482.62, Y:4.46, Z:1.88 [[ 9.98471281e-01 -5.51364855e-02 -3.88179642e-03 4.82619406e+02] [ 5.51369234e-02 9.98478803e-01 5.80904583e-06 4.46021056e+00] [ 3.87557115e-03 -2.19830477e-04 9.99992466e-01 1.87940295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.099254154 meters 0.05728161572750608 Centerline is valid? [True, True] Translation: X:482.68, Y:4.45, Z:1.88 [[ 9.98661296e-01 -5.13821152e-02 -5.95775604e-03 4.82678934e+02] [ 5.13830800e-02 9.98679017e-01 8.89716946e-06 4.45344043e+00] [ 5.94942879e-03 -3.15013114e-04 9.99982252e-01 1.87810695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.159254154 meters 0.05666027549760287 Centerline is valid? [True, True] Translation: X:482.74, Y:4.46, Z:1.88 [[ 9.98917236e-01 -4.57214865e-02 -8.59662988e-03 4.82739426e+02] [ 4.57232859e-02 9.98954144e-01 1.27929452e-05 4.45828973e+00] [ 8.58705413e-03 -4.05845259e-04 9.99963048e-01 1.87641659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.219254154 meters 0.05597128451034655 Centerline is valid? [True, True] Translation: X:482.80, Y:4.47, Z:1.88 [[ 9.99126765e-01 -4.07561430e-02 -9.20020130e-03 4.82800200e+02] [ 4.07579942e-02 9.99169048e-01 1.37364541e-05 4.46833470e+00] [ 9.19199652e-03 -3.88706211e-04 9.99957677e-01 1.87711914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.279254154 meters 0.05478192777665809 Centerline is valid? [True, True] Translation: X:482.86, Y:4.48, Z:1.88 [[ 9.99481556e-01 -3.12120323e-02 -7.90117420e-03 4.82861007e+02] [ 3.12131005e-02 9.99512752e-01 1.18856671e-05 4.47868533e+00] [ 7.89695340e-03 -2.58499650e-04 9.99968785e-01 1.87909002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.339254154 meters 0.055480635738055624 Centerline is valid? [True, True] Translation: X:482.92, Y:4.48, Z:1.88 [[ 9.99700636e-01 -2.34469188e-02 -6.99146719e-03 4.82920965e+02] [ 2.34475659e-02 9.99725068e-01 1.05922965e-05 4.48237227e+00] [ 6.98929666e-03 -1.74522013e-04 9.99975559e-01 1.87985716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.399254154 meters 0.0558887369102573 Centerline is valid? [True, True] Translation: X:482.98, Y:4.49, Z:1.88 [[ 9.99910860e-01 -1.21962812e-02 -5.43350019e-03 4.82980526e+02] [ 1.21965061e-02 9.99925620e-01 8.26226545e-06 4.48661735e+00] [ 5.43299528e-03 -7.45312474e-05 9.99985238e-01 1.88033263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.459254154 meters 0.05606874842251431 Centerline is valid? [True, True] Translation: X:483.04, Y:4.49, Z:1.88 [[ 9.99983773e-01 -3.44872744e-03 -4.53441808e-03 4.83040116e+02] [ 3.44879425e-03 9.99994053e-01 6.91538176e-06 4.49192895e+00] [ 4.53436727e-03 -2.25535445e-05 9.99989719e-01 1.88147587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.519254154 meters 0.05607514596314667 Centerline is valid? [True, True] Translation: X:483.10, Y:4.50, Z:1.88 [[ 9.99986762e-01 1.03629307e-03 -5.04008889e-03 4.83099111e+02] [-1.03626826e-03 9.99999463e-01 7.53353864e-06 4.49539209e+00] [ 5.04009399e-03 -2.31055477e-06 9.99987299e-01 1.88148276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.579254154 meters 0.055688792382738356 Centerline is valid? [True, True] Translation: X:483.16, Y:4.50, Z:1.88 [[ 9.99977728e-01 1.59499866e-03 -6.48063417e-03 4.83156738e+02] [-1.59497355e-03 9.99998728e-01 9.04315725e-06 4.49512491e+00] [ 6.48064035e-03 1.29348424e-06 9.99979000e-01 1.88034353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.639254154 meters 0.055877199599038745 Centerline is valid? [True, True] Translation: X:483.22, Y:4.49, Z:1.88 [[ 9.99979498e-01 -3.59523406e-04 -6.39323502e-03 4.83215530e+02] [ 3.59586388e-04 9.99999935e-01 8.70173158e-06 4.49196887e+00] [ 6.39323148e-03 -1.10004735e-05 9.99979563e-01 1.88071361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.699254154 meters 0.05640438423919063 Centerline is valid? [True, True] Translation: X:483.27, Y:4.49, Z:1.88 [[ 9.99973575e-01 -2.65056177e-03 -6.76938672e-03 4.83273244e+02] [ 2.65068340e-03 9.99996487e-01 8.99518235e-06 4.48844624e+00] [ 6.76933909e-03 -2.69384457e-05 9.99977087e-01 1.88057713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.759254154 meters 0.055635634879845866 Centerline is valid? [True, True] Translation: X:483.33, Y:4.49, Z:1.88 [[ 9.99972271e-01 -3.93541613e-03 -6.32210831e-03 4.83331840e+02] [ 3.93554610e-03 9.99992256e-01 8.11734032e-06 4.48557505e+00] [ 6.32202740e-03 -3.29980639e-05 9.99980015e-01 1.88089531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters 0.055882042558082476 Centerline is valid? [True, True] Translation: X:483.39, Y:4.48, Z:1.88 [[ 9.99962982e-01 -5.78828224e-03 -6.36641519e-03 4.83390382e+02] [ 5.78844966e-03 9.99983247e-01 7.87124702e-06 4.48304516e+00] [ 6.36626298e-03 -4.47226295e-05 9.99979734e-01 1.88155147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87925415399997 meters 0.05628915224685018 Centerline is valid? [True, True] Translation: X:483.45, Y:4.48, Z:1.88 [[ 9.99922883e-01 -1.02166392e-02 -7.06036280e-03 4.83448769e+02] [ 1.02169538e-02 9.99947806e-01 8.50384317e-06 4.47568340e+00] [ 7.05990741e-03 -8.06385882e-05 9.99975075e-01 1.88202681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.93925415399997 meters 0.05663114491459785 Centerline is valid? [True, True] Translation: X:483.51, Y:4.46, Z:1.88 [[ 9.99858102e-01 -1.56528006e-02 -6.22614212e-03 4.83509344e+02] [ 1.56531502e-02 9.99877482e-01 7.42982607e-06 4.46472412e+00] [ 6.22526301e-03 -1.04887510e-04 9.99980617e-01 1.88195461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.99925415399997 meters 0.05636720584597867 Centerline is valid? [True, True] Translation: X:483.57, Y:4.47, Z:1.88 [[ 9.99807048e-01 -1.84930967e-02 -6.62354223e-03 4.83570248e+02] [ 1.84935551e-02 9.99828980e-01 7.95888803e-06 4.46580313e+00] [ 6.62226228e-03 -1.30450196e-04 9.99978064e-01 1.88255492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.059254154 meters 0.057396328117736053 Centerline is valid? [True, True] Translation: X:483.63, Y:4.45, Z:1.88 [[ 9.99803200e-01 -1.82552994e-02 -7.76559874e-03 4.83631816e+02] [ 1.82559234e-02 9.99833347e-01 9.46462781e-06 4.45456349e+00] [ 7.76413179e-03 -1.51230941e-04 9.99969847e-01 1.88081113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.119254154 meters 0.05665595081513233 Centerline is valid? [True, True] Translation: X:483.69, Y:4.46, Z:1.88 [[ 9.99836259e-01 -1.61601185e-02 -8.14279400e-03 4.83692082e+02] [ 1.61607359e-02 9.99869407e-01 1.00268747e-05 4.45764962e+00] [ 8.14156857e-03 -1.41618776e-04 9.99966847e-01 1.88166067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.179254154 meters 0.05596707721525052 Centerline is valid? [True, True] Translation: X:483.75, Y:4.46, Z:1.88 [[ 9.99874022e-01 -1.29453770e-02 -9.18458142e-03 4.83752822e+02] [ 1.29460273e-02 9.99916197e-01 1.13540493e-05 4.46049452e+00] [ 9.18366474e-03 -1.30256461e-04 9.99957821e-01 1.88240485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.239254154 meters 0.056849650215683896 Centerline is valid? [True, True] Translation: X:483.81, Y:4.46, Z:1.88 [[ 9.99875540e-01 -1.19958690e-02 -1.02471002e-02 4.83811616e+02] [ 1.19966273e-02 9.99928038e-01 1.25447142e-05 4.45756809e+00] [ 1.02462123e-02 -1.35473796e-04 9.99947497e-01 1.88176998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.299254154 meters 0.05644525946313564 Centerline is valid? [True, True] Translation: X:483.87, Y:4.46, Z:1.88 [[ 9.99862505e-01 -1.24859935e-02 -1.09119682e-02 4.83870729e+02] [ 1.24868725e-02 9.99922036e-01 1.24223448e-05 4.45667090e+00] [ 1.09109624e-02 -1.48676993e-04 9.99940463e-01 1.88276141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.359254154 meters 0.05672084915274128 Centerline is valid? [True, True] Translation: X:483.93, Y:4.45, Z:1.88 [[ 9.99842491e-01 -1.39643223e-02 -1.09540012e-02 4.83928879e+02] [ 1.39652883e-02 9.99902481e-01 1.17018707e-05 4.45338848e+00] [ 1.09527696e-02 -1.64675813e-04 9.99940003e-01 1.88315472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.419254154 meters 0.056963421441392666 Centerline is valid? [True, True] Translation: X:483.99, Y:4.45, Z:1.88 [[ 9.99797125e-01 -1.64253705e-02 -1.16583305e-02 4.83987327e+02] [ 1.64266278e-02 9.99865074e-01 1.20898585e-05 4.44973638e+00] [ 1.16565589e-02 -2.03594461e-04 9.99932039e-01 1.88296388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.479254154 meters 0.05692600838853617 Centerline is valid? [True, True] Translation: X:484.05, Y:4.45, Z:1.88 [[ 9.99760135e-01 -1.87388301e-02 -1.13370622e-02 4.84046901e+02] [ 1.87401652e-02 9.99824388e-01 1.15382716e-05 4.45095210e+00] [ 1.13348550e-02 -2.23993923e-04 9.99935733e-01 1.88495259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.539254154 meters 0.057268354834271486 Centerline is valid? [True, True] Translation: X:484.11, Y:4.44, Z:1.89 [[ 9.99716688e-01 -2.15863015e-02 -1.00287277e-02 4.84106548e+02] [ 2.15874883e-02 9.99766963e-01 1.00959345e-05 4.44439905e+00] [ 1.00261727e-02 -2.26588117e-04 9.99949711e-01 1.88504065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.599254154 meters 0.05764457162822987 Centerline is valid? [True, True] Translation: X:484.17, Y:4.44, Z:1.89 [[ 9.99692673e-01 -2.32918680e-02 -8.48813571e-03 4.84166938e+02] [ 2.32927797e-02 9.99728686e-01 8.55338361e-06 4.44147330e+00] [ 8.48563354e-03 -2.06263030e-04 9.99963975e-01 1.88702226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.659254154 meters 0.05869296384534908 Centerline is valid? [True, True] Translation: X:484.23, Y:4.44, Z:1.89 [[ 9.99675626e-01 -2.41407109e-02 -8.11592548e-03 4.84227186e+02] [ 2.41415734e-02 9.99708550e-01 8.30102075e-06 4.43807263e+00] [ 8.11335970e-03 -2.04229539e-04 9.99967065e-01 1.88771632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.719254154 meters 0.05740387029746393 Centerline is valid? [True, True] Translation: X:484.29, Y:4.45, Z:1.89 [[ 9.99607841e-01 -2.67190221e-02 -8.38205742e-03 4.84288696e+02] [ 2.67200343e-02 9.99642956e-01 8.77850517e-06 4.44713909e+00] [ 8.37883010e-03 -2.32743924e-04 9.99964870e-01 1.88934706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.779254154 meters 0.05773530451558696 Centerline is valid? [True, True] Translation: X:484.35, Y:4.44, Z:1.89 [[ 9.99569979e-01 -2.79641684e-02 -8.82397130e-03 4.84349652e+02] [ 2.79653407e-02 9.99608893e-01 9.47598206e-06 4.44213719e+00] [ 8.82025519e-03 -2.56237271e-04 9.99961068e-01 1.88841496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.839254154 meters 0.05744631649862171 Centerline is valid? [True, True] Translation: X:484.41, Y:4.44, Z:1.89 [[ 9.99407289e-01 -3.29082170e-02 -1.01054309e-02 4.84411143e+02] [ 3.29100090e-02 9.99458319e-01 1.10449263e-05 4.43910232e+00] [ 1.00995935e-02 -3.43608201e-04 9.99948939e-01 1.88760212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.899254154 meters 0.056315495322467046 Centerline is valid? [True, True] Translation: X:484.47, Y:4.45, Z:1.89 [[ 9.99212907e-01 -3.83979493e-02 -9.95812840e-03 4.84472408e+02] [ 3.83999629e-02 9.99262449e-01 1.10183305e-05 4.44738680e+00] [ 9.95036070e-03 -3.93401419e-04 9.99950417e-01 1.88893994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.959254154 meters 0.056695547554911054 Centerline is valid? [True, True] Translation: X:484.53, Y:4.44, Z:1.89 [[ 9.99119493e-01 -4.07423693e-02 -1.00149175e-02 4.84532454e+02] [ 4.07445241e-02 9.99169597e-01 1.11384783e-05 4.44078808e+00] [ 1.00061473e-02 -4.19181719e-04 9.99949849e-01 1.88787384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.019254154 meters 0.05745488756116207 Centerline is valid? [True, True] Translation: X:484.59, Y:4.44, Z:1.89 [[ 9.99114570e-01 -4.11304024e-02 -8.85244269e-03 4.84594123e+02] [ 4.11321023e-02 9.99153717e-01 9.96684738e-06 4.44284105e+00] [ 8.84454108e-03 -3.74077601e-04 9.99960816e-01 1.88856499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.079254154 meters 0.05759949715186036 Centerline is valid? [True, True] Translation: X:484.65, Y:4.44, Z:1.89 [[ 9.99253143e-01 -3.81777300e-02 -5.96804328e-03 4.84653597e+02] [ 3.81784503e-02 9.99270937e-01 6.77020500e-06 4.44478738e+00] [ 5.96343373e-03 -2.34615792e-04 9.99982191e-01 1.89056892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.139254154 meters 0.057785090302615756 Centerline is valid? [True, True] Translation: X:484.71, Y:4.44, Z:1.89 [[ 9.99395911e-01 -3.42431584e-02 -5.93459436e-03 4.84713503e+02] [ 3.42438012e-02 9.99413509e-01 6.70357807e-06 4.44427472e+00] [ 5.93088422e-03 -2.09922598e-04 9.99982390e-01 1.89084424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.199254154 meters 0.05747907430651638 Centerline is valid? [True, True] Translation: X:484.77, Y:4.45, Z:1.89 [[ 9.99541231e-01 -2.97767602e-02 -5.53821802e-03 4.84773651e+02] [ 2.97772515e-02 9.99556559e-01 6.25806138e-06 4.44770055e+00] [ 5.53557580e-03 -1.71168101e-04 9.99984664e-01 1.89067236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.259254154 meters 0.05736074354783769 Centerline is valid? [True, True] Translation: X:484.83, Y:4.45, Z:1.89 [[ 9.99746562e-01 -2.15365778e-02 -6.55656094e-03 4.84834584e+02] [ 2.15370894e-02 9.99768050e-01 7.42552762e-06 4.45252676e+00] [ 6.55488022e-03 -1.48632885e-04 9.99978505e-01 1.88962616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters 0.0562988997292629 Centerline is valid? [True, True] Translation: X:484.90, Y:4.46, Z:1.89 [[ 9.99874150e-01 -1.38671978e-02 -7.70620236e-03 4.84895517e+02] [ 1.38676770e-02 9.99903839e-01 8.74848103e-06 4.46441457e+00] [ 7.70534001e-03 -1.15614505e-04 9.99970307e-01 1.88932206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37925415399997 meters 0.05599307057097935 Centerline is valid? [True, True] Translation: X:484.96, Y:4.47, Z:1.89 [[ 9.99930764e-01 -7.71637587e-03 -8.88391626e-03 4.84955301e+02] [ 7.71677002e-03 9.99970225e-01 1.00884235e-05 4.46824522e+00] [ 8.88357390e-03 -7.86428637e-05 9.99960537e-01 1.88902839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.43925415399997 meters 0.05611067100769257 Centerline is valid? [True, True] Translation: X:485.01, Y:4.47, Z:1.89 [[ 9.99949570e-01 -5.63069383e-03 -8.31581170e-03 4.85014629e+02] [ 5.63096644e-03 9.99984146e-01 9.36904125e-06 4.47021512e+00] [ 8.31562711e-03 -5.61946254e-05 9.99965423e-01 1.88924087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.49925415399997 meters 0.0555109723261848 Centerline is valid? [True, True] Translation: X:485.07, Y:4.47, Z:1.89 [[ 9.99951535e-01 -6.15042369e-03 -7.68769467e-03 4.85073025e+02] [ 6.15066760e-03 9.99981084e-01 8.08422259e-06 4.47202412e+00] [ 7.68749953e-03 -5.53682853e-05 9.99970449e-01 1.89057721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.559254154 meters 0.056554385884819876 Centerline is valid? [True, True] Translation: X:485.13, Y:4.47, Z:1.89 [[ 9.99890780e-01 -1.20419753e-02 -8.56845220e-03 4.85132026e+02] [ 1.20424892e-02 9.99927487e-01 8.37838693e-06 4.46704346e+00] [ 8.56772998e-03 -1.11562965e-04 9.99963290e-01 1.88960271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.619254154 meters 0.056351220606104126 Centerline is valid? [True, True] Translation: X:485.19, Y:4.47, Z:1.89 [[ 9.99790985e-01 -1.85608033e-02 -8.57222241e-03 4.85192574e+02] [ 1.85615567e-02 9.99827719e-01 8.32996472e-06 4.46533216e+00] [ 8.57059098e-03 -1.67442016e-04 9.99963258e-01 1.89098986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.679254154 meters 0.05602481345236804 Centerline is valid? [True, True] Translation: X:485.25, Y:4.46, Z:1.89 [[ 9.99604084e-01 -2.71748640e-02 -7.29393484e-03 4.85253286e+02] [ 2.71756386e-02 9.99630674e-01 7.08705015e-06 4.46044594e+00] [ 7.29104841e-03 -2.05301581e-04 9.99973399e-01 1.89190321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.739254154 meters 0.05616243059363165 Centerline is valid? [True, True] Translation: X:485.31, Y:4.46, Z:1.89 [[ 9.99541465e-01 -2.93446189e-02 -7.46679059e-03 4.85313155e+02] [ 2.93454924e-02 9.99569328e-01 7.42446130e-06 4.45500436e+00] [ 7.46335699e-03 -2.26537703e-04 9.99972123e-01 1.89218249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.799254154 meters 0.056682400869350544 Centerline is valid? [True, True] Translation: X:485.37, Y:4.46, Z:1.89 [[ 9.99625036e-01 -2.64080203e-02 -7.23901148e-03 4.85373734e+02] [ 2.64087654e-02 9.99651228e-01 7.35536529e-06 4.45867370e+00] [ 7.23629247e-03 -1.98525963e-04 9.99973798e-01 1.89301394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.859254154 meters 0.056613208467415584 Centerline is valid? [True, True] Translation: X:485.43, Y:4.46, Z:1.89 [[ 9.99840825e-01 -1.63864506e-02 -7.05754127e-03 4.85433835e+02] [ 1.63869094e-02 9.99865726e-01 7.19605971e-06 4.45987364e+00] [ 7.05647570e-03 -1.22846204e-04 9.99975095e-01 1.89301782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.919254154 meters 0.05643068553351641 Centerline is valid? [True, True] Translation: X:485.49, Y:4.47, Z:1.89 [[ 9.99963729e-01 -4.50530012e-03 -7.22792528e-03 4.85494470e+02] [ 4.50547128e-03 9.99989850e-01 7.39761406e-06 4.46678284e+00] [ 7.22781859e-03 -3.99625555e-05 9.99973878e-01 1.89426900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.979254154 meters 0.056881453825155845 Centerline is valid? [True, True] Translation: X:485.55, Y:4.47, Z:1.89 [[ 9.99967448e-01 1.64706487e-03 -7.89875252e-03 4.85553166e+02] [-1.64705578e-03 9.99998644e-01 7.65577657e-06 4.46772504e+00] [ 7.89875442e-03 5.35415862e-06 9.99968804e-01 1.89398624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.039254154 meters 0.05668064456936333 Centerline is valid? [True, True] Translation: X:485.61, Y:4.47, Z:1.89 [[ 9.99937011e-01 6.24561995e-03 -9.32552031e-03 4.85611287e+02] [-6.24581790e-03 9.99980495e-01 7.89684893e-06 4.46851291e+00] [ 9.32538773e-03 5.03491501e-05 9.99956516e-01 1.89170593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.099254154 meters 0.05699796109828449 Centerline is valid? [True, True] Translation: X:485.67, Y:4.46, Z:1.89 [[ 9.99932823e-01 5.92401441e-03 -9.96267828e-03 4.85669597e+02] [-5.92423148e-03 9.99982452e-01 7.72275549e-06 4.46398083e+00] [ 9.96254920e-03 5.12989757e-05 9.99950371e-01 1.89190823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.159254154 meters 0.05716327333582563 Centerline is valid? [True, True] Translation: X:485.73, Y:4.46, Z:1.89 [[ 9.99937340e-01 4.37979848e-03 -1.03020961e-02 4.85727924e+02] [-4.37995237e-03 9.99990408e-01 7.62362092e-06 4.45974162e+00] [ 1.03020307e-02 3.74995471e-05 9.99946932e-01 1.89244191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.219254154 meters 0.05685768705577654 Centerline is valid? [True, True] Translation: X:485.79, Y:4.45, Z:1.89 [[ 9.99949899e-01 1.70135395e-03 -9.86432505e-03 4.85785835e+02] [-1.70136788e-03 9.99998553e-01 6.97925599e-06 4.45305667e+00] [ 9.86432265e-03 9.80393946e-06 9.99951346e-01 1.89246753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.279254154 meters 0.057258346388539966 Centerline is valid? [True, True] Translation: X:485.84, Y:4.44, Z:1.90 [[ 9.99960449e-01 -2.42537912e-03 -8.55678406e-03 4.85844423e+02] [ 2.42551750e-03 9.99997058e-01 5.79381663e-06 4.44456401e+00] [ 8.55674483e-03 -2.65482169e-05 9.99963390e-01 1.89531770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.339254154 meters 0.056932094053138156 Centerline is valid? [True, True] Translation: X:485.90, Y:4.43, Z:1.90 [[ 9.99940969e-01 -7.99155077e-03 -7.36157122e-03 4.85902813e+02] [ 7.99180261e-03 9.99968065e-01 4.79373073e-06 4.43374262e+00] [ 7.36129782e-03 -6.36256718e-05 9.99972903e-01 1.89604317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.399254154 meters 0.05877692224698364 Centerline is valid? [True, True] Translation: X:485.96, Y:4.42, Z:1.90 [[ 9.99893094e-01 -1.27653636e-02 -7.13063944e-03 4.85962434e+02] [ 1.27657206e-02 9.99918515e-01 4.54787950e-06 4.42368833e+00] [ 7.13000035e-03 -9.55751438e-05 9.99974577e-01 1.89669472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.459254154 meters 0.05788849066417448 Centerline is valid? [True, True] Translation: X:486.02, Y:4.42, Z:1.90 [[ 9.99851012e-01 -1.56604932e-02 -7.25968146e-03 4.86022744e+02] [ 1.56609395e-02 9.99877360e-01 4.62227903e-06 4.42361641e+00] [ 7.25871874e-03 -1.18315022e-04 9.99973648e-01 1.89760571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.519254154 meters 0.059217345531351426 Centerline is valid? [True, True] Translation: X:486.08, Y:4.41, Z:1.90 [[ 9.99783443e-01 -1.93968139e-02 -7.53865732e-03 4.86083396e+02] [ 1.93974014e-02 9.99811853e-01 4.82603393e-06 4.40813003e+00] [ 7.53714534e-03 -1.51055351e-04 9.99971584e-01 1.89587518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.579254154 meters 0.05774364126859736 Centerline is valid? [True, True] Translation: X:486.14, Y:4.41, Z:1.90 [[ 9.99745599e-01 -2.11727421e-02 -7.77511447e-03 4.86144178e+02] [ 2.11734212e-02 9.99775818e-01 5.03502281e-06 4.41089723e+00] [ 7.77326483e-03 -1.69659516e-04 9.99969773e-01 1.89744396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.639254154 meters 0.058129960014481195 Centerline is valid? [True, True] Translation: X:486.21, Y:4.41, Z:1.90 [[ 9.99721160e-01 -2.19954731e-02 -8.59072580e-03 4.86205409e+02] [ 2.19963334e-02 9.99758051e-01 5.65834775e-06 4.40597079e+00] [ 8.58852283e-03 -1.94621239e-04 9.99963099e-01 1.89822600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.699254154 meters 0.05825604872283566 Centerline is valid? [True, True] Translation: X:486.27, Y:4.40, Z:1.90 [[ 9.99720733e-01 -2.21823523e-02 -8.14852103e-03 4.86265758e+02] [ 2.21831332e-02 9.99753924e-01 5.45185511e-06 4.39931151e+00] [ 8.14639494e-03 -1.86210060e-04 9.99966800e-01 1.89707147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.759254154 meters 0.05939246895196153 Centerline is valid? [True, True] Translation: X:486.33, Y:4.39, Z:1.90 [[ 9.99762891e-01 -2.01012408e-02 -8.37274199e-03 4.86326054e+02] [ 2.01019926e-02 9.99797935e-01 5.63449986e-06 4.39445758e+00] [ 8.37093689e-03 -1.73941961e-04 9.99964948e-01 1.89679132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81925415399996 meters 0.05880839635426545 Centerline is valid? [True, True] Translation: X:486.39, Y:4.40, Z:1.90 [[ 9.99809874e-01 -1.75151759e-02 -8.56940502e-03 4.86386031e+02] [ 1.75158684e-02 9.99846585e-01 5.76684572e-06 4.39902266e+00] [ 8.56798934e-03 -1.55866320e-04 9.99963282e-01 1.89961965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87925415399997 meters 0.05896006555059938 Centerline is valid? [True, True] Translation: X:486.45, Y:4.39, Z:1.90 [[ 9.99841893e-01 -1.54949634e-02 -8.72328036e-03 4.86445523e+02] [ 1.54956039e-02 9.99879936e-01 5.83517277e-06 4.39122797e+00] [ 8.72214259e-03 -1.41006747e-04 9.99961951e-01 1.89957426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.93925415399997 meters 0.0590366263219727 Centerline is valid? [True, True] Translation: X:486.50, Y:4.39, Z:1.90 [[ 9.99831174e-01 -1.60308057e-02 -8.97975835e-03 4.86504095e+02] [ 1.60315012e-02 9.99871487e-01 5.47656899e-06 4.38719602e+00] [ 8.97851655e-03 -1.49434651e-04 9.99959681e-01 1.90026303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.99925415399997 meters 0.05930358108003721 Centerline is valid? [True, True] Translation: X:486.56, Y:4.39, Z:1.90 [[ 9.99808182e-01 -1.71960907e-02 -9.37517122e-03 4.86563543e+02] [ 1.71968954e-02 9.99852122e-01 5.22519762e-06 4.39053269e+00] [ 9.37369499e-03 -1.66448034e-04 9.99956052e-01 1.90259660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.059254154 meters 0.060256363158155274 Centerline is valid? [True, True] Translation: X:486.62, Y:4.38, Z:1.90 [[ 9.99743800e-01 -2.03042519e-02 -1.00036100e-02 4.86622227e+02] [ 2.03053221e-02 9.99793826e-01 5.41844632e-06 4.37715397e+00] [ 1.00014375e-02 -2.08543581e-04 9.99949963e-01 1.90046198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.119254154 meters 0.060077174959820796 Centerline is valid? [True, True] Translation: X:486.68, Y:4.38, Z:1.90 [[ 9.99625964e-01 -2.51427342e-02 -1.07599003e-02 4.86682108e+02] [ 2.51442521e-02 9.99683833e-01 5.78857271e-06 4.37811462e+00] [ 1.07563528e-02 -2.76336053e-04 9.99942111e-01 1.90275411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.179254154 meters 0.059374291815312716 Centerline is valid? [True, True] Translation: X:486.74, Y:4.38, Z:1.90 [[ 9.99489605e-01 -2.97050907e-02 -1.17532009e-02 4.86742618e+02] [ 2.97072170e-02 9.99558643e-01 6.32995643e-06 4.37677894e+00] [ 1.17478255e-02 -3.55481614e-04 9.99930929e-01 1.90413989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.239254154 meters 0.06090477724690458 Centerline is valid? [True, True] Translation: X:486.80, Y:4.37, Z:1.90 [[ 9.99192935e-01 -3.81374897e-02 -1.26099154e-02 4.86802428e+02] [ 3.81406082e-02 9.99272382e-01 6.83135068e-06 4.36541548e+00] [ 1.26004796e-02 -4.87775679e-04 9.99920492e-01 1.90438700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.299254154 meters 0.05944021043197625 Centerline is valid? [True, True] Translation: X:486.86, Y:4.37, Z:1.91 [[ 9.98733485e-01 -4.85488338e-02 -1.32074216e-02 4.86863305e+02] [ 4.85531635e-02 9.98820600e-01 7.18945744e-06 4.37163188e+00] [ 1.31914957e-02 -6.48442452e-04 9.99912778e-01 1.90723638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.359254154 meters 0.060356258504017504 Centerline is valid? [True, True] Translation: X:486.92, Y:4.37, Z:1.91 [[ 9.98366295e-01 -5.55101312e-02 -1.35412990e-02 4.86924294e+02] [ 5.55153234e-02 9.98457835e-01 7.54879870e-06 4.36939270e+00] [ 1.35199971e-02 -7.59286059e-04 9.99908312e-01 1.90805938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.419254154 meters 0.07303143313961838 Centerline is valid? [True, True] Translation: X:486.98, Y:4.33, Z:1.90 [[ 9.97878988e-01 -6.35091768e-02 -1.42867016e-02 4.86983554e+02] [ 6.35157756e-02 9.97980835e-01 8.15989129e-06 4.33341802e+00] [ 1.42573362e-02 -9.15573517e-04 9.99897940e-01 1.90311646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.479254154 meters 0.07735658189625232 Centerline is valid? [True, True] Translation: X:487.04, Y:4.33, Z:1.90 [[ 9.97553263e-01 -6.84886952e-02 -1.40280648e-02 4.87043918e+02] [ 6.84955476e-02 9.97651422e-01 8.04028075e-06 4.32828010e+00] [ 1.39945681e-02 -9.68880586e-04 9.99901602e-01 1.90306014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.539254154 meters 0.086748519192236 Centerline is valid? [True, True] Translation: X:487.10, Y:4.32, Z:1.90 [[ 9.97489050e-01 -6.94491820e-02 -1.38710650e-02 4.87103893e+02] [ 6.94559731e-02 9.97585018e-01 7.87008058e-06 4.31670983e+00] [ 1.38370200e-02 -9.71278635e-04 9.99903792e-01 1.90258919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.599254154 meters 0.05958436151776831 Centerline is valid? [True, True] Translation: X:487.16, Y:4.39, Z:1.91 [[ 9.97599742e-01 -6.78875521e-02 -1.36394913e-02 4.87164336e+02] [ 6.78939737e-02 9.97692542e-01 7.78744287e-06 4.38837291e+00] [ 1.36074901e-02 -9.33808016e-04 9.99906978e-01 1.91154133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.659254154 meters 0.058184561523334476 Centerline is valid? [True, True] Translation: X:487.23, Y:4.40, Z:1.91 [[ 9.97779407e-01 -6.51298121e-02 -1.39414105e-02 4.87225378e+02] [ 6.51362547e-02 9.97876379e-01 8.07250991e-06 4.40160924e+00] [ 1.39112784e-02 -9.16145847e-04 9.99902814e-01 1.91283098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.719254154 meters 0.056852974052313585 Centerline is valid? [True, True] Translation: X:487.29, Y:4.42, Z:1.91 [[ 9.98134178e-01 -5.94533551e-02 -1.39090124e-02 4.87286453e+02] [ 5.94592202e-02 9.98230735e-01 8.15988568e-06 4.41784791e+00] [ 1.38839185e-02 -8.35163690e-04 9.99903265e-01 1.91435401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.779254154 meters 0.05987268320946605 Centerline is valid? [True, True] Translation: X:487.35, Y:4.41, Z:1.91 [[ 9.98596055e-01 -5.10804017e-02 -1.40253856e-02 4.87345914e+02] [ 5.10855408e-02 9.98694281e-01 8.15588473e-06 4.40824542e+00] [ 1.40066557e-02 -7.24638840e-04 9.99901639e-01 1.91172368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.839254154 meters 0.059594598935637275 Centerline is valid? [True, True] Translation: X:487.41, Y:4.41, Z:1.91 [[ 9.98922560e-01 -4.43342983e-02 -1.37182191e-02 4.87406080e+02] [ 4.43385792e-02 9.99016562e-01 7.92555343e-06 4.41225132e+00] [ 1.37043767e-02 -6.16163357e-04 9.99905901e-01 1.91148504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.899254154 meters 0.057546838404532265 Centerline is valid? [True, True] Translation: X:487.47, Y:4.43, Z:1.91 [[ 9.99340060e-01 -3.40104554e-02 -1.27566634e-02 4.87466592e+02] [ 3.40133172e-02 9.99421380e-01 7.38636165e-06 4.42589846e+00] [ 1.27490309e-02 -4.41277926e-04 9.99918630e-01 1.91295599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.959254154 meters 0.0581880104227717 Centerline is valid? [True, True] Translation: X:487.53, Y:4.43, Z:1.91 [[ 9.99569631e-01 -2.68486654e-02 -1.18195472e-02 4.87526002e+02] [ 2.68506216e-02 9.99639457e-01 6.82774431e-06 4.42971653e+00] [ 1.18151025e-02 -3.24186996e-04 9.99930147e-01 1.91301772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.019254154 meters 0.05745258323960059 Centerline is valid? [True, True] Translation: X:487.59, Y:4.44, Z:1.91 [[ 9.99817454e-01 -1.65429548e-02 -9.55979000e-03 4.87586572e+02] [ 1.65437634e-02 9.99863143e-01 5.50504670e-06 4.44003444e+00] [ 9.55839060e-03 -1.63658945e-04 9.99954304e-01 1.91351924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.079254154 meters 0.05722268809428512 Centerline is valid? [True, True] Translation: X:487.65, Y:4.45, Z:1.91 [[ 9.99908391e-01 -9.20023537e-03 -9.92800125e-03 4.87645586e+02] [ 9.20074455e-03 9.99957672e-01 5.61363832e-06 4.44856317e+00] [ 9.92752937e-03 -9.69581274e-05 9.99950716e-01 1.91480488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.139254154 meters 0.0574673717410481 Centerline is valid? [True, True] Translation: X:487.70, Y:4.45, Z:1.91 [[ 9.99914727e-01 -8.12194864e-03 -1.02260453e-02 4.87704917e+02] [ 8.12243090e-03 9.99967013e-01 5.62897654e-06 4.44842630e+00] [ 1.02256623e-02 -8.86888430e-05 9.99947713e-01 1.91287334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.199254154 meters 0.0582402255305157 Centerline is valid? [True, True] Translation: X:487.76, Y:4.44, Z:1.91 [[ 9.99885918e-01 -1.15305890e-02 -9.75684349e-03 4.87763977e+02] [ 1.15311889e-02 9.99933514e-01 5.23268311e-06 4.44160986e+00] [ 9.75613446e-03 -1.17740092e-04 9.99952401e-01 1.90984191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.259254154 meters 0.05788329956978914 Centerline is valid? [True, True] Translation: X:487.82, Y:4.44, Z:1.91 [[ 9.99791295e-01 -1.89459083e-02 -7.64317649e-03 4.87824426e+02] [ 1.89464927e-02 9.99820499e-01 4.05330945e-06 4.44453637e+00] [ 7.64172774e-03 -1.48863851e-04 9.99970790e-01 1.91240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31925415399996 meters 0.05843528402327136 Centerline is valid? [True, True] Translation: X:487.88, Y:4.44, Z:1.91 [[ 9.99696822e-01 -2.33845520e-02 -7.70888896e-03 4.87884807e+02] [ 2.33852786e-02 9.99726527e-01 4.11909036e-06 4.43815135e+00] [ 7.70668446e-03 -1.84392358e-04 9.99970286e-01 1.91188304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37925415399997 meters 0.05769890088698247 Centerline is valid? [True, True] Translation: X:487.95, Y:4.44, Z:1.91 [[ 9.99532215e-01 -2.98229154e-02 -6.77830985e-03 4.87946305e+02] [ 2.98236256e-02 9.99555177e-01 3.68703286e-06 4.44141362e+00] [ 6.77518474e-03 -2.05839083e-04 9.99977027e-01 1.91195030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.43925415399997 meters 0.05881507534719776 Centerline is valid? [True, True] Translation: X:488.01, Y:4.43, Z:1.91 [[ 9.99423489e-01 -3.33460491e-02 -6.38208459e-03 4.88005757e+02] [ 3.33467509e-02 9.99443842e-01 3.55308105e-06 4.43262605e+00] [ 6.37841666e-03 -2.16372817e-04 9.99979634e-01 1.91140335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.49925415399997 meters 0.05803754786171341 Centerline is valid? [True, True] Translation: X:488.07, Y:4.43, Z:1.91 [[ 9.99356744e-01 -3.54434145e-02 -5.46470188e-03 4.88066628e+02] [ 3.54439608e-02 9.99371665e-01 3.11226579e-06 4.43366189e+00] [ 5.46115791e-03 -1.96800943e-04 9.99985068e-01 1.91115593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.559254154 meters 0.05612069622350938 Centerline is valid? [True, True] Translation: X:488.13, Y:4.44, Z:1.91 [[ 9.99282443e-01 -3.75754725e-02 -4.76266086e-03 4.88127612e+02] [ 3.75759119e-02 9.99293776e-01 2.78210613e-06 4.44495821e+00] [ 4.75919281e-03 -1.81741435e-04 9.99988658e-01 1.91141038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.619254154 meters 0.056397885507468236 Centerline is valid? [True, True] Translation: X:488.19, Y:4.45, Z:1.91 [[ 9.99207425e-01 -3.95803608e-02 -4.23282449e-03 4.88188493e+02] [ 3.95807262e-02 9.99216376e-01 2.54827430e-06 4.44782165e+00] [ 4.22940668e-03 -1.70084522e-04 9.99991042e-01 1.91051004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.679254154 meters 0.056017458950262285 Centerline is valid? [True, True] Translation: X:488.25, Y:4.45, Z:1.91 [[ 9.99105087e-01 -4.20341387e-02 -4.70702787e-03 4.88248236e+02] [ 4.20346182e-02 9.99116155e-01 2.93002315e-06 4.44529434e+00] [ 4.70274443e-03 -2.00785520e-04 9.99988922e-01 1.90889570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.739254154 meters 0.059250177288259466 Centerline is valid? [True, True] Translation: X:488.31, Y:4.43, Z:1.91 [[ 9.99137810e-01 -4.11378110e-02 -5.59617617e-03 4.88309193e+02] [ 4.11384756e-02 9.99153455e-01 3.66218754e-06 4.43393006e+00] [ 5.59128810e-03 -2.33877187e-04 9.99984341e-01 1.90802251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.799254154 meters 0.06023089091118723 Centerline is valid? [True, True] Translation: X:488.37, Y:4.43, Z:1.91 [[ 9.99239300e-01 -3.85057526e-02 -6.17481520e-03 4.88369386e+02] [ 3.85065122e-02 9.99258349e-01 4.13941325e-06 4.43470741e+00] [ 6.17007625e-03 -2.41906861e-04 9.99980936e-01 1.90777603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.859254154 meters 0.057514995302759025 Centerline is valid? [True, True] Translation: X:488.43, Y:4.45, Z:1.91 [[ 9.99345844e-01 -3.58025754e-02 -5.10477726e-03 4.88430466e+02] [ 3.58030593e-02 9.99358865e-01 3.42780861e-06 4.44911866e+00] [ 5.10138168e-03 -1.86192210e-04 9.99986971e-01 1.90866097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.919254154 meters 0.05712621882389854 Centerline is valid? [True, True] Translation: X:488.49, Y:4.46, Z:1.91 [[ 9.99365761e-01 -3.52203905e-02 -5.25362967e-03 4.88492728e+02] [ 3.52208956e-02 9.99379552e-01 3.63535194e-06 4.45504324e+00] [ 5.25024202e-03 -1.88670588e-04 9.99986200e-01 1.90836248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.979254154 meters 0.057338897597859574 Centerline is valid? [True, True] Translation: X:488.55, Y:4.46, Z:1.91 [[ 9.99358171e-01 -3.52142311e-02 -6.57298453e-03 4.88553846e+02] [ 3.52150233e-02 9.99379759e-01 4.79651383e-06 4.45673297e+00] [ 6.56873879e-03 -2.36261239e-04 9.99978398e-01 1.90781744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.039254154 meters 0.056200135339299614 Centerline is valid? [True, True] Translation: X:488.62, Y:4.46, Z:1.91 [[ 9.99327465e-01 -3.60309399e-02 -6.81093913e-03 4.88615570e+02] [ 3.60318108e-02 9.99350643e-01 5.17518965e-06 4.46336523e+00] [ 6.80632993e-03 -2.50582179e-04 9.99976805e-01 1.90796931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.099254154 meters 0.05792988929760717 Centerline is valid? [True, True] Translation: X:488.68, Y:4.46, Z:1.91 [[ 9.99343696e-01 -3.57146903e-02 -6.05299063e-03 4.88676585e+02] [ 3.57153738e-02 9.99362003e-01 4.81759165e-06 4.45924027e+00] [ 6.04895678e-03 -2.20999253e-04 9.99981680e-01 1.90838720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.159254154 meters 0.05656042619971654 Centerline is valid? [True, True] Translation: X:488.74, Y:4.47, Z:1.91 [[ 9.99372404e-01 -3.51904006e-02 -4.05399421e-03 4.88738821e+02] [ 3.51907035e-02 9.99380615e-01 3.39610638e-06 4.46991471e+00] [ 4.05136371e-03 -1.46056883e-04 9.99991783e-01 1.91007549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.219254154 meters 0.05760377165975204 Centerline is valid? [True, True] Translation: X:488.80, Y:4.47, Z:1.91 [[ 9.99446021e-01 -3.31631790e-02 -2.80247638e-03 4.88799422e+02] [ 3.31633161e-02 9.99449946e-01 2.46008766e-06 4.46699822e+00] [ 2.80085328e-03 -9.53981350e-05 9.99996073e-01 1.91124105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.279254154 meters 0.05640609625599913 Centerline is valid? [True, True] Translation: X:488.86, Y:4.47, Z:1.91 [[ 9.99587455e-01 -2.86937651e-02 -1.25990691e-03 4.88860249e+02] [ 2.86937893e-02 9.99588248e-01 1.13487058e-06 4.47329801e+00] [ 1.25935557e-03 -3.72859057e-05 9.99999206e-01 1.91157577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.339254154 meters 0.05507202236423797 Centerline is valid? [True, True] Translation: X:488.92, Y:4.48, Z:1.91 [[ 9.99715123e-01 -2.38465636e-02 -1.00733226e-03 4.88920527e+02] [ 2.38465766e-02 9.99715630e-01 9.10639791e-07 4.48020894e+00] [ 1.00702409e-03 -2.49318062e-05 9.99999493e-01 1.91076837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.399254154 meters 0.056572765493609914 Centerline is valid? [True, True] Translation: X:488.98, Y:4.48, Z:1.91 [[ 9.99870143e-01 -1.58657470e-02 -2.82404459e-03 4.88980016e+02] [ 1.58658175e-02 9.99874130e-01 2.55159923e-06 4.48144079e+00] [ 2.82364864e-03 -4.73570438e-05 9.99996012e-01 1.91024515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.459254154 meters 0.055220325217139 Centerline is valid? [True, True] Translation: X:489.04, Y:4.49, Z:1.91 [[ 9.99927223e-01 -1.18781918e-02 -2.11146284e-03 4.89041264e+02] [ 1.18782222e-02 9.99929451e-01 1.85127684e-06 4.48913493e+00] [ 2.11129189e-03 -2.69315670e-05 9.99997771e-01 1.90956094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.519254154 meters 0.05639934067548338 Centerline is valid? [True, True] Translation: X:489.10, Y:4.49, Z:1.91 [[ 9.99958959e-01 -8.21800169e-03 -3.81380602e-03 4.89101258e+02] [ 8.21807466e-03 9.99966231e-01 3.46101607e-06 4.48932368e+00] [ 3.81364879e-03 -3.48030167e-05 9.99992727e-01 1.90897323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.579254154 meters 0.055992136229056626 Centerline is valid? [True, True] Translation: X:489.16, Y:4.49, Z:1.91 [[ 9.99951939e-01 -9.10688282e-03 -3.63102304e-03 4.89161305e+02] [ 9.10695492e-03 9.99958531e-01 3.32335022e-06 4.49004511e+00] [ 3.63084220e-03 -3.63907537e-05 9.99993408e-01 1.90852950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.639254154 meters 0.055984010625601134 Centerline is valid? [True, True] Translation: X:489.22, Y:4.49, Z:1.91 [[ 9.99891590e-01 -1.42608973e-02 -3.66531150e-03 4.89222373e+02] [ 1.42610055e-02 9.99898307e-01 3.38534796e-06 4.48817937e+00] [ 3.66489048e-03 -5.56560083e-05 9.99993283e-01 1.90814566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.699254154 meters 0.05505415125162099 Centerline is valid? [True, True] Translation: X:489.28, Y:4.49, Z:1.91 [[ 9.99735292e-01 -2.27227101e-02 -3.60901768e-03 4.89282978e+02] [ 2.27228703e-02 9.99741802e-01 3.36448452e-06 4.48599711e+00] [ 3.60800939e-03 -8.53708344e-05 9.99993487e-01 1.90856995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.759254154 meters 0.055712202411087576 Centerline is valid? [True, True] Translation: X:489.34, Y:4.48, Z:1.91 [[ 9.99491768e-01 -3.17504744e-02 -2.84823500e-03 4.89342628e+02] [ 3.17506108e-02 9.99495822e-01 2.67404869e-06 4.48061667e+00] [ 2.84671408e-03 -9.31058907e-05 9.99995944e-01 1.90931321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81925415399996 meters 0.05514070582097813 Centerline is valid? [True, True] Translation: X:489.40, Y:4.48, Z:1.91 [[ 9.99321586e-01 -3.67440105e-02 -2.49916037e-03 4.89403380e+02] [ 3.67441310e-02 9.99324706e-01 2.31639499e-06 4.48163679e+00] [ 2.49738758e-03 -9.41442995e-05 9.99996877e-01 1.90958468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87925415399997 meters 0.05528547078794184 Centerline is valid? [True, True] Translation: X:489.46, Y:4.48, Z:1.91 [[ 9.99131430e-01 -4.16130670e-02 -2.17683867e-03 4.89464208e+02] [ 4.16131700e-02 9.99133797e-01 2.02404285e-06 4.47843009e+00] [ 2.17486886e-03 -9.26074427e-05 9.99997631e-01 1.90930636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.93925415399997 meters 0.0551100420792396 Centerline is valid? [True, True] Translation: X:489.53, Y:4.48, Z:1.91 [[ 9.99010383e-01 -4.44559251e-02 -1.38728307e-03 4.89525267e+02] [ 4.44559697e-02 9.99011345e-01 1.29978213e-06 4.48378980e+00] [ 1.38585374e-03 -6.29715098e-05 9.99999038e-01 1.90951550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.99925415399997 meters 0.055168955251313476 Centerline is valid? [True, True] Translation: X:489.59, Y:4.48, Z:1.91 [[ 9.99013746e-01 -4.43864462e-02 -1.17380839e-03 4.89587764e+02] [ 4.43864776e-02 9.99014435e-01 7.53501813e-07 4.48022222e+00] [ 1.17261808e-03 -5.28539784e-05 9.99999311e-01 1.90965632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.059254154 meters 0.055089882478563314 Centerline is valid? [True, True] Translation: X:489.65, Y:4.48, Z:1.91 [[ 9.99108689e-01 -4.22035062e-02 -8.31583585e-04 4.89648909e+02] [ 4.22035215e-02 9.99109034e-01 8.66056913e-07 4.47988693e+00] [ 8.30806121e-04 -3.59610407e-05 9.99999654e-01 1.90976047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.119254154 meters 0.054672630812638165 Centerline is valid? [True, True] Translation: X:489.71, Y:4.48, Z:1.91 [[ 9.99273857e-01 -3.80965037e-02 -6.44001243e-04 4.89709945e+02] [ 3.80965120e-02 9.99274064e-01 7.29200191e-07 4.48080385e+00] [ 6.43505960e-04 -2.52628718e-05 9.99999793e-01 1.90988920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.179254154 meters 0.0545956078949725 Centerline is valid? [True, True] Translation: X:489.77, Y:4.48, Z:1.91 [[ 9.99413526e-01 -3.42172935e-02 -1.33428033e-03 4.89770958e+02] [ 3.42173259e-02 9.99414416e-01 1.40026010e-06 4.48309228e+00] [ 1.33345109e-03 -4.70549439e-05 9.99999110e-01 1.90931877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.239254154 meters 0.05500111544823517 Centerline is valid? [True, True] Translation: X:489.83, Y:4.49, Z:1.91 [[ 9.99593656e-01 -2.82307583e-02 -3.94302755e-03 4.89831418e+02] [ 2.82309945e-02 9.99601426e-01 4.23505337e-06 4.48752209e+00] [ 3.94133640e-03 -1.15548922e-04 9.99992226e-01 1.90794454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.299254154 meters 0.05481777548303063 Centerline is valid? [True, True] Translation: X:489.89, Y:4.49, Z:1.91 [[ 9.99710482e-01 -2.35847688e-02 -4.76558253e-03 4.89891189e+02] [ 2.35850609e-02 9.99721834e-01 5.10920862e-06 4.48994463e+00] [ 4.76413640e-03 -1.17504284e-04 9.99988645e-01 1.90783755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.359254154 meters 0.05521150312908633 Centerline is valid? [True, True] Translation: X:489.95, Y:4.50, Z:1.91 [[ 9.99761006e-01 -2.14957111e-02 -3.98305565e-03 4.89953172e+02] [ 2.14958985e-02 9.99768936e-01 4.24895963e-06 4.49619072e+00] [ 3.98204398e-03 -8.98673044e-05 9.99992068e-01 1.90875798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.419254154 meters 0.05549760208803725 Centerline is valid? [True, True] Translation: X:490.01, Y:4.50, Z:1.91 [[ 9.99810463e-01 -1.91399054e-02 -3.56398382e-03 4.90014128e+02] [ 1.91400408e-02 9.99816813e-01 3.88372038e-06 4.49644745e+00] [ 3.56325661e-03 -7.20977799e-05 9.99993649e-01 1.90962720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.479254154 meters 0.05515086071037419 Centerline is valid? [True, True] Translation: X:490.07, Y:4.49, Z:1.91 [[ 9.99847823e-01 -1.71598769e-02 -3.14173445e-03 4.90074325e+02] [ 1.71599724e-02 9.99852757e-01 3.44342774e-06 4.49389704e+00] [ 3.14121276e-03 -5.73549802e-05 9.99995065e-01 1.91085711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.539254154 meters 0.056125646109285124 Centerline is valid? [True, True] Translation: X:490.14, Y:4.49, Z:1.91 [[ 9.99861501e-01 -1.63647274e-02 -3.02894960e-03 4.90136644e+02] [ 1.63648130e-02 9.99866087e-01 3.47122302e-06 4.49190263e+00] [ 3.02848718e-03 -5.30389360e-05 9.99995413e-01 1.91110492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.599254154 meters 0.05526389625370162 Centerline is valid? [True, True] Translation: X:490.20, Y:4.50, Z:1.91 [[ 9.99862080e-01 -1.64837381e-02 -2.02655691e-03 4.90198570e+02] [ 1.64837767e-02 9.99864133e-01 2.34512777e-06 4.49514816e+00] [ 2.02624292e-03 -3.57501159e-05 9.99997947e-01 1.91143048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.659254154 meters 0.05498620680099309 Centerline is valid? [True, True] Translation: X:490.26, Y:4.50, Z:1.91 [[ 9.99846561e-01 -1.74005470e-02 -2.01877327e-03 4.90260624e+02] [ 1.74005873e-02 9.99848598e-01 2.37472781e-06 4.50003930e+00] [ 2.01842631e-03 -3.75022040e-05 9.99997962e-01 1.91082861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.719254154 meters 0.05542410482102987 Centerline is valid? [True, True] Translation: X:490.32, Y:4.49, Z:1.91 [[ 9.99837272e-01 -1.77521361e-02 -3.20807046e-03 4.90321567e+02] [ 1.77522403e-02 9.99842417e-01 4.01231208e-06 4.49369782e+00] [ 3.20749370e-03 -6.09620968e-05 9.99994854e-01 1.91130947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.779254154 meters 0.0547482937408314 Centerline is valid? [True, True] Translation: X:490.38, Y:4.50, Z:1.91 [[ 9.99830086e-01 -1.82242909e-02 -2.77013304e-03 4.90384048e+02] [ 1.82243706e-02 9.99833922e-01 3.51001221e-06 4.49840286e+00] [ 2.76960902e-03 -5.39933469e-05 9.99996163e-01 1.91089894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.839254154 meters 0.055399022198570284 Centerline is valid? [True, True] Translation: X:490.45, Y:4.50, Z:1.91 [[ 9.99829132e-01 -1.81353094e-02 -3.58015673e-03 4.90446568e+02] [ 1.81354424e-02 9.99835539e-01 4.69119429e-06 4.49791478e+00] [ 3.57948286e-03 -6.96181190e-05 9.99993591e-01 1.91028764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.899254154 meters 0.05556413426032569 Centerline is valid? [True, True] Translation: X:490.51, Y:4.50, Z:1.91 [[ 9.99828124e-01 -1.79706028e-02 -4.55855290e-03 4.90509015e+02] [ 1.79708175e-02 9.99838512e-01 6.15623041e-06 4.49782092e+00] [ 4.55770612e-03 -8.80760948e-05 9.99989610e-01 1.90962572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.959254154 meters 0.05518815305631252 Centerline is valid? [True, True] Translation: X:490.57, Y:4.50, Z:1.91 [[ 9.99803674e-01 -1.90994414e-02 -5.27495159e-03 4.90569727e+02] [ 1.90997456e-02 9.99817583e-01 7.29194586e-06 4.49579335e+00] [ 5.27385007e-03 -1.08040748e-04 9.99986087e-01 1.90922242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.019254154 meters 0.055199876891215846 Centerline is valid? [True, True] Translation: X:490.63, Y:4.50, Z:1.91 [[ 9.99763081e-01 -2.09552317e-02 -5.88733770e-03 4.90631426e+02] [ 2.09556438e-02 9.99780406e-01 8.31659534e-06 4.49677511e+00] [ 5.88587060e-03 -1.31687577e-04 9.99982669e-01 1.91012253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.079254154 meters 0.05495690012236032 Centerline is valid? [True, True] Translation: X:490.69, Y:4.49, Z:1.91 [[ 9.99669738e-01 -2.50404462e-02 -5.77852399e-03 4.90691067e+02] [ 2.50409127e-02 9.99686427e-01 8.37798644e-06 4.48904501e+00] [ 5.77650222e-03 -1.53074734e-04 9.99983304e-01 1.91043891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.139254154 meters 0.05560627555214026 Centerline is valid? [True, True] Translation: X:490.75, Y:4.49, Z:1.91 [[ 9.99575523e-01 -2.86434468e-02 -5.32226696e-03 4.90751376e+02] [ 2.86438936e-02 9.99589679e-01 7.72160755e-06 4.48510079e+00] [ 5.31986195e-03 -1.60168778e-04 9.99985837e-01 1.91110971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.199254154 meters 0.05841414439242077 Centerline is valid? [True, True] Translation: X:490.81, Y:4.47, Z:1.91 [[ 9.99514626e-01 -3.05843353e-02 -5.92550187e-03 4.90811550e+02] [ 3.05849235e-02 9.99532172e-01 8.65501910e-06 4.47025665e+00] [ 5.92246505e-03 -1.89881839e-04 9.99982444e-01 1.91031651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.259254154 meters 0.05889091728671126 Centerline is valid? [True, True] Translation: X:490.87, Y:4.47, Z:1.91 [[ 9.99512465e-01 -3.03966692e-02 -7.13260166e-03 4.90874111e+02] [ 3.03975183e-02 9.99537889e-01 1.06343248e-05 4.47339021e+00] [ 7.12898236e-03 -2.27442529e-04 9.99974563e-01 1.91005363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31925415399996 meters 0.056333503347931836 Centerline is valid? [True, True] Translation: X:490.94, Y:4.48, Z:1.91 [[ 9.99599212e-01 -2.73315584e-02 -7.37577898e-03 4.90935161e+02] [ 2.73323843e-02 9.99626401e-01 1.11691309e-05 4.48403117e+00] [ 7.37271812e-03 -2.12762280e-04 9.99972798e-01 1.91155060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37925415399997 meters 0.055650010777904595 Centerline is valid? [True, True] Translation: X:491.00, Y:4.49, Z:1.91 [[ 9.99733144e-01 -2.23498847e-02 -5.84160779e-03 4.90996103e+02] [ 2.23503178e-02 9.99750200e-01 8.86531281e-06 4.48680971e+00] [ 5.83995042e-03 -1.39424738e-04 9.99982938e-01 1.91397497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.43925415399997 meters 0.05577755518123225 Centerline is valid? [True, True] Translation: X:491.06, Y:4.49, Z:1.91 [[ 9.99809587e-01 -1.87534298e-02 -5.39427003e-03 4.91057148e+02] [ 1.87537468e-02 9.99824133e-01 8.19811578e-06 4.48910007e+00] [ 5.39316761e-03 -1.09359329e-04 9.99985451e-01 1.91479234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.49925415399997 meters 0.05713112930439539 Centerline is valid? [True, True] Translation: X:491.12, Y:4.48, Z:1.91 [[ 9.99865914e-01 -1.52744277e-02 -5.90298671e-03 4.91117880e+02] [ 1.52747472e-02 9.99883334e-01 9.03862244e-06 4.48188250e+00] [ 5.90215997e-03 -9.92040403e-05 9.99982577e-01 1.91356026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.559254154 meters 0.0558317199914569 Centerline is valid? [True, True] Translation: X:491.18, Y:4.49, Z:1.91 [[ 9.99890466e-01 -1.27890860e-02 -7.44956729e-03 4.91179211e+02] [ 1.27895269e-02 9.99918211e-01 1.15417392e-05 4.49352578e+00] [ 7.44881039e-03 -1.06816916e-04 9.99972252e-01 1.91452531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.619254154 meters 0.05648345782521734 Centerline is valid? [True, True] Translation: X:491.24, Y:4.49, Z:1.91 [[ 9.99868493e-01 -1.34296626e-02 -9.09072933e-03 4.91239603e+02] [ 1.34303467e-02 9.99909809e-01 1.42055781e-05 4.49035212e+00] [ 9.08971865e-03 -1.36295357e-04 9.99958678e-01 1.91460843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.679254154 meters 0.05565259075985192 Centerline is valid? [True, True] Translation: X:491.30, Y:4.49, Z:1.92 [[ 9.99795822e-01 -1.76634446e-02 -9.81416817e-03 4.91300143e+02] [ 1.76644462e-02 9.99843971e-01 1.53709286e-05 4.48584837e+00] [ 9.81236538e-03 -1.88729635e-04 9.99951840e-01 1.91614878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.739254154 meters 0.056425519955396 Centerline is valid? [True, True] Translation: X:491.36, Y:4.48, Z:1.92 [[ 9.99663527e-01 -2.42703167e-02 -9.15340154e-03 4.91361092e+02] [ 2.42714648e-02 9.99705405e-01 1.43436663e-05 4.48021932e+00] [ 9.15035686e-03 -2.36505303e-04 9.99958107e-01 1.91752376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.799254154 meters 0.056938707972988715 Centerline is valid? [True, True] Translation: X:491.42, Y:4.47, Z:1.92 [[ 9.99526713e-01 -2.94808547e-02 -8.78803958e-03 4.91420641e+02] [ 2.94821138e-02 9.99565308e-01 1.37430736e-05 4.47093737e+00] [ 8.78381433e-03 -2.72826553e-04 9.99961384e-01 1.91777391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.859254154 meters 0.055788585346447345 Centerline is valid? [True, True] Translation: X:491.48, Y:4.47, Z:1.92 [[ 9.99200774e-01 -3.89424936e-02 -9.01635786e-03 4.91480684e+02] [ 3.89442033e-02 9.99241387e-01 1.40595746e-05 4.47114737e+00] [ 9.00897041e-03 -3.65183211e-04 9.99959352e-01 1.91934178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.919254154 meters 0.05637680313187036 Centerline is valid? [True, True] Translation: X:491.54, Y:4.46, Z:1.92 [[ 9.98765481e-01 -4.88354269e-02 -9.08930122e-03 4.91540244e+02] [ 4.88375735e-02 9.98806734e-01 1.42251693e-05 4.45973118e+00] [ 9.07776058e-03 -4.58107024e-04 9.99958691e-01 1.91940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.979254154 meters 0.05513123660301915 Centerline is valid? [True, True] Translation: X:491.60, Y:4.47, Z:1.92 [[ 9.98468329e-01 -5.44871546e-02 -9.59926083e-03 4.91600725e+02] [ 5.44898102e-02 9.98514327e-01 1.51330120e-05 4.46524768e+00] [ 9.58417491e-03 -5.38171734e-04 9.99953926e-01 1.92086376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.039254154 meters 0.05825930955826778 Centerline is valid? [True, True] Translation: X:491.66, Y:4.45, Z:1.92 [[ 9.98189909e-01 -5.92406987e-02 -1.03655617e-02 4.91660322e+02] [ 5.92440513e-02 9.98243528e-01 1.64077066e-05 4.44805471e+00] [ 1.03463829e-02 -6.30475875e-04 9.99946276e-01 1.91964575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.099254154 meters 0.05795840620852924 Centerline is valid? [True, True] Translation: X:491.72, Y:4.45, Z:1.92 [[ 9.98201061e-01 -5.90288054e-02 -1.04996319e-02 4.91722157e+02] [ 5.90322359e-02 9.98256077e-01 1.68346764e-05 4.44645785e+00] [ 1.04803276e-02 -6.36621139e-04 9.99944877e-01 1.91959509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.159254154 meters 0.06054097601707788 Centerline is valid? [True, True] Translation: X:491.78, Y:4.44, Z:1.92 [[ 9.98387051e-01 -5.56922067e-02 -1.10306000e-02 4.91781667e+02] [ 5.56957907e-02 9.98447785e-01 1.77538892e-05 4.43699040e+00] [ 1.10124894e-02 -6.32083243e-04 9.99939161e-01 1.91760459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.219254154 meters 0.0558543065216896 Centerline is valid? [True, True] Translation: X:491.84, Y:4.46, Z:1.92 [[ 9.98758145e-01 -4.81876317e-02 -1.26538688e-02 4.91842598e+02] [ 4.81917469e-02 9.98838103e-01 2.03211147e-05 4.46125350e+00] [ 1.26381871e-02 -6.30107923e-04 9.99919936e-01 1.91964595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.279254154 meters 0.0556548483460143 Centerline is valid? [True, True] Translation: X:491.90, Y:4.46, Z:1.92 [[ 9.99184344e-01 -3.87381965e-02 -1.14017399e-02 4.91902561e+02] [ 3.87409236e-02 9.99249288e-01 1.83334390e-05 4.46249817e+00] [ 1.13924703e-02 -4.60032420e-04 9.99934998e-01 1.92003606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.339254154 meters 0.056964954375493884 Centerline is valid? [True, True] Translation: X:491.96, Y:4.46, Z:1.92 [[ 9.99439028e-01 -3.17680945e-02 -1.06026991e-02 4.91962948e+02] [ 3.17700617e-02 9.99495204e-01 1.71223101e-05 4.46342363e+00] [ 1.05968030e-02 -3.53961111e-04 9.99943790e-01 1.92055411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.399254154 meters 0.057297918432204546 Centerline is valid? [True, True] Translation: X:492.02, Y:4.46, Z:1.92 [[ 9.99652279e-01 -2.46958261e-02 -9.24325669e-03 4.92022404e+02] [ 2.46970189e-02 9.99694982e-01 1.49100474e-05 4.45858623e+00] [ 9.24006912e-03 -2.43185748e-04 9.99957280e-01 1.91923438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.459254154 meters 0.05651024645849744 Centerline is valid? [True, True] Translation: X:492.08, Y:4.47, Z:1.92 [[ 9.99815591e-01 -1.69390574e-02 -9.04723594e-03 4.92082758e+02] [ 1.69398824e-02 9.99856510e-01 1.45601363e-05 4.46746334e+00] [ 9.04569111e-03 -1.67816564e-04 9.99959073e-01 1.91988400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.519254154 meters 0.0569934459800746 Centerline is valid? [True, True] Translation: X:492.14, Y:4.48, Z:1.92 [[ 9.99945135e-01 -5.87706181e-03 -8.67104513e-03 4.92143708e+02] [ 5.87740361e-03 9.99982728e-01 1.39364774e-05 4.47812874e+00] [ 8.67081345e-03 -6.48989447e-05 9.99962406e-01 1.92181323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.579254154 meters 0.055872931450979824 Centerline is valid? [True, True] Translation: X:492.20, Y:4.48, Z:1.92 [[ 9.99965299e-01 1.15953957e-03 -8.24958100e-03 4.92202211e+02] [-1.15947369e-03 9.99999328e-01 1.27676295e-05 4.47779623e+00] [ 8.24959026e-03 -3.20201423e-06 9.99965972e-01 1.91963396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.639254154 meters 0.05644290560084427 Centerline is valid? [True, True] Translation: X:492.26, Y:4.48, Z:1.92 [[ 9.99967372e-01 2.68295295e-03 -7.61949011e-03 4.92259165e+02] [-2.68294572e-03 9.99996401e-01 1.11708766e-05 4.47751077e+00] [ 7.61949266e-03 9.27216630e-06 9.99970971e-01 1.91966437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.699254154 meters 0.05660838947951103 Centerline is valid? [True, True] Translation: X:492.32, Y:4.47, Z:1.92 [[ 9.99976191e-01 9.83456017e-04 -6.83009031e-03 4.92317326e+02] [-9.83412822e-04 9.99999516e-01 9.68257658e-06 4.47437683e+00] [ 6.83009653e-03 -2.96554765e-06 9.99976675e-01 1.91995878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.759254154 meters 0.056803378457315035 Centerline is valid? [True, True] Translation: X:492.38, Y:4.47, Z:1.92 [[ 9.99967730e-01 -4.90846204e-03 -6.35979584e-03 4.92375699e+02] [ 4.90861730e-03 9.99987953e-01 8.80342865e-06 4.46514659e+00] [ 6.35967601e-03 -4.00209484e-05 9.99979776e-01 1.91951619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81925415399996 meters 0.056833378628491804 Centerline is valid? [True, True] Translation: X:492.44, Y:4.46, Z:1.92 [[ 9.99925727e-01 -1.05760423e-02 -6.05707590e-03 4.92435508e+02] [ 1.05762865e-02 9.99944069e-01 8.29025894e-06 4.45760520e+00] [ 6.05664944e-03 -7.23510135e-05 9.99981656e-01 1.91979982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87925415399997 meters 0.057170493492414515 Centerline is valid? [True, True] Translation: X:492.50, Y:4.45, Z:1.92 [[ 9.99740265e-01 -2.19792151e-02 -6.02637715e-03 4.92496181e+02] [ 2.19796639e-02 9.99758418e-01 8.24656448e-06 4.44861569e+00] [ 6.02474004e-03 -1.40702167e-04 9.99981841e-01 1.92093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.93925415399997 meters 0.05713845039377006 Centerline is valid? [True, True] Translation: X:492.56, Y:4.44, Z:1.92 [[ 9.99426225e-01 -3.34390507e-02 -5.38983582e-03 4.92556346e+02] [ 3.34395761e-02 9.99440741e-01 7.37917589e-06 4.44091905e+00] [ 5.38657475e-03 -1.87608767e-04 9.99985475e-01 1.92143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.99925415399997 meters 0.05863732049574966 Centerline is valid? [True, True] Translation: X:492.62, Y:4.43, Z:1.92 [[ 9.99207601e-01 -3.94718608e-02 -5.11293094e-03 4.92616464e+02] [ 3.94724126e-02 9.99220661e-01 7.00877493e-06 4.43294990e+00] [ 5.10866958e-03 -2.08822941e-04 9.99986929e-01 1.92184158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.059254154 meters 0.05586774727388624 Centerline is valid? [True, True] Translation: X:492.68, Y:4.44, Z:1.92 [[ 9.98921540e-01 -4.61247180e-02 -5.31670899e-03 4.92676740e+02] [ 4.61254088e-02 9.98935657e-01 7.32612167e-06 4.44444165e+00] [ 5.31071227e-03 -2.52553596e-04 9.99985866e-01 1.92175062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.119254154 meters 0.05981403669854888 Centerline is valid? [True, True] Translation: X:492.74, Y:4.42, Z:1.92 [[ 9.98775496e-01 -4.89180048e-02 -7.38488768e-03 4.92736013e+02] [ 4.89194137e-02 9.98802729e-01 1.01551964e-05 4.42168665e+00] [ 7.37554919e-03 -3.71407136e-04 9.99972731e-01 1.92025981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.179254154 meters 0.05926453345658447 Centerline is valid? [True, True] Translation: X:492.80, Y:4.42, Z:1.92 [[ 9.98670099e-01 -5.08814618e-02 -8.31331513e-03 4.92796652e+02] [ 5.08833149e-02 9.98704605e-01 1.14083068e-05 4.42134176e+00] [ 8.30196563e-03 -4.34402166e-04 9.99965444e-01 1.92031924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.239254154 meters 0.05920311684351049 Centerline is valid? [True, True] Translation: X:492.86, Y:4.42, Z:1.92 [[ 9.98507722e-01 -5.38911546e-02 -8.83587165e-03 4.92857345e+02] [ 5.38933660e-02 9.98546696e-01 1.21924673e-05 4.42258216e+00] [ 8.82237338e-03 -4.88369137e-04 9.99960963e-01 1.91988166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.299254154 meters 0.05748048310340604 Centerline is valid? [True, True] Translation: X:492.92, Y:4.43, Z:1.92 [[ 9.98259021e-01 -5.82756334e-02 -9.10369923e-03 4.92917961e+02] [ 5.82781631e-02 9.98300383e-01 1.26195333e-05 4.42929122e+00] [ 9.08749102e-03 -5.43144431e-04 9.99958560e-01 1.92005013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.359254154 meters 0.05667137731422696 Centerline is valid? [True, True] Translation: X:492.98, Y:4.44, Z:1.92 [[ 9.97952651e-01 -6.32210569e-02 -9.67489921e-03 4.92978850e+02] [ 6.32241456e-02 9.97999352e-01 1.34243715e-05 4.44115153e+00] [ 9.65469444e-03 -6.25084124e-04 9.99953197e-01 1.92025619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.419254154 meters 0.05791803763834803 Centerline is valid? [True, True] Translation: X:493.04, Y:4.44, Z:1.92 [[ 9.97715717e-01 -6.65460705e-02 -1.16175683e-02 4.93038412e+02] [ 6.65507496e-02 9.97783041e-01 1.62065352e-05 4.43686676e+00] [ 1.15907342e-02 -7.89327397e-04 9.99932514e-01 1.91940876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.479254154 meters 0.05528346641692462 Centerline is valid? [True, True] Translation: X:493.10, Y:4.45, Z:1.92 [[ 9.97566430e-01 -6.89113074e-02 -1.06042188e-02 4.93099693e+02] [ 6.89153405e-02 9.97622512e-01 1.49624723e-05 4.44949163e+00] [ 1.05779763e-02 -7.45719408e-04 9.99943774e-01 1.92080250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.539254154 meters 0.05554701952115367 Centerline is valid? [True, True] Translation: X:493.16, Y:4.45, Z:1.92 [[ 9.97394279e-01 -7.16585386e-02 -8.34896452e-03 4.93161118e+02] [ 7.16611356e-02 9.97429036e-01 1.19376567e-05 4.45355483e+00] [ 8.32664420e-03 -6.10202829e-04 9.99965147e-01 1.92257886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.599254154 meters 0.05787196005406192 Centerline is valid? [True, True] Translation: X:493.22, Y:4.45, Z:1.92 [[ 9.97366014e-01 -7.22972880e-02 -5.84266770e-03 4.93222210e+02] [ 7.22985722e-02 9.97383034e-01 8.61356178e-06 4.44585794e+00] [ 5.82675490e-03 -4.31007407e-04 9.99982931e-01 1.92349078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.659254154 meters 0.0575418685246893 Centerline is valid? [True, True] Translation: X:493.28, Y:4.45, Z:1.92 [[ 9.97384281e-01 -7.21006226e-02 -5.10836552e-03 4.93282990e+02] [ 7.21016040e-02 9.97397292e-01 7.96413224e-06 4.44781502e+00] [ 5.09449572e-03 -3.76264648e-04 9.99986952e-01 1.92437133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.719254154 meters 0.056604971742912596 Centerline is valid? [True, True] Translation: X:493.35, Y:4.46, Z:1.92 [[ 9.97390939e-01 -7.20746554e-02 -4.06937609e-03 4.93346418e+02] [ 7.20752788e-02 9.97399195e-01 6.54675877e-06 4.45546687e+00] [ 4.05832058e-03 -2.99831094e-04 9.99991720e-01 1.92455759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.779254154 meters 0.055776749339124417 Centerline is valid? [True, True] Translation: X:493.41, Y:4.46, Z:1.92 [[ 9.97244950e-01 -7.40010641e-02 -5.13349818e-03 4.93406511e+02] [ 7.40020836e-02 9.97258087e-01 8.67532515e-06 4.46342743e+00] [ 5.11878059e-03 -3.88540985e-04 9.99986823e-01 1.92408915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.839254154 meters 0.05931949700402579 Centerline is valid? [True, True] Translation: X:493.47, Y:4.45, Z:1.92 [[ 9.97058651e-01 -7.63502897e-02 -6.68430604e-03 4.93466411e+02] [ 7.63520706e-02 9.97080920e-01 1.12730010e-05 4.45106678e+00] [ 6.66393332e-03 -5.21600449e-04 9.99977660e-01 1.92292063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.899254154 meters 0.05450412816625192 Centerline is valid? [True, True] Translation: X:493.53, Y:4.47, Z:1.92 [[ 9.96765992e-01 -7.99837260e-02 -7.75627951e-03 4.93526972e+02] [ 7.99862334e-02 9.96795968e-01 1.31089925e-05 4.47330654e+00] [ 7.73037964e-03 -6.33462181e-04 9.99969920e-01 1.92282236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.959254154 meters 0.06530592345978954 Centerline is valid? [True, True] Translation: X:493.59, Y:4.44, Z:1.92 [[ 9.96762934e-01 -7.99041279e-02 -8.88726909e-03 4.93588106e+02] [ 7.99074211e-02 9.96802289e-01 1.55156933e-05 4.43879036e+00] [ 8.85761041e-03 -7.25624222e-04 9.99960507e-01 1.92094638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.019254154 meters 0.05683836191632983 Centerline is valid? [True, True] Translation: X:493.65, Y:4.47, Z:1.92 [[ 9.97072421e-01 -7.61198698e-02 -7.23557411e-03 4.93649168e+02] [ 7.61219558e-02 9.97098515e-01 1.29421878e-05 4.46588056e+00] [ 7.21359504e-03 -5.63690351e-04 9.99973823e-01 1.92309857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.079254154 meters 0.05628522784260092 Centerline is valid? [True, True] Translation: X:493.71, Y:4.47, Z:1.92 [[ 9.97364108e-01 -7.23408519e-02 -5.62468706e-03 4.93709379e+02] [ 7.23420527e-02 9.97379881e-01 1.00626234e-05 4.46960098e+00] [ 5.60922178e-03 -4.16937508e-04 9.99984181e-01 1.92436052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.139254154 meters 0.05769946328150809 Centerline is valid? [True, True] Translation: X:493.77, Y:4.47, Z:1.93 [[ 9.97765198e-01 -6.66918415e-02 -4.09976539e-03 4.93769774e+02] [ 6.66924319e-02 9.97773581e-01 7.33191477e-06 4.46958801e+00] [ 4.09014862e-03 -2.80738854e-04 9.99991596e-01 1.92601986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.199254154 meters 0.056455870062618936 Centerline is valid? [True, True] Translation: X:493.83, Y:4.47, Z:1.93 [[ 9.98040612e-01 -6.24199879e-02 -4.32224693e-03 4.93830935e+02] [ 6.24206044e-02 9.98049933e-01 7.75044246e-06 4.47428403e+00] [ 4.31333447e-03 -2.77532522e-04 9.99990659e-01 1.92650091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.259254154 meters 0.056338821761451954 Centerline is valid? [True, True] Translation: X:493.89, Y:4.47, Z:1.93 [[ 9.98212483e-01 -5.95617597e-02 -4.92288045e-03 4.93891650e+02] [ 5.95625250e-02 9.98224577e-01 8.85195185e-06 4.47467575e+00] [ 4.91361302e-03 -3.02055319e-04 9.99987882e-01 1.92571493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31925415399996 meters 0.05553349799519873 Centerline is valid? [True, True] Translation: X:493.95, Y:4.48, Z:1.93 [[ 9.98407201e-01 -5.61463233e-02 -5.53629753e-03 4.93952598e+02] [ 5.61472390e-02 9.98422499e-01 9.99661022e-06 4.48318707e+00] [ 5.52700275e-03 -3.20828508e-04 9.99984675e-01 1.92517395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37925415399997 meters 0.05649010681620204 Centerline is valid? [True, True] Translation: X:494.01, Y:4.48, Z:1.92 [[ 9.98811132e-01 -4.83504478e-02 -6.20938948e-03 4.94012091e+02] [ 4.83514497e-02 9.98830385e-01 1.12563466e-05 4.48047821e+00] [ 6.20158263e-03 -3.11475948e-04 9.99980721e-01 1.92416989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.43925415399997 meters 0.05526365091772981 Centerline is valid? [True, True] Translation: X:494.07, Y:4.49, Z:1.92 [[ 9.99088661e-01 -4.22794905e-02 -5.85600823e-03 4.94072645e+02] [ 4.22802777e-02 9.99105789e-01 1.06295236e-05 4.48661004e+00] [ 5.85032232e-03 -2.58213491e-04 9.99982853e-01 1.92441121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.49925415399997 meters 0.056050976865927575 Centerline is valid? [True, True] Translation: X:494.13, Y:4.49, Z:1.92 [[ 9.99479085e-01 -3.18130363e-02 -5.43049842e-03 4.94132345e+02] [ 3.18135590e-02 9.99493821e-01 9.85870557e-06 4.48834698e+00] [ 5.42743598e-03 -1.82617052e-04 9.99985255e-01 1.92491395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.559254154 meters 0.055418350306248906 Centerline is valid? [True, True] Translation: X:494.19, Y:4.49, Z:1.92 [[ 9.99757005e-01 -2.16012137e-02 -4.39526932e-03 4.94193470e+02] [ 2.16014575e-02 9.99766661e-01 7.98700479e-06 4.49285602e+00] [ 4.39407121e-03 -1.02929287e-04 9.99990341e-01 1.92482471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.619254154 meters 0.056237545738187615 Centerline is valid? [True, True] Translation: X:494.25, Y:4.49, Z:1.92 [[ 9.99857507e-01 -1.60740703e-02 -5.15648030e-03 4.94253527e+02] [ 1.60743322e-02 9.99870800e-01 9.33350783e-06 4.49425835e+00] [ 5.15566405e-03 -9.22191550e-05 9.99986705e-01 1.92444315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.679254154 meters 0.0543346884318243 Centerline is valid? [True, True] Translation: X:494.32, Y:4.49, Z:1.92 [[ 9.99892407e-01 -1.33479520e-02 -6.08323513e-03 4.94315508e+02] [ 1.33482662e-02 9.99910908e-01 1.10502677e-05 4.49474354e+00] [ 6.08254567e-03 -9.22497208e-05 9.99981497e-01 1.92358429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.739254154 meters 0.05582782102056127 Centerline is valid? [True, True] Translation: X:494.38, Y:4.49, Z:1.92 [[ 9.99866000e-01 -1.52092215e-02 -6.05485707e-03 4.94376607e+02] [ 1.52095678e-02 9.99884328e-01 1.11500611e-05 4.49191188e+00] [ 6.05398711e-03 -1.03240326e-04 9.99981669e-01 1.92394832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.799254154 meters 0.055473051428469124 Centerline is valid? [True, True] Translation: X:494.44, Y:4.49, Z:1.93 [[ 9.99784911e-01 -2.01389447e-02 -4.95525732e-03 4.94437175e+02] [ 2.01392375e-02 9.99797185e-01 9.18276241e-06 4.49236689e+00] [ 4.95406739e-03 -1.08975891e-04 9.99987723e-01 1.92600722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.859254154 meters 0.05601848401397277 Centerline is valid? [True, True] Translation: X:494.50, Y:4.49, Z:1.93 [[ 9.99703631e-01 -2.38629401e-02 -4.81769062e-03 4.94498262e+02] [ 2.38632602e-02 9.99715232e-01 8.97519040e-06 4.48660659e+00] [ 4.81610452e-03 -1.23938335e-04 9.99988395e-01 1.92721434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.919254154 meters 0.05815647006583214 Centerline is valid? [True, True] Translation: X:494.56, Y:4.47, Z:1.93 [[ 9.99685221e-01 -2.45522912e-02 -5.16183860e-03 4.94559807e+02] [ 2.45526685e-02 9.99698538e-01 9.72209078e-06 4.47002004e+00] [ 5.16004380e-03 -1.36455942e-04 9.99986678e-01 1.92828096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.979254154 meters 0.05881199667474075 Centerline is valid? [True, True] Translation: X:494.62, Y:4.47, Z:1.93 [[ 9.99672186e-01 -2.52581134e-02 -4.18906785e-03 4.94622200e+02] [ 2.52583684e-02 9.99680957e-01 7.97555821e-06 4.46834547e+00] [ 4.18752990e-03 -1.13781962e-04 9.99991226e-01 1.93084109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.039254154 meters 0.05871843846366029 Centerline is valid? [True, True] Translation: X:494.68, Y:4.46, Z:1.93 [[ 9.99637638e-01 -2.64279454e-02 -5.11434447e-03 4.94684509e+02] [ 2.64283418e-02 9.99650710e-01 9.92679756e-06 4.46189635e+00] [ 5.11229574e-03 -1.45086844e-04 9.99986922e-01 1.93196978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.099254154 meters 0.0583180586823637 Centerline is valid? [True, True] Translation: X:494.75, Y:4.46, Z:1.93 [[ 9.99608071e-01 -2.73433376e-02 -6.00383109e-03 4.94746309e+02] [ 2.73439017e-02 9.99626086e-01 1.18731365e-05 4.46075062e+00] [ 6.00126152e-03 -1.76036650e-04 9.99981977e-01 1.93119828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.159254154 meters 0.05724568269886159 Centerline is valid? [True, True] Translation: X:494.81, Y:4.46, Z:1.93 [[ 9.99601094e-01 -2.71677916e-02 -7.71779758e-03 4.94808248e+02] [ 2.71687203e-02 9.99630862e-01 1.54980007e-05 4.46459086e+00] [ 7.71452760e-03 -2.25174502e-04 9.99970217e-01 1.93098868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.219254154 meters 0.05592927054607184 Centerline is valid? [True, True] Translation: X:494.87, Y:4.46, Z:1.93 [[ 9.99688828e-01 -2.29794737e-02 -9.70519142e-03 4.94868326e+02] [ 2.29807466e-02 9.99735908e-01 1.96473274e-05 4.46226414e+00] [ 9.70217686e-03 -2.42673758e-04 9.99952903e-01 1.93031292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.279254154 meters 0.05678179751801832 Centerline is valid? [True, True] Translation: X:494.93, Y:4.47, Z:1.93 [[ 9.99774219e-01 -1.88291242e-02 -9.84754913e-03 4.94929346e+02] [ 1.88302345e-02 9.99822695e-01 2.00325782e-05 4.46695715e+00] [ 9.84542591e-03 -2.05459714e-04 9.99951511e-01 1.93213214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.339254154 meters 0.056853295702674236 Centerline is valid? [True, True] Translation: X:494.99, Y:4.47, Z:1.93 [[ 9.99876207e-01 -1.19991898e-02 -1.01779556e-02 4.94990166e+02] [ 1.20000227e-02 9.99927997e-01 2.07600670e-05 4.46783704e+00] [ 1.01769737e-02 -1.42893195e-04 9.99948203e-01 1.93265075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.399254154 meters 0.05696176061623238 Centerline is valid? [True, True] Translation: X:495.05, Y:4.47, Z:1.93 [[ 9.99924783e-01 -7.02855846e-03 -1.00512184e-02 4.95048836e+02] [ 7.02911830e-03 9.99975295e-01 2.03726824e-05 4.46878973e+00] [ 1.00508269e-02 -9.10223533e-05 9.99949485e-01 1.93439661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.459254154 meters 0.05681450777902342 Centerline is valid? [True, True] Translation: X:495.11, Y:4.46, Z:1.93 [[ 9.99935852e-01 -5.37609089e-03 -9.96944563e-03 4.95107254e+02] [ 5.37655272e-03 9.99985546e-01 1.95233136e-05 4.46366888e+00] [ 9.96919657e-03 -7.31233113e-05 9.99950304e-01 1.93286187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.519254154 meters 0.0568056238595619 Centerline is valid? [True, True] Translation: X:495.17, Y:4.46, Z:1.93 [[ 9.99908376e-01 -7.95448474e-03 -1.09528566e-02 4.95165715e+02] [ 7.95518968e-03 9.99968357e-01 2.07953121e-05 4.45881716e+00] [ 1.09523446e-02 -1.07925459e-04 9.99940015e-01 1.93291655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.579254154 meters 0.05707951978649596 Centerline is valid? [True, True] Translation: X:495.23, Y:4.46, Z:1.94 [[ 9.99862448e-01 -1.19984288e-02 -1.14509055e-02 4.95225614e+02] [ 1.19994623e-02 9.99928004e-01 2.15491877e-05 4.45719706e+00] [ 1.14498225e-02 -1.58950932e-04 9.99934436e-01 1.93512244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.639254154 meters 0.05825367255351506 Centerline is valid? [True, True] Translation: X:495.29, Y:4.45, Z:1.94 [[ 9.99745351e-01 -1.99731771e-02 -1.05026462e-02 4.95285083e+02] [ 1.99744854e-02 9.99800490e-01 1.96730866e-05 4.44785850e+00] [ 1.05001579e-02 -2.29453029e-04 9.99944845e-01 1.93578535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.699254154 meters 0.0579832896682518 Centerline is valid? [True, True] Translation: X:495.35, Y:4.44, Z:1.94 [[ 9.99549615e-01 -2.86814499e-02 -8.82847036e-03 4.95345085e+02] [ 2.86827135e-02 9.99588566e-01 1.65207420e-05 4.43595491e+00] [ 8.82436419e-03 -2.69737787e-04 9.99961028e-01 1.93669608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.759254154 meters 0.060541524308856676 Centerline is valid? [True, True] Translation: X:495.41, Y:4.43, Z:1.94 [[ 9.99371569e-01 -3.43189170e-02 -8.87015845e-03 4.95405042e+02] [ 3.43204143e-02 9.99410881e-01 1.65922580e-05 4.42564598e+00] [ 8.86436344e-03 -3.21009344e-04 9.99960659e-01 1.93639445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81925415399996 meters 0.059815307194800056 Centerline is valid? [True, True] Translation: X:495.47, Y:4.42, Z:1.94 [[ 9.99034870e-01 -4.29974324e-02 -8.97494071e-03 4.95465782e+02] [ 4.29993147e-02 9.99075102e-01 1.67835608e-05 4.42206125e+00] [ 8.96591815e-03 -4.02683663e-04 9.99959724e-01 1.93783137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87925415399997 meters 0.06294215340023941 Centerline is valid? [True, True] Translation: X:495.53, Y:4.41, Z:1.94 [[ 9.98596956e-01 -5.21426772e-02 -9.23363979e-03 4.95526589e+02] [ 5.21450596e-02 9.98639521e-01 1.72819843e-05 4.41142479e+00] [ 9.22017649e-03 -4.98746434e-04 9.99957369e-01 1.93810025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.93925415399997 meters 0.06112396191946999 Centerline is valid? [True, True] Translation: X:495.59, Y:4.41, Z:1.94 [[ 9.98103303e-01 -6.06414138e-02 -1.06025800e-02 4.95587344e+02] [ 6.06450327e-02 9.98159396e-01 1.98503972e-05 4.41020720e+00] [ 1.05818611e-02 -6.62806558e-04 9.99943791e-01 1.93791070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.99925415399997 meters 0.05861469142063132 Centerline is valid? [True, True] Translation: X:495.65, Y:4.42, Z:1.94 [[ 9.97872111e-01 -6.43502674e-02 -1.05020597e-02 4.95647822e+02] [ 6.43540232e-02 9.97927131e-01 1.97248281e-05 4.42230663e+00] [ 1.04790210e-02 -6.95532649e-04 9.99944852e-01 1.93945207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.059254154 meters 0.05627446302640889 Centerline is valid? [True, True] Translation: X:495.71, Y:4.43, Z:1.94 [[ 9.97789059e-01 -6.57078752e-02 -9.97344101e-03 4.95708521e+02] [ 6.57113312e-02 9.97838675e-01 1.88675661e-05 4.43227214e+00] [ 9.95064541e-03 -6.74193936e-04 9.99950264e-01 1.94080175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.119254154 meters 0.058553332896839234 Centerline is valid? [True, True] Translation: X:495.77, Y:4.42, Z:1.94 [[ 9.98087995e-01 -6.10339476e-02 -9.75760700e-03 4.95767727e+02] [ 6.10370338e-02 9.98135502e-01 1.85217443e-05 4.42289718e+00] [ 9.73828351e-03 -6.14061719e-04 9.99952393e-01 1.93869446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.179254154 meters 0.05837901970076031 Centerline is valid? [True, True] Translation: X:495.83, Y:4.43, Z:1.94 [[ 9.98221368e-01 -5.87797801e-02 -9.95174947e-03 4.95828623e+02] [ 5.87828787e-02 9.98270791e-01 1.88900244e-05 4.42826736e+00] [ 9.93343047e-03 -6.03848908e-04 9.99950480e-01 1.93951152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.239254154 meters 0.05742561461923882 Centerline is valid? [True, True] Translation: X:495.89, Y:4.44, Z:1.94 [[ 9.98618508e-01 -5.16405394e-02 -9.71236331e-03 4.95889297e+02] [ 5.16431541e-02 9.98665602e-01 1.84476231e-05 4.43730835e+00] [ 9.69845050e-03 -5.19999213e-04 9.99952834e-01 1.94018701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.299254154 meters 0.05823596151521408 Centerline is valid? [True, True] Translation: X:495.95, Y:4.43, Z:1.94 [[ 9.98865400e-01 -4.66330552e-02 -9.65765017e-03 4.95948784e+02] [ 4.66354067e-02 9.98911977e-01 1.83095383e-05 4.43410032e+00] [ 9.64628860e-03 -4.68677207e-04 9.99953364e-01 1.93856216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.359254154 meters 0.05776506875750954 Centerline is valid? [True, True] Translation: X:496.01, Y:4.44, Z:1.94 [[ 9.99272231e-01 -3.68886807e-02 -9.70744103e-03 4.96009716e+02] [ 3.68905976e-02 9.99319310e-01 1.84131875e-05 4.44314778e+00] [ 9.70015404e-03 -3.76513088e-04 9.99952882e-01 1.93831855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.419254154 meters 0.05770760172624346 Centerline is valid? [True, True] Translation: X:496.07, Y:4.45, Z:1.94 [[ 9.99660312e-01 -2.43284812e-02 -9.34798439e-03 4.96069825e+02] [ 2.43297102e-02 9.99703989e-01 1.77512634e-05 4.45156544e+00] [ 9.34478542e-03 -2.45178984e-04 9.99956306e-01 1.93784774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.479254154 meters 0.05604120538436787 Centerline is valid? [True, True] Translation: X:496.13, Y:4.47, Z:1.94 [[ 9.99909242e-01 -1.16866163e-02 -6.70308153e-03 4.96129810e+02] [ 1.16869641e-02 9.99931705e-01 1.27256454e-05 4.47060522e+00] [ 6.70247503e-03 -9.10631638e-05 9.99977534e-01 1.94170498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.539254154 meters 0.05651660863843331 Centerline is valid? [True, True] Translation: X:496.19, Y:4.47, Z:1.94 [[ 9.99974686e-01 -4.98100875e-03 -5.08104043e-03 4.96189827e+02] [ 4.98112202e-03 9.99987594e-01 9.63815820e-06 4.47242311e+00] [ 5.08092939e-03 -3.49471966e-05 9.99987091e-01 1.94279675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.599254154 meters 0.05656472308867709 Centerline is valid? [True, True] Translation: X:496.25, Y:4.48, Z:1.94 [[ 9.99989568e-01 5.59924698e-04 -4.53315270e-03 4.96249567e+02] [-5.59891597e-04 9.99999843e-01 8.57084938e-06 4.47597770e+00] [ 4.53315679e-03 -6.03268586e-06 9.99989725e-01 1.94291893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.659254154 meters 0.05637257745308202 Centerline is valid? [True, True] Translation: X:496.31, Y:4.47, Z:1.94 [[ 9.99984930e-01 -1.51977579e-03 -5.27539283e-03 4.96308188e+02] [ 1.51984923e-03 9.99998845e-01 9.91351963e-06 4.47239511e+00] [ 5.27537168e-03 -1.79311720e-05 9.99986085e-01 1.94164351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.719254154 meters 0.05655431683537946 Centerline is valid? [True, True] Translation: X:496.37, Y:4.46, Z:1.94 [[ 9.99927015e-01 -1.01280468e-02 -6.58697198e-03 4.96368081e+02] [ 1.01283472e-02 9.99948707e-01 1.22492664e-05 4.46276176e+00] [ 6.58651006e-03 -7.89635115e-05 9.99978306e-01 1.93969678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.779254154 meters 0.05766675027304751 Centerline is valid? [True, True] Translation: X:496.43, Y:4.45, Z:1.94 [[ 9.99830808e-01 -1.69326905e-02 -7.18606435e-03 4.96428086e+02] [ 1.69332236e-02 9.99856623e-01 1.33459541e-05 4.45456847e+00] [ 7.18480805e-03 -1.35026930e-04 9.99974180e-01 1.93886541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.839254154 meters 0.05753134088996186 Centerline is valid? [True, True] Translation: X:496.49, Y:4.45, Z:1.94 [[ 9.99711953e-01 -2.28654059e-02 -7.29280649e-03 4.96488587e+02] [ 2.28661129e-02 9.99738536e-01 1.35667773e-05 4.44904936e+00] [ 7.29058947e-03 -1.80321006e-04 9.99973407e-01 1.93865600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.899254154 meters 0.05813200194008447 Centerline is valid? [True, True] Translation: X:496.55, Y:4.44, Z:1.94 [[ 9.99738614e-01 -2.19899689e-02 -6.25654432e-03 4.96549039e+02] [ 2.19904723e-02 9.99758180e-01 1.16614493e-05 4.44108296e+00] [ 6.25477493e-03 -1.49242766e-04 9.99980428e-01 1.93940227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.959254154 meters 0.057552370062128565 Centerline is valid? [True, True] Translation: X:496.61, Y:4.44, Z:1.94 [[ 9.99813274e-01 -1.89561906e-02 -3.75221647e-03 4.96610164e+02] [ 1.89563503e-02 9.99820312e-01 7.00904503e-06 4.43856990e+00] [ 3.75140938e-03 -7.81360662e-05 9.99992960e-01 1.94111582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.019254154 meters 0.056013081356412635 Centerline is valid? [True, True] Translation: X:496.67, Y:4.45, Z:1.94 [[ 9.99831073e-01 -1.79914815e-02 -3.75926257e-03 4.96671246e+02] [ 1.79916352e-02 9.99838137e-01 7.07987395e-06 4.44544934e+00] [ 3.75852671e-03 -7.47139588e-05 9.99992934e-01 1.94100466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.079254154 meters 0.056663328830226324 Centerline is valid? [True, True] Translation: X:496.73, Y:4.43, Z:1.94 [[ 9.99809109e-01 -1.91005292e-02 -4.11274974e-03 4.96733312e+02] [ 1.91007229e-02 9.99817565e-01 7.81861412e-06 4.43386665e+00] [ 4.11185009e-03 -8.63736149e-05 9.99991543e-01 1.93913477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.139254154 meters 0.05655698015675572 Centerline is valid? [True, True] Translation: X:496.79, Y:4.44, Z:1.94 [[ 9.99765934e-01 -2.04611366e-02 -7.02988980e-03 4.96794046e+02] [ 2.04617392e-02 9.99790637e-01 1.37871569e-05 4.43737456e+00] [ 7.02813590e-03 -1.57627701e-04 9.99975290e-01 1.93792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.199254154 meters 0.055439975631117695 Centerline is valid? [True, True] Translation: X:496.86, Y:4.43, Z:1.94 [[ 9.99754758e-01 -2.08418669e-02 -7.48606137e-03 4.96855691e+02] [ 2.08425631e-02 9.99782770e-01 1.49787481e-05 4.43440368e+00] [ 7.48412298e-03 -1.71003781e-04 9.99971979e-01 1.93780099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.259254154 meters 0.05779188440927896 Centerline is valid? [True, True] Translation: X:496.92, Y:4.42, Z:1.94 [[ 9.99764852e-01 -2.03013177e-02 -7.62209872e-03 4.96916733e+02] [ 2.03020249e-02 9.99793893e-01 1.54164466e-05 4.41876219e+00] [ 7.62021478e-03 -1.70156860e-04 9.99970951e-01 1.93661254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31925415399996 meters 0.057886132074807736 Centerline is valid? [True, True] Translation: X:496.98, Y:4.42, Z:1.94 [[ 9.99799019e-01 -1.80398025e-02 -8.74568532e-03 4.96977863e+02] [ 1.80406483e-02 9.99837254e-01 1.78294314e-05 4.42127256e+00] [ 8.74394036e-03 -1.75603681e-04 9.99961756e-01 1.93720095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37925415399997 meters 0.057419946475110825 Centerline is valid? [True, True] Translation: X:497.04, Y:4.42, Z:1.94 [[ 9.99829892e-01 -1.60257384e-02 -9.13027283e-03 4.97038197e+02] [ 1.60265766e-02 9.99871566e-01 1.86387727e-05 4.42178026e+00] [ 9.12880149e-03 -1.64962619e-04 9.99958318e-01 1.93735342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.43925415399997 meters 0.05698168120049326 Centerline is valid? [True, True] Translation: X:497.10, Y:4.42, Z:1.94 [[ 9.99814396e-01 -1.71516547e-02 -8.77459802e-03 4.97097884e+02] [ 1.71524714e-02 9.99852885e-01 1.78263832e-05 4.41979528e+00] [ 8.77300139e-03 -1.68329116e-04 9.99961502e-01 1.93855835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.49925415399997 meters 0.05727846204129945 Centerline is valid? [True, True] Translation: X:497.16, Y:4.42, Z:1.94 [[ 9.99765275e-01 -1.99788346e-02 -8.38096544e-03 4.97157328e+02] [ 1.99796783e-02 9.99800386e-01 1.69529197e-05 4.41969763e+00] [ 8.37895379e-03 -1.84397934e-04 9.99964879e-01 1.94006032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.559254154 meters 0.05804711082195166 Centerline is valid? [True, True] Translation: X:497.22, Y:4.41, Z:1.94 [[ 9.99644991e-01 -2.56847496e-02 -7.08411400e-03 4.97217888e+02] [ 2.56854958e-02 9.99670073e-01 1.43520339e-05 4.40985686e+00] [ 7.08140813e-03 -1.96305919e-04 9.99974907e-01 1.94045385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.619254154 meters 0.05747160113988616 Centerline is valid? [True, True] Translation: X:497.28, Y:4.41, Z:1.94 [[ 9.99510718e-01 -3.07393724e-02 -5.78064300e-03 4.97277052e+02] [ 3.07399542e-02 9.99527416e-01 1.17882016e-05 4.40663291e+00] [ 5.77754880e-03 -1.89479135e-04 9.99983292e-01 1.94210818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.679254154 meters 0.058907662717738674 Centerline is valid? [True, True] Translation: X:497.34, Y:4.40, Z:1.94 [[ 9.99383780e-01 -3.48364738e-02 -4.29892465e-03 4.97337064e+02] [ 3.48368337e-02 9.99393013e-01 8.83794629e-06 4.40377648e+00] [ 4.29600738e-03 -1.58593423e-04 9.99990760e-01 1.94234449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.739254154 meters 0.060372171349237946 Centerline is valid? [True, True] Translation: X:497.40, Y:4.40, Z:1.94 [[ 9.99272882e-01 -3.77879624e-02 -5.07716630e-03 4.97397485e+02] [ 3.77885023e-02 9.99285759e-01 1.04196750e-05 4.39612801e+00] [ 5.07314624e-03 -2.02270609e-04 9.99987111e-01 1.94188028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.799254154 meters 0.056754556070506584 Centerline is valid? [True, True] Translation: X:497.46, Y:4.41, Z:1.94 [[ 9.99187855e-01 -4.00031704e-02 -4.83496530e-03 4.97458051e+02] [ 4.00036862e-02 9.99199532e-01 9.96368241e-06 4.40798440e+00] [ 4.83069648e-03 -2.03372025e-04 9.99988311e-01 1.94162383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.859254154 meters 0.05679282797674399 Centerline is valid? [True, True] Translation: X:497.52, Y:4.41, Z:1.94 [[ 9.99034692e-01 -4.35681881e-02 -5.61230309e-03 4.97518199e+02] [ 4.35689393e-02 9.99050423e-01 1.16061110e-05 4.41253049e+00] [ 5.60646811e-03 -2.56117000e-04 9.99984251e-01 1.94132013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.919254154 meters 0.058013379939766956 Centerline is valid? [True, True] Translation: X:497.58, Y:4.40, Z:1.94 [[ 9.98930932e-01 -4.57677241e-02 -6.50447392e-03 4.97578600e+02] [ 4.57687800e-02 9.98952060e-01 1.34988605e-05 4.40340248e+00] [ 6.49703981e-03 -3.11186266e-04 9.99978846e-01 1.94107894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.979254154 meters 0.05630248654516942 Centerline is valid? [True, True] Translation: X:497.64, Y:4.41, Z:1.94 [[ 9.98918566e-01 -4.60104746e-02 -6.68846109e-03 4.97640579e+02] [ 4.60115975e-02 9.98940906e-01 1.40322553e-05 4.40945283e+00] [ 6.68073175e-03 -3.21763860e-04 9.99977632e-01 1.94121570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.039254154 meters 0.059118435421227175 Centerline is valid? [True, True] Translation: X:497.70, Y:4.41, Z:1.94 [[ 9.99042280e-01 -4.31621068e-02 -7.18019179e-03 4.97700232e+02] [ 4.31633283e-02 9.99068029e-01 1.51777282e-05 4.40650481e+00] [ 7.17284495e-03 -3.25084167e-04 9.99974222e-01 1.94107153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.099254154 meters 0.056095795130986406 Centerline is valid? [True, True] Translation: X:497.76, Y:4.42, Z:1.94 [[ 9.99222413e-01 -3.91433915e-02 -4.72914952e-03 4.97761145e+02] [ 3.91438765e-02 9.99233585e-01 9.98982965e-06 4.42145954e+00] [ 4.72513399e-03 -1.95099306e-04 9.99988817e-01 1.94227443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.159254154 meters 0.05885160725584966 Centerline is valid? [True, True] Translation: X:497.82, Y:4.42, Z:1.94 [[ 9.99557074e-01 -2.94730477e-02 -4.12255520e-03 4.97820662e+02] [ 2.94733343e-02 9.99565567e-01 8.76463223e-06 4.41534843e+00] [ 4.12050591e-03 -1.30266198e-04 9.99991502e-01 1.94365375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.219254154 meters 0.05843712619728353 Centerline is valid? [True, True] Translation: X:497.88, Y:4.43, Z:1.94 [[ 9.99731564e-01 -2.29437108e-02 -3.22284282e-03 4.97881876e+02] [ 2.29438521e-02 9.99736755e-01 6.86818650e-06 4.42555097e+00] [ 3.22183684e-03 -8.08107719e-05 9.99994807e-01 1.94476790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.279254154 meters 0.0571068882072969 Centerline is valid? [True, True] Translation: X:497.94, Y:4.43, Z:1.94 [[ 9.99850672e-01 -1.67212138e-02 -4.36293159e-03 4.97941441e+02] [ 1.67214135e-02 9.99860187e-01 9.28709860e-06 4.43214201e+00] [ 4.36216630e-03 -8.22400948e-05 9.99990482e-01 1.94341723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.339254154 meters 0.05700017556410693 Centerline is valid? [True, True] Translation: X:498.00, Y:4.44, Z:1.94 [[ 9.99843684e-01 -1.62815738e-02 -6.89333871e-03 4.98003996e+02] [ 1.62820623e-02 9.99867438e-01 1.47469038e-05 4.44220595e+00] [ 6.89218481e-03 -1.26982369e-04 9.99976241e-01 1.94126509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.399254154 meters 0.05671797216089358 Centerline is valid? [True, True] Translation: X:498.06, Y:4.44, Z:1.94 [[ 9.99769457e-01 -1.96241943e-02 -8.71342353e-03 4.98064293e+02] [ 1.96251038e-02 9.99807409e-01 1.88852541e-05 4.44205699e+00] [ 8.71137480e-03 -1.89882741e-04 9.99962037e-01 1.94034997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.459254154 meters 0.05638328012360955 Centerline is valid? [True, True] Translation: X:498.13, Y:4.44, Z:1.94 [[ 9.99692277e-01 -2.33287876e-02 -8.43317113e-03 4.98125069e+02] [ 2.33297719e-02 9.99727824e-01 1.83464547e-05 4.44449488e+00] [ 8.43044782e-03 -2.15084768e-04 9.99964440e-01 1.94184574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.519254154 meters 0.0553642470005257 Centerline is valid? [True, True] Translation: X:498.19, Y:4.45, Z:1.94 [[ 9.99637453e-01 -2.57988899e-02 -7.70587973e-03 4.98186311e+02] [ 2.57997858e-02 9.99667130e-01 1.68574198e-05 4.44735312e+00] [ 7.70287977e-03 -2.15661355e-04 9.99970309e-01 1.94342005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.579254154 meters 0.05791649680394288 Centerline is valid? [True, True] Translation: X:498.25, Y:4.44, Z:1.94 [[ 9.99563714e-01 -2.86637030e-02 -7.12562392e-03 4.98246693e+02] [ 2.86645424e-02 9.99589087e-01 1.56758169e-05 4.43706812e+00] [ 7.12224658e-03 -2.19921727e-04 9.99974612e-01 1.94333947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.639254154 meters 0.05660870442386308 Centerline is valid? [True, True] Translation: X:498.31, Y:4.45, Z:1.94 [[ 9.99515161e-01 -3.05193838e-02 -6.16521776e-03 4.98307811e+02] [ 3.05200478e-02 9.99534155e-01 1.36285280e-05 4.44785564e+00] [ 6.16192979e-03 -2.01784661e-04 9.99980995e-01 1.94423290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.699254154 meters 0.05686970354723307 Centerline is valid? [True, True] Translation: X:498.37, Y:4.45, Z:1.94 [[ 9.99592782e-01 -2.76843215e-02 -6.91733159e-03 4.98367802e+02] [ 2.76850901e-02 9.99616694e-01 1.53653363e-05 4.44618510e+00] [ 6.91425476e-03 -2.06866028e-04 9.99976075e-01 1.94385940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.759254154 meters 0.056091892508500225 Centerline is valid? [True, True] Translation: X:498.43, Y:4.45, Z:1.94 [[ 9.99701496e-01 -2.32276495e-02 -7.57597505e-03 4.98428180e+02] [ 2.32284436e-02 9.99730183e-01 1.68380690e-05 4.44905165e+00] [ 7.57353981e-03 -1.92811152e-04 9.99971302e-01 1.94354971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81925415399996 meters 0.055830573577609434 Centerline is valid? [True, True] Translation: X:498.49, Y:4.45, Z:1.94 [[ 9.99879802e-01 -1.37410054e-02 -7.18093253e-03 4.98488992e+02] [ 1.37414747e-02 9.99905581e-01 1.60190282e-05 4.45414799e+00] [ 7.18003439e-03 -1.14693705e-04 9.99974217e-01 1.94363623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87925415399997 meters 0.0562136600350028 Centerline is valid? [True, True] Translation: X:498.55, Y:4.46, Z:1.94 [[ 9.99965469e-01 -4.41399053e-03 -7.04107957e-03 4.98549518e+02] [ 4.41421060e-03 9.99990257e-01 1.57144180e-05 4.46074101e+00] [ 7.04094161e-03 -4.67946835e-05 9.99975211e-01 1.94375851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.93925415399997 meters 0.05614533920022483 Centerline is valid? [True, True] Translation: X:498.61, Y:4.46, Z:1.94 [[ 9.99964191e-01 -3.21714878e-04 -8.45652363e-03 4.98606908e+02] [ 3.21883741e-04 9.99999948e-01 1.86072670e-05 4.46273339e+00] [ 8.45651721e-03 -2.13286182e-05 9.99964243e-01 1.94364731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.99925415399997 meters 0.056234157541238915 Centerline is valid? [True, True] Translation: X:498.67, Y:4.46, Z:1.94 [[ 9.99943802e-01 -2.26858289e-03 -1.03560011e-02 4.98665993e+02] [ 2.26893699e-03 9.99997426e-01 2.24433770e-05 4.45979462e+00] [ 1.03559235e-02 -4.59392295e-05 9.99946375e-01 1.94238995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.059254154 meters 0.05546626088694943 Centerline is valid? [True, True] Translation: X:498.72, Y:4.46, Z:1.94 [[ 9.99920879e-01 -7.39960645e-03 -1.01726348e-02 4.98724965e+02] [ 7.40021122e-03 9.99972618e-01 2.18101369e-05 4.45651414e+00] [ 1.01721949e-02 -9.70880577e-05 9.99948257e-01 1.94358240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.119254154 meters 0.05641818178227186 Centerline is valid? [True, True] Translation: X:498.78, Y:4.45, Z:1.95 [[ 9.99783650e-01 -1.81535187e-02 -1.01539343e-02 4.98784466e+02] [ 1.81546746e-02 9.99835190e-01 2.16631416e-05 4.44661731e+00] [ 1.01518676e-02 -2.05999828e-04 9.99948447e-01 1.94509893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.179254154 meters 0.05682765355925334 Centerline is valid? [True, True] Translation: X:498.85, Y:4.44, Z:1.95 [[ 9.99545913e-01 -2.88678244e-02 -8.63803690e-03 4.98845026e+02] [ 2.88690609e-02 9.99583202e-01 1.84686615e-05 4.44044533e+00] [ 8.63390343e-03 -2.67832288e-04 9.99962691e-01 1.94592506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.239254154 meters 0.05586714719533056 Centerline is valid? [True, True] Translation: X:498.91, Y:4.45, Z:1.95 [[ 9.99434345e-01 -3.26931235e-02 -7.88356270e-03 4.98905636e+02] [ 3.26942727e-02 9.99465399e-01 1.69053049e-05 4.44557344e+00] [ 7.87879545e-03 -2.74643091e-04 9.99968924e-01 1.94860932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.299254154 meters 0.057749885223344344 Centerline is valid? [True, True] Translation: X:498.97, Y:4.43, Z:1.95 [[ 9.99392054e-01 -3.44240678e-02 -5.52320936e-03 4.98966095e+02] [ 3.44246586e-02 9.99407296e-01 1.18926339e-05 4.43374081e+00] [ 5.51952633e-03 -2.02020000e-04 9.99984747e-01 1.94942716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.359254154 meters 0.05779905165548038 Centerline is valid? [True, True] Translation: X:499.03, Y:4.43, Z:1.95 [[ 9.99410339e-01 -3.40111306e-02 -4.71343620e-03 4.99028060e+02] [ 3.40115568e-02 9.99421440e-01 1.02613667e-05 4.43481626e+00] [ 4.71036019e-03 -1.70566619e-04 9.99988892e-01 1.94992301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.419254154 meters 0.05757942861404377 Centerline is valid? [True, True] Translation: X:499.09, Y:4.43, Z:1.95 [[ 9.99450492e-01 -3.27281818e-02 -5.25176200e-03 4.99089186e+02] [ 3.27286942e-02 9.99464273e-01 1.16234893e-05 4.43442143e+00] [ 5.24856807e-03 -1.83500414e-04 9.99986209e-01 1.94952787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.479254154 meters 0.05942973490041012 Centerline is valid? [True, True] Translation: X:499.15, Y:4.43, Z:1.95 [[ 9.99476131e-01 -3.16835229e-02 -6.60440905e-03 4.99150826e+02] [ 3.16843114e-02 9.99497926e-01 1.47770932e-05 4.42836517e+00] [ 6.60062496e-03 -2.24025505e-04 9.99978191e-01 1.94778947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.539254154 meters 0.05813032107324558 Centerline is valid? [True, True] Translation: X:499.21, Y:4.43, Z:1.95 [[ 9.99488312e-01 -3.10229868e-02 -7.79026856e-03 4.99213067e+02] [ 3.10240663e-02 9.99518638e-01 1.77437594e-05 4.43443109e+00] [ 7.78596815e-03 -2.59420489e-04 9.99969655e-01 1.94727581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.599254154 meters 0.05718443436741084 Centerline is valid? [True, True] Translation: X:499.27, Y:4.44, Z:1.95 [[ 9.99522945e-01 -2.94463230e-02 -9.31645837e-03 4.99274406e+02] [ 2.94478013e-02 9.99566319e-01 2.15130517e-05 4.43874052e+00] [ 9.31178452e-03 -2.95852004e-04 9.99956601e-01 1.94712862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.659254154 meters 0.05635788372411229 Centerline is valid? [True, True] Translation: X:499.34, Y:4.44, Z:1.95 [[ 9.99553691e-01 -2.82868610e-02 -9.60579974e-03 4.99335863e+02] [ 2.82883811e-02 9.99599803e-01 2.23855161e-05 4.44273976e+00] [ 9.60132232e-03 -2.94108049e-04 9.99953863e-01 1.94811880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.719254154 meters 0.05601655237479594 Centerline is valid? [True, True] Translation: X:499.40, Y:4.45, Z:1.95 [[ 9.99597184e-01 -2.70624140e-02 -8.54957207e-03 4.99397114e+02] [ 2.70635747e-02 9.99633714e-01 2.00868739e-05 4.44730426e+00] [ 8.54589688e-03 -2.51460765e-04 9.99963452e-01 1.94977969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.779254154 meters 0.05878071550917866 Centerline is valid? [True, True] Translation: X:499.46, Y:4.44, Z:1.95 [[ 9.99647602e-01 -2.52137791e-02 -8.30289328e-03 4.99457600e+02] [ 2.52148122e-02 9.99682056e-01 1.97507759e-05 4.43569754e+00] [ 8.29975543e-03 -2.29099711e-04 9.99965530e-01 1.94818466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.839254154 meters 0.05730260034320423 Centerline is valid? [True, True] Translation: X:499.52, Y:4.44, Z:1.95 [[ 9.99709874e-01 -2.28617182e-02 -7.58355644e-03 4.99518558e+02] [ 2.28625132e-02 9.99738618e-01 1.81547870e-05 4.44400510e+00] [ 7.58115919e-03 -1.91528679e-04 9.99971244e-01 1.94924098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.899254154 meters 0.0578274112324663 Centerline is valid? [True, True] Translation: X:499.58, Y:4.44, Z:1.95 [[ 9.99733378e-01 -2.19092382e-02 -7.29101716e-03 4.99579971e+02] [ 2.19099480e-02 9.99759948e-01 1.74703379e-05 4.44479654e+00] [ 7.28888417e-03 -1.77211486e-04 9.99973420e-01 1.94943298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.959254154 meters 0.055374072104384775 Centerline is valid? [True, True] Translation: X:499.64, Y:4.45, Z:1.95 [[ 9.99696189e-01 -2.36031644e-02 -7.10075543e-03 4.99641766e+02] [ 2.36038814e-02 9.99721389e-01 1.71778349e-05 4.45329520e+00] [ 7.09837163e-03 -1.84778005e-04 9.99974789e-01 1.95201708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.019254154 meters 0.05600386902726608 Centerline is valid? [True, True] Translation: X:499.70, Y:4.46, Z:1.95 [[ 9.99669421e-01 -2.47622701e-02 -6.91937543e-03 4.99704101e+02] [ 2.47629803e-02 9.99693350e-01 1.69686716e-05 4.45584398e+00] [ 6.91683342e-03 -1.88307420e-04 9.99976061e-01 1.95262306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.079254154 meters 0.05645789410197308 Centerline is valid? [True, True] Translation: X:499.76, Y:4.45, Z:1.95 [[ 9.99572875e-01 -2.84486903e-02 -6.68879192e-03 4.99763742e+02] [ 2.84494373e-02 9.99595233e-01 1.65327406e-05 4.45326955e+00] [ 6.68561418e-03 -2.06818045e-04 9.99977630e-01 1.95264786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.139254154 meters 0.05600751750245367 Centerline is valid? [True, True] Translation: X:499.82, Y:4.45, Z:1.95 [[ 9.99489732e-01 -3.11790738e-02 -6.93832367e-03 4.99824814e+02] [ 3.11799436e-02 9.99513787e-01 1.72043990e-05 4.45478104e+00] [ 6.93441375e-03 -2.33532161e-04 9.99975929e-01 1.95233109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.199254154 meters 0.05864834251920706 Centerline is valid? [True, True] Translation: X:499.88, Y:4.44, Z:1.95 [[ 9.99337008e-01 -3.52456675e-02 -9.12620926e-03 4.99884359e+02] [ 3.52473428e-02 9.99378619e-01 2.27446012e-05 4.44044894e+00] [ 9.11973676e-03 -3.44404148e-04 9.99958355e-01 1.94928188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.259254154 meters 0.05906807918270425 Centerline is valid? [True, True] Translation: X:499.94, Y:4.44, Z:1.95 [[ 9.99147061e-01 -4.00825156e-02 -9.92687114e-03 4.99944615e+02] [ 4.00847364e-02 9.99196284e-01 2.47675939e-05 4.43992187e+00] [ 9.91790001e-03 -4.22662481e-04 9.99950727e-01 1.94886794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31925415399996 meters 0.05612397438272743 Centerline is valid? [True, True] Translation: X:500.01, Y:4.45, Z:1.95 [[ 9.98981291e-01 -4.44096154e-02 -8.01035041e-03 5.00005700e+02] [ 4.44112007e-02 9.99013336e-01 2.00467941e-05 4.45215442e+00] [ 8.00155661e-03 -3.75775652e-04 9.99967916e-01 1.95170621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37925415399997 meters 0.05557563511386897 Centerline is valid? [True, True] Translation: X:500.07, Y:4.45, Z:1.95 [[ 9.98963868e-01 -4.48524109e-02 -7.71052862e-03 5.00067785e+02] [ 4.48538942e-02 9.98993557e-01 1.94645766e-05 4.45225532e+00] [ 7.70189538e-03 -3.65291644e-04 9.99970273e-01 1.95256291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.43925415399997 meters 0.05598023471857496 Centerline is valid? [True, True] Translation: X:500.13, Y:4.46, Z:1.95 [[ 9.99063310e-01 -4.26405672e-02 -7.36776644e-03 5.00128964e+02] [ 4.26418625e-02 9.99090422e-01 1.87434620e-05 4.45681381e+00] [ 7.36026565e-03 -3.32901189e-04 9.99972857e-01 1.95282587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.49925415399997 meters 0.055230620269087496 Centerline is valid? [True, True] Translation: X:500.19, Y:4.47, Z:1.95 [[ 9.99220988e-01 -3.87901989e-02 -7.26207316e-03 5.00189312e+02] [ 3.87913563e-02 9.99247332e-01 1.85309714e-05 4.46842220e+00] [ 7.25588841e-03 -3.00222203e-04 9.99973631e-01 1.95403800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.559254154 meters 0.0550453441429684 Centerline is valid? [True, True] Translation: X:500.25, Y:4.47, Z:1.95 [[ 9.99331715e-01 -3.55947796e-02 -8.31475893e-03 5.00248809e+02] [ 3.55961868e-02 9.99366255e-01 2.12638024e-05 4.46583072e+00] [ 8.30873261e-03 -3.17223304e-04 9.99965432e-01 1.95427129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.619254154 meters 0.05588280994606308 Centerline is valid? [True, True] Translation: X:500.31, Y:4.47, Z:1.95 [[ 9.99499564e-01 -3.01704172e-02 -9.50617702e-03 5.00309536e+02] [ 3.01720119e-02 9.99544721e-01 2.43507203e-05 4.47016865e+00] [ 9.50111439e-03 -3.11159020e-04 9.99954815e-01 1.95403054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.679254154 meters 0.0560153504718393 Centerline is valid? [True, True] Translation: X:500.37, Y:4.47, Z:1.95 [[ 9.99622125e-01 -2.48208921e-02 -1.18123395e-02 5.00369227e+02] [ 2.48229808e-02 9.99691862e-01 3.02197478e-05 4.46863864e+00] [ 1.18079496e-02 -3.23425804e-04 9.99930231e-01 1.95249717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.739254154 meters 0.055616784024999665 Centerline is valid? [True, True] Translation: X:500.43, Y:4.48, Z:1.95 [[ 9.99727407e-01 -2.00883293e-02 -1.18983198e-02 5.00429589e+02] [ 2.00901134e-02 9.99798173e-01 3.04304669e-05 4.47515982e+00] [ 1.18953071e-02 -2.69460766e-04 9.99929212e-01 1.95271554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.799254154 meters 0.05624637164636792 Centerline is valid? [True, True] Translation: X:500.49, Y:4.48, Z:1.95 [[ 9.99795259e-01 -1.68472650e-02 -1.12075524e-02 5.00489999e+02] [ 1.68486445e-02 9.99858051e-01 2.86744821e-05 4.47901015e+00] [ 1.12054784e-02 -2.17500678e-04 9.99937193e-01 1.95426805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.859254154 meters 0.05668157387229812 Centerline is valid? [True, True] Translation: X:500.55, Y:4.48, Z:1.95 [[ 9.99858978e-01 -1.33712671e-02 -1.01604283e-02 5.00549706e+02] [ 1.33722215e-02 9.99910588e-01 2.59954189e-05 4.47888063e+00] [ 1.01591722e-02 -1.61859250e-04 9.99948381e-01 1.95437764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.919254154 meters 0.05546365696659178 Centerline is valid? [True, True] Translation: X:500.61, Y:4.48, Z:1.96 [[ 9.99866121e-01 -1.37156538e-02 -8.92310128e-03 5.00609495e+02] [ 1.37164032e-02 9.99905925e-01 2.27870038e-05 4.48332573e+00] [ 8.92194930e-03 -1.45176808e-04 9.99960188e-01 1.95624882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.979254154 meters 0.05681528557407733 Centerline is valid? [True, True] Translation: X:500.67, Y:4.47, Z:1.95 [[ 9.99856952e-01 -1.47274373e-02 -8.31736001e-03 5.00668849e+02] [ 1.47281228e-02 9.99891535e-01 2.11710424e-05 4.47150783e+00] [ 8.31614608e-03 -1.43667114e-04 9.99965410e-01 1.95455797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.039254154 meters 0.05694437670269789 Centerline is valid? [True, True] Translation: X:500.73, Y:4.48, Z:1.96 [[ 9.99872629e-01 -1.41447766e-02 -7.39264974e-03 5.00729559e+02] [ 1.41453020e-02 9.99899950e-01 1.87871955e-05 4.47581164e+00] [ 7.39164436e-03 -1.23356066e-04 9.99972674e-01 1.95647811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.099254154 meters 0.05508472646976818 Centerline is valid? [True, True] Translation: X:500.79, Y:4.49, Z:1.96 [[ 9.99913075e-01 -1.05133980e-02 -7.95682059e-03 5.00790690e+02] [ 1.05138919e-02 9.99944727e-01 2.02516573e-05 4.48570228e+00] [ 7.95616788e-03 -1.03907049e-04 9.99968344e-01 1.95892979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.159254154 meters 0.05569264391322407 Centerline is valid? [True, True] Translation: X:500.85, Y:4.48, Z:1.96 [[ 9.99929949e-01 -8.01070814e-03 -8.71352207e-03 5.00850004e+02] [ 8.01120351e-03 9.99967910e-01 2.19476150e-05 4.47719203e+00] [ 8.71306663e-03 -9.17518761e-05 9.99962036e-01 1.95550184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.219254154 meters 0.05590355629246572 Centerline is valid? [True, True] Translation: X:500.91, Y:4.48, Z:1.96 [[ 9.99937171e-01 -6.41209308e-03 -9.19447275e-03 5.00908678e+02] [ 6.41256922e-03 9.99979439e-01 2.23048843e-05 4.47855654e+00] [ 9.19414068e-03 -8.12636758e-05 9.99957730e-01 1.95587841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.279254154 meters 0.05558251089367936 Centerline is valid? [True, True] Translation: X:500.97, Y:4.48, Z:1.96 [[ 9.99916126e-01 -8.37284153e-03 -9.88111022e-03 5.00966718e+02] [ 8.37347929e-03 9.99964942e-01 2.31734745e-05 4.47541905e+00] [ 9.88056978e-03 -1.05910803e-04 9.99951180e-01 1.95533356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.339254154 meters 0.05579231867447362 Centerline is valid? [True, True] Translation: X:501.03, Y:4.47, Z:1.96 [[ 9.99853227e-01 -1.44475560e-02 -9.20830476e-03 5.01027044e+02] [ 1.44483654e-02 9.99895617e-01 2.13695873e-05 4.47179861e+00] [ 9.20703482e-03 -1.54411402e-04 9.99957602e-01 1.95540478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.399254154 meters 0.054966308298010615 Centerline is valid? [True, True] Translation: X:501.09, Y:4.47, Z:1.96 [[ 9.99726328e-01 -2.20453551e-02 -7.82757159e-03 5.01087829e+02] [ 2.20461725e-02 9.99756953e-01 1.81427185e-05 4.47061062e+00] [ 7.82526916e-03 -1.90705747e-04 9.99969364e-01 1.95672177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.459254154 meters 0.055091137535294564 Centerline is valid? [True, True] Translation: X:501.15, Y:4.47, Z:1.96 [[ 9.99469522e-01 -3.18831474e-02 -6.64383093e-03 5.01147488e+02] [ 3.18839535e-02 9.99491577e-01 1.54163229e-05 4.46524681e+00] [ 6.63996154e-03 -2.27239741e-04 9.99977929e-01 1.95728497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.519254154 meters 0.055082116189527366 Centerline is valid? [True, True] Translation: X:501.21, Y:4.46, Z:1.96 [[ 9.99237856e-01 -3.86087808e-02 -5.75064702e-03 5.01207992e+02] [ 3.86094960e-02 9.99254375e-01 1.33620313e-05 4.46309258e+00] [ 5.74584331e-03 -2.35381431e-04 9.99983465e-01 1.95772779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.579254154 meters 0.0583582126864147 Centerline is valid? [True, True] Translation: X:501.27, Y:4.45, Z:1.96 [[ 9.98924899e-01 -4.59374587e-02 -6.22867775e-03 5.01267258e+02] [ 4.59384401e-02 9.98944272e-01 1.45132005e-05 4.44706935e+00] [ 6.22143526e-03 -3.00633337e-04 9.99980601e-01 1.95714486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.639254154 meters 0.05542318058634566 Centerline is valid? [True, True] Translation: X:501.33, Y:4.46, Z:1.96 [[ 9.98795499e-01 -4.87366864e-02 -5.68212284e-03 5.01327393e+02] [ 4.87375486e-02 9.98811619e-01 1.32954294e-05 4.45985947e+00] [ 5.67472234e-03 -2.90212153e-04 9.99983857e-01 1.95806135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.699254154 meters 0.061612774960836385 Centerline is valid? [True, True] Translation: X:501.39, Y:4.44, Z:1.96 [[ 9.98851462e-01 -4.75067598e-02 -6.23418400e-03 5.01388115e+02] [ 4.75077741e-02 9.98870868e-01 1.46306531e-05 4.43699610e+00] [ 6.22644973e-03 -3.10786054e-04 9.99980567e-01 1.95809250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.759254154 meters 0.05737847682236352 Centerline is valid? [True, True] Translation: X:501.45, Y:4.45, Z:1.96 [[ 9.99059618e-01 -4.30024064e-02 -5.53836345e-03 5.01448711e+02] [ 4.30031383e-02 9.99074937e-01 1.30757490e-05 4.45138276e+00] [ 5.53267783e-03 -2.51230462e-04 9.99984663e-01 1.95853381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81925415399996 meters 0.05594240625052372 Centerline is valid? [True, True] Translation: X:501.51, Y:4.46, Z:1.96 [[ 9.99385695e-01 -3.45454896e-02 -5.90268383e-03 5.01509805e+02] [ 3.45461739e-02 9.99403103e-01 1.39887153e-05 4.46034059e+00] [ 5.89867729e-03 -2.17895264e-04 9.99982579e-01 1.95813897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87925415399997 meters 0.05508175138477158 Centerline is valid? [True, True] Translation: X:501.57, Y:4.48, Z:1.96 [[ 9.99609788e-01 -2.69016445e-02 -7.52153081e-03 5.01569187e+02] [ 2.69025393e-02 9.99638061e-01 1.77959656e-05 4.47633892e+00] [ 7.51832973e-03 -2.20137300e-04 9.99971713e-01 1.95912023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.93925415399997 meters 0.05518215718166724 Centerline is valid? [True, True] Translation: X:501.63, Y:4.48, Z:1.96 [[ 9.99783920e-01 -1.96916152e-02 -6.65981027e-03 5.01629915e+02] [ 1.96921570e-02 9.99806091e-01 1.57757302e-05 4.47599116e+00] [ 6.65820822e-03 -1.46918351e-04 9.99977823e-01 1.95854399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.99925415399997 meters 0.0563978203370124 Centerline is valid? [True, True] Translation: X:501.69, Y:4.48, Z:1.96 [[ 9.99926215e-01 -1.00094914e-02 -6.88298931e-03 5.01689154e+02] [ 1.00098410e-02 9.99949900e-01 1.63435312e-05 4.48151113e+00] [ 6.88248088e-03 -8.52399536e-05 9.99976312e-01 1.95952054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.059254154 meters 0.05574694818211168 Centerline is valid? [True, True] Translation: X:501.75, Y:4.49, Z:1.96 [[ 9.99970845e-01 -3.21898157e-03 -6.92433271e-03 5.01748863e+02] [ 3.21917218e-03 9.99994818e-01 1.63816911e-05 4.48655399e+00] [ 6.92424410e-03 -3.86718327e-05 9.99976026e-01 1.96041910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.119254154 meters 0.05538186862945085 Centerline is valid? [True, True] Translation: X:501.81, Y:4.49, Z:1.96 [[ 9.99974545e-01 3.41481929e-04 -7.12690976e-03 5.01806526e+02] [-3.41371636e-04 9.99999942e-01 1.66919278e-05 4.48942599e+00] [ 7.12691504e-03 -1.42585781e-05 9.99974603e-01 1.96094514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.179254154 meters 0.05573753587605638 Centerline is valid? [True, True] Translation: X:501.86, Y:4.49, Z:1.96 [[ 9.99977989e-01 3.27297968e-03 -5.77147996e-03 5.01864475e+02] [-3.27295832e-03 9.99994644e-01 1.31473058e-05 4.49045367e+00] [ 5.77149208e-03 5.74279687e-06 9.99983345e-01 1.96096072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.239254154 meters 0.05639572366322473 Centerline is valid? [True, True] Translation: X:501.92, Y:4.49, Z:1.96 [[ 9.99973110e-01 3.28964877e-03 -6.55416386e-03 5.01922006e+02] [-3.28962608e-03 9.99994589e-01 1.42427525e-05 4.48987773e+00] [ 6.55417525e-03 7.31837890e-06 9.99978521e-01 1.96159160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.299254154 meters 0.05620793028890802 Centerline is valid? [True, True] Translation: X:501.98, Y:4.49, Z:1.96 [[ 9.99976814e-01 -6.45072061e-04 -6.77907881e-03 5.01980678e+02] [ 6.45184969e-04 9.99999792e-01 1.44684683e-05 4.48658318e+00] [ 6.77906807e-03 -1.88418925e-05 9.99977022e-01 1.96190981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.359254154 meters 0.05537635303725188 Centerline is valid? [True, True] Translation: X:502.04, Y:4.48, Z:1.96 [[ 9.99968171e-01 -4.15082991e-03 -6.81372994e-03 5.02038622e+02] [ 4.15102375e-03 9.99991384e-01 1.43072232e-05 4.48245715e+00] [ 6.81361185e-03 -4.25907227e-05 9.99976786e-01 1.96188987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.419254154 meters 0.055739830996359534 Centerline is valid? [True, True] Translation: X:502.10, Y:4.47, Z:1.96 [[ 9.99945413e-01 -8.52035760e-03 -6.04763631e-03 5.02097046e+02] [ 8.52058919e-03 9.99963699e-01 1.25301171e-05 4.47493859e+00] [ 6.04731002e-03 -6.40588578e-05 9.99981713e-01 1.96225496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.479254154 meters 0.056311884390691916 Centerline is valid? [True, True] Translation: X:502.16, Y:4.47, Z:1.96 [[ 9.99927236e-01 -1.07118362e-02 -5.54791018e-03 5.02157232e+02] [ 1.07120645e-02 9.99942624e-01 1.14390642e-05 4.46988062e+00] [ 5.54746933e-03 -7.08678037e-05 9.99984610e-01 1.96257169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.539254154 meters 0.056575296437860766 Centerline is valid? [True, True] Translation: X:502.22, Y:4.46, Z:1.96 [[ 9.99902254e-01 -1.24602051e-02 -6.34236842e-03 5.02217498e+02] [ 1.24605388e-02 9.99922364e-01 1.30954767e-05 4.46371885e+00] [ 6.34171286e-03 -9.21235242e-05 9.99979887e-01 1.96154292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.599254154 meters 0.055346970758858804 Centerline is valid? [True, True] Translation: X:502.28, Y:4.46, Z:1.96 [[ 9.99870251e-01 -1.45342979e-02 -6.94518544e-03 5.02278460e+02] [ 1.45347484e-02 9.99894365e-01 1.43980574e-05 4.46314348e+00] [ 6.94424252e-03 -1.15342712e-04 9.99975882e-01 1.96152641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.659254154 meters 0.056371445656432075 Centerline is valid? [True, True] Translation: X:502.34, Y:4.46, Z:1.96 [[ 9.99848038e-01 -1.56529097e-02 -7.67376482e-03 5.02338628e+02] [ 1.56534932e-02 9.99877476e-01 1.59753929e-05 4.45851286e+00] [ 7.67257454e-03 -1.36094191e-04 9.99970556e-01 1.96089805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.719254154 meters 0.05642328962424914 Centerline is valid? [True, True] Translation: X:502.40, Y:4.45, Z:1.96 [[ 9.99859259e-01 -1.52813310e-02 -6.92412177e-03 5.02398890e+02] [ 1.52817972e-02 9.99883226e-01 1.44296549e-05 4.45363341e+00] [ 6.92309271e-03 -1.20240649e-04 9.99976028e-01 1.96077268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.779254154 meters 0.05484668230826732 Centerline is valid? [True, True] Translation: X:502.46, Y:4.46, Z:1.96 [[ 9.99916153e-01 -1.15219559e-02 -5.91030494e-03 5.02459237e+02] [ 1.15222299e-02 9.99933617e-01 1.23005110e-05 4.45676745e+00] [ 5.90977087e-03 -8.03993719e-05 9.99982534e-01 1.96153436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.839254154 meters 0.05623383049851967 Centerline is valid? [True, True] Translation: X:502.52, Y:4.45, Z:1.96 [[ 9.99961715e-01 -6.52527264e-03 -5.83006711e-03 5.02519398e+02] [ 6.52545428e-03 9.99978709e-01 1.21335202e-05 4.45284720e+00] [ 5.82986380e-03 -5.01768920e-05 9.99983005e-01 1.96125150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.899254154 meters 0.056215619866812255 Centerline is valid? [True, True] Translation: X:502.58, Y:4.45, Z:1.96 [[ 9.99968704e-01 -5.25689728e-03 -5.91241343e-03 5.02578621e+02] [ 5.25706174e-03 9.99986181e-01 1.22749297e-05 4.45102937e+00] [ 5.91226720e-03 -4.33564680e-05 9.99982521e-01 1.96139220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.959254154 meters 0.0560165846747248 Centerline is valid? [True, True] Translation: X:502.64, Y:4.45, Z:1.96 [[ 9.99954501e-01 -6.84120026e-03 -6.64781148e-03 5.02638011e+02] [ 6.84144245e-03 9.99976597e-01 1.36916689e-05 4.44852013e+00] [ 6.64756223e-03 -5.91716656e-05 9.99977903e-01 1.96076580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.019254154 meters 0.05624254809171524 Centerline is valid? [True, True] Translation: X:502.70, Y:4.44, Z:1.96 [[ 9.99915870e-01 -1.06300557e-02 -7.43340522e-03 5.02697691e+02] [ 1.06304625e-02 9.99943495e-01 1.52119317e-05 4.44463377e+00] [ 7.43282349e-03 -9.42311871e-05 9.99972372e-01 1.96047474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.079254154 meters 0.05680524414296097 Centerline is valid? [True, True] Translation: X:502.76, Y:4.44, Z:1.96 [[ 9.99878261e-01 -1.36833428e-02 -7.49857306e-03 5.02757115e+02] [ 1.36838421e-02 9.99906372e-01 1.52833121e-05 4.43773982e+00] [ 7.49766185e-03 -1.17890741e-04 9.99971885e-01 1.95992870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.139254154 meters 0.05697418373661562 Centerline is valid? [True, True] Translation: X:502.82, Y:4.43, Z:1.96 [[ 9.99853159e-01 -1.56290437e-02 -7.02798329e-03 5.02817520e+02] [ 1.56295301e-02 9.99877851e-01 1.42933498e-05 4.43488456e+00] [ 7.02690144e-03 -1.24135328e-04 9.99975303e-01 1.96072338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.199254154 meters 0.056131789634214654 Centerline is valid? [True, True] Translation: X:502.88, Y:4.44, Z:1.96 [[ 9.99804069e-01 -1.93480790e-02 -4.18044808e-03 5.02878476e+02] [ 1.93482836e-02 9.99812804e-01 8.50408267e-06 4.44247653e+00] [ 4.17950098e-03 -8.93869116e-05 9.99991262e-01 1.96197639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.259254154 meters 0.056130887485313995 Centerline is valid? [True, True] Translation: X:502.94, Y:4.43, Z:1.96 [[ 9.99727512e-01 -2.31356358e-02 -3.10555357e-03 5.02938397e+02] [ 2.31357671e-02 9.99732332e-01 6.34208300e-06 4.42842496e+00] [ 3.10457559e-03 -7.81897188e-05 9.99995178e-01 1.96236980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31925415399996 meters 0.05748353915094876 Centerline is valid? [True, True] Translation: X:503.00, Y:4.42, Z:1.96 [[ 9.99652099e-01 -2.61934255e-02 -3.09615323e-03 5.02999028e+02] [ 2.61935705e-02 9.99656890e-01 6.31046295e-06 4.41523644e+00] [ 3.09492561e-03 -8.74075754e-05 9.99995207e-01 1.96246705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37925415399997 meters 0.05901269624642269 Centerline is valid? [True, True] Translation: X:503.06, Y:4.40, Z:1.96 [[ 9.99406309e-01 -3.41798957e-02 -4.33173151e-03 5.03059175e+02] [ 3.41802549e-02 9.99415684e-01 8.90950824e-06 4.40254550e+00] [ 4.32889589e-03 -1.56963906e-04 9.99990618e-01 1.96112295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.43925415399997 meters 0.05554399842932831 Centerline is valid? [True, True] Translation: X:503.12, Y:4.42, Z:1.96 [[ 9.99294857e-01 -3.72727618e-02 -4.53109226e-03 5.03120027e+02] [ 3.72731867e-02 9.99305113e-01 9.32834917e-06 4.41665624e+00] [ 4.52759597e-03 -1.78210019e-04 9.99989734e-01 1.96011960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.49925415399997 meters 0.05628558724507043 Centerline is valid? [True, True] Translation: X:503.18, Y:4.41, Z:1.96 [[ 9.99209452e-01 -3.92856178e-02 -6.09193979e-03 5.03179900e+02] [ 3.92864232e-02 9.99227990e-01 1.25544708e-05 4.41335453e+00] [ 6.08674354e-03 -2.51875071e-04 9.99981444e-01 1.95978946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.559254154 meters 0.057450315862413226 Centerline is valid? [True, True] Translation: X:503.24, Y:4.40, Z:1.96 [[ 9.99291708e-01 -3.71130034e-02 -6.22152131e-03 5.03239630e+02] [ 3.71138014e-02 9.99311045e-01 1.28215167e-05 4.40452578e+00] [ 6.21675912e-03 -2.43716742e-04 9.99980646e-01 1.95927699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.619254154 meters 0.057614367092916695 Centerline is valid? [True, True] Translation: X:503.30, Y:4.40, Z:1.96 [[ 9.99409028e-01 -3.36808688e-02 -6.86973922e-03 5.03298856e+02] [ 3.36817606e-02 9.99432608e-01 1.41365600e-05 4.40345401e+00] [ 6.86536526e-03 -2.45513118e-04 9.99976403e-01 1.95920164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.679254154 meters 0.05791425158881946 Centerline is valid? [True, True] Translation: X:503.36, Y:4.41, Z:1.96 [[ 9.99602476e-01 -2.76456653e-02 -5.53232885e-03 5.03360062e+02] [ 2.76461512e-02 9.99617772e-01 1.13623527e-05 4.40596905e+00] [ 5.52990012e-03 -1.64305436e-04 9.99984696e-01 1.96059581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.739254154 meters 0.057284793523085395 Centerline is valid? [True, True] Translation: X:503.42, Y:4.41, Z:1.96 [[ 9.99731704e-01 -2.25852392e-02 -5.14067340e-03 5.03419444e+02] [ 2.25855918e-02 9.99744913e-01 1.05497588e-05 4.41087096e+00] [ 5.13912382e-03 -1.26652080e-04 9.99986787e-01 1.96200039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.799254154 meters 0.058016269022264456 Centerline is valid? [True, True] Translation: X:503.48, Y:4.41, Z:1.96 [[ 9.99797224e-01 -1.95618944e-02 -4.77937422e-03 5.03479951e+02] [ 1.95621645e-02 9.99808643e-01 9.77943509e-06 4.41125374e+00] [ 4.77826835e-03 -1.03272357e-04 9.99988579e-01 1.96232737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.859254154 meters 0.056674080352249676 Centerline is valid? [True, True] Translation: X:503.54, Y:4.42, Z:1.96 [[ 9.99856338e-01 -1.66105240e-02 -3.37540471e-03 5.03541079e+02] [ 1.66106419e-02 9.99862034e-01 6.89263389e-06 4.41663808e+00] [ 3.37482452e-03 -6.29592826e-05 9.99994303e-01 1.96287635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.919254154 meters 0.05637184330735001 Centerline is valid? [True, True] Translation: X:503.60, Y:4.42, Z:1.96 [[ 9.99933322e-01 -1.10612893e-02 -3.31655687e-03 5.03602116e+02] [ 1.10613729e-02 9.99938821e-01 6.86294617e-06 4.42011253e+00] [ 3.31627806e-03 -4.35481609e-05 9.99994500e-01 1.96321072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.979254154 meters 0.056761325013082634 Centerline is valid? [True, True] Translation: X:503.66, Y:4.42, Z:1.96 [[ 9.99970039e-01 -5.99980380e-03 -4.89110210e-03 5.03661963e+02] [ 5.99992531e-03 9.99982000e-01 1.01691398e-05 4.42250488e+00] [ 4.89095305e-03 -3.95150824e-05 9.99988038e-01 1.96307115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.039254154 meters 0.05666983352588475 Centerline is valid? [True, True] Translation: X:503.72, Y:4.43, Z:1.96 [[ 9.99973926e-01 -3.87915590e-03 -6.09099278e-03 5.03721786e+02] [ 3.87930480e-03 9.99992475e-01 1.26315007e-05 4.42601534e+00] [ 6.09089795e-03 -3.62599889e-05 9.99981450e-01 1.96315677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.099254154 meters 0.05675177431379614 Centerline is valid? [True, True] Translation: X:503.78, Y:4.42, Z:1.96 [[ 9.99970316e-01 -5.54387230e-03 -5.35103957e-03 5.03780737e+02] [ 5.54401061e-03 9.99984632e-01 1.10135648e-05 4.42129226e+00] [ 5.35089627e-03 -4.06794580e-05 9.99985683e-01 1.96307637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.159254154 meters 0.05665455603677088 Centerline is valid? [True, True] Translation: X:503.84, Y:4.42, Z:1.96 [[ 9.99947741e-01 -8.34632152e-03 -5.90367327e-03 5.03840078e+02] [ 8.34653797e-03 9.99965167e-01 1.20252413e-05 4.42207149e+00] [ 5.90336726e-03 -6.12998460e-05 9.99982573e-01 1.96361362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.219254154 meters 0.05674347114408561 Centerline is valid? [True, True] Translation: X:503.90, Y:4.42, Z:1.96 [[ 9.99865677e-01 -1.48988382e-02 -6.83025287e-03 5.03900244e+02] [ 1.48992803e-02 9.99888999e-01 1.38453955e-05 4.42092657e+00] [ 6.82928842e-03 -1.15609387e-04 9.99976673e-01 1.96382802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.279254154 meters 0.05852845439791479 Centerline is valid? [True, True] Translation: X:503.96, Y:4.40, Z:1.96 [[ 9.99773557e-01 -2.02575784e-02 -6.51647205e-03 5.03960920e+02] [ 2.02580947e-02 9.99794784e-01 1.32237992e-05 4.40186677e+00] [ 6.51486688e-03 -1.45232112e-04 9.99978767e-01 1.96273508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.339254154 meters 0.05842612742075121 Centerline is valid? [True, True] Translation: X:504.02, Y:4.40, Z:1.97 [[ 9.99560388e-01 -2.90420814e-02 -5.96552553e-03 5.04021733e+02] [ 2.90426705e-02 9.99578173e-01 1.21272488e-05 4.40173369e+00] [ 5.96265691e-03 -1.85376710e-04 9.99982206e-01 1.96502196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.399254154 meters 0.05726666048066112 Centerline is valid? [True, True] Translation: X:504.08, Y:4.40, Z:1.97 [[ 9.99293698e-01 -3.70490137e-02 -6.28292577e-03 5.04082483e+02] [ 3.70498252e-02 9.99313419e-01 1.27823131e-05 4.40495086e+00] [ 6.27813846e-03 -2.45554587e-04 9.99980262e-01 1.96622918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.459254154 meters 0.059640624047406464 Centerline is valid? [True, True] Translation: X:504.14, Y:4.39, Z:1.96 [[ 9.99017038e-01 -4.36938655e-02 -7.47022560e-03 5.04142210e+02] [ 4.36951983e-02 9.99044909e-01 1.52139447e-05 4.38895645e+00] [ 7.46242610e-03 -3.41611979e-04 9.99972097e-01 1.96474696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.519254154 meters 0.05648563639159905 Centerline is valid? [True, True] Translation: X:504.20, Y:4.41, Z:1.97 [[ 9.98799768e-01 -4.83615542e-02 -7.75778482e-03 5.04202730e+02] [ 4.83631322e-02 9.98829819e-01 1.58385321e-05 4.40747243e+00] [ 7.74794083e-03 -3.91010296e-04 9.99969908e-01 1.96652039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.579254154 meters 0.05652325083622082 Centerline is valid? [True, True] Translation: X:504.26, Y:4.40, Z:1.97 [[ 9.98556882e-01 -5.32919123e-02 -6.64276925e-03 5.04261891e+02] [ 5.32931785e-02 9.98578909e-01 1.36124847e-05 4.40175769e+00] [ 6.63260383e-03 -3.67607127e-04 9.99977936e-01 1.96712502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.639254154 meters 0.05532573170672359 Centerline is valid? [True, True] Translation: X:504.32, Y:4.41, Z:1.97 [[ 9.98428274e-01 -5.56877154e-02 -6.31346073e-03 5.04322186e+02] [ 5.56889070e-02 9.98448169e-01 1.29738512e-05 4.41206824e+00] [ 6.30294082e-03 -3.64543187e-04 9.99980070e-01 1.96818280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.699254154 meters 0.05652204397177169 Centerline is valid? [True, True] Translation: X:504.38, Y:4.41, Z:1.97 [[ 9.98441033e-01 -5.53138246e-02 -7.47565071e-03 5.04382984e+02] [ 5.53154856e-02 9.98468926e-01 1.54590263e-05 4.40948450e+00] [ 7.46334984e-03 -4.28954176e-04 9.99972057e-01 1.96751955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.759254154 meters 0.054926607850932 Centerline is valid? [True, True] Translation: X:504.44, Y:4.42, Z:1.97 [[ 9.98480255e-01 -5.45283019e-02 -7.99030106e-03 5.04444303e+02] [ 5.45301759e-02 9.98512123e-01 1.67005688e-05 4.42379074e+00] [ 7.97750182e-03 -4.52387711e-04 9.99968077e-01 1.96831216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81925415399996 meters 0.05637630029831529 Centerline is valid? [True, True] Translation: X:504.50, Y:4.42, Z:1.97 [[ 9.98644966e-01 -5.12359210e-02 -9.11660520e-03 5.04503500e+02] [ 5.12382240e-02 9.98686459e-01 1.90857260e-05 4.42076069e+00] [ 9.10365229e-03 -4.86178524e-04 9.99958443e-01 1.96739639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87925415399997 meters 0.055263183955214366 Centerline is valid? [True, True] Translation: X:504.56, Y:4.43, Z:1.97 [[ 9.98810369e-01 -4.78720919e-02 -9.27957666e-03 5.04563638e+02] [ 4.78743329e-02 9.98853367e-01 1.93871441e-05 4.42977067e+00] [ 9.26800828e-03 -4.63617622e-04 9.99956944e-01 1.96846415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.93925415399997 meters 0.05554445527640639 Centerline is valid? [True, True] Translation: X:504.62, Y:4.43, Z:1.97 [[ 9.99170742e-01 -3.96296703e-02 -9.34440987e-03 5.04623351e+02] [ 3.96315825e-02 9.99214360e-01 1.94847285e-05 4.43454335e+00] [ 9.33629636e-03 -3.89802321e-04 9.99956340e-01 1.96816300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.99925415399997 meters 0.05583839955669045 Centerline is valid? [True, True] Translation: X:504.68, Y:4.44, Z:1.97 [[ 9.99561213e-01 -2.83328017e-02 -8.63905042e-03 5.04683046e+02] [ 2.83340144e-02 9.99598511e-01 1.79861284e-05 4.44338933e+00] [ 8.63507234e-03 -2.62757215e-04 9.99962683e-01 1.96906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.059254154 meters 0.05512086785316466 Centerline is valid? [True, True] Translation: X:504.74, Y:4.45, Z:1.97 [[ 9.99833134e-01 -1.67961677e-02 -7.18279658e-03 5.04742579e+02] [ 1.67967084e-02 9.99858925e-01 1.49490471e-05 4.45364392e+00] [ 7.18153218e-03 -1.35593892e-04 9.99974203e-01 1.96988862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.119254154 meters 0.056088086695035025 Centerline is valid? [True, True] Translation: X:504.80, Y:4.46, Z:1.97 [[ 9.99919539e-01 -1.03945620e-02 -7.27106206e-03 5.04802263e+02] [ 1.03949468e-02 9.99945971e-01 1.51295145e-05 4.46113612e+00] [ 7.27051195e-03 -9.07106005e-05 9.99973565e-01 1.97082559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.179254154 meters 0.05586812717279953 Centerline is valid? [True, True] Translation: X:504.86, Y:4.47, Z:1.97 [[ 9.99959590e-01 -4.48756978e-03 -7.78972937e-03 5.04861874e+02] [ 4.48783199e-03 9.99989930e-01 1.61806161e-05 4.46720320e+00] [ 7.78957831e-03 -5.11389589e-05 9.99969659e-01 1.96961959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.239254154 meters 0.0558985698403968 Centerline is valid? [True, True] Translation: X:504.92, Y:4.47, Z:1.97 [[ 9.99962027e-01 -3.41233616e-03 -8.01875495e-03 5.04920774e+02] [ 3.41257704e-03 9.99994177e-01 1.63582722e-05 4.47071703e+00] [ 8.01865244e-03 -4.37222701e-05 9.99967849e-01 1.96972598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.299254154 meters 0.05533908615125411 Centerline is valid? [True, True] Translation: X:504.98, Y:4.47, Z:1.97 [[ 9.99958306e-01 -4.20424605e-03 -8.10621666e-03 5.04978930e+02] [ 4.20451454e-03 9.99991161e-01 1.60799878e-05 4.47134768e+00] [ 8.10607741e-03 -5.01620232e-05 9.99967144e-01 1.96897692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.359254154 meters 0.05471626871890945 Centerline is valid? [True, True] Translation: X:505.04, Y:4.47, Z:1.97 [[ 9.99953427e-01 -5.46359776e-03 -7.95572008e-03 5.05036609e+02] [ 5.46389346e-03 9.99985073e-01 1.54340139e-05 4.47108415e+00] [ 7.95551700e-03 -5.89025020e-05 9.99968353e-01 1.96900493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.419254154 meters 0.05578450601457675 Centerline is valid? [True, True] Translation: X:505.09, Y:4.47, Z:1.97 [[ 9.99940988e-01 -7.20903509e-03 -8.12713192e-03 5.05094895e+02] [ 7.20939889e-03 9.99974012e-01 1.54685077e-05 4.46880439e+00] [ 8.12680920e-03 -7.40593308e-05 9.99966974e-01 1.96808796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.479254154 meters 0.05576705648175079 Centerline is valid? [True, True] Translation: X:505.15, Y:4.47, Z:1.97 [[ 9.99924580e-01 -9.46191584e-03 -7.82980064e-03 5.05154026e+02] [ 9.46232087e-03 9.99955231e-01 1.46861132e-05 4.46975448e+00] [ 7.82931115e-03 -8.87730916e-05 9.99969347e-01 1.96895061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.539254154 meters 0.05496999992444253 Centerline is valid? [True, True] Translation: X:505.21, Y:4.47, Z:1.97 [[ 9.99870144e-01 -1.40189159e-02 -7.94767389e-03 5.05213918e+02] [ 1.40194760e-02 9.99901722e-01 1.47725883e-05 4.46612184e+00] [ 7.94668571e-03 -1.26192894e-04 9.99968417e-01 1.96827491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.599254154 meters 0.05607481334066596 Centerline is valid? [True, True] Translation: X:505.27, Y:4.46, Z:1.97 [[ 9.99826837e-01 -1.65997816e-02 -8.41090143e-03 5.05274202e+02] [ 1.66005003e-02 9.99862202e-01 1.56356117e-05 4.46213435e+00] [ 8.40948288e-03 -1.55258076e-04 9.99964628e-01 1.96820518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.659254154 meters 0.05518137602052959 Centerline is valid? [True, True] Translation: X:505.33, Y:4.46, Z:1.97 [[ 9.99823080e-01 -1.69435129e-02 -8.16862101e-03 5.05334694e+02] [ 1.69442028e-02 9.99856437e-01 1.52521899e-05 4.46315952e+00] [ 8.16718987e-03 -1.53660262e-04 9.99966636e-01 1.96832495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.719254154 meters 0.05581037349919347 Centerline is valid? [True, True] Translation: X:505.39, Y:4.46, Z:1.97 [[ 9.99869287e-01 -1.35330816e-02 -8.84675816e-03 5.05394654e+02] [ 1.35337577e-02 9.99908414e-01 1.65539573e-05 4.45905263e+00] [ 8.84572390e-03 -1.36281674e-04 9.99960867e-01 1.96683937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.779254154 meters 0.056015592133797636 Centerline is valid? [True, True] Translation: X:505.45, Y:4.46, Z:1.97 [[ 9.99933707e-01 -8.17942217e-03 -8.10419025e-03 5.05454857e+02] [ 8.17981369e-03 9.99966545e-01 1.51644723e-05 4.46311204e+00] [ 8.10379509e-03 -8.14542334e-05 9.99967160e-01 1.96829389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.839254154 meters 0.05547338065147976 Centerline is valid? [True, True] Translation: X:505.51, Y:4.47, Z:1.97 [[ 9.99974230e-01 1.30293747e-04 -7.17797335e-03 5.05513660e+02] [-1.30203233e-04 9.99999991e-01 1.30772488e-05 4.46689250e+00] [ 7.17797499e-03 -1.21423164e-05 9.99974238e-01 1.96893529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.899254154 meters 0.05591371562925654 Centerline is valid? [True, True] Translation: X:505.57, Y:4.47, Z:1.97 [[ 9.99950631e-01 5.61122998e-03 -8.20058076e-03 5.05571329e+02] [-5.61130166e-03 9.99984256e-01 1.42678014e-05 4.46783758e+00] [ 8.20053172e-03 3.17488355e-05 9.99966375e-01 1.96715434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.959254154 meters 0.05592575099588349 Centerline is valid? [True, True] Translation: X:505.63, Y:4.47, Z:1.97 [[ 9.99944714e-01 6.20368684e-03 -8.49017421e-03 5.05630399e+02] [-6.20378909e-03 9.99980756e-01 1.42934021e-05 4.46581423e+00] [ 8.49009950e-03 3.83786383e-05 9.99963958e-01 1.96713951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.019254154 meters 0.056555245609745945 Centerline is valid? [True, True] Translation: X:505.69, Y:4.46, Z:1.97 [[ 9.99935503e-01 3.98362956e-03 -1.06358405e-02 5.05688601e+02] [-3.98367154e-03 9.99992065e-01 1.72388436e-05 4.46241064e+00] [ 1.06358247e-02 2.51319632e-05 9.99943438e-01 1.96564967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.079254154 meters 0.056646576390503876 Centerline is valid? [True, True] Translation: X:505.75, Y:4.46, Z:1.97 [[ 9.99946742e-01 2.75318295e-04 -1.03168111e-02 5.05747060e+02] [-2.75164028e-04 9.99999962e-01 1.63723259e-05 4.45754509e+00] [ 1.03168152e-02 -1.35326386e-05 9.99946780e-01 1.96622794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.139254154 meters 0.05664960675634565 Centerline is valid? [True, True] Translation: X:505.80, Y:4.45, Z:1.97 [[ 9.99937231e-01 -7.22620989e-03 -8.56245016e-03 5.05804783e+02] [ 7.22658881e-03 9.99973888e-01 1.33152015e-05 4.44757720e+00] [ 8.56213035e-03 -7.51916722e-05 9.99963341e-01 1.96686083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.199254154 meters 0.05679262368618927 Centerline is valid? [True, True] Translation: X:505.86, Y:4.44, Z:1.97 [[ 9.99890097e-01 -1.31235191e-02 -6.89685717e-03 5.05863806e+02] [ 1.31239037e-02 9.99913878e-01 1.05184216e-05 4.44063805e+00] [ 6.89612516e-03 -1.01030955e-04 9.99976216e-01 1.96945071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.259254154 meters 0.0572067877651835 Centerline is valid? [True, True] Translation: X:505.92, Y:4.43, Z:1.97 [[ 9.99885315e-01 -1.39997510e-02 -5.77614149e-03 5.05924561e+02] [ 1.40000350e-02 9.99901995e-01 8.74027252e-06 4.43461422e+00] [ 5.77545304e-03 -8.96054533e-05 9.99983318e-01 1.97064735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31925415399996 meters 0.05682435032911401 Centerline is valid? [True, True] Translation: X:505.98, Y:4.43, Z:1.97 [[ 9.99922587e-01 -1.15775510e-02 -4.55848573e-03 5.05984715e+02] [ 1.15777029e-02 9.99932976e-01 6.92294630e-06 4.43128663e+00] [ 4.55810005e-03 -5.96992037e-05 9.99989610e-01 1.97209013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37925415399997 meters 0.057163355304669636 Centerline is valid? [True, True] Translation: X:506.05, Y:4.43, Z:1.97 [[ 9.99961164e-01 -7.38438856e-03 -4.81044582e-03 5.06045157e+02] [ 7.38450914e-03 9.99972734e-01 7.30484260e-06 4.42919518e+00] [ 4.81026072e-03 -4.28273401e-05 9.99988430e-01 1.97332386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.43925415399997 meters 0.05752689290848675 Centerline is valid? [True, True] Translation: X:506.11, Y:4.43, Z:1.97 [[ 9.99971521e-01 -5.40425208e-03 -5.26789904e-03 5.06105513e+02] [ 5.40436919e-03 9.99985396e-01 7.99574391e-06 4.42670785e+00] [ 5.26777890e-03 -3.64651875e-05 9.99986124e-01 1.97268776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.49925415399997 meters 0.0574380807337117 Centerline is valid? [True, True] Translation: X:506.16, Y:4.42, Z:1.97 [[ 9.99953493e-01 -4.86401159e-03 -8.32782969e-03 5.06164690e+02] [ 4.86428153e-03 9.99988169e-01 1.21598276e-05 4.41953131e+00] [ 8.32767202e-03 -5.26681702e-05 9.99965323e-01 1.97033940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.559254154 meters 0.05752227101833844 Centerline is valid? [True, True] Translation: X:506.22, Y:4.41, Z:1.97 [[ 9.99931643e-01 -6.53427128e-03 -9.69601573e-03 5.06222164e+02] [ 6.53470850e-03 9.99978648e-01 1.34121426e-05 4.41291643e+00] [ 9.69572107e-03 -7.67718621e-05 9.99952992e-01 1.96991158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.619254154 meters 0.05809198701979453 Centerline is valid? [True, True] Translation: X:506.28, Y:4.41, Z:1.97 [[ 9.99908541e-01 -9.86734533e-03 -9.24906766e-03 5.06281743e+02] [ 9.86788347e-03 9.99951311e-01 1.25487929e-05 4.40839199e+00] [ 9.24849351e-03 -1.03816367e-04 9.99957226e-01 1.97170821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.679254154 meters 0.058235269771346736 Centerline is valid? [True, True] Translation: X:506.34, Y:4.40, Z:1.97 [[ 9.99793901e-01 -1.84642239e-02 -8.43964508e-03 5.06342322e+02] [ 1.84649776e-02 9.99829508e-01 1.13857811e-05 4.40000133e+00] [ 8.43799596e-03 -1.67221292e-04 9.99964385e-01 1.97304079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.739254154 meters 0.05767732233386301 Centerline is valid? [True, True] Translation: X:506.40, Y:4.39, Z:1.97 [[ 9.99558469e-01 -2.86951088e-02 -7.71091088e-03 5.06401401e+02] [ 2.86960423e-02 9.99588184e-01 1.04298998e-05 4.39078692e+00] [ 7.70743611e-03 -2.31697919e-04 9.99970270e-01 1.97428856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.799254154 meters 0.057455915036209844 Centerline is valid? [True, True] Translation: X:506.46, Y:4.39, Z:1.98 [[ 9.99328841e-01 -3.60144422e-02 -6.69536341e-03 5.06460905e+02] [ 3.60153104e-02 9.99351238e-01 9.10671219e-06 4.38527213e+00] [ 6.69069174e-03 -2.50236192e-04 9.99977586e-01 1.97543664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.859254154 meters 0.05981151313418347 Centerline is valid? [True, True] Translation: X:506.52, Y:4.37, Z:1.98 [[ 9.98877493e-01 -4.69161456e-02 -6.52910083e-03 5.06521635e+02] [ 4.69172039e-02 9.98898782e-01 8.93437348e-06 4.37311388e+00] [ 6.52149170e-03 -3.15251500e-04 9.99978685e-01 1.97587568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.919254154 meters 0.05702538144220509 Centerline is valid? [True, True] Translation: X:506.58, Y:4.39, Z:1.98 [[ 9.98409727e-01 -5.60175682e-02 -6.32848982e-03 5.06581757e+02] [ 5.60187450e-02 9.98429717e-01 8.70026688e-06 4.38937043e+00] [ 6.31806493e-03 -3.63200488e-04 9.99979975e-01 1.97693970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.979254154 meters 0.05555263025290855 Centerline is valid? [True, True] Translation: X:506.64, Y:4.39, Z:1.98 [[ 9.98226217e-01 -5.91001712e-02 -7.18252155e-03 5.06642465e+02] [ 5.91017670e-02 9.98251963e-01 9.93605417e-06 4.39328806e+00] [ 7.16937902e-03 -4.34418145e-04 9.99974205e-01 1.97762875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.039254154 meters 0.05748280277279476 Centerline is valid? [True, True] Translation: X:506.70, Y:4.39, Z:1.98 [[ 9.98241628e-01 -5.85690864e-02 -9.12762960e-03 5.06703865e+02] [ 5.85716476e-02 9.98283207e-01 1.33051529e-05 4.38589468e+00] [ 9.11118008e-03 -5.47902062e-04 9.99958342e-01 1.97775677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.099254154 meters 0.057412161647210774 Centerline is valid? [True, True] Translation: X:506.76, Y:4.39, Z:1.98 [[ 9.98463755e-01 -5.45781041e-02 -9.55828475e-03 5.06764781e+02] [ 5.45807358e-02 9.98509361e-01 1.44986155e-05 4.38662182e+00] [ 9.54324549e-03 -5.36174557e-04 9.99954318e-01 1.97703138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.159254154 meters 0.05716483637687905 Centerline is valid? [True, True] Translation: X:506.82, Y:4.39, Z:1.98 [[ 9.98658936e-01 -5.08274974e-02 -9.84355237e-03 5.06824075e+02] [ 5.08301070e-02 9.98707314e-01 1.49412110e-05 4.38845224e+00] [ 9.83006833e-03 -5.15269994e-04 9.99951551e-01 1.97692114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.219254154 meters 0.056391236969389795 Centerline is valid? [True, True] Translation: X:506.88, Y:4.40, Z:1.98 [[ 9.98946996e-01 -4.46352456e-02 -1.06110803e-02 5.06884899e+02] [ 4.46379280e-02 9.99003231e-01 1.59757471e-05 4.39699550e+00] [ 1.05997904e-02 -4.89615564e-04 9.99943701e-01 1.97720961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.279254154 meters 0.0571221535257797 Centerline is valid? [True, True] Translation: X:506.94, Y:4.40, Z:1.98 [[ 9.99128506e-01 -4.03209502e-02 -1.07911906e-02 5.06944853e+02] [ 4.03234726e-02 9.99186678e-01 1.61875165e-05 4.39891070e+00] [ 1.07817612e-02 -4.51311689e-04 9.99941773e-01 1.97709982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.339254154 meters 0.055700974686551434 Centerline is valid? [True, True] Translation: X:507.01, Y:4.41, Z:1.98 [[ 9.99391324e-01 -3.38472381e-02 -8.44671165e-03 5.07005602e+02] [ 3.38485526e-02 9.99426974e-01 1.26732043e-05 4.40829251e+00] [ 8.44144251e-03 -2.98574454e-04 9.99964326e-01 1.97924141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.399254154 meters 0.056122052582609355 Centerline is valid? [True, True] Translation: X:507.07, Y:4.41, Z:1.98 [[ 9.99601168e-01 -2.70448412e-02 -8.12908304e-03 5.07065111e+02] [ 2.70458339e-02 9.99634194e-01 1.21967190e-05 4.41097381e+00] [ 8.12577952e-03 -2.32049684e-04 9.99966958e-01 1.97982485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.459254154 meters 0.05674256679782817 Centerline is valid? [True, True] Translation: X:507.12, Y:4.41, Z:1.98 [[ 9.99703963e-01 -2.30643411e-02 -7.74745645e-03 5.07124769e+02] [ 2.30651233e-02 9.99733965e-01 1.16205893e-05 4.41491308e+00] [ 7.74512733e-03 -1.90313188e-04 9.99969988e-01 1.98020876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.519254154 meters 0.056761747997938046 Centerline is valid? [True, True] Translation: X:507.19, Y:4.42, Z:1.98 [[ 9.99810912e-01 -1.82370320e-02 -6.74918297e-03 5.07186014e+02] [ 1.82375161e-02 9.99833683e-01 1.01711935e-05 4.42110357e+00] [ 6.74787497e-03 -1.33257603e-04 9.99977224e-01 1.98056024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.579254154 meters 0.05628058401914899 Centerline is valid? [True, True] Translation: X:507.25, Y:4.43, Z:1.98 [[ 9.99866764e-01 -1.50806307e-02 -6.24724771e-03 5.07246493e+02] [ 1.50809844e-02 9.99886275e-01 9.49697171e-06 4.42513749e+00] [ 6.24639403e-03 -1.03710351e-04 9.99980486e-01 1.98147194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.639254154 meters 0.0569935682181455 Centerline is valid? [True, True] Translation: X:507.31, Y:4.43, Z:1.98 [[ 9.99887387e-01 -1.35658181e-02 -6.41727087e-03 5.07307814e+02] [ 1.35661606e-02 9.99907975e-01 9.83195171e-06 4.42757452e+00] [ 6.41654695e-03 -9.68885714e-05 9.99979409e-01 1.98198182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.699254154 meters 0.05631121614809404 Centerline is valid? [True, True] Translation: X:507.37, Y:4.43, Z:1.98 [[ 9.99926468e-01 -9.92864658e-03 -6.96283043e-03 5.07367724e+02] [ 9.92896204e-03 9.99950707e-01 1.07398609e-05 4.43058103e+00] [ 6.96238058e-03 -7.98727502e-05 9.99975759e-01 1.98096951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.759254154 meters 0.05679651284814704 Centerline is valid? [True, True] Translation: X:507.43, Y:4.43, Z:1.98 [[ 9.99937001e-01 -8.64329479e-03 -7.16155410e-03 5.07426860e+02] [ 8.64359518e-03 9.99962643e-01 1.09940031e-05 4.43072431e+00] [ 7.16119154e-03 -7.28948850e-05 9.99974356e-01 1.97993316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81925415399996 meters 0.05591815138987739 Centerline is valid? [True, True] Translation: X:507.49, Y:4.43, Z:1.98 [[ 9.99936173e-01 -9.29552807e-03 -6.42205319e-03 5.07486583e+02] [ 9.29578245e-03 9.99956793e-01 9.76155542e-06 4.43308127e+00] [ 6.42168498e-03 -6.94589417e-05 9.99979378e-01 1.98114482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87925415399997 meters 0.05637893884080974 Centerline is valid? [True, True] Translation: X:507.55, Y:4.44, Z:1.98 [[ 9.99908933e-01 -1.17775036e-02 -6.58903531e-03 5.07545849e+02] [ 1.17778247e-02 9.99930639e-01 9.92977751e-06 4.43812480e+00] [ 6.58846134e-03 -8.75333761e-05 9.99978292e-01 1.98217318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.93925415399997 meters 0.056359988806171914 Centerline is valid? [True, True] Translation: X:507.61, Y:4.43, Z:1.98 [[ 9.99860829e-01 -1.49336062e-02 -7.43709019e-03 5.07606302e+02] [ 1.49341026e-02 9.99888480e-01 1.12016361e-05 4.43215566e+00] [ 7.43609352e-03 -1.22266345e-04 9.99972344e-01 1.98082692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.99925415399997 meters 0.05620465505399481 Centerline is valid? [True, True] Translation: X:507.67, Y:4.43, Z:1.98 [[ 9.99840756e-01 -1.59810491e-02 -7.94156034e-03 5.07666583e+02] [ 1.59816483e-02 9.99872285e-01 1.19963702e-05 4.43113979e+00] [ 7.94035437e-03 -1.38913685e-04 9.99968465e-01 1.98072519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.059254154 meters 0.056792624137243515 Centerline is valid? [True, True] Translation: X:507.73, Y:4.43, Z:1.98 [[ 9.99849076e-01 -1.55242416e-02 -7.79890780e-03 5.07727985e+02] [ 1.55248061e-02 9.99879483e-01 1.18456282e-05 4.43239703e+00] [ 7.79778401e-03 -1.32920372e-04 9.99969588e-01 1.98131084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.119254154 meters 0.056914768080024006 Centerline is valid? [True, True] Translation: X:507.79, Y:4.43, Z:1.98 [[ 9.99875072e-01 -1.35460825e-02 -8.14524497e-03 5.07788028e+02] [ 1.35466332e-02 9.99908240e-01 1.24408553e-05 4.43086047e+00] [ 8.14432904e-03 -1.22779947e-04 9.99966827e-01 1.98087367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.179254154 meters 0.0562099486832521 Centerline is valid? [True, True] Translation: X:507.85, Y:4.43, Z:1.98 [[ 9.99921104e-01 -9.60293784e-03 -8.09746761e-03 5.07848265e+02] [ 9.60335283e-03 9.99953887e-01 1.23678813e-05 4.43474816e+00] [ 8.09697544e-03 -9.01297440e-05 9.99967215e-01 1.98181376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.239254154 meters 0.05666032555148828 Centerline is valid? [True, True] Translation: X:507.91, Y:4.44, Z:1.98 [[ 9.99958353e-01 -5.01397882e-03 -7.62577862e-03 5.07907122e+02] [ 5.01421033e-03 9.99987429e-01 1.12398082e-05 4.43611187e+00] [ 7.62562640e-03 -4.94765980e-05 9.99970923e-01 1.98208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.299254154 meters 0.0561677017022525 Centerline is valid? [True, True] Translation: X:507.97, Y:4.44, Z:1.98 [[ 9.99964480e-01 -2.17346348e-03 -8.14338002e-03 5.07965373e+02] [ 2.17362542e-03 9.99997638e-01 1.10357131e-05 4.43697749e+00] [ 8.14333679e-03 -2.87359789e-05 9.99966842e-01 1.98310301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.359254154 meters 0.056748657807347 Centerline is valid? [True, True] Translation: X:508.02, Y:4.44, Z:1.98 [[ 9.99967359e-01 3.21882764e-04 -8.07326492e-03 5.08023899e+02] [-3.21812308e-04 9.99999948e-01 1.00259871e-05 4.43659171e+00] [ 8.07326773e-03 -7.42758376e-06 9.99967411e-01 1.98283639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.419254154 meters 0.05680040096213999 Centerline is valid? [True, True] Translation: X:508.08, Y:4.44, Z:1.98 [[ 9.99963062e-01 7.65407927e-05 -8.59467189e-03 5.08082513e+02] [-7.64571670e-05 9.99999997e-01 1.00584474e-05 4.43550384e+00] [ 8.59467264e-03 -9.40095156e-06 9.99963065e-01 1.98345633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.479254154 meters 0.05694362663007868 Centerline is valid? [True, True] Translation: X:508.14, Y:4.43, Z:1.98 [[ 9.99944515e-01 -2.88184959e-03 -1.01322006e-02 5.08141538e+02] [ 2.88211392e-03 9.99995847e-01 1.14861189e-05 4.43134104e+00] [ 1.01321254e-02 -4.06876378e-05 9.99948668e-01 1.98283945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.539254154 meters 0.056748210580176726 Centerline is valid? [True, True] Translation: X:508.20, Y:4.43, Z:1.98 [[ 9.99919040e-01 -7.22259325e-03 -1.04760126e-02 5.08199380e+02] [ 7.22310965e-03 9.99973913e-01 1.14582241e-05 4.42661293e+00] [ 1.04756566e-02 -8.71266842e-05 9.99945125e-01 1.98290813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.599254154 meters 0.05690061191564943 Centerline is valid? [True, True] Translation: X:508.26, Y:4.42, Z:1.98 [[ 9.99889110e-01 -1.05406621e-02 -1.05195970e-02 5.08257708e+02] [ 1.05413635e-02 9.99944438e-01 1.12302469e-05 4.42107742e+00] [ 1.05188941e-02 -1.22119898e-04 9.99944667e-01 1.98259936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.659254154 meters 0.057404669999023404 Centerline is valid? [True, True] Translation: X:508.32, Y:4.42, Z:1.98 [[ 9.99820703e-01 -1.60059734e-02 -1.01178907e-02 5.08317838e+02] [ 1.60069009e-02 9.99871881e-01 1.06860975e-05 4.41831238e+00] [ 1.01164233e-02 -1.72640255e-04 9.99948813e-01 1.98457228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.719254154 meters 0.0567583690604997 Centerline is valid? [True, True] Translation: X:508.38, Y:4.41, Z:1.98 [[ 9.99709585e-01 -2.22618266e-02 -9.22809748e-03 5.08377309e+02] [ 2.22628637e-02 9.99752152e-01 9.66435766e-06 4.40966478e+00] [ 9.22559517e-03 -2.15105428e-04 9.99957420e-01 1.98496963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.779254154 meters 0.05711806120136262 Centerline is valid? [True, True] Translation: X:508.44, Y:4.41, Z:1.99 [[ 9.99553319e-01 -2.87024807e-02 -8.32645175e-03 5.08438172e+02] [ 2.87035486e-02 9.99587968e-01 8.75771098e-06 4.40817129e+00] [ 8.32276961e-03 -2.47752512e-04 9.99965334e-01 1.98713548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.839254154 meters 0.05708911747913177 Centerline is valid? [True, True] Translation: X:508.50, Y:4.41, Z:1.99 [[ 9.99418012e-01 -3.31792862e-02 -7.92295490e-03 5.08499091e+02] [ 3.31803942e-02 9.99449379e-01 8.40078857e-06 4.40651391e+00] [ 7.91831362e-03 -2.71282666e-04 9.99968613e-01 1.98765576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.899254154 meters 0.056755073425024796 Centerline is valid? [True, True] Translation: X:508.56, Y:4.40, Z:1.99 [[ 9.99234380e-01 -3.81027264e-02 -8.87900762e-03 5.08559229e+02] [ 3.81043123e-02 9.99273767e-01 9.44687929e-06 4.40045549e+00] [ 8.87219944e-03 -3.47768126e-04 9.99960581e-01 1.98748236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.959254154 meters 0.057273872546835726 Centerline is valid? [True, True] Translation: X:508.62, Y:4.40, Z:1.99 [[ 9.99167862e-01 -3.96889437e-02 -9.40057316e-03 5.08620457e+02] [ 3.96907925e-02 9.99212010e-01 1.01158489e-05 4.40119122e+00] [ 9.39276412e-03 -3.83223630e-04 9.99955814e-01 1.98800186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.019254154 meters 0.05821421484611713 Centerline is valid? [True, True] Translation: X:508.68, Y:4.40, Z:1.99 [[ 9.99182120e-01 -3.93027773e-02 -9.50697520e-03 5.08681287e+02] [ 3.93046544e-02 9.99227273e-01 1.06129116e-05 4.39540924e+00] [ 9.49921179e-03 -3.84272606e-04 9.99954808e-01 1.98853355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.079254154 meters 0.057322019070732436 Centerline is valid? [True, True] Translation: X:508.74, Y:4.40, Z:1.99 [[ 9.99241239e-01 -3.78079982e-02 -9.35420446e-03 5.08742372e+02] [ 3.78097529e-02 9.99284956e-01 1.07536787e-05 4.40107965e+00] [ 9.34710921e-03 -3.64425679e-04 9.99956248e-01 1.99011895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.139254154 meters 0.05783963389748557 Centerline is valid? [True, True] Translation: X:508.80, Y:4.40, Z:1.99 [[ 9.99346399e-01 -3.47209188e-02 -1.00614400e-02 5.08802444e+02] [ 3.47227934e-02 9.99396982e-01 1.16375140e-05 4.40009616e+00] [ 1.00549688e-02 -3.60991211e-04 9.99949382e-01 1.98945789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.199254154 meters 0.05728434924538488 Centerline is valid? [True, True] Translation: X:508.86, Y:4.40, Z:1.99 [[ 9.99433414e-01 -3.20802366e-02 -1.01838224e-02 5.08863468e+02] [ 3.20820213e-02 9.99485239e-01 1.18821860e-05 4.40067870e+00] [ 1.01781990e-02 -3.38593060e-04 9.99948143e-01 1.98965847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.259254154 meters 0.05804014527477537 Centerline is valid? [True, True] Translation: X:508.92, Y:4.40, Z:1.99 [[ 9.99482439e-01 -3.05126065e-02 -1.01899630e-02 5.08924521e+02] [ 3.05143136e-02 9.99534330e-01 1.20599980e-05 4.40164187e+00] [ 1.01848498e-02 -3.22993482e-04 9.99948081e-01 1.99040980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31925415399996 meters 0.058338214960194944 Centerline is valid? [True, True] Translation: X:508.99, Y:4.40, Z:1.99 [[ 9.99545436e-01 -2.83370263e-02 -1.02924269e-02 5.08985468e+02] [ 2.83386544e-02 9.99598380e-01 1.23539751e-05 4.39989552e+00] [ 1.02879432e-02 -3.04021888e-04 9.99947031e-01 1.99155481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37925415399997 meters 0.057531673784892566 Centerline is valid? [True, True] Translation: X:509.05, Y:4.40, Z:1.99 [[ 9.99597429e-01 -2.65617479e-02 -9.97266046e-03 5.09046954e+02] [ 2.65631898e-02 9.99647136e-01 1.21360620e-05 4.40386085e+00] [ 9.96881911e-03 -2.77036849e-04 9.99950272e-01 1.99262565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.43925415399997 meters 0.05865487181929508 Centerline is valid? [True, True] Translation: X:509.11, Y:4.40, Z:1.99 [[ 9.99673228e-01 -2.39445085e-02 -8.94979286e-03 5.09106958e+02] [ 2.39455655e-02 9.99713264e-01 1.09513423e-05 4.39525828e+00] [ 8.94696441e-03 -2.25255615e-04 9.99959950e-01 1.99130271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.49925415399997 meters 0.058764098923939426 Centerline is valid? [True, True] Translation: X:509.17, Y:4.40, Z:1.99 [[ 9.99690342e-01 -2.31711471e-02 -9.07294625e-03 5.09168834e+02] [ 2.31722026e-02 9.99731488e-01 1.12193432e-05 4.39710400e+00] [ 9.07025009e-03 -2.21456018e-04 9.99958840e-01 1.99242336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.559254154 meters 0.058851704276068575 Centerline is valid? [True, True] Translation: X:509.23, Y:4.40, Z:1.99 [[ 9.99694374e-01 -2.29844198e-02 -9.10355691e-03 5.09229796e+02] [ 2.29854762e-02 9.99735799e-01 1.14257287e-05 4.39672308e+00] [ 9.10088912e-03 -2.20671827e-04 9.99958562e-01 1.99219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.619254154 meters 0.05787818722559245 Centerline is valid? [True, True] Translation: X:509.29, Y:4.40, Z:1.99 [[ 9.99679935e-01 -2.30574025e-02 -1.04107141e-02 5.09290985e+02] [ 2.30587899e-02 9.99734111e-01 1.32362103e-05 4.40149606e+00] [ 1.04076408e-02 -2.53290444e-04 9.99945807e-01 1.99272679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.679254154 meters 0.05771337600348 Centerline is valid? [True, True] Translation: X:509.35, Y:4.40, Z:1.99 [[ 9.99687138e-01 -2.23340759e-02 -1.12612594e-02 5.09352211e+02] [ 2.23356556e-02 9.99750528e-01 1.45053987e-05 4.40344890e+00] [ 1.12581261e-02 -2.66028472e-04 9.99936590e-01 1.99309443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.739254154 meters 0.058280020163145166 Centerline is valid? [True, True] Translation: X:509.41, Y:4.40, Z:1.99 [[ 9.99770341e-01 -1.83499296e-02 -1.10700077e-02 5.09412619e+02] [ 1.83512120e-02 9.99831602e-01 1.42644473e-05 4.40419152e+00] [ 1.10678818e-02 -2.17409230e-04 9.99938725e-01 1.99300636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.799254154 meters 0.05836896984921482 Centerline is valid? [True, True] Translation: X:509.47, Y:4.41, Z:1.99 [[ 9.99835009e-01 -1.46283951e-02 -1.07687260e-02 5.09471894e+02] [ 1.46293912e-02 9.99892985e-01 1.37331284e-05 4.40505776e+00] [ 1.07673727e-02 -1.71270769e-04 9.99942015e-01 1.99363836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.859254154 meters 0.05889068615939134 Centerline is valid? [True, True] Translation: X:509.53, Y:4.41, Z:1.99 [[ 9.99904696e-01 -9.45658917e-03 -1.00584197e-02 5.09532102e+02] [ 9.45719370e-03 9.99955280e-01 1.25389274e-05 4.40965973e+00] [ 1.00578513e-02 -1.07662156e-04 9.99949413e-01 1.99465352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.919254154 meters 0.058219968310267156 Centerline is valid? [True, True] Translation: X:509.59, Y:4.41, Z:2.00 [[ 9.99915915e-01 -7.69399207e-03 -1.04386911e-02 5.09589616e+02] [ 7.69454278e-03 9.99970397e-01 1.25956045e-05 4.41426118e+00] [ 1.04382852e-02 -9.29155009e-05 9.99945515e-01 1.99742928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.979254154 meters 0.05827725456573327 Centerline is valid? [True, True] Translation: X:509.65, Y:4.41, Z:2.00 [[ 9.99915305e-01 -8.18776237e-03 -1.01165047e-02 5.09648643e+02] [ 8.18830157e-03 9.99966475e-01 1.18795994e-05 4.41375592e+00] [ 1.01160683e-02 -9.47155847e-05 9.99948827e-01 1.99790679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.039254154 meters 0.05836519909161445 Centerline is valid? [True, True] Translation: X:509.71, Y:4.41, Z:1.99 [[ 9.99898936e-01 -9.20406241e-03 -1.08352712e-02 5.09707022e+02] [ 9.20473704e-03 9.99957635e-01 1.23927808e-05 4.40726209e+00] [ 1.08346981e-02 -1.12127350e-04 9.99941297e-01 1.99488358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.099254154 meters 0.05743623133989676 Centerline is valid? [True, True] Translation: X:509.77, Y:4.41, Z:2.00 [[ 9.99887385e-01 -9.54552495e-03 -1.15801820e-02 5.09766257e+02] [ 9.54630727e-03 9.99954433e-01 1.22817605e-05 4.40668266e+00] [ 1.15795371e-02 -1.22828353e-04 9.99932947e-01 1.99547871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.159254154 meters 0.05843986068877215 Centerline is valid? [True, True] Translation: X:509.82, Y:4.40, Z:1.99 [[ 9.99901965e-01 -8.80685117e-03 -1.08857713e-02 5.09823966e+02] [ 8.80748617e-03 9.99961213e-01 1.03940442e-05 4.40113813e+00] [ 1.08852576e-02 -1.06269306e-04 9.99940748e-01 1.99335472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.219254154 meters 0.05809998958869575 Centerline is valid? [True, True] Translation: X:509.88, Y:4.41, Z:2.00 [[ 9.99922110e-01 -6.87772308e-03 -1.04149478e-02 5.09882873e+02] [ 6.87818823e-03 9.99976345e-01 8.84326488e-06 4.40583909e+00] [ 1.04146406e-02 -8.04785475e-05 9.99945763e-01 1.99787801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.279254154 meters 0.05774968447273109 Centerline is valid? [True, True] Translation: X:509.94, Y:4.41, Z:2.00 [[ 9.99948028e-01 -1.08387045e-03 -1.01374210e-02 5.09942142e+02] [ 1.08400615e-03 9.99999412e-01 7.89199984e-06 4.40624179e+00] [ 1.01374065e-02 -1.88806164e-05 9.99948615e-01 1.99718881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.339254154 meters 0.05779994348087273 Centerline is valid? [True, True] Translation: X:510.00, Y:4.41, Z:2.00 [[ 9.99948663e-01 5.32021992e-03 -8.62357360e-03 5.10000186e+02] [-5.32036412e-03 9.99985847e-01 6.21911499e-06 4.40575214e+00] [ 8.62348464e-03 3.96617558e-05 9.99962816e-01 1.99742975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.399254154 meters 0.058649614326971716 Centerline is valid? [True, True] Translation: X:510.06, Y:4.40, Z:2.00 [[ 9.99923311e-01 8.98435442e-03 -8.52366326e-03 5.10058687e+02] [-8.98463464e-03 9.99959637e-01 5.41662026e-06 4.40198926e+00] [ 8.52336789e-03 7.11657953e-05 9.99963673e-01 1.99908866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.459254154 meters 0.05803486818868933 Centerline is valid? [True, True] Translation: X:510.12, Y:4.40, Z:2.00 [[ 9.99902616e-01 1.07514337e-02 -8.89749405e-03 5.10117370e+02] [-1.07518168e-02 9.99942198e-01 4.78530703e-06 4.40153607e+00] [ 8.89703120e-03 9.08793846e-05 9.99960416e-01 1.99687063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.519254154 meters 0.05872075112294811 Centerline is valid? [True, True] Translation: X:510.18, Y:4.40, Z:2.00 [[ 9.99896993e-01 1.01365720e-02 -1.01614062e-02 5.10175849e+02] [-1.01370454e-02 9.99948619e-01 4.91336298e-06 4.39768349e+00] [ 1.01609339e-02 9.80937794e-05 9.99948372e-01 1.99558253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.579254154 meters 0.05870196329426284 Centerline is valid? [True, True] Translation: X:510.23, Y:4.39, Z:2.00 [[ 9.99922325e-01 6.54226484e-03 -1.06086482e-02 5.10234660e+02] [-6.54258129e-03 9.99978597e-01 4.87584574e-06 4.38809901e+00] [ 1.06084531e-02 6.45324765e-05 9.99943727e-01 1.99507569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.639254154 meters 0.05901833916122555 Centerline is valid? [True, True] Translation: X:510.29, Y:4.38, Z:2.00 [[ 9.99943753e-01 3.52232816e-03 -1.00042152e-02 5.10293324e+02] [-3.52246139e-03 9.99993796e-01 4.30336335e-06 4.38261327e+00] [ 1.00041683e-02 3.09363406e-05 9.99949957e-01 1.99742736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.699254154 meters 0.057815255641125905 Centerline is valid? [True, True] Translation: X:510.35, Y:4.37, Z:2.00 [[ 9.99961552e-01 -2.94473911e-03 -8.25976688e-03 5.10351529e+02] [ 2.94486683e-03 9.99995664e-01 3.30058602e-06 4.37366238e+00] [ 8.25972134e-03 -2.76243726e-05 9.99965888e-01 1.99740278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.759254154 meters 0.058561353397148824 Centerline is valid? [True, True] Translation: X:510.41, Y:4.37, Z:2.00 [[ 9.99931396e-01 -9.07246504e-03 -7.40898719e-03 5.10410451e+02] [ 9.07273449e-03 9.99958842e-01 2.75796357e-06 4.36640088e+00] [ 7.40865723e-03 -6.99775480e-05 9.99972553e-01 1.99933342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81925415399996 meters 0.06032455944025978 Centerline is valid? [True, True] Translation: X:510.47, Y:4.35, Z:2.00 [[ 9.99822488e-01 -1.77640936e-02 -6.27927108e-03 5.10469878e+02] [ 1.77644580e-02 9.99842200e-01 2.25097544e-06 4.34640746e+00] [ 6.27824022e-03 -1.13798423e-04 9.99980285e-01 1.99907204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87925415399997 meters 0.059596321211465506 Centerline is valid? [True, True] Translation: X:510.53, Y:4.35, Z:2.00 [[ 9.99718552e-01 -2.28140947e-02 -6.50648122e-03 5.10530854e+02] [ 2.28145929e-02 9.99739713e-01 2.34150239e-06 4.34506623e+00] [ 6.50473425e-03 -1.50783564e-04 9.99978833e-01 2.00008620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.93925415399997 meters 0.05963271061041193 Centerline is valid? [True, True] Translation: X:510.59, Y:4.34, Z:2.00 [[ 9.99525548e-01 -3.00480718e-02 -6.76693071e-03 5.10590882e+02] [ 3.00487764e-02 9.99548434e-01 2.45228994e-06 4.33673154e+00] [ 6.76380130e-03 -2.05789114e-04 9.99977104e-01 1.99893945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.99925415399997 meters 0.060166078271710714 Centerline is valid? [True, True] Translation: X:510.65, Y:4.33, Z:2.00 [[ 9.99391451e-01 -3.41483842e-02 -7.11447815e-03 5.10651371e+02] [ 3.41492667e-02 9.99416744e-01 2.56961008e-06 4.33356352e+00] [ 7.11024084e-03 -2.45522258e-04 9.99974692e-01 1.99899147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.059254154 meters 0.06142232863236179 Centerline is valid? [True, True] Translation: X:510.71, Y:4.33, Z:2.00 [[ 9.99318279e-01 -3.59731471e-02 -8.30115634e-03 5.10711497e+02] [ 3.59744126e-02 9.99352711e-01 3.13559822e-06 4.32543523e+00] [ 8.29567030e-03 -3.01762684e-04 9.99965545e-01 1.99898771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.119254154 meters 0.059582893232421795 Centerline is valid? [True, True] Translation: X:510.77, Y:4.33, Z:2.00 [[ 9.99460023e-01 -3.19041791e-02 -7.86038032e-03 5.10772097e+02] [ 3.19051890e-02 9.99490900e-01 3.08188266e-06 4.33304943e+00] [ 7.85628027e-03 -2.53867138e-04 9.99969107e-01 2.00043674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.179254154 meters 0.05906104803851847 Centerline is valid? [True, True] Translation: X:510.83, Y:4.35, Z:2.00 [[ 9.99613671e-01 -2.65708637e-02 -8.15464354e-03 5.10832904e+02] [ 2.65717733e-02 9.99646908e-01 3.19905329e-06 4.35223775e+00] [ 8.15167920e-03 -2.19881157e-04 9.99966750e-01 2.00320412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.239254154 meters 0.05918591956916541 Centerline is valid? [True, True] Translation: X:510.89, Y:4.35, Z:2.00 [[ 9.99788377e-01 -1.79617433e-02 -1.00287894e-02 5.10892394e+02] [ 1.79626861e-02 9.99838658e-01 3.92850430e-06 4.34834624e+00] [ 1.00271007e-02 -1.84071668e-04 9.99949710e-01 2.00373881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.299254154 meters 0.059614091021753794 Centerline is valid? [True, True] Translation: X:510.95, Y:4.34, Z:2.00 [[ 9.99857806e-01 -1.36287685e-02 -9.93095096e-03 5.10952420e+02] [ 1.36294770e-02 9.99907114e-01 3.66320697e-06 4.34090045e+00] [ 9.92997859e-03 -1.39016354e-04 9.99950687e-01 2.00120156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.359254154 meters 0.05975490077272829 Centerline is valid? [True, True] Translation: X:511.01, Y:4.34, Z:2.00 [[ 9.99891516e-01 -1.14165467e-02 -9.30694664e-03 5.11011309e+02] [ 1.14170689e-02 9.99934823e-01 2.97712229e-06 4.34059163e+00] [ 9.30630605e-03 -1.09234850e-04 9.99956689e-01 2.00162590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.419254154 meters 0.06009332959272307 Centerline is valid? [True, True] Translation: X:511.07, Y:4.35, Z:2.01 [[ 9.99899937e-01 -1.09636855e-02 -8.93945042e-03 5.11069771e+02] [ 1.09641420e-02 9.99939892e-01 2.05922467e-06 4.34500645e+00] [ 8.93889051e-03 -1.00072422e-04 9.99960042e-01 2.00530690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.479254154 meters 0.059648168806110506 Centerline is valid? [True, True] Translation: X:511.13, Y:4.34, Z:2.00 [[ 9.99892037e-01 -1.15635546e-02 -9.06637778e-03 5.11127253e+02] [ 1.15640395e-02 9.99933134e-01 1.05627064e-06 4.33628027e+00] [ 9.06575933e-03 -1.05900107e-04 9.99958900e-01 2.00277720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.539254154 meters 0.05974657150882741 Centerline is valid? [True, True] Translation: X:511.19, Y:4.33, Z:2.00 [[ 9.99878455e-01 -1.25085663e-02 -9.30650241e-03 5.11185695e+02] [ 1.25091087e-02 9.99921758e-01 7.57609199e-08 4.33372276e+00] [ 9.30577331e-03 -1.16491802e-04 9.99956694e-01 2.00312116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.599254154 meters 0.060108307214041624 Centerline is valid? [True, True] Translation: X:511.24, Y:4.33, Z:2.00 [[ 9.99874670e-01 -1.25494217e-02 -9.65174203e-03 5.11243543e+02] [ 1.25499961e-02 9.99921246e-01 -1.05915424e-06 4.33285506e+00] [ 9.65099520e-03 -1.20070303e-04 9.99953421e-01 2.00315471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.659254154 meters 0.05979417714469391 Centerline is valid? [True, True] Translation: X:511.30, Y:4.33, Z:2.00 [[ 9.99886098e-01 -1.08457182e-02 -1.04958263e-02 5.11302237e+02] [ 1.08462898e-02 9.99941177e-01 -2.45554251e-06 4.33114033e+00] [ 1.04952356e-02 -1.11385512e-04 9.99944917e-01 2.00416167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.719254154 meters 0.06039375002142542 Centerline is valid? [True, True] Translation: X:511.36, Y:4.33, Z:2.01 [[ 9.99924218e-01 -7.59747895e-03 -9.68693239e-03 5.11360203e+02] [ 7.59780618e-03 9.99971136e-01 -3.02046170e-06 4.33123402e+00] [ 9.68667574e-03 -7.05792019e-05 9.99953081e-01 2.00682002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.779254154 meters 0.05971510288787253 Centerline is valid? [True, True] Translation: X:511.42, Y:4.33, Z:2.01 [[ 9.99950133e-01 -5.06541865e-03 -8.60651850e-03 5.11419177e+02] [ 5.06557714e-03 9.99987170e-01 -3.38463121e-06 4.33086875e+00] [ 8.60642522e-03 -4.02125209e-05 9.99962963e-01 2.00855497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.839254154 meters 0.06020549260478726 Centerline is valid? [True, True] Translation: X:511.48, Y:4.33, Z:2.01 [[ 9.99950171e-01 6.12082646e-04 -9.96402097e-03 5.11476562e+02] [-6.12159271e-04 9.99999813e-01 -4.64039227e-06 4.32784568e+00] [ 9.96401626e-03 1.07397289e-05 9.99950358e-01 2.00808292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.899254154 meters 0.06131786675120187 Centerline is valid? [True, True] Translation: X:511.53, Y:4.33, Z:2.01 [[ 9.99929469e-01 4.89654136e-03 -1.08204077e-02 5.11534422e+02] [-4.89688703e-03 9.99988010e-01 -5.45204667e-06 4.32568573e+00] [ 1.08202513e-02 5.84379764e-05 9.99941458e-01 2.00917192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.959254154 meters 0.060750786627516186 Centerline is valid? [True, True] Translation: X:511.59, Y:4.32, Z:2.01 [[ 9.99899580e-01 9.23201813e-03 -1.07517717e-02 5.11593380e+02] [-9.23261886e-03 9.99957378e-01 -6.23818813e-06 4.32378131e+00] [ 1.07512558e-02 1.05504572e-04 9.99942198e-01 2.00928627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.019254154 meters 0.06118287604650045 Centerline is valid? [True, True] Translation: X:511.65, Y:4.32, Z:2.01 [[ 9.99891742e-01 9.18536339e-03 -1.14949447e-02 5.11651121e+02] [-9.18605513e-03 9.99957807e-01 -7.37959562e-06 4.31661356e+00] [ 1.14943919e-02 1.12971992e-04 9.99933931e-01 2.01202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.079254154 meters 0.06178227721242937 Centerline is valid? [True, True] Translation: X:511.71, Y:4.31, Z:2.01 [[ 9.99913894e-01 6.26591439e-03 -1.15300764e-02 5.11709965e+02] [-6.26642049e-03 9.99980366e-01 -7.76623115e-06 4.31217551e+00] [ 1.15298014e-02 8.00178694e-05 9.99933526e-01 2.01262897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.139254154 meters 0.06110968595880968 Centerline is valid? [True, True] Translation: X:511.77, Y:4.31, Z:2.01 [[ 9.99940419e-01 -5.22659670e-04 -1.09034340e-02 5.11768809e+02] [ 5.22607676e-04 9.99999863e-01 -7.61785209e-06 4.30675736e+00] [ 1.09034365e-02 1.91917994e-06 9.99940556e-01 2.00950084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.199254154 meters 0.06059980867750634 Centerline is valid? [True, True] Translation: X:511.83, Y:4.30, Z:2.01 [[ 9.99931881e-01 -4.96167233e-03 -1.05647971e-02 5.11827014e+02] [ 4.96186745e-03 9.99987690e-01 -7.74274251e-06 4.30308739e+00] [ 1.05647055e-02 -4.46789078e-05 9.99944191e-01 2.01222137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.259254154 meters 0.06151159819513183 Centerline is valid? [True, True] Translation: X:511.89, Y:4.29, Z:2.01 [[ 9.99874710e-01 -1.23808382e-02 -9.86302472e-03 5.11886347e+02] [ 1.23813667e-02 9.99923348e-01 -7.47482996e-06 4.29323582e+00] [ 9.86236125e-03 -1.14643832e-04 9.99951359e-01 2.01078205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31925415399996 meters 0.06120293099107541 Centerline is valid? [True, True] Translation: X:511.95, Y:4.29, Z:2.01 [[ 9.99795423e-01 -1.77878386e-02 -9.62833145e-03 5.11945761e+02] [ 1.77885918e-02 9.99841770e-01 -7.41240816e-06 4.29016646e+00] [ 9.62693982e-03 -1.63863566e-04 9.99953647e-01 2.01281223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37925415399997 meters 0.061998237457394016 Centerline is valid? [True, True] Translation: X:512.01, Y:4.28, Z:2.01 [[ 9.99562765e-01 -2.82219528e-02 -8.82040419e-03 5.12006347e+02] [ 2.82229909e-02 9.99601652e-01 -6.77912877e-06 4.27876194e+00] [ 8.81708192e-03 -2.42162023e-04 9.99961099e-01 2.01226379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.43925415399997 meters 0.06033679548745461 Centerline is valid? [True, True] Translation: X:512.07, Y:4.29, Z:2.01 [[ 9.99100001e-01 -4.14326859e-02 -9.08411718e-03 5.12066585e+02] [ 4.14343325e-02 9.99141229e-01 -6.95196136e-06 4.28597469e+00] [ 9.07660405e-03 -3.69448627e-04 9.99958739e-01 2.01375403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.49925415399997 meters 0.060258792141640066 Centerline is valid? [True, True] Translation: X:512.13, Y:4.29, Z:2.01 [[ 9.98646366e-01 -5.10986422e-02 -9.71415819e-03 5.12127276e+02] [ 5.11009813e-02 9.98693491e-01 -7.42487412e-06 4.28827031e+00] [ 9.70184596e-03 -4.88988193e-04 9.99952816e-01 2.01450327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.559254154 meters 0.061428238440658436 Centerline is valid? [True, True] Translation: X:512.19, Y:4.28, Z:2.01 [[ 9.97986517e-01 -6.26067072e-02 -1.01642210e-02 5.12186386e+02] [ 6.26098636e-02 9.98038078e-01 -7.67396760e-06 4.27718613e+00] [ 1.01447601e-02 -6.28721976e-04 9.99948343e-01 2.01453479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.619254154 meters 0.060795309357172374 Centerline is valid? [True, True] Translation: X:512.25, Y:4.29, Z:2.01 [[ 9.97579463e-01 -6.89078332e-02 -9.32339786e-03 5.12246856e+02] [ 6.89107639e-02 9.97622828e-01 -6.93508632e-06 4.28639420e+00] [ 9.30171242e-03 -6.35564169e-04 9.99956536e-01 2.01497868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.679254154 meters 0.06156751475552899 Centerline is valid? [True, True] Translation: X:512.31, Y:4.28, Z:2.01 [[ 9.97563435e-01 -6.91438703e-02 -9.29073887e-03 5.12309412e+02] [ 6.91467930e-02 9.97606496e-01 -6.66177099e-06 4.27978242e+00] [ 9.26896207e-03 -6.35779258e-04 9.99956840e-01 2.01437622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.739254154 meters 0.060538735383429076 Centerline is valid? [True, True] Translation: X:512.37, Y:4.30, Z:2.02 [[ 9.97860780e-01 -6.47517398e-02 -9.00426447e-03 5.12370231e+02] [ 6.47543083e-02 9.97901237e-01 -6.29558184e-06 4.29973059e+00] [ 8.98577431e-03 -5.76782803e-04 9.99959461e-01 2.01580191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.799254154 meters 0.060190361314483506 Centerline is valid? [True, True] Translation: X:512.43, Y:4.31, Z:2.02 [[ 9.98127775e-01 -6.06004955e-02 -8.27801587e-03 5.12430353e+02] [ 6.06025242e-02 9.98161978e-01 -5.77683999e-06 4.31231187e+00] [ 8.26315077e-03 -4.95902632e-04 9.99965737e-01 2.01634203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.859254154 meters 0.060434482903817796 Centerline is valid? [True, True] Translation: X:512.49, Y:4.32, Z:2.02 [[ 9.98474207e-01 -5.44365351e-02 -9.26937896e-03 5.12489940e+02] [ 5.44388143e-02 9.98517108e-01 -6.43669773e-06 4.31750645e+00] [ 9.25598386e-03 -4.98187123e-04 9.99957038e-01 2.01646524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.919254154 meters 0.06112433419654987 Centerline is valid? [True, True] Translation: X:512.55, Y:4.31, Z:2.02 [[ 9.98654909e-01 -5.07144772e-02 -1.07895514e-02 5.12549965e+02] [ 5.07173489e-02 9.98713047e-01 -7.47186337e-06 4.31297158e+00] [ 1.07760447e-02 -5.39755632e-04 9.99941791e-01 2.01590386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.979254154 meters 0.06332879091153856 Centerline is valid? [True, True] Translation: X:512.61, Y:4.35, Z:2.02 [[ 9.98772706e-01 -4.84797335e-02 -1.01389443e-02 5.12610534e+02] [ 4.84821544e-02 9.98824049e-01 -7.01937321e-06 4.35474645e+00] [ 1.01273617e-02 -4.84547106e-04 9.99948600e-01 2.01993553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.039254154 meters 0.06253024458516361 Centerline is valid? [True, True] Translation: X:512.67, Y:4.36, Z:2.02 [[ 9.98772745e-01 -4.84347044e-02 -1.03480771e-02 5.12673562e+02] [ 4.84372314e-02 9.98826228e-01 -6.42335477e-06 4.36113268e+00] [ 1.03362419e-02 -4.94816732e-04 9.99946457e-01 2.02045081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.099254154 meters 0.06072627469072682 Centerline is valid? [True, True] Translation: X:512.73, Y:4.36, Z:2.02 [[ 9.98729025e-01 -4.93331883e-02 -1.03233342e-02 5.12734086e+02] [ 4.93357568e-02 9.98782250e-01 -5.86317473e-06 4.35717988e+00] [ 1.03110522e-02 -5.03453782e-04 9.99946713e-01 2.01942863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.159254154 meters 0.06196762128236514 Centerline is valid? [True, True] Translation: X:512.79, Y:4.37, Z:2.02 [[ 9.98658422e-01 -5.08746748e-02 -9.65008729e-03 5.12794804e+02] [ 5.08769919e-02 9.98704927e-01 -5.38675711e-06 4.37391769e+00] [ 9.63786377e-03 -4.85587882e-04 9.99953437e-01 2.02103213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.219254154 meters 0.06017829245536033 Centerline is valid? [True, True] Translation: X:512.85, Y:4.34, Z:2.02 [[ 9.98503972e-01 -5.37891787e-02 -9.82554556e-03 5.12854198e+02] [ 5.37917218e-02 9.98552177e-01 -5.45578553e-06 4.34318761e+00] [ 9.81161337e-03 -5.23085390e-04 9.99951728e-01 2.01719245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.279254154 meters 0.059903450136285896 Centerline is valid? [True, True] Translation: X:512.91, Y:4.35, Z:2.02 [[ 9.98191427e-01 -5.94048963e-02 -9.21594000e-03 5.12914214e+02] [ 5.94073719e-02 9.98233822e-01 -5.15121881e-06 4.35427701e+00] [ 9.19996902e-03 -5.42352872e-04 9.99957532e-01 2.01870236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.339254154 meters 0.06006518721478508 Centerline is valid? [True, True] Translation: X:512.98, Y:4.36, Z:2.02 [[ 9.98066942e-01 -6.15344997e-02 -8.71113581e-03 5.12975097e+02] [ 6.15367924e-02 9.98104816e-01 -4.84319931e-06 4.35556497e+00] [ 8.69492463e-03 -5.31221519e-04 9.99962057e-01 2.01924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.399254154 meters 0.06112508250248878 Centerline is valid? [True, True] Translation: X:513.03, Y:4.35, Z:2.02 [[ 9.97734110e-01 -6.66899939e-02 -8.89325983e-03 5.13034274e+02] [ 6.66925885e-02 9.97773571e-01 -4.81924989e-06 4.35472680e+00] [ 8.87378101e-03 -5.88306188e-04 9.99960454e-01 2.01966320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.459254154 meters 0.05982431964272794 Centerline is valid? [True, True] Translation: X:513.09, Y:4.37, Z:2.02 [[ 9.97594469e-01 -6.87173293e-02 -9.12158442e-03 5.13094791e+02] [ 6.87201440e-02 9.97635977e-01 -4.86788945e-06 4.36676433e+00] [ 9.10035529e-03 -6.21980415e-04 9.99958397e-01 2.02006232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.519254154 meters 0.06067303075736068 Centerline is valid? [True, True] Translation: X:513.16, Y:4.37, Z:2.02 [[ 9.97600369e-01 -6.84788997e-02 -1.02050949e-02 5.13156328e+02] [ 6.84824146e-02 9.97652324e-01 -5.03650989e-06 4.36853818e+00] [ 1.01814816e-02 -6.93845119e-04 9.99947927e-01 2.01931942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.579254154 meters 0.05886957805269385 Centerline is valid? [True, True] Translation: X:513.22, Y:4.39, Z:2.02 [[ 9.97687474e-01 -6.71646242e-02 -1.04220110e-02 5.13217478e+02] [ 6.71682226e-02 9.97741665e-01 -4.77364764e-06 4.38502375e+00] [ 1.03987953e-02 -6.95265349e-04 9.99945689e-01 2.02068376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.639254154 meters 0.05862022639011519 Centerline is valid? [True, True] Translation: X:513.28, Y:4.39, Z:2.02 [[ 9.97821253e-01 -6.50817552e-02 -1.08218036e-02 5.13276876e+02] [ 6.50855131e-02 9.97879690e-01 -4.93875751e-06 4.39100928e+00] [ 1.07991795e-02 -6.99414644e-04 9.99941443e-01 2.02139564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.699254154 meters 0.060205036741064644 Centerline is valid? [True, True] Translation: X:513.34, Y:4.38, Z:2.02 [[ 9.98111557e-01 -6.04636201e-02 -1.08384108e-02 5.13336081e+02] [ 6.04671173e-02 9.98170190e-01 -5.03643881e-06 4.38135034e+00] [ 1.08188831e-02 -6.50340530e-04 9.99941263e-01 2.02047282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.759254154 meters 0.06261417807329835 Centerline is valid? [True, True] Translation: X:513.40, Y:4.38, Z:2.02 [[ 9.98343614e-01 -5.65335746e-02 -1.06763076e-02 5.13395766e+02] [ 5.65367431e-02 9.98400519e-01 -5.03698635e-06 4.37929640e+00] [ 1.06595158e-02 -5.98575019e-04 9.99943007e-01 2.02008551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81925415399996 meters 0.058346291454573415 Centerline is valid? [True, True] Translation: X:513.46, Y:4.41, Z:2.02 [[ 9.98694358e-01 -5.00833092e-02 -1.00618932e-02 5.13456232e+02] [ 5.00857969e-02 9.98744919e-01 -4.75840045e-06 4.40787283e+00] [ 1.00495030e-02 -4.99205749e-04 9.99949378e-01 2.02231031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87925415399997 meters 0.06000329137917815 Centerline is valid? [True, True] Translation: X:513.52, Y:4.40, Z:2.02 [[ 9.98978333e-01 -4.37825727e-02 -1.11971405e-02 5.13515397e+02] [ 4.37852577e-02 9.99040966e-01 -5.35041484e-06 4.39796609e+00] [ 1.11866363e-02 -4.84924733e-04 9.99937310e-01 2.02018421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.93925415399997 meters 0.05984251927899934 Centerline is valid? [True, True] Translation: X:513.58, Y:4.41, Z:2.02 [[ 9.99368429e-01 -3.36655727e-02 -1.13741738e-02 5.13575753e+02] [ 3.36676885e-02 9.99433083e-01 -5.45888930e-06 4.40655091e+00] [ 1.13679094e-02 -3.77486700e-04 9.99935312e-01 2.02069329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.99925415399997 meters 0.05814415073160821 Centerline is valid? [True, True] Translation: X:513.64, Y:4.42, Z:2.02 [[ 9.99572291e-01 -2.67913806e-02 -1.17241724e-02 5.13636648e+02] [ 2.67931568e-02 9.99640999e-01 -5.56746213e-06 4.41587230e+00] [ 1.17201126e-02 -3.08562510e-04 9.99931269e-01 2.02262285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters 0.05882319698123592 Centerline is valid? [True, True] Translation: X:513.70, Y:4.42, Z:2.02 [[ 9.99760269e-01 -1.85960075e-02 -1.15582718e-02 5.13696986e+02] [ 1.85971872e-02 9.99827057e-01 -5.40998735e-06 4.42210390e+00] [ 1.15563734e-02 -2.09542654e-04 9.99933201e-01 2.02318842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.119254154 meters 0.05909293097761689 Centerline is valid? [True, True] Translation: X:513.76, Y:4.42, Z:2.02 [[ 9.99821384e-01 -1.50429572e-02 -1.14415842e-02 5.13756443e+02] [ 1.50438803e-02 9.99886834e-01 -5.38860134e-06 4.42340455e+00] [ 1.14403704e-02 -1.66738183e-04 9.99934543e-01 2.02236461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters 0.059090374477949376 Centerline is valid? [True, True] Translation: X:513.82, Y:4.43, Z:2.02 [[ 9.99812867e-01 -1.58869603e-02 -1.10379137e-02 5.13815452e+02] [ 1.58878623e-02 9.99873780e-01 -5.97137812e-06 4.42578597e+00] [ 1.10366154e-02 -1.69398592e-04 9.99939080e-01 2.02397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.239254154 meters 0.05995616832871121 Centerline is valid? [True, True] Translation: X:513.87, Y:4.42, Z:2.02 [[ 9.99688203e-01 -2.19510928e-02 -1.19015373e-02 5.13874781e+02] [ 2.19525649e-02 9.99759013e-01 -6.95775401e-06 4.41600969e+00] [ 1.18988219e-02 -2.54313685e-04 9.99929174e-01 2.02316390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters 0.05931753016369465 Centerline is valid? [True, True] Translation: X:513.94, Y:4.41, Z:2.03 [[ 9.99517499e-01 -2.90399627e-02 -1.10204710e-02 5.13935364e+02] [ 2.90416550e-02 9.99578202e-01 -6.46801505e-06 4.41445711e+00] [ 1.10160104e-02 -3.13587823e-04 9.99939273e-01 2.02592340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.359254154 meters 0.059718886527286186 Centerline is valid? [True, True] Translation: X:514.00, Y:4.41, Z:2.03 [[ 9.99117539e-01 -4.07286311e-02 -1.02626517e-02 5.13996149e+02] [ 4.07307145e-02 9.99170160e-01 -6.00508376e-06 4.41195127e+00] [ 1.02543799e-02 -4.12005353e-04 9.99947338e-01 2.02736795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters 0.05897479464255827 Centerline is valid? [True, True] Translation: X:514.06, Y:4.41, Z:2.03 [[ 9.98808521e-01 -4.76271034e-02 -1.06393871e-02 5.14055577e+02] [ 4.76297331e-02 9.98865060e-01 -6.22239492e-06 4.40640151e+00] [ 1.06276084e-02 -5.00536188e-04 9.99943400e-01 2.02698672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.479254154 meters 0.05812692238380078 Centerline is valid? [True, True] Translation: X:514.12, Y:4.41, Z:2.03 [[ 9.98424633e-01 -5.50211704e-02 -1.09965083e-02 5.14116338e+02] [ 5.50244270e-02 9.98485009e-01 -6.40241791e-06 4.40765557e+00] [ 1.09802009e-02 -5.98684237e-04 9.99939537e-01 2.02741148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.539254154 meters 0.059867273835233575 Centerline is valid? [True, True] Translation: X:514.18, Y:4.40, Z:2.03 [[ 9.98261590e-01 -5.79236489e-02 -1.08926290e-02 5.14175881e+02] [ 5.79270162e-02 9.98320821e-01 -6.37118503e-06 4.39884669e+00] [ 1.08747073e-02 -6.24617385e-04 9.99940674e-01 2.02699947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters 0.05802454239515378 Centerline is valid? [True, True] Translation: X:514.24, Y:4.41, Z:2.03 [[ 9.98088015e-01 -6.10313140e-02 -9.77205251e-03 5.14236441e+02] [ 6.10341733e-02 9.98135677e-01 -5.62995276e-06 4.41032373e+00] [ 9.75417785e-03 -5.90809958e-04 9.99952252e-01 2.02955904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.659254154 meters 0.05852342963990024 Centerline is valid? [True, True] Translation: X:514.30, Y:4.41, Z:2.03 [[ 9.97902360e-01 -6.37942868e-02 -1.10076441e-02 5.14297577e+02] [ 6.37980844e-02 9.97962827e-01 -6.16362705e-06 4.40849727e+00] [ 1.09856128e-02 -6.96115910e-04 9.99939414e-01 2.03008599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters 0.05840412203212252 Centerline is valid? [True, True] Translation: X:514.36, Y:4.40, Z:2.03 [[ 9.97773115e-01 -6.56277127e-02 -1.19085737e-02 5.14357421e+02] [ 6.56322889e-02 9.97843877e-01 -6.54339197e-06 4.40158024e+00] [ 1.18833268e-02 -7.75058129e-04 9.99929090e-01 2.02943855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.779254154 meters 0.05839512515368813 Centerline is valid? [True, True] Translation: X:514.42, Y:4.40, Z:2.03 [[ 9.97590767e-01 -6.79280017e-02 -1.40871447e-02 5.14417362e+02] [ 6.79346352e-02 9.97689774e-01 -7.65182106e-06 4.39821690e+00] [ 1.40551200e-02 -9.49371648e-04 9.99900771e-01 2.02918803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters 0.057719327845627375 Centerline is valid? [True, True] Translation: X:514.48, Y:4.41, Z:2.03 [[ 9.97533491e-01 -6.86416053e-02 -1.46718771e-02 5.14478567e+02] [ 6.86488807e-02 9.97640883e-01 -7.77478680e-06 4.40953035e+00] [ 1.46377981e-02 -9.99452331e-04 9.99892362e-01 2.03112289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.899254154 meters 0.06325885495907665 Centerline is valid? [True, True] Translation: X:514.54, Y:4.39, Z:2.03 [[ 9.97617167e-01 -6.71842936e-02 -1.56926269e-02 5.14538066e+02] [ 6.71924443e-02 9.97740034e-01 -7.86691527e-06 4.38535953e+00] [ 1.56576906e-02 -1.04657779e-03 9.99876863e-01 2.02747010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters 0.05842667493406845 Centerline is valid? [True, True] Translation: X:514.60, Y:4.41, Z:2.03 [[ 9.97906278e-01 -6.32635599e-02 -1.34455195e-02 5.14598162e+02] [ 6.32691905e-02 9.97996498e-01 -6.60455116e-06 4.40518154e+00] [ 1.34189992e-02 -8.44096414e-04 9.99909605e-01 2.03139840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.019254154 meters 0.05948683067027783 Centerline is valid? [True, True] Translation: X:514.66, Y:4.40, Z:2.03 [[ 9.98129035e-01 -5.98699466e-02 -1.24104225e-02 5.14657703e+02] [ 5.98744822e-02 9.98205914e-01 -6.09482199e-06 4.40391129e+00] [ 1.23885220e-02 -7.36984201e-04 9.99922988e-01 2.03210571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters 0.05850709822487634 Centerline is valid? [True, True] Translation: X:514.72, Y:4.41, Z:2.03 [[ 9.98299730e-01 -5.74061217e-02 -1.01087235e-02 5.14718773e+02] [ 5.74090053e-02 9.98350743e-01 -4.92109700e-06 4.41157327e+00] [ 1.00923341e-02 -5.75419031e-04 9.99948906e-01 2.03304040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.139254154 meters 0.057646236339911075 Centerline is valid? [True, True] Translation: X:514.78, Y:4.42, Z:2.03 [[ 9.98458814e-01 -5.46006797e-02 -9.93790970e-03 5.14779477e+02] [ 5.46033284e-02 9.98508125e-01 -4.81087634e-06 4.41906742e+00] [ 9.92334626e-03 -5.37839485e-04 9.99950618e-01 2.03347505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters 0.05916974357527191 Centerline is valid? [True, True] Translation: X:514.84, Y:4.41, Z:2.03 [[ 9.98512630e-01 -5.32029080e-02 -1.19154882e-02 5.14839665e+02] [ 5.32066173e-02 9.98583525e-01 -5.70457613e-06 4.41426662e+00] [ 1.18989138e-02 -6.28286732e-04 9.99929008e-01 2.03235700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.259254154 meters 0.06080155838624121 Centerline is valid? [True, True] Translation: X:514.90, Y:4.41, Z:2.03 [[ 9.98604505e-01 -5.12486691e-02 -1.27521319e-02 5.14899758e+02] [ 5.12527592e-02 9.98685714e-01 -6.07046114e-06 4.40738335e+00] [ 1.27356830e-02 -6.47519954e-04 9.99918688e-01 2.03069962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters 0.05934612728043099 Centerline is valid? [True, True] Translation: X:514.96, Y:4.42, Z:2.03 [[ 9.98906679e-01 -4.50356104e-02 -1.25395218e-02 5.14960720e+02] [ 4.50390761e-02 9.98985226e-01 -6.01829191e-06 4.41739449e+00] [ 1.25270680e-02 -5.58756763e-04 9.99921377e-01 2.03216020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.379254154 meters 0.0591373494225329 Centerline is valid? [True, True] Translation: X:515.02, Y:4.42, Z:2.03 [[ 9.99207685e-01 -3.79296387e-02 -1.20559038e-02 5.15021017e+02] [ 3.79323254e-02 9.99280310e-01 -5.81424608e-06 4.42472910e+00] [ 1.20474478e-02 -4.51498827e-04 9.99927325e-01 2.03372789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters 0.05913116911995846 Centerline is valid? [True, True] Translation: X:515.08, Y:4.43, Z:2.03 [[ 9.99614156e-01 -2.52957119e-02 -1.14745696e-02 5.15080974e+02] [ 2.52973139e-02 9.99679972e-01 -5.52886628e-06 4.42886506e+00] [ 1.14710373e-02 -2.84749057e-04 9.99934165e-01 2.03349991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.499254154 meters 0.0588703096026952 Centerline is valid? [True, True] Translation: X:515.14, Y:4.43, Z:2.03 [[ 9.99779081e-01 -1.78978097e-02 -1.10208142e-02 5.15141883e+02] [ 1.78988394e-02 9.99839803e-01 -5.20003775e-06 4.43274324e+00] [ 1.10191418e-02 -1.92060895e-04 9.99939269e-01 2.03412476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters 0.05869456309492104 Centerline is valid? [True, True] Translation: X:515.20, Y:4.44, Z:2.03 [[ 9.99880307e-01 -1.06468643e-02 -1.12257208e-02 5.15201914e+02] [ 1.06474735e-02 9.99943314e-01 -5.49609273e-06 4.43606352e+00] [ 1.12251429e-02 -1.14030129e-04 9.99936990e-01 2.03484923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.619254154 meters 0.05947185391989147 Centerline is valid? [True, True] Translation: X:515.26, Y:4.43, Z:2.03 [[ 9.99888798e-01 -8.96731624e-03 -1.19154693e-02 5.15259581e+02] [ 8.96787565e-03 9.99959788e-01 -6.48257133e-06 4.43449741e+00] [ 1.19150483e-02 -1.00374597e-04 9.99929008e-01 2.03457604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters 0.05826663822278258 Centerline is valid? [True, True] Translation: X:515.32, Y:4.43, Z:2.04 [[ 9.99894689e-01 -8.21367917e-03 -1.19643545e-02 5.15316938e+02] [ 8.21418065e-03 9.99966263e-01 -7.22584651e-06 4.43136256e+00] [ 1.19640102e-02 -9.10522839e-05 9.99928425e-01 2.03527556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.739254154 meters 0.059231721412061296 Centerline is valid? [True, True] Translation: X:515.38, Y:4.43, Z:2.04 [[ 9.99908889e-01 -7.77849329e-03 -1.10321857e-02 5.15375885e+02] [ 7.77888246e-03 9.99969744e-01 -7.63429749e-06 4.42740182e+00] [ 1.10319113e-02 -7.81844738e-05 9.99939144e-01 2.03548816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters 0.05960056240107306 Centerline is valid? [True, True] Translation: X:515.43, Y:4.42, Z:2.04 [[ 9.99930966e-01 -7.01593550e-03 -9.42546080e-03 5.15434795e+02] [ 7.01617695e-03 9.99975386e-01 -7.44917735e-06 4.42271280e+00] [ 9.42528106e-03 -5.86820377e-05 9.99955579e-01 2.03691828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.859254154 meters 0.0597808213956096 Centerline is valid? [True, True] Translation: X:515.49, Y:4.42, Z:2.04 [[ 9.99941684e-01 -6.23804711e-03 -8.81564305e-03 5.15493909e+02] [ 6.23822015e-03 9.99980542e-01 -7.86874173e-06 4.41969531e+00] [ 8.81552060e-03 -4.71256392e-05 9.99961141e-01 2.03844277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters 0.06017811697104085 Centerline is valid? [True, True] Translation: X:515.55, Y:4.41, Z:2.04 [[ 9.99953969e-01 -5.02820075e-03 -8.17168199e-03 5.15552129e+02] [ 5.02830443e-03 9.99987358e-01 -7.85836142e-06 4.41268869e+00] [ 8.17161819e-03 -3.32317050e-05 9.99966611e-01 2.03811077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.979254154 meters 0.061089273295755114 Centerline is valid? [True, True] Translation: X:515.61, Y:4.41, Z:2.04 [[ 9.99959728e-01 -3.32340694e-03 -8.33651811e-03 5.15609600e+02] [ 3.32344937e-03 9.99994477e-01 -8.76466383e-06 4.40715341e+00] [ 8.33650120e-03 -1.89416850e-05 9.99965251e-01 2.03937574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.039254154 meters 0.06084989856533974 Centerline is valid? [True, True] Translation: X:515.67, Y:4.40, Z:2.04 [[ 9.99957582e-01 -2.20977703e-03 -8.94154878e-03 5.15666603e+02] [ 2.20977037e-03 9.99997558e-01 -1.06251984e-05 4.40253471e+00] [ 8.94155043e-03 -9.13402182e-06 9.99960023e-01 2.03775684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters 0.06151043814638191 Centerline is valid? [True, True] Translation: X:515.72, Y:4.40, Z:2.04 [[ 9.99955765e-01 -2.51493300e-04 -9.40237343e-03 5.15724214e+02] [ 2.51387579e-04 9.99999968e-01 -1.24259669e-05 4.39659946e+00] [ 9.40237625e-03 1.00617773e-05 9.99955797e-01 2.03820700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.159254154 meters 0.0608751483306794 Centerline is valid? [True, True] Translation: X:515.78, Y:4.39, Z:2.04 [[ 9.99953525e-01 3.52224400e-04 -9.63453908e-03 5.15782211e+02] [-3.52376043e-04 9.99999938e-01 -1.40419711e-05 4.39262214e+00] [ 9.63453354e-03 1.74362992e-05 9.99953587e-01 2.03836433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters 0.06232090357015337 Centerline is valid? [True, True] Translation: X:515.84, Y:4.39, Z:2.04 [[ 9.99952585e-01 8.93870667e-04 -9.69688485e-03 5.15840478e+02] [-8.94057493e-04 9.99999600e-01 -1.49318120e-05 4.38719754e+00] [ 9.69686763e-03 2.36006766e-05 9.99952984e-01 2.03839600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.279254154 meters 0.06146367140528944 Centerline is valid? [True, True] Translation: X:515.90, Y:4.38, Z:2.04 [[ 9.99950924e-01 7.52478342e-04 -9.87839760e-03 5.15897587e+02] [-7.52671223e-04 9.99999717e-01 -1.58079944e-05 4.38158614e+00] [ 9.87838291e-03 2.32424042e-05 9.99951207e-01 2.03912661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters 0.061507859458424255 Centerline is valid? [True, True] Translation: X:515.96, Y:4.38, Z:2.04 [[ 9.99945405e-01 1.63248923e-03 -1.03209986e-02 5.15955579e+02] [-1.63275393e-03 9.99998667e-01 -1.72202863e-05 4.37797598e+00] [ 1.03209567e-02 3.40709971e-05 9.99946737e-01 2.03974946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.399254154 meters 0.062033714829652344 Centerline is valid? [True, True] Translation: X:516.01, Y:4.37, Z:2.04 [[ 9.99934998e-01 2.26847906e-03 -1.11738433e-02 5.16014009e+02] [-2.26884072e-03 9.99997426e-01 -1.96911169e-05 4.37138974e+00] [ 1.11737699e-02 4.50415077e-05 9.99937570e-01 2.04369878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters 0.062117920830396064 Centerline is valid? [True, True] Translation: X:516.07, Y:4.37, Z:2.04 [[ 9.99935372e-01 2.94663947e-03 -1.09804455e-02 5.16072401e+02] [-2.94704289e-03 9.99995657e-01 -2.05603402e-05 4.36739809e+00] [ 1.09803372e-02 5.29188553e-05 9.99939713e-01 2.04441152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.519254154 meters 0.0630914996796273 Centerline is valid? [True, True] Translation: X:516.13, Y:4.36, Z:2.05 [[ 9.99944617e-01 3.93185199e-03 -9.76232528e-03 5.16130737e+02] [-3.93222820e-03 9.99992269e-01 -1.93434885e-05 4.35957571e+00] [ 9.76217375e-03 5.77301080e-05 9.99952347e-01 2.04623049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters 0.0629274029233436 Centerline is valid? [True, True] Translation: X:516.19, Y:4.36, Z:2.05 [[ 9.99940090e-01 4.04853722e-03 -1.01698711e-02 5.16188401e+02] [-4.04895860e-03 9.99991803e-01 -2.08450695e-05 4.35563536e+00] [ 1.01697034e-02 6.20212079e-05 9.99948285e-01 2.04673629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.639254154 meters 0.06284758776768877 Centerline is valid? [True, True] Translation: X:516.25, Y:4.35, Z:2.05 [[ 9.99937234e-01 7.78347435e-04 -1.11768510e-02 5.16247463e+02] [-7.78655607e-04 9.99999697e-01 -2.32208662e-05 4.34785698e+00] [ 1.11768296e-02 3.19223265e-05 9.99937537e-01 2.04690849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters 0.0635852334973758 Centerline is valid? [True, True] Translation: X:516.31, Y:4.34, Z:2.05 [[ 9.99919428e-01 -6.58724064e-03 -1.08510626e-02 5.16306223e+02] [ 6.58738074e-03 9.99978303e-01 -2.28302886e-05 4.33788189e+00] [ 1.08509776e-02 -4.86516317e-05 9.99941125e-01 2.05015320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.759254154 meters 0.06310095345219366 Centerline is valid? [True, True] Translation: X:516.37, Y:4.33, Z:2.05 [[ 9.99851210e-01 -1.36982015e-02 -1.04841811e-02 5.16365419e+02] [ 1.36987205e-02 9.99906168e-01 -2.23150159e-05 4.33400680e+00] [ 1.04835031e-02 -1.21308171e-04 9.99945039e-01 2.05178024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters 0.0638996725560791 Centerline is valid? [True, True] Translation: X:516.42, Y:4.31, Z:2.05 [[ 9.99664282e-01 -2.31811385e-02 -1.15740024e-02 5.16424670e+02] [ 2.31824044e-02 9.99731252e-01 -2.47876094e-05 4.31490533e+00] [ 1.15714666e-02 -2.43533918e-04 9.99933019e-01 2.04726338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.879254154 meters 0.06409897663183607 Centerline is valid? [True, True] Translation: X:516.49, Y:4.31, Z:2.05 [[ 9.99533286e-01 -2.79982435e-02 -1.22192077e-02 5.16485155e+02] [ 2.80000143e-02 9.99607922e-01 -2.61614266e-05 4.30940291e+00] [ 1.22151493e-02 -3.15988773e-04 9.99925342e-01 2.04742796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters 0.06385649447091675 Centerline is valid? [True, True] Translation: X:516.55, Y:4.31, Z:2.05 [[ 9.99381944e-01 -3.30657408e-02 -1.19325763e-02 5.16545866e+02] [ 3.30677906e-02 9.99453111e-01 -2.55348834e-05 4.30534636e+00] [ 1.19268948e-02 -3.69064833e-04 9.99928804e-01 2.04942103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.999254154 meters 0.06406589027954596 Centerline is valid? [True, True] Translation: X:516.61, Y:4.30, Z:2.05 [[ 9.99297990e-01 -3.56889787e-02 -1.13940726e-02 5.16605140e+02] [ 3.56910165e-02 9.99362872e-01 -2.45121440e-05 4.30007431e+00] [ 1.13876879e-02 -3.82171096e-04 9.99935085e-01 2.05036794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters 0.06457883925895178 Centerline is valid? [True, True] Translation: X:516.67, Y:4.30, Z:2.05 [[ 9.99233106e-01 -3.72617338e-02 -1.20317652e-02 5.16665200e+02] [ 3.72641191e-02 9.99305451e-01 -2.59550819e-05 4.30240608e+00] [ 1.20243757e-02 -4.22417955e-04 9.99927615e-01 2.05251053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.119254154 meters 0.06497903085033338 Centerline is valid? [True, True] Translation: X:516.72, Y:4.29, Z:2.05 [[ 9.99273894e-01 -3.60911824e-02 -1.22110963e-02 5.16724846e+02] [ 3.60935511e-02 9.99348415e-01 -2.64104837e-05 4.29381614e+00] [ 1.22040929e-02 -4.14350520e-04 9.99925441e-01 2.05028017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters 0.06461987001760458 Centerline is valid? [True, True] Translation: X:516.78, Y:4.30, Z:2.05 [[ 9.99330228e-01 -3.43795861e-02 -1.25355019e-02 5.16784315e+02] [ 3.43819465e-02 9.99408766e-01 -2.72169471e-05 4.29910720e+00] [ 1.25290262e-02 -4.03796239e-04 9.99921427e-01 2.05166567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.239254154 meters 0.0643021955744638 Centerline is valid? [True, True] Translation: X:516.85, Y:4.30, Z:2.05 [[ 9.99546577e-01 -2.74187288e-02 -1.24440422e-02 5.16845071e+02] [ 2.74205168e-02 9.99623987e-01 -2.69436812e-05 4.29637037e+00] [ 1.24401019e-02 -3.14290605e-04 9.99922570e-01 2.04975326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters 0.06438474144146082 Centerline is valid? [True, True] Translation: X:516.90, Y:4.31, Z:2.05 [[ 9.99690258e-01 -2.16285560e-02 -1.23123258e-02 5.16904223e+02] [ 2.16298670e-02 9.99766047e-01 -2.66905582e-05 4.30825048e+00] [ 1.23100225e-02 -2.39631677e-04 9.99924200e-01 2.05368103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.359254154 meters 0.06428014027717092 Centerline is valid? [True, True] Translation: X:516.96, Y:4.31, Z:2.05 [[ 9.99804282e-01 -1.60051096e-02 -1.16290375e-02 5.16964334e+02] [ 1.60058970e-02 9.99871897e-01 -2.53597958e-05 4.31062125e+00] [ 1.16279537e-02 -1.60778344e-04 9.99932380e-01 2.05463317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters 0.06399873981046421 Centerline is valid? [True, True] Translation: X:517.02, Y:4.31, Z:2.05 [[ 9.99826570e-01 -1.49476884e-02 -1.11084365e-02 5.17023701e+02] [ 1.49483362e-02 9.99888267e-01 -2.47147519e-05 4.30989124e+00] [ 1.11075648e-02 -1.41342178e-04 9.99938299e-01 2.05485376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.479254154 meters 0.06441691056256263 Centerline is valid? [True, True] Translation: X:517.08, Y:4.31, Z:2.06 [[ 9.99785129e-01 -1.76496979e-02 -1.08712456e-02 5.17082246e+02] [ 1.76504736e-02 9.99844218e-01 -2.45892731e-05 4.30917600e+00] [ 1.08699860e-02 -1.67298643e-04 9.99940906e-01 2.05579733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.539254154 meters 0.06424970472046723 Centerline is valid? [True, True] Translation: X:517.14, Y:4.30, Z:2.05 [[ 9.99664643e-01 -2.33018746e-02 -1.12971179e-02 5.17141287e+02] [ 2.33030712e-02 9.99728446e-01 -2.57219951e-05 4.29968275e+00] [ 1.12946495e-02 -2.37544173e-04 9.99936185e-01 2.05381017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters 0.06436035187772197 Centerline is valid? [True, True] Translation: X:517.20, Y:4.30, Z:2.05 [[ 9.99574050e-01 -2.70965702e-02 -1.08394562e-02 5.17201128e+02] [ 2.70978943e-02 9.99632784e-01 -2.47159209e-05 4.29542979e+00] [ 1.08361455e-02 -2.69021045e-04 9.99941251e-01 2.05414215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.659254154 meters 0.06397184187867731 Centerline is valid? [True, True] Translation: X:517.26, Y:4.30, Z:2.06 [[ 9.99442782e-01 -3.20260380e-02 -9.40518817e-03 5.17261634e+02] [ 3.20272528e-02 9.99486996e-01 -2.14618977e-05 4.29778601e+00] [ 9.40105061e-03 -2.79772401e-04 9.99955770e-01 2.05651053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters 0.06432708048260263 Centerline is valid? [True, True] Translation: X:517.32, Y:4.29, Z:2.06 [[ 9.99383616e-01 -3.38768118e-02 -9.20593637e-03 5.17322201e+02] [ 3.38780544e-02 9.99425974e-01 -2.09762880e-05 4.29340773e+00] [ 9.20136253e-03 -2.90915855e-04 9.99957624e-01 2.05633610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.779254154 meters 0.06442211189916562 Centerline is valid? [True, True] Translation: X:517.38, Y:4.29, Z:2.06 [[ 9.99359445e-01 -3.45681195e-02 -9.25981545e-03 5.17383094e+02] [ 3.45694066e-02 9.99402299e-01 -2.10670132e-05 4.29183511e+00] [ 9.25500909e-03 -2.99052807e-04 9.99957127e-01 2.05594888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters 0.06460307866744895 Centerline is valid? [True, True] Translation: X:517.44, Y:4.29, Z:2.05 [[ 9.99419304e-01 -3.25695013e-02 -1.00141116e-02 5.17442637e+02] [ 3.25709060e-02 9.99469427e-01 -2.28308903e-05 4.28753549e+00] [ 1.00095420e-02 -3.03351055e-04 9.99949857e-01 2.05423020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.899254154 meters 0.06380204594288338 Centerline is valid? [True, True] Translation: X:517.50, Y:4.30, Z:2.06 [[ 9.99589879e-01 -2.69506131e-02 -9.68180684e-03 5.17502300e+02] [ 2.69516613e-02 9.99636738e-01 -2.22156177e-05 4.29656948e+00] [ 9.67888853e-03 -2.38734272e-04 9.99953130e-01 2.05568743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters 0.0638317041924684 Centerline is valid? [True, True] Translation: X:517.56, Y:4.30, Z:2.06 [[ 9.99719972e-01 -2.19875668e-02 -8.74780713e-03 5.17562720e+02] [ 2.19882323e-02 9.99758229e-01 -2.01112747e-05 4.29851320e+00] [ 8.74613436e-03 -1.72243172e-04 9.99961737e-01 2.05603829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.019254154 meters 0.06297921007558063 Centerline is valid? [True, True] Translation: X:517.62, Y:4.30, Z:2.06 [[ 9.99866033e-01 -1.47494349e-02 -7.09713792e-03 5.17621888e+02] [ 1.47496905e-02 9.99891217e-01 -1.63273633e-05 4.30127014e+00] [ 7.09660670e-03 -8.83554118e-05 9.99974815e-01 2.05673860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters 0.06408637062103481 Centerline is valid? [True, True] Translation: X:517.68, Y:4.30, Z:2.06 [[ 9.99909394e-01 -1.12728341e-02 -7.35717693e-03 5.17681711e+02] [ 1.12730140e-02 9.99936457e-01 -1.70215099e-05 4.30229229e+00] [ 7.35690131e-03 -6.59175907e-05 9.99972935e-01 2.05606916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.139254154 meters 0.06363424628196099 Centerline is valid? [True, True] Translation: X:517.74, Y:4.30, Z:2.06 [[ 9.99912878e-01 -1.09044674e-02 -7.43833544e-03 5.17740673e+02] [ 1.09046400e-02 9.99940543e-01 -1.73574070e-05 4.30337555e+00] [ 7.43808244e-03 -6.37564751e-05 9.99972335e-01 2.05613230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters 0.06361661124610707 Centerline is valid? [True, True] Translation: X:517.80, Y:4.30, Z:2.05 [[ 9.99846355e-01 -1.68831815e-02 -4.71432824e-03 5.17800055e+02] [ 1.68833169e-02 9.99857467e-01 -1.10740362e-05 4.29727637e+00] [ 4.71384325e-03 -6.85211631e-05 9.99988887e-01 2.05473831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.259254154 meters 0.06382228934450447 Centerline is valid? [True, True] Translation: X:517.86, Y:4.29, Z:2.05 [[ 9.99715141e-01 -2.29650919e-02 -6.49940537e-03 5.17860333e+02] [ 2.29654773e-02 9.99736259e-01 -1.53445343e-05 4.28874971e+00] [ 6.49804360e-03 -1.33921783e-04 9.99978879e-01 2.05499573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters 0.06386414035945694 Centerline is valid? [True, True] Translation: X:517.92, Y:4.28, Z:2.05 [[ 9.99399329e-01 -3.43954262e-02 -4.23506777e-03 5.17921034e+02] [ 3.43956924e-02 9.99408293e-01 -9.98083492e-06 4.27936513e+00] [ 4.23290514e-03 -1.35693248e-04 9.99991032e-01 2.05445220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.379254154 meters 0.06416728669005714 Centerline is valid? [True, True] Translation: X:517.98, Y:4.28, Z:2.05 [[ 9.99154783e-01 -4.08502414e-02 -4.58010270e-03 5.17981395e+02] [ 4.08506207e-02 9.99165265e-01 -1.07515445e-05 4.27685012e+00] [ 4.57671873e-03 -1.76357581e-04 9.99989511e-01 2.05366438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters 0.06424170477014726 Centerline is valid? [True, True] Translation: X:518.04, Y:4.27, Z:2.05 [[ 9.98824188e-01 -4.82002481e-02 -5.19399820e-03 5.18041743e+02] [ 4.82008350e-02 9.98837664e-01 -1.21950048e-05 4.27383874e+00] [ 5.18854883e-03 -2.38174384e-04 9.99986511e-01 2.05350820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.499254154 meters 0.06376335725084864 Centerline is valid? [True, True] Translation: X:518.10, Y:4.28, Z:2.05 [[ 9.98622485e-01 -5.22119842e-02 -5.20007684e-03 5.18101975e+02] [ 5.22126269e-02 9.98635990e-01 -1.21851130e-05 4.27998611e+00] [ 5.19362009e-03 -2.59341344e-04 9.99986479e-01 2.05397810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters 0.06358310914702918 Centerline is valid? [True, True] Translation: X:518.16, Y:4.28, Z:2.05 [[ 9.98318577e-01 -5.78076300e-02 -4.27749662e-03 5.18162047e+02] [ 5.78081163e-02 9.98327713e-01 -9.96624699e-06 4.27940692e+00] [ 4.27091954e-03 -2.37324533e-04 9.99990851e-01 2.05426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.619254154 meters 0.06387287408239906 Centerline is valid? [True, True] Translation: X:518.22, Y:4.28, Z:2.05 [[ 9.98050805e-01 -6.23026104e-02 -3.60227614e-03 5.18222917e+02] [ 6.23029845e-02 9.98057282e-01 -8.39021247e-06 4.28347618e+00] [ 3.59580067e-03 -2.16058696e-04 9.99993512e-01 2.05494520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters 0.0682214220998154 Centerline is valid? [True, True] Translation: X:518.28, Y:4.27, Z:2.06 [[ 9.97898192e-01 -6.46117702e-02 -4.95148752e-03 5.18282753e+02] [ 6.46125054e-02 9.97910429e-01 -1.15062709e-05 4.26611565e+00] [ 4.94188447e-03 -3.08445927e-04 9.99987741e-01 2.05613869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.739254154 meters 0.06309788488275186 Centerline is valid? [True, True] Translation: X:518.34, Y:4.30, Z:2.06 [[ 9.97675050e-01 -6.79577289e-02 -5.12261235e-03 5.18343652e+02] [ 6.79585599e-02 9.97688145e-01 -1.18573038e-05 4.29920721e+00] [ 5.11157541e-03 -3.36295622e-04 9.99986879e-01 2.05575719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters 0.06398721946254574 Centerline is valid? [True, True] Translation: X:518.40, Y:4.30, Z:2.06 [[ 9.97626392e-01 -6.85508826e-02 -6.50840205e-03 5.18404553e+02] [ 6.85522377e-02 9.97647528e-01 -1.49192171e-05 4.29618319e+00] [ 6.49411394e-03 -4.31281720e-04 9.99978820e-01 2.05590509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.859254154 meters 0.06996818984032907 Centerline is valid? [True, True] Translation: X:518.46, Y:4.28, Z:2.06 [[ 9.97757011e-01 -6.66248371e-02 -6.48676438e-03 5.18463945e+02] [ 6.66261432e-02 9.97778010e-01 -1.47880886e-05 4.28059762e+00] [ 6.47333610e-03 -4.17433173e-04 9.99978961e-01 2.05644174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters 0.06527844277657617 Centerline is valid? [True, True] Translation: X:518.52, Y:4.30, Z:2.06 [[ 9.97919959e-01 -6.42822176e-02 -4.85311148e-03 5.18524400e+02] [ 6.42829209e-02 9.97931714e-01 -1.10780671e-05 4.30212310e+00] [ 4.84378598e-03 -3.00917157e-04 9.99988224e-01 2.05816500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.979254154 meters 0.06552265359261572 Centerline is valid? [True, True] Translation: X:518.58, Y:4.31, Z:2.06 [[ 9.98233680e-01 -5.92556271e-02 -4.27685088e-03 5.18584944e+02] [ 5.92561275e-02 9.98242812e-01 -9.73501497e-06 4.31221630e+00] [ 4.26991251e-03 -2.43711801e-04 9.99990854e-01 2.05837983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.039254154 meters 0.06290361431528978 Centerline is valid? [True, True] Translation: X:518.65, Y:4.32, Z:2.06 [[ 9.98311337e-01 -5.79353128e-02 -4.23968796e-03 5.18646963e+02] [ 5.79357927e-02 9.98320311e-01 -9.62356148e-06 4.32011478e+00] [ 4.23312415e-03 -2.36022372e-04 9.99991012e-01 2.05829541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters 0.06377158298925707 Centerline is valid? [True, True] Translation: X:518.71, Y:4.33, Z:2.06 [[ 9.98445183e-01 -5.55393920e-02 -4.75313830e-03 5.18707573e+02] [ 5.55399689e-02 9.98456465e-01 -1.06395035e-05 4.32957303e+00] [ 4.74639258e-03 -2.53366193e-04 9.99988704e-01 2.05804243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.159254154 meters 0.06317463426499141 Centerline is valid? [True, True] Translation: X:518.77, Y:4.34, Z:2.06 [[ 9.98619506e-01 -5.22686430e-02 -5.20299699e-03 5.18768033e+02] [ 5.22692902e-02 9.98633026e-01 -1.16056694e-05 4.33895510e+00] [ 5.19649124e-03 -2.60367312e-04 9.99986464e-01 2.05809978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters 0.06371436844649765 Centerline is valid? [True, True] Translation: X:518.83, Y:4.34, Z:2.06 [[ 9.98808259e-01 -4.84807226e-02 -5.62870764e-03 5.18828124e+02] [ 4.84814200e-02 9.98824085e-01 -1.25504366e-05 4.34018050e+00] [ 5.62269721e-03 -2.60352260e-04 9.99984159e-01 2.05869772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.279254154 meters 0.061931962659902896 Centerline is valid? [True, True] Translation: X:518.89, Y:4.36, Z:2.06 [[ 9.99126344e-01 -4.13983467e-02 -5.72055531e-03 5.18888474e+02] [ 4.13989513e-02 9.99142696e-01 -1.27329750e-05 4.36098761e+00] [ 5.71617818e-03 -2.24103140e-04 9.99983637e-01 2.05954582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters 0.06196693841475247 Centerline is valid? [True, True] Translation: X:518.95, Y:4.37, Z:2.06 [[ 9.99341831e-01 -3.58384649e-02 -5.61334031e-03 5.18948691e+02] [ 3.58389596e-02 9.99357578e-01 -1.24700461e-05 4.36672024e+00] [ 5.61018108e-03 -1.88714438e-04 9.99984245e-01 2.05952952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.399254154 meters 0.06246132395519811 Centerline is valid? [True, True] Translation: X:519.01, Y:4.37, Z:2.06 [[ 9.99564134e-01 -2.89439488e-02 -5.81284550e-03 5.19008739e+02] [ 2.89443629e-02 9.99581024e-01 -1.28872854e-05 4.37400632e+00] [ 5.81078307e-03 -1.55367441e-04 9.99983105e-01 2.05942169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters 0.06189671307644972 Centerline is valid? [True, True] Translation: X:519.07, Y:4.38, Z:2.06 [[ 9.99642860e-01 -2.57762026e-02 -7.05271679e-03 5.19068192e+02] [ 2.57767332e-02 9.99667725e-01 -1.56659331e-05 4.37775263e+00] [ 7.05077715e-03 -1.66135661e-04 9.99975129e-01 2.05950550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.519254154 meters 0.062108187540352924 Centerline is valid? [True, True] Translation: X:519.13, Y:4.38, Z:2.06 [[ 9.99653808e-01 -2.52096599e-02 -7.53243099e-03 5.19129431e+02] [ 2.52102493e-02 9.99682171e-01 -1.67082251e-05 4.38169957e+00] [ 7.53045817e-03 -1.73192022e-04 9.99971631e-01 2.06068823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters 0.06188359689949098 Centerline is valid? [True, True] Translation: X:519.19, Y:4.39, Z:2.06 [[ 9.99662986e-01 -2.48761103e-02 -7.42246258e-03 5.19190700e+02] [ 2.48766743e-02 9.99690528e-01 -1.63443968e-05 4.38669614e+00] [ 7.42057212e-03 -1.68307296e-04 9.99972453e-01 2.06358332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.639254154 meters 0.0623701710277874 Centerline is valid? [True, True] Translation: X:519.25, Y:4.39, Z:2.06 [[ 9.99669726e-01 -2.46799199e-02 -7.16527730e-03 5.19251512e+02] [ 2.46804414e-02 9.99695391e-01 -1.56361467e-05 4.38548116e+00] [ 7.16348059e-03 -1.61211224e-04 9.99974329e-01 2.06443658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters 0.062089783298447304 Centerline is valid? [True, True] Translation: X:519.31, Y:4.39, Z:2.07 [[ 9.99656805e-01 -2.52059196e-02 -7.13674931e-03 5.19313273e+02] [ 2.52064519e-02 9.99682267e-01 -1.53716390e-05 4.38764574e+00] [ 7.13486919e-03 -1.64525765e-04 9.99974533e-01 2.06617988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.759254154 meters 0.06235742801141226 Centerline is valid? [True, True] Translation: X:519.37, Y:4.38, Z:2.07 [[ 9.99588298e-01 -2.74418277e-02 -8.37736857e-03 5.19373114e+02] [ 2.74426408e-02 9.99623380e-01 -1.78905765e-05 4.38207559e+00] [ 8.37470444e-03 -2.12013906e-04 9.99964909e-01 2.06648773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters 0.06360887071111977 Centerline is valid? [True, True] Translation: X:519.43, Y:4.38, Z:2.07 [[ 9.99488267e-01 -3.05775106e-02 -9.39255954e-03 5.19433435e+02] [ 3.05786718e-02 9.99532363e-01 -1.99824110e-05 4.37672157e+00] [ 9.38877825e-03 -2.67239810e-04 9.99955889e-01 2.06617514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.879254154 meters 0.06396547643186117 Centerline is valid? [True, True] Translation: X:519.49, Y:4.38, Z:2.07 [[ 9.99357654e-01 -3.44222731e-02 -9.96929095e-03 5.19493757e+02] [ 3.44237731e-02 9.99407326e-01 -2.11424636e-05 4.37618686e+00] [ 9.96411018e-03 -3.22051727e-04 9.99950305e-01 2.06751817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters 0.06245182873358692 Centerline is valid? [True, True] Translation: X:519.56, Y:4.38, Z:2.07 [[ 9.99142373e-01 -4.00230679e-02 -1.06147116e-02 5.19555087e+02] [ 4.00250852e-02 9.99198675e-01 -2.24073595e-05 4.38164561e+00] [ 1.06071026e-02 -4.02466593e-04 9.99943662e-01 2.07089632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.999254154 meters 0.06453096643786499 Centerline is valid? [True, True] Translation: X:519.62, Y:4.37, Z:2.07 [[ 9.99023467e-01 -4.27336011e-02 -1.12228443e-02 5.19615288e+02] [ 4.27360282e-02 9.99086398e-01 -2.35775540e-05 4.37143535e+00] [ 1.12135987e-02 -4.56065261e-04 9.99937022e-01 2.06983761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters 0.06320538002928378 Centerline is valid? [True, True] Translation: X:519.68, Y:4.37, Z:2.07 [[ 9.99060031e-01 -4.19080716e-02 -1.10800862e-02 5.19677059e+02] [ 4.19103874e-02 9.99121373e-01 -2.31995994e-05 4.37465920e+00] [ 1.10713232e-02 -4.41192915e-04 9.99938614e-01 2.07120175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.119254154 meters 0.06427691664154907 Centerline is valid? [True, True] Translation: X:519.74, Y:4.37, Z:2.07 [[ 9.99312284e-01 -3.52280948e-02 -1.15732634e-02 5.19736813e+02] [ 3.52301737e-02 9.99379224e-01 -2.42480094e-05 4.37476544e+00] [ 1.15669332e-02 -3.83496747e-04 9.99933027e-01 2.07137824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters 0.06300429524246186 Centerline is valid? [True, True] Translation: X:519.80, Y:4.38, Z:2.07 [[ 9.99510651e-01 -2.89221094e-02 -1.19151088e-02 5.19797802e+02] [ 2.89238658e-02 9.99581617e-01 -2.49295721e-05 4.38230546e+00] [ 1.19108447e-02 -3.19713634e-04 9.99929012e-01 2.07242728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.239254154 meters 0.06284166200146665 Centerline is valid? [True, True] Translation: X:519.86, Y:4.39, Z:2.07 [[ 9.99746948e-01 -1.93189638e-02 -1.15246289e-02 5.19858743e+02] [ 1.93199687e-02 9.99813352e-01 -2.41375793e-05 4.38707585e+00] [ 1.15229442e-02 -1.98523999e-04 9.99933589e-01 2.07361648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters 0.0631818653585368 Centerline is valid? [True, True] Translation: X:519.92, Y:4.39, Z:2.07 [[ 9.99877301e-01 -1.08383378e-02 -1.13098747e-02 5.19918564e+02] [ 1.08387620e-02 9.99941259e-01 -2.37870794e-05 4.39064008e+00] [ 1.13094682e-02 -9.88008802e-05 9.99936041e-01 2.07334841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.359254154 meters 0.06299732275638575 Centerline is valid? [True, True] Translation: X:519.98, Y:4.39, Z:2.07 [[ 9.99914169e-01 -6.45660504e-03 -1.14003463e-02 5.19977247e+02] [ 6.45674067e-03 9.99979155e-01 -2.49089137e-05 4.39174590e+00] [ 1.14002695e-02 -4.87023041e-05 9.99935014e-01 2.07311857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters 0.0629773764080363 Centerline is valid? [True, True] Translation: X:520.04, Y:4.39, Z:2.08 [[ 9.99937614e-01 -3.37510297e-03 -1.06478222e-02 5.20035687e+02] [ 3.37503347e-03 9.99994304e-01 -2.44958076e-05 4.39172855e+00] [ 1.06478442e-02 -1.14424769e-05 9.99943310e-01 2.07590887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.479254154 meters 0.06325917262955194 Centerline is valid? [True, True] Translation: X:520.09, Y:4.39, Z:2.08 [[ 9.99954404e-01 1.59350760e-04 -9.54801143e-03 5.20092333e+02] [-1.59578152e-04 9.99999987e-01 -2.30538623e-05 4.38916687e+00] [ 9.54800763e-03 2.45764651e-05 9.99954416e-01 2.07504872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.539254154 meters 0.06287614835189138 Centerline is valid? [True, True] Translation: X:520.15, Y:4.39, Z:2.08 [[ 9.99964507e-01 1.40932607e-03 -8.30649167e-03 5.20150107e+02] [-1.40954763e-03 9.99999006e-01 -2.08187116e-05 4.38615027e+00] [ 8.30645408e-03 3.25263683e-05 9.99965500e-01 2.07570513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters 0.06367602570207065 Centerline is valid? [True, True] Translation: X:520.21, Y:4.38, Z:2.08 [[ 9.99973019e-01 1.18627665e-03 -7.24936251e-03 5.20208418e+02] [-1.18644232e-03 9.99999296e-01 -1.85530741e-05 4.38094766e+00] [ 7.24933540e-03 2.71535241e-05 9.99973723e-01 2.07670693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.659254154 meters 0.06347885198447481 Centerline is valid? [True, True] Translation: X:520.27, Y:4.37, Z:2.08 [[ 9.99971070e-01 -1.72516965e-03 -7.40827322e-03 5.20266410e+02] [ 1.72507463e-03 9.99998512e-01 -1.92171381e-05 4.37377009e+00] [ 7.40829534e-03 6.43675798e-06 9.99972558e-01 2.07630698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters 0.06336658664708936 Centerline is valid? [True, True] Translation: X:520.33, Y:4.37, Z:2.08 [[ 9.99958902e-01 -5.17615564e-03 -7.44330141e-03 5.20325130e+02] [ 5.17615362e-03 9.99986603e-01 -1.95358009e-05 4.36755644e+00] [ 7.44330282e-03 -1.89926735e-05 9.99972298e-01 2.07522615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.779254154 meters 0.06318928813561615 Centerline is valid? [True, True] Translation: X:520.38, Y:4.36, Z:2.08 [[ 9.99903473e-01 -1.07196030e-02 -8.83935246e-03 5.20383943e+02] [ 1.07198148e-02 9.99942541e-01 -2.34244733e-05 4.35946261e+00] [ 8.83909566e-03 -7.13340090e-05 9.99960932e-01 2.07610199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters 0.06377739475731982 Centerline is valid? [True, True] Translation: X:520.44, Y:4.35, Z:2.07 [[ 9.99826623e-01 -1.64780966e-02 -8.67154300e-03 5.20443521e+02] [ 1.64785158e-02 9.99864220e-01 -2.31072251e-05 4.34612499e+00] [ 8.67074634e-03 -1.19790939e-04 9.99962401e-01 2.07449611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.899254154 meters 0.0625332149485946 Centerline is valid? [True, True] Translation: X:520.50, Y:4.35, Z:2.08 [[ 9.99760966e-01 -2.00138470e-02 -8.80100932e-03 5.20503746e+02] [ 2.00144152e-02 9.99799691e-01 -2.35211433e-05 4.34541760e+00] [ 8.79971715e-03 -1.52631534e-04 9.99961270e-01 2.07644722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters 0.06355358289913243 Centerline is valid? [True, True] Translation: X:520.56, Y:4.35, Z:2.08 [[ 9.99728041e-01 -2.17285211e-02 -8.46848803e-03 5.20564191e+02] [ 2.17291084e-02 9.99763895e-01 -2.26620175e-05 4.34645812e+00] [ 8.46698099e-03 -1.61356840e-04 9.99964141e-01 2.07736373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.019254154 meters 0.06432528954449414 Centerline is valid? [True, True] Translation: X:520.62, Y:4.32, Z:2.07 [[ 9.99601258e-01 -2.72415756e-02 -7.43111382e-03 5.20624475e+02] [ 2.72421803e-02 9.99628863e-01 -1.98657396e-05 4.32398230e+00] [ 7.42889703e-03 -1.82581924e-04 9.99972389e-01 2.07419572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters 0.06635157124738164 Centerline is valid? [True, True] Translation: X:520.69, Y:4.31, Z:2.07 [[ 9.99424684e-01 -3.31109103e-02 -7.34639914e-03 5.20685319e+02] [ 3.31116598e-02 9.99451658e-01 -1.96121682e-05 4.31226325e+00] [ 7.34302018e-03 -2.23650584e-04 9.99973015e-01 2.07368442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.139254154 meters 0.06623177294100008 Centerline is valid? [True, True] Translation: X:520.75, Y:4.31, Z:2.07 [[ 9.99299303e-01 -3.66849394e-02 -7.42415781e-03 5.20745971e+02] [ 3.66858035e-02 9.99326849e-01 -1.98038184e-05 4.30940156e+00] [ 7.41988673e-03 -2.52571253e-04 9.99972440e-01 2.07393625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters 0.06765020180497204 Centerline is valid? [True, True] Translation: X:520.81, Y:4.30, Z:2.07 [[ 9.99159400e-01 -4.01585971e-02 -8.23289822e-03 5.20806385e+02] [ 4.01597779e-02 9.99193270e-01 -2.19088473e-05 4.29874387e+00] [ 8.22713633e-03 -3.08740933e-04 9.99966109e-01 2.07324376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.259254154 meters 0.06850612338693565 Centerline is valid? [True, True] Translation: X:520.87, Y:4.30, Z:2.07 [[ 9.99162804e-01 -4.00210299e-02 -8.48580247e-03 5.20866420e+02] [ 4.00222797e-02 9.99198787e-01 -2.25450305e-05 4.29589373e+00] [ 8.47990581e-03 -3.17095004e-04 9.99963995e-01 2.07335245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters 0.06378759619570766 Centerline is valid? [True, True] Translation: X:520.93, Y:4.31, Z:2.07 [[ 9.99240969e-01 -3.81560810e-02 -7.84851780e-03 5.20927475e+02] [ 3.81570928e-02 9.99271753e-01 -2.08430062e-05 4.30974241e+00] [ 7.84359742e-03 -2.78649436e-04 9.99969200e-01 2.07461342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.379254154 meters 0.06502425360387686 Centerline is valid? [True, True] Translation: X:520.99, Y:4.31, Z:2.07 [[ 9.99394206e-01 -3.38065059e-02 -8.26691164e-03 5.20986685e+02] [ 3.38074795e-02 9.99428364e-01 -2.19798097e-05 4.30674250e+00] [ 8.26292903e-03 -2.57516952e-04 9.99965828e-01 2.07273583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters 0.06400137787123056 Centerline is valid? [True, True] Translation: X:521.05, Y:4.31, Z:2.07 [[ 9.99462338e-01 -3.19395856e-02 -7.40927456e-03 5.21046900e+02] [ 3.19403164e-02 9.99489778e-01 -1.96996683e-05 4.31179415e+00] [ 7.40612338e-03 -2.16965497e-04 9.99972551e-01 2.07328425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.499254154 meters 0.062473921577992475 Centerline is valid? [True, True] Translation: X:521.11, Y:4.32, Z:2.07 [[ 9.99477416e-01 -3.15819434e-02 -6.89029053e-03 5.21107015e+02] [ 3.15825674e-02 9.99501146e-01 -1.82651631e-05 4.32397448e+00] [ 6.88743013e-03 -1.99357447e-04 9.99976261e-01 2.07481228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters 0.06536942249563787 Centerline is valid? [True, True] Translation: X:521.17, Y:4.30, Z:2.07 [[ 9.99388947e-01 -3.44459210e-02 -5.93393439e-03 5.21167165e+02] [ 3.44464344e-02 9.99406545e-01 -1.56865504e-05 4.30363557e+00] [ 5.93095321e-03 -1.88725917e-04 9.99982394e-01 2.07353027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.619254154 meters 0.0651789189077642 Centerline is valid? [True, True] Translation: X:521.23, Y:4.31, Z:2.07 [[ 9.99308227e-01 -3.69204673e-02 -4.46612778e-03 5.21228411e+02] [ 3.69207830e-02 9.99318195e-01 -1.17708311e-05 4.30501791e+00] [ 4.46351734e-03 -1.53130246e-04 9.99990027e-01 2.07259631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters 0.06486825472572016 Centerline is valid? [True, True] Translation: X:521.29, Y:4.30, Z:2.07 [[ 9.99260971e-01 -3.82042071e-02 -4.23673944e-03 5.21288836e+02] [ 3.82045031e-02 9.99269941e-01 -1.10738285e-05 4.30356405e+00] [ 4.23406944e-03 -1.50796881e-04 9.99991025e-01 2.07118170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.739254154 meters 0.06474137349201281 Centerline is valid? [True, True] Translation: X:521.35, Y:4.30, Z:2.07 [[ 9.99239547e-01 -3.88765321e-02 -2.99059440e-03 5.21351340e+02] [ 3.88766826e-02 9.99244016e-01 -7.83133100e-06 4.30417857e+00] [ 2.98863801e-03 -1.08439014e-04 9.99995528e-01 2.06973134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters 0.06382342021086035 Centerline is valid? [True, True] Translation: X:521.41, Y:4.31, Z:2.07 [[ 9.99318182e-01 -3.67999956e-02 -2.98860541e-03 5.21411260e+02] [ 3.68001371e-02 9.99322646e-01 -7.67323447e-06 4.30984848e+00] [ 2.98686344e-03 -1.02313086e-04 9.99995534e-01 2.06924822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.859254154 meters 0.06505528723527934 Centerline is valid? [True, True] Translation: X:521.47, Y:4.31, Z:2.07 [[ 9.99440360e-01 -3.34509038e-02 6.64289879e-05 5.21471785e+02] [ 3.34509038e-02 9.99440362e-01 1.07233224e-07 4.30870522e+00] [-6.63953992e-05 2.11493648e-06 9.99999998e-01 2.07006221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters 0.06256570007587181 Centerline is valid? [True, True] Translation: X:521.53, Y:4.32, Z:2.07 [[ 9.99634966e-01 -2.70032530e-02 8.71247760e-04 5.21531025e+02] [ 2.70032613e-02 9.99635345e-01 2.26444802e-06 4.32100151e+00] [-8.70991204e-04 2.12629095e-05 9.99999620e-01 2.07108187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.979254154 meters 0.06300357875397171 Centerline is valid? [True, True] Translation: X:521.59, Y:4.33, Z:2.07 [[ 9.99748311e-01 -2.24127804e-02 9.90698271e-04 5.21591949e+02] [ 2.24127889e-02 9.99748802e-01 2.50276371e-06 4.32640365e+00] [-9.90505503e-04 1.97021774e-05 9.99999509e-01 2.07083227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.039254154 meters 0.06271940056976585 Centerline is valid? [True, True] Translation: X:521.65, Y:4.33, Z:2.07 [[ 9.99849402e-01 -1.72596722e-02 1.81013257e-03 5.21652706e+02] [ 1.72596923e-02 9.99851040e-01 4.53624957e-06 4.33086206e+00] [-1.80994123e-03 2.67067648e-05 9.99998362e-01 2.07005214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters 0.06296681583543781 Centerline is valid? [True, True] Translation: X:521.72, Y:4.33, Z:2.07 [[ 9.99867974e-01 -1.62165459e-02 1.02917518e-03 5.21715427e+02] [ 1.62165520e-02 9.99868503e-01 2.42564204e-06 4.33279782e+00] [-1.02907918e-03 1.42643511e-05 9.99999470e-01 2.06987432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.159254154 meters 0.06339928117479755 Centerline is valid? [True, True] Translation: X:521.78, Y:4.33, Z:2.07 [[ 9.99845806e-01 -1.74562463e-02 1.90874455e-03 5.21777686e+02] [ 1.74562694e-02 9.99847628e-01 4.55249384e-06 4.33200774e+00] [-1.90853318e-03 2.87677673e-05 9.99998178e-01 2.07025560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters 0.06271624427319104 Centerline is valid? [True, True] Translation: X:521.84, Y:4.33, Z:2.07 [[ 9.99809302e-01 -1.94835477e-02 1.32300587e-03 5.21839737e+02] [ 1.94835606e-02 9.99810177e-01 3.09833526e-06 4.33364185e+00] [-1.32281510e-03 2.26791206e-05 9.99999125e-01 2.06969304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.279254154 meters 0.062112119127662145 Centerline is valid? [True, True] Translation: X:521.90, Y:4.34, Z:2.07 [[ 9.99737376e-01 -2.26751060e-02 3.31948183e-03 5.21900789e+02] [ 2.26752045e-02 9.99742884e-01 7.95380583e-06 4.33808118e+00] [-3.31880869e-03 6.73182125e-05 9.99994490e-01 2.06718351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters 0.0618545719295973 Centerline is valid? [True, True] Translation: X:521.96, Y:4.34, Z:2.07 [[ 9.99690903e-01 -2.47191130e-02 2.65783818e-03 5.21962580e+02] [ 2.47191838e-02 9.99694434e-01 6.19670095e-06 4.33605548e+00] [-2.65717921e-03 5.95048049e-05 9.99996468e-01 2.06699133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.399254154 meters 0.06255221915237066 Centerline is valid? [True, True] Translation: X:522.02, Y:4.33, Z:2.07 [[ 9.99612450e-01 -2.76865250e-02 2.89939207e-03 5.22022861e+02] [ 2.76866215e-02 9.99616652e-01 6.84810009e-06 4.33497773e+00] [-2.89847020e-03 7.34289247e-05 9.99995797e-01 2.06673879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters 0.06240820694561323 Centerline is valid? [True, True] Translation: X:522.08, Y:4.33, Z:2.07 [[ 9.99569959e-01 -2.91250593e-02 3.41001577e-03 5.22084938e+02] [ 2.91252021e-02 9.99575771e-01 7.80217233e-06 4.33256172e+00] [-3.40879638e-03 9.15185813e-05 9.99994186e-01 2.06836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.519254154 meters 0.06271491790752141 Centerline is valid? [True, True] Translation: X:522.15, Y:4.33, Z:2.07 [[ 9.99568304e-01 -2.90627702e-02 4.30837040e-03 5.22146803e+02] [ 2.90629978e-02 9.99577582e-01 9.77813476e-06 4.33380967e+00] [-4.30683464e-03 1.15440246e-04 9.99990719e-01 2.06801039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters 0.06308755517077885 Centerline is valid? [True, True] Translation: X:522.21, Y:4.33, Z:2.07 [[ 9.99642955e-01 -2.65150929e-02 3.30345174e-03 5.22207676e+02] [ 2.65152129e-02 9.99648410e-01 7.47823009e-06 4.33099557e+00] [-3.30248857e-03 8.01161663e-05 9.99994544e-01 2.06918588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.639254154 meters 0.062305932427481565 Centerline is valid? [True, True] Translation: X:522.27, Y:4.34, Z:2.07 [[ 9.99787221e-01 -2.02568349e-02 3.89542445e-03 5.22268639e+02] [ 2.02569543e-02 9.99794807e-01 8.82095347e-06 4.34157272e+00] [-3.89480382e-03 7.00903584e-05 9.99992413e-01 2.06560486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters 0.062016389509145196 Centerline is valid? [True, True] Translation: X:522.33, Y:4.34, Z:2.07 [[ 9.99852125e-01 -1.68606556e-02 3.38338488e-03 5.22329747e+02] [ 1.68607265e-02 9.99857848e-01 7.57352703e-06 4.34433568e+00] [-3.38303162e-03 4.94739198e-05 9.99994276e-01 2.06540229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.759254154 meters 0.06171633589250426 Centerline is valid? [True, True] Translation: X:522.39, Y:4.35, Z:2.06 [[ 9.99874099e-01 -1.56352631e-02 2.70628828e-03 5.22391978e+02] [ 1.56353044e-02 9.99877761e-01 5.88962216e-06 4.34716562e+00] [-2.70604955e-03 3.64247604e-05 9.99996338e-01 2.06416162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters 0.06196763948153034 Centerline is valid? [True, True] Translation: X:522.45, Y:4.34, Z:2.06 [[ 9.99842492e-01 -1.76358215e-02 1.99235314e-03 5.22452699e+02] [ 1.76358478e-02 9.99844476e-01 4.33630730e-06 4.34485638e+00] [-1.99211975e-03 3.08012124e-05 9.99998015e-01 2.06479749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.879254154 meters 0.06241747045859933 Centerline is valid? [True, True] Translation: X:522.51, Y:4.34, Z:2.07 [[ 9.99810079e-01 -1.93141287e-02 2.60210650e-03 5.22514908e+02] [ 1.93141798e-02 9.99813464e-01 5.47179665e-06 4.34304749e+00] [-2.60172680e-03 4.47867954e-05 9.99996614e-01 2.06531374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters 0.062467216956795045 Centerline is valid? [True, True] Translation: X:522.57, Y:4.34, Z:2.07 [[ 9.99681436e-01 -2.49444331e-02 3.84733032e-03 5.22574301e+02] [ 2.49445854e-02 9.99688835e-01 8.38863141e-06 4.34092751e+00] [-3.84634242e-03 8.75841008e-05 9.99992599e-01 2.06588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.999254154 meters 0.0622824125081104 Centerline is valid? [True, True] Translation: X:522.63, Y:4.34, Z:2.07 [[ 9.99546393e-01 -2.98624794e-02 3.90401656e-03 5.22634956e+02] [ 2.98626739e-02 9.99554011e-01 8.46169979e-06 4.34176111e+00] [-3.90252810e-03 1.08126512e-04 9.99992379e-01 2.06560214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters 0.06237330816906359 Centerline is valid? [True, True] Translation: X:522.70, Y:4.34, Z:2.07 [[ 9.99452629e-01 -3.28892603e-02 3.56907150e-03 5.22695953e+02] [ 3.28894426e-02 9.99458996e-01 7.62186340e-06 4.33555466e+00] [-3.56739130e-03 1.09767081e-04 9.99993631e-01 2.06693576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.119254154 meters 0.0625808357088318 Centerline is valid? [True, True] Translation: X:522.76, Y:4.33, Z:2.07 [[ 9.99345352e-01 -3.60719750e-02 2.77143666e-03 5.22756565e+02] [ 3.60720974e-02 9.99349190e-01 5.85356990e-06 4.33429721e+00] [-2.76984413e-03 9.41217951e-05 9.99996160e-01 2.06643754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters 0.06226982015520645 Centerline is valid? [True, True] Translation: X:522.82, Y:4.34, Z:2.07 [[ 9.99386511e-01 -3.49496680e-02 2.26318903e-03 5.22817599e+02] [ 3.49497468e-02 9.99389071e-01 4.73250794e-06 4.33659679e+00] [-2.26197178e-03 7.43682789e-05 9.99997439e-01 2.06654030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.239254154 meters 0.06203650339421706 Centerline is valid? [True, True] Translation: X:522.88, Y:4.34, Z:2.07 [[ 9.99504242e-01 -3.14339648e-02 1.78213129e-03 5.22878338e+02] [ 3.14340080e-02 9.99505829e-01 3.73949595e-06 4.33840987e+00] [-1.78136816e-03 5.22818872e-05 9.99998412e-01 2.06687250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters 0.06261424919203833 Centerline is valid? [True, True] Translation: X:522.94, Y:4.34, Z:2.07 [[ 9.99726734e-01 -2.33578434e-02 9.32306499e-04 5.22938201e+02] [ 2.33578518e-02 9.99727168e-01 1.93427544e-06 4.34108160e+00] [-9.32097317e-04 1.98429301e-05 9.99999565e-01 2.06778341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.359254154 meters 0.06201418404859501 Centerline is valid? [True, True] Translation: X:523.00, Y:4.35, Z:2.07 [[ 9.99862050e-01 -1.65093394e-02 1.82310740e-03 5.22998772e+02] [ 1.65093599e-02 9.99863711e-01 3.80163679e-06 4.34998657e+00] [-1.82292169e-03 2.62972238e-05 9.99998338e-01 2.06771559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.419254154 meters 0.061503413909318884 Centerline is valid? [True, True] Translation: X:523.06, Y:4.35, Z:2.07 [[ 9.99906820e-01 -1.36285643e-02 7.83128573e-04 5.23059106e+02] [ 1.36285673e-02 9.99907127e-01 1.60385900e-06 4.35385210e+00] [-7.83077700e-04 9.06921088e-06 9.99999693e-01 2.06710433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.479254154 meters 0.0622151143035476 Centerline is valid? [True, True] Translation: X:523.12, Y:4.35, Z:2.07 [[ 9.99874615e-01 -1.58315815e-02 3.38604239e-04 5.23121268e+02] [ 1.58315822e-02 9.99874673e-01 5.30463106e-07 4.34856489e+00] [-3.38570201e-04 4.83024425e-06 9.99999943e-01 2.06832080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.539254154 meters 0.06220345677586104 Centerline is valid? [True, True] Translation: X:523.18, Y:4.35, Z:2.07 [[ 9.99782468e-01 -2.08559915e-02 -2.08751438e-04 5.23180993e+02] [ 2.08559918e-02 9.99782490e-01 -4.27817200e-07 4.34591892e+00] [ 2.08714955e-04 -3.92599415e-06 9.99999978e-01 2.06921467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters 0.06117323308972444 Centerline is valid? [True, True] Translation: X:523.24, Y:4.34, Z:2.07 [[ 9.99475740e-01 -3.23747157e-02 -3.50837409e-04 5.23241473e+02] [ 3.23747174e-02 9.99475801e-01 -7.57461043e-07 4.34298445e+00] [ 3.50678023e-04 -1.06011980e-05 9.99999938e-01 2.06929923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.659254154 meters 0.06174990086026331 Centerline is valid? [True, True] Translation: X:523.30, Y:4.34, Z:2.07 [[ 9.99087478e-01 -4.26820268e-02 -1.56740323e-03 5.23301791e+02] [ 4.26820742e-02 9.99088705e-01 -3.19881008e-06 4.34215644e+00] [ 1.56611140e-03 -6.37041301e-05 9.99998772e-01 2.06930925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters 0.07357652008557679 Centerline is valid? [True, True] Translation: X:523.36, Y:4.30, Z:2.07 [[ 9.98871662e-01 -4.74207384e-02 -2.58387855e-03 5.23361265e+02] [ 4.74208832e-02 9.98874997e-01 -5.24785723e-06 4.30258835e+00] [ 2.58122054e-03 -1.17287867e-04 9.99996662e-01 2.07046024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.779254154 meters 0.06549945100577313 Centerline is valid? [True, True] Translation: X:523.42, Y:4.32, Z:2.07 [[ 9.98602508e-01 -5.28203502e-02 -1.74383209e-03 5.23421937e+02] [ 5.28204242e-02 9.98604027e-01 -3.59469418e-06 4.32263806e+00] [ 1.74158762e-03 -8.85202803e-05 9.99998480e-01 2.07004675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters 0.06329607312013306 Centerline is valid? [True, True] Translation: X:523.48, Y:4.33, Z:2.07 [[ 9.98185657e-01 -6.02032807e-02 -9.79109888e-04 5.23482692e+02] [ 6.02033076e-02 9.98186136e-01 -2.02844270e-06 4.33061240e+00] [ 9.77456034e-04 -5.69208913e-05 9.99999521e-01 2.07082312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.899254154 meters 0.06268486198115243 Centerline is valid? [True, True] Translation: X:523.54, Y:4.34, Z:2.07 [[ 9.97944661e-01 -6.40636943e-02 -1.51560326e-03 5.23543224e+02] [ 6.40637632e-02 9.97945807e-01 -3.07661013e-06 4.33617953e+00] [ 1.51268702e-03 -9.40249620e-05 9.99998851e-01 2.07090339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters 0.06152479434109717 Centerline is valid? [True, True] Translation: X:523.60, Y:4.34, Z:2.07 [[ 9.97692413e-01 -6.78632899e-02 -2.10308665e-03 5.23603412e+02] [ 6.78634311e-02 9.97694620e-01 -4.26843112e-06 4.34295069e+00] [ 2.09852791e-03 -1.38464095e-04 9.99997788e-01 2.07028761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.019254154 meters 0.06557274223886157 Centerline is valid? [True, True] Translation: X:523.66, Y:4.33, Z:2.07 [[ 9.97707354e-01 -6.76156949e-02 -2.85537363e-03 5.23664822e+02] [ 6.76159540e-02 9.97711423e-01 -5.81629645e-06 4.33295485e+00] [ 2.84923216e-03 -1.87265850e-04 9.99995923e-01 2.07062106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters 0.06180312767764301 Centerline is valid? [True, True] Translation: X:523.73, Y:4.35, Z:2.07 [[ 9.97842848e-01 -6.55644942e-02 -3.30876038e-03 5.23725513e+02] [ 6.55648312e-02 9.97848312e-01 -6.62671106e-06 4.35432819e+00] [ 3.30207544e-03 -2.10325900e-04 9.99994526e-01 2.07047523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.139254154 meters 0.06143739847243309 Centerline is valid? [True, True] Translation: X:523.79, Y:4.36, Z:2.07 [[ 9.98017769e-01 -6.28648362e-02 -2.92330091e-03 5.23786488e+02] [ 6.28650878e-02 9.98022034e-01 -5.85410607e-06 4.36369642e+00] [ 2.91788674e-03 -1.77931067e-04 9.99995727e-01 2.07106412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters 0.0630319861615415 Centerline is valid? [True, True] Translation: X:523.85, Y:4.36, Z:2.07 [[ 9.98268449e-01 -5.87687889e-02 -2.51655211e-03 5.23845970e+02] [ 5.87689624e-02 9.98271611e-01 -5.02292136e-06 4.36302995e+00] [ 2.51249772e-03 -1.42880933e-04 9.99996833e-01 2.07157834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.259254154 meters 0.06146633778673738 Centerline is valid? [True, True] Translation: X:523.91, Y:4.38, Z:2.07 [[ 9.98397480e-01 -5.65201046e-02 -2.81937815e-03 5.23906047e+02] [ 5.65203133e-02 9.98401449e-01 -5.65049779e-06 4.38039609e+00] [ 2.81519059e-03 -1.53710693e-04 9.99996026e-01 2.07146014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters 0.05912535556778522 Centerline is valid? [True, True] Translation: X:523.97, Y:4.40, Z:2.07 [[ 9.98372353e-01 -5.69700495e-02 -2.65655668e-03 5.23967744e+02] [ 5.69702361e-02 9.98375877e-01 -5.41159813e-06 4.39898592e+00] [ 2.65255040e-03 -1.45941871e-04 9.99996471e-01 2.07132306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.379254154 meters 0.06620522623728996 Centerline is valid? [True, True] Translation: X:524.03, Y:4.38, Z:2.07 [[ 9.98334693e-01 -5.75980144e-02 -3.21077205e-03 5.24028898e+02] [ 5.75982913e-02 9.98339840e-01 -6.25153874e-06 4.37633606e+00] [ 3.20580173e-03 -1.78693856e-04 9.99994845e-01 2.07235933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters 0.0598068091153644 Centerline is valid? [True, True] Translation: X:524.09, Y:4.40, Z:2.07 [[ 9.98314431e-01 -5.79766961e-02 -2.64575663e-03 5.24090880e+02] [ 5.79768856e-02 9.98317926e-01 -5.10661209e-06 4.39741876e+00] [ 2.64160233e-03 -1.48294725e-04 9.99996500e-01 2.07234750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.499254154 meters 0.0610153620358735 Centerline is valid? [True, True] Translation: X:524.15, Y:4.40, Z:2.07 [[ 9.98514659e-01 -5.44225490e-02 -2.58112748e-03 5.24150788e+02] [ 5.44227178e-02 9.98517986e-01 -4.85747091e-06 4.40436296e+00] [ 2.57756657e-03 -1.35621716e-04 9.99996669e-01 2.07312717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters 0.06285259932997683 Centerline is valid? [True, True] Translation: X:524.21, Y:4.41, Z:2.07 [[ 9.98755683e-01 -4.98051651e-02 -2.55581715e-03 5.24210373e+02] [ 4.98053155e-02 9.98758945e-01 -4.81562428e-06 4.40560052e+00] [ 2.55288508e-03 -1.22483647e-04 9.99996734e-01 2.07395125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.619254154 meters 0.06145499784235514 Centerline is valid? [True, True] Translation: X:524.27, Y:4.42, Z:2.07 [[ 9.99113167e-01 -4.20305153e-02 -2.51288239e-03 5.24271456e+02] [ 4.20306361e-02 9.99116322e-01 -4.73005330e-06 4.41911125e+00] [ 2.51086062e-03 -1.00892187e-04 9.99996843e-01 2.07347954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters 0.059843325120446204 Centerline is valid? [True, True] Translation: X:524.33, Y:4.43, Z:2.07 [[ 9.99281010e-01 -3.77756211e-02 -3.23516452e-03 5.24332035e+02] [ 3.77757991e-02 9.99286240e-01 -6.08077796e-06 4.43189921e+00] [ 3.23308510e-03 -1.16134519e-04 9.99994767e-01 2.07316924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.739254154 meters 0.05898801203248078 Centerline is valid? [True, True] Translation: X:524.39, Y:4.44, Z:2.07 [[ 9.99464742e-01 -3.24830500e-02 -3.88355106e-03 5.24392948e+02] [ 3.24832667e-02 9.99472279e-01 -7.26344735e-06 4.44032439e+00] [ 3.88173757e-03 -1.18890866e-04 9.99992459e-01 2.07297506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters 0.06121328320586346 Centerline is valid? [True, True] Translation: X:524.45, Y:4.43, Z:2.07 [[ 9.99519736e-01 -3.07659991e-02 -3.70817565e-03 5.24453327e+02] [ 3.07661850e-02 9.99526609e-01 -6.90883634e-06 4.43386451e+00] [ 3.70663279e-03 -1.07180900e-04 9.99993125e-01 2.07350731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.859254154 meters 0.05970652101226388 Centerline is valid? [True, True] Translation: X:524.51, Y:4.45, Z:2.07 [[ 9.99627990e-01 -2.70715045e-02 -3.31895921e-03 5.24513821e+02] [ 2.70716332e-02 9.99633496e-01 -6.16172722e-06 4.44548239e+00] [ 3.31790961e-03 -8.36902113e-05 9.99994492e-01 2.07348432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.919254154 meters 0.058219090420188135 Centerline is valid? [True, True] Translation: X:524.57, Y:4.45, Z:2.07 [[ 9.99752062e-01 -2.16678886e-02 -5.12998844e-03 5.24574443e+02] [ 2.16681252e-02 9.99765219e-01 -9.45970761e-06 4.45166694e+00] [ 5.12898899e-03 -1.01699870e-04 9.99986841e-01 2.07160522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.979254154 meters 0.05961473168476491 Centerline is valid? [True, True] Translation: X:524.64, Y:4.45, Z:2.07 [[ 9.99824139e-01 -1.76421649e-02 -6.35958769e-03 5.24635072e+02] [ 1.76424473e-02 9.99844360e-01 -1.16936222e-05 4.45273021e+00] [ 6.35880419e-03 -1.00507125e-04 9.99979778e-01 2.07045386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.039254154 meters 0.0599836759964451 Centerline is valid? [True, True] Translation: X:524.70, Y:4.46, Z:2.07 [[ 9.99909020e-01 -1.23138454e-02 -5.50641479e-03 5.24695711e+02] [ 1.23139766e-02 9.99924180e-01 -1.00674325e-05 4.46047323e+00] [ 5.50612127e-03 -5.77393465e-05 9.99984840e-01 2.07145151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters 0.05893859384041491 Centerline is valid? [True, True] Translation: X:524.76, Y:4.46, Z:2.07 [[ 9.99942413e-01 -9.66050637e-03 -4.67389286e-03 5.24756580e+02] [ 9.66057202e-03 9.99953336e-01 -8.53031242e-06 4.46075413e+00] [ 4.67375717e-03 -3.66226574e-05 9.99989077e-01 2.07228267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.159254154 meters 0.05876512527702627 Centerline is valid? [True, True] Translation: X:524.82, Y:4.46, Z:2.07 [[ 9.99965089e-01 -7.34594229e-03 -3.98223638e-03 5.24817526e+02] [ 7.34597171e-03 9.99973018e-01 -7.23964014e-06 4.46222189e+00] [ 3.98218212e-03 -2.20140084e-05 9.99992071e-01 2.07279902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters 0.05882308359513489 Centerline is valid? [True, True] Translation: X:524.88, Y:4.46, Z:2.07 [[ 9.99972176e-01 -6.13078635e-03 -4.24972222e-03 5.24878083e+02] [ 6.13080923e-03 9.99981206e-01 -7.64386973e-06 4.46017261e+00] [ 4.24968921e-03 -1.84105791e-05 9.99990970e-01 2.07262078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.279254154 meters 0.059655164395415315 Centerline is valid? [True, True] Translation: X:524.94, Y:4.46, Z:2.07 [[ 9.99973007e-01 -5.79366194e-03 -4.51869720e-03 5.24937257e+02] [ 5.79368493e-03 9.99983216e-01 -8.00276629e-06 4.45643528e+00] [ 4.51866773e-03 -1.81773576e-05 9.99989791e-01 2.07233048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters 0.0587130219706066 Centerline is valid? [True, True] Translation: X:525.00, Y:4.45, Z:2.07 [[ 9.99973031e-01 -6.28272511e-03 -3.80334596e-03 5.24997262e+02] [ 6.28274495e-03 9.99980263e-01 -6.73204814e-06 4.45472828e+00] [ 3.80331319e-03 -1.71635860e-05 9.99992767e-01 2.07267095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.399254154 meters 0.05865405657469221 Centerline is valid? [True, True] Translation: X:525.06, Y:4.45, Z:2.07 [[ 9.99974455e-01 -6.09588957e-03 -3.73218540e-03 5.25056714e+02] [ 6.09590725e-03 9.99981420e-01 -6.63795130e-06 4.44954286e+00] [ 3.73215652e-03 -1.61132743e-05 9.99993035e-01 2.07324586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters 0.058928664511107086 Centerline is valid? [True, True] Translation: X:525.12, Y:4.45, Z:2.07 [[ 9.99976345e-01 -5.65528094e-03 -3.91499231e-03 5.25116343e+02] [ 5.65529688e-03 9.99984009e-01 -6.99887973e-06 4.44605130e+00] [ 3.91496929e-03 -1.51417296e-05 9.99992336e-01 2.07308771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.519254154 meters 0.05982685825491519 Centerline is valid? [True, True] Translation: X:525.18, Y:4.44, Z:2.07 [[ 9.99979532e-01 -4.85543117e-03 -4.16660732e-03 5.25176888e+02] [ 4.85544214e-03 9.99988212e-01 -7.48488734e-06 4.44120933e+00] [ 4.16659455e-03 -1.27459866e-05 9.99991320e-01 2.07296593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters 0.0591490379302183 Centerline is valid? [True, True] Translation: X:525.24, Y:4.44, Z:2.07 [[ 9.99978718e-01 -4.88857759e-03 -4.32039183e-03 5.25236364e+02] [ 4.88858968e-03 9.99988051e-01 -7.76421484e-06 4.43760649e+00] [ 4.32037816e-03 -1.33565733e-05 9.99990667e-01 2.07301181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.639254154 meters 0.05920282911454545 Centerline is valid? [True, True] Translation: X:525.30, Y:4.43, Z:2.07 [[ 9.99952872e-01 -8.88191532e-03 -3.91990013e-03 5.25295554e+02] [ 8.88195583e-03 9.99960555e-01 -7.07325922e-06 4.42893514e+00] [ 3.91980833e-03 -2.77434539e-05 9.99992317e-01 2.07347649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters 0.060315115926143324 Centerline is valid? [True, True] Translation: X:525.36, Y:4.41, Z:2.07 [[ 9.99846041e-01 -1.70049415e-02 -4.32735837e-03 5.25355884e+02] [ 1.70050666e-02 9.99855403e-01 -7.87832110e-06 4.41493889e+00] [ 4.32686662e-03 -6.57099092e-05 9.99990637e-01 2.07292338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.759254154 meters 0.05928763459521813 Centerline is valid? [True, True] Translation: X:525.42, Y:4.41, Z:2.07 [[ 9.99704609e-01 -2.40716739e-02 -3.35411852e-03 5.25416783e+02] [ 2.40717889e-02 9.99710233e-01 -6.08150685e-06 4.41402364e+00] [ 3.35329300e-03 -7.46599226e-05 9.99994375e-01 2.07285976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters 0.0624154140810927 Centerline is valid? [True, True] Translation: X:525.48, Y:4.39, Z:2.07 [[ 9.99406564e-01 -3.43891962e-02 -1.97583989e-03 5.25476957e+02] [ 3.43892563e-02 9.99408515e-01 -3.58363627e-06 4.39076699e+00] [ 1.97479445e-03 -6.43661547e-05 9.99998048e-01 2.07340399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.879254154 meters 0.05903856600963245 Centerline is valid? [True, True] Translation: X:525.54, Y:4.40, Z:2.07 [[ 9.99186981e-01 -4.02947455e-02 -1.30781549e-03 5.25537987e+02] [ 4.02947769e-02 9.99187836e-01 -2.38672304e-06 4.40107967e+00] [ 1.30684950e-03 -5.03133507e-05 9.99999145e-01 2.07228809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters 0.05879793963991604 Centerline is valid? [True, True] Translation: X:525.60, Y:4.40, Z:2.07 [[ 9.98878801e-01 -4.73360333e-02 -6.63712506e-04 5.25598482e+02] [ 4.73360429e-02 9.98879021e-01 -1.19630964e-06 4.39634215e+00] [ 6.63025127e-04 -3.02225553e-05 9.99999780e-01 2.07138961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.999254154 meters 0.06211151474147247 Centerline is valid? [True, True] Translation: X:525.66, Y:4.38, Z:2.07 [[ 9.98658681e-01 -5.17619301e-02 -1.24163505e-03 5.25658439e+02] [ 5.17619672e-02 9.98659451e-01 -2.25489019e-06 4.37853689e+00] [ 1.24008730e-03 -6.20176072e-05 9.99999229e-01 2.07291492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters 0.06049679566229476 Centerline is valid? [True, True] Translation: X:525.72, Y:4.39, Z:2.07 [[ 9.98560938e-01 -5.36163767e-02 -1.15631976e-03 5.25719339e+02] [ 5.36164101e-02 9.98561606e-01 -2.12122708e-06 4.38558307e+00] [ 1.15477024e-03 -5.98795397e-05 9.99999331e-01 2.07203168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.119254154 meters 0.05975128792984926 Centerline is valid? [True, True] Translation: X:525.78, Y:4.39, Z:2.07 [[ 9.98535387e-01 -5.40673861e-02 -1.94890993e-03 5.25781044e+02] [ 5.40674819e-02 9.98537284e-01 -3.51792323e-06 4.38866029e+00] [ 1.94624943e-03 -1.01859882e-04 9.99998101e-01 2.07003056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters 0.05964199943466951 Centerline is valid? [True, True] Translation: X:525.84, Y:4.39, Z:2.07 [[ 9.98603441e-01 -5.27912080e-02 -2.06278488e-03 5.25842284e+02] [ 5.27913128e-02 9.98605566e-01 -3.68692292e-06 4.38738207e+00] [ 2.06010310e-03 -1.05215348e-04 9.99997872e-01 2.06944885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.239254154 meters 0.058425713943389475 Centerline is valid? [True, True] Translation: X:525.90, Y:4.40, Z:2.07 [[ 9.98817533e-01 -4.85919561e-02 -1.53578470e-03 5.25902885e+02] [ 4.85920093e-02 9.98818711e-01 -2.65406248e-06 4.40062912e+00] [ 1.53409946e-03 -7.19759402e-05 9.99998821e-01 2.06931408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters 0.060770874981889524 Centerline is valid? [True, True] Translation: X:525.96, Y:4.39, Z:2.07 [[ 9.99012619e-01 -4.44023221e-02 -1.49036262e-03 5.25962337e+02] [ 4.44023676e-02 9.99013729e-01 -2.53234183e-06 4.39133814e+00] [ 1.48900516e-03 -6.36457877e-05 9.99998889e-01 2.07102259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.359254154 meters 0.05953829308680837 Centerline is valid? [True, True] Translation: X:526.02, Y:4.40, Z:2.07 [[ 9.99237290e-01 -3.90487735e-02 1.79253147e-04 5.26023102e+02] [ 3.90487741e-02 9.99237306e-01 3.05593396e-07 4.39958862e+00] [-1.79128365e-04 6.69425532e-06 9.99999984e-01 2.07112225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.419254154 meters 0.06258052914949999 Centerline is valid? [True, True] Translation: X:526.08, Y:4.39, Z:2.07 [[ 9.99376835e-01 -3.52962055e-02 -3.47277721e-04 5.26082751e+02] [ 3.52962074e-02 9.99376895e-01 -5.70784414e-07 4.39424675e+00] [ 3.47081477e-04 -1.16871577e-05 9.99999940e-01 2.07183965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.479254154 meters 0.06008497593779471 Centerline is valid? [True, True] Translation: X:526.14, Y:4.41, Z:2.07 [[ 9.99547251e-01 -3.00876360e-02 -1.65693627e-04 5.26143749e+02] [ 3.00876364e-02 9.99547265e-01 -2.95736216e-07 4.40530719e+00] [ 1.65627509e-04 -4.68972727e-06 9.99999986e-01 2.07065378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.539254154 meters 0.06026083611543092 Centerline is valid? [True, True] Translation: X:526.20, Y:4.41, Z:2.07 [[ 9.99649520e-01 -2.64505651e-02 -1.09772091e-03 5.26203713e+02] [ 2.64505790e-02 9.99650122e-01 -1.89708059e-06 4.40732404e+00] [ 1.09738702e-03 -2.71389380e-05 9.99999397e-01 2.07003831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters 0.0592447994562195 Centerline is valid? [True, True] Translation: X:526.26, Y:4.42, Z:2.07 [[ 9.99756989e-01 -2.20339319e-02 -6.85211277e-04 5.26264713e+02] [ 2.20339363e-02 9.99757223e-01 -1.21936871e-06 4.41557895e+00] [ 6.85071791e-04 -1.38788292e-05 9.99999765e-01 2.06957009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.659254154 meters 0.060086538045721526 Centerline is valid? [True, True] Translation: X:526.33, Y:4.41, Z:2.07 [[ 9.99792868e-01 -2.03177871e-02 -1.18710884e-03 5.26325539e+02] [ 2.03177990e-02 9.99793572e-01 -2.10713186e-06 4.41182227e+00] [ 1.18690660e-03 -2.20127434e-05 9.99999295e-01 2.07061133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters 0.05931708516880614 Centerline is valid? [True, True] Translation: X:526.39, Y:4.41, Z:2.07 [[ 9.99845308e-01 -1.75874266e-02 -2.03893582e-04 5.26387463e+02] [ 1.75874269e-02 9.99845329e-01 -3.80410089e-07 4.41499708e+00] [ 2.03868736e-04 -3.20561223e-06 9.99999979e-01 2.07113781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.779254154 meters 0.059465091203837736 Centerline is valid? [True, True] Translation: X:526.45, Y:4.42, Z:2.07 [[ 9.99887574e-01 -1.49681717e-02 -8.90260533e-04 5.26447762e+02] [ 1.49681762e-02 9.99887971e-01 -1.52242093e-06 4.41692477e+00] [ 8.90183585e-04 -1.18033268e-05 9.99999604e-01 2.07085558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters 0.059078072708066 Centerline is valid? [True, True] Translation: X:526.51, Y:4.41, Z:2.07 [[ 9.99846290e-01 -1.75065367e-02 -9.58065690e-04 5.26509674e+02] [ 1.75065431e-02 9.99846749e-01 -1.72098255e-06 4.41012089e+00] [ 9.57948993e-04 -1.50517003e-05 9.99999541e-01 2.07139966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.899254154 meters 0.05921435612191605 Centerline is valid? [True, True] Translation: X:526.57, Y:4.41, Z:2.07 [[ 9.99778940e-01 -2.09391523e-02 -1.90367453e-03 5.26570538e+02] [ 2.09391843e-02 9.99780751e-01 -3.13126695e-06 4.40763664e+00] [ 1.90332272e-03 -3.67308170e-05 9.99998188e-01 2.07134011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters 0.06002572700955516 Centerline is valid? [True, True] Translation: X:526.63, Y:4.40, Z:2.07 [[ 9.99618072e-01 -2.75530478e-02 -2.13063518e-03 5.26631435e+02] [ 2.75531029e-02 9.99620341e-01 -3.48651076e-06 4.40136312e+00] [ 2.12992233e-03 -5.52204312e-05 9.99997730e-01 2.07090411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.019254154 meters 0.06054547229770112 Centerline is valid? [True, True] Translation: X:526.69, Y:4.40, Z:2.07 [[ 9.99504452e-01 -3.13896943e-02 -2.35304569e-03 5.26692160e+02] [ 3.13897722e-02 9.99507220e-01 -3.82754799e-06 4.39684926e+00] [ 2.35200630e-03 -7.00359170e-05 9.99997232e-01 2.07051180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters 0.06088273564571804 Centerline is valid? [True, True] Translation: X:526.75, Y:4.39, Z:2.07 [[ 9.99487985e-01 -3.18435238e-02 -3.12365313e-03 5.26753280e+02] [ 3.18436634e-02 9.99492862e-01 -5.04604041e-06 4.39190898e+00] [ 3.12222969e-03 -9.44251023e-05 9.99995121e-01 2.07021066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.139254154 meters 0.05993838489166342 Centerline is valid? [True, True] Translation: X:526.81, Y:4.40, Z:2.07 [[ 9.99664859e-01 -2.58285593e-02 -1.74804816e-03 5.26814178e+02] [ 2.58285939e-02 9.99666386e-01 -2.77831191e-06 4.39631498e+00] [ 1.74753675e-03 -4.23722454e-05 9.99998472e-01 2.07147086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters 0.059165406834673445 Centerline is valid? [True, True] Translation: X:526.87, Y:4.41, Z:2.07 [[ 9.99824223e-01 -1.86692799e-02 -1.72664857e-03 5.26873257e+02] [ 1.86693031e-02 9.99825713e-01 -2.71455992e-06 4.40544756e+00] [ 1.72639831e-03 -2.95212426e-05 9.99998509e-01 2.07168897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.259254154 meters 0.058899166603205565 Centerline is valid? [True, True] Translation: X:526.93, Y:4.41, Z:2.07 [[ 9.99939436e-01 -1.09222239e-02 -1.35289998e-03 5.26933645e+02] [ 1.09222309e-02 9.99940351e-01 -2.17638832e-06 4.40536159e+00] [ 1.35284305e-03 -1.26004294e-05 9.99999085e-01 2.07275699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters 0.058956508582313355 Centerline is valid? [True, True] Translation: X:526.99, Y:4.41, Z:2.07 [[ 9.99995220e-01 -1.70332123e-03 -2.58060810e-03 5.26994333e+02] [ 1.70331635e-03 9.99998549e-01 -4.08931776e-06 4.40542509e+00] [ 2.58061132e-03 -3.06293744e-07 9.99996670e-01 2.07280063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.379254154 meters 0.05974400185543936 Centerline is valid? [True, True] Translation: X:527.05, Y:4.40, Z:2.07 [[ 9.99992350e-01 1.15545760e-03 -3.73703972e-03 5.27054154e+02] [-1.15548765e-03 9.99999332e-01 -5.88033820e-06 4.40313481e+00] [ 3.73703044e-03 1.01983965e-05 9.99993017e-01 2.07202790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters 0.059162337076873815 Centerline is valid? [True, True] Translation: X:527.11, Y:4.40, Z:2.07 [[ 9.99982162e-01 5.29601139e-05 -5.97260502e-03 5.27113098e+02] [-5.30181660e-05 9.99999999e-01 -9.56150703e-06 4.39678602e+00] [ 5.97260450e-03 9.87799305e-06 9.99982164e-01 2.07139256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.499254154 meters 0.05929296072474944 Centerline is valid? [True, True] Translation: X:527.17, Y:4.39, Z:2.07 [[ 9.99969785e-01 -3.43621521e-03 -6.97292707e-03 5.27170951e+02] [ 3.43621807e-03 9.99994096e-01 -1.15708714e-05 4.39063952e+00] [ 6.97292566e-03 -1.23899762e-05 9.99975689e-01 2.07136007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters 0.059363818742043675 Centerline is valid? [True, True] Translation: X:527.23, Y:4.38, Z:2.07 [[ 9.99920813e-01 -9.91836614e-03 -7.74551149e-03 5.27230581e+02] [ 9.91856203e-03 9.99950810e-01 -1.31231111e-05 4.38009372e+00] [ 7.74526065e-03 -6.37022642e-05 9.99970003e-01 2.07168736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.619254154 meters 0.05996215782634434 Centerline is valid? [True, True] Translation: X:527.29, Y:4.37, Z:2.07 [[ 9.99865660e-01 -1.46409916e-02 -7.36911697e-03 5.27289917e+02] [ 1.46412961e-02 9.99892810e-01 -1.26366715e-05 4.37415716e+00] [ 7.36851209e-03 -9.52584494e-05 9.99972848e-01 2.07329943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters 0.06156072651423993 Centerline is valid? [True, True] Translation: X:527.35, Y:4.36, Z:2.07 [[ 9.99733199e-01 -2.23566909e-02 -5.80591842e-03 5.27349186e+02] [ 2.23570094e-02 9.99750051e-01 -1.00492137e-05 4.35531493e+00] [ 5.80469191e-03 -1.19756440e-04 9.99983145e-01 2.07470661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.739254154 meters 0.061402590612466654 Centerline is valid? [True, True] Translation: X:527.41, Y:4.35, Z:2.08 [[ 9.99563927e-01 -2.90170325e-02 -5.47421794e-03 5.27409792e+02] [ 2.90174153e-02 9.99578906e-01 -9.49624868e-06 4.34991257e+00] [ 5.47218834e-03 -1.49355548e-04 9.99985016e-01 2.07631595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters 0.06209059648310528 Centerline is valid? [True, True] Translation: X:527.47, Y:4.34, Z:2.08 [[ 9.99095125e-01 -4.20905000e-02 -6.10908271e-03 5.27470706e+02] [ 4.20912209e-02 9.99113772e-01 -1.05719669e-05 4.33805872e+00] [ 6.10411365e-03 -2.46576349e-04 9.99981339e-01 2.07611286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.859254154 meters 0.07214892731626858 Centerline is valid? [True, True] Translation: X:527.53, Y:4.30, Z:2.07 [[ 9.98382684e-01 -5.63849733e-02 -7.26299298e-03 5.27531815e+02] [ 5.63863697e-02 9.98409023e-01 -1.25276710e-05 4.30122468e+00] [ 7.25214410e-03 -3.97026397e-04 9.99973624e-01 2.07373345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.919254154 meters 0.06024591163572878 Centerline is valid? [True, True] Translation: X:527.59, Y:4.34, Z:2.08 [[ 9.97896117e-01 -6.44174378e-02 -7.33031763e-03 5.27592439e+02] [ 6.44190766e-02 9.97922934e-01 -1.25663220e-05 4.33926154e+00] [ 7.31590157e-03 -4.59672409e-04 9.99973133e-01 2.07605131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.979254154 meters 0.06097292635450123 Centerline is valid? [True, True] Translation: X:527.65, Y:4.34, Z:2.08 [[ 9.97472396e-01 -7.06798259e-02 -7.29256597e-03 5.27652440e+02] [ 7.06816150e-02 9.97498927e-01 -1.24302297e-05 4.33511338e+00] [ 7.27520530e-03 -5.03051529e-04 9.99973409e-01 2.07540367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.039254154 meters 0.0819049375162905 Centerline is valid? [True, True] Translation: X:527.71, Y:4.28, Z:2.07 [[ 9.97456791e-01 -7.08915992e-02 -7.37101462e-03 5.27713179e+02] [ 7.08934345e-02 9.97483895e-01 -1.23355072e-05 4.28147215e+00] [ 7.35334286e-03 -5.10252407e-04 9.99972834e-01 2.07232174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters 0.05987056220901731 Centerline is valid? [True, True] Translation: X:527.77, Y:4.34, Z:2.07 [[ 9.97661720e-01 -6.79698629e-02 -7.15476229e-03 5.27774218e+02] [ 6.79715187e-02 9.97687262e-01 -1.17581687e-05 4.34315104e+00] [ 7.13901440e-03 -4.74589384e-04 9.99974404e-01 2.07482422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.159254154 meters 0.059443997893774 Centerline is valid? [True, True] Translation: X:527.83, Y:4.35, Z:2.08 [[ 9.97901667e-01 -6.44007824e-02 -6.69344525e-03 5.27834735e+02] [ 6.44021517e-02 9.97924027e-01 -1.09907981e-05 4.35031408e+00] [ 6.68025765e-03 -4.20104540e-04 9.99977599e-01 2.07508776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters 0.05952651058072344 Centerline is valid? [True, True] Translation: X:527.89, Y:4.36, Z:2.08 [[ 9.98274966e-01 -5.84616892e-02 -5.41509991e-03 5.27894638e+02] [ 5.84624985e-02 9.98289605e-01 -8.86530683e-06 4.35543510e+00] [ 5.40635623e-03 -3.07730256e-04 9.99985338e-01 2.07531550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.279254154 meters 0.06168873966522493 Centerline is valid? [True, True] Translation: X:527.95, Y:4.35, Z:2.08 [[ 9.98515574e-01 -5.41983795e-02 -5.40230625e-03 5.27954170e+02] [ 5.41991226e-02 9.98530147e-01 -8.85080272e-06 4.34789473e+00] [ 5.39484535e-03 -2.83962595e-04 9.99985407e-01 2.07503002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters 0.06084064029680707 Centerline is valid? [True, True] Translation: X:528.01, Y:4.36, Z:2.08 [[ 9.98746872e-01 -4.97451118e-02 -5.48722295e-03 5.28014981e+02] [ 4.97458115e-02 9.98761911e-01 -8.98093389e-06 4.36243200e+00] [ 5.48087603e-03 -2.63996679e-04 9.99984945e-01 2.07507471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.399254154 meters 0.061679856338689915 Centerline is valid? [True, True] Translation: X:528.07, Y:4.36, Z:2.07 [[ 9.98881042e-01 -4.69036191e-02 -6.05928912e-03 5.28074157e+02] [ 4.69044202e-02 9.98899382e-01 -9.89770771e-06 4.36347665e+00] [ 6.05308440e-03 -2.74320811e-04 9.99981642e-01 2.07466655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters 0.05953692238862813 Centerline is valid? [True, True] Translation: X:528.14, Y:4.38, Z:2.08 [[ 9.99130105e-01 -4.13570880e-02 -5.35015644e-03 5.28135154e+02] [ 4.13576330e-02 9.99144407e-01 -8.76118914e-06 4.38143520e+00] [ 5.34594122e-03 -2.12516239e-04 9.99985688e-01 2.07515604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.519254154 meters 0.059948187589892336 Centerline is valid? [True, True] Translation: X:528.20, Y:4.38, Z:2.08 [[ 9.99417314e-01 -3.38406481e-02 -4.45456764e-03 5.28195211e+02] [ 3.38409514e-02 9.99427231e-01 -7.28425565e-06 4.38475234e+00] [ 4.45226271e-03 -1.43466796e-04 9.99990078e-01 2.07582922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters 0.05924085148820819 Centerline is valid? [True, True] Translation: X:528.26, Y:4.39, Z:2.08 [[ 9.99496591e-01 -3.14059829e-02 -4.49771659e-03 5.28255829e+02] [ 3.14062676e-02 9.99506701e-01 -7.34332804e-06 4.38916955e+00] [ 4.49572849e-03 -1.33916859e-04 9.99989885e-01 2.07619168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.639254154 meters 0.05972760946530886 Centerline is valid? [True, True] Translation: X:528.32, Y:4.39, Z:2.08 [[ 9.99625913e-01 -2.70703678e-02 -3.90248819e-03 5.28316757e+02] [ 2.70705493e-02 9.99633526e-01 -6.31672710e-06 4.39475217e+00] [ 3.90122902e-03 -9.93281348e-05 9.99992385e-01 2.07575643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters 0.058741064087121216 Centerline is valid? [True, True] Translation: X:528.38, Y:4.40, Z:2.08 [[ 9.99709233e-01 -2.38623465e-02 -3.46961876e-03 5.28377395e+02] [ 2.38624707e-02 9.99715251e-01 -5.62380285e-06 4.39727331e+00] [ 3.46876499e-03 -7.71715082e-05 9.99993981e-01 2.07536061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.759254154 meters 0.05828642023434997 Centerline is valid? [True, True] Translation: X:528.44, Y:4.40, Z:2.08 [[ 9.99763951e-01 -2.16559315e-02 -1.74992293e-03 5.28438492e+02] [ 2.16559596e-02 9.99765482e-01 -2.85846621e-06 4.40456181e+00] [ 1.74957444e-03 -3.50384688e-05 9.99998469e-01 2.07591804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters 0.05880159251070142 Centerline is valid? [True, True] Translation: X:528.50, Y:4.41, Z:2.08 [[ 9.99765748e-01 -2.16112811e-02 -1.18405761e-03 5.28500730e+02] [ 2.16112939e-02 9.99766449e-01 -1.96174628e-06 4.40836683e+00] [ 1.18382347e-03 -2.36277304e-05 9.99999299e-01 2.07613148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.879254154 meters 0.05906420979129564 Centerline is valid? [True, True] Translation: X:528.56, Y:4.41, Z:2.08 [[ 9.99745652e-01 -2.25278424e-02 -1.06156816e-03 5.28561837e+02] [ 2.25278532e-02 9.99746216e-01 -1.78841696e-06 4.40808718e+00] [ 1.06133904e-03 -2.21268895e-05 9.99999437e-01 2.07537102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters 0.05818132317446586 Centerline is valid? [True, True] Translation: X:528.62, Y:4.41, Z:2.07 [[ 9.99713831e-01 -2.39162080e-02 -5.20071826e-04 5.28624043e+02] [ 2.39162108e-02 9.99713967e-01 -8.85941501e-07 4.40867832e+00] [ 5.19944256e-04 -1.15524594e-05 9.99999865e-01 2.07473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.999254154 meters 0.05790109029086655 Centerline is valid? [True, True] Translation: X:528.68, Y:4.41, Z:2.07 [[ 9.99638207e-01 -2.68690749e-02 -1.22783094e-03 5.28684361e+02] [ 2.68690930e-02 9.99638961e-01 -1.81236224e-06 4.40615269e+00] [ 1.22743634e-03 -3.11789971e-05 9.99999246e-01 2.07344098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters 0.06003220956353206 Centerline is valid? [True, True] Translation: X:528.74, Y:4.40, Z:2.07 [[ 9.99574938e-01 -2.91241862e-02 -1.31311273e-03 5.28744465e+02] [ 2.91242088e-02 9.99575800e-01 -1.90465274e-06 4.40269875e+00] [ 1.31261118e-03 -3.63395262e-05 9.99999138e-01 2.07333589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.119254154 meters 0.05903360051377181 Centerline is valid? [True, True] Translation: X:528.81, Y:4.40, Z:2.07 [[ 9.99481232e-01 -3.22001694e-02 -6.44482957e-04 5.28805716e+02] [ 3.22001755e-02 9.99481440e-01 -9.60365055e-07 4.40344771e+00] [ 6.44179677e-04 -1.97925974e-05 9.99999792e-01 2.07244401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters 0.059773438373871654 Centerline is valid? [True, True] Translation: X:528.87, Y:4.40, Z:2.07 [[ 9.99409104e-01 -3.43583424e-02 -9.73002191e-04 5.28866202e+02] [ 3.43583572e-02 9.99409577e-01 -1.42678109e-06 4.40392177e+00] [ 9.72476730e-04 -3.20048188e-05 9.99999527e-01 2.07180268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.239254154 meters 0.05773243774639651 Centerline is valid? [True, True] Translation: X:528.93, Y:4.41, Z:2.07 [[ 9.99369775e-01 -3.54905764e-02 -6.86488114e-04 5.28928688e+02] [ 3.54905840e-02 9.99370011e-01 -1.11609552e-06 4.41123911e+00] [ 6.86095245e-04 -2.32484719e-05 9.99999764e-01 2.07055328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters 0.05820703532640628 Centerline is valid? [True, True] Translation: X:528.99, Y:4.41, Z:2.07 [[ 9.99358575e-01 -3.57965808e-02 -1.02109706e-03 5.28989618e+02] [ 3.57965980e-02 9.99359096e-01 -1.49482746e-06 4.40906314e+00] [ 1.02049614e-03 -3.50579322e-05 9.99999479e-01 2.06987335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.359254154 meters 0.05794068402919775 Centerline is valid? [True, True] Translation: X:529.05, Y:4.41, Z:2.07 [[ 9.99363559e-01 -3.56385559e-02 -1.53960269e-03 5.29051405e+02] [ 3.56385948e-02 9.99364744e-01 -2.18807448e-06 4.41360106e+00] [ 1.53870263e-03 -5.26825947e-05 9.99998815e-01 2.06906029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.419254154 meters 0.05861927418395463 Centerline is valid? [True, True] Translation: X:529.11, Y:4.41, Z:2.07 [[ 9.99410158e-01 -3.42805211e-02 -2.04513571e-03 5.29112327e+02] [ 3.42805871e-02 9.99412248e-01 -2.76751113e-06 4.41239844e+00] [ 2.04402855e-03 -6.73425743e-05 9.99997909e-01 2.06938611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.479254154 meters 0.057870882822021776 Centerline is valid? [True, True] Translation: X:529.17, Y:4.42, Z:2.07 [[ 9.99486721e-01 -3.19811651e-02 -1.87055858e-03 5.29174244e+02] [ 3.19812163e-02 9.99488470e-01 -2.52362572e-06 4.41894246e+00] [ 1.86968244e-03 -5.73004082e-05 9.99998250e-01 2.06898563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.539254154 meters 0.05618784242172697 Centerline is valid? [True, True] Translation: X:529.23, Y:4.43, Z:2.07 [[ 9.99623356e-01 -2.74175522e-02 -1.19299166e-03 5.29234563e+02] [ 2.74175698e-02 9.99624068e-01 -1.54736631e-06 4.42802016e+00] [ 1.19258560e-03 -3.11621485e-05 9.99999288e-01 2.06819711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters 0.056068653065962544 Centerline is valid? [True, True] Translation: X:529.29, Y:4.43, Z:2.07 [[ 9.99776770e-01 -2.10651674e-02 -1.63350100e-03 5.29294541e+02] [ 2.10651920e-02 9.99778104e-01 -2.12119892e-06 4.42899764e+00] [ 1.63318322e-03 -3.22892868e-05 9.99998666e-01 2.06876534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.659254154 meters 0.05596690152499629 Centerline is valid? [True, True] Translation: X:529.36, Y:4.43, Z:2.07 [[ 9.99853812e-01 -1.69943716e-02 -1.88316768e-03 5.29356045e+02] [ 1.69943971e-02 9.99855585e-01 -2.47894578e-06 4.43199694e+00] [ 1.88293785e-03 -2.95247159e-05 9.99998227e-01 2.06923331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters 0.05729411447549372 Centerline is valid? [True, True] Translation: X:529.42, Y:4.43, Z:2.07 [[ 9.99907759e-01 -1.33736473e-02 -2.37036396e-03 5.29416983e+02] [ 1.33736776e-02 9.99910568e-01 -3.06278268e-06 4.43259343e+00] [ 2.37019293e-03 -2.86379832e-05 9.99997191e-01 2.06975593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.779254154 meters 0.057172473760322313 Centerline is valid? [True, True] Translation: X:529.48, Y:4.43, Z:2.07 [[ 9.99934149e-01 -1.13645254e-02 -1.59564599e-03 5.29477916e+02] [ 1.13645366e-02 9.99935422e-01 -2.07119097e-06 4.43287528e+00] [ 1.59556649e-03 -1.60627227e-05 9.99998727e-01 2.07008802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters 0.05676975335420735 Centerline is valid? [True, True] Translation: X:529.54, Y:4.44, Z:2.07 [[ 9.99906311e-01 -1.36737147e-02 -6.31839703e-04 5.29540360e+02] [ 1.36737168e-02 9.99906510e-01 -9.29673457e-07 4.43520314e+00] [ 6.31793344e-04 -7.71001082e-06 9.99999800e-01 2.06955133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.899254154 meters 0.056877695372561245 Centerline is valid? [True, True] Translation: X:529.60, Y:4.43, Z:2.07 [[ 9.99847985e-01 -1.74188004e-02 -7.69466273e-04 5.29601624e+02] [ 1.74188046e-02 9.99848281e-01 -1.28333729e-06 4.42924051e+00] [ 7.69371884e-04 -1.21200405e-05 9.99999704e-01 2.07023963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters 0.05819644557763339 Centerline is valid? [True, True] Translation: X:529.66, Y:4.42, Z:2.07 [[ 9.99649210e-01 -2.64693040e-02 -9.13148665e-04 5.29661651e+02] [ 2.64693141e-02 9.99649626e-01 -1.00389803e-06 4.41847502e+00] [ 9.12855293e-04 -2.31668730e-05 9.99999583e-01 2.06996865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.019254154 meters 0.056725828020344815 Centerline is valid? [True, True] Translation: X:529.72, Y:4.42, Z:2.07 [[ 9.99433348e-01 -3.36543609e-02 -6.04951051e-04 5.29722513e+02] [ 3.36543667e-02 9.99433531e-01 -6.64525365e-07 4.42093232e+00] [ 6.04630729e-04 -1.96950957e-05 9.99999817e-01 2.06890146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters 0.057652512965221905 Centerline is valid? [True, True] Translation: X:529.78, Y:4.41, Z:2.07 [[ 9.99015723e-01 -4.43344225e-02 -1.43006840e-03 5.29782159e+02] [ 4.43344656e-02 9.99016744e-01 -1.54819757e-06 4.41294727e+00] [ 1.42873091e-03 -6.18546444e-05 9.99998977e-01 2.06815327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.139254154 meters 0.05727601680778291 Centerline is valid? [True, True] Translation: X:529.84, Y:4.41, Z:2.07 [[ 9.98674276e-01 -5.14173779e-02 -2.43817376e-03 5.29843044e+02] [ 5.14175244e-02 9.98677244e-01 -2.61437454e-06 4.41346176e+00] [ 2.43508308e-03 -1.22753950e-04 9.99997028e-01 2.06725699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters 0.055099590853122556 Centerline is valid? [True, True] Translation: X:529.90, Y:4.42, Z:2.07 [[ 9.98222587e-01 -5.95599738e-02 -2.06818306e-03 5.29903718e+02] [ 5.95600966e-02 9.98224722e-01 -2.20971293e-06 4.42475920e+00] [ 2.06464307e-03 -1.20975398e-04 9.99997861e-01 2.06606487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.259254154 meters 0.05519047602833429 Centerline is valid? [True, True] Translation: X:529.96, Y:4.43, Z:2.07 [[ 9.98028083e-01 -6.27222228e-02 -2.42250711e-03 5.29964502e+02] [ 6.27224006e-02 9.98031012e-01 -2.59535044e-06 4.42863784e+00] [ 2.41790001e-03 -1.49355229e-04 9.99997066e-01 2.06638411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters 0.055985145031223274 Centerline is valid? [True, True] Translation: X:530.02, Y:4.43, Z:2.07 [[ 9.97972310e-01 -6.36259761e-02 -1.73308033e-03 5.30024484e+02] [ 6.36260683e-02 9.97973809e-01 -1.93404372e-06 4.42690780e+00] [ 1.72969183e-03 -1.08338965e-04 9.99998498e-01 2.06699604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.379254154 meters 0.056442321984890985 Centerline is valid? [True, True] Translation: X:530.08, Y:4.43, Z:2.07 [[ 9.98053562e-01 -6.23514591e-02 -1.17603854e-03 5.30084858e+02] [ 6.23515008e-02 9.98054252e-01 -1.22421448e-06 4.42895935e+00] [ 1.17382660e-03 -7.21059366e-05 9.99999308e-01 2.06820898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters 0.05606411579659221 Centerline is valid? [True, True] Translation: X:530.14, Y:4.44, Z:2.07 [[ 9.98225195e-01 -5.95510568e-02 -3.61612868e-04 5.30144186e+02] [ 5.95510606e-02 9.98225261e-01 -3.34136465e-07 4.43803576e+00] [ 3.60990997e-04 -2.12008864e-05 9.99999935e-01 2.06835348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.499254154 meters 0.0558386716361224 Centerline is valid? [True, True] Translation: X:530.21, Y:4.44, Z:2.07 [[ 9.98281001e-01 -5.86041870e-02 -7.69168142e-04 5.30205388e+02] [ 5.86042037e-02 9.98281297e-01 -8.35959800e-07 4.44038141e+00] [ 7.67895161e-04 -4.42419637e-05 9.99999704e-01 2.06853391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters 0.05482911188129034 Centerline is valid? [True, True] Translation: X:530.27, Y:4.45, Z:2.07 [[ 9.98421535e-01 -5.61356253e-02 -1.79734850e-03 5.30265718e+02] [ 5.61357127e-02 9.98423148e-01 -1.80437136e-06 4.45195191e+00] [ 1.79461563e-03 -9.90939157e-05 9.99998385e-01 2.06773792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.619254154 meters 0.056151761540306155 Centerline is valid? [True, True] Translation: X:530.32, Y:4.45, Z:2.07 [[ 9.98768158e-01 -4.95290487e-02 -3.00652719e-03 5.30325000e+02] [ 4.95292635e-02 9.98772673e-01 -3.01291207e-06 4.45167028e+00] [ 3.00298642e-03 -1.45901877e-04 9.99995480e-01 2.06779102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters 0.0551289762568435 Centerline is valid? [True, True] Translation: X:530.39, Y:4.47, Z:2.07 [[ 9.99223881e-01 -3.93412547e-02 -1.97529995e-03 5.30385515e+02] [ 3.93413275e-02 9.99225830e-01 -2.01237126e-06 4.46801948e+00] [ 1.97384990e-03 -7.57001127e-05 9.99998049e-01 2.06832094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.739254154 meters 0.05707420616507918 Centerline is valid? [True, True] Translation: X:530.45, Y:4.46, Z:2.07 [[ 9.99546057e-01 -3.00820138e-02 -1.65919424e-03 5.30445256e+02] [ 3.00820524e-02 9.99547433e-01 -1.68741549e-06 4.46218830e+00] [ 1.65849411e-03 -4.82253187e-05 9.99998624e-01 2.07078918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters 0.056306256567471534 Centerline is valid? [True, True] Translation: X:530.51, Y:4.48, Z:2.07 [[ 9.99843006e-01 -1.76765781e-02 1.22554336e-03 5.30506271e+02] [ 1.76765900e-02 9.99843757e-01 1.15459653e-06 4.47907609e+00] [-1.22537229e-03 2.05090122e-05 9.99999249e-01 2.07268279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.859254154 meters 0.0551863793134004 Centerline is valid? [True, True] Translation: X:530.57, Y:4.49, Z:2.07 [[ 9.99942300e-01 -1.05853936e-02 1.82936672e-03 5.30567522e+02] [ 1.05854081e-02 9.99943973e-01 1.78165537e-06 4.48881727e+00] [-1.82928309e-03 1.75830407e-05 9.99998327e-01 2.07163396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.919254154 meters 0.056078601598103746 Centerline is valid? [True, True] Translation: X:530.63, Y:4.49, Z:2.07 [[ 9.99949381e-01 -1.00601912e-02 -1.68757833e-04 5.30628267e+02] [ 1.00601913e-02 9.99949395e-01 -3.91616424e-07 4.48842440e+00] [ 1.68753232e-04 -1.30613947e-06 9.99999986e-01 2.07109915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.979254154 meters 0.05590067431601313 Centerline is valid? [True, True] Translation: X:530.69, Y:4.49, Z:2.07 [[ 9.99878390e-01 -1.54538184e-02 -2.09407323e-03 5.30689856e+02] [ 1.54538482e-02 9.99880582e-01 -1.97241748e-06 4.48816784e+00] [ 2.09385364e-03 -3.03893122e-05 9.99997807e-01 2.06830642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.039254154 meters 0.055462164128349825 Centerline is valid? [True, True] Translation: X:530.75, Y:4.48, Z:2.07 [[ 9.99790279e-01 -2.03134988e-02 -2.60006347e-03 5.30750097e+02] [ 2.03135613e-02 9.99793658e-01 -2.37780814e-06 4.48414944e+00] [ 2.59957527e-03 -5.04392392e-05 9.99996620e-01 2.06851891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters 0.0560281868017904 Centerline is valid? [True, True] Translation: X:530.81, Y:4.48, Z:2.07 [[ 9.99693037e-01 -2.47238314e-02 -1.60126787e-03 5.30810542e+02] [ 2.47238608e-02 9.99694319e-01 -1.46294740e-06 4.47570335e+00] [ 1.60081456e-03 -3.81270255e-05 9.99998718e-01 2.07008742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.159254154 meters 0.05495201302703857 Centerline is valid? [True, True] Translation: X:530.87, Y:4.48, Z:2.07 [[ 9.99708802e-01 -2.41293361e-02 -2.94221180e-04 5.30872744e+02] [ 2.41293370e-02 9.99708845e-01 -3.83479400e-07 4.48029821e+00] [ 2.94144769e-04 -6.71599428e-06 9.99999957e-01 2.06989056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters 0.054450883055767285 Centerline is valid? [True, True] Translation: X:530.93, Y:4.48, Z:2.07 [[ 9.99743811e-01 -2.26328490e-02 -2.58391601e-04 5.30934421e+02] [ 2.26328497e-02 9.99743844e-01 -3.43160498e-07 4.47743139e+00] [ 2.58333179e-04 -5.50506567e-06 9.99999967e-01 2.06999065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.279254154 meters 0.055297806617845086 Centerline is valid? [True, True] Translation: X:531.00, Y:4.47, Z:2.07 [[ 9.99765495e-01 -2.16522644e-02 -3.67506206e-04 5.30996775e+02] [ 2.16522657e-02 9.99765562e-01 -4.48089669e-07 4.47288536e+00] [ 3.67429750e-04 -7.50935742e-06 9.99999932e-01 2.07031880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters 0.05594033258496928 Centerline is valid? [True, True] Translation: X:531.06, Y:4.47, Z:2.07 [[ 9.99801239e-01 -1.99161860e-02 -9.10407696e-04 5.31059409e+02] [ 1.99161935e-02 9.99801653e-01 -8.65269911e-07 4.46775439e+00] [ 9.10244352e-04 -1.72667579e-05 9.99999586e-01 2.07005720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.399254154 meters 0.055479130609384704 Centerline is valid? [True, True] Translation: X:531.12, Y:4.46, Z:2.07 [[ 9.99838741e-01 -1.78314798e-02 -2.12832292e-03 5.31121018e+02] [ 1.78315168e-02 9.99841006e-01 -1.60336770e-06 4.46463611e+00] [ 2.12801312e-03 -3.63481167e-05 9.99997735e-01 2.06905739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters 0.05575539713410299 Centerline is valid? [True, True] Translation: X:531.18, Y:4.46, Z:2.07 [[ 9.99912598e-01 -1.26824404e-02 -3.73535959e-03 5.31181105e+02] [ 1.26825188e-02 9.99919574e-01 -2.70073597e-06 4.46255206e+00] [ 3.73509342e-03 -4.46732683e-05 9.99993024e-01 2.06830085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.519254154 meters 0.055938285470209174 Centerline is valid? [True, True] Translation: X:531.24, Y:4.46, Z:2.07 [[ 9.99966741e-01 -6.65509795e-03 -4.71459128e-03 5.31242130e+02] [ 6.65515584e-03 9.99977854e-01 -3.40862154e-06 4.46227606e+00] [ 4.71450956e-03 -2.79678315e-05 9.99988886e-01 2.06844623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters 0.05577543675067135 Centerline is valid? [True, True] Translation: X:531.30, Y:4.46, Z:2.07 [[ 9.99981748e-01 -3.98763852e-03 -4.53909029e-03 5.31301714e+02] [ 3.98766468e-03 9.99992049e-01 -3.28606478e-06 4.46065569e+00] [ 4.53906731e-03 -1.48143653e-05 9.99989698e-01 2.06793652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.639254154 meters 0.05649181510736049 Centerline is valid? [True, True] Translation: X:531.36, Y:4.46, Z:2.07 [[ 9.99976133e-01 -4.14859438e-03 -5.52478519e-03 5.31361233e+02] [ 4.14863524e-03 9.99991394e-01 -4.06623781e-06 4.45521341e+00] [ 5.52475452e-03 -1.88541777e-05 9.99984738e-01 2.06842593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters 0.0565634547356366 Centerline is valid? [True, True] Translation: X:531.42, Y:4.45, Z:2.07 [[ 9.99951526e-01 -7.34604530e-03 -6.55602646e-03 5.31420959e+02] [ 7.34617073e-03 9.99973017e-01 -4.94924152e-06 4.44957115e+00] [ 6.55588592e-03 -4.32126881e-05 9.99978509e-01 2.06858480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.759254154 meters 0.05589757156154368 Centerline is valid? [True, True] Translation: X:531.48, Y:4.44, Z:2.07 [[ 9.99859650e-01 -1.49645013e-02 -7.53292066e-03 5.31481359e+02] [ 1.49648825e-02 9.99888020e-01 -5.76324090e-06 4.44005816e+00] [ 7.53216337e-03 -1.06966841e-04 9.99971627e-01 2.06879014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters 0.056975006239053015 Centerline is valid? [True, True] Translation: X:531.54, Y:4.43, Z:2.07 [[ 9.99721434e-01 -2.26845716e-02 -6.51644814e-03 5.31541584e+02] [ 2.26850208e-02 9.99742662e-01 -4.98118751e-06 4.43107748e+00] [ 6.51488421e-03 -1.42845962e-04 9.99978768e-01 2.07064190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.879254154 meters 0.05764338575249284 Centerline is valid? [True, True] Translation: X:531.60, Y:4.42, Z:2.07 [[ 9.99647269e-01 -2.59259683e-02 -5.76030902e-03 5.31601930e+02] [ 2.59263733e-02 9.99663855e-01 -4.35737872e-06 4.42270438e+00] [ 5.75848569e-03 -1.44988080e-04 9.99983409e-01 2.07107733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters 0.057062733306671304 Centerline is valid? [True, True] Translation: X:531.66, Y:4.42, Z:2.07 [[ 9.99634099e-01 -2.65983440e-02 -4.91887034e-03 5.31663648e+02] [ 2.65986480e-02 9.99646193e-01 -3.62242963e-06 4.42079312e+00] [ 4.91722636e-03 -1.27214197e-04 9.99987902e-01 2.07181209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.999254154 meters 0.05713017204900925 Centerline is valid? [True, True] Translation: X:531.73, Y:4.42, Z:2.07 [[ 9.99698952e-01 -2.41228788e-02 -4.48232446e-03 5.31725379e+02] [ 2.41231068e-02 9.99708996e-01 -3.20097246e-06 4.41851085e+00] [ 4.48109730e-03 -1.04927583e-04 9.99989954e-01 2.07239728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters 0.05751474470627275 Centerline is valid? [True, True] Translation: X:531.78, Y:4.42, Z:2.07 [[ 9.99853544e-01 -1.67925626e-02 -3.30161406e-03 5.31784548e+02] [ 1.67926465e-02 9.99858994e-01 -2.30026763e-06 4.41618359e+00] [ 3.30118714e-03 -5.31429072e-05 9.99994550e-01 2.07385120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.119254154 meters 0.05656676397436309 Centerline is valid? [True, True] Translation: X:531.84, Y:4.42, Z:2.07 [[ 9.99963744e-01 -7.96754275e-03 -3.00466673e-03 5.31844936e+02] [ 7.96757231e-03 9.99968258e-01 -2.13079534e-06 4.42125397e+00] [ 3.00458833e-03 -2.18091814e-05 9.99995486e-01 2.07440672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters 0.05743058280598879 Centerline is valid? [True, True] Translation: X:531.91, Y:4.42, Z:2.07 [[ 9.99987431e-01 -3.19115435e-03 -3.86709557e-03 5.31905236e+02] [ 3.19116776e-03 9.99994908e-01 -2.70166942e-06 4.42257134e+00] [ 3.86708450e-03 -9.63891524e-06 9.99992523e-01 2.07372302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.239254154 meters 0.05716126692821259 Centerline is valid? [True, True] Translation: X:531.96, Y:4.42, Z:2.07 [[ 9.99984194e-01 -1.34046013e-04 -5.62089492e-03 5.31964041e+02] [ 1.34026092e-04 9.99999991e-01 -3.92094296e-06 4.42116448e+00] [ 5.62089540e-03 3.16753441e-06 9.99984203e-01 2.07165213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters 0.05647400597398514 Centerline is valid? [True, True] Translation: X:532.02, Y:4.42, Z:2.07 [[ 9.99977929e-01 -8.37716223e-04 -6.59090925e-03 5.32021588e+02] [ 8.37702538e-04 9.99999649e-01 -4.83712066e-06 4.41860699e+00] [ 6.59091099e-03 -6.84207505e-07 9.99978280e-01 2.07093455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.359254154 meters 0.0572218787384027 Centerline is valid? [True, True] Translation: X:532.08, Y:4.41, Z:2.07 [[ 9.99959866e-01 -5.91445424e-03 -6.72948442e-03 5.32080248e+02] [ 5.91455305e-03 9.99982509e-01 -5.21836190e-06 4.41293927e+00] [ 6.72939758e-03 -3.45837402e-05 9.99977357e-01 2.07186572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.419254154 meters 0.05749509853009976 Centerline is valid? [True, True] Translation: X:532.14, Y:4.41, Z:2.07 [[ 9.99935469e-01 -8.95860659e-03 -6.98585135e-03 5.32139200e+02] [ 8.95878504e-03 9.99959869e-01 -5.74849287e-06 4.41038436e+00] [ 6.98562250e-03 -5.68366187e-05 9.99975599e-01 2.07257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.479254154 meters 0.05730126319860889 Centerline is valid? [True, True] Translation: X:532.20, Y:4.40, Z:2.07 [[ 9.99747006e-01 -2.13577192e-02 -7.05496357e-03 5.32198673e+02] [ 2.13582080e-02 9.99771887e-01 -6.04920033e-06 4.40047836e+00] [ 7.05348345e-03 -1.44633710e-04 9.99975113e-01 2.07371306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.539254154 meters 0.058144202442672197 Centerline is valid? [True, True] Translation: X:532.26, Y:4.40, Z:2.07 [[ 9.99492796e-01 -3.12643786e-02 -6.05713319e-03 5.32259050e+02] [ 3.12649207e-02 9.99511133e-01 -5.18474815e-06 4.39516735e+00] [ 6.05433415e-03 -1.84193670e-04 9.99981655e-01 2.07451378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters 0.058146894159810114 Centerline is valid? [True, True] Translation: X:532.32, Y:4.39, Z:2.08 [[ 9.98939385e-01 -4.57510927e-02 -5.19062437e-03 5.32318301e+02] [ 4.57516861e-02 9.98952843e-01 -4.43026597e-06 4.38967076e+00] [ 5.18539166e-03 -2.33054249e-04 9.99986529e-01 2.07609869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.659254154 meters 0.06391499111356852 Centerline is valid? [True, True] Translation: X:532.38, Y:4.37, Z:2.08 [[ 9.98494923e-01 -5.46657187e-02 -4.42128660e-03 5.32378629e+02] [ 5.46662365e-02 9.98504683e-01 -3.74896013e-06 4.36559517e+00] [ 4.41488032e-03 -2.37951781e-04 9.99990226e-01 2.07614226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters 0.06038125092383367 Centerline is valid? [True, True] Translation: X:532.44, Y:4.37, Z:2.08 [[ 9.97868570e-01 -6.50590017e-02 -5.06384789e-03 5.32439434e+02] [ 6.50598142e-02 9.97881366e-01 -4.27362904e-06 4.37403890e+00] [ 5.05339749e-03 -3.25188483e-04 9.99987179e-01 2.07623723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.779254154 meters 0.057210774098146046 Centerline is valid? [True, True] Translation: X:532.50, Y:4.39, Z:2.08 [[ 9.97506205e-01 -7.03296667e-02 -5.92535423e-03 5.32500146e+02] [ 7.03308719e-02 9.97523718e-01 -4.98349537e-06 4.39339076e+00] [ 5.91103187e-03 -4.11764261e-04 9.99982445e-01 2.07653857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters 0.062160857842114135 Centerline is valid? [True, True] Translation: X:532.56, Y:4.37, Z:2.08 [[ 9.97517361e-01 -7.01450754e-02 -6.22764043e-03 5.32561302e+02] [ 7.01464036e-02 9.97536707e-01 -5.16577172e-06 4.36864082e+00] [ 6.21266228e-03 -4.31693632e-04 9.99980608e-01 2.07582634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.899254154 meters 0.061363745262156426 Centerline is valid? [True, True] Translation: X:532.62, Y:4.38, Z:2.08 [[ 9.97784361e-01 -6.60957286e-02 -7.59760563e-03 5.32622348e+02] [ 6.60975891e-02 9.97813163e-01 -6.22914252e-06 4.37581616e+00] [ 7.58140262e-03 -4.95968074e-04 9.99971138e-01 2.07515019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters 0.05689207182371671 Centerline is valid? [True, True] Translation: X:532.68, Y:4.40, Z:2.08 [[ 9.98052933e-01 -6.17406803e-02 -8.85611398e-03 5.32682623e+02] [ 6.17430369e-02 9.98092079e-01 -7.32071342e-06 4.39975615e+00] [ 8.83966919e-03 -5.39496913e-04 9.99960784e-01 2.07591514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.019254154 meters 0.06012025988203907 Centerline is valid? [True, True] Translation: X:532.74, Y:4.39, Z:2.07 [[ 9.98519300e-01 -5.35098473e-02 -9.79304647e-03 5.32742751e+02] [ 5.35123345e-02 9.98567189e-01 -8.06682864e-06 4.39033229e+00] [ 9.77944654e-03 -5.15993894e-04 9.99952047e-01 2.07402247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters 0.05625829445635225 Centerline is valid? [True, True] Translation: X:532.80, Y:4.42, Z:2.08 [[ 9.99004688e-01 -4.37486165e-02 -8.70009991e-03 5.32803007e+02] [ 4.37502105e-02 9.99042501e-01 -7.11649149e-06 4.41544508e+00] [ 8.69208092e-03 -3.73521794e-04 9.99962153e-01 2.07737900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.139254154 meters 0.057410485263567894 Centerline is valid? [True, True] Translation: X:532.86, Y:4.42, Z:2.08 [[ 9.99335104e-01 -3.56076926e-02 -7.83848811e-03 5.32862701e+02] [ 3.56087366e-02 9.99365808e-01 -6.38816641e-06 4.41964665e+00] [ 7.83374447e-03 -2.72734739e-04 9.99969279e-01 2.07798726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters 0.056570555039604724 Centerline is valid? [True, True] Translation: X:532.92, Y:4.43, Z:2.08 [[ 9.99724389e-01 -2.27893382e-02 -5.63851772e-03 5.32922811e+02] [ 2.27896746e-02 9.99740282e-01 -4.59053775e-06 4.42661079e+00] [ 5.63715791e-03 -1.23910712e-04 9.99984103e-01 2.07875689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.259254154 meters 0.057818488483877765 Centerline is valid? [True, True] Translation: X:532.98, Y:4.43, Z:2.08 [[ 9.99862540e-01 -1.58513120e-02 -4.86176843e-03 5.32982064e+02] [ 1.58514802e-02 9.99874357e-01 -3.95250288e-06 4.43276678e+00] [ 4.86122023e-03 -7.31142662e-05 9.99988182e-01 2.07943567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters 0.05665319775527832 Centerline is valid? [True, True] Translation: X:533.04, Y:4.44, Z:2.08 [[ 9.99918484e-01 -1.20118748e-02 -4.32901564e-03 5.33043029e+02] [ 1.20119720e-02 9.99927854e-01 -3.54193588e-06 4.44109909e+00] [ 4.32874586e-03 -4.84583675e-05 9.99990630e-01 2.07972110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.379254154 meters 0.05739174347548844 Centerline is valid? [True, True] Translation: X:533.10, Y:4.44, Z:2.08 [[ 9.99900368e-01 -1.29768314e-02 -5.55482739e-03 5.33103695e+02] [ 1.29770070e-02 9.99915795e-01 -4.44653326e-06 4.43960660e+00] [ 5.55441735e-03 -6.76389435e-05 9.99984572e-01 2.07955458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters 0.057034245476364626 Centerline is valid? [True, True] Translation: X:533.16, Y:4.44, Z:2.08 [[ 9.99828312e-01 -1.73778785e-02 -6.43084467e-03 5.33164564e+02] [ 1.73782059e-02 9.99848988e-01 -4.97015032e-06 4.43940074e+00] [ 6.42995990e-03 -1.06787246e-04 9.99979322e-01 2.07929062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.499254154 meters 0.056518410597337324 Centerline is valid? [True, True] Translation: X:533.23, Y:4.44, Z:2.08 [[ 9.99771012e-01 -2.05220795e-02 -6.06368237e-03 5.33225275e+02] [ 2.05224287e-02 9.99789393e-01 -4.62488561e-06 4.43964161e+00] [ 6.06250023e-03 -1.19817663e-04 9.99981616e-01 2.07921210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters 0.05732671122317354 Centerline is valid? [True, True] Translation: X:533.29, Y:4.44, Z:2.08 [[ 9.99737090e-01 -2.22454592e-02 -5.55785841e-03 5.33286446e+02] [ 2.22457797e-02 9.99752532e-01 -4.14354278e-06 4.43680862e+00] [ 5.55657519e-03 -1.19496441e-04 9.99984555e-01 2.07967645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.619254154 meters 0.05681930102812721 Centerline is valid? [True, True] Translation: X:533.35, Y:4.44, Z:2.08 [[ 9.99759471e-01 -2.13326950e-02 -5.09085238e-03 5.33348470e+02] [ 2.13329528e-02 9.99772427e-01 -3.66217370e-06 4.44076539e+00] [ 5.08977197e-03 -1.04941621e-04 9.99987042e-01 2.08011818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters 0.05706027720033604 Centerline is valid? [True, True] Translation: X:533.41, Y:4.44, Z:2.08 [[ 9.99803540e-01 -1.91206432e-02 -5.22329039e-03 5.33408851e+02] [ 1.91208854e-02 9.99817179e-01 -3.56933485e-06 4.43966747e+00] [ 5.22240371e-03 -9.63053035e-05 9.99986359e-01 2.08068653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.739254154 meters 0.056456441721911395 Centerline is valid? [True, True] Translation: X:533.47, Y:4.44, Z:2.08 [[ 9.99809154e-01 -1.85182405e-02 -6.22334738e-03 5.33469949e+02] [ 1.85185735e-02 9.99828517e-01 -4.11910866e-06 4.43950958e+00] [ 6.22235646e-03 -1.11129193e-04 9.99980635e-01 2.08064469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters 0.05638082208513357 Centerline is valid? [True, True] Translation: X:533.53, Y:4.44, Z:2.08 [[ 9.99808348e-01 -1.87098474e-02 -5.76271232e-03 5.33531390e+02] [ 1.87101368e-02 9.99824950e-01 -3.67837048e-06 4.44185601e+00] [ 5.76177238e-03 -1.04143471e-04 9.99983395e-01 2.08062334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.859254154 meters 0.057125149166275736 Centerline is valid? [True, True] Translation: X:533.59, Y:4.44, Z:2.08 [[ 9.99862496e-01 -1.53768264e-02 -6.20829746e-03 5.33591498e+02] [ 1.53770989e-02 9.99881765e-01 -3.83472659e-06 4.44017877e+00] [ 6.20762239e-03 -9.16314050e-05 9.99980728e-01 2.08010355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.919254154 meters 0.055856425754970566 Centerline is valid? [True, True] Translation: X:533.65, Y:4.44, Z:2.08 [[ 9.99918196e-01 -1.12617572e-02 -6.06412683e-03 5.33652396e+02] [ 1.12619416e-02 9.99936582e-01 -3.74850211e-06 4.44361245e+00] [ 6.06378447e-03 -6.45456466e-05 9.99981613e-01 2.08023344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.979254154 meters 0.0564000597861773 Centerline is valid? [True, True] Translation: X:533.71, Y:4.45, Z:2.08 [[ 9.99964817e-01 -4.67809294e-03 -6.96279050e-03 5.33712454e+02] [ 4.67817566e-03 9.99989057e-01 -4.40674568e-06 4.44732099e+00] [ 6.96273493e-03 -2.81665664e-05 9.99975759e-01 2.07993146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.039254154 meters 0.05671313433150275 Centerline is valid? [True, True] Translation: X:533.77, Y:4.45, Z:2.08 [[ 9.99969139e-01 -1.70202831e-03 -7.66965348e-03 5.33770401e+02] [ 1.70203963e-03 9.99998552e-01 -5.05205406e-06 4.44859382e+00] [ 7.66965097e-03 -8.00215598e-06 9.99970588e-01 2.08029389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters 0.05667168438108027 Centerline is valid? [True, True] Translation: X:533.83, Y:4.45, Z:2.08 [[ 9.99970025e-01 -2.41833946e-03 -7.35538496e-03 5.33829017e+02] [ 2.41836662e-03 9.99997076e-01 -5.20098220e-06 4.44653740e+00] [ 7.35537603e-03 -1.25871912e-05 9.99972949e-01 2.08001430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.159254154 meters 0.056927566422220605 Centerline is valid? [True, True] Translation: X:533.89, Y:4.44, Z:2.08 [[ 9.99948034e-01 -5.42659314e-03 -8.63031333e-03 5.33888005e+02] [ 5.42673896e-03 9.99985275e-01 -6.52118496e-06 4.44380914e+00] [ 8.63022164e-03 -4.03136115e-05 9.99962758e-01 2.08020476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters 0.0564444725278737 Centerline is valid? [True, True] Translation: X:533.95, Y:4.44, Z:2.08 [[ 9.99896568e-01 -1.01551602e-02 -1.01845522e-02 5.33947008e+02] [ 1.01556055e-02 9.99948430e-01 -7.99945678e-06 4.43851483e+00] [ 1.01841082e-02 -9.54316651e-05 9.99948136e-01 2.07923163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.279254154 meters 0.05669712332750489 Centerline is valid? [True, True] Translation: X:534.01, Y:4.44, Z:2.08 [[ 9.99801676e-01 -1.66995740e-02 -1.08505262e-02 5.34007211e+02] [ 1.67004635e-02 9.99860538e-01 -8.62230645e-06 4.43529136e+00] [ 1.08491570e-02 -1.72588222e-04 9.99941131e-01 2.08002047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters 0.05684843970682049 Centerline is valid? [True, True] Translation: X:534.07, Y:4.43, Z:2.08 [[ 9.99584925e-01 -2.67735034e-02 -1.06375678e-02 5.34067841e+02] [ 2.67749285e-02 9.99641487e-01 -8.44751248e-06 4.42909123e+00] [ 1.06339803e-02 -2.76376113e-04 9.99943419e-01 2.08104879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.399254154 meters 0.057767230023055484 Centerline is valid? [True, True] Translation: X:534.13, Y:4.42, Z:2.08 [[ 9.99415961e-01 -3.27212885e-02 -9.85164969e-03 5.34128082e+02] [ 3.27228007e-02 9.99464466e-01 -7.69791583e-06 4.42293822e+00] [ 9.84662568e-03 -3.14680150e-04 9.99951471e-01 2.08187876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters 0.05824768602542971 Centerline is valid? [True, True] Translation: X:534.19, Y:4.42, Z:2.08 [[ 9.99107295e-01 -4.11973803e-02 -9.34815975e-03 5.34187110e+02] [ 4.11991137e-02 9.99150956e-01 -7.14695170e-06 4.41672175e+00] [ 9.34051719e-03 -3.77995325e-04 9.99956305e-01 2.08284030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.519254154 meters 0.0571590088096821 Centerline is valid? [True, True] Translation: X:534.25, Y:4.42, Z:2.08 [[ 9.98839516e-01 -4.73213504e-02 -8.96164336e-03 5.34247365e+02] [ 4.73231899e-02 9.98879630e-01 -6.78660119e-06 4.41871263e+00] [ 8.95192416e-03 -4.17314825e-04 9.99959844e-01 2.08402713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters 0.05932251822290983 Centerline is valid? [True, True] Translation: X:534.31, Y:4.41, Z:2.08 [[ 9.98390949e-01 -5.59086995e-02 -9.47263350e-03 5.34306555e+02] [ 5.59111410e-02 9.98435749e-01 -7.09507774e-06 4.40746448e+00] [ 9.45821259e-03 -5.22542085e-04 9.99955134e-01 2.08424316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.639254154 meters 0.055870420881619746 Centerline is valid? [True, True] Translation: X:534.37, Y:4.43, Z:2.09 [[ 9.98067777e-01 -6.14601411e-02 -9.13038877e-03 5.34367437e+02] [ 6.14626418e-02 9.98109385e-01 -6.72364817e-06 4.42638971e+00] [ 9.11353996e-03 -5.54467158e-04 9.99958317e-01 2.08686606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters 0.055939786578987884 Centerline is valid? [True, True] Translation: X:534.43, Y:4.43, Z:2.09 [[ 9.97708148e-01 -6.68570285e-02 -1.04206490e-02 5.34427794e+02] [ 6.68605798e-02 9.97762328e-01 -7.59503130e-06 4.43410031e+00] [ 1.03978388e-02 -6.89153008e-04 9.99945704e-01 2.08778508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.759254154 meters 0.05579483471473142 Centerline is valid? [True, True] Translation: X:534.49, Y:4.43, Z:2.09 [[ 9.97598904e-01 -6.83310302e-02 -1.12826390e-02 5.34487999e+02] [ 6.83352881e-02 9.97662412e-01 -8.14939003e-06 4.42715809e+00] [ 1.12568217e-02 -7.62872562e-04 9.99936349e-01 2.08669409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters 0.057072673066219715 Centerline is valid? [True, True] Translation: X:534.55, Y:4.43, Z:2.09 [[ 9.97671483e-01 -6.70248497e-02 -1.26206639e-02 5.34548992e+02] [ 6.70300757e-02 9.97750955e-01 -8.93885945e-06 4.42707439e+00] [ 1.25928786e-02 -8.37046013e-04 9.99920356e-01 2.08704601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.879254154 meters 0.05694466656493903 Centerline is valid? [True, True] Translation: X:534.61, Y:4.43, Z:2.09 [[ 9.97888769e-01 -6.37441104e-02 -1.24375935e-02 5.34610176e+02] [ 6.37489331e-02 9.97965968e-01 -8.71682321e-06 4.43420451e+00] [ 1.24128506e-02 -7.84184894e-04 9.99922650e-01 2.08753628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters 0.05893671957097859 Centerline is valid? [True, True] Translation: X:534.67, Y:4.43, Z:2.09 [[ 9.98398847e-01 -5.52081058e-02 -1.23210095e-02 5.34669312e+02] [ 5.52121900e-02 9.98474644e-01 -8.68391348e-06 4.43180174e+00] [ 1.23026950e-02 -6.71599907e-04 9.99924093e-01 2.08674659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.999254154 meters 0.05932960989340337 Centerline is valid? [True, True] Translation: X:534.73, Y:4.43, Z:2.09 [[ 9.98940223e-01 -4.45665390e-02 -1.15001916e-02 5.34729095e+02] [ 4.45693932e-02 9.99006291e-01 -8.10852188e-06 4.43439345e+00] [ 1.14891251e-02 -5.04456632e-04 9.99933871e-01 2.08668396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters 0.05801249262281563 Centerline is valid? [True, True] Translation: X:534.79, Y:4.45, Z:2.09 [[ 9.99228865e-01 -3.78385406e-02 -1.04842651e-02 5.34789449e+02] [ 3.78405435e-02 9.99283790e-01 -7.33261400e-06 4.44922958e+00] [ 1.04770336e-02 -3.89403330e-04 9.99945039e-01 2.08841007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.119254154 meters 0.057039544447358655 Centerline is valid? [True, True] Translation: X:534.85, Y:4.46, Z:2.09 [[ 9.99556987e-01 -2.80593104e-02 -9.92496771e-03 5.34850241e+02] [ 2.80606242e-02 9.99606223e-01 -6.88627066e-06 4.46262415e+00] [ 9.92125272e-03 -2.71617569e-04 9.99950746e-01 2.08948203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters 0.05671090751664847 Centerline is valid? [True, True] Translation: X:534.91, Y:4.47, Z:2.09 [[ 9.99718340e-01 -2.18840716e-02 -9.18302733e-03 5.34911122e+02] [ 2.18849361e-02 9.99760496e-01 -6.34931451e-06 4.46696993e+00] [ 9.18096691e-03 -1.94622440e-04 9.99957835e-01 2.08968161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.239254154 meters 0.0569262033479121 Centerline is valid? [True, True] Translation: X:534.97, Y:4.47, Z:2.09 [[ 9.99868226e-01 -1.30789223e-02 -9.61630692e-03 5.34971939e+02] [ 1.30794636e-02 9.99914460e-01 -6.60020039e-06 4.47341699e+00] [ 9.61557067e-03 -1.19176805e-04 9.99953762e-01 2.08966021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters 0.05630957679872458 Centerline is valid? [True, True] Translation: X:535.03, Y:4.48, Z:2.09 [[ 9.99921213e-01 -6.85710251e-03 -1.05141782e-02 5.35031214e+02] [ 6.85740488e-03 9.99976488e-01 -7.29277189e-06 4.47613732e+00] [ 1.05139810e-02 -6.48077798e-05 9.99944724e-01 2.08817693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.359254154 meters 0.05725352884002677 Centerline is valid? [True, True] Translation: X:535.09, Y:4.48, Z:2.09 [[ 9.99953020e-01 1.97080388e-03 -9.49069402e-03 5.35089647e+02] [-1.97096140e-03 9.99998058e-01 -7.24408118e-06 4.48243874e+00] [ 9.49066131e-03 2.59495325e-05 9.99954962e-01 2.08893741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.419254154 meters 0.056636844347422104 Centerline is valid? [True, True] Translation: X:535.15, Y:4.49, Z:2.09 [[ 9.99944061e-01 5.98065930e-03 -8.72391877e-03 5.35147721e+02] [-5.98095016e-03 9.99982114e-01 -7.25120527e-06 4.48562808e+00] [ 8.72371936e-03 5.94281230e-05 9.99961946e-01 2.08962922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.479254154 meters 0.05739181143673377 Centerline is valid? [True, True] Translation: X:535.21, Y:4.48, Z:2.09 [[ 9.99937812e-01 6.30955391e-03 -9.19574961e-03 5.35205053e+02] [-6.30989495e-03 9.99980092e-01 -8.07461757e-06 4.48362428e+00] [ 9.19551560e-03 6.60983295e-05 9.99957718e-01 2.09059824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.539254154 meters 0.056893624717254745 Centerline is valid? [True, True] Translation: X:535.26, Y:4.48, Z:2.09 [[ 9.99940551e-01 -1.17532691e-03 -1.08403917e-02 5.35262779e+02] [ 1.17528739e-03 9.99999309e-01 -1.00154268e-05 4.47670953e+00] [ 1.08403960e-02 -2.72574426e-06 9.99941241e-01 2.09039864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters 0.05670841618999272 Centerline is valid? [True, True] Translation: X:535.32, Y:4.47, Z:2.09 [[ 9.99899290e-01 -9.10915916e-03 -1.08826653e-02 5.35321611e+02] [ 9.10958559e-03 9.99958507e-01 -1.03858686e-05 4.47050864e+00] [ 1.08823083e-02 -8.87517483e-05 9.99940782e-01 2.09238457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.659254154 meters 0.05671620334932322 Centerline is valid? [True, True] Translation: X:535.38, Y:4.46, Z:2.09 [[ 9.99810147e-01 -1.64452976e-02 -1.04509599e-02 5.35381611e+02] [ 1.64460899e-02 9.99864754e-01 -1.01265749e-05 4.46389198e+00] [ 1.04497130e-02 -1.61752775e-04 9.99945387e-01 2.09371697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters 0.05767487680667015 Centerline is valid? [True, True] Translation: X:535.44, Y:4.45, Z:2.09 [[ 9.99673454e-01 -2.34312907e-02 -1.01960489e-02 5.35440809e+02] [ 2.34324073e-02 9.99725423e-01 -9.95934774e-06 4.44983944e+00] [ 1.01934826e-02 -2.28961874e-04 9.99948019e-01 2.09338906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.779254154 meters 0.05736816621568968 Centerline is valid? [True, True] Translation: X:535.50, Y:4.45, Z:2.09 [[ 9.99609054e-01 -2.59909356e-02 -1.03058851e-02 5.35501788e+02] [ 2.59922130e-02 9.99662145e-01 -9.99230383e-06 4.44976877e+00] [ 1.03026629e-02 -2.57884364e-04 9.99946893e-01 2.09493022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters 0.057882117187268885 Centerline is valid? [True, True] Translation: X:535.56, Y:4.45, Z:2.10 [[ 9.99593069e-01 -2.65849893e-02 -1.03408970e-02 5.35563204e+02] [ 2.65863095e-02 9.99646522e-01 -9.80408254e-06 4.44502663e+00] [ 1.03375023e-02 -2.65126195e-04 9.99946531e-01 2.09514082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.899254154 meters 0.058961074666552565 Centerline is valid? [True, True] Translation: X:535.62, Y:4.43, Z:2.09 [[ 9.99640839e-01 -2.49977523e-02 -9.65947767e-03 5.35623705e+02] [ 2.49988314e-02 9.99687480e-01 -9.02575108e-06 4.43478746e+00] [ 9.65668452e-03 -2.32453144e-04 9.99953346e-01 2.09432657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters 0.05804468343346702 Centerline is valid? [True, True] Translation: X:535.68, Y:4.44, Z:2.10 [[ 9.99693492e-01 -2.22624772e-02 -1.08307021e-02 5.35684804e+02] [ 2.22636739e-02 9.99752134e-01 -1.00807054e-05 4.44338504e+00] [ 1.08282420e-02 -2.31053606e-04 9.99941346e-01 2.09680582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.019254154 meters 0.05722465441431317 Centerline is valid? [True, True] Translation: X:535.75, Y:4.44, Z:2.10 [[ 9.99747517e-01 -1.86867804e-02 -1.24782171e-02 5.35745515e+02] [ 1.86880914e-02 9.99825362e-01 -1.15371974e-05 4.44206690e+00] [ 1.24762535e-02 -2.21659777e-04 9.99922144e-01 2.09514668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters 0.05811331537586192 Centerline is valid? [True, True] Translation: X:535.80, Y:4.44, Z:2.09 [[ 9.99748692e-01 -1.75564204e-02 -1.39400517e-02 5.35804516e+02] [ 1.75579438e-02 9.99845847e-01 -1.31052621e-05 4.43587201e+00] [ 1.39381329e-02 -2.31656676e-04 9.99902833e-01 2.09233790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.139254154 meters 0.05825212154174505 Centerline is valid? [True, True] Translation: X:535.86, Y:4.44, Z:2.09 [[ 9.99709115e-01 -1.91432811e-02 -1.46704003e-02 5.35862917e+02] [ 1.91451195e-02 9.99816715e-01 -1.51360429e-05 4.43528075e+00] [ 1.46680012e-02 -2.65734926e-04 9.99892384e-01 2.09376756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters 0.0575174355839861 Centerline is valid? [True, True] Translation: X:535.92, Y:4.43, Z:2.09 [[ 9.99689949e-01 -1.99828727e-02 -1.48556371e-02 5.35921157e+02] [ 1.99848369e-02 9.99800283e-01 -1.62382545e-05 4.43375584e+00] [ 1.48529947e-02 -2.80654264e-04 9.99889649e-01 2.09382308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.259254154 meters 0.05770529962531965 Centerline is valid? [True, True] Translation: X:535.98, Y:4.43, Z:2.10 [[ 9.99638113e-01 -2.27105479e-02 -1.44178126e-02 5.35980780e+02] [ 2.27126780e-02 9.99742034e-01 -1.60036222e-05 4.43229485e+00] [ 1.44144568e-02 -3.11469304e-04 9.99896058e-01 2.09585521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters 0.0573121317795844 Centerline is valid? [True, True] Translation: X:536.04, Y:4.44, Z:2.10 [[ 9.99609073e-01 -2.42776577e-02 -1.38670852e-02 5.36039811e+02] [ 2.42797750e-02 9.99705203e-01 -1.56684285e-05 4.43708808e+00] [ 1.38633776e-02 -3.21027406e-04 9.99903847e-01 2.10004750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.379254154 meters 0.05964839819938536 Centerline is valid? [True, True] Translation: X:536.10, Y:4.42, Z:2.10 [[ 9.99583217e-01 -2.59652130e-02 -1.26174309e-02 5.36098403e+02] [ 2.59670974e-02 9.99662798e-01 -1.44822531e-05 4.41929984e+00] [ 1.26135523e-02 -3.13161839e-04 9.99920397e-01 2.09607129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters 0.05862804268147224 Centerline is valid? [True, True] Translation: X:536.16, Y:4.42, Z:2.10 [[ 9.99574522e-01 -2.69285181e-02 -1.12084916e-02 5.36158516e+02] [ 2.69300650e-02 9.99637320e-01 -1.29205126e-05 4.42474346e+00] [ 1.12047744e-02 -2.88930391e-04 9.99937183e-01 2.09889409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.499254154 meters 0.05867457394087182 Centerline is valid? [True, True] Translation: X:536.22, Y:4.43, Z:2.10 [[ 9.99608620e-01 -2.57139719e-02 -1.10181017e-02 5.36219846e+02] [ 2.57153943e-02 9.99669305e-01 -1.25835604e-05 4.42557797e+00] [ 1.10147816e-02 -2.70756193e-04 9.99939299e-01 2.09985963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters 0.05889345818348703 Centerline is valid? [True, True] Translation: X:536.28, Y:4.42, Z:2.10 [[ 9.99678822e-01 -2.28079972e-02 -1.10475096e-02 5.36279895e+02] [ 2.28092505e-02 9.99739835e-01 -1.25514766e-05 4.42375885e+00] [ 1.10449217e-02 -2.39437968e-04 9.99938974e-01 2.09950588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.619254154 meters 0.05862705066164682 Centerline is valid? [True, True] Translation: X:536.34, Y:4.42, Z:2.10 [[ 9.99812617e-01 -1.56319872e-02 -1.14180372e-02 5.36339422e+02] [ 1.56328573e-02 9.99877799e-01 -1.30456931e-05 4.42386416e+00] [ 1.14168459e-02 -1.65453298e-04 9.99934812e-01 2.09826477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters 0.05818701592800771 Centerline is valid? [True, True] Translation: X:536.40, Y:4.43, Z:2.10 [[ 9.99889974e-01 -9.76684345e-03 -1.11645771e-02 5.36399795e+02] [ 9.76730872e-03 9.99952299e-01 -1.28527443e-05 4.42952265e+00] [ 1.11641701e-02 -9.61965413e-05 9.99937674e-01 2.10038068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.739254154 meters 0.05802143646873858 Centerline is valid? [True, True] Translation: X:536.46, Y:4.43, Z:2.10 [[ 9.99936193e-01 -1.56368713e-03 -1.11876830e-02 5.36458165e+02] [ 1.56363791e-03 9.99998777e-01 -1.31468654e-05 4.43241877e+00] [ 1.11876899e-02 -4.34745865e-06 9.99937416e-01 2.10037832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters 0.05830001248720996 Centerline is valid? [True, True] Translation: X:536.52, Y:4.43, Z:2.10 [[ 9.99938359e-01 9.57508865e-04 -1.10616734e-02 5.36515637e+02] [-9.57722514e-04 9.99999541e-01 -1.40172911e-05 4.43279787e+00] [ 1.10616550e-02 2.46104408e-05 9.99938818e-01 2.09964657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.859254154 meters 0.058225351950396895 Centerline is valid? [True, True] Translation: X:536.57, Y:4.43, Z:2.10 [[ 9.99941357e-01 -5.73119809e-04 -1.08145779e-02 5.36574810e+02] [ 5.72997276e-04 9.99999836e-01 -1.44288508e-05 4.42867126e+00] [ 1.08145844e-02 8.23128096e-06 9.99941521e-01 2.10079969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.919254154 meters 0.057842371255438785 Centerline is valid? [True, True] Translation: X:536.63, Y:4.42, Z:2.10 [[ 9.99909928e-01 -8.34040558e-03 -1.05154083e-02 5.36633976e+02] [ 8.34071535e-03 9.99965216e-01 -1.43964132e-05 4.42072665e+00] [ 1.05151626e-02 -7.33109113e-05 9.99944711e-01 2.10133204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.979254154 meters 0.05773061601933755 Centerline is valid? [True, True] Translation: X:536.69, Y:4.42, Z:2.10 [[ 9.99818191e-01 -1.61820250e-02 -1.00860232e-02 5.36693295e+02] [ 1.61827065e-02 9.99869051e-01 -1.40493431e-05 4.41681155e+00] [ 1.00849298e-02 -1.49172365e-04 9.99949135e-01 2.10314278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.039254154 meters 0.05907979356048978 Centerline is valid? [True, True] Translation: X:536.75, Y:4.40, Z:2.10 [[ 9.99550527e-01 -2.86517645e-02 -8.82156114e-03 5.36752606e+02] [ 2.86527704e-02 9.99589425e-01 -1.23538218e-05 4.40169015e+00] [ 8.81829318e-03 -2.40413897e-04 9.99961089e-01 2.10237213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters 0.059790569945342355 Centerline is valid? [True, True] Translation: X:536.81, Y:4.40, Z:2.10 [[ 9.99315955e-01 -3.60790708e-02 -8.11926525e-03 5.36813648e+02] [ 3.60801681e-02 9.99348899e-01 -1.13378258e-05 4.39518885e+00] [ 8.11438785e-03 -2.81614385e-04 9.99967038e-01 2.10275488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.159254154 meters 0.059221381421373474 Centerline is valid? [True, True] Translation: X:536.87, Y:4.40, Z:2.10 [[ 9.98986336e-01 -4.43845020e-02 -7.50440794e-03 5.36874525e+02] [ 4.43856735e-02 9.99014470e-01 -1.04520254e-05 4.39538460e+00] [ 7.49747603e-03 -3.22646770e-04 9.99971841e-01 2.10283205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters 0.05953725651646586 Centerline is valid? [True, True] Translation: X:536.93, Y:4.39, Z:2.10 [[ 9.98820836e-01 -4.77861223e-02 -8.56877548e-03 5.36933964e+02] [ 4.77877743e-02 9.98857512e-01 -1.19725377e-05 4.38978869e+00] [ 8.55955787e-03 -3.97524288e-04 9.99963287e-01 2.10270399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.279254154 meters 0.0572679441161771 Centerline is valid? [True, True] Translation: X:536.99, Y:4.40, Z:2.10 [[ 9.98571891e-01 -5.29105984e-02 -7.39239131e-03 5.36994262e+02] [ 5.29119678e-02 9.98599181e-01 -1.03418071e-05 4.39713388e+00] [ 7.38258310e-03 -3.80818933e-04 9.99972676e-01 2.10300644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters 0.05829682361297526 Centerline is valid? [True, True] Translation: X:537.05, Y:4.40, Z:2.10 [[ 9.98428021e-01 -5.55587599e-02 -7.39665344e-03 5.37054339e+02] [ 5.55602035e-02 9.98455339e-01 -1.03301889e-05 4.39578224e+00] [ 7.38580205e-03 -4.00645620e-04 9.99972644e-01 2.10315568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.399254154 meters 0.056829907762851496 Centerline is valid? [True, True] Translation: X:537.11, Y:4.41, Z:2.10 [[ 9.98273133e-01 -5.84549048e-02 -5.81174810e-03 5.37114920e+02] [ 5.84558450e-02 9.98289995e-01 -8.10915479e-06 4.40554496e+00] [ 5.80228400e-03 -3.31635494e-04 9.99983112e-01 2.10319310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters 0.059478821856683836 Centerline is valid? [True, True] Translation: X:537.18, Y:4.39, Z:2.10 [[ 9.98242035e-01 -5.88320862e-02 -7.18505960e-03 5.37176510e+02] [ 5.88335338e-02 9.98267807e-01 -9.90712731e-06 4.39209544e+00] [ 7.17319655e-03 -4.12832736e-04 9.99974187e-01 2.10265373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.519254154 meters 0.060595424252209464 Centerline is valid? [True, True] Translation: X:537.24, Y:4.39, Z:2.10 [[ 9.98259390e-01 -5.83882587e-02 -8.30666910e-03 5.37238200e+02] [ 5.83901807e-02 9.98293838e-01 -1.11547704e-05 4.39423108e+00] [ 8.29314788e-03 -4.73892555e-04 9.99965499e-01 2.10198481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters 0.05830469511128695 Centerline is valid? [True, True] Translation: X:537.30, Y:4.41, Z:2.10 [[ 9.98318294e-01 -5.74350820e-02 -7.86105011e-03 5.37300016e+02] [ 5.74367759e-02 9.98349146e-01 -1.03029659e-05 4.40951024e+00] [ 7.84866441e-03 -4.41227734e-04 9.99969101e-01 2.10286807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.639254154 meters 0.06051598247887603 Centerline is valid? [True, True] Translation: X:537.36, Y:4.40, Z:2.10 [[ 9.98534270e-01 -5.35878683e-02 -7.59295099e-03 5.37359308e+02] [ 5.35893383e-02 9.98563059e-01 -9.85719723e-06 4.40223476e+00] [ 7.58256859e-03 -3.97058470e-04 9.99971173e-01 2.10309592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters 0.05834357982946561 Centerline is valid? [True, True] Translation: X:537.42, Y:4.42, Z:2.10 [[ 9.98762119e-01 -4.93777146e-02 -6.00589366e-03 5.37419955e+02] [ 4.93785583e-02 9.98780135e-01 -7.80861657e-06 4.41546479e+00] [ 5.99895285e-03 -2.88763420e-04 9.99981964e-01 2.10424313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.759254154 meters 0.059780635562231545 Centerline is valid? [True, True] Translation: X:537.48, Y:4.41, Z:2.10 [[ 9.98900544e-01 -4.64495200e-02 -6.33597330e-03 5.37479018e+02] [ 4.64504004e-02 9.98920598e-01 -8.22248602e-06 4.41198333e+00] [ 6.32951616e-03 -2.86095051e-04 9.99979927e-01 2.10368750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters 0.05886572188024075 Centerline is valid? [True, True] Translation: X:537.54, Y:4.42, Z:2.10 [[ 9.99057329e-01 -4.27898058e-02 -7.31341662e-03 5.37538186e+02] [ 4.27908804e-02 9.99084051e-01 -9.55434488e-06 4.42013849e+00] [ 7.30712673e-03 -3.03402198e-04 9.99973257e-01 2.10347634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.879254154 meters 0.05801224579500918 Centerline is valid? [True, True] Translation: X:537.60, Y:4.43, Z:2.10 [[ 9.99156727e-01 -4.04373368e-02 -7.11733930e-03 5.37599223e+02] [ 4.04382950e-02 9.99182038e-01 -9.27835969e-06 4.42863485e+00] [ 7.11189277e-03 -2.78542531e-04 9.99974671e-01 2.10378575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters 0.05734092233131734 Centerline is valid? [True, True] Translation: X:537.66, Y:4.43, Z:2.10 [[ 9.99343223e-01 -3.55364708e-02 -7.09091536e-03 5.37659316e+02] [ 3.55372991e-02 9.99368351e-01 -9.18218845e-06 4.43117541e+00] [ 7.08676269e-03 -2.42815823e-04 9.99974859e-01 2.10458618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.999254154 meters 0.05838912937735656 Centerline is valid? [True, True] Translation: X:537.72, Y:4.44, Z:2.10 [[ 9.99455375e-01 -3.24861729e-02 -5.79679304e-03 5.37720067e+02] [ 3.24866754e-02 9.99472169e-01 -7.47768767e-06 4.43619269e+00] [ 5.79397623e-03 -1.80844919e-04 9.99983198e-01 2.10496197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters 0.05785403495633149 Centerline is valid? [True, True] Translation: X:537.78, Y:4.44, Z:2.11 [[ 9.99610389e-01 -2.71742892e-02 -6.37397700e-03 5.37780119e+02] [ 2.71747892e-02 9.99630697e-01 -8.15097341e-06 4.43793336e+00] [ 6.37184457e-03 -1.65063684e-04 9.99979686e-01 2.10500482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.119254154 meters 0.05863295439745868 Centerline is valid? [True, True] Translation: X:537.84, Y:4.44, Z:2.10 [[ 9.99664145e-01 -2.51565121e-02 -6.22465221e-03 5.37840663e+02] [ 2.51569500e-02 9.99683514e-01 -7.94258711e-06 4.43672898e+00] [ 6.22288201e-03 -1.48653345e-04 9.99980627e-01 2.10446404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters 0.05785403956500011 Centerline is valid? [True, True] Translation: X:537.90, Y:4.44, Z:2.10 [[ 9.99801588e-01 -1.90768781e-02 -5.73206000e-03 5.37901706e+02] [ 1.90771499e-02 9.99818015e-01 -7.26871711e-06 4.44414063e+00] [ 5.73115551e-03 -1.02084093e-04 9.99983572e-01 2.10479513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.239254154 meters 0.05726894514864419 Centerline is valid? [True, True] Translation: X:537.96, Y:4.45, Z:2.11 [[ 9.99861673e-01 -1.56685635e-02 -5.57959166e-03 5.37963042e+02] [ 1.56687683e-02 9.99877237e-01 -7.01037260e-06 4.44723702e+00] [ 5.57901653e-03 -8.04159259e-05 9.99984434e-01 2.10571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters 0.05772335789609454 Centerline is valid? [True, True] Translation: X:538.02, Y:4.45, Z:2.11 [[ 9.99887583e-01 -1.38688146e-02 -5.69891523e-03 5.38024422e+02] [ 1.38689996e-02 9.99903821e-01 -7.04923703e-06 4.44589883e+00] [ 5.69846487e-03 -7.19898087e-05 9.99983761e-01 2.10629165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.359254154 meters 0.057422561560904285 Centerline is valid? [True, True] Translation: X:538.09, Y:4.44, Z:2.11 [[ 9.99869990e-01 -1.52172096e-02 -5.33290712e-03 5.38085551e+02] [ 1.52173914e-02 9.99884209e-01 -6.48154020e-06 4.44457370e+00] [ 5.33238825e-03 -7.46722376e-05 9.99985780e-01 2.10633516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.419254154 meters 0.05891437609717768 Centerline is valid? [True, True] Translation: X:538.15, Y:4.43, Z:2.11 [[ 9.99785175e-01 -1.96962933e-02 -6.45445092e-03 5.38145327e+02] [ 1.96966535e-02 9.99806002e-01 -7.76347215e-06 4.43040364e+00] [ 6.45335168e-03 -1.19369279e-04 9.99979170e-01 2.10500045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.479254154 meters 0.058758324184332564 Centerline is valid? [True, True] Translation: X:538.21, Y:4.43, Z:2.11 [[ 9.99646771e-01 -2.56312118e-02 -7.02671977e-03 5.38206255e+02] [ 2.56317853e-02 9.99671452e-01 -8.44785718e-06 4.42826264e+00] [ 7.02462768e-03 -1.71662499e-04 9.99975312e-01 2.10609965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.539254154 meters 0.05809608349704017 Centerline is valid? [True, True] Translation: X:538.27, Y:4.43, Z:2.11 [[ 9.99552261e-01 -2.93505138e-02 -5.81596223e-03 5.38267427e+02] [ 2.93509698e-02 9.99569167e-01 -6.95595695e-06 4.43220916e+00] [ 5.81366068e-03 -1.63751289e-04 9.99983087e-01 2.10791781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters 0.05840920963440747 Centerline is valid? [True, True] Translation: X:538.33, Y:4.42, Z:2.11 [[ 9.99431997e-01 -3.31761812e-02 -5.91810691e-03 5.38327585e+02] [ 3.31767207e-02 9.99449501e-01 -7.00399090e-06 4.42483091e+00] [ 5.91508137e-03 -1.89343368e-04 9.99982488e-01 2.10832596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.659254154 meters 0.05865482012872629 Centerline is valid? [True, True] Translation: X:538.39, Y:4.42, Z:2.11 [[ 9.99398583e-01 -3.41396722e-02 -6.07909262e-03 5.38388397e+02] [ 3.41402597e-02 9.99417051e-01 -7.14808885e-06 4.41862506e+00] [ 6.07579285e-03 -2.00398010e-04 9.99981522e-01 2.10851823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters 0.06171048052624783 Centerline is valid? [True, True] Translation: X:538.45, Y:4.40, Z:2.11 [[ 9.99387187e-01 -3.42577538e-02 -7.18724756e-03 5.38449826e+02] [ 3.42585791e-02 9.99413003e-01 -8.29556234e-06 4.40435259e+00] [ 7.18331285e-03 -2.37934410e-04 9.99974171e-01 2.10668371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.779254154 meters 0.05894322467410251 Centerline is valid? [True, True] Translation: X:538.51, Y:4.42, Z:2.11 [[ 9.99406376e-01 -3.37433930e-02 -6.94834522e-03 5.38512516e+02] [ 3.37441535e-02 9.99430504e-01 -7.77904145e-06 4.41505648e+00] [ 6.94465066e-03 -2.26691604e-04 9.99975860e-01 2.10813953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters 0.05940349914535151 Centerline is valid? [True, True] Translation: X:538.57, Y:4.41, Z:2.11 [[ 9.99534368e-01 -2.96311130e-02 -7.28315774e-03 5.38572386e+02] [ 2.96318409e-02 9.99560881e-01 -7.97058241e-06 4.40856722e+00] [ 7.28019574e-03 -2.07846500e-04 9.99973477e-01 2.10807627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.899254154 meters 0.05832526319508278 Centerline is valid? [True, True] Translation: X:538.63, Y:4.41, Z:2.11 [[ 9.99664128e-01 -2.49982436e-02 -6.83512205e-03 5.38633260e+02] [ 2.49987764e-02 9.99687482e-01 -7.49790701e-06 4.41430023e+00] [ 6.83317339e-03 -1.63374299e-04 9.99976640e-01 2.10917526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters 0.05878775695531379 Centerline is valid? [True, True] Translation: X:538.69, Y:4.42, Z:2.11 [[ 9.99837752e-01 -1.67460449e-02 -6.63626879e-03 5.38692621e+02] [ 1.67463652e-02 9.99859770e-01 -7.29437893e-06 4.41839328e+00] [ 6.63546034e-03 -1.03840185e-04 9.99977980e-01 2.11056562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.019254154 meters 0.05787569238166629 Centerline is valid? [True, True] Translation: X:538.75, Y:4.41, Z:2.11 [[ 9.99939672e-01 -8.72828063e-03 -6.66850817e-03 5.38752321e+02] [ 8.72842546e-03 9.99961907e-01 -7.38579446e-06 4.41484367e+00] [ 6.66831861e-03 -5.08202275e-05 9.99977765e-01 2.10915305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters 0.05970093577843816 Centerline is valid? [True, True] Translation: X:538.81, Y:4.42, Z:2.11 [[ 9.99964681e-01 -4.77433706e-03 -6.91679632e-03 5.38810951e+02] [ 4.77439574e-03 9.99988602e-01 -8.02845505e-06 4.41650534e+00] [ 6.91675581e-03 -2.49953514e-05 9.99976079e-01 2.10950032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.139254154 meters 0.05891347384092931 Centerline is valid? [True, True] Translation: X:538.87, Y:4.41, Z:2.11 [[ 9.99971071e-01 -2.09150977e-03 -7.31323981e-03 5.38868696e+02] [ 2.09149720e-03 9.99997813e-01 -9.36723619e-06 4.41489813e+00] [ 7.31324341e-03 -5.92865538e-06 9.99973258e-01 2.11005144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters 0.05901810057183544 Centerline is valid? [True, True] Translation: X:538.93, Y:4.41, Z:2.11 [[ 9.99974752e-01 -2.67355614e-03 -6.58388542e-03 5.38927396e+02] [ 2.67355512e-03 9.99996426e-01 -8.95628280e-06 4.41292037e+00] [ 6.58388584e-03 -8.64632388e-06 9.99978326e-01 2.11178248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.259254154 meters 0.05887076483772853 Centerline is valid? [True, True] Translation: X:538.98, Y:4.41, Z:2.11 [[ 9.99958637e-01 -4.94352026e-03 -7.63449809e-03 5.38984846e+02] [ 4.94358260e-03 9.99987780e-01 -1.07056005e-05 4.40908031e+00] [ 7.63445772e-03 -2.70366142e-05 9.99970857e-01 2.11346931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters 0.05882150723920078 Centerline is valid? [True, True] Translation: X:539.04, Y:4.40, Z:2.11 [[ 9.99925771e-01 -9.46797309e-03 -7.66881203e-03 5.39044691e+02] [ 9.46816749e-03 9.99955176e-01 -1.09559399e-05 4.40278497e+00] [ 7.66857201e-03 -6.16544701e-05 9.99970594e-01 2.11289224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.379254154 meters 0.059463908428982463 Centerline is valid? [True, True] Translation: X:539.10, Y:4.40, Z:2.11 [[ 9.99879412e-01 -1.26272576e-02 -9.03956013e-03 5.39103108e+02] [ 1.26276553e-02 9.99920268e-01 -1.30747978e-05 4.39793037e+00] [ 9.03900449e-03 -1.01075229e-04 9.99959142e-01 2.11200010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters 0.06008562027011488 Centerline is valid? [True, True] Translation: X:539.16, Y:4.39, Z:2.11 [[ 9.99823046e-01 -1.64808534e-02 -9.06963313e-03 5.39162206e+02] [ 1.64814104e-02 9.99864172e-01 -1.33340664e-05 4.39295040e+00] [ 9.06862098e-03 -1.36148639e-04 9.99958870e-01 2.11163294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.499254154 meters 0.059661192205733855 Centerline is valid? [True, True] Translation: X:539.22, Y:4.39, Z:2.11 [[ 9.99731214e-01 -2.12652653e-02 -9.23513462e-03 5.39221999e+02] [ 2.12660456e-02 9.99773852e-01 -1.37143283e-05 4.38901175e+00] [ 9.23333775e-03 -1.82684151e-04 9.99957355e-01 2.11316327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters 0.060409705280112455 Centerline is valid? [True, True] Translation: X:539.28, Y:4.39, Z:2.11 [[ 9.99732727e-01 -2.11453498e-02 -9.34608915e-03 5.39281197e+02] [ 2.11461430e-02 9.99776395e-01 -1.39550498e-05 4.38607379e+00] [ 9.34429440e-03 -1.83682418e-04 9.99956324e-01 2.11402246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.619254154 meters 0.05911786783063069 Centerline is valid? [True, True] Translation: X:539.34, Y:4.39, Z:2.12 [[ 9.99789032e-01 -1.83740721e-02 -9.18063940e-03 5.39341289e+02] [ 1.83747183e-02 9.99831171e-01 -1.39582351e-05 4.38940157e+00] [ 9.17934591e-03 -1.54736372e-04 9.99957857e-01 2.11522724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters 0.05985030730858625 Centerline is valid? [True, True] Translation: X:539.40, Y:4.39, Z:2.12 [[ 9.99902529e-01 -1.06764892e-02 -8.99695039e-03 5.39400585e+02] [ 1.06767960e-02 9.99943001e-01 -1.39250927e-05 4.39357072e+00] [ 8.99658625e-03 -8.21348689e-05 9.99959527e-01 2.11674699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.739254154 meters 0.059456239299092564 Centerline is valid? [True, True] Translation: X:539.46, Y:4.39, Z:2.12 [[ 9.99946708e-01 -5.54573699e-03 -8.70778533e-03 5.39459962e+02] [ 5.54582869e-03 9.99984622e-01 -1.36155051e-05 4.39413027e+00] [ 8.70772692e-03 -3.46771061e-05 9.99962086e-01 2.11568592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters 0.05979811894835062 Centerline is valid? [True, True] Translation: X:539.52, Y:4.40, Z:2.12 [[ 9.99955958e-01 -1.64485475e-03 -9.23993642e-03 5.39518320e+02] [ 1.64478438e-03 9.99998647e-01 -1.52149965e-05 4.39599708e+00] [ 9.23994894e-03 1.66233291e-08 9.99957311e-01 2.11595927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.859254154 meters 0.05972920383442385 Centerline is valid? [True, True] Translation: X:539.58, Y:4.39, Z:2.12 [[ 9.99954553e-01 -2.30663726e-03 -9.25046439e-03 5.39575348e+02] [ 2.30658716e-03 9.99997340e-01 -1.60842553e-05 4.39440885e+00] [ 9.25047688e-03 -5.25347807e-06 9.99957213e-01 2.11614408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.919254154 meters 0.05973577316291425 Centerline is valid? [True, True] Translation: X:539.63, Y:4.39, Z:2.12 [[ 9.99931124e-01 -8.12149345e-03 -8.47279342e-03 5.39634553e+02] [ 8.12165729e-03 9.99967019e-01 -1.50701127e-05 4.38941356e+00] [ 8.47263637e-03 -5.37440497e-05 9.99964105e-01 2.11784774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.979254154 meters 0.06058856534652101 Centerline is valid? [True, True] Translation: X:539.69, Y:4.38, Z:2.12 [[ 9.99841889e-01 -1.57269698e-02 -8.29819801e-03 5.39693910e+02] [ 1.57273883e-02 9.99876317e-01 -1.48256089e-05 4.37982009e+00] [ 8.29740482e-03 -1.15685717e-04 9.99965569e-01 2.11836926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.039254154 meters 0.05995962170077949 Centerline is valid? [True, True] Translation: X:539.75, Y:4.38, Z:2.12 [[ 9.99795991e-01 -1.84343848e-02 -8.25527809e-03 5.39753818e+02] [ 1.84348912e-02 9.99830063e-01 -1.47561296e-05 4.37990376e+00] [ 8.25414723e-03 -1.37432034e-04 9.99965924e-01 2.11918300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters 0.060363306699926296 Centerline is valid? [True, True] Translation: X:539.81, Y:4.37, Z:2.12 [[ 9.99657729e-01 -2.47753891e-02 -8.40265797e-03 5.39814768e+02] [ 2.47761375e-02 9.99693024e-01 -1.50365941e-05 4.37235755e+00] [ 8.40045109e-03 -1.93153962e-04 9.99964697e-01 2.11850976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.159254154 meters 0.06070995585243696 Centerline is valid? [True, True] Translation: X:539.88, Y:4.37, Z:2.12 [[ 9.99551568e-01 -2.86600512e-02 -8.67548127e-03 5.39875280e+02] [ 2.86609956e-02 9.99589189e-01 -1.54704910e-05 4.36924632e+00] [ 8.67236067e-03 -2.33184377e-04 9.99962367e-01 2.11878969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters 0.0609301109038265 Centerline is valid? [True, True] Translation: X:539.94, Y:4.36, Z:2.12 [[ 9.99392022e-01 -3.38888220e-02 -8.19354692e-03 5.39935540e+02] [ 3.38898406e-02 9.99425574e-01 -1.45387796e-05 4.36039997e+00] [ 8.18933304e-03 -2.63148059e-04 9.99966432e-01 2.11892792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.279254154 meters 0.06148993026838746 Centerline is valid? [True, True] Translation: X:540.00, Y:4.36, Z:2.12 [[ 9.99302942e-01 -3.65345440e-02 -7.67182000e-03 5.39995727e+02] [ 3.65355151e-02 9.99332355e-01 -1.35772023e-05 4.35671092e+00] [ 7.66719398e-03 -2.66726157e-04 9.99970571e-01 2.11990371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters 0.06229355407741938 Centerline is valid? [True, True] Translation: X:540.06, Y:4.35, Z:2.12 [[ 9.99237096e-01 -3.83343374e-02 -7.46350949e-03 5.40055492e+02] [ 3.83353066e-02 9.99264932e-01 -1.32085449e-05 4.35051039e+00] [ 7.45852965e-03 -2.72917457e-04 9.99972148e-01 2.12038480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.399254154 meters 0.06281075730369341 Centerline is valid? [True, True] Translation: X:540.12, Y:4.35, Z:2.12 [[ 9.99245445e-01 -3.79539220e-02 -8.24862269e-03 5.40116995e+02] [ 3.79550938e-02 9.99279446e-01 -1.44948547e-05 4.34725053e+00] [ 8.24322925e-03 -2.98593331e-04 9.99965979e-01 2.11984941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters 0.0629189759502848 Centerline is valid? [True, True] Translation: X:540.18, Y:4.35, Z:2.12 [[ 9.99251751e-01 -3.75621692e-02 -9.22071358e-03 5.40177350e+02] [ 3.75636182e-02 9.99294238e-01 -1.60568198e-05 4.34805702e+00] [ 9.21480908e-03 -3.30318559e-04 9.99957488e-01 2.11959002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.519254154 meters 0.060850954524166584 Centerline is valid? [True, True] Translation: X:540.24, Y:4.35, Z:2.12 [[ 9.99228787e-01 -3.82061624e-02 -9.06203229e-03 5.40238627e+02] [ 3.82075897e-02 9.99269823e-01 -1.56225671e-05 4.35496331e+00] [ 9.05601228e-03 -3.30627893e-04 9.99958939e-01 2.12045041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters 0.05981335432910882 Centerline is valid? [True, True] Translation: X:540.30, Y:4.36, Z:2.12 [[ 9.99175306e-01 -3.96570178e-02 -8.71949528e-03 5.40299600e+02] [ 3.96583957e-02 9.99213296e-01 -1.48966550e-05 4.35544167e+00] [ 8.71322638e-03 -3.30916824e-04 9.99961984e-01 2.12176697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.639254154 meters 0.06392868893270849 Centerline is valid? [True, True] Translation: X:540.36, Y:4.34, Z:2.12 [[ 9.99136525e-01 -4.06100946e-02 -8.77638211e-03 5.40359853e+02] [ 4.06115279e-02 9.99175012e-01 -1.49197348e-05 4.34468957e+00] [ 8.76974759e-03 -3.41515435e-04 9.99961487e-01 2.12165658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters 0.061513431876138086 Centerline is valid? [True, True] Translation: X:540.42, Y:4.35, Z:2.12 [[ 9.99151053e-01 -4.02282135e-02 -8.88057991e-03 5.40421028e+02] [ 4.02296669e-02 9.99190459e-01 -1.49865503e-05 4.35211212e+00] [ 8.87399360e-03 -3.42288944e-04 9.99960567e-01 2.12299414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.759254154 meters 0.061733300021438904 Centerline is valid? [True, True] Translation: X:540.48, Y:4.35, Z:2.12 [[ 9.99149921e-01 -4.01659906e-02 -9.28053824e-03 5.40482829e+02] [ 4.01675766e-02 9.99192957e-01 -1.55109999e-05 4.35483720e+00] [ 9.27367147e-03 -3.57278916e-04 9.99956935e-01 2.12289996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters 0.06256332661555117 Centerline is valid? [True, True] Translation: X:540.54, Y:4.35, Z:2.12 [[ 9.99113197e-01 -4.10574922e-02 -9.33280189e-03 5.40542566e+02] [ 4.10591375e-02 9.99156718e-01 -1.53180022e-05 4.35445600e+00] [ 9.32556062e-03 -3.67892378e-04 9.99956448e-01 2.12280247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.879254154 meters 0.06323397752677569 Centerline is valid? [True, True] Translation: X:540.60, Y:4.35, Z:2.12 [[ 9.99049430e-01 -4.24722354e-02 -9.81553742e-03 5.40604084e+02] [ 4.24741261e-02 9.99097567e-01 -1.58514172e-05 4.35447562e+00] [ 9.80735280e-03 -4.01070025e-04 9.99951826e-01 2.12273620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters 0.06256252039320076 Centerline is valid? [True, True] Translation: X:540.66, Y:4.36, Z:2.12 [[ 9.99005392e-01 -4.35254244e-02 -9.68319309e-03 5.40663822e+02] [ 4.35273144e-02 9.99052237e-01 -1.55763947e-05 4.35602618e+00] [ 9.67469369e-03 -4.05922488e-04 9.99953117e-01 2.12324806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.999254154 meters 0.06112822008221098 Centerline is valid? [True, True] Translation: X:540.73, Y:4.37, Z:2.13 [[ 9.99061635e-01 -4.24302281e-02 -8.69050297e-03 5.40725594e+02] [ 4.24317101e-02 9.99099369e-01 -1.38622092e-05 4.37194382e+00] [ 8.68326422e-03 -3.54903701e-04 9.99962237e-01 2.12590545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters 0.06295815948574553 Centerline is valid? [True, True] Translation: X:540.79, Y:4.37, Z:2.13 [[ 9.99225745e-01 -3.83626010e-02 -8.73047370e-03 5.40785190e+02] [ 3.83639421e-02 9.99263833e-01 -1.38690707e-05 4.36505038e+00] [ 8.72457867e-03 -3.21077055e-04 9.99961889e-01 2.12551013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.119254154 meters 0.06227004709021541 Centerline is valid? [True, True] Translation: X:540.85, Y:4.37, Z:2.13 [[ 9.99393481e-01 -3.35666861e-02 -9.27078477e-03 5.40845883e+02] [ 3.35679919e-02 9.99436436e-01 -1.47676425e-05 4.37012103e+00] [ 9.26605579e-03 -2.96442942e-04 9.99957025e-01 2.12538603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters 0.06160534444460947 Centerline is valid? [True, True] Translation: X:540.91, Y:4.38, Z:2.13 [[ 9.99492861e-01 -3.04371578e-02 -9.35948694e-03 5.40906930e+02] [ 3.04383523e-02 9.99536646e-01 -1.48239838e-05 4.38036093e+00] [ 9.35560139e-03 -2.70070895e-04 9.99956199e-01 2.12665530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.239254154 meters 0.061691128257690166 Centerline is valid? [True, True] Translation: X:540.97, Y:4.38, Z:2.13 [[ 9.99600877e-01 -2.67805582e-02 -8.99381158e-03 5.40966676e+02] [ 2.67815138e-02 9.99641311e-01 -1.41830972e-05 4.38258513e+00] [ 8.99096543e-03 -2.26690453e-04 9.99959555e-01 2.12664437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters 0.06136266173714376 Centerline is valid? [True, True] Translation: X:541.03, Y:4.38, Z:2.13 [[ 9.99641088e-01 -2.52120301e-02 -9.05804432e-03 5.41026360e+02] [ 2.52129355e-02 9.99682103e-01 -1.42414212e-05 4.38420261e+00] [ 9.05552386e-03 -2.14143577e-04 9.99958975e-01 2.12753838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.359254154 meters 0.06137301059802615 Centerline is valid? [True, True] Translation: X:541.09, Y:4.39, Z:2.13 [[ 9.99686014e-01 -2.34553667e-02 -8.81581423e-03 5.41086643e+02] [ 2.34561563e-02 9.99724866e-01 -1.38283261e-05 4.38722430e+00] [ 8.81371305e-03 -1.92961132e-04 9.99961140e-01 2.12856875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.419254154 meters 0.0598368146460829 Centerline is valid? [True, True] Translation: X:541.15, Y:4.40, Z:2.13 [[ 9.99702885e-01 -2.26857419e-02 -8.91618444e-03 5.41147947e+02] [ 2.26865197e-02 9.99742628e-01 -1.39105997e-05 4.39888177e+00] [ 8.91420523e-03 -1.88370727e-04 9.99960250e-01 2.13100940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.479254154 meters 0.06077743881822359 Centerline is valid? [True, True] Translation: X:541.21, Y:4.40, Z:2.13 [[ 9.99707381e-01 -2.21517052e-02 -9.71871891e-03 5.41208303e+02] [ 2.21526051e-02 9.99754601e-01 -1.50578274e-05 4.39697148e+00] [ 9.71666750e-03 -2.00241521e-04 9.99952772e-01 2.13021659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.539254154 meters 0.06007454877685546 Centerline is valid? [True, True] Translation: X:541.27, Y:4.40, Z:2.13 [[ 9.99690787e-01 -2.33517073e-02 -8.54567784e-03 5.41268326e+02] [ 2.33524471e-02 9.99727294e-01 -1.32164228e-05 4.39665608e+00] [ 8.54365601e-03 -1.86350154e-04 9.99963485e-01 2.13108311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters 0.06081022137403072 Centerline is valid? [True, True] Translation: X:541.33, Y:4.39, Z:2.13 [[ 9.99656365e-01 -2.47697903e-02 -8.57964629e-03 5.41327970e+02] [ 2.47705882e-02 9.99693162e-01 -1.32689571e-05 4.38909767e+00] [ 8.57734240e-03 -1.99258488e-04 9.99963194e-01 2.13001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.659254154 meters 0.061084726461934656 Centerline is valid? [True, True] Translation: X:541.39, Y:4.39, Z:2.13 [[ 9.99614464e-01 -2.63834801e-02 -8.65079097e-03 5.41388563e+02] [ 2.63843519e-02 9.99651872e-01 -1.33445051e-05 4.38786808e+00] [ 8.64813147e-03 -2.14906153e-04 9.99962581e-01 2.13009152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters 0.06170702894929889 Centerline is valid? [True, True] Translation: X:541.45, Y:4.38, Z:2.13 [[ 9.99614039e-01 -2.65018503e-02 -8.33221709e-03 5.41448906e+02] [ 2.65026638e-02 9.99648743e-01 -1.27913332e-05 4.37986690e+00] [ 8.32962933e-03 -2.08039552e-04 9.99965286e-01 2.12949162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.779254154 meters 0.06117957254286615 Centerline is valid? [True, True] Translation: X:541.51, Y:4.38, Z:2.13 [[ 9.99660275e-01 -2.48342209e-02 -7.91173159e-03 5.41509845e+02] [ 2.48349023e-02 9.99691566e-01 -1.21222209e-05 4.38430512e+00] [ 7.90959239e-03 -1.84368978e-04 9.99968702e-01 2.13083054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters 0.06198729652833475 Centerline is valid? [True, True] Translation: X:541.57, Y:4.38, Z:2.13 [[ 9.99710656e-01 -2.28508028e-02 -7.51293533e-03 5.41570102e+02] [ 2.28513612e-02 9.99738874e-01 -1.15162404e-05 4.38349051e+00] [ 7.51123666e-03 -1.60167891e-04 9.99971777e-01 2.13092091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.899254154 meters 0.06105260030611221 Centerline is valid? [True, True] Translation: X:541.63, Y:4.38, Z:2.13 [[ 9.99748343e-01 -2.10789465e-02 -7.67645703e-03 5.41630527e+02] [ 2.10794773e-02 9.99777803e-01 -1.17668955e-05 4.38412113e+00] [ 7.67499938e-03 -1.50051767e-04 9.99970535e-01 2.13073672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters 0.060965495869130804 Centerline is valid? [True, True] Translation: X:541.69, Y:4.39, Z:2.13 [[ 9.99758161e-01 -2.03694670e-02 -8.28886218e-03 5.41690679e+02] [ 2.03700613e-02 9.99792509e-01 -1.27249586e-05 4.38562837e+00] [ 8.28740152e-03 -1.56122750e-04 9.99965647e-01 2.13105429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.019254154 meters 0.061887135252239996 Centerline is valid? [True, True] Translation: X:541.75, Y:4.38, Z:2.13 [[ 9.99729934e-01 -2.16226810e-02 -8.51581242e-03 5.41750053e+02] [ 2.16233535e-02 9.99766188e-01 -1.31088008e-05 4.38022970e+00] [ 8.51410476e-03 -1.71035162e-04 9.99963740e-01 2.13048474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters 0.0616138509550567 Centerline is valid? [True, True] Translation: X:541.81, Y:4.37, Z:2.13 [[ 9.99626741e-01 -2.58572060e-02 -8.81947472e-03 5.41810150e+02] [ 2.58580916e-02 9.99665624e-01 -1.36171525e-05 4.37400566e+00] [ 8.81687780e-03 -2.14442716e-04 9.99961108e-01 2.13039107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.139254154 meters 0.06266991156179863 Centerline is valid? [True, True] Translation: X:541.87, Y:4.37, Z:2.13 [[ 9.99427407e-01 -3.26222066e-02 -8.98049495e-03 5.41870822e+02] [ 3.26233979e-02 9.99467715e-01 -1.38429292e-05 4.36954961e+00] [ 8.97616635e-03 -2.79139257e-04 9.99959674e-01 2.13095957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters 0.0634405132011002 Centerline is valid? [True, True] Translation: X:541.93, Y:4.36, Z:2.13 [[ 9.99254615e-01 -3.75579586e-02 -8.92270748e-03 5.41932286e+02] [ 3.75593320e-02 9.99294399e-01 -1.36581238e-05 4.36122731e+00] [ 8.91692458e-03 -3.21482989e-04 9.99960192e-01 2.13033999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.259254154 meters 0.06701616915370709 Centerline is valid? [True, True] Translation: X:541.99, Y:4.35, Z:2.13 [[ 9.98982010e-01 -4.43654491e-02 -8.16404640e-03 5.41992418e+02] [ 4.43668261e-02 9.99015308e-01 -1.24521495e-05 4.35086632e+00] [ 8.15655977e-03 -3.49773353e-04 9.99966674e-01 2.13097384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters 0.06258929711827083 Centerline is valid? [True, True] Translation: X:542.05, Y:4.37, Z:2.13 [[ 9.98815503e-01 -4.81104606e-02 -7.27833793e-03 5.42053644e+02] [ 4.81116546e-02 9.98841964e-01 -1.10529411e-05 4.36767078e+00] [ 7.27044112e-03 -3.39133031e-04 9.99973512e-01 2.13320810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.379254154 meters 0.0637053299320977 Centerline is valid? [True, True] Translation: X:542.11, Y:4.36, Z:2.13 [[ 9.98627291e-01 -5.18618791e-02 -7.34024346e-03 5.42113480e+02] [ 5.18631959e-02 9.98654199e-01 -1.09681958e-05 4.36134739e+00] [ 7.33093379e-03 -3.69735345e-04 9.99973060e-01 2.13309151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters 0.0627982402926597 Centerline is valid? [True, True] Translation: X:542.17, Y:4.37, Z:2.13 [[ 9.98453738e-01 -5.50604203e-02 -7.64741713e-03 5.42174735e+02] [ 5.50619446e-02 9.98482940e-01 -1.12342934e-05 4.37026888e+00] [ 7.63643411e-03 -4.09864736e-04 9.99970758e-01 2.13328107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.499254154 meters 0.06758722456507127 Centerline is valid? [True, True] Translation: X:542.23, Y:4.35, Z:2.13 [[ 9.98389411e-01 -5.60210983e-02 -8.95664271e-03 5.42234997e+02] [ 5.60232287e-02 9.98429466e-01 -1.30594960e-05 4.35421039e+00] [ 8.94330760e-03 -4.88741580e-04 9.99959888e-01 2.13138378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters 0.06317746726591177 Centerline is valid? [True, True] Translation: X:542.30, Y:4.37, Z:2.13 [[ 9.98373037e-01 -5.63806932e-02 -8.51448742e-03 5.42296848e+02] [ 5.63826331e-02 9.98409234e-01 -1.22196813e-05 4.36959523e+00] [ 8.50163182e-03 -4.67869420e-04 9.99963751e-01 2.13290773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.619254154 meters 0.06230500826044073 Centerline is valid? [True, True] Translation: X:542.36, Y:4.38, Z:2.13 [[ 9.98416065e-01 -5.56541790e-02 -8.24458851e-03 5.42358608e+02] [ 5.56559751e-02 9.98450005e-01 -1.15970370e-05 4.37723104e+00] [ 8.23245486e-03 -4.47281945e-04 9.99966013e-01 2.13357739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters 0.06123161756242446 Centerline is valid? [True, True] Translation: X:542.42, Y:4.38, Z:2.13 [[ 9.98561939e-01 -5.28984951e-02 -8.70645078e-03 5.42419240e+02] [ 5.29003945e-02 9.98599794e-01 -1.21524824e-05 4.38291268e+00] [ 8.69490280e-03 -4.48439674e-04 9.99962098e-01 2.13389389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.739254154 meters 0.06088080897753596 Centerline is valid? [True, True] Translation: X:542.48, Y:4.39, Z:2.14 [[ 9.98684283e-01 -5.03969609e-02 -9.47887206e-03 5.42479526e+02] [ 5.03990999e-02 9.98729158e-01 -1.32181340e-05 4.39250978e+00] [ 9.46749206e-03 -4.64525878e-04 9.99955074e-01 2.13507384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters 0.06082815119380289 Centerline is valid? [True, True] Translation: X:542.54, Y:4.40, Z:2.14 [[ 9.98875584e-01 -4.65001083e-02 -9.23623611e-03 5.42540389e+02] [ 4.65019738e-02 9.98918198e-01 -1.27871898e-05 4.39862010e+00] [ 9.22683893e-03 -4.16730398e-04 9.99957345e-01 2.13533132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.859254154 meters 0.06173437314622236 Centerline is valid? [True, True] Translation: X:542.60, Y:4.40, Z:2.14 [[ 9.99032877e-01 -4.30402067e-02 -8.99173976e-03 5.42599695e+02] [ 4.30418351e-02 9.99073271e-01 -1.24308304e-05 4.39837125e+00] [ 8.98394188e-03 -3.74602171e-04 9.99959573e-01 2.13517860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.919254154 meters 0.06061299639769927 Centerline is valid? [True, True] Translation: X:542.66, Y:4.41, Z:2.14 [[ 9.99294577e-01 -3.65233386e-02 -8.74040509e-03 5.42659957e+02] [ 3.65246280e-02 9.99332753e-01 -1.21048355e-05 4.41199316e+00] [ 8.73501519e-03 -3.07143748e-04 9.99961802e-01 2.13618315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.979254154 meters 0.05937793182661275 Centerline is valid? [True, True] Translation: X:542.72, Y:4.42, Z:2.14 [[ 9.99453671e-01 -3.19552802e-02 -8.43914574e-03 5.42720606e+02] [ 3.19563196e-02 9.99489266e-01 -1.16798072e-05 4.42171086e+00] [ 8.43520882e-03 -2.58010613e-04 9.99964390e-01 2.13671050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.039254154 meters 0.060616723501298965 Centerline is valid? [True, True] Translation: X:542.78, Y:4.43, Z:2.14 [[ 9.99661952e-01 -2.46763923e-02 -8.18885650e-03 5.42780382e+02] [ 2.46771272e-02 9.99695473e-01 -1.13071075e-05 4.42704781e+00] [ 8.18664179e-03 -1.90774168e-04 9.99966471e-01 2.13687335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters 0.05973279259193558 Centerline is valid? [True, True] Translation: X:542.84, Y:4.44, Z:2.14 [[ 9.99800077e-01 -1.83809679e-02 -7.87059035e-03 5.42840964e+02] [ 1.83814520e-02 9.99831047e-01 -1.08406930e-05 4.43690353e+00] [ 7.86945985e-03 -1.33834353e-04 9.99969026e-01 2.13801920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.159254154 meters 0.05960996701077385 Centerline is valid? [True, True] Translation: X:542.90, Y:4.44, Z:2.14 [[ 9.99838620e-01 -1.59802569e-02 -8.20760573e-03 5.42901810e+02] [ 1.59807024e-02 9.99872300e-01 -1.13073416e-05 4.44227623e+00] [ 8.20673832e-03 -1.19857788e-04 9.99966317e-01 2.13840192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters 0.05905320022102374 Centerline is valid? [True, True] Translation: X:542.96, Y:4.45, Z:2.14 [[ 9.99839163e-01 -1.57150921e-02 -8.64194637e-03 5.42962005e+02] [ 1.57155770e-02 9.99876503e-01 -1.17899290e-05 4.44502353e+00] [ 8.64106439e-03 -1.24025141e-04 9.99962658e-01 2.13763853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.279254154 meters 0.0592856423598266 Centerline is valid? [True, True] Translation: X:543.02, Y:4.44, Z:2.14 [[ 9.99776043e-01 -1.96226519e-02 -7.92566327e-03 5.43021582e+02] [ 1.96231830e-02 9.99807447e-01 -1.07511346e-05 4.44339120e+00] [ 7.92434813e-03 -1.44778014e-04 9.99968591e-01 2.13740328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters 0.05842723030840798 Centerline is valid? [True, True] Translation: X:543.08, Y:4.45, Z:2.14 [[ 9.99686168e-01 -2.35959417e-02 -8.41409875e-03 5.43081683e+02] [ 2.35966807e-02 9.99721560e-01 -1.14468102e-05 4.45151681e+00] [ 8.41202602e-03 -1.87101584e-04 9.99964601e-01 2.13954682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.399254154 meters 0.05986581771875981 Centerline is valid? [True, True] Translation: X:543.14, Y:4.44, Z:2.14 [[ 9.99512142e-01 -3.00470218e-02 -8.52375259e-03 5.43142207e+02] [ 3.00480152e-02 9.99548456e-01 -1.15344711e-05 4.44107466e+00] [ 8.52025032e-03 -2.44593003e-04 9.99963672e-01 2.13807326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters 0.062356881158675354 Centerline is valid? [True, True] Translation: X:543.20, Y:4.43, Z:2.14 [[ 9.99402065e-01 -3.35320893e-02 -8.43282327e-03 5.43202895e+02] [ 3.35331863e-02 9.99437605e-01 -1.13169075e-05 4.43248798e+00] [ 8.42846016e-03 -2.71469293e-04 9.99964443e-01 2.13739176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.519254154 meters 0.061076775833354746 Centerline is valid? [True, True] Translation: X:543.27, Y:4.44, Z:2.14 [[ 9.99418557e-01 -3.31442550e-02 -8.00043109e-03 5.43265590e+02] [ 3.31452314e-02 9.99450546e-01 -1.05468177e-05 4.43682611e+00] [ 7.99638478e-03 -2.54635454e-04 9.99967996e-01 2.13827021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters 0.06054033217496942 Centerline is valid? [True, True] Translation: X:543.33, Y:4.44, Z:2.14 [[ 9.99570708e-01 -2.84509519e-02 -6.99596280e-03 5.43326076e+02] [ 2.84515846e-02 9.99595172e-01 -9.08878545e-06 4.44067777e+00] [ 6.99338922e-03 -1.89961344e-04 9.99975528e-01 2.13836794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.639254154 meters 0.059116382399312745 Centerline is valid? [True, True] Translation: X:543.39, Y:4.45, Z:2.14 [[ 9.99695496e-01 -2.36797678e-02 -6.94148575e-03 5.43385296e+02] [ 2.36802757e-02 9.99719583e-01 -9.03417830e-06 4.44697531e+00] [ 6.93975316e-03 -1.55344869e-04 9.99975908e-01 2.13969811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters 0.060088246367552715 Centerline is valid? [True, True] Translation: X:543.45, Y:4.45, Z:2.14 [[ 9.99827915e-01 -1.72845337e-02 -6.73687562e-03 5.43445586e+02] [ 1.72848667e-02 9.99850606e-01 -8.79652635e-06 4.45187900e+00] [ 6.73602121e-03 -1.07650984e-04 9.99977307e-01 2.13953361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.759254154 meters 0.05930634510828362 Centerline is valid? [True, True] Translation: X:543.51, Y:4.46, Z:2.14 [[ 9.99868243e-01 -1.42929985e-02 -7.69458886e-03 5.43506678e+02] [ 1.42933445e-02 9.99897845e-01 -1.00230224e-05 4.45613251e+00] [ 7.69394608e-03 -9.99597075e-05 9.99970396e-01 2.13903515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters 0.0589506617604247 Centerline is valid? [True, True] Translation: X:543.57, Y:4.46, Z:2.14 [[ 9.99893416e-01 -1.20872849e-02 -8.18861067e-03 5.43567568e+02] [ 1.20876034e-02 9.99926942e-01 -1.05973084e-05 4.45893712e+00] [ 8.18814052e-03 -8.83844990e-05 9.99966473e-01 2.13896218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.879254154 meters 0.059339768475519035 Centerline is valid? [True, True] Translation: X:543.63, Y:4.46, Z:2.14 [[ 9.99916272e-01 -9.99524452e-03 -8.21849795e-03 5.43627184e+02] [ 9.99549376e-03 9.99950044e-01 -1.07486829e-05 4.45772613e+00] [ 8.21819482e-03 -7.14001620e-05 9.99966228e-01 2.13787645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters 0.058802209165627915 Centerline is valid? [True, True] Translation: X:543.69, Y:4.46, Z:2.14 [[ 9.99952353e-01 -5.26873192e-03 -8.21781298e-03 5.43686974e+02] [ 5.26881983e-03 9.99986120e-01 -1.09523842e-05 4.46191846e+00] [ 8.21775662e-03 -3.23463136e-05 9.99966233e-01 2.13956478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.999254154 meters 0.05886372323804324 Centerline is valid? [True, True] Translation: X:543.75, Y:4.46, Z:2.14 [[ 9.99967331e-01 -1.76810846e-03 -7.88739453e-03 5.43745902e+02] [ 1.76807652e-03 9.99998437e-01 -1.10226348e-05 4.46267896e+00] [ 7.88740169e-03 -2.92324240e-06 9.99968894e-01 2.14064269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters 0.059393118448408215 Centerline is valid? [True, True] Translation: X:543.80, Y:4.46, Z:2.14 [[ 9.99972183e-01 1.43406342e-03 -7.31962775e-03 5.43802631e+02] [-1.43418296e-03 9.99998972e-01 -1.10818291e-05 4.46224775e+00] [ 7.31960433e-03 2.15792062e-05 9.99973211e-01 2.14098079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.119254154 meters 0.05960709863816444 Centerline is valid? [True, True] Translation: X:543.86, Y:4.46, Z:2.14 [[ 9.99984080e-01 -5.79751679e-04 -5.61287654e-03 5.43861081e+02] [ 5.79710442e-04 9.99999832e-01 -8.97399536e-06 4.45716384e+00] [ 5.61288080e-03 5.72000936e-06 9.99984248e-01 2.14271363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters 0.05904500320514793 Centerline is valid? [True, True] Translation: X:543.92, Y:4.45, Z:2.14 [[ 9.99972470e-01 -4.80685324e-03 -5.65274493e-03 5.43919869e+02] [ 4.80687765e-03 9.99988447e-01 -9.26784112e-06 4.45196842e+00] [ 5.65272417e-03 -1.79044673e-05 9.99984023e-01 2.14337460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.239254154 meters 0.05931297389516593 Centerline is valid? [True, True] Translation: X:543.98, Y:4.44, Z:2.14 [[ 9.99921620e-01 -1.07749500e-02 -6.37604926e-03 5.43978983e+02] [ 1.07751017e-02 9.99941947e-01 -1.05647630e-05 4.44160062e+00] [ 6.37579295e-03 -5.81386442e-05 9.99979673e-01 2.14146257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters 0.06007907863551157 Centerline is valid? [True, True] Translation: X:544.04, Y:4.43, Z:2.14 [[ 9.99740038e-01 -2.15703359e-02 -7.38765495e-03 5.44039856e+02] [ 2.15708336e-02 9.99767322e-01 -1.23118568e-05 4.43041568e+00] [ 7.38620158e-03 -1.47049220e-04 9.99972711e-01 2.14078120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.359254154 meters 0.06048450737655579 Centerline is valid? [True, True] Translation: X:544.10, Y:4.42, Z:2.14 [[ 9.99494967e-01 -3.10198394e-02 -6.89792171e-03 5.44100685e+02] [ 3.10204982e-02 9.99518748e-01 -1.14932241e-05 4.42152708e+00] [ 6.89495859e-03 -2.02489548e-04 9.99976209e-01 2.14092478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.419254154 meters 0.06018602932022124 Centerline is valid? [True, True] Translation: X:544.16, Y:4.41, Z:2.14 [[ 9.99336639e-01 -3.57571960e-02 -6.90691214e-03 5.44160867e+02] [ 3.57579696e-02 9.99360479e-01 -1.14936049e-05 4.41103130e+00] [ 6.90290601e-03 -2.35491174e-04 9.99976147e-01 2.14084858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.479254154 meters 0.061244094343681256 Centerline is valid? [True, True] Translation: X:544.22, Y:4.41, Z:2.14 [[ 9.99099738e-01 -4.18340744e-02 -7.04447309e-03 5.44221337e+02] [ 4.18350302e-02 9.99124532e-01 -1.16805345e-05 4.40545012e+00] [ 7.03879452e-03 -2.83035726e-04 9.99975187e-01 2.14092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.539254154 meters 0.06071944971787292 Centerline is valid? [True, True] Translation: X:544.28, Y:4.41, Z:2.14 [[ 9.98831866e-01 -4.79148048e-02 -6.25106133e-03 5.44282064e+02] [ 4.79156765e-02 9.98851384e-01 -1.03291761e-05 4.40574107e+00] [ 6.24437618e-03 -2.89206722e-04 9.99980462e-01 2.14161193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters 0.062178293716814416 Centerline is valid? [True, True] Translation: X:544.34, Y:4.40, Z:2.14 [[ 9.98614754e-01 -5.22050131e-02 -6.57341352e-03 5.44341735e+02] [ 5.22060696e-02 9.98636333e-01 -1.08786450e-05 4.39661260e+00] [ 6.56501750e-03 -3.32308508e-04 9.99978395e-01 2.14170004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.659254154 meters 0.061351956360363696 Centerline is valid? [True, True] Translation: X:544.40, Y:4.40, Z:2.14 [[ 9.98243799e-01 -5.89043393e-02 -6.29251340e-03 5.44402744e+02] [ 5.89054399e-02 9.98263567e-01 -1.04408286e-05 4.39820155e+00] [ 6.28220188e-03 -3.60240778e-04 9.99980202e-01 2.14263373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters 0.061826352509087794 Centerline is valid? [True, True] Translation: X:544.46, Y:4.40, Z:2.14 [[ 9.98045325e-01 -6.21773776e-02 -6.28522108e-03 5.44463448e+02] [ 6.21785404e-02 9.98065042e-01 -1.04184304e-05 4.39731971e+00] [ 6.27370724e-03 -3.80407807e-04 9.99980248e-01 2.14257320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.779254154 meters 0.06005321941805481 Centerline is valid? [True, True] Translation: X:544.52, Y:4.41, Z:2.14 [[ 9.97921220e-01 -6.41454081e-02 -6.21337645e-03 5.44523685e+02] [ 6.41465826e-02 9.97940487e-01 -1.02793462e-05 4.40995048e+00] [ 6.20123930e-03 -3.88308888e-04 9.99980697e-01 2.14315833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters 0.06564581578829373 Centerline is valid? [True, True] Translation: X:544.58, Y:4.39, Z:2.14 [[ 9.98005199e-01 -6.26705043e-02 -7.61780670e-03 5.44583777e+02] [ 6.26722273e-02 9.98034164e-01 -1.25519829e-05 4.38740457e+00] [ 7.60361798e-03 -4.64897969e-04 9.99970984e-01 2.14226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.899254154 meters 0.06464124247867352 Centerline is valid? [True, True] Translation: X:544.64, Y:4.40, Z:2.14 [[ 9.98287277e-01 -5.78851699e-02 -8.47469197e-03 5.44644859e+02] [ 5.78871308e-02 9.98323134e-01 -1.39343303e-05 4.39551385e+00] [ 8.46128764e-03 -4.76665138e-04 9.99964089e-01 2.14251311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters 0.06072156083566569 Centerline is valid? [True, True] Translation: X:544.71, Y:4.42, Z:2.14 [[ 9.98679490e-01 -5.08056956e-02 -7.61957256e-03 5.44705461e+02] [ 5.08070756e-02 9.98708486e-01 -1.24745010e-05 4.41624143e+00] [ 7.61036555e-03 -3.74670170e-04 9.99970971e-01 2.14475661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.019254154 meters 0.06262615769885539 Centerline is valid? [True, True] Translation: X:544.77, Y:4.41, Z:2.15 [[ 9.98969308e-01 -4.48522553e-02 -6.97114884e-03 5.44765164e+02] [ 4.48532659e-02 9.98993586e-01 -1.13841209e-05 4.41281441e+00] [ 6.96464358e-03 -3.01306405e-04 9.99975701e-01 2.14551728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters 0.06254596370524415 Centerline is valid? [True, True] Translation: X:544.82, Y:4.42, Z:2.15 [[ 9.99334724e-01 -3.59385229e-02 -6.20745815e-03 5.44824467e+02] [ 3.59391525e-02 9.99353980e-01 -1.01326186e-05 4.41967578e+00] [ 6.20381216e-03 -2.12964907e-04 9.99980733e-01 2.14625958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.139254154 meters 0.06021966251573944 Centerline is valid? [True, True] Translation: X:544.89, Y:4.43, Z:2.15 [[ 9.99518348e-01 -3.03402667e-02 -6.52222771e-03 5.44885481e+02] [ 3.03408428e-02 9.99539611e-01 -1.06167505e-05 4.43152912e+00] [ 6.51954706e-03 -1.87278249e-04 9.99978730e-01 2.14697527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters 0.059642157457521626 Centerline is valid? [True, True] Translation: X:544.95, Y:4.44, Z:2.15 [[ 9.99688710e-01 -2.38238367e-02 -7.40995465e-03 5.44945880e+02] [ 2.38244018e-02 9.99716159e-01 -1.20175576e-05 4.43892328e+00] [ 7.40813770e-03 -1.64523920e-04 9.99972546e-01 2.14672207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.259254154 meters 0.05985921869201066 Centerline is valid? [True, True] Translation: X:545.01, Y:4.44, Z:2.15 [[ 9.99749814e-01 -2.11606792e-02 -7.24814880e-03 5.45007036e+02] [ 2.11611506e-02 9.99776078e-01 -1.16586876e-05 4.44446844e+00] [ 7.24677249e-03 -1.41723397e-04 9.99973732e-01 2.14806970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters 0.058634940967188784 Centerline is valid? [True, True] Translation: X:545.07, Y:4.45, Z:2.15 [[ 9.99802109e-01 -1.87171389e-02 -6.73879686e-03 5.45067786e+02] [ 1.87174918e-02 9.99824812e-01 -1.06991821e-05 4.44796137e+00] [ 6.73781657e-03 -1.15436310e-04 9.99977294e-01 2.14940929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.379254154 meters 0.05946012022453269 Centerline is valid? [True, True] Translation: X:545.13, Y:4.45, Z:2.15 [[ 9.99814070e-01 -1.80541555e-02 -6.77296864e-03 5.45128559e+02] [ 1.80544983e-02 9.99837004e-01 -1.05309490e-05 4.44742150e+00] [ 6.77205480e-03 -1.11753560e-04 9.99977063e-01 2.15033040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters 0.058971553904260246 Centerline is valid? [True, True] Translation: X:545.19, Y:4.45, Z:2.15 [[ 9.99801802e-01 -1.85147922e-02 -7.31841780e-03 5.45190196e+02] [ 1.85152068e-02 9.99828579e-01 -1.11005486e-05 4.44756997e+00] [ 7.31736879e-03 -1.24403670e-04 9.99973220e-01 2.15126060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.499254154 meters 0.06008967193653835 Centerline is valid? [True, True] Translation: X:545.25, Y:4.44, Z:2.15 [[ 9.99767521e-01 -1.97526701e-02 -8.64495151e-03 5.45250861e+02] [ 1.97532957e-02 9.99804885e-01 -1.30167592e-05 4.44078890e+00] [ 8.64352186e-03 -1.57752550e-04 9.99962632e-01 2.15071987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters 0.06074978288750934 Centerline is valid? [True, True] Translation: X:545.31, Y:4.44, Z:2.15 [[ 9.99747612e-01 -2.05459295e-02 -9.08717303e-03 5.45311225e+02] [ 2.05466542e-02 9.99788895e-01 -1.36125610e-05 4.43537278e+00] [ 9.08553437e-03 -1.73101876e-04 9.99958711e-01 2.14986316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.619254154 meters 0.06024924130018702 Centerline is valid? [True, True] Translation: X:545.37, Y:4.44, Z:2.15 [[ 9.99714323e-01 -2.18351743e-02 -9.72096205e-03 5.45371511e+02] [ 2.18360648e-02 9.99761565e-01 -1.45295623e-05 4.43628913e+00] [ 9.71896149e-03 -1.97742146e-04 9.99952750e-01 2.15056268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters 0.059553929841967834 Centerline is valid? [True, True] Translation: X:545.43, Y:4.44, Z:2.15 [[ 9.99698045e-01 -2.24902104e-02 -9.90001568e-03 5.45431668e+02] [ 2.24911666e-02 9.99747042e-01 -1.47490366e-05 4.43703062e+00] [ 9.89784309e-03 -2.07918319e-04 9.99950994e-01 2.15136804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.739254154 meters 0.06083099530040268 Centerline is valid? [True, True] Translation: X:545.49, Y:4.43, Z:2.15 [[ 9.99702994e-01 -2.20289916e-02 -1.04234203e-02 5.45491582e+02] [ 2.20300275e-02 9.99757309e-01 -1.54428353e-05 4.42647984e+00] [ 1.04212308e-02 -2.14189986e-04 9.99945675e-01 2.14884723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters 0.05985614318412746 Centerline is valid? [True, True] Translation: X:545.55, Y:4.43, Z:2.15 [[ 9.99727326e-01 -2.09675398e-02 -1.02778948e-02 5.45552582e+02] [ 2.09684917e-02 9.99780137e-01 -1.51474999e-05 4.43214131e+00] [ 1.02759527e-02 -2.00368583e-04 9.99947181e-01 2.15106072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.859254154 meters 0.05899239905249537 Centerline is valid? [True, True] Translation: X:545.61, Y:4.43, Z:2.15 [[ 9.99790297e-01 -1.76173346e-02 -1.04398969e-02 5.45612764e+02] [ 1.76181344e-02 9.99844789e-01 -1.53557203e-05 4.43413232e+00] [ 1.04385470e-02 -1.68579007e-04 9.99945503e-01 2.15219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.919254154 meters 0.06041247757366094 Centerline is valid? [True, True] Translation: X:545.67, Y:4.43, Z:2.15 [[ 9.99824101e-01 -1.51988177e-02 -1.09892337e-02 5.45672557e+02] [ 1.51995573e-02 9.99884480e-01 -1.62179362e-05 4.43186434e+00] [ 1.09882108e-02 -1.50816404e-04 9.99939616e-01 2.15131669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.979254154 meters 0.059892166197755344 Centerline is valid? [True, True] Translation: X:545.73, Y:4.44, Z:2.15 [[ 9.99828245e-01 -1.54262817e-02 -1.02718702e-02 5.45731086e+02] [ 1.54269321e-02 9.99880998e-01 -1.59162924e-05 4.43510491e+00] [ 1.02708934e-02 -1.42549886e-04 9.99947243e-01 2.15484012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.039254154 meters 0.05967359746233252 Centerline is valid? [True, True] Translation: X:545.79, Y:4.43, Z:2.15 [[ 9.99775455e-01 -1.82564831e-02 -1.07582631e-02 5.45789152e+02] [ 1.82573534e-02 9.99833320e-01 -1.73151361e-05 4.42629186e+00] [ 1.07567861e-02 -1.79106164e-04 9.99942128e-01 2.15295119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters 0.06089439907349401 Centerline is valid? [True, True] Translation: X:545.85, Y:4.42, Z:2.15 [[ 9.99627432e-01 -2.45898011e-02 -1.18464668e-02 5.45848550e+02] [ 2.45913002e-02 9.99697588e-01 -1.91319841e-05 4.41594552e+00] [ 1.18433548e-02 -2.72195166e-04 9.99929828e-01 2.15101387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.159254154 meters 0.060672443268529226 Centerline is valid? [True, True] Translation: X:545.91, Y:4.42, Z:2.15 [[ 9.99522153e-01 -2.84442427e-02 -1.20991987e-02 5.45908899e+02] [ 2.84460880e-02 9.99595328e-01 -1.95866694e-05 4.41885285e+00] [ 1.20948597e-02 -3.24597562e-04 9.99926802e-01 2.15306953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters 0.06131008277228798 Centerline is valid? [True, True] Translation: X:545.97, Y:4.41, Z:2.15 [[ 9.99414414e-01 -3.19354462e-02 -1.22864476e-02 5.45969045e+02] [ 3.19376133e-02 9.99489864e-01 -1.98395215e-05 4.40873382e+00] [ 1.22808134e-02 -3.72571908e-04 9.99924519e-01 2.15233650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.279254154 meters 0.061111684588760075 Centerline is valid? [True, True] Translation: X:546.03, Y:4.41, Z:2.16 [[ 9.99377294e-01 -3.36522043e-02 -1.06091378e-02 5.46029660e+02] [ 3.36539155e-02 9.99433546e-01 -1.72370722e-05 4.41048360e+00] [ 1.06037082e-02 -3.39812687e-04 9.99943721e-01 2.15569056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters 0.06014049334050508 Centerline is valid? [True, True] Translation: X:546.09, Y:4.41, Z:2.16 [[ 9.99367530e-01 -3.41054001e-02 -1.00678108e-02 5.46091368e+02] [ 3.41069648e-02 9.99418188e-01 -1.62854988e-05 4.41000476e+00] [ 1.00625087e-02 -3.27107271e-04 9.99949318e-01 2.15640238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.399254154 meters 0.06054530978499353 Centerline is valid? [True, True] Translation: X:546.15, Y:4.41, Z:2.16 [[ 9.99385898e-01 -3.38151318e-02 -9.18498885e-03 5.46153366e+02] [ 3.38164243e-02 9.99428061e-01 -1.45931528e-05 4.41142816e+00] [ 9.18022907e-03 -2.96019289e-04 9.99957817e-01 2.15669251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters 0.06312984144419775 Centerline is valid? [True, True] Translation: X:546.21, Y:4.40, Z:2.15 [[ 9.99389001e-01 -3.34958429e-02 -9.98265450e-03 5.46214459e+02] [ 3.34973567e-02 9.99438806e-01 -1.55654006e-05 4.39988364e+00] [ 9.97757367e-03 -3.18836648e-04 9.99950172e-01 2.15435093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.519254154 meters 0.06161984871133618 Centerline is valid? [True, True] Translation: X:546.28, Y:4.41, Z:2.16 [[ 9.99388910e-01 -3.32474808e-02 -1.07894014e-02 5.46275939e+02] [ 3.32492377e-02 9.99447091e-01 -1.65487691e-05 4.40783369e+00] [ 1.07839860e-02 -3.42200716e-04 9.99941793e-01 2.15527979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters 0.0607047333418344 Centerline is valid? [True, True] Translation: X:546.34, Y:4.41, Z:2.16 [[ 9.99394740e-01 -3.30723810e-02 -1.07875483e-02 5.46336948e+02] [ 3.30741293e-02 9.99452901e-01 -1.63341421e-05 4.41131471e+00] [ 1.07821867e-02 -3.40464513e-04 9.99941813e-01 2.15600217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.639254154 meters 0.06079655126390738 Centerline is valid? [True, True] Translation: X:546.40, Y:4.41, Z:2.16 [[ 9.99444872e-01 -3.17971093e-02 -9.94447832e-03 5.46398052e+02] [ 3.17985341e-02 9.99494299e-01 -1.48449108e-05 4.41104634e+00] [ 9.93992141e-03 -3.01383163e-04 9.99950552e-01 2.15601639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters 0.0595675097957008 Centerline is valid? [True, True] Translation: X:546.46, Y:4.42, Z:2.16 [[ 9.99520680e-01 -2.95119084e-02 -9.35189697e-03 5.46457827e+02] [ 2.95130693e-02 9.99564394e-01 -1.38666836e-05 4.41673485e+00] [ 9.34823246e-03 -2.62143147e-04 9.99956270e-01 2.15652454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.759254154 meters 0.059642748791003196 Centerline is valid? [True, True] Translation: X:546.52, Y:4.42, Z:2.16 [[ 9.99570488e-01 -2.79089210e-02 -8.94044218e-03 5.46519732e+02] [ 2.79099195e-02 9.99610442e-01 -1.30856264e-05 4.41683559e+00] [ 8.93732457e-03 -2.36447016e-04 9.99960033e-01 2.15675239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters 0.060837708560331806 Centerline is valid? [True, True] Translation: X:546.58, Y:4.41, Z:2.16 [[ 9.99630189e-01 -2.57015474e-02 -8.88341630e-03 5.46580257e+02] [ 2.57024477e-02 9.99669637e-01 -1.28255810e-05 4.41223175e+00] [ 8.88081118e-03 -2.15504705e-04 9.99960542e-01 2.15640583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.879254154 meters 0.06044224767562273 Centerline is valid? [True, True] Translation: X:546.64, Y:4.41, Z:2.16 [[ 9.99653660e-01 -2.49972633e-02 -8.22787534e-03 5.46641484e+02] [ 2.49980126e-02 9.99687501e-01 -1.17831834e-05 4.41285172e+00] [ 8.22559868e-03 -1.93901429e-04 9.99966150e-01 2.15726869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters 0.06018042004113466 Centerline is valid? [True, True] Translation: X:546.70, Y:4.41, Z:2.16 [[ 9.99639992e-01 -2.58056531e-02 -7.34545117e-03 5.46702829e+02] [ 2.58062728e-02 9.99666963e-01 -1.04134875e-05 4.41440183e+00] [ 7.34327359e-03 -1.79148978e-04 9.99973022e-01 2.15794009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.999254154 meters 0.060186297834376894 Centerline is valid? [True, True] Translation: X:546.76, Y:4.42, Z:2.16 [[ 9.99601631e-01 -2.72870735e-02 -7.21082006e-03 5.46764675e+02] [ 2.72877103e-02 9.99627621e-01 -1.00835468e-05 4.41559675e+00] [ 7.20841005e-03 -1.86687239e-04 9.99974002e-01 2.15832861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters 0.06040586249199861 Centerline is valid? [True, True] Translation: X:546.83, Y:4.42, Z:2.16 [[ 9.99506382e-01 -3.05227731e-02 -7.43989019e-03 5.46825555e+02] [ 3.05235417e-02 9.99534048e-01 -1.02476035e-05 4.41705214e+00] [ 7.43673635e-03 -2.16849253e-04 9.99972324e-01 2.15813225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.119254154 meters 0.06058446622774353 Centerline is valid? [True, True] Translation: X:546.89, Y:4.41, Z:2.16 [[ 9.99418388e-01 -3.30296956e-02 -8.48091973e-03 5.46885893e+02] [ 3.30307854e-02 9.99454335e-01 -1.15690860e-05 4.41465757e+00] [ 8.47667411e-03 -2.68569082e-04 9.99964036e-01 2.15749669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters 0.059927788039595024 Centerline is valid? [True, True] Translation: X:546.95, Y:4.42, Z:2.16 [[ 9.99286852e-01 -3.68654075e-02 -8.16880016e-03 5.46946555e+02] [ 3.68665472e-02 9.99320198e-01 -1.10692886e-05 4.41534392e+00] [ 8.16365506e-03 -2.90094062e-04 9.99966635e-01 2.15759259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.239254154 meters 0.05975225918156172 Centerline is valid? [True, True] Translation: X:547.01, Y:4.42, Z:2.16 [[ 9.99041531e-01 -4.32924942e-02 -6.46374885e-03 5.47007337e+02] [ 4.32933423e-02 9.99062404e-01 -8.71791543e-06 4.42047074e+00] [ 6.45806588e-03 -2.71127732e-04 9.99979110e-01 2.15778738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters 0.05973631071939455 Centerline is valid? [True, True] Translation: X:547.07, Y:4.42, Z:2.16 [[ 9.98837513e-01 -4.78503134e-02 -5.82844881e-03 5.47067012e+02] [ 4.78510809e-02 9.98854481e-01 -7.77947792e-06 4.41758370e+00] [ 5.82214446e-03 -2.71127141e-04 9.99983014e-01 2.15727130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.359254154 meters 0.05915970808291731 Centerline is valid? [True, True] Translation: X:547.13, Y:4.42, Z:2.16 [[ 9.98736593e-01 -4.99909560e-02 -5.11106726e-03 5.47127668e+02] [ 4.99915749e-02 9.98749640e-01 -6.67814234e-06 4.42107748e+00] [ 5.10501043e-03 -2.48840597e-04 9.99986938e-01 2.15740697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.419254154 meters 0.06048484151222925 Centerline is valid? [True, True] Translation: X:547.19, Y:4.42, Z:2.16 [[ 9.98626331e-01 -5.20472534e-02 -6.04444386e-03 5.47187496e+02] [ 5.20481573e-02 9.98644576e-01 -7.76747555e-06 4.41556284e+00] [ 6.03665536e-03 -3.06845360e-04 9.99981732e-01 2.15680302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.479254154 meters 0.05912312217150413 Centerline is valid? [True, True] Translation: X:547.25, Y:4.43, Z:2.16 [[ 9.98596476e-01 -5.26698026e-02 -5.56512986e-03 5.47249115e+02] [ 5.26705793e-02 9.98611942e-01 -7.01696802e-06 4.42738555e+00] [ 5.55777472e-03 -2.86111494e-04 9.99984515e-01 2.15757192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.539254154 meters 0.059112958554283626 Centerline is valid? [True, True] Translation: X:547.31, Y:4.43, Z:2.16 [[ 9.98601499e-01 -5.25690727e-02 -5.61590099e-03 5.47311473e+02] [ 5.25698628e-02 9.98617249e-01 -6.92953077e-06 4.43332272e+00] [ 5.60849987e-03 -2.88307305e-04 9.99984231e-01 2.15796848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters 0.058528639207297256 Centerline is valid? [True, True] Translation: X:547.37, Y:4.44, Z:2.16 [[ 9.98666058e-01 -5.13321635e-02 -5.57799116e-03 5.47373355e+02] [ 5.13329247e-02 9.98681596e-01 -6.71431820e-06 4.44338687e+00] [ 5.57098178e-03 -2.79629238e-04 9.99984443e-01 2.15828282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.659254154 meters 0.05921091204036666 Centerline is valid? [True, True] Translation: X:547.43, Y:4.44, Z:2.16 [[ 9.98825762e-01 -4.79765464e-02 -6.73414801e-03 5.47432638e+02] [ 4.79775804e-02 9.98848413e-01 -8.00987893e-06 4.44033394e+00] [ 6.72677734e-03 -3.15087654e-04 9.99977325e-01 2.15791320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters 0.06424439513909111 Centerline is valid? [True, True] Translation: X:547.49, Y:4.43, Z:2.16 [[ 9.99051077e-01 -4.28700105e-02 -7.68812945e-03 5.47492711e+02] [ 4.28712068e-02 9.99080607e-01 -9.19610623e-06 4.43040673e+00] [ 7.68145527e-03 -3.20412008e-04 9.99970446e-01 2.15668244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.779254154 meters 0.05721639296915043 Centerline is valid? [True, True] Translation: X:547.55, Y:4.46, Z:2.16 [[ 9.99381482e-01 -3.47063968e-02 -5.66732934e-03 5.47553578e+02] [ 3.47069156e-02 9.99397534e-01 -6.80934752e-06 4.46423333e+00] [ 5.66415129e-03 -1.89890385e-04 9.99983941e-01 2.15863537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters 0.0592210126200475 Centerline is valid? [True, True] Translation: X:547.61, Y:4.47, Z:2.16 [[ 9.99616420e-01 -2.72958399e-02 -4.68516767e-03 5.47612833e+02] [ 2.72961129e-02 9.99627392e-01 -5.67500535e-06 4.46905683e+00] [ 4.68357685e-03 -1.22214037e-04 9.99989025e-01 2.15930568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.899254154 meters 0.05793745253912746 Centerline is valid? [True, True] Translation: X:547.67, Y:4.47, Z:2.16 [[ 9.99727174e-01 -2.29995104e-02 -4.07435637e-03 5.47673926e+02] [ 2.29996811e-02 9.99735472e-01 -4.96660278e-06 4.47319475e+00] [ 4.07339282e-03 -8.87436495e-05 9.99991700e-01 2.15951916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters 0.05839477882171614 Centerline is valid? [True, True] Translation: X:547.73, Y:4.48, Z:2.16 [[ 9.99813484e-01 -1.88041222e-02 -4.40470209e-03 5.47733203e+02] [ 1.88042810e-02 9.99823184e-01 -5.34275706e-06 4.47799558e+00] [ 4.40402374e-03 -7.74854956e-05 9.99990299e-01 2.16002587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.019254154 meters 0.05781215289150965 Centerline is valid? [True, True] Translation: X:547.80, Y:4.49, Z:2.16 [[ 9.99885655e-01 -1.42806149e-02 -4.97405238e-03 5.47795035e+02] [ 1.42807615e-02 9.99898025e-01 -6.04669028e-06 4.48502463e+00] [ 4.97363150e-03 -6.49872570e-05 9.99987629e-01 2.16001541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters 0.057674672228935686 Centerline is valid? [True, True] Translation: X:547.86, Y:4.49, Z:2.16 [[ 9.99888338e-01 -1.41280341e-02 -4.86933208e-03 5.47856992e+02] [ 1.41281733e-02 9.99900192e-01 -5.80109368e-06 4.49127548e+00] [ 4.86892804e-03 -6.29943217e-05 9.99988145e-01 2.15972157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.139254154 meters 0.05821255490760496 Centerline is valid? [True, True] Translation: X:547.92, Y:4.49, Z:2.16 [[ 9.99851196e-01 -1.61713739e-02 -6.00611861e-03 5.47917641e+02] [ 1.61716238e-02 9.99869231e-01 -6.95349406e-06 4.48893634e+00] [ 6.00544564e-03 -9.01762316e-05 9.99981963e-01 2.15921223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters 0.05850250828687943 Centerline is valid? [True, True] Translation: X:547.98, Y:4.49, Z:2.16 [[ 9.99751181e-01 -2.15055813e-02 -5.92335782e-03 5.47979053e+02] [ 2.15059186e-02 9.99768721e-01 -6.75887914e-06 4.48778184e+00] [ 5.92213322e-03 -1.20630054e-04 9.99982457e-01 2.16043750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.259254154 meters 0.05871196553422455 Centerline is valid? [True, True] Translation: X:548.04, Y:4.48, Z:2.16 [[ 9.99647331e-01 -2.58974022e-02 -5.87700135e-03 5.48039261e+02] [ 2.58978104e-02 9.99664595e-01 -6.64222714e-06 4.48269992e+00] [ 5.87520219e-03 -1.45561582e-04 9.99982730e-01 2.16159367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters 0.05952092371094707 Centerline is valid? [True, True] Translation: X:548.10, Y:4.48, Z:2.16 [[ 9.99439568e-01 -3.28808433e-02 -6.27695450e-03 5.48099261e+02] [ 3.28814465e-02 9.99459259e-01 -7.09955719e-06 4.47657029e+00] [ 6.27379373e-03 -1.99299765e-04 9.99980300e-01 2.16214138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.379254154 meters 0.05884169180839337 Centerline is valid? [True, True] Translation: X:548.16, Y:4.48, Z:2.16 [[ 9.99273235e-01 -3.75971953e-02 -6.28107193e-03 5.48159821e+02] [ 3.75978925e-02 9.99292949e-01 -7.07246579e-06 4.47711033e+00] [ 6.27689680e-03 -2.29087741e-04 9.99980274e-01 2.16224188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters 0.06457939975894379 Centerline is valid? [True, True] Translation: X:548.22, Y:4.45, Z:2.16 [[ 9.99038628e-01 -4.33089878e-02 -6.79353184e-03 5.48219380e+02] [ 4.33099357e-02 9.99061685e-01 -7.59525554e-06 4.45471793e+00] [ 6.78748630e-03 -2.86639473e-04 9.99976924e-01 2.16077613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.499254154 meters 0.05747132392323416 Centerline is valid? [True, True] Translation: X:548.28, Y:4.48, Z:2.16 [[ 9.98895582e-01 -4.67166471e-02 -5.01714641e-03 5.48279974e+02] [ 4.67172069e-02 9.98908155e-01 -5.61869894e-06 4.48240923e+00] [ 5.01193095e-03 -2.28774574e-04 9.99987414e-01 2.16318169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters 0.06592365557416884 Centerline is valid? [True, True] Translation: X:548.34, Y:4.45, Z:2.16 [[ 9.98895195e-01 -4.65869538e-02 -6.16812394e-03 5.48341659e+02] [ 4.65877989e-02 9.98914199e-01 -6.68158131e-06 4.45452561e+00] [ 6.16173786e-03 -2.80685118e-04 9.99980977e-01 2.16260609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.619254154 meters 0.06000640881900137 Centerline is valid? [True, True] Translation: X:548.40, Y:4.47, Z:2.16 [[ 9.98949294e-01 -4.54784605e-02 -5.65842587e-03 5.48403247e+02] [ 4.54791558e-02 9.98965288e-01 -5.79770428e-06 4.47421076e+00] [ 5.65283470e-03 -2.51548819e-04 9.99983991e-01 2.16254139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters 0.05879285920068399 Centerline is valid? [True, True] Translation: X:548.46, Y:4.48, Z:2.16 [[ 9.99047125e-01 -4.32617897e-02 -5.76707028e-03 5.48464343e+02] [ 4.32624757e-02 9.99063741e-01 -5.80505948e-06 4.47603462e+00] [ 5.76192194e-03 -2.43698210e-04 9.99983370e-01 2.16280633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.739254154 meters 0.059909298631519635 Centerline is valid? [True, True] Translation: X:548.52, Y:4.47, Z:2.16 [[ 9.99255144e-01 -3.81546061e-02 -5.77774535e-03 5.48524101e+02] [ 3.81552096e-02 9.99271825e-01 -5.78750771e-06 4.47488616e+00] [ 5.77375896e-03 -2.14667888e-04 9.99983309e-01 2.16270309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters 0.05964164677040341 Centerline is valid? [True, True] Translation: X:548.58, Y:4.48, Z:2.16 [[ 9.99434089e-01 -3.31529296e-02 -5.69086641e-03 5.48584977e+02] [ 3.31534339e-02 9.99450274e-01 -5.71179441e-06 4.48082300e+00] [ 5.68792735e-03 -1.82963201e-04 9.99983807e-01 2.16233323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.859254154 meters 0.0577345810577836 Centerline is valid? [True, True] Translation: X:548.65, Y:4.49, Z:2.16 [[ 9.99669439e-01 -2.47918973e-02 -6.80995395e-03 5.48645538e+02] [ 2.47924256e-02 9.99692621e-01 -6.85136959e-06 4.49424750e+00] [ 6.80803057e-03 -1.61986172e-04 9.99976812e-01 2.16173856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.919254154 meters 0.05747486457508827 Centerline is valid? [True, True] Translation: X:548.71, Y:4.50, Z:2.16 [[ 9.99785273e-01 -1.97255176e-02 -6.34920357e-03 5.48706438e+02] [ 1.97258749e-02 9.99805426e-01 -6.34780381e-06 4.49534287e+00] [ 6.34809339e-03 -1.18897154e-04 9.99979844e-01 2.16124108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.979254154 meters 0.05749471988104328 Centerline is valid? [True, True] Translation: X:548.77, Y:4.50, Z:2.16 [[ 9.99892375e-01 -1.37134958e-02 -5.21321559e-03 5.48767486e+02] [ 1.37136553e-02 9.99905963e-01 -5.15696630e-06 4.50021545e+00] [ 5.21279607e-03 -6.63358303e-05 9.99986411e-01 2.16203455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.039254154 meters 0.057346757840901534 Centerline is valid? [True, True] Translation: X:548.83, Y:4.50, Z:2.16 [[ 9.99943405e-01 -9.73805541e-03 -4.28445484e-03 5.48827706e+02] [ 9.73812675e-03 9.99952583e-01 -4.20976766e-06 4.50314451e+00] [ 4.28429268e-03 -3.75130349e-05 9.99990822e-01 2.16249755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters 0.057821827501606624 Centerline is valid? [True, True] Translation: X:548.89, Y:4.50, Z:2.16 [[ 9.99959442e-01 -7.88516102e-03 -4.35196185e-03 5.48887973e+02] [ 7.88521724e-03 9.99968911e-01 -4.24027269e-06 4.50292660e+00] [ 4.35185998e-03 -3.00760638e-05 9.99990530e-01 2.16217439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.159254154 meters 0.05794484088427507 Centerline is valid? [True, True] Translation: X:548.95, Y:4.50, Z:2.16 [[ 9.99966066e-01 -7.18431582e-03 -4.03135545e-03 5.48948382e+02] [ 7.18435849e-03 9.99974192e-01 -3.89823357e-06 4.50394058e+00] [ 4.03127941e-03 -2.50646014e-05 9.99991874e-01 2.16204938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters 0.05712129709856135 Centerline is valid? [True, True] Translation: X:549.01, Y:4.50, Z:2.16 [[ 9.99967293e-01 -7.09123300e-03 -3.88941902e-03 5.49008030e+02] [ 7.09127201e-03 9.99974857e-01 -3.76098411e-06 4.49962329e+00] [ 3.88934790e-03 -2.38200671e-05 9.99992436e-01 2.16137834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.279254154 meters 0.05778250883635503 Centerline is valid? [True, True] Translation: X:549.07, Y:4.50, Z:2.16 [[ 9.99962714e-01 -7.87053189e-03 -3.55318237e-03 5.49068561e+02] [ 7.87056936e-03 9.99969027e-01 -3.43585055e-06 4.49916433e+00] [ 3.55309936e-03 -2.45298459e-05 9.99993687e-01 2.16135684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters 0.057577734239621696 Centerline is valid? [True, True] Translation: X:549.13, Y:4.49, Z:2.16 [[ 9.99949801e-01 -8.88549135e-03 -4.63078811e-03 5.49128544e+02] [ 8.88556600e-03 9.99960523e-01 -4.45303869e-06 4.49486652e+00] [ 4.63064487e-03 -3.66943582e-05 9.99989278e-01 2.16006101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.399254154 meters 0.05836460381633374 Centerline is valid? [True, True] Translation: X:549.19, Y:4.49, Z:2.16 [[ 9.99938141e-01 -9.88436398e-03 -5.10042340e-03 5.49188813e+02] [ 9.88446834e-03 9.99951147e-01 -4.74758818e-06 4.49150560e+00] [ 5.10022115e-03 -4.56676791e-05 9.99986993e-01 2.15883294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters 0.05781229274069431 Centerline is valid? [True, True] Translation: X:549.25, Y:4.49, Z:2.16 [[ 9.99947657e-01 -8.99475678e-03 -4.87616778e-03 5.49249497e+02] [ 8.99484162e-03 9.99959546e-01 -4.53122566e-06 4.49183195e+00] [ 4.87601127e-03 -3.93293684e-05 9.99988111e-01 2.15998411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.519254154 meters 0.05781745914684625 Centerline is valid? [True, True] Translation: X:549.31, Y:4.49, Z:2.16 [[ 9.99957783e-01 -8.50332831e-03 -3.48224356e-03 5.49309648e+02] [ 8.50336868e-03 9.99963846e-01 -3.21288477e-06 4.48934922e+00] [ 3.48214498e-03 -2.63980516e-05 9.99993937e-01 2.16000011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters 0.05840118983908376 Centerline is valid? [True, True] Translation: X:549.37, Y:4.49, Z:2.16 [[ 9.99972962e-01 -6.15787410e-03 -4.01936580e-03 5.49370362e+02] [ 6.15790894e-03 9.99981040e-01 -3.70781370e-06 4.48620807e+00] [ 4.01931242e-03 -2.10431751e-05 9.99991922e-01 2.16005014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.639254154 meters 0.05750686833764272 Centerline is valid? [True, True] Translation: X:549.43, Y:4.49, Z:2.16 [[ 9.99984986e-01 -1.62631110e-03 -5.23277724e-03 5.49429626e+02] [ 1.62630828e-03 9.99998678e-01 -4.79343804e-06 4.48622680e+00] [ 5.23277811e-03 -3.71674288e-06 9.99986309e-01 2.16029385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters 0.05788381122505604 Centerline is valid? [True, True] Translation: X:549.49, Y:4.49, Z:2.16 [[ 9.99987525e-01 1.27819864e-03 -4.82872549e-03 5.49487920e+02] [-1.27823555e-03 9.99999183e-01 -4.55743760e-06 4.48509305e+00] [ 4.82871572e-03 1.07296293e-05 9.99988342e-01 2.16028198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.759254154 meters 0.058244613715959064 Centerline is valid? [True, True] Translation: X:549.55, Y:4.48, Z:2.16 [[ 9.99977163e-01 5.77553448e-03 -3.50940893e-03 5.49546906e+02] [-5.77558268e-03 9.99983321e-01 -3.60003621e-06 4.48181139e+00] [ 3.50932960e-03 2.38688354e-05 9.99993842e-01 2.16039653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters 0.059161536868621065 Centerline is valid? [True, True] Translation: X:549.60, Y:4.48, Z:2.16 [[ 9.99952001e-01 8.48829084e-03 -4.89333706e-03 5.49604812e+02] [-8.48842062e-03 9.99963973e-01 -5.75192483e-06 4.48178390e+00] [ 4.89311194e-03 4.72883519e-05 9.99988028e-01 2.16101632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.879254154 meters 0.05874799280643576 Centerline is valid? [True, True] Translation: X:549.66, Y:4.48, Z:2.16 [[ 9.99936440e-01 9.85001783e-03 -5.48566578e-03 5.49663470e+02] [-9.85020381e-03 9.99951486e-01 -6.88484655e-06 4.47666589e+00] [ 5.48533183e-03 6.09193349e-05 9.99984954e-01 2.16015741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters 0.05866865821534875 Centerline is valid? [True, True] Translation: X:549.72, Y:4.48, Z:2.16 [[ 9.99946649e-01 8.65032350e-03 -5.64541514e-03 5.49722450e+02] [-8.65050389e-03 9.99962584e-01 -7.53601495e-06 4.47580684e+00] [ 5.64513872e-03 5.63712985e-05 9.99984064e-01 2.15996633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.999254154 meters 0.05825982234690861 Centerline is valid? [True, True] Translation: X:549.78, Y:4.47, Z:2.16 [[ 9.99977494e-01 3.55790897e-03 -5.68796906e-03 5.49780756e+02] [-3.55801057e-03 9.99993670e-01 -7.74449148e-06 4.46779071e+00] [ 5.68790550e-03 2.79821712e-05 9.99983823e-01 2.16070823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters 0.05876029141165426 Centerline is valid? [True, True] Translation: X:549.84, Y:4.46, Z:2.16 [[ 9.99988433e-01 -1.33813326e-03 -4.61988208e-03 5.49838881e+02] [ 1.33811789e-03 9.99999105e-01 -6.41828883e-06 4.46205464e+00] [ 4.61988654e-03 2.36267730e-07 9.99989328e-01 2.16203051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.119254154 meters 0.0582922365547277 Centerline is valid? [True, True] Translation: X:549.90, Y:4.45, Z:2.16 [[ 9.99937536e-01 -9.89791383e-03 -5.19194925e-03 5.49898817e+02] [ 9.89800871e-03 9.99951014e-01 -7.42081861e-06 4.45039037e+00] [ 5.19176836e-03 -4.39696038e-05 9.99986522e-01 2.16224283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters 0.05911462770870523 Centerline is valid? [True, True] Translation: X:549.96, Y:4.44, Z:2.16 [[ 9.99811434e-01 -1.85463977e-02 -5.75563882e-03 5.49959561e+02] [ 1.85466568e-02 9.99827996e-01 -8.35746680e-06 4.44069626e+00] [ 5.75480382e-03 -9.83919672e-05 9.99983436e-01 2.16210458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.239254154 meters 0.05929616407944037 Centerline is valid? [True, True] Translation: X:550.02, Y:4.43, Z:2.16 [[ 9.99688297e-01 -2.44425619e-02 -5.08624933e-03 5.50019819e+02] [ 2.44428407e-02 9.99701229e-01 -7.34928975e-06 4.43452880e+00] [ 5.08490935e-03 -1.16975383e-04 9.99987065e-01 2.16298311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters 0.06090023115023365 Centerline is valid? [True, True] Translation: X:550.08, Y:4.42, Z:2.16 [[ 9.99480534e-01 -3.17610264e-02 -5.46798940e-03 5.50079557e+02] [ 3.17614584e-02 9.99495478e-01 -7.84437862e-06 4.42176024e+00] [ 5.46547982e-03 -1.65831014e-04 9.99985050e-01 2.16354979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.359254154 meters 0.06115438656648558 Centerline is valid? [True, True] Translation: X:550.14, Y:4.42, Z:2.16 [[ 9.99360017e-01 -3.53070408e-02 -5.74183430e-03 5.50140437e+02] [ 3.53075763e-02 9.99376493e-01 -8.10131267e-06 4.41939133e+00] [ 5.73854026e-03 -1.94634125e-04 9.99983515e-01 2.16368421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.419254154 meters 0.058532125095284784 Centerline is valid? [True, True] Translation: X:550.20, Y:4.43, Z:2.16 [[ 9.99284281e-01 -3.74472936e-02 -5.35039670e-03 5.50201412e+02] [ 3.74477894e-02 9.99298586e-01 -7.51813911e-06 4.42595258e+00] [ 5.34692539e-03 -1.92847771e-04 9.99985686e-01 2.16358579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.479254154 meters 0.06035988218223457 Centerline is valid? [True, True] Translation: X:550.26, Y:4.42, Z:2.16 [[ 9.99338554e-01 -3.58509871e-02 -6.09593921e-03 5.50262406e+02] [ 3.58516018e-02 9.99357125e-01 -8.44992176e-06 4.41747013e+00] [ 6.09232322e-03 -2.10104852e-04 9.99981420e-01 2.16378167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.539254154 meters 0.06170325246353304 Centerline is valid? [True, True] Translation: X:550.32, Y:4.41, Z:2.16 [[ 9.99483880e-01 -3.14514881e-02 -6.54045188e-03 5.50322102e+02] [ 3.14521019e-02 9.99505260e-01 -9.01262388e-06 4.41459031e+00] [ 6.53749952e-03 -1.96702987e-04 9.99978611e-01 2.16346664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters 0.059998238899147446 Centerline is valid? [True, True] Translation: X:550.38, Y:4.42, Z:2.16 [[ 9.99572192e-01 -2.85121820e-02 -6.51831602e-03 5.50382938e+02] [ 2.85127291e-02 9.99593429e-01 -8.99308705e-06 4.41844316e+00] [ 6.51592227e-03 -1.76865739e-04 9.99978755e-01 2.16391237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.659254154 meters 0.058911877482116105 Centerline is valid? [True, True] Translation: X:550.44, Y:4.43, Z:2.17 [[ 9.99643147e-01 -2.59787533e-02 -6.21952262e-03 5.50444051e+02] [ 2.59792029e-02 9.99662484e-01 -8.49429670e-06 4.42727033e+00] [ 6.21764410e-03 -1.53086975e-04 9.99980659e-01 2.16519523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters 0.06017095524075811 Centerline is valid? [True, True] Translation: X:550.51, Y:4.42, Z:2.17 [[ 9.99655803e-01 -2.53666099e-02 -6.69413081e-03 5.50505627e+02] [ 2.53671183e-02 9.99678203e-01 -8.96628645e-06 4.42309689e+00] [ 6.69220410e-03 -1.60847608e-04 9.99977594e-01 2.16572623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.779254154 meters 0.060360097367865795 Centerline is valid? [True, True] Translation: X:550.57, Y:4.42, Z:2.17 [[ 9.99638029e-01 -2.60221561e-02 -6.83068775e-03 5.50566685e+02] [ 2.60227017e-02 9.99661352e-01 -9.00141753e-06 4.42264703e+00] [ 6.82860879e-03 -1.68754791e-04 9.99976671e-01 2.16609160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters 0.05964035764277204 Centerline is valid? [True, True] Translation: X:550.63, Y:4.43, Z:2.17 [[ 9.99574087e-01 -2.82444358e-02 -7.34148624e-03 5.50627659e+02] [ 2.82451267e-02 9.99601027e-01 -9.57777575e-06 4.42656347e+00] [ 7.33882771e-03 -1.97787513e-04 9.99973051e-01 2.16712779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.899254154 meters 0.05958967645695598 Centerline is valid? [True, True] Translation: X:550.69, Y:4.43, Z:2.17 [[ 9.99486238e-01 -3.12009562e-02 -7.33208561e-03 5.50688944e+02] [ 3.12017255e-02 9.99513108e-01 -9.47436184e-06 4.42805221e+00] [ 7.32881128e-03 -2.19304228e-04 9.99973120e-01 2.16737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters 0.06017631443278908 Centerline is valid? [True, True] Translation: X:550.75, Y:4.42, Z:2.17 [[ 9.99268983e-01 -3.74320437e-02 -7.76799983e-03 5.50748806e+02] [ 3.74330956e-02 9.99299136e-01 -9.98228911e-06 4.41920813e+00] [ 7.76292918e-03 -2.80805288e-04 9.99969829e-01 2.16687225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.019254154 meters 0.05999345373172192 Centerline is valid? [True, True] Translation: X:550.81, Y:4.42, Z:2.17 [[ 9.99084206e-01 -4.22061011e-02 -7.02809819e-03 5.50808641e+02] [ 4.22070799e-02 9.99108884e-01 -9.05523428e-06 4.42356125e+00] [ 7.02221752e-03 -2.87588560e-04 9.99975303e-01 2.16758480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters 0.06035942083353747 Centerline is valid? [True, True] Translation: X:550.87, Y:4.42, Z:2.17 [[ 9.98822342e-01 -4.80608276e-02 -6.63980415e-03 5.50869496e+02] [ 4.80618304e-02 9.98844362e-01 -8.53991008e-06 4.41868919e+00] [ 6.63254138e-03 -3.10591288e-04 9.99977956e-01 2.16841690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.139254154 meters 0.06100239913254584 Centerline is valid? [True, True] Translation: X:550.93, Y:4.42, Z:2.17 [[ 9.98639936e-01 -5.17449831e-02 -6.38246371e-03 5.50929174e+02] [ 5.17459849e-02 9.98660279e-01 -8.17914758e-06 4.41613729e+00] [ 6.37433622e-03 -3.22098847e-04 9.99979632e-01 2.16873345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters 0.05806007562287953 Centerline is valid? [True, True] Translation: X:550.99, Y:4.43, Z:2.17 [[ 9.98505319e-01 -5.44192617e-02 -5.06669427e-03 5.50989457e+02] [ 5.44199274e-02 9.98518138e-01 -6.49942087e-06 4.42898708e+00] [ 5.05953982e-03 -2.69239428e-04 9.99987164e-01 2.16966603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.259254154 meters 0.061225889263443356 Centerline is valid? [True, True] Translation: X:551.05, Y:4.42, Z:2.17 [[ 9.98368256e-01 -5.67874987e-02 -6.00039678e-03 5.51049316e+02] [ 5.67884749e-02 9.98386232e-01 -7.70405507e-06 4.41744449e+00] [ 5.99115103e-03 -3.33061898e-04 9.99981997e-01 2.17042198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters 0.06892950529449236 Centerline is valid? [True, True] Translation: X:551.11, Y:4.40, Z:2.17 [[ 9.98325557e-01 -5.74762508e-02 -6.52407044e-03 5.51110516e+02] [ 5.74774200e-02 9.98346807e-01 -8.29062202e-06 4.40067445e+00] [ 6.51376141e-03 -3.66709997e-04 9.99978718e-01 2.16997885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.379254154 meters 0.06298766270382701 Centerline is valid? [True, True] Translation: X:551.17, Y:4.42, Z:2.17 [[ 9.98280968e-01 -5.82218216e-02 -6.73268568e-03 5.51172503e+02] [ 5.82230854e-02 9.98303597e-01 -8.29347389e-06 4.42067200e+00] [ 6.72174720e-03 -3.83718516e-04 9.99977335e-01 2.16962671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters 0.05788728322702578 Centerline is valid? [True, True] Translation: X:551.23, Y:4.44, Z:2.17 [[ 9.98244372e-01 -5.88925379e-02 -6.31210623e-03 5.51234541e+02] [ 5.88936637e-02 9.98264262e-01 -7.52907480e-06 4.44395870e+00] [ 6.30159347e-03 -3.64227205e-04 9.99980078e-01 2.17008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.499254154 meters 0.06356608283634753 Centerline is valid? [True, True] Translation: X:551.30, Y:4.43, Z:2.17 [[ 9.98268201e-01 -5.81774201e-02 -8.71708918e-03 5.51295816e+02] [ 5.81795456e-02 9.98306136e-01 -9.76786675e-06 4.42848635e+00] [ 8.70289188e-03 -4.97405337e-04 9.99962005e-01 2.16840206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters 0.06346563600346138 Centerline is valid? [True, True] Translation: X:551.36, Y:4.43, Z:2.17 [[ 9.98286580e-01 -5.79556713e-02 -8.06504188e-03 5.51357793e+02] [ 5.79574864e-02 9.98319052e-01 -8.67447552e-06 4.43304785e+00] [ 8.05198770e-03 -4.58769943e-04 9.99967477e-01 2.16881281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.619254154 meters 0.05697007081367514 Centerline is valid? [True, True] Translation: X:551.42, Y:4.47, Z:2.17 [[ 9.98406573e-01 -5.61041834e-02 -6.05280325e-03 5.51418434e+02] [ 5.61051724e-02 9.98424864e-01 -6.40644325e-06 4.46689945e+00] [ 6.04362869e-03 -3.33197335e-04 9.99981682e-01 2.17148942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters 0.05670427103615283 Centerline is valid? [True, True] Translation: X:551.48, Y:4.47, Z:2.17 [[ 9.98618755e-01 -5.23504099e-02 -4.47395204e-03 5.51479613e+02] [ 5.23509128e-02 9.98628751e-01 -4.71323017e-06 4.46830298e+00] [ 4.46806387e-03 -2.29508753e-04 9.99989992e-01 2.17236186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.739254154 meters 0.05765093407648341 Centerline is valid? [True, True] Translation: X:551.54, Y:4.48, Z:2.17 [[ 9.99041793e-01 -4.36596120e-02 -3.05503549e-03 5.51538769e+02] [ 4.36598060e-02 9.99046456e-01 -3.21422522e-06 4.47517991e+00] [ 3.05226271e-03 -1.30171111e-04 9.99995333e-01 2.17329807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters 0.06143704208637648 Centerline is valid? [True, True] Translation: X:551.60, Y:4.46, Z:2.17 [[ 9.99309841e-01 -3.69823924e-02 -3.48489793e-03 5.51598566e+02] [ 3.69826041e-02 9.99315910e-01 -3.70437870e-06 4.46320411e+00] [ 3.48265094e-03 -1.25178778e-04 9.99993928e-01 2.17287712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.859254154 meters 0.0573978941543512 Centerline is valid? [True, True] Translation: X:551.66, Y:4.49, Z:2.17 [[ 9.99542715e-01 -3.00503550e-02 -3.36705775e-03 5.51659414e+02] [ 3.00505133e-02 9.99548381e-01 -3.59034447e-06 4.48630554e+00] [ 3.36564502e-03 -9.75931110e-05 9.99994331e-01 2.17193789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.919254154 meters 0.05668139278474286 Centerline is valid? [True, True] Translation: X:551.72, Y:4.49, Z:2.17 [[ 9.99612379e-01 -2.74789328e-02 -4.47225347e-03 5.51720502e+02] [ 2.74791867e-02 9.99622376e-01 -4.68102057e-06 4.49118018e+00] [ 4.47069327e-03 -1.18214682e-04 9.99989999e-01 2.17181875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.979254154 meters 0.057341586934428306 Centerline is valid? [True, True] Translation: X:551.78, Y:4.49, Z:2.17 [[ 9.99637667e-01 -2.63705634e-02 -5.39709109e-03 5.51781278e+02] [ 2.63709176e-02 9.99652227e-01 -5.53494550e-06 4.49305125e+00] [ 5.39536008e-03 -1.36793304e-04 9.99985436e-01 2.17061862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.039254154 meters 0.05796619169821513 Centerline is valid? [True, True] Translation: X:551.84, Y:4.49, Z:2.17 [[ 9.99634047e-01 -2.63188558e-02 -6.25226292e-03 5.51842443e+02] [ 2.63193316e-02 9.99653586e-01 -6.17559372e-06 4.49098945e+00] [ 6.25025958e-03 -1.58382048e-04 9.99980454e-01 2.17032823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters 0.05680424747390727 Centerline is valid? [True, True] Translation: X:551.90, Y:4.50, Z:2.17 [[ 9.99617264e-01 -2.70298307e-02 -5.89178128e-03 5.51904544e+02] [ 2.70302672e-02 9.99634616e-01 -5.55701026e-06 4.49664754e+00] [ 5.88977872e-03 -1.53701539e-04 9.99982643e-01 2.17112561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.159254154 meters 0.05776962125022725 Centerline is valid? [True, True] Translation: X:551.97, Y:4.49, Z:2.17 [[ 9.99569487e-01 -2.85506910e-02 -6.76007335e-03 5.51965181e+02] [ 2.85513016e-02 9.99592328e-01 -6.18576921e-06 4.49423557e+00] [ 6.75749407e-03 -1.86825787e-04 9.99977150e-01 2.17106172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters 0.05715593083806646 Centerline is valid? [True, True] Translation: X:552.03, Y:4.50, Z:2.17 [[ 9.99516700e-01 -3.05390720e-02 -5.80780794e-03 5.52026025e+02] [ 3.05395566e-02 9.99533559e-01 -5.24509185e-06 4.49946215e+00] [ 5.80525912e-03 -1.72125322e-04 9.99983135e-01 2.17158239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.279254154 meters 0.057144049828023784 Centerline is valid? [True, True] Translation: X:552.09, Y:4.49, Z:2.17 [[ 9.99402513e-01 -3.40134570e-02 -6.14018760e-03 5.52086116e+02] [ 3.40140644e-02 9.99421354e-01 -5.50469322e-06 4.49406027e+00] [ 6.13682184e-03 -2.03351332e-04 9.99981149e-01 2.17203923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters 0.05716838620226305 Centerline is valid? [True, True] Translation: X:552.15, Y:4.49, Z:2.17 [[ 9.99329641e-01 -3.61335193e-02 -5.88530177e-03 5.52147635e+02] [ 3.61341143e-02 9.99346950e-01 -5.23557593e-06 4.49378598e+00] [ 5.88164755e-03 -2.07428101e-04 9.99982681e-01 2.17189694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.399254154 meters 0.05705700576322586 Centerline is valid? [True, True] Translation: X:552.21, Y:4.50, Z:2.17 [[ 9.99326052e-01 -3.62146248e-02 -5.99516440e-03 5.52209650e+02] [ 3.62152444e-02 9.99344013e-01 -5.20628855e-06 4.49625012e+00] [ 5.99142020e-03 -2.11913564e-04 9.99982029e-01 2.17195087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters 0.057117134876362816 Centerline is valid? [True, True] Translation: X:552.27, Y:4.50, Z:2.17 [[ 9.99404470e-01 -3.39972564e-02 -5.90694854e-03 5.52270036e+02] [ 3.39978200e-02 9.99421907e-01 -5.00693942e-06 4.49639177e+00] [ 5.90370399e-03 -1.95819415e-04 9.99982554e-01 2.17233785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.519254154 meters 0.05720437712428812 Centerline is valid? [True, True] Translation: X:552.33, Y:4.50, Z:2.17 [[ 9.99579636e-01 -2.84206011e-02 -5.72885940e-03 5.52329459e+02] [ 2.84210396e-02 9.99596041e-01 -4.87116684e-06 4.49670787e+00] [ 5.72668361e-03 -1.57951021e-04 9.99983590e-01 2.17299772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters 0.05754329612123583 Centerline is valid? [True, True] Translation: X:552.39, Y:4.50, Z:2.17 [[ 9.99689998e-01 -2.42853287e-02 -5.48916865e-03 5.52390605e+02] [ 2.42856688e-02 9.99705060e-01 -4.68695097e-06 4.49779930e+00] [ 5.48766350e-03 -1.28622634e-04 9.99984934e-01 2.17305836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.639254154 meters 0.057122669627701225 Centerline is valid? [True, True] Translation: X:552.45, Y:4.50, Z:2.17 [[ 9.99790775e-01 -1.95220840e-02 -6.10695013e-03 5.52451416e+02] [ 1.95224165e-02 9.99809419e-01 -5.16125279e-06 4.50364975e+00] [ 6.10588703e-03 -1.14062251e-04 9.99981352e-01 2.17345813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters 0.05696212963805935 Centerline is valid? [True, True] Translation: X:552.51, Y:4.51, Z:2.17 [[ 9.99823148e-01 -1.77397697e-02 -6.24282544e-03 5.52513225e+02] [ 1.77400832e-02 9.99842632e-01 -5.16701451e-06 4.50575913e+00] [ 6.24193469e-03 -1.05582142e-04 9.99980513e-01 2.17390449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.759254154 meters 0.0576098911565706 Centerline is valid? [True, True] Translation: X:552.57, Y:4.50, Z:2.17 [[ 9.99811962e-01 -1.82023006e-02 -6.68705014e-03 5.52574894e+02] [ 1.82026720e-02 9.99834318e-01 -5.32544814e-06 4.50483081e+00] [ 6.68603915e-03 -1.16397733e-04 9.99977641e-01 2.17421469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters 0.05715619434592787 Centerline is valid? [True, True] Translation: X:552.64, Y:4.50, Z:2.17 [[ 9.99771360e-01 -2.02519719e-02 -6.86183736e-03 5.52636476e+02] [ 2.02524141e-02 9.99794899e-01 -5.04799092e-06 4.50109218e+00] [ 6.86053222e-03 -1.33921935e-04 9.99976457e-01 2.17418587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.879254154 meters 0.05816157188551852 Centerline is valid? [True, True] Translation: X:552.70, Y:4.50, Z:2.17 [[ 9.99670340e-01 -2.47234807e-02 -6.92534868e-03 5.52696446e+02] [ 2.47240418e-02 9.99694314e-01 -4.58324031e-06 4.49637498e+00] [ 6.92334502e-03 -1.66640881e-04 9.99976019e-01 2.17488376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters 0.058610623236541405 Centerline is valid? [True, True] Translation: X:552.76, Y:4.49, Z:2.18 [[ 9.99598052e-01 -2.74541739e-02 -7.07123151e-03 5.52756304e+02] [ 2.74548280e-02 9.99623045e-01 -4.56933176e-06 4.49081222e+00] [ 7.06869142e-03 -1.89571950e-04 9.99974999e-01 2.17532334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.999254154 meters 0.05853437553550902 Centerline is valid? [True, True] Translation: X:552.82, Y:4.49, Z:2.18 [[ 9.99490740e-01 -3.13064930e-02 -6.17774345e-03 5.52817315e+02] [ 3.13070659e-02 9.99509814e-01 -3.98216780e-06 4.49264586e+00] [ 6.17483987e-03 -1.89426881e-04 9.99980918e-01 2.17767362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters 0.05728323191246184 Centerline is valid? [True, True] Translation: X:552.88, Y:4.50, Z:2.18 [[ 9.99450868e-01 -3.26922883e-02 -5.40160079e-03 5.52879680e+02] [ 3.26927468e-02 9.99465449e-01 -3.41878040e-06 4.49701203e+00] [ 5.39882512e-03 -1.73176264e-04 9.99985411e-01 2.17926415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.119254154 meters 0.059721105958538495 Centerline is valid? [True, True] Translation: X:552.94, Y:4.49, Z:2.18 [[ 9.99469257e-01 -3.19899421e-02 -6.15207321e-03 5.52941286e+02] [ 3.19905249e-02 9.99488172e-01 -3.67389460e-06 4.48579953e+00] [ 6.14904194e-03 -1.93136106e-04 9.99981076e-01 2.18000520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters 0.059291309640705905 Centerline is valid? [True, True] Translation: X:553.00, Y:4.49, Z:2.18 [[ 9.99528622e-01 -2.99589380e-02 -6.70783586e-03 5.53002410e+02] [ 2.99595864e-02 9.99551111e-01 -3.82334455e-06 4.48530429e+00] [ 6.70493933e-03 -1.97142445e-04 9.99977502e-01 2.18093956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.239254154 meters 0.05775544219245417 Centerline is valid? [True, True] Translation: X:553.06, Y:4.50, Z:2.18 [[ 9.99627066e-01 -2.60372136e-02 -8.23365613e-03 5.53063005e+02] [ 2.60380586e-02 9.99660952e-01 -4.57148254e-06 4.49876842e+00] [ 8.23098356e-03 -2.09818644e-04 9.99966103e-01 2.18259028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.299254154 meters 0.058103838636490414 Centerline is valid? [True, True] Translation: X:553.12, Y:4.49, Z:2.18 [[ 9.99700351e-01 -2.26602352e-02 -9.25861219e-03 5.53124031e+02] [ 2.26611602e-02 9.99743203e-01 -5.00327831e-06 4.49421904e+00] [ 9.25634798e-03 -2.04809115e-04 9.99957138e-01 2.18173452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.359254154 meters 0.05857238037401445 Centerline is valid? [True, True] Translation: X:553.19, Y:4.49, Z:2.18 [[ 9.99730505e-01 -2.12929463e-02 -9.24810109e-03 5.53185694e+02] [ 2.12938123e-02 9.99773261e-01 -4.82498588e-06 4.49478578e+00] [ 9.24610692e-03 -1.92103643e-04 9.99957235e-01 2.18228558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.419254154 meters 0.05771597809081494 Centerline is valid? [True, True] Translation: X:553.25, Y:4.50, Z:2.18 [[ 9.99777632e-01 -1.85637722e-02 -1.00036817e-02 5.53247372e+02] [ 1.85646512e-02 9.99827662e-01 -4.99357928e-06 4.50133719e+00] [ 1.00020504e-02 -1.80722392e-04 9.99949962e-01 2.18416239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.479254154 meters 0.05839673107027001 Centerline is valid? [True, True] Translation: X:553.31, Y:4.49, Z:2.18 [[ 9.99772062e-01 -1.84433186e-02 -1.07549286e-02 5.53307354e+02] [ 1.84443298e-02 9.99829889e-01 -5.16332826e-06 4.49373537e+00] [ 1.07531943e-02 -1.93205298e-04 9.99942164e-01 2.18205652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.539254154 meters 0.05865168957219862 Centerline is valid? [True, True] Translation: X:553.37, Y:4.49, Z:2.18 [[ 9.99727652e-01 -2.09727614e-02 -1.02354490e-02 5.53368352e+02] [ 2.09738109e-02 9.99780025e-01 -4.80636320e-06 4.49099467e+00] [ 1.02332983e-02 -2.09871318e-04 9.99947616e-01 2.18294023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters 0.058711497133258364 Centerline is valid? [True, True] Translation: X:553.43, Y:4.49, Z:2.19 [[ 9.99672393e-01 -2.37206936e-02 -9.61437323e-03 5.53429453e+02] [ 2.37217478e-02 9.99718600e-01 -4.39502668e-06 4.49366719e+00] [ 9.61177199e-03 -2.23676150e-04 9.99953781e-01 2.18506612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.659254154 meters 0.05849724082967444 Centerline is valid? [True, True] Translation: X:553.49, Y:4.49, Z:2.19 [[ 9.99528551e-01 -2.91001094e-02 -9.79077294e-03 5.53489506e+02] [ 2.91014614e-02 9.99576463e-01 -4.38259116e-06 4.49302359e+00] [ 9.78675371e-03 -2.80545276e-04 9.99952069e-01 2.18591447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters 0.05868016181715179 Centerline is valid? [True, True] Translation: X:553.55, Y:4.49, Z:2.19 [[ 9.99340028e-01 -3.50701802e-02 -9.46526287e-03 5.53550655e+02] [ 3.50717121e-02 9.99384798e-01 -4.14174514e-06 4.48950333e+00] [ 9.45958507e-03 -3.27823963e-04 9.99955203e-01 2.18612355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.779254154 meters 0.058632642131169053 Centerline is valid? [True, True] Translation: X:553.61, Y:4.49, Z:2.19 [[ 9.99222277e-01 -3.83484910e-02 -9.17791463e-03 5.53610054e+02] [ 3.83500704e-02 9.99264365e-01 -3.90765398e-06 4.48840345e+00] [ 9.17131289e-03 -3.48069057e-04 9.99957882e-01 2.18681384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters 0.05838334480084082 Centerline is valid? [True, True] Translation: X:553.67, Y:4.49, Z:2.19 [[ 9.99121954e-01 -4.10320547e-02 -8.46713295e-03 5.53670907e+02] [ 4.10334958e-02 9.99157771e-01 -3.53022427e-06 4.49136232e+00] [ 8.46014654e-03 -3.43908940e-04 9.99964153e-01 2.18819563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.899254154 meters 0.059467898264022906 Centerline is valid? [True, True] Translation: X:553.73, Y:4.48, Z:2.19 [[ 9.99125336e-01 -4.09160392e-02 -8.62795793e-03 5.53732578e+02] [ 4.09175328e-02 9.99162527e-01 -3.41383620e-06 4.48106730e+00] [ 8.62087193e-03 -3.49623901e-04 9.99962778e-01 2.18666886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters 0.058696449523549875 Centerline is valid? [True, True] Translation: X:553.79, Y:4.49, Z:2.19 [[ 9.99177528e-01 -3.94541880e-02 -9.36134910e-03 5.53794484e+02] [ 3.94558852e-02 9.99221313e-01 -3.38966604e-06 4.48935320e+00] [ 9.35419328e-03 -3.65973437e-04 9.99956182e-01 2.18674383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.019254154 meters 0.05812590986836177 Centerline is valid? [True, True] Translation: X:553.86, Y:4.50, Z:2.19 [[ 9.99251471e-01 -3.73782756e-02 -9.96808157e-03 5.53855923e+02] [ 3.73800991e-02 9.99301120e-01 -3.37067700e-06 4.49576630e+00] [ 9.96124107e-03 -3.69239723e-04 9.99950317e-01 2.18701853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters 0.06057523853811344 Centerline is valid? [True, True] Translation: X:553.92, Y:4.48, Z:2.18 [[ 9.99407125e-01 -3.25392093e-02 -1.12516171e-02 5.53915488e+02] [ 3.25412265e-02 9.99470394e-01 -3.79242398e-06 4.47934054e+00] [ 1.12457816e-02 -3.62351246e-04 9.99936699e-01 2.18291161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.139254154 meters 0.05912248021980791 Centerline is valid? [True, True] Translation: X:553.98, Y:4.49, Z:2.18 [[ 9.99593973e-01 -2.62798691e-02 -1.10117255e-02 5.53976027e+02] [ 2.62814218e-02 9.99654584e-01 -3.70313413e-06 4.49234598e+00] [ 1.10080192e-02 -2.85702172e-04 9.99939369e-01 2.18455216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters 0.0586030148081984 Centerline is valid? [True, True] Translation: X:554.04, Y:4.50, Z:2.18 [[ 9.99702235e-01 -2.19552205e-02 -1.06494244e-02 5.54036467e+02] [ 2.19564281e-02 9.99758929e-01 -3.51854950e-06 4.49537726e+00] [ 1.06469343e-02 -2.30305818e-04 9.99943293e-01 2.18447860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.259254154 meters 0.05816426904153288 Centerline is valid? [True, True] Translation: X:554.10, Y:4.51, Z:2.19 [[ 9.99814462e-01 -1.71004704e-02 -8.86655443e-03 5.54097506e+02] [ 1.71011171e-02 9.99853765e-01 -2.87192106e-06 4.50763789e+00] [ 8.86530695e-03 -1.48756598e-04 9.99960691e-01 2.18745799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters 0.05797570724202372 Centerline is valid? [True, True] Translation: X:554.16, Y:4.51, Z:2.19 [[ 9.99885069e-01 -1.26820294e-02 -8.30754520e-03 5.54158280e+02] [ 1.26824452e-02 9.99919575e-01 -2.62727866e-06 4.51170391e+00] [ 8.30691038e-03 -1.02733010e-04 9.99965492e-01 2.18775217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.379254154 meters 0.05805364467155859 Centerline is valid? [True, True] Translation: X:554.22, Y:4.51, Z:2.19 [[ 9.99914237e-01 -1.00780252e-02 -8.36371281e-03 5.54219087e+02] [ 1.00783559e-02 9.99949212e-01 -2.61306751e-06 4.51465048e+00] [ 8.36331437e-03 -8.16796310e-05 9.99965024e-01 2.18817006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters 0.058179365091370595 Centerline is valid? [True, True] Translation: X:554.28, Y:4.52, Z:2.19 [[ 9.99945122e-01 -6.92949922e-03 -7.85721801e-03 5.54278677e+02] [ 6.92969285e-03 9.99975989e-01 -2.58140219e-06 4.51665735e+00] [ 7.85704724e-03 -5.18668469e-05 9.99969132e-01 2.18865611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.499254154 meters 0.05794653933016024 Centerline is valid? [True, True] Translation: X:554.34, Y:4.52, Z:2.19 [[ 9.99957512e-01 -4.81027229e-03 -7.86358627e-03 5.54338567e+02] [ 4.81039919e-03 9.99988430e-01 -2.77543996e-06 4.51749336e+00] [ 7.86350864e-03 -3.50516670e-05 9.99969082e-01 2.18932034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters 0.05746067122659795 Centerline is valid? [True, True] Translation: X:554.40, Y:4.52, Z:2.19 [[ 9.99959452e-01 -4.29668253e-03 -7.91411302e-03 5.54396546e+02] [ 4.29679104e-03 9.99990769e-01 -3.29170440e-06 4.51623572e+00] [ 7.91405411e-03 -3.07137190e-05 9.99968683e-01 2.18864960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.619254154 meters 0.057877491250521856 Centerline is valid? [True, True] Translation: X:554.45, Y:4.51, Z:2.19 [[ 9.99950064e-01 -6.06779234e-03 -7.94052739e-03 5.54454930e+02] [ 6.06795319e-03 9.99981590e-01 -3.83491838e-06 4.51393677e+00] [ 7.94040448e-03 -4.43480216e-05 9.99968473e-01 2.18848931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters 0.0578592393341423 Centerline is valid? [True, True] Translation: X:554.51, Y:4.51, Z:2.19 [[ 9.99923134e-01 -8.70621043e-03 -8.82768515e-03 5.54513562e+02] [ 8.70650999e-03 9.99962098e-01 -4.49604192e-06 4.50971642e+00] [ 8.82738970e-03 -7.23626326e-05 9.99961035e-01 2.18773739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.739254154 meters 0.057891480678255135 Centerline is valid? [True, True] Translation: X:554.57, Y:4.51, Z:2.19 [[ 9.99849085e-01 -1.49122603e-02 -8.91239796e-03 5.54573503e+02] [ 1.49128109e-02 9.99888798e-01 -4.67982630e-06 4.50566329e+00] [ 8.91147667e-03 -1.28229785e-04 9.99960284e-01 2.18861464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.799254154 meters 0.05864738141182753 Centerline is valid? [True, True] Translation: X:554.63, Y:4.50, Z:2.19 [[ 9.99776455e-01 -1.93143226e-02 -8.60213300e-03 5.54633950e+02] [ 1.93149985e-02 9.99813448e-01 -4.51048137e-06 4.49770848e+00] [ 8.60061537e-03 -1.61640713e-04 9.99963001e-01 2.18789903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.859254154 meters 0.05881533073837574 Centerline is valid? [True, True] Translation: X:554.69, Y:4.49, Z:2.19 [[ 9.99612320e-01 -2.67740483e-02 -7.63935128e-03 5.54694996e+02] [ 2.67747996e-02 9.99641491e-01 -3.91923225e-06 4.49432889e+00] [ 7.63671743e-03 -2.00624387e-04 9.99970820e-01 2.18889385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.919254154 meters 0.05931445726442011 Centerline is valid? [True, True] Translation: X:554.76, Y:4.49, Z:2.19 [[ 9.99452133e-01 -3.22916964e-02 -7.25817787e-03 5.54755342e+02] [ 3.22925206e-02 9.99478461e-01 -3.65138524e-06 4.48814762e+00] [ 7.25451035e-03 -2.30735473e-04 9.99973659e-01 2.18928227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.979254154 meters 0.059672438725474966 Centerline is valid? [True, True] Translation: X:554.82, Y:4.48, Z:2.19 [[ 9.99086662e-01 -4.20857995e-02 -7.39103747e-03 5.54816054e+02] [ 4.20869218e-02 9.99113953e-01 -3.69567194e-06 4.48172545e+00] [ 7.38464420e-03 -3.07373720e-04 9.99972686e-01 2.18880853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.039254154 meters 0.05886949629756571 Centerline is valid? [True, True] Translation: X:554.88, Y:4.48, Z:2.19 [[ 9.98671662e-01 -5.11173340e-02 -6.47532075e-03 5.54876587e+02] [ 5.11183848e-02 9.98692601e-01 -3.23196300e-06 4.48216366e+00] [ 6.46702013e-03 -3.27780268e-04 9.99979035e-01 2.18878517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters 0.0569188328987154 Centerline is valid? [True, True] Translation: X:554.94, Y:4.49, Z:2.19 [[ 9.98464729e-01 -5.51476380e-02 -5.18878392e-03 5.54937303e+02] [ 5.51483670e-02 9.98478171e-01 -2.58992357e-06 4.49027432e+00] [ 5.18103030e-03 -2.83567012e-04 9.99986538e-01 2.18900307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.159254154 meters 0.055816718576409415 Centerline is valid? [True, True] Translation: X:555.00, Y:4.50, Z:2.19 [[ 9.98298641e-01 -5.81960097e-02 -3.61205104e-03 5.54998555e+02] [ 5.81963828e-02 9.98305154e-01 -1.80646016e-06 4.49721545e+00] [ 3.60603430e-03 -2.08404918e-04 9.99993477e-01 2.18809346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters 0.05502737270797182 Centerline is valid? [True, True] Translation: X:555.06, Y:4.50, Z:2.19 [[ 9.98309011e-01 -5.80035992e-02 -3.83409605e-03 5.55061793e+02] [ 5.80040184e-02 9.98316350e-01 -1.86965321e-06 4.49812451e+00] [ 3.82774921e-03 -2.20526486e-04 9.99992650e-01 2.18726938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.279254154 meters 0.05772511287920037 Centerline is valid? [True, True] Translation: X:555.12, Y:4.49, Z:2.19 [[ 9.98441218e-01 -5.55552197e-02 -5.36199804e-03 5.55121774e+02] [ 5.55560083e-02 9.98455572e-01 -1.88462051e-06 4.48521815e+00] [ 5.35382153e-03 -2.96009525e-04 9.99985624e-01 2.18654080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters 0.06109028503676338 Centerline is valid? [True, True] Translation: X:555.18, Y:4.48, Z:2.19 [[ 9.98694523e-01 -5.06031729e-02 -6.96909091e-03 5.55181504e+02] [ 5.06043843e-02 9.98718777e-01 -2.51321290e-06 4.47591083e+00] [ 6.96028913e-03 -3.50156623e-04 9.99975716e-01 2.18566432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.399254154 meters 0.05619797183790002 Centerline is valid? [True, True] Translation: X:555.24, Y:4.50, Z:2.19 [[ 9.99209667e-01 -3.94558651e-02 -4.82463803e-03 5.55242542e+02] [ 3.94563158e-02 9.99221296e-01 -1.76266456e-06 4.50009127e+00] [ 4.82095061e-03 -1.88601170e-04 9.99988361e-01 2.18644530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters 0.05636564797068973 Centerline is valid? [True, True] Translation: X:555.30, Y:4.51, Z:2.19 [[ 9.99562801e-01 -2.93602839e-02 -3.49003158e-03 5.55302809e+02] [ 2.93604582e-02 9.99568889e-01 -1.28139735e-06 4.50524639e+00] [ 3.48856461e-03 -1.01188089e-04 9.99993910e-01 2.18679143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.519254154 meters 0.057098294698939546 Centerline is valid? [True, True] Translation: X:555.36, Y:4.51, Z:2.19 [[ 9.99918797e-01 -1.25625341e-02 -2.14081132e-03 5.55362192e+02] [ 1.25625612e-02 9.99921088e-01 -7.83096223e-07 4.51139689e+00] [ 2.14065222e-03 -2.61110405e-05 9.99997708e-01 2.18805747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters 0.05714549269858716 Centerline is valid? [True, True] Translation: X:555.42, Y:4.52, Z:2.19 [[ 9.99995168e-01 -2.78988113e-03 -1.37114613e-03 5.55423082e+02] [ 2.78988313e-03 9.99996108e-01 -4.57039231e-07 4.51868091e+00] [ 1.37114207e-03 -3.36830043e-06 9.99999060e-01 2.18790899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.639254154 meters 0.05678995191262841 Centerline is valid? [True, True] Translation: X:555.48, Y:4.52, Z:2.19 [[ 9.99971155e-01 7.38001959e-03 -1.79574728e-03 5.55482689e+02] [-7.38003264e-03 9.99972767e-01 -6.41134522e-07 4.52495620e+00] [ 1.79569364e-03 1.38937895e-05 9.99998388e-01 2.18720764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters 0.05682875365603951 Centerline is valid? [True, True] Translation: X:555.54, Y:4.53, Z:2.19 [[ 9.99944704e-01 1.01935299e-02 -2.58467439e-03 5.55541790e+02] [-1.01935660e-02 9.99948044e-01 -8.06569401e-07 4.52679140e+00] [ 2.58453188e-03 2.71535739e-05 9.99996660e-01 2.18660095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.759254154 meters 0.057163299595710364 Centerline is valid? [True, True] Translation: X:555.60, Y:4.52, Z:2.19 [[ 9.99934547e-01 1.05110573e-02 -4.51887305e-03 5.55599960e+02] [-1.05111749e-02 9.99944756e-01 -2.27317989e-06 4.52247911e+00] [ 4.51859951e-03 4.97716960e-05 9.99989790e-01 2.18601981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters 0.05712025541675835 Centerline is valid? [True, True] Translation: X:555.66, Y:4.52, Z:2.19 [[ 9.99960255e-01 8.42221241e-03 -2.92497131e-03 5.55658510e+02] [-8.42225299e-03 9.99964532e-01 -1.55595016e-06 4.52437839e+00] [ 2.92485446e-03 2.61907367e-05 9.99995722e-01 2.18646404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.879254154 meters 0.056267933868677796 Centerline is valid? [True, True] Translation: X:555.72, Y:4.52, Z:2.19 [[ 9.99985849e-01 5.03341830e-03 -1.72212206e-03 5.55716026e+02] [-5.03342728e-03 9.99987332e-01 -8.81020642e-07 4.51973402e+00] [ 1.72209581e-03 9.54918433e-06 9.99998517e-01 2.18682424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters 0.05615494457110106 Centerline is valid? [True, True] Translation: X:555.77, Y:4.51, Z:2.19 [[ 9.99999380e-01 1.11327328e-03 -1.00238506e-05 5.55774607e+02] [-1.11327328e-03 9.99999380e-01 2.10260703e-07 4.51391465e+00] [ 1.00240781e-05 -1.99101284e-07 1.00000000e+00 2.18633476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.999254154 meters 0.05613520324739566 Centerline is valid? [True, True] Translation: X:555.83, Y:4.51, Z:2.19 [[ 9.99999417e-01 -1.07962437e-03 3.53835622e-05 5.55834505e+02] [ 1.07962438e-03 9.99999417e-01 -1.53016981e-08 4.50955253e+00] [-3.53835254e-05 5.35026496e-08 9.99999999e-01 2.18518977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters 0.05627857885525355 Centerline is valid? [True, True] Translation: X:555.89, Y:4.50, Z:2.19 [[ 9.99990040e-01 -4.29507837e-03 1.21297729e-03 5.55894489e+02] [ 4.29508057e-03 9.99990776e-01 7.92953305e-07 4.50234005e+00] [-1.21296951e-03 4.41688978e-06 9.99999264e-01 2.18659891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.119254154 meters 0.05631247996878044 Centerline is valid? [True, True] Translation: X:555.96, Y:4.50, Z:2.19 [[ 9.99989130e-01 -4.63725898e-03 -4.85324986e-04 5.55956065e+02] [ 4.63725934e-03 9.99989248e-01 -4.03088128e-07 4.49786389e+00] [ 4.85321637e-04 -1.84749407e-06 9.99999882e-01 2.18560317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters 0.05713292257142576 Centerline is valid? [True, True] Translation: X:556.02, Y:4.49, Z:2.19 [[ 9.99995138e-01 -3.11828352e-03 -1.18309433e-05 5.56017451e+02] [ 3.11828352e-03 9.99995138e-01 -9.88446627e-08 4.49098726e+00] [ 1.18311936e-05 6.19519509e-08 1.00000000e+00 2.18505218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.239254154 meters 0.05705244087563167 Centerline is valid? [True, True] Translation: X:556.08, Y:4.49, Z:2.18 [[ 9.99999789e-01 6.46463505e-04 -5.70269210e-05 5.56078214e+02] [-6.46463509e-04 9.99999791e-01 -6.57628107e-08 4.48688471e+00] [ 5.70268662e-05 1.02628625e-07 9.99999998e-01 2.18446825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.299254154 meters 0.056584893167763946 Centerline is valid? [True, True] Translation: X:556.14, Y:4.48, Z:2.18 [[ 9.99995987e-01 2.78442780e-03 5.22123948e-04 5.56138232e+02] [-2.78442836e-03 9.99996123e-01 3.50305556e-07 4.48335585e+00] [-5.22120949e-04 -1.80412088e-06 9.99999864e-01 2.18366826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.359254154 meters 0.056514289947960615 Centerline is valid? [True, True] Translation: X:556.20, Y:4.48, Z:2.18 [[ 9.99994321e-01 3.37006928e-03 -3.31667190e-05 5.56197833e+02] [-3.37006928e-03 9.99994321e-01 4.73768052e-08 4.47541843e+00] [ 3.31666900e-05 6.43976088e-08 9.99999999e-01 2.18352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.419254154 meters 0.05719255940301804 Centerline is valid? [True, True] Translation: X:556.26, Y:4.47, Z:2.18 [[ 9.99997269e-01 1.71662280e-03 -1.58591340e-03 5.56257626e+02] [-1.71662649e-03 9.99998527e-01 -9.68642748e-07 4.46875416e+00] [ 1.58590940e-03 3.69106106e-06 9.99998742e-01 2.18290830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters 0.05787218816850822 Centerline is valid? [True, True] Translation: X:556.32, Y:4.46, Z:2.18 [[ 9.99987973e-01 -4.05913749e-03 -2.75280893e-03 5.56317610e+02] [ 4.05914811e-03 9.99991762e-01 -1.73082572e-06 4.45779744e+00] [ 2.75279328e-03 -9.44325425e-06 9.99996211e-01 2.18240145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.539254154 meters 0.05785304975533018 Centerline is valid? [True, True] Translation: X:556.38, Y:4.45, Z:2.18 [[ 9.99952123e-01 -9.58243832e-03 -1.98226656e-03 5.56377779e+02] [ 9.58245463e-03 9.99954087e-01 -1.26757795e-06 4.44810875e+00] [ 1.98218770e-03 -1.77274621e-05 9.99998035e-01 2.18209593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters 0.05794102869930787 Centerline is valid? [True, True] Translation: X:556.44, Y:4.44, Z:2.18 [[ 9.99835080e-01 -1.81129581e-02 -1.31695896e-03 5.56438354e+02] [ 1.81129727e-02 9.99835947e-01 -8.58471727e-07 4.43558167e+00] [ 1.31675845e-03 -2.29957114e-05 9.99999133e-01 2.18212245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.659254154 meters 0.05854315913001882 Centerline is valid? [True, True] Translation: X:556.50, Y:4.43, Z:2.18 [[ 9.99758037e-01 -2.19527509e-02 -1.39429123e-03 5.56498588e+02] [ 2.19527710e-02 9.99759009e-01 -9.04260255e-07 4.42815438e+00] [ 1.39397507e-03 -2.97045147e-05 9.99999028e-01 2.18292872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters 0.057431035660283854 Centerline is valid? [True, True] Translation: X:556.56, Y:4.43, Z:2.18 [[ 9.99696925e-01 -2.46144795e-02 4.31935427e-04 5.56559479e+02] [ 2.46144818e-02 9.99697018e-01 1.73898110e-07 4.42624183e+00] [-4.31808839e-04 1.04580213e-05 9.99999907e-01 2.18188199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.779254154 meters 0.058137691810531786 Centerline is valid? [True, True] Translation: X:556.62, Y:4.42, Z:2.18 [[ 9.99764508e-01 -2.16939977e-02 5.46624538e-04 5.56620772e+02] [ 2.16940008e-02 9.99764657e-01 2.17436258e-07 4.41995336e+00] [-5.46500611e-04 1.16410881e-05 9.99999851e-01 2.18168856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters 0.05773462430337729 Centerline is valid? [True, True] Translation: X:556.68, Y:4.42, Z:2.18 [[ 9.99841895e-01 -1.77663696e-02 7.35100661e-04 5.56680906e+02] [ 1.77663741e-02 9.99842166e-01 3.86599675e-07 4.41608190e+00] [-7.34991505e-04 1.26735348e-05 9.99999730e-01 2.18218020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.899254154 meters 0.057715219694610825 Centerline is valid? [True, True] Translation: X:556.74, Y:4.42, Z:2.18 [[ 9.99938596e-01 -1.10723672e-02 4.55031357e-04 5.56741876e+02] [ 1.10723682e-02 9.99938699e-01 2.22944953e-07 4.41661015e+00] [-4.55005932e-04 4.81534348e-06 9.99999896e-01 2.18002885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters 0.057967342010908925 Centerline is valid? [True, True] Translation: X:556.80, Y:4.42, Z:2.18 [[ 9.99974278e-01 -7.17217261e-03 -4.93984618e-05 5.56803482e+02] [ 7.17217261e-03 9.99974280e-01 -8.88180760e-08 4.41522581e+00] [ 4.93978279e-05 -2.65478499e-07 9.99999999e-01 2.17856664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.019254154 meters 0.058889466174972524 Centerline is valid? [True, True] Translation: X:556.86, Y:4.41, Z:2.18 [[ 9.99989602e-01 -4.20027132e-03 -1.77600746e-03 5.56864265e+02] [ 4.20027613e-03 9.99991179e-01 -1.02364620e-06 4.40738529e+00] [ 1.77599609e-03 -6.43608617e-06 9.99998423e-01 2.18001280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters 0.058426120395041345 Centerline is valid? [True, True] Translation: X:556.92, Y:4.40, Z:2.18 [[ 9.99978521e-01 -6.22824809e-03 -2.04143374e-03 5.56924266e+02] [ 6.22825893e-03 9.99980604e-01 -1.04700038e-06 4.40121829e+00] [ 2.04140067e-03 -1.16676000e-05 9.99997916e-01 2.17975790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.139254154 meters 0.05849685836840862 Centerline is valid? [True, True] Translation: X:556.98, Y:4.40, Z:2.18 [[ 9.99965228e-01 -7.93945097e-03 -2.55088234e-03 5.56984573e+02] [ 7.93947333e-03 9.99968482e-01 -1.36224960e-06 4.39868670e+00] [ 2.55081275e-03 -1.88904600e-05 9.99996746e-01 2.18016999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters 0.05897182794202723 Centerline is valid? [True, True] Translation: X:557.04, Y:4.39, Z:2.18 [[ 9.99917172e-01 -1.25178247e-02 -2.99206776e-03 5.57044670e+02] [ 1.25178760e-02 9.99921648e-01 -1.58596441e-06 4.39348775e+00] [ 2.99185318e-03 -3.58685002e-05 9.99995524e-01 2.18093884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.259254154 meters 0.058990158175219014 Centerline is valid? [True, True] Translation: X:557.11, Y:4.38, Z:2.18 [[ 9.99779341e-01 -2.09575682e-02 -1.43142786e-03 5.57105443e+02] [ 2.09575887e-02 9.99780366e-01 -7.29550209e-07 4.38161090e+00] [ 1.43112876e-03 -2.92698870e-05 9.99998975e-01 2.18182895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters 0.059593913740089106 Centerline is valid? [True, True] Translation: X:557.17, Y:4.38, Z:2.18 [[ 9.99658486e-01 -2.61321483e-02 -1.47641096e-04 5.57166032e+02] [ 2.61321486e-02 9.99658497e-01 -8.81997304e-08 4.37728290e+00] [ 1.47592980e-04 -3.77000944e-06 9.99999989e-01 2.18282658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.379254154 meters 0.06032646653451594 Centerline is valid? [True, True] Translation: X:557.23, Y:4.37, Z:2.18 [[ 9.99436962e-01 -3.35387410e-02 9.54826847e-04 5.57225256e+02] [ 3.35387558e-02 9.99437418e-01 5.05659080e-07 4.36760049e+00] [-9.54306637e-04 3.15183301e-05 9.99999544e-01 2.18431198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters 0.059256570090747876 Centerline is valid? [True, True] Translation: X:557.29, Y:4.37, Z:2.18 [[ 9.99151711e-01 -4.11798224e-02 2.83158478e-04 5.57285613e+02] [ 4.11798240e-02 9.99151751e-01 1.29508567e-07 4.36895845e+00] [-2.82923622e-04 1.15310176e-05 9.99999960e-01 2.18258873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.499254154 meters 0.06114808478490101 Centerline is valid? [True, True] Translation: X:557.35, Y:4.36, Z:2.18 [[ 9.98954513e-01 -4.57144521e-02 -2.65669744e-04 5.57345849e+02] [ 4.57144537e-02 9.98954548e-01 -1.49513597e-07 4.35921183e+00] [ 2.65398834e-04 -1.19955899e-05 9.99999965e-01 2.18317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters 0.061935472355564854 Centerline is valid? [True, True] Translation: X:557.41, Y:4.36, Z:2.18 [[ 9.98722655e-01 -5.04870724e-02 -2.02832569e-03 5.57405808e+02] [ 5.04871743e-02 9.98724709e-01 -9.78827484e-07 4.35554677e+00] [ 2.02578841e-03 -1.01426856e-04 9.99997943e-01 2.18314848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.619254154 meters 0.05935322654702536 Centerline is valid? [True, True] Translation: X:557.47, Y:4.37, Z:2.18 [[ 9.98685954e-01 -5.12163591e-02 -1.80286334e-03 5.57468281e+02] [ 5.12164406e-02 9.98687577e-01 -9.47939499e-07 4.36729524e+00] [ 1.80054577e-03 -9.13895492e-05 9.99998375e-01 2.18271249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters 0.06289092934958633 Centerline is valid? [True, True] Translation: X:557.53, Y:4.36, Z:2.18 [[ 9.98825083e-01 -4.83602623e-02 -3.12080847e-03 5.57528210e+02] [ 4.83604935e-02 9.98829947e-01 -1.35932656e-06 4.35810036e+00] [ 3.11722269e-03 -1.49566108e-04 9.99995130e-01 2.18324310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.739254154 meters 0.05862848421028334 Centerline is valid? [True, True] Translation: X:557.59, Y:4.38, Z:2.18 [[ 9.98952564e-01 -4.56678995e-02 -2.86677060e-03 5.57589110e+02] [ 4.56680835e-02 9.98956669e-01 -1.25985323e-06 4.37756318e+00] [ 2.86383714e-03 -1.29661386e-04 9.99995891e-01 2.18301621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.799254154 meters 0.05749543232188542 Centerline is valid? [True, True] Translation: X:557.65, Y:4.39, Z:2.18 [[ 9.99131957e-01 -4.15745625e-02 -2.62451539e-03 5.57650134e+02] [ 4.15747028e-02 9.99135398e-01 -1.11854057e-06 4.38918954e+00] [ 2.62229274e-03 -1.07995878e-04 9.99996556e-01 2.18306547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.859254154 meters 0.060722166089678994 Centerline is valid? [True, True] Translation: X:557.71, Y:4.38, Z:2.18 [[ 9.99293330e-01 -3.74963376e-02 -2.62025102e-03 5.57709688e+02] [ 3.74964635e-02 9.99296760e-01 -1.09364807e-06 4.38205116e+00] [ 2.61844937e-03 -9.71572716e-05 9.99996567e-01 2.18429718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.919254154 meters 0.05934131274007342 Centerline is valid? [True, True] Translation: X:557.77, Y:4.39, Z:2.18 [[ 9.99405994e-01 -3.43897765e-02 -2.23674470e-03 5.57770806e+02] [ 3.43898603e-02 9.99408494e-01 -9.78604034e-07 4.39411629e+00] [ 2.23545531e-03 -7.59433152e-05 9.99997498e-01 2.18469832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters 0.05931805278449207 Centerline is valid? [True, True] Translation: X:557.83, Y:4.40, Z:2.19 [[ 9.99606118e-01 -2.79408927e-02 -2.62979343e-03 5.57830233e+02] [ 2.79409864e-02 9.99609574e-01 -1.09706085e-06 4.40073776e+00] [ 2.62879735e-03 -7.23823939e-05 9.99996542e-01 2.18584072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.039254154 meters 0.06011277343803222 Centerline is valid? [True, True] Translation: X:557.89, Y:4.40, Z:2.19 [[ 9.99742471e-01 -2.25669991e-02 -2.39199496e-03 5.57889890e+02] [ 2.25670612e-02 9.99745331e-01 -1.03122899e-06 4.40205405e+00] [ 2.39140907e-03 -5.29493334e-05 9.99997139e-01 2.18657908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters 0.05808084973718233 Centerline is valid? [True, True] Translation: X:557.95, Y:4.42, Z:2.19 [[ 9.99893141e-01 -1.45085186e-02 -1.79171414e-03 5.57950121e+02] [ 1.45085405e-02 9.99894746e-01 -7.71465512e-07 4.41892154e+00] [ 1.79153675e-03 -2.52237742e-05 9.99998395e-01 2.18658430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.159254154 meters 0.058647613047829096 Centerline is valid? [True, True] Translation: X:558.01, Y:4.42, Z:2.19 [[ 9.99957005e-01 -9.01365813e-03 -2.17776705e-03 5.58011244e+02] [ 9.01367752e-03 9.99959376e-01 -9.11573068e-07 4.42402586e+00] [ 2.17768680e-03 -1.87181560e-05 9.99997629e-01 2.18719574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters 0.05807668583041594 Centerline is valid? [True, True] Translation: X:558.07, Y:4.43, Z:2.19 [[ 9.99969319e-01 -7.49342887e-03 -2.28224848e-03 5.58071154e+02] [ 7.49344596e-03 9.99971924e-01 -1.06491329e-06 4.42791268e+00] [ 2.28219238e-03 -1.60370250e-05 9.99997396e-01 2.18719891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.279254154 meters 0.057494755423492715 Centerline is valid? [True, True] Translation: X:558.13, Y:4.43, Z:2.19 [[ 9.99965883e-01 -7.95389515e-03 -2.22920975e-03 5.58131220e+02] [ 7.95391282e-03 9.99968367e-01 -9.38237624e-07 4.42613707e+00] [ 2.22914670e-03 -1.67927344e-05 9.99997515e-01 2.18773590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters 0.05807340794034043 Centerline is valid? [True, True] Translation: X:558.19, Y:4.42, Z:2.19 [[ 9.99951106e-01 -9.46905131e-03 -2.84997242e-03 5.58191549e+02] [ 9.46908645e-03 9.99955167e-01 -1.16570623e-06 4.42388583e+00] [ 2.84985568e-03 -2.58209859e-05 9.99995939e-01 2.18744114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.399254154 meters 0.058627108995604735 Centerline is valid? [True, True] Translation: X:558.25, Y:4.42, Z:2.19 [[ 9.99936396e-01 -1.09387415e-02 -2.74736534e-03 5.58252457e+02] [ 1.09387798e-02 9.99940170e-01 -1.08685932e-06 4.42250074e+00] [ 2.74721286e-03 -2.89660345e-05 9.99996226e-01 2.18733479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters 0.058285378505059826 Centerline is valid? [True, True] Translation: X:558.31, Y:4.42, Z:2.19 [[ 9.99884501e-01 -1.47371118e-02 -3.71507668e-03 5.58313130e+02] [ 1.47372079e-02 9.99891401e-01 -1.49081100e-06 4.42030313e+00] [ 3.71469520e-03 -5.32592187e-05 9.99993099e-01 2.18681899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.519254154 meters 0.05847855964405675 Centerline is valid? [True, True] Translation: X:558.37, Y:4.42, Z:2.19 [[ 9.99783288e-01 -2.02420536e-02 -4.86162696e-03 5.58373219e+02] [ 2.02422837e-02 9.99795104e-01 -1.87958442e-06 4.41533649e+00] [ 4.86066888e-03 -9.65312550e-05 9.99988182e-01 2.18611499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters 0.05812170950879084 Centerline is valid? [True, True] Translation: X:558.43, Y:4.42, Z:2.19 [[ 9.99705341e-01 -2.36632529e-02 -5.41118484e-03 5.58434592e+02] [ 2.36635890e-02 9.99719978e-01 -1.91692285e-06 4.41842364e+00] [ 5.40971495e-03 -1.26131696e-04 9.99985359e-01 2.18673165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.639254154 meters 0.059221603387534134 Centerline is valid? [True, True] Translation: X:558.50, Y:4.41, Z:2.19 [[ 9.99629889e-01 -2.66319684e-02 -5.55190001e-03 5.58495143e+02] [ 2.66323686e-02 9.99645296e-01 -1.84729988e-06 4.41447824e+00] [ 5.54997993e-03 -1.46013631e-04 9.99984588e-01 2.18763030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters 0.059178680739825386 Centerline is valid? [True, True] Translation: X:558.56, Y:4.41, Z:2.19 [[ 9.99619462e-01 -2.71570462e-02 -4.83995957e-03 5.58557029e+02] [ 2.71573568e-02 9.99631171e-01 -1.55113930e-06 4.41390015e+00] [ 4.83821658e-03 -1.29889960e-04 9.99988287e-01 2.18839611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.759254154 meters 0.05917785712365419 Centerline is valid? [True, True] Translation: X:558.62, Y:4.41, Z:2.19 [[ 9.99652761e-01 -2.60710417e-02 -3.82862057e-03 5.58618218e+02] [ 2.60712284e-02 9.99660088e-01 -1.12754835e-06 4.41466740e+00] [ 3.82734857e-03 -9.86896845e-05 9.99992671e-01 2.18996761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters 0.058756519339622205 Centerline is valid? [True, True] Translation: X:558.68, Y:4.42, Z:2.19 [[ 9.99646020e-01 -2.63617791e-02 -3.59039590e-03 5.58680264e+02] [ 2.63619455e-02 9.99652464e-01 -9.80980974e-07 4.41689410e+00] [ 3.58917397e-03 -9.36691872e-05 9.99993554e-01 2.19004218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.879254154 meters 0.059259844892217715 Centerline is valid? [True, True] Translation: X:558.74, Y:4.42, Z:2.19 [[ 9.99635967e-01 -2.68050565e-02 -3.06971386e-03 5.58741649e+02] [ 2.68051806e-02 9.99640677e-01 -7.21172242e-07 4.41555006e+00] [ 3.06863017e-03 -8.15633246e-05 9.99995288e-01 2.19022549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters 0.058241043926861906 Centerline is valid? [True, True] Translation: X:558.80, Y:4.42, Z:2.19 [[ 9.99597754e-01 -2.81976979e-02 -3.03632030e-03 5.58803570e+02] [ 2.81978259e-02 9.99602362e-01 -6.45798366e-07 4.42239615e+00] [ 3.03513115e-03 -8.49720926e-05 9.99995390e-01 2.18986651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.999254154 meters 0.05887844611827027 Centerline is valid? [True, True] Translation: X:558.86, Y:4.42, Z:2.19 [[ 9.99553594e-01 -2.96826146e-02 -3.39939428e-03 5.58864698e+02] [ 2.96827841e-02 9.99559369e-01 -5.93289385e-07 4.42118925e+00] [ 3.39791401e-03 -1.00310462e-04 9.99994222e-01 2.18976573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters 0.059072777068498894 Centerline is valid? [True, True] Translation: X:558.93, Y:4.42, Z:2.19 [[ 9.99466438e-01 -3.24669155e-02 -3.56922594e-03 5.58925370e+02] [ 3.24671204e-02 9.99472804e-01 -5.33751865e-07 4.42292112e+00] [ 3.56736159e-03 -1.15349021e-04 9.99993630e-01 2.18920760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.119254154 meters 0.05875572334575655 Centerline is valid? [True, True] Translation: X:558.99, Y:4.43, Z:2.19 [[ 9.99376087e-01 -3.51721101e-02 -3.21859958e-03 5.58986249e+02] [ 3.51722909e-02 9.99381264e-01 -4.28352459e-07 4.42748040e+00] [ 3.21662318e-03 -1.12777436e-04 9.99994820e-01 2.18967410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters 0.05985747811895421 Centerline is valid? [True, True] Translation: X:559.05, Y:4.42, Z:2.19 [[ 9.99239473e-01 -3.89525174e-02 -1.78255156e-03 5.59046188e+02] [ 3.89525789e-02 9.99241060e-01 -2.04586089e-07 4.42329477e+00] [ 1.78120668e-03 -6.92305496e-05 9.99998411e-01 2.19149419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.239254154 meters 0.05997028279792933 Centerline is valid? [True, True] Translation: X:559.11, Y:4.42, Z:2.19 [[ 9.99027105e-01 -4.40873076e-02 -1.07383846e-03 5.59106539e+02] [ 4.40873328e-02 9.99027681e-01 -1.62382466e-07 4.42286166e+00] [ 1.07280151e-03 -4.71804491e-05 9.99999423e-01 2.19228758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.299254154 meters 0.060534639981655466 Centerline is valid? [True, True] Translation: X:559.17, Y:4.43, Z:2.19 [[ 9.98817961e-01 -4.85996735e-02 -8.67078143e-04 5.59166888e+02] [ 4.85996917e-02 9.98818337e-01 -1.04794849e-07 4.42582635e+00] [ 8.66058641e-04 -4.20350594e-05 9.99999624e-01 2.19247678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.359254154 meters 0.059756982588553144 Centerline is valid? [True, True] Translation: X:559.23, Y:4.43, Z:2.19 [[ 9.98524556e-01 -5.42940094e-02 -9.33626943e-04 5.59226565e+02] [ 5.42940329e-02 9.98524991e-01 -1.16660374e-07 4.43106524e+00] [ 9.32256169e-04 -5.05738837e-05 9.99999564e-01 2.19314862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.419254154 meters 0.05902177567673656 Centerline is valid? [True, True] Translation: X:559.29, Y:4.44, Z:2.19 [[ 9.98404485e-01 -5.64630861e-02 -6.36259923e-04 5.59287184e+02] [ 5.64630975e-02 9.98404687e-01 -1.08003542e-07 4.43875219e+00] [ 6.35250987e-04 -3.58173749e-05 9.99999798e-01 2.19317423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters 0.059024947181398814 Centerline is valid? [True, True] Translation: X:559.35, Y:4.45, Z:2.19 [[ 9.98421823e-01 -5.61589192e-02 -1.96912220e-04 5.59349452e+02] [ 5.61589203e-02 9.98421843e-01 -1.42025117e-07 4.44767976e+00] [ 1.96609437e-04 -1.09165767e-05 9.99999981e-01 2.19293252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.539254154 meters 0.060301529713076195 Centerline is valid? [True, True] Translation: X:559.41, Y:4.45, Z:2.19 [[ 9.98617650e-01 -5.25342322e-02 -1.71550249e-03 5.59408966e+02] [ 5.25343093e-02 9.98619120e-01 -1.15628274e-07 4.44550951e+00] [ 1.71313966e-03 -9.00072700e-05 9.99998529e-01 2.19272536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters 0.058136047692856886 Centerline is valid? [True, True] Translation: X:559.47, Y:4.46, Z:2.19 [[ 9.98780858e-01 -4.93150168e-02 -2.19689586e-03 5.59469698e+02] [ 4.93151353e-02 9.98783269e-01 -2.05950762e-07 4.45891991e+00] [ 2.19423298e-03 -1.08134517e-04 9.99997587e-01 2.19185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.659254154 meters 0.05681621488339944 Centerline is valid? [True, True] Translation: X:559.53, Y:4.47, Z:2.19 [[ 9.99092462e-01 -4.24932960e-02 -2.92775782e-03 5.59530311e+02] [ 4.24934774e-02 9.99096744e-01 -2.34162650e-07 4.47112849e+00] [ 2.92512326e-03 -1.24176661e-04 9.99995714e-01 2.19147225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters 0.060615425697913485 Centerline is valid? [True, True] Translation: X:559.59, Y:4.46, Z:2.19 [[ 9.99302684e-01 -3.71596813e-02 -3.64752741e-03 5.59589764e+02] [ 3.71599274e-02 9.99309331e-01 -2.94549316e-07 4.46147894e+00] [ 3.64501912e-03 -1.35247510e-04 9.99993348e-01 2.19148413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.779254154 meters 0.05775490177199815 Centerline is valid? [True, True] Translation: X:559.65, Y:4.48, Z:2.19 [[ 9.99512449e-01 -3.10561505e-02 -3.22183184e-03 5.59650115e+02] [ 3.10563107e-02 9.99517636e-01 -2.90532160e-07 4.47798498e+00] [ 3.22028676e-03 -9.97678201e-05 9.99994810e-01 2.19137799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters 0.05785815777106461 Centerline is valid? [True, True] Translation: X:559.71, Y:4.48, Z:2.19 [[ 9.99645579e-01 -2.64159339e-02 -3.30377855e-03 5.59709284e+02] [ 2.64160771e-02 9.99651035e-01 -2.96720588e-07 4.48257535e+00] [ 3.30263348e-03 -8.69762536e-05 9.99994542e-01 2.19086046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.899254154 meters 0.057218925432823406 Centerline is valid? [True, True] Translation: X:559.77, Y:4.49, Z:2.19 [[ 9.99781371e-01 -2.06705270e-02 -3.15267449e-03 5.59769564e+02] [ 2.06706287e-02 9.99786340e-01 -3.11117769e-07 4.49102669e+00] [ 3.15200732e-03 -6.48567142e-05 9.99995030e-01 2.19001098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters 0.05685661577416695 Centerline is valid? [True, True] Translation: X:559.83, Y:4.49, Z:2.19 [[ 9.99852276e-01 -1.69230882e-02 -3.00584765e-03 5.59830612e+02] [ 1.69231637e-02 9.99856793e-01 -3.13124436e-07 4.49278448e+00] [ 3.00542249e-03 -5.05553738e-05 9.99995482e-01 2.19021140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.019254154 meters 0.057121437979245585 Centerline is valid? [True, True] Translation: X:559.89, Y:4.49, Z:2.19 [[ 9.99921323e-01 -1.19769484e-02 -3.72824722e-03 5.59890116e+02] [ 1.19770305e-02 9.99928273e-01 -3.10932549e-07 4.49157679e+00] [ 3.72798353e-03 -4.43424224e-05 9.99993050e-01 2.18958361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters 0.056422090596022434 Centerline is valid? [True, True] Translation: X:559.95, Y:4.49, Z:2.19 [[ 9.99944560e-01 -9.01441497e-03 -5.44222956e-03 5.59951230e+02] [ 9.01454612e-03 9.99959368e-01 -4.30553522e-07 4.48985921e+00] [ 5.44201231e-03 -4.86286997e-05 9.99985191e-01 2.18704031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.139254154 meters 0.05672478099697214 Centerline is valid? [True, True] Translation: X:560.01, Y:4.48, Z:2.19 [[ 9.99947328e-01 -8.76248310e-03 -5.34416902e-03 5.60011259e+02] [ 8.76260623e-03 9.99961608e-01 -3.73442183e-07 4.48344336e+00] [ 5.34396711e-03 -4.64554262e-05 9.99985720e-01 2.18631868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters 0.05645381031669176 Centerline is valid? [True, True] Translation: X:560.07, Y:4.48, Z:2.19 [[ 9.99931324e-01 -1.01327698e-02 -5.88841923e-03 5.60071995e+02] [ 1.01329429e-02 9.99948660e-01 -4.45412092e-07 4.47852597e+00] [ 5.88812143e-03 -5.92216341e-05 9.99982663e-01 2.18624072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.259254154 meters 0.05727619544515591 Centerline is valid? [True, True] Translation: X:560.13, Y:4.47, Z:2.19 [[ 9.99864068e-01 -1.44047596e-02 -8.02175642e-03 5.60132797e+02] [ 1.44052182e-02 9.99896239e-01 -6.06782094e-07 4.46853960e+00] [ 8.02093282e-03 -1.14948452e-04 9.99967825e-01 2.18513868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters 0.05800613895123045 Centerline is valid? [True, True] Translation: X:560.19, Y:4.46, Z:2.18 [[ 9.99798522e-01 -1.79867351e-02 -8.91029619e-03 5.60192931e+02] [ 1.79874450e-02 9.99838213e-01 -4.64755843e-07 4.45544485e+00] [ 8.90886298e-03 -1.59808800e-04 9.99960303e-01 2.18278904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.379254154 meters 0.058047778085258746 Centerline is valid? [True, True] Translation: X:560.25, Y:4.45, Z:2.18 [[ 9.99667452e-01 -2.40680615e-02 -9.25821291e-03 5.60253051e+02] [ 2.40690902e-02 9.99710298e-01 -3.05877698e-07 4.44526198e+00] [ 9.25553814e-03 -2.22530985e-04 9.99957142e-01 2.18349826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters 0.057922785630234064 Centerline is valid? [True, True] Translation: X:560.31, Y:4.44, Z:2.18 [[ 9.99574185e-01 -2.78935015e-02 -8.56746274e-03 5.60313951e+02] [ 2.78945232e-02 9.99610872e-01 -2.41784057e-07 4.43759584e+00] [ 8.56413565e-03 -2.38743607e-04 9.99963299e-01 2.18427761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.499254154 meters 0.056701541536655894 Centerline is valid? [True, True] Translation: X:560.38, Y:4.44, Z:2.19 [[ 9.99543038e-01 -2.91450843e-02 -8.01742936e-03 5.60375564e+02] [ 2.91460201e-02 9.99575165e-01 -1.27866038e-07 4.43733002e+00] [ 8.01402700e-03 -2.33548349e-04 9.99967860e-01 2.18557623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters 0.0587787078612238 Centerline is valid? [True, True] Translation: X:560.44, Y:4.42, Z:2.18 [[ 9.99541754e-01 -2.90583158e-02 -8.47921727e-03 5.60436718e+02] [ 2.90593608e-02 9.99577688e-01 4.16234023e-08 4.42137503e+00] [ 8.47563519e-03 -2.46442238e-04 9.99964051e-01 2.18461697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.619254154 meters 0.056955994915206094 Centerline is valid? [True, True] Translation: X:560.50, Y:4.43, Z:2.19 [[ 9.99566915e-01 -2.83154398e-02 -8.01364351e-03 5.60498052e+02] [ 2.83163508e-02 9.99599012e-01 2.27007900e-07 4.42919260e+00] [ 8.01042370e-03 -2.27144051e-04 9.99967890e-01 2.18627119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters 0.05845558068543276 Centerline is valid? [True, True] Translation: X:560.56, Y:4.42, Z:2.19 [[ 9.99616612e-01 -2.63403753e-02 -8.53315002e-03 5.60558102e+02] [ 2.63413376e-02 9.99653007e-01 3.81864557e-07 4.41984430e+00] [ 8.53017902e-03 -2.25156304e-04 9.99963592e-01 2.18558289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.739254154 meters 0.057617931964158986 Centerline is valid? [True, True] Translation: X:560.62, Y:4.42, Z:2.19 [[ 9.99624069e-01 -2.57058595e-02 -9.53573485e-03 5.60619445e+02] [ 2.57070340e-02 9.99669520e-01 5.97811390e-07 4.41947037e+00] [ 9.53256811e-03 -2.45733047e-04 9.99954534e-01 2.18600685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.799254154 meters 0.057961832881910424 Centerline is valid? [True, True] Translation: X:560.68, Y:4.42, Z:2.19 [[ 9.99603821e-01 -2.60086696e-02 -1.07586988e-02 5.60680394e+02] [ 2.60101840e-02 9.99661678e-01 8.37266465e-07 4.41524388e+00] [ 1.07550371e-02 -2.80672670e-04 9.99942124e-01 2.18553631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.859254154 meters 0.058478158218139585 Centerline is valid? [True, True] Translation: X:560.74, Y:4.41, Z:2.18 [[ 9.99576979e-01 -2.67576337e-02 -1.13970019e-02 5.60740175e+02] [ 2.67593856e-02 9.99641904e-01 1.22356331e-06 4.41011875e+00] [ 1.13928880e-02 -3.06199815e-04 9.99935052e-01 2.18495305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.919254154 meters 0.058435971020077596 Centerline is valid? [True, True] Translation: X:560.80, Y:4.41, Z:2.19 [[ 9.99578722e-01 -2.68222268e-02 -1.10881606e-02 5.60799958e+02] [ 2.68238901e-02 9.99640175e-01 1.29013135e-06 4.40913988e+00] [ 1.10841362e-02 -2.98717190e-04 9.99938524e-01 2.18652386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters 0.05931186396776444 Centerline is valid? [True, True] Translation: X:560.86, Y:4.41, Z:2.19 [[ 9.99591123e-01 -2.67074913e-02 -1.02125583e-02 5.60859724e+02] [ 2.67088962e-02 9.99643254e-01 1.18008913e-06 4.40601385e+00] [ 1.02088835e-02 -2.73945766e-04 9.99947850e-01 2.18747393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.039254154 meters 0.05854398235732263 Centerline is valid? [True, True] Translation: X:560.92, Y:4.41, Z:2.19 [[ 9.99601893e-01 -2.70279540e-02 -8.09603798e-03 5.60920663e+02] [ 2.70288477e-02 9.99634654e-01 9.79138266e-07 4.40751213e+00] [ 8.09305366e-03 -2.19805326e-04 9.99967227e-01 2.19004431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters 0.057425726723565246 Centerline is valid? [True, True] Translation: X:560.98, Y:4.41, Z:2.19 [[ 9.99555907e-01 -2.91272839e-02 -6.29204695e-03 5.60981977e+02] [ 2.91278658e-02 9.99575694e-01 8.44471791e-07 4.40764653e+00] [ 6.28935260e-03 -1.84117996e-04 9.99980205e-01 2.19177846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.159254154 meters 0.05821924329563921 Centerline is valid? [True, True] Translation: X:561.04, Y:4.41, Z:2.19 [[ 9.99459774e-01 -3.23651383e-02 -5.71471883e-03 5.61042552e+02] [ 3.23656718e-02 9.99476094e-01 8.71877105e-07 4.40704969e+00] [ 5.71169663e-03 -1.85832120e-04 9.99983671e-01 2.19180666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters 0.06008462163816998 Centerline is valid? [True, True] Translation: X:561.10, Y:4.40, Z:2.19 [[ 9.99207121e-01 -3.94150479e-02 -5.61995653e-03 5.61102225e+02] [ 3.94156755e-02 9.99222900e-01 9.06535310e-07 4.39598924e+00] [ 5.61555354e-03 -2.22420199e-04 9.99984208e-01 2.19091881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.279254154 meters 0.0608091765710744 Centerline is valid? [True, True] Translation: X:561.16, Y:4.39, Z:2.19 [[ 9.98956777e-01 -4.52931803e-02 -5.82107721e-03 5.61161674e+02] [ 4.52939535e-02 9.98973702e-01 9.88038972e-07 4.39288978e+00] [ 5.81505830e-03 -2.64646609e-04 9.99983057e-01 2.19104353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters 0.057697329137570356 Centerline is valid? [True, True] Translation: X:561.22, Y:4.41, Z:2.19 [[ 9.98545479e-01 -5.37098511e-02 -4.70942909e-03 5.61221895e+02] [ 5.37104505e-02 9.98556552e-01 8.12443949e-07 4.41298597e+00] [ 4.70258763e-03 -2.53756820e-04 9.99988911e-01 2.19168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.399254154 meters 0.05868820871904392 Centerline is valid? [True, True] Translation: X:561.28, Y:4.40, Z:2.19 [[ 9.98377018e-01 -5.67777488e-02 -4.42908886e-03 5.61281530e+02] [ 5.67783090e-02 9.98386811e-01 7.39872509e-07 4.40462432e+00] [ 4.42190189e-03 -2.52214847e-04 9.99990192e-01 2.19178346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters 0.06378898189183936 Centerline is valid? [True, True] Translation: X:561.34, Y:4.39, Z:2.19 [[ 9.98315874e-01 -5.79436704e-02 -2.81888596e-03 5.61341908e+02] [ 5.79439019e-02 9.98319841e-01 4.51092525e-07 4.39065652e+00] [ 2.81412365e-03 -1.63787585e-04 9.99996027e-01 2.19316720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.519254154 meters 0.06388573356839192 Centerline is valid? [True, True] Translation: X:561.40, Y:4.40, Z:2.19 [[ 9.98334586e-01 -5.76036853e-02 -3.14178517e-03 5.61403775e+02] [ 5.76039712e-02 9.98339513e-01 5.08099027e-07 4.39710776e+00] [ 3.13653901e-03 -1.81486556e-04 9.99995065e-01 2.19300867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters 0.0578650854535327 Centerline is valid? [True, True] Translation: X:561.46, Y:4.42, Z:2.19 [[ 9.98225597e-01 -5.94213587e-02 -3.84189323e-03 5.61464724e+02] [ 5.94218003e-02 9.98232964e-01 8.02329313e-07 4.42327217e+00] [ 3.83505679e-03 -2.29093118e-04 9.99992620e-01 2.19107075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.639254154 meters 0.057581982077510564 Centerline is valid? [True, True] Translation: X:561.53, Y:4.43, Z:2.19 [[ 9.98083521e-01 -6.16691321e-02 -5.11882687e-03 5.61525723e+02] [ 6.16699457e-02 9.98096597e-01 1.11299350e-06 4.42781850e+00] [ 5.10901505e-03 -3.16788636e-04 9.99986899e-01 2.19117381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters 0.06006796626756866 Centerline is valid? [True, True] Translation: X:561.59, Y:4.42, Z:2.19 [[ 9.97838984e-01 -6.55028360e-02 -5.17114758e-03 5.61585014e+02] [ 6.55037177e-02 9.97852325e-01 1.14213665e-06 4.41894496e+00] [ 5.15996682e-03 -3.39869060e-04 9.99986630e-01 2.19212987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.759254154 meters 0.0647896719693277 Centerline is valid? [True, True] Translation: X:561.65, Y:4.41, Z:2.19 [[ 9.97756691e-01 -6.67428917e-02 -5.19341501e-03 5.61645004e+02] [ 6.67437982e-02 9.97770147e-01 1.22107317e-06 4.41343093e+00] [ 5.18175296e-03 -3.47846577e-04 9.99986514e-01 2.19207676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters 0.057771921596506466 Centerline is valid? [True, True] Translation: X:561.71, Y:4.44, Z:2.19 [[ 9.97870798e-01 -6.50564841e-02 -4.63941813e-03 5.61705777e+02] [ 6.50571899e-02 9.97881537e-01 1.20440828e-06 4.44023193e+00] [ 4.62951134e-03 -3.03029350e-04 9.99989238e-01 2.19212936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.879254154 meters 0.059347531798845304 Centerline is valid? [True, True] Translation: X:561.76, Y:4.44, Z:2.19 [[ 9.98334755e-01 -5.74938596e-02 -4.70883869e-03 5.61764995e+02] [ 5.74945030e-02 9.98345823e-01 1.27893756e-06 4.44218671e+00] [ 4.70097591e-03 -2.72009148e-04 9.99988913e-01 2.19291213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters 0.05906919891235462 Centerline is valid? [True, True] Translation: X:561.82, Y:4.45, Z:2.19 [[ 9.98680709e-01 -5.11608513e-02 -4.40544273e-03 5.61824473e+02] [ 5.11613531e-02 9.98690400e-01 1.19246285e-06 4.44739949e+00] [ 4.39961236e-03 -2.26579301e-04 9.99990296e-01 2.19446103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.999254154 meters 0.05822812898388479 Centerline is valid? [True, True] Translation: X:561.88, Y:4.46, Z:2.20 [[ 9.99014963e-01 -4.41190220e-02 -4.75553330e-03 5.61884592e+02] [ 4.41195271e-02 9.99026260e-01 1.29019302e-06 4.45829188e+00] [ 4.75084572e-03 -2.11100802e-04 9.99988692e-01 2.19505496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters 0.05641199420991976 Centerline is valid? [True, True] Translation: X:561.95, Y:4.48, Z:2.19 [[ 9.99101954e-01 -4.21102232e-02 -4.69189126e-03 5.61945887e+02] [ 4.21106928e-02 9.99112951e-01 1.28691060e-06 4.47856533e+00] [ 4.68767513e-03 -1.98864546e-04 9.99988993e-01 2.19495823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.119254154 meters 0.05886820914122039 Centerline is valid? [True, True] Translation: X:562.01, Y:4.47, Z:2.19 [[ 9.99190675e-01 -3.97086874e-02 -6.41996911e-03 5.62005863e+02] [ 3.97095172e-02 9.99211266e-01 1.78546370e-06 4.46987493e+00] [ 6.41483456e-03 -2.56717892e-04 9.99979392e-01 2.19373374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters 0.05959255738450208 Centerline is valid? [True, True] Translation: X:562.07, Y:4.47, Z:2.19 [[ 9.99252162e-01 -3.80241439e-02 -7.02001977e-03 5.62067120e+02] [ 3.80250949e-02 9.99276785e-01 1.99866466e-06 4.47125401e+00] [ 7.01486678e-03 -2.68934088e-04 9.99975359e-01 2.19309581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.239254154 meters 0.0590879384150501 Centerline is valid? [True, True] Translation: X:562.13, Y:4.48, Z:2.19 [[ 9.99313219e-01 -3.63417041e-02 -7.23671209e-03 5.62128993e+02] [ 3.63426718e-02 9.99339387e-01 2.22033316e-06 4.47844664e+00] [ 7.23185074e-03 -2.65220261e-04 9.99973815e-01 2.19356828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.299254154 meters 0.05781246225671778 Centerline is valid? [True, True] Translation: X:562.19, Y:4.49, Z:2.20 [[ 9.99269455e-01 -3.76940984e-02 -6.30164680e-03 5.62190765e+02] [ 3.76948603e-02 9.99289296e-01 2.14351107e-06 4.48609481e+00] [ 6.29708740e-03 -2.39681641e-04 9.99980144e-01 2.19531322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.359254154 meters 0.05868535760825234 Centerline is valid? [True, True] Translation: X:562.25, Y:4.49, Z:2.20 [[ 9.99213893e-01 -3.92147463e-02 -5.81384183e-03 5.62251992e+02] [ 3.92154217e-02 9.99230780e-01 2.17082570e-06 4.48517662e+00] [ 5.80928458e-03 -2.30161379e-04 9.99983099e-01 2.19563137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.419254154 meters 0.0581086066306043 Centerline is valid? [True, True] Translation: X:562.31, Y:4.49, Z:2.20 [[ 9.99089119e-01 -4.23636430e-02 -5.12382364e-03 5.62312619e+02] [ 4.23642092e-02 9.99102234e-01 1.97541176e-06 4.48825945e+00] [ 5.11913996e-03 -2.19040349e-04 9.99986873e-01 2.19611369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters 0.05656099480117017 Centerline is valid? [True, True] Translation: X:562.37, Y:4.50, Z:2.20 [[ 9.98937661e-01 -4.57762383e-02 -5.29950041e-03 5.62373230e+02] [ 4.57768922e-02 9.98951689e-01 2.09373762e-06 4.49973191e+00] [ 5.29384904e-03 -2.44686172e-04 9.99985958e-01 2.19688041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.539254154 meters 0.058023015786586016 Centerline is valid? [True, True] Translation: X:562.43, Y:4.50, Z:2.20 [[ 9.98847450e-01 -4.75278481e-02 -6.69898051e-03 5.62433248e+02] [ 4.75289327e-02 9.98869862e-01 2.70317343e-06 4.49539492e+00] [ 6.69128126e-03 -3.21095451e-04 9.99977562e-01 2.19611552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters 0.05566990523604683 Centerline is valid? [True, True] Translation: X:562.49, Y:4.51, Z:2.20 [[ 9.98733905e-01 -4.97834148e-02 -7.22484752e-03 5.62494350e+02] [ 4.97847354e-02 9.98759971e-01 2.94784357e-06 4.51023070e+00] [ 7.21574175e-03 -3.62631234e-04 9.99973900e-01 2.19740788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.659254154 meters 0.05746401705534843 Centerline is valid? [True, True] Translation: X:562.56, Y:4.50, Z:2.20 [[ 9.98768664e-01 -4.91881308e-02 -6.45625585e-03 5.62555159e+02] [ 4.91891742e-02 9.98789480e-01 2.82839169e-06 4.50163308e+00] [ 6.44830130e-03 -3.20402803e-04 9.99979158e-01 2.19770270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters 0.057486036808668324 Centerline is valid? [True, True] Translation: X:562.61, Y:4.50, Z:2.20 [[ 9.99016688e-01 -4.39182187e-02 -6.07013241e-03 5.62614578e+02] [ 4.39190453e-02 9.99035093e-01 2.87832339e-06 4.50390562e+00] [ 6.06414889e-03 -2.69469914e-04 9.99981577e-01 2.19880146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.779254154 meters 0.056172519054412624 Centerline is valid? [True, True] Translation: X:562.68, Y:4.51, Z:2.20 [[ 9.99221947e-01 -3.89037551e-02 -6.48056450e-03 5.62675474e+02] [ 3.89045920e-02 9.99242930e-01 3.07930480e-06 4.51245460e+00] [ 6.47553846e-03 -2.55200627e-04 9.99979001e-01 2.19940650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters 0.05741151886545557 Centerline is valid? [True, True] Translation: X:562.74, Y:4.51, Z:2.20 [[ 9.99457425e-01 -3.19063693e-02 -8.17549341e-03 5.62735010e+02] [ 3.19074678e-02 9.99490827e-01 3.93040971e-06 4.51198175e+00] [ 8.17120527e-03 -2.64787570e-04 9.99966580e-01 2.19745711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.899254154 meters 0.05708318174112711 Centerline is valid? [True, True] Translation: X:562.80, Y:4.51, Z:2.20 [[ 9.99521979e-01 -2.97395234e-02 -8.44833824e-03 5.62796481e+02] [ 2.97406195e-02 9.99557650e-01 4.10182461e-06 4.51336690e+00] [ 8.44447913e-03 -2.55358676e-04 9.99964312e-01 2.19703065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters 0.05618862899924272 Centerline is valid? [True, True] Translation: X:562.86, Y:4.52, Z:2.20 [[ 9.99693937e-01 -2.30693671e-02 -8.93512920e-03 5.62856962e+02] [ 2.30703275e-02 9.99733845e-01 4.42479305e-06 4.52264712e+00] [ 8.93264899e-03 -2.10559796e-04 9.99960081e-01 2.19754662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.019254154 meters 0.05609216115672239 Centerline is valid? [True, True] Translation: X:562.92, Y:4.53, Z:2.20 [[ 9.99812582e-01 -1.72610406e-02 -8.76679442e-03 5.62917724e+02] [ 1.72617422e-02 9.99851005e-01 4.36525921e-06 4.52770818e+00] [ 8.76541286e-03 -1.55694587e-04 9.99961571e-01 2.19835753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters 0.05525615471243437 Centerline is valid? [True, True] Translation: X:562.98, Y:4.54, Z:2.20 [[ 9.99930543e-01 -8.63058175e-03 -8.02631916e-03 5.62977857e+02] [ 8.63089148e-03 9.99962753e-01 3.95082925e-06 4.53598711e+00] [ 8.02598611e-03 -7.32248445e-05 9.99967789e-01 2.19985723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.139254154 meters 0.05527110304436041 Centerline is valid? [True, True] Translation: X:563.04, Y:4.54, Z:2.20 [[ 9.99961454e-01 -3.97276750e-03 -7.82988541e-03 5.63036483e+02] [ 3.97291828e-03 9.99992108e-01 3.70316118e-06 4.53815724e+00] [ 7.82980891e-03 -3.48105133e-05 9.99969346e-01 2.20077195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters 0.05557277248673875 Centerline is valid? [True, True] Translation: X:563.10, Y:4.54, Z:2.20 [[ 9.99953794e-01 -5.52325224e-03 -7.86783564e-03 5.63095606e+02] [ 5.52345089e-03 9.99984746e-01 3.51891693e-06 4.53653448e+00] [ 7.86769618e-03 -4.69763581e-05 9.99969048e-01 2.20108687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.259254154 meters 0.05449690544179249 Centerline is valid? [True, True] Translation: X:563.16, Y:4.53, Z:2.20 [[ 9.99882024e-01 -1.32098563e-02 -7.83827954e-03 5.63155698e+02] [ 1.32102886e-02 9.99912740e-01 3.37688176e-06 4.53180436e+00] [ 7.83755096e-03 -1.06922418e-04 9.99969280e-01 2.20183068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters 0.05565907703944186 Centerline is valid? [True, True] Translation: X:563.22, Y:4.52, Z:2.20 [[ 9.99748943e-01 -2.06411493e-02 -8.71748952e-03 5.63215320e+02] [ 2.06419658e-02 9.99786932e-01 3.68666453e-06 4.52225728e+00] [ 8.71555600e-03 -1.83631859e-04 9.99962002e-01 2.20086778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.379254154 meters 0.05656212834061876 Centerline is valid? [True, True] Translation: X:563.28, Y:4.51, Z:2.20 [[ 9.99399515e-01 -3.29448595e-02 -1.07352466e-02 5.63275168e+02] [ 3.29468070e-02 9.99457107e-01 4.56862826e-06 4.51198382e+00] [ 1.07292680e-02 -3.58257983e-04 9.99942376e-01 2.20004133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters 0.055597344785348383 Centerline is valid? [True, True] Translation: X:563.34, Y:4.51, Z:2.20 [[ 9.99104689e-01 -4.08640084e-02 -1.09523066e-02 5.63335785e+02] [ 4.08665108e-02 9.99164615e-01 4.68403662e-06 4.51390450e+00] [ 1.09429658e-02 -4.52262398e-04 9.99940022e-01 2.20079632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.499254154 meters 0.05476323975046379 Centerline is valid? [True, True] Translation: X:563.40, Y:4.52, Z:2.20 [[ 9.98691931e-01 -5.01434716e-02 -1.00030115e-02 5.63396300e+02] [ 5.01460231e-02 9.98741897e-01 4.26901825e-06 4.51665671e+00] [ 9.99021261e-03 -5.05874679e-04 9.99949969e-01 2.20231480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters 0.05520360989703474 Centerline is valid? [True, True] Translation: X:563.46, Y:4.51, Z:2.20 [[ 9.98520635e-01 -5.35316254e-02 -9.53452674e-03 5.63457662e+02] [ 5.35340982e-02 9.98566022e-01 4.14060996e-06 4.51322204e+00] [ 9.52063279e-03 -5.14556776e-04 9.99954545e-01 2.20227427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.619254154 meters 0.054507427317113374 Centerline is valid? [True, True] Translation: X:563.52, Y:4.51, Z:2.20 [[ 9.98481843e-01 -5.43873104e-02 -8.71945221e-03 5.63519876e+02] [ 5.43894127e-02 9.98519800e-01 3.98795825e-06 4.51454149e+00] [ 8.70632879e-03 -4.78227789e-04 9.99961985e-01 2.20292699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters 0.05498556946798566 Centerline is valid? [True, True] Translation: X:563.58, Y:4.52, Z:2.20 [[ 9.98697317e-01 -5.03910945e-02 -8.02537462e-03 5.63581043e+02] [ 5.03927480e-02 9.98729478e-01 3.81718050e-06 4.51760590e+00] [ 8.01498586e-03 -4.08232889e-04 9.99967796e-01 2.20315182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.739254154 meters 0.05506290364328391 Centerline is valid? [True, True] Translation: X:563.64, Y:4.52, Z:2.20 [[ 9.98873832e-01 -4.67002456e-02 -8.37584440e-03 5.63640597e+02] [ 4.67019171e-02 9.98908870e-01 3.97454015e-06 4.51614694e+00] [ 8.36651966e-03 -3.95138055e-04 9.99964922e-01 2.20342784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.799254154 meters 0.05502242504009214 Centerline is valid? [True, True] Translation: X:563.70, Y:4.52, Z:2.20 [[ 9.99089072e-01 -4.16899904e-02 -9.10879041e-03 5.63701708e+02] [ 4.16917594e-02 9.99130521e-01 4.33214352e-06 4.52033690e+00] [ 9.10068990e-03 -3.84089696e-04 9.99958514e-01 2.20315119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.859254154 meters 0.05381141049763488 Centerline is valid? [True, True] Translation: X:563.76, Y:4.53, Z:2.20 [[ 9.99179205e-01 -3.91989782e-02 -1.02154863e-02 5.63762326e+02] [ 3.92010743e-02 9.99231342e-01 4.94991209e-06 4.52767097e+00] [ 1.02074401e-02 -4.05403887e-04 9.99947821e-01 2.20280080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.919254154 meters 0.05608315330294983 Centerline is valid? [True, True] Translation: X:563.82, Y:4.52, Z:2.20 [[ 9.99340381e-01 -3.36777864e-02 -1.35871421e-02 5.63821571e+02] [ 3.36809854e-02 9.99432635e-01 6.61952063e-06 4.51982173e+00] [ 1.35792103e-02 -4.64243487e-04 9.99907690e-01 2.19966813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters 0.055200601322460484 Centerline is valid? [True, True] Translation: X:563.88, Y:4.53, Z:2.20 [[ 9.99555147e-01 -2.66099776e-02 -1.34691524e-02 5.63882032e+02] [ 2.66124809e-02 9.99645825e-01 6.62319000e-06 4.52861258e+00] [ 1.34642057e-02 -3.65067803e-04 9.99909287e-01 2.20145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.039254154 meters 0.05607908042927836 Centerline is valid? [True, True] Translation: X:563.94, Y:4.53, Z:2.20 [[ 9.99713453e-01 -2.03990256e-02 -1.25256555e-02 5.63941720e+02] [ 2.04007026e-02 9.99791884e-01 6.11359331e-06 4.52761949e+00] [ 1.25229240e-02 -2.61644014e-04 9.99921551e-01 2.20117849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters 0.05499686668233302 Centerline is valid? [True, True] Translation: X:564.00, Y:4.54, Z:2.21 [[ 9.99908208e-01 -9.54629950e-03 -9.61475142e-03 5.64002880e+02] [ 9.54678637e-03 9.99954428e-01 4.74243553e-06 4.54278913e+00] [ 9.61426799e-03 -9.65319781e-05 9.99953777e-01 2.20730260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.159254154 meters 0.05575588707800469 Centerline is valid? [True, True] Translation: X:564.06, Y:4.55, Z:2.21 [[ 9.99959170e-01 3.24253402e-04 -9.03072466e-03 5.64063036e+02] [-3.24225958e-04 9.99999947e-01 4.50295577e-06 4.54779576e+00] [ 9.03072564e-03 -1.57477655e-06 9.99959222e-01 2.20929065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters 0.055456415028490864 Centerline is valid? [True, True] Translation: X:564.12, Y:4.55, Z:2.21 [[ 9.99952774e-01 3.72815775e-03 -8.97494956e-03 5.64120710e+02] [-3.72826958e-03 9.99993050e-01 4.27114214e-06 4.54808671e+00] [ 8.97490311e-03 2.91900910e-05 9.99959724e-01 2.20924459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.279254154 meters 0.05628031781626291 Centerline is valid? [True, True] Translation: X:564.18, Y:4.54, Z:2.21 [[ 9.99944822e-01 2.59315241e-03 -1.01797907e-02 5.64178102e+02] [-2.59324178e-03 9.99996638e-01 4.42001808e-06 4.54323101e+00] [ 1.01797679e-02 2.19788843e-05 9.99948185e-01 2.21040130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters 0.05582062784632898 Centerline is valid? [True, True] Translation: X:564.24, Y:4.53, Z:2.21 [[ 9.99924355e-01 -3.98441689e-03 -1.16365140e-02 5.64237009e+02] [ 3.98474131e-03 9.99992061e-01 4.69495897e-06 4.53382529e+00] [ 1.16364029e-02 -5.10631020e-05 9.99932293e-01 2.20943653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.399254154 meters 0.05602718318658123 Centerline is valid? [True, True] Translation: X:564.30, Y:4.53, Z:2.21 [[ 9.99885746e-01 -9.02764682e-03 -1.21242311e-02 5.64295634e+02] [ 9.02836620e-03 9.99959243e-01 4.60124486e-06 4.52522742e+00] [ 1.21236954e-02 -1.14062717e-04 9.99926499e-01 2.20919529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters 0.056118020178440024 Centerline is valid? [True, True] Translation: X:564.36, Y:4.51, Z:2.21 [[ 9.99814540e-01 -1.57065284e-02 -1.11440435e-02 5.64355916e+02] [ 1.57075494e-02 9.99876629e-01 4.08858122e-06 4.51281070e+00] [ 1.11426044e-02 -1.79133436e-04 9.99937903e-01 2.21048152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.519254154 meters 0.05757947421282157 Centerline is valid? [True, True] Translation: X:564.42, Y:4.50, Z:2.21 [[ 9.99752828e-01 -1.94927987e-02 -1.06917401e-02 5.64416523e+02] [ 1.94939545e-02 9.99809975e-01 3.89374431e-06 4.50299688e+00] [ 1.06896325e-02 -2.12317077e-04 9.99942842e-01 2.21114871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters 0.05770536647416721 Centerline is valid? [True, True] Translation: X:564.48, Y:4.50, Z:2.21 [[ 9.99710789e-01 -2.19419288e-02 -9.84323338e-03 5.64476804e+02] [ 2.19430271e-02 9.99759223e-01 3.58473303e-06 4.49534702e+00] [ 9.84078470e-03 -2.19574033e-04 9.99951554e-01 2.21343390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.639254154 meters 0.058245535644179475 Centerline is valid? [True, True] Translation: X:564.54, Y:4.49, Z:2.21 [[ 9.99742841e-01 -2.02383770e-02 -1.02303252e-02 5.64537823e+02] [ 2.02394752e-02 9.99795161e-01 3.82172724e-06 4.49025316e+00] [ 1.02281523e-02 -2.10877158e-04 9.99947669e-01 2.21345499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters 0.05706024782950424 Centerline is valid? [True, True] Translation: X:564.60, Y:4.49, Z:2.22 [[ 9.99837718e-01 -1.49407004e-02 -1.00654244e-02 5.64598227e+02] [ 1.49414955e-02 9.99888370e-01 3.79745625e-06 4.49237985e+00] [ 1.00642441e-02 -1.54189334e-04 9.99949342e-01 2.21549147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.759254154 meters 0.05666899016651051 Centerline is valid? [True, True] Translation: X:564.66, Y:4.49, Z:2.21 [[ 9.99862854e-01 -1.29881396e-02 -1.02752805e-02 5.64657718e+02] [ 1.29888645e-02 9.99915641e-01 3.81084210e-06 4.48841045e+00] [ 1.02743642e-02 -1.37274546e-04 9.99947208e-01 2.21461751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters 0.0568890910441242 Centerline is valid? [True, True] Translation: X:564.72, Y:4.48, Z:2.22 [[ 9.99927564e-01 -5.76157909e-03 -1.05674787e-02 5.64717514e+02] [ 5.76194075e-03 9.99983400e-01 3.77817215e-06 4.48454200e+00] [ 1.05672816e-02 -6.46670849e-05 9.99944163e-01 2.21505159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.879254154 meters 0.05704032961976968 Centerline is valid? [True, True] Translation: X:564.78, Y:4.48, Z:2.21 [[ 9.99948150e-01 2.28153180e-05 -1.01831314e-02 5.64775670e+02] [-2.27826007e-05 1.00000000e+00 3.32882519e-06 4.48281999e+00] [ 1.01831315e-02 -3.09665437e-06 9.99948151e-01 2.21398983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters 0.05789177690705697 Centerline is valid? [True, True] Translation: X:564.84, Y:4.48, Z:2.21 [[ 9.99893950e-01 9.26902735e-03 -1.12327413e-02 5.64835571e+02] [-9.26957353e-03 9.99957037e-01 3.43944596e-06 4.48183129e+00] [ 1.12322906e-02 1.00683640e-04 9.99936911e-01 2.21293913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.999254154 meters 0.05839781502983561 Centerline is valid? [True, True] Translation: X:564.90, Y:4.47, Z:2.22 [[ 9.99830758e-01 1.39011581e-02 -1.20504313e-02 5.64895443e+02] [-1.39021251e-02 9.99903361e-01 3.52368203e-06 4.47318530e+00] [ 1.20493157e-02 1.64003517e-04 9.99927391e-01 2.21667223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters 0.05871949715051015 Centerline is valid? [True, True] Translation: X:564.95, Y:4.47, Z:2.21 [[ 9.99837470e-01 1.31615820e-02 -1.23209371e-02 5.64954712e+02] [-1.31625401e-02 9.99913370e-01 3.33130917e-06 4.46770157e+00] [ 1.23199135e-02 1.58844061e-04 9.99924094e-01 2.21386723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.119254154 meters 0.05759335849245938 Centerline is valid? [True, True] Translation: X:565.01, Y:4.45, Z:2.21 [[ 9.99902117e-01 4.27125742e-03 -1.33234291e-02 5.65013204e+02] [-4.27159303e-03 9.99990877e-01 3.26733913e-06 4.45431604e+00] [ 1.33233215e-02 5.36452478e-05 9.99911239e-01 2.21329427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters 0.058702016494872104 Centerline is valid? [True, True] Translation: X:565.07, Y:4.44, Z:2.21 [[ 9.99912914e-01 -3.83595288e-03 -1.26273761e-02 5.65071867e+02] [ 3.83629098e-03 9.99992641e-01 2.55288245e-06 4.44322225e+00] [ 1.26272734e-02 -5.09949493e-05 9.99920271e-01 2.21472971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.239254154 meters 0.0590386284102282 Centerline is valid? [True, True] Translation: X:565.13, Y:4.43, Z:2.22 [[ 9.99825943e-01 -1.46222575e-02 -1.15876487e-02 5.65130809e+02] [ 1.46232638e-02 9.99893074e-01 2.11499379e-06 4.42692431e+00] [ 1.15863788e-02 -1.71563871e-04 9.99932861e-01 2.21641337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.299254154 meters 0.0590083958029319 Centerline is valid? [True, True] Translation: X:565.19, Y:4.41, Z:2.22 [[ 9.99736348e-01 -2.07552831e-02 -9.82106426e-03 5.65190358e+02] [ 2.07563011e-02 9.99784565e-01 1.72966495e-06 4.41463806e+00] [ 9.81891255e-03 -2.05578176e-04 9.99951772e-01 2.21830318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.359254154 meters 0.05967564987168585 Centerline is valid? [True, True] Translation: X:565.25, Y:4.41, Z:2.22 [[ 9.99721725e-01 -2.14649697e-02 -9.78407214e-03 5.65250450e+02] [ 2.14660113e-02 9.99769579e-01 1.43978662e-06 4.40860577e+00] [ 9.78178677e-03 -2.11464389e-04 9.99952135e-01 2.21892443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.419254154 meters 0.0584442830339088 Centerline is valid? [True, True] Translation: X:565.31, Y:4.41, Z:2.22 [[ 9.99739145e-01 -2.05732396e-02 -9.91883149e-03 5.65311278e+02] [ 2.05742645e-02 9.99788327e-01 1.28654051e-06 4.40836795e+00] [ 9.91670548e-03 -2.05358868e-04 9.99950807e-01 2.21952547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters 0.059742684844087866 Centerline is valid? [True, True] Translation: X:565.37, Y:4.40, Z:2.22 [[ 9.99765278e-01 -1.87488799e-02 -1.08566998e-02 5.65370738e+02] [ 1.87499996e-02 9.99824203e-01 1.34954825e-06 4.39809949e+00] [ 1.08547660e-02 -2.04912350e-04 9.99941064e-01 2.21734419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.539254154 meters 0.05938844075204624 Centerline is valid? [True, True] Translation: X:565.43, Y:4.40, Z:2.22 [[ 9.99822366e-01 -1.51828337e-02 -1.11677658e-02 5.65431056e+02] [ 1.51837951e-02 9.99884720e-01 1.29600475e-06 4.39954527e+00] [ 1.11664587e-02 -1.70864842e-04 9.99937639e-01 2.21822242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters 0.0593621652728629 Centerline is valid? [True, True] Translation: X:565.49, Y:4.40, Z:2.22 [[ 9.99870649e-01 -9.68388542e-03 -1.28416184e-02 5.65490775e+02] [ 9.68469983e-03 9.99953102e-01 1.23358816e-06 4.39998144e+00] [ 1.28410042e-02 -1.25600648e-04 9.99917543e-01 2.21768916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.659254154 meters 0.05897098519474821 Centerline is valid? [True, True] Translation: X:565.55, Y:4.40, Z:2.22 [[ 9.99897463e-01 -4.27634958e-03 -1.36666097e-02 5.65549427e+02] [ 4.27674970e-03 9.99990855e-01 5.15937121e-08 4.40098085e+00] [ 1.36664845e-02 -5.85002576e-05 9.99906608e-01 2.21828016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters 0.05981290756289549 Centerline is valid? [True, True] Translation: X:565.61, Y:4.40, Z:2.22 [[ 9.99898132e-01 3.30910137e-03 -1.38843882e-02 5.65607359e+02] [-3.30944402e-03 9.99994524e-01 -1.70233035e-06 4.40121545e+00] [ 1.38843065e-02 4.76517623e-05 9.99903607e-01 2.21990155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.779254154 meters 0.0602708902740705 Centerline is valid? [True, True] Translation: X:565.67, Y:4.40, Z:2.22 [[ 9.99885870e-01 6.58784031e-03 -1.35958827e-02 5.65665522e+02] [-6.58848430e-03 9.99978296e-01 -2.57660754e-06 4.40102816e+00] [ 1.35955706e-02 9.21525730e-05 9.99907572e-01 2.22004165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters 0.06017639043402927 Centerline is valid? [True, True] Translation: X:565.72, Y:4.40, Z:2.22 [[ 9.99889581e-01 6.99291468e-03 -1.31120225e-02 5.65723432e+02] [-6.99355577e-03 9.99975545e-01 -3.04205259e-06 4.39527100e+00] [ 1.31116806e-02 9.47413776e-05 9.99914034e-01 2.22425890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.899254154 meters 0.06045703409790137 Centerline is valid? [True, True] Translation: X:565.78, Y:4.39, Z:2.22 [[ 9.99903956e-01 1.24452509e-03 -1.38032850e-02 5.65782339e+02] [-1.24469321e-03 9.99999225e-01 -3.58919742e-06 4.38876144e+00] [ 1.38032698e-02 2.07697078e-05 9.99904730e-01 2.22380531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters 0.060487228465531895 Centerline is valid? [True, True] Translation: X:565.84, Y:4.38, Z:2.22 [[ 9.99890870e-01 -6.10043531e-03 -1.34548197e-02 5.65841190e+02] [ 6.10093627e-03 9.99981389e-01 -3.81223996e-06 4.38200933e+00] [ 1.34545926e-02 -7.82751738e-05 9.99909480e-01 2.22355078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.019254154 meters 0.06073350428311945 Centerline is valid? [True, True] Translation: X:565.90, Y:4.37, Z:2.22 [[ 9.99704075e-01 -1.99946465e-02 -1.38555764e-02 5.65900836e+02] [ 1.99965104e-02 9.99800050e-01 -4.01865742e-06 4.36822215e+00] [ 1.38528863e-02 -2.73045709e-04 9.99904007e-01 2.22337659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters 0.06112533497480918 Centerline is valid? [True, True] Translation: X:565.96, Y:4.36, Z:2.22 [[ 9.99452233e-01 -3.01194624e-02 -1.37132139e-02 5.65961341e+02] [ 3.01222401e-02 9.99546222e-01 -3.99142032e-06 4.36101320e+00] [ 1.37071113e-02 -4.09083486e-04 9.99905969e-01 2.22476130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.139254154 meters 0.062080635724534074 Centerline is valid? [True, True] Translation: X:566.02, Y:4.34, Z:2.23 [[ 9.98989104e-01 -4.33378458e-02 -1.19415898e-02 5.66020722e+02] [ 4.33408947e-02 9.99060342e-01 -3.46916574e-06 4.34306133e+00] [ 1.19305191e-02 -5.14093527e-04 9.99928697e-01 2.22506748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters 0.06442842094387796 Centerline is valid? [True, True] Translation: X:566.08, Y:4.34, Z:2.23 [[ 9.98599847e-01 -5.16787879e-02 -1.12981382e-02 5.66080772e+02] [ 5.16820499e-02 9.98663590e-01 -3.25411433e-06 4.33661623e+00] [ 1.12832074e-02 -5.80661381e-04 9.99936174e-01 2.22610833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.259254154 meters 0.061697631619612336 Centerline is valid? [True, True] Translation: X:566.14, Y:4.35, Z:2.23 [[ 9.98412209e-01 -5.52317929e-02 -1.10683938e-02 5.66141785e+02] [ 5.52351430e-02 9.98473374e-01 -3.01656865e-06 4.35263951e+00] [ 1.10516631e-02 -6.08352534e-04 9.99938743e-01 2.22820637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters 0.060274332076791455 Centerline is valid? [True, True] Translation: X:566.20, Y:4.36, Z:2.23 [[ 9.98293263e-01 -5.72984283e-02 -1.12894404e-02 5.66202817e+02] [ 5.73020468e-02 9.98356888e-01 -2.94405931e-06 4.36077504e+00] [ 1.12710592e-02 -6.43969006e-04 9.99936272e-01 2.22909570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.379254154 meters 0.06202175610636265 Centerline is valid? [True, True] Translation: X:566.26, Y:4.35, Z:2.23 [[ 9.98297560e-01 -5.72176165e-02 -1.13193218e-02 5.66263612e+02] [ 5.72212514e-02 9.98361522e-01 -2.73935059e-06 4.35082133e+00] [ 1.13009321e-02 -6.44971072e-04 9.99935934e-01 2.22768570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters 0.06168988689571221 Centerline is valid? [True, True] Translation: X:566.33, Y:4.36, Z:2.23 [[ 9.98252782e-01 -5.80335869e-02 -1.11124737e-02 5.66325145e+02] [ 5.80371430e-02 9.98314424e-01 -2.47200318e-06 4.35821637e+00] [ 1.10938862e-02 -6.42468539e-04 9.99938255e-01 2.22851664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.499254154 meters 0.06095993972005344 Centerline is valid? [True, True] Translation: X:566.39, Y:4.37, Z:2.23 [[ 9.98134347e-01 -5.97840070e-02 -1.23974598e-02 5.66385613e+02] [ 5.97885699e-02 9.98211063e-01 -2.58097755e-06 4.36641930e+00] [ 1.23754358e-02 -7.38650227e-04 9.99923149e-01 2.22778586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters 0.05944103355642175 Centerline is valid? [True, True] Translation: X:566.45, Y:4.38, Z:2.23 [[ 9.98024586e-01 -6.13873513e-02 -1.33611118e-02 5.66447011e+02] [ 6.13927972e-02 9.98113683e-01 -2.56303822e-06 4.37871506e+00] [ 1.33360658e-02 -8.17718050e-04 9.99910736e-01 2.22846483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.619254154 meters 0.058627193388779655 Centerline is valid? [True, True] Translation: X:566.51, Y:4.39, Z:2.23 [[ 9.97962723e-01 -6.23654954e-02 -1.34517235e-02 5.66508514e+02] [ 6.23711072e-02 9.98053027e-01 -2.34697702e-06 4.38502083e+00] [ 1.34256797e-02 -8.36656692e-04 9.99909521e-01 2.22850123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters 0.05851579677098734 Centerline is valid? [True, True] Translation: X:566.57, Y:4.39, Z:2.23 [[ 9.97985222e-01 -6.20061186e-02 -1.34438542e-02 5.66569628e+02] [ 6.20116955e-02 9.98075423e-01 -2.03469041e-06 4.38552608e+00] [ 1.34181066e-02 -8.31645602e-04 9.99909627e-01 2.22908595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.739254154 meters 0.058700954140935534 Centerline is valid? [True, True] Translation: X:566.63, Y:4.39, Z:2.23 [[ 9.98142590e-01 -5.99758558e-02 -1.06895204e-02 5.66630404e+02] [ 5.99792663e-02 9.98199623e-01 -1.53598721e-06 4.39431481e+00] [ 1.06703674e-02 -6.39616459e-04 9.99942865e-01 2.23017814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.799254154 meters 0.058826738451562 Centerline is valid? [True, True] Translation: X:566.69, Y:4.40, Z:2.23 [[ 9.98354392e-01 -5.64516252e-02 -1.00857788e-02 5.66689623e+02] [ 5.64544815e-02 9.98405174e-01 -1.50513279e-06 4.39857948e+00] [ 1.00697787e-02 -5.67884756e-04 9.99949137e-01 2.23049102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.859254154 meters 0.059135997532671604 Centerline is valid? [True, True] Translation: X:566.75, Y:4.40, Z:2.23 [[ 9.98774140e-01 -4.85171123e-02 -9.81361828e-03 5.66749440e+02] [ 4.85194345e-02 9.98822239e-01 -1.45528953e-06 4.40345046e+00] [ 9.80213079e-03 -4.74697704e-04 9.99951845e-01 2.23054795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.919254154 meters 0.05977068486057316 Centerline is valid? [True, True] Translation: X:566.81, Y:4.41, Z:2.23 [[ 9.99028868e-01 -4.29327129e-02 -9.90468416e-03 5.66809371e+02] [ 4.29348047e-02 9.99077876e-01 -1.43926379e-06 4.40681589e+00] [ 9.89561261e-03 -4.23817814e-04 9.99950947e-01 2.23020783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters 0.060290446296689136 Centerline is valid? [True, True] Translation: X:566.87, Y:4.41, Z:2.23 [[ 9.99271115e-01 -3.67879824e-02 -1.01923130e-02 5.66868735e+02] [ 3.67898778e-02 9.99323023e-01 -1.52234482e-06 4.41485601e+00] [ 1.01854690e-02 -3.73452714e-04 9.99948057e-01 2.23056667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.039254154 meters 0.05834803964035211 Centerline is valid? [True, True] Translation: X:566.93, Y:4.42, Z:2.23 [[ 9.99381592e-01 -3.33001553e-02 -1.12930665e-02 5.66929498e+02] [ 3.33022607e-02 9.99445326e-01 -1.61691499e-06 4.42342213e+00] [ 1.12868564e-02 -3.74468729e-04 9.99936231e-01 2.23032670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters 0.05887825139104474 Centerline is valid? [True, True] Translation: X:566.99, Y:4.42, Z:2.23 [[ 9.99414831e-01 -3.21601230e-02 -1.16499579e-02 5.66990011e+02] [ 3.21622876e-02 9.99482660e-01 -1.55017890e-06 4.42364813e+00] [ 1.16439808e-02 -3.73140026e-04 9.99932137e-01 2.22940210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.159254154 meters 0.059778866121856976 Centerline is valid? [True, True] Translation: X:567.05, Y:4.42, Z:2.23 [[ 9.99456978e-01 -3.07650772e-02 -1.18008532e-02 5.67049829e+02] [ 3.07672014e-02 9.99526578e-01 -1.53739355e-06 4.42290392e+00] [ 1.17953137e-02 -3.61542669e-04 9.99930367e-01 2.22887508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters 0.05962026213900766 Centerline is valid? [True, True] Translation: X:567.11, Y:4.43, Z:2.23 [[ 9.99491799e-01 -2.98614048e-02 -1.11553143e-02 5.67110079e+02] [ 2.98632465e-02 9.99553994e-01 -1.47264699e-06 4.42729176e+00] [ 1.11503829e-02 -3.31662002e-04 9.99937778e-01 2.22981333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.279254154 meters 0.060406063840020854 Centerline is valid? [True, True] Translation: X:567.17, Y:4.43, Z:2.23 [[ 9.99504016e-01 -2.94841060e-02 -1.10639252e-02 5.67170193e+02] [ 2.94858967e-02 9.99565196e-01 -1.26994445e-06 4.42640968e+00] [ 1.10591520e-02 -3.24960441e-04 9.99938793e-01 2.22990006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters 0.06018350910016548 Centerline is valid? [True, True] Translation: X:567.23, Y:4.43, Z:2.23 [[ 9.99472061e-01 -3.13864924e-02 -8.39571015e-03 5.67231367e+02] [ 3.13875922e-02 9.99507288e-01 -7.73507886e-07 4.42789335e+00] [ 8.39159776e-03 -2.62748027e-04 9.99964755e-01 2.23219676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.399254154 meters 0.0602575449512008 Centerline is valid? [True, True] Translation: X:567.29, Y:4.43, Z:2.23 [[ 9.99376226e-01 -3.43649136e-02 -8.13708113e-03 5.67292044e+02] [ 3.43660462e-02 9.99409313e-01 -6.25784644e-07 4.42570759e+00] [ 8.13229616e-03 -2.79013912e-04 9.99966893e-01 2.23156219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters 0.06087136121148888 Centerline is valid? [True, True] Translation: X:567.35, Y:4.42, Z:2.23 [[ 9.99312185e-01 -3.61188380e-02 -8.40155070e-03 5.67352540e+02] [ 3.61201079e-02 9.99347456e-01 -5.79226403e-07 4.42136254e+00] [ 8.39608924e-03 -3.02886090e-04 9.99964706e-01 2.23068661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.519254154 meters 0.05891717910350694 Centerline is valid? [True, True] Translation: X:567.41, Y:4.43, Z:2.23 [[ 9.99249396e-01 -3.77111425e-02 -8.86082769e-03 5.67413920e+02] [ 3.77126186e-02 9.99288626e-01 -5.01152599e-07 4.42664565e+00] [ 8.85454322e-03 -3.33664238e-04 9.99960742e-01 2.23019463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters 0.0577485376305501 Centerline is valid? [True, True] Translation: X:567.48, Y:4.43, Z:2.23 [[ 9.99251910e-01 -3.76621281e-02 -8.78549419e-03 5.67476547e+02] [ 3.76635796e-02 9.99290476e-01 -2.34995655e-07 4.43349143e+00] [ 8.77926952e-03 -3.30658340e-04 9.99961407e-01 2.23071410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.639254154 meters 0.05952900924326019 Centerline is valid? [True, True] Translation: X:567.54, Y:4.43, Z:2.23 [[ 9.99274125e-01 -3.71908323e-02 -8.25010960e-03 5.67538795e+02] [ 3.71920986e-02 9.99308135e-01 7.59725717e-08 4.43419473e+00] [ 8.24439881e-03 -3.06914808e-04 9.99965967e-01 2.23099941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters 0.05750850845259476 Centerline is valid? [True, True] Translation: X:567.60, Y:4.44, Z:2.23 [[ 9.99293646e-01 -3.66808785e-02 -8.16840854e-03 5.67600699e+02] [ 3.66821051e-02 9.99326985e-01 3.46203242e-07 4.43546464e+00] [ 8.16289838e-03 -2.99980379e-04 9.99966638e-01 2.23086283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.759254154 meters 0.057890143194269585 Centerline is valid? [True, True] Translation: X:567.66, Y:4.44, Z:2.23 [[ 9.99279020e-01 -3.71608348e-02 -7.77901209e-03 5.67662948e+02] [ 3.71619637e-02 9.99309256e-01 5.85913880e-07 4.43779637e+00] [ 7.77361701e-03 -2.89668856e-04 9.99969743e-01 2.23108664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters 0.05746883680462315 Centerline is valid? [True, True] Translation: X:567.73, Y:4.44, Z:2.23 [[ 9.99231573e-01 -3.83245914e-02 -8.21514176e-03 5.67725267e+02] [ 3.83258924e-02 9.99265293e-01 9.44067980e-07 4.43653719e+00] [ 8.20906986e-03 -3.15795982e-04 9.99966255e-01 2.23062786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.879254154 meters 0.05941057554371106 Centerline is valid? [True, True] Translation: X:567.79, Y:4.43, Z:2.23 [[ 9.99231733e-01 -3.82010293e-02 -8.75355900e-03 5.67786081e+02] [ 3.82025044e-02 9.99270018e-01 1.31004450e-06 4.42922981e+00] [ 8.74711902e-03 -3.35716914e-04 9.99961687e-01 2.22970486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters 0.059699448536192856 Centerline is valid? [True, True] Translation: X:567.85, Y:4.43, Z:2.23 [[ 9.99271001e-01 -3.73928495e-02 -7.69687400e-03 5.67847438e+02] [ 3.73939671e-02 9.99300601e-01 1.30164327e-06 4.42891428e+00] [ 7.69144214e-03 -2.89117348e-04 9.99970379e-01 2.23081725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.999254154 meters 0.06086974904932796 Centerline is valid? [True, True] Translation: X:567.91, Y:4.42, Z:2.23 [[ 9.99432137e-01 -3.30718282e-02 -6.45430145e-03 5.67907415e+02] [ 3.30725245e-02 9.99452954e-01 1.14382326e-06 4.42194997e+00] [ 6.45073282e-03 -2.14603216e-04 9.99979171e-01 2.23117591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters 0.05771826422606654 Centerline is valid? [True, True] Translation: X:567.97, Y:4.44, Z:2.23 [[ 9.99674414e-01 -2.51468571e-02 -4.32464943e-03 5.67967703e+02] [ 2.51470956e-02 9.99683762e-01 7.67040557e-07 4.43971162e+00] [ 4.32326252e-03 -1.09519164e-04 9.99990649e-01 2.23096596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.119254154 meters 0.05884864374187456 Centerline is valid? [True, True] Translation: X:568.03, Y:4.44, Z:2.23 [[ 9.99810901e-01 -1.88940788e-02 -4.60184132e-03 5.68026875e+02] [ 1.88942827e-02 9.99821487e-01 8.34003113e-07 4.43809925e+00] [ 4.60100408e-03 -8.77823362e-05 9.99989411e-01 2.23044301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters 0.058486871669701734 Centerline is valid? [True, True] Translation: X:568.09, Y:4.44, Z:2.23 [[ 9.99905180e-01 -1.29159946e-02 -4.77588066e-03 5.68086744e+02] [ 1.29161460e-02 9.99916583e-01 8.67111365e-07 4.44296126e+00] [ 4.77547107e-03 -6.25530011e-05 9.99988595e-01 2.23102559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.239254154 meters 0.058747374366514525 Centerline is valid? [True, True] Translation: X:568.15, Y:4.44, Z:2.23 [[ 9.99909364e-01 -1.27250592e-02 -4.39732983e-03 5.68146888e+02] [ 1.27251857e-02 9.99919032e-01 7.94741388e-07 4.43961490e+00] [ 4.39696367e-03 -5.67515080e-05 9.99990332e-01 2.23077814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.299254154 meters 0.058330200108523814 Centerline is valid? [True, True] Translation: X:568.21, Y:4.44, Z:2.23 [[ 9.99845999e-01 -1.67637222e-02 -5.19183769e-03 5.68207966e+02] [ 1.67639529e-02 9.99859475e-01 9.21200558e-07 4.43646745e+00] [ 5.19109266e-03 -8.79567812e-05 9.99986522e-01 2.22784072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.359254154 meters 0.05773208647280749 Centerline is valid? [True, True] Translation: X:568.27, Y:4.43, Z:2.23 [[ 9.99678925e-01 -2.46436903e-02 -5.89374030e-03 5.68268373e+02] [ 2.46441249e-02 9.99696287e-01 1.11703327e-06 4.43265061e+00] [ 5.89192277e-03 -1.46362747e-04 9.99982632e-01 2.22562139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.419254154 meters 0.057673155849114005 Centerline is valid? [True, True] Translation: X:568.33, Y:4.43, Z:2.23 [[ 9.99534068e-01 -2.98761336e-02 -6.25009569e-03 5.68328427e+02] [ 2.98767245e-02 9.99553591e-01 1.16531114e-06 4.42985730e+00] [ 6.24727077e-03 -1.87897155e-04 9.99980468e-01 2.22549139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters 0.05824148509823993 Centerline is valid? [True, True] Translation: X:568.39, Y:4.43, Z:2.23 [[ 9.99368118e-01 -3.52881993e-02 -4.25533237e-03 5.68389560e+02] [ 3.52885221e-02 9.99377166e-01 7.78418431e-07 4.42751110e+00] [ 4.25265454e-03 -1.50942317e-04 9.99990946e-01 2.22624975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.539254154 meters 0.05889382854383094 Centerline is valid? [True, True] Translation: X:568.45, Y:4.42, Z:2.23 [[ 9.99354133e-01 -3.58056240e-02 -3.04537406e-03 5.68450655e+02] [ 3.58057917e-02 9.99358767e-01 5.47517651e-07 4.42158441e+00] [ 3.04340166e-03 -1.09589193e-04 9.99995363e-01 2.22807590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters 0.06070926420311071 Centerline is valid? [True, True] Translation: X:568.51, Y:4.42, Z:2.23 [[ 9.99375433e-01 -3.51893968e-02 -3.23273731e-03 5.68511481e+02] [ 3.51895832e-02 9.99380655e-01 7.79178342e-07 4.41557610e+00] [ 3.23070771e-03 -1.14537370e-04 9.99994775e-01 2.22818060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.659254154 meters 0.05763810070454492 Centerline is valid? [True, True] Translation: X:568.57, Y:4.43, Z:2.23 [[ 9.99481155e-01 -3.22073424e-02 -3.29325603e-04 5.68572333e+02] [ 3.22073442e-02 9.99481209e-01 6.53018505e-08 4.42999580e+00] [ 3.29152648e-04 -1.06719710e-05 9.99999946e-01 2.22735435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters 0.0566553816863003 Centerline is valid? [True, True] Translation: X:568.63, Y:4.43, Z:2.23 [[ 9.99598415e-01 -2.83250185e-02 -8.38068829e-04 5.68631801e+02] [ 2.83250286e-02 9.99598766e-01 2.44359105e-07 4.43194466e+00] [ 8.37725646e-04 -2.39825846e-05 9.99999649e-01 2.22724481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.779254154 meters 0.05849127006269616 Centerline is valid? [True, True] Translation: X:568.69, Y:4.43, Z:2.23 [[ 9.99763278e-01 -2.17059121e-02 -1.49718124e-03 5.68691969e+02] [ 2.17059370e-02 9.99764398e-01 3.88342994e-07 4.43101768e+00] [ 1.49682007e-03 -3.28859728e-05 9.99998879e-01 2.22677124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters 0.05704183261390507 Centerline is valid? [True, True] Translation: X:568.75, Y:4.43, Z:2.23 [[ 9.99830461e-01 -1.82501341e-02 -2.44580736e-03 5.68752674e+02] [ 1.82501903e-02 9.99833451e-01 6.61689044e-07 4.43340117e+00] [ 2.44538794e-03 -4.52980266e-05 9.99997009e-01 2.22569320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.899254154 meters 0.056288287563783124 Centerline is valid? [True, True] Translation: X:568.81, Y:4.43, Z:2.22 [[ 9.99875302e-01 -1.52091164e-02 -4.25002119e-03 5.68813587e+02] [ 1.52092592e-02 9.99884333e-01 1.27282764e-06 4.43280122e+00] [ 4.24951024e-03 -6.59123427e-05 9.99990969e-01 2.22472035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters 0.0574526885698948 Centerline is valid? [True, True] Translation: X:568.87, Y:4.43, Z:2.22 [[ 9.99878342e-01 -1.48007120e-02 -4.92336285e-03 5.68874472e+02] [ 1.48008991e-02 9.99890461e-01 1.57285463e-06 4.43001342e+00] [ 4.92280027e-03 -7.44428602e-05 9.99987880e-01 2.22378400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.019254154 meters 0.05766687828377141 Centerline is valid? [True, True] Translation: X:568.94, Y:4.43, Z:2.22 [[ 9.99855716e-01 -1.60532646e-02 -5.55344705e-03 5.68935312e+02] [ 1.60535225e-02 9.99871134e-01 1.86109583e-06 4.42693793e+00] [ 5.55270153e-03 -9.10132146e-05 9.99984579e-01 2.22322797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters 0.05826220543284596 Centerline is valid? [True, True] Translation: X:569.00, Y:4.42, Z:2.22 [[ 9.99765211e-01 -2.09658673e-02 -5.47305927e-03 5.68996332e+02] [ 2.09661912e-02 9.99780185e-01 1.79393664e-06 4.42253839e+00] [ 5.47181860e-03 -1.16542722e-04 9.99985023e-01 2.22343000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.139254154 meters 0.057558186107132654 Centerline is valid? [True, True] Translation: X:569.06, Y:4.42, Z:2.22 [[ 9.99540029e-01 -3.00389714e-02 -4.17016766e-03 5.69056654e+02] [ 3.00392384e-02 9.99548720e-01 1.39262648e-06 4.41724030e+00] [ 4.16824391e-03 -1.26660646e-04 9.99991305e-01 2.22498426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters 0.05857600568389204 Centerline is valid? [True, True] Translation: X:569.12, Y:4.41, Z:2.23 [[ 9.99286960e-01 -3.75781908e-02 -3.66757493e-03 5.69115823e+02] [ 3.75784480e-02 9.99293681e-01 1.23388093e-06 4.41010809e+00] [ 3.66493808e-03 -1.39054775e-04 9.99993274e-01 2.22587406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.259254154 meters 0.058274401771805914 Centerline is valid? [True, True] Translation: X:569.18, Y:4.40, Z:2.23 [[ 9.98819742e-01 -4.85365602e-02 -1.82337355e-03 5.69176533e+02] [ 4.85366420e-02 9.98821403e-01 6.26499878e-07 4.40247555e+00] [ 1.82119412e-03 -8.91261896e-05 9.99998338e-01 2.22716814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters 0.056707075985255755 Centerline is valid? [True, True] Translation: X:569.24, Y:4.41, Z:2.23 [[ 9.98500000e-01 -5.47400307e-02 -1.13087888e-03 5.69236559e+02] [ 5.47400661e-02 9.98500639e-01 3.89910364e-07 4.41114006e+00] [ 1.12916194e-03 -6.22937101e-05 9.99999361e-01 2.22728586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.379254154 meters 0.0633164833565663 Centerline is valid? [True, True] Translation: X:569.30, Y:4.39, Z:2.23 [[ 9.98217621e-01 -5.96186117e-02 -2.68382767e-03 5.69296414e+02] [ 5.96188290e-02 9.98221216e-01 9.44176088e-07 4.38992261e+00] [ 2.67899743e-03 -1.60949156e-04 9.99996399e-01 2.22813215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters 0.05795832937804266 Centerline is valid? [True, True] Translation: X:569.36, Y:4.41, Z:2.23 [[ 9.98150633e-01 -6.07309365e-02 -2.65829236e-03 5.69357852e+02] [ 6.07311535e-02 9.98154160e-01 8.88041899e-07 4.41307583e+00] [ 2.65333165e-03 -1.62327561e-04 9.99996467e-01 2.22819017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.499254154 meters 0.05722337167278157 Centerline is valid? [True, True] Translation: X:569.42, Y:4.41, Z:2.23 [[ 9.98271708e-01 -5.86741107e-02 -3.30831231e-03 5.69418672e+02] [ 5.86744357e-02 9.98277171e-01 1.18451903e-06 4.41454807e+00] [ 3.30254315e-03 -1.95295830e-04 9.99994528e-01 2.22868763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters 0.06167531017370155 Centerline is valid? [True, True] Translation: X:569.48, Y:4.40, Z:2.23 [[ 9.98575600e-01 -5.31620489e-02 -4.53516577e-03 5.69477933e+02] [ 5.31626031e-02 9.98585869e-01 1.63798232e-06 4.39846495e+00] [ 4.52866538e-03 -2.42736867e-04 9.99989716e-01 2.22841427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.619254154 meters 0.06165224320461253 Centerline is valid? [True, True] Translation: X:569.54, Y:4.40, Z:2.23 [[ 9.98762422e-01 -4.94390176e-02 -5.42293669e-03 5.69538302e+02] [ 4.94397550e-02 9.98777108e-01 1.91336032e-06 4.40373517e+00] [ 5.41621042e-03 -2.70019653e-04 9.99985296e-01 2.22799192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters 0.058288019342691004 Centerline is valid? [True, True] Translation: X:569.60, Y:4.42, Z:2.23 [[ 9.98972806e-01 -4.49757471e-02 -5.52409624e-03 5.69598650e+02] [ 4.49764442e-02 9.98988048e-01 1.95830190e-06 4.42173336e+00] [ 5.51841805e-03 -2.50410497e-04 9.99984742e-01 2.22825368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.739254154 meters 0.05741524917300746 Centerline is valid? [True, True] Translation: X:569.66, Y:4.43, Z:2.23 [[ 9.99138854e-01 -4.11736834e-02 -5.12621681e-03 5.69659150e+02] [ 4.11742338e-02 9.99151982e-01 1.84795641e-06 4.43046328e+00] [ 5.12179360e-03 -2.12914415e-04 9.99986861e-01 2.22957650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.799254154 meters 0.05727619189803823 Centerline is valid? [True, True] Translation: X:569.72, Y:4.43, Z:2.23 [[ 9.99260819e-01 -3.80963513e-02 -5.14629990e-03 5.69720234e+02] [ 3.80968654e-02 9.99274051e-01 1.86759031e-06 4.43299395e+00] [ 5.14249280e-03 -1.97924105e-04 9.99986758e-01 2.23055141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.859254154 meters 0.05767344053560808 Centerline is valid? [True, True] Translation: X:569.78, Y:4.43, Z:2.23 [[ 9.99501186e-01 -3.11846962e-02 -4.98937613e-03 5.69779658e+02] [ 3.11850934e-02 9.99513627e-01 1.82363091e-06 4.43433964e+00] [ 4.98689256e-03 -1.57416882e-04 9.99987553e-01 2.23109333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.919254154 meters 0.057377998082024644 Centerline is valid? [True, True] Translation: X:569.84, Y:4.44, Z:2.23 [[ 9.99702971e-01 -2.36679977e-02 -5.81332729e-03 5.69840112e+02] [ 2.36684100e-02 9.99719864e-01 2.12599853e-06 4.43721295e+00] [ 5.81164845e-03 -1.39717581e-04 9.99983102e-01 2.23132768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters 0.05687171382381039 Centerline is valid? [True, True] Translation: X:569.90, Y:4.44, Z:2.23 [[ 9.99796212e-01 -1.90807204e-02 -6.59251997e-03 5.69900766e+02] [ 1.90811513e-02 9.99817938e-01 2.46576312e-06 4.43980849e+00] [ 6.59127268e-03 -1.28258132e-04 9.99978269e-01 2.23088520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.039254154 meters 0.05763535349140835 Centerline is valid? [True, True] Translation: X:569.96, Y:4.44, Z:2.23 [[ 9.99834107e-01 -1.67186010e-02 -7.22817206e-03 5.69961679e+02] [ 1.67190577e-02 9.99860227e-01 2.76805117e-06 4.44479268e+00] [ 7.22711547e-03 -1.23615818e-04 9.99973876e-01 2.23148342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters 0.05726003622342468 Centerline is valid? [True, True] Translation: X:570.02, Y:4.44, Z:2.23 [[ 9.99811525e-01 -1.81128114e-02 -6.98861622e-03 5.70022343e+02] [ 1.81132728e-02 9.99835941e-01 2.73356145e-06 4.44420681e+00] [ 6.98742017e-03 -1.29319758e-04 9.99975579e-01 2.23157253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.159254154 meters 0.05756697715623859 Centerline is valid? [True, True] Translation: X:570.08, Y:4.44, Z:2.23 [[ 9.99709701e-01 -2.32212994e-02 -6.42535366e-03 5.70083304e+02] [ 2.32217952e-02 9.99730338e-01 2.56249977e-06 4.44170169e+00] [ 6.42356148e-03 -1.51770003e-04 9.99979357e-01 2.23184962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters 0.05755452180517829 Centerline is valid? [True, True] Translation: X:570.14, Y:4.44, Z:2.23 [[ 9.99486293e-01 -3.13856707e-02 -6.48760360e-03 5.70144138e+02] [ 3.13863483e-02 9.99507327e-01 2.64016049e-06 4.43535431e+00] [ 6.48432447e-03 -2.06260991e-04 9.99978955e-01 2.23156775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.279254154 meters 0.05807202233314817 Centerline is valid? [True, True] Translation: X:570.20, Y:4.43, Z:2.23 [[ 9.99273948e-01 -3.74981034e-02 -6.74303506e-03 5.70204529e+02] [ 3.74989747e-02 9.99296666e-01 2.78417359e-06 4.43204121e+00] [ 6.73818806e-03 -2.55639053e-04 9.99977265e-01 2.23138307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters 0.05790565142315142 Centerline is valid? [True, True] Translation: X:570.27, Y:4.43, Z:2.23 [[ 9.98891063e-01 -4.65429410e-02 -7.09927034e-03 5.70265120e+02] [ 4.65441349e-02 9.98916234e-01 2.94757840e-06 4.42836435e+00] [ 7.09143921e-03 -3.33373706e-04 9.99974800e-01 2.23143006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.399254154 meters 0.05899846179151752 Centerline is valid? [True, True] Translation: X:570.32, Y:4.42, Z:2.23 [[ 9.98602702e-01 -5.24181719e-02 -6.70659691e-03 5.70324695e+02] [ 5.24193694e-02 9.98625160e-01 2.77697516e-06 4.42062633e+00] [ 6.69723085e-03 -3.54328676e-04 9.99977511e-01 2.23206721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters 0.058190852240635124 Centerline is valid? [True, True] Translation: X:570.39, Y:4.43, Z:2.23 [[ 9.98528746e-01 -5.38823973e-02 -6.08524354e-03 5.70386284e+02] [ 5.38834104e-02 9.98547234e-01 2.53290921e-06 4.42534516e+00] [ 6.07626663e-03 -3.30422858e-04 9.99981485e-01 2.23297910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.519254154 meters 0.07005478124655484 Centerline is valid? [True, True] Translation: X:570.45, Y:4.39, Z:2.23 [[ 9.98583992e-01 -5.28664131e-02 -5.92897303e-03 5.70446885e+02] [ 5.28673579e-02 9.98601543e-01 2.63229854e-06 4.38814355e+00] [ 5.92054246e-03 -3.16077710e-04 9.99982423e-01 2.23208941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters 0.05701618949817103 Centerline is valid? [True, True] Translation: X:570.51, Y:4.43, Z:2.23 [[ 9.98705669e-01 -5.05463472e-02 -5.66159141e-03 5.70507608e+02] [ 5.05471728e-02 9.98721675e-01 2.72581306e-06 4.42600565e+00] [ 5.65421628e-03 -2.88899724e-04 9.99983973e-01 2.23398410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.639254154 meters 0.05845912867718412 Centerline is valid? [True, True] Translation: X:570.57, Y:4.43, Z:2.23 [[ 9.98886401e-01 -4.67170105e-02 -6.59386527e-03 5.70568631e+02] [ 4.67180475e-02 9.98908116e-01 3.24754996e-06 4.42593740e+00] [ 6.58651382e-03 -3.11296445e-04 9.99978260e-01 2.23355350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters 0.05845813989027703 Centerline is valid? [True, True] Translation: X:570.63, Y:4.43, Z:2.23 [[ 9.98978636e-01 -4.46199500e-02 -7.12358114e-03 5.70629386e+02] [ 4.46211077e-02 9.99003982e-01 3.57598281e-06 4.43267921e+00] [ 7.11632636e-03 -3.21434411e-04 9.99974627e-01 2.23385279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.759254154 meters 0.05892840885061039 Centerline is valid? [True, True] Translation: X:570.69, Y:4.43, Z:2.23 [[ 9.99094506e-01 -4.17420552e-02 -8.23223182e-03 5.70688782e+02] [ 4.17435039e-02 9.99128360e-01 4.16235407e-06 4.42791403e+00] [ 8.22488253e-03 -3.47800786e-04 9.99966115e-01 2.23345444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters 0.05784567468047137 Centerline is valid? [True, True] Translation: X:570.75, Y:4.43, Z:2.23 [[ 9.99159244e-01 -3.99165687e-02 -9.35263544e-03 5.70750205e+02] [ 3.99183599e-02 9.99202945e-01 4.84643164e-06 4.43399589e+00] [ 9.34498742e-03 -3.78184225e-04 9.99956263e-01 2.23391321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.879254154 meters 0.05946022270855052 Centerline is valid? [True, True] Translation: X:570.81, Y:4.43, Z:2.23 [[ 9.99258400e-01 -3.70891471e-02 -1.03462668e-02 5.70809861e+02] [ 3.70911889e-02 9.99311885e-01 5.47311905e-06 4.42813947e+00] [ 1.03389444e-02 -3.89224398e-04 9.99946476e-01 2.23206714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters 0.05781696648336419 Centerline is valid? [True, True] Translation: X:570.87, Y:4.44, Z:2.23 [[ 9.99385611e-01 -3.39292487e-02 -8.78675985e-03 5.70870633e+02] [ 3.39305999e-02 9.99424191e-01 4.69844147e-06 4.43861563e+00] [ 8.78154094e-03 -3.02835587e-04 9.99961396e-01 2.23455276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.999254154 meters 0.05831771211671395 Centerline is valid? [True, True] Translation: X:570.93, Y:4.44, Z:2.24 [[ 9.99468952e-01 -3.16061885e-02 -7.92866735e-03 5.70931843e+02] [ 3.16072159e-02 9.99500367e-01 4.28272457e-06 4.44021367e+00] [ 7.92457056e-03 -2.54883551e-04 9.99968568e-01 2.23594037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters 0.05768545262280106 Centerline is valid? [True, True] Translation: X:570.99, Y:4.44, Z:2.24 [[ 9.99512968e-01 -3.02539886e-02 -7.65004644e-03 5.70992992e+02] [ 3.02549060e-02 9.99542216e-01 4.20038882e-06 4.44251026e+00] [ 7.64641729e-03 -2.35649779e-04 9.99970738e-01 2.23651588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.119254154 meters 0.058469884268521344 Centerline is valid? [True, True] Translation: X:571.05, Y:4.44, Z:2.24 [[ 9.99496261e-01 -3.10490262e-02 -6.57128427e-03 5.71054636e+02] [ 3.10497211e-02 9.99517841e-01 3.73148654e-06 4.44331113e+00] [ 6.56800001e-03 -2.07766151e-04 9.99978409e-01 2.23595509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters 0.05804994702362782 Centerline is valid? [True, True] Translation: X:571.11, Y:4.44, Z:2.24 [[ 9.99414756e-01 -3.36682577e-02 -6.04932001e-03 5.71114389e+02] [ 3.36688955e-02 9.99433042e-01 3.59960839e-06 4.44221995e+00] [ 6.04576911e-03 -2.07271425e-04 9.99981703e-01 2.23656219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.239254154 meters 0.058577976215863255 Centerline is valid? [True, True] Translation: X:571.17, Y:4.44, Z:2.24 [[ 9.99361881e-01 -3.51516163e-02 -6.33995019e-03 5.71174387e+02] [ 3.51523477e-02 9.99381965e-01 3.93401026e-06 4.43565798e+00] [ 6.33589360e-03 -2.26795634e-04 9.99979902e-01 2.23656686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.299254154 meters 0.05780353143714548 Centerline is valid? [True, True] Translation: X:571.24, Y:4.44, Z:2.24 [[ 9.99314697e-01 -3.63408065e-02 -7.03439192e-03 5.71236722e+02] [ 3.63417372e-02 9.99339421e-01 4.50012458e-06 4.44121638e+00] [ 7.02958161e-03 -2.60139064e-04 9.99975258e-01 2.23630314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.359254154 meters 0.058876997640222764 Centerline is valid? [True, True] Translation: X:571.30, Y:4.43, Z:2.24 [[ 9.99324967e-01 -3.58659735e-02 -7.95250888e-03 5.71297485e+02] [ 3.58671501e-02 9.99356567e-01 5.33098101e-06 4.43427638e+00] [ 7.94720077e-03 -2.90561212e-04 9.99968378e-01 2.23550198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.419254154 meters 0.060806043323487845 Centerline is valid? [True, True] Translation: X:571.36, Y:4.43, Z:2.23 [[ 9.99401470e-01 -3.35297438e-02 -8.51227191e-03 5.71357634e+02] [ 3.35310081e-02 9.99437678e-01 5.80950807e-06 4.42908565e+00] [ 8.50729048e-03 -2.91231089e-04 9.99963770e-01 2.23367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters 0.057729211965905906 Centerline is valid? [True, True] Translation: X:571.42, Y:4.45, Z:2.24 [[ 9.99476849e-01 -3.14584101e-02 -7.50974070e-03 5.71419261e+02] [ 3.14593363e-02 9.99505033e-01 5.21311052e-06 4.44503485e+00] [ 7.50585963e-03 -2.41461842e-04 9.99971801e-01 2.23580281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.539254154 meters 0.05943606815525341 Centerline is valid? [True, True] Translation: X:571.48, Y:4.44, Z:2.24 [[ 9.99522677e-01 -2.99604066e-02 -7.53610571e-03 5.71480192e+02] [ 2.99612980e-02 9.99551060e-01 5.38784421e-06 4.43670106e+00] [ 7.53256103e-03 -2.31176782e-04 9.99971603e-01 2.23564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters 0.05893070637595472 Centerline is valid? [True, True] Translation: X:571.54, Y:4.44, Z:2.24 [[ 9.99546543e-01 -2.92080830e-02 -7.32092676e-03 5.71541479e+02] [ 2.92089051e-02 9.99573329e-01 5.37455476e-06 4.43820379e+00] [ 7.31764615e-03 -2.19208372e-04 9.99973202e-01 2.23675408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.659254154 meters 0.057870330969968665 Centerline is valid? [True, True] Translation: X:571.60, Y:4.45, Z:2.24 [[ 9.99516312e-01 -3.01058427e-02 -7.79622955e-03 5.71603779e+02] [ 3.01068040e-02 9.99546687e-01 5.94823055e-06 4.44786718e+00] [ 7.79251635e-03 -2.40664908e-04 9.99969609e-01 2.23777973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters 0.057358408960845195 Centerline is valid? [True, True] Translation: X:571.66, Y:4.45, Z:2.24 [[ 9.99426047e-01 -3.26251276e-02 -9.12023236e-03 5.71664901e+02] [ 3.26265498e-02 9.99467612e-01 7.15573159e-06 4.45067848e+00] [ 9.11514340e-03 -3.04713339e-04 9.99958410e-01 2.23859759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.779254154 meters 0.057713703179384145 Centerline is valid? [True, True] Translation: X:571.73, Y:4.45, Z:2.24 [[ 9.99335961e-01 -3.49904089e-02 -1.01640539e-02 5.71725814e+02] [ 3.49922989e-02 9.99387582e-01 8.11720897e-06 4.44797790e+00] [ 1.01575453e-02 -3.63775432e-04 9.99948345e-01 2.23857235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters 0.05763552855217231 Centerline is valid? [True, True] Translation: X:571.79, Y:4.45, Z:2.24 [[ 9.99355414e-01 -3.43285833e-02 -1.05026117e-02 5.71787471e+02] [ 3.43305678e-02 9.99410532e-01 8.67886904e-06 4.45012132e+00] [ 1.04961228e-02 -3.69233898e-04 9.99944846e-01 2.23909674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.899254154 meters 0.057377507431039525 Centerline is valid? [True, True] Translation: X:571.85, Y:4.46, Z:2.24 [[ 9.99543517e-01 -2.85144100e-02 -9.98426431e-03 5.71847758e+02] [ 2.85159152e-02 9.99593339e-01 8.40441818e-06 4.45691769e+00] [ 9.97996445e-03 -2.93111016e-04 9.99950156e-01 2.24171931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters 0.05844618447322633 Centerline is valid? [True, True] Translation: X:571.91, Y:4.45, Z:2.24 [[ 9.99757795e-01 -2.02134694e-02 -8.70447468e-03 5.71907240e+02] [ 2.02142990e-02 9.99795670e-01 7.33823260e-06 4.45293324e+00] [ 8.70254776e-03 -1.83291309e-04 9.99962115e-01 2.24208546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.019254154 meters 0.05805697361354611 Centerline is valid? [True, True] Translation: X:571.97, Y:4.46, Z:2.25 [[ 9.99839128e-01 -1.61718002e-02 -7.75829201e-03 5.71967642e+02] [ 1.61723376e-02 9.99869219e-01 6.53749199e-06 4.46241621e+00] [ 7.75717166e-03 -1.32006158e-04 9.99969904e-01 2.24509397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters 0.05738096264638784 Centerline is valid? [True, True] Translation: X:572.03, Y:4.47, Z:2.25 [[ 9.99856792e-01 -1.43668138e-02 -8.94371872e-03 5.72028101e+02] [ 1.43674558e-02 9.99896783e-01 7.53638679e-06 4.46663085e+00] [ 8.94268730e-03 -1.36033791e-04 9.99960004e-01 2.24601059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.139254154 meters 0.05820775295421256 Centerline is valid? [True, True] Translation: X:572.09, Y:4.46, Z:2.24 [[ 9.99801806e-01 -1.66892605e-02 -1.08543622e-02 5.72087508e+02] [ 1.66903424e-02 9.99860707e-01 9.09112647e-06 4.45707338e+00] [ 1.08526985e-02 -1.90252346e-04 9.99941090e-01 2.24279599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters 0.05818832460388011 Centerline is valid? [True, True] Translation: X:572.15, Y:4.45, Z:2.24 [[ 9.99641557e-01 -2.27608821e-02 -1.40960869e-02 5.72147156e+02] [ 2.27633085e-02 9.99740882e-01 1.16872538e-05 4.45021830e+00] [ 1.40921683e-02 -3.32556638e-04 9.99900645e-01 2.24190089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.259254154 meters 0.05809700629643361 Centerline is valid? [True, True] Translation: X:572.21, Y:4.45, Z:2.25 [[ 9.99439845e-01 -3.00121415e-02 -1.48076553e-02 5.72207636e+02] [ 3.00156138e-02 9.99549430e-01 1.22540784e-05 4.45165703e+00] [ 1.48006156e-02 -4.56708077e-04 9.99890361e-01 2.24559320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters 0.060653868253602645 Centerline is valid? [True, True] Translation: X:572.27, Y:4.44, Z:2.24 [[ 9.99296130e-01 -3.46530164e-02 -1.43671074e-02 5.72266731e+02] [ 3.46567649e-02 9.99399274e-01 1.19484169e-05 4.43658357e+00] [ 1.43580627e-02 -5.09857471e-04 9.99896788e-01 2.24334474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.379254154 meters 0.061826250169002055 Centerline is valid? [True, True] Translation: X:572.33, Y:4.43, Z:2.24 [[ 9.99126225e-01 -3.95287033e-02 -1.35745724e-02 5.72327420e+02] [ 3.95324993e-02 9.99218285e-01 1.13207333e-05 4.42877766e+00] [ 1.35635134e-02 -5.47947614e-04 9.99907861e-01 2.24422890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters 0.0579185692080161 Centerline is valid? [True, True] Translation: X:572.39, Y:4.45, Z:2.25 [[ 9.98905979e-01 -4.49810394e-02 -1.27886978e-02 5.72387831e+02] [ 4.49848549e-02 9.98987669e-01 1.07003443e-05 4.44507504e+00] [ 1.27752700e-02 -5.85986351e-04 9.99918221e-01 2.24926688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.499254154 meters 0.06020699576145822 Centerline is valid? [True, True] Translation: X:572.45, Y:4.43, Z:2.25 [[ 9.98521208e-01 -5.31852961e-02 -1.12570623e-02 5.72447393e+02] [ 5.31887725e-02 9.98584475e-01 9.45348404e-06 4.43127583e+00] [ 1.12406248e-02 -6.08188829e-04 9.99936637e-01 2.24914780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters 0.0591290443725065 Centerline is valid? [True, True] Translation: X:572.51, Y:4.44, Z:2.25 [[ 9.98250284e-01 -5.81260240e-02 -1.08506543e-02 5.72507897e+02] [ 5.81295451e-02 9.98309048e-01 9.13807926e-06 4.43881290e+00] [ 1.08317752e-02 -6.39865689e-04 9.99941130e-01 2.25124672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.619254154 meters 0.0724592573076653 Centerline is valid? [True, True] Translation: X:572.57, Y:4.40, Z:2.25 [[ 9.97948154e-01 -6.31680322e-02 -1.04537931e-02 5.72567209e+02] [ 6.31715768e-02 9.98002681e-01 8.89729116e-06 4.40200887e+00] [ 1.04323516e-02 -6.69261631e-04 9.99945358e-01 2.24885497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters 0.0679989977218712 Centerline is valid? [True, True] Translation: X:572.63, Y:4.41, Z:2.25 [[ 9.97820422e-01 -6.51701999e-02 -1.03561934e-02 5.72628060e+02] [ 6.51737867e-02 9.97873929e-01 8.87303644e-06 4.40986396e+00] [ 1.03335971e-02 -6.83806036e-04 9.99946373e-01 2.24908742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.739254154 meters 0.057204942144246304 Centerline is valid? [True, True] Translation: X:572.69, Y:4.45, Z:2.25 [[ 9.97864519e-01 -6.43920568e-02 -1.09573884e-02 5.72689400e+02] [ 6.43960274e-02 9.97924422e-01 9.57046355e-06 4.44982444e+00] [ 1.09340292e-02 -7.15162309e-04 9.99939966e-01 2.25141051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.799254154 meters 0.05603623851688849 Centerline is valid? [True, True] Translation: X:572.75, Y:4.46, Z:2.25 [[ 9.98225663e-01 -5.83947524e-02 -1.16437881e-02 5.72750433e+02] [ 5.83988313e-02 9.98293332e-01 1.03177531e-05 4.46224146e+00] [ 1.16233135e-02 -6.90283060e-04 9.99932209e-01 2.25153207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.859254154 meters 0.061175039173426 Centerline is valid? [True, True] Translation: X:572.81, Y:4.44, Z:2.25 [[ 9.98549801e-01 -5.24257833e-02 -1.22405623e-02 5.72810042e+02] [ 5.24298446e-02 9.98624610e-01 1.09088012e-05 4.43843326e+00] [ 1.22231549e-02 -6.52663762e-04 9.99925081e-01 2.24744153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.919254154 meters 0.058960533428688414 Centerline is valid? [True, True] Translation: X:572.87, Y:4.45, Z:2.25 [[ 9.98970920e-01 -4.39985081e-02 -1.10105770e-02 5.72871039e+02] [ 4.40012839e-02 9.99031474e-01 9.86832257e-06 4.45261962e+00] [ 1.09994788e-02 -4.94337691e-04 9.99939382e-01 2.24852777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters 0.057213209132177166 Centerline is valid? [True, True] Translation: X:572.93, Y:4.47, Z:2.25 [[ 9.99327301e-01 -3.58135244e-02 -7.89538754e-03 5.72931235e+02] [ 3.58146968e-02 9.99358448e-01 7.10897534e-06 4.46906450e+00] [ 7.89006764e-03 -2.89875104e-04 9.99968831e-01 2.25069250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.039254154 meters 0.05824196090385621 Centerline is valid? [True, True] Translation: X:572.99, Y:4.47, Z:2.25 [[ 9.99539715e-01 -2.95435744e-02 -6.89454697e-03 5.72990830e+02] [ 2.95443194e-02 9.99563471e-01 6.22014982e-06 4.46942498e+00] [ 6.89135353e-03 -2.09911985e-04 9.99976232e-01 2.25035116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters 0.05708076786502522 Centerline is valid? [True, True] Translation: X:573.05, Y:4.48, Z:2.25 [[ 9.99733770e-01 -2.20560993e-02 -6.77621677e-03 5.73051711e+02] [ 2.20566472e-02 9.99756723e-01 6.12944762e-06 4.48087339e+00] [ 6.77443308e-03 -1.55588438e-04 9.99977041e-01 2.24997217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.159254154 meters 0.057256487746363036 Centerline is valid? [True, True] Translation: X:573.11, Y:4.48, Z:2.25 [[ 9.99804478e-01 -1.86233617e-02 -6.64647258e-03 5.73112883e+02] [ 1.86238135e-02 9.99826562e-01 6.08344476e-06 4.48204172e+00] [ 6.64520653e-03 -1.29864921e-04 9.99977912e-01 2.24875536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters 0.0572884184193196 Centerline is valid? [True, True] Translation: X:573.18, Y:4.48, Z:2.25 [[ 9.99816837e-01 -1.78933386e-02 -6.79122533e-03 5.73175244e+02] [ 1.78937946e-02 9.99839893e-01 6.37759524e-06 4.48293786e+00] [ 6.79002390e-03 -1.27897218e-04 9.99976939e-01 2.24869703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.279254154 meters 0.05765567051774037 Centerline is valid? [True, True] Translation: X:573.24, Y:4.48, Z:2.25 [[ 9.99810493e-01 -1.83991301e-02 -6.36006018e-03 5.73235920e+02] [ 1.83995414e-02 9.99830714e-01 6.15587568e-06 4.48098372e+00] [ 6.35887025e-03 -1.23176900e-04 9.99979775e-01 2.24857122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters 0.05711618214658863 Centerline is valid? [True, True] Translation: X:573.30, Y:4.48, Z:2.25 [[ 9.99780027e-01 -1.97260782e-02 -7.12597047e-03 5.73297268e+02] [ 1.97266295e-02 9.99805411e-01 7.08541375e-06 4.47925077e+00] [ 7.12444407e-03 -1.47655235e-04 9.99974610e-01 2.24792623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.399254154 meters 0.05739436542071421 Centerline is valid? [True, True] Translation: X:573.36, Y:4.48, Z:2.25 [[ 9.99752285e-01 -2.14420139e-02 -5.96723202e-03 5.73358761e+02] [ 2.14424317e-02 9.99770085e-01 6.03832992e-06 4.47802134e+00] [ 5.96573058e-03 -1.33988799e-04 9.99982196e-01 2.24797947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters 0.05736589037085904 Centerline is valid? [True, True] Translation: X:573.42, Y:4.48, Z:2.25 [[ 9.99720602e-01 -2.32445855e-02 -4.29026267e-03 5.73420634e+02] [ 2.32448183e-02 9.99729803e-01 4.38964798e-06 4.47606999e+00] [ 4.28900142e-03 -1.04114798e-04 9.99990797e-01 2.24879542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.519254154 meters 0.05599080089992486 Centerline is valid? [True, True] Translation: X:573.48, Y:4.47, Z:2.25 [[ 9.99680579e-01 -2.49295379e-02 -4.15425110e-03 5.73482110e+02] [ 2.49297714e-02 9.99689205e-01 4.43186815e-06 4.47213498e+00] [ 4.15284950e-03 -1.07994983e-04 9.99991371e-01 2.24885245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters 0.058494616673441635 Centerline is valid? [True, True] Translation: X:573.54, Y:4.46, Z:2.25 [[ 9.99581868e-01 -2.85364462e-02 -4.66474642e-03 5.73542259e+02] [ 2.85367810e-02 9.99592743e-01 5.21188163e-06 4.46196860e+00] [ 4.66269794e-03 -1.38326549e-04 9.99989120e-01 2.24807784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.639254154 meters 0.05772922911838903 Centerline is valid? [True, True] Translation: X:573.60, Y:4.46, Z:2.25 [[ 9.99461083e-01 -3.26398076e-02 -3.49087322e-03 5.73603044e+02] [ 3.26400204e-02 9.99467173e-01 3.97773158e-06 4.45963147e+00] [ 3.48888336e-03 -1.17917761e-04 9.99993907e-01 2.24803394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters 0.058577568215058454 Centerline is valid? [True, True] Translation: X:573.66, Y:4.46, Z:2.25 [[ 9.99428090e-01 -3.36859016e-02 -2.95859733e-03 5.73664588e+02] [ 3.36860589e-02 9.99432464e-01 3.35308518e-06 4.45625544e+00] [ 2.95680526e-03 -1.03014651e-04 9.99995623e-01 2.24810697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.759254154 meters 0.05827797709523793 Centerline is valid? [True, True] Translation: X:573.73, Y:4.45, Z:2.25 [[ 9.99455041e-01 -3.28827335e-02 -2.88900829e-03 5.73726811e+02] [ 3.28828804e-02 9.99459212e-01 3.33200724e-06 4.45143463e+00] [ 2.88733638e-03 -9.83291053e-05 9.99995827e-01 2.24809505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters 0.058278983228711195 Centerline is valid? [True, True] Translation: X:573.79, Y:4.45, Z:2.25 [[ 9.99502407e-01 -3.14415468e-02 -2.52358673e-03 5.73788502e+02] [ 3.14416545e-02 9.99505589e-01 2.98438053e-06 4.44971214e+00] [ 2.52224520e-03 -8.23286375e-05 9.99996816e-01 2.24799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.879254154 meters 0.059277625278671905 Centerline is valid? [True, True] Translation: X:573.85, Y:4.45, Z:2.25 [[ 9.99569405e-01 -2.92089800e-02 -2.80013765e-03 5.73847817e+02] [ 2.92091040e-02 9.99573323e-01 3.42217227e-06 4.44675324e+00] [ 2.79884294e-03 -8.52102106e-05 9.99996080e-01 2.24725925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters 0.057531260386011814 Centerline is valid? [True, True] Translation: X:573.91, Y:4.45, Z:2.25 [[ 9.99626589e-01 -2.71195058e-02 -3.34902235e-03 5.73908337e+02] [ 2.71196713e-02 9.99632194e-01 4.02922749e-06 4.45015623e+00] [ 3.34768129e-03 -9.48521083e-05 9.99994392e-01 2.24659557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.999254154 meters 0.05850831561956172 Centerline is valid? [True, True] Translation: X:573.97, Y:4.45, Z:2.25 [[ 9.99732462e-01 -2.28849379e-02 -3.35913871e-03 5.73969016e+02] [ 2.28850812e-02 9.99738102e-01 4.21751442e-06 4.44522825e+00] [ 3.35816245e-03 -8.10905484e-05 9.99994358e-01 2.24666229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters 0.05750152057637054 Centerline is valid? [True, True] Translation: X:574.03, Y:4.45, Z:2.25 [[ 9.99809907e-01 -1.93545805e-02 -2.35584464e-03 5.74029714e+02] [ 1.93546411e-02 9.99812681e-01 2.95887190e-06 4.45129801e+00] [ 2.35534607e-03 -4.85548370e-05 9.99997225e-01 2.24645083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.119254154 meters 0.058045971680074505 Centerline is valid? [True, True] Translation: X:574.09, Y:4.45, Z:2.25 [[ 9.99818358e-01 -1.89919353e-02 -1.59925498e-03 5.74090618e+02] [ 1.89919628e-02 9.99819636e-01 1.99452932e-06 4.44638037e+00] [ 1.59892866e-03 -3.23671582e-05 9.99998721e-01 2.24726760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters 0.057281409258214615 Centerline is valid? [True, True] Translation: X:574.15, Y:4.44, Z:2.25 [[ 9.99763838e-01 -2.17145313e-02 -8.64795353e-04 5.74151680e+02] [ 2.17145404e-02 9.99764212e-01 1.10649060e-06 4.44409337e+00] [ 8.64567417e-04 -1.98848629e-05 9.99999626e-01 2.24743290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.239254154 meters 0.06132575649665714 Centerline is valid? [True, True] Translation: X:574.21, Y:4.42, Z:2.25 [[ 9.99521282e-01 -3.09387203e-02 3.88880923e-05 5.74210728e+02] [ 3.09387203e-02 9.99521283e-01 -1.54898049e-07 4.42277315e+00] [-3.88646839e-05 1.35797171e-06 9.99999999e-01 2.24901312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.299254154 meters 0.05962718559171747 Centerline is valid? [True, True] Translation: X:574.27, Y:4.42, Z:2.25 [[ 9.99393263e-01 -3.48197149e-02 -8.32267749e-04 5.74271288e+02] [ 3.48197279e-02 9.99393609e-01 1.11467598e-06 4.42477209e+00] [ 8.31724257e-04 -3.00933362e-05 9.99999654e-01 2.24837366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.359254154 meters 0.05904889300066519 Centerline is valid? [True, True] Translation: X:574.33, Y:4.42, Z:2.25 [[ 9.98871316e-01 -4.74972431e-02 -3.26594631e-04 5.74331511e+02] [ 4.74972458e-02 9.98871369e-01 4.40113431e-07 4.42157075e+00] [ 3.26205121e-04 -1.59519621e-05 9.99999947e-01 2.24655953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.419254154 meters 0.05890401039739882 Centerline is valid? [True, True] Translation: X:574.39, Y:4.42, Z:2.25 [[ 9.98549022e-01 -5.38502453e-02 -3.20889119e-05 5.74391892e+02] [ 5.38502453e-02 9.98549023e-01 3.19416678e-08 4.41777240e+00] [ 3.20406312e-05 -1.75989110e-06 9.99999999e-01 2.24668273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters 0.05886381712746273 Centerline is valid? [True, True] Translation: X:574.45, Y:4.42, Z:2.25 [[ 9.98362350e-01 -5.72051859e-02 -4.29632190e-04 5.74452076e+02] [ 5.72051914e-02 9.98362442e-01 5.20427538e-07 4.41857572e+00] [ 4.28898871e-04 -2.50967669e-05 9.99999908e-01 2.24753704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.539254154 meters 0.05771905563014616 Centerline is valid? [True, True] Translation: X:574.51, Y:4.42, Z:2.25 [[ 9.98423563e-01 -5.61278071e-02 -2.39476819e-04 5.74513202e+02] [ 5.61278088e-02 9.98423592e-01 2.36928008e-07 4.42083592e+00] [ 2.39086007e-04 -1.36778636e-05 9.99999971e-01 2.24737269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters 0.06027609153988139 Centerline is valid? [True, True] Translation: X:574.57, Y:4.41, Z:2.25 [[ 9.98674271e-01 -5.14683057e-02 -8.44444771e-04 5.74572930e+02] [ 5.14683251e-02 9.98674627e-01 1.17005358e-06 4.41110927e+00] [ 8.43265346e-04 -4.46306604e-05 9.99999643e-01 2.24700992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.659254154 meters 0.05866584350330206 Centerline is valid? [True, True] Translation: X:574.63, Y:4.41, Z:2.25 [[ 9.99032446e-01 -4.38704541e-02 -3.09116828e-03 5.74632892e+02] [ 4.38706769e-02 9.99037218e-01 4.28703990e-06 4.41498902e+00] [ 3.08800408e-03 -1.39894537e-04 9.99995222e-01 2.24663040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters 0.05871012953680693 Centerline is valid? [True, True] Translation: X:574.69, Y:4.42, Z:2.25 [[ 9.99325860e-01 -3.64929911e-02 -4.01081902e-03 5.74693392e+02] [ 3.64933070e-02 9.99333897e-01 5.57508451e-06 4.42222184e+00] [ 4.00794395e-03 -1.51939376e-04 9.99991957e-01 2.24652113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.779254154 meters 0.05984886176153592 Centerline is valid? [True, True] Translation: X:574.75, Y:4.42, Z:2.25 [[ 9.99475143e-01 -3.18943834e-02 -5.67330193e-03 5.74752549e+02] [ 3.18949413e-02 9.99491227e-01 7.86581189e-06 4.42208322e+00] [ 5.67016463e-03 -1.88811316e-04 9.99983907e-01 2.24702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters 0.05827566562447328 Centerline is valid? [True, True] Translation: X:574.81, Y:4.43, Z:2.25 [[ 9.99653699e-01 -2.60456163e-02 -3.75607547e-03 5.74813088e+02] [ 2.60458195e-02 9.99660750e-01 5.18483353e-06 4.43292297e+00] [ 3.75466617e-03 -1.03013102e-04 9.99992946e-01 2.24786337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.899254154 meters 0.05848546488377654 Centerline is valid? [True, True] Translation: X:574.87, Y:4.44, Z:2.25 [[ 9.99791941e-01 -1.99336316e-02 -4.32732664e-03 5.74872630e+02] [ 1.99338442e-02 9.99801301e-01 6.00555981e-06 4.43750906e+00] [ 4.32634709e-03 -9.22645654e-05 9.99990637e-01 2.24735883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters 0.05767440701323453 Centerline is valid? [True, True] Translation: X:574.93, Y:4.44, Z:2.25 [[ 9.99852541e-01 -1.63607730e-02 -5.21749770e-03 5.74932907e+02] [ 1.63610334e-02 9.99866149e-01 7.23987599e-06 4.44124223e+00] [ 5.21668089e-03 -9.26024628e-05 9.99986389e-01 2.24681673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.019254154 meters 0.05775150851011836 Centerline is valid? [True, True] Translation: X:574.99, Y:4.45, Z:2.25 [[ 9.99877960e-01 -1.42298969e-02 -6.44795174e-03 5.74994544e+02] [ 1.42302507e-02 9.99898745e-01 8.98907633e-06 4.44954795e+00] [ 6.44717094e-03 -1.00743949e-04 9.99979212e-01 2.24780966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters 0.05690931931736769 Centerline is valid? [True, True] Translation: X:575.06, Y:4.45, Z:2.25 [[ 9.99870688e-01 -1.46312939e-02 -6.67329992e-03 5.75055256e+02] [ 1.46316822e-02 9.99892951e-01 9.37137867e-06 4.45133380e+00] [ 6.67244843e-03 -1.07011771e-04 9.99977733e-01 2.24916135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.139254154 meters 0.05773373882001498 Centerline is valid? [True, True] Translation: X:575.12, Y:4.45, Z:2.25 [[ 9.99809100e-01 -1.82454880e-02 -6.99040247e-03 5.75115442e+02] [ 1.82460026e-02 9.99833528e-01 9.84251128e-06 4.44559835e+00] [ 6.98905918e-03 -1.37387534e-04 9.99975567e-01 2.25050644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters 0.05967260065502068 Centerline is valid? [True, True] Translation: X:575.18, Y:4.43, Z:2.25 [[ 9.99667185e-01 -2.47570807e-02 -7.25305880e-03 5.75175175e+02] [ 2.47578063e-02 9.99693479e-01 1.02509289e-05 4.43451404e+00] [ 7.25058180e-03 -1.89817342e-04 9.99973696e-01 2.25073203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.259254154 meters 0.05771927082737697 Centerline is valid? [True, True] Translation: X:575.24, Y:4.44, Z:2.25 [[ 9.99511993e-01 -3.03615435e-02 -7.34520821e-03 5.75235777e+02] [ 3.03624393e-02 9.99538955e-01 1.04475410e-05 4.43998792e+00] [ 7.34150454e-03 -2.33460881e-04 9.99973024e-01 2.25212042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters 0.058482280128579416 Centerline is valid? [True, True] Translation: X:575.30, Y:4.44, Z:2.25 [[ 9.99238671e-01 -3.80957875e-02 -8.41360517e-03 5.75296185e+02] [ 3.80972373e-02 9.99274037e-01 1.20582962e-05 4.43588887e+00] [ 8.40703783e-03 -3.32584229e-04 9.99964605e-01 2.25227546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.379254154 meters 0.06434607350795853 Centerline is valid? [True, True] Translation: X:575.36, Y:4.41, Z:2.25 [[ 9.98960403e-01 -4.47101784e-02 -8.89458785e-03 5.75355178e+02] [ 4.47120612e-02 9.98999916e-01 1.28426466e-05 4.41235052e+00] [ 8.88511832e-03 -4.10524652e-04 9.99960442e-01 2.25029190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters 0.05889022711784885 Centerline is valid? [True, True] Translation: X:575.42, Y:4.43, Z:2.25 [[ 9.98754072e-01 -4.89741896e-02 -9.58295383e-03 5.75415924e+02] [ 4.89765715e-02 9.98799928e-01 1.39053034e-05 4.42900972e+00] [ 9.57077259e-03 -4.83228202e-04 9.99954082e-01 2.25248366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.499254154 meters 0.05867964054395804 Centerline is valid? [True, True] Translation: X:575.48, Y:4.43, Z:2.25 [[ 9.98464013e-01 -5.45318464e-02 -9.79244427e-03 5.75476228e+02] [ 5.45345998e-02 9.98511881e-01 1.41708383e-05 4.42884521e+00] [ 9.77709919e-03 -5.48176101e-04 9.99952053e-01 2.25303999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters 0.057859005971449745 Centerline is valid? [True, True] Translation: X:575.54, Y:4.44, Z:2.25 [[ 9.98204309e-01 -5.90785006e-02 -9.89387906e-03 5.75536908e+02] [ 5.90815342e-02 9.98253160e-01 1.43556143e-05 4.43606029e+00] [ 9.87574793e-03 -5.98875390e-04 9.99951054e-01 2.25447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.619254154 meters 0.05718738450460601 Centerline is valid? [True, True] Translation: X:575.60, Y:4.44, Z:2.26 [[ 9.98070959e-01 -6.12281618e-02 -1.02700112e-02 5.75597408e+02] [ 6.12315443e-02 9.98123588e-01 1.49580682e-05 4.44060045e+00] [ 1.02498246e-02 -6.43777861e-04 9.99947262e-01 2.25533009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters 0.05726592629759206 Centerline is valid? [True, True] Translation: X:575.66, Y:4.44, Z:2.26 [[ 9.98022950e-01 -6.18804751e-02 -1.09998768e-02 5.75658086e+02] [ 6.18843997e-02 9.98083324e-01 1.64451496e-05 4.44185661e+00] [ 1.09777759e-02 -6.97133407e-04 9.99939499e-01 2.25542594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.739254154 meters 0.056182395909029584 Centerline is valid? [True, True] Translation: X:575.72, Y:4.45, Z:2.26 [[ 9.98137779e-01 -6.00224239e-02 -1.08758348e-02 5.75719326e+02] [ 6.00261541e-02 9.98196805e-01 1.65840236e-05 4.45186279e+00] [ 1.08552282e-02 -6.69387678e-04 9.99940856e-01 2.25726699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.799254154 meters 0.057646062305520544 Centerline is valid? [True, True] Translation: X:575.78, Y:4.45, Z:2.26 [[ 9.98417137e-01 -5.51541759e-02 -1.10108323e-02 5.75778541e+02] [ 5.51577041e-02 9.98477655e-01 1.67824077e-05 4.45320037e+00] [ 1.09931444e-02 -6.24088073e-04 9.99939379e-01 2.25720704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.859254154 meters 0.057359948333229875 Centerline is valid? [True, True] Translation: X:575.84, Y:4.45, Z:2.26 [[ 9.98719292e-01 -4.92851064e-02 -1.14348171e-02 5.75837882e+02] [ 4.92885267e-02 9.98784582e-01 1.73228092e-05 4.44985934e+00] [ 1.14200652e-02 -5.80905910e-04 9.99934620e-01 2.25627991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.919254154 meters 0.05869845683163949 Centerline is valid? [True, True] Translation: X:575.90, Y:4.46, Z:2.26 [[ 9.99250637e-01 -3.71172863e-02 -1.09759751e-02 5.75898573e+02] [ 3.71197043e-02 9.99310826e-01 1.65963575e-05 4.45583228e+00] [ 1.09677948e-02 -4.24008873e-04 9.99939762e-01 2.25624283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters 0.0573305676578886 Centerline is valid? [True, True] Translation: X:575.96, Y:4.47, Z:2.26 [[ 9.99684930e-01 -2.30093944e-02 -1.00303693e-02 5.75957882e+02] [ 2.30107034e-02 9.99735219e-01 1.51087807e-05 4.46628358e+00] [ 1.00273658e-02 -2.45909873e-04 9.99949694e-01 2.25805643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.039254154 meters 0.05696533820251468 Centerline is valid? [True, True] Translation: X:576.02, Y:4.47, Z:2.26 [[ 9.99853102e-01 -1.47458042e-02 -8.73705145e-03 5.76017324e+02] [ 1.47464817e-02 9.99891265e-01 1.31211944e-05 4.47077865e+00] [ 8.73590794e-03 -1.41960036e-04 9.99961831e-01 2.25825678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters 0.05735472761148753 Centerline is valid? [True, True] Translation: X:576.08, Y:4.48, Z:2.26 [[ 9.99935439e-01 -6.91616016e-03 -9.01582226e-03 5.76077513e+02] [ 6.91656330e-03 9.99976080e-01 1.35349802e-05 4.48042157e+00] [ 9.01551300e-03 -7.58926117e-05 9.99959357e-01 2.25953374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.159254154 meters 0.057599286772495345 Centerline is valid? [True, True] Translation: X:576.14, Y:4.48, Z:2.26 [[ 9.99939579e-01 -4.99460205e-03 -9.79244137e-03 5.76135617e+02] [ 4.99498309e-03 9.99987525e-01 1.44554676e-05 4.48124563e+00] [ 9.79224701e-03 -6.33676733e-05 9.99952053e-01 2.25865057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters 0.057319888763852835 Centerline is valid? [True, True] Translation: X:576.19, Y:4.48, Z:2.26 [[ 9.99924994e-01 -5.52833278e-03 -1.09290065e-02 5.76194283e+02] [ 5.52883476e-03 9.99984716e-01 1.57177235e-05 4.48037818e+00] [ 1.09287526e-02 -7.61412156e-05 9.99940276e-01 2.25849492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.279254154 meters 0.0577240236555849 Centerline is valid? [True, True] Translation: X:576.25, Y:4.48, Z:2.26 [[ 9.99904334e-01 -8.91057423e-03 -1.05794405e-02 5.76251530e+02] [ 8.91122910e-03 9.99960294e-01 1.47613561e-05 4.47607716e+00] [ 1.05788889e-02 -1.09035762e-04 9.99944036e-01 2.25923229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters 0.0572191852314166 Centerline is valid? [True, True] Translation: X:576.31, Y:4.47, Z:2.26 [[ 9.99872700e-01 -1.23166625e-02 -1.01431958e-02 5.76309966e+02] [ 1.23174363e-02 9.99924137e-01 1.38158605e-05 4.47022700e+00] [ 1.01422562e-02 -1.38752270e-04 9.99948556e-01 2.25939869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.399254154 meters 0.05673355255511854 Centerline is valid? [True, True] Translation: X:576.37, Y:4.47, Z:2.26 [[ 9.99812453e-01 -1.59970442e-02 -1.09157323e-02 5.76370079e+02] [ 1.59981579e-02 9.99872021e-01 1.47070025e-05 4.46822728e+00] [ 1.09141001e-02 -1.89335854e-04 9.99940421e-01 2.26124539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters 0.05768505425053801 Centerline is valid? [True, True] Translation: X:576.43, Y:4.46, Z:2.26 [[ 9.99794837e-01 -1.72747766e-02 -1.05766970e-02 5.76429160e+02] [ 1.72758921e-02 9.99850761e-01 1.41095469e-05 4.46298365e+00] [ 1.05748748e-02 -1.96828529e-04 9.99944065e-01 2.26049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.519254154 meters 0.05861616269410538 Centerline is valid? [True, True] Translation: X:576.49, Y:4.46, Z:2.26 [[ 9.99774932e-01 -1.87033364e-02 -1.00134957e-02 5.76488587e+02] [ 1.87044068e-02 9.99825057e-01 1.32466527e-05 4.45781539e+00] [ 1.00114962e-02 -2.00540169e-04 9.99949864e-01 2.26160181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters 0.058125324723510605 Centerline is valid? [True, True] Translation: X:576.55, Y:4.45, Z:2.26 [[ 9.99730232e-01 -2.08085634e-02 -1.03182964e-02 5.76548521e+02] [ 2.08098111e-02 9.99783452e-01 1.35614701e-05 4.45416591e+00] [ 1.03157798e-02 -2.28279612e-04 9.99946765e-01 2.26254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.639254154 meters 0.05981467682005492 Centerline is valid? [True, True] Translation: X:576.61, Y:4.44, Z:2.26 [[ 9.99713000e-01 -2.15205408e-02 -1.05254017e-02 5.76608398e+02] [ 2.15218776e-02 9.99768377e-01 1.37429012e-05 4.43904365e+00] [ 1.05226680e-02 -2.40265364e-04 9.99944606e-01 2.25959184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters 0.058408719835072766 Centerline is valid? [True, True] Translation: X:576.67, Y:4.44, Z:2.26 [[ 9.99736288e-01 -2.05150350e-02 -1.03193289e-02 5.76669098e+02] [ 2.05162666e-02 9.99789519e-01 1.34926840e-05 4.44042563e+00] [ 1.03168801e-02 -2.25203228e-04 9.99946754e-01 2.26089693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.759254154 meters 0.05813753465010421 Centerline is valid? [True, True] Translation: X:576.73, Y:4.44, Z:2.26 [[ 9.99848040e-01 -1.42770578e-02 -1.00031224e-02 5.76729754e+02] [ 1.42779032e-02 9.99898065e-01 1.30988541e-05 4.43980030e+00] [ 1.00019158e-02 -1.55920477e-04 9.99949967e-01 2.26179932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters 0.05881581075235253 Centerline is valid? [True, True] Translation: X:576.79, Y:4.44, Z:2.26 [[ 9.99906977e-01 -8.94823006e-03 -1.02940197e-02 5.76790038e+02] [ 8.94884234e-03 9.99959958e-01 1.34183838e-05 4.43976552e+00] [ 1.02934875e-02 -1.05536695e-04 9.99947015e-01 2.26174350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.879254154 meters 0.05850102733043787 Centerline is valid? [True, True] Translation: X:576.85, Y:4.44, Z:2.26 [[ 9.99937905e-01 -2.11289369e-03 -1.09417104e-02 5.76848635e+02] [ 2.11316733e-03 9.99997767e-01 1.34479060e-05 4.43780984e+00] [ 1.09416575e-02 -3.65687358e-05 9.99940138e-01 2.26163226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters 0.0591944855815134 Centerline is valid? [True, True] Translation: X:576.91, Y:4.43, Z:2.26 [[ 9.99922426e-01 7.62508064e-04 -1.24322661e-02 5.76906278e+02] [-7.62387742e-04 9.99999709e-01 1.44174325e-05 4.43319910e+00] [ 1.24322735e-02 -4.93810677e-06 9.99922716e-01 2.26076315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.999254154 meters 0.05925643856436973 Centerline is valid? [True, True] Translation: X:576.97, Y:4.43, Z:2.26 [[ 9.99923198e-01 -1.59354803e-03 -1.22905801e-02 5.76965388e+02] [ 1.59383798e-03 9.99998730e-01 1.37968068e-05 4.42572045e+00] [ 1.22905425e-02 -3.33849405e-05 9.99924468e-01 2.26349952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters 0.0589633876073345 Centerline is valid? [True, True] Translation: X:577.02, Y:4.42, Z:2.26 [[ 9.99909900e-01 -6.68758518e-03 -1.16390890e-02 5.77022819e+02] [ 6.68818571e-03 9.99977634e-01 1.26726079e-05 4.41720083e+00] [ 1.16387439e-02 -9.05158546e-05 9.99932263e-01 2.26277881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.119254154 meters 0.05937818710364854 Centerline is valid? [True, True] Translation: X:577.08, Y:4.40, Z:2.26 [[ 9.99778011e-01 -1.78904371e-02 -1.11292529e-02 5.77082058e+02] [ 1.78916779e-02 9.99839931e-01 1.19252975e-05 4.40016748e+00] [ 1.11272581e-02 -2.11043658e-04 9.99938068e-01 2.26241972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters 0.05985772879863567 Centerline is valid? [True, True] Translation: X:577.14, Y:4.39, Z:2.26 [[ 9.99443622e-01 -3.17643374e-02 -1.01721739e-02 5.77142537e+02] [ 3.17660912e-02 9.99495330e-01 1.08453149e-05 4.39191054e+00] [ 1.01666959e-02 -3.33969486e-04 9.99948262e-01 2.26491752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.239254154 meters 0.06131779941097505 Centerline is valid? [True, True] Translation: X:577.20, Y:4.38, Z:2.27 [[ 9.99130933e-01 -4.05985527e-02 -9.44123340e-03 5.77203164e+02] [ 4.06004572e-02 9.99175461e-01 1.00646948e-05 4.38303649e+00] [ 9.43304012e-03 -3.93374340e-04 9.99955430e-01 2.26547451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.299254154 meters 0.060269522018079655 Centerline is valid? [True, True] Translation: X:577.26, Y:4.38, Z:2.27 [[ 9.98622320e-01 -5.18714584e-02 -7.92548112e-03 5.77263883e+02] [ 5.18731546e-02 9.98653682e-01 8.46787559e-06 4.38081475e+00] [ 7.91437165e-03 -4.19575917e-04 9.99968593e-01 2.26702851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.359254154 meters 0.059797780921511424 Centerline is valid? [True, True] Translation: X:577.32, Y:4.37, Z:2.27 [[ 9.98241893e-01 -5.87316927e-02 -7.98194533e-03 5.77322961e+02] [ 5.87336316e-02 9.98273690e-01 8.51152203e-06 4.37254706e+00] [ 7.96766612e-03 -4.77305194e-04 9.99968144e-01 2.26746203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.419254154 meters 0.06404390882051099 Centerline is valid? [True, True] Translation: X:577.38, Y:4.36, Z:2.27 [[ 9.98109367e-01 -6.07718103e-02 -9.19119775e-03 5.77382650e+02] [ 6.07744674e-02 9.98151524e-01 9.81033729e-06 4.35924953e+00] [ 9.17361185e-03 -5.68381938e-04 9.99957760e-01 2.26687636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters 0.06178201875802462 Centerline is valid? [True, True] Translation: X:577.44, Y:4.37, Z:2.27 [[ 9.98044839e-01 -6.18859987e-02 -8.75345179e-03 5.77443857e+02] [ 6.18884527e-02 9.98083072e-01 9.49264687e-06 4.36561070e+00] [ 8.73608459e-03 -5.51211674e-04 9.99961688e-01 2.26701926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.539254154 meters 0.061794480572257546 Centerline is valid? [True, True] Translation: X:577.50, Y:4.37, Z:2.27 [[ 9.98200551e-01 -5.92019206e-02 -9.52856043e-03 5.77503546e+02] [ 5.92047072e-02 9.98245863e-01 1.03916733e-05 4.36610712e+00] [ 9.51123082e-03 -5.74508604e-04 9.99954602e-01 2.26714863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters 0.058836879572314496 Centerline is valid? [True, True] Translation: X:577.56, Y:4.38, Z:2.27 [[ 9.98309899e-01 -5.73977380e-02 -9.10190893e-03 5.77564096e+02] [ 5.74002064e-02 9.98351249e-01 9.98434725e-06 4.37964144e+00] [ 9.08632907e-03 -5.32418924e-04 9.99958577e-01 2.26785159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.659254154 meters 0.05912631454138943 Centerline is valid? [True, True] Translation: X:577.62, Y:4.38, Z:2.27 [[ 9.98424657e-01 -5.53744909e-02 -9.04821708e-03 5.77623912e+02] [ 5.53768480e-02 9.98465525e-01 9.99368433e-06 4.38165269e+00] [ 9.03377942e-03 -5.11039683e-04 9.99959064e-01 2.26716359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters 0.058686206386024155 Centerline is valid? [True, True] Translation: X:577.68, Y:4.39, Z:2.27 [[ 9.98466429e-01 -5.46847912e-02 -8.62344166e-03 5.77684836e+02] [ 5.46869076e-02 9.98503551e-01 9.64485880e-06 4.38769118e+00] [ 8.61000970e-03 -4.81219425e-04 9.99962817e-01 2.26766810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.779254154 meters 0.05843306790013364 Centerline is valid? [True, True] Translation: X:577.75, Y:4.39, Z:2.27 [[ 9.98480593e-01 -5.45647750e-02 -7.69351202e-03 5.77746858e+02] [ 5.45664577e-02 9.98510141e-01 8.82218771e-06 4.38945907e+00] [ 7.68156839e-03 -4.28616482e-04 9.99970404e-01 2.26798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters 0.059283328039794775 Centerline is valid? [True, True] Translation: X:577.81, Y:4.39, Z:2.27 [[ 9.98477730e-01 -5.47596320e-02 -6.60341959e-03 5.77808478e+02] [ 5.47608770e-02 9.98499497e-01 7.75333636e-06 4.39056288e+00] [ 6.59308657e-03 -3.69350582e-04 9.99978197e-01 2.26806983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.899254154 meters 0.05977306537140426 Centerline is valid? [True, True] Translation: X:577.87, Y:4.39, Z:2.27 [[ 9.98564742e-01 -5.31245551e-02 -6.79990085e-03 5.77868975e+02] [ 5.31258383e-02 9.98587826e-01 8.08629277e-06 4.39421717e+00] [ 6.78986862e-03 -3.69325120e-04 9.99976880e-01 2.26726007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters 0.058724979323623645 Centerline is valid? [True, True] Translation: X:577.93, Y:4.40, Z:2.27 [[ 9.98696508e-01 -5.06432988e-02 -6.36723353e-03 5.77929607e+02] [ 5.06443736e-02 9.98716750e-01 7.57384291e-06 4.39932193e+00] [ 6.35867921e-03 -3.30028524e-04 9.99979729e-01 2.26733554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.019254154 meters 0.058810478145418024 Centerline is valid? [True, True] Translation: X:577.99, Y:4.41, Z:2.27 [[ 9.98964791e-01 -4.51880054e-02 -5.23351311e-03 5.77990643e+02] [ 4.51886568e-02 9.98978471e-01 6.22700873e-06 4.41023061e+00] [ 5.22788554e-03 -2.42715991e-04 9.99986305e-01 2.26728517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters 0.05876468773872854 Centerline is valid? [True, True] Translation: X:578.05, Y:4.41, Z:2.27 [[ 9.99139930e-01 -4.10810421e-02 -5.63462033e-03 5.78049770e+02] [ 4.10817319e-02 9.99155789e-01 6.68529992e-06 4.40972372e+00] [ 5.62958889e-03 -2.38159512e-04 9.99984125e-01 2.26774846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.139254154 meters 0.058616256614324944 Centerline is valid? [True, True] Translation: X:578.11, Y:4.42, Z:2.27 [[ 9.99299591e-01 -3.70602975e-02 -5.18292000e-03 5.78110127e+02] [ 3.70608270e-02 9.99313012e-01 6.11575054e-06 4.41606207e+00] [ 5.17913274e-03 -1.98194768e-04 9.99986569e-01 2.26802604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters 0.05787884398224227 Centerline is valid? [True, True] Translation: X:578.17, Y:4.42, Z:2.27 [[ 9.99496606e-01 -3.14001334e-02 -4.53490965e-03 5.78170707e+02] [ 3.14004806e-02 9.99506883e-01 5.35495435e-06 4.42271475e+00] [ 4.53250526e-03 -1.47750601e-04 9.99989717e-01 2.26869306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.259254154 meters 0.057763468124019404 Centerline is valid? [True, True] Translation: X:578.23, Y:4.43, Z:2.27 [[ 9.99585501e-01 -2.82550467e-02 -5.52078717e-03 5.78230243e+02] [ 2.82555134e-02 9.99600733e-01 6.54293716e-06 4.42733831e+00] [ 5.51839804e-03 -1.62532901e-04 9.99984760e-01 2.26866374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters 0.05752616430805386 Centerline is valid? [True, True] Translation: X:578.29, Y:4.43, Z:2.27 [[ 9.99639350e-01 -2.62051159e-02 -5.87040056e-03 5.78291603e+02] [ 2.62056083e-02 9.99656574e-01 6.97044180e-06 4.43114816e+00] [ 5.86820185e-03 -1.60805346e-04 9.99982769e-01 2.26784687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.379254154 meters 0.057513736144300734 Centerline is valid? [True, True] Translation: X:578.35, Y:4.43, Z:2.27 [[ 9.99654348e-01 -2.56811513e-02 -5.62702201e-03 5.78353373e+02] [ 2.56815964e-02 9.99670173e-01 6.85069726e-06 4.43291690e+00] [ 5.62499013e-03 -1.51359237e-04 9.99984168e-01 2.26728688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters 0.057247380931879845 Centerline is valid? [True, True] Translation: X:578.41, Y:4.44, Z:2.27 [[ 9.99698910e-01 -2.35998695e-02 -6.71828894e-03 5.78413615e+02] [ 2.36004586e-02 9.99721470e-01 8.40731542e-06 4.43681751e+00] [ 6.71621929e-03 -1.66959484e-04 9.99977432e-01 2.26756432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.499254154 meters 0.05675346605202781 Centerline is valid? [True, True] Translation: X:578.48, Y:4.44, Z:2.27 [[ 9.99754349e-01 -2.10172996e-02 -7.03670045e-03 5.78475009e+02] [ 2.10178827e-02 9.99779100e-01 8.91965876e-06 4.43892187e+00] [ 7.03495858e-03 -1.56814013e-04 9.99975242e-01 2.26706166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters 0.05756287998252031 Centerline is valid? [True, True] Translation: X:578.54, Y:4.44, Z:2.27 [[ 9.99793902e-01 -1.92293846e-02 -6.51038263e-03 5.78536817e+02] [ 1.92298469e-02 9.99815089e-01 8.40919519e-06 4.43931167e+00] [ 6.50901709e-03 -1.33601123e-04 9.99978807e-01 2.26748077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.619254154 meters 0.057035383254994354 Centerline is valid? [True, True] Translation: X:578.60, Y:4.44, Z:2.27 [[ 9.99813063e-01 -1.82440447e-02 -6.40267416e-03 5.78596858e+02] [ 1.82444724e-02 9.99833556e-01 8.38861604e-06 4.43929697e+00] [ 6.40145543e-03 -1.25200460e-04 9.99979503e-01 2.26802488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters 0.05723557067193013 Centerline is valid? [True, True] Translation: X:578.66, Y:4.44, Z:2.27 [[ 9.99846781e-01 -1.61361923e-02 -6.78515980e-03 5.78657998e+02] [ 1.61366246e-02 9.99869796e-01 8.97336858e-06 4.44465388e+00] [ 6.78413155e-03 -1.18461570e-04 9.99976980e-01 2.26852904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.739254154 meters 0.0575323570199339 Centerline is valid? [True, True] Translation: X:578.72, Y:4.44, Z:2.27 [[ 9.99895466e-01 -1.27403998e-02 -6.83661227e-03 5.78719146e+02] [ 1.27407595e-02 9.99918833e-01 9.06123859e-06 4.44201981e+00] [ 6.83594192e-03 -9.61639240e-05 9.99976630e-01 2.26769217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.799254154 meters 0.05889047684116344 Centerline is valid? [True, True] Translation: X:578.78, Y:4.44, Z:2.27 [[ 9.99928093e-01 -9.99278819e-03 -6.62976675e-03 5.78778542e+02] [ 9.99306549e-03 9.99950068e-01 8.70052494e-06 4.44229431e+00] [ 6.62934877e-03 -7.49515926e-05 9.99978023e-01 2.26807566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.859254154 meters 0.05717828000365411 Centerline is valid? [True, True] Translation: X:578.84, Y:4.44, Z:2.27 [[ 9.99927187e-01 -9.92960055e-03 -6.85735910e-03 5.78837826e+02] [ 9.92989515e-03 9.99950697e-01 8.91473377e-06 4.44285924e+00] [ 6.85693250e-03 -7.70069416e-05 9.99976488e-01 2.26901405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.919254154 meters 0.0581537880054043 Centerline is valid? [True, True] Translation: X:578.90, Y:4.44, Z:2.27 [[ 9.99888958e-01 -1.28487891e-02 -7.54847852e-03 5.78897719e+02] [ 1.28492282e-02 9.99917445e-01 9.67815181e-06 4.43930343e+00] [ 7.54773100e-03 -1.06669200e-04 9.99971510e-01 2.26873907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters 0.05820721471121075 Centerline is valid? [True, True] Translation: X:578.96, Y:4.44, Z:2.27 [[ 9.99832070e-01 -1.67284667e-02 -7.48262224e-03 5.78957533e+02] [ 1.67290061e-02 9.99860060e-01 9.49757650e-06 4.43551682e+00] [ 7.48141624e-03 -1.34672815e-04 9.99972005e-01 2.26948274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.039254154 meters 0.05835964673827327 Centerline is valid? [True, True] Translation: X:579.02, Y:4.43, Z:2.27 [[ 9.99682287e-01 -2.41472677e-02 -7.22734420e-03 5.79018083e+02] [ 2.41479645e-02 9.99708395e-01 9.14647083e-06 4.43148829e+00] [ 7.22501581e-03 -1.83669216e-04 9.99973882e-01 2.27033133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters 0.058837578430140015 Centerline is valid? [True, True] Translation: X:579.08, Y:4.42, Z:2.27 [[ 9.99464357e-01 -3.18126267e-02 -7.67833175e-03 5.79077873e+02] [ 3.18136395e-02 9.99493818e-01 9.76786510e-06 4.41835280e+00] [ 7.67413437e-03 -2.54038311e-04 9.99970521e-01 2.27012095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.159254154 meters 0.05779416111548755 Centerline is valid? [True, True] Translation: X:579.14, Y:4.43, Z:2.27 [[ 9.99231261e-01 -3.85315327e-02 -7.22558254e-03 5.79138426e+02] [ 3.85326053e-02 9.99257343e-01 9.23968861e-06 4.42505545e+00] [ 7.21986039e-03 -2.87653106e-04 9.99973895e-01 2.27180799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters 0.05747518831279233 Centerline is valid? [True, True] Translation: X:579.20, Y:4.42, Z:2.27 [[ 9.99072131e-01 -4.25517329e-02 -6.65035580e-03 5.79199302e+02] [ 4.25527306e-02 9.99094222e-01 8.53572069e-06 4.42434969e+00] [ 6.64396885e-03 -2.91518600e-04 9.99977886e-01 2.27222716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.279254154 meters 0.05758815124705826 Centerline is valid? [True, True] Translation: X:579.26, Y:4.42, Z:2.27 [[ 9.98781717e-01 -4.88806495e-02 -6.76497455e-03 5.79258995e+02] [ 4.88818269e-02 9.98804569e-01 8.70505075e-06 4.41788802e+00] [ 6.75646198e-03 -3.39378760e-04 9.99977117e-01 2.27251652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters 0.05800700440606626 Centerline is valid? [True, True] Translation: X:579.32, Y:4.41, Z:2.27 [[ 9.98527944e-01 -5.37968361e-02 -6.91704653e-03 5.79318988e+02] [ 5.37981846e-02 9.98551829e-01 8.89784268e-06 4.41466061e+00] [ 6.90655079e-03 -3.81009291e-04 9.99976077e-01 2.27278610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.399254154 meters 0.05814644169258218 Centerline is valid? [True, True] Translation: X:579.38, Y:4.41, Z:2.27 [[ 9.98129255e-01 -6.07143653e-02 -7.19412954e-03 5.79378958e+02] [ 6.07160033e-02 9.98155082e-01 9.29868559e-06 4.41176441e+00] [ 7.18029239e-03 -4.46080082e-04 9.99974122e-01 2.27342566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters 0.05952130527917828 Centerline is valid? [True, True] Translation: X:579.44, Y:4.41, Z:2.27 [[ 9.97867136e-01 -6.47941251e-02 -7.93101686e-03 5.79439465e+02] [ 6.47962443e-02 9.97898515e-01 1.02742918e-05 4.41169751e+00] [ 7.91368423e-03 -5.24152484e-04 9.99968549e-01 2.27361896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.519254154 meters 0.057162924862124716 Centerline is valid? [True, True] Translation: X:579.50, Y:4.42, Z:2.27 [[ 9.97831940e-01 -6.52910083e-02 -8.27670237e-03 5.79501175e+02] [ 6.52933342e-02 9.97866113e-01 1.08369746e-05 4.41960812e+00] [ 8.25833327e-03 -5.51226974e-04 9.99965747e-01 2.27480744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters 0.0579564403552208 Centerline is valid? [True, True] Translation: X:579.56, Y:4.42, Z:2.27 [[ 9.97870427e-01 -6.47210357e-02 -8.11157666e-03 5.79561428e+02] [ 6.47232521e-02 9.97903252e-01 1.07508191e-05 4.41794000e+00] [ 8.09387292e-03 -5.35735546e-04 9.99967101e-01 2.27495390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.639254154 meters 0.05759158822763098 Centerline is valid? [True, True] Translation: X:579.62, Y:4.43, Z:2.28 [[ 9.98020513e-01 -6.22433453e-02 -8.99006096e-03 5.79621971e+02] [ 6.22459680e-02 9.98060840e-01 1.19498378e-05 4.43168537e+00] [ 8.97188399e-03 -5.71521230e-04 9.99959588e-01 2.27620815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters 0.05783757351222313 Centerline is valid? [True, True] Translation: X:579.68, Y:4.43, Z:2.28 [[ 9.98191386e-01 -5.94946240e-02 -8.62239681e-03 5.79682426e+02] [ 5.94969343e-02 9.98228488e-01 1.14575574e-05 4.43323678e+00] [ 8.60644047e-03 -5.24443012e-04 9.99962826e-01 2.27731487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.759254154 meters 0.0575845474062036 Centerline is valid? [True, True] Translation: X:579.74, Y:4.44, Z:2.28 [[ 9.98541623e-01 -5.35253397e-02 -7.04741413e-03 5.79742272e+02] [ 5.35267349e-02 9.98566417e-01 9.37610647e-06 4.43905991e+00] [ 7.03680921e-03 -3.86587500e-04 9.99975167e-01 2.27896521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters 0.05755437206651003 Centerline is valid? [True, True] Translation: X:579.80, Y:4.45, Z:2.28 [[ 9.98889102e-01 -4.65666644e-02 -7.21856534e-03 5.79802043e+02] [ 4.65679472e-02 9.98915125e-01 9.63087361e-06 4.44593086e+00] [ 7.21028562e-03 -3.45773944e-04 9.99973946e-01 2.27988390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.879254154 meters 0.05808795953941334 Centerline is valid? [True, True] Translation: X:579.86, Y:4.46, Z:2.28 [[ 9.99188234e-01 -3.94241524e-02 -8.28307959e-03 5.79862851e+02] [ 3.94255967e-02 9.99222509e-01 1.10816804e-05 4.45797692e+00] [ 8.27620268e-03 -3.37638040e-04 9.99965695e-01 2.28034149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters 0.05790402709569061 Centerline is valid? [True, True] Translation: X:579.92, Y:4.46, Z:2.28 [[ 9.99369226e-01 -3.44180191e-02 -8.74927736e-03 5.79922086e+02] [ 3.44194387e-02 9.99407476e-01 1.16783243e-05 4.45881653e+00] [ 8.74369125e-03 -3.12816173e-04 9.99961724e-01 2.27952699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.999254154 meters 0.058456029050768264 Centerline is valid? [True, True] Translation: X:579.98, Y:4.47, Z:2.28 [[ 9.99527528e-01 -2.92254065e-02 -9.51825201e-03 5.79982968e+02] [ 2.92268514e-02 9.99572804e-01 1.27083207e-05 4.46590658e+00] [ 9.51381444e-03 -2.90890853e-04 9.99954700e-01 2.28013342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters 0.05740517548499 Centerline is valid? [True, True] Translation: X:580.04, Y:4.48, Z:2.28 [[ 9.99707248e-01 -2.22711836e-02 -9.45580381e-03 5.80043724e+02] [ 2.22722986e-02 9.99751942e-01 1.26234387e-05 4.47549323e+00] [ 9.45317708e-03 -2.23222229e-04 9.99955293e-01 2.28167323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.119254154 meters 0.05771029307519458 Centerline is valid? [True, True] Translation: X:580.10, Y:4.48, Z:2.28 [[ 9.99778641e-01 -1.87928880e-02 -9.46025358e-03 5.80103325e+02] [ 1.87938479e-02 9.99823380e-01 1.25618351e-05 4.47744383e+00] [ 9.45834664e-03 -1.90353621e-04 9.99955251e-01 2.28114456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters 0.05768387812249948 Centerline is valid? [True, True] Translation: X:580.16, Y:4.48, Z:2.28 [[ 9.99802179e-01 -1.72662885e-02 -9.87313613e-03 5.80164321e+02] [ 1.72672578e-02 9.99850910e-01 1.29298725e-05 4.48127051e+00] [ 9.87144089e-03 -1.83409301e-04 9.99951259e-01 2.28142617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.239254154 meters 0.058647794257803865 Centerline is valid? [True, True] Translation: X:580.22, Y:4.48, Z:2.28 [[ 9.99753700e-01 -1.97718566e-02 -1.00802947e-02 5.80224865e+02] [ 1.97729949e-02 9.99804495e-01 1.32650110e-05 4.47742426e+00] [ 1.00780617e-02 -2.12579360e-04 9.99949192e-01 2.27979596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.299254154 meters 0.05694222224920916 Centerline is valid? [True, True] Translation: X:580.29, Y:4.48, Z:2.28 [[ 9.99650560e-01 -2.43598021e-02 -1.02644061e-02 5.80285577e+02] [ 2.43612258e-02 9.99703221e-01 1.36794664e-05 4.48007236e+00] [ 1.02610266e-02 -2.63728201e-04 9.99947319e-01 2.28131630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.359254154 meters 0.05648138764279202 Centerline is valid? [True, True] Translation: X:580.35, Y:4.48, Z:2.28 [[ 9.99561517e-01 -2.78036695e-02 -1.01847869e-02 5.80347051e+02] [ 2.78052513e-02 9.99613359e-01 1.37177068e-05 4.48321556e+00] [ 1.01804677e-02 -2.96902252e-04 9.99948134e-01 2.28322692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.419254154 meters 0.058406401541488205 Centerline is valid? [True, True] Translation: X:580.41, Y:4.47, Z:2.28 [[ 9.99541660e-01 -2.85338213e-02 -1.01138805e-02 5.80408606e+02] [ 2.85354222e-02 9.99592782e-01 1.39889254e-05 4.47368214e+00] [ 1.01093628e-02 -3.02586365e-04 9.99948853e-01 2.28167713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters 0.058241990224324844 Centerline is valid? [True, True] Translation: X:580.47, Y:4.48, Z:2.28 [[ 9.99610426e-01 -2.62942719e-02 -9.35986375e-03 5.80470658e+02] [ 2.62955477e-02 9.99654212e-01 1.32538898e-05 4.48080936e+00] [ 9.35627872e-03 -2.59371470e-04 9.99956195e-01 2.28341548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.539254154 meters 0.05768122605815534 Centerline is valid? [True, True] Translation: X:580.53, Y:4.48, Z:2.28 [[ 9.99769716e-01 -2.01008100e-02 -7.51482619e-03 5.80530051e+02] [ 2.01014581e-02 9.99797945e-01 1.07157527e-05 4.48161795e+00] [ 7.51309239e-03 -1.61772249e-04 9.99971763e-01 2.28456096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters 0.05726005428609788 Centerline is valid? [True, True] Translation: X:580.59, Y:4.49, Z:2.29 [[ 9.99882878e-01 -1.35843372e-02 -7.04955330e-03 5.80590891e+02] [ 1.35847459e-02 9.99907723e-01 1.00868696e-05 4.48755533e+00] [ 7.04876577e-03 -1.05852079e-04 9.99975152e-01 2.28609194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.659254154 meters 0.0573703414848299 Centerline is valid? [True, True] Translation: X:580.65, Y:4.49, Z:2.29 [[ 9.99909274e-01 -1.08413785e-02 -7.99424105e-03 5.80652135e+02] [ 1.08418173e-02 9.99941226e-01 1.15581865e-05 4.48808550e+00] [ 7.99364589e-03 -9.82292388e-05 9.99968045e-01 2.28605390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters 0.05776797835387165 Centerline is valid? [True, True] Translation: X:580.71, Y:4.48, Z:2.28 [[ 9.99894595e-01 -1.11877618e-02 -9.25384301e-03 5.80710695e+02] [ 1.11883646e-02 9.99937408e-01 1.33680507e-05 4.48196446e+00] [ 9.25311424e-03 -1.16902011e-04 9.99957182e-01 2.28341741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.779254154 meters 0.057634795184285076 Centerline is valid? [True, True] Translation: X:580.77, Y:4.48, Z:2.28 [[ 9.99816415e-01 -1.55582181e-02 -1.11838319e-02 5.80770729e+02] [ 1.55593707e-02 9.99878946e-01 1.60510530e-05 4.47881016e+00] [ 1.11822283e-02 -1.90061492e-04 9.99937459e-01 2.28354684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters 0.05733185428532239 Centerline is valid? [True, True] Translation: X:580.83, Y:4.48, Z:2.28 [[ 9.99750956e-01 -1.89461558e-02 -1.17927295e-02 5.80831503e+02] [ 1.89476728e-02 9.99820477e-01 1.69099326e-05 4.47718755e+00] [ 1.17902920e-02 -2.40350500e-04 9.99930463e-01 2.28346648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.899254154 meters 0.05792962050066358 Centerline is valid? [True, True] Translation: X:580.89, Y:4.47, Z:2.28 [[ 9.99635806e-01 -2.45880881e-02 -1.11212224e-02 5.80891361e+02] [ 2.45897869e-02 9.99697625e-01 1.60160706e-05 4.47166233e+00] [ 1.11174658e-02 -2.89478725e-04 9.99938157e-01 2.28367395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters 0.05776314975500617 Centerline is valid? [True, True] Translation: X:580.95, Y:4.47, Z:2.29 [[ 9.99429929e-01 -3.25814423e-02 -8.84686342e-03 5.80952199e+02] [ 3.25828305e-02 9.99469039e-01 1.27893650e-05 4.47075666e+00] [ 8.84174938e-03 -3.01037925e-04 9.99960866e-01 2.28615600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.019254154 meters 0.060573971946653316 Centerline is valid? [True, True] Translation: X:581.01, Y:4.46, Z:2.29 [[ 9.99064601e-01 -4.27547576e-02 -6.47724956e-03 5.81011307e+02] [ 4.27557157e-02 9.99085556e-01 9.44221438e-06 4.45675069e+00] [ 6.47092278e-03 -2.86372823e-04 9.99979022e-01 2.28692608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters 0.0561619338485925 Centerline is valid? [True, True] Translation: X:581.07, Y:4.47, Z:2.29 [[ 9.98582005e-01 -5.30206034e-02 -4.77444127e-03 5.81072074e+02] [ 5.30212413e-02 9.98593385e-01 7.03936410e-06 4.47117447e+00] [ 4.76735224e-03 -2.60176185e-04 9.99988602e-01 2.28790136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.139254154 meters 0.06092222532792987 Centerline is valid? [True, True] Translation: X:581.13, Y:4.45, Z:2.29 [[ 9.98306513e-01 -5.79450778e-02 -5.14534111e-03 5.81131744e+02] [ 5.79458839e-02 9.98319726e-01 7.59785576e-06 4.45256683e+00] [ 5.13625526e-03 -3.05736327e-04 9.99986763e-01 2.28742574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters 0.05550277103912086 Centerline is valid? [True, True] Translation: X:581.19, Y:4.48, Z:2.29 [[ 9.98058140e-01 -6.21071742e-02 -4.75909263e-03 5.81192680e+02] [ 6.21079109e-02 9.98069440e-01 7.03700044e-06 4.48044168e+00] [ 4.74946787e-03 -3.02600637e-04 9.99988675e-01 2.28730572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.259254154 meters 0.05642083849722817 Centerline is valid? [True, True] Translation: X:581.25, Y:4.48, Z:2.29 [[ 9.98100532e-01 -6.13473858e-02 -5.64143754e-03 5.81252677e+02] [ 6.13484092e-02 9.98116412e-01 8.37648500e-06 4.47748280e+00] [ 5.63029752e-03 -3.54453793e-04 9.99984087e-01 2.28631421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters 0.06024056067028506 Centerline is valid? [True, True] Translation: X:581.31, Y:4.47, Z:2.29 [[ 9.98508801e-01 -5.41642661e-02 -6.81218982e-03 5.81311972e+02] [ 5.41655918e-02 9.98531967e-01 1.01274331e-05 4.46746188e+00] [ 6.80164075e-03 -3.79098624e-04 9.99976797e-01 2.28531974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.379254154 meters 0.05623804985656181 Centerline is valid? [True, True] Translation: X:581.37, Y:4.49, Z:2.29 [[ 9.99078860e-01 -4.25258197e-02 -5.74334938e-03 5.81372236e+02] [ 4.25265700e-02 9.99095336e-01 8.51339793e-06 4.49062543e+00] [ 5.73779154e-03 -2.52750505e-04 9.99983507e-01 2.28635944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters 0.0569496896816306 Centerline is valid? [True, True] Translation: X:581.43, Y:4.50, Z:2.29 [[ 9.99537186e-01 -3.00064120e-02 -5.00288426e-03 5.81432070e+02] [ 3.00068247e-02 9.99549694e-01 7.43045722e-06 4.49871742e+00] [ 5.00040847e-03 -1.57547689e-04 9.99987485e-01 2.28667710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.499254154 meters 0.05629031470162194 Centerline is valid? [True, True] Translation: X:581.49, Y:4.51, Z:2.29 [[ 9.99743708e-01 -2.23552238e-02 -3.57241098e-03 5.81492939e+02] [ 2.23553855e-02 9.99750087e-01 5.31095968e-06 4.50964826e+00] [ 3.57139946e-03 -8.51722229e-05 9.99993619e-01 2.28713675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters 0.05632002493943446 Centerline is valid? [True, True] Translation: X:581.55, Y:4.52, Z:2.29 [[ 9.99911946e-01 -1.29004302e-02 -3.11108307e-03 5.81552878e+02] [ 1.29005071e-02 9.99916785e-01 4.64998392e-06 4.51975809e+00] [ 3.11076420e-03 -4.47841239e-05 9.99995161e-01 2.28832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.619254154 meters 0.056575063905312334 Centerline is valid? [True, True] Translation: X:581.61, Y:4.53, Z:2.29 [[ 9.99975443e-01 -6.10349671e-03 -3.44391842e-03 5.81613770e+02] [ 6.10355063e-03 9.99981373e-01 5.14807249e-06 4.52512866e+00] [ 3.44382285e-03 -2.61680765e-05 9.99994070e-01 2.28793374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters 0.056342594729600806 Centerline is valid? [True, True] Translation: X:581.67, Y:4.53, Z:2.29 [[ 9.99987438e-01 -2.92375956e-03 -4.07131978e-03 5.81674257e+02] [ 2.92380844e-03 9.99995726e-01 6.05228267e-06 4.52843005e+00] [ 4.07128468e-03 -1.79559657e-05 9.99991712e-01 2.28768957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.739254154 meters 0.055748220962438116 Centerline is valid? [True, True] Translation: X:581.73, Y:4.53, Z:2.29 [[ 9.99991634e-01 -7.49091144e-04 -4.02130762e-03 5.81733615e+02] [ 7.49121366e-04 9.99999719e-01 6.00903225e-06 4.53138911e+00] [ 4.02130199e-03 -9.02142943e-06 9.99991914e-01 2.28768956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.799254154 meters 0.05609256078128511 Centerline is valid? [True, True] Translation: X:581.79, Y:4.53, Z:2.29 [[ 9.99991708e-01 -3.08861402e-03 -2.65418172e-03 5.81792541e+02] [ 3.08863548e-03 9.99995230e-01 3.98924693e-06 4.53177763e+00] [ 2.65415674e-03 -1.21870137e-05 9.99996478e-01 2.28752042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.859254154 meters 0.056669263021250416 Centerline is valid? [True, True] Translation: X:581.85, Y:4.53, Z:2.29 [[ 9.99965791e-01 -8.14261012e-03 -1.45404563e-03 5.81851945e+02] [ 8.14262183e-03 9.99966848e-01 2.13216548e-06 4.52686358e+00] [ 1.45398007e-03 -1.39718362e-05 9.99998943e-01 2.28922191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.919254154 meters 0.05634410552615336 Centerline is valid? [True, True] Translation: X:581.91, Y:4.53, Z:2.29 [[ 9.99945882e-01 -1.03880626e-02 -5.66291027e-04 5.81914452e+02] [ 1.03880645e-02 9.99946043e-01 4.44371917e-07 4.52598433e+00] [ 5.66255855e-04 -6.32701558e-06 9.99999840e-01 2.28965132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters 0.05659345095230368 Centerline is valid? [True, True] Translation: X:581.97, Y:4.52, Z:2.29 [[ 9.99813937e-01 -1.91777121e-02 2.07514839e-03 5.81974670e+02] [ 1.91777600e-02 9.99816090e-01 -3.18540863e-06 4.52050416e+00] [-2.07470566e-03 4.29815138e-05 9.99997847e-01 2.29106745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.039254154 meters 0.05664663908053152 Centerline is valid? [True, True] Translation: X:582.03, Y:4.51, Z:2.29 [[ 9.99590052e-01 -2.83516244e-02 3.98905217e-03 5.82034319e+02] [ 2.83518748e-02 9.99598005e-01 -6.22937074e-06 4.51421196e+00] [-3.98727198e-03 1.19323925e-04 9.99992044e-01 2.29173594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters 0.055826970624912924 Centerline is valid? [True, True] Translation: X:582.10, Y:4.51, Z:2.29 [[ 9.99318224e-01 -3.66320236e-02 4.60234213e-03 5.82095117e+02] [ 3.66324446e-02 9.99328807e-01 -7.17587535e-06 4.51264419e+00] [-4.59899020e-03 1.75766026e-04 9.99989409e-01 2.29057774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.159254154 meters 0.054633414533599066 Centerline is valid? [True, True] Translation: X:582.16, Y:4.51, Z:2.29 [[ 9.99162306e-01 -4.05977064e-02 5.14909533e-03 5.82155858e+02] [ 4.05982867e-02 9.99175550e-01 -8.18083559e-06 4.51238320e+00] [-5.14451804e-03 2.17218431e-04 9.99986743e-01 2.28940377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters 0.058277375140333106 Centerline is valid? [True, True] Translation: X:582.22, Y:4.50, Z:2.29 [[ 9.99074226e-01 -4.26326118e-02 5.75775380e-03 5.82216242e+02] [ 4.26333716e-02 9.99090784e-01 -9.22551623e-06 4.50377805e+00] [-5.75212545e-03 2.54689433e-04 9.99983424e-01 2.29071539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.279254154 meters 0.05620310297030341 Centerline is valid? [True, True] Translation: X:582.28, Y:4.51, Z:2.29 [[ 9.99141488e-01 -4.08648519e-02 6.80815266e-03 5.82277374e+02] [ 4.08658738e-02 9.99164641e-01 -1.09970209e-05 4.51066403e+00] [-6.80201602e-03 2.89208687e-04 9.99976824e-01 2.28963766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters 0.05634268820154921 Centerline is valid? [True, True] Translation: X:582.34, Y:4.51, Z:2.29 [[ 9.99291338e-01 -3.70026239e-02 6.90121693e-03 5.82337878e+02] [ 3.70035815e-02 9.99315133e-01 -1.10813362e-05 4.51294161e+00] [-6.89608047e-03 2.66443227e-04 9.99976186e-01 2.29071563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.399254154 meters 0.0561265915945665 Centerline is valid? [True, True] Translation: X:582.40, Y:4.52, Z:2.29 [[ 9.99469236e-01 -3.18286374e-02 6.94154945e-03 5.82398397e+02] [ 3.18294821e-02 9.99493314e-01 -1.12128847e-05 4.51622072e+00] [-6.93767537e-03 2.32152857e-04 9.99975907e-01 2.29090621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters 0.05462633792146904 Centerline is valid? [True, True] Translation: X:582.46, Y:4.52, Z:2.29 [[ 9.99583185e-01 -2.79394490e-02 7.26929578e-03 5.82459320e+02] [ 2.79402733e-02 9.99609594e-01 -1.18467680e-05 4.52463838e+00] [-7.26612682e-03 2.14947941e-04 9.99973578e-01 2.28911131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.519254154 meters 0.05552887509570397 Centerline is valid? [True, True] Translation: X:582.52, Y:4.53, Z:2.29 [[ 9.99770507e-01 -2.07024288e-02 5.50850296e-03 5.82518796e+02] [ 2.07027916e-02 9.99785674e-01 -8.85652147e-06 4.52814501e+00] [-5.50713899e-03 1.22895878e-04 9.99984828e-01 2.28842500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters 0.055954488160924944 Centerline is valid? [True, True] Translation: X:582.58, Y:4.53, Z:2.29 [[ 9.99921776e-01 -1.21228010e-02 3.07896499e-03 5.82578055e+02] [ 1.21228737e-02 9.99926515e-01 -4.96656693e-06 4.53032940e+00] [-3.07867852e-03 4.22920822e-05 9.99995260e-01 2.28950965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.639254154 meters 0.05572539057047588 Centerline is valid? [True, True] Translation: X:582.64, Y:4.54, Z:2.29 [[ 9.99989036e-01 -4.12568132e-03 2.21530877e-03 5.82638400e+02] [ 4.12569936e-03 9.99991489e-01 -3.57500438e-06 4.53715891e+00] [-2.21527517e-03 1.27146632e-05 9.99997546e-01 2.28830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters 0.05655061215195207 Centerline is valid? [True, True] Translation: X:582.70, Y:4.54, Z:2.29 [[ 9.99998179e-01 4.48578195e-04 1.85501165e-03 5.82699463e+02] [-4.48573242e-04 9.99999899e-01 -3.08576994e-06 4.54117412e+00] [-1.85501284e-03 2.25365574e-06 9.99998279e-01 2.28649902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.759254154 meters 0.05675764893712052 Centerline is valid? [True, True] Translation: X:582.76, Y:4.54, Z:2.29 [[ 9.99982369e-01 5.91789179e-03 -4.89490414e-04 5.82760238e+02] [-5.91789212e-03 9.99982489e-01 7.71115236e-07 4.54432314e+00] [ 4.89486406e-04 2.12564983e-06 9.99999880e-01 2.28558598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters 0.056565563036324866 Centerline is valid? [True, True] Translation: X:582.82, Y:4.54, Z:2.28 [[ 9.99968285e-01 7.82118995e-03 -1.50259099e-03 5.82819059e+02] [-7.82119470e-03 9.99969414e-01 2.71268661e-06 4.54385956e+00] [ 1.50256625e-03 9.03945614e-06 9.99998871e-01 2.28407804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.879254154 meters 0.05648819448598789 Centerline is valid? [True, True] Translation: X:582.88, Y:4.54, Z:2.28 [[ 9.99975053e-01 5.89092747e-03 -3.89739918e-03 5.82876800e+02] [-5.89094890e-03 9.99982648e-01 5.98042362e-06 4.53973254e+00] [ 3.89736678e-03 1.69791050e-05 9.99992405e-01 2.28297680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters 0.055400874465985205 Centerline is valid? [True, True] Translation: X:582.94, Y:4.53, Z:2.28 [[ 9.99970610e-01 3.20901398e-03 -6.96287452e-03 5.82935442e+02] [-3.20902001e-03 9.99994851e-01 1.03048700e-05 4.53241535e+00] [ 6.96287174e-03 1.20394366e-05 9.99975759e-01 2.28113282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.999254154 meters 0.05674281868537299 Centerline is valid? [True, True] Translation: X:582.99, Y:4.53, Z:2.28 [[ 9.99961473e-01 2.50016647e-03 -8.41440599e-03 5.82994505e+02] [-2.50015277e-03 9.99996875e-01 1.21465571e-05 4.52720165e+00] [ 8.41441006e-03 8.89121137e-06 9.99964598e-01 2.28022725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters 0.05651279101426196 Centerline is valid? [True, True] Translation: X:583.05, Y:4.52, Z:2.28 [[ 9.99943645e-01 2.60615859e-03 -1.02914948e-02 5.83051984e+02] [-2.60614808e-03 9.99996604e-01 1.44325492e-05 4.51971451e+00] [ 1.02914974e-02 1.23894234e-05 9.99947041e-01 2.27744982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.119254154 meters 0.05683753523031868 Centerline is valid? [True, True] Translation: X:583.11, Y:4.51, Z:2.28 [[ 9.99934952e-01 2.31231365e-03 -1.11689021e-02 5.83110887e+02] [-2.31228761e-03 9.99997327e-01 1.52453318e-05 4.51087935e+00] [ 1.11689075e-02 1.05813737e-05 9.99937626e-01 2.27786950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.179254154 meters 0.05714151569616176 Centerline is valid? [True, True] Translation: X:583.17, Y:4.50, Z:2.28 [[ 9.99931162e-01 5.69364524e-04 -1.17195458e-02 5.83170105e+02] [-5.69220849e-04 9.99999838e-01 1.55949262e-05 4.50067509e+00] [ 1.17195528e-02 -8.92284288e-06 9.99931324e-01 2.27866496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.239254154 meters 0.05743694571434236 Centerline is valid? [True, True] Translation: X:583.23, Y:4.49, Z:2.28 [[ 9.99917339e-01 -1.80711215e-03 -1.27298595e-02 5.83228569e+02] [ 1.80746857e-03 9.99998366e-01 1.64943176e-05 4.49239726e+00] [ 1.27298089e-02 -3.95017751e-05 9.99918972e-01 2.27796720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.299254154 meters 0.05672163053272471 Centerline is valid? [True, True] Translation: X:583.29, Y:4.48, Z:2.28 [[ 9.99876432e-01 -6.62519284e-03 -1.42558210e-02 5.83287442e+02] [ 6.62612364e-03 9.99978047e-01 1.80600618e-05 4.47877629e+00] [ 1.42553884e-02 -1.12518663e-04 9.99898380e-01 2.27627753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.359254154 meters 0.05785577074608347 Centerline is valid? [True, True] Translation: X:583.35, Y:4.46, Z:2.27 [[ 9.99825648e-01 -1.06641781e-02 -1.53280161e-02 5.83345471e+02] [ 1.06657216e-02 9.99943119e-01 1.89532561e-05 4.46362953e+00] [ 1.53269422e-02 -1.82434304e-04 9.99882519e-01 2.27400391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.419254154 meters 0.057483805841354145 Centerline is valid? [True, True] Translation: X:583.40, Y:4.46, Z:2.28 [[ 9.99815073e-01 -1.16648880e-02 -1.52889231e-02 5.83404185e+02] [ 1.16665348e-02 9.99931944e-01 1.85246267e-05 4.45829326e+00] [ 1.52876665e-02 -1.96889955e-04 9.99883117e-01 2.27810516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters 0.05776030007361245 Centerline is valid? [True, True] Translation: X:583.46, Y:4.45, Z:2.28 [[ 9.99863104e-01 -7.20046797e-03 -1.48971950e-02 5.83463445e+02] [ 7.20152569e-03 9.99974069e-01 1.73572779e-05 4.45159591e+00] [ 1.48966837e-02 -1.24637434e-04 9.99889030e-01 2.27678086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.539254154 meters 0.05805007089141978 Centerline is valid? [True, True] Translation: X:583.52, Y:4.45, Z:2.28 [[ 9.99904990e-01 -5.67644445e-04 -1.37727713e-02 5.83522608e+02] [ 5.67902415e-04 9.99999839e-01 1.48194209e-05 4.45063120e+00] [ 1.37727607e-02 -2.26396030e-05 9.99905151e-01 2.27988408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters 0.05801070274191858 Centerline is valid? [True, True] Translation: X:583.58, Y:4.45, Z:2.28 [[ 9.99920432e-01 2.63339843e-03 -1.23366975e-02 5.83581309e+02] [-2.63345157e-03 9.99996532e-01 1.19377677e-05 4.44869503e+00] [ 1.23366862e-02 2.05512776e-05 9.99923900e-01 2.28297046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.659254154 meters 0.058549081678407756 Centerline is valid? [True, True] Translation: X:583.64, Y:4.45, Z:2.28 [[ 9.99921425e-01 2.95325297e-03 -1.21828405e-02 5.83639151e+02] [-2.95334659e-03 9.99995639e-01 1.03056751e-05 4.44536630e+00] [ 1.21828178e-02 2.56752850e-05 9.99925786e-01 2.28449962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters 0.05886286527345363 Centerline is valid? [True, True] Translation: X:583.70, Y:4.44, Z:2.29 [[ 9.99920336e-01 -9.11303915e-04 -1.25893084e-02 5.83698239e+02] [ 9.11500119e-04 9.99999585e-01 9.84712515e-06 4.43920347e+00] [ 1.25892942e-02 -2.13214968e-05 9.99920751e-01 2.28664107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.779254154 meters 0.05857178811418947 Centerline is valid? [True, True] Translation: X:583.76, Y:4.43, Z:2.29 [[ 9.99909879e-01 -6.45975985e-03 -1.17688737e-02 5.83756995e+02] [ 6.46031183e-03 9.99979132e-01 8.88572524e-06 4.43341076e+00] [ 1.17685707e-02 -8.49155182e-05 9.99930744e-01 2.28829114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters 0.05898793621401447 Centerline is valid? [True, True] Translation: X:583.81, Y:4.43, Z:2.29 [[ 9.99900478e-01 -8.19781853e-03 -1.14817385e-02 5.83814755e+02] [ 8.19845377e-03 9.99966392e-01 8.25852863e-06 4.43343271e+00] [ 1.14812849e-02 -1.02390209e-04 9.99934083e-01 2.29056705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.899254154 meters 0.05833455713278358 Centerline is valid? [True, True] Translation: X:583.87, Y:4.43, Z:2.29 [[ 9.99855354e-01 -1.38405001e-02 -9.88492417e-03 5.83874000e+02] [ 1.38412443e-02 9.99904205e-01 6.86702946e-06 4.42983284e+00] [ 9.88388220e-03 -1.43685686e-04 9.99951143e-01 2.29272291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters 0.05957370310270731 Centerline is valid? [True, True] Translation: X:583.93, Y:4.42, Z:2.29 [[ 9.99726070e-01 -2.12501036e-02 -9.80907867e-03 5.83933372e+02] [ 2.12511924e-02 9.99774168e-01 6.77216663e-06 4.42042362e+00] [ 9.80671956e-03 -2.15224929e-04 9.99951890e-01 2.29094365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.019254154 meters 0.05882753102201101 Centerline is valid? [True, True] Translation: X:583.99, Y:4.43, Z:2.29 [[ 9.99539462e-01 -2.88350949e-02 -9.45524189e-03 5.83993210e+02] [ 2.88364454e-02 9.99584143e-01 6.50644158e-06 4.42527720e+00] [ 9.45112225e-03 -2.79159012e-04 9.99955298e-01 2.29352151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters 0.06150682006024817 Centerline is valid? [True, True] Translation: X:584.05, Y:4.41, Z:2.29 [[ 9.99415664e-01 -3.28270164e-02 -9.52457560e-03 5.84053188e+02] [ 3.28285677e-02 9.99460997e-01 6.53467449e-06 4.40605477e+00] [ 9.51922731e-03 -3.19209031e-04 9.99954640e-01 2.29179795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.139254154 meters 0.059979656242169596 Centerline is valid? [True, True] Translation: X:584.11, Y:4.41, Z:2.29 [[ 9.99337673e-01 -3.55565271e-02 -7.74262551e-03 5.84114150e+02] [ 3.55576343e-02 9.99367627e-01 5.34667611e-06 4.41224701e+00] [ 7.73753918e-03 -2.80652581e-04 9.99970025e-01 2.29463264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters 0.060621577093246705 Centerline is valid? [True, True] Translation: X:584.17, Y:4.41, Z:2.30 [[ 9.99477545e-01 -3.15584306e-02 -6.97873916e-03 5.84173902e+02] [ 3.15592327e-02 9.99501883e-01 4.82346962e-06 4.41426914e+00] [ 6.97511071e-03 -2.25064603e-04 9.99975648e-01 2.29591123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.259254154 meters 0.05968328260131673 Centerline is valid? [True, True] Translation: X:584.23, Y:4.42, Z:2.30 [[ 9.99619785e-01 -2.64266909e-02 -7.86862594e-03 5.84234511e+02] [ 2.64275516e-02 9.99650731e-01 5.40239107e-06 4.41915652e+00] [ 7.86573491e-03 -2.13348855e-04 9.99969042e-01 2.29564406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters 0.059072060929721934 Centerline is valid? [True, True] Translation: X:584.30, Y:4.43, Z:2.30 [[ 9.99783083e-01 -1.92217426e-02 -8.01939330e-03 5.84295429e+02] [ 1.92224042e-02 9.99815233e-01 5.42586642e-06 4.42549544e+00] [ 8.01780729e-03 -1.59576709e-04 9.99967844e-01 2.29532453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.379254154 meters 0.05802977406221988 Centerline is valid? [True, True] Translation: X:584.36, Y:4.43, Z:2.30 [[ 9.99830484e-01 -1.66632058e-02 -7.83203950e-03 5.84355949e+02] [ 1.66637578e-02 9.99861150e-01 5.22435479e-06 4.43368631e+00] [ 7.83086497e-03 -1.35734679e-04 9.99969329e-01 2.29692966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters 0.058611135874305303 Centerline is valid? [True, True] Translation: X:584.42, Y:4.43, Z:2.30 [[ 9.99780557e-01 -1.88240362e-02 -9.19200015e-03 5.84415822e+02] [ 1.88248878e-02 9.99822796e-01 6.13151528e-06 4.43110573e+00] [ 9.19025587e-03 -1.79168541e-04 9.99957753e-01 2.29502571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.499254154 meters 0.058829282018596725 Centerline is valid? [True, True] Translation: X:584.48, Y:4.43, Z:2.29 [[ 9.99728765e-01 -2.11354005e-02 -9.78217815e-03 5.84476157e+02] [ 2.11364756e-02 9.99776600e-01 6.52519297e-06 4.42658268e+00] [ 9.77985490e-03 -2.13284193e-04 9.99952153e-01 2.29342372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters 0.05960848565479889 Centerline is valid? [True, True] Translation: X:584.54, Y:4.42, Z:2.29 [[ 9.99695701e-01 -2.30511765e-02 -8.78342763e-03 5.84536139e+02] [ 2.30521172e-02 9.99734265e-01 5.85897734e-06 4.42377542e+00] [ 8.78095851e-03 -2.08333798e-04 9.99961425e-01 2.29294239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.619254154 meters 0.05830110808593504 Centerline is valid? [True, True] Translation: X:584.60, Y:4.43, Z:2.29 [[ 9.99724003e-01 -2.21106847e-02 -7.93953720e-03 5.84597310e+02] [ 2.21114241e-02 9.99755513e-01 5.35630141e-06 4.42735531e+00] [ 7.93747765e-03 -1.80909297e-04 9.99968481e-01 2.29410779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.679254154 meters 0.05836282350372726 Centerline is valid? [True, True] Translation: X:584.66, Y:4.43, Z:2.29 [[ 9.99779291e-01 -1.97955054e-02 -7.03608094e-03 5.84658045e+02] [ 1.97960292e-02 9.99804039e-01 4.80146463e-06 4.42778572e+00] [ 7.03460710e-03 -1.44086869e-04 9.99975246e-01 2.29329317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.739254154 meters 0.05824710268532226 Centerline is valid? [True, True] Translation: X:584.72, Y:4.43, Z:2.29 [[ 9.99833828e-01 -1.73459243e-02 -5.60679732e-03 5.84718626e+02] [ 1.73462185e-02 9.99849543e-01 3.84163337e-06 4.43230164e+00] [ 5.60588711e-03 -1.01097726e-04 9.99984282e-01 2.29421717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.799254154 meters 0.05782888673120218 Centerline is valid? [True, True] Translation: X:584.78, Y:4.43, Z:2.29 [[ 9.99910846e-01 -1.28245555e-02 -3.71885979e-03 5.84779314e+02] [ 1.28246538e-02 9.99917761e-01 2.56748449e-06 4.43359955e+00] [ 3.71852102e-03 -5.02603448e-05 9.99993085e-01 2.29405755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.859254154 meters 0.05746990525409293 Centerline is valid? [True, True] Translation: X:584.84, Y:4.44, Z:2.29 [[ 9.99968798e-01 -7.34110033e-03 -2.91729686e-03 5.84839988e+02] [ 7.34113750e-03 9.99973054e-01 2.03072769e-06 4.43645001e+00] [ 2.91720334e-03 -2.34469417e-05 9.99995745e-01 2.29264599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.919254154 meters 0.0578487574829526 Centerline is valid? [True, True] Translation: X:584.90, Y:4.44, Z:2.29 [[ 9.99982362e-01 -4.83452383e-03 -3.45002144e-03 5.84900650e+02] [ 4.83456102e-03 9.99988313e-01 2.44113740e-06 4.43857959e+00] [ 3.44996932e-03 -1.91204335e-05 9.99994049e-01 2.29165385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters 0.057827233805148696 Centerline is valid? [True, True] Translation: X:584.96, Y:4.44, Z:2.29 [[ 9.99977180e-01 -4.32952514e-03 -5.18606942e-03 5.84960387e+02] [ 4.32960234e-03 9.99990627e-01 3.65934340e-06 4.43750493e+00] [ 5.18600497e-03 -2.61128782e-05 9.99986552e-01 2.29001505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.039254154 meters 0.05717677372238258 Centerline is valid? [True, True] Translation: X:585.02, Y:4.44, Z:2.29 [[ 9.99955715e-01 -7.36300809e-03 -5.86125016e-03 5.85020042e+02] [ 7.36315850e-03 9.99972892e-01 4.08338631e-06 4.43515126e+00] [ 5.86106120e-03 -4.72405194e-05 9.99982823e-01 2.28958761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters 0.05704600911028236 Centerline is valid? [True, True] Translation: X:585.08, Y:4.43, Z:2.29 [[ 9.99895299e-01 -1.29426555e-02 -6.47143787e-03 5.85079762e+02] [ 1.29429554e-02 9.99916236e-01 4.45974615e-06 4.43112396e+00] [ 6.47083808e-03 -8.82188110e-05 9.99979060e-01 2.29006099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.159254154 meters 0.058010151440072384 Centerline is valid? [True, True] Translation: X:585.14, Y:4.43, Z:2.29 [[ 9.99827308e-01 -1.76367292e-02 -5.85657958e-03 5.85140048e+02] [ 1.76370553e-02 9.99844455e-01 4.02444824e-06 4.42724782e+00] [ 5.85559764e-03 -1.07316571e-04 9.99982850e-01 2.29031569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters 0.05870147286526078 Centerline is valid? [True, True] Translation: X:585.20, Y:4.42, Z:2.29 [[ 9.99672264e-01 -2.50532469e-02 -5.26303440e-03 5.85200476e+02] [ 2.50536130e-02 9.99686109e-01 3.63340059e-06 4.41703123e+00] [ 5.26129135e-03 -1.35490237e-04 9.99986150e-01 2.29156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.279254154 meters 0.05774352171057417 Centerline is valid? [True, True] Translation: X:585.26, Y:4.42, Z:2.29 [[ 9.99430421e-01 -3.35054333e-02 -4.02737088e-03 5.85260576e+02] [ 3.35057163e-02 9.99438526e-01 2.79242930e-06 4.41542120e+00] [ 4.02501605e-03 -1.37730785e-04 9.99991890e-01 2.29335399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters 0.0577839119020632 Centerline is valid? [True, True] Translation: X:585.32, Y:4.42, Z:2.29 [[ 9.99210673e-01 -3.95769076e-02 -3.42058447e-03 5.85320950e+02] [ 3.95771473e-02 9.99216518e-01 2.39594485e-06 4.41579986e+00] [ 3.41780968e-03 -1.37771029e-04 9.99994150e-01 2.29372615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.399254154 meters 0.05728664004179223 Centerline is valid? [True, True] Translation: X:585.38, Y:4.42, Z:2.29 [[ 9.98784067e-01 -4.91866190e-02 -3.32628450e-03 5.85381607e+02] [ 4.91868989e-02 9.98789592e-01 2.32463262e-06 4.41934379e+00] [ 3.32214400e-03 -1.65931425e-04 9.99994468e-01 2.29395746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters 0.05800548755026965 Centerline is valid? [True, True] Translation: X:585.44, Y:4.41, Z:2.29 [[ 9.98407020e-01 -5.62474552e-02 -4.43242807e-03 5.85440996e+02] [ 5.62480218e-02 9.98416827e-01 3.16095752e-06 4.41353737e+00] [ 4.42523297e-03 -2.52471233e-04 9.99990177e-01 2.29479648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.519254154 meters 0.057621859975248636 Centerline is valid? [True, True] Translation: X:585.50, Y:4.41, Z:2.29 [[ 9.98295897e-01 -5.81437248e-02 -4.96085678e-03 5.85500277e+02] [ 5.81444579e-02 9.98308180e-01 3.57355213e-06 4.41499624e+00] [ 4.95225612e-03 -2.92013791e-04 9.99987695e-01 2.29479396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters 0.05929204009017515 Centerline is valid? [True, True] Translation: X:585.56, Y:4.41, Z:2.30 [[ 9.98387246e-01 -5.64120282e-02 -6.37111720e-03 5.85560071e+02] [ 5.64132023e-02 9.98407507e-01 4.58015303e-06 4.41208816e+00] [ 6.36071286e-03 -3.63987890e-04 9.99979704e-01 2.29514090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.639254154 meters 0.05767083990535401 Centerline is valid? [True, True] Translation: X:585.62, Y:4.43, Z:2.30 [[ 9.98732789e-01 -4.98689217e-02 -6.77547299e-03 5.85620478e+02] [ 4.98700997e-02 9.98755712e-01 4.91687110e-06 4.42628045e+00] [ 6.76679716e-03 -3.42804154e-04 9.99977046e-01 2.29573627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters 0.05718331410915637 Centerline is valid? [True, True] Translation: X:585.68, Y:4.43, Z:2.30 [[ 9.98930857e-01 -4.57499116e-02 -6.63986806e-03 5.85681237e+02] [ 4.57509521e-02 9.98952877e-01 4.83005609e-06 4.43203804e+00] [ 6.63269433e-03 -3.08605178e-04 9.99977956e-01 2.29627235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.759254154 meters 0.06138308903264514 Centerline is valid? [True, True] Translation: X:585.74, Y:4.42, Z:2.30 [[ 9.99063703e-01 -4.25413406e-02 -7.87100645e-03 5.85741229e+02] [ 4.25427034e-02 9.99094649e-01 5.71804967e-06 4.41922806e+00] [ 7.86363717e-03 -3.40566588e-04 9.99969023e-01 2.29525393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters 0.057165392533583846 Centerline is valid? [True, True] Translation: X:585.80, Y:4.45, Z:2.30 [[ 9.99152736e-01 -4.04449529e-02 -7.61681452e-03 5.85801864e+02] [ 4.04461688e-02 9.99181719e-01 5.59687345e-06 4.44549143e+00] [ 7.61035546e-03 -3.13663097e-04 9.99970992e-01 2.29610361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.879254154 meters 0.0580770508801326 Centerline is valid? [True, True] Translation: X:585.86, Y:4.44, Z:2.30 [[ 9.99216502e-01 -3.86726397e-02 -8.41480596e-03 5.85862011e+02] [ 3.86740619e-02 9.99251879e-01 6.29515229e-06 4.44246065e+00] [ 8.40826722e-03 -3.31724947e-04 9.99964595e-01 2.29630996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters 0.057264644013872934 Centerline is valid? [True, True] Translation: X:585.92, Y:4.45, Z:2.30 [[ 9.99382500e-01 -3.43160014e-02 -7.55181854e-03 5.85922808e+02] [ 3.43170229e-02 9.99410998e-01 5.69183077e-06 4.44809042e+00] [ 7.54717518e-03 -2.64844246e-04 9.99971485e-01 2.29719569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.999254154 meters 0.05765498162439782 Centerline is valid? [True, True] Translation: X:585.98, Y:4.45, Z:2.30 [[ 9.99564898e-01 -2.86501615e-02 -7.01302651e-03 5.85983856e+02] [ 2.86509033e-02 9.99589479e-01 5.31521664e-06 4.45437521e+00] [ 7.00999523e-03 -2.06242448e-04 9.99975408e-01 2.29764105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters 0.05793217763499838 Centerline is valid? [True, True] Translation: X:586.04, Y:4.46, Z:2.30 [[ 9.99681582e-01 -2.41124967e-02 -7.43792190e-03 5.86043560e+02] [ 2.41132057e-02 9.99709234e-01 5.63719012e-06 4.45606420e+00] [ 7.43562328e-03 -1.84987536e-04 9.99972338e-01 2.29744711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.119254154 meters 0.05762325533914941 Centerline is valid? [True, True] Translation: X:586.10, Y:4.47, Z:2.30 [[ 9.99814801e-01 -1.80462523e-02 -6.68550458e-03 5.86103678e+02] [ 1.80466895e-02 9.99837145e-01 5.06819939e-06 4.46569971e+00] [ 6.68432435e-03 -1.25718486e-04 9.99977652e-01 2.29769799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.179254154 meters 0.05692591316747013 Centerline is valid? [True, True] Translation: X:586.16, Y:4.47, Z:2.30 [[ 9.99886497e-01 -1.26907071e-02 -8.12034999e-03 5.86164603e+02] [ 1.26911760e-02 9.99919464e-01 6.21419408e-06 4.46929003e+00] [ 8.11961715e-03 -1.09270280e-04 9.99967029e-01 2.29722222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.239254154 meters 0.05768282188786456 Centerline is valid? [True, True] Translation: X:586.23, Y:4.47, Z:2.30 [[ 9.99908734e-01 -1.04249415e-02 -8.59329125e-03 5.86225369e+02] [ 1.04253831e-02 9.99945654e-01 6.59050917e-06 4.47206975e+00] [ 8.59275554e-03 -9.61782612e-05 9.99963077e-01 2.29771296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.299254154 meters 0.05643020610995233 Centerline is valid? [True, True] Translation: X:586.28, Y:4.47, Z:2.30 [[ 9.99898034e-01 -1.15547885e-02 -8.39096474e-03 5.86284929e+02] [ 1.15552487e-02 9.99933236e-01 6.36204928e-06 4.47109338e+00] [ 8.39033102e-03 -1.03321085e-04 9.99964795e-01 2.29795970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.359254154 meters 0.0568616106847598 Centerline is valid? [True, True] Translation: X:586.34, Y:4.47, Z:2.30 [[ 9.99841448e-01 -1.61117186e-02 -7.58228836e-03 5.86344845e+02] [ 1.61122246e-02 9.99870190e-01 5.65972140e-06 4.46833247e+00] [ 7.58121292e-03 -1.27826357e-04 9.99971254e-01 2.29894221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.419254154 meters 0.056153289248235906 Centerline is valid? [True, True] Translation: X:586.41, Y:4.47, Z:2.30 [[ 9.99685199e-01 -2.39388851e-02 -7.51221998e-03 5.86405721e+02] [ 2.39396025e-02 9.99713407e-01 5.57973822e-06 4.46781912e+00] [ 7.50993346e-03 -1.85417542e-04 9.99971783e-01 2.29972215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters 0.05720121620237804 Centerline is valid? [True, True] Translation: X:586.47, Y:4.46, Z:2.30 [[ 9.99538903e-01 -2.91100316e-02 -8.63644621e-03 5.86465453e+02] [ 2.91111724e-02 9.99576180e-01 6.38793185e-06 4.45994826e+00] [ 8.63259996e-03 -2.57802061e-04 9.99962705e-01 2.29928197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.539254154 meters 0.05762499003175306 Centerline is valid? [True, True] Translation: X:586.53, Y:4.46, Z:2.30 [[ 9.99288006e-01 -3.65378962e-02 -9.40550014e-03 5.86526232e+02] [ 3.65395777e-02 9.99332207e-01 6.93548920e-06 4.45634131e+00] [ 9.39896580e-03 -3.50603554e-04 9.99955767e-01 2.30015431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters 0.058689043928610206 Centerline is valid? [True, True] Translation: X:586.59, Y:4.45, Z:2.30 [[ 9.99018218e-01 -4.32421025e-02 -9.62912204e-03 5.86585472e+02] [ 4.32441770e-02 9.99064533e-01 7.23434674e-06 4.44650401e+00] [ 9.61980149e-03 -4.23630702e-04 9.99953639e-01 2.30021232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.659254154 meters 0.06338772583153848 Centerline is valid? [True, True] Translation: X:586.65, Y:4.43, Z:2.30 [[ 9.98862126e-01 -4.67369630e-02 -9.49257462e-03 5.86645845e+02] [ 4.67391383e-02 9.98907129e-01 7.31355820e-06 4.42999287e+00] [ 9.48185865e-03 -4.50979994e-04 9.99954944e-01 2.29912606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters 0.056453720320793925 Centerline is valid? [True, True] Translation: X:586.71, Y:4.46, Z:2.30 [[ 9.98895537e-01 -4.61870200e-02 -8.62927993e-03 5.86708041e+02] [ 4.61887993e-02 9.98932728e-01 6.90476253e-06 4.45618479e+00] [ 8.61975123e-03 -4.05473215e-04 9.99962767e-01 2.30256397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.779254154 meters 0.057728624302219346 Centerline is valid? [True, True] Translation: X:586.77, Y:4.45, Z:2.30 [[ 9.99114959e-01 -4.12793281e-02 -8.08177692e-03 5.86767914e+02] [ 4.12807300e-02 9.99147587e-01 6.64692888e-06 4.45166322e+00] [ 8.07461353e-03 -3.40262697e-04 9.99967342e-01 2.30378607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters 0.05892353363739877 Centerline is valid? [True, True] Translation: X:586.83, Y:4.45, Z:2.31 [[ 9.99444666e-01 -3.26420034e-02 -6.69765960e-03 5.86827733e+02] [ 3.26427727e-02 9.99467083e-01 5.54735719e-06 4.44827466e+00] [ 6.69390923e-03 -2.24174457e-04 9.99977570e-01 2.30552781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.899254154 meters 0.057789867041685386 Centerline is valid? [True, True] Translation: X:586.89, Y:4.46, Z:2.31 [[ 9.99707586e-01 -2.32911520e-02 -6.50108156e-03 5.86888420e+02] [ 2.32916794e-02 9.99728712e-01 5.41292878e-06 4.45663561e+00] [ 6.49919182e-03 -1.56832453e-04 9.99978868e-01 2.30567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters 0.05748852502722297 Centerline is valid? [True, True] Translation: X:586.95, Y:4.46, Z:2.31 [[ 9.99800718e-01 -1.86057177e-02 -7.23542452e-03 5.86949639e+02] [ 1.86062485e-02 9.99826889e-01 6.05631308e-06 4.45975857e+00] [ 7.23405931e-03 -1.40679213e-04 9.99973824e-01 2.30529091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.019254154 meters 0.05806279193822066 Centerline is valid? [True, True] Translation: X:587.01, Y:4.46, Z:2.30 [[ 9.99871168e-01 -1.34344752e-02 -8.78423698e-03 5.87010551e+02] [ 1.34350586e-02 9.99909746e-01 7.40796123e-06 4.46420674e+00] [ 8.78334464e-03 -1.25423745e-04 9.99961418e-01 2.30444564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters 0.05790589836346888 Centerline is valid? [True, True] Translation: X:587.07, Y:4.47, Z:2.30 [[ 9.99897460e-01 -1.02086240e-02 -1.00425488e-02 5.87069856e+02] [ 1.02092235e-02 9.99947885e-01 8.43479332e-06 4.46518185e+00] [ 1.00419394e-02 -1.10960554e-04 9.99949572e-01 2.30395001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.139254154 meters 0.057717749233311494 Centerline is valid? [True, True] Translation: X:587.13, Y:4.46, Z:2.30 [[ 9.99918577e-01 -9.05534344e-03 -8.99110118e-03 5.87128375e+02] [ 9.05577598e-03 9.99958996e-01 7.39660837e-06 4.46382912e+00] [ 8.99066553e-03 -8.88174042e-05 9.99959579e-01 2.30465264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters 0.0573318413978553 Centerline is valid? [True, True] Translation: X:587.19, Y:4.46, Z:2.31 [[ 9.99925955e-01 -1.05266260e-02 -6.10525240e-03 5.87187586e+02] [ 1.05268520e-02 9.99944591e-01 4.88476856e-06 4.46291680e+00] [ 6.10486270e-03 -6.91534955e-05 9.99981363e-01 2.30735552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.259254154 meters 0.05754139646382569 Centerline is valid? [True, True] Translation: X:587.25, Y:4.45, Z:2.31 [[ 9.99867261e-01 -1.54774219e-02 -5.09014373e-03 5.87247231e+02] [ 1.54776429e-02 9.99880214e-01 4.00758620e-06 4.45310896e+00] [ 5.08947197e-03 -8.27904809e-05 9.99987045e-01 2.30695883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters 0.059003032150291956 Centerline is valid? [True, True] Translation: X:587.31, Y:4.45, Z:2.31 [[ 9.99776723e-01 -2.06557165e-02 -4.45479742e-03 5.87308418e+02] [ 2.06559377e-02 9.99786643e-01 3.64452650e-06 4.44562067e+00] [ 4.45377167e-03 -9.56617306e-05 9.99990077e-01 2.30702216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.379254154 meters 0.05870813403014242 Centerline is valid? [True, True] Translation: X:587.37, Y:4.44, Z:2.31 [[ 9.99557606e-01 -2.94413228e-02 -4.21905767e-03 5.87368729e+02] [ 2.94415996e-02 9.99566502e-01 3.50610072e-06 4.44090598e+00] [ 4.21712550e-03 -1.27720356e-04 9.99991100e-01 2.30670125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters 0.060312257348678996 Centerline is valid? [True, True] Translation: X:587.43, Y:4.43, Z:2.30 [[ 9.99316438e-01 -3.64882699e-02 -5.93822299e-03 5.87428227e+02] [ 3.64889427e-02 9.99334057e-01 4.95510482e-06 4.43110751e+00] [ 5.93408767e-03 -2.21631196e-04 9.99982369e-01 2.30473517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.499254154 meters 0.05912727670280363 Centerline is valid? [True, True] Translation: X:587.49, Y:4.43, Z:2.30 [[ 9.99164439e-01 -4.03672243e-02 -6.39617127e-03 5.87488754e+02] [ 4.03680844e-02 9.99184877e-01 5.37740695e-06 4.43176023e+00] [ 6.39074054e-03 -2.63574096e-04 9.99979544e-01 2.30479608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters 0.05982969993429513 Centerline is valid? [True, True] Translation: X:587.55, Y:4.43, Z:2.31 [[ 9.99179510e-01 -3.99668512e-02 -6.55414241e-03 5.87549484e+02] [ 3.99677462e-02 9.99200970e-01 5.58473366e-06 4.42835484e+00] [ 6.54868225e-03 -2.67534452e-04 9.99978521e-01 2.30530728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.619254154 meters 0.060281947115558066 Centerline is valid? [True, True] Translation: X:587.61, Y:4.43, Z:2.31 [[ 9.99218804e-01 -3.90401930e-02 -6.13556814e-03 5.87609748e+02] [ 3.90409605e-02 9.99237611e-01 5.33026079e-06 4.42567714e+00] [ 6.13068236e-03 -2.44864570e-04 9.99981177e-01 2.30507412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.679254154 meters 0.06311664307455532 Centerline is valid? [True, True] Translation: X:587.67, Y:4.42, Z:2.31 [[ 9.99402623e-01 -3.38838651e-02 -6.80294050e-03 5.87670422e+02] [ 3.38846897e-02 9.99425749e-01 5.96202457e-06 4.42214547e+00] [ 6.79883189e-03 -2.36473991e-04 9.99976860e-01 2.30518242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.739254154 meters 0.05925552361312855 Centerline is valid? [True, True] Translation: X:587.73, Y:4.44, Z:2.31 [[ 9.99543963e-01 -2.95436178e-02 -6.24832263e-03 5.87731139e+02] [ 2.95442290e-02 9.99563474e-01 5.51716066e-06 4.43652336e+00] [ 6.24543208e-03 -1.90116519e-04 9.99980479e-01 2.30603100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.799254154 meters 0.05719221885794857 Centerline is valid? [True, True] Translation: X:587.79, Y:4.45, Z:2.31 [[ 9.99571519e-01 -2.82981790e-02 -7.48269753e-03 5.87793390e+02] [ 2.82990222e-02 9.99599502e-01 6.81426557e-06 4.44986643e+00] [ 7.47950789e-03 -2.18564369e-04 9.99972004e-01 2.30595098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.859254154 meters 0.058470456092078286 Centerline is valid? [True, True] Translation: X:587.85, Y:4.44, Z:2.30 [[ 9.99566573e-01 -2.82407584e-02 -8.31421959e-03 5.87854077e+02] [ 2.82418013e-02 9.99601121e-01 8.03636563e-06 4.44304085e+00] [ 8.31067627e-03 -2.42841420e-04 9.99965436e-01 2.30414683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.919254154 meters 0.05720613378282005 Centerline is valid? [True, True] Translation: X:587.92, Y:4.45, Z:2.31 [[ 9.99586387e-01 -2.72568859e-02 -9.17159118e-03 5.87915959e+02] [ 2.72581171e-02 9.99628428e-01 9.24062009e-06 4.45165186e+00] [ 9.16793141e-03 -2.59237104e-04 9.99957940e-01 2.30502012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters 0.05752714136430609 Centerline is valid? [True, True] Translation: X:587.98, Y:4.45, Z:2.31 [[ 9.99662574e-01 -2.43302861e-02 -9.09812693e-03 5.87975494e+02] [ 2.43313770e-02 9.99703948e-01 9.21954284e-06 4.45251794e+00] [ 9.09520910e-03 -2.30586388e-04 9.99958611e-01 2.30543883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.039254154 meters 0.058023950960144254 Centerline is valid? [True, True] Translation: X:588.04, Y:4.46, Z:2.31 [[ 9.99821956e-01 -1.68182666e-02 -8.55579355e-03 5.88036075e+02] [ 1.68189564e-02 9.99858551e-01 8.67676120e-06 4.46257380e+00] [ 8.55443742e-03 -1.52574735e-04 9.99963398e-01 2.30681544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters 0.056853577960675715 Centerline is valid? [True, True] Translation: X:588.10, Y:4.47, Z:2.31 [[ 9.99925067e-01 -9.16745547e-03 -8.11287387e-03 5.88096240e+02] [ 9.16782398e-03 9.99957975e-01 8.23373597e-06 4.46893889e+00] [ 8.11245744e-03 -8.26105185e-05 9.99967090e-01 2.30760946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.159254154 meters 0.056561624145632476 Centerline is valid? [True, True] Translation: X:588.15, Y:4.47, Z:2.31 [[ 9.99950667e-01 -6.45348713e-03 -7.55096304e-03 5.88154829e+02] [ 6.45372588e-03 9.99979174e-01 7.25197014e-06 4.47125208e+00] [ 7.55075898e-03 -5.59834579e-05 9.99971491e-01 2.30775031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters 0.05697211330055484 Centerline is valid? [True, True] Translation: X:588.21, Y:4.47, Z:2.31 [[ 9.99948154e-01 -6.62088558e-03 -7.73650009e-03 5.88213179e+02] [ 6.62113430e-03 9.99978080e-01 6.53659283e-06 4.47237013e+00] [ 7.73628723e-03 -5.77606600e-05 9.99970073e-01 2.30806562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.279254154 meters 0.057331698228391174 Centerline is valid? [True, True] Translation: X:588.27, Y:4.47, Z:2.31 [[ 9.99900461e-01 -1.07129565e-02 -9.18153364e-03 5.88272185e+02] [ 1.07134729e-02 9.99942609e-01 7.06155931e-06 4.46800719e+00] [ 9.18093106e-03 -1.05426968e-04 9.99957849e-01 2.30681177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters 0.05678746862057459 Centerline is valid? [True, True] Translation: X:588.33, Y:4.47, Z:2.31 [[ 9.99848424e-01 -1.48846297e-02 -9.03196166e-03 5.88332008e+02] [ 1.48852983e-02 9.99889208e-01 6.80524489e-06 4.46714121e+00] [ 9.03085969e-03 -1.41247657e-04 9.99959211e-01 2.30724770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.399254154 meters 0.057067025436667036 Centerline is valid? [True, True] Translation: X:588.39, Y:4.46, Z:2.31 [[ 9.99743409e-01 -2.11657865e-02 -8.07009025e-03 5.88392474e+02] [ 2.11665246e-02 9.99775964e-01 6.05282425e-06 4.46421453e+00] [ 8.06815414e-03 -1.76867035e-04 9.99967436e-01 2.30764225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters 0.05653208381106518 Centerline is valid? [True, True] Translation: X:588.45, Y:4.46, Z:2.31 [[ 9.99632540e-01 -2.59073960e-02 -7.97441630e-03 5.88451900e+02] [ 2.59082672e-02 9.99664325e-01 5.95627600e-06 4.46099080e+00] [ 7.97158517e-03 -2.12557396e-04 9.99968204e-01 2.30838910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.519254154 meters 0.05604584317994606 Centerline is valid? [True, True] Translation: X:588.51, Y:4.46, Z:2.31 [[ 9.99503079e-01 -3.08111628e-02 -6.65330498e-03 5.88512446e+02] [ 3.08118777e-02 9.99525201e-01 4.95169015e-06 4.46331031e+00] [ 6.64999343e-03 -2.09950049e-04 9.99977866e-01 2.30858896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters 0.05929398204190566 Centerline is valid? [True, True] Translation: X:588.57, Y:4.45, Z:2.31 [[ 9.99346571e-01 -3.54241815e-02 -7.18046743e-03 5.88572117e+02] [ 3.54251330e-02 9.99372333e-01 5.32743473e-06 4.45181152e+00] [ 7.17577176e-03 -2.59692967e-04 9.99974220e-01 2.30795622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.639254154 meters 0.0566146139813384 Centerline is valid? [True, True] Translation: X:588.63, Y:4.46, Z:2.31 [[ 9.98952853e-01 -4.53854726e-02 -5.77548206e-03 5.88632256e+02] [ 4.53862542e-02 9.98969513e-01 4.26929985e-06 4.45911055e+00] [ 5.76933674e-03 -2.66392326e-04 9.99983322e-01 2.30789977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters 0.056666114462239105 Centerline is valid? [True, True] Translation: X:588.69, Y:4.46, Z:2.31 [[ 9.98654431e-01 -5.16147634e-02 -5.02421487e-03 5.88692946e+02] [ 5.16154336e-02 9.98667035e-01 3.72478804e-06 4.45783799e+00] [ 5.01732551e-03 -2.63046805e-04 9.99987379e-01 2.30740862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.759254154 meters 0.056383832179131024 Centerline is valid? [True, True] Translation: X:588.75, Y:4.46, Z:2.31 [[ 9.98407749e-01 -5.61330748e-02 -5.57172635e-03 5.88752709e+02] [ 5.61339691e-02 9.98423246e-01 4.11787784e-06 4.46083794e+00] [ 5.56270996e-03 -3.16874436e-04 9.99984478e-01 2.30727983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters 0.05486918489870818 Centerline is valid? [True, True] Translation: X:588.81, Y:4.47, Z:2.31 [[ 9.98486347e-01 -5.48642602e-02 -3.86370047e-03 5.88813892e+02] [ 5.48646806e-02 9.98493799e-01 2.83653368e-06 4.46792967e+00] [ 3.85772534e-03 -2.14812933e-04 9.99992536e-01 2.30730295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.879254154 meters 0.056415428341830914 Centerline is valid? [True, True] Translation: X:588.87, Y:4.47, Z:2.31 [[ 9.98795095e-01 -4.87406370e-02 -5.71907385e-03 5.88873452e+02] [ 4.87414586e-02 9.98811429e-01 4.28872432e-06 4.46952899e+00] [ 5.71206728e-03 -2.83039558e-04 9.99983646e-01 2.30869546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters 0.05920071538143571 Centerline is valid? [True, True] Translation: X:588.93, Y:4.46, Z:2.31 [[ 9.99018516e-01 -4.38950614e-02 -5.93535323e-03 5.88932718e+02] [ 4.38958610e-02 9.99036112e-01 4.45181533e-06 4.46368705e+00] [ 5.92943680e-03 -2.64984886e-04 9.99982386e-01 2.30895657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.999254154 meters 0.05737615553450992 Centerline is valid? [True, True] Translation: X:588.99, Y:4.48, Z:2.31 [[ 9.99306628e-01 -3.69766456e-02 -4.35781930e-03 5.88993032e+02] [ 3.69770110e-02 9.99316116e-01 3.27918293e-06 4.47918744e+00] [ 4.35471780e-03 -1.64416041e-04 9.99990505e-01 2.31027530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters 0.05720358443144479 Centerline is valid? [True, True] Translation: X:589.05, Y:4.49, Z:2.31 [[ 9.99563687e-01 -2.94040008e-02 -2.80005435e-03 5.89053018e+02] [ 2.94041220e-02 9.99567605e-01 2.11501696e-06 4.48602023e+00] [ 2.79878143e-03 -8.44472337e-05 9.99996080e-01 2.31163526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.119254154 meters 0.05618200214740206 Centerline is valid? [True, True] Translation: X:589.11, Y:4.49, Z:2.31 [[ 9.99715973e-01 -2.37912687e-02 -1.39625112e-03 5.89113681e+02] [ 2.37912933e-02 9.99716947e-01 1.05597528e-06 4.49369851e+00] [ 1.39583079e-03 -3.42742954e-05 9.99999025e-01 2.31218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.179254154 meters 0.05621644607785036 Centerline is valid? [True, True] Translation: X:589.17, Y:4.50, Z:2.31 [[ 9.99864939e-01 -1.64051113e-02 -9.88282261e-04 5.89173620e+02] [ 1.64051200e-02 9.99865427e-01 7.23903610e-07 4.49733610e+00] [ 9.88137388e-04 -1.69366949e-05 9.99999512e-01 2.31336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.239254154 meters 0.05601944222703184 Centerline is valid? [True, True] Translation: X:589.24, Y:4.50, Z:2.31 [[ 9.99923500e-01 -1.23497566e-02 -6.91164679e-04 5.89235171e+02] [ 1.23497599e-02 9.99923739e-01 4.50018228e-07 4.49942736e+00] [ 6.91106412e-04 -8.98570160e-06 9.99999761e-01 2.31257536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.299254154 meters 0.05529024031069896 Centerline is valid? [True, True] Translation: X:589.30, Y:4.50, Z:2.31 [[ 9.99934284e-01 -1.13055602e-02 -1.90032596e-03 5.89297383e+02] [ 1.13055833e-02 9.99936090e-01 1.42714745e-06 4.50148998e+00] [ 1.90018837e-03 -2.29113470e-05 9.99998194e-01 2.31089336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.359254154 meters 0.05559144498979016 Centerline is valid? [True, True] Translation: X:589.36, Y:4.50, Z:2.31 [[ 9.99934101e-01 -1.05715260e-02 -4.47632416e-03 5.89358709e+02] [ 1.05716484e-02 9.99944119e-01 3.68274333e-06 4.49822575e+00] [ 4.47603509e-03 -5.10046258e-05 9.99989981e-01 2.31018526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.419254154 meters 0.05660744613956834 Centerline is valid? [True, True] Translation: X:589.42, Y:4.49, Z:2.31 [[ 9.99933398e-01 -1.09520501e-02 -3.64029458e-03 5.89419144e+02] [ 1.09521338e-02 9.99940024e-01 3.06910465e-06 4.49445265e+00] [ 3.64004263e-03 -4.29378935e-05 9.99993374e-01 2.31132552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters 0.05621149650860123 Centerline is valid? [True, True] Translation: X:589.48, Y:4.49, Z:2.31 [[ 9.99895896e-01 -1.40800202e-02 -3.15434845e-03 5.89480600e+02] [ 1.40800988e-02 9.99900871e-01 2.69368803e-06 4.49362685e+00] [ 3.15399784e-03 -4.71069454e-05 9.99995025e-01 2.31228453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.539254154 meters 0.05688496230067952 Centerline is valid? [True, True] Translation: X:589.54, Y:4.49, Z:2.31 [[ 9.99876955e-01 -1.53251278e-02 -3.34891704e-03 5.89541870e+02] [ 1.53252236e-02 9.99882562e-01 2.92754638e-06 4.48750833e+00] [ 3.34847888e-03 -5.42500885e-05 9.99994392e-01 2.31323823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters 0.056847623025042884 Centerline is valid? [True, True] Translation: X:589.60, Y:4.49, Z:2.31 [[ 9.99829880e-01 -1.82653863e-02 -2.56646397e-03 5.89603792e+02] [ 1.82654522e-02 9.99833173e-01 2.24777647e-06 4.48572114e+00] [ 2.56599476e-03 -4.91250191e-05 9.99996707e-01 2.31353928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.659254154 meters 0.057868144846180414 Centerline is valid? [True, True] Translation: X:589.66, Y:4.48, Z:2.31 [[ 9.99714400e-01 -2.37727483e-02 -2.44418191e-03 5.89663820e+02] [ 2.37728255e-02 9.99717386e-01 2.53638877e-06 4.47573459e+00] [ 2.44343085e-03 -6.06407743e-05 9.99997013e-01 2.31362385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters 0.05604834343902027 Centerline is valid? [True, True] Translation: X:589.72, Y:4.48, Z:2.31 [[ 9.99511041e-01 -3.12245242e-02 -1.64581392e-03 5.89724669e+02] [ 3.12245692e-02 9.99512394e-01 1.67375875e-06 4.47987441e+00] [ 1.64495915e-03 -5.30627710e-05 9.99998646e-01 2.31204124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.779254154 meters 0.05732361050001547 Centerline is valid? [True, True] Translation: X:589.78, Y:4.47, Z:2.31 [[ 9.99265647e-01 -3.82470221e-02 -2.30923720e-03 5.89783814e+02] [ 3.82471297e-02 9.99268311e-01 2.40026160e-06 4.46849457e+00] [ 2.30745575e-03 -9.07201934e-05 9.99997334e-01 2.31145338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters 0.056055300491161086 Centerline is valid? [True, True] Translation: X:589.84, Y:4.47, Z:2.31 [[ 9.98991200e-01 -4.47814953e-02 -3.34668672e-03 5.89844767e+02] [ 4.47817576e-02 9.98996794e-01 3.43870263e-06 4.46966682e+00] [ 3.34317531e-03 -1.53305747e-04 9.99994400e-01 2.30960387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.899254154 meters 0.05710674338516488 Centerline is valid? [True, True] Translation: X:589.90, Y:4.47, Z:2.31 [[ 9.98804281e-01 -4.87611047e-02 -3.51616760e-03 5.89904239e+02] [ 4.87614189e-02 9.98810455e-01 3.62475284e-06 4.46679412e+00] [ 3.51180822e-03 -1.75073740e-04 9.99993818e-01 2.30930492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters 0.05606271878299693 Centerline is valid? [True, True] Translation: X:589.96, Y:4.47, Z:2.31 [[ 9.98543016e-01 -5.38510019e-02 -3.45175770e-03 5.89964342e+02] [ 5.38513349e-02 9.98548964e-01 3.52736767e-06 4.46654454e+00] [ 3.44655912e-03 -1.89403988e-04 9.99994043e-01 2.30917383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.019254154 meters 0.05633554529074378 Centerline is valid? [True, True] Translation: X:590.02, Y:4.47, Z:2.31 [[ 9.98320539e-01 -5.77431953e-02 -4.67165872e-03 5.90024378e+02] [ 5.77438478e-02 9.98331432e-01 4.78669147e-06 4.46837564e+00] [ 4.66358734e-03 -2.74538202e-04 9.99989088e-01 2.30801953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters 0.056376070576547685 Centerline is valid? [True, True] Translation: X:590.09, Y:4.47, Z:2.31 [[ 9.98234673e-01 -5.91113175e-02 -5.77846105e-03 5.90085071e+02] [ 5.91123389e-02 9.98251337e-01 5.97442306e-06 4.46845377e+00] [ 5.76800331e-03 -3.47542224e-04 9.99983305e-01 2.30775900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.139254154 meters 0.05548208833606863 Centerline is valid? [True, True] Translation: X:590.15, Y:4.47, Z:2.31 [[ 9.98253590e-01 -5.88116026e-02 -5.56470894e-03 5.90147707e+02] [ 5.88125461e-02 9.98269044e-01 5.91411097e-06 4.47045107e+00] [ 5.55472885e-03 -3.33178483e-04 9.99984517e-01 2.30736882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters 0.0564821871722594 Centerline is valid? [True, True] Translation: X:590.21, Y:4.47, Z:2.31 [[ 9.98651095e-01 -5.16423260e-02 -5.39080024e-03 5.90207142e+02] [ 5.16431084e-02 9.98665604e-01 5.94047871e-06 4.47464713e+00] [ 5.38330000e-03 -2.84330147e-04 9.99985469e-01 2.30880932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.259254154 meters 0.05703581119532737 Centerline is valid? [True, True] Translation: X:590.27, Y:4.48, Z:2.31 [[ 9.99006407e-01 -4.44157102e-02 -3.66659449e-03 5.90268113e+02] [ 4.44160235e-02 9.99013121e-01 4.01696621e-06 4.47538797e+00] [ 3.66279759e-03 -1.66868522e-04 9.99993278e-01 2.30967038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters 0.05635169110857827 Centerline is valid? [True, True] Translation: X:590.33, Y:4.49, Z:2.31 [[ 9.99527723e-01 -3.05857514e-02 -2.97360216e-03 5.90329018e+02] [ 3.05858963e-02 9.99532142e-01 3.25123796e-06 4.48759930e+00] [ 2.97211150e-03 -9.41999897e-05 9.99995579e-01 2.31146773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.379254154 meters 0.05550143949419778 Centerline is valid? [True, True] Translation: X:590.39, Y:4.50, Z:2.31 [[ 9.99850123e-01 -1.71998265e-02 -1.97430228e-03 5.90388165e+02] [ 1.71998643e-02 9.99852071e-01 2.17537919e-06 4.49628400e+00] [ 1.97397281e-03 -3.61327846e-05 9.99998051e-01 2.31310646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters 0.05578858887796412 Centerline is valid? [True, True] Translation: X:590.45, Y:4.50, Z:2.31 [[ 9.99950902e-01 -9.75623801e-03 -1.73456453e-03 5.90449298e+02] [ 9.75625596e-03 9.99952407e-01 1.88818276e-06 4.50201872e+00] [ 1.73446356e-03 -1.88109456e-05 9.99998496e-01 2.31392294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.499254154 meters 0.055325872764536134 Centerline is valid? [True, True] Translation: X:590.51, Y:4.51, Z:2.31 [[ 9.99997097e-01 -1.60184454e-03 -1.80002982e-03 5.90509708e+02] [ 1.60185066e-03 9.99998717e-01 1.95939734e-06 4.50834624e+00] [ 1.80002437e-03 -4.84277060e-06 9.99998380e-01 2.31360942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters 0.0559496392639076 Centerline is valid? [True, True] Translation: X:590.57, Y:4.51, Z:2.31 [[ 9.99991653e-01 2.62567313e-03 -3.13039744e-03 5.90568911e+02] [-2.62567516e-03 9.99996553e-01 3.46007868e-06 4.51190735e+00] [ 3.13039574e-03 4.75935702e-06 9.99995100e-01 2.31159153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.619254154 meters 0.05521696766798408 Centerline is valid? [True, True] Translation: X:590.63, Y:4.51, Z:2.31 [[ 9.99980866e-01 3.56426008e-03 -5.05609748e-03 5.90627893e+02] [-3.56427800e-03 9.99993648e-01 5.46673554e-06 4.51296838e+00] [ 5.05608485e-03 1.25547061e-05 9.99987218e-01 2.31056118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.679254154 meters 0.0552655940496959 Centerline is valid? [True, True] Translation: X:590.69, Y:4.51, Z:2.31 [[ 9.99984537e-01 3.11942046e-03 -4.60374248e-03 5.90686326e+02] [-3.11943251e-03 9.99995135e-01 4.56389193e-06 4.51206418e+00] [ 4.60373432e-03 9.79724262e-06 9.99989403e-01 2.31134072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.739254154 meters 0.055749551947139694 Centerline is valid? [True, True] Translation: X:590.75, Y:4.51, Z:2.31 [[ 9.99994979e-01 8.24106489e-04 -3.05978279e-03 5.90745483e+02] [-8.24101249e-04 9.99999660e-01 2.97306662e-06 4.50915462e+00] [ 3.05978420e-03 -4.51480867e-07 9.99995319e-01 2.31256374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.799254154 meters 0.05516605325231648 Centerline is valid? [True, True] Translation: X:590.81, Y:4.50, Z:2.31 [[ 9.99991085e-01 -3.67148621e-03 -2.08571016e-03 5.90805243e+02] [ 3.67149836e-03 9.99993260e-01 1.99661394e-06 4.50476787e+00] [ 2.08568878e-03 -9.65427759e-06 9.99997825e-01 2.31141768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.859254154 meters 0.055069340615450366 Centerline is valid? [True, True] Translation: X:590.87, Y:4.50, Z:2.31 [[ 9.99962980e-01 -8.33736568e-03 -2.12759527e-03 5.90866072e+02] [ 8.33738874e-03 9.99965243e-01 1.96722796e-06 4.50019226e+00] [ 2.12750492e-03 -1.97057439e-05 9.99997737e-01 2.31135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.919254154 meters 0.055164086043920146 Centerline is valid? [True, True] Translation: X:590.93, Y:4.49, Z:2.31 [[ 9.99849699e-01 -1.71129498e-02 -2.77953991e-03 5.90925506e+02] [ 1.71130231e-02 9.99853562e-01 2.57791940e-06 4.48942444e+00] [ 2.77908876e-03 -5.01438625e-05 9.99996137e-01 2.31089969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters 0.056249580108647466 Centerline is valid? [True, True] Translation: X:590.99, Y:4.48, Z:2.31 [[ 9.99672190e-01 -2.52914265e-02 -3.98203600e-03 5.90985739e+02] [ 2.52916416e-02 9.99680115e-01 3.65511445e-06 4.47770596e+00] [ 3.98066977e-03 -1.04366144e-04 9.99992072e-01 2.31007126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.039254154 meters 0.0546574665699577 Centerline is valid? [True, True] Translation: X:591.05, Y:4.48, Z:2.31 [[ 9.99544087e-01 -2.99296233e-02 -3.97941455e-03 5.91046387e+02] [ 2.99298749e-02 9.99552001e-01 3.67306506e-06 4.48041154e+00] [ 3.97752184e-03 -1.22774770e-04 9.99992082e-01 2.30947159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters 0.05463330635396312 Centerline is valid? [True, True] Translation: X:591.11, Y:4.48, Z:2.31 [[ 9.99427922e-01 -3.36468018e-02 -3.42357395e-03 5.91106563e+02] [ 3.36470098e-02 9.99433779e-01 3.15943904e-06 4.47974336e+00] [ 3.42152915e-03 -1.18350658e-04 9.99994140e-01 2.30890363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.159254154 meters 0.0548960828766279 Centerline is valid? [True, True] Translation: X:591.17, Y:4.47, Z:2.31 [[ 9.99440223e-01 -3.32539892e-02 -3.66249988e-03 5.91167317e+02] [ 3.32542247e-02 9.99446925e-01 3.40402727e-06 4.47384121e+00] [ 3.66036105e-03 -1.25195716e-04 9.99993293e-01 2.30904953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters 0.05616960974096398 Centerline is valid? [True, True] Translation: X:591.23, Y:4.47, Z:2.31 [[ 9.99522641e-01 -3.06975007e-02 -3.48609425e-03 5.91226672e+02] [ 3.06976994e-02 9.99528715e-01 3.49401326e-06 4.47175968e+00] [ 3.48434404e-03 -1.10507418e-04 9.99993924e-01 2.30963835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.279254154 meters 0.05520423807512781 Centerline is valid? [True, True] Translation: X:591.29, Y:4.48, Z:2.31 [[ 9.99546561e-01 -2.98818518e-02 -3.70763585e-03 5.91288672e+02] [ 2.98820708e-02 9.99553431e-01 3.67508477e-06 4.47861044e+00] [ 3.70587032e-03 -1.14465255e-04 9.99993127e-01 2.30967776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters 0.055829853278856076 Centerline is valid? [True, True] Translation: X:591.35, Y:4.48, Z:2.31 [[ 9.99530132e-01 -3.01723838e-02 -5.39838786e-03 5.91350005e+02] [ 3.01728536e-02 9.99544696e-01 5.57432637e-06 4.47626260e+00] [ 5.39576176e-03 -1.68456474e-04 9.99985429e-01 2.30874150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.399254154 meters 0.05562327590046287 Centerline is valid? [True, True] Translation: X:591.41, Y:4.48, Z:2.31 [[ 9.99441031e-01 -3.27731592e-02 -6.59884042e-03 5.91410939e+02] [ 3.27739187e-02 9.99462791e-01 6.95287204e-06 4.47575632e+00] [ 6.59506759e-03 -2.23218845e-04 9.99978227e-01 2.30747772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters 0.05582742383848759 Centerline is valid? [True, True] Translation: X:591.47, Y:4.48, Z:2.31 [[ 9.99406294e-01 -3.38011410e-02 -6.67400934e-03 5.91472625e+02] [ 3.38019418e-02 9.99428551e-01 7.20496237e-06 4.47500303e+00] [ 6.66995195e-03 -2.32795160e-04 9.99977729e-01 2.30747818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.519254154 meters 0.05559300880578868 Centerline is valid? [True, True] Translation: X:591.53, Y:4.48, Z:2.31 [[ 9.99309424e-01 -3.66264783e-02 -6.25916448e-03 5.91534047e+02] [ 3.66272395e-02 9.99328998e-01 6.98574106e-06 4.47941964e+00] [ 6.25470870e-03 -2.36236833e-04 9.99980411e-01 2.30872971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters 0.05486806199532836 Centerline is valid? [True, True] Translation: X:591.60, Y:4.48, Z:2.31 [[ 9.99271578e-01 -3.77661772e-02 -5.47982583e-03 5.91595809e+02] [ 3.77667783e-02 9.99286581e-01 6.20917473e-06 4.48341855e+00] [ 5.47568192e-03 -2.13160019e-04 9.99984986e-01 2.31003774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.639254154 meters 0.05703927615156957 Centerline is valid? [True, True] Translation: X:591.66, Y:4.48, Z:2.31 [[ 9.99219325e-01 -3.92422346e-02 -4.55945435e-03 5.91655629e+02] [ 3.92426665e-02 9.99229710e-01 5.25169780e-06 4.47510632e+00] [ 4.55573616e-03 -1.84172744e-04 9.99989606e-01 2.30992646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters 0.05454541768518225 Centerline is valid? [True, True] Translation: X:591.72, Y:4.49, Z:2.31 [[ 9.99165815e-01 -4.05827923e-02 -4.55089555e-03 5.91716599e+02] [ 4.05832366e-02 9.99176161e-01 5.28818937e-06 4.48844494e+00] [ 4.54693173e-03 -1.89973849e-04 9.99989645e-01 2.30951869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.759254154 meters 0.05505067414192041 Centerline is valid? [True, True] Translation: X:591.78, Y:4.49, Z:2.31 [[ 9.99157139e-01 -4.07926425e-02 -4.57955977e-03 5.91777963e+02] [ 4.07930952e-02 9.99167615e-01 5.43531485e-06 4.48607813e+00] [ 4.57552610e-03 -1.92245151e-04 9.99989514e-01 2.31057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters 0.05602260965406658 Centerline is valid? [True, True] Translation: X:591.84, Y:4.49, Z:2.31 [[ 9.99188532e-01 -4.01181831e-02 -3.57892088e-03 5.91839123e+02] [ 4.01184555e-02 9.99194931e-01 4.31295658e-06 4.48558530e+00] [ 3.57586657e-03 -1.47890235e-04 9.99993596e-01 2.31128331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.879254154 meters 0.05423446804173859 Centerline is valid? [True, True] Translation: X:591.90, Y:4.50, Z:2.31 [[ 9.99271343e-01 -3.80516667e-02 -2.97548079e-03 5.91900150e+02] [ 3.80518461e-02 9.99275766e-01 3.67069838e-06 4.49985688e+00] [ 2.97318617e-03 -1.16890561e-04 9.99995573e-01 2.31196985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters 0.05417809154398857 Centerline is valid? [True, True] Translation: X:591.96, Y:4.51, Z:2.31 [[ 9.99363733e-01 -3.54493108e-02 -3.93384133e-03 5.91960653e+02] [ 3.54496045e-02 9.99371465e-01 4.93946405e-06 4.50783289e+00] [ 3.93119368e-03 -1.44389441e-04 9.99992262e-01 2.31184195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.999254154 meters 0.054336992328783286 Centerline is valid? [True, True] Translation: X:592.02, Y:4.51, Z:2.31 [[ 9.99460042e-01 -3.25492043e-02 -4.49163247e-03 5.92020060e+02] [ 3.25495580e-02 9.99470123e-01 5.63524040e-06 4.50554159e+00] [ 4.48906904e-03 -1.51832849e-04 9.99989913e-01 2.31146160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters 0.05543538887456795 Centerline is valid? [True, True] Translation: X:592.08, Y:4.50, Z:2.31 [[ 9.99502909e-01 -3.11802661e-02 -4.66102513e-03 5.92080557e+02] [ 3.11806320e-02 9.99513766e-01 5.82457323e-06 4.49897742e+00] [ 4.65857717e-03 -1.51155387e-04 9.99989137e-01 2.31147627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.119254154 meters 0.05432501404243931 Centerline is valid? [True, True] Translation: X:592.14, Y:4.51, Z:2.31 [[ 9.99547822e-01 -2.97521789e-02 -4.35435109e-03 5.92141711e+02] [ 2.97524849e-02 9.99557297e-01 5.50537259e-06 4.51082125e+00] [ 4.35225961e-03 -1.35055648e-04 9.99990520e-01 2.31277185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.179254154 meters 0.0535357482444304 Centerline is valid? [True, True] Translation: X:592.20, Y:4.52, Z:2.31 [[ 9.99610854e-01 -2.73249291e-02 -5.61146444e-03 5.92203603e+02] [ 2.73253999e-02 9.99626592e-01 7.22877803e-06 4.52111191e+00] [ 5.60917154e-03 -1.60561475e-04 9.99984256e-01 2.31318868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.239254154 meters 0.05457417407033819 Centerline is valid? [True, True] Translation: X:592.26, Y:4.52, Z:2.31 [[ 9.99677511e-01 -2.46066986e-02 -6.27564257e-03 5.92263803e+02] [ 2.46072349e-02 9.99697196e-01 8.24974945e-06 4.52276808e+00] [ 6.27353928e-03 -1.62673300e-04 9.99980308e-01 2.31295772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.299254154 meters 0.05307422938207325 Centerline is valid? [True, True] Translation: X:592.32, Y:4.53, Z:2.31 [[ 9.99790343e-01 -1.93876968e-02 -6.58698063e-03 5.92324595e+02] [ 1.93881747e-02 9.99812032e-01 8.69179693e-06 4.52787262e+00] [ 6.58557397e-03 -1.36399506e-04 9.99978306e-01 2.31347872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.359254154 meters 0.0544590381349595 Centerline is valid? [True, True] Translation: X:592.38, Y:4.53, Z:2.31 [[ 9.99914715e-01 -1.18408492e-02 -5.50964387e-03 5.92384415e+02] [ 1.18410689e-02 9.99929892e-01 7.25660566e-06 4.53186080e+00] [ 5.50917167e-03 -7.24960595e-05 9.99984822e-01 2.31457536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.419254154 meters 0.053222762345363994 Centerline is valid? [True, True] Translation: X:592.45, Y:4.54, Z:2.32 [[ 9.99953058e-01 -6.91901147e-03 -6.78303738e-03 5.92445562e+02] [ 6.91923132e-03 9.99976062e-01 8.94518103e-06 4.54001107e+00] [ 6.78281312e-03 -5.58781658e-05 9.99976995e-01 2.31563991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters 0.05450748500272482 Centerline is valid? [True, True] Translation: X:592.51, Y:4.54, Z:2.31 [[ 9.99952947e-01 -6.14456841e-03 -7.50657678e-03 5.92505028e+02] [ 6.14481617e-03 9.99981120e-01 9.94259562e-06 4.53783945e+00] [ 7.50637397e-03 -5.60686622e-05 9.99971825e-01 2.31391498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.539254154 meters 0.05368164751197032 Centerline is valid? [True, True] Translation: X:592.56, Y:4.54, Z:2.31 [[ 9.99920512e-01 -9.75577798e-03 -7.98719305e-03 5.92564327e+02] [ 9.75617264e-03 9.99952407e-01 1.04493164e-05 4.53781015e+00] [ 7.98671098e-03 -8.83729202e-05 9.99968102e-01 2.31413504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters 0.05368551637160378 Centerline is valid? [True, True] Translation: X:592.62, Y:4.54, Z:2.31 [[ 9.99819884e-01 -1.67821053e-02 -8.86340441e-03 5.92624600e+02] [ 1.67828664e-02 9.99859158e-01 1.14934345e-05 4.53850541e+00] [ 8.86196319e-03 -1.60244696e-04 9.99960719e-01 2.31477320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.659254154 meters 0.053669515055441035 Centerline is valid? [True, True] Translation: X:592.69, Y:4.53, Z:2.31 [[ 9.99664894e-01 -2.41200328e-02 -9.39812448e-03 5.92685075e+02] [ 2.41212136e-02 9.99709041e-01 1.22959906e-05 4.53488991e+00] [ 9.39509343e-03 -2.38986038e-04 9.99955837e-01 2.31407921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters 0.053573690288434575 Centerline is valid? [True, True] Translation: X:592.75, Y:4.53, Z:2.32 [[ 9.99517527e-01 -2.95547501e-02 -9.55141497e-03 5.92745295e+02] [ 2.95562185e-02 9.99563119e-01 1.25838564e-05 4.53463387e+00] [ 9.54687023e-03 -2.94881492e-04 9.99954384e-01 2.31536601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.779254154 meters 0.05541613479240871 Centerline is valid? [True, True] Translation: X:592.80, Y:4.52, Z:2.31 [[ 9.99260045e-01 -3.70392018e-02 -1.03663018e-02 5.92804423e+02] [ 3.70413353e-02 9.99313734e-01 1.38273359e-05 4.52120906e+00] [ 1.03586756e-02 -3.97798764e-04 9.99946268e-01 2.31378475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters 0.05417415954036269 Centerline is valid? [True, True] Translation: X:592.87, Y:4.53, Z:2.32 [[ 9.99060673e-01 -4.22334054e-02 -9.70107974e-03 5.92865413e+02] [ 4.22355196e-02 9.99107682e-01 1.30783986e-05 4.52889078e+00] [ 9.69187095e-03 -4.22796257e-04 9.99952943e-01 2.31620023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.899254154 meters 0.054235030640403616 Centerline is valid? [True, True] Translation: X:592.93, Y:4.53, Z:2.32 [[ 9.99070317e-01 -4.23448887e-02 -8.08780561e-03 5.92927665e+02] [ 4.23463630e-02 9.99102990e-01 1.10566934e-05 4.52721225e+00] [ 8.08008258e-03 -3.53535567e-04 9.99967293e-01 2.31647618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters 0.05371989019542995 Centerline is valid? [True, True] Translation: X:592.99, Y:4.53, Z:2.32 [[ 9.99215079e-01 -3.89160332e-02 -7.40053328e-03 5.92988660e+02] [ 3.89171747e-02 9.99242440e-01 1.02550540e-05 4.53178293e+00] [ 7.39452785e-03 -2.98254851e-04 9.99972616e-01 2.31801912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.019254154 meters 0.05269347675588598 Centerline is valid? [True, True] Translation: X:593.05, Y:4.54, Z:2.32 [[ 9.99389580e-01 -3.41108852e-02 -7.54425987e-03 5.93049476e+02] [ 3.41119352e-02 9.99418019e-01 1.05122877e-05 4.54183634e+00] [ 7.53951067e-03 -2.67855175e-04 9.99971542e-01 2.31929355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters 0.05385995124804617 Centerline is valid? [True, True] Translation: X:593.11, Y:4.55, Z:2.32 [[ 9.99535866e-01 -2.95458936e-02 -7.42242878e-03 5.93109683e+02] [ 2.95467845e-02 9.99563398e-01 1.03810813e-05 4.54695954e+00] [ 7.41888142e-03 -2.29685167e-04 9.99972453e-01 2.32130277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.139254154 meters 0.05324715244100225 Centerline is valid? [True, True] Translation: X:593.17, Y:4.55, Z:2.32 [[ 9.99636999e-01 -2.59115303e-02 -7.37987767e-03 5.93169535e+02] [ 2.59123124e-02 9.99664220e-01 1.03593374e-05 4.54730809e+00] [ 7.37713122e-03 -2.01585272e-04 9.99972768e-01 2.32101194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters 0.05429197972437506 Centerline is valid? [True, True] Translation: X:593.23, Y:4.55, Z:2.32 [[ 9.99665271e-01 -2.43294080e-02 -8.79924000e-03 5.93230380e+02] [ 2.43304616e-02 9.99703970e-01 1.26999545e-05 4.54653509e+00] [ 8.79632618e-03 -2.26785274e-04 9.99961286e-01 2.32011448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.259254154 meters 0.053855208577971825 Centerline is valid? [True, True] Translation: X:593.29, Y:4.55, Z:2.32 [[ 9.99676141e-01 -2.34426055e-02 -9.90236234e-03 5.93292480e+02] [ 2.34439011e-02 9.99725154e-01 1.47649317e-05 4.55033045e+00] [ 9.89929458e-03 -2.46910153e-04 9.99950970e-01 2.32092330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters 0.05372404870051655 Centerline is valid? [True, True] Translation: X:593.35, Y:4.55, Z:2.32 [[ 9.99662327e-01 -2.40288886e-02 -9.89159689e-03 5.93354929e+02] [ 2.40302132e-02 9.99711233e-01 1.50643290e-05 4.55184794e+00] [ 9.88837854e-03 -2.52756425e-04 9.99951077e-01 2.32166291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.379254154 meters 0.05381501596412656 Centerline is valid? [True, True] Translation: X:593.42, Y:4.55, Z:2.32 [[ 9.99645039e-01 -2.50700471e-02 -9.01603506e-03 5.93415779e+02] [ 2.50711920e-02 9.99685668e-01 1.39671617e-05 4.55226568e+00] [ 9.01285088e-03 -2.40004950e-04 9.99959355e-01 2.32231410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters 0.053003772644017025 Centerline is valid? [True, True] Translation: X:593.48, Y:4.55, Z:2.32 [[ 9.99636939e-01 -2.62094581e-02 -6.24936771e-03 5.93478318e+02] [ 2.62100314e-02 9.99656458e-01 9.83882873e-06 4.55136052e+00] [ 6.24696292e-03 -1.73631380e-04 9.99980472e-01 2.32330421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.499254154 meters 0.05479439771983461 Centerline is valid? [True, True] Translation: X:593.54, Y:4.55, Z:2.32 [[ 9.99652719e-01 -2.57099219e-02 -5.78288613e-03 5.93539758e+02] [ 2.57104055e-02 9.99669433e-01 9.29483771e-06 4.54556922e+00] [ 5.78073553e-03 -1.57971957e-04 9.99983279e-01 2.32412080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters 0.054077987642502795 Centerline is valid? [True, True] Translation: X:593.60, Y:4.55, Z:2.33 [[ 9.99670753e-01 -2.52684782e-02 -4.45980809e-03 5.93602308e+02] [ 2.52687619e-02 9.99680694e-01 7.25728058e-06 4.55123870e+00] [ 4.45820067e-03 -1.19948720e-04 9.99990055e-01 2.32603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.619254154 meters 0.05417368089712877 Centerline is valid? [True, True] Translation: X:593.66, Y:4.55, Z:2.33 [[ 9.99674096e-01 -2.49306713e-02 -5.49203883e-03 5.93664440e+02] [ 2.49310975e-02 9.99689172e-01 9.13293454e-06 4.55007640e+00] [ 5.49010406e-03 -1.46052514e-04 9.99984919e-01 2.32539174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.679254154 meters 0.05425831527069758 Centerline is valid? [True, True] Translation: X:593.73, Y:4.55, Z:2.32 [[ 9.99667209e-01 -2.49376883e-02 -6.60178930e-03 5.93726285e+02] [ 2.49383057e-02 9.99688992e-01 1.12047973e-05 4.55223385e+00] [ 6.59945667e-03 -1.75838508e-04 9.99978208e-01 2.32462856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.739254154 meters 0.05401152722169314 Centerline is valid? [True, True] Translation: X:593.79, Y:4.55, Z:2.33 [[ 9.99655478e-01 -2.50643260e-02 -7.79134571e-03 5.93788081e+02] [ 2.50651919e-02 9.99685819e-01 1.34905725e-05 4.55148278e+00] [ 7.78855968e-03 -2.08777500e-04 9.99969647e-01 2.32513386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.799254154 meters 0.053879419588591625 Centerline is valid? [True, True] Translation: X:593.85, Y:4.55, Z:2.33 [[ 9.99646621e-01 -2.54788242e-02 -7.58039075e-03 5.93849683e+02] [ 2.54796582e-02 9.99675341e-01 1.34477542e-05 4.54828672e+00] [ 7.57758708e-03 -2.06588767e-04 9.99971268e-01 2.32574610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.859254154 meters 0.053808929479378 Centerline is valid? [True, True] Translation: X:593.91, Y:4.55, Z:2.33 [[ 9.99654048e-01 -2.54711272e-02 -6.55787994e-03 5.93911719e+02] [ 2.54717530e-02 9.99675542e-01 1.19062584e-05 4.54784390e+00] [ 6.55544892e-03 -1.78942837e-04 9.99978497e-01 2.32643888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.919254154 meters 0.05374882935665179 Centerline is valid? [True, True] Translation: X:593.97, Y:4.54, Z:2.33 [[ 9.99677891e-01 -2.47290241e-02 -5.70878078e-03 5.93972985e+02] [ 2.47294871e-02 9.99694179e-01 1.05166785e-05 4.54262442e+00] [ 5.70677485e-03 -1.51688511e-04 9.99983705e-01 2.32763225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters 0.053909375740375916 Centerline is valid? [True, True] Translation: X:594.03, Y:4.54, Z:2.33 [[ 9.99706834e-01 -2.36820831e-02 -5.04029434e-03 5.94034809e+02] [ 2.36824313e-02 9.99719532e-01 9.40334723e-06 4.54193306e+00] [ 5.03865801e-03 -1.28767015e-04 9.99987298e-01 2.32824111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.039254154 meters 0.05502444053284771 Centerline is valid? [True, True] Translation: X:594.10, Y:4.54, Z:2.33 [[ 9.99742628e-01 -2.21340920e-02 -4.97601777e-03 5.94095631e+02] [ 2.21344129e-02 9.99755004e-01 9.42278040e-06 4.53531696e+00] [ 4.97459010e-03 -1.19561587e-04 9.99987619e-01 2.32909374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters 0.05509125749744598 Centerline is valid? [True, True] Translation: X:594.16, Y:4.53, Z:2.33 [[ 9.99766451e-01 -2.10558941e-02 -4.86753549e-03 5.94158363e+02] [ 2.10561889e-02 9.99778294e-01 9.31302749e-06 4.53421438e+00] [ 4.86626023e-03 -1.11802599e-04 9.99988153e-01 2.32941163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.159254154 meters 0.05414477172922952 Centerline is valid? [True, True] Translation: X:594.22, Y:4.53, Z:2.33 [[ 9.99778417e-01 -2.03909813e-02 -5.22738177e-03 5.94221085e+02] [ 2.03913133e-02 9.99792076e-01 1.02113282e-05 4.53464465e+00] [ 5.22608665e-03 -1.16802245e-04 9.99986337e-01 2.32987941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters 0.05422479480806092 Centerline is valid? [True, True] Translation: X:594.28, Y:4.54, Z:2.33 [[ 9.99786424e-01 -1.96192969e-02 -6.49539362e-03 5.94283461e+02] [ 1.96197949e-02 9.99807513e-01 1.29580094e-05 4.53518212e+00] [ 6.49388912e-03 -1.40393533e-04 9.99978905e-01 2.32970709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.279254154 meters 0.054605237280260094 Centerline is valid? [True, True] Translation: X:594.34, Y:4.53, Z:2.33 [[ 9.99778740e-01 -1.94183282e-02 -8.08705199e-03 5.94344241e+02] [ 1.94190957e-02 9.99811431e-01 1.63870413e-05 4.52843417e+00] [ 8.08520882e-03 -1.73426652e-04 9.99967299e-01 2.32828335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters 0.05496043374103681 Centerline is valid? [True, True] Translation: X:594.41, Y:4.53, Z:2.33 [[ 9.99742833e-01 -2.10659142e-02 -8.39612557e-03 5.94406440e+02] [ 2.10668015e-02 9.99778070e-01 1.72471933e-05 4.52738801e+00] [ 8.39389889e-03 -1.94122269e-04 9.99964752e-01 2.32896499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.399254154 meters 0.05477682219045044 Centerline is valid? [True, True] Translation: X:594.47, Y:4.53, Z:2.33 [[ 9.99705785e-01 -2.29180497e-02 -7.94394129e-03 5.94468279e+02] [ 2.29189050e-02 9.99737327e-01 1.66482335e-05 4.52950028e+00] [ 7.94147309e-03 -1.98709771e-04 9.99968446e-01 2.33010003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters 0.054770767142349526 Centerline is valid? [True, True] Translation: X:594.53, Y:4.53, Z:2.33 [[ 9.99640195e-01 -2.56284379e-02 -7.91602650e-03 5.94528389e+02] [ 2.56293739e-02 9.99671514e-01 1.68009300e-05 4.52873228e+00] [ 7.91299561e-03 -2.19677688e-04 9.99968668e-01 2.33062411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.519254154 meters 0.055657228553204846 Centerline is valid? [True, True] Translation: X:594.59, Y:4.52, Z:2.33 [[ 9.99568922e-01 -2.85303177e-02 -6.92751557e-03 5.94588114e+02] [ 2.85311048e-02 9.99592905e-01 1.47964507e-05 4.52192016e+00] [ 6.92427327e-03 -2.12439745e-04 9.99976004e-01 2.33085900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters 0.055628435359387274 Centerline is valid? [True, True] Translation: X:594.65, Y:4.52, Z:2.33 [[ 9.99469316e-01 -3.22597348e-02 -4.51616402e-03 5.94649158e+02] [ 3.22601077e-02 9.99479507e-01 9.72805764e-06 4.52110775e+00] [ 4.51349957e-03 -1.55414833e-04 9.99989802e-01 2.33373370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.639254154 meters 0.05435481944808736 Centerline is valid? [True, True] Translation: X:594.71, Y:4.53, Z:2.34 [[ 9.99376417e-01 -3.52538404e-02 -1.98577070e-03 5.94710141e+02] [ 3.52539184e-02 9.99378387e-01 4.27804557e-06 4.52697818e+00] [ 1.98438550e-03 -7.42815760e-05 9.99998028e-01 2.33542985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters 0.05416334786943733 Centerline is valid? [True, True] Translation: X:594.77, Y:4.53, Z:2.34 [[ 9.99457743e-01 -3.29063179e-02 -1.18101705e-03 5.94770659e+02] [ 3.29063438e-02 9.99458440e-01 2.52181486e-06 4.52652922e+00] [ 1.18029447e-03 -4.13834005e-05 9.99999303e-01 2.33578278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.759254154 meters 0.05704493605583854 Centerline is valid? [True, True] Translation: X:594.83, Y:4.52, Z:2.34 [[ 9.99636931e-01 -2.68987226e-02 1.56989874e-03 5.94830065e+02] [ 2.68987610e-02 9.99638163e-01 -3.35686314e-06 4.51870669e+00] [-1.56924040e-03 4.55839754e-05 9.99998768e-01 2.34025549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters 0.05476182120902627 Centerline is valid? [True, True] Translation: X:594.89, Y:4.53, Z:2.34 [[ 9.99765618e-01 -2.07399093e-02 6.21003076e-03 5.94890490e+02] [ 2.07403931e-02 9.99784895e-01 -1.35010465e-05 4.53120698e+00] [-6.20841494e-03 1.42296361e-04 9.99980717e-01 2.34200301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.879254154 meters 0.05321826668089437 Centerline is valid? [True, True] Translation: X:594.95, Y:4.54, Z:2.34 [[ 9.99832513e-01 -1.48909380e-02 1.06398110e-02 5.94951769e+02] [ 1.48920290e-02 9.99889107e-01 -2.33099514e-05 4.53819956e+00] [-1.06382840e-02 1.81754420e-04 9.99943395e-01 2.34345367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters 0.05487060468169103 Centerline is valid? [True, True] Translation: X:595.01, Y:4.54, Z:2.35 [[ 9.99856219e-01 -1.10672501e-02 1.28475014e-02 5.95013038e+02] [ 1.10685294e-02 9.99938742e-01 -2.84774851e-05 4.53843338e+00] [-1.28463992e-02 1.70676338e-04 9.99917467e-01 2.34691988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.999254154 meters 0.05397125065713497 Centerline is valid? [True, True] Translation: X:595.07, Y:4.54, Z:2.35 [[ 9.99900138e-01 -3.41538472e-03 1.37131283e-02 5.95074524e+02] [ 3.41612737e-03 9.99994165e-01 -3.07323141e-05 4.54440176e+00] [-1.37129434e-02 7.75750381e-05 9.99905970e-01 2.34502887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters 0.05503453771894498 Centerline is valid? [True, True] Translation: X:595.14, Y:4.55, Z:2.35 [[ 9.99888426e-01 4.68132520e-03 1.41852648e-02 5.95135686e+02] [-4.68134031e-03 9.99989042e-01 -3.21395730e-05 4.54740674e+00] [-1.41852598e-02 -3.42700649e-05 9.99899384e-01 2.34526149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.119254154 meters 0.05465013042701163 Centerline is valid? [True, True] Translation: X:595.20, Y:4.55, Z:2.34 [[ 9.99848745e-01 9.05600935e-03 1.48484425e-02 5.95197584e+02] [-9.05649823e-03 9.99958989e-01 -3.43176506e-05 4.54775937e+00] [-1.48481443e-02 -1.00162433e-04 9.99889755e-01 2.34376415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.179254154 meters 0.05489152035868003 Centerline is valid? [True, True] Translation: X:595.26, Y:4.55, Z:2.34 [[ 9.99778564e-01 1.33673267e-02 1.62523054e-02 5.95258784e+02] [-1.33684793e-02 9.99910637e-01 -3.77203569e-05 4.54715182e+00] [-1.62513573e-02 -1.79556604e-04 9.99867922e-01 2.34293564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.239254154 meters 0.05504469649299405 Centerline is valid? [True, True] Translation: X:595.32, Y:4.54, Z:2.34 [[ 9.99756600e-01 1.48309466e-02 1.63335362e-02 5.95320808e+02] [-1.48322688e-02 9.99889995e-01 -4.01963165e-05 4.54489634e+00] [-1.63323356e-02 -2.02076866e-04 9.99866598e-01 2.34224724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.299254154 meters 0.05531749439394199 Centerline is valid? [True, True] Translation: X:595.38, Y:4.54, Z:2.34 [[ 9.99796089e-01 1.37945692e-02 1.47475833e-02 5.95382329e+02] [-1.37955358e-02 9.99904836e-01 -3.61911829e-05 4.53771948e+00] [-1.47466792e-02 -1.67267011e-04 9.99891248e-01 2.33993947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.359254154 meters 0.05485604108278753 Centerline is valid? [True, True] Translation: X:595.44, Y:4.53, Z:2.34 [[ 9.99866052e-01 1.03462882e-02 1.26819621e-02 5.95443366e+02] [-1.03467228e-02 9.99946471e-01 -3.13413361e-05 4.53085493e+00] [-1.26816075e-02 -9.98796085e-05 9.99919580e-01 2.33861570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.419254154 meters 0.05414433654899559 Centerline is valid? [True, True] Translation: X:595.50, Y:4.52, Z:2.33 [[ 9.99972508e-01 6.61929717e-04 7.38548601e-03 5.95504492e+02] [-6.61812559e-04 9.99999781e-01 -1.83071417e-05 4.51646708e+00] [-7.38549651e-03 1.34188310e-05 9.99972727e-01 2.33060407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters 0.05453983748736658 Centerline is valid? [True, True] Translation: X:595.57, Y:4.50, Z:2.32 [[ 9.99940232e-01 -1.09318843e-02 1.62489365e-04 5.95565177e+02] [ 1.09318846e-02 9.99940245e-01 -4.68015406e-07 4.49759098e+00] [-1.62474540e-04 2.24430242e-06 9.99999987e-01 2.32233194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.539254154 meters 0.05560708845134938 Centerline is valid? [True, True] Translation: X:595.62, Y:4.48, Z:2.32 [[ 9.99762695e-01 -2.10881636e-02 -5.46293767e-03 5.95624745e+02] [ 2.10885529e-02 9.99777612e-01 1.36539892e-05 4.47969083e+00] [ 5.46143484e-03 -1.28856199e-04 9.99985078e-01 2.31570866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters 0.054700202961586473 Centerline is valid? [True, True] Translation: X:595.69, Y:4.47, Z:2.31 [[ 9.99611114e-01 -2.64415559e-02 -8.85803831e-03 5.95685855e+02] [ 2.64427920e-02 9.99650328e-01 2.24388197e-05 4.47313715e+00] [ 8.85434759e-03 -2.56661358e-04 9.99960767e-01 2.31258940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.659254154 meters 0.0547978210061211 Centerline is valid? [True, True] Translation: X:595.75, Y:4.46, Z:2.31 [[ 9.99414663e-01 -3.14796160e-02 -1.33927086e-02 5.95746366e+02] [ 3.14828972e-02 9.99504290e-01 3.41885136e-05 4.45929448e+00] [ 1.33849935e-02 -4.55809771e-04 9.99910313e-01 2.30700989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters 0.05567949670175865 Centerline is valid? [True, True] Translation: X:595.81, Y:4.44, Z:2.30 [[ 9.99283610e-01 -3.41032569e-02 -1.64083476e-02 5.95805976e+02] [ 3.41085355e-02 9.99418134e-01 4.18810791e-05 4.44132353e+00] [ 1.63973719e-02 -6.01515784e-04 9.99865373e-01 2.30185921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.779254154 meters 0.056400184421383205 Centerline is valid? [True, True] Translation: X:595.86, Y:4.42, Z:2.30 [[ 9.99172431e-01 -3.48007864e-02 -2.10560605e-02 5.95864861e+02] [ 3.48096329e-02 9.99393960e-01 5.36587660e-05 4.42430573e+00] [ 2.10414324e-02 -7.86568098e-04 9.99778295e-01 2.29656042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters 0.05649884837155087 Centerline is valid? [True, True] Translation: X:595.93, Y:4.41, Z:2.29 [[ 9.99035853e-01 -3.53890931e-02 -2.59803132e-02 5.95925111e+02] [ 3.54027608e-02 9.99373124e-01 6.61596215e-05 4.41109812e+00] [ 2.59616854e-02 -9.85870649e-04 9.99662452e-01 2.29230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.899254154 meters 0.05646646396473996 Centerline is valid? [True, True] Translation: X:595.98, Y:4.40, Z:2.29 [[ 9.98985313e-01 -3.55758252e-02 -2.76171171e-02 5.95984967e+02] [ 3.55913313e-02 9.99366425e-01 6.99547791e-05 4.40027244e+00] [ 2.75971309e-02 -1.05281376e-03 9.99618572e-01 2.29013450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters 0.060097350689428126 Centerline is valid? [True, True] Translation: X:596.04, Y:4.38, Z:2.28 [[ 9.98952080e-01 -3.39604466e-02 -3.06827249e-02 5.96042426e+02] [ 3.39787941e-02 9.99422551e-01 7.66211580e-05 4.37714822e+00] [ 3.06624051e-02 -1.11910286e-03 9.99529171e-01 2.28147456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.019254154 meters 0.05708411061921168 Centerline is valid? [True, True] Translation: X:596.10, Y:4.38, Z:2.29 [[ 9.99079799e-01 -2.95623994e-02 -3.10744171e-02 5.96102428e+02] [ 2.95790880e-02 9.99562440e-01 7.74024723e-05 4.37806739e+00] [ 3.10585320e-02 -9.96484164e-04 9.99517071e-01 2.28791888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters 0.05910599648390846 Centerline is valid? [True, True] Translation: X:596.16, Y:4.37, Z:2.28 [[ 9.99250002e-01 -2.25337331e-02 -3.14907152e-02 5.96163045e+02] [ 2.25473904e-02 9.99745772e-01 7.86123771e-05 4.36630781e+00] [ 3.14809380e-02 -7.88586870e-04 9.99504041e-01 2.28070615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.139254154 meters 0.057410106861368645 Centerline is valid? [True, True] Translation: X:596.22, Y:4.37, Z:2.29 [[ 9.99443861e-01 -1.71985505e-02 -2.85688418e-02 5.96223511e+02] [ 1.72076018e-02 9.99851936e-01 7.09859708e-05 4.37294014e+00] [ 2.85633909e-02 -5.62547746e-04 9.99591825e-01 2.29149830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters 0.056189806478443655 Centerline is valid? [True, True] Translation: X:596.28, Y:4.38, Z:2.30 [[ 9.99696827e-01 -1.00952898e-02 -2.24574850e-02 5.96284257e+02] [ 1.00990849e-02 9.99949001e-01 5.55794859e-05 4.37834116e+00] [ 2.24557786e-02 -2.82362683e-04 9.99747797e-01 2.30433109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.259254154 meters 0.056502884593029025 Centerline is valid? [True, True] Translation: X:596.34, Y:4.38, Z:2.31 [[ 9.99774705e-01 -6.41774498e-03 -2.02324519e-02 5.96343768e+02] [ 6.42006598e-03 9.99979390e-01 4.97645929e-05 4.38100535e+00] [ 2.02317155e-02 -1.79647057e-04 9.99795302e-01 2.30933158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters 0.05676071503487344 Centerline is valid? [True, True] Translation: X:596.40, Y:4.38, Z:2.31 [[ 9.99817992e-01 -6.53801512e-03 -1.79230887e-02 5.96401987e+02] [ 6.53982547e-03 9.99978614e-01 4.23957838e-05 4.37830359e+00] [ 1.79224282e-02 -1.59601940e-04 9.99839368e-01 2.30938774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.379254154 meters 0.05695354453067412 Centerline is valid? [True, True] Translation: X:596.46, Y:4.38, Z:2.32 [[ 9.99812430e-01 -1.05072296e-02 -1.62697195e-02 5.96459840e+02] [ 1.05092318e-02 9.99944776e-01 3.75668003e-05 4.37911134e+00] [ 1.62684263e-02 -2.08542007e-04 9.99867639e-01 2.31614863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters 0.05645562055672057 Centerline is valid? [True, True] Translation: X:596.52, Y:4.38, Z:2.32 [[ 9.99791066e-01 -1.45093953e-02 -1.43980153e-02 5.96519670e+02] [ 1.45113750e-02 9.99894704e-01 3.30236255e-05 4.37757278e+00] [ 1.43960201e-02 -2.41951725e-04 9.99896343e-01 2.31762903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.499254154 meters 0.056541761780318986 Centerline is valid? [True, True] Translation: X:596.58, Y:4.38, Z:2.32 [[ 9.99728434e-01 -1.83559483e-02 -1.43567848e-02 5.96579420e+02] [ 1.83583114e-02 9.99831471e-01 3.28181717e-05 4.37667640e+00] [ 1.43537629e-02 -2.96375587e-04 9.99896935e-01 2.31970070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters 0.056759125987200156 Centerline is valid? [True, True] Translation: X:596.64, Y:4.38, Z:2.32 [[ 9.99653615e-01 -2.24759242e-02 -1.36924752e-02 5.96639885e+02] [ 2.24784606e-02 9.99747327e-01 3.13494978e-05 4.37633981e+00] [ 1.36883109e-02 -3.39124404e-04 9.99906253e-01 2.32144356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.619254154 meters 0.057944816517308664 Centerline is valid? [True, True] Translation: X:596.70, Y:4.38, Z:2.32 [[ 9.99549971e-01 -2.70900934e-02 -1.28834346e-02 5.96699706e+02] [ 2.70927217e-02 9.99632924e-01 2.94853777e-05 4.37838446e+00] [ 1.28779067e-02 -3.78519416e-04 9.99917005e-01 2.32465979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.679254154 meters 0.05802262233847928 Centerline is valid? [True, True] Translation: X:596.76, Y:4.38, Z:2.33 [[ 9.99467127e-01 -3.02681414e-02 -1.22188807e-02 5.96759393e+02] [ 3.02707417e-02 9.99541736e-01 2.78776950e-05 4.37658094e+00] [ 1.22124374e-02 -3.97737420e-04 9.99925346e-01 2.32619970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.739254154 meters 0.05730644487463346 Centerline is valid? [True, True] Translation: X:596.82, Y:4.38, Z:2.33 [[ 9.99326180e-01 -3.49295898e-02 -1.12742973e-02 5.96819972e+02] [ 3.49320996e-02 9.99389688e-01 2.57021967e-05 4.37763722e+00] [ 1.12665187e-02 -4.19519753e-04 9.99936443e-01 2.32842100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.799254154 meters 0.06512138919227918 Centerline is valid? [True, True] Translation: X:596.88, Y:4.35, Z:2.33 [[ 9.99245747e-01 -3.73059838e-02 -1.07796882e-02 5.96880389e+02] [ 3.73084169e-02 9.99303798e-01 2.46373254e-05 4.35415635e+00] [ 1.07712643e-02 -4.26791845e-04 9.99941897e-01 2.32684429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.859254154 meters 0.05756275405024737 Centerline is valid? [True, True] Translation: X:596.94, Y:4.38, Z:2.33 [[ 9.99196630e-01 -3.91254498e-02 -8.67715524e-03 5.96941999e+02] [ 3.91270960e-02 9.99234242e-01 1.99790206e-05 4.38473687e+00] [ 8.66972895e-03 -3.59474857e-04 9.99962353e-01 2.33235655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.919254154 meters 0.0572468876278243 Centerline is valid? [True, True] Translation: X:597.00, Y:4.39, Z:2.33 [[ 9.99171877e-01 -3.97128965e-02 -8.85693560e-03 5.97004018e+02] [ 3.97146371e-02 9.99211062e-01 2.06635871e-05 4.38895958e+00] [ 8.84912742e-03 -3.72396458e-04 9.99960776e-01 2.33329978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters 0.059760906790488955 Centerline is valid? [True, True] Translation: X:597.07, Y:4.38, Z:2.33 [[ 9.99128877e-01 -4.05692755e-02 -9.77858702e-03 5.97065020e+02] [ 4.05714410e-02 9.99176640e-01 2.31123103e-05 4.37837089e+00] [ 9.76959807e-03 -4.19823543e-04 9.99952188e-01 2.33170587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.039254154 meters 0.05931507819662811 Centerline is valid? [True, True] Translation: X:597.13, Y:4.38, Z:2.33 [[ 9.98926157e-01 -4.52903708e-02 -9.76293769e-03 5.97125523e+02] [ 4.52927556e-02 9.98973756e-01 2.31942808e-05 4.37978255e+00] [ 9.75186806e-03 -4.65359724e-04 9.99952341e-01 2.33126965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters 0.0629122993388136 Centerline is valid? [True, True] Translation: X:597.19, Y:4.37, Z:2.33 [[ 9.98694188e-01 -5.01986080e-02 -9.48779288e-03 5.97185543e+02] [ 5.02010810e-02 9.98739131e-01 2.25194375e-05 4.37401505e+00] [ 9.47469957e-03 -4.98787490e-04 9.99954990e-01 2.33198653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.159254154 meters 0.061102107472559015 Centerline is valid? [True, True] Translation: X:597.25, Y:4.38, Z:2.33 [[ 9.98642310e-01 -5.12533153e-02 -9.30770810e-03 5.97246494e+02] [ 5.12557411e-02 9.98685560e-01 2.21088917e-05 4.37851619e+00] [ 9.29434052e-03 -4.99152351e-04 9.99956682e-01 2.33319960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters 0.059255184430741105 Centerline is valid? [True, True] Translation: X:597.31, Y:4.39, Z:2.33 [[ 9.98584763e-01 -5.24524447e-02 -8.78701926e-03 5.97308065e+02] [ 5.24546538e-02 9.98623307e-01 2.09741131e-05 4.38769483e+00] [ 8.77382209e-03 -4.81864483e-04 9.99961393e-01 2.33376838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.279254154 meters 0.06206173596756426 Centerline is valid? [True, True] Translation: X:597.37, Y:4.38, Z:2.33 [[ 9.98636305e-01 -5.14170614e-02 -9.04522060e-03 5.97368834e+02] [ 5.14193612e-02 9.98677149e-01 2.17307439e-05 4.38464209e+00] [ 9.03213779e-03 -4.86800575e-04 9.99959091e-01 2.33393512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters 0.06181730187087836 Centerline is valid? [True, True] Translation: X:597.43, Y:4.39, Z:2.34 [[ 9.98710243e-01 -5.00988291e-02 -8.24371909e-03 5.97429921e+02] [ 5.01006955e-02 9.98744171e-01 1.99236931e-05 4.38872002e+00] [ 8.23236823e-03 -4.32914056e-04 9.99966020e-01 2.33523704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.399254154 meters 0.056832833323027875 Centerline is valid? [True, True] Translation: X:597.49, Y:4.41, Z:2.34 [[ 9.98832015e-01 -4.75979856e-02 -8.30892298e-03 5.97490156e+02] [ 4.75997962e-02 9.98866487e-01 2.01808556e-05 4.41131478e+00] [ 8.29854414e-03 -4.15660325e-04 9.99965480e-01 2.33635728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters 0.05832067370811584 Centerline is valid? [True, True] Translation: X:597.55, Y:4.41, Z:2.33 [[ 9.98976707e-01 -4.40126565e-02 -1.04127481e-02 5.97549408e+02] [ 4.40153058e-02 9.99030857e-01 2.52815359e-05 4.40824568e+00] [ 1.04015439e-02 -4.83575956e-04 9.99945786e-01 2.33483376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.519254154 meters 0.058525682951566856 Centerline is valid? [True, True] Translation: X:597.61, Y:4.42, Z:2.33 [[ 9.99255194e-01 -3.70101322e-02 -1.09227979e-02 5.97610031e+02] [ 3.70126294e-02 9.99314798e-01 2.64934745e-05 4.41516817e+00] [ 1.09143331e-02 -4.30755214e-04 9.99940344e-01 2.33452138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters 0.05684138832032605 Centerline is valid? [True, True] Translation: X:597.67, Y:4.43, Z:2.34 [[ 9.99531280e-01 -2.91725019e-02 -9.28360130e-03 5.97671250e+02] [ 2.91739684e-02 9.99574349e-01 2.25546829e-05 4.42754496e+00] [ 9.27899175e-03 -2.93383602e-04 9.99956906e-01 2.33678593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.639254154 meters 0.05666516882101202 Centerline is valid? [True, True] Translation: X:597.73, Y:4.43, Z:2.34 [[ 9.99741223e-01 -2.06301772e-02 -9.58559143e-03 5.97731844e+02] [ 2.06313485e-02 9.99787151e-01 2.33101667e-05 4.43471101e+00] [ 9.58307025e-03 -2.21067812e-04 9.99954057e-01 2.33692114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters 0.05563419422067747 Centerline is valid? [True, True] Translation: X:597.79, Y:4.45, Z:2.34 [[ 9.99874829e-01 -1.22349537e-02 -1.00315824e-02 5.97791607e+02] [ 1.22358135e-02 9.99925139e-01 2.43387201e-05 4.44598127e+00] [ 1.00305336e-02 -1.47080244e-04 9.99949682e-01 2.33769924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.759254154 meters 0.05556389823263344 Centerline is valid? [True, True] Translation: X:597.85, Y:4.45, Z:2.34 [[ 9.99920229e-01 -8.53488266e-03 -9.31080535e-03 5.97851085e+02] [ 8.53545975e-03 9.99963572e-01 2.22449228e-05 4.44912272e+00] [ 9.31027632e-03 -1.01715153e-04 9.99956653e-01 2.33766640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters 0.05547896245090573 Centerline is valid? [True, True] Translation: X:597.91, Y:4.45, Z:2.34 [[ 9.99912856e-01 -9.41855046e-03 -9.25043498e-03 5.97909663e+02] [ 9.41915002e-03 9.99955639e-01 2.12489999e-05 4.45317180e+00] [ 9.24982449e-03 -1.08378383e-04 9.99957214e-01 2.33893077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.879254154 meters 0.05578367833569831 Centerline is valid? [True, True] Translation: X:597.97, Y:4.45, Z:2.34 [[ 9.99806236e-01 -1.53593394e-02 -1.23118171e-02 5.97970219e+02] [ 1.53608435e-02 9.99882015e-01 2.76140145e-05 4.45082915e+00] [ 1.23099403e-02 -2.16728559e-04 9.99924206e-01 2.33765581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters 0.055909646128670755 Centerline is valid? [True, True] Translation: X:598.03, Y:4.44, Z:2.34 [[ 9.99584768e-01 -2.50166827e-02 -1.42988693e-02 5.98029495e+02] [ 2.50196983e-02 9.99686958e-01 3.20218050e-05 4.43992856e+00] [ 1.42935920e-02 -3.89761903e-04 9.99897765e-01 2.33542156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.999254154 meters 0.05887904042310791 Centerline is valid? [True, True] Translation: X:598.09, Y:4.43, Z:2.34 [[ 9.99411102e-01 -3.18951447e-02 -1.26550280e-02 5.98089194e+02] [ 3.18980570e-02 9.99491127e-01 2.83008048e-05 4.42917043e+00] [ 1.26476856e-02 -4.31954943e-04 9.99919922e-01 2.33623562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters 0.056316252435783934 Centerline is valid? [True, True] Translation: X:598.15, Y:4.44, Z:2.34 [[ 9.99454230e-01 -3.13113487e-02 -1.05281340e-02 5.98151038e+02] [ 3.13133334e-02 9.99509617e-01 2.36834882e-05 4.43719736e+00] [ 1.05222296e-02 -3.53341532e-04 9.99944577e-01 2.34008902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.119254154 meters 0.05607775425136432 Centerline is valid? [True, True] Translation: X:598.21, Y:4.45, Z:2.34 [[ 9.99640851e-01 -2.46823505e-02 -1.04379703e-02 5.98212101e+02] [ 2.46839410e-02 9.99695305e-01 2.35529145e-05 4.44931278e+00] [ 1.04342085e-02 -2.81194698e-04 9.99945523e-01 2.34151664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.179254154 meters 0.055575286381416907 Centerline is valid? [True, True] Translation: X:598.27, Y:4.45, Z:2.34 [[ 9.99741700e-01 -2.02195584e-02 -1.03779898e-02 5.98273119e+02] [ 2.02208908e-02 9.99795537e-01 2.34595117e-05 4.45182955e+00] [ 1.03753935e-02 -2.33305650e-04 9.99946147e-01 2.34149633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.239254154 meters 0.05467723117926478 Centerline is valid? [True, True] Translation: X:598.33, Y:4.45, Z:2.34 [[ 9.99840898e-01 -1.53668056e-02 -9.05760913e-03 5.98334462e+02] [ 1.53676221e-02 9.99881911e-01 2.05457217e-05 4.45251510e+00] [ 9.05622380e-03 -1.59736367e-04 9.99958979e-01 2.34148757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.299254154 meters 0.05583333321746842 Centerline is valid? [True, True] Translation: X:598.39, Y:4.45, Z:2.34 [[ 9.99843388e-01 -1.41276025e-02 -1.06587949e-02 5.98393967e+02] [ 1.41286632e-02 9.99900185e-01 2.42166009e-05 4.44974038e+00] [ 1.06573888e-02 -1.74807331e-04 9.99943193e-01 2.34025485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.359254154 meters 0.05695456366298655 Centerline is valid? [True, True] Translation: X:598.45, Y:4.45, Z:2.34 [[ 9.99840971e-01 -1.20255526e-02 -1.31688400e-02 5.98453273e+02] [ 1.20269818e-02 9.99927673e-01 2.93391883e-05 4.44893293e+00] [ 1.31675348e-02 -1.87715922e-04 9.99913287e-01 2.33758158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.419254154 meters 0.056044482728508704 Centerline is valid? [True, True] Translation: X:598.51, Y:4.45, Z:2.34 [[ 9.99879840e-01 -8.42055913e-03 -1.30153668e-02 5.98512285e+02] [ 8.42163375e-03 9.99964537e-01 2.77593053e-05 4.44947915e+00] [ 1.30146715e-02 -1.37366622e-04 9.99915296e-01 2.33825401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters 0.05641605940079385 Centerline is valid? [True, True] Translation: X:598.57, Y:4.45, Z:2.34 [[ 9.99912426e-01 -4.47262784e-03 -1.24553647e-02 5.98570065e+02] [ 4.47329611e-03 9.99989994e-01 2.57937416e-05 4.45034558e+00] [ 1.24551247e-02 -8.15080173e-05 9.99922429e-01 2.33835594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.539254154 meters 0.05669496404253965 Centerline is valid? [True, True] Translation: X:598.63, Y:4.45, Z:2.34 [[ 9.99932556e-01 1.04278593e-03 -1.15670081e-02 5.98629268e+02] [-1.04258181e-03 9.99999456e-01 2.36771832e-05 4.45133500e+00] [ 1.15670265e-02 -1.16160341e-05 9.99933100e-01 2.33896160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters 0.056437715997327685 Centerline is valid? [True, True] Translation: X:598.69, Y:4.45, Z:2.34 [[ 9.99932443e-01 4.20291625e-03 -1.08372059e-02 5.98686862e+02] [-4.20293348e-03 9.99991167e-01 2.11849995e-05 4.45065789e+00] [ 1.08371992e-02 2.43644874e-05 9.99941276e-01 2.34203837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.659254154 meters 0.05681229426284253 Centerline is valid? [True, True] Translation: X:598.74, Y:4.45, Z:2.35 [[ 9.99931778e-01 3.71852851e-03 -1.10730079e-02 5.98744106e+02] [-3.71852746e-03 9.99993086e-01 2.06829589e-05 4.44800325e+00] [ 1.10730083e-02 2.04937362e-05 9.99938692e-01 2.34537799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters 0.05623215303460079 Centerline is valid? [True, True] Translation: X:598.80, Y:4.44, Z:2.34 [[ 9.99952831e-01 -8.01915469e-04 -9.67952218e-03 5.98802870e+02] [ 8.02124728e-04 9.99999678e-01 1.77364942e-05 4.44156143e+00] [ 9.67950484e-03 -2.54998417e-05 9.99953152e-01 2.34231624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.779254154 meters 0.05670191003037556 Centerline is valid? [True, True] Translation: X:598.86, Y:4.44, Z:2.34 [[ 9.99943136e-01 -5.14016790e-03 -9.34363386e-03 5.98861387e+02] [ 5.14054961e-03 9.99986787e-01 1.68367198e-05 4.43722790e+00] [ 9.34342386e-03 -6.48671758e-05 9.99956347e-01 2.34378444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters 0.057249439761463156 Centerline is valid? [True, True] Translation: X:598.92, Y:4.43, Z:2.34 [[ 9.99875376e-01 -1.18983606e-02 -1.03759865e-02 5.98920740e+02] [ 1.18991929e-02 9.99929202e-01 1.84878808e-05 4.43131401e+00] [ 1.03750319e-02 -1.41951442e-04 9.99946168e-01 2.34432120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.899254154 meters 0.056632623251093514 Centerline is valid? [True, True] Translation: X:598.98, Y:4.42, Z:2.34 [[ 9.99758752e-01 -1.88927840e-02 -1.12026967e-02 5.98980341e+02] [ 1.88941921e-02 9.99821489e-01 1.98607108e-05 4.42196248e+00] [ 1.12003216e-02 -2.31521823e-04 9.99937248e-01 2.34387728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters 0.056634621329642046 Centerline is valid? [True, True] Translation: X:599.04, Y:4.42, Z:2.35 [[ 9.99662583e-01 -2.35984143e-02 -1.08552287e-02 5.99040196e+02] [ 2.36000141e-02 9.99721481e-01 1.92878093e-05 4.42051482e+00] [ 1.08517502e-02 -2.75464852e-04 9.99941080e-01 2.34528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.019254154 meters 0.05741771393380544 Centerline is valid? [True, True] Translation: X:599.10, Y:4.41, Z:2.34 [[ 9.99628224e-01 -2.52138386e-02 -1.03766939e-02 5.99100795e+02] [ 2.52153866e-02 9.99682041e-01 1.83618583e-05 4.41151029e+00] [ 1.03729316e-02 -2.80007380e-04 9.99946160e-01 2.34394645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters 0.0574485127240317 Centerline is valid? [True, True] Translation: X:599.16, Y:4.40, Z:2.34 [[ 9.99637423e-01 -2.47117912e-02 -1.06934638e-02 5.99161189e+02] [ 2.47134078e-02 9.99694577e-01 1.90368275e-05 4.40388323e+00] [ 1.06897273e-02 -2.83301856e-04 9.99942823e-01 2.34269845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.139254154 meters 0.05648674580978951 Centerline is valid? [True, True] Translation: X:599.22, Y:4.41, Z:2.34 [[ 9.99688745e-01 -2.30146511e-02 -9.63006158e-03 5.99222053e+02] [ 2.30158848e-02 9.99735099e-01 1.72893210e-05 4.40597355e+00] [ 9.62711266e-03 -2.38928328e-04 9.99953630e-01 2.34430575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters 0.05721979883081568 Centerline is valid? [True, True] Translation: X:599.28, Y:4.41, Z:2.35 [[ 9.99737852e-01 -2.11082022e-02 -8.86967208e-03 5.99282086e+02] [ 2.11091740e-02 9.99777176e-01 1.59537669e-05 4.41059907e+00] [ 8.86735895e-03 -2.03181036e-04 9.99960664e-01 2.34791870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.259254154 meters 0.05715670999597719 Centerline is valid? [True, True] Translation: X:599.34, Y:4.41, Z:2.35 [[ 9.99756327e-01 -2.04031720e-02 -8.42596336e-03 5.99342484e+02] [ 2.04040243e-02 9.99791816e-01 1.51928960e-05 4.40624273e+00] [ 8.42389922e-03 -1.87112755e-04 9.99964501e-01 2.34752044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters 0.05769809113699634 Centerline is valid? [True, True] Translation: X:599.40, Y:4.41, Z:2.35 [[ 9.99721447e-01 -2.12416799e-02 -1.02868160e-02 5.99404159e+02] [ 2.12429962e-02 9.99774342e-01 1.86958494e-05 4.40514362e+00] [ 1.02840976e-02 -2.37213435e-04 9.99947089e-01 2.34646061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.379254154 meters 0.05750866656507228 Centerline is valid? [True, True] Translation: X:599.46, Y:4.40, Z:2.35 [[ 9.99680920e-01 -2.26860005e-02 -1.11087267e-02 5.99463386e+02] [ 2.26876247e-02 9.99742603e-01 2.02015731e-05 4.40157388e+00] [ 1.11054091e-02 -2.72225750e-04 9.99938296e-01 2.34623370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters 0.05813019034265218 Centerline is valid? [True, True] Translation: X:599.52, Y:4.40, Z:2.35 [[ 9.99618857e-01 -2.52736227e-02 -1.11078665e-02 5.99523114e+02] [ 2.52754084e-02 9.99680526e-01 2.03865481e-05 4.40342404e+00] [ 1.11038025e-02 -3.01134639e-04 9.99938306e-01 2.34866539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.499254154 meters 0.058133995483767804 Centerline is valid? [True, True] Translation: X:599.58, Y:4.40, Z:2.35 [[ 9.99553873e-01 -2.78617525e-02 -1.07600451e-02 5.99583512e+02] [ 2.78635797e-02 9.99611735e-01 1.99180975e-05 4.40463729e+00] [ 1.07553124e-02 -3.19722586e-04 9.99942109e-01 2.35057269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters 0.05834699587170023 Centerline is valid? [True, True] Translation: X:599.64, Y:4.40, Z:2.35 [[ 9.99492553e-01 -2.98179496e-02 -1.12038620e-02 5.99643909e+02] [ 2.98200545e-02 9.99555283e-01 2.08275984e-05 4.39895712e+00] [ 1.11982584e-02 -3.54916805e-04 9.99937235e-01 2.34981350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.619254154 meters 0.05787062650050941 Centerline is valid? [True, True] Translation: X:599.71, Y:4.40, Z:2.35 [[ 9.99487660e-01 -2.97735144e-02 -1.17454336e-02 5.99705574e+02] [ 2.97758272e-02 9.99556602e-01 2.20454119e-05 4.39778105e+00] [ 1.17395694e-02 -3.71764119e-04 9.99931020e-01 2.35006784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.679254154 meters 0.058173771848737996 Centerline is valid? [True, True] Translation: X:599.77, Y:4.40, Z:2.35 [[ 9.99616850e-01 -2.54749754e-02 -1.08248986e-02 5.99765749e+02] [ 2.54766889e-02 9.99675416e-01 2.04026633e-05 4.39848824e+00] [ 1.08208652e-02 -2.96177419e-04 9.99941409e-01 2.35148001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.739254154 meters 0.058947835182512016 Centerline is valid? [True, True] Translation: X:599.83, Y:4.40, Z:2.35 [[ 9.99735209e-01 -2.05017552e-02 -1.04494473e-02 5.99825613e+02] [ 2.05030798e-02 9.99789790e-01 1.96495953e-05 4.39824343e+00] [ 1.04468479e-02 -2.33890245e-04 9.99945403e-01 2.35233317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.799254154 meters 0.05833566796720944 Centerline is valid? [True, True] Translation: X:599.89, Y:4.40, Z:2.35 [[ 9.99851012e-01 -1.39261689e-02 -1.01988480e-02 5.99886434e+02] [ 1.39270889e-02 9.99903013e-01 1.91916974e-05 4.40476034e+00] [ 1.01975915e-02 -1.61229100e-04 9.99947990e-01 2.35451257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.859254154 meters 0.058580770997890004 Centerline is valid? [True, True] Translation: X:599.95, Y:4.40, Z:2.35 [[ 9.99872071e-01 -1.11092265e-02 -1.15076733e-02 5.99945058e+02] [ 1.11102023e-02 9.99938280e-01 2.08704122e-05 4.40499991e+00] [ 1.15067312e-02 -1.48720321e-04 9.99933784e-01 2.35361750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.919254154 meters 0.058912308226901786 Centerline is valid? [True, True] Translation: X:600.00, Y:4.40, Z:2.35 [[ 9.99852648e-01 -1.26217339e-02 -1.16350070e-02 6.00002930e+02] [ 1.26228251e-02 9.99920329e-01 2.03547710e-05 4.40062094e+00] [ 1.16338231e-02 -1.67218431e-04 9.99932311e-01 2.35247014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters 0.05875927630703631 Centerline is valid? [True, True] Translation: X:600.06, Y:4.40, Z:2.35 [[ 9.99785179e-01 -1.71634661e-02 -1.16194800e-02 6.00062478e+02] [ 1.71648577e-02 9.99852673e-01 2.00400676e-05 4.40209967e+00] [ 1.16174242e-02 -2.19482484e-04 9.99932491e-01 2.35426825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.039254154 meters 0.05919339906623806 Centerline is valid? [True, True] Translation: X:600.12, Y:4.39, Z:2.35 [[ 9.99655439e-01 -2.33935773e-02 -1.19056487e-02 6.00121495e+02] [ 2.33954792e-02 9.99726288e-01 2.04774121e-05 4.38921374e+00] [ 1.19019109e-02 -2.99008712e-04 9.99929125e-01 2.35193882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters 0.05981932402174461 Centerline is valid? [True, True] Translation: X:600.18, Y:4.38, Z:2.35 [[ 9.99494480e-01 -3.01822628e-02 -9.99073801e-03 6.00181696e+02] [ 3.01839408e-02 9.99544361e-01 1.71807707e-05 4.37991612e+00] [ 9.98566729e-03 -3.18731930e-04 9.99950091e-01 2.35316271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.159254154 meters 0.059538459629873884 Centerline is valid? [True, True] Translation: X:600.24, Y:4.38, Z:2.35 [[ 9.99426694e-01 -3.25357378e-02 -9.36529006e-03 6.00241974e+02] [ 3.25373159e-02 9.99470521e-01 1.61447666e-05 4.37663762e+00] [ 9.35980606e-03 -3.20856912e-04 9.99956145e-01 2.35443058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters 0.05989258358286357 Centerline is valid? [True, True] Translation: X:600.30, Y:4.37, Z:2.35 [[ 9.99448736e-01 -3.19525999e-02 -9.01417728e-03 6.00303485e+02] [ 3.19540391e-02 9.99489339e-01 1.56498708e-05 4.37440443e+00] [ 9.00907403e-03 -3.03680617e-04 9.99959371e-01 2.35346536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.279254154 meters 0.059257953478443176 Centerline is valid? [True, True] Translation: X:600.36, Y:4.38, Z:2.35 [[ 9.99550026e-01 -2.87452232e-02 -8.57079852e-03 6.00364833e+02] [ 2.87464074e-02 9.99586737e-01 1.49746616e-05 4.37562531e+00] [ 8.56682607e-03 -2.61347589e-04 9.99963270e-01 2.35378479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters 0.05851089077668565 Centerline is valid? [True, True] Translation: X:600.43, Y:4.38, Z:2.35 [[ 9.99680352e-01 -2.38073501e-02 -8.50899622e-03 6.00425276e+02] [ 2.38083391e-02 9.99716541e-01 1.49385236e-05 4.37959148e+00] [ 8.50622863e-03 -2.17518816e-04 9.99963798e-01 2.35416512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.399254154 meters 0.05945142364504328 Centerline is valid? [True, True] Translation: X:600.48, Y:4.38, Z:2.35 [[ 9.99774099e-01 -1.91168880e-02 -9.28954751e-03 6.00484668e+02] [ 1.91178644e-02 9.99817237e-01 1.63034011e-05 4.37770535e+00] [ 9.28753805e-03 -1.93896027e-04 9.99956851e-01 2.35280496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters 0.05844628625898346 Centerline is valid? [True, True] Translation: X:600.54, Y:4.38, Z:2.35 [[ 9.99875569e-01 -1.25475363e-02 -9.56067726e-03 6.00544999e+02] [ 1.25482698e-02 9.99921267e-01 1.67358678e-05 4.37965534e+00] [ 9.55971453e-03 -1.36703743e-04 9.99954296e-01 2.35168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.519254154 meters 0.05809377302016908 Centerline is valid? [True, True] Translation: X:600.60, Y:4.38, Z:2.35 [[ 9.99906293e-01 -9.42432431e-03 -9.92911029e-03 6.00603882e+02] [ 9.42495486e-03 9.99955584e-01 1.67142179e-05 4.38404075e+00] [ 9.92851176e-03 -1.10294068e-04 9.99950705e-01 2.35422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters 0.05793639886063654 Centerline is valid? [True, True] Translation: X:600.66, Y:4.38, Z:2.36 [[ 9.99905422e-01 -9.46245893e-03 -9.98044160e-03 6.00661517e+02] [ 9.46308537e-03 9.99955224e-01 1.55431167e-05 4.38243161e+00] [ 9.97984764e-03 -1.09987418e-04 9.99950194e-01 2.35507926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.639254154 meters 0.057973125294409344 Centerline is valid? [True, True] Translation: X:600.72, Y:4.38, Z:2.36 [[ 9.99823906e-01 -1.53876982e-02 -1.07413248e-02 6.00720943e+02] [ 1.53887588e-02 9.99881586e-01 1.60900738e-05 4.38084660e+00] [ 1.07398053e-02 -1.81382897e-04 9.99942310e-01 2.35644428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters 0.05847772920423904 Centerline is valid? [True, True] Translation: X:600.78, Y:4.38, Z:2.36 [[ 9.99671564e-01 -2.36518057e-02 -9.86690117e-03 6.00781507e+02] [ 2.36531031e-02 9.99720226e-01 1.48007208e-05 4.37590725e+00] [ 9.86379061e-03 -2.48178690e-04 9.99951321e-01 2.35735306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.759254154 meters 0.05952861864277385 Centerline is valid? [True, True] Translation: X:600.84, Y:4.37, Z:2.36 [[ 9.99550037e-01 -2.82484731e-02 -1.00870105e-02 6.00841470e+02] [ 2.82500628e-02 9.99600887e-01 1.51241471e-05 4.36609859e+00] [ 1.00825574e-02 -3.00076022e-04 9.99949125e-01 2.35586190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters 0.06023860329559035 Centerline is valid? [True, True] Translation: X:600.90, Y:4.36, Z:2.36 [[ 9.99420206e-01 -3.26660622e-02 -9.60102424e-03 6.00902109e+02] [ 3.26677059e-02 9.99466268e-01 1.43770055e-05 4.36356941e+00] [ 9.59543023e-03 -3.28012106e-04 9.99953909e-01 2.35666932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.879254154 meters 0.060264109639119615 Centerline is valid? [True, True] Translation: X:600.96, Y:4.36, Z:2.36 [[ 9.99337198e-01 -3.51885649e-02 -9.32357836e-03 6.00962922e+02] [ 3.51902250e-02 9.99380632e-01 1.40097902e-05 4.36456846e+00] [ 9.31731065e-03 -3.42099325e-04 9.99956534e-01 2.35738647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters 0.0592981553662031 Centerline is valid? [True, True] Translation: X:601.02, Y:4.37, Z:2.36 [[ 9.99346420e-01 -3.51618539e-02 -8.38912947e-03 6.01024403e+02] [ 3.51631981e-02 9.99381583e-01 1.27426502e-05 4.36584187e+00] [ 8.38349344e-03 -3.07722944e-04 9.99964811e-01 2.35931204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.999254154 meters 0.0597409711611192 Centerline is valid? [True, True] Translation: X:601.09, Y:4.36, Z:2.36 [[ 9.99360177e-01 -3.48238455e-02 -8.15698450e-03 6.01085348e+02] [ 3.48251067e-02 9.99393422e-01 1.25869150e-05 4.36421525e+00] [ 8.15159832e-03 -2.96646717e-04 9.99966731e-01 2.35996486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters 0.059340941587174574 Centerline is valid? [True, True] Translation: X:601.15, Y:4.37, Z:2.36 [[ 9.99370630e-01 -3.43772265e-02 -8.74928490e-03 6.01147535e+02] [ 3.43786631e-02 9.99408879e-01 1.38091138e-05 4.36942645e+00] [ 8.74363830e-03 -3.14589141e-04 9.99961724e-01 2.36046430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.119254154 meters 0.060530938564268194 Centerline is valid? [True, True] Translation: X:601.21, Y:4.36, Z:2.36 [[ 9.99304803e-01 -3.49227488e-02 -1.30503733e-02 6.01207815e+02] [ 3.49259960e-02 9.99389901e-01 2.09255592e-05 4.36351789e+00] [ 1.30416805e-02 -4.76708298e-04 9.99914840e-01 2.35675809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.179254154 meters 0.05896708868249383 Centerline is valid? [True, True] Translation: X:601.27, Y:4.37, Z:2.36 [[ 9.99214366e-01 -3.76198047e-02 -1.24659800e-02 6.01268881e+02] [ 3.76229792e-02 9.99292005e-01 2.01561825e-05 4.37172899e+00] [ 1.24563958e-02 -4.89147652e-04 9.99922296e-01 2.35875550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.239254154 meters 0.059027176919432364 Centerline is valid? [True, True] Translation: X:601.33, Y:4.37, Z:2.36 [[ 9.99103285e-01 -4.05279758e-02 -1.22519116e-02 6.01328189e+02] [ 4.05312606e-02 9.99178271e-01 1.98177471e-05 4.37066384e+00] [ 1.22410406e-02 -5.16385397e-04 9.99924942e-01 2.35931593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.299254154 meters 0.059319613684179776 Centerline is valid? [True, True] Translation: X:601.39, Y:4.38, Z:2.36 [[ 9.99058047e-01 -4.20413484e-02 -1.07491315e-02 6.01389576e+02] [ 4.20439651e-02 9.99115761e-01 1.74765235e-05 4.37829686e+00] [ 1.07388920e-02 -4.69396173e-04 9.99942226e-01 2.36165980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.359254154 meters 0.06066874359457778 Centerline is valid? [True, True] Translation: X:601.45, Y:4.37, Z:2.36 [[ 9.99170462e-01 -3.96689024e-02 -9.20680294e-03 6.01449550e+02] [ 3.96707220e-02 9.99212807e-01 1.50232883e-05 4.36855419e+00] [ 9.19895946e-03 -3.80251346e-04 9.99957616e-01 2.36068558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.419254154 meters 0.06169135178316484 Centerline is valid? [True, True] Translation: X:601.51, Y:4.37, Z:2.36 [[ 9.99455027e-01 -3.21872929e-02 -7.32303188e-03 6.01509144e+02] [ 3.21882432e-02 9.99481824e-01 1.19195958e-05 4.37024261e+00] [ 7.31885360e-03 -2.47628631e-04 9.99973186e-01 2.36236525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters 0.05944657056164801 Centerline is valid? [True, True] Translation: X:601.57, Y:4.39, Z:2.36 [[ 9.99699534e-01 -2.34652211e-02 -7.08695071e-03 6.01569299e+02] [ 2.34658921e-02 9.99724638e-01 1.15299728e-05 4.38508044e+00] [ 7.08472868e-03 -1.77828129e-04 9.99974887e-01 2.36183671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.539254154 meters 0.05893188105260176 Centerline is valid? [True, True] Translation: X:601.63, Y:4.39, Z:2.36 [[ 9.99811664e-01 -1.73724166e-02 -8.65080126e-03 6.01629562e+02] [ 1.73731891e-02 9.99849075e-01 1.41599531e-05 4.38907173e+00] [ 8.64924964e-03 -1.64449293e-04 9.99962581e-01 2.36064289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters 0.058840114288616255 Centerline is valid? [True, True] Translation: X:601.69, Y:4.39, Z:2.36 [[ 9.99840921e-01 -1.57175623e-02 -8.43153066e-03 6.01690135e+02] [ 1.57182377e-02 9.99876461e-01 1.38366383e-05 4.39198826e+00] [ 8.43027155e-03 -1.46363240e-04 9.99964454e-01 2.36080884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.659254154 meters 0.05802879427271412 Centerline is valid? [True, True] Translation: X:601.75, Y:4.40, Z:2.36 [[ 9.99866408e-01 -1.46014830e-02 -7.34592111e-03 6.01750642e+02] [ 1.46019656e-02 9.99893386e-01 1.20550891e-05 4.39503884e+00] [ 7.34496191e-03 -1.19318366e-04 9.99973018e-01 2.36146852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters 0.05888812124776299 Centerline is valid? [True, True] Translation: X:601.81, Y:4.39, Z:2.36 [[ 9.99859323e-01 -1.50653289e-02 -7.37361738e-03 6.01810512e+02] [ 1.50658275e-02 9.99886504e-01 1.20714294e-05 4.39311006e+00] [ 7.37259864e-03 -1.23159378e-04 9.99972814e-01 2.36086498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.779254154 meters 0.05834030534311906 Centerline is valid? [True, True] Translation: X:601.87, Y:4.39, Z:2.36 [[ 9.99835313e-01 -1.71652125e-02 -5.89094440e-03 6.01870585e+02] [ 1.71655670e-02 9.99852661e-01 9.61738483e-06 4.39050252e+00] [ 5.88991135e-03 -1.10737202e-04 9.99982648e-01 2.36144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters 0.05855846163483886 Centerline is valid? [True, True] Translation: X:601.93, Y:4.38, Z:2.36 [[ 9.99751625e-01 -2.18609305e-02 -4.33461536e-03 6.01930621e+02] [ 2.18611666e-02 9.99761016e-01 7.08913381e-06 4.38479881e+00] [ 4.33342448e-03 -1.01847122e-04 9.99990605e-01 2.36248315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.899254154 meters 0.05763566128394357 Centerline is valid? [True, True] Translation: X:601.99, Y:4.40, Z:2.36 [[ 9.99578645e-01 -2.88189192e-02 -3.46451578e-03 6.01991284e+02] [ 2.88191121e-02 9.99584643e-01 5.76491234e-06 4.39750313e+00] [ 3.46291063e-03 -1.05606752e-04 9.99993999e-01 2.36205537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters 0.05884066226052188 Centerline is valid? [True, True] Translation: X:602.05, Y:4.38, Z:2.36 [[ 9.99372709e-01 -3.49588991e-02 -5.66248509e-03 6.02050540e+02] [ 3.49595130e-02 9.99388729e-01 9.44599149e-06 4.38317003e+00] [ 5.65869355e-03 -2.07397787e-04 9.99983968e-01 2.36235143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.019254154 meters 0.05808283942801644 Centerline is valid? [True, True] Translation: X:602.11, Y:4.39, Z:2.36 [[ 9.99310973e-01 -3.67505615e-02 -5.19376983e-03 6.02111966e+02] [ 3.67511021e-02 9.99324450e-01 8.65873813e-06 4.39195255e+00] [ 5.18994297e-03 -1.99529538e-04 9.99986512e-01 2.36180531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters 0.0577093159763398 Centerline is valid? [True, True] Translation: X:602.17, Y:4.38, Z:2.36 [[ 9.99396200e-01 -3.43064647e-02 -5.50464001e-03 6.02172099e+02] [ 3.43070354e-02 9.99411340e-01 9.24971537e-06 4.38099651e+00] [ 5.50108232e-03 -1.98092010e-04 9.99984849e-01 2.36198830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.139254154 meters 0.05743204775220168 Centerline is valid? [True, True] Translation: X:602.23, Y:4.38, Z:2.36 [[ 9.99513371e-01 -3.06527223e-02 -5.78210566e-03 6.02233049e+02] [ 3.06532911e-02 9.99530077e-01 9.74433778e-06 4.37786775e+00] [ 5.77908983e-03 -1.86980164e-04 9.99983283e-01 2.36082501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters 0.058039864940385426 Centerline is valid? [True, True] Translation: X:602.29, Y:4.39, Z:2.36 [[ 9.99637495e-01 -2.62726218e-02 -5.88462294e-03 6.02293510e+02] [ 2.62731350e-02 9.99654802e-01 9.91403938e-06 4.38932633e+00] [ 5.88233111e-03 -1.64517938e-04 9.99982685e-01 2.36197600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.259254154 meters 0.05812263979345864 Centerline is valid? [True, True] Translation: X:602.36, Y:4.39, Z:2.36 [[ 9.99638518e-01 -2.60698506e-02 -6.57240993e-03 6.02355920e+02] [ 2.60704870e-02 9.99660107e-01 1.11563877e-05 4.39239195e+00] [ 6.56988517e-03 -1.82498282e-04 9.99978401e-01 2.36245550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters 0.05738212382233867 Centerline is valid? [True, True] Translation: X:602.42, Y:4.39, Z:2.36 [[ 9.99545730e-01 -2.92475621e-02 -7.27416231e-03 6.02415857e+02] [ 2.92484269e-02 9.99572173e-01 1.25065881e-05 4.38894370e+00] [ 7.27068444e-03 -2.25258711e-04 9.99973543e-01 2.36340388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.379254154 meters 0.058057262465858336 Centerline is valid? [True, True] Translation: X:602.48, Y:4.39, Z:2.36 [[ 9.99439641e-01 -3.28098888e-02 -6.62679538e-03 6.02476806e+02] [ 3.28106850e-02 9.99461584e-01 1.14242608e-05 4.39334444e+00] [ 6.62285258e-03 -2.28847555e-04 9.99978042e-01 2.36405093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters 0.056612707739179945 Centerline is valid? [True, True] Translation: X:602.54, Y:4.40, Z:2.36 [[ 9.99349661e-01 -3.54806124e-02 -6.43279535e-03 6.02537897e+02] [ 3.54814181e-02 9.99370336e-01 1.11338777e-05 4.39748768e+00] [ 6.42834981e-03 -2.39371338e-04 9.99979309e-01 2.36450394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.499254154 meters 0.05738813927370489 Centerline is valid? [True, True] Translation: X:602.60, Y:4.39, Z:2.36 [[ 9.99227178e-01 -3.86434317e-02 -7.19245254e-03 6.02597836e+02] [ 3.86445211e-02 9.99253021e-01 1.24964090e-05 4.38915255e+00] [ 7.18659702e-03 -2.90435635e-04 9.99974134e-01 2.36454115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters 0.05895478760190895 Centerline is valid? [True, True] Translation: X:602.66, Y:4.39, Z:2.37 [[ 9.99273644e-01 -3.74630816e-02 -6.97873332e-03 6.02658153e+02] [ 3.74640785e-02 9.99297975e-01 1.21226945e-05 4.38964587e+00] [ 6.97337992e-03 -2.73565702e-04 9.99975648e-01 2.36561375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.619254154 meters 0.05671372443318928 Centerline is valid? [True, True] Translation: X:602.72, Y:4.41, Z:2.37 [[ 9.99443099e-01 -3.27993632e-02 -6.13952704e-03 6.02718771e+02] [ 3.28000470e-02 9.99461934e-01 1.06991732e-05 4.41212926e+00] [ 6.13587264e-03 -2.12069991e-04 9.99981153e-01 2.36739346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.679254154 meters 0.058258303519826415 Centerline is valid? [True, True] Translation: X:602.78, Y:4.40, Z:2.37 [[ 9.99633657e-01 -2.62695974e-02 -6.51609644e-03 6.02778344e+02] [ 2.62702293e-02 9.99654878e-01 1.13917788e-05 4.40360593e+00] [ 6.51354833e-03 -1.82566953e-04 9.99978770e-01 2.36742547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.739254154 meters 0.057757621541212424 Centerline is valid? [True, True] Translation: X:602.84, Y:4.41, Z:2.37 [[ 9.99713024e-01 -2.30411836e-02 -6.55542307e-03 6.02838827e+02] [ 2.30417540e-02 9.99734503e-01 1.14913554e-05 4.41035943e+00] [ 6.55341785e-03 -1.62536504e-04 9.99978513e-01 2.36810806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.799254154 meters 0.056835946639491125 Centerline is valid? [True, True] Translation: X:602.90, Y:4.42, Z:2.37 [[ 9.99751871e-01 -2.10550910e-02 -7.27179044e-03 6.02900030e+02] [ 2.10557409e-02 9.99778303e-01 1.28293452e-05 4.41735240e+00] [ 7.26990818e-03 -1.65939098e-04 9.99973560e-01 2.36789311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.859254154 meters 0.056941049809950454 Centerline is valid? [True, True] Translation: X:602.96, Y:4.42, Z:2.37 [[ 9.99737226e-01 -2.17813103e-02 -7.14513049e-03 6.02961651e+02] [ 2.17819578e-02 9.99762745e-01 1.28023706e-05 4.41668649e+00] [ 7.14315642e-03 -1.68433937e-04 9.99974473e-01 2.36789313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.919254154 meters 0.05678149010642375 Centerline is valid? [True, True] Translation: X:603.02, Y:4.42, Z:2.37 [[ 9.99726292e-01 -2.22984622e-02 -7.07959581e-03 6.03024261e+02] [ 2.22991123e-02 9.99751344e-01 1.29073387e-05 4.41814900e+00] [ 7.07754761e-03 -1.70772508e-04 9.99974939e-01 2.36873813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters 0.058114861313798435 Centerline is valid? [True, True] Translation: X:603.09, Y:4.42, Z:2.37 [[ 9.99664443e-01 -2.47804911e-02 -7.54512509e-03 6.03085002e+02] [ 2.47813015e-02 9.99692896e-01 1.39177913e-05 4.41925377e+00] [ 7.54246306e-03 -2.00891140e-04 9.99971535e-01 2.36955741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.039254154 meters 0.05758728299947254 Centerline is valid? [True, True] Translation: X:603.14, Y:4.42, Z:2.37 [[ 9.99572241e-01 -2.85601328e-02 -6.29716837e-03 6.03144230e+02] [ 2.85607723e-02 9.99592058e-01 1.16296694e-05 4.41693324e+00] [ 6.29426735e-03 -1.91476687e-04 9.99980173e-01 2.36936843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters 0.05924241300607865 Centerline is valid? [True, True] Translation: X:603.20, Y:4.41, Z:2.37 [[ 9.99505853e-01 -3.08094691e-02 -6.23116597e-03 6.03203836e+02] [ 3.08101389e-02 9.99525255e-01 1.15054445e-05 4.40883135e+00] [ 6.22785328e-03 -2.03482848e-04 9.99980586e-01 2.36923569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.159254154 meters 0.058160651113527556 Centerline is valid? [True, True] Translation: X:603.27, Y:4.41, Z:2.37 [[ 9.99469569e-01 -3.19250111e-02 -6.43231165e-03 6.03265947e+02] [ 3.19257487e-02 9.99490243e-01 1.19868053e-05 4.41302972e+00] [ 6.42865006e-03 -2.17336812e-04 9.99979312e-01 2.36947098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters 0.05677698196544967 Centerline is valid? [True, True] Translation: X:603.33, Y:4.42, Z:2.37 [[ 9.99574517e-01 -2.85617801e-02 -5.91682297e-03 6.03326749e+02] [ 2.85623461e-02 9.99592013e-01 1.11568625e-05 4.42056253e+00] [ 5.91409032e-03 -1.80150461e-04 9.99982495e-01 2.37063721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.279254154 meters 0.057253003602200085 Centerline is valid? [True, True] Translation: X:603.39, Y:4.42, Z:2.37 [[ 9.99689016e-01 -2.42703796e-02 -5.72895316e-03 6.03387628e+02] [ 2.42708401e-02 9.99705420e-01 1.08533023e-05 4.41905494e+00] [ 5.72700211e-03 -1.49896433e-04 9.99983589e-01 2.37034057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters 0.05743390675601382 Centerline is valid? [True, True] Translation: X:603.45, Y:4.42, Z:2.37 [[ 9.99870589e-01 -1.51467817e-02 -5.42029563e-03 6.03447243e+02] [ 1.51470600e-02 9.99885277e-01 1.02945748e-05 4.42180769e+00] [ 5.41951786e-03 -9.23947854e-05 9.99985310e-01 2.37217909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.399254154 meters 0.05754751830095999 Centerline is valid? [True, True] Translation: X:603.51, Y:4.43, Z:2.37 [[ 9.99965249e-01 -6.13707206e-03 -5.64246583e-03 6.03506696e+02] [ 6.13722997e-03 9.99981167e-01 1.06715347e-05 4.42798044e+00] [ 5.64229408e-03 -4.53002742e-05 9.99984081e-01 2.37155193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters 0.0581029665540122 Centerline is valid? [True, True] Translation: X:603.57, Y:4.43, Z:2.37 [[ 9.99982714e-01 -1.31504589e-03 -5.73074429e-03 6.03566019e+02] [ 1.31512940e-03 9.99999135e-01 1.08042070e-05 4.43286649e+00] [ 5.73072512e-03 -1.83406905e-05 9.99983579e-01 2.37044746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.519254154 meters 0.057410077321638546 Centerline is valid? [True, True] Translation: X:603.62, Y:4.43, Z:2.37 [[ 9.99974655e-01 -1.64565598e-03 -6.92689807e-03 6.03624862e+02] [ 1.64578495e-03 9.99998646e-01 1.29184087e-05 4.43223920e+00] [ 6.92686743e-03 -2.43182658e-05 9.99976009e-01 2.37115802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters 0.057809757380781354 Centerline is valid? [True, True] Translation: X:603.68, Y:4.43, Z:2.37 [[ 9.99965483e-01 -4.51025674e-03 -6.97781002e-03 6.03682128e+02] [ 4.51045576e-03 9.99989828e-01 1.27851474e-05 4.42929264e+00] [ 6.97768137e-03 -4.42578095e-05 9.99975655e-01 2.37231244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.639254154 meters 0.05777624650156553 Centerline is valid? [True, True] Translation: X:603.74, Y:4.43, Z:2.37 [[ 9.99951495e-01 -7.48617601e-03 -6.40035340e-03 6.03740778e+02] [ 7.48640328e-03 9.99971976e-01 1.15520596e-05 4.42510821e+00] [ 6.40008755e-03 -5.94671259e-05 9.99979517e-01 2.37275807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters 0.05810425232203009 Centerline is valid? [True, True] Translation: X:603.80, Y:4.42, Z:2.37 [[ 9.99911689e-01 -1.19299925e-02 -5.85573504e-03 6.03800024e+02] [ 1.19302583e-02 9.99928832e-01 1.04598791e-05 4.41538683e+00] [ 5.85519351e-03 -8.03193868e-05 9.99982855e-01 2.37270982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.759254154 meters 0.05790869850068984 Centerline is valid? [True, True] Translation: X:603.86, Y:4.41, Z:2.37 [[ 9.99882982e-01 -1.45999555e-02 -4.56771392e-03 6.03860580e+02] [ 1.46001450e-02 9.99893412e-01 8.13786022e-06 4.40798706e+00] [ 4.56710824e-03 -7.48261935e-05 9.99989568e-01 2.37285965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters 0.05906804115433861 Centerline is valid? [True, True] Translation: X:603.92, Y:4.40, Z:2.37 [[ 9.99837592e-01 -1.70837422e-02 -5.73893896e-03 6.03921660e+02] [ 1.70840835e-02 9.99854056e-01 1.04561694e-05 4.39943792e+00] [ 5.73792276e-03 -1.08498984e-04 9.99983532e-01 2.37266313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.879254154 meters 0.05825680627339758 Centerline is valid? [True, True] Translation: X:603.98, Y:4.39, Z:2.37 [[ 9.99769824e-01 -2.04792095e-02 -6.39544900e-03 6.03982748e+02] [ 2.04797059e-02 9.99790269e-01 1.21404921e-05 4.39321011e+00] [ 6.39385904e-03 -1.43114612e-04 9.99979549e-01 2.37238097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters 0.05870059922749998 Centerline is valid? [True, True] Translation: X:604.04, Y:4.39, Z:2.37 [[ 9.99750490e-01 -2.16095531e-02 -5.65558156e-03 6.04044207e+02] [ 2.16099601e-02 9.99766478e-01 1.08462011e-05 4.38669725e+00] [ 5.65402647e-03 -1.33060386e-04 9.99984007e-01 2.37247429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.999254154 meters 0.059165108365387034 Centerline is valid? [True, True] Translation: X:604.10, Y:4.38, Z:2.37 [[ 9.99767269e-01 -2.09165715e-02 -5.28250848e-03 6.04104997e+02] [ 2.09169180e-02 9.99781217e-01 1.03370328e-05 4.37905063e+00] [ 5.28113655e-03 -1.20828424e-04 9.99986047e-01 2.37298389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters 0.05843849047808492 Centerline is valid? [True, True] Translation: X:604.17, Y:4.38, Z:2.37 [[ 9.99802412e-01 -1.90325190e-02 -5.73580851e-03 6.04166262e+02] [ 1.90328973e-02 9.99818858e-01 1.13664403e-05 4.37715030e+00] [ 5.73455319e-03 -1.20533249e-04 9.99983550e-01 2.37210892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.119254154 meters 0.05883732333374132 Centerline is valid? [True, True] Translation: X:604.23, Y:4.38, Z:2.37 [[ 9.99811587e-01 -1.80766125e-02 -7.07300455e-03 6.04228083e+02] [ 1.80771651e-02 9.99836595e-01 1.42058288e-05 4.37743971e+00] [ 7.07159199e-03 -1.42063023e-04 9.99974986e-01 2.37201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.179254154 meters 0.05909629974123391 Centerline is valid? [True, True] Translation: X:604.29, Y:4.37, Z:2.37 [[ 9.99761864e-01 -2.07629283e-02 -6.71687133e-03 6.04288843e+02] [ 2.07634880e-02 9.99784415e-01 1.36025047e-05 4.36748630e+00] [ 6.71514085e-03 -1.53064943e-04 9.99977441e-01 2.37245100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.239254154 meters 0.05965490932550007 Centerline is valid? [True, True] Translation: X:604.35, Y:4.36, Z:2.37 [[ 9.99672906e-01 -2.46492878e-02 -6.81857620e-03 6.04349903e+02] [ 2.46499554e-02 9.99696144e-01 1.38649010e-05 4.36223633e+00] [ 6.81616257e-03 -1.81937965e-04 9.99976753e-01 2.37229410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.299254154 meters 0.05987579896442348 Centerline is valid? [True, True] Translation: X:604.41, Y:4.36, Z:2.37 [[ 9.99623277e-01 -2.66174004e-02 -6.69469025e-03 6.04409717e+02] [ 2.66180882e-02 9.99645676e-01 1.36450188e-05 4.36101117e+00] [ 6.69195497e-03 -1.91839734e-04 9.99977590e-01 2.37266975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.359254154 meters 0.060134869834498145 Centerline is valid? [True, True] Translation: X:604.47, Y:4.36, Z:2.37 [[ 9.99542718e-01 -2.96136083e-02 -6.11465619e-03 6.04470851e+02] [ 2.96142383e-02 9.99561402e-01 1.24971642e-05 4.35738340e+00] [ 6.11160423e-03 -1.93572335e-04 9.99981305e-01 2.37243977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.419254154 meters 0.0591429325869906 Centerline is valid? [True, True] Translation: X:604.53, Y:4.35, Z:2.37 [[ 9.99415465e-01 -3.36014305e-02 -6.29860402e-03 6.04529895e+02] [ 3.36021789e-02 9.99435287e-01 1.29970748e-05 4.34994416e+00] [ 6.29461040e-03 -2.24636297e-04 9.99980163e-01 2.37216728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters 0.058297866415858886 Centerline is valid? [True, True] Translation: X:604.59, Y:4.36, Z:2.37 [[ 9.99206718e-01 -3.93513738e-02 -6.11586207e-03 6.04590062e+02] [ 3.93521874e-02 9.99225403e-01 1.27123967e-05 4.35974836e+00] [ 6.11062448e-03 -2.53374862e-04 9.99981298e-01 2.37246670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.539254154 meters 0.05808730480707737 Centerline is valid? [True, True] Translation: X:604.65, Y:4.36, Z:2.37 [[ 9.99069205e-01 -4.26995976e-02 -6.12109091e-03 6.04650598e+02] [ 4.27004753e-02 9.99087919e-01 1.27180468e-05 4.35821264e+00] [ 6.11496492e-03 -2.74079700e-04 9.99981266e-01 2.37224301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters 0.06170825091913817 Centerline is valid? [True, True] Translation: X:604.71, Y:4.34, Z:2.37 [[ 9.98902507e-01 -4.65329533e-02 -5.33527316e-03 6.04710209e+02] [ 4.65336750e-02 9.98916722e-01 1.11450624e-05 4.33945906e+00] [ 5.32897496e-03 -2.59402698e-04 9.99985767e-01 2.37196432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.659254154 meters 0.061748917831923156 Centerline is valid? [True, True] Translation: X:604.77, Y:4.35, Z:2.37 [[ 9.98913789e-01 -4.62365651e-02 -5.78126446e-03 6.04772798e+02] [ 4.62374089e-02 9.98930479e-01 1.23026613e-05 4.34599863e+00] [ 5.77451244e-03 -2.79599987e-04 9.99983288e-01 2.37287217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters 0.06143093935447717 Centerline is valid? [True, True] Translation: X:604.83, Y:4.35, Z:2.37 [[ 9.99047373e-01 -4.30351848e-02 -7.23317694e-03 6.04832895e+02] [ 4.30364230e-02 9.99073504e-01 1.55465579e-05 4.34975047e+00] [ 7.22580638e-03 -3.26821810e-04 9.99973840e-01 2.37236526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.779254154 meters 0.05791847132173136 Centerline is valid? [True, True] Translation: X:604.89, Y:4.36, Z:2.37 [[ 9.99095413e-01 -4.19756663e-02 -6.81174949e-03 6.04894606e+02] [ 4.19767403e-02 9.99118588e-01 1.47138809e-05 4.36363536e+00] [ 6.80512791e-03 -3.00635610e-04 9.99976800e-01 2.37320694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters 0.06028973041414155 Centerline is valid? [True, True] Translation: X:604.95, Y:4.36, Z:2.37 [[ 9.99195110e-01 -3.95622397e-02 -6.63026761e-03 6.04954872e+02] [ 3.95632049e-02 9.99217070e-01 1.44207993e-05 4.35553102e+00] [ 6.62450605e-03 -2.76723828e-04 9.99978019e-01 2.37349300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.899254154 meters 0.05963009283060048 Centerline is valid? [True, True] Translation: X:605.02, Y:4.36, Z:2.38 [[ 9.99338234e-01 -3.59982817e-02 -5.21714420e-03 6.05015565e+02] [ 3.59988308e-02 9.99351832e-01 1.13584292e-05 4.36361256e+00] [ 5.21335373e-03 -1.99162004e-04 9.99986391e-01 2.37508091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters 0.058185033613624655 Centerline is valid? [True, True] Translation: X:605.08, Y:4.37, Z:2.37 [[ 9.99417685e-01 -3.35332298e-02 -6.30983649e-03 6.05076508e+02] [ 3.35339844e-02 9.99437578e-01 1.38023247e-05 4.36874279e+00] [ 6.30582486e-03 -2.25388246e-04 9.99980093e-01 2.37457821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.019254154 meters 0.05925142600545072 Centerline is valid? [True, True] Translation: X:605.14, Y:4.37, Z:2.37 [[ 9.99410704e-01 -3.31795721e-02 -8.79552323e-03 6.05137201e+02] [ 3.31810263e-02 9.99449358e-01 1.94167213e-05 4.36769637e+00] [ 8.79003581e-03 -3.11249767e-04 9.99961318e-01 2.37328085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters 0.05937359072740941 Centerline is valid? [True, True] Translation: X:605.20, Y:4.37, Z:2.38 [[ 9.99416639e-01 -3.31210721e-02 -8.32929784e-03 6.05199106e+02] [ 3.31223764e-02 9.99451303e-01 1.86629676e-05 4.37222575e+00] [ 8.32410945e-03 -2.94538219e-04 9.99965311e-01 2.37538373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.139254154 meters 0.05977426371060982 Centerline is valid? [True, True] Translation: X:605.26, Y:4.37, Z:2.38 [[ 9.99653446e-01 -2.56575397e-02 -5.88887298e-03 6.05258935e+02] [ 2.56580630e-02 9.99670778e-01 1.33149999e-05 4.37372278e+00] [ 5.88659260e-03 -1.64407459e-04 9.99982660e-01 2.37715058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters 0.059362886771119 Centerline is valid? [True, True] Translation: X:605.32, Y:4.38, Z:2.38 [[ 9.99818990e-01 -1.82253794e-02 -5.46103854e-03 6.05319726e+02] [ 1.82257187e-02 9.99833898e-01 1.23632734e-05 4.38183761e+00] [ 5.45990613e-03 -1.11892388e-04 9.99985088e-01 2.37763933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.259254154 meters 0.05828646385753043 Centerline is valid? [True, True] Translation: X:605.38, Y:4.39, Z:2.38 [[ 9.99956921e-01 -6.95260489e-03 -6.14965027e-03 6.05380819e+02] [ 6.95282202e-03 9.99975829e-01 1.39279551e-05 4.39390497e+00] [ 6.14940479e-03 -5.66847788e-05 9.99981091e-01 2.37674131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters 0.05834230092695818 Centerline is valid? [True, True] Translation: X:605.44, Y:4.40, Z:2.38 [[ 9.99985958e-01 -1.20318990e-03 -5.16106622e-03 6.05440655e+02] [ 1.20326607e-03 9.99999276e-01 1.16535327e-05 4.39826507e+00] [ 5.16104846e-03 -1.78635049e-05 9.99986682e-01 2.37686260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.379254154 meters 0.05911469808436165 Centerline is valid? [True, True] Translation: X:605.50, Y:4.40, Z:2.38 [[ 9.99979417e-01 -7.31780495e-04 -6.37417542e-03 6.05498816e+02] [ 7.31885960e-04 9.99999732e-01 1.42129834e-05 4.39758190e+00] [ 6.37416331e-03 -1.88778604e-05 9.99979685e-01 2.37717183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters 0.058284305449606666 Centerline is valid? [True, True] Translation: X:605.56, Y:4.40, Z:2.38 [[ 9.99966664e-01 -5.97072271e-03 -5.56961037e-03 6.05557992e+02] [ 5.97088355e-03 9.99982174e-01 1.22503514e-05 4.39823241e+00] [ 5.56943795e-03 -4.55054380e-05 9.99984490e-01 2.37743035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.499254154 meters 0.058476396373820565 Centerline is valid? [True, True] Translation: X:605.62, Y:4.39, Z:2.38 [[ 9.99886002e-01 -1.29310231e-02 -7.79564694e-03 6.05617118e+02] [ 1.29315487e-02 9.99916384e-01 1.70217967e-05 4.39256774e+00] [ 7.79477499e-03 -1.17829644e-04 9.99969613e-01 2.37542296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters 0.058265204993889895 Centerline is valid? [True, True] Translation: X:605.68, Y:4.39, Z:2.38 [[ 9.99781316e-01 -1.95401708e-02 -7.45003123e-03 6.05677145e+02] [ 1.95408340e-02 9.99809060e-01 1.62299749e-05 4.39058827e+00] [ 7.44829158e-03 -1.61806249e-04 9.99972248e-01 2.37594568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.619254154 meters 0.058242657612152415 Centerline is valid? [True, True] Translation: X:605.74, Y:4.39, Z:2.38 [[ 9.99666668e-01 -2.48830264e-02 -6.88389251e-03 6.05736412e+02] [ 2.48837194e-02 9.99690352e-01 1.50171786e-05 4.38773457e+00] [ 6.88138725e-03 -1.86309022e-04 9.99976306e-01 2.37738795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.679254154 meters 0.05905104592998321 Centerline is valid? [True, True] Translation: X:605.80, Y:4.38, Z:2.38 [[ 9.99562191e-01 -2.87517266e-02 -6.98315599e-03 6.05796495e+02] [ 2.87525343e-02 9.99586560e-01 1.52767619e-05 4.38426077e+00] [ 6.97982964e-03 -2.16053506e-04 9.99975617e-01 2.37770179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.739254154 meters 0.05902699324742155 Centerline is valid? [True, True] Translation: X:605.86, Y:4.38, Z:2.38 [[ 9.99310885e-01 -3.67397619e-02 -5.28624784e-03 6.05856039e+02] [ 3.67403364e-02 9.99324846e-01 1.15755781e-05 4.38238684e+00] [ 5.28225353e-03 -2.05786126e-04 9.99986028e-01 2.37874777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.799254154 meters 0.059542348977624886 Centerline is valid? [True, True] Translation: X:605.92, Y:4.38, Z:2.38 [[ 9.99162646e-01 -4.06737238e-02 -4.43348369e-03 6.05916670e+02] [ 4.06741666e-02 9.99172464e-01 9.72380780e-06 4.38435487e+00] [ 4.42941932e-03 -1.90043920e-04 9.99990172e-01 2.37923058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.859254154 meters 0.057984957771966605 Centerline is valid? [True, True] Translation: X:605.98, Y:4.39, Z:2.38 [[ 9.98864190e-01 -4.71792163e-02 -6.66722684e-03 6.05977091e+02] [ 4.71803629e-02 9.98886387e-01 1.47238005e-05 4.39264060e+00] [ 6.65910747e-03 -3.29269259e-04 9.99977774e-01 2.37807119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.919254154 meters 0.05784157919447374 Centerline is valid? [True, True] Translation: X:606.04, Y:4.40, Z:2.38 [[ 9.98661874e-01 -5.13092601e-02 -6.46701092e-03 6.06038528e+02] [ 5.13104259e-02 9.98682752e-01 1.43848117e-05 4.39753570e+00] [ 6.45775419e-03 -3.46190648e-04 9.99979089e-01 2.37859471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters 0.05716290052197473 Centerline is valid? [True, True] Translation: X:606.10, Y:4.40, Z:2.38 [[ 9.98541604e-01 -5.36314191e-02 -6.19153832e-03 6.06099622e+02] [ 5.36325330e-02 9.98560740e-01 1.38904424e-05 4.40409882e+00] [ 6.18188212e-03 -3.45938068e-04 9.99980832e-01 2.37946676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.039254154 meters 0.057263695342481845 Centerline is valid? [True, True] Translation: X:606.16, Y:4.41, Z:2.38 [[ 9.98615277e-01 -5.21886117e-02 -6.62402082e-03 6.06159194e+02] [ 5.21898552e-02 9.98637181e-01 1.48849882e-05 4.40826115e+00] [ 6.61421665e-03 -3.60571064e-04 9.99978061e-01 2.38074159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters 0.058471868643082 Centerline is valid? [True, True] Translation: X:606.22, Y:4.40, Z:2.38 [[ 9.98976935e-01 -4.48800647e-02 -5.55547502e-03 6.06218798e+02] [ 4.48808265e-02 9.98992348e-01 1.24636957e-05 4.40302897e+00] [ 5.54931766e-03 -2.61785255e-04 9.99984568e-01 2.38087419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.159254154 meters 0.057551907186881565 Centerline is valid? [True, True] Translation: X:606.28, Y:4.41, Z:2.38 [[ 9.99410951e-01 -3.38617326e-02 -5.57980193e-03 6.06279652e+02] [ 3.38623298e-02 9.99426507e-01 1.25478277e-05 4.41389239e+00] [ 5.57617706e-03 -2.01485529e-04 9.99984433e-01 2.38141892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters 0.057436040285654126 Centerline is valid? [True, True] Translation: X:606.34, Y:4.42, Z:2.38 [[ 9.99645028e-01 -2.59203465e-02 -6.16060768e-03 6.06339863e+02] [ 2.59209238e-02 9.99663996e-01 1.38820122e-05 4.42212072e+00] [ 6.15817787e-03 -1.73565727e-04 9.99981023e-01 2.38212137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.279254154 meters 0.05765101022323638 Centerline is valid? [True, True] Translation: X:606.40, Y:4.43, Z:2.38 [[ 9.99875530e-01 -1.46172739e-02 -5.93802429e-03 6.06399866e+02] [ 1.46176111e-02 9.99893157e-01 1.33965578e-05 4.42981142e+00] [ 5.93719403e-03 -1.00194620e-04 9.99982370e-01 2.38304600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters 0.05849867118403944 Centerline is valid? [True, True] Translation: X:606.46, Y:4.43, Z:2.38 [[ 9.99958944e-01 -6.30386450e-03 -6.50928888e-03 6.06459891e+02] [ 6.30409386e-03 9.99980129e-01 1.47186475e-05 4.43445128e+00] [ 6.50906674e-03 -5.57532113e-05 9.99978814e-01 2.38149485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.399254154 meters 0.05853269016696292 Centerline is valid? [True, True] Translation: X:606.52, Y:4.45, Z:2.38 [[ 9.99973591e-01 -1.43793311e-03 -7.12384952e-03 6.06518813e+02] [ 1.43808412e-03 9.99998966e-01 1.60757377e-05 4.44634893e+00] [ 7.12381904e-03 -2.63200080e-05 9.99974625e-01 2.38325161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters 0.057952572029656264 Centerline is valid? [True, True] Translation: X:606.58, Y:4.45, Z:2.38 [[ 9.99981007e-01 -1.97204324e-06 -6.16320103e-03 6.06577167e+02] [ 2.05580460e-06 1.00000000e+00 1.35841024e-05 4.44887119e+00] [ 6.16320100e-03 -1.35965148e-05 9.99981007e-01 2.38323805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.519254154 meters 0.05742397739092809 Centerline is valid? [True, True] Translation: X:606.64, Y:4.45, Z:2.38 [[ 9.99975393e-01 -8.03997345e-04 -6.96904292e-03 6.06635162e+02] [ 8.04119633e-04 9.99999677e-01 1.47452714e-05 4.44833551e+00] [ 6.96902881e-03 -2.03488528e-05 9.99975716e-01 2.38186370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters 0.05830988841289788 Centerline is valid? [True, True] Translation: X:606.69, Y:4.45, Z:2.39 [[ 9.99972926e-01 -5.90098417e-03 -4.39616398e-03 6.06693941e+02] [ 5.90108157e-03 9.99982588e-01 9.18546022e-06 4.44856465e+00] [ 4.39603324e-03 -3.51273338e-05 9.99990337e-01 2.38517253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.639254154 meters 0.05772907283625804 Centerline is valid? [True, True] Translation: X:606.75, Y:4.44, Z:2.39 [[ 9.99914416e-01 -1.27135162e-02 -3.08661249e-03 6.06753537e+02] [ 1.27135965e-02 9.99919179e-01 6.38645391e-06 4.44083661e+00] [ 3.08628183e-03 -4.56278531e-05 9.99995236e-01 2.38596748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters 0.05748722969856382 Centerline is valid? [True, True] Translation: X:606.82, Y:4.44, Z:2.39 [[ 9.99876480e-01 -1.53677432e-02 -3.29501096e-03 6.06815837e+02] [ 1.53678489e-02 9.99881908e-01 6.76086302e-06 4.43902620e+00] [ 3.29451794e-03 -5.73972585e-05 9.99994571e-01 2.38607714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.759254154 meters 0.057739473035850766 Centerline is valid? [True, True] Translation: X:606.88, Y:4.43, Z:2.39 [[ 9.99738971e-01 -2.25245794e-02 -3.82540348e-03 6.06876530e+02] [ 2.25247749e-02 9.99746285e-01 7.99916219e-06 4.43243370e+00] [ 3.82425274e-03 -9.41634263e-05 9.99992683e-01 2.38581091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters 0.05822966753287236 Centerline is valid? [True, True] Translation: X:606.94, Y:4.43, Z:2.39 [[ 9.99679017e-01 -2.49149320e-02 -4.59440327e-03 6.06937470e+02] [ 2.49152391e-02 9.99689567e-01 9.61947094e-06 4.42823345e+00] [ 4.59273735e-03 -1.24087039e-04 9.99989446e-01 2.38557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.879254154 meters 0.057658516581815415 Centerline is valid? [True, True] Translation: X:607.00, Y:4.43, Z:2.38 [[ 9.99706668e-01 -2.30332828e-02 -7.48642633e-03 6.06998558e+02] [ 2.30340466e-02 9.99734681e-01 1.58147552e-05 4.42595996e+00] [ 7.48407578e-03 -1.88252810e-04 9.99971976e-01 2.38369990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters 0.05733649402200982 Centerline is valid? [True, True] Translation: X:607.06, Y:4.43, Z:2.38 [[ 9.99834645e-01 -1.66031949e-02 -7.41727684e-03 6.07059432e+02] [ 1.66037685e-02 9.99862148e-01 1.57664587e-05 4.42799767e+00] [ 7.41599258e-03 -1.38918600e-04 9.99972491e-01 2.38428778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.999254154 meters 0.057114384212108155 Centerline is valid? [True, True] Translation: X:607.12, Y:4.43, Z:2.38 [[ 9.99955801e-01 -6.16329505e-03 -7.09995495e-03 6.07119865e+02] [ 6.16355771e-03 9.99981005e-01 1.51150045e-05 4.43281431e+00] [ 7.09972693e-03 -5.88753185e-05 9.99974795e-01 2.38490204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters 0.05842561614464856 Centerline is valid? [True, True] Translation: X:607.18, Y:4.44, Z:2.39 [[ 9.99978902e-01 -1.42480933e-04 -6.49431959e-03 6.07179074e+02] [ 1.42573611e-04 9.99999990e-01 1.38075998e-05 4.43529038e+00] [ 6.49431756e-03 -1.47332270e-05 9.99978912e-01 2.38506116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.119254154 meters 0.05845951195937263 Centerline is valid? [True, True] Translation: X:607.24, Y:4.44, Z:2.39 [[ 9.99959119e-01 7.58821214e-03 -4.91721958e-03 6.07237908e+02] [-7.58825331e-03 9.99971209e-01 1.02840183e-05 4.43769982e+00] [ 4.91715605e-03 2.70295099e-05 9.99987910e-01 2.38715029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.179254154 meters 0.057520710624964194 Centerline is valid? [True, True] Translation: X:607.30, Y:4.43, Z:2.39 [[ 9.99909584e-01 1.16915614e-02 -6.64314131e-03 6.07295786e+02] [-1.16917322e-02 9.99931649e-01 1.31205085e-05 4.43467158e+00] [ 6.64284064e-03 6.45505071e-05 9.99977934e-01 2.38752530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.239254154 meters 0.05843489299151328 Centerline is valid? [True, True] Translation: X:607.35, Y:4.43, Z:2.39 [[ 9.99919123e-01 9.61548616e-03 -8.32405058e-03 6.07354344e+02] [-9.61568516e-03 9.99953768e-01 1.61147064e-05 4.42997720e+00] [ 8.32382069e-03 6.39280466e-05 9.99965354e-01 2.38511161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.299254154 meters 0.057277367640073164 Centerline is valid? [True, True] Translation: X:607.41, Y:4.42, Z:2.39 [[ 9.99948255e-01 5.36624087e-03 -8.64243598e-03 6.07413118e+02] [-5.36629860e-03 9.99985601e-01 1.65093670e-05 4.42296644e+00] [ 8.64240013e-03 2.98693794e-05 9.99962653e-01 2.38590039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.359254154 meters 0.057541199772393026 Centerline is valid? [True, True] Translation: X:607.47, Y:4.42, Z:2.39 [[ 9.99950923e-01 1.94781932e-03 -9.71375979e-03 6.07472000e+02] [-1.94773397e-03 9.99998103e-01 1.82471160e-05 4.41870923e+00] [ 9.71377691e-03 6.73599422e-07 9.99952820e-01 2.38786697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.419254154 meters 0.05908682293041868 Centerline is valid? [True, True] Translation: X:607.53, Y:4.41, Z:2.39 [[ 9.99951665e-01 -1.96387335e-03 -9.63386559e-03 6.07531255e+02] [ 1.96413577e-03 9.99998071e-01 1.77782211e-05 4.41416011e+00] [ 9.63381209e-03 -3.66995818e-05 9.99953593e-01 2.38991079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters 0.05912872236299022 Centerline is valid? [True, True] Translation: X:607.59, Y:4.41, Z:2.39 [[ 9.99950684e-01 -5.11134989e-03 -8.51495803e-03 6.07590060e+02] [ 5.11166706e-03 9.99986935e-01 1.54859859e-05 4.41113694e+00] [ 8.51476763e-03 -5.90108527e-05 9.99963747e-01 2.38982853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.539254154 meters 0.05835995250421183 Centerline is valid? [True, True] Translation: X:607.65, Y:4.41, Z:2.39 [[ 9.99865888e-01 -1.41394343e-02 -8.26327953e-03 6.07648857e+02] [ 1.41400405e-02 9.99900025e-01 1.49350284e-05 4.40815344e+00] [ 8.26224223e-03 -1.31776132e-04 9.99965858e-01 2.39100797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters 0.05846405186737475 Centerline is valid? [True, True] Translation: X:607.71, Y:4.41, Z:2.39 [[ 9.99751140e-01 -1.97577769e-02 -1.03580197e-02 6.07709736e+02] [ 1.97590308e-02 9.99804771e-01 1.87322116e-05 4.40698143e+00] [ 1.03556274e-02 -2.23391980e-04 9.99946354e-01 2.39035591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.659254154 meters 0.0587835359112969 Centerline is valid? [True, True] Translation: X:607.77, Y:4.40, Z:2.39 [[ 9.99465608e-01 -3.04674591e-02 -1.18419715e-02 6.07770152e+02] [ 3.04698501e-02 9.99535686e-01 2.15003624e-05 4.39917150e+00] [ 1.18358180e-02 -3.82311968e-04 9.99929881e-01 2.38880379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters 0.0567805342928047 Centerline is valid? [True, True] Translation: X:607.83, Y:4.42, Z:2.39 [[ 9.99059423e-01 -4.20121657e-02 -1.07353459e-02 6.07831034e+02] [ 4.20147963e-02 9.99116988e-01 1.95245731e-05 4.41506686e+00] [ 1.07250462e-02 -4.70549578e-04 9.99942374e-01 2.39258095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.779254154 meters 0.05789823327034017 Centerline is valid? [True, True] Translation: X:607.89, Y:4.40, Z:2.39 [[ 9.98814894e-01 -4.74387454e-02 -1.08799758e-02 6.07890280e+02] [ 4.74417686e-02 9.98874005e-01 1.97985899e-05 4.40167699e+00] [ 1.08667857e-02 -5.35940418e-04 9.99940811e-01 2.39083214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters 0.05760587787222005 Centerline is valid? [True, True] Translation: X:607.95, Y:4.40, Z:2.39 [[ 9.98674343e-01 -5.03596663e-02 -1.06517608e-02 6.07950287e+02] [ 5.03627297e-02 9.98730992e-01 1.93923267e-05 4.40446012e+00] [ 1.06372671e-02 -5.55818371e-04 9.99943268e-01 2.39099593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.899254154 meters 0.05691921980990957 Centerline is valid? [True, True] Translation: X:608.01, Y:4.43, Z:2.39 [[ 9.98745493e-01 -4.88524429e-02 -1.09945133e-02 6.08011944e+02] [ 4.88556176e-02 9.98805851e-01 2.01980621e-05 4.42739824e+00] [ 1.09803975e-02 -5.57316459e-04 9.99939558e-01 2.39306012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters 0.05766482390395556 Centerline is valid? [True, True] Translation: X:608.07, Y:4.43, Z:2.39 [[ 9.98832160e-01 -4.71900379e-02 -1.03642044e-02 6.08071542e+02] [ 4.71927712e-02 9.98885800e-01 1.91869848e-05 4.42861311e+00] [ 1.03517511e-02 -5.08280103e-04 9.99946290e-01 2.39350992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.019254154 meters 0.057425240365934736 Centerline is valid? [True, True] Translation: X:608.13, Y:4.44, Z:2.39 [[ 9.98925541e-01 -4.54734933e-02 -8.94005241e-03 6.08132190e+02] [ 4.54754590e-02 9.98965456e-01 1.66113100e-05 4.43705169e+00] [ 8.93004816e-03 -4.23146449e-04 9.99960037e-01 2.39399389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters 0.05607587532234807 Centerline is valid? [True, True] Translation: X:608.19, Y:4.44, Z:2.39 [[ 9.99010817e-01 -4.36224924e-02 -8.62933702e-03 6.08193167e+02] [ 4.36242553e-02 9.99048009e-01 1.60811341e-05 4.43867504e+00] [ 8.62042047e-03 -3.92513628e-04 9.99962766e-01 2.39344494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.139254154 meters 0.05693552543783655 Centerline is valid? [True, True] Translation: X:608.25, Y:4.45, Z:2.39 [[ 9.99227849e-01 -3.82928666e-02 -8.79552299e-03 6.08252908e+02] [ 3.82944921e-02 9.99266497e-01 1.64048200e-05 4.44789584e+00] [ 8.78844326e-03 -3.53212239e-04 9.99961318e-01 2.39434145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters 0.057596180470958866 Centerline is valid? [True, True] Translation: X:608.31, Y:4.45, Z:2.39 [[ 9.99507192e-01 -3.03298309e-02 -8.09167973e-03 6.08312453e+02] [ 3.03309456e-02 9.99539911e-01 1.50512916e-05 4.44625715e+00] [ 8.08750033e-03 -2.60472172e-04 9.99967262e-01 2.39345924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.259254154 meters 0.05647768974890854 Centerline is valid? [True, True] Translation: X:608.37, Y:4.46, Z:2.39 [[ 9.99726593e-01 -2.17614567e-02 -8.55448935e-03 6.08373558e+02] [ 2.17623893e-02 9.99763171e-01 1.59267925e-05 4.45764434e+00] [ 8.55211681e-03 -2.02088565e-04 9.99963410e-01 2.39306346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters 0.0568792192681735 Centerline is valid? [True, True] Translation: X:608.43, Y:4.46, Z:2.39 [[ 9.99849190e-01 -1.51876574e-02 -8.42218959e-03 6.08432888e+02] [ 1.51883285e-02 9.99884651e-01 1.57262677e-05 4.46152240e+00] [ 8.42097925e-03 -1.43642878e-04 9.99964533e-01 2.39250302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.379254154 meters 0.05656383209639208 Centerline is valid? [True, True] Translation: X:608.49, Y:4.47, Z:2.39 [[ 9.99966428e-01 -4.76041092e-03 -6.66949829e-03 6.08492932e+02] [ 4.76059984e-03 9.99988668e-01 1.24503119e-05 4.47257624e+00] [ 6.66936344e-03 -4.42007064e-05 9.99977759e-01 2.39368771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters 0.05747489141694429 Centerline is valid? [True, True] Translation: X:608.55, Y:4.48, Z:2.39 [[ 9.99982897e-01 1.90159884e-03 -5.53087197e-03 6.08552050e+02] [-1.90157183e-03 9.99998192e-01 1.01415274e-05 4.47775934e+00] [ 5.53088125e-03 3.75996345e-07 9.99984705e-01 2.39491269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.499254154 meters 0.05715173949073842 Centerline is valid? [True, True] Translation: X:608.61, Y:4.48, Z:2.39 [[ 9.99981601e-01 2.44987862e-03 -5.54931191e-03 6.08608728e+02] [-2.44986287e-03 9.99996999e-01 9.63532214e-06 4.47980389e+00] [ 5.54931887e-03 3.95990835e-06 9.99984602e-01 2.39452128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters 0.05756864796874659 Centerline is valid? [True, True] Translation: X:608.67, Y:4.48, Z:2.39 [[ 9.99980034e-01 -1.77450439e-03 -6.06490652e-03 6.08667861e+02] [ 1.77459900e-03 9.99998425e-01 1.02190747e-05 4.47789028e+00] [ 6.06487884e-03 -2.09816478e-05 9.99981608e-01 2.39380612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.619254154 meters 0.056855460319608496 Centerline is valid? [True, True] Translation: X:608.73, Y:4.48, Z:2.39 [[ 9.99971460e-01 -4.29458975e-03 -6.21575017e-03 6.08726952e+02] [ 4.29473672e-03 9.99990778e-01 1.02973280e-05 4.47700709e+00] [ 6.21564862e-03 -3.69920446e-05 9.99980682e-01 2.39417251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.679254154 meters 0.05679685244420877 Centerline is valid? [True, True] Translation: X:608.79, Y:4.47, Z:2.39 [[ 9.99898965e-01 -1.26679666e-02 -6.44841838e-03 6.08786349e+02] [ 1.26682978e-02 9.99919754e-01 1.05221918e-05 4.46869163e+00] [ 6.44776762e-03 -9.22116131e-05 9.99979209e-01 2.39445820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.739254154 meters 0.05590799667944862 Centerline is valid? [True, True] Translation: X:608.85, Y:4.47, Z:2.40 [[ 9.99784354e-01 -1.99542486e-02 -5.75097317e-03 6.08846997e+02] [ 1.99546324e-02 9.99800886e-01 9.37254629e-06 4.46816342e+00] [ 5.74964105e-03 -1.24129081e-04 9.99983463e-01 2.39561810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.799254154 meters 0.056375670155665435 Centerline is valid? [True, True] Translation: X:608.91, Y:4.47, Z:2.40 [[ 9.99724888e-01 -2.26869130e-02 -5.95422851e-03 6.08907464e+02] [ 2.26873734e-02 9.99742608e-01 9.79200334e-06 4.46520691e+00] [ 5.95247379e-03 -1.44875115e-04 9.99982273e-01 2.39533206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.859254154 meters 0.056663548187712846 Centerline is valid? [True, True] Translation: X:608.97, Y:4.46, Z:2.39 [[ 9.99697602e-01 -2.36637415e-02 -6.68826134e-03 6.08969223e+02] [ 2.36643455e-02 9.99719960e-01 1.11718437e-05 4.46238900e+00] [ 6.68612399e-03 -1.69441793e-04 9.99977633e-01 2.39441328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.919254154 meters 0.05629903837033443 Centerline is valid? [True, True] Translation: X:609.03, Y:4.46, Z:2.39 [[ 9.99729015e-01 -2.22590066e-02 -6.81419623e-03 6.09031807e+02] [ 2.22596024e-02 9.99752224e-01 1.15988415e-05 4.46093885e+00] [ 6.81224966e-03 -1.63276997e-04 9.99976783e-01 2.39451391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters 0.05658211641614019 Centerline is valid? [True, True] Translation: X:609.09, Y:4.46, Z:2.39 [[ 9.99793731e-01 -1.93647721e-02 -6.12378738e-03 6.09093129e+02] [ 1.93652001e-02 9.99812477e-01 1.06050864e-05 4.46218803e+00] [ 6.12243367e-03 -1.29191267e-04 9.99981249e-01 2.39453874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.039254154 meters 0.05678879190464976 Centerline is valid? [True, True] Translation: X:609.15, Y:4.46, Z:2.39 [[ 9.99850225e-01 -1.59417095e-02 -6.73720108e-03 6.09154263e+02] [ 1.59421507e-02 9.99872916e-01 1.17866480e-05 4.46285062e+00] [ 6.73615699e-03 -1.19190358e-04 9.99977305e-01 2.39385312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters 0.05685965533372676 Centerline is valid? [True, True] Translation: X:609.21, Y:4.46, Z:2.39 [[ 9.99935503e-01 -8.77023856e-03 -7.21616691e-03 6.09214531e+02] [ 8.77055872e-03 9.99961538e-01 1.27227362e-05 4.46366803e+00] [ 7.21577778e-03 -7.60117313e-05 9.99973963e-01 2.39331426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.159254154 meters 0.05661430377716207 Centerline is valid? [True, True] Translation: X:609.27, Y:4.47, Z:2.39 [[ 9.99965814e-01 -3.11151497e-04 -8.26284911e-03 6.09273234e+02] [ 3.11281925e-04 9.99999951e-01 1.44987756e-05 4.46573070e+00] [ 8.26284420e-03 -1.70703555e-05 9.99965862e-01 2.39264064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters 0.05652288038616037 Centerline is valid? [True, True] Translation: X:609.33, Y:4.47, Z:2.39 [[ 9.99948303e-01 6.56571608e-03 -7.76413508e-03 6.09331489e+02] [-6.56581248e-03 9.99978445e-01 1.30736311e-05 4.46869225e+00] [ 7.76405356e-03 3.79048998e-05 9.99969859e-01 2.39413770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.279254154 meters 0.05642182182105235 Centerline is valid? [True, True] Translation: X:609.39, Y:4.47, Z:2.39 [[ 9.99918692e-01 9.66190468e-03 -8.32213317e-03 6.09389893e+02] [-9.66213128e-03 9.99953320e-01 1.29774531e-05 4.46634831e+00] [ 8.32187009e-03 6.74331453e-05 9.99965370e-01 2.39436642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters 0.05725809768455749 Centerline is valid? [True, True] Translation: X:609.45, Y:4.46, Z:2.39 [[ 9.99941539e-01 7.88414316e-03 -7.39990707e-03 6.09449220e+02] [-7.88427722e-03 9.99968919e-01 1.10562836e-05 4.46487879e+00] [ 7.39976424e-03 4.72872815e-05 9.99972620e-01 2.39438242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.399254154 meters 0.05753985729199153 Centerline is valid? [True, True] Translation: X:609.51, Y:4.46, Z:2.40 [[ 9.99983122e-01 9.32950176e-04 -5.73454971e-03 6.09508043e+02] [-9.32917048e-04 9.99999565e-01 8.45189642e-06 4.45922558e+00] [ 5.73455510e-03 -3.10189457e-06 9.99983557e-01 2.39534026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters 0.057242924791652224 Centerline is valid? [True, True] Translation: X:609.57, Y:4.45, Z:2.40 [[ 9.99968655e-01 -5.62929446e-03 -5.56769303e-03 6.09567096e+02] [ 5.62942643e-03 9.99984155e-01 8.03183858e-06 4.45290875e+00] [ 5.56755959e-03 -3.93745051e-05 9.99984500e-01 2.39514954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.519254154 meters 0.05670210793494396 Centerline is valid? [True, True] Translation: X:609.63, Y:4.44, Z:2.39 [[ 9.99827076e-01 -1.78793967e-02 -5.11334437e-03 6.09627052e+02] [ 1.78796677e-02 9.99840146e-01 7.29595295e-06 4.44290729e+00] [ 5.11239654e-03 -9.87195897e-05 9.99986927e-01 2.39465825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters 0.05678814879976399 Centerline is valid? [True, True] Translation: X:609.69, Y:4.44, Z:2.40 [[ 9.99636361e-01 -2.65876037e-02 -4.49947381e-03 6.09686972e+02] [ 2.65879018e-02 9.99646479e-01 6.43561482e-06 4.43618874e+00] [ 4.49771205e-03 -1.26064842e-04 9.99989877e-01 2.39547920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.639254154 meters 0.05579204393298064 Centerline is valid? [True, True] Translation: X:609.75, Y:4.44, Z:2.39 [[ 9.99277574e-01 -3.78361060e-02 -3.57192696e-03 6.09747510e+02] [ 3.78363656e-02 9.99283948e-01 5.11023523e-06 4.44097777e+00] [ 3.56917592e-03 -1.40255278e-04 9.99993621e-01 2.39482678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters 0.05434929421835999 Centerline is valid? [True, True] Translation: X:609.81, Y:4.44, Z:2.39 [[ 9.98991857e-01 -4.47553952e-02 -3.49621031e-03 6.09807736e+02] [ 4.47556862e-02 9.98997962e-01 5.01416734e-06 4.44458277e+00] [ 3.49248257e-03 -1.61484404e-04 9.99993888e-01 2.39474406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.759254154 meters 0.056641155699709705 Centerline is valid? [True, True] Translation: X:609.87, Y:4.44, Z:2.39 [[ 9.98965624e-01 -4.52652194e-02 -4.32931967e-03 6.09868593e+02] [ 4.52656707e-02 9.98974984e-01 6.26358069e-06 4.43615243e+00] [ 4.32459852e-03 -2.02226660e-04 9.99990628e-01 2.39490997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters 0.05484312994820225 Centerline is valid? [True, True] Translation: X:609.93, Y:4.45, Z:2.39 [[ 9.99160300e-01 -4.08819967e-02 -2.71249476e-03 6.09929532e+02] [ 4.08821585e-02 9.99163975e-01 4.18514535e-06 4.44529388e+00] [ 2.71005595e-03 -1.15074272e-04 9.99996321e-01 2.39472938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.879254154 meters 0.05610510504321111 Centerline is valid? [True, True] Translation: X:609.99, Y:4.44, Z:2.40 [[ 9.99335199e-01 -3.63335165e-02 -3.00604699e-03 6.09988752e+02] [ 3.63336947e-02 9.99339713e-01 4.67064259e-06 4.43810722e+00] [ 3.00389244e-03 -1.13888331e-04 9.99995482e-01 2.39505790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters 0.05643109243609771 Centerline is valid? [True, True] Translation: X:610.05, Y:4.45, Z:2.40 [[ 9.99587026e-01 -2.85212009e-02 -3.50990281e-03 6.10049513e+02] [ 2.85213956e-02 9.99593182e-01 5.41217730e-06 4.44992191e+00] [ 3.50832055e-03 -1.05517269e-04 9.99993840e-01 2.39550477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.999254154 meters 0.05716180976809162 Centerline is valid? [True, True] Translation: X:610.11, Y:4.45, Z:2.40 [[ 9.99782193e-01 -2.00825076e-02 -5.67982908e-03 6.10108912e+02] [ 2.00828811e-02 9.99798319e-01 8.73920434e-06 4.45412633e+00] [ 5.67850806e-03 -1.22804633e-04 9.99983870e-01 2.39505111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters 0.056251537134892005 Centerline is valid? [True, True] Translation: X:610.17, Y:4.46, Z:2.40 [[ 9.99912994e-01 -1.19284781e-02 -5.63166631e-03 6.10169427e+02] [ 1.19287159e-02 9.99928850e-01 8.64379422e-06 4.46136623e+00] [ 5.63116251e-03 -7.58215897e-05 9.99984142e-01 2.39560334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.119254154 meters 0.05609274758075772 Centerline is valid? [True, True] Translation: X:610.23, Y:4.46, Z:2.40 [[ 9.99964860e-01 -6.54999042e-03 -5.23228658e-03 6.10229001e+02] [ 6.55012221e-03 9.99978548e-01 8.05243879e-06 4.46424033e+00] [ 5.23212159e-03 -4.23242723e-05 9.99986311e-01 2.39574891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.179254154 meters 0.05601048212941352 Centerline is valid? [True, True] Translation: X:610.29, Y:4.47, Z:2.40 [[ 9.99989311e-01 -5.38306074e-05 -4.62324093e-03 6.10289048e+02] [ 5.38638480e-05 9.99999999e-01 7.06520877e-06 4.47359011e+00] [ 4.62324054e-03 -7.31415879e-06 9.99989313e-01 2.39641007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.239254154 meters 0.05646155408450267 Centerline is valid? [True, True] Translation: X:610.35, Y:4.48, Z:2.40 [[ 9.99968701e-01 6.50682834e-03 -4.50083950e-03 6.10346814e+02] [-6.50686392e-03 9.99978830e-01 6.73935018e-06 4.48046371e+00] [ 4.50078807e-03 2.25472109e-05 9.99989871e-01 2.39715463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.299254154 meters 0.05641051617408424 Centerline is valid? [True, True] Translation: X:610.41, Y:4.48, Z:2.40 [[ 9.99950537e-01 9.46684438e-03 -3.04984478e-03 6.10405428e+02] [-9.46687450e-03 9.99955188e-01 4.56175456e-06 4.48260083e+00] [ 3.04975129e-03 2.43109688e-05 9.99995349e-01 2.39892760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.359254154 meters 0.056582031908862886 Centerline is valid? [True, True] Translation: X:610.46, Y:4.48, Z:2.40 [[ 9.99947459e-01 9.56241982e-03 -3.69304128e-03 6.10463551e+02] [-9.56246665e-03 9.99954279e-01 4.97736238e-06 4.48262595e+00] [ 3.69292002e-03 3.03374832e-05 9.99993181e-01 2.39964341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.419254154 meters 0.056412417375385646 Centerline is valid? [True, True] Translation: X:610.52, Y:4.48, Z:2.40 [[ 9.99978654e-01 4.83530205e-03 -4.39437809e-03 6.10521803e+02] [-4.83532362e-03 9.99988310e-01 5.71341144e-06 4.47803567e+00] [ 4.39435434e-03 1.55349507e-05 9.99990345e-01 2.39825633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters 0.055659321611748226 Centerline is valid? [True, True] Translation: X:610.58, Y:4.47, Z:2.40 [[ 9.99989718e-01 2.06926483e-03 -4.03521059e-03 6.10580988e+02] [-2.06926097e-03 9.99997859e-01 5.13002971e-06 4.47495688e+00] [ 4.03521257e-03 3.21992685e-06 9.99991858e-01 2.39834214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.539254154 meters 0.056026547930886905 Centerline is valid? [True, True] Translation: X:610.64, Y:4.47, Z:2.40 [[ 9.99978535e-01 -3.45251411e-03 -5.56860169e-03 6.10639533e+02] [ 3.45260608e-03 9.99994040e-01 6.90300181e-06 4.46955791e+00] [ 5.56854467e-03 -2.61290417e-05 9.99984495e-01 2.39775625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters 0.05694718045691269 Centerline is valid? [True, True] Translation: X:610.70, Y:4.46, Z:2.40 [[ 9.99913796e-01 -1.22577629e-02 -4.70612894e-03 6.10699314e+02] [ 1.22579257e-02 9.99924869e-01 5.74457610e-06 4.46187582e+00] [ 4.70570495e-03 -6.34314596e-05 9.99988926e-01 2.39827657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.659254154 meters 0.05629600862833644 Centerline is valid? [True, True] Translation: X:610.76, Y:4.46, Z:2.40 [[ 9.99840582e-01 -1.73243887e-02 -4.32158852e-03 6.10760583e+02] [ 1.73245732e-02 9.99849918e-01 5.25254221e-06 4.45940268e+00] [ 4.32084893e-03 -8.01213814e-05 9.99990662e-01 2.39907665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters 0.056172266068110877 Centerline is valid? [True, True] Translation: X:610.82, Y:4.45, Z:2.40 [[ 9.99690790e-01 -2.43401679e-02 -5.08721775e-03 6.10821115e+02] [ 2.43405147e-02 9.99703726e-01 6.25931070e-06 4.45428948e+00] [ 5.08555819e-03 -1.30082874e-04 9.99987060e-01 2.39812182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.779254154 meters 0.057467169921453926 Centerline is valid? [True, True] Translation: X:610.88, Y:4.44, Z:2.40 [[ 9.99503924e-01 -3.11053692e-02 -4.93579314e-03 6.10880222e+02] [ 3.11057780e-02 9.99516098e-01 6.06835795e-06 4.44321591e+00] [ 4.93321594e-03 -1.59597033e-04 9.99987819e-01 2.39830660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters 0.05689706759301587 Centerline is valid? [True, True] Translation: X:610.94, Y:4.44, Z:2.40 [[ 9.99280775e-01 -3.75817619e-02 -5.05402747e-03 6.10940485e+02] [ 3.75822731e-02 9.99293537e-01 6.17594269e-06 4.43921634e+00] [ 5.05022488e-03 -1.96113341e-04 9.99987228e-01 2.39820714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.899254154 meters 0.055387560448912194 Centerline is valid? [True, True] Translation: X:611.00, Y:4.44, Z:2.40 [[ 9.99015827e-01 -4.39284783e-02 -6.13731657e-03 6.11000728e+02] [ 4.39293518e-02 9.99034640e-01 7.53409258e-06 4.44461093e+00] [ 6.13106089e-03 -2.77135016e-04 9.99981166e-01 2.39669516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters 0.05520177756847563 Centerline is valid? [True, True] Translation: X:611.06, Y:4.45, Z:2.40 [[ 9.98823027e-01 -4.80099181e-02 -6.89991645e-03 6.11061641e+02] [ 4.80111200e-02 9.98846801e-01 8.56489914e-06 4.44639611e+00] [ 6.89154828e-03 -3.39827536e-04 9.99976195e-01 2.39701099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.019254154 meters 0.05563062019304747 Centerline is valid? [True, True] Translation: X:611.12, Y:4.45, Z:2.40 [[ 9.98555410e-01 -5.33794397e-02 -6.14239756e-03 6.11122472e+02] [ 5.33804939e-02 9.98574245e-01 7.68731726e-06 4.44829813e+00] [ 6.13322966e-03 -3.35560428e-04 9.99981135e-01 2.39707502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters 0.054200508940471855 Centerline is valid? [True, True] Translation: X:611.18, Y:4.45, Z:2.40 [[ 9.98364301e-01 -5.68985517e-02 -5.59265747e-03 6.11182768e+02] [ 5.68994806e-02 9.98379912e-01 7.00868361e-06 4.45245172e+00] [ 5.58319809e-03 -3.25216525e-04 9.99984361e-01 2.39646825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.139254154 meters 0.05459532199940888 Centerline is valid? [True, True] Translation: X:611.25, Y:4.47, Z:2.40 [[ 9.98387027e-01 -5.64737583e-02 -5.83605855e-03 6.11245113e+02] [ 5.64747641e-02 9.98404027e-01 7.54637089e-06 4.46769176e+00] [ 5.82631818e-03 -3.37124228e-04 9.99982970e-01 2.39677701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters 0.0550188423435664 Centerline is valid? [True, True] Translation: X:611.31, Y:4.46, Z:2.40 [[ 9.98577271e-01 -5.30247094e-02 -5.64040489e-03 6.11305155e+02] [ 5.30255966e-02 9.98593153e-01 7.75060304e-06 4.46030082e+00] [ 5.63205874e-03 -3.06825410e-04 9.99984093e-01 2.39737383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.259254154 meters 0.055219192616816536 Centerline is valid? [True, True] Translation: X:611.36, Y:4.46, Z:2.40 [[ 9.98719067e-01 -5.03892004e-02 -4.59930407e-03 6.11364408e+02] [ 5.03897623e-02 9.98729629e-01 6.31247705e-06 4.45959768e+00] [ 4.59314317e-03 -2.38062230e-04 9.99989423e-01 2.39857168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters 0.0544874778774003 Centerline is valid? [True, True] Translation: X:611.43, Y:4.46, Z:2.40 [[ 9.98911592e-01 -4.65845034e-02 -2.34849582e-03 6.11425229e+02] [ 4.65846394e-02 9.98914346e-01 3.19523917e-06 4.46320478e+00] [ 2.34579731e-03 -1.12595592e-04 9.99997242e-01 2.39914609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.379254154 meters 0.05886511146713253 Centerline is valid? [True, True] Translation: X:611.49, Y:4.45, Z:2.40 [[ 9.99143817e-01 -4.12731352e-02 -2.85663503e-03 6.11485065e+02] [ 4.12733149e-02 9.99147894e-01 3.92875000e-06 4.45144694e+00] [ 2.85403872e-03 -1.21828183e-04 9.99995920e-01 2.39935142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters 0.05574511235694484 Centerline is valid? [True, True] Translation: X:611.55, Y:4.47, Z:2.40 [[ 9.99323551e-01 -3.67084018e-02 -2.22135741e-03 6.11546246e+02] [ 3.67084991e-02 9.99326016e-01 3.02315048e-06 4.47024989e+00] [ 2.21974928e-03 -8.45638021e-05 9.99997533e-01 2.39815158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.499254154 meters 0.0548846563402802 Centerline is valid? [True, True] Translation: X:611.61, Y:4.47, Z:2.40 [[ 9.99462223e-01 -3.27601572e-02 -1.42705026e-03 6.11607044e+02] [ 3.27601933e-02 9.99463241e-01 1.96139522e-06 4.47344253e+00] [ 1.42622003e-03 -4.87107829e-05 9.99998982e-01 2.39810349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters 0.05526427707825061 Centerline is valid? [True, True] Translation: X:611.67, Y:4.47, Z:2.40 [[ 9.99603355e-01 -2.80661238e-02 -2.32907622e-03 6.11667041e+02] [ 2.80662073e-02 9.99606066e-01 3.19914376e-06 4.47410319e+00] [ 2.32806893e-03 -6.85662108e-05 9.99997288e-01 2.39821691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.619254154 meters 0.0554935936504866 Centerline is valid? [True, True] Translation: X:611.73, Y:4.48, Z:2.40 [[ 9.99696229e-01 -2.45500544e-02 -2.17835961e-03 6.11727085e+02] [ 2.45501192e-02 9.99698600e-01 2.99143074e-06 4.47541904e+00] [ 2.17762961e-03 -5.64695100e-05 9.99997627e-01 2.39841648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.679254154 meters 0.0557754830165782 Centerline is valid? [True, True] Translation: X:611.79, Y:4.47, Z:2.40 [[ 9.99824711e-01 -1.85721339e-02 -2.37144115e-03 6.11787114e+02] [ 1.85721939e-02 9.99827522e-01 3.25637117e-06 4.47459043e+00] [ 2.37097165e-03 -4.72986651e-05 9.99997188e-01 2.39808450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.739254154 meters 0.055138610865214065 Centerline is valid? [True, True] Translation: X:611.85, Y:4.48, Z:2.40 [[ 9.99942779e-01 -1.05922553e-02 -1.49796778e-03 6.11848146e+02] [ 1.05922704e-02 9.99943900e-01 2.11426091e-06 4.48264445e+00] [ 1.49786135e-03 -1.79810197e-05 9.99998878e-01 2.39836916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.799254154 meters 0.05547757548368907 Centerline is valid? [True, True] Translation: X:611.91, Y:4.48, Z:2.40 [[ 9.99990938e-01 -3.89012311e-03 -1.72954140e-03 6.11908723e+02] [ 3.89013290e-03 9.99992433e-01 2.29922253e-06 4.48476039e+00] [ 1.72951937e-03 -9.02734758e-06 9.99998504e-01 2.39942954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.859254154 meters 0.05513942485915454 Centerline is valid? [True, True] Translation: X:611.97, Y:4.49, Z:2.40 [[ 9.99995286e-01 -2.61333879e-03 -1.61222152e-03 6.11969589e+02] [ 2.61334574e-03 9.99996585e-01 2.20271013e-06 4.48523937e+00] [ 1.61221026e-03 -6.41599198e-06 9.99998700e-01 2.39896662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.919254154 meters 0.055297163780722546 Centerline is valid? [True, True] Translation: X:612.03, Y:4.48, Z:2.40 [[ 9.99990432e-01 -4.07441256e-03 -1.59224236e-03 6.12029761e+02] [ 4.07442116e-03 9.99991700e-01 2.15731833e-06 4.48159302e+00] [ 1.59222036e-03 -8.64476366e-06 9.99998732e-01 2.39896417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters 0.055645162793657166 Centerline is valid? [True, True] Translation: X:612.09, Y:4.48, Z:2.40 [[ 9.99975182e-01 -6.97931555e-03 -9.61734259e-04 6.12090889e+02] [ 6.97932001e-03 9.99975644e-01 1.27520232e-06 4.47619149e+00] [ 9.61701935e-04 -7.98742182e-06 9.99999538e-01 2.39766694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.039254154 meters 0.05436673767514321 Centerline is valid? [True, True] Translation: X:612.15, Y:4.47, Z:2.40 [[ 9.99940488e-01 -1.05963210e-02 -2.59597604e-03 6.12153188e+02] [ 1.05963657e-02 9.99943857e-01 3.45933886e-06 4.47321167e+00] [ 2.59579364e-03 -3.09670445e-05 9.99996630e-01 2.39574246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters 0.05430221896608604 Centerline is valid? [True, True] Translation: X:612.21, Y:4.47, Z:2.40 [[ 9.99884731e-01 -1.48950886e-02 -2.94303122e-03 6.12214402e+02] [ 1.48951661e-02 9.99889061e-01 4.39488818e-06 4.47092621e+00] [ 2.94263926e-03 -4.82313203e-05 9.99995669e-01 2.39544058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.159254154 meters 0.05505859513603332 Centerline is valid? [True, True] Translation: X:612.28, Y:4.47, Z:2.40 [[ 9.99819344e-01 -1.87701193e-02 -2.99367151e-03 6.12275949e+02] [ 1.87702169e-02 9.99823824e-01 4.52088427e-06 4.46883813e+00] [ 2.99305924e-03 -6.07119310e-05 9.99995519e-01 2.39522073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters 0.05392262897658049 Centerline is valid? [True, True] Translation: X:612.34, Y:4.46, Z:2.39 [[ 9.99671171e-01 -2.54499338e-02 -3.13860823e-03 6.12336483e+02] [ 2.54500742e-02 9.99676094e-01 4.80766649e-06 4.46343210e+00] [ 3.13746926e-03 -8.46838978e-05 9.99995075e-01 2.39375655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.279254154 meters 0.056885117639159426 Centerline is valid? [True, True] Translation: X:612.40, Y:4.45, Z:2.39 [[ 9.99575603e-01 -2.88578329e-02 -3.97991074e-03 6.12396665e+02] [ 2.88580858e-02 9.99583519e-01 6.10345161e-06 4.44950748e+00] [ 3.97807705e-03 -1.20953467e-04 9.99992080e-01 2.39418567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters 0.05650485046828114 Centerline is valid? [True, True] Translation: X:612.46, Y:4.45, Z:2.39 [[ 9.99419912e-01 -3.37738384e-02 -4.37799077e-03 6.12457983e+02] [ 3.37741914e-02 9.99429489e-01 6.71914997e-06 4.44967361e+00] [ 4.37526615e-03 -1.54578351e-04 9.99990417e-01 2.39390785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.399254154 meters 0.05394791399017733 Centerline is valid? [True, True] Translation: X:612.52, Y:4.46, Z:2.39 [[ 9.99309866e-01 -3.67532914e-02 -5.38391674e-03 6.12518904e+02] [ 3.67538688e-02 9.99324348e-01 8.32410010e-06 4.45697831e+00] [ 5.37997315e-03 -2.06198125e-04 9.99985507e-01 2.39365215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters 0.05558412411731722 Centerline is valid? [True, True] Translation: X:612.58, Y:4.45, Z:2.39 [[ 9.99226221e-01 -3.87654862e-02 -6.64811271e-03 6.12579142e+02] [ 3.87664118e-02 9.99248300e-01 1.03734365e-05 4.45223379e+00] [ 6.64271319e-03 -2.68088885e-04 9.99977901e-01 2.39293777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.519254154 meters 0.05474135732012337 Centerline is valid? [True, True] Translation: X:612.64, Y:4.46, Z:2.39 [[ 9.99075796e-01 -4.22124096e-02 -8.10345366e-03 6.12640104e+02] [ 4.22138996e-02 9.99108596e-01 1.28347159e-05 4.45764383e+00] [ 8.09568843e-03 -3.54901233e-04 9.99967166e-01 2.39312484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters 0.054329995809767474 Centerline is valid? [True, True] Translation: X:612.70, Y:4.46, Z:2.39 [[ 9.99037201e-01 -4.30281799e-02 -8.55839099e-03 6.12702056e+02] [ 4.30298733e-02 9.99073786e-01 1.37420592e-05 4.45937869e+00] [ 8.54987280e-03 -3.81995308e-04 9.99963376e-01 2.39301017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.639254154 meters 0.05542194876798253 Centerline is valid? [True, True] Translation: X:612.76, Y:4.46, Z:2.39 [[ 9.99095670e-01 -4.18779256e-02 -7.35400041e-03 6.12762138e+02] [ 4.18791458e-02 9.99122684e-01 1.19439408e-05 4.45590320e+00] [ 7.34704844e-03 -3.19912395e-04 9.99972959e-01 2.39271880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters 0.05631755801341504 Centerline is valid? [True, True] Translation: X:612.82, Y:4.46, Z:2.39 [[ 9.99274966e-01 -3.75104795e-02 -6.51966407e-03 6.12822234e+02] [ 3.75113459e-02 9.99296202e-01 1.06148498e-05 4.45593963e+00] [ 6.51467738e-03 -2.55168528e-04 9.99978747e-01 2.39345666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.759254154 meters 0.054943025856995356 Centerline is valid? [True, True] Translation: X:612.88, Y:4.47, Z:2.39 [[ 9.99412452e-01 -3.37691742e-02 -5.86460459e-03 6.12883088e+02] [ 3.37698110e-02 9.99429637e-01 9.56085722e-06 4.46573881e+00] [ 5.86093677e-03 -2.07601828e-04 9.99982803e-01 2.39451638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters 0.05496651144879655 Centerline is valid? [True, True] Translation: X:612.94, Y:4.47, Z:2.39 [[ 9.99566722e-01 -2.87969597e-02 -6.09123077e-03 6.12943750e+02] [ 2.87975546e-02 9.99585264e-01 9.96124465e-06 4.47048730e+00] [ 6.08841767e-03 -1.85369479e-04 9.99981448e-01 2.39377828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.879254154 meters 0.05325982076335134 Centerline is valid? [True, True] Translation: X:613.00, Y:4.48, Z:2.39 [[ 9.99711449e-01 -2.29364241e-02 -7.13712236e-03 6.13004134e+02] [ 2.29370918e-02 9.99736910e-01 1.16947482e-05 4.47865444e+00] [ 7.13497642e-03 -1.75396204e-04 9.99974530e-01 2.39474619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters 0.05508424348924446 Centerline is valid? [True, True] Translation: X:613.06, Y:4.48, Z:2.39 [[ 9.99847801e-01 -1.55058634e-02 -7.99640979e-03 6.13063514e+02] [ 1.55064640e-02 9.99879767e-01 1.31040382e-05 4.48211463e+00] [ 7.99524517e-03 -1.37098084e-04 9.99968028e-01 2.39417266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.999254154 meters 0.05487803916605196 Centerline is valid? [True, True] Translation: X:613.12, Y:4.49, Z:2.39 [[ 9.99916835e-01 -9.57016088e-03 -8.64492409e-03 6.13124245e+02] [ 9.57064100e-03 9.99954200e-01 1.41689320e-05 4.48607138e+00] [ 8.64439256e-03 -9.69052186e-05 9.99962632e-01 2.39439117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.059254154 meters 0.05526517092347962 Centerline is valid? [True, True] Translation: X:613.18, Y:4.49, Z:2.39 [[ 9.99953747e-01 8.06305569e-04 -9.58403228e-03 6.13183879e+02] [-8.06192149e-04 9.99999675e-01 1.56975518e-05 4.49377281e+00] [ 9.58404182e-03 -7.97025417e-06 9.99954072e-01 2.39420492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.119254154 meters 0.054300925651789886 Centerline is valid? [True, True] Translation: X:613.24, Y:4.50, Z:2.40 [[ 9.99947033e-01 5.49513312e-03 -8.70257462e-03 6.13242247e+02] [-5.49522252e-03 9.99984901e-01 1.36389428e-05 4.49820884e+00] [ 8.70251816e-03 3.41843637e-05 9.99962132e-01 2.39547178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.179254154 meters 0.05527499591545244 Centerline is valid? [True, True] Translation: X:613.30, Y:4.50, Z:2.40 [[ 9.99942118e-01 6.46322033e-03 -8.60158131e-03 6.13300727e+02] [-6.46335228e-03 9.99979112e-01 1.24579323e-05 4.49943556e+00] [ 8.60148216e-03 4.31378389e-05 9.99963006e-01 2.39632989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.239254154 meters 0.055413020611921444 Centerline is valid? [True, True] Translation: X:613.36, Y:4.50, Z:2.40 [[ 9.99940334e-01 6.07707890e-03 -9.07732399e-03 6.13357350e+02] [-6.07721704e-03 9.99981533e-01 1.23642513e-05 4.50161992e+00] [ 9.07723150e-03 4.28013545e-05 9.99958800e-01 2.39703649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.299254154 meters 0.055544716913576 Centerline is valid? [True, True] Translation: X:613.42, Y:4.50, Z:2.40 [[ 9.99944134e-01 4.30423990e-03 -9.65413741e-03 6.13415853e+02] [-4.30431766e-03 9.99990736e-01 1.27230139e-05 4.50046274e+00] [ 9.65410274e-03 2.88321711e-05 9.99953398e-01 2.39695043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.359254154 meters 0.054662057763194105 Centerline is valid? [True, True] Translation: X:613.47, Y:4.50, Z:2.40 [[ 9.99944259e-01 2.47269679e-03 -1.02647684e-02 6.13474234e+02] [-2.47269280e-03 9.99996943e-01 1.30789922e-05 4.49954581e+00] [ 1.02647694e-02 1.23033559e-05 9.99947316e-01 2.39799465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.419254154 meters 0.05674874777001447 Centerline is valid? [True, True] Translation: X:613.53, Y:4.50, Z:2.40 [[ 9.99945057e-01 9.25855523e-04 -1.04415587e-02 6.13532233e+02] [-9.25772482e-04 9.99999571e-01 1.27861776e-05 4.49895141e+00] [ 1.04415661e-02 -3.11896735e-06 9.99945485e-01 2.39941967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters 0.055812453347200155 Centerline is valid? [True, True] Translation: X:613.59, Y:4.50, Z:2.40 [[ 9.99945170e-01 5.92392181e-04 -1.04549212e-02 6.13589268e+02] [-5.92296605e-04 9.99999825e-01 1.22379371e-05 4.49824560e+00] [ 1.04549266e-02 -6.04485172e-06 9.99945346e-01 2.40031832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.539254154 meters 0.05627160365125125 Centerline is valid? [True, True] Translation: X:613.65, Y:4.50, Z:2.40 [[ 9.99938182e-01 3.04092683e-03 -1.06950637e-02 6.13646766e+02] [-3.04097217e-03 9.99995376e-01 1.20226520e-05 4.49759984e+00] [ 1.06950508e-02 2.05014822e-05 9.99942806e-01 2.39855200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters 0.055898633527746565 Centerline is valid? [True, True] Translation: X:613.71, Y:4.50, Z:2.40 [[ 9.99927715e-01 5.86276102e-03 -1.04972676e-02 6.13705441e+02] [-5.86296931e-03 9.99982813e-01 1.09310546e-05 4.49699938e+00] [ 1.04971513e-02 5.06148933e-05 9.99944902e-01 2.40095097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.659254154 meters 0.056599643245714266 Centerline is valid? [True, True] Translation: X:613.76, Y:4.50, Z:2.40 [[ 9.99907738e-01 7.21124139e-03 -1.15114186e-02 6.13764159e+02] [-7.21159608e-03 9.99973996e-01 1.06977800e-05 4.49616447e+00] [ 1.15111964e-02 7.23189081e-05 9.99933741e-01 2.40296863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters 0.056324980225758076 Centerline is valid? [True, True] Translation: X:613.82, Y:4.49, Z:2.40 [[ 9.99888534e-01 7.69084091e-03 -1.27973184e-02 6.13822397e+02] [-7.69132930e-03 9.99970421e-01 1.10524373e-05 4.49028547e+00] [ 1.27970249e-02 8.73771849e-05 9.99918111e-01 2.40481110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.779254154 meters 0.05642976561647984 Centerline is valid? [True, True] Translation: X:613.88, Y:4.49, Z:2.40 [[ 9.99891068e-01 3.21395443e-03 -1.44056266e-02 6.13880999e+02] [-3.21411507e-03 9.99994835e-01 1.20009987e-05 4.48602966e+00] [ 1.44055908e-02 3.43016502e-05 9.99896233e-01 2.40239635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters 0.05597677049308504 Centerline is valid? [True, True] Translation: X:613.94, Y:4.48, Z:2.40 [[ 9.99900419e-01 -3.76575433e-04 -1.41070867e-02 6.13940249e+02] [ 3.76772658e-04 9.99999929e-01 1.13227490e-05 4.48222683e+00] [ 1.41070814e-02 -1.66367860e-05 9.99900490e-01 2.40376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.899254154 meters 0.05641566926173046 Centerline is valid? [True, True] Translation: X:614.00, Y:4.47, Z:2.41 [[ 9.99868111e-01 -6.25679560e-03 -1.49870943e-02 6.13999009e+02] [ 6.25767119e-03 9.99980421e-01 1.15282777e-05 4.47496868e+00] [ 1.49867287e-02 -1.05311065e-04 9.99887687e-01 2.40510338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters 0.0560535185628658 Centerline is valid? [True, True] Translation: X:614.06, Y:4.47, Z:2.41 [[ 9.99828767e-01 -1.16352480e-02 -1.43894778e-02 6.14058211e+02] [ 1.16366057e-02 9.99932292e-01 1.06278160e-05 4.46828165e+00] [ 1.43883799e-02 -1.78070675e-04 9.99896466e-01 2.40628701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.019254154 meters 0.056420129467160525 Centerline is valid? [True, True] Translation: X:614.12, Y:4.46, Z:2.41 [[ 9.99799603e-01 -1.51358345e-02 -1.31019339e-02 6.14116333e+02] [ 1.51372552e-02 9.99885425e-01 9.27058380e-06 4.45898449e+00] [ 1.31002925e-02 -2.07596044e-04 9.99914166e-01 2.40572025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters 0.05666729957515198 Centerline is valid? [True, True] Translation: X:614.18, Y:4.46, Z:2.41 [[ 9.99805026e-01 -1.48308934e-02 -1.30366667e-02 6.14175561e+02] [ 1.48322589e-02 9.99889996e-01 8.05738166e-06 4.45824736e+00] [ 1.30351131e-02 -2.01419026e-04 9.99915019e-01 2.40785726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.139254154 meters 0.05605981231138547 Centerline is valid? [True, True] Translation: X:614.23, Y:4.46, Z:2.41 [[ 9.99843376e-01 -1.16779685e-02 -1.32984297e-02 6.14233375e+02] [ 1.16791003e-02 9.99931797e-01 7.45524325e-06 4.45514538e+00] [ 1.32974357e-02 -1.62767771e-04 9.99911572e-01 2.40622245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters 0.057127319706409226 Centerline is valid? [True, True] Translation: X:614.29, Y:4.46, Z:2.41 [[ 9.99869162e-01 -5.57682880e-03 -1.51841473e-02 6.14292302e+02] [ 5.57759311e-03 9.99984445e-01 7.98819255e-06 4.45721580e+00] [ 1.51838666e-02 -9.26781429e-05 9.99884714e-01 2.40812274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.259254154 meters 0.057589918487211345 Centerline is valid? [True, True] Translation: X:614.35, Y:4.46, Z:2.41 [[ 9.99861844e-01 -1.17565261e-03 -1.65804418e-02 6.14349609e+02] [ 1.17592831e-03 9.99999309e-01 6.87820101e-06 4.45788144e+00] [ 1.65804222e-02 -2.63746615e-05 9.99862535e-01 2.40691554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters 0.05807398762697507 Centerline is valid? [True, True] Translation: X:614.41, Y:4.46, Z:2.41 [[ 9.99857829e-01 3.02979781e-03 -1.65873958e-02 6.14407243e+02] [-3.03013790e-03 9.99995409e-01 4.63018341e-06 4.45833669e+00] [ 1.65873337e-02 4.56325714e-05 9.99862420e-01 2.40839260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.379254154 meters 0.05707175997720568 Centerline is valid? [True, True] Translation: X:614.47, Y:4.46, Z:2.41 [[ 9.99835000e-01 8.07520030e-03 -1.62715397e-02 6.14465628e+02] [-8.07621272e-03 9.99967387e-01 3.49055685e-06 4.45806816e+00] [ 1.62710372e-02 1.27922435e-04 9.99867610e-01 2.41332580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters 0.0572129971990397 Centerline is valid? [True, True] Translation: X:614.52, Y:4.46, Z:2.41 [[ 9.99853927e-01 8.71927454e-03 -1.47002802e-02 6.14523857e+02] [-8.72019138e-03 9.99961978e-01 1.72897228e-06 4.45766819e+00] [ 1.46997363e-02 1.26460537e-04 9.99891945e-01 2.41125011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.499254154 meters 0.05756309885769965 Centerline is valid? [True, True] Translation: X:614.58, Y:4.45, Z:2.41 [[ 9.99872011e-01 6.47365607e-03 -1.46305602e-02 6.14582818e+02] [-6.47433604e-03 9.99979041e-01 8.88273057e-07 4.45342401e+00] [ 1.46302593e-02 9.38350037e-05 9.99892968e-01 2.41328176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.559254154 meters 0.05749074291750792 Centerline is valid? [True, True] Translation: X:614.64, Y:4.45, Z:2.41 [[ 9.99902640e-01 9.38230525e-04 -1.39223281e-02 6.14641170e+02] [-9.38316232e-04 9.99999560e-01 3.75966869e-07 4.44655492e+00] [ 1.39223223e-02 1.26876162e-05 9.99903080e-01 2.41284734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.619254154 meters 0.05813346850459767 Centerline is valid? [True, True] Translation: X:614.70, Y:4.44, Z:2.41 [[ 9.99875643e-01 -6.38007700e-03 -1.44219469e-02 6.14699658e+02] [ 6.38073905e-03 9.99979643e-01 -1.07753566e-07 4.43788744e+00] [ 1.44216540e-02 -9.19149397e-05 9.99895998e-01 2.41471239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.679254154 meters 0.058122978089691 Centerline is valid? [True, True] Translation: X:614.76, Y:4.43, Z:2.42 [[ 9.99790127e-01 -1.33817351e-02 -1.55123173e-02 6.14758903e+02] [ 1.33833383e-02 9.99910439e-01 -4.56121644e-07 4.43010376e+00] [ 1.55109341e-02 -2.07150564e-04 9.99879677e-01 2.41590134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.739254154 meters 0.058830451019207204 Centerline is valid? [True, True] Translation: X:614.82, Y:4.42, Z:2.41 [[ 9.99755633e-01 -1.68725103e-02 -1.42825843e-02 6.14817255e+02] [ 1.68742222e-02 9.99857620e-01 -6.49632146e-07 4.42226701e+00] [ 1.42805617e-02 -2.40358028e-04 9.99897999e-01 2.41482199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.799254154 meters 0.05847512003762064 Centerline is valid? [True, True] Translation: X:614.88, Y:4.42, Z:2.42 [[ 9.99711719e-01 -1.92615821e-02 -1.43342254e-02 6.14876773e+02] [ 1.92635485e-02 9.99814441e-01 -8.93055199e-07 4.41989160e+00] [ 1.43315828e-02 -2.75235248e-04 9.99897260e-01 2.41765991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.859254154 meters 0.05813160973077991 Centerline is valid? [True, True] Translation: X:614.94, Y:4.41, Z:2.42 [[ 9.99719558e-01 -1.86454487e-02 -1.45997600e-02 6.14935127e+02] [ 1.86474170e-02 9.99826122e-01 -1.31681067e-06 4.41459461e+00] [ 1.45972460e-02 -2.70931372e-04 9.99893418e-01 2.41750640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.919254154 meters 0.0586572383610855 Centerline is valid? [True, True] Translation: X:614.99, Y:4.41, Z:2.42 [[ 9.99718265e-01 -1.82787343e-02 -1.51419167e-02 6.14994296e+02] [ 1.82807891e-02 9.99832892e-01 -2.70732668e-06 4.41159483e+00] [ 1.51394358e-02 -2.74099621e-04 9.99885355e-01 2.41886640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters 0.05929121897085654 Centerline is valid? [True, True] Translation: X:615.05, Y:4.41, Z:2.42 [[ 9.99707346e-01 -1.92220291e-02 -1.46879320e-02 6.15051865e+02] [ 1.92240398e-02 9.99815201e-01 -4.29417896e-06 4.40596885e+00] [ 1.46853002e-02 -2.78068467e-04 9.99892126e-01 2.41824194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.039254154 meters 0.058709137635518736 Centerline is valid? [True, True] Translation: X:615.11, Y:4.40, Z:2.42 [[ 9.99663240e-01 -2.11309370e-02 -1.50628942e-02 6.15111766e+02] [ 2.11332584e-02 9.99776668e-01 -5.06526138e-06 4.40459040e+00] [ 1.50596372e-02 -3.13264480e-04 9.99886548e-01 2.42021437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters 0.05928271493900975 Centerline is valid? [True, True] Translation: X:615.17, Y:4.41, Z:2.43 [[ 9.99607356e-01 -2.30384835e-02 -1.59487329e-02 6.15170277e+02] [ 2.30413227e-02 9.99734513e-01 -5.73337025e-06 4.41237504e+00] [ 1.59446308e-02 -3.61748782e-04 9.99872811e-01 2.42688712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.159254154 meters 0.05885714260328267 Centerline is valid? [True, True] Translation: X:615.23, Y:4.41, Z:2.43 [[ 9.99559244e-01 -2.50199468e-02 -1.59787270e-02 6.15231034e+02] [ 2.50230482e-02 9.99686875e-01 -5.84259591e-06 4.40865200e+00] [ 1.59738698e-02 -3.93996433e-04 9.99872332e-01 2.42703438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters 0.059694901804433445 Centerline is valid? [True, True] Translation: X:615.29, Y:4.41, Z:2.43 [[ 9.99522112e-01 -2.69333595e-02 -1.51704377e-02 6.15291360e+02] [ 2.69363752e-02 9.99637150e-01 -5.54704627e-06 4.41063808e+00] [ 1.51650825e-02 -4.03092207e-04 9.99884922e-01 2.43025585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.279254154 meters 0.05877159108778455 Centerline is valid? [True, True] Translation: X:615.35, Y:4.39, Z:2.42 [[ 9.99544074e-01 -2.66352885e-02 -1.42199360e-02 6.15349724e+02] [ 2.66379056e-02 9.99645148e-01 -5.36108771e-06 4.38650463e+00] [ 1.42150328e-02 -3.73430669e-04 9.99898892e-01 2.42259331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters 0.05912109119051701 Centerline is valid? [True, True] Translation: X:615.41, Y:4.40, Z:2.43 [[ 9.99532203e-01 -2.63820498e-02 -1.54713781e-02 6.15410184e+02] [ 2.63851179e-02 9.99651852e-01 -5.81321224e-06 4.39631470e+00] [ 1.54661451e-02 -4.02403642e-04 9.99880311e-01 2.42745611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.399254154 meters 0.05949770481460709 Centerline is valid? [True, True] Translation: X:615.47, Y:4.40, Z:2.43 [[ 9.99470556e-01 -2.78644691e-02 -1.67981842e-02 6.15470132e+02] [ 2.78682943e-02 9.99611604e-01 -6.36830105e-06 4.39965410e+00] [ 1.67918373e-02 -4.61771813e-04 9.99858901e-01 2.43027860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters 0.06027244632041994 Centerline is valid? [True, True] Translation: X:615.53, Y:4.39, Z:2.43 [[ 9.99428850e-01 -2.95033564e-02 -1.64780442e-02 6.15529293e+02] [ 2.95072565e-02 9.99564566e-01 -6.44605848e-06 4.39472414e+00] [ 1.64710593e-02 -4.79779500e-04 9.99864228e-01 2.42921299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.519254154 meters 0.05967099105300702 Centerline is valid? [True, True] Translation: X:615.59, Y:4.40, Z:2.43 [[ 9.99353702e-01 -3.15548152e-02 -1.72183708e-02 6.15590308e+02] [ 3.15593786e-02 9.99501879e-01 -6.69825113e-06 4.39915348e+00] [ 1.72100053e-02 -5.36707159e-04 9.99851753e-01 2.43218650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters 0.05957566007294621 Centerline is valid? [True, True] Translation: X:615.65, Y:4.39, Z:2.43 [[ 9.99326934e-01 -3.22021925e-02 -1.75698132e-02 6.15650658e+02] [ 3.22070512e-02 9.99481218e-01 -6.42418017e-06 4.39222943e+00] [ 1.75609051e-02 -5.59452016e-04 9.99845639e-01 2.43024870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.639254154 meters 0.059701409570994096 Centerline is valid? [True, True] Translation: X:615.71, Y:4.40, Z:2.43 [[ 9.99294991e-01 -3.35172602e-02 -1.69149032e-02 6.15711001e+02] [ 3.35219533e-02 9.99437981e-01 -6.07821169e-06 4.39846334e+00] [ 1.69056005e-02 -5.60946670e-04 9.99856933e-01 2.43444073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters 0.06037471085498024 Centerline is valid? [True, True] Translation: X:615.77, Y:4.40, Z:2.44 [[ 9.99248018e-01 -3.48228009e-02 -1.70519845e-02 6.15772278e+02] [ 3.48277651e-02 9.99393329e-01 -5.84322251e-06 4.39639103e+00] [ 1.70418430e-02 -5.88043682e-04 9.99854604e-01 2.43542707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.759254154 meters 0.05934177026295475 Centerline is valid? [True, True] Translation: X:615.83, Y:4.39, Z:2.44 [[ 9.99233508e-01 -3.56118112e-02 -1.62540610e-02 6.15833406e+02] [ 3.56164460e-02 9.99365533e-01 -4.33078880e-06 4.39294144e+00] [ 1.62439025e-02 -5.74584415e-04 9.99867894e-01 2.43524866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters 0.059693423000933096 Centerline is valid? [True, True] Translation: X:615.89, Y:4.39, Z:2.44 [[ 9.99149792e-01 -3.79118763e-02 -1.61982502e-02 6.15894884e+02] [ 3.79167885e-02 9.99280900e-01 -3.85953950e-06 4.39026571e+00] [ 1.61867484e-02 -6.10329370e-04 9.99868800e-01 2.43532555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.879254154 meters 0.05961665846452602 Centerline is valid? [True, True] Translation: X:615.96, Y:4.39, Z:2.44 [[ 9.99046727e-01 -4.06447451e-02 -1.59261311e-02 6.15955828e+02] [ 4.06498414e-02 9.99173454e-01 -3.72596571e-06 4.38882303e+00] [ 1.59131189e-02 -6.43672289e-04 9.99873171e-01 2.43580464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters 0.059772923415495845 Centerline is valid? [True, True] Translation: X:616.02, Y:4.39, Z:2.44 [[ 9.99018694e-01 -4.14800260e-02 -1.55259939e-02 6.16017987e+02] [ 4.14849802e-02 9.99139128e-01 -2.97687979e-06 4.38942371e+00] [ 1.55127515e-02 -6.41121593e-04 9.99879464e-01 2.43674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.999254154 meters 0.06015988250083752 Centerline is valid? [True, True] Translation: X:616.08, Y:4.39, Z:2.44 [[ 9.99005609e-01 -4.16593261e-02 -1.58837524e-02 6.16080322e+02] [ 4.16645580e-02 9.99131655e-01 -1.52793497e-06 4.39387416e+00] [ 1.58700235e-02 -6.60263108e-04 9.99873845e-01 2.43881215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.059254154 meters 0.060115138195596884 Centerline is valid? [True, True] Translation: X:616.14, Y:4.39, Z:2.44 [[ 9.99060631e-01 -4.03088377e-02 -1.59076165e-02 6.16141109e+02] [ 4.03139242e-02 9.99187063e-01 -9.16991098e-07 4.38687379e+00] [ 1.58947216e-02 -6.40382318e-04 9.99873466e-01 2.43773643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.119254154 meters 0.06008724720467949 Centerline is valid? [True, True] Translation: X:616.20, Y:4.38, Z:2.44 [[ 9.99113974e-01 -3.90091185e-02 -1.57973063e-02 6.16202730e+02] [ 3.90139791e-02 9.99238665e-01 -4.92314591e-07 4.38428873e+00] [ 1.57852984e-02 -6.15823898e-04 9.99875215e-01 2.43762856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.179254154 meters 0.06037871280182988 Centerline is valid? [True, True] Translation: X:616.26, Y:4.38, Z:2.44 [[ 9.99217851e-01 -3.59221866e-02 -1.65312651e-02 6.16262346e+02] [ 3.59270888e-02 9.99354414e-01 -4.42963825e-07 4.37739140e+00] [ 1.65206087e-02 -5.93477612e-04 9.99863349e-01 2.43687766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.239254154 meters 0.06053132390526722 Centerline is valid? [True, True] Translation: X:616.32, Y:4.38, Z:2.44 [[ 9.99316847e-01 -3.35985704e-02 -1.53939962e-02 6.16322998e+02] [ 3.36025482e-02 9.99435275e-01 -2.56718611e-07 4.38117432e+00] [ 1.53853115e-02 -5.17020956e-04 9.99881505e-01 2.43887579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.299254154 meters 0.06044217326573854 Centerline is valid? [True, True] Translation: X:616.38, Y:4.38, Z:2.44 [[ 9.99435452e-01 -2.96330121e-02 -1.58322928e-02 6.16383529e+02] [ 2.96367236e-02 9.99560736e-01 -1.92261833e-07 4.38286599e+00] [ 1.58253439e-02 -4.69025132e-04 9.99874661e-01 2.44051316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.359254154 meters 0.061605876421564496 Centerline is valid? [True, True] Translation: X:616.44, Y:4.38, Z:2.44 [[ 9.99625431e-01 -2.21024277e-02 -1.61393821e-02 6.16443134e+02] [ 2.21053035e-02 9.99755648e-01 -2.08337906e-07 4.38094335e+00] [ 1.61354430e-02 -3.56557679e-04 9.99869752e-01 2.44011589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.419254154 meters 0.0607212775293577 Centerline is valid? [True, True] Translation: X:616.50, Y:4.38, Z:2.44 [[ 9.99794355e-01 -1.28466498e-02 -1.56911349e-02 6.16502828e+02] [ 1.28482274e-02 9.99917458e-01 -2.64852374e-07 4.38411496e+00] [ 1.56898431e-02 -2.01338472e-04 9.99876887e-01 2.44228414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters 0.06111005335385572 Centerline is valid? [True, True] Translation: X:616.56, Y:4.39, Z:2.44 [[ 9.99869333e-01 -7.37281458e-03 -1.43860275e-02 6.16563152e+02] [ 7.37357272e-03 9.99972815e-01 -3.41234226e-07 4.38588694e+00] [ 1.43856390e-02 -1.05735230e-04 9.99896516e-01 2.44426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.539254154 meters 0.06188151909875372 Centerline is valid? [True, True] Translation: X:616.62, Y:4.39, Z:2.45 [[ 9.99900213e-01 -3.86932808e-04 -1.41214244e-02 6.16622375e+02] [ 3.86963938e-04 9.99999925e-01 -5.28001438e-07 4.38620705e+00] [ 1.41214235e-02 -4.93653321e-06 9.99900288e-01 2.44595744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters 0.06135938881129667 Centerline is valid? [True, True] Translation: X:616.68, Y:4.39, Z:2.45 [[ 9.99887252e-01 3.44166297e-05 -1.50160747e-02 6.16680139e+02] [-3.44366148e-05 9.99999999e-01 -1.07239888e-06 4.38553247e+00] [ 1.50160747e-02 1.58938076e-06 9.99887252e-01 2.44540282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.659254154 meters 0.06216899214591101 Centerline is valid? [True, True] Translation: X:616.74, Y:4.38, Z:2.44 [[ 9.99874127e-01 -3.33252313e-03 -1.55120993e-02 6.16738360e+02] [ 3.33289875e-03 9.99994446e-01 -1.63720758e-06 4.38207204e+00] [ 1.55120186e-02 -5.00632550e-05 9.99879680e-01 2.44428952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters 0.06189173670337159 Centerline is valid? [True, True] Translation: X:616.80, Y:4.38, Z:2.45 [[ 9.99860254e-01 -6.76626531e-03 -1.52869466e-02 6.16797384e+02] [ 6.76702393e-03 9.99977103e-01 -2.10121062e-06 4.38159139e+00] [ 1.52866108e-02 -1.01346216e-04 9.99883148e-01 2.45076324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.779254154 meters 0.06220567631252335 Centerline is valid? [True, True] Translation: X:616.86, Y:4.38, Z:2.45 [[ 9.99812273e-01 -1.21968332e-02 -1.50550751e-02 6.16855808e+02] [ 1.21981790e-02 9.99925599e-01 -2.43475830e-06 4.37652474e+00] [ 1.50539847e-02 -1.81210201e-04 9.99886666e-01 2.45027014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters 0.06238801092178053 Centerline is valid? [True, True] Translation: X:616.92, Y:4.38, Z:2.45 [[ 9.99746708e-01 -1.64806893e-02 -1.53266653e-02 6.16915368e+02] [ 1.64825788e-02 9.99864153e-01 -3.03911481e-06 4.37554029e+00] [ 1.53246333e-02 -2.49584623e-04 9.99882540e-01 2.45244537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.899254154 meters 0.06237179920395342 Centerline is valid? [True, True] Translation: X:616.97, Y:4.36, Z:2.44 [[ 9.99704990e-01 -1.76853636e-02 -1.66481469e-02 6.16973184e+02] [ 1.76877331e-02 9.99843560e-01 -4.92189399e-06 4.36082474e+00] [ 1.66456295e-02 -2.89547537e-04 9.99861410e-01 2.44443061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters 0.0624899364131576 Centerline is valid? [True, True] Translation: X:617.03, Y:4.37, Z:2.45 [[ 9.99746504e-01 -1.58305936e-02 -1.60099726e-02 6.17032198e+02] [ 1.58325339e-02 9.99874658e-01 -5.55067428e-06 4.36799506e+00] [ 1.60080537e-02 -2.47929167e-04 9.99871832e-01 2.45212582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.019254154 meters 0.06282464701035413 Centerline is valid? [True, True] Translation: X:617.09, Y:4.36, Z:2.45 [[ 9.99818613e-01 -1.04251717e-02 -1.59391417e-02 6.17091248e+02] [ 1.04264048e-02 9.99945644e-01 -5.73897537e-06 4.36492689e+00] [ 1.59383352e-02 -1.60450009e-04 9.99872964e-01 2.45147668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters 0.06296379270580567 Centerline is valid? [True, True] Translation: X:617.15, Y:4.37, Z:2.46 [[ 9.99851589e-01 -6.52931918e-03 -1.59426579e-02 6.17149693e+02] [ 6.53003723e-03 9.99978679e-01 -7.01745625e-06 4.36562469e+00] [ 1.59423638e-02 -9.70897346e-05 9.99872908e-01 2.45529959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.139254154 meters 0.06416213268028423 Centerline is valid? [True, True] Translation: X:617.21, Y:4.36, Z:2.46 [[ 9.99863676e-01 6.10566710e-04 -1.65002145e-02 6.17208663e+02] [-6.10797312e-04 9.99999813e-01 -8.93627737e-06 4.36292485e+00] [ 1.65002060e-02 1.90133458e-05 9.99863862e-01 2.45600297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters 0.06343662925212643 Centerline is valid? [True, True] Translation: X:617.27, Y:4.36, Z:2.46 [[ 9.99851662e-01 7.36482666e-03 -1.55696027e-02 6.17267447e+02] [-7.36587473e-03 9.99972872e-01 -9.97026481e-06 4.36018026e+00] [ 1.55691069e-02 1.24652529e-04 9.99878786e-01 2.45701907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.259254154 meters 0.0633585360612138 Centerline is valid? [True, True] Translation: X:617.33, Y:4.36, Z:2.46 [[ 9.99833121e-01 1.01616617e-02 -1.51812768e-02 6.17326301e+02] [-1.01630053e-02 9.99948355e-01 -1.13562829e-05 4.35664247e+00] [ 1.51803774e-02 1.65641784e-04 9.99884758e-01 2.45736598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters 0.06493098420353288 Centerline is valid? [True, True] Translation: X:617.38, Y:4.35, Z:2.46 [[ 9.99801889e-01 1.26036609e-02 -1.54055563e-02 6.17383974e+02] [-1.26053482e-02 9.99920549e-01 -1.24222437e-05 4.34956936e+00] [ 1.54041758e-02 2.06612184e-04 9.99881327e-01 2.46001373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.379254154 meters 0.06375640306436395 Centerline is valid? [True, True] Translation: X:617.44, Y:4.35, Z:2.46 [[ 9.99788489e-01 1.29908863e-02 -1.59440813e-02 6.17443244e+02] [-1.29927642e-02 9.99915590e-01 -1.41956568e-05 4.35094518e+00] [ 1.59425511e-02 2.21350343e-04 9.99872885e-01 2.45506859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters 0.06379202810566774 Centerline is valid? [True, True] Translation: X:617.50, Y:4.34, Z:2.46 [[ 9.99811073e-01 1.33367068e-02 -1.41403650e-02 6.17501522e+02] [-1.33382276e-02 9.99911042e-01 -1.32406514e-05 4.33932044e+00] [ 1.41389306e-02 2.01845557e-04 9.99900020e-01 2.45970556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.499254154 meters 0.06460842733214149 Centerline is valid? [True, True] Translation: X:617.56, Y:4.34, Z:2.46 [[ 9.99801204e-01 1.44903711e-02 -1.36960188e-02 6.17559878e+02] [-1.44919144e-02 9.99894987e-01 -1.34374365e-05 4.33521505e+00] [ 1.36943858e-02 2.11916297e-04 9.99906205e-01 2.45957523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.559254154 meters 0.0647430405500946 Centerline is valid? [True, True] Translation: X:617.62, Y:4.33, Z:2.46 [[ 9.99775759e-01 1.68770200e-02 -1.27905528e-02 6.17618560e+02] [-1.68785747e-02 9.99857547e-01 -1.36032767e-05 4.32767413e+00] [ 1.27885012e-02 2.29486528e-04 9.99918197e-01 2.46073417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.619254154 meters 0.06517150071224954 Centerline is valid? [True, True] Translation: X:617.68, Y:4.32, Z:2.46 [[ 9.99760518e-01 1.76466927e-02 -1.29421873e-02 6.17677440e+02] [-1.76483655e-02 9.99844255e-01 -1.50399150e-05 4.32291152e+00] [ 1.29399062e-02 2.43444765e-04 9.99916246e-01 2.46011809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.679254154 meters 0.06468273080773264 Centerline is valid? [True, True] Translation: X:617.74, Y:4.32, Z:2.46 [[ 9.99777303e-01 1.67310008e-02 -1.28614991e-02 6.17735135e+02] [-1.67325860e-02 9.99860000e-01 -1.56442027e-05 4.31628927e+00] [ 1.28594368e-02 2.30846859e-04 9.99917287e-01 2.45962804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.739254154 meters 0.06480405170454098 Centerline is valid? [True, True] Translation: X:617.80, Y:4.31, Z:2.46 [[ 9.99821945e-01 1.33723500e-02 -1.33138717e-02 6.17795063e+02] [-1.33737554e-02 9.99910567e-01 -1.65264033e-05 4.30942287e+00] [ 1.33124600e-02 1.94579925e-04 9.99911366e-01 2.46087181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.799254154 meters 0.06522297753578354 Centerline is valid? [True, True] Translation: X:617.86, Y:4.30, Z:2.46 [[ 9.99868968e-01 7.65020390e-03 -1.42661028e-02 6.17855373e+02] [-7.65124148e-03 9.99970729e-01 -1.81512780e-05 4.30069939e+00] [ 1.42655463e-02 1.27302297e-04 9.99898234e-01 2.46085667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.859254154 meters 0.06574897887344076 Centerline is valid? [True, True] Translation: X:617.91, Y:4.29, Z:2.46 [[ 9.99918552e-01 1.84507563e-03 -1.26287292e-02 6.17914546e+02] [-1.84542881e-03 9.99998297e-01 -1.63131193e-05 4.29309463e+00] [ 1.26286776e-02 3.96172113e-05 9.99920254e-01 2.46129202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.919254154 meters 0.06528596005418139 Centerline is valid? [True, True] Translation: X:617.97, Y:4.29, Z:2.46 [[ 9.99911606e-01 -2.44591241e-03 -1.30689886e-02 6.17972280e+02] [ 2.44589572e-03 9.99997009e-01 -1.72603770e-05 4.28815285e+00] [ 1.30689917e-02 -1.47065320e-05 9.99914597e-01 2.46114644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters 0.0654087639898793 Centerline is valid? [True, True] Translation: X:618.03, Y:4.28, Z:2.46 [[ 9.99869768e-01 -8.91723947e-03 -1.34510191e-02 6.18030986e+02] [ 8.91780274e-03 9.99960235e-01 -1.81042900e-05 4.28102703e+00] [ 1.34506456e-02 -1.01851603e-04 9.99909531e-01 2.46246258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.039254154 meters 0.06578182661934018 Centerline is valid? [True, True] Translation: X:618.09, Y:4.28, Z:2.46 [[ 9.99836095e-01 -1.38065245e-02 -1.17116872e-02 6.18090188e+02] [ 1.38072847e-02 9.99904675e-01 -1.59487382e-05 4.27695453e+00] [ 1.17107910e-02 -1.45760476e-04 9.99931416e-01 2.46464480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters 0.06511340583373523 Centerline is valid? [True, True] Translation: X:618.15, Y:4.27, Z:2.46 [[ 9.99817357e-01 -1.48957070e-02 -1.19737485e-02 6.18148034e+02] [ 1.48965754e-02 9.99889040e-01 -1.66605933e-05 4.27128901e+00] [ 1.19726680e-02 -1.61710297e-04 9.99928312e-01 2.46318585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.159254154 meters 0.06514570739367637 Centerline is valid? [True, True] Translation: X:618.21, Y:4.27, Z:2.47 [[ 9.99784805e-01 -1.71424351e-02 -1.16825197e-02 6.18207106e+02] [ 1.71434115e-02 9.99853041e-01 -1.65639877e-05 4.26877135e+00] [ 1.16810868e-02 -1.83717819e-04 9.99931757e-01 2.46556788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters 0.06626881068933275 Centerline is valid? [True, True] Translation: X:618.26, Y:4.27, Z:2.47 [[ 9.99773466e-01 -1.76141115e-02 -1.19482189e-02 6.18264829e+02] [ 1.76151617e-02 9.99844841e-01 -1.73464371e-05 4.26536656e+00] [ 1.19466706e-02 -1.93127301e-04 9.99928617e-01 2.46690016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.279254154 meters 0.0656720332433512 Centerline is valid? [True, True] Translation: X:618.32, Y:4.26, Z:2.47 [[ 9.99760458e-01 -1.82534168e-02 -1.20763725e-02 6.18324007e+02] [ 1.82545321e-02 9.99833372e-01 -1.78721844e-05 4.26355799e+00] [ 1.20746865e-02 -2.02580626e-04 9.99927078e-01 2.46782075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters 0.06625072331432928 Centerline is valid? [True, True] Translation: X:618.38, Y:4.26, Z:2.47 [[ 9.99740949e-01 -1.92695351e-02 -1.21127743e-02 6.18382990e+02] [ 1.92707252e-02 9.99814302e-01 -1.84693716e-05 4.26295319e+00] [ 1.21108809e-02 -2.14957358e-04 9.99926637e-01 2.46949434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.399254154 meters 0.06644080749752586 Centerline is valid? [True, True] Translation: X:618.44, Y:4.26, Z:2.47 [[ 9.99663506e-01 -2.27167811e-02 -1.25228856e-02 6.18442149e+02] [ 2.27183205e-02 9.99741905e-01 -1.93334876e-05 4.25744063e+00] [ 1.25200927e-02 -2.65171947e-04 9.99921585e-01 2.46922456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters 0.06630908745725447 Centerline is valid? [True, True] Translation: X:618.50, Y:4.25, Z:2.47 [[ 9.99528641e-01 -2.80773673e-02 -1.24160411e-02 6.18501657e+02] [ 2.80792929e-02 9.99605699e-01 -1.92409714e-05 4.25433213e+00] [ 1.24116856e-02 -3.29401752e-04 9.99922918e-01 2.47097390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.519254154 meters 0.06570317593176331 Centerline is valid? [True, True] Translation: X:618.56, Y:4.25, Z:2.47 [[ 9.99391915e-01 -3.27879898e-02 -1.18637071e-02 6.18562008e+02] [ 3.27900798e-02 9.99462261e-01 -1.83553119e-05 4.25202452e+00] [ 1.18579294e-02 -3.70667753e-04 9.99929624e-01 2.47072269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters 0.0658919449819729 Centerline is valid? [True, True] Translation: X:618.62, Y:4.25, Z:2.47 [[ 9.99169225e-01 -3.88817012e-02 -1.22095679e-02 6.18621706e+02] [ 3.88843689e-02 9.99243717e-01 -1.89093372e-05 4.24656210e+00] [ 1.22010692e-02 -4.55867715e-04 9.99925460e-01 2.47080212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.639254154 meters 0.06628746503511891 Centerline is valid? [True, True] Translation: X:618.68, Y:4.24, Z:2.47 [[ 9.99018230e-01 -4.24947211e-02 -1.25209777e-02 6.18680726e+02] [ 4.24978080e-02 9.99096560e-01 -1.95459490e-05 4.24075029e+00] [ 1.25104964e-02 -5.12587348e-04 9.99921609e-01 2.47079245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters 0.06586594314769886 Centerline is valid? [True, True] Translation: X:618.74, Y:4.25, Z:2.47 [[ 9.98742763e-01 -4.89163382e-02 -1.09583299e-02 6.18741406e+02] [ 4.89190877e-02 9.98802745e-01 -1.71539661e-05 4.24562873e+00] [ 1.09460491e-02 -5.18939100e-04 9.99939956e-01 2.47375749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.759254154 meters 0.06502165947087843 Centerline is valid? [True, True] Translation: X:618.80, Y:4.25, Z:2.47 [[ 9.98646077e-01 -5.07386728e-02 -1.14716692e-02 6.18801756e+02] [ 5.07418060e-02 9.98711805e-01 -1.79546154e-05 4.24502611e+00] [ 1.14578025e-02 -5.64162908e-04 9.99934198e-01 2.47373276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters 0.06672809615535337 Centerline is valid? [True, True] Translation: X:618.86, Y:4.24, Z:2.47 [[ 9.98660295e-01 -5.02310431e-02 -1.24280589e-02 6.18861810e+02] [ 5.02346813e-02 9.98737441e-01 -1.94514863e-05 4.24141915e+00] [ 1.24133448e-02 -6.04894149e-04 9.99922768e-01 2.47343822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.879254154 meters 0.06719392919104125 Centerline is valid? [True, True] Translation: X:618.92, Y:4.24, Z:2.47 [[ 9.98753090e-01 -4.83288579e-02 -1.25134973e-02 6.18920904e+02] [ 4.83323956e-02 9.98831307e-01 -1.97287605e-05 4.24045837e+00] [ 1.24998263e-02 -5.85103139e-04 9.99921703e-01 2.47286578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters 0.06669485423215318 Centerline is valid? [True, True] Translation: X:618.98, Y:4.25, Z:2.47 [[ 9.98994293e-01 -4.30580323e-02 -1.25063235e-02 6.18980600e+02] [ 4.30611523e-02 9.99072438e-01 -1.98242114e-05 4.24727596e+00] [ 1.24955767e-02 -5.18732425e-04 9.99921793e-01 2.47387393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.999254154 meters 0.0657704190348034 Centerline is valid? [True, True] Translation: X:619.04, Y:4.26, Z:2.47 [[ 9.99261342e-01 -3.63614690e-02 -1.24343613e-02 6.19040548e+02] [ 3.63640350e-02 9.99338610e-01 -1.97408400e-05 4.25509107e+00] [ 1.24268551e-02 -4.32437291e-04 9.99922690e-01 2.47488214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.059254154 meters 0.06709227659562657 Centerline is valid? [True, True] Translation: X:619.10, Y:4.26, Z:2.48 [[ 9.99487512e-01 -2.98305256e-02 -1.16126086e-02 6.19100834e+02] [ 2.98323234e-02 9.99554917e-01 -1.84129077e-05 4.26104624e+00] [ 1.16079892e-02 -3.28027623e-04 9.99932571e-01 2.47525291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.119254154 meters 0.06678695171571333 Centerline is valid? [True, True] Translation: X:619.16, Y:4.26, Z:2.47 [[ 9.99562163e-01 -2.69468526e-02 -1.22208400e-02 6.19159759e+02] [ 2.69486268e-02 9.99636820e-01 -1.94982259e-05 4.25728739e+00] [ 1.22169271e-02 -3.09845168e-04 9.99925323e-01 2.47343319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.179254154 meters 0.06589568269464927 Centerline is valid? [True, True] Translation: X:619.22, Y:4.27, Z:2.48 [[ 9.99578604e-01 -2.63197558e-02 -1.22427167e-02 6.19218564e+02] [ 2.63214775e-02 9.99653530e-01 -2.05041299e-05 4.26989187e+00] [ 1.22390147e-02 -3.01750904e-04 9.99925055e-01 2.47610963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.239254154 meters 0.06597780408887771 Centerline is valid? [True, True] Translation: X:619.28, Y:4.27, Z:2.48 [[ 9.99562250e-01 -2.67425449e-02 -1.26548526e-02 6.19276753e+02] [ 2.67444099e-02 9.99642304e-01 -2.18607450e-05 4.26822285e+00] [ 1.26509106e-02 -3.16595389e-04 9.99919924e-01 2.47519648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.299254154 meters 0.06586445024629575 Centerline is valid? [True, True] Translation: X:619.34, Y:4.27, Z:2.48 [[ 9.99510595e-01 -2.87877613e-02 -1.22407196e-02 6.19335999e+02] [ 2.87896556e-02 9.99585492e-01 -2.14617897e-05 4.27245203e+00] [ 1.22362636e-02 -3.30954816e-04 9.99925079e-01 2.47592657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.359254154 meters 0.06606995356638411 Centerline is valid? [True, True] Translation: X:619.40, Y:4.27, Z:2.48 [[ 9.99458961e-01 -3.08594280e-02 -1.13789391e-02 6.19395638e+02] [ 3.08611938e-02 9.99523680e-01 -2.04170963e-05 4.27308294e+00] [ 1.13741491e-02 -3.30761594e-04 9.99935258e-01 2.47661824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.419254154 meters 0.06657871149562125 Centerline is valid? [True, True] Translation: X:619.46, Y:4.27, Z:2.48 [[ 9.99302928e-01 -3.56334915e-02 -1.11316016e-02 6.19455668e+02] [ 3.56354751e-02 9.99364855e-01 -2.01664339e-05 4.27269011e+00] [ 1.11252500e-02 -3.76527533e-04 9.99938042e-01 2.47598172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters 0.0657239792728669 Centerline is valid? [True, True] Translation: X:619.52, Y:4.28, Z:2.48 [[ 9.99011955e-01 -4.31752400e-02 -1.05362092e-02 6.19516617e+02] [ 4.31774360e-02 9.99067419e-01 -1.90582754e-05 4.27651372e+00] [ 1.05272062e-02 -4.35887056e-04 9.99944492e-01 2.47697140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.539254154 meters 0.06505842214234371 Centerline is valid? [True, True] Translation: X:619.58, Y:4.28, Z:2.48 [[ 9.98755617e-01 -4.88303979e-02 -1.01395593e-02 6.19577599e+02] [ 4.88327230e-02 9.98806971e-01 -1.82909906e-05 4.28009616e+00] [ 1.01283557e-02 -4.76874062e-04 9.99948593e-01 2.47808394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters 0.06522441546498685 Centerline is valid? [True, True] Translation: X:619.64, Y:4.29, Z:2.48 [[ 9.98267486e-01 -5.81761552e-02 -8.80695244e-03 6.19638081e+02] [ 5.81782721e-02 9.98306210e-01 -1.58535743e-05 4.28529298e+00] [ 8.79295761e-03 -4.96547167e-04 9.99961218e-01 2.47753635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.659254154 meters 0.06590018998735818 Centerline is valid? [True, True] Translation: X:619.70, Y:4.28, Z:2.48 [[ 9.98078753e-01 -6.13467380e-02 -8.68219415e-03 6.19697767e+02] [ 6.13489148e-02 9.98116381e-01 -1.56376057e-05 4.28324639e+00] [ 8.66679952e-03 -5.17035627e-04 9.99962309e-01 2.47799664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters 0.06726032713490247 Centerline is valid? [True, True] Translation: X:619.76, Y:4.28, Z:2.48 [[ 9.97915657e-01 -6.39564149e-02 -8.59758040e-03 6.19757032e+02] [ 6.39586455e-02 9.97952550e-01 -1.55350736e-05 4.28095421e+00] [ 8.58097084e-03 -5.34386904e-04 9.99963040e-01 2.47732712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.779254154 meters 0.06487237021054762 Centerline is valid? [True, True] Translation: X:619.82, Y:4.30, Z:2.48 [[ 9.97854070e-01 -6.51274897e-02 -6.75763662e-03 6.19818218e+02] [ 6.51288947e-02 9.97876860e-01 -1.21845033e-05 4.29939664e+00] [ 6.74408275e-03 -4.27959047e-04 9.99977167e-01 2.47805396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters 0.06447034933062142 Centerline is valid? [True, True] Translation: X:619.88, Y:4.31, Z:2.48 [[ 9.97801251e-01 -6.59502503e-02 -6.57485874e-03 6.19879974e+02] [ 6.59515991e-02 9.97822823e-01 -1.16990277e-05 4.30683648e+00] [ 6.56131566e-03 -4.21949143e-04 9.99978385e-01 2.47841179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.899254154 meters 0.06637236349541104 Centerline is valid? [True, True] Translation: X:619.94, Y:4.30, Z:2.48 [[ 9.97747140e-01 -6.66428582e-02 -7.70545166e-03 6.19941422e+02] [ 6.66447333e-02 9.97776768e-01 -1.34531314e-05 4.30186032e+00] [ 7.68921721e-03 -5.00104947e-04 9.99970312e-01 2.47717579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters 0.06421211785223335 Centerline is valid? [True, True] Translation: X:620.00, Y:4.32, Z:2.48 [[ 9.97727675e-01 -6.71176001e-02 -5.89189795e-03 6.20003743e+02] [ 6.71187056e-02 9.97744997e-01 -1.01267224e-05 4.31976464e+00] [ 5.87929139e-03 -3.85352853e-04 9.99982643e-01 2.47823235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.019254154 meters 0.06918094304301534 Centerline is valid? [True, True] Translation: X:620.07, Y:4.30, Z:2.48 [[ 9.97741725e-01 -6.68039836e-02 -6.97697557e-03 6.20065281e+02] [ 6.68055280e-02 9.97766015e-01 -1.17193230e-05 4.30194871e+00] [ 6.96217201e-03 -4.54407679e-04 9.99975661e-01 2.47777351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters 0.06604036828158999 Centerline is valid? [True, True] Translation: X:620.13, Y:4.32, Z:2.48 [[ 9.97741326e-01 -6.68927464e-02 -6.13249058e-03 6.20127315e+02] [ 6.68939424e-02 9.97760092e-01 -1.01258124e-05 4.32076798e+00] [ 6.11943171e-03 -4.00123530e-04 9.99981196e-01 2.47777539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.139254154 meters 0.06306319130463506 Centerline is valid? [True, True] Translation: X:620.19, Y:4.35, Z:2.48 [[ 9.97830893e-01 -6.56688834e-02 -4.59413965e-03 6.20188527e+02] [ 6.56695422e-02 9.97841426e-01 -7.46179791e-06 4.34812707e+00] [ 4.58471287e-03 -2.94249436e-04 9.99989447e-01 2.47872171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters 0.06269471780132785 Centerline is valid? [True, True] Translation: X:620.25, Y:4.36, Z:2.48 [[ 9.97997140e-01 -6.30947278e-02 -4.55666619e-03 6.20248242e+02] [ 6.30953493e-02 9.98007503e-01 -7.37266835e-06 4.35628605e+00] [ 4.54805223e-03 -2.80146543e-04 9.99989618e-01 2.47880977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.259254154 meters 0.06257630843464489 Centerline is valid? [True, True] Translation: X:620.31, Y:4.36, Z:2.48 [[ 9.98269340e-01 -5.86614710e-02 -4.14203736e-03 6.20307599e+02] [ 5.86619463e-02 9.98277905e-01 -6.73539953e-06 4.36138024e+00] [ 4.13529949e-03 -2.36256230e-04 9.99991422e-01 2.47852950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters 0.06303015338956362 Centerline is valid? [True, True] Translation: X:620.37, Y:4.37, Z:2.48 [[ 9.98494931e-01 -5.46768809e-02 -4.27931224e-03 6.20368818e+02] [ 5.46773516e-02 9.98504075e-01 -6.98601047e-06 4.37297389e+00] [ 4.27329268e-03 -2.27005964e-04 9.99990844e-01 2.47799634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.379254154 meters 0.06363194568856945 Centerline is valid? [True, True] Translation: X:620.43, Y:4.38, Z:2.48 [[ 9.98825102e-01 -4.82174151e-02 -4.84724402e-03 6.20428064e+02] [ 4.82179434e-02 9.98836838e-01 -7.88418230e-06 4.37915610e+00] [ 4.84198605e-03 -2.25849219e-04 9.99988252e-01 2.47826751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters 0.06262926055138258 Centerline is valid? [True, True] Translation: X:620.49, Y:4.39, Z:2.48 [[ 9.99011150e-01 -4.41830066e-02 -4.95823613e-03 6.20489115e+02] [ 4.41835096e-02 9.99023432e-01 -8.09866828e-06 4.39058961e+00] [ 4.95375190e-03 -2.10981614e-04 9.99987708e-01 2.47874494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.499254154 meters 0.062260888737451545 Centerline is valid? [True, True] Translation: X:620.55, Y:4.40, Z:2.48 [[ 9.99257290e-01 -3.83585607e-02 -3.67280250e-03 6.20548683e+02] [ 3.83587974e-02 9.99264031e-01 -5.98800650e-06 4.39661611e+00] [ 3.67032912e-03 -1.34900728e-04 9.99993255e-01 2.47903158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.559254154 meters 0.06310793166117691 Centerline is valid? [True, True] Translation: X:620.61, Y:4.40, Z:2.48 [[ 9.99461024e-01 -3.25577356e-02 -4.20180541e-03 6.20608648e+02] [ 3.25579944e-02 9.99469848e-01 -6.82431507e-06 4.40478070e+00] [ 4.19980000e-03 -1.29981720e-04 9.99991172e-01 2.47887858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.619254154 meters 0.06297313132106354 Centerline is valid? [True, True] Translation: X:620.67, Y:4.41, Z:2.48 [[ 9.99555285e-01 -2.93966619e-02 -5.00681067e-03 6.20669557e+02] [ 2.93969898e-02 9.99567815e-01 -8.09725101e-06 4.40984263e+00] [ 5.00488483e-03 -1.39091512e-04 9.99987466e-01 2.47818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.679254154 meters 0.06264754512512068 Centerline is valid? [True, True] Translation: X:620.73, Y:4.42, Z:2.48 [[ 9.99648998e-01 -2.60931177e-02 -4.58575685e-03 6.20730714e+02] [ 2.60933583e-02 9.99659510e-01 -7.37384548e-06 4.41723618e+00] [ 4.58438786e-03 -1.12286539e-04 9.99989485e-01 2.47867109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.739254154 meters 0.06162186770014499 Centerline is valid? [True, True] Translation: X:620.79, Y:4.43, Z:2.48 [[ 9.99711335e-01 -2.37626740e-02 -3.54713812e-03 6.20792279e+02] [ 2.37628033e-02 9.99717625e-01 -5.68585719e-06 4.42570544e+00] [ 3.54627160e-03 -7.86057296e-05 9.99993709e-01 2.47942260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.799254154 meters 0.06164695836370772 Centerline is valid? [True, True] Translation: X:620.85, Y:4.43, Z:2.48 [[ 9.99773260e-01 -2.09478616e-02 -3.82315950e-03 6.20853645e+02] [ 2.09479915e-02 9.99780567e-01 -6.06007262e-06 4.43062766e+00] [ 3.82244751e-03 -7.40288141e-05 9.99992692e-01 2.47956635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.859254154 meters 0.06102240492193057 Centerline is valid? [True, True] Translation: X:620.92, Y:4.43, Z:2.48 [[ 9.99808422e-01 -1.90121620e-02 -4.65379964e-03 6.20916119e+02] [ 1.90123340e-02 9.99819249e-01 -7.27373318e-06 4.43273741e+00] [ 4.65309675e-03 -8.12072536e-05 9.99989171e-01 2.47930346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.919254154 meters 0.06219996366624209 Centerline is valid? [True, True] Translation: X:620.98, Y:4.43, Z:2.48 [[ 9.99853052e-01 -1.59633119e-02 -6.24878872e-03 6.20976985e+02] [ 1.59635639e-02 9.99872574e-01 -9.55242506e-06 4.43318939e+00] [ 6.24814495e-03 -9.02019164e-05 9.99980476e-01 2.47896349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters 0.06201195649965223 Centerline is valid? [True, True] Translation: X:621.04, Y:4.44, Z:2.48 [[ 9.99903582e-01 -1.22649454e-02 -6.51133185e-03 6.21037470e+02] [ 1.22651412e-02 9.99924780e-01 -9.86529654e-06 4.43819559e+00] [ 6.51096307e-03 -6.99980592e-05 9.99978801e-01 2.48050644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.039254154 meters 0.0618240349498393 Centerline is valid? [True, True] Translation: X:621.10, Y:4.44, Z:2.48 [[ 9.99955240e-01 -7.72675019e-03 -5.46037068e-03 6.21098408e+02] [ 7.72682049e-03 9.99970148e-01 -8.22151123e-06 4.43859346e+00] [ 5.46027120e-03 -3.39701608e-05 9.99985092e-01 2.48107614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters 0.06198620962581323 Centerline is valid? [True, True] Translation: X:621.16, Y:4.44, Z:2.48 [[ 9.99972439e-01 -5.28801206e-03 -5.21129169e-03 6.21158519e+02] [ 5.28804324e-03 9.99986018e-01 -7.79477265e-06 4.43946721e+00] [ 5.21126004e-03 -1.97629780e-05 9.99986421e-01 2.48216719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.159254154 meters 0.06214750383252319 Centerline is valid? [True, True] Translation: X:621.22, Y:4.44, Z:2.48 [[ 9.99976994e-01 -3.60057057e-03 -5.74868315e-03 6.21218192e+02] [ 3.60058034e-03 9.99993518e-01 -8.64989268e-06 4.43810006e+00] [ 5.74867703e-03 -1.20489018e-05 9.99983476e-01 2.48201545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters 0.06248014858758129 Centerline is valid? [True, True] Translation: X:621.28, Y:4.43, Z:2.48 [[ 9.99971021e-01 -5.62060419e-03 -5.13477129e-03 6.21277458e+02] [ 5.62063831e-03 9.99984204e-01 -7.78491257e-06 4.43308626e+00] [ 5.13473393e-03 -2.10760053e-05 9.99986817e-01 2.48195241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.279254154 meters 0.06293837028496238 Centerline is valid? [True, True] Translation: X:621.34, Y:4.43, Z:2.48 [[ 9.99933117e-01 -1.03958477e-02 -5.06838995e-03 6.21337385e+02] [ 1.03959418e-02 9.99945961e-01 -7.77834880e-06 4.42539608e+00] [ 5.06819692e-03 -4.49128583e-05 9.99987156e-01 2.48230991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters 0.06209935280474335 Centerline is valid? [True, True] Translation: X:621.40, Y:4.42, Z:2.48 [[ 9.99893021e-01 -1.36925758e-02 -5.14386517e-03 6.21398149e+02] [ 1.36927168e-02 9.99906250e-01 -7.81517231e-06 4.41804416e+00] [ 5.14348995e-03 -6.26191526e-05 9.99986770e-01 2.48340962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.399254154 meters 0.06251535089731136 Centerline is valid? [True, True] Translation: X:621.46, Y:4.41, Z:2.48 [[ 9.99839988e-01 -1.72018547e-02 -4.90861369e-03 6.21459597e+02] [ 1.72020269e-02 9.99852034e-01 -7.14051263e-06 4.40827024e+00] [ 4.90801021e-03 -7.72987346e-05 9.99987953e-01 2.48407746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters 0.06254420579840436 Centerline is valid? [True, True] Translation: X:621.52, Y:4.41, Z:2.48 [[ 9.99816513e-01 -1.86680824e-02 -4.29443478e-03 6.21521613e+02] [ 1.86682292e-02 9.99825733e-01 -5.88440870e-06 4.40823637e+00] [ 4.29379625e-03 -7.42861640e-05 9.99990779e-01 2.48458507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.519254154 meters 0.06244126438414773 Centerline is valid? [True, True] Translation: X:621.58, Y:4.40, Z:2.48 [[ 9.99815756e-01 -1.87591436e-02 -4.06791886e-03 6.21584128e+02] [ 1.87592767e-02 9.99824029e-01 -5.45156083e-06 4.40426604e+00] [ 4.06730530e-03 -7.08606590e-05 9.99991726e-01 2.48432220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters 0.06213205772012654 Centerline is valid? [True, True] Translation: X:621.65, Y:4.40, Z:2.48 [[ 9.99838169e-01 -1.73323816e-02 -4.81912526e-03 6.21645208e+02] [ 1.73325525e-02 9.99849780e-01 -6.29685593e-06 4.39697614e+00] [ 4.81851047e-03 -7.72319046e-05 9.99988388e-01 2.48383808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.639254154 meters 0.06256809935892584 Centerline is valid? [True, True] Translation: X:621.71, Y:4.40, Z:2.48 [[ 9.99852318e-01 -1.63817764e-02 -5.19425860e-03 6.21706657e+02] [ 1.63819628e-02 9.99865807e-01 -6.66338379e-06 4.39753332e+00] [ 5.19367072e-03 -7.84297512e-05 9.99986510e-01 2.48354281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters 0.06287779832127123 Centerline is valid? [True, True] Translation: X:621.77, Y:4.40, Z:2.48 [[ 9.99869490e-01 -1.52219280e-02 -5.41253050e-03 6.21768291e+02] [ 1.52221138e-02 9.99884137e-01 -6.85383385e-06 4.39528125e+00] [ 5.41200772e-03 -7.55372161e-05 9.99985352e-01 2.48397516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.759254154 meters 0.06313797026574805 Centerline is valid? [True, True] Translation: X:621.83, Y:4.39, Z:2.48 [[ 9.99877015e-01 -1.50241411e-02 -4.49778132e-03 6.21829787e+02] [ 1.50242678e-02 9.99887129e-01 -5.63100065e-06 4.39272552e+00] [ 4.49735825e-03 -6.19455627e-05 9.99989885e-01 2.48448409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters 0.0635762088146958 Centerline is valid? [True, True] Translation: X:621.89, Y:4.39, Z:2.48 [[ 9.99849979e-01 -1.66121353e-02 -4.90466128e-03 6.21891247e+02] [ 1.66123057e-02 9.99862006e-01 -6.00639357e-06 4.38599580e+00] [ 4.90408424e-03 -7.54722399e-05 9.99987972e-01 2.48476062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.879254154 meters 0.06309330258006585 Centerline is valid? [True, True] Translation: X:621.95, Y:4.39, Z:2.49 [[ 9.99779437e-01 -2.03090830e-02 -5.34970862e-03 6.21952792e+02] [ 2.03093394e-02 9.99793744e-01 -6.41495545e-06 4.38640645e+00] [ 5.34873549e-03 -1.02235507e-04 9.99985690e-01 2.48588792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters 0.06325838851724451 Centerline is valid? [True, True] Translation: X:622.01, Y:4.38, Z:2.49 [[ 9.99748076e-01 -2.16535086e-02 -5.90854641e-03 6.22014164e+02] [ 2.16538457e-02 9.99765528e-01 -6.91136228e-06 4.38207918e+00] [ 5.90731068e-03 -1.21033131e-04 9.99982544e-01 2.48562615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.999254154 meters 0.06378369786710544 Centerline is valid? [True, True] Translation: X:622.07, Y:4.38, Z:2.49 [[ 9.99642119e-01 -2.62147077e-02 -5.33135369e-03 6.22074471e+02] [ 2.62150479e-02 9.99656327e-01 -6.06761330e-06 4.37633169e+00] [ 5.32968051e-03 -1.33696251e-04 9.99985788e-01 2.48582249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.059254154 meters 0.06295644930990746 Centerline is valid? [True, True] Translation: X:622.14, Y:4.38, Z:2.49 [[ 9.99480156e-01 -3.19102430e-02 -4.59946625e-03 6.22135169e+02] [ 3.19105566e-02 9.99490729e-01 -5.21637374e-06 4.37792970e+00] [ 4.59729033e-03 -1.41557866e-04 9.99989422e-01 2.48609759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.119254154 meters 0.0645348226834847 Centerline is valid? [True, True] Translation: X:622.19, Y:4.37, Z:2.49 [[ 9.99337282e-01 -3.61019029e-02 -4.65299648e-03 6.22194592e+02] [ 3.61022695e-02 9.99348101e-01 -5.22420942e-06 4.37026161e+00] [ 4.65015180e-03 -1.62762985e-04 9.99989175e-01 2.48674289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.179254154 meters 0.06308135249873013 Centerline is valid? [True, True] Translation: X:622.26, Y:4.38, Z:2.49 [[ 9.99008121e-01 -4.44004975e-02 -3.37192303e-03 6.22255481e+02] [ 4.44007371e-02 9.99013801e-01 -3.80506532e-06 4.37747528e+00] [ 3.36876659e-03 -1.45914577e-04 9.99994315e-01 2.48763927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.239254154 meters 0.06298676157926325 Centerline is valid? [True, True] Translation: X:622.31, Y:4.37, Z:2.49 [[ 9.98565557e-01 -5.34620212e-02 -2.93935534e-03 6.22314805e+02] [ 5.34622423e-02 9.98569872e-01 -3.33640063e-06 4.37285629e+00] [ 2.93533005e-03 -1.53812913e-04 9.99995680e-01 2.48798562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.299254154 meters 0.06298739328885647 Centerline is valid? [True, True] Translation: X:622.38, Y:4.38, Z:2.49 [[ 9.98287754e-01 -5.84798200e-02 -1.29258189e-03 6.22375577e+02] [ 5.84798670e-02 9.98288588e-01 -1.43792115e-06 4.37752086e+00] [ 1.29045383e-03 -7.41545577e-05 9.99999165e-01 2.48859961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.359254154 meters 0.06324916487829467 Centerline is valid? [True, True] Translation: X:622.44, Y:4.38, Z:2.49 [[ 9.98075667e-01 -6.20017469e-02 -8.63768353e-04 6.22435954e+02] [ 6.20017692e-02 9.98076040e-01 -9.62920100e-07 4.38008675e+00] [ 8.62166199e-04 -5.25940989e-05 9.99999627e-01 2.48877936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.419254154 meters 0.06292624686033897 Centerline is valid? [True, True] Translation: X:622.50, Y:4.38, Z:2.49 [[ 9.98136924e-01 -6.10127520e-02 3.53030967e-04 6.22496818e+02] [ 6.10127557e-02 9.98136986e-01 2.89970502e-07 4.37961241e+00] [-3.52390958e-04 2.12499619e-05 9.99999938e-01 2.49019740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters 0.06494874922402517 Centerline is valid? [True, True] Translation: X:622.56, Y:4.38, Z:2.49 [[ 9.98309082e-01 -5.81225304e-02 8.65280551e-04 6.22556832e+02] [ 5.81225514e-02 9.98309456e-01 9.23969807e-07 4.37792335e+00] [-8.63871460e-04 4.93699058e-05 9.99999626e-01 2.49155155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.539254154 meters 0.06737670485483084 Centerline is valid? [True, True] Translation: X:622.62, Y:4.38, Z:2.49 [[ 9.98613953e-01 -5.26006794e-02 1.82797290e-03 6.22616191e+02] [ 5.26007636e-02 9.98615622e-01 1.98218862e-06 4.37832880e+00] [-1.82554656e-03 9.41733291e-05 9.99998329e-01 2.49299857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters 0.06488052045305402 Centerline is valid? [True, True] Translation: X:622.68, Y:4.39, Z:2.49 [[ 9.98899170e-01 -4.68886361e-02 1.37977243e-03 6.22677213e+02] [ 4.68886788e-02 9.98900121e-01 1.41821677e-06 4.39058531e+00] [-1.37832135e-03 6.32790508e-05 9.99999048e-01 2.49159840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.659254154 meters 0.06315173934867735 Centerline is valid? [True, True] Translation: X:622.74, Y:4.40, Z:2.49 [[ 9.99021543e-01 -4.42184742e-02 8.26360657e-04 6.22737606e+02] [ 4.42184886e-02 9.99021884e-01 8.70401289e-07 4.40016587e+00] [-8.25590869e-04 3.56708697e-05 9.99999659e-01 2.48979631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters 0.06276748293162046 Centerline is valid? [True, True] Translation: X:622.80, Y:4.41, Z:2.49 [[ 9.99199337e-01 -4.00055752e-02 4.88739198e-04 6.22797462e+02] [ 4.00055797e-02 9.99199456e-01 5.24036842e-07 4.40862972e+00] [-4.88368906e-04 1.90286777e-05 9.99999881e-01 2.48971922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.779254154 meters 0.06282772097175401 Centerline is valid? [True, True] Translation: X:622.86, Y:4.41, Z:2.49 [[ 9.99362084e-01 -3.57115364e-02 3.32847505e-04 6.22857397e+02] [ 3.57115383e-02 9.99362140e-01 3.42769044e-07 4.41300164e+00] [-3.32647436e-04 1.15439460e-05 9.99999945e-01 2.48991596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters 0.06263243063822833 Centerline is valid? [True, True] Translation: X:622.92, Y:4.42, Z:2.49 [[ 9.99551974e-01 -2.99307737e-02 1.19186813e-05 6.22918522e+02] [ 2.99307737e-02 9.99551974e-01 -4.47161558e-08 4.42052902e+00] [-1.19120034e-05 4.01431479e-07 1.00000000e+00 2.49022008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.899254154 meters 0.062021412008835854 Centerline is valid? [True, True] Translation: X:622.98, Y:4.43, Z:2.49 [[ 9.99669425e-01 -2.57105856e-02 -8.14106028e-05 6.22979143e+02] [ 2.57105857e-02 9.99669428e-01 -9.39074902e-08 4.42597864e+00] [ 8.13861048e-05 -1.99923783e-06 9.99999997e-01 2.49003928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters 0.06282898764701392 Centerline is valid? [True, True] Translation: X:623.04, Y:4.43, Z:2.49 [[ 9.99789845e-01 -2.04997576e-02 -1.58791684e-04 6.23039669e+02] [ 2.04997578e-02 9.99789858e-01 -2.01366836e-07 4.43060964e+00] [ 1.58762443e-04 -3.05386655e-06 9.99999987e-01 2.48847933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.019254154 meters 0.06228406296594672 Centerline is valid? [True, True] Translation: X:623.10, Y:4.44, Z:2.49 [[ 9.99858380e-01 -1.67869515e-02 -1.19091914e-03 6.23101074e+02] [ 1.67869619e-02 9.99859089e-01 -1.27828591e-06 4.43516537e+00] [ 1.19077278e-03 -1.87138093e-05 9.99999291e-01 2.48813473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters 0.06216531800629625 Centerline is valid? [True, True] Translation: X:623.16, Y:4.44, Z:2.49 [[ 9.99867866e-01 -1.60688087e-02 -2.45857840e-03 6.23163348e+02] [ 1.60688510e-02 9.99870888e-01 -2.56083138e-06 4.43572664e+00] [ 2.45830212e-03 -3.69460369e-05 9.99996978e-01 2.48607716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.139254154 meters 0.061140333941426685 Centerline is valid? [True, True] Translation: X:623.23, Y:4.44, Z:2.49 [[ 9.99853512e-01 -1.68635460e-02 -2.92834597e-03 6.23225112e+02] [ 1.68636098e-02 9.99857799e-01 -2.93715675e-06 4.43824312e+00] [ 2.92797909e-03 -4.64457571e-05 9.99995712e-01 2.48568176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters 0.06139671809099159 Centerline is valid? [True, True] Translation: X:623.29, Y:4.44, Z:2.48 [[ 9.99794075e-01 -2.00809857e-02 -2.92601888e-03 6.23286353e+02] [ 2.00810634e-02 9.99798355e-01 -2.84100267e-06 4.43559780e+00] [ 2.92548591e-03 -5.59171528e-05 9.99995719e-01 2.48459477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.259254154 meters 0.06132498214329575 Centerline is valid? [True, True] Translation: X:623.35, Y:4.43, Z:2.48 [[ 9.99730334e-01 -2.30536749e-02 -2.79048330e-03 6.23347432e+02] [ 2.30537573e-02 9.99734227e-01 -2.62920352e-06 4.43372032e+00] [ 2.78980228e-03 -6.17026303e-05 9.99996107e-01 2.48355120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters 0.06111238520263034 Centerline is valid? [True, True] Translation: X:623.41, Y:4.43, Z:2.48 [[ 9.99585415e-01 -2.86441524e-02 -2.91746664e-03 6.23408417e+02] [ 2.86442664e-02 9.99589669e-01 -2.71648890e-06 4.42823406e+00] [ 2.91634732e-03 -8.08533289e-05 9.99995744e-01 2.48358388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.379254154 meters 0.06127686566350664 Centerline is valid? [True, True] Translation: X:623.47, Y:4.43, Z:2.48 [[ 9.99490703e-01 -3.16869791e-02 -3.77750126e-03 6.23469011e+02] [ 3.16871919e-02 9.99497835e-01 -3.51140442e-06 4.42726523e+00] [ 3.77571560e-03 -1.16188791e-04 9.99992865e-01 2.48273921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters 0.06115550540996916 Centerline is valid? [True, True] Translation: X:623.53, Y:4.42, Z:2.48 [[ 9.99288928e-01 -3.74222682e-02 -4.60563395e-03 6.23529900e+02] [ 3.74226457e-02 9.99299527e-01 -4.23711448e-06 4.42460542e+00] [ 4.60256640e-03 -1.68120906e-04 9.99989394e-01 2.48140507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.499254154 meters 0.061807949782805134 Centerline is valid? [True, True] Translation: X:623.59, Y:4.42, Z:2.48 [[ 9.99121352e-01 -4.15514999e-02 -5.47695976e-03 6.23589600e+02] [ 4.15520960e-02 9.99136339e-01 -4.95521490e-06 4.41699327e+00] [ 5.47243542e-03 -2.22628297e-04 9.99985001e-01 2.48067858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.559254154 meters 0.061653176743798464 Centerline is valid? [True, True] Translation: X:623.65, Y:4.41, Z:2.48 [[ 9.98902227e-01 -4.64051803e-02 -6.39527966e-03 6.23649381e+02] [ 4.64060937e-02 9.98922657e-01 -5.57745531e-06 4.41276285e+00] [ 6.38864857e-03 -2.91208614e-04 9.99979550e-01 2.48086119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.619254154 meters 0.06267881534832005 Centerline is valid? [True, True] Translation: X:623.71, Y:4.41, Z:2.48 [[ 9.98678944e-01 -5.10080030e-02 -6.20893244e-03 6.23708758e+02] [ 5.10089529e-02 9.98698196e-01 -5.37586830e-06 4.40827448e+00] [ 6.20112384e-03 -3.11342376e-04 9.99980724e-01 2.48130360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.679254154 meters 0.0616644427446417 Centerline is valid? [True, True] Translation: X:623.77, Y:4.41, Z:2.48 [[ 9.98426615e-01 -5.58973715e-02 -4.44723363e-03 6.23768863e+02] [ 5.58979071e-02 9.98436490e-01 -3.87214895e-06 4.40874640e+00] [ 4.44049678e-03 -2.44724996e-04 9.99990111e-01 2.48249747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.739254154 meters 0.06121529726482061 Centerline is valid? [True, True] Translation: X:623.83, Y:4.41, Z:2.48 [[ 9.98219618e-01 -5.95735412e-02 -2.93038492e-03 6.23829510e+02] [ 5.95737895e-02 9.98223905e-01 -2.54769910e-06 4.41477169e+00] [ 2.92533206e-03 -1.72030971e-04 9.99995706e-01 2.48337330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.799254154 meters 0.06190400532103976 Centerline is valid? [True, True] Translation: X:623.89, Y:4.41, Z:2.48 [[ 9.98204665e-01 -5.98343553e-02 -2.70115229e-03 6.23890892e+02] [ 5.98345669e-02 9.98208307e-01 -2.47944638e-06 4.40895710e+00] [ 2.69646101e-03 -1.59147282e-04 9.99996352e-01 2.48424743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.859254154 meters 0.06526594044939055 Centerline is valid? [True, True] Translation: X:623.95, Y:4.40, Z:2.48 [[ 9.98263678e-01 -5.88062847e-02 -3.38391211e-03 6.23951410e+02] [ 5.88066127e-02 9.98269394e-01 -2.57424011e-06 4.39953557e+00] [ 3.37820727e-03 -1.96426638e-04 9.99994275e-01 2.48429055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.919254154 meters 0.061849910948136765 Centerline is valid? [True, True] Translation: X:624.01, Y:4.42, Z:2.48 [[ 9.98479866e-01 -5.50825728e-02 -1.96634679e-03 6.24012238e+02] [ 5.50826763e-02 9.98481797e-01 -1.49384302e-06 4.41576286e+00] [ 1.96344376e-03 -1.06820071e-04 9.99998067e-01 2.48431250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters 0.06220617640430472 Centerline is valid? [True, True] Translation: X:624.07, Y:4.42, Z:2.48 [[ 9.98698405e-01 -5.09969012e-02 -9.01644427e-04 6.24073364e+02] [ 5.09969213e-02 9.98698810e-01 -7.15261790e-07 4.41630485e+00] [ 9.00507693e-04 -4.52667591e-05 9.99999594e-01 2.48487176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.039254154 meters 0.06193685948229839 Centerline is valid? [True, True] Translation: X:624.13, Y:4.43, Z:2.48 [[ 9.99027647e-01 -4.40878990e-02 -1.31799083e-04 6.24133761e+02] [ 4.40878993e-02 9.99027656e-01 -1.13140151e-07 4.42902101e+00] [ 1.31675917e-04 -5.69771456e-06 9.99999991e-01 2.48427475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters 0.06237480207000692 Centerline is valid? [True, True] Translation: X:624.19, Y:4.43, Z:2.49 [[ 9.99376718e-01 -3.53004222e-02 2.37297263e-04 6.24193512e+02] [ 3.53004231e-02 9.99376746e-01 1.48170633e-07 4.43099113e+00] [-2.37154597e-04 8.22861552e-06 9.99999972e-01 2.48569519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.159254154 meters 0.06074116052392101 Centerline is valid? [True, True] Translation: X:624.25, Y:4.44, Z:2.49 [[ 9.99576267e-01 -2.90296553e-02 2.13662659e-03 6.24253900e+02] [ 2.90297183e-02 9.99578549e-01 1.50153091e-06 4.44335353e+00] [-2.13576969e-03 6.05247733e-05 9.99997717e-01 2.48536594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters 0.060381798812110844 Centerline is valid? [True, True] Translation: X:624.31, Y:4.45, Z:2.49 [[ 9.99825513e-01 -1.83874104e-02 3.29336234e-03 6.24314646e+02] [ 1.83875023e-02 9.99830936e-01 2.35247427e-06 4.45127005e+00] [-3.29284880e-03 5.82046439e-05 9.99994577e-01 2.48552228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.279254154 meters 0.06036508996419212 Centerline is valid? [True, True] Translation: X:624.37, Y:4.46, Z:2.49 [[ 9.99957114e-01 -8.31402646e-03 4.08012163e-03 6.24374327e+02] [ 8.31408358e-03 9.99965437e-01 2.96163636e-06 4.46041733e+00] [-4.08000523e-03 3.09609629e-05 9.99991676e-01 2.48560676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters 0.060085156069686826 Centerline is valid? [True, True] Translation: X:624.44, Y:4.47, Z:2.48 [[ 9.99989649e-01 -7.46639512e-04 4.48823901e-03 6.24436028e+02] [ 7.46633135e-04 9.99999721e-01 3.09666349e-06 4.46710665e+00] [-4.48824007e-03 2.54436523e-07 9.99989928e-01 2.48395507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.399254154 meters 0.0595591176393579 Centerline is valid? [True, True] Translation: X:624.50, Y:4.47, Z:2.48 [[ 9.99993129e-01 -2.44509731e-04 3.69887529e-03 6.24498386e+02] [ 2.44502889e-04 9.99999970e-01 2.30221595e-06 4.46772449e+00] [-3.69887574e-03 -1.39781444e-06 9.99993159e-01 2.48427994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters 0.06016460284377475 Centerline is valid? [True, True] Translation: X:624.56, Y:4.46, Z:2.48 [[ 9.99986143e-01 -4.09105328e-03 3.31322878e-03 6.24561074e+02] [ 4.09107109e-03 9.99991632e-01 1.40038065e-06 4.46369844e+00] [-3.31320679e-03 1.21542933e-05 9.99994511e-01 2.48352917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.519254154 meters 0.06039172084791947 Centerline is valid? [True, True] Translation: X:624.62, Y:4.45, Z:2.48 [[ 9.99813522e-01 -1.88193747e-02 4.33046525e-03 6.24620947e+02] [ 1.88195407e-02 9.99822897e-01 2.42599935e-06 4.44968469e+00] [-4.32974396e-03 7.90718200e-05 9.99990623e-01 2.48294040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters 0.06104654519661292 Centerline is valid? [True, True] Translation: X:624.68, Y:4.44, Z:2.48 [[ 9.99611260e-01 -2.71226946e-02 6.45672766e-03 6.24681596e+02] [ 2.71232372e-02 9.99632097e-01 3.51727546e-06 4.44276901e+00] [-6.45444761e-03 1.71611448e-04 9.99979155e-01 2.48357479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.639254154 meters 0.06108389224098678 Centerline is valid? [True, True] Translation: X:624.74, Y:4.43, Z:2.48 [[ 9.99265601e-01 -3.77341198e-02 6.66288163e-03 6.24741935e+02] [ 3.77349331e-02 9.99287784e-01 3.64779564e-06 4.43246962e+00] [-6.65827387e-03 2.47778276e-04 9.99977803e-01 2.48261762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters 0.0632287242891208 Centerline is valid? [True, True] Translation: X:624.80, Y:4.42, Z:2.48 [[ 9.99032691e-01 -4.33718747e-02 7.25007715e-03 6.24802537e+02] [ 4.33729866e-02 9.99058949e-01 3.87242375e-06 4.42334449e+00] [-7.24342242e-03 3.10588821e-04 9.99973718e-01 2.48237828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.759254154 meters 0.06105564921403598 Centerline is valid? [True, True] Translation: X:624.86, Y:4.43, Z:2.48 [[ 9.98864551e-01 -4.73793707e-02 4.98042589e-03 6.24863518e+02] [ 4.73799455e-02 9.98876940e-01 2.58069344e-06 4.43081849e+00] [-4.97495484e-03 2.33394544e-04 9.99987598e-01 2.47705798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters 0.05955367006892485 Centerline is valid? [True, True] Translation: X:624.93, Y:4.43, Z:2.47 [[ 9.98786270e-01 -4.90903443e-02 4.01564675e-03 6.24925057e+02] [ 4.90907321e-02 9.98794323e-01 1.99445221e-06 4.43443888e+00] [-4.01090308e-03 1.95139007e-04 9.99991937e-01 2.47419809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.879254154 meters 0.05952532764508086 Centerline is valid? [True, True] Translation: X:624.99, Y:4.43, Z:2.47 [[ 9.98774807e-01 -4.93498772e-02 3.67069288e-03 6.24986675e+02] [ 4.93502037e-02 9.98781536e-01 1.64396032e-06 4.43197085e+00] [-3.66630141e-03 1.79507495e-04 9.99993263e-01 2.47457986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters 0.05793092931016999 Centerline is valid? [True, True] Translation: X:625.05, Y:4.44, Z:2.47 [[ 9.98799618e-01 -4.88343731e-02 3.81134623e-03 6.25048775e+02] [ 4.88347242e-02 9.98806873e-01 9.44310113e-07 4.44398538e+00] [-3.80684492e-03 1.85182865e-04 9.99992737e-01 2.47300679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.999254154 meters 0.05961292998104636 Centerline is valid? [True, True] Translation: X:625.11, Y:4.44, Z:2.48 [[ 9.98846509e-01 -4.78372199e-02 4.15359739e-03 6.25109659e+02] [ 4.78376268e-02 9.98855125e-01 1.38903097e-06 4.43700739e+00] [-4.14890849e-03 1.97310813e-04 9.99991374e-01 2.47566433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.059254154 meters 0.05940282844805016 Centerline is valid? [True, True] Translation: X:625.17, Y:4.44, Z:2.47 [[ 9.98876041e-01 -4.71796108e-02 4.55409046e-03 6.25171731e+02] [ 4.71800951e-02 9.98886399e-01 1.09144374e-06 4.44171522e+00] [-4.54907051e-03 2.13772204e-04 9.99989630e-01 2.47458438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.119254154 meters 0.057914858014075546 Centerline is valid? [True, True] Translation: X:625.23, Y:4.45, Z:2.47 [[ 9.98891450e-01 -4.69373727e-02 3.57143886e-03 6.25234332e+02] [ 4.69376714e-02 9.98897820e-01 1.91550997e-07 4.45232405e+00] [-3.56751148e-03 1.67443685e-04 9.99993622e-01 2.47385980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.179254154 meters 0.05737573104726218 Centerline is valid? [True, True] Translation: X:625.30, Y:4.46, Z:2.47 [[ 9.98834282e-01 -4.82169288e-02 2.28145047e-03 6.25295979e+02] [ 4.82170541e-02 9.98836881e-01 8.09771745e-08 4.45858754e+00] [-2.27880078e-03 1.09923938e-04 9.99997397e-01 2.47218033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.239254154 meters 0.05928501086113125 Centerline is valid? [True, True] Translation: X:625.36, Y:4.45, Z:2.47 [[ 9.98883866e-01 -4.71878282e-02 2.08137432e-03 6.25356326e+02] [ 4.71879300e-02 9.98886029e-01 2.12746749e-07 4.44963573e+00] [-2.07906577e-03 9.80032365e-05 9.99997834e-01 2.47390711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.299254154 meters 0.05882268378407327 Centerline is valid? [True, True] Translation: X:625.42, Y:4.46, Z:2.48 [[ 9.99154730e-01 -4.08993796e-02 4.13124487e-03 6.25416671e+02] [ 4.08997268e-02 9.99163256e-01 4.26171643e-07 4.45676240e+00] [-4.12780551e-03 1.68540975e-04 9.99991466e-01 2.47630215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.359254154 meters 0.057367102047885525 Centerline is valid? [True, True] Translation: X:625.48, Y:4.47, Z:2.48 [[ 9.99424041e-01 -3.35326991e-02 5.20999569e-03 6.25476917e+02] [ 3.35331513e-02 9.99437606e-01 5.75534270e-07 4.46976175e+00] [-5.20708492e-03 1.74132371e-04 9.99986428e-01 2.47505545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.419254154 meters 0.05746661625032984 Centerline is valid? [True, True] Translation: X:625.54, Y:4.48, Z:2.48 [[ 9.99816487e-01 -1.79100529e-02 6.79870260e-03 6.25536552e+02] [ 1.79104617e-02 9.99839595e-01 7.51047441e-07 4.47886520e+00] [-6.79762551e-03 1.21016993e-04 9.99976889e-01 2.47683339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters 0.05722951685063247 Centerline is valid? [True, True] Translation: X:625.60, Y:4.48, Z:2.48 [[ 9.99911139e-01 -1.15303436e-02 6.69063647e-03 6.25596844e+02] [ 1.15305968e-02 9.99933520e-01 7.38879754e-07 4.48439096e+00] [-6.69020020e-03 7.64082171e-05 9.99977617e-01 2.47781942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.539254154 meters 0.05709196293584097 Centerline is valid? [True, True] Translation: X:625.66, Y:4.49, Z:2.48 [[ 9.99968534e-01 -5.84434163e-03 5.36423345e-03 6.25658277e+02] [ 5.84442409e-03 9.99982921e-01 3.02880785e-07 4.48941258e+00] [-5.36414361e-03 3.10479840e-05 9.99985612e-01 2.47563865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters 0.056937449337626705 Centerline is valid? [True, True] Translation: X:625.72, Y:4.49, Z:2.47 [[ 9.99985813e-01 -4.34063367e-03 3.08764948e-03 6.25720825e+02] [ 4.34065428e-03 9.99990579e-01 2.49705168e-08 4.49067173e+00] [-3.08762050e-03 1.33774488e-05 9.99995233e-01 2.47121533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.659254154 meters 0.057038091398116775 Centerline is valid? [True, True] Translation: X:625.78, Y:4.49, Z:2.47 [[ 9.99985041e-01 -5.20305485e-03 1.68698878e-03 6.25782917e+02] [ 5.20306313e-03 9.99986464e-01 -5.17600738e-07 4.49045154e+00] [-1.68696326e-03 9.29510214e-06 9.99998577e-01 2.46957818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters 0.05705957792802681 Centerline is valid? [True, True] Translation: X:625.84, Y:4.49, Z:2.47 [[ 9.99974380e-01 -6.99940437e-03 1.49908512e-03 6.25844723e+02] [ 6.99941269e-03 9.99975504e-01 -3.01943732e-07 4.48834191e+00] [-1.49904628e-03 1.07946514e-05 9.99998876e-01 2.47037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.779254154 meters 0.0580035078564586 Centerline is valid? [True, True] Translation: X:625.91, Y:4.48, Z:2.47 [[ 9.99932762e-01 -1.12989465e-02 2.60870338e-03 6.25905338e+02] [ 1.12989865e-02 9.99936164e-01 -6.16520215e-07 4.48098916e+00] [-2.60852989e-03 3.00921831e-05 9.99996597e-01 2.47369872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters 0.0572254823083234 Centerline is valid? [True, True] Translation: X:625.97, Y:4.48, Z:2.47 [[ 9.99882764e-01 -1.47456066e-02 4.12608435e-03 6.25966382e+02] [ 1.47457350e-02 9.99891276e-01 -6.91956160e-07 4.47691428e+00] [-4.12562554e-03 6.15340215e-05 9.99991488e-01 2.47482284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.899254154 meters 0.056911256368212766 Centerline is valid? [True, True] Translation: X:626.03, Y:4.47, Z:2.47 [[ 9.99773720e-01 -2.01981086e-02 6.67429013e-03 6.26026617e+02] [ 2.01985658e-02 9.99795988e-01 -1.08714373e-06 4.47389740e+00] [-6.67290654e-03 1.35897986e-04 9.99977727e-01 2.47344534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters 0.055344530267908636 Centerline is valid? [True, True] Translation: X:626.09, Y:4.47, Z:2.47 [[ 9.99661456e-01 -2.48977301e-02 7.55494585e-03 6.26086826e+02] [ 2.48984500e-02 9.99689986e-01 -1.24221567e-06 4.47013249e+00] [-7.55257278e-03 1.89348237e-04 9.99971461e-01 2.47221661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.019254154 meters 0.05750690567257937 Centerline is valid? [True, True] Translation: X:626.15, Y:4.46, Z:2.47 [[ 9.99595225e-01 -2.79515268e-02 5.30084080e-03 6.26147439e+02] [ 2.79519245e-02 9.99609269e-01 -9.40420868e-07 4.46194667e+00] [-5.29874331e-03 1.49108742e-04 9.99985950e-01 2.47075263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters 0.05633345329953642 Centerline is valid? [True, True] Translation: X:626.21, Y:4.46, Z:2.47 [[ 9.99654584e-01 -2.59225244e-02 4.32848636e-03 6.26207527e+02] [ 2.59227707e-02 9.99663949e-01 -8.07117114e-07 4.45938489e+00] [-4.32701084e-03 1.13013198e-04 9.99990632e-01 2.47035226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.139254154 meters 0.057126153236577173 Centerline is valid? [True, True] Translation: X:626.27, Y:4.47, Z:2.47 [[ 9.99856082e-01 -1.65331243e-02 3.80403570e-03 6.26268478e+02] [ 1.65332466e-02 9.99863317e-01 -6.90589080e-07 4.46626595e+00] [-3.80350433e-03 6.35835498e-05 9.99992765e-01 2.46788852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters 0.05735913426386412 Centerline is valid? [True, True] Translation: X:626.33, Y:4.47, Z:2.47 [[ 9.99986221e-01 -3.11797324e-03 4.22317667e-03 6.26328157e+02] [ 3.11800428e-03 9.99995139e-01 -7.67917795e-07 4.47010035e+00] [-4.22315374e-03 1.39357902e-05 9.99991082e-01 2.46967645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.259254154 meters 0.05720084753378516 Centerline is valid? [True, True] Translation: X:626.39, Y:4.47, Z:2.47 [[ 9.99979677e-01 4.70962940e-03 4.29711548e-03 6.26389540e+02] [-4.70966871e-03 9.99988909e-01 -9.71756301e-07 4.47322146e+00] [-4.29707240e-03 -1.92662537e-05 9.99990767e-01 2.46811898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters 0.056856407442695746 Centerline is valid? [True, True] Translation: X:626.45, Y:4.47, Z:2.47 [[ 9.99941706e-01 9.70420055e-03 4.73417679e-03 6.26449747e+02] [-9.70430471e-03 9.99952912e-01 -9.68663066e-07 4.47023287e+00] [-4.73396327e-03 -4.49732875e-05 9.99988794e-01 2.46535967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.379254154 meters 0.056638278484449404 Centerline is valid? [True, True] Translation: X:626.51, Y:4.47, Z:2.47 [[ 9.99963786e-01 7.57737139e-03 3.87419304e-03 6.26509765e+02] [-7.57742544e-03 9.99971291e-01 -7.26905392e-07 4.46837390e+00] [-3.87408733e-03 -2.86295299e-05 9.99992495e-01 2.46788499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters 0.05751126588412691 Centerline is valid? [True, True] Translation: X:626.57, Y:4.46, Z:2.47 [[ 9.99993585e-01 2.29273235e-03 2.75185677e-03 6.26569773e+02] [-2.29273954e-03 9.99997372e-01 -5.39899845e-07 4.46029409e+00] [-2.75185078e-03 -5.76939446e-06 9.99996214e-01 2.46755516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.499254154 meters 0.057137057128169945 Centerline is valid? [True, True] Translation: X:626.63, Y:4.45, Z:2.47 [[ 9.99993686e-01 -1.75667640e-03 3.08895361e-03 6.26631248e+02] [ 1.75668702e-03 9.99998457e-01 -7.23847334e-07 4.45451773e+00] [-3.08894757e-03 6.15016748e-06 9.99995229e-01 2.46648729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.559254154 meters 0.05673501289985436 Centerline is valid? [True, True] Translation: X:626.69, Y:4.44, Z:2.47 [[ 9.99967506e-01 -7.42982692e-03 3.12795926e-03 6.26692320e+02] [ 7.42986773e-03 9.99972398e-01 -1.42661114e-06 4.44429491e+00] [-3.12786233e-03 2.46668884e-05 9.99995108e-01 2.46827944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.619254154 meters 0.057616973969196746 Centerline is valid? [True, True] Translation: X:626.75, Y:4.44, Z:2.47 [[ 9.99902404e-01 -1.33712217e-02 4.04893053e-03 6.26753106e+02] [ 1.33713368e-02 9.99910600e-01 -1.36300361e-06 4.43714833e+00] [-4.04855033e-03 5.55024844e-05 9.99991803e-01 2.46693576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.679254154 meters 0.05829108123169874 Centerline is valid? [True, True] Translation: X:626.81, Y:4.42, Z:2.47 [[ 9.99822559e-01 -1.81083193e-02 5.19023763e-03 6.26812847e+02] [ 1.81085735e-02 9.99836026e-01 -1.99723187e-06 4.42431298e+00] [-5.18935040e-03 9.59846773e-05 9.99986531e-01 2.46918156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.739254154 meters 0.05781461540859563 Centerline is valid? [True, True] Translation: X:626.87, Y:4.42, Z:2.47 [[ 9.99773339e-01 -2.06018917e-02 5.36959929e-03 6.26874620e+02] [ 2.06022015e-02 9.99787752e-01 -2.39425246e-06 4.42469287e+00] [-5.36841028e-03 1.13019277e-04 9.99985584e-01 2.46673948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.799254154 meters 0.057469306213705926 Centerline is valid? [True, True] Translation: X:626.94, Y:4.42, Z:2.47 [[ 9.99733932e-01 -2.25259403e-02 4.96450610e-03 6.26936431e+02] [ 2.25262294e-02 9.99746252e-01 -2.31118762e-06 4.41933325e+00] [-4.96319430e-03 1.14142176e-04 9.99987677e-01 2.46575790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.859254154 meters 0.05905871748834094 Centerline is valid? [True, True] Translation: X:627.00, Y:4.41, Z:2.46 [[ 9.99714990e-01 -2.36559735e-02 3.21448584e-03 6.26997363e+02] [ 2.36561008e-02 9.99720155e-01 -1.58412998e-06 4.41366733e+00] [-3.21354881e-03 7.76258794e-05 9.99994834e-01 2.46453382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.919254154 meters 0.05838861030838416 Centerline is valid? [True, True] Translation: X:627.06, Y:4.41, Z:2.46 [[ 9.99707314e-01 -2.41017139e-02 2.09622976e-03 6.27059540e+02] [ 2.41017693e-02 9.99709510e-01 -1.16082500e-06 4.41289955e+00] [-2.09559284e-03 5.16833311e-05 9.99997803e-01 2.46255602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters 0.058070725160726006 Centerline is valid? [True, True] Translation: X:627.12, Y:4.41, Z:2.46 [[ 9.99713044e-01 -2.38561972e-02 2.17050241e-03 6.27121581e+02] [ 2.38562562e-02 9.99715399e-01 -1.26898400e-06 4.41322283e+00] [-2.16985441e-03 5.30486813e-05 9.99997644e-01 2.46206408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.039254154 meters 0.0578962353148025 Centerline is valid? [True, True] Translation: X:627.18, Y:4.41, Z:2.46 [[ 9.99755800e-01 -2.20282770e-02 1.75939653e-03 6.27182448e+02] [ 2.20283129e-02 9.99757347e-01 -1.01731328e-06 4.41115333e+00] [-1.75894720e-03 3.97736023e-05 9.99998452e-01 2.46231750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters 0.05830841078724268 Centerline is valid? [True, True] Translation: X:627.24, Y:4.41, Z:2.46 [[ 9.99803243e-01 -1.97828499e-02 1.45433025e-03 6.27242789e+02] [ 1.97828723e-02 9.99804300e-01 -1.03939765e-06 4.40907445e+00] [-1.45402508e-03 2.98100228e-05 9.99998942e-01 2.46227737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.159254154 meters 0.05741565297830935 Centerline is valid? [True, True] Translation: X:627.31, Y:4.41, Z:2.46 [[ 9.99801100e-01 -1.99032713e-02 1.27269689e-03 6.27305278e+02] [ 1.99032886e-02 9.99801910e-01 -9.21113935e-07 4.41406471e+00] [-1.27242645e-03 2.62517842e-05 9.99999190e-01 2.45996740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters 0.05742489040382361 Centerline is valid? [True, True] Translation: X:627.37, Y:4.41, Z:2.46 [[ 9.99696556e-01 -2.45442224e-02 2.09228350e-03 6.27365538e+02] [ 2.45442790e-02 9.99698744e-01 -1.36813047e-06 4.40870454e+00] [-2.09161961e-03 5.27213053e-05 9.99997811e-01 2.45976937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.279254154 meters 0.05806495512411268 Centerline is valid? [True, True] Translation: X:627.43, Y:4.40, Z:2.46 [[ 9.99593201e-01 -2.84745797e-02 1.62226944e-03 6.27425019e+02] [ 2.84746188e-02 9.99594516e-01 -1.02573831e-06 4.40286411e+00] [-1.62158243e-03 4.72188249e-05 9.99998684e-01 2.46022116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters 0.05962708801852957 Centerline is valid? [True, True] Translation: X:627.49, Y:4.40, Z:2.46 [[ 9.99352689e-01 -3.59104647e-02 2.15424122e-03 6.27485886e+02] [ 3.59105510e-02 9.99355008e-01 -1.37249770e-06 4.39565776e+00] [-2.15280246e-03 7.87315985e-05 9.99997680e-01 2.45959110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.399254154 meters 0.058178659267796216 Centerline is valid? [True, True] Translation: X:627.55, Y:4.40, Z:2.46 [[ 9.99180439e-01 -4.04235899e-02 2.09376869e-03 6.27546599e+02] [ 4.04236814e-02 9.99182629e-01 -1.35830122e-06 4.39846511e+00] [-2.09200240e-03 8.59950265e-05 9.99997808e-01 2.45862122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters 0.057767794468342334 Centerline is valid? [True, True] Translation: X:627.61, Y:4.40, Z:2.46 [[ 9.99010622e-01 -4.44379570e-02 1.74517213e-03 6.27607355e+02] [ 4.44380268e-02 9.99012143e-01 -1.21171198e-06 4.39968696e+00] [-1.74339431e-03 7.87625192e-05 9.99998477e-01 2.45801926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.519254154 meters 0.05620154731539564 Centerline is valid? [True, True] Translation: X:627.67, Y:4.40, Z:2.46 [[ 9.99017494e-01 -4.42270460e-02 2.83107848e-03 6.27670236e+02] [ 4.42272294e-02 9.99021497e-01 -2.17716426e-06 4.40296420e+00] [-2.82821197e-03 1.27385782e-04 9.99995992e-01 2.45796106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters 0.05832041760088487 Centerline is valid? [True, True] Translation: X:627.73, Y:4.40, Z:2.46 [[ 9.99074545e-01 -4.29037191e-02 3.05372368e-03 6.27730600e+02] [ 4.29039258e-02 9.99079203e-01 -2.20246097e-06 4.39989903e+00] [-3.05081732e-03 1.33217157e-04 9.99995337e-01 2.45921177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.639254154 meters 0.058631603748118426 Centerline is valid? [True, True] Translation: X:627.79, Y:4.40, Z:2.46 [[ 9.99148456e-01 -4.11704308e-02 2.71276682e-03 6.27791602e+02] [ 4.11705878e-02 9.99152132e-01 -2.03094243e-06 4.40020741e+00] [-2.71038314e-03 1.13715418e-04 9.99996320e-01 2.45922470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters 0.05752978971119679 Centerline is valid? [True, True] Translation: X:627.85, Y:4.41, Z:2.46 [[ 9.99205354e-01 -3.98067512e-02 2.02075712e-03 6.27852743e+02] [ 3.98068356e-02 9.99207394e-01 -1.56172203e-06 4.40830933e+00] [-2.01909329e-03 8.20004276e-05 9.99997958e-01 2.45830738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.759254154 meters 0.05722180280107674 Centerline is valid? [True, True] Translation: X:627.91, Y:4.41, Z:2.46 [[ 9.99298042e-01 -3.74296055e-02 1.56491220e-03 6.27913455e+02] [ 3.74296533e-02 9.99299265e-01 -1.21929858e-06 4.41265138e+00] [-1.56376997e-03 5.97925636e-05 9.99998776e-01 2.45794115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters 0.05616866138983856 Centerline is valid? [True, True] Translation: X:627.98, Y:4.42, Z:2.46 [[ 9.99351392e-01 -3.59860630e-02 1.34139757e-03 6.27975260e+02] [ 3.59860970e-02 9.99352291e-01 -1.18474811e-06 4.42341839e+00] [-1.34048610e-03 4.94556427e-05 9.99999100e-01 2.45778390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.879254154 meters 0.05811196244210807 Centerline is valid? [True, True] Translation: X:628.04, Y:4.42, Z:2.46 [[ 9.99389246e-01 -3.49336860e-02 8.79393414e-04 6.28036050e+02] [ 3.49337002e-02 9.99389632e-01 -7.71086380e-07 4.41664498e+00] [-8.78829724e-04 3.14910814e-05 9.99999613e-01 2.45865608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters 0.05523002512339736 Centerline is valid? [True, True] Translation: X:628.10, Y:4.43, Z:2.46 [[ 9.99419811e-01 -3.40347198e-02 1.29593258e-03 6.28097847e+02] [ 3.40347501e-02 9.99420650e-01 -1.26196947e-06 4.43149318e+00] [-1.29513883e-03 4.53679787e-05 9.99999160e-01 2.45685404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.999254154 meters 0.056159635020702196 Centerline is valid? [True, True] Translation: X:628.16, Y:4.43, Z:2.46 [[ 9.99553160e-01 -2.98672535e-02 1.19442267e-03 6.28157282e+02] [ 2.98672760e-02 9.99553873e-01 -9.69340520e-07 4.43285447e+00] [-1.19386085e-03 3.66430589e-05 9.99999287e-01 2.45856144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.059254154 meters 0.056099235481093405 Centerline is valid? [True, True] Translation: X:628.22, Y:4.44, Z:2.46 [[ 9.99667593e-01 -2.57712672e-02 7.38183608e-04 6.28217655e+02] [ 2.57712747e-02 9.99667866e-01 -6.69864324e-07 4.43708078e+00] [-7.37921169e-04 1.96935742e-05 9.99999728e-01 2.45858719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.119254154 meters 0.05638886551547562 Centerline is valid? [True, True] Translation: X:628.28, Y:4.44, Z:2.46 [[ 9.99805457e-01 -1.96987840e-02 1.00330317e-03 6.28276987e+02] [ 1.96987947e-02 9.99805960e-01 -8.10874697e-07 4.43774146e+00] [-1.00309252e-03 2.05745802e-05 9.99999497e-01 2.45976120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.179254154 meters 0.055894811943488026 Centerline is valid? [True, True] Translation: X:628.34, Y:4.44, Z:2.46 [[ 9.99864412e-01 -1.64270535e-02 1.14398059e-03 6.28339042e+02] [ 1.64270655e-02 9.99865067e-01 -1.07948000e-06 4.44114861e+00] [-1.14380850e-03 1.98715778e-05 9.99999346e-01 2.45938722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.239254154 meters 0.05678257810013721 Centerline is valid? [True, True] Translation: X:628.40, Y:4.44, Z:2.46 [[ 9.99866167e-01 -1.63172357e-02 1.18129687e-03 6.28400209e+02] [ 1.63172484e-02 9.99866865e-01 -1.13832436e-06 4.44098743e+00] [-1.18112102e-03 2.04136864e-05 9.99999302e-01 2.46015167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.299254154 meters 0.056387682741699516 Centerline is valid? [True, True] Translation: X:628.46, Y:4.44, Z:2.46 [[ 9.99849766e-01 -1.72977373e-02 1.11060630e-03 6.28461857e+02] [ 1.72977492e-02 9.99850383e-01 -1.10303147e-06 4.44304635e+00] [-1.11042106e-03 2.03138550e-05 9.99999383e-01 2.45961604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.359254154 meters 0.054710028621241726 Centerline is valid? [True, True] Translation: X:628.52, Y:4.45, Z:2.46 [[ 9.99790655e-01 -2.04409496e-02 9.02521332e-04 6.28522626e+02] [ 2.04409587e-02 9.99791062e-01 -8.61592476e-07 4.44790621e+00] [-9.02315150e-04 1.93098134e-05 9.99999593e-01 2.45770744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.419254154 meters 0.05458645150027847 Centerline is valid? [True, True] Translation: X:628.58, Y:4.44, Z:2.46 [[ 9.99676768e-01 -2.54227374e-02 -2.10415199e-04 6.28582266e+02] [ 2.54227380e-02 9.99676790e-01 2.17337390e-07 4.44391361e+00] [ 2.10341665e-04 -5.56659760e-06 9.99999978e-01 2.45683261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters 0.05584904088852095 Centerline is valid? [True, True] Translation: X:628.64, Y:4.44, Z:2.46 [[ 9.99553727e-01 -2.98696380e-02 3.89624478e-04 6.28642589e+02] [ 2.98696404e-02 9.99553803e-01 -3.61102683e-07 4.44193618e+00] [-3.89439843e-04 1.19988846e-05 9.99999924e-01 2.45705712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.539254154 meters 0.054147306535071285 Centerline is valid? [True, True] Translation: X:628.70, Y:4.45, Z:2.46 [[ 9.99418486e-01 -3.40607612e-02 1.59851362e-03 6.28703315e+02] [ 3.40608070e-02 9.99419762e-01 -1.46797754e-06 4.44722933e+00] [-1.59753610e-03 5.59137878e-05 9.99998722e-01 2.45714037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters 0.05671812554453989 Centerline is valid? [True, True] Translation: X:628.76, Y:4.44, Z:2.46 [[ 9.99461514e-01 -3.27336338e-02 2.27847080e-03 6.28763795e+02] [ 3.27337236e-02 9.99464108e-01 -2.13609193e-06 4.43690424e+00] [-2.27717986e-03 7.67177751e-05 9.99997404e-01 2.45920237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.659254154 meters 0.056508694547554264 Centerline is valid? [True, True] Translation: X:628.83, Y:4.44, Z:2.46 [[ 9.99515802e-01 -3.10078831e-02 2.58300434e-03 6.28825281e+02] [ 3.10079930e-02 9.99519137e-01 -2.48598734e-06 4.44034721e+00] [-2.58168519e-03 8.25785642e-05 9.99996664e-01 2.45886675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters 0.0542729723332747 Centerline is valid? [True, True] Translation: X:628.89, Y:4.45, Z:2.46 [[ 9.99560082e-01 -2.95858335e-02 2.07847991e-03 6.28887193e+02] [ 2.95859019e-02 9.99562241e-01 -2.15669030e-06 4.45218238e+00] [-2.07750623e-03 6.36494442e-05 9.99997840e-01 2.45696148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.779254154 meters 0.05570232313578321 Centerline is valid? [True, True] Translation: X:628.95, Y:4.44, Z:2.46 [[ 9.99552183e-01 -2.99203789e-02 -4.52380110e-04 6.28949229e+02] [ 2.99203821e-02 9.99552285e-01 1.45922754e-07 4.44182117e+00] [ 4.52173207e-04 -1.36812431e-05 9.99999898e-01 2.45725957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters 0.057061057100592324 Centerline is valid? [True, True] Translation: X:629.01, Y:4.44, Z:2.46 [[ 9.99555106e-01 -2.97456103e-02 -2.18854544e-03 6.29009969e+02] [ 2.97456865e-02 9.99557499e-01 2.27285125e-06 4.43962995e+00] [ 2.18750940e-03 -6.73716266e-05 9.99997605e-01 2.45664667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.899254154 meters 0.055332652734176035 Centerline is valid? [True, True] Translation: X:629.07, Y:4.45, Z:2.46 [[ 9.99582443e-01 -2.88060449e-02 -2.26954648e-03 6.29072389e+02] [ 2.88061245e-02 9.99585018e-01 2.38603831e-06 4.44872010e+00] [ 2.26853592e-03 -6.77618804e-05 9.99997425e-01 2.45696099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters 0.055375578717468385 Centerline is valid? [True, True] Translation: X:629.13, Y:4.46, Z:2.46 [[ 9.99710275e-01 -2.39617382e-02 -2.28060517e-03 6.29133455e+02] [ 2.39618063e-02 9.99712875e-01 2.53804808e-06 4.45689635e+00] [ 2.27988953e-03 -5.71847321e-05 9.99997399e-01 2.45729013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.019254154 meters 0.054739863363031584 Centerline is valid? [True, True] Translation: X:629.19, Y:4.46, Z:2.46 [[ 9.99828114e-01 -1.84328801e-02 -1.99297393e-03 6.29192808e+02] [ 1.84329213e-02 9.99830099e-01 2.26066898e-06 4.46072953e+00] [ 1.99259366e-03 -3.89966120e-05 9.99998014e-01 2.45803275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters 0.05491425190407839 Centerline is valid? [True, True] Translation: X:629.25, Y:4.46, Z:2.46 [[ 9.99883286e-01 -1.51892963e-02 -1.64305432e-03 6.29253844e+02] [ 1.51893198e-02 9.99884636e-01 1.80589563e-06 4.46133884e+00] [ 1.64283734e-03 -2.67625623e-05 9.99998650e-01 2.45918881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.139254154 meters 0.05470413957791626 Centerline is valid? [True, True] Translation: X:629.32, Y:4.46, Z:2.46 [[ 9.99915842e-01 -1.29286490e-02 -1.07648577e-03 6.29315933e+02] [ 1.29286577e-02 9.99916421e-01 1.09209288e-06 4.46463279e+00] [ 1.07638168e-03 -1.50095170e-05 9.99999421e-01 2.46000157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters 0.05469328317995638 Centerline is valid? [True, True] Translation: X:629.38, Y:4.47, Z:2.46 [[ 9.99916526e-01 -1.29110797e-02 4.94119348e-04 6.29377613e+02] [ 1.29110816e-02 9.99916649e-01 -6.88643250e-07 4.46565153e+00] [-4.94069271e-04 7.06820097e-06 9.99999878e-01 2.46146280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.259254154 meters 0.05446376020234787 Centerline is valid? [True, True] Translation: X:629.44, Y:4.47, Z:2.46 [[ 9.99888182e-01 -1.49539266e-02 6.53820119e-05 6.29439514e+02] [ 1.49539267e-02 9.99888184e-01 -3.07470473e-07 4.46591531e+00] [-6.53701036e-05 1.28515391e-06 9.99999998e-01 2.46051915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters 0.05461965347160488 Centerline is valid? [True, True] Translation: X:629.50, Y:4.46, Z:2.46 [[ 9.99831315e-01 -1.83154651e-02 -1.37333261e-03 6.29501112e+02] [ 1.83154847e-02 9.99832257e-01 1.69229382e-06 4.46188673e+00] [ 1.37307125e-03 -2.68452608e-05 9.99999057e-01 2.45873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.379254154 meters 0.05567680957426942 Centerline is valid? [True, True] Translation: X:629.56, Y:4.46, Z:2.46 [[ 9.99781475e-01 -2.08616358e-02 -1.33934955e-03 6.29562514e+02] [ 2.08616564e-02 9.99782372e-01 1.44155126e-06 4.45560174e+00] [ 1.33902800e-03 -2.93822865e-05 9.99999103e-01 2.45942636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters 0.05823220317135425 Centerline is valid? [True, True] Translation: X:629.62, Y:4.44, Z:2.46 [[ 9.99690538e-01 -2.48487206e-02 -1.16996405e-03 6.29622532e+02] [ 2.48487394e-02 9.99691222e-01 1.54806345e-06 4.44200624e+00] [ 1.16956432e-03 -3.06197161e-05 9.99999316e-01 2.46013881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.499254154 meters 0.05440695182083539 Centerline is valid? [True, True] Translation: X:629.68, Y:4.46, Z:2.46 [[ 9.99562357e-01 -2.95292480e-02 -1.76579320e-03 6.29682643e+02] [ 2.95292984e-02 9.99563915e-01 2.47412694e-06 4.46408228e+00] [ 1.76495011e-03 -5.46156785e-05 9.99998441e-01 2.45809203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.559254154 meters 0.05485875520936416 Centerline is valid? [True, True] Translation: X:629.74, Y:4.45, Z:2.46 [[ 9.99453367e-01 -3.30254155e-02 -1.51325517e-03 6.29742543e+02] [ 3.30254565e-02 9.99454511e-01 2.13708989e-06 4.45126400e+00] [ 1.51235912e-03 -5.21118644e-05 9.99998855e-01 2.45802013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.619254154 meters 0.05584372631351408 Centerline is valid? [True, True] Translation: X:629.80, Y:4.44, Z:2.46 [[ 9.99292788e-01 -3.75284489e-02 -2.35354385e-03 6.29802822e+02] [ 3.75285607e-02 9.99295555e-01 3.32725385e-06 4.44382386e+00] [ 2.35176104e-03 -9.16500141e-05 9.99997230e-01 2.45836989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.679254154 meters 0.05566968078171158 Centerline is valid? [True, True] Translation: X:629.86, Y:4.44, Z:2.46 [[ 9.99104004e-01 -4.22794425e-02 -1.90717344e-03 6.29862648e+02] [ 4.22795245e-02 9.99105821e-01 2.67747863e-06 4.44207886e+00] [ 1.90535488e-03 -8.33094659e-05 9.99998181e-01 2.45802205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.739254154 meters 0.05634698745233346 Centerline is valid? [True, True] Translation: X:629.92, Y:4.44, Z:2.46 [[ 9.98804269e-01 -4.88461384e-02 -2.02181806e-03 6.29923354e+02] [ 4.88462441e-02 9.98806310e-01 2.90701900e-06 4.44170432e+00] [ 2.01926264e-03 -1.01661762e-04 9.99997956e-01 2.45750709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.799254154 meters 0.06964487199439312 Centerline is valid? [True, True] Translation: X:629.98, Y:4.41, Z:2.46 [[ 9.98610592e-01 -5.25850964e-02 -3.41952184e-03 6.29982873e+02] [ 5.25854205e-02 9.98616430e-01 4.90176606e-06 4.40733562e+00] [ 3.41453293e-03 -1.84711950e-04 9.99994153e-01 2.45751355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.859254154 meters 0.05406262387246607 Centerline is valid? [True, True] Translation: X:630.04, Y:4.45, Z:2.46 [[ 9.98660229e-01 -5.16186972e-02 -3.64095671e-03 6.30044305e+02] [ 5.16190585e-02 9.98666848e-01 5.27359081e-06 4.45239106e+00] [ 3.63583054e-03 -1.93209283e-04 9.99993372e-01 2.45681480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.919254154 meters 0.062104698985733724 Centerline is valid? [True, True] Translation: X:630.10, Y:4.43, Z:2.46 [[ 9.98919929e-01 -4.62888422e-02 -4.03950816e-03 6.30103629e+02] [ 4.62892439e-02 9.98928078e-01 5.95527517e-06 4.42644069e+00] [ 4.03490246e-03 -1.92934622e-04 9.99991841e-01 2.45689340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters 0.05661133119948264 Centerline is valid? [True, True] Translation: X:630.16, Y:4.45, Z:2.46 [[ 9.99376899e-01 -3.49540758e-02 -4.90173100e-03 6.30164391e+02] [ 3.49545310e-02 9.99388904e-01 7.18877871e-06 4.44849731e+00] [ 4.89848429e-03 -1.78522007e-04 9.99987986e-01 2.45712428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.039254154 meters 0.05416642945047057 Centerline is valid? [True, True] Translation: X:630.23, Y:4.47, Z:2.46 [[ 9.99738366e-01 -2.21376538e-02 -5.75536359e-03 6.30225319e+02] [ 2.21380691e-02 9.99754923e-01 8.45003791e-06 4.46997172e+00] [ 5.75376602e-03 -1.35860464e-04 9.99983438e-01 2.45758279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters 0.05464308838667614 Centerline is valid? [True, True] Translation: X:630.28, Y:4.47, Z:2.46 [[ 9.99888650e-01 -1.32789717e-02 -6.80855240e-03 6.30284955e+02] [ 1.32793474e-02 9.99911826e-01 9.96905185e-06 4.47219007e+00] [ 6.80781968e-03 -1.00381074e-04 9.99976821e-01 2.45702636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.159254154 meters 0.05422304995673307 Centerline is valid? [True, True] Translation: X:630.34, Y:4.48, Z:2.46 [[ 9.99976691e-01 -3.13524507e-04 -6.82044733e-03 6.30344879e+02] [ 3.13599084e-04 9.99999951e-01 9.86469191e-06 4.48477787e+00] [ 6.82044390e-03 -1.20033480e-05 9.99976740e-01 2.45840020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters 0.054712078416135984 Centerline is valid? [True, True] Translation: X:630.40, Y:4.49, Z:2.46 [[ 9.99968363e-01 3.24242054e-03 -7.26356567e-03 6.30402947e+02] [-3.24243171e-03 9.99994743e-01 1.02386406e-05 4.48728663e+00] [ 7.26356069e-03 1.33132990e-05 9.99973620e-01 2.45814991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.279254154 meters 0.054103505847845325 Centerline is valid? [True, True] Translation: X:630.46, Y:4.49, Z:2.46 [[ 9.99971585e-01 3.62635265e-03 -6.60898494e-03 6.30460653e+02] [-3.62637348e-03 9.99993425e-01 8.83123937e-06 4.48824976e+00] [ 6.60897351e-03 1.51356593e-05 9.99978160e-01 2.45845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters 0.05459366695289222 Centerline is valid? [True, True] Translation: X:630.52, Y:4.49, Z:2.46 [[ 9.99985390e-01 6.00675977e-04 -5.37208898e-03 6.30519795e+02] [-6.00648494e-04 9.99999820e-01 6.72923737e-06 4.48658425e+00] [ 5.37209206e-03 -3.50240189e-06 9.99985570e-01 2.45997672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.399254154 meters 0.053763568417151915 Centerline is valid? [True, True] Translation: X:630.58, Y:4.48, Z:2.46 [[ 9.99985089e-01 -2.59423190e-03 -4.80530321e-03 6.30578005e+02] [ 2.59429004e-03 9.99996635e-01 5.86497494e-06 4.48337150e+00] [ 4.80527183e-03 -1.83312377e-05 9.99988454e-01 2.46038842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters 0.05415432943951205 Centerline is valid? [True, True] Translation: X:630.64, Y:4.47, Z:2.46 [[ 9.99961401e-01 -8.23008448e-03 -3.07601564e-03 6.30637254e+02] [ 8.23013467e-03 9.99966132e-01 3.65695743e-06 4.47312349e+00] [ 3.07588136e-03 -2.89728392e-05 9.99995269e-01 2.46136150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.519254154 meters 0.05377500350966884 Centerline is valid? [True, True] Translation: X:630.70, Y:4.47, Z:2.46 [[ 9.99915407e-01 -1.29075109e-02 -1.60468768e-03 6.30698066e+02] [ 1.29075306e-02 9.99916694e-01 1.87304504e-06 4.46772799e+00] [ 1.60452982e-03 -2.25854418e-05 9.99998712e-01 2.46149866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters 0.05463108482209696 Centerline is valid? [True, True] Translation: X:630.76, Y:4.46, Z:2.46 [[ 9.99899947e-01 -1.39842526e-02 -2.13006028e-03 6.30760219e+02] [ 1.39842896e-02 9.99902215e-01 2.47080231e-06 4.46206838e+00] [ 2.12981744e-03 -3.22579348e-05 9.99997731e-01 2.46023825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.639254154 meters 0.0545969939691491 Centerline is valid? [True, True] Translation: X:630.82, Y:4.46, Z:2.46 [[ 9.99913323e-01 -1.28826130e-02 -2.71768220e-03 6.30821791e+02] [ 1.28826695e-02 9.99917015e-01 3.27945506e-06 4.45860749e+00] [ 2.71741443e-03 -3.82901725e-05 9.99996307e-01 2.45978571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters 0.05420986770660568 Centerline is valid? [True, True] Translation: X:630.88, Y:4.46, Z:2.46 [[ 9.99947576e-01 -9.72799597e-03 -3.19542075e-03 6.30883691e+02] [ 9.72805828e-03 9.99952681e-01 3.95615290e-06 4.45698043e+00] [ 3.19523106e-03 -3.50411848e-05 9.99994895e-01 2.45842437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.759254154 meters 0.053530362975356634 Centerline is valid? [True, True] Translation: X:630.95, Y:4.46, Z:2.46 [[ 9.99975561e-01 -5.92297366e-03 -3.71431291e-03 6.30945132e+02] [ 5.92303173e-03 9.99982459e-01 4.63403161e-06 4.45774747e+00] [ 3.71422031e-03 -2.66339116e-05 9.99993102e-01 2.45705307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters 0.053568056818308014 Centerline is valid? [True, True] Translation: X:631.00, Y:4.45, Z:2.46 [[ 9.99981207e-01 -4.48539563e-03 -4.17925144e-03 6.31004873e+02] [ 4.48545689e-03 9.99989940e-01 5.28590558e-06 4.45387562e+00] [ 4.17918569e-03 -2.40316584e-05 9.99991267e-01 2.45690156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.879254154 meters 0.05373022237865706 Centerline is valid? [True, True] Translation: X:631.06, Y:4.45, Z:2.46 [[ 9.99974795e-01 -6.20604048e-03 -3.44871622e-03 6.31064713e+02] [ 6.20609236e-03 9.99980742e-01 4.34341540e-06 4.45020927e+00] [ 3.44862285e-03 -2.57463573e-05 9.99994053e-01 2.45616316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters 0.05436827007335168 Centerline is valid? [True, True] Translation: X:631.12, Y:4.44, Z:2.46 [[ 9.99933881e-01 -1.08549742e-02 -3.79522546e-03 6.31124806e+02] [ 1.08550702e-02 9.99941082e-01 4.70480077e-06 4.43900203e+00] [ 3.79495078e-03 -4.59019287e-05 9.99992798e-01 2.45620174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.999254154 meters 0.054089407921872626 Centerline is valid? [True, True] Translation: X:631.19, Y:4.44, Z:2.46 [[ 9.99869975e-01 -1.55765251e-02 -4.17189332e-03 6.31185858e+02] [ 1.55766824e-02 9.99878676e-01 5.21034883e-06 4.43626629e+00] [ 4.17130601e-03 -7.01939285e-05 9.99991298e-01 2.45669150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.059254154 meters 0.054491418159553634 Centerline is valid? [True, True] Translation: X:631.25, Y:4.43, Z:2.46 [[ 9.99805929e-01 -1.92871559e-02 -4.01376707e-03 6.31247079e+02] [ 1.92873315e-02 9.99813982e-01 5.04426114e-06 4.43382309e+00] [ 4.01292314e-03 -8.24581382e-05 9.99991945e-01 2.45626961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.119254154 meters 0.05603907182640722 Centerline is valid? [True, True] Translation: X:631.31, Y:4.42, Z:2.46 [[ 9.99766772e-01 -2.11148098e-02 -4.53499099e-03 6.31308163e+02] [ 2.11150532e-02 9.99777052e-01 5.81220075e-06 4.42282522e+00] [ 4.53385720e-03 -1.01567421e-04 9.99989717e-01 2.45623563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.179254154 meters 0.05489637337916464 Centerline is valid? [True, True] Translation: X:631.37, Y:4.42, Z:2.46 [[ 9.99733495e-01 -2.25732126e-02 -4.83615422e-03 6.31370206e+02] [ 2.25735078e-02 9.99745186e-01 6.46590252e-06 4.42413431e+00] [ 4.83477594e-03 -1.15633144e-04 9.99988306e-01 2.45660218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.239254154 meters 0.0556010296841519 Centerline is valid? [True, True] Translation: X:631.43, Y:4.42, Z:2.46 [[ 9.99702275e-01 -2.35529523e-02 -6.37336665e-03 6.31432495e+02] [ 2.35534865e-02 9.99722578e-01 8.75998504e-06 4.42343038e+00] [ 6.37139221e-03 -1.58872382e-04 9.99979690e-01 2.45569084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.299254154 meters 0.055293377556734864 Centerline is valid? [True, True] Translation: X:631.49, Y:4.42, Z:2.46 [[ 9.99681187e-01 -2.45408619e-02 -5.93892456e-03 6.31493560e+02] [ 2.45413442e-02 9.99698816e-01 8.32765543e-06 4.41937746e+00] [ 5.93693148e-03 -1.54074192e-04 9.99982364e-01 2.45637114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.359254154 meters 0.05495603446181115 Centerline is valid? [True, True] Translation: X:631.56, Y:4.42, Z:2.46 [[ 9.99662640e-01 -2.54661851e-02 -5.10678337e-03 6.31555677e+02] [ 2.54665543e-02 9.99675675e-01 7.27900851e-06 4.41986443e+00] [ 5.10494174e-03 -1.37328729e-04 9.99986960e-01 2.45714309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.419254154 meters 0.056957021331874975 Centerline is valid? [True, True] Translation: X:631.62, Y:4.41, Z:2.46 [[ 9.99553001e-01 -2.94083404e-02 -5.38030737e-03 6.31615577e+02] [ 2.94088079e-02 9.99567467e-01 7.79266982e-06 4.41030729e+00] [ 5.37775105e-03 -1.66017613e-04 9.99985526e-01 2.45747664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters 0.05616093524666014 Centerline is valid? [True, True] Translation: X:631.68, Y:4.42, Z:2.46 [[ 9.99484829e-01 -3.17110462e-02 -4.94836252e-03 6.31677042e+02] [ 3.17114699e-02 9.99497065e-01 7.15929602e-06 4.41562931e+00] [ 4.94564679e-03 -1.64075457e-04 9.99987757e-01 2.45788587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.539254154 meters 0.054224306980402225 Centerline is valid? [True, True] Translation: X:631.74, Y:4.42, Z:2.46 [[ 9.99153189e-01 -4.09437431e-02 -4.06392531e-03 6.31737975e+02] [ 4.09441053e-02 9.99161439e-01 5.93098828e-06 4.41943632e+00] [ 4.06027462e-03 -1.72319752e-04 9.99991742e-01 2.45765296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters 0.05356001303580331 Centerline is valid? [True, True] Translation: X:631.80, Y:4.42, Z:2.46 [[ 9.98684206e-01 -5.11285275e-02 -3.96621885e-03 6.31798453e+02] [ 5.11289527e-02 9.98692060e-01 5.81941746e-06 4.41967723e+00] [ 3.96073374e-03 -2.08600376e-04 9.99992134e-01 2.45773859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.659254154 meters 0.05370601268804783 Centerline is valid? [True, True] Translation: X:631.86, Y:4.42, Z:2.46 [[ 9.98421998e-01 -5.60244822e-02 -3.84340962e-03 6.31857550e+02] [ 5.60249177e-02 9.98429371e-01 5.63655676e-06 4.41956160e+00] [ 3.83705726e-03 -2.20954369e-04 9.99992614e-01 2.45709937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters 0.05805354387294155 Centerline is valid? [True, True] Translation: X:631.92, Y:4.40, Z:2.46 [[ 9.98462247e-01 -5.52687461e-02 -4.30203907e-03 6.31917968e+02] [ 5.52692852e-02 9.98471485e-01 6.43025264e-06 4.40373615e+00] [ 4.29510794e-03 -2.44190989e-04 9.99990746e-01 2.45673739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.779254154 meters 0.053867318115911896 Centerline is valid? [True, True] Translation: X:631.98, Y:4.43, Z:2.46 [[ 9.98718513e-01 -5.04372255e-02 -4.17356934e-03 6.31978101e+02] [ 5.04376909e-02 9.98727210e-01 6.27031237e-06 4.42532639e+00] [ 4.16794100e-03 -2.16767477e-04 9.99991291e-01 2.45648499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters 0.05758022598003927 Centerline is valid? [True, True] Translation: X:632.04, Y:4.41, Z:2.46 [[ 9.99143104e-01 -4.10344648e-02 -5.40648524e-03 6.32037917e+02] [ 4.10351087e-02 9.99157705e-01 8.17299356e-06 4.41472415e+00] [ 5.40159601e-03 -2.30021700e-04 9.99985385e-01 2.45636662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.899254154 meters 0.05503531338542115 Centerline is valid? [True, True] Translation: X:632.10, Y:4.43, Z:2.46 [[ 9.99552518e-01 -2.94927949e-02 -4.99388089e-03 6.32098415e+02] [ 2.94932005e-02 9.99564981e-01 7.56848562e-06 4.42731591e+00] [ 4.99148524e-03 -1.54850629e-04 9.99987530e-01 2.45656066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters 0.053887436751943636 Centerline is valid? [True, True] Translation: X:632.16, Y:4.44, Z:2.46 [[ 9.99821513e-01 -1.83942822e-02 -4.31198406e-03 6.32159449e+02] [ 1.83944814e-02 9.99830807e-01 6.54862683e-06 4.43659113e+00] [ 4.31113405e-03 -8.58641687e-05 9.99990703e-01 2.45701748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.019254154 meters 0.05338064024764877 Centerline is valid? [True, True] Translation: X:632.22, Y:4.45, Z:2.46 [[ 9.99927060e-01 -1.14456000e-02 -3.85661735e-03 6.32220086e+02] [ 1.14457075e-02 9.99934496e-01 5.81923853e-06 4.44530658e+00] [ 3.85629812e-03 -4.99605283e-05 9.99992563e-01 2.45754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters 0.05403320651314822 Centerline is valid? [True, True] Translation: X:632.28, Y:4.45, Z:2.46 [[ 9.99986921e-01 -2.98207072e-03 -4.15516287e-03 6.32279449e+02] [ 2.98212260e-03 9.99995553e-01 6.28808805e-06 4.45046321e+00] [ 4.15512565e-03 -1.86792109e-05 9.99991367e-01 2.45715502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.139254154 meters 0.0541750673384528 Centerline is valid? [True, True] Translation: X:632.34, Y:4.45, Z:2.46 [[ 9.99987840e-01 1.86339844e-03 -4.56587630e-03 6.32339103e+02] [-1.86338652e-03 9.99998264e-01 6.86435533e-06 4.45422948e+00] [ 4.56588117e-03 1.64372052e-06 9.99989576e-01 2.45610247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters 0.05425289553175017 Centerline is valid? [True, True] Translation: X:632.40, Y:4.45, Z:2.46 [[ 9.99980458e-01 1.93759064e-03 -5.94386231e-03 6.32398309e+02] [-1.93757255e-03 9.99998123e-01 8.80164428e-06 4.45445339e+00] [ 5.94386820e-03 2.71519216e-06 9.99982335e-01 2.45579124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.259254154 meters 0.05399323674756819 Centerline is valid? [True, True] Translation: X:632.46, Y:4.45, Z:2.45 [[ 9.99983000e-01 -9.09943018e-04 -5.75956293e-03 6.32456035e+02] [ 9.10006212e-04 9.99999586e-01 8.35120621e-06 4.45093872e+00] [ 5.75955294e-03 -1.35923023e-05 9.99983414e-01 2.45499038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters 0.053385059577274276 Centerline is valid? [True, True] Translation: X:632.52, Y:4.44, Z:2.46 [[ 9.99980091e-01 -5.79850399e-03 -2.48910757e-03 6.32515470e+02] [ 5.79853081e-03 9.99983188e-01 3.55875954e-06 4.44402388e+00] [ 2.48904508e-03 -1.79918556e-05 9.99996902e-01 2.45754148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.379254154 meters 0.05360410456819753 Centerline is valid? [True, True] Translation: X:632.58, Y:4.44, Z:2.46 [[ 9.99947117e-01 -1.02520229e-02 -8.12411877e-04 6.32576023e+02] [ 1.02520272e-02 9.99947447e-01 1.11630214e-06 4.43622272e+00] [ 8.12357737e-04 -9.44511178e-06 9.99999670e-01 2.45924268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters 0.053414751123583105 Centerline is valid? [True, True] Translation: X:632.64, Y:4.43, Z:2.46 [[ 9.99899541e-01 -1.41742363e-02 9.93727958e-08 6.32636992e+02] [ 1.41742363e-02 9.99899540e-01 -6.54981027e-08 4.43384311e+00] [-9.84348470e-08 6.69000608e-08 1.00000000e+00 2.45813832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.499254154 meters 0.053767337734006854 Centerline is valid? [True, True] Translation: X:632.70, Y:4.43, Z:2.46 [[ 9.99778079e-01 -2.10515227e-02 -7.91791158e-04 6.32697853e+02] [ 2.10515302e-02 9.99778392e-01 1.12648865e-06 4.42526567e+00] [ 7.91591976e-04 -1.77946541e-05 9.99999687e-01 2.45606685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.559254154 meters 0.0531846066466168 Centerline is valid? [True, True] Translation: X:632.76, Y:4.42, Z:2.45 [[ 9.99683060e-01 -2.50822845e-02 -2.15849517e-03 6.32758905e+02] [ 2.50823495e-02 9.99685388e-01 3.07236928e-06 4.42050211e+00] [ 2.15773902e-03 -5.72115259e-05 9.99997670e-01 2.45451416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.619254154 meters 0.05403748570584599 Centerline is valid? [True, True] Translation: X:632.82, Y:4.42, Z:2.45 [[ 9.99709398e-01 -2.38588382e-02 -3.44606319e-03 6.32820059e+02] [ 2.38589969e-02 9.99715334e-01 4.94552051e-06 4.41507021e+00] [ 3.44496422e-03 -8.71636943e-05 9.99994062e-01 2.45413983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.679254154 meters 0.05577632785168853 Centerline is valid? [True, True] Translation: X:632.88, Y:4.41, Z:2.45 [[ 9.99788332e-01 -2.00970898e-02 -4.40443772e-03 6.32879614e+02] [ 2.00973132e-02 9.99798029e-01 6.44414895e-06 4.40966932e+00] [ 4.40341864e-03 -9.49601490e-05 9.99990300e-01 2.45374550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.739254154 meters 0.05330070983100247 Centerline is valid? [True, True] Translation: X:632.94, Y:4.42, Z:2.45 [[ 9.99821133e-01 -1.85318498e-02 -3.77798668e-03 6.32941285e+02] [ 1.85320028e-02 9.99828268e-01 5.49676904e-06 4.41525875e+00] [ 3.77723601e-03 -7.55094456e-05 9.99992863e-01 2.45382791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.799254154 meters 0.053842262828513114 Centerline is valid? [True, True] Translation: X:633.00, Y:4.41, Z:2.45 [[ 9.99797329e-01 -1.93387438e-02 -5.59581916e-03 6.33002416e+02] [ 1.93390933e-02 9.99812982e-01 8.35321485e-06 4.41106228e+00] [ 5.59461110e-03 -1.16569591e-04 9.99984343e-01 2.45228696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.859254154 meters 0.053716483094522684 Centerline is valid? [True, True] Translation: X:633.06, Y:4.41, Z:2.45 [[ 9.99737123e-01 -2.19621417e-02 -6.58403745e-03 6.33063637e+02] [ 2.19626843e-02 9.99758791e-01 1.01110449e-05 4.40728041e+00] [ 6.58222727e-03 -1.54711523e-04 9.99978325e-01 2.45177830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.919254154 meters 0.05413129066900322 Centerline is valid? [True, True] Translation: X:633.12, Y:4.40, Z:2.45 [[ 9.99583853e-01 -2.73989585e-02 -9.02320675e-03 6.33124478e+02] [ 2.74002001e-02 9.99624544e-01 1.39842405e-05 4.40252320e+00] [ 9.01943578e-03 -2.61216092e-04 9.99959290e-01 2.45159131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters 0.05473118357478077 Centerline is valid? [True, True] Translation: X:633.18, Y:4.40, Z:2.45 [[ 9.99445720e-01 -3.14439100e-02 -1.09331468e-02 6.33184227e+02] [ 3.14459742e-02 9.99505453e-01 1.68969647e-05 4.39561254e+00] [ 1.09272085e-02 -3.60691049e-04 9.99940231e-01 2.44974209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.039254154 meters 0.05757818540069239 Centerline is valid? [True, True] Translation: X:633.24, Y:4.39, Z:2.45 [[ 9.99218356e-01 -3.74398077e-02 -1.26861345e-02 6.33244084e+02] [ 3.74430699e-02 9.99298762e-01 1.96446088e-05 4.38500753e+00] [ 1.26765030e-02 -4.94637075e-04 9.99919528e-01 2.44778462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters 0.05796447236367296 Centerline is valid? [True, True] Translation: X:633.30, Y:4.38, Z:2.45 [[ 9.99116392e-01 -3.97005948e-02 -1.37948510e-02 6.33304530e+02] [ 3.97046680e-02 9.99211459e-01 2.14178705e-05 4.38404849e+00] [ 1.37831229e-02 -5.69118926e-04 9.99904846e-01 2.44779057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.159254154 meters 0.056122184028147476 Centerline is valid? [True, True] Translation: X:633.37, Y:4.39, Z:2.45 [[ 9.99200010e-01 -3.76888708e-02 -1.33749706e-02 6.33365624e+02] [ 3.76925206e-02 9.99289384e-01 2.08178334e-05 4.38916677e+00] [ 1.33646815e-02 -5.24937533e-04 9.99910551e-01 2.45016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters 0.05557087321991471 Centerline is valid? [True, True] Translation: X:633.43, Y:4.40, Z:2.45 [[ 9.99324338e-01 -3.46167018e-02 -1.23511921e-02 6.33426296e+02] [ 3.46195810e-02 9.99400562e-01 1.93150283e-05 4.39733102e+00] [ 1.23431197e-02 -4.46895072e-04 9.99923721e-01 2.45346778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.279254154 meters 0.05425743378096258 Centerline is valid? [True, True] Translation: X:633.49, Y:4.41, Z:2.46 [[ 9.99492503e-01 -3.01740777e-02 -1.02108371e-02 6.33487055e+02] [ 3.01758143e-02 9.99544606e-01 1.60176228e-05 4.40519067e+00] [ 1.02057038e-02 -3.24129817e-04 9.99947868e-01 2.45660576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters 0.05402929518436037 Centerline is valid? [True, True] Translation: X:633.55, Y:4.40, Z:2.46 [[ 9.99533522e-01 -2.90584857e-02 -9.39913781e-03 6.33548777e+02] [ 2.90599097e-02 9.99577672e-01 1.49353464e-05 4.40388703e+00] [ 9.39473429e-03 -2.88066475e-04 9.99955827e-01 2.45678073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.399254154 meters 0.05428361834352744 Centerline is valid? [True, True] Translation: X:633.61, Y:4.41, Z:2.46 [[ 9.99567784e-01 -2.78588567e-02 -9.38773132e-03 6.33609939e+02] [ 2.78602264e-02 9.99611828e-01 1.51384220e-05 4.41026204e+00] [ 9.38366553e-03 -2.76676199e-04 9.99955934e-01 2.45848385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters 0.05375214678385233 Centerline is valid? [True, True] Translation: X:633.67, Y:4.41, Z:2.46 [[ 9.99545709e-01 -2.84058211e-02 -1.00739887e-02 6.33671664e+02] [ 2.84074290e-02 9.99596427e-01 1.65215788e-05 4.40796080e+00] [ 1.00694538e-02 -3.02690192e-04 9.99949256e-01 2.45699403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.519254154 meters 0.053852435890610534 Centerline is valid? [True, True] Translation: X:633.73, Y:4.41, Z:2.46 [[ 9.99480433e-01 -3.02885545e-02 -1.10212083e-02 6.33731572e+02] [ 3.02905981e-02 9.99541134e-01 1.85074812e-05 4.40660450e+00] [ 1.10155905e-02 -3.52336856e-04 9.99939264e-01 2.45679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters 0.0550059278360769 Centerline is valid? [True, True] Translation: X:633.79, Y:4.40, Z:2.46 [[ 9.99360883e-01 -3.37783414e-02 -1.16982870e-02 6.33790914e+02] [ 3.37808853e-02 9.99429263e-01 1.98792869e-05 4.39988206e+00] [ 1.16909388e-02 -4.15045072e-04 9.99931572e-01 2.45521416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.639254154 meters 0.05453164312588675 Centerline is valid? [True, True] Translation: X:633.85, Y:4.41, Z:2.46 [[ 9.99333086e-01 -3.43491257e-02 -1.23903522e-02 6.33851809e+02] [ 3.43520263e-02 9.99409795e-01 2.12827386e-05 4.40572079e+00] [ 1.23823083e-02 -4.46902248e-04 9.99923236e-01 2.45581389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters 0.053896173298230085 Centerline is valid? [True, True] Translation: X:633.91, Y:4.41, Z:2.46 [[ 9.99402985e-01 -3.21420487e-02 -1.26713395e-02 6.33912583e+02] [ 3.21449080e-02 9.99483219e-01 2.19971036e-05 4.40897639e+00] [ 1.26640842e-02 -4.29303014e-04 9.99919715e-01 2.45502282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.759254154 meters 0.05418528738332257 Centerline is valid? [True, True] Translation: X:633.97, Y:4.41, Z:2.46 [[ 9.99509888e-01 -2.92595342e-02 -1.11294020e-02 6.33973509e+02] [ 2.92615626e-02 9.99571789e-01 1.94339682e-05 4.41308342e+00] [ 1.11240676e-02 -3.45088137e-04 9.99938066e-01 2.45732208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters 0.05486853122206865 Centerline is valid? [True, True] Translation: X:634.03, Y:4.41, Z:2.46 [[ 9.99565556e-01 -2.73040871e-02 -1.10989684e-02 6.34034522e+02] [ 2.73059857e-02 9.99627122e-01 1.95278369e-05 4.40873865e+00] [ 1.10942966e-02 -3.22587624e-04 9.99938404e-01 2.45717924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.879254154 meters 0.05372209438598332 Centerline is valid? [True, True] Translation: X:634.10, Y:4.41, Z:2.46 [[ 9.99559848e-01 -2.73578623e-02 -1.14741780e-02 6.34097154e+02] [ 2.73598985e-02 9.99625648e-01 2.04980137e-05 4.41463977e+00] [ 1.14693218e-02 -3.34421337e-04 9.99934169e-01 2.45886419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters 0.05525653769441956 Centerline is valid? [True, True] Translation: X:634.16, Y:4.41, Z:2.46 [[ 9.99550792e-01 -2.74247849e-02 -1.20869977e-02 6.34158284e+02] [ 2.74270534e-02 9.99623807e-01 2.19242863e-05 4.40601225e+00] [ 1.20818494e-02 -3.53425170e-04 9.99926949e-01 2.45696729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.999254154 meters 0.05557944672914801 Centerline is valid? [True, True] Translation: X:634.22, Y:4.41, Z:2.46 [[ 9.99578245e-01 -2.68792789e-02 -1.09925868e-02 6.34219985e+02] [ 2.68811249e-02 9.99638637e-01 2.01885943e-05 4.40845103e+00] [ 1.09880718e-02 -3.15673178e-04 9.99939579e-01 2.45932712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.059254154 meters 0.05503339619589882 Centerline is valid? [True, True] Translation: X:634.28, Y:4.41, Z:2.46 [[ 9.99565623e-01 -2.75944878e-02 -1.03493520e-02 6.34281196e+02] [ 2.75961643e-02 9.99619153e-01 1.91923741e-05 4.40897193e+00] [ 1.03448809e-02 -3.04786456e-04 9.99946444e-01 2.46000647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.119254154 meters 0.05379908287643593 Centerline is valid? [True, True] Translation: X:634.34, Y:4.42, Z:2.46 [[ 9.99538455e-01 -2.81609627e-02 -1.13946297e-02 6.34343713e+02] [ 2.81630353e-02 9.99603343e-01 2.14446899e-05 4.41787935e+00] [ 1.13895061e-02 -3.42342152e-04 9.99935079e-01 2.46113226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.179254154 meters 0.05431330097898024 Centerline is valid? [True, True] Translation: X:634.40, Y:4.42, Z:2.46 [[ 9.99573491e-01 -2.68415886e-02 -1.15050242e-02 6.34404141e+02] [ 2.68436190e-02 9.99639645e-01 2.20649425e-05 4.41647641e+00] [ 1.15002861e-02 -3.30892018e-04 9.99933815e-01 2.46079624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.239254154 meters 0.05421391207334245 Centerline is valid? [True, True] Translation: X:634.46, Y:4.42, Z:2.46 [[ 9.99724855e-01 -2.08038572e-02 -1.08357912e-02 6.34464681e+02] [ 2.08053059e-02 9.99783546e-01 2.09733009e-05 4.42261895e+00] [ 1.08330094e-02 -2.46409481e-04 9.99941291e-01 2.46294879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.299254154 meters 0.05439426817196062 Centerline is valid? [True, True] Translation: X:634.52, Y:4.42, Z:2.46 [[ 9.99770982e-01 -1.83505104e-02 -1.10110301e-02 6.34524237e+02] [ 1.83518573e-02 9.99831590e-01 2.12846095e-05 4.42317738e+00] [ 1.10087852e-02 -2.23352589e-04 9.99939377e-01 2.46315948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.359254154 meters 0.05396953625152019 Centerline is valid? [True, True] Translation: X:634.58, Y:4.43, Z:2.46 [[ 9.99802040e-01 -1.70427977e-02 -1.02676260e-02 6.34584390e+02] [ 1.70438996e-02 9.99854742e-01 1.98167609e-05 4.42535387e+00] [ 1.02657969e-02 -1.94813225e-04 9.99947286e-01 2.46384244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.419254154 meters 0.05369021974986927 Centerline is valid? [True, True] Translation: X:634.65, Y:4.43, Z:2.46 [[ 9.99795418e-01 -1.70418410e-02 -1.08948459e-02 6.34645023e+02] [ 1.70430815e-02 9.99854756e-01 2.10273101e-05 4.42608717e+00] [ 1.08929052e-02 -2.06704756e-04 9.99940649e-01 2.46431151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters 0.05426874343140979 Centerline is valid? [True, True] Translation: X:634.70, Y:4.42, Z:2.46 [[ 9.99741236e-01 -1.89854252e-02 -1.25305262e-02 6.34703855e+02] [ 1.89872171e-02 9.99819726e-01 2.40421581e-05 4.42364247e+00] [ 1.25278108e-02 -2.61955758e-04 9.99921490e-01 2.46421531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.539254154 meters 0.05421691811552063 Centerline is valid? [True, True] Translation: X:634.76, Y:4.42, Z:2.46 [[ 9.99575199e-01 -2.54580982e-02 -1.41882922e-02 6.34764363e+02] [ 2.54610474e-02 9.99675815e-01 2.72374371e-05 4.42159284e+00] [ 1.41829992e-02 -3.88474647e-04 9.99899341e-01 2.46410114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters 0.05510227360638365 Centerline is valid? [True, True] Translation: X:634.82, Y:4.41, Z:2.46 [[ 9.99408751e-01 -3.09409600e-02 -1.49935004e-02 6.34824178e+02] [ 3.09448697e-02 9.99521092e-01 2.87777211e-05 4.41459003e+00] [ 1.49854295e-02 -4.92732624e-04 9.99887591e-01 2.46306431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.659254154 meters 0.055770189725955016 Centerline is valid? [True, True] Translation: X:634.88, Y:4.41, Z:2.46 [[ 9.99154735e-01 -3.82488590e-02 -1.50612187e-02 6.34883600e+02] [ 3.82536318e-02 9.99268062e-01 2.88283100e-05 4.40803384e+00] [ 1.50490921e-02 -6.04950255e-04 9.99886573e-01 2.46185560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters 0.05520773616694442 Centerline is valid? [True, True] Translation: X:634.94, Y:4.42, Z:2.47 [[ 9.99026499e-01 -4.18020187e-02 -1.40941773e-02 6.34944326e+02] [ 4.18065510e-02 9.99125724e-01 2.69651939e-05 4.41638172e+00] [ 1.40807279e-02 -6.16167884e-04 9.99900672e-01 2.46556793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.779254154 meters 0.05736918427934965 Centerline is valid? [True, True] Translation: X:635.01, Y:4.41, Z:2.47 [[ 9.99070800e-01 -4.15335196e-02 -1.15109775e-02 6.35006047e+02] [ 4.15365277e-02 9.99136986e-01 2.22675114e-05 4.40965551e+00] [ 1.15001185e-02 -5.00372854e-04 9.99933746e-01 2.46599941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters 0.05448959328707535 Centerline is valid? [True, True] Translation: X:635.07, Y:4.42, Z:2.47 [[ 9.99118040e-01 -4.06948347e-02 -1.03475994e-02 6.35067171e+02] [ 4.06972233e-02 9.99171525e-01 2.02842243e-05 4.42349038e+00] [ 1.03382012e-02 -4.41384899e-04 9.99946462e-01 2.46942294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.899254154 meters 0.05420360718961195 Centerline is valid? [True, True] Translation: X:635.13, Y:4.42, Z:2.47 [[ 9.99153341e-01 -4.00322360e-02 -9.48792567e-03 6.35128591e+02] [ 4.00342164e-02 9.99198309e-01 1.88194080e-05 4.42253039e+00] [ 9.47956590e-03 -3.98645144e-04 9.99954988e-01 2.46910625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters 0.056567556463678566 Centerline is valid? [True, True] Translation: X:635.19, Y:4.42, Z:2.47 [[ 9.99112351e-01 -4.05951498e-02 -1.12492192e-02 6.35189452e+02] [ 4.05979726e-02 9.99175562e-01 2.25956944e-05 4.41789718e+00] [ 1.12390276e-02 -4.79271128e-04 9.99936725e-01 2.46752223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.019254154 meters 0.05352908002758006 Centerline is valid? [True, True] Translation: X:635.25, Y:4.43, Z:2.47 [[ 9.99142688e-01 -3.93519765e-02 -1.28573506e-02 6.35250787e+02] [ 3.93555646e-02 9.99225269e-01 2.60762359e-05 4.42863674e+00] [ 1.28463634e-02 -5.32062171e-04 9.99917340e-01 2.46755422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters 0.05402734618571089 Centerline is valid? [True, True] Translation: X:635.31, Y:4.43, Z:2.47 [[ 9.99260872e-01 -3.54459117e-02 -1.48760866e-02 6.35310205e+02] [ 3.54502829e-02 9.99371441e-01 3.01609550e-05 4.43087659e+00] [ 1.48656670e-02 -5.57500141e-04 9.99889344e-01 2.46750595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.139254154 meters 0.05480461563269698 Centerline is valid? [True, True] Translation: X:635.37, Y:4.43, Z:2.47 [[ 9.99403437e-01 -3.05430671e-02 -1.61211322e-02 6.35370157e+02] [ 3.05475629e-02 9.99533314e-01 3.26478227e-05 4.43099081e+00] [ 1.61126116e-02 -5.25089647e-04 9.99870046e-01 2.46554242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters 0.053727399474357965 Centerline is valid? [True, True] Translation: X:635.43, Y:4.44, Z:2.47 [[ 9.99663593e-01 -2.06321570e-02 -1.57167007e-02 6.35430691e+02] [ 2.06352059e-02 9.99787071e-01 3.18267452e-05 4.44202032e+00] [ 1.57126975e-02 -3.56133393e-04 9.99876485e-01 2.46683367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.259254154 meters 0.05429103488187419 Centerline is valid? [True, True] Translation: X:635.49, Y:4.44, Z:2.47 [[ 9.99745129e-01 -1.65833968e-02 -1.53188667e-02 6.35490474e+02] [ 1.65858181e-02 9.99862445e-01 3.10209315e-05 4.44300276e+00] [ 1.53162451e-02 -2.85088961e-04 9.99882659e-01 2.46700351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters 0.05420175013897735 Centerline is valid? [True, True] Translation: X:635.55, Y:4.45, Z:2.47 [[ 9.99917531e-01 -3.23594514e-03 -1.24282274e-02 6.35550997e+02] [ 3.23650732e-03 9.99994762e-01 2.51214484e-05 4.45442657e+00] [ 1.24280810e-02 -6.53434254e-05 9.99922766e-01 2.47029617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.379254154 meters 0.053667817294951854 Centerline is valid? [True, True] Translation: X:635.61, Y:4.46, Z:2.47 [[ 9.99915564e-01 6.58865768e-03 -1.12006662e-02 6.35609530e+02] [-6.58882270e-03 9.99978293e-01 2.21676719e-05 4.46259783e+00] [ 1.12005692e-02 5.16334038e-05 9.99937270e-01 2.47105769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters 0.054298465910102164 Centerline is valid? [True, True] Translation: X:635.67, Y:4.46, Z:2.47 [[ 9.99913573e-01 6.44971551e-03 -1.14563207e-02 6.35668427e+02] [-6.44988490e-03 9.99979199e-01 2.21616341e-05 4.46310780e+00] [ 1.14562253e-02 5.17322310e-05 9.99934374e-01 2.47251079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.499254154 meters 0.05403401481758986 Centerline is valid? [True, True] Translation: X:635.73, Y:4.46, Z:2.47 [[ 9.99934830e-01 1.30007216e-03 -1.13422072e-02 6.35726058e+02] [-1.29991256e-03 9.99999155e-01 2.14433037e-05 4.45973670e+00] [ 1.13422255e-02 -6.69802870e-06 9.99935675e-01 2.47340937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.559254154 meters 0.054263920132641565 Centerline is valid? [True, True] Translation: X:635.79, Y:4.45, Z:2.47 [[ 9.99870175e-01 -1.13840081e-02 -1.14033889e-02 6.35785433e+02] [ 1.13849913e-02 9.99935189e-01 2.13040191e-05 4.45206920e+00] [ 1.14024073e-02 -1.51128736e-04 9.99934979e-01 2.47201565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.619254154 meters 0.05375642932852356 Centerline is valid? [True, True] Translation: X:635.85, Y:4.44, Z:2.47 [[ 9.99620844e-01 -2.44304464e-02 -1.27012448e-02 6.35845024e+02] [ 2.44327184e-02 9.99701476e-01 2.37115582e-05 4.44327404e+00] [ 1.26968739e-02 -3.34028506e-04 9.99919336e-01 2.47045428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.679254154 meters 0.05504312554935044 Centerline is valid? [True, True] Translation: X:635.90, Y:4.44, Z:2.47 [[ 9.99426583e-01 -3.12017927e-02 -1.31511959e-02 6.35904972e+02] [ 3.12048141e-02 9.99513011e-01 2.45597853e-05 4.43659668e+00] [ 1.31440251e-02 -4.34926326e-04 9.99913519e-01 2.46905494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.739254154 meters 0.053614062929455565 Centerline is valid? [True, True] Translation: X:635.97, Y:4.44, Z:2.47 [[ 9.99198915e-01 -3.77802148e-02 -1.31978862e-02 6.35965087e+02] [ 3.77838309e-02 9.99285936e-01 2.46598469e-05 4.44052354e+00] [ 1.31875304e-02 -5.23306792e-04 9.99912904e-01 2.47057084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.799254154 meters 0.05384990926338564 Centerline is valid? [True, True] Translation: X:636.02, Y:4.44, Z:2.47 [[ 9.99081734e-01 -4.11453451e-02 -1.19477656e-02 6.36024299e+02] [ 4.11485481e-02 9.99153040e-01 2.22777107e-05 4.43778995e+00] [ 1.19367297e-02 -5.13890461e-04 9.99928623e-01 2.47068708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.859254154 meters 0.05580892943508468 Centerline is valid? [True, True] Translation: X:636.08, Y:4.43, Z:2.47 [[ 9.98957647e-01 -4.45363049e-02 -1.00069005e-02 6.36083743e+02] [ 4.45387209e-02 9.99007659e-01 1.85985756e-05 4.43229050e+00] [ 9.99614193e-03 -4.64273738e-04 9.99949930e-01 2.47108244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.919254154 meters 0.05486659873693071 Centerline is valid? [True, True] Translation: X:636.14, Y:4.43, Z:2.47 [[ 9.98856304e-01 -4.69899417e-02 -8.83344556e-03 6.36144816e+02] [ 4.69919202e-02 9.98895269e-01 1.64395974e-05 4.43272472e+00] [ 8.82291449e-03 -4.31521364e-04 9.99960984e-01 2.47149469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters 0.05359400308747579 Centerline is valid? [True, True] Translation: X:636.21, Y:4.44, Z:2.47 [[ 9.98683544e-01 -5.05395559e-02 -8.77113507e-03 6.36205323e+02] [ 5.05416436e-02 9.98721954e-01 1.63845247e-05 4.43631412e+00] [ 8.75909710e-03 -4.59670538e-04 9.99961533e-01 2.47132584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.039254154 meters 0.05629747433573781 Centerline is valid? [True, True] Translation: X:636.26, Y:4.43, Z:2.47 [[ 9.98541987e-01 -5.30266504e-02 -1.01031659e-02 6.36264945e+02] [ 5.30295471e-02 9.98592944e-01 1.88570445e-05 4.42645280e+00] [ 1.00879503e-02 -5.54595864e-04 9.99948962e-01 2.46920979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters 0.05351308498485251 Centerline is valid? [True, True] Translation: X:636.33, Y:4.44, Z:2.47 [[ 9.98424780e-01 -5.48372550e-02 -1.18673790e-02 6.36325934e+02] [ 5.48413792e-02 9.98495079e-01 2.21325455e-05 4.44174917e+00] [ 1.18483059e-02 -6.72921116e-04 9.99929580e-01 2.46888661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.159254154 meters 0.05364535480004916 Centerline is valid? [True, True] Translation: X:636.39, Y:4.44, Z:2.47 [[ 9.98393349e-01 -5.49613899e-02 -1.37828205e-02 6.36386636e+02] [ 5.49669670e-02 9.98488173e-01 2.58641358e-05 4.44164814e+00] [ 1.37605618e-02 -7.83422423e-04 9.99905012e-01 2.46835124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters 0.05268082090822138 Centerline is valid? [True, True] Translation: X:636.45, Y:4.45, Z:2.47 [[ 9.98405245e-01 -5.45954924e-02 -1.43631319e-02 6.36448462e+02] [ 5.46015169e-02 9.98508224e-01 2.73343266e-05 4.45070889e+00] [ 1.43402130e-02 -8.11539523e-04 9.99896845e-01 2.46934562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.279254154 meters 0.05396516021458694 Centerline is valid? [True, True] Translation: X:636.51, Y:4.45, Z:2.47 [[ 9.98556283e-01 -5.21979658e-02 -1.26775963e-02 6.36508244e+02] [ 5.22024678e-02 9.98636521e-01 2.42293125e-05 4.44650581e+00] [ 1.26590459e-02 -6.85996144e-04 9.99919636e-01 2.46944139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters 0.05731157730915382 Centerline is valid? [True, True] Translation: X:636.57, Y:4.44, Z:2.47 [[ 9.98732068e-01 -4.93707830e-02 -9.83776158e-03 6.36567792e+02] [ 4.93733566e-02 9.98780392e-01 1.87522523e-05 4.43971327e+00] [ 9.82483755e-03 -5.04451786e-04 9.99951608e-01 2.47127399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.399254154 meters 0.05497206241598515 Centerline is valid? [True, True] Translation: X:636.63, Y:4.45, Z:2.47 [[ 9.98808409e-01 -4.81416193e-02 -8.00922286e-03 6.36628825e+02] [ 4.81432856e-02 9.98840440e-01 1.52699519e-05 4.44813028e+00] [ 7.99920056e-03 -4.00842060e-04 9.99967926e-01 2.47276664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters 0.05245703786858154 Centerline is valid? [True, True] Translation: X:636.69, Y:4.46, Z:2.47 [[ 9.98815685e-01 -4.77908596e-02 -9.12476023e-03 6.36691486e+02] [ 4.77930099e-02 9.98857261e-01 1.76297408e-05 4.46075253e+00] [ 9.11349047e-03 -4.53708618e-04 9.99958368e-01 2.47227261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.519254154 meters 0.052622090676369054 Centerline is valid? [True, True] Translation: X:636.75, Y:4.46, Z:2.47 [[ 9.98719323e-01 -4.94032078e-02 -1.09104329e-02 6.36752068e+02] [ 4.94063808e-02 9.98778759e-01 2.13162147e-05 4.45729073e+00] [ 1.08960556e-02 -5.60333920e-04 9.99940479e-01 2.47109892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters 0.052503809188004 Centerline is valid? [True, True] Translation: X:636.81, Y:4.46, Z:2.47 [[ 9.98529482e-01 -5.28002140e-02 -1.22886400e-02 6.36811830e+02] [ 5.28044954e-02 9.98604869e-01 2.39794007e-05 4.45740794e+00] [ 1.22702296e-02 -6.72839574e-04 9.99924492e-01 2.47095242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.639254154 meters 0.05273093366134139 Centerline is valid? [True, True] Translation: X:636.87, Y:4.46, Z:2.47 [[ 9.98511567e-01 -5.33931518e-02 -1.11275000e-02 6.36874411e+02] [ 5.33967031e-02 9.98573378e-01 2.20847772e-05 4.45783135e+00] [ 1.11104461e-02 -6.16223721e-04 9.99938087e-01 2.47114453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters 0.05261872378022874 Centerline is valid? [True, True] Translation: X:636.93, Y:4.46, Z:2.47 [[ 9.98641291e-01 -5.09579947e-02 -1.09020845e-02 6.36933828e+02] [ 5.09612606e-02 9.98700631e-01 2.17979700e-05 4.45971767e+00] [ 1.08868079e-02 -5.77352322e-04 9.99940570e-01 2.47236609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.759254154 meters 0.05517418420147931 Centerline is valid? [True, True] Translation: X:636.99, Y:4.46, Z:2.47 [[ 9.98983375e-01 -4.40990199e-02 -9.35377413e-03 6.36992940e+02] [ 4.41011238e-02 9.99027072e-01 1.86808284e-05 4.45562304e+00] [ 9.34384977e-03 -4.31173788e-04 9.99956252e-01 2.47385941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters 0.052764222160265814 Centerline is valid? [True, True] Translation: X:637.05, Y:4.47, Z:2.48 [[ 9.99161506e-01 -3.98989003e-02 -9.18492569e-03 6.37053665e+02] [ 3.99007516e-02 9.99203648e-01 1.83356611e-05 4.46972383e+00] [ 9.17687968e-03 -3.84805725e-04 9.99957817e-01 2.47522487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.879254154 meters 0.05368901051513152 Centerline is valid? [True, True] Translation: X:637.11, Y:4.47, Z:2.47 [[ 9.99292850e-01 -3.61022410e-02 -1.05084478e-02 6.37113170e+02] [ 3.61044542e-02 9.99348021e-01 2.09154333e-05 4.46599523e+00] [ 1.05008415e-02 -4.00302417e-04 9.99944785e-01 2.47486507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters 0.05313028938340951 Centerline is valid? [True, True] Translation: X:637.17, Y:4.47, Z:2.47 [[ 9.99319717e-01 -3.47039895e-02 -1.24794753e-02 6.37174579e+02] [ 3.47070031e-02 9.99397530e-01 2.49280229e-05 4.46715231e+00] [ 1.24710917e-02 -4.58036252e-04 9.99922128e-01 2.47365282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.999254154 meters 0.053331579982449556 Centerline is valid? [True, True] Translation: X:637.24, Y:4.47, Z:2.48 [[ 9.99332603e-01 -3.40589153e-02 -1.32037346e-02 6.37237082e+02] [ 3.40622372e-02 9.99419713e-01 2.67191990e-05 4.47174110e+00] [ 1.31951626e-02 -4.76450106e-04 9.99912827e-01 2.47572518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.059254154 meters 0.0534253263134749 Centerline is valid? [True, True] Translation: X:637.30, Y:4.47, Z:2.48 [[ 9.99396771e-01 -3.23799750e-02 -1.25551198e-02 6.37298448e+02] [ 3.23828492e-02 9.99475538e-01 2.56534012e-05 4.47279578e+00] [ 1.25477044e-02 -4.32208477e-04 9.99921181e-01 2.47711706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.119254154 meters 0.054432856456391294 Centerline is valid? [True, True] Translation: X:637.36, Y:4.47, Z:2.48 [[ 9.99546260e-01 -2.78226811e-02 -1.15400631e-02 6.37358137e+02] [ 2.78248059e-02 9.99612815e-01 2.35737095e-05 4.47098734e+00] [ 1.15349390e-02 -3.44663028e-04 9.99933411e-01 2.47810948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.179254154 meters 0.05308633325304715 Centerline is valid? [True, True] Translation: X:637.42, Y:4.48, Z:2.48 [[ 9.99595190e-01 -2.63299776e-02 -1.07791154e-02 6.37419396e+02] [ 2.63317455e-02 9.99653259e-01 2.20975532e-05 4.47669292e+00] [ 1.07747960e-02 -3.05921532e-04 9.99941903e-01 2.48035230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.239254154 meters 0.05315091139273533 Centerline is valid? [True, True] Translation: X:637.48, Y:4.48, Z:2.48 [[ 9.99694442e-01 -2.22203288e-02 -1.08295551e-02 6.37479353e+02] [ 2.22218737e-02 9.99753063e-01 2.23371056e-05 4.47604353e+00] [ 1.08263846e-02 -2.62983287e-04 9.99941358e-01 2.48232307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.299254154 meters 0.05330746176767698 Centerline is valid? [True, True] Translation: X:637.54, Y:4.48, Z:2.48 [[ 9.99743821e-01 -1.89793080e-02 -1.23319770e-02 6.37540468e+02] [ 1.89810673e-02 9.99819843e-01 2.56248526e-05 4.48182659e+00] [ 1.23292690e-02 -2.59692374e-04 9.99923958e-01 2.48474010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.359254154 meters 0.053873660185271836 Centerline is valid? [True, True] Translation: X:637.60, Y:4.48, Z:2.48 [[ 9.99708376e-01 -1.81045419e-02 -1.59808850e-02 6.37600502e+02] [ 1.81073879e-02 9.99836047e-01 3.33931766e-05 4.47869141e+00] [ 1.59776603e-02 -3.22755521e-04 9.99872297e-01 2.48340348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.419254154 meters 0.05371059246839984 Centerline is valid? [True, True] Translation: X:637.66, Y:4.48, Z:2.48 [[ 9.99679707e-01 -1.84866946e-02 -1.72836616e-02 6.37659519e+02] [ 1.84900756e-02 9.99829043e-01 3.58240066e-05 4.47569067e+00] [ 1.72800445e-02 -3.55388741e-04 9.99850626e-01 2.48239019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters 0.05464049334989345 Centerline is valid? [True, True] Translation: X:637.72, Y:4.48, Z:2.49 [[ 9.99622828e-01 -2.04652331e-02 -1.83132761e-02 6.37719038e+02] [ 2.04693461e-02 9.99790480e-01 3.71543876e-05 4.47554730e+00] [ 1.83086787e-02 -4.12001161e-04 9.99832297e-01 2.48568595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.539254154 meters 0.05463116235604959 Centerline is valid? [True, True] Translation: X:637.78, Y:4.47, Z:2.49 [[ 9.99587013e-01 -2.34204081e-02 -1.66519587e-02 6.37777805e+02] [ 2.34242106e-02 9.99725615e-01 3.33156287e-05 4.46879374e+00] [ 1.66466094e-02 -4.23360856e-04 9.99861346e-01 2.48650633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters 0.05501696337134827 Centerline is valid? [True, True] Translation: X:637.84, Y:4.46, Z:2.49 [[ 9.99569242e-01 -2.61981103e-02 -1.32283929e-02 6.37837047e+02] [ 2.62007509e-02 9.99656701e-01 2.63251826e-05 4.46183812e+00] [ 1.32231620e-02 -3.72907671e-04 9.99912501e-01 2.48961879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.659254154 meters 0.054697672860808205 Centerline is valid? [True, True] Translation: X:637.90, Y:4.47, Z:2.49 [[ 9.99513727e-01 -2.82592659e-02 -1.31804145e-02 6.37898463e+02] [ 2.82620680e-02 9.99600548e-01 2.63440756e-05 4.46641814e+00] [ 1.31744051e-02 -3.98837035e-04 9.99913134e-01 2.49361309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters 0.05578130525017968 Centerline is valid? [True, True] Translation: X:637.96, Y:4.45, Z:2.49 [[ 9.99416605e-01 -3.11036763e-02 -1.41071074e-02 6.37958338e+02] [ 3.11071733e-02 9.99516054e-01 2.84727671e-05 4.45452274e+00] [ 1.40993947e-02 -4.67288391e-04 9.99900489e-01 2.49133875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.779254154 meters 0.0574658521267459 Centerline is valid? [True, True] Translation: X:638.02, Y:4.44, Z:2.49 [[ 9.99314239e-01 -3.31257546e-02 -1.65449581e-02 6.38019422e+02] [ 3.31308450e-02 9.99451022e-01 3.35941280e-05 4.44499758e+00] [ 1.65347625e-02 -5.81719533e-04 9.99863122e-01 2.48854915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters 0.0568735740587835 Centerline is valid? [True, True] Translation: X:638.08, Y:4.44, Z:2.49 [[ 9.99332210e-01 -3.20691989e-02 -1.75128445e-02 6.38080446e+02] [ 3.20747445e-02 9.99485472e-01 3.57948237e-05 4.44173514e+00] [ 1.75026858e-02 -5.97490934e-04 9.99846638e-01 2.48814812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.899254154 meters 0.053841472839159486 Centerline is valid? [True, True] Translation: X:638.14, Y:4.46, Z:2.49 [[ 9.99421837e-01 -2.90131489e-02 -1.77265187e-02 6.38141125e+02] [ 2.90183555e-02 9.99578878e-01 3.65175654e-05 4.45571408e+00] [ 1.77179942e-02 -5.50890874e-04 9.99842872e-01 2.49478298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters 0.054587068445240555 Centerline is valid? [True, True] Translation: X:638.20, Y:4.45, Z:2.50 [[ 9.99691289e-01 -1.86253998e-02 -1.64444773e-02 6.38200220e+02] [ 1.86284746e-02 9.99826474e-01 3.38083123e-05 4.45446963e+00] [ 1.64409940e-02 -3.40133402e-04 9.99864780e-01 2.49509524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.019254154 meters 0.05435473519583051 Centerline is valid? [True, True] Translation: X:638.26, Y:4.46, Z:2.49 [[ 9.99852981e-01 -6.05195976e-03 -1.60433897e-02 6.38259408e+02] [ 6.05326411e-03 9.99981678e-01 3.27416369e-05 4.45631763e+00] [ 1.60428976e-02 -1.29851698e-04 9.99871296e-01 2.49400924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters 0.0554415915951308 Centerline is valid? [True, True] Translation: X:638.32, Y:4.46, Z:2.50 [[ 9.99849087e-01 1.97476208e-03 -1.72598931e-02 6.38318166e+02] [-1.97447453e-03 9.99998050e-01 3.37007331e-05 4.45814883e+00] [ 1.72599260e-02 3.83572065e-07 9.99851036e-01 2.49643344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.139254154 meters 0.05539024148108404 Centerline is valid? [True, True] Translation: X:638.38, Y:4.46, Z:2.50 [[ 9.99829734e-01 3.86176591e-03 -1.80440830e-02 6.38375850e+02] [-3.86177770e-03 9.99992543e-01 3.41908974e-05 4.45562326e+00] [ 1.80440805e-02 3.54971614e-05 9.99837192e-01 2.49568359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters 0.05649125759889637 Centerline is valid? [True, True] Translation: X:638.43, Y:4.45, Z:2.50 [[ 9.99817746e-01 1.06207555e-03 -1.90616685e-02 6.38434772e+02] [-1.06159228e-03 9.99999436e-01 3.54716394e-05 4.44751261e+00] [ 1.90616954e-02 -1.52294543e-05 9.99818309e-01 2.49744280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.259254154 meters 0.055128345202078405 Centerline is valid? [True, True] Translation: X:638.49, Y:4.44, Z:2.49 [[ 9.99788600e-01 -6.03969699e-03 -1.96539533e-02 6.38493199e+02] [ 6.04157542e-03 9.99981749e-01 3.62001176e-05 4.43599587e+00] [ 1.96533760e-02 -1.54933306e-04 9.99806842e-01 2.49362336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters 0.0556809279976225 Centerline is valid? [True, True] Translation: X:638.55, Y:4.43, Z:2.50 [[ 9.99720082e-01 -1.49030826e-02 -1.83753918e-02 6.38553135e+02] [ 1.49062180e-02 9.99888896e-01 3.36687774e-05 4.42837919e+00] [ 1.83728485e-02 -3.07566948e-04 9.99831158e-01 2.49986660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.379254154 meters 0.0558433277497927 Centerline is valid? [True, True] Translation: X:638.61, Y:4.42, Z:2.50 [[ 9.99625277e-01 -2.12299133e-02 -1.72799626e-02 6.38612976e+02] [ 2.12336288e-02 9.99774541e-01 3.15482486e-05 4.42352893e+00] [ 1.72753969e-02 -3.98452738e-04 9.99850690e-01 2.50138347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters 0.05626051839336623 Centerline is valid? [True, True] Translation: X:638.67, Y:4.41, Z:2.50 [[ 9.99352854e-01 -3.19508527e-02 -1.65232297e-02 6.38672041e+02] [ 3.19557161e-02 9.99489285e-01 3.03287417e-05 4.40879241e+00] [ 1.65138221e-02 -5.58320753e-04 9.99863482e-01 2.50038580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.499254154 meters 0.055984922746730593 Centerline is valid? [True, True] Translation: X:638.73, Y:4.40, Z:2.50 [[ 9.98965089e-01 -4.29619621e-02 -1.49338627e-02 6.38732107e+02] [ 4.29671635e-02 9.99076485e-01 2.74751471e-05 4.40163481e+00] [ 1.49188906e-02 -6.69112432e-04 9.99888483e-01 2.50263069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.559254154 meters 0.05640068031626283 Centerline is valid? [True, True] Translation: X:638.79, Y:4.40, Z:2.50 [[ 9.98588846e-01 -5.13874529e-02 -1.34031960e-02 6.38792957e+02] [ 5.13923995e-02 9.98678537e-01 2.46754751e-05 4.39503328e+00] [ 1.33842161e-02 -7.13463057e-04 9.99910173e-01 2.50383474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.619254154 meters 0.06003899986166012 Centerline is valid? [True, True] Translation: X:638.85, Y:4.37, Z:2.50 [[ 9.98348996e-01 -5.58239952e-02 -1.35264446e-02 6.38852411e+02] [ 5.58294383e-02 9.98440320e-01 2.48427298e-05 4.37461546e+00] [ 1.35039608e-02 -7.79975518e-04 9.99908513e-01 2.50153313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.679254154 meters 0.05891366404811039 Centerline is valid? [True, True] Translation: X:638.91, Y:4.38, Z:2.50 [[ 9.98264136e-01 -5.70620781e-02 -1.45820020e-02 6.38913383e+02] [ 5.70685364e-02 9.98370263e-01 2.68322526e-05 4.37554635e+00] [ 1.45567061e-02 -8.58959189e-04 9.99893677e-01 2.50158674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.739254154 meters 0.057757867942214006 Centerline is valid? [True, True] Translation: X:638.97, Y:4.38, Z:2.50 [[ 9.98343678e-01 -5.51749332e-02 -1.62980645e-02 6.38974111e+02] [ 5.51827528e-02 9.98476271e-01 3.01176246e-05 4.37970897e+00] [ 1.62715689e-02 -9.29439802e-04 9.99867177e-01 2.50140497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.799254154 meters 0.056599279981793996 Centerline is valid? [True, True] Translation: X:639.03, Y:4.38, Z:2.50 [[ 9.98676803e-01 -4.86590896e-02 -1.66413971e-02 6.39034239e+02] [ 4.86663393e-02 9.98815091e-01 3.07164026e-05 4.38377863e+00] [ 1.66201840e-02 -8.40551638e-04 9.99861522e-01 2.50186472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.859254154 meters 0.05642507136743088 Centerline is valid? [True, True] Translation: X:639.09, Y:4.38, Z:2.50 [[ 9.99197486e-01 -3.63843287e-02 -1.67500715e-02 6.39093938e+02] [ 3.63899518e-02 9.99337666e-01 3.09424625e-05 4.38383289e+00] [ 1.67378515e-02 -6.40451926e-04 9.99859707e-01 2.50048545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.919254154 meters 0.05689754811378742 Centerline is valid? [True, True] Translation: X:639.15, Y:4.39, Z:2.50 [[ 9.99552892e-01 -2.54049796e-02 -1.57671528e-02 6.39153594e+02] [ 2.54085965e-02 9.99677149e-01 2.90820624e-05 4.38655811e+00] [ 1.57613235e-02 -4.29690282e-04 9.99875690e-01 2.49968248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters 0.05634700126966944 Centerline is valid? [True, True] Translation: X:639.21, Y:4.40, Z:2.50 [[ 9.99890922e-01 -8.49622930e-03 -1.20813313e-02 6.39214287e+02] [ 8.49711725e-03 9.99963899e-01 2.21683973e-05 4.40129268e+00] [ 1.20807068e-02 -1.24822467e-04 9.99927018e-01 2.50360697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.039254154 meters 0.05691435728951027 Centerline is valid? [True, True] Translation: X:639.27, Y:4.41, Z:2.51 [[ 9.99918990e-01 6.23511734e-03 -1.10966835e-02 6.39272147e+02] [-6.23528061e-03 9.99980560e-01 1.98828737e-05 4.40790292e+00] [ 1.10965918e-02 4.93096727e-05 9.99938430e-01 2.50514581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters 0.05656520593208558 Centerline is valid? [True, True] Translation: X:639.33, Y:4.41, Z:2.50 [[ 9.99915124e-01 9.01887257e-03 -9.40233817e-03 6.39331391e+02] [-9.01912056e-03 9.99959327e-01 1.60266741e-05 4.41005612e+00] [ 9.40210029e-03 6.87755077e-05 9.99955797e-01 2.50451945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.159254154 meters 0.05743092639031437 Centerline is valid? [True, True] Translation: X:639.39, Y:4.41, Z:2.51 [[ 9.99867808e-01 1.33699043e-02 -9.25272615e-03 6.39389733e+02] [-1.33703361e-02 9.99910613e-01 1.51940697e-05 4.40784135e+00] [ 9.25210222e-03 1.08519997e-04 9.99957192e-01 2.50665029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters 0.0570887898344709 Centerline is valid? [True, True] Translation: X:639.45, Y:4.41, Z:2.50 [[ 9.99870058e-01 1.31813285e-02 -9.28012002e-03 6.39448748e+02] [-1.31817568e-02 9.99913117e-01 1.50066994e-05 4.40570569e+00] [ 9.27951154e-03 1.07323536e-04 9.99956939e-01 2.50378596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.279254154 meters 0.056682426729279714 Centerline is valid? [True, True] Translation: X:639.51, Y:4.40, Z:2.50 [[ 9.99940988e-01 7.30064716e-03 -8.04494648e-03 6.39508583e+02] [-7.30078021e-03 9.99973349e-01 1.28295597e-05 4.39749594e+00] [ 8.04482574e-03 4.59055835e-05 9.99967639e-01 2.50237560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters 0.056530204289198915 Centerline is valid? [True, True] Translation: X:639.57, Y:4.39, Z:2.50 [[ 9.99970376e-01 -1.95367720e-03 -7.44516666e-03 6.39566261e+02] [ 1.95381800e-03 9.99998091e-01 1.16382558e-05 4.38678400e+00] [ 7.44512971e-03 -2.61844116e-05 9.99972284e-01 2.50239176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.399254154 meters 0.05686901657937619 Centerline is valid? [True, True] Translation: X:639.63, Y:4.37, Z:2.50 [[ 9.99888865e-01 -1.36223678e-02 -6.05720708e-03 6.39626458e+02] [ 1.36226743e-02 9.99907207e-01 9.34110548e-06 4.37210002e+00] [ 6.05651777e-03 -9.18554266e-05 9.99981655e-01 2.50083925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters 0.057064964293570275 Centerline is valid? [True, True] Translation: X:639.69, Y:4.36, Z:2.50 [[ 9.99755013e-01 -2.14717715e-02 -5.37373272e-03 6.39687372e+02] [ 2.14721262e-02 9.99769447e-01 8.31499060e-06 4.36267111e+00] [ 5.37231525e-03 -1.23698421e-04 9.99985561e-01 2.49969891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.519254154 meters 0.05675651923996225 Centerline is valid? [True, True] Translation: X:639.75, Y:4.36, Z:2.50 [[ 9.99487164e-01 -3.15341259e-02 -5.56854480e-03 6.39746604e+02] [ 3.15346632e-02 9.99502659e-01 8.69195615e-06 4.35560933e+00] [ 5.56550124e-03 -1.84289684e-04 9.99984495e-01 2.49942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters 0.05977691012338091 Centerline is valid? [True, True] Translation: X:639.81, Y:4.34, Z:2.50 [[ 9.99235342e-01 -3.89079210e-02 -3.86078906e-03 6.39806214e+02] [ 3.89082345e-02 9.99242788e-01 6.08725338e-06 4.33869042e+00] [ 3.85762878e-03 -1.56299085e-04 9.99992547e-01 2.49961534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.639254154 meters 0.05546428626953565 Centerline is valid? [True, True] Translation: X:639.87, Y:4.35, Z:2.50 [[ 9.98978593e-01 -4.51856171e-02 1.77969290e-04 6.39867176e+02] [ 4.51856178e-02 9.98978608e-01 -3.25436872e-07 4.35126312e+00] [-1.77772809e-04 8.36675680e-06 9.99999984e-01 2.49682243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters 0.0622725808853684 Centerline is valid? [True, True] Translation: X:639.93, Y:4.33, Z:2.50 [[ 9.98893945e-01 -4.69344510e-02 -2.83605686e-03 6.39926797e+02] [ 4.69346524e-02 9.98897962e-01 4.46205088e-06 4.32577876e+00] [ 2.83272199e-03 -1.37566459e-04 9.99995978e-01 2.49766503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.759254154 meters 0.06467790993957835 Centerline is valid? [True, True] Translation: X:639.99, Y:4.32, Z:2.50 [[ 9.98885742e-01 -4.70756242e-02 -3.34077285e-03 6.39988940e+02] [ 4.70759050e-02 9.98891315e-01 5.43085712e-06 4.31865187e+00] [ 3.33681333e-03 -1.62694711e-04 9.99994420e-01 2.49664253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters 0.06509728574292621 Centerline is valid? [True, True] Translation: X:640.05, Y:4.32, Z:2.49 [[ 9.98883502e-01 -4.68566484e-02 -6.01694625e-03 6.40050973e+02] [ 4.68575570e-02 9.98901581e-01 1.00556964e-05 4.31925925e+00] [ 6.00986595e-03 -2.91983871e-04 9.99981898e-01 2.49284802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.879254154 meters 0.057526130953514165 Centerline is valid? [True, True] Translation: X:640.11, Y:4.35, Z:2.49 [[ 9.98815271e-01 -4.80653189e-02 -7.60124510e-03 6.40112259e+02] [ 4.80668058e-02 9.98844123e-01 1.29393525e-05 4.34515497e+00] [ 7.59183706e-03 -3.78291595e-04 9.99971110e-01 2.49204583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters 0.05894804766889798 Centerline is valid? [True, True] Translation: X:640.17, Y:4.34, Z:2.49 [[ 9.98772677e-01 -4.86664396e-02 -9.20419025e-03 6.40173651e+02] [ 4.86686474e-02 9.98814979e-01 1.59067264e-05 4.34169470e+00] [ 9.19250897e-03 -4.63842694e-04 9.99957640e-01 2.49167685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.999254154 meters 0.057851324634338896 Centerline is valid? [True, True] Translation: X:640.24, Y:4.35, Z:2.49 [[ 9.98838045e-01 -4.74840325e-02 -8.23573410e-03 6.40235009e+02] [ 4.74857613e-02 9.98871915e-01 1.43859866e-05 4.35137857e+00] [ 8.22576039e-03 -4.05449375e-04 9.99966086e-01 2.49317653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.059254154 meters 0.0550476514262368 Centerline is valid? [True, True] Translation: X:640.30, Y:4.37, Z:2.50 [[ 9.99145489e-01 -4.09658717e-02 -5.48542211e-03 6.40296052e+02] [ 4.09665408e-02 9.99160519e-01 9.62906214e-06 4.36756058e+00] [ 5.48042274e-03 -2.34339603e-04 9.99984955e-01 2.49569176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.119254154 meters 0.05662830001176978 Centerline is valid? [True, True] Translation: X:640.36, Y:4.37, Z:2.50 [[ 9.99410412e-01 -3.40640920e-02 -4.29712762e-03 6.40355863e+02] [ 3.40644389e-02 9.99419639e-01 7.55041327e-06 4.36842231e+00] [ 4.29437653e-03 -1.53925203e-04 9.99990767e-01 2.49717857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.179254154 meters 0.057517418124202475 Centerline is valid? [True, True] Translation: X:640.42, Y:4.37, Z:2.50 [[ 9.99730934e-01 -2.31099040e-02 -1.99799018e-03 6.40415683e+02] [ 2.31099572e-02 9.99732929e-01 3.49821430e-06 4.37242672e+00] [ 1.99737574e-03 -4.96707406e-05 9.99998004e-01 2.50089538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.239254154 meters 0.05652338455238587 Centerline is valid? [True, True] Translation: X:640.48, Y:4.38, Z:2.50 [[ 9.99859055e-01 -1.66651758e-02 -2.03516472e-03 6.40476089e+02] [ 1.66652176e-02 9.99861126e-01 3.55794569e-06 4.38273875e+00] [ 2.03482280e-03 -3.74739071e-05 9.99997929e-01 2.50117785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.299254154 meters 0.05626426669139586 Centerline is valid? [True, True] Translation: X:640.54, Y:4.39, Z:2.50 [[ 9.99837026e-01 -1.78445441e-02 -2.73752212e-03 6.40537949e+02] [ 1.78446240e-02 9.99840772e-01 4.75025490e-06 4.38605240e+00] [ 2.73700146e-03 -5.35995336e-05 9.99996253e-01 2.49928075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.359254154 meters 0.05579770770949539 Centerline is valid? [True, True] Translation: X:640.60, Y:4.39, Z:2.50 [[ 9.99719272e-01 -2.32201057e-02 -4.71217391e-03 6.40598271e+02] [ 2.32204030e-02 9.99730370e-01 8.38126701e-06 4.38808363e+00] [ 4.71070876e-03 -1.17797491e-04 9.99988898e-01 2.49767172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.419254154 meters 0.05524855127764912 Centerline is valid? [True, True] Translation: X:640.66, Y:4.39, Z:2.50 [[ 9.99572817e-01 -2.89085621e-02 -4.29867383e-03 6.40658959e+02] [ 2.89088622e-02 9.99582051e-01 7.68068238e-06 4.38913593e+00] [ 4.29665517e-03 -1.31947171e-04 9.99990761e-01 2.49795760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters 0.0576565636823378 Centerline is valid? [True, True] Translation: X:640.72, Y:4.38, Z:2.50 [[ 9.99474148e-01 -3.20309179e-02 -5.04460148e-03 6.40718931e+02] [ 3.20313712e-02 9.99486864e-01 9.05990028e-06 4.37837659e+00] [ 5.04172272e-03 -1.70640638e-04 9.99987276e-01 2.49902525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.539254154 meters 0.0547272194687527 Centerline is valid? [True, True] Translation: X:640.78, Y:4.39, Z:2.50 [[ 9.99314020e-01 -3.69252825e-02 -2.83063477e-03 6.40780417e+02] [ 3.69254449e-02 9.99318023e-01 5.11734798e-06 4.38975026e+00] [ 2.82851538e-03 -1.09636286e-04 9.99995994e-01 2.50039069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters 0.05582110146951072 Centerline is valid? [True, True] Translation: X:640.84, Y:4.38, Z:2.50 [[ 9.99233592e-01 -3.89571968e-02 -3.81639471e-03 6.40840703e+02] [ 3.89575072e-02 9.99240868e-01 7.01312449e-06 4.38101854e+00] [ 3.81322435e-03 -1.55684974e-04 9.99992717e-01 2.50101072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.659254154 meters 0.05824103591225038 Centerline is valid? [True, True] Translation: X:640.90, Y:4.37, Z:2.50 [[ 9.99208114e-01 -3.95702726e-02 -4.16384856e-03 6.40902137e+02] [ 3.95706476e-02 9.99216775e-01 7.69258759e-06 4.37444199e+00] [ 4.16028293e-03 -1.72452680e-04 9.99991331e-01 2.50174688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters 0.05639063024078838 Centerline is valid? [True, True] Translation: X:640.96, Y:4.38, Z:2.50 [[ 9.99332670e-01 -3.63321580e-02 -3.76672040e-03 6.40962578e+02] [ 3.63324422e-02 9.99339759e-01 7.04088107e-06 4.38456012e+00] [ 3.76397764e-03 -1.43890334e-04 9.99992906e-01 2.50261982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.779254154 meters 0.05677859445011149 Centerline is valid? [True, True] Translation: X:641.02, Y:4.39, Z:2.50 [[ 9.99499756e-01 -3.12531058e-02 -4.84576343e-03 6.41021760e+02] [ 3.12535167e-02 9.99511490e-01 9.09420915e-06 4.38546790e+00] [ 4.84311201e-03 -1.60536808e-04 9.99988259e-01 2.50236029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters 0.056642147836785346 Centerline is valid? [True, True] Translation: X:641.08, Y:4.39, Z:2.50 [[ 9.99640686e-01 -2.61570625e-02 -5.85726013e-03 6.41082242e+02] [ 2.61575753e-02 9.99657832e-01 1.09573728e-05 4.38956353e+00] [ 5.85496935e-03 -1.64165159e-04 9.99982846e-01 2.50096286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.899254154 meters 0.055581476768275274 Centerline is valid? [True, True] Translation: X:641.14, Y:4.40, Z:2.50 [[ 9.99707692e-01 -2.33456592e-02 -6.28583453e-03 6.41144228e+02] [ 2.33461949e-02 9.99727440e-01 1.18492001e-05 4.39813703e+00] [ 6.28384464e-03 -1.58596055e-04 9.99980244e-01 2.50085929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters 0.054885530061486 Centerline is valid? [True, True] Translation: X:641.21, Y:4.40, Z:2.50 [[ 9.99749990e-01 -2.11511899e-02 -7.25155622e-03 6.41205343e+02] [ 2.11518467e-02 9.99776275e-01 1.38761214e-05 4.40140782e+00] [ 7.24964037e-03 -1.67256458e-04 9.99973707e-01 2.50059873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.019254154 meters 0.0552905450593163 Centerline is valid? [True, True] Translation: X:641.27, Y:4.40, Z:2.50 [[ 9.99769229e-01 -2.00462938e-02 -7.72242286e-03 6.41265907e+02] [ 2.00470067e-02 9.99799038e-01 1.49105150e-05 4.40135517e+00] [ 7.72057205e-03 -1.69718537e-04 9.99970182e-01 2.50053459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters 0.055307152896152595 Centerline is valid? [True, True] Translation: X:641.33, Y:4.40, Z:2.50 [[ 9.99782745e-01 -1.94687522e-02 -7.44512724e-03 6.41328462e+02] [ 1.94694001e-02 9.99810453e-01 1.45558077e-05 4.40468249e+00] [ 7.44343266e-03 -1.59504807e-04 9.99972285e-01 2.50119572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.139254154 meters 0.05500553284791352 Centerline is valid? [True, True] Translation: X:641.39, Y:4.41, Z:2.50 [[ 9.99794631e-01 -1.91187737e-02 -6.72074531e-03 6.41390551e+02] [ 1.91192952e-02 9.99817210e-01 1.33543938e-05 4.40750480e+00] [ 6.71926150e-03 -1.41847565e-04 9.99977415e-01 2.50250779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters 0.05559340649102941 Centerline is valid? [True, True] Translation: X:641.45, Y:4.40, Z:2.50 [[ 9.99854796e-01 -1.66518609e-02 -3.61975839e-03 6.41451346e+02] [ 1.66519963e-02 9.99861346e-01 7.25978820e-06 4.40261718e+00] [ 3.61913561e-03 -6.75349374e-05 9.99993449e-01 2.50414011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.259254154 meters 0.05516141179340537 Centerline is valid? [True, True] Translation: X:641.51, Y:4.41, Z:2.51 [[ 9.99935978e-01 -1.12253151e-02 -1.42535466e-03 6.41511304e+02] [ 1.12253306e-02 9.99936994e-01 2.88510538e-06 4.40722336e+00] [ 1.42523247e-03 -1.88849980e-05 9.99998984e-01 2.50550716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters 0.05553606069827384 Centerline is valid? [True, True] Translation: X:641.57, Y:4.41, Z:2.51 [[ 9.99958497e-01 -9.03991030e-03 -1.13342491e-03 6.41572652e+02] [ 9.03991863e-03 9.99959139e-01 2.22334170e-06 4.40919822e+00] [ 1.13335850e-03 -1.24693184e-05 9.99999358e-01 2.50545854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.379254154 meters 0.055740840756985585 Centerline is valid? [True, True] Translation: X:641.63, Y:4.40, Z:2.50 [[ 9.99922056e-01 -1.18864169e-02 -3.82029715e-03 6.41633544e+02] [ 1.18865335e-02 9.99929353e-01 7.81561827e-06 4.40311744e+00] [ 3.81993435e-03 -5.32250991e-05 9.99992703e-01 2.50401253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters 0.055635944303698774 Centerline is valid? [True, True] Translation: X:641.69, Y:4.40, Z:2.50 [[ 9.99849729e-01 -1.65609929e-02 -5.12379667e-03 6.41694960e+02] [ 1.65612671e-02 9.99862853e-01 1.10781636e-05 4.40288812e+00] [ 5.12291049e-03 -9.59330639e-05 9.99986873e-01 2.50292036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.499254154 meters 0.05578275644702021 Centerline is valid? [True, True] Translation: X:641.76, Y:4.40, Z:2.50 [[ 9.99679992e-01 -2.42987020e-02 -7.03461527e-03 6.41756379e+02] [ 2.42994113e-02 9.99704726e-01 1.53626090e-05 4.39662672e+00] [ 7.03216483e-03 -1.86294702e-04 9.99975257e-01 2.50227092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.559254154 meters 0.0553601379557645 Centerline is valid? [True, True] Translation: X:641.82, Y:4.40, Z:2.50 [[ 9.99557606e-01 -2.88901325e-02 -7.06768094e-03 6.41817207e+02] [ 2.88909640e-02 9.99582569e-01 1.55511133e-05 4.39738019e+00] [ 7.06428140e-03 -2.19736349e-04 9.99975023e-01 2.50292580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.619254154 meters 0.05532592713320716 Centerline is valid? [True, True] Translation: X:641.88, Y:4.39, Z:2.50 [[ 9.99397375e-01 -3.40411894e-02 -6.78848871e-03 6.41876695e+02] [ 3.40420753e-02 9.99420400e-01 1.49631694e-05 4.39344281e+00] [ 6.78404475e-03 -2.46048396e-04 9.99976958e-01 2.50316452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.679254154 meters 0.05771572066995501 Centerline is valid? [True, True] Translation: X:641.94, Y:4.38, Z:2.50 [[ 9.99255868e-01 -3.81280602e-02 -5.82770986e-03 6.41936593e+02] [ 3.81287824e-02 9.99272834e-01 1.28182913e-05 4.37786792e+00] [ 5.82298341e-03 -2.35012234e-04 9.99983019e-01 2.50424241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.739254154 meters 0.054956109293720204 Centerline is valid? [True, True] Translation: X:642.00, Y:4.39, Z:2.51 [[ 9.99132746e-01 -4.12813472e-02 -5.44122637e-03 6.41996941e+02] [ 4.12820233e-02 9.99147534e-01 1.19573462e-05 4.39031440e+00] [ 5.43609429e-03 -2.36571810e-04 9.99985196e-01 2.50604446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.799254154 meters 0.05382607582844069 Centerline is valid? [True, True] Translation: X:642.06, Y:4.40, Z:2.51 [[ 9.98958440e-01 -4.52681801e-02 -5.72941644e-03 6.42057517e+02] [ 4.52689954e-02 9.98974833e-01 1.26402226e-05 4.39516170e+00] [ 5.72297063e-03 -2.71991983e-04 9.99983587e-01 2.50614390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.859254154 meters 0.056602781788127464 Centerline is valid? [True, True] Translation: X:642.12, Y:4.38, Z:2.51 [[ 9.98819711e-01 -4.81663027e-02 -6.26034169e-03 6.42117464e+02] [ 4.81673331e-02 9.98839280e-01 1.38365687e-05 4.38346588e+00] [ 6.25240873e-03 -3.15364201e-04 9.99980404e-01 2.50618125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.919254154 meters 0.05588220488920008 Centerline is valid? [True, True] Translation: X:642.18, Y:4.39, Z:2.51 [[ 9.98790514e-01 -4.86217085e-02 -7.31022328e-03 6.42179932e+02] [ 4.86231265e-02 9.98817196e-01 1.62732167e-05 4.38596524e+00] [ 7.30078549e-03 -3.71699446e-04 9.99973280e-01 2.50543899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters 0.055509249422023364 Centerline is valid? [True, True] Translation: X:642.24, Y:4.38, Z:2.51 [[ 9.98968312e-01 -4.48146423e-02 -7.34566805e-03 6.42240319e+02] [ 4.48159726e-02 9.98995259e-01 1.65059044e-05 4.38484869e+00] [ 7.33754785e-03 -3.45692133e-04 9.99973020e-01 2.50526657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.039254154 meters 0.05594402256769879 Centerline is valid? [True, True] Translation: X:642.30, Y:4.39, Z:2.51 [[ 9.99311966e-01 -3.63678856e-02 -7.27821287e-03 6.42300932e+02] [ 3.63689681e-02 9.99338430e-01 1.63954892e-05 4.39424949e+00] [ 7.27280156e-03 -2.81085301e-04 9.99973513e-01 2.50633851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters 0.057349162633814225 Centerline is valid? [True, True] Translation: X:642.36, Y:4.39, Z:2.51 [[ 9.99552642e-01 -2.91528954e-02 -6.68022365e-03 6.42360702e+02] [ 2.91536463e-02 9.99574942e-01 1.50430339e-05 4.38506335e+00] [ 6.67694562e-03 -2.09789182e-04 9.99977687e-01 2.50590371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.159254154 meters 0.05631910567744012 Centerline is valid? [True, True] Translation: X:642.42, Y:4.39, Z:2.51 [[ 9.99809358e-01 -1.82705638e-02 -6.88722007e-03 6.42421261e+02] [ 1.82711038e-02 9.99833069e-01 1.54907497e-05 4.39308261e+00] [ 6.88578736e-03 -1.41324910e-04 9.99976283e-01 2.50573680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters 0.05470580180069622 Centerline is valid? [True, True] Translation: X:642.48, Y:4.40, Z:2.51 [[ 9.99936089e-01 -8.36114304e-03 -7.60984269e-03 6.42481349e+02] [ 8.36151571e-03 9.99965042e-01 1.71571750e-05 4.40465202e+00] [ 7.60943321e-03 -8.07858976e-05 9.99971045e-01 2.50602647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.279254154 meters 0.05537506039336975 Centerline is valid? [True, True] Translation: X:642.54, Y:4.41, Z:2.51 [[ 9.99977948e-01 -2.06683491e-03 -6.31131542e-03 6.42540714e+02] [ 2.06696578e-03 9.99997864e-01 1.42126119e-05 4.40695439e+00] [ 6.31127256e-03 -2.72575714e-05 9.99980083e-01 2.50820773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters 0.05563921953014643 Centerline is valid? [True, True] Translation: X:642.60, Y:4.40, Z:2.51 [[ 9.99976119e-01 -1.86919885e-03 -6.65337336e-03 6.42598541e+02] [ 1.86933867e-03 9.99998253e-01 1.47958898e-05 4.40297955e+00] [ 6.65333408e-03 -2.72329446e-05 9.99977866e-01 2.50774488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.399254154 meters 0.05542517095281527 Centerline is valid? [True, True] Translation: X:642.66, Y:4.40, Z:2.51 [[ 9.99946085e-01 -7.00116062e-03 -7.66881663e-03 6.42658003e+02] [ 7.00149556e-03 9.99975489e-01 1.68286397e-05 4.39707491e+00] [ 7.66851084e-03 -7.05209180e-05 9.99970594e-01 2.50717677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters 0.05614717603131446 Centerline is valid? [True, True] Translation: X:642.72, Y:4.39, Z:2.51 [[ 9.99903961e-01 -1.17355144e-02 -7.37196615e-03 6.42717091e+02] [ 1.17359519e-02 9.99931131e-01 1.60884402e-05 4.38960810e+00] [ 7.37126964e-03 -1.02603935e-04 9.99972827e-01 2.50748379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.519254154 meters 0.056750785041126586 Centerline is valid? [True, True] Translation: X:642.78, Y:4.38, Z:2.51 [[ 9.99817747e-01 -1.77591635e-02 -7.00602815e-03 6.42777548e+02] [ 1.77597060e-02 9.99842284e-01 1.52163410e-05 4.38374321e+00] [ 7.00465295e-03 -1.39638568e-04 9.99975457e-01 2.50799882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters 0.05560585799391234 Centerline is valid? [True, True] Translation: X:642.84, Y:4.38, Z:2.51 [[ 9.99587461e-01 -2.76485182e-02 -7.77605818e-03 6.42837799e+02] [ 2.76494853e-02 9.99617680e-01 1.68786398e-05 4.38020059e+00] [ 7.77261857e-03 -2.31875683e-04 9.99969766e-01 2.50872227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.639254154 meters 0.055298967141871984 Centerline is valid? [True, True] Translation: X:642.90, Y:4.37, Z:2.51 [[ 9.99286722e-01 -3.67671595e-02 -8.61525842e-03 6.42897795e+02] [ 3.67686848e-02 9.99323803e-01 1.86789525e-05 4.37414598e+00] [ 8.60874604e-03 -3.35437351e-04 9.99962888e-01 2.50866288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters 0.05511231381356808 Centerline is valid? [True, True] Translation: X:642.96, Y:4.37, Z:2.51 [[ 9.98975239e-01 -4.44383417e-02 -8.58516367e-03 6.42958275e+02] [ 4.44401388e-02 9.99012049e-01 1.85862697e-05 4.37405479e+00] [ 8.57585600e-03 -4.00093088e-04 9.99963147e-01 2.50930843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.759254154 meters 0.05526793595486692 Centerline is valid? [True, True] Translation: X:643.02, Y:4.37, Z:2.51 [[ 9.98684016e-01 -5.02399801e-02 -1.03043830e-02 6.43017823e+02] [ 5.02428771e-02 9.98737029e-01 2.23104139e-05 4.36704196e+00] [ 1.02902480e-02 -5.40002903e-04 9.99946908e-01 2.50874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters 0.05533223852975013 Centerline is valid? [True, True] Translation: X:643.08, Y:4.37, Z:2.51 [[ 9.98458295e-01 -5.45371099e-02 -1.03313055e-02 6.43078336e+02] [ 5.45402517e-02 9.98511573e-01 2.23947660e-05 4.36845283e+00] [ 1.03147068e-02 -5.85832242e-04 9.99946630e-01 2.50889881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.879254154 meters 0.05941127961186108 Centerline is valid? [True, True] Translation: X:643.14, Y:4.35, Z:2.51 [[ 9.98418695e-01 -5.53275904e-02 -9.94819804e-03 6.43138874e+02] [ 5.53305462e-02 9.98468092e-01 2.19234494e-05 4.35014088e+00] [ 9.93174534e-03 -5.72328013e-04 9.99950515e-01 2.50752228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.939254154 meters 0.05614667079928848 Centerline is valid? [True, True] Translation: X:643.20, Y:4.37, Z:2.51 [[ 9.98355833e-01 -5.63728987e-02 -1.03792104e-02 6.43200217e+02] [ 5.63761766e-02 9.98409598e-01 2.32658203e-05 4.36612038e+00] [ 1.03613917e-02 -6.08367766e-04 9.99946134e-01 2.50942223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.999254154 meters 0.056016317772043134 Centerline is valid? [True, True] Translation: X:643.26, Y:4.37, Z:2.51 [[ 9.98451046e-01 -5.44117975e-02 -1.16131473e-02 6.43261555e+02] [ 5.44157715e-02 9.98518364e-01 2.62640076e-05 4.37034758e+00] [ 1.15945117e-02 -6.58161695e-04 9.99932565e-01 2.50931380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.059254154 meters 0.058874485934302674 Centerline is valid? [True, True] Translation: X:643.32, Y:4.36, Z:2.51 [[ 9.98579614e-01 -5.19037641e-02 -1.20313637e-02 6.43321159e+02] [ 5.19078482e-02 9.98651879e-01 2.72138758e-05 4.36064906e+00] [ 1.20137314e-02 -6.51697420e-04 9.99927620e-01 2.50746683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.119254154 meters 0.05571256659585166 Centerline is valid? [True, True] Translation: X:643.38, Y:4.37, Z:2.51 [[ 9.98736778e-01 -4.85449291e-02 -1.29706836e-02 6.43381601e+02] [ 4.85493938e-02 9.98820782e-01 2.93727311e-05 4.37479221e+00] [ 1.29539624e-02 -6.59054452e-04 9.99915877e-01 2.50867029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.179254154 meters 0.05589590397290967 Centerline is valid? [True, True] Translation: X:643.44, Y:4.38, Z:2.51 [[ 9.98867648e-01 -4.54541895e-02 -1.40477054e-02 6.43441648e+02] [ 4.54591223e-02 9.98966199e-01 3.18661679e-05 4.38141380e+00] [ 1.40317345e-02 -6.70426443e-04 9.99901326e-01 2.50880117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.239254154 meters 0.05589234703536522 Centerline is valid? [True, True] Translation: X:643.50, Y:4.39, Z:2.51 [[ 9.99092904e-01 -4.05351252e-02 -1.30488619e-02 6.43502102e+02] [ 4.05389640e-02 9.99177958e-01 2.97115083e-05 4.38925694e+00] [ 1.30369308e-02 -5.58671901e-04 9.99914860e-01 2.50899203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.299254154 meters 0.054944193329793584 Centerline is valid? [True, True] Translation: X:643.56, Y:4.40, Z:2.51 [[ 9.99265675e-01 -3.64391987e-02 -1.18446778e-02 6.43563196e+02] [ 3.64420756e-02 9.99335767e-01 2.70703741e-05 4.39808968e+00] [ 1.18358237e-02 -4.58695137e-04 9.99929849e-01 2.51097684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.359254154 meters 0.05529368783143742 Centerline is valid? [True, True] Translation: X:643.62, Y:4.41, Z:2.51 [[ 9.99573390e-01 -2.75151493e-02 -9.79567318e-03 6.43623426e+02] [ 2.75166893e-02 9.99621344e-01 2.24423720e-05 4.40559054e+00] [ 9.79134649e-03 -2.91977293e-04 9.99952021e-01 2.51164226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.419254154 meters 0.054282959503159346 Centerline is valid? [True, True] Translation: X:643.68, Y:4.41, Z:2.51 [[ 9.99824754e-01 -1.65290644e-02 -8.78932388e-03 6.43683465e+02] [ 1.65298800e-02 9.99863372e-01 2.01546552e-05 4.41037360e+00] [ 8.78778987e-03 -1.65437592e-04 9.99961373e-01 2.51050298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters 0.055020084372190886 Centerline is valid? [True, True] Translation: X:643.74, Y:4.42, Z:2.51 [[ 9.99934625e-01 -7.62080682e-03 -8.52457051e-03 6.43742798e+02] [ 7.62125030e-03 9.99970958e-01 1.95401972e-05 4.41842142e+00] [ 8.52417403e-03 -8.45068053e-05 9.99963665e-01 2.51031454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.539254154 meters 0.05533022154375006 Centerline is valid? [True, True] Translation: X:643.80, Y:4.42, Z:2.51 [[ 9.99953533e-01 -5.02133730e-03 -8.22913271e-03 6.43801912e+02] [ 5.02165866e-03 9.99987391e-01 1.83901071e-05 4.42282394e+00] [ 8.22893661e-03 -5.97131481e-05 9.99966140e-01 2.50994299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters 0.05479669693575367 Centerline is valid? [True, True] Translation: X:643.86, Y:4.42, Z:2.51 [[ 9.99946575e-01 -6.76373660e-03 -7.81664099e-03 6.43860674e+02] [ 6.76407556e-03 9.99977123e-01 1.69268883e-05 4.42472733e+00] [ 7.81634768e-03 -6.97983342e-05 9.99969449e-01 2.51117841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.659254154 meters 0.05572063843237858 Centerline is valid? [True, True] Translation: X:643.92, Y:4.42, Z:2.51 [[ 9.99895577e-01 -1.16257764e-02 -8.58346775e-03 6.43919550e+02] [ 1.16263623e-02 9.99932411e-01 1.83597579e-05 4.41774160e+00] [ 8.58267416e-03 -1.18152347e-04 9.99963161e-01 2.51006398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters 0.054468706049473126 Centerline is valid? [True, True] Translation: X:643.98, Y:4.42, Z:2.51 [[ 9.99809225e-01 -1.75604530e-02 -8.55243397e-03 6.43980168e+02] [ 1.75612511e-02 9.99845789e-01 1.82266822e-05 4.41963091e+00] [ 8.55079502e-03 -1.68414645e-04 9.99963427e-01 2.51154401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.779254154 meters 0.05467491417928366 Centerline is valid? [True, True] Translation: X:644.04, Y:4.41, Z:2.51 [[ 9.99734494e-01 -2.10153389e-02 -9.44968111e-03 6.44040225e+02] [ 2.10164676e-02 9.99779129e-01 2.01388675e-05 4.41409270e+00] [ 9.44717072e-03 -2.18732437e-04 9.99955351e-01 2.51079922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters 0.05571264198702681 Centerline is valid? [True, True] Translation: X:644.10, Y:4.41, Z:2.51 [[ 9.99661129e-01 -2.40383683e-02 -9.98919321e-03 6.44099855e+02] [ 2.40397824e-02 9.99711002e-01 2.14913374e-05 4.40736914e+00] [ 9.98578974e-03 -2.61622086e-04 9.99950107e-01 2.51012926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.899254154 meters 0.055807359957112855 Centerline is valid? [True, True] Translation: X:644.16, Y:4.41, Z:2.51 [[ 9.99682339e-01 -2.37173050e-02 -8.52700922e-03 6.44161072e+02] [ 2.37183256e-02 9.99718681e-01 1.85686576e-05 4.41238785e+00] [ 8.52417001e-03 -2.20809140e-04 9.99963644e-01 2.51207343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters 0.05456367441732481 Centerline is valid? [True, True] Translation: X:644.22, Y:4.41, Z:2.51 [[ 9.99753545e-01 -2.03745540e-02 -8.81623794e-03 6.44222128e+02] [ 2.03755163e-02 9.99792397e-01 1.93359089e-05 4.41356538e+00] [ 8.81401370e-03 -1.98966543e-04 9.99961136e-01 2.51199774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.019254154 meters 0.055155712881628294 Centerline is valid? [True, True] Translation: X:644.28, Y:4.42, Z:2.51 [[ 9.99857800e-01 -1.38995379e-02 -9.54898421e-03 6.44282215e+02] [ 1.39003715e-02 9.99903385e-01 2.09248071e-05 4.41636514e+00] [ 9.54777079e-03 -1.53656259e-04 9.99954407e-01 2.51121811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters 0.0550670260819729 Centerline is valid? [True, True] Translation: X:644.34, Y:4.42, Z:2.51 [[ 9.99928976e-01 -6.60940822e-03 -9.91764524e-03 6.44340878e+02] [ 6.60994749e-03 9.99978154e-01 2.15966091e-05 4.41809352e+00] [ 9.91728583e-03 -8.71501894e-05 9.99950819e-01 2.51070774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.139254154 meters 0.05466206396175933 Centerline is valid? [True, True] Translation: X:644.40, Y:4.42, Z:2.51 [[ 9.99947257e-01 2.51251260e-04 -1.02673954e-02 6.44399419e+02] [-2.51042759e-04 9.99999968e-01 2.15958628e-05 4.42299739e+00] [ 1.02674005e-02 -1.90171685e-05 9.99947289e-01 2.51253834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters 0.054985822210752225 Centerline is valid? [True, True] Translation: X:644.46, Y:4.42, Z:2.51 [[ 9.99924141e-01 3.73555359e-03 -1.17370742e-02 6.44457718e+02] [-3.73553051e-03 9.99993023e-01 2.38889193e-05 4.42360636e+00] [ 1.17370815e-02 1.99570915e-05 9.99931118e-01 2.51234296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.259254154 meters 0.05593202616135797 Centerline is valid? [True, True] Translation: X:644.52, Y:4.42, Z:2.51 [[ 9.99909428e-01 6.09340961e-03 -1.20002684e-02 6.44515587e+02] [-6.09356294e-03 9.99981434e-01 2.37871864e-05 4.42266298e+00] [ 1.20001905e-02 4.93393588e-05 9.99927994e-01 2.51114304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters 0.05607742050610997 Centerline is valid? [True, True] Translation: X:644.57, Y:4.42, Z:2.51 [[ 9.99899820e-01 5.45319430e-03 -1.30618827e-02 6.44574763e+02] [-5.45332754e-03 9.99985130e-01 2.54160764e-05 4.41930529e+00] [ 1.30618271e-02 4.58171945e-05 9.99914690e-01 2.51100096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.379254154 meters 0.0559674162096132 Centerline is valid? [True, True] Translation: X:644.63, Y:4.41, Z:2.51 [[ 9.99908928e-01 3.81521113e-03 -1.29453027e-02 6.44632308e+02] [-3.81521062e-03 9.99992722e-01 2.47346240e-05 4.41341744e+00] [ 1.29453028e-02 2.46566850e-05 9.99916206e-01 2.51186637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.439254154 meters 0.05585465073438054 Centerline is valid? [True, True] Translation: X:644.69, Y:4.41, Z:2.51 [[ 9.99918631e-01 2.06382586e-03 -1.25885433e-02 6.44690772e+02] [-2.06369221e-03 9.99997870e-01 2.36067951e-05 4.40929182e+00] [ 1.25885652e-02 2.37400450e-06 9.99920761e-01 2.51499892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.499254154 meters 0.055556370323662445 Centerline is valid? [True, True] Translation: X:644.75, Y:4.40, Z:2.52 [[ 9.99931166e-01 -1.51601459e-03 -1.16346292e-02 6.44749529e+02] [ 1.51636663e-03 9.99998850e-01 2.14359056e-05 4.40300148e+00] [ 1.16345833e-02 -3.90767935e-05 9.99932315e-01 2.51607109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.559254154 meters 0.05543137961908107 Centerline is valid? [True, True] Translation: X:644.81, Y:4.40, Z:2.52 [[ 9.99913737e-01 -5.90834478e-03 -1.17307494e-02 6.44808697e+02] [ 5.90900019e-03 9.99982542e-01 2.12118988e-05 4.39706917e+00] [ 1.17304193e-02 -9.05270694e-05 9.99931192e-01 2.51682248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.619254154 meters 0.056218843045596524 Centerline is valid? [True, True] Translation: X:644.87, Y:4.39, Z:2.52 [[ 9.99889954e-01 -9.92476505e-03 -1.10262506e-02 6.44866615e+02] [ 9.92558288e-03 9.99950740e-01 1.94494001e-05 4.38989091e+00] [ 1.10255144e-02 -1.28889224e-04 9.99939209e-01 2.51753230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.679254154 meters 0.05651184961399355 Centerline is valid? [True, True] Translation: X:644.93, Y:4.38, Z:2.52 [[ 9.99867614e-01 -1.31810574e-02 -9.54013714e-03 6.44925252e+02] [ 1.31818143e-02 9.99913116e-01 1.64650588e-05 4.38295812e+00] [ 9.53909122e-03 -1.42219195e-04 9.99954492e-01 2.51854762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.739254154 meters 0.056256960578066395 Centerline is valid? [True, True] Translation: X:644.98, Y:4.38, Z:2.52 [[ 9.99857657e-01 -1.36740438e-02 -9.88363249e-03 6.44984633e+02] [ 1.36748779e-02 9.99906494e-01 1.68200734e-05 4.37790748e+00] [ 9.88247832e-03 -1.51975147e-04 9.99951156e-01 2.51879996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.799254154 meters 0.05694163363388768 Centerline is valid? [True, True] Translation: X:645.04, Y:4.37, Z:2.52 [[ 9.99858972e-01 -1.30108623e-02 -1.06185404e-02 6.45043451e+02] [ 1.30117852e-02 9.99915343e-01 1.78326035e-05 4.37008649e+00] [ 1.06174094e-02 -1.55996255e-04 9.99943622e-01 2.51721260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.859254154 meters 0.05646490663348511 Centerline is valid? [True, True] Translation: X:645.10, Y:4.37, Z:2.52 [[ 9.99891992e-01 -1.06233488e-02 -1.01562464e-02 6.45102139e+02] [ 1.06240628e-02 9.99943563e-01 1.63493512e-05 4.36589458e+00] [ 1.01554995e-02 -1.24248185e-04 9.99948424e-01 2.51797051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.919254154 meters 0.05717939271474292 Centerline is valid? [True, True] Translation: X:645.16, Y:4.36, Z:2.52 [[ 9.99902609e-01 -9.40444453e-03 -1.03115940e-02 6.45160865e+02] [ 9.40510476e-03 9.99955771e-01 1.55361357e-05 4.36473642e+00] [ 1.03109918e-02 -1.12516244e-04 9.99946834e-01 2.51883214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters 0.056668730407952984 Centerline is valid? [True, True] Translation: X:645.22, Y:4.36, Z:2.52 [[ 9.99891758e-01 -8.96143174e-03 -1.16689734e-02 6.45219398e+02] [ 8.96223161e-03 9.99959838e-01 1.62558945e-05 4.36129153e+00] [ 1.16683591e-02 -1.20834177e-04 9.99931915e-01 2.51907341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.039254154 meters 0.05705166276265912 Centerline is valid? [True, True] Translation: X:645.28, Y:4.35, Z:2.52 [[ 9.99849146e-01 -1.19702210e-02 -1.25856502e-02 6.45278345e+02] [ 1.19713811e-02 9.99928340e-01 1.68400341e-05 4.35458637e+00] [ 1.25845467e-02 -1.67505108e-04 9.99920797e-01 2.51817397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters 0.0579342667837866 Centerline is valid? [True, True] Translation: X:645.34, Y:4.35, Z:2.52 [[ 9.99790767e-01 -1.76830830e-02 -1.02825810e-02 6.45337334e+02] [ 1.76841569e-02 9.99843623e-01 1.35164447e-05 4.34948086e+00] [ 1.02807340e-02 -1.95352392e-04 9.99947133e-01 2.51999636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.159254154 meters 0.057660271936720395 Centerline is valid? [True, True] Translation: X:645.40, Y:4.35, Z:2.52 [[ 9.99718894e-01 -2.18394682e-02 -9.22883681e-03 6.45397801e+02] [ 2.18405094e-02 9.99761468e-01 1.20421861e-05 4.34592447e+00] [ 9.22637244e-03 -2.13601298e-04 9.99957413e-01 2.52155525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters 0.05779797836557533 Centerline is valid? [True, True] Translation: X:645.46, Y:4.34, Z:2.52 [[ 9.99542660e-01 -2.90567027e-02 -8.37725574e-03 6.45458411e+02] [ 2.90578141e-02 9.99577733e-01 1.09548921e-05 4.34166729e+00] [ 8.37339999e-03 -2.54374622e-04 9.99964910e-01 2.52208748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.279254154 meters 0.05691610960220709 Centerline is valid? [True, True] Translation: X:645.52, Y:4.34, Z:2.52 [[ 9.99220716e-01 -3.87646955e-02 -7.43370513e-03 6.45518697e+02] [ 3.87658389e-02 9.99248322e-01 9.72341682e-06 4.34274388e+00] [ 7.42774045e-03 -2.97889655e-04 9.99972370e-01 2.52305365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters 0.05620405459332244 Centerline is valid? [True, True] Translation: X:645.58, Y:4.34, Z:2.52 [[ 9.98733418e-01 -4.98139095e-02 -7.08061882e-03 6.45579003e+02] [ 4.98152237e-02 9.98758451e-01 9.25827697e-06 4.34103166e+00] [ 7.07136670e-03 -3.61969161e-04 9.99974932e-01 2.52292308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.399254154 meters 0.06293107136605587 Centerline is valid? [True, True] Translation: X:645.64, Y:4.32, Z:2.52 [[ 9.98216543e-01 -5.91602276e-02 -7.98750860e-03 6.45638923e+02] [ 5.91621986e-02 9.98248383e-01 1.04926635e-05 4.31606565e+00] [ 7.97289680e-03 -4.83032521e-04 9.99968099e-01 2.52177745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters 0.05715949431306181 Centerline is valid? [True, True] Translation: X:645.70, Y:4.34, Z:2.52 [[ 9.97916652e-01 -6.40832324e-02 -7.46296364e-03 6.45699602e+02] [ 6.40850906e-02 9.97944438e-01 9.86691898e-06 4.33769848e+00] [ 7.44699075e-03 -4.88111064e-04 9.99972152e-01 2.52229710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.519254154 meters 0.06097520247464926 Centerline is valid? [True, True] Translation: X:645.76, Y:4.32, Z:2.52 [[ 9.97973476e-01 -6.29783174e-02 -9.09250021e-03 6.45760603e+02] [ 6.29810312e-02 9.98014724e-01 1.21591397e-05 4.32294178e+00] [ 9.07368333e-03 -5.84789539e-04 9.99958662e-01 2.52123713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters 0.0564285648391183 Centerline is valid? [True, True] Translation: X:645.82, Y:4.34, Z:2.52 [[ 9.98060529e-01 -6.16008710e-02 -8.97292715e-03 6.45821365e+02] [ 6.16034598e-02 9.98100703e-01 1.21465629e-05 4.34128382e+00] [ 8.95513666e-03 -5.64886362e-04 9.99959742e-01 2.52239767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.639254154 meters 0.05586890331470204 Centerline is valid? [True, True] Translation: X:645.88, Y:4.36, Z:2.52 [[ 9.98278445e-01 -5.79809898e-02 -8.85160818e-03 6.45882363e+02] [ 5.79833682e-02 9.98317549e-01 1.20860700e-05 4.35701878e+00] [ 8.83601502e-03 -5.25311319e-04 9.99960824e-01 2.52369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters 0.05743755956070894 Centerline is valid? [True, True] Translation: X:645.94, Y:4.35, Z:2.52 [[ 9.98536909e-01 -5.33115356e-02 -9.05107780e-03 6.45941567e+02] [ 5.33138311e-02 9.98577806e-01 1.23535929e-05 4.35257527e+00] [ 9.03754682e-03 -4.94883151e-04 9.99959038e-01 2.52383995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.759254154 meters 0.05706510505200718 Centerline is valid? [True, True] Translation: X:646.00, Y:4.36, Z:2.53 [[ 9.98820768e-01 -4.79005744e-02 -7.91256385e-03 6.46002413e+02] [ 4.79021594e-02 9.98852033e-01 1.08060258e-05 4.36035187e+00] [ 7.90296287e-03 -3.89822178e-04 9.99968695e-01 2.52511812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters 0.06261269192577962 Centerline is valid? [True, True] Translation: X:646.06, Y:4.34, Z:2.52 [[ 9.99081428e-01 -4.20659031e-02 -8.17071105e-03 6.46062075e+02] [ 4.20673987e-02 9.99114775e-01 1.11883707e-05 4.34478128e+00] [ 8.16300749e-03 -3.54898653e-04 9.99966619e-01 2.52397390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.879254154 meters 0.05950276853711795 Centerline is valid? [True, True] Translation: X:646.12, Y:4.36, Z:2.52 [[ 9.99421375e-01 -3.31739420e-02 -7.51025352e-03 6.46123126e+02] [ 3.31749542e-02 9.99449560e-01 1.02038977e-05 4.36172882e+00] [ 7.50578107e-03 -2.59350310e-04 9.99971798e-01 2.52446139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.939254154 meters 0.056695194649110416 Centerline is valid? [True, True] Translation: X:646.18, Y:4.38, Z:2.52 [[ 9.99656345e-01 -2.47924819e-02 -8.51618890e-03 6.46184105e+02] [ 2.47934788e-02 9.99692594e-01 1.14836181e-05 4.37724112e+00] [ 8.51328627e-03 -2.22625621e-04 9.99963737e-01 2.52485135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.999254154 meters 0.056419203876249886 Centerline is valid? [True, True] Translation: X:646.24, Y:4.39, Z:2.53 [[ 9.99781302e-01 -1.88116329e-02 -9.13623421e-03 6.46244940e+02] [ 1.88125312e-02 9.99823029e-01 1.23773826e-05 4.38575662e+00] [ 9.13438452e-03 -1.84250367e-04 9.99958264e-01 2.52518001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.059254154 meters 0.05682271048432014 Centerline is valid? [True, True] Translation: X:646.31, Y:4.39, Z:2.53 [[ 9.99811813e-01 -1.73061094e-02 -8.76570926e-03 6.46305411e+02] [ 1.73068791e-02 9.99850225e-01 1.19510051e-05 4.38753783e+00] [ 8.76418954e-03 -1.63655826e-04 9.99961580e-01 2.52554774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.119254154 meters 0.056946731893349624 Centerline is valid? [True, True] Translation: X:646.37, Y:4.39, Z:2.53 [[ 9.99796446e-01 -1.83329117e-02 -8.42444561e-03 6.46365549e+02] [ 1.83336596e-02 9.99831924e-01 1.15541584e-05 4.38700113e+00] [ 8.42281785e-03 -1.66002725e-04 9.99964514e-01 2.52569575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.179254154 meters 0.05563616245156666 Centerline is valid? [True, True] Translation: X:646.43, Y:4.39, Z:2.53 [[ 9.99710937e-01 -2.27392065e-02 -7.80839281e-03 6.46426851e+02] [ 2.27399840e-02 9.99741413e-01 1.08031081e-05 4.38962198e+00] [ 7.80612801e-03 -1.88362713e-04 9.99969514e-01 2.52640319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.239254154 meters 0.057232645179622614 Centerline is valid? [True, True] Translation: X:646.49, Y:4.38, Z:2.52 [[ 9.99516145e-01 -2.98470982e-02 -8.75371224e-03 6.46486443e+02] [ 2.98483490e-02 9.99554439e-01 1.22480971e-05 4.38008608e+00] [ 8.74944635e-03 -2.73526028e-04 9.99961685e-01 2.52469916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.299254154 meters 0.057262620810725674 Centerline is valid? [True, True] Translation: X:646.55, Y:4.38, Z:2.53 [[ 9.99196667e-01 -3.90031881e-02 -9.20718553e-03 6.46547002e+02] [ 3.90049605e-02 9.99239017e-01 1.29464493e-05 4.37943713e+00] [ 9.19967406e-03 -3.72061957e-04 9.99957613e-01 2.52552723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.359254154 meters 0.057208534535407904 Centerline is valid? [True, True] Translation: X:646.61, Y:4.38, Z:2.53 [[ 9.98987606e-01 -4.40281994e-02 -9.23477828e-03 6.46607499e+02] [ 4.40301968e-02 9.99030201e-01 1.29914047e-05 4.37655552e+00] [ 9.22525041e-03 -4.19587357e-04 9.99957358e-01 2.52603019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.419254154 meters 0.05669899322893461 Centerline is valid? [True, True] Translation: X:646.67, Y:4.38, Z:2.53 [[ 9.98827036e-01 -4.75724983e-02 -9.02273718e-03 6.46668224e+02] [ 4.75745494e-02 9.98867690e-01 1.27156121e-05 4.37777709e+00] [ 9.01191573e-03 -4.41953353e-04 9.99959294e-01 2.52627691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters 0.058937007622078874 Centerline is valid? [True, True] Translation: X:646.73, Y:4.37, Z:2.53 [[ 9.98819143e-01 -4.76595843e-02 -9.42778208e-03 6.46729064e+02] [ 4.76618305e-02 9.98863529e-01 1.35933622e-05 4.37014285e+00] [ 9.41641983e-03 -4.62922662e-04 9.99955557e-01 2.52522718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.539254154 meters 0.057640742931311315 Centerline is valid? [True, True] Translation: X:646.79, Y:4.38, Z:2.53 [[ 9.98849090e-01 -4.71197174e-02 -8.95698054e-03 6.46791568e+02] [ 4.71217264e-02 9.98889154e-01 1.32673874e-05 4.38218347e+00] [ 8.94640557e-03 -4.35320504e-04 9.99959885e-01 2.52643897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters 0.05791811150271835 Centerline is valid? [True, True] Translation: X:646.85, Y:4.38, Z:2.53 [[ 9.98821871e-01 -4.75873636e-02 -9.50326879e-03 6.46852629e+02] [ 4.75896487e-02 9.98866971e-01 1.43360842e-05 4.38089430e+00] [ 9.49181910e-03 -4.66576418e-04 9.99954843e-01 2.52657684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.659254154 meters 0.05734880468211193 Centerline is valid? [True, True] Translation: X:646.91, Y:4.38, Z:2.53 [[ 9.98774875e-01 -4.84049009e-02 -1.02817946e-02 6.46914974e+02] [ 4.84076220e-02 9.98827664e-01 1.58018004e-05 4.38439571e+00] [ 1.02689760e-02 -5.13499668e-04 9.99947141e-01 2.52629728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters 0.056989835052757176 Centerline is valid? [True, True] Translation: X:646.98, Y:4.39, Z:2.53 [[ 9.98737941e-01 -4.90400164e-02 -1.08444610e-02 6.46976945e+02] [ 4.90430850e-02 9.98796664e-01 1.70605738e-05 4.38804451e+00] [ 1.08305748e-02 -5.48884865e-04 9.99941197e-01 2.52632838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.779254154 meters 0.057084688674031686 Centerline is valid? [True, True] Translation: X:647.04, Y:4.40, Z:2.53 [[ 9.98757767e-01 -4.85924930e-02 -1.10314719e-02 6.47039339e+02] [ 4.85956453e-02 9.98818534e-01 1.77336522e-05 4.39604998e+00] [ 1.10175769e-02 -5.53793121e-04 9.99939151e-01 2.52776397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters 0.05626617488467671 Centerline is valid? [True, True] Translation: X:647.10, Y:4.40, Z:2.53 [[ 9.98839566e-01 -4.69713478e-02 -1.06401581e-02 6.47100477e+02] [ 4.69741905e-02 9.98896103e-01 1.72770962e-05 4.40271537e+00] [ 1.06276009e-02 -5.17069860e-04 9.99943392e-01 2.52894904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.899254154 meters 0.05812909545058864 Centerline is valid? [True, True] Translation: X:647.16, Y:4.40, Z:2.53 [[ 9.99171556e-01 -3.92352773e-02 -1.08071723e-02 6.47160222e+02] [ 3.92377589e-02 9.99229902e-01 1.76091946e-05 4.40492522e+00] [ 1.07981588e-02 -4.41643827e-04 9.99941601e-01 2.52873175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters 0.05721751217255193 Centerline is valid? [True, True] Translation: X:647.22, Y:4.41, Z:2.53 [[ 9.99375449e-01 -3.39100753e-02 -9.94081116e-03 6.47221204e+02] [ 3.39119125e-02 9.99424826e-01 1.62614737e-05 4.41291897e+00] [ 9.93454203e-03 -3.53363235e-04 9.99950589e-01 2.53018050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.019254154 meters 0.055032651564370046 Centerline is valid? [True, True] Translation: X:647.28, Y:4.43, Z:2.53 [[ 9.99639916e-01 -2.53505003e-02 -8.79723334e-03 6.47282205e+02] [ 2.53516071e-02 9.99678596e-01 1.43043525e-05 4.43222060e+00] [ 8.79404325e-03 -2.37323205e-04 9.99961303e-01 2.53296990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters 0.05538640258960868 Centerline is valid? [True, True] Translation: X:647.34, Y:4.44, Z:2.53 [[ 9.99813134e-01 -1.72198180e-02 -8.78492006e-03 6.47341991e+02] [ 1.72206072e-02 9.99851714e-01 1.41882073e-05 4.43992871e+00] [ 8.78337307e-03 -1.65467213e-04 9.99961412e-01 2.53303764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.139254154 meters 0.055200948070319666 Centerline is valid? [True, True] Translation: X:647.40, Y:4.44, Z:2.53 [[ 9.99881396e-01 -1.22874797e-02 -9.28501280e-03 6.47402154e+02] [ 1.22881486e-02 9.99924498e-01 1.49932020e-05 4.44393406e+00] [ 9.28412753e-03 -1.29087040e-04 9.99956893e-01 2.53264721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters 0.05530935862111492 Centerline is valid? [True, True] Translation: X:647.46, Y:4.45, Z:2.54 [[ 9.99942203e-01 -5.11427930e-03 -9.45703726e-03 6.47461228e+02] [ 5.11465143e-03 9.99986920e-01 1.51643206e-05 4.45311361e+00] [ 9.45683601e-03 -6.35328933e-05 9.99955281e-01 2.53534045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.259254154 meters 0.05539420714681989 Centerline is valid? [True, True] Translation: X:647.52, Y:4.46, Z:2.53 [[ 9.99953559e-01 1.37867823e-03 -9.53832652e-03 6.47519637e+02] [-1.37860083e-03 9.99999050e-01 1.46893781e-05 4.45631315e+00] [ 9.53833770e-03 -1.53915105e-06 9.99954509e-01 2.53297915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters 0.05549133352194713 Centerline is valid? [True, True] Translation: X:647.58, Y:4.46, Z:2.53 [[ 9.99954389e-01 4.87014603e-03 -8.21594911e-03 6.47578036e+02] [-4.87021297e-03 9.99988140e-01 1.18584853e-05 4.45959800e+00] [ 8.21590942e-03 2.81554775e-05 9.99966248e-01 2.53427443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.379254154 meters 0.05615503011137626 Centerline is valid? [True, True] Translation: X:647.64, Y:4.46, Z:2.54 [[ 9.99960214e-01 2.76677340e-03 -8.48024343e-03 6.47636478e+02] [-2.76677409e-03 9.99996172e-01 1.16504838e-05 4.45650388e+00] [ 8.48024321e-03 1.18128975e-05 9.99964042e-01 2.53686882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.439254154 meters 0.05606182899086905 Centerline is valid? [True, True] Translation: X:647.70, Y:4.45, Z:2.54 [[ 9.99959530e-01 -1.24528972e-03 -8.91002650e-03 6.47695095e+02] [ 1.24544586e-03 9.99999224e-01 1.19755211e-05 4.45413424e+00] [ 8.91000468e-03 -2.30719920e-05 9.99960305e-01 2.53665118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.499254154 meters 0.05478337415371216 Centerline is valid? [True, True] Translation: X:647.75, Y:4.45, Z:2.53 [[ 9.99910811e-01 -9.67961020e-03 -9.20193862e-03 6.47754762e+02] [ 9.68013240e-03 9.99953146e-01 1.22109375e-05 4.44555780e+00] [ 9.20138928e-03 -1.01285833e-04 9.99957661e-01 2.53448928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.559254154 meters 0.05592328522394601 Centerline is valid? [True, True] Translation: X:647.81, Y:4.43, Z:2.53 [[ 9.99806230e-01 -1.74430127e-02 -9.12381490e-03 6.47814561e+02] [ 1.74438484e-02 9.99847844e-01 1.20202134e-05 4.43020940e+00] [ 9.12221699e-03 -1.71172328e-04 9.99958377e-01 2.53327581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.619254154 meters 0.05604707166128342 Centerline is valid? [True, True] Translation: X:647.88, Y:4.43, Z:2.53 [[ 9.99703403e-01 -2.29496078e-02 -8.14992502e-03 6.47875563e+02] [ 2.29504573e-02 9.99736604e-01 1.07063295e-05 4.42615678e+00] [ 8.14753265e-03 -1.97747660e-04 9.99966789e-01 2.53433936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.679254154 meters 0.05730752043259401 Centerline is valid? [True, True] Translation: X:647.94, Y:4.41, Z:2.53 [[ 9.99652345e-01 -2.48804133e-02 -8.72668277e-03 6.47936137e+02] [ 2.48814617e-02 9.99690408e-01 1.15793081e-05 4.41377948e+00] [ 8.72369296e-03 -2.28707906e-04 9.99961922e-01 2.53319421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.739254154 meters 0.05706346531012912 Centerline is valid? [True, True] Translation: X:648.00, Y:4.42, Z:2.53 [[ 9.99586387e-01 -2.76542492e-02 -7.89288974e-03 6.47997084e+02] [ 2.76551941e-02 9.99617522e-01 1.05839829e-05 4.41552547e+00] [ 7.88957819e-03 -2.28859003e-04 9.99968851e-01 2.53450892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.799254154 meters 0.05700250413976446 Centerline is valid? [True, True] Translation: X:648.06, Y:4.41, Z:2.53 [[ 9.99446260e-01 -3.22539526e-02 -8.17658773e-03 6.48057525e+02] [ 3.22551207e-02 9.99479668e-01 1.09945551e-05 4.41189189e+00] [ 8.17197857e-03 -2.74725292e-04 9.99966571e-01 2.53455665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.859254154 meters 0.056840322593996045 Centerline is valid? [True, True] Translation: X:648.12, Y:4.41, Z:2.53 [[ 9.99218677e-01 -3.83678558e-02 -9.48387926e-03 6.48118330e+02] [ 3.83697023e-02 9.99263612e-01 1.27591227e-05 4.40517414e+00] [ 9.47640591e-03 -3.76642778e-04 9.99955027e-01 2.53415103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.919254154 meters 0.0562791425874383 Centerline is valid? [True, True] Translation: X:648.18, Y:4.40, Z:2.54 [[ 9.99034320e-01 -4.29959884e-02 -9.04286878e-03 6.48178856e+02] [ 4.29978564e-02 9.99075164e-01 1.21648375e-05 4.40484715e+00] [ 9.03398257e-03 -4.00977063e-04 9.99959112e-01 2.53569564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters 0.057741837401983555 Centerline is valid? [True, True] Translation: X:648.24, Y:4.40, Z:2.54 [[ 9.98941086e-01 -4.50990713e-02 -9.09837978e-03 6.48238860e+02] [ 4.51010505e-02 9.98982430e-01 1.23701225e-05 4.39790105e+00] [ 9.08856366e-03 -4.22703510e-04 9.99958609e-01 2.53560239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.039254154 meters 0.06031608103644994 Centerline is valid? [True, True] Translation: X:648.30, Y:4.38, Z:2.53 [[ 9.98793815e-01 -4.77487881e-02 -1.14441450e-02 6.48297984e+02] [ 4.77520933e-02 9.98859218e-01 1.55854521e-05 4.38397714e+00] [ 1.14303455e-02 -5.62048532e-04 9.99934513e-01 2.53284529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters 0.057052823499339655 Centerline is valid? [True, True] Translation: X:648.36, Y:4.40, Z:2.54 [[ 9.98754908e-01 -4.83868740e-02 -1.21385350e-02 6.48360380e+02] [ 4.83906428e-02 9.98828487e-01 1.67965339e-05 4.39863634e+00] [ 1.21235018e-02 -6.04167131e-04 9.99926325e-01 2.53504413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.159254154 meters 0.057088986098690196 Centerline is valid? [True, True] Translation: X:648.42, Y:4.40, Z:2.54 [[ 9.98805522e-01 -4.74354428e-02 -1.17221172e-02 6.48420931e+02] [ 4.74388945e-02 9.98874142e-01 1.64324893e-05 4.39781119e+00] [ 1.17081403e-02 -5.72497144e-04 9.99931293e-01 2.53560865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters 0.05572155511814066 Centerline is valid? [True, True] Translation: X:648.48, Y:4.41, Z:2.54 [[ 9.99027931e-01 -4.31474059e-02 -9.02746162e-03 6.48481787e+02] [ 4.31492789e-02 9.99068636e-01 1.27157112e-05 4.40705550e+00] [ 9.01850512e-03 -4.02231810e-04 9.99959252e-01 2.53825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.279254154 meters 0.05756076598096648 Centerline is valid? [True, True] Translation: X:648.54, Y:4.41, Z:2.54 [[ 9.99322631e-01 -3.60420359e-02 -7.43308265e-03 6.48541505e+02] [ 3.60431096e-02 9.99350236e-01 1.05051075e-05 4.40598249e+00] [ 7.42787428e-03 -2.78409404e-04 9.99972374e-01 2.53935069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters 0.05725880130453941 Centerline is valid? [True, True] Translation: X:648.60, Y:4.41, Z:2.54 [[ 9.99580245e-01 -2.79919531e-02 -7.46893173e-03 6.48600882e+02] [ 2.79928129e-02 9.99608124e-01 1.05779993e-05 4.41101668e+00] [ 7.46570874e-03 -2.19649967e-04 9.99972107e-01 2.53953019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.399254154 meters 0.05560147485547147 Centerline is valid? [True, True] Translation: X:648.66, Y:4.42, Z:2.54 [[ 9.99691662e-01 -2.37882497e-02 -7.12047005e-03 6.48661430e+02] [ 2.37889246e-02 9.99717003e-01 1.00995768e-05 4.42254390e+00] [ 7.11821473e-03 -1.79484788e-04 9.99974649e-01 2.53983029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters 0.0569036146548563 Centerline is valid? [True, True] Translation: X:648.72, Y:4.42, Z:2.54 [[ 9.99751806e-01 -2.04456790e-02 -8.84873631e-03 6.48721869e+02] [ 2.04465926e-02 9.99790947e-01 1.27890763e-05 4.41823398e+00] [ 8.84662496e-03 -1.93712409e-04 9.99960849e-01 2.53786449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.519254154 meters 0.0550185966150834 Centerline is valid? [True, True] Translation: X:648.78, Y:4.43, Z:2.54 [[ 9.99738056e-01 -2.09322262e-02 -9.25539456e-03 6.48784055e+02] [ 2.09332500e-02 9.99780875e-01 1.37438593e-05 4.42814774e+00] [ 9.25307879e-03 -2.07485747e-04 9.99957168e-01 2.53987556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters 0.055828960479760124 Centerline is valid? [True, True] Translation: X:648.85, Y:4.42, Z:2.54 [[ 9.99728942e-01 -2.13703083e-02 -9.23868754e-03 6.48845272e+02] [ 2.13713494e-02 9.99771607e-01 1.39778844e-05 4.42370654e+00] [ 9.23627878e-03 -2.11417315e-04 9.99957322e-01 2.53918186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.639254154 meters 0.055394218648128296 Centerline is valid? [True, True] Translation: X:648.91, Y:4.43, Z:2.54 [[ 9.99699320e-01 -2.27943463e-02 -9.03806480e-03 6.48906986e+02] [ 2.27954037e-02 9.99740151e-01 1.39848372e-05 4.42526943e+00] [ 9.03539749e-03 -2.20006968e-04 9.99959156e-01 2.53951039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters 0.05631095452855321 Centerline is valid? [True, True] Translation: X:648.97, Y:4.42, Z:2.54 [[ 9.99664603e-01 -2.42024388e-02 -9.21537007e-03 6.48968454e+02] [ 2.42036006e-02 9.99707050e-01 1.45558407e-05 4.42088522e+00] [ 9.21231814e-03 -2.37596096e-04 9.99957537e-01 2.53946197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.759254154 meters 0.05545005781108658 Centerline is valid? [True, True] Translation: X:649.03, Y:4.42, Z:2.54 [[ 9.99617427e-01 -2.66864352e-02 -7.26874415e-03 6.49029832e+02] [ 2.66872246e-02 9.99643833e-01 1.16071579e-05 4.42204640e+00] [ 7.26584551e-03 -2.05585325e-04 9.99973582e-01 2.54145132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters 0.05495795442956441 Centerline is valid? [True, True] Translation: X:649.09, Y:4.42, Z:2.54 [[ 9.99525972e-01 -3.01750890e-02 -6.10705596e-03 6.49090428e+02] [ 3.01757117e-02 9.99544609e-01 9.82008250e-06 4.42215516e+00] [ 6.10397854e-03 -1.94100187e-04 9.99981352e-01 2.54153520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.879254154 meters 0.055518518696429695 Centerline is valid? [True, True] Translation: X:649.15, Y:4.42, Z:2.54 [[ 9.99459754e-01 -3.22502932e-02 -6.33397574e-03 6.49150460e+02] [ 3.22510048e-02 9.99479801e-01 1.02163146e-05 4.41811006e+00] [ 6.33035134e-03 -2.14487878e-04 9.99979940e-01 2.54103197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.939254154 meters 0.05642538249622406 Centerline is valid? [True, True] Translation: X:649.21, Y:4.42, Z:2.54 [[ 9.99374370e-01 -3.47824919e-02 -6.40674586e-03 6.49211584e+02] [ 3.47832720e-02 9.99394879e-01 1.03525450e-05 4.41543078e+00] [ 6.40250891e-03 -2.33193652e-04 9.99979477e-01 2.54018108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.999254154 meters 0.05573624077996043 Centerline is valid? [True, True] Translation: X:649.27, Y:4.42, Z:2.54 [[ 9.99330367e-01 -3.61890820e-02 -5.40066091e-03 6.49273143e+02] [ 3.61896572e-02 9.99344940e-01 8.78649697e-06 4.41844377e+00] [ 5.39680517e-03 -2.04228680e-04 9.99985416e-01 2.53986643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.059254154 meters 0.055308215592001435 Centerline is valid? [True, True] Translation: X:649.34, Y:4.42, Z:2.54 [[ 9.99306684e-01 -3.68327001e-02 -5.43174791e-03 6.49335199e+02] [ 3.68332923e-02 9.99321424e-01 8.99073658e-06 4.42059113e+00] [ 5.42773091e-03 -2.09053662e-04 9.99985248e-01 2.54051365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.119254154 meters 0.05560655831799424 Centerline is valid? [True, True] Translation: X:649.40, Y:4.42, Z:2.54 [[ 9.99263833e-01 -3.78315868e-02 -6.36890592e-03 6.49396154e+02] [ 3.78324228e-02 9.99284098e-01 1.07892491e-05 4.41633869e+00] [ 6.36393823e-03 -2.51732448e-04 9.99979718e-01 2.54003357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.179254154 meters 0.05410069429063012 Centerline is valid? [True, True] Translation: X:649.46, Y:4.42, Z:2.54 [[ 9.99225656e-01 -3.87545279e-02 -6.79526155e-03 6.49457856e+02] [ 3.87555022e-02 9.99248723e-01 1.17083603e-05 4.42253650e+00] [ 6.78970268e-03 -2.75053068e-04 9.99976912e-01 2.53991468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.239254154 meters 0.056276634226677516 Centerline is valid? [True, True] Translation: X:649.52, Y:4.41, Z:2.54 [[ 9.99186870e-01 -3.95141075e-02 -8.01457756e-03 6.49518492e+02] [ 3.95154889e-02 9.99218958e-01 1.40299451e-05 4.41290501e+00] [ 8.00776346e-03 -3.30718488e-04 9.99967883e-01 2.53862879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.299254154 meters 0.058761252589892135 Centerline is valid? [True, True] Translation: X:649.58, Y:4.41, Z:2.54 [[ 9.99240786e-01 -3.77639709e-02 -9.57777754e-03 6.49578926e+02] [ 3.77658648e-02 9.99286615e-01 1.68870825e-05 4.40696351e+00] [ 9.57030718e-03 -3.78587313e-04 9.99954132e-01 2.53782408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.359254154 meters 0.05721646168718842 Centerline is valid? [True, True] Translation: X:649.64, Y:4.41, Z:2.54 [[ 9.99391930e-01 -3.32216979e-02 -1.05872312e-02 6.49639856e+02] [ 3.32237584e-02 9.99447938e-01 1.87457281e-05 4.41331215e+00] [ 1.05807637e-02 -3.70481942e-04 9.99943954e-01 2.53751980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.419254154 meters 0.056216662610336705 Centerline is valid? [True, True] Translation: X:649.70, Y:4.42, Z:2.54 [[ 9.99523092e-01 -2.92276760e-02 -9.96653211e-03 6.49700461e+02] [ 2.92293043e-02 9.99572732e-01 1.77226779e-05 4.42418832e+00] [ 9.96175574e-03 -3.09029026e-04 9.99950333e-01 2.54011680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters 0.054599524831184694 Centerline is valid? [True, True] Translation: X:649.76, Y:4.43, Z:2.54 [[ 9.99728961e-01 -2.13249419e-02 -9.34087400e-03 6.49760712e+02] [ 2.13260280e-02 9.99772574e-01 1.66746623e-05 4.42823230e+00] [ 9.33839405e-03 -2.15873883e-04 9.99956373e-01 2.54073482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.539254154 meters 0.05556523365370077 Centerline is valid? [True, True] Translation: X:649.82, Y:4.43, Z:2.54 [[ 9.99871600e-01 -1.37297778e-02 -8.26303178e-03 6.49819975e+02] [ 1.37303683e-02 9.99905734e-01 1.47366076e-05 4.43216789e+00] [ 8.26205052e-03 -1.28189185e-04 9.99965860e-01 2.54108654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters 0.055203905035073726 Centerline is valid? [True, True] Translation: X:649.88, Y:4.44, Z:2.54 [[ 9.99969203e-01 -5.12056917e-03 -5.94749071e-03 6.49880156e+02] [ 5.12072268e-03 9.99986889e-01 1.05837675e-05 4.43968672e+00] [ 5.94735854e-03 -4.10388921e-05 9.99982313e-01 2.54234743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.659254154 meters 0.055096694512821544 Centerline is valid? [True, True] Translation: X:649.94, Y:4.44, Z:2.54 [[ 9.99979143e-01 1.66956039e-03 -6.23910395e-03 6.49939057e+02] [-1.66952397e-03 9.99998606e-01 1.10458000e-05 4.44292847e+00] [ 6.23911369e-03 -6.29236060e-07 9.99980537e-01 2.54233963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters 0.05569985947303164 Centerline is valid? [True, True] Translation: X:650.00, Y:4.44, Z:2.54 [[ 9.99980088e-01 2.85357386e-03 -5.62862469e-03 6.49996730e+02] [-2.85356469e-03 9.99995929e-01 9.65930405e-06 4.44281916e+00] [ 5.62862934e-03 6.40253299e-06 9.99984159e-01 2.54289088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.779254154 meters 0.054417937497819896 Centerline is valid? [True, True] Translation: X:650.05, Y:4.44, Z:2.54 [[ 9.99973823e-01 1.55654391e-04 -7.23395476e-03 6.50054733e+02] [-1.55574393e-04 9.99999988e-01 1.16212626e-05 4.43806024e+00] [ 7.23395648e-03 -1.04955403e-05 9.99973835e-01 2.54146573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters 0.0546787466588419 Centerline is valid? [True, True] Translation: X:650.11, Y:4.43, Z:2.54 [[ 9.99938074e-01 -7.00566696e-03 -8.64693863e-03 6.50112991e+02] [ 7.00604689e-03 9.99975457e-01 1.36474369e-05 4.42961630e+00] [ 8.64663080e-03 -7.42274493e-05 9.99962614e-01 2.53925253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.899254154 meters 0.055108577889286865 Centerline is valid? [True, True] Translation: X:650.17, Y:4.43, Z:2.54 [[ 9.99852931e-01 -1.51104454e-02 -8.11111307e-03 6.50172998e+02] [ 1.51110457e-02 9.99885822e-01 1.27336757e-05 4.42763590e+00] [ 8.10999454e-03 -1.35299203e-04 9.99967104e-01 2.54124116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters 0.05607904567826105 Centerline is valid? [True, True] Translation: X:650.23, Y:4.41, Z:2.54 [[ 9.99709747e-01 -2.26701586e-02 -8.15384076e-03 6.50232875e+02] [ 2.26710161e-02 9.99742979e-01 1.27380827e-05 4.41332853e+00] [ 8.15145628e-03 -1.97590240e-04 9.99966757e-01 2.53997123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.019254154 meters 0.05486110059769399 Centerline is valid? [True, True] Translation: X:650.29, Y:4.42, Z:2.54 [[ 9.99543663e-01 -2.95737002e-02 -6.15324513e-03 6.50294126e+02] [ 2.95743192e-02 9.99562584e-01 9.62164431e-06 4.41553476e+00] [ 6.15026905e-03 -1.91595289e-04 9.99981069e-01 2.54202948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters 0.056599882798861384 Centerline is valid? [True, True] Translation: X:650.35, Y:4.40, Z:2.54 [[ 9.99458005e-01 -3.24628862e-02 -5.46418941e-03 6.50354214e+02] [ 3.24634178e-02 9.99472924e-01 8.61357140e-06 4.40455124e+00] [ 5.46102975e-03 -1.85995167e-04 9.99985071e-01 2.54252453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.139254154 meters 0.055684624088904164 Centerline is valid? [True, True] Translation: X:650.42, Y:4.41, Z:2.54 [[ 9.99453642e-01 -3.26285981e-02 -5.27179903e-03 6.50416768e+02] [ 3.26290959e-02 9.99467529e-01 8.42068513e-06 4.40981472e+00] [ 5.26871720e-03 -1.80430120e-04 9.99986104e-01 2.54257967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters 0.05624066214588692 Centerline is valid? [True, True] Translation: X:650.48, Y:4.40, Z:2.54 [[ 9.99596825e-01 -2.78249526e-02 -5.65332937e-03 6.50476554e+02] [ 2.78254492e-02 9.99612797e-01 9.18787026e-06 4.40386007e+00] [ 5.65088473e-03 -1.66490595e-04 9.99984020e-01 2.54189364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.259254154 meters 0.054633830581393525 Centerline is valid? [True, True] Translation: X:650.54, Y:4.42, Z:2.54 [[ 9.99732465e-01 -2.23213055e-02 -6.06275196e-03 6.50536536e+02] [ 2.23217753e-02 9.99750838e-01 9.82257262e-06 4.41710933e+00] [ 6.06102210e-03 -1.45151332e-04 9.99981621e-01 2.54333818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters 0.054878313781060555 Centerline is valid? [True, True] Translation: X:650.60, Y:4.41, Z:2.54 [[ 9.99889399e-01 -1.37809393e-02 -5.59242915e-03 6.50597571e+02] [ 1.37812056e-02 9.99905035e-01 9.09323866e-06 4.41237564e+00] [ 5.59177275e-03 -8.61626490e-05 9.99984362e-01 2.54316093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.379254154 meters 0.05583291894089096 Centerline is valid? [True, True] Translation: X:650.66, Y:4.41, Z:2.54 [[ 9.99945174e-01 -8.08470959e-03 -6.65486301e-03 6.50656938e+02] [ 8.08496108e-03 9.99967316e-01 1.08890305e-05 4.41266968e+00] [ 6.65455747e-03 -6.46927419e-05 9.99977856e-01 2.54171789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.439254154 meters 0.05525948024511355 Centerline is valid? [True, True] Translation: X:650.72, Y:4.41, Z:2.54 [[ 9.99937085e-01 -6.81090302e-03 -8.91275539e-03 6.50717080e+02] [ 6.81130318e-03 9.99976803e-01 1.45425022e-05 4.41496556e+00] [ 8.91244959e-03 -7.52490664e-05 9.99960280e-01 2.54131690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.499254154 meters 0.055057317015985534 Centerline is valid? [True, True] Translation: X:650.78, Y:4.41, Z:2.54 [[ 9.99927458e-01 -7.61003730e-03 -9.33625705e-03 6.50775541e+02] [ 7.61050921e-03 9.99971040e-01 1.50192849e-05 4.41439149e+00] [ 9.33587237e-03 -8.60718656e-05 9.99956416e-01 2.54123783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.559254154 meters 0.055667038612949075 Centerline is valid? [True, True] Translation: X:650.84, Y:4.41, Z:2.54 [[ 9.99868209e-01 -1.28143047e-02 -9.96789944e-03 6.50835434e+02] [ 1.28150988e-02 9.99917883e-01 1.57942076e-05 4.41294337e+00] [ 9.96687852e-03 -1.43531742e-04 9.99950319e-01 2.54232523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.619254154 meters 0.055443420693282064 Centerline is valid? [True, True] Translation: X:650.90, Y:4.41, Z:2.54 [[ 9.99734659e-01 -2.11114837e-02 -9.21506566e-03 6.50896146e+02] [ 2.11125141e-02 9.99777106e-01 1.45405976e-05 4.41079807e+00] [ 9.21270470e-03 -2.09089943e-04 9.99957540e-01 2.54364325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.679254154 meters 0.055539040847919614 Centerline is valid? [True, True] Translation: X:650.96, Y:4.40, Z:2.54 [[ 9.99527697e-01 -2.96587757e-02 -8.04609865e-03 6.50955953e+02] [ 2.96598376e-02 9.99560050e-01 1.26587566e-05 4.40324446e+00] [ 8.04218333e-03 -2.51298757e-04 9.99967630e-01 2.54446195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.739254154 meters 0.056272563246344526 Centerline is valid? [True, True] Translation: X:651.02, Y:4.40, Z:2.55 [[ 9.99298303e-01 -3.68321902e-02 -6.80381504e-03 6.51016293e+02] [ 3.68331154e-02 9.99321431e-01 1.06786218e-05 4.39797519e+00] [ 6.79880486e-03 -2.61276833e-04 9.99976854e-01 2.54554746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.799254154 meters 0.05589293678497623 Centerline is valid? [True, True] Translation: X:651.08, Y:4.40, Z:2.55 [[ 9.99135108e-01 -4.10990319e-02 -6.31705500e-03 6.51077252e+02] [ 4.10999147e-02 9.99155041e-01 9.95109939e-06 4.39854900e+00] [ 6.31130837e-03 -2.69572915e-04 9.99980047e-01 2.54606685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.859254154 meters 0.05409307550798825 Centerline is valid? [True, True] Translation: X:651.14, Y:4.40, Z:2.55 [[ 9.98865010e-01 -4.71983078e-02 -6.40399971e-03 6.51138238e+02] [ 4.71993405e-02 9.98885490e-01 1.01407602e-05 4.40479343e+00] [ 6.39638376e-03 -3.12393814e-04 9.99979494e-01 2.54709021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.919254154 meters 0.05525815797852776 Centerline is valid? [True, True] Translation: X:651.20, Y:4.39, Z:2.55 [[ 9.98669991e-01 -5.09822260e-02 -7.68518958e-03 6.51198450e+02] [ 5.09838255e-02 9.98699479e-01 1.22346817e-05 4.39471761e+00] [ 7.67457108e-03 -4.04038774e-04 9.99970468e-01 2.54547736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters 0.05733839201744156 Centerline is valid? [True, True] Translation: X:651.26, Y:4.39, Z:2.54 [[ 9.98654307e-01 -5.11292659e-02 -8.68175533e-03 6.51259620e+02] [ 5.11313143e-02 9.98691939e-01 1.40064836e-05 4.39013313e+00] [ 8.66968292e-03 -4.57897196e-04 9.99962313e-01 2.54491752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.039254154 meters 0.05545351351979379 Centerline is valid? [True, True] Translation: X:651.32, Y:4.41, Z:2.55 [[ 9.98900330e-01 -4.59804599e-02 -9.16123353e-03 6.51320583e+02] [ 4.59825261e-02 9.98942244e-01 1.49186188e-05 4.40516654e+00] [ 9.15085722e-03 -4.36158873e-04 9.99958035e-01 2.54529387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters 0.05482123123925048 Centerline is valid? [True, True] Translation: X:651.38, Y:4.41, Z:2.55 [[ 9.99224129e-01 -3.81688539e-02 -9.70969283e-03 6.51381124e+02] [ 3.81708073e-02 9.99271229e-01 1.58799626e-05 4.41402034e+00] [ 9.70201057e-03 -3.86494456e-04 9.99952860e-01 2.54535063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.159254154 meters 0.05477953202817717 Centerline is valid? [True, True] Translation: X:651.44, Y:4.42, Z:2.55 [[ 9.99406807e-01 -3.29130011e-02 -1.01374479e-02 6.51442056e+02] [ 3.29148605e-02 9.99458159e-01 1.65838849e-05 4.42062517e+00] [ 1.01314092e-02 -3.50246731e-04 9.99948615e-01 2.54600565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters 0.05545755724685512 Centerline is valid? [True, True] Translation: X:651.50, Y:4.42, Z:2.55 [[ 9.99612978e-01 -2.58061388e-02 -1.03893360e-02 6.51501360e+02] [ 2.58077074e-02 9.99666926e-01 1.69239123e-05 4.42383090e+00] [ 1.03854388e-02 -2.85042305e-04 9.99946029e-01 2.54598335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.279254154 meters 0.05562938958726663 Centerline is valid? [True, True] Translation: X:651.56, Y:4.43, Z:2.55 [[ 9.99790237e-01 -1.83639007e-02 -9.06917600e-03 6.51561354e+02] [ 1.83647900e-02 9.99831353e-01 1.47804129e-05 4.42566870e+00] [ 9.06737508e-03 -1.81330825e-04 9.99958874e-01 2.54611857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters 0.055639335103266456 Centerline is valid? [True, True] Translation: X:651.62, Y:4.43, Z:2.55 [[ 9.99920175e-01 -9.57527988e-03 -8.24361521e-03 6.51621727e+02] [ 9.57571624e-03 9.99954152e-01 1.34636421e-05 4.43490958e+00] [ 8.24310834e-03 -9.24010874e-05 9.99966021e-01 2.54729605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.399254154 meters 0.055074715661788225 Centerline is valid? [True, True] Translation: X:651.68, Y:4.44, Z:2.55 [[ 9.99967058e-01 9.13489013e-04 -8.06527258e-03 6.51680120e+02] [-9.13413124e-04 9.99999583e-01 1.30926935e-05 4.44102154e+00] [ 8.06528118e-03 -5.72533635e-06 9.99967475e-01 2.54630175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters 0.054769751324459326 Centerline is valid? [True, True] Translation: X:651.74, Y:4.44, Z:2.55 [[ 9.99953263e-01 6.17304341e-03 -7.44080695e-03 6.51738567e+02] [-6.17312774e-03 9.99980946e-01 1.16330761e-05 4.44469099e+00] [ 7.44073698e-03 3.43005195e-05 9.99972317e-01 2.54705968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.519254154 meters 0.055022306498560346 Centerline is valid? [True, True] Translation: X:651.80, Y:4.45, Z:2.55 [[ 9.99909200e-01 1.10099905e-02 -7.76989303e-03 6.51797185e+02] [-1.10102349e-02 9.99939385e-01 1.13158558e-05 4.44806671e+00] [ 7.76954665e-03 7.42335190e-05 9.99969814e-01 2.54601283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters 0.05485847827294547 Centerline is valid? [True, True] Translation: X:651.86, Y:4.45, Z:2.55 [[ 9.99912810e-01 1.05060120e-02 -7.99974735e-03 6.51856012e+02] [-1.05062593e-02 9.99944808e-01 1.11031771e-05 4.44664439e+00] [ 7.99942248e-03 7.29452114e-05 9.99968001e-01 2.54643730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.639254154 meters 0.055124983134641356 Centerline is valid? [True, True] Translation: X:651.91, Y:4.44, Z:2.54 [[ 9.99935678e-01 5.99201421e-03 -9.62990728e-03 6.51914205e+02] [-5.99216707e-03 9.99982047e-01 1.29795886e-05 4.44243260e+00] [ 9.62981216e-03 4.47252595e-05 9.99953631e-01 2.54378140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters 0.05534139645320755 Centerline is valid? [True, True] Translation: X:651.97, Y:4.43, Z:2.55 [[ 9.99958416e-01 -1.29527577e-03 -9.02706203e-03 6.51973026e+02] [ 1.29543560e-03 9.99999161e-01 1.18586479e-05 4.43307017e+00] [ 9.02703909e-03 -2.35521323e-05 9.99959255e-01 2.54568748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.759254154 meters 0.05457757403969646 Centerline is valid? [True, True] Translation: X:652.03, Y:4.43, Z:2.55 [[ 9.99950812e-01 -5.82743334e-03 -8.02585941e-03 6.52031422e+02] [ 5.82770381e-03 9.99983019e-01 1.03130668e-05 4.42741833e+00] [ 8.02566302e-03 -5.70848909e-05 9.99967792e-01 2.54667551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters 0.05471882427616585 Centerline is valid? [True, True] Translation: X:652.09, Y:4.42, Z:2.55 [[ 9.99934977e-01 -9.89199221e-03 -5.67356589e-03 6.52090622e+02] [ 9.89219215e-03 9.99951071e-01 7.17828709e-06 4.42220898e+00] [ 5.67321728e-03 -6.33018243e-05 9.99983905e-01 2.54836739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.879254154 meters 0.05597351830752598 Centerline is valid? [True, True] Translation: X:652.15, Y:4.42, Z:2.55 [[ 9.99932019e-01 -9.57784640e-03 -6.64992651e-03 6.52150667e+02] [ 9.57811411e-03 9.99954129e-01 8.41024365e-06 4.41970386e+00] [ 6.64954092e-03 -7.21034268e-05 9.99977889e-01 2.54803199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.939254154 meters 0.05609354178537523 Centerline is valid? [True, True] Translation: X:652.21, Y:4.41, Z:2.55 [[ 9.99942608e-01 -7.60629106e-03 -7.54491502e-03 6.52210186e+02] [ 7.60658028e-03 9.99971070e-01 9.63765047e-06 4.41290368e+00] [ 7.54462344e-03 -6.70280991e-05 9.99971537e-01 2.54637607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.999254154 meters 0.05586976322948442 Centerline is valid? [True, True] Translation: X:652.27, Y:4.41, Z:2.55 [[ 9.99960299e-01 -3.00272794e-03 -8.38952780e-03 6.52269114e+02] [ 3.00292237e-03 9.99995491e-01 1.05780580e-05 4.41173606e+00] [ 8.38945821e-03 -3.57707387e-05 9.99964807e-01 2.54547766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.059254154 meters 0.05616032325574932 Centerline is valid? [True, True] Translation: X:652.33, Y:4.41, Z:2.55 [[ 9.99955835e-01 3.04096873e-03 -8.89269379e-03 6.52327563e+02] [-3.04099537e-03 9.99995376e-01 1.05257609e-05 4.41280121e+00] [ 8.89268468e-03 1.65173446e-05 9.99960459e-01 2.54665958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.119254154 meters 0.0560642581646198 Centerline is valid? [True, True] Translation: X:652.39, Y:4.41, Z:2.55 [[ 9.99937124e-01 7.30018367e-03 -8.51207605e-03 6.52385128e+02] [-7.30036786e-03 9.99973352e-01 9.43223090e-06 4.41143764e+00] [ 8.51191808e-03 5.27096486e-05 9.99963772e-01 2.54707481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.179254154 meters 0.056954250545327094 Centerline is valid? [True, True] Translation: X:652.44, Y:4.41, Z:2.55 [[ 9.99919961e-01 9.90677939e-03 -7.86939296e-03 6.52443668e+02] [-9.90702173e-03 9.99950924e-01 8.18683564e-06 4.40745854e+00] [ 7.86908787e-03 6.97760667e-05 9.99969036e-01 2.54728769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.239254154 meters 0.0568677766784062 Centerline is valid? [True, True] Translation: X:652.50, Y:4.40, Z:2.55 [[ 9.99945626e-01 5.87031893e-03 -8.61884330e-03 6.52502520e+02] [-5.87046443e-03 9.99982769e-01 8.41784634e-06 4.40059531e+00] [ 8.61874420e-03 4.21792244e-05 9.99962857e-01 2.54880137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.299254154 meters 0.05621557435599971 Centerline is valid? [True, True] Translation: X:652.56, Y:4.39, Z:2.55 [[ 9.99955738e-01 -3.29577826e-03 -8.81246321e-03 6.52561085e+02] [ 3.29597999e-03 9.99994568e-01 8.36855205e-06 4.39141097e+00] [ 8.81238776e-03 -3.74138840e-05 9.99961169e-01 2.54714733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.359254154 meters 0.05685184208952927 Centerline is valid? [True, True] Translation: X:652.62, Y:4.38, Z:2.55 [[ 9.99897955e-01 -1.10144135e-02 -9.09736167e-03 6.52619789e+02] [ 1.10149457e-02 9.99939334e-01 8.40345460e-06 4.38190609e+00] [ 9.09671721e-03 -1.08609542e-04 9.99958618e-01 2.54693116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.419254154 meters 0.057363710060032734 Centerline is valid? [True, True] Translation: X:652.68, Y:4.37, Z:2.55 [[ 9.99778626e-01 -1.89141253e-02 -9.21713794e-03 6.52679367e+02] [ 1.89150058e-02 9.99821095e-01 8.35890572e-06 4.37113440e+00] [ 9.21533084e-03 -1.82699273e-04 9.99957521e-01 2.54687568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters 0.056440895333341144 Centerline is valid? [True, True] Translation: X:652.74, Y:4.37, Z:2.55 [[ 9.99636764e-01 -2.53533636e-02 -9.14044906e-03 6.52739668e+02] [ 2.53544982e-02 9.99678523e-01 8.25641068e-06 4.36576626e+00] [ 9.13730129e-03 -2.40004911e-04 9.99958225e-01 2.54856312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.539254154 meters 0.058167591017882214 Centerline is valid? [True, True] Translation: X:652.80, Y:4.35, Z:2.55 [[ 9.99493255e-01 -3.08750547e-02 -7.74365018e-03 6.52799850e+02] [ 3.08760347e-02 9.99523222e-01 7.01379295e-06 4.35377798e+00] [ 7.73974162e-03 -2.46103451e-04 9.99970017e-01 2.54900419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters 0.0585310971120901 Centerline is valid? [True, True] Translation: X:652.86, Y:4.35, Z:2.55 [[ 9.99464379e-01 -3.18143891e-02 -7.66813030e-03 6.52862325e+02] [ 3.18153787e-02 9.99493763e-01 7.07183932e-06 4.34781168e+00] [ 7.66402342e-03 -2.51032521e-04 9.99970599e-01 2.54984956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.659254154 meters 0.0569463664006021 Centerline is valid? [True, True] Translation: X:652.92, Y:4.35, Z:2.55 [[ 9.99519527e-01 -3.01081589e-02 -7.36295396e-03 6.52923609e+02] [ 3.01090265e-02 9.99546620e-01 6.99361743e-06 4.35324199e+00] [ 7.35940519e-03 -2.28681633e-04 9.99972893e-01 2.55115866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters 0.058015339866136995 Centerline is valid? [True, True] Translation: X:652.98, Y:4.35, Z:2.55 [[ 9.99597724e-01 -2.74500309e-02 -7.13344507e-03 6.52983121e+02] [ 2.74507791e-02 9.99623156e-01 6.97597451e-06 4.34776209e+00] [ 7.13056538e-03 -2.02791793e-04 9.99974557e-01 2.55178812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.779254154 meters 0.058688329206670484 Centerline is valid? [True, True] Translation: X:653.04, Y:4.35, Z:2.55 [[ 9.99616296e-01 -2.64146186e-02 -8.33834241e-03 6.53044352e+02] [ 2.64156067e-02 9.99651047e-01 8.36485972e-06 4.34562052e+00] [ 8.33521176e-03 -2.28624023e-04 9.99965235e-01 2.55139235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters 0.05890320872729736 Centerline is valid? [True, True] Translation: X:653.11, Y:4.34, Z:2.55 [[ 9.99598486e-01 -2.64833915e-02 -1.00745339e-02 6.53106047e+02] [ 2.64848395e-02 9.99649215e-01 1.03189816e-05 4.34399702e+00] [ 1.00707266e-02 -2.77137252e-04 9.99949251e-01 2.54958655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.899254154 meters 0.05818921045064645 Centerline is valid? [True, True] Translation: X:653.17, Y:4.35, Z:2.55 [[ 9.99575388e-01 -2.65532682e-02 -1.19986557e-02 6.53167294e+02] [ 2.65553300e-02 9.99647345e-01 1.25198856e-05 4.34969841e+00] [ 1.19940918e-02 -3.31142829e-04 9.99928013e-01 2.55004821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters 0.056481358462550355 Centerline is valid? [True, True] Translation: X:653.23, Y:4.36, Z:2.55 [[ 9.99624829e-01 -2.39698609e-02 -1.32531836e-02 6.53227853e+02] [ 2.39721504e-02 9.99712627e-01 1.38953527e-05 4.36172276e+00] [ 1.32490419e-02 -3.31597449e-04 9.99912173e-01 2.55334999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.019254154 meters 0.05733183225727525 Centerline is valid? [True, True] Translation: X:653.29, Y:4.36, Z:2.55 [[ 9.99790460e-01 -1.70230276e-02 -1.13689210e-02 6.53288132e+02] [ 1.70242602e-02 9.99855077e-01 1.16426433e-05 4.35950806e+00] [ 1.13670752e-02 -2.05187673e-04 9.99935372e-01 2.55320850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters 0.05693007607392762 Centerline is valid? [True, True] Translation: X:653.35, Y:4.36, Z:2.55 [[ 9.99910186e-01 -9.85309095e-03 -9.08501821e-03 6.53347175e+02] [ 9.85358056e-03 9.99951452e-01 9.13199220e-06 4.36174305e+00] [ 9.08448718e-03 -9.86511308e-05 9.99958730e-01 2.55422023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.139254154 meters 0.056927762691310245 Centerline is valid? [True, True] Translation: X:653.41, Y:4.37, Z:2.56 [[ 9.99954191e-01 -6.21537420e-03 -7.27910775e-03 6.53405834e+02] [ 6.21559110e-03 9.99980683e-01 7.17576224e-06 4.36819080e+00] [ 7.27892254e-03 -5.24193908e-05 9.99973507e-01 2.55690296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters 0.056606282429336165 Centerline is valid? [True, True] Translation: X:653.46, Y:4.37, Z:2.56 [[ 9.99971403e-01 -2.64166482e-03 -7.08618326e-03 6.53463299e+02] [ 2.64177747e-03 9.99996510e-01 6.53580764e-06 4.36787119e+00] [ 7.08614127e-03 -2.52557400e-05 9.99974893e-01 2.55621189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.259254154 meters 0.056119384351911744 Centerline is valid? [True, True] Translation: X:653.52, Y:4.37, Z:2.56 [[ 9.99967517e-01 -2.29825489e-03 -7.72550687e-03 6.53520960e+02] [ 2.29837289e-03 9.99997359e-01 6.39566570e-06 4.36625812e+00] [ 7.72547176e-03 -2.41515535e-05 9.99970158e-01 2.55531858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters 0.05680413201938355 Centerline is valid? [True, True] Translation: X:653.58, Y:4.36, Z:2.56 [[ 9.99953671e-01 -5.91428175e-03 -7.59449183e-03 6.53579305e+02] [ 5.91449667e-03 9.99982509e-01 5.83955343e-06 4.36216660e+00] [ 7.59432446e-03 -5.07568795e-05 9.99971161e-01 2.55698117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.379254154 meters 0.0570088312766967 Centerline is valid? [True, True] Translation: X:653.64, Y:4.36, Z:2.55 [[ 9.99919360e-01 -9.45885967e-03 -8.47366276e-03 6.53638661e+02] [ 9.45925258e-03 9.99955260e-01 6.28982657e-06 4.35500218e+00] [ 8.47322416e-03 -8.64438357e-05 9.99964098e-01 2.55489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.439254154 meters 0.05673628525147328 Centerline is valid? [True, True] Translation: X:653.70, Y:4.35, Z:2.55 [[ 9.99833416e-01 -1.51912463e-02 -1.01175853e-02 6.53698322e+02] [ 1.51920990e-02 9.99884593e-01 7.42078805e-06 4.34808498e+00] [ 1.01163050e-02 -1.61126909e-04 9.99948816e-01 2.55316185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.499254154 meters 0.056989773256084175 Centerline is valid? [True, True] Translation: X:653.76, Y:4.34, Z:2.55 [[ 9.99746428e-01 -2.01298726e-02 -1.00929308e-02 6.53758247e+02] [ 2.01309723e-02 9.99797351e-01 7.37042099e-06 4.34429926e+00] [ 1.00907371e-02 -2.10549062e-04 9.99949065e-01 2.55378362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.559254154 meters 0.057724290488554486 Centerline is valid? [True, True] Translation: X:653.82, Y:4.34, Z:2.55 [[ 9.99633895e-01 -2.51943332e-02 -9.86514933e-03 6.53818213e+02] [ 2.51956299e-02 9.99682540e-01 7.16576684e-06 4.33778652e+00] [ 9.86183700e-03 -2.55721795e-04 9.99951338e-01 2.55446167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.619254154 meters 0.05722617557429164 Centerline is valid? [True, True] Translation: X:653.88, Y:4.34, Z:2.56 [[ 9.99532016e-01 -2.95346147e-02 -7.96586775e-03 6.53878615e+02] [ 2.95355981e-02 9.99563729e-01 5.80756693e-06 4.33966021e+00] [ 7.96222095e-03 -2.41081517e-04 9.99968272e-01 2.55672178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.679254154 meters 0.05875300893939835 Centerline is valid? [True, True] Translation: X:653.94, Y:4.33, Z:2.56 [[ 9.99349606e-01 -3.53245047e-02 -7.24875227e-03 6.53938542e+02] [ 3.53254713e-02 9.99375861e-01 5.31413282e-06 4.32873908e+00] [ 7.24404032e-03 -2.61376267e-04 9.99973727e-01 2.55639618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.739254154 meters 0.05872101144896794 Centerline is valid? [True, True] Translation: X:654.00, Y:4.33, Z:2.56 [[ 9.99128046e-01 -4.12011510e-02 -6.75375552e-03 6.53999184e+02] [ 4.12021241e-02 9.99150832e-01 4.94411639e-06 4.33207557e+00] [ 6.74781674e-03 -2.83208878e-04 9.99977193e-01 2.55621895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.799254154 meters 0.06168552302116534 Centerline is valid? [True, True] Translation: X:654.06, Y:4.32, Z:2.56 [[ 9.99008854e-01 -4.37903682e-02 -7.98203319e-03 6.54058499e+02] [ 4.37918097e-02 9.99040679e-01 5.81979733e-06 4.31873947e+00] [ 7.97412100e-03 -3.55361707e-04 9.99968143e-01 2.55569130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.859254154 meters 0.06098322507233878 Centerline is valid? [True, True] Translation: X:654.12, Y:4.32, Z:2.56 [[ 9.98871802e-01 -4.66871446e-02 -8.68524251e-03 6.54119340e+02] [ 4.66889603e-02 9.98909476e-01 6.31032743e-06 4.31867923e+00] [ 8.67547643e-03 -4.11808151e-04 9.99962283e-01 2.55574238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.919254154 meters 0.059800185968730005 Centerline is valid? [True, True] Translation: X:654.18, Y:4.33, Z:2.56 [[ 9.98842784e-01 -4.73462364e-02 -8.45143854e-03 6.54181229e+02] [ 4.73479804e-02 9.98878455e-01 6.28042729e-06 4.32613338e+00] [ 8.44166252e-03 -4.06431706e-04 9.99964286e-01 2.55664465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters 0.060249672252279216 Centerline is valid? [True, True] Translation: X:654.24, Y:4.33, Z:2.56 [[ 9.98969656e-01 -4.46339989e-02 -8.21173121e-03 6.54241895e+02] [ 4.46355551e-02 9.99003337e-01 6.24987619e-06 4.32994510e+00] [ 8.20326792e-03 -3.72778618e-04 9.99966283e-01 2.55638394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.039254154 meters 0.05860469686593494 Centerline is valid? [True, True] Translation: X:654.30, Y:4.34, Z:2.56 [[ 9.99151256e-01 -4.00717001e-02 -9.54073768e-03 6.54302956e+02] [ 4.00735935e-02 9.99196731e-01 7.28917201e-06 4.33728546e+00] [ 9.53278181e-03 -3.89614628e-04 9.99954486e-01 2.55567367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters 0.05745478301516901 Centerline is valid? [True, True] Translation: X:654.36, Y:4.35, Z:2.56 [[ 9.99264040e-01 -3.70570825e-02 -9.90716701e-03 6.54363373e+02] [ 3.70589761e-02 9.99313080e-01 7.56858591e-06 4.34829089e+00] [ 9.90008111e-03 -3.74712482e-04 9.99950923e-01 2.55666851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.159254154 meters 0.05890248867546376 Centerline is valid? [True, True] Translation: X:654.42, Y:4.35, Z:2.56 [[ 9.99501480e-01 -3.02940991e-02 -8.89150854e-03 6.54422563e+02] [ 3.02953565e-02 9.99540990e-01 6.72947045e-06 4.34721583e+00] [ 8.88722339e-03 -2.76097537e-04 9.99960470e-01 2.55639105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters 0.057729989640007445 Centerline is valid? [True, True] Translation: X:654.48, Y:4.36, Z:2.56 [[ 9.99763059e-01 -2.05312724e-02 -7.23134705e-03 6.54482874e+02] [ 2.05318487e-02 9.99789199e-01 5.45454975e-06 4.36160903e+00] [ 7.22971069e-03 -1.53926181e-04 9.99973853e-01 2.55891609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.279254154 meters 0.057124146608170216 Centerline is valid? [True, True] Translation: X:654.54, Y:4.37, Z:2.56 [[ 9.99928117e-01 -1.03987693e-02 -5.96883708e-03 6.54543050e+02] [ 1.03989816e-02 9.99945929e-01 4.52195201e-06 4.37246108e+00] [ 5.96846731e-03 -6.65914538e-05 9.99982186e-01 2.55946957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters 0.0560577319575515 Centerline is valid? [True, True] Translation: X:654.60, Y:4.38, Z:2.56 [[ 9.99948341e-01 -8.00052809e-03 -6.26949391e-03 6.54603869e+02] [ 8.00071505e-03 9.99967994e-01 4.74060984e-06 4.37815723e+00] [ 6.26925532e-03 -5.49007992e-05 9.99980347e-01 2.55990670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.399254154 meters 0.05580807414609602 Centerline is valid? [True, True] Translation: X:654.66, Y:4.38, Z:2.56 [[ 9.99950189e-01 -5.80199478e-03 -8.12134297e-03 6.54663983e+02] [ 5.80223571e-03 9.99983167e-01 6.10521296e-06 4.38331886e+00] [ 8.12117084e-03 -5.32268551e-05 9.99967021e-01 2.55854151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters 0.05647734932875983 Centerline is valid? [True, True] Translation: X:654.72, Y:4.38, Z:2.56 [[ 9.99897259e-01 -1.00689777e-02 -1.02023157e-02 6.54723182e+02] [ 1.00695779e-02 9.99949301e-01 7.46667787e-06 4.38340046e+00] [ 1.02017232e-02 -1.10198923e-04 9.99947955e-01 2.55758750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.519254154 meters 0.056162140824392 Centerline is valid? [True, True] Translation: X:654.78, Y:4.38, Z:2.56 [[ 9.99805777e-01 -1.70807511e-02 -9.83137909e-03 6.54781967e+02] [ 1.70816465e-02 9.99854098e-01 7.10954210e-06 4.37779618e+00] [ 9.82982323e-03 -1.75044304e-04 9.99951671e-01 2.55822310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters 0.0567095622954589 Centerline is valid? [True, True] Translation: X:654.84, Y:4.37, Z:2.56 [[ 9.99703309e-01 -2.29749736e-02 -8.08979586e-03 6.54841864e+02] [ 2.29757727e-02 9.99736022e-01 5.85230105e-06 4.37258712e+00] [ 8.08752588e-03 -1.91719876e-04 9.99967277e-01 2.55902636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.639254154 meters 0.057293588256768606 Centerline is valid? [True, True] Translation: X:654.90, Y:4.37, Z:2.56 [[ 9.99606770e-01 -2.73758660e-02 -6.07185881e-03 6.54901777e+02] [ 2.73763973e-02 9.99625196e-01 4.37654569e-06 4.36699148e+00] [ 6.06946325e-03 -1.70600444e-04 9.99981566e-01 2.55963034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters 0.05704079344742238 Centerline is valid? [True, True] Translation: X:654.96, Y:4.37, Z:2.56 [[ 9.99539571e-01 -2.96441124e-02 -6.47097035e-03 6.54963150e+02] [ 2.96447634e-02 9.99560497e-01 4.67710007e-06 4.36784808e+00] [ 6.46798769e-03 -1.96505331e-04 9.99979063e-01 2.55982972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.759254154 meters 0.05586204431530072 Centerline is valid? [True, True] Translation: X:655.02, Y:4.37, Z:2.56 [[ 9.99441178e-01 -3.27831297e-02 -6.52673920e-03 6.55023972e+02] [ 3.27838594e-02 9.99462465e-01 4.81909982e-06 4.37471030e+00] [ 6.52307286e-03 -2.18788107e-04 9.99978701e-01 2.55998275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters 0.05870415038024898 Centerline is valid? [True, True] Translation: X:655.09, Y:4.36, Z:2.56 [[ 9.99453378e-01 -3.21964367e-02 -7.50565212e-03 6.55085498e+02] [ 3.21973864e-02 9.99481530e-01 5.70148971e-06 4.36174542e+00] [ 7.50157709e-03 -2.47360755e-04 9.99971832e-01 2.55807278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.879254154 meters 0.05671866296902505 Centerline is valid? [True, True] Translation: X:655.15, Y:4.37, Z:2.56 [[ 9.99642259e-01 -2.56119268e-02 -7.70608782e-03 6.55146724e+02] [ 2.56127333e-02 9.99671940e-01 5.97888675e-06 4.37283950e+00] [ 7.70340663e-03 -2.03350720e-04 9.99970308e-01 2.55863458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.939254154 meters 0.05566012906878679 Centerline is valid? [True, True] Translation: X:655.21, Y:4.38, Z:2.56 [[ 9.99885076e-01 -1.40383795e-02 -5.72361038e-03 6.55207685e+02] [ 1.40386351e-02 9.99901454e-01 4.48111840e-06 4.38131661e+00] [ 5.72298343e-03 -8.48322808e-05 9.99983620e-01 2.55964594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.999254154 meters 0.05555441168612279 Centerline is valid? [True, True] Translation: X:655.27, Y:4.39, Z:2.56 [[ 9.99981250e-01 -2.94994390e-03 -5.36638237e-03 6.55267073e+02] [ 2.95000908e-03 9.99995649e-01 4.23049338e-06 4.38839660e+00] [ 5.36634654e-03 -2.00612908e-05 9.99985601e-01 2.55996940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.059254154 meters 0.05600733975901516 Centerline is valid? [True, True] Translation: X:655.33, Y:4.39, Z:2.56 [[ 9.99979002e-01 -1.18668527e-03 -6.37075606e-03 6.55326238e+02] [ 1.18673959e-03 9.99999296e-01 4.74497330e-06 4.38888841e+00] [ 6.37074594e-03 -1.23053021e-05 9.99979706e-01 2.55919813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.119254154 meters 0.05627440895746808 Centerline is valid? [True, True] Translation: X:655.39, Y:4.38, Z:2.56 [[ 9.99953362e-01 -6.04529387e-03 -7.53188604e-03 6.55385736e+02] [ 6.04550329e-03 9.99981726e-01 5.03713675e-06 4.38450186e+00] [ 7.53171795e-03 -5.05709437e-05 9.99971635e-01 2.55788888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.179254154 meters 0.056360502848378444 Centerline is valid? [True, True] Translation: X:655.45, Y:4.37, Z:2.56 [[ 9.99794148e-01 -1.85763091e-02 -8.15977355e-03 6.55446494e+02] [ 1.85769710e-02 9.99827433e-01 5.32251197e-06 4.37446215e+00] [ 8.15826657e-03 -1.56905293e-04 9.99966708e-01 2.55797084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.239254154 meters 0.05797422715054692 Centerline is valid? [True, True] Translation: X:655.51, Y:4.36, Z:2.56 [[ 9.99513555e-01 -3.00810627e-02 -8.23302297e-03 6.55506248e+02] [ 3.00821263e-02 9.99547430e-01 5.34498571e-06 4.35860728e+00] [ 8.22913617e-03 -2.53009222e-04 9.99966108e-01 2.55748691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.299254154 meters 0.0597873292568512 Centerline is valid? [True, True] Translation: X:655.57, Y:4.35, Z:2.56 [[ 9.99297075e-01 -3.68731755e-02 -6.76198887e-03 6.55566471e+02] [ 3.68740481e-02 9.99319921e-01 4.37726809e-06 4.34794497e+00] [ 6.75722878e-03 -2.53716094e-04 9.99977137e-01 2.55874473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.359254154 meters 0.05884215547425252 Centerline is valid? [True, True] Translation: X:655.63, Y:4.35, Z:2.56 [[ 9.99165099e-01 -4.07196198e-02 -3.31925901e-03 6.55627408e+02] [ 4.07198512e-02 9.99170603e-01 2.14218721e-06 4.34580787e+00] [ 3.31641880e-03 -1.37300132e-04 9.99994491e-01 2.56118435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.419254154 meters 0.05738236421771635 Centerline is valid? [True, True] Translation: X:655.69, Y:4.35, Z:2.56 [[ 9.99015221e-01 -4.43463845e-02 -1.40968106e-03 6.55688866e+02] [ 4.43464298e-02 9.99016213e-01 8.90346285e-07 4.34995154e+00] [ 1.40825475e-03 -6.34037916e-05 9.99999006e-01 2.56182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters 0.0589705308883518 Centerline is valid? [True, True] Translation: X:655.75, Y:4.34, Z:2.56 [[ 9.98825667e-01 -4.83483246e-02 -3.11863857e-03 6.55749040e+02] [ 4.83485664e-02 9.98830524e-01 2.13931591e-06 4.34425597e+00] [ 3.11488797e-03 -1.52918508e-04 9.99995137e-01 2.56052632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.539254154 meters 0.0537052215078772 Centerline is valid? [True, True] Translation: X:655.81, Y:4.37, Z:2.56 [[ 9.98683007e-01 -5.11430188e-02 -4.07965413e-03 6.55810087e+02] [ 5.11434560e-02 9.98691317e-01 2.82879587e-06 4.36729985e+00] [ 4.07417049e-03 -2.11472682e-04 9.99991678e-01 2.55890547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters 0.055765524996864956 Centerline is valid? [True, True] Translation: X:655.87, Y:4.36, Z:2.56 [[ 9.98788049e-01 -4.89759603e-02 -4.87736842e-03 6.55870416e+02] [ 4.89765596e-02 9.98799928e-01 3.42927227e-06 4.35925864e+00] [ 4.87134727e-03 -2.42301841e-04 9.99988106e-01 2.55794769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.659254154 meters 0.05506853269367828 Centerline is valid? [True, True] Translation: X:655.93, Y:4.36, Z:2.56 [[ 9.98977740e-01 -4.48197123e-02 -5.88794049e-03 6.55931567e+02] [ 4.48205137e-02 9.98995056e-01 4.17046603e-06 4.36477666e+00] [ 5.88183652e-03 -2.68066720e-04 9.99982666e-01 2.55755960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters 0.0575166945734389 Centerline is valid? [True, True] Translation: X:655.99, Y:4.36, Z:2.56 [[ 9.99360397e-01 -3.49405143e-02 -7.61293911e-03 6.55991472e+02] [ 3.49415685e-02 9.99389357e-01 5.47000181e-06 4.36158268e+00] [ 7.60809919e-03 -2.71474537e-04 9.99971021e-01 2.55697440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.779254154 meters 0.055089084328372756 Centerline is valid? [True, True] Translation: X:656.05, Y:4.38, Z:2.56 [[ 9.99680769e-01 -2.43719024e-02 -6.66113494e-03 6.56052102e+02] [ 2.43724749e-02 9.99702947e-01 4.77381755e-06 4.38197725e+00] [ 6.65903988e-03 -1.67120638e-04 9.99977814e-01 2.55900216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters 0.05506453408296046 Centerline is valid? [True, True] Translation: X:656.11, Y:4.39, Z:2.56 [[ 9.99868120e-01 -1.51558748e-02 -5.83455520e-03 6.56112225e+02] [ 1.51561571e-02 9.99885139e-01 4.17911629e-06 4.38812796e+00] [ 5.83382170e-03 -9.26080006e-05 9.99982979e-01 2.55929953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.899254154 meters 0.05524038558997777 Centerline is valid? [True, True] Translation: X:656.17, Y:4.40, Z:2.56 [[ 9.99955773e-01 -7.49870051e-03 -5.67633095e-03 6.56171827e+02] [ 7.49884452e-03 9.99971883e-01 4.08620985e-06 4.39561179e+00] [ 5.67614070e-03 -4.66519523e-05 9.99983889e-01 2.56047383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters 0.05506398142578045 Centerline is valid? [True, True] Translation: X:656.23, Y:4.40, Z:2.56 [[ 9.99980142e-01 -4.25934666e-03 -4.64473781e-03 6.56231616e+02] [ 4.25940811e-03 9.99990929e-01 3.33826883e-06 4.39891285e+00] [ 4.64468146e-03 -2.31220364e-05 9.99989213e-01 2.56021408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.019254154 meters 0.05517863635924616 Centerline is valid? [True, True] Translation: X:656.29, Y:4.40, Z:2.56 [[ 9.99978547e-01 -4.57249646e-03 -4.69008830e-03 6.56290548e+02] [ 4.57256206e-03 9.99989546e-01 3.26358526e-06 4.39886488e+00] [ 4.69002434e-03 -2.47092350e-05 9.99989001e-01 2.56022321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters 0.05473974266075422 Centerline is valid? [True, True] Translation: X:656.35, Y:4.40, Z:2.56 [[ 9.99955266e-01 -7.84300261e-03 -5.28704716e-03 6.56349630e+02] [ 7.84312914e-03 9.99969242e-01 3.19892153e-06 4.39797277e+00] [ 5.28685945e-03 -4.46657721e-05 9.99986023e-01 2.56050545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.139254154 meters 0.05495233834431178 Centerline is valid? [True, True] Translation: X:656.41, Y:4.40, Z:2.56 [[ 9.99897830e-01 -1.33652495e-02 -5.06949190e-03 6.56409953e+02] [ 1.33654364e-02 9.99910679e-01 3.00728133e-06 4.40154538e+00] [ 5.06899889e-03 -7.07629459e-05 9.99987150e-01 2.56065308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters 0.05529320331479994 Centerline is valid? [True, True] Translation: X:656.47, Y:4.39, Z:2.56 [[ 9.99869682e-01 -1.53709563e-02 -4.93491357e-03 6.56471576e+02] [ 1.53711580e-02 9.99881857e-01 2.95052456e-06 4.39159132e+00] [ 4.93428519e-03 -7.88054765e-05 9.99987823e-01 2.56019324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.259254154 meters 0.056280177496110376 Centerline is valid? [True, True] Translation: X:656.53, Y:4.38, Z:2.56 [[ 9.99779496e-01 -2.06282115e-02 -3.92893167e-03 6.56531807e+02] [ 2.06283802e-02 9.99787212e-01 2.42218340e-06 4.38411592e+00] [ 3.92804567e-03 -8.34691456e-05 9.99992282e-01 2.56016312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters 0.054383261558223026 Centerline is valid? [True, True] Translation: X:656.59, Y:4.39, Z:2.56 [[ 9.99685585e-01 -2.47121861e-02 -4.24716665e-03 6.56592633e+02] [ 2.47124201e-02 9.99694602e-01 2.62206738e-06 4.39380474e+00] [ 4.24580478e-03 -1.07579010e-04 9.99990981e-01 2.55980889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.379254154 meters 0.05474375772226911 Centerline is valid? [True, True] Translation: X:656.65, Y:4.39, Z:2.56 [[ 9.99634120e-01 -2.67243265e-02 -4.17563915e-03 6.56654179e+02] [ 2.67245705e-02 9.99642835e-01 2.63739141e-06 4.39173587e+00] [ 4.17407728e-03 -1.14228589e-04 9.99991282e-01 2.55954540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.439254154 meters 0.055742557989142405 Centerline is valid? [True, True] Translation: X:656.72, Y:4.38, Z:2.56 [[ 9.99612675e-01 -2.74152835e-02 -4.78557247e-03 6.56716671e+02] [ 2.74156123e-02 9.99624121e-01 3.11605329e-06 4.37911474e+00] [ 4.78368825e-03 -1.34314246e-04 9.99988549e-01 2.55920573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.499254154 meters 0.056594178564062354 Centerline is valid? [True, True] Translation: X:656.78, Y:4.38, Z:2.56 [[ 9.99624621e-01 -2.69984036e-02 -4.65873116e-03 6.56779153e+02] [ 2.69987115e-02 9.99635468e-01 3.20389215e-06 4.37901325e+00] [ 4.65694641e-03 -1.28982428e-04 9.99989148e-01 2.55866936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.559254154 meters 0.055898692710995936 Centerline is valid? [True, True] Translation: X:656.84, Y:4.38, Z:2.56 [[ 9.99645657e-01 -2.59898135e-02 -5.75231534e-03 6.56841695e+02] [ 2.59902675e-02 9.99662196e-01 4.17996315e-06 4.38137806e+00] [ 5.75026355e-03 -1.53682697e-04 9.99983455e-01 2.55806652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.619254154 meters 0.05528432714251905 Centerline is valid? [True, True] Translation: X:656.90, Y:4.38, Z:2.56 [[ 9.99723429e-01 -2.25025022e-02 -6.83395441e-03 6.56902467e+02] [ 2.25030630e-02 9.99746774e-01 5.17760210e-06 4.38442003e+00] [ 6.83210737e-03 -1.58961077e-04 9.99976648e-01 2.55764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.679254154 meters 0.05569885337392483 Centerline is valid? [True, True] Translation: X:656.96, Y:4.39, Z:2.56 [[ 9.99806889e-01 -1.85511019e-02 -6.48400369e-03 6.56963060e+02] [ 1.85515241e-02 9.99827906e-01 4.96497397e-06 4.38681379e+00] [ 6.48279573e-03 -1.25252166e-04 9.99978979e-01 2.55811000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.739254154 meters 0.0554413803091349 Centerline is valid? [True, True] Translation: X:657.02, Y:4.40, Z:2.56 [[ 9.99916471e-01 -1.14039460e-02 -6.08290376e-03 6.57022967e+02] [ 1.14041854e-02 9.99934970e-01 4.68117062e-06 4.39763827e+00] [ 6.08245481e-03 -7.40513421e-05 9.99981499e-01 2.56031402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.799254154 meters 0.05494166500769479 Centerline is valid? [True, True] Translation: X:657.08, Y:4.40, Z:2.56 [[ 9.99972558e-01 -5.00755852e-03 -5.45964810e-03 6.57083318e+02] [ 5.00765601e-03 9.99987462e-01 4.18651336e-06 4.39824508e+00] [ 5.45955868e-03 -3.15264381e-05 9.99985096e-01 2.56083376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.859254154 meters 0.055383476396566746 Centerline is valid? [True, True] Translation: X:657.14, Y:4.40, Z:2.56 [[ 9.99979971e-01 -2.41868187e-03 -5.84866687e-03 6.57141678e+02] [ 2.41874919e-03 9.99997075e-01 4.43650131e-06 4.39805076e+00] [ 5.84863903e-03 -1.85828707e-05 9.99982896e-01 2.56083025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.919254154 meters 0.056523495915724836 Centerline is valid? [True, True] Translation: X:657.20, Y:4.40, Z:2.56 [[ 9.99979057e-01 -1.44476117e-03 -6.30859283e-03 6.57200379e+02] [ 1.44481767e-03 9.99998956e-01 4.39791419e-06 4.39873321e+00] [ 6.30857989e-03 -1.35125884e-05 9.99980101e-01 2.56257686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters 0.05633410903504471 Centerline is valid? [True, True] Translation: X:657.26, Y:4.39, Z:2.56 [[ 9.99964587e-01 -4.93235155e-03 -6.81884827e-03 6.57257880e+02] [ 4.93249460e-03 9.99987835e-01 4.16170377e-06 4.39442341e+00] [ 6.81874479e-03 -3.77954886e-05 9.99976751e-01 2.56251036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.039254154 meters 0.05596355752906374 Centerline is valid? [True, True] Translation: X:657.32, Y:4.38, Z:2.56 [[ 9.99892028e-01 -1.29109686e-02 -7.01705303e-03 6.57317362e+02] [ 1.29113157e-02 9.99916646e-01 4.15850712e-06 4.38100760e+00] [ 7.01641444e-03 -9.47574451e-05 9.99975380e-01 2.56186709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters 0.05747997171847228 Centerline is valid? [True, True] Translation: X:657.38, Y:4.37, Z:2.56 [[ 9.99777615e-01 -1.98115613e-02 -7.22659369e-03 6.57378388e+02] [ 1.98121097e-02 9.99803721e-01 4.28715945e-06 4.37323037e+00] [ 7.22509032e-03 -1.47460273e-04 9.99973888e-01 2.56233221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.159254154 meters 0.05760055912016606 Centerline is valid? [True, True] Translation: X:657.44, Y:4.36, Z:2.56 [[ 9.99523880e-01 -3.01735106e-02 -6.44762874e-03 6.57438513e+02] [ 3.01741624e-02 9.99544656e-01 3.81509439e-06 4.36212874e+00] [ 6.44457774e-03 -1.98365075e-04 9.99979214e-01 2.56387235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters 0.05890421462066346 Centerline is valid? [True, True] Translation: X:657.50, Y:4.35, Z:2.57 [[ 9.99164072e-01 -4.05672773e-02 -5.04516221e-03 6.57499167e+02] [ 4.05678085e-02 9.99176788e-01 2.96801021e-06 4.35464341e+00] [ 5.04088856e-03 -2.07636704e-04 9.99987273e-01 2.56570964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.279254154 meters 0.05755196610525174 Centerline is valid? [True, True] Translation: X:657.56, Y:4.36, Z:2.57 [[ 9.98726573e-01 -5.00697472e-02 -6.18494958e-03 6.57559740e+02] [ 5.00707274e-02 9.98745674e-01 3.64615798e-06 4.35847138e+00] [ 6.17700908e-03 -3.13326440e-04 9.99980873e-01 2.56582810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters 0.05572248371173022 Centerline is valid? [True, True] Translation: X:657.62, Y:4.36, Z:2.57 [[ 9.98366340e-01 -5.66721417e-02 -7.27461054e-03 6.57620638e+02] [ 5.66736726e-02 9.98392756e-01 4.31096294e-06 4.36311121e+00] [ 7.26267415e-03 -4.16582816e-04 9.99973540e-01 2.56642374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.399254154 meters 0.056835959682241755 Centerline is valid? [True, True] Translation: X:657.68, Y:4.36, Z:2.57 [[ 9.98255102e-01 -5.85586704e-02 -7.59163751e-03 6.57680581e+02] [ 5.85603920e-02 9.98283868e-01 4.49590134e-06 4.35574337e+00] [ 7.57834598e-03 -4.49057325e-04 9.99971183e-01 2.56628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters 0.05887061749015116 Centerline is valid? [True, True] Translation: X:657.74, Y:4.35, Z:2.56 [[ 9.98262364e-01 -5.80935235e-02 -9.86889774e-03 6.57742220e+02] [ 5.80964118e-02 9.98310977e-01 6.00352585e-06 4.35007452e+00] [ 9.85188018e-03 -5.79340641e-04 9.99951301e-01 2.56470161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.519254154 meters 0.056466925245354134 Centerline is valid? [True, True] Translation: X:657.80, Y:4.36, Z:2.57 [[ 9.98349527e-01 -5.63973729e-02 -1.08424098e-02 6.57802914e+02] [ 5.64007617e-02 9.98408210e-01 6.78844237e-06 4.36232800e+00] [ 1.08247681e-02 -6.18297408e-04 9.99941219e-01 2.56599282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters 0.05628931952747245 Centerline is valid? [True, True] Translation: X:657.86, Y:4.37, Z:2.57 [[ 9.98593484e-01 -5.18423236e-02 -1.11097472e-02 6.57863204e+02] [ 5.18456007e-02 9.98655112e-01 6.98145439e-06 4.37120864e+00] [ 1.10944439e-02 -5.82963151e-04 9.99938285e-01 2.56687569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.639254154 meters 0.056228685363437926 Centerline is valid? [True, True] Translation: X:657.92, Y:4.37, Z:2.57 [[ 9.98804474e-01 -4.74828570e-02 -1.16189843e-02 6.57922512e+02] [ 4.74861463e-02 9.98871897e-01 7.22714866e-06 4.37027744e+00] [ 1.16055337e-02 -5.58959295e-04 9.99932497e-01 2.56689497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters 0.05679069430752023 Centerline is valid? [True, True] Translation: X:657.98, Y:4.38, Z:2.57 [[ 9.99099983e-01 -4.09098902e-02 -1.12073808e-02 6.57983197e+02] [ 4.09125379e-02 9.99162732e-01 6.98877595e-06 4.37659406e+00] [ 1.11977113e-02 -4.65504877e-04 9.99937195e-01 2.56694671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.759254154 meters 0.056335759468673655 Centerline is valid? [True, True] Translation: X:658.04, Y:4.39, Z:2.57 [[ 9.99311722e-01 -3.58079541e-02 -9.68882790e-03 6.58044344e+02] [ 3.58096941e-02 9.99358627e-01 6.10871954e-06 4.38582020e+00] [ 9.68239501e-03 -3.53058478e-04 9.99953062e-01 2.56794313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters 0.05577798907560956 Centerline is valid? [True, True] Translation: X:658.10, Y:4.39, Z:2.57 [[ 9.99401057e-01 -3.34458414e-02 -8.88276842e-03 6.58104590e+02] [ 3.34472109e-02 9.99440486e-01 5.62702893e-06 4.39316423e+00] [ 8.87761018e-03 -3.02727488e-04 9.99960547e-01 2.56948144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.879254154 meters 0.05774491930702677 Centerline is valid? [True, True] Translation: X:658.17, Y:4.39, Z:2.57 [[ 9.99376017e-01 -3.39857771e-02 -9.62001035e-03 6.58165238e+02] [ 3.39874092e-02 9.99422261e-01 6.18335304e-06 4.38578814e+00] [ 9.61424235e-03 -3.33138723e-04 9.99953727e-01 2.56809182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.939254154 meters 0.05639584361383432 Centerline is valid? [True, True] Translation: X:658.23, Y:4.40, Z:2.57 [[ 9.99222913e-01 -3.78193565e-02 -1.11025876e-02 6.58226058e+02] [ 3.78217692e-02 9.99284501e-01 7.34323845e-06 4.39510989e+00] [ 1.10943660e-02 -4.27257039e-04 9.99938364e-01 2.56867426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.999254154 meters 0.05445110467290747 Centerline is valid? [True, True] Translation: X:658.29, Y:4.41, Z:2.57 [[ 9.98993669e-01 -4.34416294e-02 -1.11567901e-02 6.58286438e+02] [ 4.34444166e-02 9.99055846e-01 7.47691429e-06 4.41060983e+00] [ 1.11459316e-02 -4.92169629e-04 9.99937761e-01 2.57099392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.059254154 meters 0.05656822902980979 Centerline is valid? [True, True] Translation: X:658.35, Y:4.40, Z:2.57 [[ 9.98734495e-01 -4.91115605e-02 -1.08380365e-02 6.58346194e+02] [ 4.91145234e-02 9.98793154e-01 7.22880545e-06 4.40261376e+00] [ 1.08246016e-02 -5.39524653e-04 9.99941267e-01 2.57084745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.119254154 meters 0.0552179019169205 Centerline is valid? [True, True] Translation: X:658.41, Y:4.41, Z:2.57 [[ 9.98667477e-01 -5.05484501e-02 -1.03983280e-02 6.58407252e+02] [ 5.05512554e-02 9.98721468e-01 6.95984393e-06 4.40556510e+00] [ 1.03846815e-02 -5.32599102e-04 9.99945936e-01 2.57158321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.179254154 meters 0.058327018638934414 Centerline is valid? [True, True] Translation: X:658.47, Y:4.39, Z:2.57 [[ 9.98476707e-01 -5.44773893e-02 -8.74531026e-03 6.58467205e+02] [ 5.44795240e-02 9.98514888e-01 5.87944187e-06 4.39225510e+00] [ 8.73200220e-03 -4.82310826e-04 9.99961759e-01 2.57182917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.239254154 meters 0.0579876788805354 Centerline is valid? [True, True] Translation: X:658.53, Y:4.39, Z:2.57 [[ 9.98387398e-01 -5.62226346e-02 -7.84981138e-03 6.58527941e+02] [ 5.62244084e-02 9.98418157e-01 5.29143823e-06 4.39455981e+00] [ 7.83709672e-03 -4.46633906e-04 9.99969190e-01 2.57307506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.299254154 meters 0.05763863799978469 Centerline is valid? [True, True] Translation: X:658.59, Y:4.40, Z:2.57 [[ 9.98360221e-01 -5.66782308e-02 -8.02795531e-03 6.58590019e+02] [ 5.66801020e-02 9.98392391e-01 5.57389214e-06 4.39823795e+00] [ 8.01473358e-03 -4.60590078e-04 9.99967775e-01 2.57261989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.359254154 meters 0.06142310819096672 Centerline is valid? [True, True] Translation: X:658.65, Y:4.39, Z:2.57 [[ 9.98445486e-01 -5.50632553e-02 -8.63995937e-03 6.58650397e+02] [ 5.50653637e-02 9.98482752e-01 6.15277326e-06 4.38748447e+00] [ 8.62651162e-03 -4.81905714e-04 9.99962675e-01 2.57065191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.419254154 meters 0.06149008964295245 Centerline is valid? [True, True] Translation: X:658.71, Y:4.39, Z:2.57 [[ 9.98522912e-01 -5.35204508e-02 -9.35713175e-03 6.58711006e+02] [ 5.35228566e-02 9.98566625e-01 6.70292023e-06 4.39149950e+00] [ 9.34336073e-03 -5.07513440e-04 9.99956221e-01 2.57104583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters 0.05506878086400344 Centerline is valid? [True, True] Translation: X:658.77, Y:4.42, Z:2.57 [[ 9.98651091e-01 -5.09226578e-02 -1.01430552e-02 6.58771102e+02] [ 5.09253519e-02 9.98702462e-01 7.34751960e-06 4.42149542e+00] [ 1.01295200e-02 -5.23876263e-04 9.99948558e-01 2.57310691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.539254154 meters 0.05535642758820194 Centerline is valid? [True, True] Translation: X:658.83, Y:4.43, Z:2.57 [[ 9.98849483e-01 -4.66446411e-02 -1.11349555e-02 6.58832264e+02] [ 4.66476238e-02 9.98911407e-01 8.15376204e-06 4.42571237e+00] [ 1.11224537e-02 -5.27563595e-04 9.99938004e-01 2.57321012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters 0.0543595244496138 Centerline is valid? [True, True] Translation: X:658.89, Y:4.43, Z:2.57 [[ 9.99009011e-01 -4.31330196e-02 -1.09789752e-02 6.58892875e+02] [ 4.31357081e-02 9.99069222e-01 8.09024591e-06 4.43179558e+00] [ 1.09684073e-02 -4.81668100e-04 9.99939729e-01 2.57438004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.659254154 meters 0.056177348296654286 Centerline is valid? [True, True] Translation: X:658.95, Y:4.42, Z:2.57 [[ 9.99229436e-01 -3.79176098e-02 -1.01385155e-02 6.58952395e+02] [ 3.79196345e-02 9.99280792e-01 7.47761556e-06 4.42380451e+00] [ 1.01309402e-02 -3.91920655e-04 9.99948604e-01 2.57378679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters 0.0551591141709207 Centerline is valid? [True, True] Translation: X:659.01, Y:4.44, Z:2.58 [[ 9.99316853e-01 -3.54627326e-02 -1.04029366e-02 6.59013068e+02] [ 3.54647321e-02 9.99370929e-01 7.73599111e-06 4.43748792e+00] [ 1.03961180e-02 -3.76668064e-04 9.99945888e-01 2.57533415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.779254154 meters 0.05564145751677207 Centerline is valid? [True, True] Translation: X:659.07, Y:4.43, Z:2.57 [[ 9.99320382e-01 -3.47878701e-02 -1.21892694e-02 6.59074111e+02] [ 3.47905682e-02 9.99394625e-01 9.31094854e-06 4.42721628e+00] [ 1.21815664e-02 -4.33376228e-04 9.99925708e-01 2.57212687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters 0.056367851306520236 Centerline is valid? [True, True] Translation: X:659.14, Y:4.43, Z:2.57 [[ 9.99389006e-01 -3.26180794e-02 -1.25568864e-02 6.59136101e+02] [ 3.26207753e-02 9.99467801e-01 9.88818756e-06 4.43362822e+00] [ 1.25498811e-02 -4.19497516e-04 9.99921159e-01 2.57306935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.899254154 meters 0.05590726793716052 Centerline is valid? [True, True] Translation: X:659.20, Y:4.43, Z:2.57 [[ 9.99601286e-01 -2.62432922e-02 -1.04191515e-02 6.59196168e+02] [ 2.62448030e-02 9.99655546e-01 8.27505972e-06 4.43441475e+00] [ 1.04153454e-02 -2.81720338e-04 9.99945719e-01 2.57419951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters 0.05491641131087892 Centerline is valid? [True, True] Translation: X:659.26, Y:4.45, Z:2.58 [[ 9.99732405e-01 -2.15067230e-02 -8.51930189e-03 6.59257228e+02] [ 2.15075611e-02 9.99768686e-01 6.75984219e-06 4.44675919e+00] [ 8.51718587e-03 -1.89987439e-04 9.99963710e-01 2.57802240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.019254154 meters 0.055187025103139414 Centerline is valid? [True, True] Translation: X:659.32, Y:4.45, Z:2.58 [[ 9.99852760e-01 -1.56529386e-02 -7.03169323e-03 6.59317135e+02] [ 1.56533649e-02 9.99877479e-01 5.58814518e-06 4.44650568e+00] [ 7.03074422e-03 -1.15656982e-04 9.99975277e-01 2.57796565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters 0.05556460578613155 Centerline is valid? [True, True] Translation: X:659.38, Y:4.44, Z:2.58 [[ 9.99855131e-01 -1.51439339e-02 -7.77034039e-03 6.59378785e+02] [ 1.51444408e-02 9.99885316e-01 6.39992801e-06 4.44300485e+00] [ 7.76935234e-03 -1.24076461e-04 9.99969810e-01 2.57603403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.139254154 meters 0.0558508400931879 Centerline is valid? [True, True] Translation: X:659.44, Y:4.44, Z:2.58 [[ 9.99811885e-01 -1.72929161e-02 -8.78353802e-03 6.59440327e+02] [ 1.72936499e-02 9.99850454e-01 7.58736389e-06 4.43937568e+00] [ 8.78209327e-03 -1.59485368e-04 9.99961424e-01 2.57519601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters 0.05523531295961422 Centerline is valid? [True, True] Translation: X:659.50, Y:4.44, Z:2.58 [[ 9.99678444e-01 -2.34370524e-02 -9.68050955e-03 6.59501364e+02] [ 2.34382331e-02 9.99725287e-01 8.51669480e-06 4.44402565e+00] [ 9.67765058e-03 -2.35407995e-04 9.99953143e-01 2.57623542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.259254154 meters 0.05562061139643241 Centerline is valid? [True, True] Translation: X:659.56, Y:4.43, Z:2.57 [[ 9.99561819e-01 -2.76570805e-02 -1.05477805e-02 6.59561254e+02] [ 2.76587181e-02 9.99617424e-01 9.39279982e-06 4.43495025e+00] [ 1.05434854e-02 -3.01126771e-04 9.99944371e-01 2.57430485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters 0.054698467300338616 Centerline is valid? [True, True] Translation: X:659.62, Y:4.44, Z:2.58 [[ 9.99382330e-01 -3.36066131e-02 -1.02739426e-02 6.59621876e+02] [ 3.36084816e-02 9.99435075e-01 9.22471581e-06 4.43769573e+00] [ 1.02678286e-02 -3.54510629e-04 9.99947222e-01 2.57549115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.379254154 meters 0.054880504928578495 Centerline is valid? [True, True] Translation: X:659.68, Y:4.44, Z:2.58 [[ 9.99269960e-01 -3.71866269e-02 -8.75793603e-03 6.59682334e+02] [ 3.71881222e-02 9.99308283e-01 7.89023387e-06 4.44114506e+00] [ 8.75158460e-03 -3.33575669e-04 9.99961648e-01 2.57702000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.439254154 meters 0.0547920023430747 Centerline is valid? [True, True] Translation: X:659.74, Y:4.44, Z:2.58 [[ 9.99235373e-01 -3.84570748e-02 -7.05137455e-03 6.59743485e+02] [ 3.84580762e-02 9.99260215e-01 6.43378199e-06 4.43709226e+00] [ 7.04591062e-03 -2.77611163e-04 9.99975139e-01 2.57787747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.499254154 meters 0.05614788323521068 Centerline is valid? [True, True] Translation: X:659.80, Y:4.43, Z:2.58 [[ 9.99167747e-01 -4.04034317e-02 -5.60145423e-03 6.59803471e+02] [ 4.04040949e-02 9.99183421e-01 5.24299141e-06 4.42936504e+00] [ 5.59666836e-03 -2.31560316e-04 9.99984312e-01 2.57882245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.559254154 meters 0.05606096893985571 Centerline is valid? [True, True] Translation: X:659.86, Y:4.43, Z:2.58 [[ 9.99059698e-01 -4.28892989e-02 -6.34259529e-03 6.59864113e+02] [ 4.28902002e-02 9.99079792e-01 6.09475948e-06 4.43007012e+00] [ 6.33649738e-03 -2.78124211e-04 9.99979886e-01 2.57846341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.619254154 meters 0.05372517727940489 Centerline is valid? [True, True] Translation: X:659.93, Y:4.44, Z:2.58 [[ 9.98986781e-01 -4.44986709e-02 -6.72903756e-03 6.59925509e+02] [ 4.44997224e-02 9.99009397e-01 6.54222566e-06 4.43665219e+00] [ 6.72208063e-03 -3.05975900e-04 9.99977360e-01 2.57877891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.679254154 meters 0.05496961031277316 Centerline is valid? [True, True] Translation: X:659.99, Y:4.44, Z:2.58 [[ 9.98973346e-01 -4.45852809e-02 -8.02535931e-03 6.59988013e+02] [ 4.45867812e-02 9.99005515e-01 8.03589911e-06 4.43682393e+00] [ 8.01701992e-03 -3.65852588e-04 9.99967796e-01 2.57782799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.739254154 meters 0.054991245101267086 Centerline is valid? [True, True] Translation: X:660.05, Y:4.44, Z:2.58 [[ 9.99043967e-01 -4.27735031e-02 -9.03218892e-03 6.60048408e+02] [ 4.27753311e-02 9.99084717e-01 9.21922135e-06 4.43589394e+00] [ 9.02352756e-03 -3.95565279e-04 9.99959209e-01 2.57718292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.799254154 meters 0.05519496391915853 Centerline is valid? [True, True] Translation: X:660.11, Y:4.44, Z:2.58 [[ 9.99265877e-01 -3.70016185e-02 -9.92911040e-03 6.60108014e+02] [ 3.70035436e-02 9.99315134e-01 1.01780836e-05 4.43554734e+00] [ 9.92193369e-03 -3.77582881e-04 9.99950705e-01 2.57616785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.859254154 meters 0.05342780618980035 Centerline is valid? [True, True] Translation: X:660.17, Y:4.45, Z:2.58 [[ 9.99565306e-01 -2.81944234e-02 -8.61820774e-03 6.60168639e+02] [ 2.81955469e-02 9.99602427e-01 8.85671433e-06 4.45217951e+00] [ 8.61453165e-03 -2.51847944e-04 9.99962863e-01 2.57885081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.919254154 meters 0.05380605272306575 Centerline is valid? [True, True] Translation: X:660.23, Y:4.46, Z:2.58 [[ 9.99732865e-01 -2.18521470e-02 -7.52879243e-03 6.60229277e+02] [ 2.18528246e-02 9.99761199e-01 7.74737669e-06 4.45512895e+00] [ 7.52682524e-03 -1.72270688e-04 9.99971658e-01 2.58007173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters 0.05462549726735895 Centerline is valid? [True, True] Translation: X:660.29, Y:4.46, Z:2.58 [[ 9.99889100e-01 -1.34039245e-02 -6.49024911e-03 6.60289242e+02] [ 1.34042503e-02 9.99910159e-01 6.69676135e-06 4.45694042e+00] [ 6.48957626e-03 -9.36929420e-05 9.99978938e-01 2.58135238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.039254154 meters 0.054595346841181856 Centerline is valid? [True, True] Translation: X:660.35, Y:4.46, Z:2.58 [[ 9.99920933e-01 -1.04987347e-02 -6.92130702e-03 6.60349428e+02] [ 1.04990360e-02 9.99944884e-01 7.19776469e-06 4.45721539e+00] [ 6.92084998e-03 -7.98642475e-05 9.99976047e-01 2.58141721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters 0.054965821775158935 Centerline is valid? [True, True] Translation: X:660.41, Y:4.47, Z:2.58 [[ 9.99973406e-01 -2.89084863e-03 -6.69552855e-03 6.60409657e+02] [ 2.89096010e-03 9.99995821e-01 6.97100384e-06 4.46531564e+00] [ 6.69548042e-03 -2.63273243e-05 9.99977585e-01 2.58233472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.159254154 meters 0.054813653376931795 Centerline is valid? [True, True] Translation: X:660.47, Y:4.47, Z:2.58 [[ 9.99974025e-01 6.48415138e-04 -7.17829867e-03 6.60468250e+02] [-6.48379927e-04 9.99999790e-01 7.23227732e-06 4.46799596e+00] [ 7.17830185e-03 -2.57782469e-06 9.99974236e-01 2.58299043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters 0.05568819726327633 Centerline is valid? [True, True] Translation: X:660.53, Y:4.47, Z:2.58 [[ 9.99959605e-01 4.06099052e-03 -8.01851704e-03 6.60526472e+02] [-4.06106061e-03 9.99991754e-01 7.54067606e-06 4.46960986e+00] [ 8.01848154e-03 2.50233123e-05 9.99967851e-01 2.58312279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.279254154 meters 0.05471064636618763 Centerline is valid? [True, True] Translation: X:660.58, Y:4.47, Z:2.58 [[ 9.99956310e-01 3.78637082e-03 -8.54642596e-03 6.60583824e+02] [-3.78644413e-03 9.99992831e-01 7.60303200e-06 4.46797248e+00] [ 8.54639349e-03 2.47578646e-05 9.99963479e-01 2.58317743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters 0.0552904746526991 Centerline is valid? [True, True] Translation: X:660.64, Y:4.46, Z:2.58 [[ 9.99964358e-01 1.17116676e-03 -8.36133184e-03 6.60642786e+02] [-1.17114761e-03 9.99999314e-01 7.18697850e-06 4.46488457e+00] [ 8.36133452e-03 2.60563146e-06 9.99965043e-01 2.58346265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.399254154 meters 0.055249263625515015 Centerline is valid? [True, True] Translation: X:660.70, Y:4.46, Z:2.58 [[ 9.99958427e-01 -3.38377623e-03 -8.46723473e-03 6.60701519e+02] [ 3.38395705e-03 9.99994274e-01 7.02852757e-06 4.46031013e+00] [ 8.46716247e-03 -3.56809940e-05 9.99964152e-01 2.58404819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters 0.05437802425518966 Centerline is valid? [True, True] Translation: X:660.76, Y:4.46, Z:2.58 [[ 9.99940021e-01 -6.86098178e-03 -8.53700625e-03 6.60759382e+02] [ 6.86128953e-03 9.99976461e-01 6.76085333e-06 4.45553712e+00] [ 8.53675891e-03 -6.53353194e-05 9.99963559e-01 2.58466236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.519254154 meters 0.0546915146441885 Centerline is valid? [True, True] Translation: X:660.82, Y:4.45, Z:2.59 [[ 9.99873823e-01 -1.33788776e-02 -8.56406190e-03 6.60820072e+02] [ 1.33794249e-02 9.99910491e-01 6.61672380e-06 4.44831632e+00] [ 8.56320682e-03 -1.21198112e-04 9.99963328e-01 2.58554399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters 0.054524957745022376 Centerline is valid? [True, True] Translation: X:660.88, Y:4.44, Z:2.59 [[ 9.99789938e-01 -1.86634180e-02 -8.47093284e-03 6.60880959e+02] [ 1.86641434e-02 9.99825810e-01 6.58095627e-06 4.44289470e+00] [ 8.46933446e-03 -1.64682279e-04 9.99964121e-01 2.58566843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.639254154 meters 0.05427040956652825 Centerline is valid? [True, True] Translation: X:660.94, Y:4.44, Z:2.59 [[ 9.99598574e-01 -2.71805192e-02 -7.99442252e-03 6.60942093e+02] [ 2.71814381e-02 9.99630516e-01 6.29806292e-06 4.43955465e+00] [ 7.99129753e-03 -2.23595436e-04 9.99968044e-01 2.58574300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters 0.05504081128463966 Centerline is valid? [True, True] Translation: X:661.00, Y:4.43, Z:2.58 [[ 9.99489336e-01 -3.05698423e-02 -9.30333432e-03 6.61001889e+02] [ 3.05712355e-02 9.99532591e-01 7.54310690e-06 4.42608113e+00] [ 9.29875527e-03 -2.91953679e-04 9.99956723e-01 2.58412655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.759254154 meters 0.055026884774608605 Centerline is valid? [True, True] Translation: X:661.06, Y:4.43, Z:2.59 [[ 9.99388346e-01 -3.39103626e-02 -8.54527899e-03 6.61063099e+02] [ 3.39116616e-02 9.99424834e-01 7.12839307e-06 4.42739164e+00] [ 8.54012231e-03 -2.96908643e-04 9.99963488e-01 2.58526942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters 0.05512816397763607 Centerline is valid? [True, True] Translation: X:661.12, Y:4.42, Z:2.58 [[ 9.99322243e-01 -3.57155345e-02 -8.91377948e-03 6.61123472e+02] [ 3.57170209e-02 9.99361944e-01 7.56545414e-06 4.41684332e+00] [ 8.90782178e-03 -3.25933975e-04 9.99960271e-01 2.58453414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.879254154 meters 0.05538765563041464 Centerline is valid? [True, True] Translation: X:661.19, Y:4.42, Z:2.58 [[ 9.99284177e-01 -3.66694520e-02 -9.29973640e-03 6.61185291e+02] [ 3.66711141e-02 9.99327388e-01 8.20752329e-06 4.41798940e+00] [ 9.29318033e-03 -3.49233343e-04 9.99956756e-01 2.58458157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.939254154 meters 0.05534782653254061 Centerline is valid? [True, True] Translation: X:661.25, Y:4.41, Z:2.58 [[ 9.99253202e-01 -3.73747192e-02 -9.80657682e-03 6.61247151e+02] [ 3.73766053e-02 9.99301251e-01 9.05839615e-06 4.41382881e+00] [ 9.79938593e-03 -3.75588182e-04 9.99951914e-01 2.58461031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.999254154 meters 0.05552977942033722 Centerline is valid? [True, True] Translation: X:661.31, Y:4.41, Z:2.58 [[ 9.99251341e-01 -3.72492346e-02 -1.04524057e-02 6.61309398e+02] [ 3.72513745e-02 9.99305927e-01 1.00445568e-05 4.40527182e+00] [ 1.04447768e-02 -3.99403517e-04 9.99945372e-01 2.58402188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.059254154 meters 0.055369247266580685 Centerline is valid? [True, True] Translation: X:661.37, Y:4.41, Z:2.59 [[ 9.99251189e-01 -3.70610249e-02 -1.11149067e-02 6.61372174e+02] [ 3.70634388e-02 9.99312915e-01 1.11986166e-05 4.41132759e+00] [ 1.11068548e-02 -4.23146896e-04 9.99938227e-01 2.58563290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.119254154 meters 0.056232090100939575 Centerline is valid? [True, True] Translation: X:661.43, Y:4.40, Z:2.58 [[ 9.99265416e-01 -3.65789315e-02 -1.14284867e-02 6.61433762e+02] [ 3.65814564e-02 9.99330674e-01 1.18955433e-05 4.40190038e+00] [ 1.14204022e-02 -4.29957494e-04 9.99934693e-01 2.58406722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.179254154 meters 0.05496336640079332 Centerline is valid? [True, True] Translation: X:661.49, Y:4.41, Z:2.59 [[ 9.99361433e-01 -3.42911286e-02 -1.00421807e-02 6.61494421e+02] [ 3.42929645e-02 9.99411823e-01 1.06354852e-05 4.40634840e+00] [ 1.00359094e-02 -3.55004840e-04 9.99949576e-01 2.58592267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.239254154 meters 0.05748548600274554 Centerline is valid? [True, True] Translation: X:661.55, Y:4.40, Z:2.59 [[ 9.99511804e-01 -3.02052635e-02 -7.98720383e-03 6.61554056e+02] [ 3.02062947e-02 9.99543686e-01 8.47631014e-06 4.39538251e+00] [ 7.98330312e-03 -2.49736005e-04 9.99968102e-01 2.58574148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.299254154 meters 0.056648551181506225 Centerline is valid? [True, True] Translation: X:661.61, Y:4.40, Z:2.59 [[ 9.99754075e-01 -2.15768700e-02 -5.12130584e-03 6.61614213e+02] [ 2.15771808e-02 9.99767186e-01 5.42412630e-06 4.40346219e+00] [ 5.11999649e-03 -1.15926134e-04 9.99986886e-01 2.58900361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.359254154 meters 0.056292555181718676 Centerline is valid? [True, True] Translation: X:661.67, Y:4.41, Z:2.59 [[ 9.99912222e-01 -1.23532942e-02 -4.79005310e-03 6.61673825e+02] [ 1.23534604e-02 9.99923693e-01 5.09817783e-06 4.40590606e+00] [ 4.78962460e-03 -6.42714613e-05 9.99988528e-01 2.58922501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.419254154 meters 0.056171364779623825 Centerline is valid? [True, True] Translation: X:661.73, Y:4.41, Z:2.59 [[ 9.99956297e-01 -7.63615560e-03 -5.39383658e-03 6.61734457e+02] [ 7.63629751e-03 9.99970843e-01 5.71481364e-06 4.40736443e+00] [ 5.39363567e-03 -4.69035047e-05 9.99985453e-01 2.58908092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters 0.056586308475583935 Centerline is valid? [True, True] Translation: X:661.80, Y:4.41, Z:2.59 [[ 9.99977586e-01 -2.45100160e-03 -6.23064936e-03 6.61795179e+02] [ 2.45109053e-03 9.99996996e-01 6.63607715e-06 4.40952100e+00] [ 6.23061438e-03 -2.19078140e-05 9.99980589e-01 2.58932032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.539254154 meters 0.05640518066382067 Centerline is valid? [True, True] Translation: X:661.85, Y:4.41, Z:2.59 [[ 9.99981313e-01 4.78609284e-05 -6.11323896e-03 6.61853152e+02] [-4.78225647e-05 9.99999999e-01 6.42155038e-06 4.40554692e+00] [ 6.11323926e-03 -6.12907961e-06 9.99981314e-01 2.58866001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters 0.05620374341203475 Centerline is valid? [True, True] Translation: X:661.91, Y:4.40, Z:2.59 [[ 9.99984768e-01 -3.62038795e-04 -5.50757704e-03 6.61910778e+02] [ 3.62074991e-04 9.99999934e-01 5.57476341e-06 4.40197826e+00] [ 5.50757466e-03 -7.56883439e-06 9.99984833e-01 2.58935434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.659254154 meters 0.05623350357933057 Centerline is valid? [True, True] Translation: X:661.97, Y:4.40, Z:2.59 [[ 9.99981267e-01 -2.32824086e-03 -5.66091209e-03 6.61968167e+02] [ 2.32830927e-03 9.99997289e-01 5.49367322e-06 4.39528007e+00] [ 5.66088396e-03 -1.86739244e-05 9.99983977e-01 2.58984748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters 0.05718196576644537 Centerline is valid? [True, True] Translation: X:662.03, Y:4.38, Z:2.59 [[ 9.99954151e-01 -7.76671691e-03 -5.60134467e-03 6.62026675e+02] [ 7.76686808e-03 9.99969837e-01 5.23546778e-06 4.38423535e+00] [ 5.60113506e-03 -4.87401329e-05 9.99984312e-01 2.58976827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.779254154 meters 0.05711730962693835 Centerline is valid? [True, True] Translation: X:662.09, Y:4.37, Z:2.59 [[ 9.99846027e-01 -1.69962774e-02 -4.36458169e-03 6.62087340e+02] [ 1.69964568e-02 9.99855550e-01 4.00495069e-06 4.37134752e+00] [ 4.36388315e-03 -7.81867582e-05 9.99990475e-01 2.58948471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters 0.05813346175283645 Centerline is valid? [True, True] Translation: X:662.15, Y:4.36, Z:2.59 [[ 9.99704808e-01 -2.37685694e-02 -5.03504931e-03 6.62146837e+02] [ 2.37688939e-02 9.99717480e-01 4.62021481e-06 4.35636005e+00] [ 5.03351699e-03 -1.24296404e-04 9.99987324e-01 2.58912505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.899254154 meters 0.05787071916482415 Centerline is valid? [True, True] Translation: X:662.21, Y:4.35, Z:2.59 [[ 9.99411591e-01 -3.38756670e-02 -5.37688875e-03 6.62207426e+02] [ 3.38761831e-02 9.99426037e-01 4.90253146e-06 4.35017021e+00] [ 5.37363655e-03 -1.87048115e-04 9.99985544e-01 2.58834823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters 0.05844798488939584 Centerline is valid? [True, True] Translation: X:662.27, Y:4.35, Z:2.59 [[ 9.99310118e-01 -3.67018610e-02 -5.67990289e-03 6.62267945e+02] [ 3.67024825e-02 9.99326237e-01 5.18514459e-06 4.34537629e+00] [ 5.67588567e-03 -2.13648104e-04 9.99983869e-01 2.58832497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.019254154 meters 0.05899416568376152 Centerline is valid? [True, True] Translation: X:662.33, Y:4.34, Z:2.59 [[ 9.99137727e-01 -4.11483627e-02 -5.53308860e-03 6.62328687e+02] [ 4.11490208e-02 9.99153020e-01 5.10258588e-06 4.33623509e+00] [ 5.52819222e-03 -2.32779364e-04 9.99984692e-01 2.58851138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters 0.06047100759184927 Centerline is valid? [True, True] Translation: X:662.39, Y:4.33, Z:2.59 [[ 9.98959573e-01 -4.53391446e-02 -4.91262444e-03 6.62388761e+02] [ 4.53397143e-02 9.98971626e-01 4.59184018e-06 4.32987289e+00] [ 4.90736424e-03 -2.27324051e-04 9.99987933e-01 2.58916115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.139254154 meters 0.06000625497312528 Centerline is valid? [True, True] Translation: X:662.45, Y:4.33, Z:2.59 [[ 9.98828517e-01 -4.80375608e-02 -5.82987567e-03 6.62449475e+02] [ 4.80384094e-02 9.98845489e-01 5.52638894e-06 4.32688529e+00] [ 5.82287954e-03 -2.85577869e-04 9.99983006e-01 2.58869946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters 0.056802947202020046 Centerline is valid? [True, True] Translation: X:662.51, Y:4.34, Z:2.59 [[ 9.98702529e-01 -5.04517686e-02 -6.91937442e-03 6.62509987e+02] [ 5.04530218e-02 9.98726435e-01 6.57321739e-06 4.33934579e+00] [ 6.91023052e-03 -3.55668037e-04 9.99976061e-01 2.58823383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.259254154 meters 0.05758742397926272 Centerline is valid? [True, True] Translation: X:662.57, Y:4.33, Z:2.59 [[ 9.98544010e-01 -5.32076059e-02 -8.87753492e-03 6.62569354e+02] [ 5.32097775e-02 9.98583356e-01 8.44468785e-06 4.33348369e+00] [ 8.86450929e-03 -4.80804050e-04 9.99960594e-01 2.58720591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters 0.05834110581986199 Centerline is valid? [True, True] Translation: X:662.63, Y:4.33, Z:2.59 [[ 9.98499054e-01 -5.39315297e-02 -9.54092647e-03 6.62631744e+02] [ 5.39340727e-02 9.98544499e-01 9.25278950e-06 4.33135479e+00] [ 9.52654062e-03 -5.23819923e-04 9.99954484e-01 2.58719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.379254154 meters 0.06077168079896977 Centerline is valid? [True, True] Translation: X:662.69, Y:4.32, Z:2.59 [[ 9.98551867e-01 -5.27574709e-02 -1.05270278e-02 6.62692035e+02] [ 5.27605037e-02 9.98607195e-01 1.04007567e-05 4.32289795e+00] [ 1.05118170e-02 -5.65796985e-04 9.99944589e-01 2.58640262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.439254154 meters 0.056792743260281324 Centerline is valid? [True, True] Translation: X:662.75, Y:4.35, Z:2.59 [[ 9.98844875e-01 -4.70899247e-02 -9.56321732e-03 6.62753068e+02] [ 4.70921695e-02 9.98890548e-01 9.56872051e-06 4.34545415e+00] [ 9.55215680e-03 -4.59910319e-04 9.99954271e-01 2.58914290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.499254154 meters 0.05767911736070065 Centerline is valid? [True, True] Translation: X:662.81, Y:4.34, Z:2.59 [[ 9.99166342e-01 -3.97721471e-02 -9.20857696e-03 6.62813029e+02] [ 3.97739191e-02 9.99208705e-01 9.29857257e-06 4.33797297e+00] [ 9.20092043e-03 -3.75552015e-04 9.99957600e-01 2.58865750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.559254154 meters 0.0564235873614782 Centerline is valid? [True, True] Translation: X:662.87, Y:4.35, Z:2.59 [[ 9.99607240e-01 -2.66851867e-02 -8.55961102e-03 6.62872549e+02] [ 2.66862385e-02 9.99643859e-01 8.67084182e-06 4.34989698e+00] [ 8.55633121e-03 -2.37091258e-04 9.99963366e-01 2.58984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.619254154 meters 0.05674046382880236 Centerline is valid? [True, True] Translation: X:662.93, Y:4.36, Z:2.59 [[ 9.99864659e-01 -1.38259567e-02 -8.91664513e-03 6.62933585e+02] [ 1.38265860e-02 9.99904408e-01 8.92487782e-06 4.36254859e+00] [ 8.91566938e-03 -1.32210431e-04 9.99960246e-01 2.59150281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.679254154 meters 0.057199416116591115 Centerline is valid? [True, True] Translation: X:662.99, Y:4.37, Z:2.59 [[ 9.99930460e-01 -7.09581391e-03 -9.41937188e-03 6.62993515e+02] [ 7.09621660e-03 9.99974822e-01 9.32916813e-06 4.36577034e+00] [ 9.41906852e-03 -7.61704224e-05 9.99955637e-01 2.59104304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.739254154 meters 0.056965358801514134 Centerline is valid? [True, True] Translation: X:663.05, Y:4.37, Z:2.59 [[ 9.99955065e-01 -5.57295620e-04 -9.46343583e-03 6.63051908e+02] [ 5.57403194e-04 9.99999845e-01 8.72975209e-06 4.36999044e+00] [ 9.46342950e-03 -1.40043092e-05 9.99955221e-01 2.59069572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.799254154 meters 0.056370250908419454 Centerline is valid? [True, True] Translation: X:663.11, Y:4.37, Z:2.59 [[ 9.99953811e-01 1.34922154e-03 -9.51606392e-03 6.63108416e+02] [-1.34920653e-03 9.99999090e-01 7.99769937e-06 4.37145423e+00] [ 9.51606605e-03 4.84180560e-06 9.99954721e-01 2.59154175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.859254154 meters 0.05679218599602311 Centerline is valid? [True, True] Translation: X:663.17, Y:4.37, Z:2.59 [[ 9.99953266e-01 1.81680239e-03 -9.49548014e-03 6.63166235e+02] [-1.81681681e-03 9.99998350e-01 7.10738529e-06 4.37174999e+00] [ 9.49547738e-03 1.01444949e-05 9.99954917e-01 2.59139699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.919254154 meters 0.05646473326662516 Centerline is valid? [True, True] Translation: X:663.22, Y:4.37, Z:2.59 [[ 9.99963595e-01 8.91111923e-04 -8.48609951e-03 6.63224953e+02] [-8.91094812e-04 9.99999603e-01 5.79727026e-06 4.36840700e+00] [ 8.48610130e-03 1.76486004e-06 9.99963992e-01 2.59259802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters 0.057026876147625784 Centerline is valid? [True, True] Translation: X:663.28, Y:4.36, Z:2.59 [[ 9.99971084e-01 -6.80529602e-04 -7.57414790e-03 6.63282933e+02] [ 6.80586397e-04 9.99999768e-01 4.92094669e-06 4.36449122e+00] [ 7.57414280e-03 -1.00756664e-05 9.99971316e-01 2.59277549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.039254154 meters 0.05715280933638563 Centerline is valid? [True, True] Translation: X:663.34, Y:4.36, Z:2.60 [[ 9.99968987e-01 -4.74918608e-03 -6.28258191e-03 6.63341215e+02] [ 4.74930417e-03 9.99988722e-01 3.87684443e-06 4.35816996e+00] [ 6.28249264e-03 -3.37146166e-05 9.99980264e-01 2.59597604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters 0.05697896305559885 Centerline is valid? [True, True] Translation: X:663.40, Y:4.35, Z:2.59 [[ 9.99941192e-01 -8.14642716e-03 -7.15880066e-03 6.63400067e+02] [ 8.14666596e-03 9.99966815e-01 4.19794678e-06 4.34978707e+00] [ 7.15852890e-03 -6.25180576e-05 9.99974375e-01 2.59492211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.159254154 meters 0.057796692360569446 Centerline is valid? [True, True] Translation: X:663.46, Y:4.34, Z:2.59 [[ 9.99868184e-01 -1.37940322e-02 -8.56387050e-03 6.63460657e+02] [ 1.37945801e-02 9.99904850e-01 4.91582051e-06 4.33986263e+00] [ 8.56298784e-03 -1.23050170e-04 9.99963329e-01 2.59407774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters 0.05775439982677983 Centerline is valid? [True, True] Translation: X:663.52, Y:4.33, Z:2.59 [[ 9.99774980e-01 -1.90466152e-02 -9.33893270e-03 6.63521268e+02] [ 1.90474959e-02 9.99818580e-01 5.36072057e-06 4.33312707e+00] [ 9.33713632e-03 -1.83242797e-04 9.99956391e-01 2.59446414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.279254154 meters 0.05842456700764448 Centerline is valid? [True, True] Translation: X:663.58, Y:4.33, Z:2.59 [[ 9.99712928e-01 -2.21830531e-02 -9.05395366e-03 6.63581165e+02] [ 2.21840090e-02 9.99753905e-01 5.15451844e-06 4.32806337e+00] [ 9.05161118e-03 -2.06006028e-04 9.99959012e-01 2.59489111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters 0.05854907579408272 Centerline is valid? [True, True] Translation: X:663.64, Y:4.32, Z:2.60 [[ 9.99621087e-01 -2.61809704e-02 -8.49941269e-03 6.63641245e+02] [ 2.61819582e-02 9.99657194e-01 4.95626962e-06 4.32065563e+00] [ 8.49636928e-03 -2.27485660e-04 9.99963879e-01 2.59543501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.399254154 meters 0.059191069060137234 Centerline is valid? [True, True] Translation: X:663.70, Y:4.31, Z:2.60 [[ 9.99565953e-01 -2.83451789e-02 -8.02853246e-03 6.63701144e+02] [ 2.83461310e-02 9.99598168e-01 4.80299123e-06 4.31315464e+00] [ 8.02517020e-03 -2.32378739e-04 9.99967771e-01 2.59547027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters 0.05958622925604102 Centerline is valid? [True, True] Translation: X:663.76, Y:4.31, Z:2.60 [[ 9.99453127e-01 -3.21308575e-02 -7.81381514e-03 6.63761975e+02] [ 3.21318750e-02 9.99483638e-01 4.68246762e-06 4.31163618e+00] [ 7.80962993e-03 -2.55752439e-04 9.99969472e-01 2.59627836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.519254154 meters 0.05971309380919083 Centerline is valid? [True, True] Translation: X:663.82, Y:4.30, Z:2.60 [[ 9.99331459e-01 -3.56301933e-02 -8.19293171e-03 6.63821281e+02] [ 3.56314293e-02 9.99364999e-01 4.88948555e-06 4.30405604e+00] [ 8.18755497e-03 -2.96812083e-04 9.99966437e-01 2.59577678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters 0.05803391164541853 Centerline is valid? [True, True] Translation: X:663.88, Y:4.31, Z:2.60 [[ 9.99036255e-01 -4.31308724e-02 -8.14182542e-03 6.63881665e+02] [ 4.31323414e-02 9.99069368e-01 4.84179323e-06 4.31004971e+00] [ 8.13403955e-03 -3.56013121e-04 9.99966855e-01 2.59633504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.639254154 meters 0.061886271057492594 Centerline is valid? [True, True] Translation: X:663.94, Y:4.30, Z:2.60 [[ 9.98807375e-01 -4.78073454e-02 -9.91391773e-03 6.63940838e+02] [ 4.78097529e-02 9.98856460e-01 5.85231751e-06 4.29524135e+00] [ 9.90230098e-03 -4.79827295e-04 9.99950856e-01 2.59542264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters 0.05822934212343164 Centerline is valid? [True, True] Translation: X:664.00, Y:4.30, Z:2.60 [[ 9.98497764e-01 -5.38033671e-02 -1.03640190e-02 6.64001215e+02] [ 5.38063200e-02 9.98551391e-01 6.09580220e-06 4.30247923e+00] [ 1.03486777e-02 -5.63736371e-04 9.99946292e-01 2.59662329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.759254154 meters 0.0600244288610754 Centerline is valid? [True, True] Translation: X:664.06, Y:4.30, Z:2.60 [[ 9.98302613e-01 -5.72727124e-02 -1.05701912e-02 6.64062290e+02] [ 5.72759789e-02 9.98358384e-01 6.32409586e-06 4.30100984e+00] [ 1.05524768e-02 -6.11731409e-04 9.99944134e-01 2.59720697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters 0.05994778034314725 Centerline is valid? [True, True] Translation: X:664.12, Y:4.30, Z:2.60 [[ 9.98280017e-01 -5.76737586e-02 -1.05235695e-02 6.64123716e+02] [ 5.76770209e-02 9.98335295e-01 6.51732532e-06 4.30085380e+00] [ 1.05056750e-02 -6.13474253e-04 9.99944626e-01 2.59784452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.879254154 meters 0.05905157424122676 Centerline is valid? [True, True] Translation: X:664.19, Y:4.31, Z:2.60 [[ 9.98282536e-01 -5.76998502e-02 -1.01344112e-02 6.64185534e+02] [ 5.77028808e-02 9.98333801e-01 6.65153955e-06 4.30751730e+00] [ 1.01171414e-02 -5.91424835e-04 9.99948645e-01 2.59891989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.939254154 meters 0.057832383205809454 Centerline is valid? [True, True] Translation: X:664.25, Y:4.31, Z:2.60 [[ 9.98366600e-01 -5.63381922e-02 -9.49421112e-03 6.64246672e+02] [ 5.63407926e-02 9.98411596e-01 6.44536653e-06 4.31495496e+00] [ 9.47876736e-03 -5.41346219e-04 9.99954929e-01 2.59983402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.999254154 meters 0.05999751463102214 Centerline is valid? [True, True] Translation: X:664.31, Y:4.31, Z:2.60 [[ 9.98600766e-01 -5.22489102e-02 -8.15856892e-03 6.64306814e+02] [ 5.22506945e-02 9.98633999e-01 5.55866231e-06 4.31215922e+00] [ 8.14713388e-03 -4.31841777e-04 9.99966718e-01 2.60063530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.059254154 meters 0.05799727964227507 Centerline is valid? [True, True] Translation: X:664.37, Y:4.33, Z:2.60 [[ 9.98898352e-01 -4.62177013e-02 -8.12440964e-03 6.64367680e+02] [ 4.62192712e-02 9.98931318e-01 5.48176886e-06 4.32541946e+00] [ 8.11547388e-03 -3.80980022e-04 9.99966996e-01 2.60123824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.119254154 meters 0.05703510240972047 Centerline is valid? [True, True] Translation: X:664.43, Y:4.33, Z:2.60 [[ 9.99097016e-01 -4.16481769e-02 -8.40133300e-03 6.64428131e+02] [ 4.16496942e-02 9.99132275e-01 5.64608292e-06 4.33474638e+00] [ 8.39380780e-03 -3.55553935e-04 9.99964708e-01 2.60208369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.179254154 meters 0.05814813843245637 Centerline is valid? [True, True] Translation: X:664.49, Y:4.34, Z:2.60 [[ 9.99401814e-01 -3.32934032e-02 -9.35757916e-03 6.64487806e+02] [ 3.32949195e-02 9.99445570e-01 6.25879733e-06 4.34006177e+00] [ 9.35218266e-03 -3.17814898e-04 9.99956217e-01 2.60191483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.239254154 meters 0.05792655019062514 Centerline is valid? [True, True] Translation: X:664.55, Y:4.34, Z:2.60 [[ 9.99589440e-01 -2.69265061e-02 -9.79359713e-03 6.64547622e+02] [ 2.69278612e-02 9.99637379e-01 6.50683918e-06 4.34174751e+00] [ 9.78987056e-03 -2.70224792e-04 9.99952042e-01 2.60117799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.299254154 meters 0.05734944670550994 Centerline is valid? [True, True] Translation: X:664.61, Y:4.35, Z:2.60 [[ 9.99789571e-01 -1.84311115e-02 -9.00601441e-03 6.64608654e+02] [ 1.84319123e-02 9.99830118e-01 5.91416499e-06 4.35447668e+00] [ 9.00437545e-03 -1.71910988e-04 9.99959445e-01 2.60220886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.359254154 meters 0.0576106096804938 Centerline is valid? [True, True] Translation: X:664.67, Y:4.36, Z:2.60 [[ 9.99857340e-01 -1.45629771e-02 -8.55689014e-03 6.64668815e+02] [ 1.45635580e-02 9.99893946e-01 5.56970194e-06 4.35882551e+00] [ 8.55590154e-03 -1.30187673e-04 9.99963389e-01 2.60264913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.419254154 meters 0.05758956062880471 Centerline is valid? [True, True] Translation: X:664.73, Y:4.37, Z:2.60 [[ 9.99854474e-01 -1.47632924e-02 -8.54850697e-03 6.64729192e+02] [ 1.47638794e-02 9.99891008e-01 5.56424531e-06 4.36593512e+00] [ 8.54749311e-03 -1.31772562e-04 9.99963461e-01 2.60387243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters 0.05704351720688688 Centerline is valid? [True, True] Translation: X:664.79, Y:4.36, Z:2.60 [[ 9.99742377e-01 -2.11540643e-02 -8.22705337e-03 6.64789025e+02] [ 2.11548245e-02 9.99776212e-01 5.37673383e-06 4.36200841e+00] [ 8.22509851e-03 -1.79417219e-04 9.99966157e-01 2.60389805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.539254154 meters 0.05733387437328056 Centerline is valid? [True, True] Translation: X:664.85, Y:4.36, Z:2.61 [[ 9.99473876e-01 -3.15642641e-02 -7.46110075e-03 6.64849404e+02] [ 3.15651792e-02 9.99501696e-01 4.90158153e-06 4.36496410e+00] [ 7.45722814e-03 -2.40409985e-04 9.99972166e-01 2.60503310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters 0.056852872634102644 Centerline is valid? [True, True] Translation: X:664.91, Y:4.37, Z:2.60 [[ 9.99233759e-01 -3.83085665e-02 -8.02174864e-03 6.64909649e+02] [ 3.83098416e-02 9.99265909e-01 5.29313946e-06 4.36584442e+00] [ 8.01565717e-03 -3.12601003e-04 9.99967825e-01 2.60483027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.659254154 meters 0.05775710384177317 Centerline is valid? [True, True] Translation: X:664.97, Y:4.36, Z:2.60 [[ 9.98999637e-01 -4.38795947e-02 -8.62015162e-03 6.64969634e+02] [ 4.38812746e-02 9.99036753e-01 5.75870448e-06 4.35829832e+00] [ 8.61159560e-03 -3.84016185e-04 9.99962846e-01 2.60359840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters 0.05667691248875255 Centerline is valid? [True, True] Translation: X:665.03, Y:4.36, Z:2.60 [[ 9.98734571e-01 -4.96011529e-02 -8.30555602e-03 6.65030586e+02] [ 4.96029103e-02 9.98769018e-01 5.60222678e-06 4.36474438e+00] [ 8.29505415e-03 -4.17574888e-04 9.99965508e-01 2.60443610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.779254154 meters 0.07504786728642145 Centerline is valid? [True, True] Translation: X:665.09, Y:4.32, Z:2.60 [[ 9.98610239e-01 -5.20052911e-02 -8.54635175e-03 6.65089778e+02] [ 5.20072401e-02 9.98646708e-01 5.80806613e-06 4.31644272e+00] [ 8.53448399e-03 -4.50272161e-04 9.99963479e-01 2.60049397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters 0.0638384199946494 Centerline is valid? [True, True] Translation: X:665.15, Y:4.34, Z:2.60 [[ 9.98465854e-01 -5.48049491e-02 -7.89658090e-03 6.65150471e+02] [ 5.48067009e-02 9.98496983e-01 5.44617483e-06 4.34077848e+00] [ 7.88441373e-03 -4.38223367e-04 9.99968821e-01 2.60295499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.899254154 meters 0.05538086153447659 Centerline is valid? [True, True] Translation: X:665.21, Y:4.38, Z:2.60 [[ 9.98285268e-01 -5.79914245e-02 -7.96988657e-03 6.65211791e+02] [ 5.79933109e-02 9.98316972e-01 5.60353706e-06 4.38266719e+00] [ 7.95614806e-03 -4.67794038e-04 9.99968240e-01 2.60492911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters 0.06553180755186179 Centerline is valid? [True, True] Translation: X:665.27, Y:4.34, Z:2.60 [[ 9.98178596e-01 -5.97091712e-02 -8.62005948e-03 6.65271761e+02] [ 5.97114434e-02 9.98215680e-01 6.25103719e-06 4.34251567e+00] [ 8.60430529e-03 -5.20955846e-04 9.99962847e-01 2.60146040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.019254154 meters 0.05607497401466012 Centerline is valid? [True, True] Translation: X:665.33, Y:4.38, Z:2.60 [[ 9.98053284e-01 -6.16708248e-02 -9.29258479e-03 6.65332098e+02] [ 6.16735513e-02 9.98096375e-01 6.86676863e-06 4.37725260e+00] [ 9.27447171e-03 -5.79960106e-04 9.99956823e-01 2.60328489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters 0.056335799544849546 Centerline is valid? [True, True] Translation: X:665.39, Y:4.38, Z:2.60 [[ 9.97986641e-01 -6.25335001e-02 -1.05936317e-02 6.65392826e+02] [ 6.25370927e-02 9.98042640e-01 7.88726682e-06 4.37922793e+00] [ 1.05724029e-02 -6.70366314e-04 9.99943886e-01 2.60344666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.139254154 meters 0.05467330849052193 Centerline is valid? [True, True] Translation: X:665.46, Y:4.39, Z:2.60 [[ 9.97934966e-01 -6.30981413e-02 -1.20178653e-02 6.65455130e+02] [ 6.31028101e-02 9.98007032e-01 9.30816110e-06 4.38516466e+00] [ 1.19933267e-02 -7.67650008e-04 9.99927783e-01 2.60301494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters 0.05545514180768255 Centerline is valid? [True, True] Translation: X:665.52, Y:4.40, Z:2.60 [[ 9.97928178e-01 -6.32448715e-02 -1.18083584e-02 6.65517424e+02] [ 6.32494017e-02 9.97997752e-01 1.02211092e-05 4.39622808e+00] [ 1.17840687e-02 -7.57071537e-04 9.99930279e-01 2.60464695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.259254154 meters 0.055027474154493675 Centerline is valid? [True, True] Translation: X:665.58, Y:4.40, Z:2.61 [[ 9.98009169e-01 -6.20789154e-02 -1.11313309e-02 6.65577335e+02] [ 6.20828737e-02 9.98070998e-01 1.00695814e-05 4.39614847e+00] [ 1.11092334e-02 -7.01114545e-04 9.99938045e-01 2.60578168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters 0.054312897815639 Centerline is valid? [True, True] Translation: X:665.64, Y:4.41, Z:2.61 [[ 9.98148072e-01 -6.03395436e-02 -7.71785572e-03 6.65638428e+02] [ 6.03413945e-02 9.98177798e-01 6.97918237e-06 4.40679439e+00] [ 7.70337110e-03 -4.72672434e-04 9.99970217e-01 2.60731496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.379254154 meters 0.055066556820381064 Centerline is valid? [True, True] Translation: X:665.70, Y:4.41, Z:2.61 [[ 9.98302716e-01 -5.79161451e-02 -6.11610186e-03 6.65698443e+02] [ 5.79172621e-02 9.98321387e-01 5.52881589e-06 4.40520618e+00] [ 6.10551509e-03 -3.59747307e-04 9.99981296e-01 2.60822181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.439254154 meters 0.053970394917604164 Centerline is valid? [True, True] Translation: X:665.76, Y:4.41, Z:2.61 [[ 9.98358703e-01 -5.69532097e-02 -6.01938210e-03 6.65760389e+02] [ 5.69542745e-02 9.98376788e-01 5.49113948e-06 4.41017451e+00] [ 6.00929863e-03 -3.48311668e-04 9.99981883e-01 2.60934913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.499254154 meters 0.05370391247236133 Centerline is valid? [True, True] Translation: X:665.82, Y:4.42, Z:2.61 [[ 9.98336844e-01 -5.71432074e-02 -7.62881701e-03 6.65822327e+02] [ 5.71449274e-02 9.98365893e-01 7.50102642e-06 4.41659404e+00] [ 7.61592208e-03 -4.43436746e-04 9.99970900e-01 2.60861662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.559254154 meters 0.05580347850556657 Centerline is valid? [True, True] Translation: X:665.88, Y:4.41, Z:2.61 [[ 9.98358790e-01 -5.64598307e-02 -9.59237106e-03 6.65883615e+02] [ 5.64625299e-02 9.98404719e-01 1.06001945e-05 4.40605654e+00] [ 9.57647005e-03 -5.52192336e-04 9.99953992e-01 2.60718182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.619254154 meters 0.05494859710831835 Centerline is valid? [True, True] Translation: X:665.94, Y:4.41, Z:2.61 [[ 9.98498317e-01 -5.36202445e-02 -1.12241130e-02 6.65944376e+02] [ 5.36237669e-02 9.98561211e-01 1.28918630e-05 4.41464240e+00] [ 1.12072726e-02 -6.14751721e-04 9.99937008e-01 2.60740171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.679254154 meters 0.056169768120831506 Centerline is valid? [True, True] Translation: X:666.00, Y:4.41, Z:2.61 [[ 9.98842237e-01 -4.67483610e-02 -1.13479299e-02 6.66004076e+02] [ 4.67515192e-02 9.98906550e-01 1.30425314e-05 4.41005253e+00] [ 1.13349118e-02 -5.43560396e-04 9.99935610e-01 2.60639454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.739254154 meters 0.053993140372577596 Centerline is valid? [True, True] Translation: X:666.06, Y:4.42, Z:2.61 [[ 9.98960908e-01 -4.44386869e-02 -1.01146820e-02 6.66064195e+02] [ 4.44410774e-02 9.99012007e-01 1.15950411e-05 4.42260816e+00] [ 1.01041735e-02 -4.61090358e-04 9.99948845e-01 2.60844909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.799254154 meters 0.05535768209437248 Centerline is valid? [True, True] Translation: X:666.12, Y:4.42, Z:2.61 [[ 9.99254862e-01 -3.77051659e-02 -8.24868392e-03 6.66124222e+02] [ 3.77065267e-02 9.99288856e-01 9.46843288e-06 4.42420493e+00] [ 8.24246091e-03 -3.20490599e-04 9.99965979e-01 2.60973956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.859254154 meters 0.05443661213593165 Centerline is valid? [True, True] Translation: X:666.19, Y:4.43, Z:2.61 [[ 9.99375039e-01 -3.44764077e-02 -7.80445223e-03 6.66185236e+02] [ 3.44775278e-02 9.99405473e-01 8.99055563e-06 4.42763201e+00] [ 7.79950231e-03 -2.78063156e-04 9.99969545e-01 2.61063780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.919254154 meters 0.054808021736644265 Centerline is valid? [True, True] Translation: X:666.25, Y:4.43, Z:2.61 [[ 9.99433394e-01 -3.26943081e-02 -7.99833112e-03 6.66246524e+02] [ 3.26954284e-02 9.99465362e-01 9.32036008e-06 4.43266128e+00] [ 7.99375018e-03 -2.70823942e-04 9.99968013e-01 2.61111037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters 0.05470833678005243 Centerline is valid? [True, True] Translation: X:666.31, Y:4.43, Z:2.61 [[ 9.99446807e-01 -3.18921065e-02 -9.43255771e-03 6.66307793e+02] [ 3.18936314e-02 9.99491269e-01 1.12432072e-05 4.43076790e+00] [ 9.42740050e-03 -3.12075506e-04 9.99955512e-01 2.60987046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.039254154 meters 0.054622127294787506 Centerline is valid? [True, True] Translation: X:666.37, Y:4.43, Z:2.61 [[ 9.99383348e-01 -3.35862200e-02 -1.02416031e-02 6.66368974e+02] [ 3.35881087e-02 9.99435760e-01 1.24143336e-05 4.43162370e+00] [ 1.02354074e-02 -3.56402756e-04 9.99947553e-01 2.60912534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters 0.05521859664545169 Centerline is valid? [True, True] Translation: X:666.43, Y:4.43, Z:2.61 [[ 9.99363669e-01 -3.39100676e-02 -1.10618414e-02 6.66430051e+02] [ 3.39122960e-02 9.99424813e-01 1.38825885e-05 4.42821726e+00] [ 1.10550080e-02 -3.89006193e-04 9.99938816e-01 2.60846281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.159254154 meters 0.0558257148127873 Centerline is valid? [True, True] Translation: X:666.49, Y:4.43, Z:2.61 [[ 9.99413553e-01 -3.29265445e-02 -9.40173660e-03 6.66491527e+02] [ 3.29281137e-02 9.99457723e-01 1.21191940e-05 4.42935681e+00] [ 9.39623921e-03 -3.21693539e-04 9.99955803e-01 2.60881622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters 0.05698982071161643 Centerline is valid? [True, True] Translation: X:666.55, Y:4.43, Z:2.61 [[ 9.99486541e-01 -3.08768137e-02 -8.56020368e-03 6.66552389e+02] [ 3.08780408e-02 9.99523160e-01 1.11902449e-05 4.42510731e+00] [ 8.55577631e-03 -2.75506817e-04 9.99963361e-01 2.60910566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.279254154 meters 0.054341098164433096 Centerline is valid? [True, True] Translation: X:666.61, Y:4.44, Z:2.61 [[ 9.99591095e-01 -2.76479282e-02 -7.29626328e-03 6.66613120e+02] [ 2.76487343e-02 9.99617701e-01 9.61741678e-06 4.43797211e+00] [ 7.29320802e-03 -2.11345929e-04 9.99973382e-01 2.61101355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters 0.05665770096612487 Centerline is valid? [True, True] Translation: X:666.67, Y:4.43, Z:2.61 [[ 9.99631094e-01 -2.60850328e-02 -7.56615354e-03 6.66673652e+02] [ 2.60858554e-02 9.99659706e-01 1.00367196e-05 4.42946360e+00] [ 7.56331701e-03 -2.07402604e-04 9.99971376e-01 2.61066171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.399254154 meters 0.054700791611564915 Centerline is valid? [True, True] Translation: X:666.74, Y:4.44, Z:2.61 [[ 9.99620812e-01 -2.60591055e-02 -8.89694498e-03 6.66735542e+02] [ 2.60602440e-02 9.99660374e-01 1.20444146e-05 4.43873677e+00] [ 8.89360948e-03 -2.43896404e-04 9.99960421e-01 2.61016824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters 0.054618845988230365 Centerline is valid? [True, True] Translation: X:666.80, Y:4.44, Z:2.61 [[ 9.99561381e-01 -2.75305921e-02 -1.09138478e-02 6.66797655e+02] [ 2.75323978e-02 9.99620912e-01 1.52062125e-05 4.43937078e+00] [ 1.09092918e-02 -3.15683941e-04 9.99940442e-01 2.60924478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.519254154 meters 0.05614646034332859 Centerline is valid? [True, True] Translation: X:666.86, Y:4.43, Z:2.61 [[ 9.99538821e-01 -2.78356856e-02 -1.21375304e-02 6.66858511e+02] [ 2.78379482e-02 9.99612449e-01 1.74725783e-05 4.42998909e+00] [ 1.21323402e-02 -3.55348464e-04 9.99926337e-01 2.60649963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters 0.054946736491739645 Centerline is valid? [True, True] Translation: X:666.92, Y:4.44, Z:2.61 [[ 9.99572057e-01 -2.69818866e-02 -1.12996118e-02 6.66920360e+02] [ 2.69837956e-02 9.99635871e-01 1.64989856e-05 4.43901287e+00] [ 1.12950521e-02 -3.21398341e-04 9.99936157e-01 2.60920798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.639254154 meters 0.05471069618416115 Centerline is valid? [True, True] Translation: X:666.98, Y:4.44, Z:2.61 [[ 9.99626791e-01 -2.53671449e-02 -1.01383453e-02 6.66982003e+02] [ 2.53686000e-02 9.99678165e-01 1.49267452e-05 4.44206765e+00] [ 1.01347037e-02 -2.72116800e-04 9.99948606e-01 2.61127654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters 0.055343296224468076 Centerline is valid? [True, True] Translation: X:667.04, Y:4.44, Z:2.61 [[ 9.99671683e-01 -2.40791376e-02 -8.75909307e-03 6.67042371e+02] [ 2.40801751e-02 9.99710030e-01 1.29909718e-05 4.44225096e+00] [ 8.75624039e-03 -2.23907201e-04 9.99961638e-01 2.61262206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.759254154 meters 0.0553235037812449 Centerline is valid? [True, True] Translation: X:667.10, Y:4.44, Z:2.61 [[ 9.99661553e-01 -2.47409053e-02 -8.04158787e-03 6.67103532e+02] [ 2.47418022e-02 9.99693875e-01 1.20523661e-05 4.43657893e+00] [ 8.03882795e-03 -2.11011663e-04 9.99967666e-01 2.61238103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters 0.055621715205678 Centerline is valid? [True, True] Translation: X:667.16, Y:4.44, Z:2.61 [[ 9.99596824e-01 -2.74871575e-02 -7.11660999e-03 6.67164277e+02] [ 2.74879302e-02 9.99622135e-01 1.07726503e-05 4.43941815e+00] [ 7.11362477e-03 -2.06389186e-04 9.99974677e-01 2.61358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.879254154 meters 0.05541084302802442 Centerline is valid? [True, True] Translation: X:667.22, Y:4.44, Z:2.61 [[ 9.99533978e-01 -2.94462204e-02 -8.04649501e-03 6.67224125e+02] [ 2.94472732e-02 9.99566335e-01 1.23701982e-05 4.43532691e+00] [ 8.04264127e-03 -2.49311770e-04 9.99967626e-01 2.61372247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.939254154 meters 0.05566944223981072 Centerline is valid? [True, True] Translation: X:667.29, Y:4.43, Z:2.61 [[ 9.99507422e-01 -3.01840240e-02 -8.59288825e-03 6.67286359e+02] [ 3.01852545e-02 9.99544321e-01 1.35104263e-05 4.43376283e+00] [ 8.58856485e-03 -2.72882290e-04 9.99963080e-01 2.61358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.999254154 meters 0.05560828429918473 Centerline is valid? [True, True] Translation: X:667.35, Y:4.44, Z:2.61 [[ 9.99476541e-01 -3.11781516e-02 -8.63518764e-03 6.67348910e+02] [ 3.11794339e-02 9.99513803e-01 1.38879225e-05 4.43820958e+00] [ 8.63055624e-03 -2.83120915e-04 9.99962716e-01 2.61422513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.059254154 meters 0.055351212461401664 Centerline is valid? [True, True] Translation: X:667.41, Y:4.43, Z:2.61 [[ 9.99476774e-01 -3.11786277e-02 -8.60648833e-03 6.67410987e+02] [ 3.11799046e-02 9.99513788e-01 1.41916587e-05 4.43041641e+00] [ 8.60186128e-03 -2.82533718e-04 9.99962963e-01 2.61340029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.119254154 meters 0.0552946198029304 Centerline is valid? [True, True] Translation: X:667.47, Y:4.43, Z:2.61 [[ 9.99584520e-01 -2.75002340e-02 -8.63277165e-03 6.67472067e+02] [ 2.75013836e-02 9.99621765e-01 1.44578274e-05 4.43185637e+00] [ 8.62910884e-03 -2.51864985e-04 9.99962737e-01 2.61398950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.179254154 meters 0.056144207767404954 Centerline is valid? [True, True] Translation: X:667.53, Y:4.43, Z:2.61 [[ 9.99784940e-01 -1.90283248e-02 -8.24603594e-03 6.67531786e+02] [ 1.90290863e-02 9.99818930e-01 1.38856393e-05 4.42976159e+00] [ 8.24427862e-03 -1.70797183e-04 9.99966001e-01 2.61448767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.239254154 meters 0.055461101266932336 Centerline is valid? [True, True] Translation: X:667.59, Y:4.44, Z:2.62 [[ 9.99918112e-01 -1.03794361e-02 -7.48573069e-03 6.67592570e+02] [ 1.03798215e-02 9.99946128e-01 1.26273684e-05 4.43526645e+00] [ 7.48519636e-03 -9.03268827e-05 9.99971981e-01 2.61615469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.299254154 meters 0.05594272887546072 Centerline is valid? [True, True] Translation: X:667.65, Y:4.43, Z:2.62 [[ 9.99946587e-01 -6.39506781e-03 -8.11944346e-03 6.67652103e+02] [ 6.39539014e-03 9.99979549e-01 1.37354059e-05 4.43458628e+00] [ 8.11918957e-03 -6.56616809e-05 9.99967037e-01 2.61626326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.359254154 meters 0.05568683807636888 Centerline is valid? [True, True] Translation: X:667.71, Y:4.43, Z:2.61 [[ 9.99952502e-01 -4.38097935e-03 -8.70639209e-03 6.67710500e+02] [ 4.38127149e-03 9.99990402e-01 1.44817036e-05 4.43015745e+00] [ 8.70624508e-03 -5.26260832e-05 9.99962099e-01 2.61480718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.419254154 meters 0.05577801215263496 Centerline is valid? [True, True] Translation: X:667.77, Y:4.43, Z:2.62 [[ 9.99947623e-01 -5.27791682e-03 -8.76898532e-03 6.67769051e+02] [ 5.27824418e-03 9.99986070e-01 1.41897096e-05 4.42777902e+00] [ 8.76878827e-03 -6.04738122e-05 9.99961552e-01 2.61592907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters 0.05631037647463552 Centerline is valid? [True, True] Translation: X:667.83, Y:4.42, Z:2.62 [[ 9.99924474e-01 -8.00566560e-03 -9.32501412e-03 6.67827326e+02] [ 8.00615192e-03 9.99967950e-01 1.48234950e-05 4.42077035e+00] [ 9.32459658e-03 -8.94798551e-05 9.99956521e-01 2.61543573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.539254154 meters 0.055413846623352726 Centerline is valid? [True, True] Translation: X:667.89, Y:4.42, Z:2.62 [[ 9.99889022e-01 -1.12451743e-02 -9.77187210e-03 6.67887170e+02] [ 1.12458611e-02 9.99936763e-01 1.53391979e-05 4.41971302e+00] [ 9.77108166e-03 -1.25230612e-04 9.99952254e-01 2.61698111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters 0.05590510777618848 Centerline is valid? [True, True] Translation: X:667.95, Y:4.41, Z:2.62 [[ 9.99800876e-01 -1.72417015e-02 -1.00465427e-02 6.67946333e+02] [ 1.72427285e-02 9.99851333e-01 1.56047018e-05 4.41330894e+00] [ 1.00447801e-02 -1.88831402e-04 9.99949532e-01 2.61722659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.659254154 meters 0.056290767975202154 Centerline is valid? [True, True] Translation: X:668.01, Y:4.41, Z:2.62 [[ 9.99755776e-01 -1.98200200e-02 -9.77519141e-03 6.68007387e+02] [ 1.98211157e-02 9.99803542e-01 1.52149228e-05 4.41066856e+00] [ 9.77296944e-03 -2.08966407e-04 9.99952222e-01 2.61735222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters 0.05587840885157449 Centerline is valid? [True, True] Translation: X:668.07, Y:4.41, Z:2.62 [[ 9.99646693e-01 -2.51194944e-02 -8.68911574e-03 6.68067502e+02] [ 2.51205608e-02 9.99684429e-01 1.35884829e-05 4.40645551e+00] [ 8.68603237e-03 -2.31859142e-04 9.99962249e-01 2.61800330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.779254154 meters 0.05626796820989649 Centerline is valid? [True, True] Translation: X:668.13, Y:4.40, Z:2.62 [[ 9.99457855e-01 -3.20208087e-02 -7.65922019e-03 6.68126993e+02] [ 3.20218401e-02 9.99487169e-01 1.20339804e-05 4.39697709e+00] [ 7.65490697e-03 -2.57289781e-04 9.99970668e-01 2.61842220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters 0.05795866900218626 Centerline is valid? [True, True] Translation: X:668.19, Y:4.39, Z:2.62 [[ 9.99335281e-01 -3.55920621e-02 -7.88683467e-03 6.68186563e+02] [ 3.55932670e-02 9.99366359e-01 1.24215918e-05 4.38553323e+00] [ 7.88139513e-03 -2.93131547e-04 9.99968898e-01 2.61783154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.899254154 meters 0.05567319872920191 Centerline is valid? [True, True] Translation: X:668.25, Y:4.39, Z:2.62 [[ 9.99138580e-01 -4.08488719e-02 -7.31221109e-03 6.68246716e+02] [ 4.08500481e-02 9.99165288e-01 1.15062682e-05 4.39180635e+00] [ 7.30563749e-03 -3.10200531e-04 9.99973265e-01 2.61925241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters 0.05828667324059058 Centerline is valid? [True, True] Translation: X:668.31, Y:4.38, Z:2.62 [[ 9.99027142e-01 -4.33771385e-02 -7.94945395e-03 6.68306323e+02] [ 4.33786088e-02 9.99058705e-01 1.25421610e-05 4.37619605e+00] [ 7.94142713e-03 -3.57366212e-04 9.99968402e-01 2.61770668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.019254154 meters 0.055294121466990954 Centerline is valid? [True, True] Translation: X:668.37, Y:4.38, Z:2.62 [[ 9.98906437e-01 -4.59483537e-02 -8.64174440e-03 6.68367396e+02] [ 4.59501874e-02 9.98943732e-01 1.36598739e-05 4.38387294e+00] [ 8.63198876e-03 -4.10734711e-04 9.99962659e-01 2.61814349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters 0.05590620881633526 Centerline is valid? [True, True] Translation: X:668.43, Y:4.39, Z:2.62 [[ 9.98895056e-01 -4.61446131e-02 -8.90735114e-03 6.68429958e+02] [ 4.61465705e-02 9.98934679e-01 1.42485968e-05 4.38539994e+00] [ 8.89720446e-03 -4.25276560e-04 9.99960329e-01 2.61848885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.139254154 meters 0.05581818950644958 Centerline is valid? [True, True] Translation: X:668.49, Y:4.38, Z:2.62 [[ 9.98990192e-01 -4.40272355e-02 -8.95536805e-03 6.68491177e+02] [ 4.40291311e-02 9.99030248e-01 1.45372810e-05 4.38275139e+00] [ 8.94604352e-03 -4.08819675e-04 9.99959900e-01 2.61880245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters 0.057550075916449686 Centerline is valid? [True, True] Translation: X:668.55, Y:4.38, Z:2.62 [[ 9.99278757e-01 -3.70426895e-02 -8.35493162e-03 6.68551039e+02] [ 3.70440962e-02 9.99313632e-01 1.36199563e-05 4.37541054e+00] [ 8.34869254e-03 -3.23111023e-04 9.99965097e-01 2.61892157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.259254154 meters 0.055312947894687846 Centerline is valid? [True, True] Translation: X:668.61, Y:4.39, Z:2.62 [[ 9.99501979e-01 -3.08352423e-02 -6.70680426e-03 6.68612072e+02] [ 3.08360092e-02 9.99524457e-01 1.09389121e-05 4.38972008e+00] [ 6.70327758e-03 -2.17744542e-04 9.99977509e-01 2.62123934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters 0.057258314734421986 Centerline is valid? [True, True] Translation: X:668.67, Y:4.38, Z:2.62 [[ 9.99754379e-01 -2.11758832e-02 -6.53932254e-03 6.68671184e+02] [ 2.11764057e-02 9.99775755e-01 1.06567715e-05 4.38009939e+00] [ 6.53763046e-03 -1.49133501e-04 9.99978618e-01 2.61996797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.379254154 meters 0.05641147152648016 Centerline is valid? [True, True] Translation: X:668.73, Y:4.39, Z:2.62 [[ 9.99861602e-01 -1.55813295e-02 -5.83090794e-03 6.68731669e+02] [ 1.55816496e-02 9.99878599e-01 9.48047223e-06 4.38882283e+00] [ 5.83005234e-03 -1.00334325e-04 9.99983000e-01 2.62077408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.439254154 meters 0.056704062523181 Centerline is valid? [True, True] Translation: X:668.79, Y:4.39, Z:2.62 [[ 9.99959795e-01 -7.05753359e-03 -5.53169101e-03 6.68792614e+02] [ 7.05769129e-03 9.99975094e-01 8.98802034e-06 4.39166386e+00] [ 5.53148980e-03 -4.80286264e-05 9.99984700e-01 2.62131827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.499254154 meters 0.05622830171064069 Centerline is valid? [True, True] Translation: X:668.85, Y:4.39, Z:2.62 [[ 9.99982369e-01 -1.82291933e-03 -5.65149061e-03 6.68851955e+02] [ 1.82300002e-03 9.99998338e-01 9.12641701e-06 4.39412990e+00] [ 5.65146458e-03 -1.94289236e-05 9.99984030e-01 2.62131217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.559254154 meters 0.05696041094901146 Centerline is valid? [True, True] Translation: X:668.91, Y:4.39, Z:2.62 [[ 9.99974057e-01 3.01303623e-03 -6.54271865e-03 6.68909963e+02] [-3.01303256e-03 9.99995461e-01 1.04181234e-05 4.39305694e+00] [ 6.54272034e-03 9.29557124e-06 9.99978596e-01 2.62208933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.619254154 meters 0.05719344566753401 Centerline is valid? [True, True] Translation: X:668.97, Y:4.39, Z:2.62 [[ 9.99976392e-01 1.79159211e-03 -6.63373276e-03 6.68969251e+02] [-1.79156302e-03 9.99998395e-01 1.03273730e-05 4.38785533e+00] [ 6.63374062e-03 1.55762116e-06 9.99977996e-01 2.62150571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.679254154 meters 0.05667013709571305 Centerline is valid? [True, True] Translation: X:669.03, Y:4.38, Z:2.62 [[ 9.99974188e-01 -1.55931876e-03 -7.01366271e-03 6.69027253e+02] [ 1.55943206e-03 9.99998784e-01 1.06850882e-05 4.38262120e+00] [ 7.01363752e-03 -2.16221428e-05 9.99975404e-01 2.62148075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.739254154 meters 0.05676400708422854 Centerline is valid? [True, True] Translation: X:669.09, Y:4.37, Z:2.62 [[ 9.99922881e-01 -1.03327287e-02 -6.88960584e-03 6.69086739e+02] [ 1.03330449e-02 9.99946613e-01 1.03084200e-05 4.37354060e+00] [ 6.88913151e-03 -8.14982316e-05 9.99976266e-01 2.62170290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.799254154 meters 0.057453002885071255 Centerline is valid? [True, True] Translation: X:669.15, Y:4.37, Z:2.62 [[ 9.99818755e-01 -1.77373332e-02 -6.91688647e-03 6.69146790e+02] [ 1.77378289e-02 9.99842672e-01 1.03156114e-05 4.36658151e+00] [ 6.91561528e-03 -1.33004291e-04 9.99976078e-01 2.62175908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.859254154 meters 0.05699171921893726 Centerline is valid? [True, True] Translation: X:669.21, Y:4.36, Z:2.62 [[ 9.99566021e-01 -2.86524798e-02 -6.84146147e-03 6.69206795e+02] [ 2.86532203e-02 9.99589412e-01 1.02236862e-05 4.35526557e+00] [ 6.83835951e-03 -2.06249152e-04 9.99976597e-01 2.62204684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.919254154 meters 0.05948110865582787 Centerline is valid? [True, True] Translation: X:669.27, Y:4.34, Z:2.62 [[ 9.99276587e-01 -3.73890706e-02 -6.95409005e-03 6.69266384e+02] [ 3.73900470e-02 9.99300748e-01 1.04186506e-05 4.33732630e+00] [ 6.94883784e-03 -2.70424868e-04 9.99975820e-01 2.62132870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters 0.05994705767167966 Centerline is valid? [True, True] Translation: X:669.33, Y:4.33, Z:2.62 [[ 9.99094720e-01 -4.18998044e-02 -7.35850413e-03 6.69327406e+02] [ 4.19010200e-02 9.99121767e-01 1.10409659e-05 4.33118481e+00] [ 7.35157903e-03 -3.19359800e-04 9.99972926e-01 2.62088177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.039254154 meters 0.056758462777923756 Centerline is valid? [True, True] Translation: X:669.39, Y:4.35, Z:2.62 [[ 9.98926633e-01 -4.57978166e-02 -6.93842911e-03 6.69388734e+02] [ 4.57989918e-02 9.98950676e-01 1.04960446e-05 4.34621652e+00] [ 6.93066775e-03 -3.28257836e-04 9.99975929e-01 2.62192362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters 0.05669085419742716 Centerline is valid? [True, True] Translation: X:669.45, Y:4.34, Z:2.62 [[ 9.98880395e-01 -4.68677566e-02 -6.43197642e-03 6.69449626e+02] [ 4.68687894e-02 9.98901054e-01 9.85207197e-06 4.34341445e+00] [ 6.42444629e-03 -3.11299990e-04 9.99979315e-01 2.62222164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.159254154 meters 0.057264658634721625 Centerline is valid? [True, True] Translation: X:669.51, Y:4.34, Z:2.62 [[ 9.98876892e-01 -4.69844903e-02 -6.11656480e-03 6.69512244e+02] [ 4.69854273e-02 9.98895575e-01 9.50593522e-06 4.34317337e+00] [ 6.10936288e-03 -2.96884670e-04 9.99981294e-01 2.62275953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters 0.056833645050319195 Centerline is valid? [True, True] Translation: X:669.57, Y:4.34, Z:2.62 [[ 9.98899625e-01 -4.64430247e-02 -6.52564722e-03 6.69573261e+02] [ 4.64440811e-02 9.98920891e-01 1.03468789e-05 4.34154121e+00] [ 6.51812480e-03 -3.13413182e-04 9.99978708e-01 2.62300082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.279254154 meters 0.057823595671125556 Centerline is valid? [True, True] Translation: X:669.63, Y:4.34, Z:2.62 [[ 9.98963293e-01 -4.47338264e-02 -8.43941511e-03 6.69633544e+02] [ 4.47355337e-02 9.98998865e-01 1.35434382e-05 4.34026432e+00] [ 8.43036027e-03 -3.91071137e-04 9.99964387e-01 2.62197439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters 0.05592505475342355 Centerline is valid? [True, True] Translation: X:669.69, Y:4.35, Z:2.62 [[ 9.99048733e-01 -4.25738627e-02 -9.43898237e-03 6.69693929e+02] [ 4.25759030e-02 9.99093235e-01 1.52288881e-05 4.35341271e+00] [ 9.42977508e-03 -4.17087600e-04 9.99955452e-01 2.62240660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.399254154 meters 0.05936777652777578 Centerline is valid? [True, True] Translation: X:669.75, Y:4.34, Z:2.62 [[ 9.99255503e-01 -3.71322329e-02 -1.04707520e-02 6.69753627e+02] [ 3.71344457e-02 9.99310278e-01 1.69251517e-05 4.34038814e+00] [ 1.04629016e-02 -4.05738123e-04 9.99945180e-01 2.62065749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters 0.058148766933006954 Centerline is valid? [True, True] Translation: X:669.81, Y:4.35, Z:2.62 [[ 9.99460805e-01 -3.15223602e-02 -9.18913038e-03 6.69814003e+02] [ 3.15238275e-02 9.99503001e-01 1.48459478e-05 4.35301975e+00] [ 9.18409541e-03 -3.04514504e-04 9.99957779e-01 2.62372942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.519254154 meters 0.057010669940108574 Centerline is valid? [True, True] Translation: X:669.87, Y:4.36, Z:2.63 [[ 9.99573387e-01 -2.81234590e-02 -7.88125377e-03 6.69874767e+02] [ 2.81244329e-02 9.99604430e-01 1.27444754e-05 4.36498586e+00] [ 7.87777776e-03 -2.34394831e-04 9.99968942e-01 2.62582414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters 0.05688961651710395 Centerline is valid? [True, True] Translation: X:669.94, Y:4.37, Z:2.63 [[ 9.99615795e-01 -2.67862458e-02 -7.12452648e-03 6.69936239e+02] [ 2.67870083e-02 9.99641164e-01 1.16120316e-05 4.36610767e+00] [ 7.12165890e-03 -2.02452320e-04 9.99974620e-01 2.62640509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.639254154 meters 0.05656881758363169 Centerline is valid? [True, True] Translation: X:670.00, Y:4.37, Z:2.63 [[ 9.99706621e-01 -2.34337132e-02 -6.12638623e-03 6.69996016e+02] [ 2.34342147e-02 9.99725381e-01 1.00685634e-05 4.36897158e+00] [ 6.12446786e-03 -1.53632660e-04 9.99981233e-01 2.62660457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters 0.05683475891766063 Centerline is valid? [True, True] Translation: X:670.06, Y:4.37, Z:2.63 [[ 9.99760087e-01 -2.11325890e-02 -5.76043562e-03 6.70057254e+02] [ 2.11329944e-02 9.99776673e-01 9.49650697e-06 4.37414231e+00] [ 5.75894847e-03 -1.31229482e-04 9.99983408e-01 2.62697381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.759254154 meters 0.05788069601298607 Centerline is valid? [True, True] Translation: X:670.12, Y:4.37, Z:2.63 [[ 9.99784647e-01 -1.97052866e-02 -6.50850523e-03 6.70118674e+02] [ 1.97057747e-02 9.99805822e-01 1.08630510e-05 4.36897900e+00] [ 6.50702736e-03 -1.39115849e-04 9.99978819e-01 2.62568766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters 0.057061500410412525 Centerline is valid? [True, True] Translation: X:670.18, Y:4.37, Z:2.63 [[ 9.99824002e-01 -1.74597237e-02 -6.86459340e-03 6.70180399e+02] [ 1.74602149e-02 9.99847559e-01 1.16233697e-05 4.37079349e+00] [ 6.86334401e-03 -1.31478600e-04 9.99976438e-01 2.62562330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.879254154 meters 0.0568578578207429 Centerline is valid? [True, True] Translation: X:670.24, Y:4.37, Z:2.63 [[ 9.99867786e-01 -1.51085165e-02 -6.01193669e-03 6.70241283e+02] [ 1.51088513e-02 9.99885855e-01 1.02743650e-05 4.37407994e+00] [ 6.01109522e-03 -1.01106464e-04 9.99981928e-01 2.62664939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.939254154 meters 0.05667155404977121 Centerline is valid? [True, True] Translation: X:670.30, Y:4.38, Z:2.63 [[ 9.99900007e-01 -1.31960055e-02 -5.08341807e-03 6.70302724e+02] [ 1.31962204e-02 9.99912926e-01 8.74120984e-06 4.37706534e+00] [ 5.08286009e-03 -7.58222411e-05 9.99987079e-01 2.62711001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.999254154 meters 0.05653735080343106 Centerline is valid? [True, True] Translation: X:670.36, Y:4.37, Z:2.63 [[ 9.99937792e-01 -1.00749433e-02 -4.78610289e-03 6.70363103e+02] [ 1.00750986e-02 9.99949245e-01 8.32819127e-06 4.37464640e+00] [ 4.78577607e-03 -5.65481317e-05 9.99988546e-01 2.62753109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.059254154 meters 0.05664598501707141 Centerline is valid? [True, True] Translation: X:670.42, Y:4.38, Z:2.63 [[ 9.99945796e-01 -9.04171499e-03 -5.16253691e-03 6.70424229e+02] [ 9.04188214e-03 9.99959121e-01 9.03763911e-06 4.37513551e+00] [ 5.16224416e-03 -5.57161995e-05 9.99986674e-01 2.62726469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.119254154 meters 0.056932538409338575 Centerline is valid? [True, True] Translation: X:670.48, Y:4.37, Z:2.63 [[ 9.99931078e-01 -1.01804606e-02 -5.84784665e-03 6.70484072e+02] [ 1.01806952e-02 9.99948175e-01 1.03539971e-05 4.36804565e+00] [ 5.84743818e-03 -6.98884277e-05 9.99982901e-01 2.62620558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.179254154 meters 0.056776804949055536 Centerline is valid? [True, True] Translation: X:670.54, Y:4.36, Z:2.63 [[ 9.99879871e-01 -1.39391453e-02 -6.77819057e-03 6.70544247e+02] [ 1.39395475e-02 9.99902840e-01 1.20860494e-05 4.36372157e+00] [ 6.77736353e-03 -1.06569507e-04 9.99977028e-01 2.62612335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.239254154 meters 0.05626785915245453 Centerline is valid? [True, True] Translation: X:670.60, Y:4.36, Z:2.63 [[ 9.99852049e-01 -1.58146590e-02 -6.76588218e-03 6.70604461e+02] [ 1.58151026e-02 9.99874933e-01 1.20560820e-05 4.36268649e+00] [ 6.76484533e-03 -1.19057419e-04 9.99977111e-01 2.62690272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.299254154 meters 0.05676357184015957 Centerline is valid? [True, True] Translation: X:670.67, Y:4.36, Z:2.63 [[ 9.99860128e-01 -1.52867893e-02 -6.78513474e-03 6.70665515e+02] [ 1.52872239e-02 9.99883144e-01 1.21944612e-05 4.36033348e+00] [ 6.78415544e-03 -1.15918630e-04 9.99976981e-01 2.62677506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.359254154 meters 0.05712612113145057 Centerline is valid? [True, True] Translation: X:670.73, Y:4.36, Z:2.63 [[ 9.99902768e-01 -1.19976286e-02 -7.10708401e-03 6.70726227e+02] [ 1.19980231e-02 9.99928021e-01 1.28775059e-05 4.35700876e+00] [ 7.10641795e-03 -9.81472121e-05 9.99974744e-01 2.62575707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.419254154 meters 0.05656826190734927 Centerline is valid? [True, True] Translation: X:670.79, Y:4.36, Z:2.63 [[ 9.99936562e-01 -9.51861634e-03 -6.02228326e-03 6.70786480e+02] [ 9.51885467e-03 9.99954695e-01 1.09129703e-05 4.35742658e+00] [ 6.02190654e-03 -6.82375171e-05 9.99981866e-01 2.62633505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters 0.056908185463715524 Centerline is valid? [True, True] Translation: X:670.85, Y:4.36, Z:2.63 [[ 9.99974239e-01 -5.10234646e-03 -5.04843869e-03 6.70846669e+02] [ 5.10245767e-03 9.99986982e-01 9.14826806e-06 4.35894138e+00] [ 5.04832629e-03 -3.49074771e-05 9.99987256e-01 2.62788137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.539254154 meters 0.057210740212095185 Centerline is valid? [True, True] Translation: X:670.91, Y:4.36, Z:2.63 [[ 9.99985457e-01 -1.11900065e-03 -5.27583475e-03 6.70905045e+02] [ 1.11906650e-03 9.99999374e-01 9.52808539e-06 4.35752104e+00] [ 5.27582079e-03 -1.54319567e-05 9.99986083e-01 2.62821654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters 0.0573282529590447 Centerline is valid? [True, True] Translation: X:670.96, Y:4.35, Z:2.63 [[ 9.99984260e-01 4.07453801e-04 -5.59589415e-03 6.70962766e+02] [-4.07405225e-04 9.99999917e-01 9.82047474e-06 4.35466406e+00] [ 5.59589768e-03 -7.54052364e-06 9.99984343e-01 2.62762871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.659254154 meters 0.05699381214869227 Centerline is valid? [True, True] Translation: X:671.02, Y:4.35, Z:2.63 [[ 9.99984373e-01 5.21397594e-04 -5.56616695e-03 6.71021235e+02] [-5.21354098e-04 9.99999864e-01 9.26527411e-06 4.34973828e+00] [ 5.56617102e-03 -6.36318537e-06 9.99984509e-01 2.62719917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters 0.057921425135065256 Centerline is valid? [True, True] Translation: X:671.08, Y:4.35, Z:2.63 [[ 9.99975542e-01 -1.37891266e-03 -6.85668375e-03 6.71080458e+02] [ 1.37902134e-03 9.99999049e-01 1.11212104e-05 4.34527724e+00] [ 6.85666190e-03 -2.05764515e-05 9.99976493e-01 2.62686356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.779254154 meters 0.057486143430545616 Centerline is valid? [True, True] Translation: X:671.14, Y:4.34, Z:2.63 [[ 9.99948613e-01 -6.18867951e-03 -8.02939408e-03 6.71140070e+02] [ 6.18898181e-03 9.99980848e-01 1.28022929e-05 4.33997398e+00] [ 8.02916107e-03 -6.24954089e-05 9.99967764e-01 2.62688813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters 0.05784391692479606 Centerline is valid? [True, True] Translation: X:671.20, Y:4.34, Z:2.63 [[ 9.99918678e-01 -1.02141066e-02 -7.63604248e-03 6.71198912e+02] [ 1.02144962e-02 9.99947831e-01 1.20233062e-05 4.33559584e+00] [ 7.63552130e-03 -9.00206556e-05 9.99970845e-01 2.62728676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.899254154 meters 0.05851143196905946 Centerline is valid? [True, True] Translation: X:671.26, Y:4.33, Z:2.63 [[ 9.99843118e-01 -1.68663903e-02 -5.40970938e-03 6.71259007e+02] [ 1.68666828e-02 9.99857747e-01 8.44980924e-06 4.32623922e+00] [ 5.40879731e-03 -9.96923358e-05 9.99985367e-01 2.62847066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters 0.058004901855245906 Centerline is valid? [True, True] Translation: X:671.32, Y:4.32, Z:2.63 [[ 9.99730531e-01 -2.28807748e-02 -3.91596886e-03 6.71318093e+02] [ 2.28809742e-02 9.99738196e-01 6.11682375e-06 4.31857966e+00] [ 3.91480369e-03 -9.57163578e-05 9.99992333e-01 2.63061506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.019254154 meters 0.05877940840617365 Centerline is valid? [True, True] Translation: X:671.38, Y:4.31, Z:2.63 [[ 9.99644571e-01 -2.63877618e-02 -3.79710356e-03 6.71378715e+02] [ 2.63879744e-02 9.99651777e-01 5.90249614e-06 4.31284221e+00] [ 3.79562557e-03 -1.06098270e-04 9.99992791e-01 2.63102912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters 0.0597733830641327 Centerline is valid? [True, True] Translation: X:671.44, Y:4.30, Z:2.63 [[ 9.99481593e-01 -3.17835015e-02 -5.13358967e-03 6.71438355e+02] [ 3.17839619e-02 9.99494762e-01 8.09654700e-06 4.30157823e+00] [ 5.13073865e-03 -1.71258168e-04 9.99986823e-01 2.62975581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.139254154 meters 0.05809799473075125 Centerline is valid? [True, True] Translation: X:671.50, Y:4.31, Z:2.63 [[ 9.99341282e-01 -3.58148270e-02 -5.85667780e-03 6.71498470e+02] [ 3.58154962e-02 9.99358419e-01 9.38690153e-06 4.30712307e+00] [ 5.85258408e-03 -2.19140540e-04 9.99982849e-01 2.62959933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters 0.05709905907375164 Centerline is valid? [True, True] Translation: X:671.56, Y:4.31, Z:2.63 [[ 9.99164555e-01 -4.03442948e-02 -6.52147059e-03 6.71559510e+02] [ 4.03452213e-02 9.99185800e-01 1.05184520e-05 4.30565355e+00] [ 6.51573645e-03 -2.73619838e-04 9.99978735e-01 2.62921913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.259254154 meters 0.06061403625865973 Centerline is valid? [True, True] Translation: X:671.62, Y:4.29, Z:2.63 [[ 9.99108275e-01 -4.15457544e-02 -7.52361366e-03 6.71619977e+02] [ 4.15470225e-02 9.99136550e-01 1.22615929e-05 4.29013550e+00] [ 7.51660797e-03 -3.24834405e-04 9.99971697e-01 2.62844215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters 0.05754985422759691 Centerline is valid? [True, True] Translation: X:671.68, Y:4.31, Z:2.63 [[ 9.99139929e-01 -4.06523134e-02 -8.17261201e-03 6.71682441e+02] [ 4.06537816e-02 9.99173293e-01 1.35290099e-05 4.30618319e+00] [ 8.16530567e-03 -3.45764957e-04 9.99966604e-01 2.62959394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.379254154 meters 0.05715934168816513 Centerline is valid? [True, True] Translation: X:671.74, Y:4.31, Z:2.63 [[ 9.99289089e-01 -3.67392328e-02 -8.45840271e-03 6.71742692e+02] [ 3.67406672e-02 9.99324834e-01 1.42104905e-05 4.31348019e+00] [ 8.45216980e-03 -3.24967747e-04 9.99964227e-01 2.63063595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.439254154 meters 0.05771529048373353 Centerline is valid? [True, True] Translation: X:671.80, Y:4.31, Z:2.63 [[ 9.99352848e-01 -3.48972887e-02 -8.72150404e-03 6.71803632e+02] [ 3.48987448e-02 9.99390853e-01 1.47708762e-05 4.30958464e+00] [ 8.71567590e-03 -3.19130861e-04 9.99961967e-01 2.63040827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.499254154 meters 0.0576031133422965 Centerline is valid? [True, True] Translation: X:671.86, Y:4.31, Z:2.63 [[ 9.99492703e-01 -3.07919125e-02 -8.13599842e-03 6.71863944e+02] [ 3.07930444e-02 9.99525782e-01 1.38529132e-05 4.31215167e+00] [ 8.13171362e-03 -2.64378046e-04 9.99966902e-01 2.63120974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.559254154 meters 0.058140079906473144 Centerline is valid? [True, True] Translation: X:671.92, Y:4.31, Z:2.63 [[ 9.99710994e-01 -2.30036395e-02 -6.98287554e-03 6.71923673e+02] [ 2.30042834e-02 9.99735366e-01 1.18946879e-05 4.31103947e+00] [ 6.98075401e-03 -1.72527298e-04 9.99975619e-01 2.63144132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.619254154 meters 0.0582653838768131 Centerline is valid? [True, True] Translation: X:671.98, Y:4.32, Z:2.63 [[ 9.99820192e-01 -1.80130910e-02 -5.92561252e-03 6.71984295e+02] [ 1.80134671e-02 9.99837744e-01 1.01135005e-05 4.31618686e+00] [ 5.92446888e-03 -1.16852508e-04 9.99982443e-01 2.63237203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.679254154 meters 0.05793761480836685 Centerline is valid? [True, True] Translation: X:672.04, Y:4.33, Z:2.63 [[ 9.99912551e-01 -1.20041458e-02 -5.54896432e-03 6.72043843e+02] [ 1.20043834e-02 9.99927945e-01 9.51292354e-06 4.32723077e+00] [ 5.54845030e-03 -7.61239868e-05 9.99984604e-01 2.63346049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.739254154 meters 0.057493749571123506 Centerline is valid? [True, True] Translation: X:672.10, Y:4.33, Z:2.63 [[ 9.99937884e-01 -9.69043348e-03 -5.50669452e-03 6.72104921e+02] [ 9.69063245e-03 9.99953045e-01 9.45156814e-06 4.32941173e+00] [ 5.50634436e-03 -6.28143336e-05 9.99984838e-01 2.63304242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.799254154 meters 0.05714384022172516 Centerline is valid? [True, True] Translation: X:672.16, Y:4.32, Z:2.63 [[ 9.99932327e-01 -1.00158701e-02 -5.91801059e-03 6.72164839e+02] [ 1.00161057e-02 9.99949838e-01 1.01714985e-05 4.32342020e+00] [ 5.91761185e-03 -6.94462297e-05 9.99982488e-01 2.63086235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.859254154 meters 0.05749443154686094 Centerline is valid? [True, True] Translation: X:672.23, Y:4.33, Z:2.63 [[ 9.99925863e-01 -9.80391856e-03 -7.22168619e-03 6.72225520e+02] [ 9.80426357e-03 9.99951937e-01 1.23727340e-05 4.32539009e+00] [ 7.22121779e-03 -8.31751315e-05 9.99973923e-01 2.63068803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.919254154 meters 0.057960676932269806 Centerline is valid? [True, True] Translation: X:672.28, Y:4.32, Z:2.63 [[ 9.99932843e-01 -9.52274992e-03 -6.60504013e-03 6.72284688e+02] [ 9.52303044e-03 9.99954655e-01 1.10212482e-05 4.32284350e+00] [ 6.60463567e-03 -7.39205063e-05 9.99978186e-01 2.62993759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters 0.056903063857990946 Centerline is valid? [True, True] Translation: X:672.34, Y:4.32, Z:2.63 [[ 9.99933167e-01 -9.93118203e-03 -5.91890645e-03 6.72343866e+02] [ 9.93141204e-03 9.99950682e-01 9.46773154e-06 4.32216603e+00] [ 5.91852052e-03 -6.82501975e-05 9.99982483e-01 2.63010921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.039254154 meters 0.05619075468434603 Centerline is valid? [True, True] Translation: X:672.40, Y:4.32, Z:2.63 [[ 9.99915530e-01 -1.23113628e-02 -4.16684059e-03 6.72403662e+02] [ 1.23114973e-02 9.99924211e-01 6.63399331e-06 4.31952997e+00] [ 4.16644311e-03 -5.79334795e-05 9.99991319e-01 2.63044766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters 0.05746583988718692 Centerline is valid? [True, True] Translation: X:672.46, Y:4.31, Z:2.63 [[ 9.99842829e-01 -1.72066254e-02 -4.27183899e-03 6.72463335e+02] [ 1.72068110e-02 9.99851952e-01 6.67645246e-06 4.31009690e+00] [ 4.27109168e-03 -8.01801291e-05 9.99990876e-01 2.63050910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.159254154 meters 0.05786824756033628 Centerline is valid? [True, True] Translation: X:672.52, Y:4.30, Z:2.63 [[ 9.99789480e-01 -2.01087383e-02 -4.07851078e-03 6.72524648e+02] [ 2.01089321e-02 9.99797795e-01 6.50990212e-06 4.30227633e+00] [ 4.07755518e-03 -8.85230280e-05 9.99991683e-01 2.63057093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters 0.056325183983827416 Centerline is valid? [True, True] Translation: X:672.59, Y:4.30, Z:2.63 [[ 9.99748667e-01 -2.22825135e-02 -2.46839566e-03 6.72586998e+02] [ 2.22825911e-02 9.99751712e-01 3.93531692e-06 4.30133978e+00] [ 2.46769510e-03 -5.89365789e-05 9.99996953e-01 2.63070454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.279254154 meters 0.057980837399844484 Centerline is valid? [True, True] Translation: X:672.65, Y:4.30, Z:2.63 [[ 9.99761703e-01 -2.16277278e-02 -2.96282907e-03 6.72648319e+02] [ 2.16278372e-02 9.99766091e-01 4.85429714e-06 4.29731419e+00] [ 2.96203105e-03 -6.89327251e-05 9.99995611e-01 2.62961168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters 0.0585888969959467 Centerline is valid? [True, True] Translation: X:672.71, Y:4.29, Z:2.63 [[ 9.99774691e-01 -2.07161661e-02 -4.62695461e-03 6.72709870e+02] [ 2.07164238e-02 9.99785392e-01 7.77215126e-06 4.29128526e+00] [ 4.62580062e-03 -1.03624353e-04 9.99989296e-01 2.62815384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.399254154 meters 0.05723583811527817 Centerline is valid? [True, True] Translation: X:672.77, Y:4.30, Z:2.63 [[ 9.99804391e-01 -1.92281134e-02 -4.63235066e-03 6.72771691e+02] [ 1.92283568e-02 9.99815118e-01 8.01870074e-06 4.29623807e+00] [ 4.63134003e-03 -9.70896236e-05 9.99989271e-01 2.62708401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters 0.05685051490721239 Centerline is valid? [True, True] Translation: X:672.83, Y:4.30, Z:2.63 [[ 9.99829242e-01 -1.77655556e-02 -5.08635715e-03 6.72832862e+02] [ 1.77658304e-02 9.99842175e-01 8.84737942e-06 4.30128108e+00] [ 5.08539722e-03 -9.92092272e-05 9.99987064e-01 2.62704279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.519254154 meters 0.057209888133409804 Centerline is valid? [True, True] Translation: X:672.89, Y:4.30, Z:2.63 [[ 9.99845691e-01 -1.65305204e-02 -5.94438495e-03 6.72893785e+02] [ 1.65308741e-02 9.99863356e-01 1.03658231e-05 4.29944474e+00] [ 5.94340134e-03 -1.08630103e-04 9.99982332e-01 2.62682232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters 0.05705142087216884 Centerline is valid? [True, True] Translation: X:672.95, Y:4.30, Z:2.63 [[ 9.99825243e-01 -1.75372847e-02 -6.47507667e-03 6.72954746e+02] [ 1.75377250e-02 9.99846202e-01 1.12245242e-05 4.29893741e+00] [ 6.47388397e-03 -1.24780677e-04 9.99979036e-01 2.62744406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.639254154 meters 0.05713082003393064 Centerline is valid? [True, True] Translation: X:673.01, Y:4.29, Z:2.63 [[ 9.99710940e-01 -2.33303044e-02 -5.80807030e-03 6.73014217e+02] [ 2.33307567e-02 9.99727801e-01 1.01164981e-05 4.29155196e+00] [ 5.80625332e-03 -1.45620249e-04 9.99983133e-01 2.62775396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters 0.05721537793202559 Centerline is valid? [True, True] Translation: X:673.07, Y:4.30, Z:2.63 [[ 9.99428319e-01 -3.34051346e-02 -5.20891471e-03 6.73074401e+02] [ 3.34056350e-02 9.99441876e-01 9.05200488e-06 4.29565220e+00] [ 5.20570511e-03 -1.83053933e-04 9.99986433e-01 2.62856321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.759254154 meters 0.058852345167674666 Centerline is valid? [True, True] Translation: X:673.13, Y:4.28, Z:2.63 [[ 9.99147498e-01 -4.08053705e-02 -6.26085182e-03 6.73134203e+02] [ 4.08062384e-02 9.99167079e-01 1.09026808e-05 4.28268176e+00] [ 6.25519213e-03 -2.66375199e-04 9.99980401e-01 2.62825531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.819254154 meters 0.056728390233081155 Centerline is valid? [True, True] Translation: X:673.20, Y:4.29, Z:2.63 [[ 9.98682448e-01 -5.09567154e-02 -6.06479332e-03 6.73195198e+02] [ 5.09577167e-02 9.98700812e-01 1.05817376e-05 4.29049062e+00] [ 6.05637480e-03 -3.19615815e-04 9.99981609e-01 2.62957719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.879254154 meters 0.0567631466561607 Centerline is valid? [True, True] Translation: X:673.26, Y:4.29, Z:2.63 [[ 9.98442781e-01 -5.54821376e-02 -5.80901746e-03 6.73255939e+02] [ 5.54831326e-02 9.98459625e-01 1.01543110e-05 4.29469511e+00] [ 5.79950601e-03 -3.32440985e-04 9.99983127e-01 2.62972509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.939254154 meters 0.058269899734455725 Centerline is valid? [True, True] Translation: X:673.32, Y:4.28, Z:2.63 [[ 9.98279080e-01 -5.83193868e-02 -6.14232421e-03 6.73315732e+02] [ 5.83205532e-02 9.98297908e-01 1.07965101e-05 4.28196182e+00] [ 6.13123976e-03 -3.69001676e-04 9.99981136e-01 2.62976437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.999254154 meters 0.056981255295262566 Centerline is valid? [True, True] Translation: X:673.38, Y:4.29, Z:2.63 [[ 9.98348056e-01 -5.71777018e-02 -5.64523366e-03 6.73377798e+02] [ 5.71786695e-02 9.98363962e-01 1.00372292e-05 4.29333958e+00] [ 5.63542394e-03 -3.32807598e-04 9.99984065e-01 2.63043140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.059254154 meters 0.05637021325285108 Centerline is valid? [True, True] Translation: X:673.44, Y:4.30, Z:2.63 [[ 9.98467935e-01 -5.49382396e-02 -6.60094705e-03 6.73438085e+02] [ 5.49395149e-02 9.98489684e-01 1.18831183e-05 4.29755619e+00] [ 6.59032470e-03 -3.74517741e-04 9.99978213e-01 2.63074712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.119254154 meters 0.05822487972186904 Centerline is valid? [True, True] Translation: X:673.50, Y:4.29, Z:2.63 [[ 9.98721368e-01 -4.99843638e-02 -7.56263372e-03 6.73497685e+02] [ 4.99858964e-02 9.98749924e-01 1.36640162e-05 4.29370773e+00] [ 7.55249686e-03 -3.91671571e-04 9.99971403e-01 2.63052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.179254154 meters 0.05690448957884397 Centerline is valid? [True, True] Translation: X:673.56, Y:4.30, Z:2.63 [[ 9.98887171e-01 -4.66717445e-02 -6.79475665e-03 6.73558654e+02] [ 4.66729056e-02 9.98910226e-01 1.23215384e-05 4.30298824e+00] [ 6.78677683e-03 -3.29438862e-04 9.99976915e-01 2.63159153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.239254154 meters 0.05550930282391717 Centerline is valid? [True, True] Translation: X:673.62, Y:4.31, Z:2.63 [[ 9.99098488e-01 -4.21277974e-02 -5.24025904e-03 6.73619690e+02] [ 4.21284259e-02 9.99112204e-01 9.55184480e-06 4.31428855e+00] [ 5.23520436e-03 -2.30307098e-04 9.99986270e-01 2.63230359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.299254154 meters 0.055972294655345554 Centerline is valid? [True, True] Translation: X:673.68, Y:4.32, Z:2.63 [[ 9.99258210e-01 -3.80516606e-02 -5.92454907e-03 6.73679014e+02] [ 3.80523923e-02 9.99275745e-01 1.07861508e-05 4.31573857e+00] [ 5.91984776e-03 -2.36221415e-04 9.99982450e-01 2.63221949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.359254154 meters 0.05719630581213798 Centerline is valid? [True, True] Translation: X:673.74, Y:4.32, Z:2.63 [[ 9.99515180e-01 -3.02877926e-02 -7.21492434e-03 6.73738711e+02] [ 3.02886754e-02 9.99541193e-01 1.30926091e-05 4.31997304e+00] [ 7.21121753e-03 -2.31616763e-04 9.99973972e-01 2.63086703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.419254154 meters 0.05639962568322813 Centerline is valid? [True, True] Translation: X:673.80, Y:4.33, Z:2.63 [[ 9.99581487e-01 -2.78835425e-02 -7.70446376e-03 6.73800134e+02] [ 2.78844783e-02 9.99611152e-01 1.40465730e-05 4.32726739e+00] [ 7.70107623e-03 -2.28875647e-04 9.99970320e-01 2.63171100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters 0.056717748987127545 Centerline is valid? [True, True] Translation: X:673.86, Y:4.33, Z:2.63 [[ 9.99710788e-01 -2.25794018e-02 -8.27714803e-03 6.73859398e+02] [ 2.25803006e-02 9.99745032e-01 1.51298006e-05 4.33314157e+00] [ 8.27469600e-03 -2.02025915e-04 9.99965744e-01 2.63209246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.539254154 meters 0.05648034192887439 Centerline is valid? [True, True] Translation: X:673.92, Y:4.34, Z:2.63 [[ 9.99746863e-01 -2.07954437e-02 -8.58828592e-03 6.73919378e+02] [ 2.07963455e-02 9.99783733e-01 1.57054110e-05 4.33608731e+00] [ 8.58610195e-03 -1.94306397e-04 9.99963120e-01 2.63262769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters 0.05574656810593069 Centerline is valid? [True, True] Translation: X:673.98, Y:4.34, Z:2.63 [[ 9.99750870e-01 -2.05204123e-02 -8.78126720e-03 6.73980751e+02] [ 2.05213455e-02 9.99789415e-01 1.61745427e-05 4.34175393e+00] [ 8.77908608e-03 -1.96373931e-04 9.99961444e-01 2.63297381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.659254154 meters 0.055864586352458834 Centerline is valid? [True, True] Translation: X:674.04, Y:4.34, Z:2.63 [[ 9.99738939e-01 -2.11201583e-02 -8.71738239e-03 6.74040654e+02] [ 2.11211021e-02 9.99776925e-01 1.62032579e-05 4.34155298e+00] [ 8.71509554e-03 -2.00319751e-04 9.99962003e-01 2.63311393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters 0.05547688033855487 Centerline is valid? [True, True] Translation: X:674.10, Y:4.34, Z:2.63 [[ 9.99708474e-01 -2.29724069e-02 -7.43203128e-03 6.74102033e+02] [ 2.29731449e-02 9.99736082e-01 1.39290215e-05 4.34484964e+00] [ 7.42974986e-03 -1.84662092e-04 9.99972382e-01 2.63389523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.779254154 meters 0.05763973667061399 Centerline is valid? [True, True] Translation: X:674.16, Y:4.33, Z:2.63 [[ 9.99665366e-01 -2.46236600e-02 -7.92669002e-03 6.74163101e+02] [ 2.46245526e-02 9.99696770e-01 1.50246014e-05 4.33473594e+00] [ 7.92391644e-03 -2.10210769e-04 9.99968583e-01 2.63303254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters 0.05754440588384251 Centerline is valid? [True, True] Translation: X:674.22, Y:4.34, Z:2.63 [[ 9.99623134e-01 -2.62402640e-02 -8.06470773e-03 6.74223975e+02] [ 2.62412421e-02 9.99655639e-01 1.54800050e-05 4.33506203e+00] [ 8.06152436e-03 -2.27102119e-04 9.99967480e-01 2.63342283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.899254154 meters 0.05555089019835315 Centerline is valid? [True, True] Translation: X:674.28, Y:4.35, Z:2.63 [[ 9.99548165e-01 -2.88348922e-02 -8.48613379e-03 6.74284915e+02] [ 2.88360703e-02 9.99584154e-01 1.64782144e-05 4.34580453e+00] [ 8.48212971e-03 -2.61177519e-04 9.99963992e-01 2.63444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters 0.05605785399567831 Centerline is valid? [True, True] Translation: X:674.35, Y:4.34, Z:2.63 [[ 9.99538102e-01 -2.91231897e-02 -8.68461441e-03 6.74345930e+02] [ 2.91244361e-02 9.99575794e-01 1.70623232e-05 4.34321811e+00] [ 8.68043344e-03 -2.69988940e-04 9.99962288e-01 2.63336692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.019254154 meters 0.05645140099182634 Centerline is valid? [True, True] Translation: X:674.41, Y:4.35, Z:2.63 [[ 9.99638184e-01 -2.53784815e-02 -8.91261852e-03 6.74406447e+02] [ 2.53796468e-02 9.99677885e-01 1.76505927e-05 4.34965096e+00] [ 8.90929969e-03 -2.43843316e-04 9.99960282e-01 2.63336316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters 0.05581232653856058 Centerline is valid? [True, True] Translation: X:674.47, Y:4.35, Z:2.63 [[ 9.99760300e-01 -2.01939431e-02 -8.45852802e-03 6.74466754e+02] [ 2.01948075e-02 9.99796064e-01 1.67895238e-05 4.35361087e+00] [ 8.45646398e-03 -1.87603845e-04 9.99964226e-01 2.63492989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.139254154 meters 0.05596075880131671 Centerline is valid? [True, True] Translation: X:674.53, Y:4.36, Z:2.64 [[ 9.99915142e-01 -1.07816185e-02 -7.31207136e-03 6.74526049e+02] [ 1.07820128e-02 9.99941872e-01 1.45170869e-05 4.35717102e+00] [ 7.31148980e-03 -9.33547022e-05 9.99973266e-01 2.63611623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters 0.05552465728111365 Centerline is valid? [True, True] Translation: X:674.59, Y:4.36, Z:2.64 [[ 9.99961990e-01 -5.61437418e-03 -6.67059201e-03 6.74585515e+02] [ 5.61458727e-03 9.99984238e-01 1.32191861e-05 4.36100613e+00] [ 6.67041265e-03 -5.06713046e-05 9.99977751e-01 2.63721447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.259254154 meters 0.05606135186284527 Centerline is valid? [True, True] Translation: X:674.64, Y:4.36, Z:2.64 [[ 9.99977441e-01 -1.81069840e-03 -6.46837460e-03 6.74644332e+02] [ 1.81081798e-03 9.99998360e-01 1.26308166e-05 4.36200556e+00] [ 6.46834113e-03 -2.43435807e-05 9.99979080e-01 2.63656064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.319254154 meters 0.05631027633391454 Centerline is valid? [True, True] Translation: X:674.70, Y:4.36, Z:2.64 [[ 9.99964190e-01 -2.53646981e-03 -8.07375825e-03 6.74703214e+02] [ 2.53667619e-03 9.99996783e-01 1.53209935e-05 4.36055430e+00] [ 8.07369342e-03 -3.58009552e-05 9.99967407e-01 2.63558012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.379254154 meters 0.05620025315863168 Centerline is valid? [True, True] Translation: X:674.76, Y:4.36, Z:2.63 [[ 9.99909456e-01 -8.25890622e-03 -1.06240643e-02 6.74762988e+02] [ 8.25958347e-03 9.99965889e-01 1.98706178e-05 4.35524570e+00] [ 1.06235378e-02 -1.07619165e-04 9.99943563e-01 2.63418772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.439254154 meters 0.05615595245122161 Centerline is valid? [True, True] Translation: X:674.82, Y:4.35, Z:2.63 [[ 9.99805112e-01 -1.67768390e-02 -1.04055674e-02 6.74822024e+02] [ 1.67779483e-02 9.99859240e-01 1.93174033e-05 4.34617175e+00] [ 1.04037786e-02 -1.93897710e-04 9.99945860e-01 2.63396107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.499254154 meters 0.05657207993165657 Centerline is valid? [True, True] Translation: X:674.88, Y:4.34, Z:2.64 [[ 9.99644482e-01 -2.51806150e-02 -8.76618804e-03 6.74882174e+02] [ 2.51817246e-02 9.99682890e-01 1.62001350e-05 4.34042450e+00] [ 8.76300026e-03 -2.36942108e-04 9.99961576e-01 2.63585834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.559254154 meters 0.0581676580580808 Centerline is valid? [True, True] Translation: X:674.94, Y:4.33, Z:2.64 [[ 9.99539176e-01 -2.94806874e-02 -7.23352037e-03 6.74941992e+02] [ 2.94815551e-02 9.99565324e-01 1.33227210e-05 4.32889137e+00] [ 7.22998337e-03 -2.26572011e-04 9.99973838e-01 2.63640386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.619254154 meters 0.057335057473079064 Centerline is valid? [True, True] Translation: X:675.00, Y:4.33, Z:2.64 [[ 9.99374528e-01 -3.48983211e-02 -5.71488590e-03 6.75003454e+02] [ 3.48989511e-02 9.99390846e-01 1.05279530e-05 4.32657607e+00] [ 5.71103724e-03 -2.09964891e-04 9.99983670e-01 2.63787179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.679254154 meters 0.05821698080413379 Centerline is valid? [True, True] Translation: X:675.06, Y:4.32, Z:2.64 [[ 9.99170820e-01 -4.03512613e-02 -5.42666387e-03 6.75063596e+02] [ 4.03519100e-02 9.99185530e-01 1.00513771e-05 4.32254015e+00] [ 5.42183843e-03 -2.29019294e-04 9.99985275e-01 2.63883044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.739254154 meters 0.05627703094491212 Centerline is valid? [True, True] Translation: X:675.12, Y:4.33, Z:2.64 [[ 9.99020713e-01 -4.38840921e-02 -5.63929378e-03 6.75124457e+02] [ 4.38848488e-02 9.99036596e-01 1.04612388e-05 4.33150223e+00] [ 5.63340178e-03 -2.57930549e-04 9.99984099e-01 2.63965974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.799254154 meters 0.05627045512082595 Centerline is valid? [True, True] Translation: X:675.19, Y:4.33, Z:2.64 [[ 9.98907407e-01 -4.63751255e-02 -5.77411493e-03 6.75185474e+02] [ 4.63759604e-02 9.98924056e-01 1.07206951e-05 4.32926524e+00] [ 5.76740513e-03 -2.78489107e-04 9.99983330e-01 2.63936868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.859254154 meters 0.056748175848774174 Centerline is valid? [True, True] Translation: X:675.25, Y:4.33, Z:2.64 [[ 9.98962347e-01 -4.51353938e-02 -6.08479047e-03 6.75246086e+02] [ 4.51362984e-02 9.98980838e-01 1.13413808e-05 4.32727796e+00] [ 6.07807718e-03 -2.85974530e-04 9.99981487e-01 2.63916112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.919254154 meters 0.05901222969047637 Centerline is valid? [True, True] Translation: X:675.31, Y:4.32, Z:2.64 [[ 9.99222079e-01 -3.86851318e-02 -7.66147738e-03 6.75306034e+02] [ 3.86863771e-02 9.99251402e-01 1.43617044e-05 4.32085413e+00] [ 7.65518643e-03 -3.10745336e-04 9.99970650e-01 2.63735204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters 0.05598985063177722 Centerline is valid? [True, True] Translation: X:675.37, Y:4.34, Z:2.64 [[ 9.99383218e-01 -3.37738967e-02 -9.61805014e-03 6.75366377e+02] [ 3.37756327e-02 9.99429440e-01 1.80715505e-05 4.33856981e+00] [ 9.61195213e-03 -3.42916134e-04 9.99953745e-01 2.63805131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.039254154 meters 0.05625874619383881 Centerline is valid? [True, True] Translation: X:675.43, Y:4.34, Z:2.64 [[ 9.99582329e-01 -2.69949127e-02 -1.03170493e-02 6.75425850e+02] [ 2.69965497e-02 9.99635527e-01 1.94119198e-05 4.34129629e+00] [ 1.03127650e-02 -2.97928545e-04 9.99946778e-01 2.63711523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters 0.05677064692447224 Centerline is valid? [True, True] Translation: X:675.49, Y:4.35, Z:2.64 [[ 9.99689959e-01 -2.33819441e-02 -8.55988353e-03 6.75485930e+02] [ 2.33829386e-02 9.99726582e-01 1.61028872e-05 4.34516669e+00] [ 8.55716659e-03 -2.16253125e-04 9.99963363e-01 2.63884341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.159254154 meters 0.05597167426997677 Centerline is valid? [True, True] Translation: X:675.55, Y:4.35, Z:2.64 [[ 9.99760398e-01 -2.04610627e-02 -7.77761439e-03 6.75545688e+02] [ 2.04617953e-02 9.99790635e-01 1.46312793e-05 4.34816488e+00] [ 7.77568666e-03 -1.73771727e-04 9.99969754e-01 2.63974360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters 0.05525041517302652 Centerline is valid? [True, True] Translation: X:675.61, Y:4.36, Z:2.64 [[ 9.99847649e-01 -1.57531290e-02 -7.51784048e-03 6.75606659e+02] [ 1.57536807e-02 9.99875903e-01 1.41691845e-05 4.36104207e+00] [ 7.51668433e-03 -1.32600684e-04 9.99971741e-01 2.64150862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.279254154 meters 0.055717390724905606 Centerline is valid? [True, True] Translation: X:675.67, Y:4.35, Z:2.64 [[ 9.99865205e-01 -1.43013800e-02 -8.06484411e-03 6.75667492e+02] [ 1.43019682e-02 9.99897722e-01 1.52634540e-05 4.35238976e+00] [ 8.06380096e-03 -1.30604541e-04 9.99967478e-01 2.63951814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters 0.05536603352862146 Centerline is valid? [True, True] Translation: X:675.73, Y:4.36, Z:2.64 [[ 9.99888276e-01 -1.18299111e-02 -9.13724416e-03 6.75727648e+02] [ 1.18305633e-02 9.99930016e-01 1.73275802e-05 4.35897180e+00] [ 9.13639972e-03 -1.25424390e-04 9.99958254e-01 2.63981662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.399254154 meters 0.05635397406761191 Centerline is valid? [True, True] Translation: X:675.79, Y:4.36, Z:2.64 [[ 9.99889271e-01 -1.12520389e-02 -9.73844146e-03 6.75786061e+02] [ 1.12527463e-02 9.99936686e-01 1.78533226e-05 4.35958444e+00] [ 9.73762399e-03 -1.27435557e-04 9.99952580e-01 2.63978299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters 0.05495992073532207 Centerline is valid? [True, True] Translation: X:675.84, Y:4.36, Z:2.64 [[ 9.99886675e-01 -1.18392414e-02 -9.29891102e-03 6.75844947e+02] [ 1.18399024e-02 9.99929906e-01 1.60316370e-05 4.36067728e+00] [ 9.29806942e-03 -1.26128019e-04 9.99956764e-01 2.64061991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.519254154 meters 0.05607358979771545 Centerline is valid? [True, True] Translation: X:675.90, Y:4.36, Z:2.64 [[ 9.99872832e-01 -1.31390709e-02 -9.03798846e-03 6.75903974e+02] [ 1.31397433e-02 9.99913670e-01 1.50159771e-05 4.36011277e+00] [ 9.03701091e-03 -1.33770916e-04 9.99959156e-01 2.64054188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters 0.05559611350500281 Centerline is valid? [True, True] Translation: X:675.96, Y:4.36, Z:2.64 [[ 9.99821090e-01 -1.64852916e-02 -9.27488849e-03 6.75963428e+02] [ 1.64861424e-02 9.99864094e-01 1.52690161e-05 4.35772864e+00] [ 9.27337626e-03 -1.68173416e-04 9.99956987e-01 2.64017011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.639254154 meters 0.05552007166067254 Centerline is valid? [True, True] Translation: X:676.02, Y:4.36, Z:2.64 [[ 9.99748802e-01 -2.03295497e-02 -9.43627823e-03 6.76024409e+02] [ 2.03306016e-02 9.99793312e-01 1.55478752e-05 4.35967314e+00] [ 9.43401178e-03 -2.07389182e-04 9.99955477e-01 2.64085211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters 0.05655272658160279 Centerline is valid? [True, True] Translation: X:676.09, Y:4.36, Z:2.64 [[ 9.99686786e-01 -2.32401097e-02 -9.28587501e-03 6.76085167e+02] [ 2.32412552e-02 9.99729885e-01 1.54554528e-05 4.36066725e+00] [ 9.28300757e-03 -2.31266002e-04 9.99956885e-01 2.64150670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.759254154 meters 0.05622055111344445 Centerline is valid? [True, True] Translation: X:676.14, Y:4.35, Z:2.64 [[ 9.99567678e-01 -2.79778262e-02 -9.03877212e-03 6.76144505e+02] [ 2.79791056e-02 9.99608508e-01 1.50992906e-05 4.35456522e+00] [ 9.03481107e-03 -2.67989522e-04 9.99959149e-01 2.64080692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.819254154 meters 0.05533969233562628 Centerline is valid? [True, True] Translation: X:676.21, Y:4.36, Z:2.64 [[ 9.99513847e-01 -3.00765195e-02 -8.21411896e-03 6.76205526e+02] [ 3.00776475e-02 9.99547565e-01 1.38001900e-05 4.36271795e+00] [ 8.20998754e-03 -2.60854856e-04 9.99966263e-01 2.64219181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.879254154 meters 0.05616135923379193 Centerline is valid? [True, True] Translation: X:676.27, Y:4.36, Z:2.64 [[ 9.99573736e-01 -2.79386577e-02 -8.47215855e-03 6.76266076e+02] [ 2.79397825e-02 9.99609608e-01 1.44063403e-05 4.36055170e+00] [ 8.46844859e-03 -2.51110466e-04 9.99964110e-01 2.64144463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.939254154 meters 0.056286299099173404 Centerline is valid? [True, True] Translation: X:676.33, Y:4.36, Z:2.64 [[ 9.99716085e-01 -2.22142832e-02 -8.61827459e-03 6.76325288e+02] [ 2.22152348e-02 9.99753211e-01 1.46830203e-05 4.36405703e+00] [ 8.61582152e-03 -2.06135845e-04 9.99962862e-01 2.64176370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.999254154 meters 0.05553731316146714 Centerline is valid? [True, True] Translation: X:676.39, Y:4.37, Z:2.64 [[ 9.99798741e-01 -1.85336227e-02 -7.68003834e-03 6.76385718e+02] [ 1.85342698e-02 9.99828226e-01 1.30867387e-05 4.37313765e+00] [ 7.67847656e-03 -1.55428007e-04 9.99970508e-01 2.64324558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.059254154 meters 0.055938401124555684 Centerline is valid? [True, True] Translation: X:676.45, Y:4.37, Z:2.64 [[ 9.99848209e-01 -1.58282061e-02 -7.28201076e-03 6.76446320e+02] [ 1.58287168e-02 9.99874718e-01 1.24951871e-05 4.37016034e+00] [ 7.28090068e-03 -1.27758176e-04 9.99973486e-01 2.64258628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.119254154 meters 0.0551124177667938 Centerline is valid? [True, True] Translation: X:676.51, Y:4.37, Z:2.64 [[ 9.99829030e-01 -1.64680956e-02 -8.40906411e-03 6.76507262e+02] [ 1.64688004e-02 9.99864380e-01 1.45764541e-05 4.37482672e+00] [ 8.40768362e-03 -1.53061161e-04 9.99964643e-01 2.64202971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.179254154 meters 0.05510063857406254 Centerline is valid? [True, True] Translation: X:676.57, Y:4.38, Z:2.64 [[ 9.99796573e-01 -1.78593832e-02 -9.37315888e-03 6.76567886e+02] [ 1.78603212e-02 9.99840492e-01 1.63622385e-05 4.37644604e+00] [ 9.37137157e-03 -1.83766538e-04 9.99956071e-01 2.64182400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.239254154 meters 0.0553437840547923 Centerline is valid? [True, True] Translation: X:676.63, Y:4.38, Z:2.64 [[ 9.99749995e-01 -2.00961731e-02 -9.80257973e-03 6.76628970e+02] [ 2.00973077e-02 9.99798029e-01 1.72437434e-05 4.37971175e+00] [ 9.80025336e-03 -2.14244893e-04 9.99951953e-01 2.64311823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.299254154 meters 0.05657304355187422 Centerline is valid? [True, True] Translation: X:676.69, Y:4.38, Z:2.64 [[ 9.99691849e-01 -2.33710687e-02 -8.36659318e-03 6.76689355e+02] [ 2.33720106e-02 9.99726837e-01 1.48107160e-05 4.37572401e+00] [ 8.36396159e-03 -2.10350256e-04 9.99964999e-01 2.64387731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.359254154 meters 0.05763408680268656 Centerline is valid? [True, True] Translation: X:676.75, Y:4.37, Z:2.64 [[ 9.99643792e-01 -2.57374153e-02 -7.06218949e-03 6.76749050e+02] [ 2.57381456e-02 9.99668719e-01 1.25291507e-05 4.36689207e+00] [ 7.05952746e-03 -1.94292349e-04 9.99975062e-01 2.64446259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.419254154 meters 0.0562571874917657 Centerline is valid? [True, True] Translation: X:676.81, Y:4.37, Z:2.65 [[ 9.99558429e-01 -2.92763055e-02 -5.08380871e-03 6.76809405e+02] [ 2.92767298e-02 9.99571345e-01 9.02981813e-06 4.37230813e+00] [ 5.08136515e-03 -1.57863125e-04 9.99987077e-01 2.64645106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters 0.05639235919031702 Centerline is valid? [True, True] Translation: X:676.87, Y:4.37, Z:2.65 [[ 9.99388634e-01 -3.46217443e-02 -4.86762286e-03 6.76870059e+02] [ 3.46221967e-02 9.99400472e-01 8.68561245e-06 4.37180495e+00] [ 4.86440387e-03 -1.77208098e-04 9.99988153e-01 2.64621302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.539254154 meters 0.05605744359003204 Centerline is valid? [True, True] Translation: X:676.93, Y:4.37, Z:2.65 [[ 9.99212805e-01 -3.93378031e-02 -5.12901020e-03 6.76930912e+02] [ 3.93383676e-02 9.99225947e-01 9.19236752e-06 4.37222240e+00] [ 5.12467847e-03 -2.10952020e-04 9.99986846e-01 2.64689687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters 0.05522487924220447 Centerline is valid? [True, True] Translation: X:676.99, Y:4.37, Z:2.65 [[ 9.98935947e-01 -4.58345904e-02 -5.11503838e-03 6.76991243e+02] [ 4.58352372e-02 9.98949013e-01 9.22933340e-06 4.37475918e+00] [ 5.10923952e-03 -2.43668510e-04 9.99986918e-01 2.64767980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.659254154 meters 0.056151003126472525 Centerline is valid? [True, True] Translation: X:677.05, Y:4.37, Z:2.65 [[ 9.98807095e-01 -4.85004557e-02 -5.66500162e-03 6.77050578e+02] [ 4.85012918e-02 9.98823120e-01 1.02123316e-05 4.36906435e+00] [ 5.65783929e-03 -2.84960046e-04 9.99983954e-01 2.64720741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters 0.05450606874480443 Centerline is valid? [True, True] Translation: X:677.11, Y:4.38, Z:2.65 [[ 9.98810029e-01 -4.84055223e-02 -5.95238349e-03 6.77112881e+02] [ 4.84064440e-02 9.98827721e-01 1.07902922e-05 4.38477186e+00] [ 5.94488333e-03 -2.98911170e-04 9.99982284e-01 2.64745036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.779254154 meters 0.05451900628254773 Centerline is valid? [True, True] Translation: X:677.17, Y:4.38, Z:2.65 [[ 9.99091475e-01 -4.20246028e-02 -7.08225824e-03 6.77172398e+02] [ 4.20257488e-02 9.99116528e-01 1.30109782e-05 4.38481577e+00] [ 7.07545448e-03 -3.10636363e-04 9.99974920e-01 2.64732500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters 0.057704675116208914 Centerline is valid? [True, True] Translation: X:677.23, Y:4.37, Z:2.65 [[ 9.99324204e-01 -3.58751286e-02 -8.00692717e-03 6.77232110e+02] [ 3.58763958e-02 9.99356235e-01 1.46452513e-05 4.37166173e+00] [ 8.00124719e-03 -3.01895042e-04 9.99967944e-01 2.64594359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.899254154 meters 0.056730034071892296 Centerline is valid? [True, True] Translation: X:677.29, Y:4.38, Z:2.65 [[ 9.99531781e-01 -2.96187329e-02 -7.67785399e-03 6.77292391e+02] [ 2.96197137e-02 9.99561240e-01 1.40366196e-05 4.37720720e+00] [ 7.67406951e-03 -2.41445884e-04 9.99970525e-01 2.64685954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters 0.05610482531570192 Centerline is valid? [True, True] Translation: X:677.35, Y:4.39, Z:2.65 [[ 9.99748198e-01 -2.15808377e-02 -6.14882912e-03 6.77353430e+02] [ 2.15813149e-02 9.99767096e-01 1.12530245e-05 4.38632008e+00] [ 6.14715419e-03 -1.43950009e-04 9.99981096e-01 2.64880651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.019254154 meters 0.055652927669998783 Centerline is valid? [True, True] Translation: X:677.41, Y:4.39, Z:2.65 [[ 9.99890840e-01 -1.39285239e-02 -4.93004248e-03 6.77412719e+02] [ 1.39287376e-02 9.99902990e-01 9.01280222e-06 4.38867029e+00] [ 4.92943868e-03 -7.76810863e-05 9.99987847e-01 2.64962267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters 0.055048712366902744 Centerline is valid? [True, True] Translation: X:677.47, Y:4.39, Z:2.65 [[ 9.99943805e-01 -9.36214387e-03 -4.97366014e-03 6.77472967e+02] [ 9.36230473e-03 9.99956173e-01 9.06005729e-06 4.39382800e+00] [ 4.97335734e-03 -5.56244701e-05 9.99987631e-01 2.64961820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.139254154 meters 0.05576876278013197 Centerline is valid? [True, True] Translation: X:677.53, Y:4.40, Z:2.65 [[ 9.99974185e-01 -3.75457218e-03 -6.12638031e-03 6.77533205e+02] [ 3.75471101e-03 9.99992951e-01 1.11598611e-05 4.39782226e+00] [ 6.12629523e-03 -3.41623607e-05 9.99981233e-01 2.64853278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters 0.05575631659133398 Centerline is valid? [True, True] Translation: X:677.59, Y:4.40, Z:2.65 [[ 9.99975183e-01 -2.08433203e-03 -6.72974258e-03 6.77592279e+02] [ 2.08445956e-03 9.99997827e-01 1.19360292e-05 4.39995810e+00] [ 6.72970308e-03 -2.59636093e-05 9.99977355e-01 2.64892096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.259254154 meters 0.05586978632958442 Centerline is valid? [True, True] Translation: X:677.65, Y:4.40, Z:2.65 [[ 9.99972118e-01 -1.55158590e-03 -7.30448514e-03 6.77649926e+02] [ 1.55171683e-03 9.99998796e-01 1.22575317e-05 4.39861372e+00] [ 7.30445733e-03 -2.35916825e-05 9.99973322e-01 2.64865827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.319254154 meters 0.0555000808364225 Centerline is valid? [True, True] Translation: X:677.71, Y:4.39, Z:2.65 [[ 9.99972688e-01 -3.08574539e-03 -6.71571220e-03 6.77708189e+02] [ 3.08588862e-03 9.99995239e-01 1.09657718e-05 4.39356224e+00] [ 6.71564638e-03 -3.16894122e-05 9.99977449e-01 2.64855982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.379254154 meters 0.05565987159406407 Centerline is valid? [True, True] Translation: X:677.77, Y:4.39, Z:2.65 [[ 9.99968005e-01 -5.27822006e-03 -6.01073162e-03 6.77767285e+02] [ 5.27837336e-03 9.99986069e-01 9.64124619e-06 4.38957698e+00] [ 6.01059700e-03 -4.13678234e-05 9.99981935e-01 2.64838883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.439254154 meters 0.05579270998776319 Centerline is valid? [True, True] Translation: X:677.83, Y:4.38, Z:2.65 [[ 9.99948078e-01 -8.24376525e-03 -5.99006566e-03 6.77827118e+02] [ 8.24396979e-03 9.99966018e-01 9.45565825e-06 4.38460646e+00] [ 5.98978415e-03 -5.88370876e-05 9.99982059e-01 2.64910849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.499254154 meters 0.05557074210947596 Centerline is valid? [True, True] Translation: X:677.89, Y:4.38, Z:2.65 [[ 9.99924029e-01 -1.09807100e-02 -5.60005566e-03 6.77886713e+02] [ 1.09809313e-02 9.99939708e-01 8.77098546e-06 4.37645390e+00] [ 5.59962171e-03 -7.02641455e-05 9.99984320e-01 2.64887640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.559254154 meters 0.05659680959354529 Centerline is valid? [True, True] Translation: X:677.95, Y:4.37, Z:2.65 [[ 9.99890112e-01 -1.37471542e-02 -5.54787592e-03 6.77947432e+02] [ 1.37474138e-02 9.99905500e-01 8.65969114e-06 4.37174176e+00] [ 5.54723259e-03 -8.49276856e-05 9.99984610e-01 2.64932272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.619254154 meters 0.05659702927650312 Centerline is valid? [True, True] Translation: X:678.01, Y:4.37, Z:2.65 [[ 9.99807192e-01 -1.86975038e-02 -5.99856519e-03 6.78008615e+02] [ 1.86978964e-02 9.99825179e-01 9.37884304e-06 4.36508757e+00] [ 5.99734116e-03 -1.21537585e-04 9.99982008e-01 2.64894970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.679254154 meters 0.05657262252404184 Centerline is valid? [True, True] Translation: X:678.07, Y:4.36, Z:2.65 [[ 9.99774492e-01 -2.02262922e-02 -6.47004822e-03 6.78070859e+02] [ 2.02267819e-02 9.99795418e-01 1.02467525e-05 4.36057067e+00] [ 6.46851731e-03 -1.41112696e-04 9.99979069e-01 2.64776010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.739254154 meters 0.056352631573008696 Centerline is valid? [True, True] Translation: X:678.13, Y:4.35, Z:2.65 [[ 9.99790375e-01 -1.92877075e-02 -6.86954275e-03 6.78132132e+02] [ 1.92882390e-02 9.99813965e-01 1.11107702e-05 4.35417288e+00] [ 6.86805047e-03 -1.43609823e-04 9.99976404e-01 2.64721444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.799254154 meters 0.056977204496537946 Centerline is valid? [True, True] Translation: X:678.19, Y:4.35, Z:2.65 [[ 9.99819682e-01 -1.80983523e-02 -5.74922040e-03 6.78193938e+02] [ 1.80987054e-02 9.99836205e-01 9.38347259e-06 4.35282691e+00] [ 5.74810888e-03 -1.13435227e-04 9.99983473e-01 2.64831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters 0.05660197420846808 Centerline is valid? [True, True] Translation: X:678.26, Y:4.35, Z:2.65 [[ 9.99833937e-01 -1.70507957e-02 -6.43187793e-03 6.78255042e+02] [ 1.70512162e-02 9.99854617e-01 1.05543223e-05 4.35042474e+00] [ 6.43076289e-03 -1.20223911e-04 9.99979315e-01 2.64837642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.919254154 meters 0.05657850588179105 Centerline is valid? [True, True] Translation: X:678.32, Y:4.35, Z:2.65 [[ 9.99809029e-01 -1.84657492e-02 -6.39699212e-03 6.78316540e+02] [ 1.84661949e-02 9.99829485e-01 1.06150058e-05 4.35020010e+00] [ 6.39570533e-03 -1.28741082e-04 9.99979539e-01 2.64836013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters 0.057344669432163355 Centerline is valid? [True, True] Translation: X:678.38, Y:4.34, Z:2.65 [[ 9.99703690e-01 -2.31453420e-02 -7.53830689e-03 6.78376360e+02] [ 2.31460951e-02 9.99732093e-01 1.26595523e-05 4.33943502e+00] [ 7.53599432e-03 -1.87138169e-04 9.99971586e-01 2.64644816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.039254154 meters 0.056427382999105755 Centerline is valid? [True, True] Translation: X:678.44, Y:4.34, Z:2.65 [[ 9.99550970e-01 -2.88032273e-02 -8.26026307e-03 6.78437463e+02] [ 2.88043254e-02 9.99585069e-01 1.39725666e-05 4.34244436e+00] [ 8.25643317e-03 -2.51897598e-04 9.99965883e-01 2.64684035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters 0.05585569424964637 Centerline is valid? [True, True] Translation: X:678.50, Y:4.35, Z:2.65 [[ 9.99460105e-01 -3.18305035e-02 -8.14352195e-03 6.78498400e+02] [ 3.18316718e-02 9.99493244e-01 1.38558521e-05 4.34567275e+00] [ 8.13895413e-03 -2.73070289e-04 9.99966841e-01 2.64767952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.159254154 meters 0.05724249553718224 Centerline is valid? [True, True] Translation: X:678.56, Y:4.34, Z:2.65 [[ 9.99418760e-01 -3.29973654e-02 -8.56248220e-03 6.78559223e+02] [ 3.29987023e-02 9.99455394e-01 1.48709172e-05 4.33958986e+00] [ 8.55732832e-03 -2.97413075e-04 9.99963341e-01 2.64866652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters 0.056020202331349744 Centerline is valid? [True, True] Translation: X:678.62, Y:4.34, Z:2.65 [[ 9.99450865e-01 -3.22444440e-02 -7.63309698e-03 6.78621039e+02] [ 3.22454870e-02 9.99479979e-01 1.35809802e-05 4.34300694e+00] [ 7.62868969e-03 -2.59706452e-04 9.99970867e-01 2.64975185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.279254154 meters 0.05655391206460153 Centerline is valid? [True, True] Translation: X:678.68, Y:4.34, Z:2.65 [[ 9.99643884e-01 -2.59879204e-02 -6.06081051e-03 6.78680935e+02] [ 2.59884638e-02 9.99662243e-01 1.08964277e-05 4.34024216e+00] [ 6.05848025e-03 -1.68403702e-04 9.99981633e-01 2.65026763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters 0.055773538014212 Centerline is valid? [True, True] Translation: X:678.74, Y:4.35, Z:2.65 [[ 9.99863456e-01 -1.60179770e-02 -4.06132324e-03 6.78741706e+02] [ 1.60181388e-02 9.99871701e-01 7.31527327e-06 4.34795008e+00] [ 4.06068500e-03 -7.23691138e-05 9.99991753e-01 2.65274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.399254154 meters 0.056125241141260364 Centerline is valid? [True, True] Translation: X:678.80, Y:4.35, Z:2.65 [[ 9.99938508e-01 -1.01755524e-02 -4.40896453e-03 6.78801775e+02] [ 1.01756863e-02 9.99948226e-01 7.95357539e-06 4.34877904e+00] [ 4.40865533e-03 -5.28173264e-05 9.99990280e-01 2.65273173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters 0.05593334614953646 Centerline is valid? [True, True] Translation: X:678.86, Y:4.35, Z:2.65 [[ 9.99953281e-01 -7.30489249e-03 -6.33050481e-03 6.78863442e+02] [ 7.30511156e-03 9.99973317e-01 1.14835682e-05 4.35442621e+00] [ 6.33025201e-03 -5.77280756e-05 9.99979962e-01 2.65164602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.519254154 meters 0.055958172696116915 Centerline is valid? [True, True] Translation: X:678.92, Y:4.35, Z:2.65 [[ 9.99901598e-01 -1.10347824e-02 -8.66182937e-03 6.78923351e+02] [ 1.10353316e-02 9.99939109e-01 1.56083000e-05 4.35087991e+00] [ 8.66112971e-03 -1.11192923e-04 9.99962486e-01 2.65028661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters 0.05537124575442353 Centerline is valid? [True, True] Translation: X:678.98, Y:4.35, Z:2.65 [[ 9.99838851e-01 -1.55850482e-02 -8.90945502e-03 6.78983263e+02] [ 1.55858079e-02 9.99878534e-01 1.58471681e-05 4.34899696e+00] [ 8.90812584e-03 -1.54705669e-04 9.99960310e-01 2.65034345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.639254154 meters 0.05743690054807861 Centerline is valid? [True, True] Translation: X:679.04, Y:4.34, Z:2.65 [[ 9.99698089e-01 -2.28421433e-02 -9.05354178e-03 6.79042557e+02] [ 2.28432252e-02 9.99739059e-01 1.60953604e-05 4.33632972e+00] [ 9.05081169e-03 -2.22902595e-04 9.99959016e-01 2.64950370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters 0.0562883630518802 Centerline is valid? [True, True] Translation: X:679.10, Y:4.34, Z:2.65 [[ 9.99560146e-01 -2.85200568e-02 -8.13150188e-03 6.79102718e+02] [ 2.85211174e-02 9.99593190e-01 1.44798232e-05 4.34076753e+00] [ 8.12778094e-03 -2.46392974e-04 9.99966939e-01 2.65176399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.759254154 meters 0.06276043760944963 Centerline is valid? [True, True] Translation: X:679.16, Y:4.31, Z:2.65 [[ 9.99278797e-01 -3.70048950e-02 -8.51607562e-03 6.79162008e+02] [ 3.70063667e-02 9.99315030e-01 1.52512609e-05 4.31218782e+00] [ 8.50967799e-03 -3.30389279e-04 9.99963737e-01 2.64963358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.819254154 meters 0.054072925966707444 Centerline is valid? [True, True] Translation: X:679.22, Y:4.34, Z:2.65 [[ 9.98896712e-01 -4.64697702e-02 -6.77642955e-03 6.79222945e+02] [ 4.64709199e-02 9.98919643e-01 1.22217288e-05 4.33932842e+00] [ 6.76854065e-03 -3.27115160e-04 9.99977040e-01 2.65347552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.879254154 meters 0.05660863818088267 Centerline is valid? [True, True] Translation: X:679.28, Y:4.33, Z:2.65 [[ 9.98626450e-01 -5.19619827e-02 -6.72059106e-03 6.79282590e+02] [ 5.19632380e-02 9.98648998e-01 1.21792532e-05 4.32535689e+00] [ 6.71087867e-03 -3.61386197e-04 9.99977416e-01 2.65343750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.939254154 meters 0.056759802974720164 Centerline is valid? [True, True] Translation: X:679.34, Y:4.32, Z:2.65 [[ 9.98229638e-01 -5.90991051e-02 -6.69970852e-03 6.79342952e+02] [ 5.91005129e-02 9.98252037e-01 1.21678416e-05 4.32178048e+00] [ 6.68727857e-03 -4.08102510e-04 9.99977557e-01 2.65383779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.999254154 meters 0.05424665747754528 Centerline is valid? [True, True] Translation: X:679.40, Y:4.34, Z:2.66 [[ 9.98047723e-01 -6.19904924e-02 -7.61057731e-03 6.79403602e+02] [ 6.19923932e-02 9.98076622e-01 1.38854665e-05 4.34315339e+00] [ 7.59507853e-03 -4.85656260e-04 9.99971039e-01 2.65574323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.059254154 meters 0.05578477812276886 Centerline is valid? [True, True] Translation: X:679.46, Y:4.33, Z:2.66 [[ 9.98016917e-01 -6.24011181e-02 -8.26641245e-03 6.79464780e+02] [ 6.24033793e-02 9.98051010e-01 1.56416742e-05 4.33351633e+00] [ 8.24932524e-03 -5.31462727e-04 9.99965832e-01 2.65502546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.119254154 meters 0.05645096125677954 Centerline is valid? [True, True] Translation: X:679.52, Y:4.33, Z:2.65 [[ 9.98089941e-01 -6.11690523e-02 -8.64968246e-03 6.79524670e+02] [ 6.11714860e-02 9.98127271e-01 1.68373226e-05 4.32970105e+00] [ 8.63245402e-03 -5.45919092e-04 9.99962591e-01 2.65489606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.179254154 meters 0.0548505708466312 Centerline is valid? [True, True] Translation: X:679.59, Y:4.34, Z:2.66 [[ 9.98283349e-01 -5.77148240e-02 -9.96762782e-03 6.79585365e+02] [ 5.77178853e-02 9.98332933e-01 1.94943200e-05 4.33802086e+00] [ 9.94988601e-03 -5.94771255e-04 9.99950322e-01 2.65518653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.239254154 meters 0.05599182471658744 Centerline is valid? [True, True] Translation: X:679.65, Y:4.34, Z:2.65 [[ 9.98479370e-01 -5.39745438e-02 -1.12114579e-02 6.79646574e+02] [ 5.39781838e-02 9.98542115e-01 2.21057530e-05 4.33884882e+00] [ 1.11939198e-02 -6.27246275e-04 9.99937149e-01 2.65469682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.299254154 meters 0.055364890442299225 Centerline is valid? [True, True] Translation: X:679.71, Y:4.35, Z:2.66 [[ 9.98837965e-01 -4.67809978e-02 -1.15870030e-02 6.79705689e+02] [ 4.67844037e-02 9.98905010e-01 2.29064007e-05 4.34646215e+00] [ 1.15732438e-02 -5.64970809e-04 9.99932868e-01 2.65518144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters 0.05561462948156009 Centerline is valid? [True, True] Translation: X:679.77, Y:4.35, Z:2.66 [[ 9.99093495e-01 -4.09178899e-02 -1.17437367e-02 6.79765299e+02] [ 4.09209842e-02 9.99162385e-01 2.32131487e-05 4.34705269e+00] [ 1.17329501e-02 -5.03757369e-04 9.99931040e-01 2.65541554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.419254154 meters 0.057278767906330505 Centerline is valid? [True, True] Translation: X:679.82, Y:4.35, Z:2.66 [[ 9.99459706e-01 -3.12966188e-02 -1.00408360e-02 6.79824544e+02] [ 3.12983953e-02 9.99510085e-01 1.97990503e-05 4.34960996e+00] [ 1.00352973e-02 -3.34050408e-04 9.99949589e-01 2.65666548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters 0.05663200994881684 Centerline is valid? [True, True] Translation: X:679.89, Y:4.36, Z:2.66 [[ 9.99667708e-01 -2.44429884e-02 -8.18617239e-03 6.79885113e+02] [ 2.44439395e-02 9.99701202e-01 1.61363283e-05 4.35585065e+00] [ 8.18333196e-03 -2.16233269e-04 9.99966493e-01 2.65828620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.539254154 meters 0.05513612297865962 Centerline is valid? [True, True] Translation: X:679.95, Y:4.37, Z:2.66 [[ 9.99877662e-01 -1.41516126e-02 -6.66286416e-03 6.79946116e+02] [ 1.41520144e-02 9.99899855e-01 1.31548148e-05 4.37013403e+00] [ 6.66201075e-03 -1.07446155e-04 9.99977803e-01 2.65953133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters 0.05579299739525508 Centerline is valid? [True, True] Translation: X:680.01, Y:4.38, Z:2.66 [[ 9.99969824e-01 -4.68299407e-03 -6.19849218e-03 6.80006341e+02] [ 4.68316003e-03 9.99989034e-01 1.22607558e-05 4.37918686e+00] [ 6.19836679e-03 -4.12889167e-05 9.99980789e-01 2.65861499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.659254154 meters 0.0556387980151115 Centerline is valid? [True, True] Translation: X:680.07, Y:4.38, Z:2.66 [[ 9.99978465e-01 -6.22629338e-04 -6.53316188e-03 6.80065010e+02] [ 6.22725381e-04 9.99999806e-01 1.26664282e-05 4.38389561e+00] [ 6.53315272e-03 -1.67345212e-05 9.99978659e-01 2.65856131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters 0.05538755189136594 Centerline is valid? [True, True] Translation: X:680.12, Y:4.39, Z:2.66 [[ 9.99973121e-01 1.22969942e-03 -7.22808979e-03 6.80123399e+02] [-1.22963663e-03 9.99999244e-01 1.31302088e-05 4.38706818e+00] [ 7.22810047e-03 -4.24193189e-06 9.99973877e-01 2.65786195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.779254154 meters 0.05499604004565994 Centerline is valid? [True, True] Translation: X:680.18, Y:4.39, Z:2.66 [[ 9.99969623e-01 -2.91901032e-04 -7.78892832e-03 6.80181841e+02] [ 2.92015049e-04 9.99999957e-01 1.35009087e-05 4.38668068e+00] [ 7.78892404e-03 -1.57749829e-05 9.99969666e-01 2.65710286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters 0.0548395079261217 Centerline is valid? [True, True] Translation: X:680.24, Y:4.38, Z:2.66 [[ 9.99966039e-01 -4.65561669e-03 -6.80051595e-03 6.80241042e+02] [ 4.65580330e-03 9.99989162e-01 1.16096231e-05 4.38486213e+00] [ 6.80038819e-03 -4.32710934e-05 9.99976876e-01 2.65707125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.899254154 meters 0.054995358494435376 Centerline is valid? [True, True] Translation: X:680.30, Y:4.38, Z:2.66 [[ 9.99926985e-01 -9.25322008e-03 -7.77197242e-03 6.80299729e+02] [ 9.25360106e-03 9.99957184e-01 1.30612505e-05 4.38248401e+00] [ 7.77151880e-03 -8.49790290e-05 9.99969798e-01 2.65785477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters 0.05570233545860049 Centerline is valid? [True, True] Translation: X:680.36, Y:4.38, Z:2.66 [[ 9.99888321e-01 -1.27128997e-02 -7.85669563e-03 6.80358606e+02] [ 1.27133948e-02 9.99919181e-01 1.30743044e-05 4.37697900e+00] [ 7.85589445e-03 -1.12958118e-04 9.99969136e-01 2.65740759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.019254154 meters 0.05484092793818369 Centerline is valid? [True, True] Translation: X:680.42, Y:4.38, Z:2.66 [[ 9.99811333e-01 -1.81739472e-02 -6.85614763e-03 6.80419226e+02] [ 1.81744527e-02 9.99834831e-01 1.14245247e-05 4.37505916e+00] [ 6.85480757e-03 -1.36029100e-04 9.99976496e-01 2.65816096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters 0.05448798711104201 Centerline is valid? [True, True] Translation: X:680.48, Y:4.38, Z:2.66 [[ 9.99757288e-01 -2.11172323e-02 -6.27908322e-03 6.80480614e+02] [ 2.11177149e-02 9.99776996e-01 1.05530455e-05 4.37609118e+00] [ 6.27746011e-03 -1.43150373e-04 9.99980286e-01 2.65847905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.139254154 meters 0.05473142664722206 Centerline is valid? [True, True] Translation: X:680.54, Y:4.37, Z:2.66 [[ 9.99746203e-01 -2.17792260e-02 -5.76146058e-03 6.80541776e+02] [ 2.17796438e-02 9.99762795e-01 9.78652994e-06 4.37109348e+00] [ 5.75988079e-03 -1.35266606e-04 9.99983403e-01 2.65766828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters 0.05519766264602327 Centerline is valid? [True, True] Translation: X:680.60, Y:4.37, Z:2.66 [[ 9.99791393e-01 -1.94644226e-02 -6.18929405e-03 6.80601800e+02] [ 1.94648613e-02 9.99810542e-01 1.06349677e-05 4.36963367e+00] [ 6.18791443e-03 -1.31106499e-04 9.99980846e-01 2.65748759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.259254154 meters 0.05534812852905624 Centerline is valid? [True, True] Translation: X:680.66, Y:4.37, Z:2.66 [[ 9.99887820e-01 -1.33177151e-02 -6.85469252e-03 6.80661270e+02] [ 1.33181089e-02 9.99911310e-01 1.18014861e-05 4.37182805e+00] [ 6.85392741e-03 -1.03091704e-04 9.99976506e-01 2.65668111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.319254154 meters 0.054989024928566714 Centerline is valid? [True, True] Translation: X:680.72, Y:4.38, Z:2.66 [[ 9.99934724e-01 -9.41912352e-03 -6.46747043e-03 6.80721712e+02] [ 9.41939257e-03 9.99955636e-01 1.11406198e-05 4.37720312e+00] [ 6.46707857e-03 -7.20595355e-05 9.99979086e-01 2.65729390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.379254154 meters 0.05478651616162373 Centerline is valid? [True, True] Translation: X:680.78, Y:4.38, Z:2.66 [[ 9.99951145e-01 -5.65186651e-03 -8.10955179e-03 6.80780958e+02] [ 5.65216571e-03 9.99984026e-01 1.39756938e-05 4.37939636e+00] [ 8.10934326e-03 -5.98115415e-05 9.99967117e-01 2.65657865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.439254154 meters 0.05469122151778156 Centerline is valid? [True, True] Translation: X:680.84, Y:4.38, Z:2.66 [[ 9.99943183e-01 -5.73204885e-03 -8.98750463e-03 6.80839907e+02] [ 5.73241444e-03 9.99983569e-01 1.49178558e-05 4.38013823e+00] [ 8.98727145e-03 -6.64371095e-05 9.99959611e-01 2.65592225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.499254154 meters 0.05467295495016666 Centerline is valid? [True, True] Translation: X:680.90, Y:4.38, Z:2.65 [[ 9.99907564e-01 -9.08043247e-03 -1.01197781e-02 6.80899234e+02] [ 9.08106115e-03 9.99958766e-01 1.61745034e-05 4.37848612e+00] [ 1.01192140e-02 -1.08071332e-04 9.99948794e-01 2.65440022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.559254154 meters 0.05428303570271174 Centerline is valid? [True, True] Translation: X:680.96, Y:4.38, Z:2.66 [[ 9.99832628e-01 -1.47644597e-02 -1.08040235e-02 6.80959492e+02] [ 1.47655063e-02 9.99890984e-01 1.71079647e-05 4.37672986e+00] [ 1.08025931e-02 -1.76631978e-04 9.99941635e-01 2.65577772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.619254154 meters 0.05479898540073018 Centerline is valid? [True, True] Translation: X:681.02, Y:4.38, Z:2.66 [[ 9.99765330e-01 -1.92851169e-02 -9.86757938e-03 6.81019714e+02] [ 1.92862092e-02 9.99814004e-01 1.55470677e-05 4.37645574e+00] [ 9.86544422e-03 -2.05851619e-04 9.99951314e-01 2.65674997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.679254154 meters 0.05489368715345266 Centerline is valid? [True, True] Translation: X:681.08, Y:4.37, Z:2.66 [[ 9.99638475e-01 -2.54468028e-02 -8.68208935e-03 6.81078736e+02] [ 2.54478798e-02 9.99676150e-01 1.35800995e-05 4.36726752e+00] [ 8.67893209e-03 -2.34515956e-04 9.99962310e-01 2.65676238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.739254154 meters 0.0557157801112859 Centerline is valid? [True, True] Translation: X:681.14, Y:4.37, Z:2.66 [[ 9.99505384e-01 -3.08916939e-02 -5.88987988e-03 6.81139341e+02] [ 3.08922838e-02 9.99522719e-01 9.17971074e-06 4.36861322e+00] [ 5.88678518e-03 -1.91127011e-04 9.99982654e-01 2.65882823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.799254154 meters 0.05640534656024371 Centerline is valid? [True, True] Translation: X:681.20, Y:4.37, Z:2.66 [[ 9.99433638e-01 -3.32574024e-02 -5.13302532e-03 6.81199877e+02] [ 3.32578816e-02 9.99446804e-01 8.02155123e-06 4.36577737e+00] [ 5.12991897e-03 -1.78730557e-04 9.99986826e-01 2.65928609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters 0.055548969714513376 Centerline is valid? [True, True] Translation: X:681.26, Y:4.37, Z:2.66 [[ 9.99339777e-01 -3.61075790e-02 -4.03153222e-03 6.81260079e+02] [ 3.61078979e-02 9.99347897e-01 6.32403984e-06 4.37097651e+00] [ 4.02867490e-03 -1.51890018e-04 9.99991873e-01 2.66038770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.919254154 meters 0.0550096902075495 Centerline is valid? [True, True] Translation: X:681.32, Y:4.37, Z:2.66 [[ 9.99309025e-01 -3.69709758e-02 -3.82359139e-03 6.81321941e+02] [ 3.69712690e-02 9.99316329e-01 6.00339632e-06 4.37397341e+00] [ 3.82075536e-03 -1.47362274e-04 9.99992690e-01 2.66016565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters 0.05450732204585641 Centerline is valid? [True, True] Translation: X:681.38, Y:4.37, Z:2.66 [[ 9.99306162e-01 -3.69997246e-02 -4.26785225e-03 6.81384337e+02] [ 3.70000907e-02 9.99315262e-01 6.84717409e-06 4.37430821e+00] [ 4.26467654e-03 -1.64753344e-04 9.99990893e-01 2.65929296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.039254154 meters 0.05639407464856427 Centerline is valid? [True, True] Translation: X:681.44, Y:4.37, Z:2.66 [[ 9.99376617e-01 -3.49762282e-02 -4.80006402e-03 6.81444310e+02] [ 3.49766687e-02 9.99388129e-01 7.83635157e-06 4.36933359e+00] [ 4.79685292e-03 -1.75721716e-04 9.99988480e-01 2.65900096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters 0.05469532833647679 Centerline is valid? [True, True] Translation: X:681.50, Y:4.39, Z:2.66 [[ 9.99617946e-01 -2.72587657e-02 -4.57394962e-03 6.81504471e+02] [ 2.72590850e-02 9.99628402e-01 7.46698709e-06 4.38568370e+00] [ 4.57204641e-03 -1.32145816e-04 9.99989539e-01 2.65877367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.159254154 meters 0.053935793900141346 Centerline is valid? [True, True] Translation: X:681.56, Y:4.39, Z:2.66 [[ 9.99858576e-01 -1.59895692e-02 -5.21161170e-03 6.81563874e+02] [ 1.59898306e-02 9.99872154e-01 8.50663148e-06 4.39334962e+00] [ 5.21080940e-03 -9.18382169e-05 9.99986419e-01 2.65849196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters 0.05381992787416668 Centerline is valid? [True, True] Translation: X:681.62, Y:4.40, Z:2.66 [[ 9.99937752e-01 -9.42567870e-03 -5.97064459e-03 6.81623228e+02] [ 9.42590480e-03 9.99955575e-01 9.73025559e-06 4.39630705e+00] [ 5.97028763e-03 -6.60083774e-05 9.99982175e-01 2.65839680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.279254154 meters 0.05427229787435152 Centerline is valid? [True, True] Translation: X:681.68, Y:4.40, Z:2.66 [[ 9.99977333e-01 -4.36837257e-03 -5.12356890e-03 6.81683895e+02] [ 4.36847255e-03 9.99990458e-01 8.32137223e-06 4.40191536e+00] [ 5.12348366e-03 -3.07033537e-05 9.99986874e-01 2.66019283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters 0.05389596323572836 Centerline is valid? [True, True] Translation: X:681.74, Y:4.40, Z:2.66 [[ 9.99974246e-01 -4.33104440e-03 -5.72275268e-03 6.81742668e+02] [ 4.33116818e-03 9.99990620e-01 9.23496652e-06 4.40100021e+00] [ 5.72265901e-03 -3.40209330e-05 9.99983625e-01 2.66064917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.399254154 meters 0.05462871938590069 Centerline is valid? [True, True] Translation: X:681.80, Y:4.40, Z:2.66 [[ 9.99950613e-01 -8.02413640e-03 -5.86381491e-03 6.81801992e+02] [ 8.02432894e-03 9.99967805e-01 9.30935443e-06 4.39843359e+00] [ 5.86355142e-03 -5.63620743e-05 9.99982808e-01 2.65985989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters 0.05391150987185325 Centerline is valid? [True, True] Translation: X:681.86, Y:4.40, Z:2.66 [[ 9.99924991e-01 -1.06541304e-02 -6.04166777e-03 6.81861326e+02] [ 1.06543823e-02 9.99943240e-01 9.51134977e-06 4.39608584e+00] [ 6.04122351e-03 -7.38808745e-05 9.99981749e-01 2.65927698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.519254154 meters 0.054130635040952904 Centerline is valid? [True, True] Translation: X:681.92, Y:4.39, Z:2.66 [[ 9.99874197e-01 -1.50017310e-02 -5.15156196e-03 6.81922044e+02] [ 1.50019717e-02 9.99887464e-01 8.09369796e-06 4.39310779e+00] [ 5.15086080e-03 -8.53762665e-05 9.99986731e-01 2.65990832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters 0.05424642643083239 Centerline is valid? [True, True] Translation: X:681.98, Y:4.39, Z:2.66 [[ 9.99826794e-01 -1.80583972e-02 -4.50296619e-03 6.81982047e+02] [ 1.80586123e-02 9.99836930e-01 7.10218136e-06 4.38798794e+00] [ 4.50210364e-03 -8.84182718e-05 9.99989862e-01 2.66124907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.639254154 meters 0.053688406447143046 Centerline is valid? [True, True] Translation: X:682.04, Y:4.39, Z:2.66 [[ 9.99793798e-01 -1.98484984e-02 -4.28929363e-03 6.82043904e+02] [ 1.98487100e-02 9.99802995e-01 6.77300224e-06 4.39061936e+00] [ 4.28831418e-03 -9.19085512e-05 9.99990801e-01 2.66131617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters 0.05433831299208766 Centerline is valid? [True, True] Translation: X:682.11, Y:4.39, Z:2.66 [[ 9.99731941e-01 -2.27868142e-02 -4.09977191e-03 6.82105181e+02] [ 2.27870326e-02 9.99740342e-01 6.56250431e-06 4.38625133e+00] [ 4.09855783e-03 -9.99823814e-05 9.99991596e-01 2.66083418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.759254154 meters 0.05492368879385153 Centerline is valid? [True, True] Translation: X:682.17, Y:4.38, Z:2.66 [[ 9.99670753e-01 -2.50534569e-02 -5.54173149e-03 6.82165926e+02] [ 2.50538914e-02 9.99686102e-01 8.99474846e-06 4.37976122e+00] [ 5.53976660e-03 -1.47833726e-04 9.99984644e-01 2.65983250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.819254154 meters 0.053793255852770845 Centerline is valid? [True, True] Translation: X:682.23, Y:4.39, Z:2.66 [[ 9.99576256e-01 -2.82290278e-02 -7.10150581e-03 6.82226578e+02] [ 2.82298220e-02 9.99601459e-01 1.16128506e-05 4.38520389e+00] [ 7.09834774e-03 -2.12082175e-04 9.99974784e-01 2.65837289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.879254154 meters 0.05283734160445411 Centerline is valid? [True, True] Translation: X:682.29, Y:4.39, Z:2.66 [[ 9.99533158e-01 -2.94995708e-02 -7.95239919e-03 6.82288910e+02] [ 2.95006086e-02 9.99564762e-01 1.32041425e-05 4.38824004e+00] [ 7.94854848e-03 -2.47798594e-04 9.99968379e-01 2.65884882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.939254154 meters 0.05351982261718251 Centerline is valid? [True, True] Translation: X:682.35, Y:4.38, Z:2.66 [[ 9.99515036e-01 -3.02270602e-02 -7.48449737e-03 6.82351500e+02] [ 3.02280018e-02 9.99543029e-01 1.26884580e-05 4.38326832e+00] [ 7.48069364e-03 -2.38923705e-04 9.99971991e-01 2.65862901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.999254154 meters 0.05352608058148653 Centerline is valid? [True, True] Translation: X:682.41, Y:4.39, Z:2.66 [[ 9.99650821e-01 -2.55065423e-02 -6.90313878e-03 6.82411964e+02] [ 2.55072319e-02 9.99674638e-01 1.18488013e-05 4.38501448e+00] [ 6.90059053e-03 -1.87924625e-04 9.99976173e-01 2.65813438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.059254154 meters 0.054310442128464996 Centerline is valid? [True, True] Translation: X:682.47, Y:4.39, Z:2.66 [[ 9.99797933e-01 -1.89364784e-02 -6.74553539e-03 6.82471106e+02] [ 1.89369871e-02 9.99820679e-01 1.15549319e-05 4.38800375e+00] [ 6.74410697e-03 -1.39292714e-04 9.99977249e-01 2.65825221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.119254154 meters 0.05391625725493515 Centerline is valid? [True, True] Translation: X:682.53, Y:4.39, Z:2.66 [[ 9.99930769e-01 -9.95993107e-03 -6.26549933e-03 6.82530854e+02] [ 9.96019351e-03 9.99950396e-01 1.06828057e-05 4.39297703e+00] [ 6.26508214e-03 -7.30876518e-05 9.99980371e-01 2.65891830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.179254154 meters 0.05500854541826997 Centerline is valid? [True, True] Translation: X:682.59, Y:4.40, Z:2.66 [[ 9.99961763e-01 -5.65899821e-03 -6.66699281e-03 6.82591246e+02] [ 5.65919968e-03 9.99983987e-01 1.13543404e-05 4.39601007e+00] [ 6.66682179e-03 -4.90837498e-05 9.99977775e-01 2.65837975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.239254154 meters 0.05459650664498354 Centerline is valid? [True, True] Translation: X:682.65, Y:4.40, Z:2.66 [[ 9.99962247e-01 -3.78539335e-03 -7.82152611e-03 6.82650575e+02] [ 3.78561313e-03 9.99992834e-01 1.32934950e-05 4.39908829e+00] [ 7.82141974e-03 -4.29022650e-05 9.99969411e-01 2.65862050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.299254154 meters 0.05450519028508487 Centerline is valid? [True, True] Translation: X:682.71, Y:4.40, Z:2.66 [[ 9.99939525e-01 -6.39710074e-03 -8.94557774e-03 6.82708906e+02] [ 6.39749100e-03 9.99979536e-01 1.50112318e-05 4.39608619e+00] [ 8.94529865e-03 -7.22395771e-05 9.99959987e-01 2.65745113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters 0.053943190640439086 Centerline is valid? [True, True] Translation: X:682.77, Y:4.39, Z:2.66 [[ 9.99921366e-01 -9.45249505e-03 -8.24082817e-03 6.82768139e+02] [ 9.45292842e-03 9.99955320e-01 1.36388024e-05 4.39450399e+00] [ 8.24033104e-03 -9.15376887e-05 9.99966044e-01 2.65833740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.419254154 meters 0.054217485181746884 Centerline is valid? [True, True] Translation: X:682.83, Y:4.39, Z:2.66 [[ 9.99864082e-01 -1.47175609e-02 -7.43044244e-03 6.82827973e+02] [ 1.47180577e-02 9.99891683e-01 1.21849834e-05 4.39178945e+00] [ 7.42945827e-03 -1.21545008e-04 9.99972394e-01 2.65957389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters 0.055892474390361074 Centerline is valid? [True, True] Translation: X:682.89, Y:4.38, Z:2.66 [[ 9.99755013e-01 -2.08424817e-02 -7.45011842e-03 6.82887525e+02] [ 2.08431507e-02 9.99782758e-01 1.21629708e-05 4.37891845e+00] [ 7.44824644e-03 -1.67443932e-04 9.99972247e-01 2.65856834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.539254154 meters 0.053719662091317684 Centerline is valid? [True, True] Translation: X:682.95, Y:4.39, Z:2.66 [[ 9.99658974e-01 -2.52683229e-02 -6.59149636e-03 6.82947848e+02] [ 2.52689427e-02 9.99680689e-01 1.07450363e-05 4.38746645e+00] [ 6.58912011e-03 -1.77301515e-04 9.99978276e-01 2.66029785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters 0.054241118761651254 Centerline is valid? [True, True] Translation: X:683.01, Y:4.38, Z:2.66 [[ 9.99529982e-01 -3.01112101e-02 -5.75591127e-03 6.83008063e+02] [ 3.01117629e-02 9.99546538e-01 9.39348393e-06 4.38449734e+00] [ 5.75301833e-03 -1.82709704e-04 9.99983435e-01 2.66067780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.659254154 meters 0.05376096127284364 Centerline is valid? [True, True] Translation: X:683.07, Y:4.39, Z:2.66 [[ 9.99499053e-01 -3.11989501e-02 -5.31688202e-03 6.83069853e+02] [ 3.11994374e-02 9.99513179e-01 8.72589717e-06 4.38504625e+00] [ 5.31402141e-03 -1.74605254e-04 9.99985865e-01 2.66100613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters 0.05446525987724993 Centerline is valid? [True, True] Translation: X:683.13, Y:4.38, Z:2.66 [[ 9.99555783e-01 -2.93015608e-02 -5.44575006e-03 6.83129928e+02] [ 2.93020447e-02 9.99570603e-01 9.08015202e-06 4.38194875e+00] [ 5.44314560e-03 -1.68647730e-04 9.99985172e-01 2.66132495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.779254154 meters 0.05295809316991288 Centerline is valid? [True, True] Translation: X:683.19, Y:4.39, Z:2.66 [[ 9.99675702e-01 -2.48553186e-02 -5.54117287e-03 6.83190667e+02] [ 2.48557516e-02 9.99691048e-01 9.28642098e-06 4.38886944e+00] [ 5.53923010e-03 -1.47013426e-04 9.99984648e-01 2.66230434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters 0.053034876110296406 Centerline is valid? [True, True] Translation: X:683.25, Y:4.39, Z:2.66 [[ 9.99773040e-01 -2.07092075e-02 -4.99982896e-03 6.83250365e+02] [ 2.07095084e-02 9.99785535e-01 8.41164217e-06 4.38656816e+00] [ 4.99858248e-03 -1.11953733e-04 9.99987501e-01 2.66227543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.899254154 meters 0.05409429992124189 Centerline is valid? [True, True] Translation: X:683.31, Y:4.38, Z:2.66 [[ 9.99816265e-01 -1.84600723e-02 -5.16357167e-03 6.83311118e+02] [ 1.84603634e-02 9.99829593e-01 8.70636305e-06 4.38429699e+00] [ 5.16253104e-03 -1.04026173e-04 9.99986669e-01 2.66205369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters 0.05415669934075996 Centerline is valid? [True, True] Translation: X:683.37, Y:4.39, Z:2.66 [[ 9.99910138e-01 -1.20467851e-02 -5.88148309e-03 6.83371416e+02] [ 1.20470522e-02 9.99927432e-01 9.99713607e-06 4.38644729e+00] [ 5.88093585e-03 -8.08507717e-05 9.99982704e-01 2.66110461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.019254154 meters 0.05363708146008311 Centerline is valid? [True, True] Translation: X:683.43, Y:4.39, Z:2.66 [[ 9.99956257e-01 -5.74039704e-03 -7.38455158e-03 6.83431785e+02] [ 5.74064643e-03 9.99983522e-01 1.25760675e-05 4.38998037e+00] [ 7.38435771e-03 -5.49676170e-05 9.99972734e-01 2.66049776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters 0.05466763672097036 Centerline is valid? [True, True] Translation: X:683.49, Y:4.39, Z:2.66 [[ 9.99965033e-01 -2.90719357e-03 -7.84102148e-03 6.83490054e+02] [ 2.90738442e-03 9.99995773e-01 1.29417289e-05 4.38929454e+00] [ 7.84095072e-03 -3.57381401e-05 9.99969259e-01 2.66027349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.139254154 meters 0.0544643893671297 Centerline is valid? [True, True] Translation: X:683.55, Y:4.39, Z:2.66 [[ 9.99964308e-01 -2.67713921e-03 -8.01344761e-03 6.83548208e+02] [ 2.67732344e-03 9.99996416e-01 1.22622731e-05 4.38730882e+00] [ 8.01338606e-03 -3.37164266e-05 9.99967892e-01 2.66099382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters 0.054762054440890356 Centerline is valid? [True, True] Translation: X:683.61, Y:4.38, Z:2.66 [[ 9.99951902e-01 -5.99254432e-03 -7.76422138e-03 6.83606824e+02] [ 5.99281230e-03 9.99982043e-01 1.12498044e-05 4.38350960e+00] [ 7.76401454e-03 -5.77787847e-05 9.99969858e-01 2.66149192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.259254154 meters 0.05420348410040427 Centerline is valid? [True, True] Translation: X:683.67, Y:4.38, Z:2.66 [[ 9.99849831e-01 -1.60095693e-02 -6.63394709e-03 6.83667265e+02] [ 1.60099845e-02 9.99871832e-01 9.49366525e-06 4.37635226e+00] [ 6.63294484e-03 -1.15701630e-04 9.99977995e-01 2.66224452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.319254154 meters 0.05548336011170066 Centerline is valid? [True, True] Translation: X:683.73, Y:4.36, Z:2.66 [[ 9.99570772e-01 -2.85742567e-02 -6.46399848e-03 6.83726966e+02] [ 2.85749132e-02 9.99591654e-01 9.22431032e-06 4.36085051e+00] [ 6.46109535e-03 -1.93928547e-04 9.99979108e-01 2.66230227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.379254154 meters 0.05636844890005254 Centerline is valid? [True, True] Translation: X:683.79, Y:4.35, Z:2.66 [[ 9.99343334e-01 -3.56317617e-02 -6.57863227e-03 6.83787883e+02] [ 3.56325944e-02 9.99364957e-01 9.36872309e-06 4.35154819e+00] [ 6.57412074e-03 -2.43776306e-04 9.99978361e-01 2.66319375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.439254154 meters 0.05611436746559306 Centerline is valid? [True, True] Translation: X:683.85, Y:4.35, Z:2.66 [[ 9.99007706e-01 -4.42887907e-02 -4.70167477e-03 6.83848184e+02] [ 4.42893117e-02 9.99018747e-01 6.70840455e-06 4.34943841e+00] [ 4.69676413e-03 -2.14935687e-04 9.99988947e-01 2.66484847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.499254154 meters 0.05670783355269515 Centerline is valid? [True, True] Translation: X:683.91, Y:4.34, Z:2.66 [[ 9.98781812e-01 -4.90449967e-02 -5.42963185e-03 6.83908110e+02] [ 4.90457620e-02 9.98796532e-01 7.80211622e-06 4.34120862e+00] [ 5.42271481e-03 -2.74093043e-04 9.99985259e-01 2.66409613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.559254154 meters 0.05305237865228792 Centerline is valid? [True, True] Translation: X:683.97, Y:4.36, Z:2.66 [[ 9.98746141e-01 -4.96229947e-02 -6.61098805e-03 6.83969730e+02] [ 4.96241440e-02 9.98767963e-01 9.82148616e-06 4.35692192e+00] [ 6.60235569e-03 -3.37873794e-04 9.99978147e-01 2.66393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.619254154 meters 0.05400955585132853 Centerline is valid? [True, True] Translation: X:684.03, Y:4.35, Z:2.66 [[ 9.98986288e-01 -4.43291751e-02 -7.83076194e-03 6.84029544e+02] [ 4.43306291e-02 9.99016914e-01 1.21248893e-05 4.35139027e+00] [ 7.82252614e-03 -3.59255202e-04 9.99969339e-01 2.66352783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.679254154 meters 0.05526024140757011 Centerline is valid? [True, True] Translation: X:684.09, Y:4.35, Z:2.66 [[ 9.99292768e-01 -3.67168038e-02 -8.11422748e-03 6.84089529e+02] [ 3.67181147e-02 9.99325663e-01 1.25892006e-05 4.34642012e+00] [ 8.10829352e-03 -3.10519432e-04 9.99967079e-01 2.66264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.739254154 meters 0.05441749295943578 Centerline is valid? [True, True] Translation: X:684.15, Y:4.35, Z:2.66 [[ 9.99758194e-01 -2.04904620e-02 -7.98092989e-03 6.84149769e+02] [ 2.04912135e-02 9.99790033e-01 1.24025896e-05 4.35484801e+00] [ 7.97900003e-03 -1.75938529e-04 9.99968152e-01 2.66305874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.799254154 meters 0.0543283939192753 Centerline is valid? [True, True] Translation: X:684.21, Y:4.36, Z:2.66 [[ 9.99961665e-01 -3.77661837e-03 -7.89978470e-03 6.84208984e+02] [ 3.77683279e-03 9.99992868e-01 1.22237738e-05 4.36425101e+00] [ 7.89968219e-03 -4.20594710e-05 9.99968796e-01 2.66325791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters 0.05440562123043037 Centerline is valid? [True, True] Translation: X:684.27, Y:4.37, Z:2.66 [[ 9.99960115e-01 4.43670476e-03 -7.75138777e-03 6.84267857e+02] [-4.43674737e-03 9.99990158e-01 1.16989935e-05 4.37017231e+00] [ 7.75136338e-03 2.26924224e-05 9.99969957e-01 2.66448655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.919254154 meters 0.05538285265704239 Centerline is valid? [True, True] Translation: X:684.33, Y:4.37, Z:2.67 [[ 9.99883994e-01 1.29873687e-02 -7.95779914e-03 6.84325926e+02] [-1.29876876e-02 9.99915656e-01 1.15986292e-05 4.37150476e+00] [ 7.95727859e-03 9.17561258e-05 9.99968336e-01 2.66653717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters 0.055131383585593184 Centerline is valid? [True, True] Translation: X:684.38, Y:4.38, Z:2.66 [[ 9.99864859e-01 1.42745944e-02 -8.15468319e-03 6.84384486e+02] [-1.42749770e-02 9.99898107e-01 1.12866889e-05 4.37599261e+00] [ 8.15401340e-03 1.05122751e-04 9.99966750e-01 2.66487918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.039254154 meters 0.05536614219176414 Centerline is valid? [True, True] Translation: X:684.44, Y:4.37, Z:2.67 [[ 9.99899087e-01 1.16688347e-02 -8.10267505e-03 6.84442430e+02] [-1.16691317e-02 9.99931913e-01 1.06260607e-05 4.37066843e+00] [ 8.10224736e-03 8.39261938e-05 9.99967173e-01 2.66612531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters 0.054930482795547124 Centerline is valid? [True, True] Translation: X:684.50, Y:4.36, Z:2.67 [[ 9.99970602e-01 2.55325524e-03 -7.23025313e-03 6.84502757e+02] [-2.55325446e-03 9.99996740e-01 9.33760424e-06 4.36056092e+00] [ 7.23025340e-03 9.12334634e-06 9.99973861e-01 2.66661997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.159254154 meters 0.05478069010423929 Centerline is valid? [True, True] Translation: X:684.56, Y:4.35, Z:2.67 [[ 9.99918683e-01 -1.02505549e-02 -7.58645342e-03 6.84561706e+02] [ 1.02509235e-02 9.99947458e-01 9.70898822e-06 4.35229520e+00] [ 7.58595529e-03 -8.74763526e-05 9.99971222e-01 2.66834772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters 0.05550302391161795 Centerline is valid? [True, True] Translation: X:684.62, Y:4.34, Z:2.67 [[ 9.99792480e-01 -1.86629228e-02 -8.16659470e-03 6.84621255e+02] [ 1.86636294e-02 9.99825819e-01 1.03209949e-05 4.34153658e+00] [ 8.16497961e-03 -1.62737150e-04 9.99966653e-01 2.66701095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.279254154 meters 0.05600038870695614 Centerline is valid? [True, True] Translation: X:684.68, Y:4.33, Z:2.67 [[ 9.99503614e-01 -3.02835825e-02 -8.68506620e-03 6.84681969e+02] [ 3.02848202e-02 9.99541310e-01 1.09972106e-05 4.33157188e+00] [ 8.68074940e-03 -2.74017420e-04 9.99962284e-01 2.66640775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters 0.05717846027735974 Centerline is valid? [True, True] Translation: X:684.74, Y:4.32, Z:2.67 [[ 9.99294014e-01 -3.66280592e-02 -8.35812438e-03 6.84741343e+02] [ 3.66294278e-02 9.99328917e-01 1.06729370e-05 4.32351439e+00] [ 8.35212446e-03 -3.16818715e-04 9.99965070e-01 2.66701560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.399254154 meters 0.05716696635656832 Centerline is valid? [True, True] Translation: X:684.80, Y:4.32, Z:2.67 [[ 9.99005146e-01 -4.40447727e-02 -6.98394344e-03 6.84800670e+02] [ 4.40459097e-02 9.99029508e-01 8.99133697e-06 4.31980481e+00] [ 6.97676956e-03 -3.16596534e-04 9.99975612e-01 2.66823543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters 0.05472359367878875 Centerline is valid? [True, True] Translation: X:684.86, Y:4.33, Z:2.67 [[ 9.98754936e-01 -4.95328626e-02 -5.92234078e-03 6.84861616e+02] [ 4.95337767e-02 9.98772449e-01 7.68260063e-06 4.32702185e+00] [ 5.91469026e-03 -3.01028941e-04 9.99982463e-01 2.66923016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.519254154 meters 0.057899667931726906 Centerline is valid? [True, True] Translation: X:684.92, Y:4.31, Z:2.67 [[ 9.98626383e-01 -5.20423992e-02 -6.07754453e-03 6.84921593e+02] [ 5.20434084e-02 9.98644824e-01 7.90955338e-06 4.31090132e+00] [ 6.06889675e-03 -3.24194820e-04 9.99981532e-01 2.66804913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters 0.0558574850434455 Centerline is valid? [True, True] Translation: X:684.98, Y:4.32, Z:2.67 [[ 9.98393145e-01 -5.61869792e-02 -7.35874222e-03 6.84982414e+02] [ 5.61885707e-02 9.98420174e-01 9.54856455e-06 4.31820959e+00] [ 7.34658019e-03 -4.23010429e-04 9.99972924e-01 2.66748005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.639254154 meters 0.05343021732043519 Centerline is valid? [True, True] Translation: X:685.04, Y:4.34, Z:2.67 [[ 9.98168868e-01 -5.97513592e-02 -9.41737337e-03 6.85043405e+02] [ 5.97541244e-02 9.98213126e-01 1.22785031e-05 4.34003286e+00] [ 9.39981205e-03 -5.74982919e-04 9.99955655e-01 2.66791571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters 0.053279665770780964 Centerline is valid? [True, True] Translation: X:685.11, Y:4.34, Z:2.67 [[ 9.98152238e-01 -5.97222915e-02 -1.11962989e-02 6.85105642e+02] [ 5.97262085e-02 9.98214796e-01 1.55084640e-05 4.33926394e+00] [ 1.11753850e-02 -6.84192291e-04 9.99937319e-01 2.66762923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.759254154 meters 0.057736504990388696 Centerline is valid? [True, True] Translation: X:685.17, Y:4.32, Z:2.66 [[ 9.98422024e-01 -5.46672851e-02 -1.28432488e-02 6.85165213e+02] [ 5.46720292e-02 9.98504366e-01 1.83218667e-05 4.31813881e+00] [ 1.28230384e-02 -7.20459427e-04 9.99917522e-01 2.66491076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.819254154 meters 0.05825974536983278 Centerline is valid? [True, True] Translation: X:685.23, Y:4.32, Z:2.66 [[ 9.98590041e-01 -5.15116644e-02 -1.28249398e-02 6.85225099e+02] [ 5.15161355e-02 9.98672162e-01 1.82864327e-05 4.31506522e+00] [ 1.28069684e-02 -6.78951984e-04 9.99917757e-01 2.66434452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.879254154 meters 0.05573142062707536 Centerline is valid? [True, True] Translation: X:685.29, Y:4.34, Z:2.67 [[ 9.99170137e-01 -3.91155961e-02 -1.13581888e-02 6.85285279e+02] [ 3.91183036e-02 9.99234586e-01 1.62192889e-05 4.33678505e+00] [ 1.13488607e-02 -4.60518907e-04 9.99935494e-01 2.66795959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.939254154 meters 0.05559613959929074 Centerline is valid? [True, True] Translation: X:685.35, Y:4.35, Z:2.67 [[ 9.99653714e-01 -2.47260891e-02 -9.00402276e-03 6.85345916e+02] [ 2.47272073e-02 9.99694236e-01 1.28642642e-05 4.34773252e+00] [ 9.00095157e-03 -2.35504146e-04 9.99959463e-01 2.67005453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.999254154 meters 0.05493440647530472 Centerline is valid? [True, True] Translation: X:685.41, Y:4.35, Z:2.67 [[ 9.99837359e-01 -1.62239082e-02 -7.87653397e-03 6.85405715e+02] [ 1.62245001e-02 9.99868374e-01 1.12473734e-05 4.34794886e+00] [ 7.87531474e-03 -1.39038370e-04 9.99968980e-01 2.66990292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.059254154 meters 0.055163089556731854 Centerline is valid? [True, True] Translation: X:685.47, Y:4.36, Z:2.67 [[ 9.99934521e-01 -8.33287923e-03 -7.84323505e-03 6.85466376e+02] [ 8.33322330e-03 9.99965278e-01 1.11885840e-05 4.35520873e+00] [ 7.84286948e-03 -7.65472804e-05 9.99969241e-01 2.67009780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.119254154 meters 0.05461833538209142 Centerline is valid? [True, True] Translation: X:685.53, Y:4.36, Z:2.67 [[ 9.99948527e-01 -5.29620359e-03 -8.65409536e-03 6.85525807e+02] [ 5.29650801e-03 9.99985973e-01 1.22575348e-05 4.35938315e+00] [ 8.65390906e-03 -5.80933892e-05 9.99962553e-01 2.67013410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.179254154 meters 0.05508738525586657 Centerline is valid? [True, True] Translation: X:685.58, Y:4.36, Z:2.67 [[ 9.99947112e-01 -3.97220755e-03 -9.48660868e-03 6.85583735e+02] [ 3.97250606e-03 9.99992110e-01 1.26239984e-05 4.35946667e+00] [ 9.48648368e-03 -5.03089413e-05 9.99955001e-01 2.66923563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.239254154 meters 0.0548258789863868 Centerline is valid? [True, True] Translation: X:685.64, Y:4.36, Z:2.67 [[ 9.99946327e-01 -1.50867515e-03 -1.02502634e-02 6.85642041e+02] [ 1.50888055e-03 9.99998862e-01 1.23048163e-05 4.36132381e+00] [ 1.02502331e-02 -2.77705789e-05 9.99947465e-01 2.67058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.299254154 meters 0.054599758094645845 Centerline is valid? [True, True] Translation: X:685.70, Y:4.36, Z:2.67 [[ 9.99954564e-01 -8.32562031e-04 -9.49614357e-03 6.85699925e+02] [ 8.32701345e-04 9.99999653e-01 1.07166986e-05 4.36078878e+00] [ 9.49613135e-03 -1.86236631e-05 9.99954911e-01 2.67118960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters 0.05479358474220793 Centerline is valid? [True, True] Translation: X:685.76, Y:4.36, Z:2.67 [[ 9.99961350e-01 -2.65739322e-03 -8.38074250e-03 6.85758491e+02] [ 2.65756365e-03 9.99996469e-01 9.19891711e-06 4.35843242e+00] [ 8.38068846e-03 -3.14709181e-05 9.99964881e-01 2.67215040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.419254154 meters 0.055156942810254295 Centerline is valid? [True, True] Translation: X:685.82, Y:4.35, Z:2.67 [[ 9.99937157e-01 -7.88790613e-03 -7.96636023e-03 6.85817015e+02] [ 7.88822457e-03 9.99968887e-01 8.55286805e-06 4.34880432e+00] [ 7.96604491e-03 -7.13927691e-05 9.99968268e-01 2.67104372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters 0.05465136119238447 Centerline is valid? [True, True] Translation: X:685.88, Y:4.34, Z:2.67 [[ 9.99860103e-01 -1.46526334e-02 -8.06686844e-03 6.85876940e+02] [ 1.46531790e-02 9.99892636e-01 8.52896137e-06 4.34439646e+00] [ 8.06587738e-03 -1.26733035e-04 9.99967462e-01 2.67221646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.539254154 meters 0.05488874966748645 Centerline is valid? [True, True] Translation: X:685.94, Y:4.34, Z:2.67 [[ 9.99796124e-01 -1.82433991e-02 -8.65388732e-03 6.85937807e+02] [ 1.82441614e-02 9.99833561e-01 9.15371572e-06 4.33913841e+00] [ 8.65227999e-03 -1.67034767e-04 9.99962554e-01 2.67191483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters 0.05539215511982638 Centerline is valid? [True, True] Translation: X:686.00, Y:4.33, Z:2.67 [[ 9.99737716e-01 -2.10977239e-02 -8.90985643e-03 6.85997848e+02] [ 2.10986456e-02 9.99777399e-01 9.45768257e-06 4.32747946e+00] [ 8.90767355e-03 -1.97441105e-04 9.99960306e-01 2.67113266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.659254154 meters 0.05635190887752864 Centerline is valid? [True, True] Translation: X:686.06, Y:4.32, Z:2.67 [[ 9.99748920e-01 -2.04881855e-02 -9.07363589e-03 6.86058302e+02] [ 2.04891167e-02 9.99790076e-01 9.67151711e-06 4.32344482e+00] [ 9.07153296e-03 -1.95579873e-04 9.99958834e-01 2.67154895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters 0.055344595935967515 Centerline is valid? [True, True] Translation: X:686.12, Y:4.33, Z:2.67 [[ 9.99807090e-01 -1.73115651e-02 -9.27863651e-03 6.86118610e+02] [ 1.73124028e-02 9.99850129e-01 9.96569004e-06 4.32733888e+00] [ 9.27707339e-03 -1.70599260e-04 9.99956952e-01 2.67251313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.779254154 meters 0.05424768201857959 Centerline is valid? [True, True] Translation: X:686.18, Y:4.33, Z:2.67 [[ 9.99888478e-01 -1.15101061e-02 -9.51575700e-03 6.86178734e+02] [ 1.15107237e-02 9.99933749e-01 1.01357586e-05 4.32817487e+00] [ 9.51500991e-03 -1.19667877e-04 9.99954724e-01 2.67280123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters 0.05571372421047289 Centerline is valid? [True, True] Translation: X:686.24, Y:4.33, Z:2.67 [[ 9.99944588e-01 -4.03004515e-03 -9.72522092e-03 6.86237834e+02] [ 4.03033520e-03 9.99991878e-01 1.02259222e-05 4.32699487e+00] [ 9.72510072e-03 -4.94212557e-05 9.99952709e-01 2.67124524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.899254154 meters 0.05560176259217351 Centerline is valid? [True, True] Translation: X:686.30, Y:4.33, Z:2.67 [[ 9.99958949e-01 -1.17657685e-04 -9.06014831e-03 6.86296349e+02] [ 1.17743153e-04 9.99999993e-01 8.89985447e-06 4.33005697e+00] [ 9.06014720e-03 -9.96625953e-06 9.99958956e-01 2.67406388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters 0.055604742516247016 Centerline is valid? [True, True] Translation: X:686.35, Y:4.33, Z:2.68 [[ 9.99948365e-01 2.58539265e-03 -9.82771615e-03 6.86354832e+02] [-2.58543415e-03 9.99996658e-01 8.48170849e-06 4.32798962e+00] [ 9.82770523e-03 1.69276425e-05 9.99951707e-01 2.67600127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.019254154 meters 0.0555314045359066 Centerline is valid? [True, True] Translation: X:686.41, Y:4.32, Z:2.67 [[ 9.99941123e-01 2.41471048e-04 -1.08485638e-02 6.86413697e+02] [-2.41391011e-04 9.99999971e-01 8.68701620e-06 4.32341872e+00] [ 1.08485656e-02 -6.06775895e-06 9.99941153e-01 2.67425311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters 0.05561943912715418 Centerline is valid? [True, True] Translation: X:686.47, Y:4.32, Z:2.67 [[ 9.99922374e-01 -3.37176827e-03 -1.19949028e-02 6.86471019e+02] [ 3.37211976e-03 9.99994314e-01 9.07857584e-06 4.31802922e+00] [ 1.19948040e-02 -4.95261200e-05 9.99928059e-01 2.67360157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.139254154 meters 0.055507404423748984 Centerline is valid? [True, True] Translation: X:686.53, Y:4.31, Z:2.68 [[ 9.99872110e-01 -1.05911366e-02 -1.19829625e-02 6.86530478e+02] [ 1.05920017e-02 9.99943903e-01 8.72913243e-06 4.31150041e+00] [ 1.19821979e-02 -1.35651575e-04 9.99928202e-01 2.67539482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters 0.05630632923428926 Centerline is valid? [True, True] Translation: X:686.59, Y:4.30, Z:2.68 [[ 9.99737759e-01 -1.96726652e-02 -1.17217874e-02 6.86589721e+02] [ 1.96741154e-02 9.99806446e-01 8.40360796e-06 4.30064923e+00] [ 1.17193533e-02 -2.39017202e-04 9.99931297e-01 2.67551766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.259254154 meters 0.055429740636705575 Centerline is valid? [True, True] Translation: X:686.65, Y:4.30, Z:2.68 [[ 9.99598045e-01 -2.63370270e-02 -1.04933095e-02 6.86649938e+02] [ 2.63385556e-02 9.99653080e-01 7.47798387e-06 4.30038592e+00] [ 1.04894722e-02 -2.83853592e-04 9.99944944e-01 2.67886830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.319254154 meters 0.056969293074883645 Centerline is valid? [True, True] Translation: X:686.71, Y:4.28, Z:2.68 [[ 9.99317811e-01 -3.57107859e-02 -9.41551155e-03 6.86709024e+02] [ 3.57124317e-02 9.99362108e-01 6.66995351e-06 4.28149019e+00] [ 9.40926728e-03 -3.42916216e-04 9.99955673e-01 2.67764004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.379254154 meters 0.056982857144853585 Centerline is valid? [True, True] Translation: X:686.77, Y:4.28, Z:2.68 [[ 9.99082932e-01 -4.17623529e-02 -9.44463205e-03 6.86769159e+02] [ 4.17642791e-02 9.99127492e-01 6.71898604e-06 4.28227471e+00] [ 9.43611093e-03 -4.01161073e-04 9.99955398e-01 2.67838190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.439254154 meters 0.05549134000065594 Centerline is valid? [True, True] Translation: X:686.83, Y:4.29, Z:2.68 [[ 9.98732927e-01 -4.93197407e-02 -1.00052154e-02 6.86829545e+02] [ 4.93222811e-02 9.98782916e-01 7.16230765e-06 4.28659350e+00] [ 9.99268492e-03 -5.00633276e-04 9.99949947e-01 2.67892434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.499254154 meters 0.05565633999921555 Centerline is valid? [True, True] Translation: X:686.89, Y:4.28, Z:2.68 [[ 9.98571703e-01 -5.24232591e-02 -1.03129130e-02 6.86889469e+02] [ 5.24261227e-02 9.98624805e-01 7.34078961e-06 4.27887691e+00] [ 1.02983459e-02 -5.47996346e-04 9.99946820e-01 2.67848137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.559254154 meters 0.055254584743355976 Centerline is valid? [True, True] Translation: X:686.95, Y:4.28, Z:2.68 [[ 9.98489526e-01 -5.39244436e-02 -1.05271309e-02 6.86950462e+02] [ 5.39275109e-02 9.98544853e-01 7.52031904e-06 4.27911522e+00] [ 1.05114068e-02 -5.75210923e-04 9.99944588e-01 2.67920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.619254154 meters 0.05738194555046205 Centerline is valid? [True, True] Translation: X:687.01, Y:4.27, Z:2.68 [[ 9.98594611e-01 -5.16594874e-02 -1.18363916e-02 6.87010346e+02] [ 5.16632069e-02 9.98664565e-01 8.49077099e-06 4.27386257e+00] [ 1.18201462e-02 -6.19984785e-04 9.99929947e-01 2.67831818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.679254154 meters 0.05914436613383112 Centerline is valid? [True, True] Translation: X:687.07, Y:4.27, Z:2.68 [[ 9.98664858e-01 -5.01137079e-02 -1.25346621e-02 6.87071256e+02] [ 5.01177594e-02 9.98743315e-01 9.12508803e-06 4.26528110e+00] [ 1.25184526e-02 -6.37322082e-04 9.99921438e-01 2.67701750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.739254154 meters 0.059700506905389354 Centerline is valid? [True, True] Translation: X:687.13, Y:4.27, Z:2.68 [[ 9.98957300e-01 -4.37854210e-02 -1.29286295e-02 6.87130820e+02] [ 4.37892032e-02 9.99040793e-01 9.47562818e-06 4.26791076e+00] [ 1.29158134e-02 -5.75600134e-04 9.99916422e-01 2.67632918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.799254154 meters 0.05711603307081984 Centerline is valid? [True, True] Translation: X:687.19, Y:4.29, Z:2.68 [[ 9.99316713e-01 -3.50003182e-02 -1.18778809e-02 6.87190997e+02] [ 3.50028911e-02 9.99387211e-01 8.73068807e-06 4.28849129e+00] [ 1.18702967e-02 -4.24484893e-04 9.99929455e-01 2.67986576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters 0.056215565070892426 Centerline is valid? [True, True] Translation: X:687.25, Y:4.30, Z:2.68 [[ 9.99541692e-01 -2.82401592e-02 -1.09040923e-02 6.87251754e+02] [ 2.82419269e-02 9.99601117e-01 8.13537953e-06 4.29678380e+00] [ 1.08995131e-02 -3.16084229e-04 9.99940549e-01 2.68189491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.919254154 meters 0.056518452470286855 Centerline is valid? [True, True] Translation: X:687.31, Y:4.30, Z:2.68 [[ 9.99808256e-01 -1.62715916e-02 -1.08942935e-02 6.87311210e+02] [ 1.62726458e-02 9.99867592e-01 8.12884085e-06 4.30207266e+00] [ 1.08927188e-02 -1.85406262e-04 9.99940655e-01 2.68199739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters 0.056314654601732815 Centerline is valid? [True, True] Translation: X:687.37, Y:4.31, Z:2.68 [[ 9.99912163e-01 -8.33254770e-03 -1.03070620e-02 6.87371778e+02] [ 8.33306913e-03 9.99965279e-01 7.64429772e-06 4.30949778e+00] [ 1.03066404e-02 -9.35330861e-05 9.99946881e-01 2.68235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.039254154 meters 0.0555808348569258 Centerline is valid? [True, True] Translation: X:687.43, Y:4.32, Z:2.68 [[ 9.99938620e-01 7.84737255e-04 -1.10516886e-02 6.87430713e+02] [-7.84697132e-04 9.99999692e-01 7.96661980e-06 4.31737131e+00] [ 1.10516914e-02 7.06097523e-07 9.99938928e-01 2.68233126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters 0.05657483700117865 Centerline is valid? [True, True] Translation: X:687.49, Y:4.32, Z:2.68 [[ 9.99925683e-01 1.98390767e-03 -1.20287912e-02 6.87489399e+02] [-1.98395988e-03 9.99998032e-01 7.59304637e-06 4.31833706e+00] [ 1.20287826e-02 1.62721570e-05 9.99927651e-01 2.68407500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.159254154 meters 0.05606277893828676 Centerline is valid? [True, True] Translation: X:687.55, Y:4.31, Z:2.68 [[ 9.99900081e-01 -2.77218867e-03 -1.38615900e-02 6.87547657e+02] [ 2.77256431e-03 9.99996156e-01 7.88281771e-06 4.31483631e+00] [ 1.38615149e-02 -4.63141798e-05 9.99903923e-01 2.68323427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters 0.05704555586221932 Centerline is valid? [True, True] Translation: X:687.61, Y:4.31, Z:2.68 [[ 9.99851177e-01 -1.12433431e-02 -1.30848031e-02 6.87606275e+02] [ 1.12443984e-02 9.99936780e-01 7.08241044e-06 4.30782310e+00] [ 1.30838962e-02 -1.54212094e-04 9.99914390e-01 2.68456808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.279254154 meters 0.056646845519995735 Centerline is valid? [True, True] Translation: X:687.66, Y:4.30, Z:2.69 [[ 9.99804386e-01 -1.66314381e-02 -1.07044144e-02 6.87664612e+02] [ 1.66324497e-02 9.99861671e-01 5.48686312e-06 4.30027571e+00] [ 1.07028425e-02 -1.83526425e-04 9.99942706e-01 2.68509534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters 0.05699716720545486 Centerline is valid? [True, True] Translation: X:687.72, Y:4.30, Z:2.69 [[ 9.99685001e-01 -2.32474603e-02 -9.45799292e-03 6.87724120e+02] [ 2.32485445e-02 9.99729716e-01 4.68314566e-06 4.29830682e+00] [ 9.45532771e-03 -2.24566240e-04 9.99955272e-01 2.68796176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.399254154 meters 0.057921836909799726 Centerline is valid? [True, True] Translation: X:687.78, Y:4.29, Z:2.69 [[ 9.99492788e-01 -3.02252426e-02 -1.00300114e-02 6.87784230e+02] [ 3.02268127e-02 9.99543066e-01 4.94709313e-06 4.28646360e+00] [ 1.00252788e-02 -3.08119859e-04 9.99949698e-01 2.68653100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters 0.05701672527382108 Centerline is valid? [True, True] Translation: X:687.84, Y:4.29, Z:2.69 [[ 9.99323794e-01 -3.54720785e-02 -9.67920315e-03 6.87844990e+02] [ 3.54737872e-02 9.99370607e-01 4.85979537e-06 4.28960295e+00] [ 9.67293875e-03 -3.48214502e-04 9.99953155e-01 2.68790167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.519254154 meters 0.05762586081124113 Centerline is valid? [True, True] Translation: X:687.90, Y:4.28, Z:2.69 [[ 9.99098936e-01 -4.12530610e-02 -9.97500957e-03 6.87904244e+02] [ 4.12551647e-02 9.99148643e-01 5.13524385e-06 4.28316030e+00] [ 9.96630544e-03 -4.16651279e-04 9.99950248e-01 2.68776160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters 0.05906876320663343 Centerline is valid? [True, True] Translation: X:687.97, Y:4.28, Z:2.69 [[ 9.99071383e-01 -4.20362020e-02 -9.45141273e-03 6.87965227e+02] [ 4.20381273e-02 9.99116007e-01 5.04190544e-06 4.27729071e+00] [ 9.44284580e-03 -4.02356915e-04 9.99955334e-01 2.68694931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.639254154 meters 0.05807864852000854 Centerline is valid? [True, True] Translation: X:688.02, Y:4.28, Z:2.69 [[ 9.99217794e-01 -3.84514859e-02 -9.23492190e-03 6.88024821e+02] [ 3.84531716e-02 9.99260403e-01 4.97575445e-06 4.28222799e+00] [ 9.22790046e-03 -3.60083899e-04 9.99957357e-01 2.68698173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters 0.056002263090594966 Centerline is valid? [True, True] Translation: X:688.09, Y:4.29, Z:2.69 [[ 9.99429070e-01 -3.26160925e-02 -8.81613736e-03 6.88086003e+02] [ 3.26174017e-02 9.99467911e-01 4.71775820e-06 4.29413895e+00] [ 8.81129251e-03 -2.92274558e-04 9.99961137e-01 2.68713773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.759254154 meters 0.05589404055087355 Centerline is valid? [True, True] Translation: X:688.15, Y:4.30, Z:2.69 [[ 9.99519084e-01 -2.93861944e-02 -9.90214425e-03 6.88145979e+02] [ 2.93876877e-02 9.99568089e-01 5.29657624e-06 4.29685431e+00] [ 9.89771175e-03 -2.96295151e-04 9.99950973e-01 2.68682702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.819254154 meters 0.05578051393183286 Centerline is valid? [True, True] Translation: X:688.21, Y:4.30, Z:2.69 [[ 9.99516402e-01 -2.89709013e-02 -1.12982314e-02 6.88207777e+02] [ 2.89728215e-02 9.99580200e-01 6.28107947e-06 4.29927533e+00] [ 1.12933064e-02 -3.33619683e-04 9.99936173e-01 2.68721267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.879254154 meters 0.05604089179121708 Centerline is valid? [True, True] Translation: X:688.27, Y:4.29, Z:2.68 [[ 9.99450041e-01 -3.08537157e-02 -1.21516934e-02 6.88268036e+02] [ 3.08560793e-02 9.99523838e-01 7.02903411e-06 4.29171877e+00] [ 1.21456904e-02 -3.81978784e-04 9.99926165e-01 2.68463793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.939254154 meters 0.05660670458799991 Centerline is valid? [True, True] Translation: X:688.33, Y:4.29, Z:2.68 [[ 9.99357609e-01 -3.32408996e-02 -1.33944681e-02 6.88328413e+02] [ 3.32439876e-02 9.99447266e-01 7.89746256e-06 4.29351315e+00] [ 1.33868020e-02 -4.53177920e-04 9.99910290e-01 2.68445189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.999254154 meters 0.057267589601307865 Centerline is valid? [True, True] Translation: X:688.39, Y:4.29, Z:2.68 [[ 9.99364142e-01 -3.33006024e-02 -1.27429205e-02 6.88388934e+02] [ 3.33034043e-02 9.99445288e-01 7.68459847e-06 4.29058715e+00] [ 1.27355959e-02 -4.32062345e-04 9.99918806e-01 2.68362557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.059254154 meters 0.056295850176939236 Centerline is valid? [True, True] Translation: X:688.45, Y:4.30, Z:2.69 [[ 9.99411508e-01 -3.24643626e-02 -1.10771703e-02 6.88450658e+02] [ 3.24664312e-02 9.99472826e-01 6.92095330e-06 4.30441612e+00] [ 1.10711061e-02 -3.66553069e-04 9.99938646e-01 2.68749499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.119254154 meters 0.05674184804766509 Centerline is valid? [True, True] Translation: X:688.51, Y:4.30, Z:2.69 [[ 9.99541601e-01 -2.91262978e-02 -8.26120534e-03 6.88509821e+02] [ 2.91273348e-02 9.99575709e-01 5.21842685e-06 4.29859677e+00] [ 8.25754819e-03 -2.45842929e-04 9.99965876e-01 2.68754459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.179254154 meters 0.05642154663755614 Centerline is valid? [True, True] Translation: X:688.57, Y:4.31, Z:2.69 [[ 9.99674659e-01 -2.48321248e-02 -5.82597285e-03 6.88570664e+02] [ 2.48325676e-02 9.99691624e-01 3.67056101e-06 4.30723507e+00] [ 5.82408511e-03 -1.48343231e-04 9.99983029e-01 2.68943928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.239254154 meters 0.056984550003815436 Centerline is valid? [True, True] Translation: X:688.63, Y:4.31, Z:2.69 [[ 9.99716867e-01 -2.30738147e-02 -5.81242659e-03 6.88631152e+02] [ 2.30742259e-02 9.99733755e-01 3.68423709e-06 4.30500700e+00] [ 5.81079405e-03 -1.37800438e-04 9.99983108e-01 2.68929540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.299254154 meters 0.05703785493815263 Centerline is valid? [True, True] Translation: X:688.69, Y:4.30, Z:2.69 [[ 9.99673155e-01 -2.47052997e-02 -6.57502977e-03 6.88691890e+02] [ 2.47058623e-02 9.99694764e-01 4.34964208e-06 4.30236387e+00] [ 6.57291537e-03 -1.66790000e-04 9.99978384e-01 2.68735922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters 0.057573612411659786 Centerline is valid? [True, True] Translation: X:688.75, Y:4.30, Z:2.69 [[ 9.99576622e-01 -2.79024018e-02 -8.24823846e-03 6.88752495e+02] [ 2.79033985e-02 9.99610624e-01 5.76315760e-06 4.30356965e+00] [ 8.24486599e-03 -2.35914602e-04 9.99965983e-01 2.68563500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.419254154 meters 0.05529079840164739 Centerline is valid? [True, True] Translation: X:688.81, Y:4.31, Z:2.69 [[ 9.99440187e-01 -3.22840223e-02 -8.77802571e-03 6.88813226e+02] [ 3.22853207e-02 9.99478693e-01 6.21618558e-06 4.31391175e+00] [ 8.77324898e-03 -2.89614081e-04 9.99961472e-01 2.68610942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters 0.05605591714389867 Centerline is valid? [True, True] Translation: X:688.87, Y:4.31, Z:2.69 [[ 9.99409554e-01 -3.30906699e-02 -9.24942964e-03 6.88873808e+02] [ 3.30921473e-02 9.99452305e-01 6.68566870e-06 4.30843110e+00] [ 9.24414254e-03 -3.12765209e-04 9.99957223e-01 2.68535702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.539254154 meters 0.05490860287019338 Centerline is valid? [True, True] Translation: X:688.93, Y:4.32, Z:2.69 [[ 9.99502468e-01 -3.05893183e-02 -7.68837172e-03 6.88934137e+02] [ 3.05902656e-02 9.99532008e-01 5.61466010e-06 4.31514212e+00] [ 7.68460187e-03 -2.40801199e-04 9.99970444e-01 2.68639717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters 0.05531272773162926 Centerline is valid? [True, True] Translation: X:689.00, Y:4.31, Z:2.69 [[ 9.99560715e-01 -2.87882773e-02 -7.04356113e-03 6.88995372e+02] [ 2.87890283e-02 9.99585510e-01 5.23436434e-06 4.31340482e+00] [ 7.04049095e-03 -2.08009346e-04 9.99975194e-01 2.68641896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.659254154 meters 0.05536300752382907 Centerline is valid? [True, True] Translation: X:689.06, Y:4.31, Z:2.69 [[ 9.99731939e-01 -2.24912134e-02 -5.49503686e-03 6.89055391e+02] [ 2.24915759e-02 9.99747033e-01 4.17285367e-06 4.31383121e+00] [ 5.49355294e-03 -1.27763774e-04 9.99984902e-01 2.68778507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters 0.05595293055843106 Centerline is valid? [True, True] Translation: X:689.12, Y:4.32, Z:2.69 [[ 9.99853461e-01 -1.67765360e-02 -3.40639128e-03 6.89116143e+02] [ 1.67766421e-02 9.99859262e-01 2.57622803e-06 4.32036169e+00] [ 3.40586866e-03 -5.97236581e-05 9.99994198e-01 2.68890925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.779254154 meters 0.056133223915469536 Centerline is valid? [True, True] Translation: X:689.18, Y:4.32, Z:2.69 [[ 9.99911380e-01 -1.26941164e-02 -4.01136461e-03 6.89176341e+02] [ 1.26942311e-02 9.99919425e-01 3.11630882e-06 4.31665312e+00] [ 4.01100184e-03 -5.40372219e-05 9.99991954e-01 2.68895371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters 0.05607787310187985 Centerline is valid? [True, True] Translation: X:689.24, Y:4.32, Z:2.69 [[ 9.99968302e-01 -6.89936956e-03 -3.97406947e-03 6.89236960e+02] [ 6.89943645e-03 9.99976199e-01 3.12210682e-06 4.31922856e+00] [ 3.97395334e-03 -3.05408476e-05 9.99992103e-01 2.68870718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.899254154 meters 0.05621046229930255 Centerline is valid? [True, True] Translation: X:689.30, Y:4.32, Z:2.69 [[ 9.99985783e-01 -3.66088461e-03 -3.87713814e-03 6.89296928e+02] [ 3.66092394e-03 9.99993299e-01 3.04647272e-06 4.31849164e+00] [ 3.87710101e-03 -1.72403372e-05 9.99992484e-01 2.68885784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters 0.05582173646200285 Centerline is valid? [True, True] Translation: X:689.36, Y:4.32, Z:2.69 [[ 9.99993094e-01 -1.88342142e-03 -3.20386364e-03 6.89356087e+02] [ 1.88343909e-03 9.99998226e-01 2.49795232e-06 4.31541767e+00] [ 3.20385325e-03 -8.53221707e-06 9.99994868e-01 2.68932054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.019254154 meters 0.05607640995203279 Centerline is valid? [True, True] Translation: X:689.42, Y:4.31, Z:2.69 [[ 9.99988631e-01 -4.21295037e-03 -2.23351954e-03 6.89415835e+02] [ 4.21296478e-03 9.99991125e-01 1.74676454e-06 4.31207956e+00] [ 2.23349236e-03 -1.11564838e-05 9.99997506e-01 2.68803823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters 0.05646035189442457 Centerline is valid? [True, True] Translation: X:689.48, Y:4.30, Z:2.69 [[ 9.99900544e-01 -1.37777373e-02 -3.01274857e-03 6.89475701e+02] [ 1.37778066e-02 9.99905082e-01 2.26603446e-06 4.29673910e+00] [ 3.01243138e-03 -4.37748763e-05 9.99995462e-01 2.68752270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.139254154 meters 0.05713091958139068 Centerline is valid? [True, True] Translation: X:689.54, Y:4.28, Z:2.69 [[ 9.99570221e-01 -2.89951609e-02 -4.31901740e-03 6.89536646e+02] [ 2.89954456e-02 9.99579544e-01 3.29419557e-06 4.28271431e+00] [ 4.31710593e-03 -1.28524614e-04 9.99990673e-01 2.68653770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters 0.056958114225511856 Centerline is valid? [True, True] Translation: X:689.60, Y:4.28, Z:2.69 [[ 9.99234583e-01 -3.89041477e-02 -4.08845354e-03 6.89597078e+02] [ 3.89044856e-02 9.99242934e-01 3.13366545e-06 4.28068983e+00] [ 4.08523640e-03 -1.62190449e-04 9.99991642e-01 2.68692659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.259254154 meters 0.05753470016144895 Centerline is valid? [True, True] Translation: X:689.66, Y:4.27, Z:2.69 [[ 9.98678037e-01 -5.13650635e-02 -1.95154418e-03 6.89658080e+02] [ 5.13651643e-02 9.98679939e-01 1.48911461e-06 4.27059300e+00] [ 1.94889153e-03 -1.01728533e-04 9.99998096e-01 2.68877944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.319254154 meters 0.05750726193659802 Centerline is valid? [True, True] Translation: X:689.72, Y:4.27, Z:2.69 [[ 9.98363659e-01 -5.71749661e-02 -1.01354986e-03 6.89718463e+02] [ 5.71749963e-02 9.98364172e-01 7.72489551e-07 4.26666459e+00] [ 1.01184770e-03 -5.87209350e-05 9.99999486e-01 2.68953431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.379254154 meters 0.06685769278677481 Centerline is valid? [True, True] Translation: X:689.78, Y:4.24, Z:2.69 [[ 9.98086825e-01 -6.18079034e-02 -1.57229811e-03 6.89777456e+02] [ 6.18079817e-02 9.98088059e-01 1.17998132e-06 4.24171624e+00] [ 1.56921904e-03 -9.83582968e-05 9.99998764e-01 2.69029866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.439254154 meters 0.05670763799539093 Centerline is valid? [True, True] Translation: X:689.84, Y:4.27, Z:2.69 [[ 9.97870824e-01 -6.52140442e-02 -9.73204974e-04 6.89838471e+02] [ 6.52140758e-02 9.97871296e-01 7.19101111e-07 4.27254030e+00] [ 9.71086413e-04 -6.41842329e-05 9.99999526e-01 2.68817335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.499254154 meters 0.060898821884852496 Centerline is valid? [True, True] Translation: X:689.90, Y:4.26, Z:2.69 [[ 9.97797759e-01 -6.62956137e-02 -2.12685493e-03 6.89898131e+02] [ 6.62957672e-02 9.97800016e-01 1.71617992e-06 4.25708298e+00] [ 2.12206211e-03 -1.42713880e-04 9.99997738e-01 2.68853189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.559254154 meters 0.061589576989032495 Centerline is valid? [True, True] Translation: X:689.96, Y:4.26, Z:2.69 [[ 9.97742882e-01 -6.70652403e-02 -3.37572775e-03 6.89958794e+02] [ 6.70656316e-02 9.97748566e-01 2.71972955e-06 4.25774849e+00] [ 3.36794513e-03 -2.29108905e-04 9.99994302e-01 2.68755010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.619254154 meters 0.060380992704454274 Centerline is valid? [True, True] Translation: X:690.02, Y:4.26, Z:2.69 [[ 9.97803417e-01 -6.60681933e-02 -4.83070849e-03 6.90020603e+02] [ 6.60689833e-02 9.97815058e-01 3.96446485e-06 4.26482096e+00] [ 4.81989174e-03 -3.23115755e-04 9.99988332e-01 2.68717684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.679254154 meters 0.05544962931594577 Centerline is valid? [True, True] Translation: X:690.08, Y:4.29, Z:2.69 [[ 9.98115974e-01 -6.09694800e-02 -6.87202034e-03 6.90081643e+02] [ 6.09709600e-02 9.98139540e-01 5.88273011e-06 4.29472114e+00] [ 6.85887655e-03 -4.24865324e-04 9.99976387e-01 2.68643403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.739254154 meters 0.054962907788535596 Centerline is valid? [True, True] Translation: X:690.14, Y:4.30, Z:2.69 [[ 9.98631977e-01 -5.15932358e-02 -8.50367814e-03 6.90141746e+02] [ 5.15951639e-02 9.98668083e-01 7.36924916e-06 4.30305471e+00] [ 8.49197174e-03 -4.46107835e-04 9.99963843e-01 2.68713044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.799254154 meters 0.057604714062394126 Centerline is valid? [True, True] Translation: X:690.20, Y:4.30, Z:2.69 [[ 9.98971009e-01 -4.43374301e-02 -9.54541900e-03 6.90201224e+02] [ 4.43395286e-02 9.99016519e-01 8.22693402e-06 4.29522128e+00] [ 9.53566651e-03 -4.31457847e-04 9.99954441e-01 2.68593590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters 0.05561039650883705 Centerline is valid? [True, True] Translation: X:690.26, Y:4.31, Z:2.69 [[ 9.99371657e-01 -3.42913808e-02 -8.96615416e-03 6.90261377e+02] [ 3.42928283e-02 9.99411828e-01 7.70486311e-06 4.31457782e+00] [ 8.96061631e-03 -3.15174807e-04 9.99959803e-01 2.68876825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.919254154 meters 0.05505696389955001 Centerline is valid? [True, True] Translation: X:690.32, Y:4.32, Z:2.69 [[ 9.99561330e-01 -2.83958402e-02 -8.41574867e-03 6.90322101e+02] [ 2.83969065e-02 9.99596727e-01 7.21901867e-06 4.32360762e+00] [ 8.41214983e-03 -2.46197080e-04 9.99964587e-01 2.68982751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters 0.05534152991044124 Centerline is valid? [True, True] Translation: X:690.38, Y:4.33, Z:2.69 [[ 9.99761816e-01 -2.02488932e-02 -8.14211377e-03 6.90381699e+02] [ 2.02496208e-02 9.99794955e-01 6.92561410e-06 4.33252063e+00] [ 8.14030403e-03 -1.71798681e-04 9.99966852e-01 2.69069646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.039254154 meters 0.0551631522956192 Centerline is valid? [True, True] Translation: X:690.44, Y:4.34, Z:2.69 [[ 9.99847624e-01 -1.56986237e-02 -7.63420539e-03 6.90441996e+02] [ 1.56991305e-02 9.99876761e-01 6.45958992e-06 4.33830244e+00] [ 7.63316315e-03 -1.26308993e-04 9.99970859e-01 2.69132783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters 0.05587607111462182 Centerline is valid? [True, True] Translation: X:690.50, Y:4.34, Z:2.69 [[ 9.99916610e-01 -1.04428221e-02 -7.59735448e-03 6.90502116e+02] [ 1.04431723e-02 9.99945469e-01 6.42840896e-06 4.34342625e+00] [ 7.59687305e-03 -8.57683551e-05 9.99971140e-01 2.69168315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.159254154 meters 0.055061173151760276 Centerline is valid? [True, True] Translation: X:690.56, Y:4.35, Z:2.69 [[ 9.99929952e-01 -8.90231298e-03 -7.79997547e-03 6.90561585e+02] [ 8.90263478e-03 9.99960371e-01 6.53598102e-06 4.34610024e+00] [ 7.79960818e-03 -7.59758561e-05 9.99969580e-01 2.69203472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters 0.05578216100219297 Centerline is valid? [True, True] Translation: X:690.62, Y:4.35, Z:2.69 [[ 9.99909639e-01 -1.05796855e-02 -8.29365270e-03 6.90621102e+02] [ 1.05801058e-02 9.99944029e-01 6.80645239e-06 4.34654325e+00] [ 8.29311648e-03 -9.45535604e-05 9.99965607e-01 2.69249348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.279254154 meters 0.05540512638367034 Centerline is valid? [True, True] Translation: X:690.68, Y:4.34, Z:2.69 [[ 9.99841921e-01 -1.57734759e-02 -8.20555122e-03 6.90680432e+02] [ 1.57740616e-02 9.99875582e-01 6.64988007e-06 4.34131947e+00] [ 8.20442541e-03 -1.36083699e-04 9.99966334e-01 2.69276143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters 0.05618078374235075 Centerline is valid? [True, True] Translation: X:690.74, Y:4.34, Z:2.69 [[ 9.99759488e-01 -2.00681745e-02 -8.84506504e-03 6.90741023e+02] [ 2.00690231e-02 9.99798597e-01 7.18875608e-06 4.33658789e+00] [ 8.84313935e-03 -1.84698842e-04 9.99960882e-01 2.69338021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.399254154 meters 0.05775989882106364 Centerline is valid? [True, True] Translation: X:690.80, Y:4.32, Z:2.69 [[ 9.99593934e-01 -2.71578488e-02 -8.62657922e-03 6.90800732e+02] [ 2.71589199e-02 9.99631128e-01 7.02719711e-06 4.32137164e+00] [ 8.62320628e-03 -2.41312918e-04 9.99962790e-01 2.69307480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters 0.056689210836099464 Centerline is valid? [True, True] Translation: X:690.86, Y:4.32, Z:2.70 [[ 9.99441503e-01 -3.24139320e-02 -8.12524293e-03 6.90862178e+02] [ 3.24150562e-02 9.99474494e-01 6.66612222e-06 4.32210483e+00] [ 8.12075699e-03 -2.70042605e-04 9.99966990e-01 2.69545985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.519254154 meters 0.056223796861019054 Centerline is valid? [True, True] Translation: X:690.92, Y:4.32, Z:2.70 [[ 9.99285325e-01 -3.69157978e-02 -8.12788171e-03 6.90923204e+02] [ 3.69170723e-02 9.99318333e-01 6.77392380e-06 4.31739618e+00] [ 8.12209113e-03 -3.06826679e-04 9.99966968e-01 2.69643531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters 0.05861743277867035 Centerline is valid? [True, True] Translation: X:690.98, Y:4.31, Z:2.70 [[ 9.99143977e-01 -4.04858565e-02 -8.49762226e-03 6.90982281e+02] [ 4.04873798e-02 9.99180050e-01 7.23952934e-06 4.30970616e+00] [ 8.49036154e-03 -3.51279792e-04 9.99963895e-01 2.69657990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.639254154 meters 0.05926120281137097 Centerline is valid? [True, True] Translation: X:691.04, Y:4.30, Z:2.70 [[ 9.99109371e-01 -4.12331733e-02 -8.96047643e-03 6.91044151e+02] [ 4.12348993e-02 9.99149480e-01 7.88370033e-06 4.30409924e+00] [ 8.95253030e-03 -3.77361022e-04 9.99959854e-01 2.69684689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters 0.05701139845760855 Centerline is valid? [True, True] Translation: X:691.10, Y:4.31, Z:2.70 [[ 9.99217386e-01 -3.85511523e-02 -8.85580226e-03 6.91104743e+02] [ 3.85527344e-02 9.99256567e-01 7.95313334e-06 4.31479259e+00] [ 8.84891196e-03 -3.49362302e-04 9.99960787e-01 2.69803481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.759254154 meters 0.057880664591418544 Centerline is valid? [True, True] Translation: X:691.16, Y:4.31, Z:2.70 [[ 9.99494986e-01 -3.02615567e-02 -9.69589407e-03 6.91164530e+02] [ 3.02630635e-02 9.99541969e-01 8.69606740e-06 4.30576085e+00] [ 9.69118989e-03 -3.02119134e-04 9.99952994e-01 2.69620326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.819254154 meters 0.05747331941002227 Centerline is valid? [True, True] Translation: X:691.22, Y:4.31, Z:2.70 [[ 9.99742885e-01 -2.07666589e-02 -9.10545778e-03 6.91224966e+02] [ 2.07675937e-02 9.99784330e-01 8.12141477e-06 4.31144851e+00] [ 9.10332535e-03 -1.97217775e-04 9.99958544e-01 2.69762255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.879254154 meters 0.05679579905097468 Centerline is valid? [True, True] Translation: X:691.29, Y:4.31, Z:2.70 [[ 9.99856944e-01 -1.49313522e-02 -7.94646098e-03 6.91285004e+02] [ 1.49318798e-02 9.99888513e-01 7.07548883e-06 4.31306827e+00] [ 7.94546941e-03 -1.25730077e-04 9.99968426e-01 2.69891594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.939254154 meters 0.05696433610541494 Centerline is valid? [True, True] Translation: X:691.34, Y:4.31, Z:2.70 [[ 9.99939720e-01 -7.26978968e-03 -8.22839873e-03 6.91343786e+02] [ 7.27009551e-03 9.99973573e-01 7.25632223e-06 4.31248459e+00] [ 8.22812853e-03 -6.70771295e-05 9.99966146e-01 2.69815234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.999254154 meters 0.0568020341696282 Centerline is valid? [True, True] Translation: X:691.40, Y:4.31, Z:2.70 [[ 9.99953223e-01 -3.65668087e-03 -8.95435991e-03 6.91402942e+02] [ 3.65689268e-03 9.99993314e-01 7.28081410e-06 4.31458730e+00] [ 8.95427342e-03 -4.00256067e-05 9.99959909e-01 2.70045081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.059254154 meters 0.05718195883201724 Centerline is valid? [True, True] Translation: X:691.46, Y:4.31, Z:2.70 [[ 9.99959541e-01 2.49457739e-04 -8.99192925e-03 6.91462233e+02] [-2.49406761e-04 9.99999969e-01 6.79058259e-06 4.30948403e+00] [ 8.99193066e-03 -4.54765988e-06 9.99959572e-01 2.69930023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.119254154 meters 0.0569937137655281 Centerline is valid? [True, True] Translation: X:691.52, Y:4.30, Z:2.70 [[ 9.99945737e-01 3.04092559e-03 -9.96370606e-03 6.91520056e+02] [-3.04100490e-03 9.99995376e-01 7.19068958e-06 4.30379992e+00] [ 9.96368185e-03 2.31093795e-05 9.99950361e-01 2.69963877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.179254154 meters 0.0568262992474713 Centerline is valid? [True, True] Translation: X:691.58, Y:4.30, Z:2.70 [[ 9.99948090e-01 4.33396841e-03 -9.22135048e-03 6.91577677e+02] [-4.33409785e-03 9.99990608e-01 5.94675092e-06 4.29841009e+00] [ 9.22128964e-03 3.40197930e-05 9.99957482e-01 2.69997974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.239254154 meters 0.05734410153537727 Centerline is valid? [True, True] Translation: X:691.64, Y:4.29, Z:2.70 [[ 9.99936198e-01 7.70595574e-03 -8.25942352e-03 6.91636472e+02] [-7.70618115e-03 9.99970307e-01 4.53399740e-06 4.29190073e+00] [ 8.25921322e-03 5.91149058e-05 9.99965890e-01 2.70051065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.299254154 meters 0.0580546982474123 Centerline is valid? [True, True] Translation: X:691.69, Y:4.29, Z:2.70 [[ 9.99914485e-01 1.04607189e-02 -7.84832486e-03 6.91694895e+02] [-1.04610130e-02 9.99945282e-01 3.57797759e-06 4.28767133e+00] [ 7.84793284e-03 7.85237568e-05 9.99969201e-01 2.70081118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters 0.057844157331076264 Centerline is valid? [True, True] Translation: X:691.75, Y:4.28, Z:2.70 [[ 9.99889356e-01 1.28690855e-02 -7.46079163e-03 6.91753962e+02] [-1.28694227e-02 9.99917186e-01 2.81089775e-06 4.27981919e+00] [ 7.46020995e-03 9.32054945e-05 9.99972168e-01 2.70062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.419254154 meters 0.05791084382743147 Centerline is valid? [True, True] Translation: X:691.81, Y:4.27, Z:2.70 [[ 9.99913435e-01 1.11477669e-02 -6.98924820e-03 6.91811504e+02] [-1.11480235e-02 9.99937859e-01 2.24526773e-06 4.26936291e+00] [ 6.98883891e-03 7.56712296e-05 9.99975575e-01 2.70084738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters 0.05821102164794147 Centerline is valid? [True, True] Translation: X:691.87, Y:4.26, Z:2.70 [[ 9.99947899e-01 7.60244245e-03 -6.81194739e-03 6.91870514e+02] [-7.60260553e-03 9.99971100e-01 1.95463123e-06 4.26184017e+00] [ 6.81176538e-03 4.98340195e-05 9.99976798e-01 2.70023245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.539254154 meters 0.057297047114486445 Centerline is valid? [True, True] Translation: X:691.93, Y:4.25, Z:2.70 [[ 9.99965646e-01 1.72180663e-03 -8.10810619e-03 6.91929222e+02] [-1.72184626e-03 9.99998518e-01 2.09326740e-06 4.24632159e+00] [ 8.10809778e-03 1.18677168e-05 9.99967129e-01 2.69895725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters 0.05871175717238264 Centerline is valid? [True, True] Translation: X:691.99, Y:4.24, Z:2.70 [[ 9.99958736e-01 -1.43647202e-03 -8.97010833e-03 6.91987950e+02] [ 1.43654730e-03 9.99998968e-01 1.94917534e-06 4.23686440e+00] [ 8.97009627e-03 -1.48350798e-05 9.99959768e-01 2.69958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.659254154 meters 0.05910482529657051 Centerline is valid? [True, True] Translation: X:692.05, Y:4.23, Z:2.70 [[ 9.99939172e-01 -4.48586336e-03 -1.00761498e-02 6.92046653e+02] [ 4.48610954e-03 9.99989937e-01 1.83053180e-06 4.22628645e+00] [ 1.00760402e-02 -4.70331324e-05 9.99949234e-01 2.69898449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters 0.058246274696743594 Centerline is valid? [True, True] Translation: X:692.11, Y:4.22, Z:2.70 [[ 9.99926446e-01 -5.96024369e-03 -1.05630319e-02 6.92105828e+02] [ 5.96059364e-03 9.99982236e-01 1.64736609e-06 4.21963330e+00] [ 1.05628345e-02 -6.46091858e-05 9.99944210e-01 2.69864419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.779254154 meters 0.05927540256889416 Centerline is valid? [True, True] Translation: X:692.16, Y:4.21, Z:2.70 [[ 9.99911644e-01 -9.01514602e-03 -9.76885947e-03 6.92163498e+02] [ 9.01558777e-03 9.99959359e-01 1.18343334e-06 4.20823637e+00] [ 9.76845179e-03 -8.92553388e-05 9.99952284e-01 2.69832505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters 0.058268504126190716 Centerline is valid? [True, True] Translation: X:692.22, Y:4.20, Z:2.70 [[ 9.99870517e-01 -1.35971497e-02 -8.60619077e-03 6.92223451e+02] [ 1.35976603e-02 9.99907548e-01 8.17744379e-07 4.19872106e+00] [ 8.60538399e-03 -1.17841697e-04 9.99962966e-01 2.69967463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.899254154 meters 0.0587377008550123 Centerline is valid? [True, True] Translation: X:692.28, Y:4.20, Z:2.70 [[ 9.99840674e-01 -1.58999922e-02 -8.11279134e-03 6.92281213e+02] [ 1.59005199e-02 9.99873579e-01 5.36708298e-07 4.19631325e+00] [ 8.11175718e-03 -1.29534223e-04 9.99967091e-01 2.70116568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters 0.058713003884700334 Centerline is valid? [True, True] Translation: X:692.34, Y:4.19, Z:2.70 [[ 9.99797713e-01 -1.85000686e-02 -7.89183408e-03 6.92341016e+02] [ 1.85006473e-02 9.99828848e-01 3.30520046e-07 4.18779954e+00] [ 7.89047727e-03 -1.46334492e-04 9.99968859e-01 2.70097809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.019254154 meters 0.05882487801561498 Centerline is valid? [True, True] Translation: X:692.40, Y:4.19, Z:2.70 [[ 9.99792156e-01 -1.84819287e-02 -8.60598862e-03 6.92399653e+02] [ 1.84826149e-02 9.99829182e-01 2.08149312e-07 4.18982359e+00] [ 8.60451471e-03 -1.59269280e-04 9.99962968e-01 2.70268096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters 0.0594481599663716 Centerline is valid? [True, True] Translation: X:692.46, Y:4.18, Z:2.70 [[ 9.99806848e-01 -1.78552734e-02 -8.21311304e-03 6.92458626e+02] [ 1.78558747e-02 9.99840571e-01 -1.15037053e-07 4.18405667e+00] [ 8.21180569e-03 -1.46537303e-04 9.99966272e-01 2.70317149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.139254154 meters 0.05957790279785832 Centerline is valid? [True, True] Translation: X:692.52, Y:4.18, Z:2.70 [[ 9.99826549e-01 -1.68164505e-02 -8.00498021e-03 6.92517767e+02] [ 1.68169839e-02 9.99858585e-01 -6.83896801e-07 4.17900228e+00] [ 8.00385968e-03 -1.33935845e-04 9.99967960e-01 2.70311491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters 0.05924411107447852 Centerline is valid? [True, True] Translation: X:692.58, Y:4.18, Z:2.70 [[ 9.99816297e-01 -1.70525623e-02 -8.75109249e-03 6.92576396e+02] [ 1.70532011e-02 9.99854584e-01 -1.62462738e-06 4.17765820e+00] [ 8.74984764e-03 -1.47609811e-04 9.99961708e-01 2.70326498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.259254154 meters 0.059452463067403635 Centerline is valid? [True, True] Translation: X:692.64, Y:4.18, Z:2.70 [[ 9.99748105e-01 -2.01933485e-02 -9.79569756e-03 6.92636134e+02] [ 2.01942949e-02 9.99796074e-01 -2.30135870e-06 4.17685504e+00] [ 9.79374644e-03 -1.95516426e-04 9.99952021e-01 2.70367842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.319254154 meters 0.05982544681837543 Centerline is valid? [True, True] Translation: X:692.70, Y:4.17, Z:2.70 [[ 9.99586689e-01 -2.72439922e-02 -9.17697578e-03 6.92696750e+02] [ 2.72451199e-02 9.99628783e-01 -2.13718011e-06 4.17086294e+00] [ 9.17362736e-03 -2.47891508e-04 9.99957891e-01 2.70420402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.379254154 meters 0.059440686486040555 Centerline is valid? [True, True] Translation: X:692.76, Y:4.17, Z:2.71 [[ 9.99378422e-01 -3.42864708e-02 -8.19800668e-03 6.92757338e+02] [ 3.42876077e-02 9.99412007e-01 -1.87509649e-06 4.16949304e+00] [ 8.19325061e-03 -2.79216106e-04 9.99966396e-01 2.70503873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.439254154 meters 0.06139421897695677 Centerline is valid? [True, True] Translation: X:692.82, Y:4.15, Z:2.70 [[ 9.99251108e-01 -3.78200650e-02 -8.17715802e-03 6.92817168e+02] [ 3.78213139e-02 9.99284518e-01 -1.90806533e-06 4.15473011e+00] [ 8.17137957e-03 -3.07364224e-04 9.99966566e-01 2.70389194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.499254154 meters 0.06455520634300234 Centerline is valid? [True, True] Translation: X:692.88, Y:4.15, Z:2.70 [[ 9.98720740e-01 -4.99701646e-02 -7.73730668e-03 6.92877115e+02] [ 4.99716462e-02 9.98750637e-01 -1.83732443e-06 4.14519431e+00] [ 7.72773178e-03 -3.84810978e-04 9.99970067e-01 2.70385963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.559254154 meters 0.06640217292222592 Centerline is valid? [True, True] Translation: X:692.94, Y:4.14, Z:2.70 [[ 9.98327555e-01 -5.72699089e-02 -7.88986490e-03 6.92937170e+02] [ 5.72716768e-02 9.98358630e-01 -1.86955437e-06 4.14127213e+00] [ 7.87702179e-03 -4.49999365e-04 9.99968875e-01 2.70307202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.619254154 meters 0.05938147869722796 Centerline is valid? [True, True] Translation: X:693.00, Y:4.17, Z:2.71 [[ 9.97873104e-01 -6.48269547e-02 -6.83624439e-03 6.92997189e+02] [ 6.48284585e-02 9.97896423e-01 -1.61193059e-06 4.17057219e+00] [ 6.82196832e-03 -4.41574684e-04 9.99976633e-01 2.70501091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.679254154 meters 0.05942836503276332 Centerline is valid? [True, True] Translation: X:693.06, Y:4.18, Z:2.71 [[ 9.97756945e-01 -6.65901832e-02 -6.84296384e-03 6.93058255e+02] [ 6.65917316e-02 9.97780307e-01 -1.57808895e-06 4.18185888e+00] [ 6.82787965e-03 -4.54110262e-04 9.99976587e-01 2.70582716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.739254154 meters 0.06274014930742833 Centerline is valid? [True, True] Translation: X:693.12, Y:4.16, Z:2.71 [[ 9.97827169e-01 -6.54082942e-02 -7.91803048e-03 6.93118673e+02] [ 6.54103308e-02 9.97858451e-01 -1.75290269e-06 4.16388721e+00] [ 7.90118828e-03 -5.16171899e-04 9.99968652e-01 2.70552237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.799254154 meters 0.0583737704724812 Centerline is valid? [True, True] Translation: X:693.18, Y:4.19, Z:2.71 [[ 9.97941341e-01 -6.37060249e-02 -7.39071731e-03 6.93179251e+02] [ 6.37077533e-02 9.97968598e-01 -1.57371874e-06 4.19288896e+00] [ 7.37580405e-03 -4.69275516e-04 9.99972688e-01 2.70607760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters 0.05859616273481121 Centerline is valid? [True, True] Translation: X:693.24, Y:4.20, Z:2.71 [[ 9.98016484e-01 -6.23235179e-02 -8.88124924e-03 6.93241019e+02] [ 6.23259608e-02 9.98055847e-01 -1.71779680e-06 4.19547740e+00] [ 8.86408979e-03 -5.51818002e-04 9.99960561e-01 2.70563178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.919254154 meters 0.05903414357111354 Centerline is valid? [True, True] Translation: X:693.30, Y:4.20, Z:2.71 [[ 9.98081519e-01 -6.10401996e-02 -1.03621758e-02 6.93302718e+02] [ 6.10434593e-02 9.98135109e-01 -1.70721409e-06 4.20383761e+00] [ 1.03429557e-02 -6.30839119e-04 9.99946311e-01 2.70510402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters 0.058731439509113394 Centerline is valid? [True, True] Translation: X:693.36, Y:4.21, Z:2.71 [[ 9.98217214e-01 -5.87576430e-02 -1.04848848e-02 6.93362595e+02] [ 5.87608556e-02 9.98272088e-01 -1.66765927e-06 4.20935483e+00] [ 1.04668659e-02 -6.14436117e-04 9.99945032e-01 2.70598913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.039254154 meters 0.060135416770967905 Centerline is valid? [True, True] Translation: X:693.42, Y:4.20, Z:2.71 [[ 9.98443840e-01 -5.49701701e-02 -9.39038396e-03 6.93421946e+02] [ 5.49725791e-02 9.98487865e-01 -1.57176505e-06 4.20451265e+00] [ 9.37627083e-03 -5.14644306e-04 9.99955909e-01 2.70677992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters 0.059992278275623166 Centerline is valid? [True, True] Translation: X:693.48, Y:4.22, Z:2.71 [[ 9.99040153e-01 -4.33236186e-02 -6.46813642e-03 6.93482133e+02] [ 4.33245178e-02 9.99061052e-01 -1.09852861e-06 4.21906748e+00] [ 6.46211077e-03 -2.79131417e-04 9.99979081e-01 2.70832001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.159254154 meters 0.058754307806611485 Centerline is valid? [True, True] Translation: X:693.54, Y:4.23, Z:2.71 [[ 9.99435709e-01 -3.30704045e-02 -5.88314330e-03 6.93542193e+02] [ 3.30709710e-02 9.99453006e-01 -9.80430387e-07 4.23237997e+00] [ 5.87995768e-03 -1.93581384e-04 9.99982694e-01 2.70924252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters 0.05952834035599843 Centerline is valid? [True, True] Translation: X:693.60, Y:4.24, Z:2.71 [[ 9.99778754e-01 -2.00298384e-02 -6.42252463e-03 6.93602236e+02] [ 2.00302447e-02 9.99799375e-01 -1.05682090e-06 4.23733403e+00] [ 6.42125728e-03 -1.27588153e-04 9.99979375e-01 2.70834634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.279254154 meters 0.058720600733386946 Centerline is valid? [True, True] Translation: X:693.66, Y:4.25, Z:2.71 [[ 9.99868344e-01 -1.44564004e-02 -7.36937475e-03 6.93663284e+02] [ 1.44567843e-02 9.99895495e-01 -1.17612064e-06 4.25155156e+00] [ 7.36862162e-03 -1.05361496e-04 9.99972846e-01 2.70860819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters 0.05852594082096284 Centerline is valid? [True, True] Translation: X:693.72, Y:4.25, Z:2.71 [[ 9.99848194e-01 -1.54227599e-02 -8.10722348e-03 6.93723073e+02] [ 1.54232563e-02 9.99881055e-01 -1.29281062e-06 4.25183461e+00] [ 8.10627910e-03 -1.23747171e-04 9.99967136e-01 2.70822061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.399254154 meters 0.05809708416876632 Centerline is valid? [True, True] Translation: X:693.78, Y:4.25, Z:2.71 [[ 9.99729088e-01 -2.12782343e-02 -9.43335885e-03 6.93783676e+02] [ 2.12791665e-02 9.99773573e-01 -1.54406137e-06 4.25307476e+00] [ 9.43125574e-03 -1.99190371e-04 9.99955505e-01 2.70859058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters 0.05800203138588986 Centerline is valid? [True, True] Translation: X:693.84, Y:4.25, Z:2.71 [[ 9.99587748e-01 -2.69845744e-02 -9.80646947e-03 6.93843879e+02] [ 2.69858562e-02 9.99635815e-01 -1.60636551e-06 4.25201858e+00] [ 9.80294145e-03 -2.63030272e-04 9.99951915e-01 2.70925714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.519254154 meters 0.05866108289707259 Centerline is valid? [True, True] Translation: X:693.90, Y:4.25, Z:2.71 [[ 9.99304644e-01 -3.60488376e-02 -9.52420266e-03 6.93904390e+02] [ 3.60504584e-02 9.99349971e-01 -1.50205284e-06 4.25098643e+00] [ 9.51806580e-03 -3.41850863e-04 9.99954644e-01 2.70948739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters 0.05794087114839103 Centerline is valid? [True, True] Translation: X:693.97, Y:4.26, Z:2.71 [[ 9.99131113e-01 -4.06756035e-02 -9.08375198e-03 6.93965539e+02] [ 4.06772697e-02 9.99172337e-01 -1.32556902e-06 4.25523887e+00] [ 9.07628762e-03 -3.68177812e-04 9.99958742e-01 2.71108179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.639254154 meters 0.05821091915795745 Centerline is valid? [True, True] Translation: X:694.03, Y:4.26, Z:2.71 [[ 9.98902451e-01 -4.62021883e-02 -7.69749205e-03 6.94025877e+02] [ 4.62035490e-02 9.98932046e-01 -1.06526670e-06 4.25631677e+00] [ 7.68932070e-03 -3.54587353e-04 9.99970374e-01 2.71236457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters 0.06010985614538361 Centerline is valid? [True, True] Translation: X:694.09, Y:4.25, Z:2.71 [[ 9.98762783e-01 -4.91431420e-02 -7.60626746e-03 6.94085605e+02] [ 4.91445559e-02 9.98791676e-01 -1.01842428e-06 4.24689500e+00] [ 7.59712668e-03 -3.72789472e-04 9.99971072e-01 2.71201454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.759254154 meters 0.061274049684348415 Centerline is valid? [True, True] Translation: X:694.14, Y:4.24, Z:2.71 [[ 9.98629324e-01 -5.18560993e-02 -7.10061058e-03 6.94144707e+02] [ 5.18574006e-02 9.98654500e-01 -8.51693189e-07 4.24404230e+00] [ 7.09110087e-03 -3.67368682e-04 9.99974790e-01 2.71183748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.819254154 meters 0.05974123104469633 Centerline is valid? [True, True] Translation: X:694.21, Y:4.25, Z:2.71 [[ 9.98662900e-01 -5.13049228e-02 -6.34177331e-03 6.94207377e+02] [ 5.13059509e-02 9.98682982e-01 -5.76701812e-07 4.25398835e+00] [ 6.33345067e-03 -3.24794780e-04 9.99979891e-01 2.71302764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.879254154 meters 0.059847788116301655 Centerline is valid? [True, True] Translation: X:694.27, Y:4.26, Z:2.71 [[ 9.98778853e-01 -4.89033797e-02 -7.01875949e-03 6.94267478e+02] [ 4.89045809e-02 9.98803455e-01 -4.83831126e-07 4.25922346e+00] [ 7.01038489e-03 -3.42766251e-04 9.99975368e-01 2.71318183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.939254154 meters 0.05812789419663711 Centerline is valid? [True, True] Translation: X:694.33, Y:4.27, Z:2.71 [[ 9.99025143e-01 -4.34522573e-02 -7.78872320e-03 6.94328298e+02] [ 4.34535713e-02 9.99055448e-01 -5.20689214e-07 4.27040796e+00] [ 7.78138896e-03 -3.37927657e-04 9.99969667e-01 2.71295435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.999254154 meters 0.05819826658091275 Centerline is valid? [True, True] Translation: X:694.39, Y:4.28, Z:2.71 [[ 9.99312666e-01 -3.59048814e-02 -9.22140530e-03 6.94388879e+02] [ 3.59064030e-02 9.99355157e-01 -5.49690832e-07 4.27848619e+00] [ 9.21547868e-03 -3.30558182e-04 9.99957482e-01 2.71235368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.059254154 meters 0.058053271928865766 Centerline is valid? [True, True] Translation: X:694.45, Y:4.29, Z:2.71 [[ 9.99452422e-01 -3.14460721e-02 -1.02956899e-02 6.94449740e+02] [ 3.14477329e-02 9.99505398e-01 -5.86096252e-07 4.28717038e+00] [ 1.02906161e-02 -3.23190331e-04 9.99946998e-01 2.71296356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.119254154 meters 0.057677524939904516 Centerline is valid? [True, True] Translation: X:694.51, Y:4.29, Z:2.71 [[ 9.99604920e-01 -2.57638269e-02 -1.12351579e-02 6.94509523e+02] [ 2.57654461e-02 9.99668016e-01 -6.29603102e-07 4.29040889e+00] [ 1.12314442e-02 -2.88849499e-04 9.99936884e-01 2.71137927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.179254154 meters 0.058022339677326215 Centerline is valid? [True, True] Translation: X:694.57, Y:4.29, Z:2.71 [[ 9.99660482e-01 -2.37218670e-02 -1.07793424e-02 6.94568997e+02] [ 2.37232382e-02 9.99718564e-01 -6.62263100e-07 4.29064949e+00] [ 1.07763244e-02 -2.55058869e-04 9.99941901e-01 2.71101010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.239254154 meters 0.05788635713607934 Centerline is valid? [True, True] Translation: X:694.63, Y:4.30, Z:2.71 [[ 9.99663121e-01 -2.39122247e-02 -1.00920394e-02 6.94629628e+02] [ 2.39134360e-02 9.99714033e-01 -6.51275790e-07 4.29788882e+00] [ 1.00891690e-02 -2.40684282e-04 9.99949074e-01 2.71348692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.299254154 meters 0.05734963627779752 Centerline is valid? [True, True] Translation: X:694.69, Y:4.30, Z:2.71 [[ 9.99645931e-01 -2.47902425e-02 -9.66724781e-03 6.94690427e+02] [ 2.47913955e-02 9.99692646e-01 -5.75031674e-07 4.30101530e+00] [ 9.66429079e-03 -2.39089735e-04 9.99953271e-01 2.71478793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters 0.05711454727215759 Centerline is valid? [True, True] Translation: X:694.75, Y:4.31, Z:2.72 [[ 9.99584713e-01 -2.76862146e-02 -7.99214389e-03 6.94751686e+02] [ 2.76870958e-02 9.99616639e-01 -3.78418714e-07 4.30532814e+00] [ 7.98909049e-03 -2.20900992e-04 9.99968062e-01 2.71612726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.419254154 meters 0.059279206474171085 Centerline is valid? [True, True] Translation: X:694.81, Y:4.29, Z:2.72 [[ 9.99502059e-01 -3.05772996e-02 -7.78866410e-03 6.94811772e+02] [ 3.05782258e-02 9.99532377e-01 -1.68265904e-07 4.29498484e+00] [ 7.78502708e-03 -2.37995347e-04 9.99969668e-01 2.71572184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters 0.056153585653365534 Centerline is valid? [True, True] Translation: X:694.87, Y:4.31, Z:2.72 [[ 9.99292464e-01 -3.72434134e-02 -5.24403325e-03 6.94872102e+02] [ 3.72439254e-02 9.99306204e-01 -1.74981488e-08 4.31081825e+00] [ 5.24039562e-03 -1.95290898e-04 9.99986250e-01 2.71803590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.539254154 meters 0.05804460047057119 Centerline is valid? [True, True] Translation: X:694.93, Y:4.30, Z:2.72 [[ 9.99020994e-01 -4.38605185e-02 -5.77138741e-03 6.94931358e+02] [ 4.38612490e-02 9.99037632e-01 1.81380860e-09 4.30235227e+00] [ 5.76583313e-03 -2.53142072e-04 9.99983345e-01 2.71788047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters 0.05821514800808293 Centerline is valid? [True, True] Translation: X:694.99, Y:4.30, Z:2.72 [[ 9.98844122e-01 -4.76585561e-02 -6.25163685e-03 6.94992435e+02] [ 4.76594878e-02 9.98863641e-01 6.07563056e-08 4.30147947e+00] [ 6.24452985e-03 -2.98010497e-04 9.99980458e-01 2.71662230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.659254154 meters 0.05683500622818726 Centerline is valid? [True, True] Translation: X:695.05, Y:4.31, Z:2.72 [[ 9.98678415e-01 -5.08554830e-02 -7.42590150e-03 6.95053422e+02] [ 5.08568865e-02 9.98705951e-01 1.74725143e-07 4.31028924e+00] [ 7.41628314e-03 -3.77832724e-04 9.99972428e-01 2.71648244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters 0.05698306997607601 Centerline is valid? [True, True] Translation: X:695.11, Y:4.31, Z:2.72 [[ 9.98642992e-01 -5.13887969e-02 -8.44781665e-03 6.95114784e+02] [ 5.13906350e-02 9.98678628e-01 5.09941274e-07 4.30921522e+00] [ 8.43662774e-03 -4.34647912e-04 9.99964317e-01 2.71519883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.779254154 meters 0.05477334304391624 Centerline is valid? [True, True] Translation: X:695.18, Y:4.32, Z:2.72 [[ 9.98708462e-01 -4.99350373e-02 -9.37553665e-03 6.95175957e+02] [ 4.99372406e-02 9.98752358e-01 9.08880366e-07 4.32424288e+00] [ 9.36379395e-03 -4.69096136e-04 9.99956049e-01 2.71537996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters 0.05909239011426766 Centerline is valid? [True, True] Translation: X:695.24, Y:4.31, Z:2.71 [[ 9.98909704e-01 -4.57447443e-02 -9.31776747e-03 6.95235655e+02] [ 4.57467392e-02 9.98953070e-01 9.65624178e-07 4.31092067e+00] [ 9.30796825e-03 -4.27222050e-04 9.99956589e-01 2.71443192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.899254154 meters 0.05630623936311024 Centerline is valid? [True, True] Translation: X:695.30, Y:4.33, Z:2.72 [[ 9.99113307e-01 -4.13583001e-02 -7.87979745e-03 6.95296379e+02] [ 4.13595904e-02 9.99144326e-01 8.00529094e-07 4.32875777e+00] [ 7.87302181e-03 -3.26705014e-04 9.99968954e-01 2.71638636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters 0.058811270153615786 Centerline is valid? [True, True] Translation: X:695.36, Y:4.32, Z:2.72 [[ 9.99450666e-01 -3.22761482e-02 -7.52446223e-03 6.95356138e+02] [ 3.22770676e-02 9.99478960e-01 7.47158633e-07 4.31821725e+00] [ 7.52051757e-03 -2.43614324e-04 9.99971691e-01 2.71542749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.019254154 meters 0.055791934366687584 Centerline is valid? [True, True] Translation: X:695.42, Y:4.34, Z:2.72 [[ 9.99643198e-01 -2.57365758e-02 -7.14880633e-03 6.95416836e+02] [ 2.57372388e-02 9.99668742e-01 7.56282009e-07 4.34089684e+00] [ 7.14641877e-03 -1.84746548e-04 9.99974447e-01 2.71734373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters 0.056192594799603736 Centerline is valid? [True, True] Translation: X:695.48, Y:4.34, Z:2.72 [[ 9.99708661e-01 -2.25306600e-02 -8.65804482e-03 6.95477396e+02] [ 2.25315138e-02 9.99746133e-01 1.07040817e-06 4.34336178e+00] [ 8.65582271e-03 -1.96148952e-04 9.99962518e-01 2.71685556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.139254154 meters 0.05597042792529515 Centerline is valid? [True, True] Translation: X:695.54, Y:4.35, Z:2.72 [[ 9.99758063e-01 -1.95896083e-02 -1.00031047e-02 6.95539046e+02] [ 1.95906026e-02 9.99808086e-01 1.41122683e-06 4.35011188e+00] [ 1.00011573e-02 -1.97377734e-04 9.99949968e-01 2.71607188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters 0.05531262132880254 Centerline is valid? [True, True] Translation: X:695.60, Y:4.36, Z:2.72 [[ 9.99783257e-01 -1.81719057e-02 -1.01597631e-02 6.95600131e+02] [ 1.81728599e-02 9.99834860e-01 1.60274433e-06 4.35908225e+00] [ 1.01580562e-02 -1.86234348e-04 9.99948388e-01 2.71772284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.259254154 meters 0.05668579364969329 Centerline is valid? [True, True] Translation: X:695.66, Y:4.35, Z:2.72 [[ 9.99796962e-01 -1.72976824e-02 -1.03356431e-02 6.95660130e+02] [ 1.72986245e-02 9.99850368e-01 1.75004215e-06 4.35364372e+00] [ 1.03340663e-02 -1.80542096e-04 9.99946586e-01 2.71557981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.319254154 meters 0.05608068590398104 Centerline is valid? [True, True] Translation: X:695.72, Y:4.36, Z:2.72 [[ 9.99807899e-01 -1.73308021e-02 -9.15471855e-03 6.95720178e+02] [ 1.73315428e-02 9.99849798e-01 1.57866763e-06 4.36164951e+00] [ 9.15331613e-03 -1.60243761e-04 9.99958095e-01 2.71800929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.379254154 meters 0.05582791533013828 Centerline is valid? [True, True] Translation: X:695.78, Y:4.36, Z:2.72 [[ 9.99776211e-01 -1.94533045e-02 -8.31248652e-03 6.95780417e+02] [ 1.94539888e-02 9.99810753e-01 1.46974660e-06 4.36277528e+00] [ 8.31088482e-03 -1.63180438e-04 9.99965451e-01 2.71838010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.439254154 meters 0.05678921974408226 Centerline is valid? [True, True] Translation: X:695.84, Y:4.35, Z:2.72 [[ 9.99650713e-01 -2.54481145e-02 -7.13061325e-03 6.95840028e+02] [ 2.54487708e-02 9.99676128e-01 1.31020714e-06 4.35311156e+00] [ 7.12827050e-03 -1.82775092e-04 9.99974577e-01 2.71726361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.499254154 meters 0.05560035889702152 Centerline is valid? [True, True] Translation: X:695.90, Y:4.36, Z:2.72 [[ 9.99522040e-01 -3.02052458e-02 -6.58298038e-03 6.95900591e+02] [ 3.02059084e-02 9.99543697e-01 1.23836168e-06 4.36007727e+00] [ 6.57993914e-03 -2.00082672e-04 9.99978332e-01 2.71875341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.559254154 meters 0.05585995555376322 Centerline is valid? [True, True] Translation: X:695.96, Y:4.36, Z:2.72 [[ 9.99514071e-01 -3.06141751e-02 -5.86459035e-03 6.95962716e+02] [ 3.06147086e-02 9.99531260e-01 1.18651316e-06 4.36198464e+00] [ 5.86180506e-03 -1.80728661e-04 9.99982803e-01 2.72000001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.619254154 meters 0.05518822593879243 Centerline is valid? [True, True] Translation: X:696.02, Y:4.37, Z:2.72 [[ 9.99627527e-01 -2.68740777e-02 -4.75299324e-03 6.96023554e+02] [ 2.68743864e-02 9.99638818e-01 1.09742144e-06 4.36672953e+00] [ 4.75124705e-03 -1.28830790e-04 9.99988704e-01 2.72068678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.679254154 meters 0.054775077499564936 Centerline is valid? [True, True] Translation: X:696.08, Y:4.37, Z:2.72 [[ 9.99782062e-01 -2.02017010e-02 -5.26489794e-03 6.96084116e+02] [ 2.02019876e-02 9.99795919e-01 1.25475594e-06 4.36814257e+00] [ 5.26379813e-03 -1.07615885e-04 9.99986140e-01 2.71974055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.739254154 meters 0.05551425726811417 Centerline is valid? [True, True] Translation: X:696.14, Y:4.37, Z:2.72 [[ 9.99851665e-01 -1.59487526e-02 -6.50271776e-03 6.96144482e+02] [ 1.59491000e-02 9.99872805e-01 1.57560244e-06 4.36629835e+00] [ 6.50186552e-03 -1.05287865e-04 9.99978857e-01 2.71869198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.799254154 meters 0.05524456392897938 Centerline is valid? [True, True] Translation: X:696.21, Y:4.37, Z:2.72 [[ 9.99887421e-01 -1.30513916e-02 -7.40314685e-03 6.96205735e+02] [ 1.30517633e-02 9.99914822e-01 1.88997719e-06 4.37067282e+00] [ 7.40249160e-03 -9.85138847e-05 9.99972596e-01 2.71940331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters 0.055097587035761064 Centerline is valid? [True, True] Translation: X:696.27, Y:4.37, Z:2.72 [[ 9.99872508e-01 -1.28397394e-02 -9.49262200e-03 6.96265604e+02] [ 1.28403440e-02 9.99917559e-01 2.74279596e-06 4.36942287e+00] [ 9.49180421e-03 -1.24630978e-04 9.99954944e-01 2.71867814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.919254154 meters 0.05481727584614713 Centerline is valid? [True, True] Translation: X:696.33, Y:4.37, Z:2.72 [[ 9.99783664e-01 -1.82496513e-02 -9.97878200e-03 6.96325517e+02] [ 1.82505900e-02 9.99833444e-01 3.00691947e-06 4.36717224e+00] [ 9.97706510e-03 -1.85124928e-04 9.99950211e-01 2.71915936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters 0.05484338133445533 Centerline is valid? [True, True] Translation: X:696.39, Y:4.37, Z:2.72 [[ 9.99662722e-01 -2.41112935e-02 -9.64825530e-03 6.96385680e+02] [ 2.41124437e-02 9.99709253e-01 2.88590429e-06 4.36573416e+00] [ 9.64538051e-03 -2.35527944e-04 9.99953454e-01 2.72041846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.039254154 meters 0.05528183736007969 Centerline is valid? [True, True] Translation: X:696.45, Y:4.36, Z:2.72 [[ 9.99333362e-01 -3.53537378e-02 -9.10741151e-03 6.96445266e+02] [ 3.53552287e-02 9.99374808e-01 2.70658756e-06 4.35817661e+00] [ 9.10162194e-03 -3.24699400e-04 9.99958527e-01 2.72081224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters 0.05553299739745102 Centerline is valid? [True, True] Translation: X:696.51, Y:4.35, Z:2.72 [[ 9.98813648e-01 -4.81335297e-02 -7.37969167e-03 6.96505166e+02] [ 4.81348566e-02 9.98840846e-01 2.19171794e-06 4.34871651e+00] [ 7.37103197e-03 -3.57409518e-04 9.99972770e-01 2.72190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.159254154 meters 0.05542150110046311 Centerline is valid? [True, True] Translation: X:696.57, Y:4.35, Z:2.72 [[ 9.98214269e-01 -5.94305421e-02 -6.02367337e-03 6.96565967e+02] [ 5.94316312e-02 9.98232378e-01 1.80744309e-06 4.34639770e+00] [ 6.01291838e-03 -3.59800950e-04 9.99981857e-01 2.72320992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters 0.05369469222212318 Centerline is valid? [True, True] Translation: X:696.63, Y:4.35, Z:2.72 [[ 9.98047528e-01 -6.21795742e-02 -5.90185745e-03 6.96626872e+02] [ 6.21806678e-02 9.98064910e-01 1.80581759e-06 4.35339507e+00] [ 5.89032454e-03 -3.68783729e-04 9.99982584e-01 2.72380501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.279254154 meters 0.05342286867465716 Centerline is valid? [True, True] Translation: X:696.69, Y:4.35, Z:2.72 [[ 9.97776592e-01 -6.63988309e-02 -5.75044576e-03 6.96687650e+02] [ 6.63999391e-02 9.97793089e-01 1.81115017e-06 4.35449364e+00] [ 5.73763478e-03 -3.83636372e-04 9.99983466e-01 2.72479899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters 0.055324755883568756 Centerline is valid? [True, True] Translation: X:696.75, Y:4.34, Z:2.72 [[ 9.97849424e-01 -6.52278021e-02 -6.47005514e-03 6.96747194e+02] [ 6.52291805e-02 9.97870309e-01 2.02585274e-06 4.34035451e+00] [ 6.45614378e-03 -4.24057890e-04 9.99979069e-01 2.72439805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.399254154 meters 0.054982663255573036 Centerline is valid? [True, True] Translation: X:696.81, Y:4.35, Z:2.72 [[ 9.98198527e-01 -5.94857838e-02 -7.81934779e-03 6.96808242e+02] [ 5.94876214e-02 9.98229043e-01 2.42254992e-06 4.34825864e+00] [ 7.80535595e-03 -4.67572586e-04 9.99969428e-01 2.72324646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters 0.05508389000875003 Centerline is valid? [True, True] Translation: X:696.87, Y:4.35, Z:2.72 [[ 9.98614773e-01 -5.18812345e-02 -8.76775005e-03 6.96869321e+02] [ 5.18832528e-02 9.98653157e-01 2.74573118e-06 4.35167562e+00] [ 8.75579882e-03 -4.57641320e-04 9.99961563e-01 2.72305565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.519254154 meters 0.05494465194234795 Centerline is valid? [True, True] Translation: X:696.93, Y:4.36, Z:2.72 [[ 9.99274973e-01 -3.69192867e-02 -9.30023213e-03 6.96929943e+02] [ 3.69209108e-02 9.99318191e-01 2.93375106e-06 4.36012185e+00] [ 9.29378283e-03 -3.46304664e-04 9.99956752e-01 2.72346633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters 0.05515879334644424 Centerline is valid? [True, True] Translation: X:696.99, Y:4.36, Z:2.72 [[ 9.99610644e-01 -2.63044821e-02 -9.30773210e-03 6.96989409e+02] [ 2.63056489e-02 9.99653947e-01 2.93528559e-06 4.35945273e+00] [ 9.30443391e-03 -2.47780076e-04 9.99956682e-01 2.72345911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.639254154 meters 0.05545238514350997 Centerline is valid? [True, True] Translation: X:697.05, Y:4.37, Z:2.72 [[ 9.99892188e-01 -1.21484894e-02 -8.24778490e-03 6.97049998e+02] [ 1.21489243e-02 9.99926199e-01 2.63072355e-06 4.36721934e+00] [ 8.24714425e-03 -1.02832154e-04 9.99965986e-01 2.72389111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters 0.05476693936629097 Centerline is valid? [True, True] Translation: X:697.11, Y:4.37, Z:2.72 [[ 9.99963452e-01 -2.80048563e-04 -8.54497884e-03 6.97109412e+02] [ 2.80082035e-04 9.99999961e-01 2.72043557e-06 4.37323040e+00] [ 8.54497774e-03 -5.11363119e-06 9.99963491e-01 2.72346336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.759254154 meters 0.05587204072421754 Centerline is valid? [True, True] Translation: X:697.17, Y:4.38, Z:2.72 [[ 9.99931569e-01 6.50350447e-03 -9.72425076e-03 6.97167358e+02] [-6.50378451e-03 9.99978850e-01 2.82495286e-06 4.37792694e+00] [ 9.72406346e-03 6.04196719e-05 9.99952718e-01 2.72216020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.819254154 meters 0.05590821993055755 Centerline is valid? [True, True] Translation: X:697.23, Y:4.38, Z:2.72 [[ 9.99854275e-01 1.37051370e-02 -1.01782709e-02 6.97226462e+02] [-1.37058201e-02 9.99906071e-01 2.63878410e-06 4.38108676e+00] [ 1.01773510e-02 1.36863150e-04 9.99948200e-01 2.72245078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.879254154 meters 0.056995194958403494 Centerline is valid? [True, True] Translation: X:697.29, Y:4.38, Z:2.72 [[ 9.99838640e-01 1.53660285e-02 -9.30480082e-03 6.97285032e+02] [-1.53666737e-02 9.99881926e-01 2.14949609e-06 4.37890359e+00] [ 9.30373519e-03 1.40834689e-04 9.99956709e-01 2.72436421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.939254154 meters 0.05558711112925289 Centerline is valid? [True, True] Translation: X:697.34, Y:4.38, Z:2.73 [[ 9.99882194e-01 1.26064349e-02 -8.75652778e-03 6.97344326e+02] [-1.26069040e-02 9.99920530e-01 1.62542772e-06 4.37618448e+00] [ 8.75585239e-03 1.08767469e-04 9.99961661e-01 2.72502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.999254154 meters 0.05616988038509367 Centerline is valid? [True, True] Translation: X:697.40, Y:4.36, Z:2.73 [[ 9.99960640e-01 3.11706597e-03 -8.30682525e-03 6.97404506e+02] [-3.11716280e-03 9.99995142e-01 1.28977798e-06 4.36476177e+00] [ 8.30678891e-03 2.46039994e-05 9.99965498e-01 2.72612366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.059254154 meters 0.05585997567235913 Centerline is valid? [True, True] Translation: X:697.46, Y:4.35, Z:2.73 [[ 9.99930462e-01 -8.90639272e-03 -7.72959827e-03 6.97462948e+02] [ 8.90666708e-03 9.99960335e-01 1.07249468e-06 4.35270360e+00] [ 7.72928212e-03 -6.99173786e-05 9.99970126e-01 2.72599160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.119254154 meters 0.05669269354422357 Centerline is valid? [True, True] Translation: X:697.52, Y:4.34, Z:2.73 [[ 9.99847328e-01 -1.57745879e-02 -7.51549780e-03 6.97522380e+02] [ 1.57750403e-02 9.99875566e-01 9.15973192e-07 4.34166891e+00] [ 7.51454817e-03 -1.19473114e-04 9.99971758e-01 2.72564540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.179254154 meters 0.0569311458275957 Centerline is valid? [True, True] Translation: X:697.58, Y:4.33, Z:2.73 [[ 9.99750259e-01 -2.11331327e-02 -7.26710613e-03 6.97583129e+02] [ 2.11336972e-02 9.99776659e-01 8.91652850e-07 4.33343526e+00] [ 7.26546424e-03 -1.54472251e-04 9.99973594e-01 2.72619372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.239254154 meters 0.056589486322775884 Centerline is valid? [True, True] Translation: X:697.64, Y:4.33, Z:2.73 [[ 9.99649001e-01 -2.56800150e-02 -6.51236578e-03 6.97643650e+02] [ 2.56805652e-02 9.99670200e-01 8.52417464e-07 4.32981791e+00] [ 6.51019611e-03 -1.68093352e-04 9.99978794e-01 2.72783154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.299254154 meters 0.05695020898337939 Centerline is valid? [True, True] Translation: X:697.70, Y:4.32, Z:2.73 [[ 9.99627756e-01 -2.66527769e-02 -5.82911431e-03 6.97704768e+02] [ 2.66532345e-02 9.99644739e-01 8.26695944e-07 4.32164356e+00] [ 5.82702142e-03 -1.56191139e-04 9.99983011e-01 2.72838559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters 0.057780912303473105 Centerline is valid? [True, True] Translation: X:697.77, Y:4.32, Z:2.73 [[ 9.99638600e-01 -2.61646193e-02 -6.17108676e-03 6.97767027e+02] [ 2.61651241e-02 9.99657635e-01 1.07223648e-06 4.31790199e+00] [ 6.16894594e-03 -1.62539100e-04 9.99980959e-01 2.72830444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.419254154 meters 0.05674898989513336 Centerline is valid? [True, True] Translation: X:697.83, Y:4.32, Z:2.73 [[ 9.99635725e-01 -2.60590768e-02 -7.02443915e-03 6.97829483e+02] [ 2.60597305e-02 9.99660388e-01 1.53964947e-06 4.31603102e+00] [ 7.02201344e-03 -1.84594080e-04 9.99975328e-01 2.72730930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters 0.05699904979828304 Centerline is valid? [True, True] Translation: X:697.89, Y:4.32, Z:2.73 [[ 9.99511475e-01 -2.98197843e-02 -9.35905383e-03 6.97890374e+02] [ 2.98211121e-02 9.99555252e-01 2.32325389e-06 4.31534833e+00] [ 9.35482212e-03 -2.81419512e-04 9.99956203e-01 2.72644593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.539254154 meters 0.05686709793303511 Centerline is valid? [True, True] Translation: X:697.95, Y:4.31, Z:2.73 [[ 9.99267123e-01 -3.65982722e-02 -1.12152989e-02 6.97949543e+02] [ 3.66006052e-02 9.99329973e-01 2.77550560e-06 4.31226301e+00] [ 1.12076828e-02 -4.13260200e-04 9.99937107e-01 2.72734924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters 0.057999032486182836 Centerline is valid? [True, True] Translation: X:698.01, Y:4.30, Z:2.73 [[ 9.99056824e-01 -4.19617374e-02 -1.11658006e-02 6.98008958e+02] [ 4.19643849e-02 9.99119107e-01 2.81725126e-06 4.30062972e+00] [ 1.11558465e-02 -4.71380548e-04 9.99937660e-01 2.72674846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.659254154 meters 0.05676110662773677 Centerline is valid? [True, True] Translation: X:698.07, Y:4.30, Z:2.73 [[ 9.98729710e-01 -4.93906945e-02 -9.97625412e-03 6.98069712e+02] [ 4.93931783e-02 9.98779412e-01 2.58961284e-06 4.30326818e+00] [ 9.96394932e-03 -4.95345222e-04 9.99950236e-01 2.72866964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters 0.0575109828041888 Centerline is valid? [True, True] Translation: X:698.13, Y:4.30, Z:2.73 [[ 9.98559565e-01 -5.27716865e-02 -9.69250365e-03 6.98130271e+02] [ 5.27741903e-02 9.98606471e-01 2.56094790e-06 4.30093238e+00] [ 9.67886172e-03 -5.14071291e-04 9.99953027e-01 2.72926828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.779254154 meters 0.056234907006381875 Centerline is valid? [True, True] Translation: X:698.19, Y:4.31, Z:2.73 [[ 9.98394852e-01 -5.57663454e-02 -9.89116389e-03 6.98190308e+02] [ 5.57690991e-02 9.98443693e-01 2.58965350e-06 4.30695019e+00] [ 9.87562579e-03 -5.54206796e-04 9.99951081e-01 2.73001852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters 0.057389173078752874 Centerline is valid? [True, True] Translation: X:698.25, Y:4.30, Z:2.73 [[ 9.98359783e-01 -5.62948979e-02 -1.04224579e-02 6.98251646e+02] [ 5.62979855e-02 9.98414011e-01 2.86130210e-06 4.29741214e+00] [ 1.04057669e-02 -5.89619993e-04 9.99945685e-01 2.72978893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.899254154 meters 0.057635866351712466 Centerline is valid? [True, True] Translation: X:698.31, Y:4.30, Z:2.73 [[ 9.98412795e-01 -5.55867849e-02 -9.05537645e-03 6.98312825e+02] [ 5.55890885e-02 9.98453731e-01 2.69619937e-06 4.29736570e+00] [ 9.04122453e-03 -5.06072043e-04 9.99958999e-01 2.73083324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters 0.06040759280837302 Centerline is valid? [True, True] Translation: X:698.37, Y:4.29, Z:2.73 [[ 9.98644175e-01 -5.13876197e-02 -8.31410876e-03 6.98372200e+02] [ 5.13894170e-02 9.98678691e-01 2.54881247e-06 4.29034061e+00] [ 8.30299227e-03 -4.29802558e-04 9.99965437e-01 2.73060000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.019254154 meters 0.056966613852973816 Centerline is valid? [True, True] Translation: X:698.43, Y:4.31, Z:2.73 [[ 9.98841304e-01 -4.74260948e-02 -8.17402638e-03 6.98432669e+02] [ 4.74276996e-02 9.98874673e-01 2.48897735e-06 4.30502365e+00] [ 8.16470989e-03 -3.90161361e-04 9.99966592e-01 2.73138255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters 0.058243279057401516 Centerline is valid? [True, True] Translation: X:698.49, Y:4.30, Z:2.73 [[ 9.99186944e-01 -3.93011869e-02 -8.99267292e-03 6.98491895e+02] [ 3.93028001e-02 9.99227346e-01 2.66984914e-06 4.30490222e+00] [ 8.98561977e-03 -3.56104905e-04 9.99959565e-01 2.73054343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.139254154 meters 0.056774612143784535 Centerline is valid? [True, True] Translation: X:698.55, Y:4.32, Z:2.73 [[ 9.99285626e-01 -3.67313505e-02 -8.89074960e-03 6.98552855e+02] [ 3.67328256e-02 9.99325122e-01 2.63065362e-06 4.31516012e+00] [ 8.88465280e-03 -3.29211129e-04 9.99960476e-01 2.73227490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters 0.05701168284194401 Centerline is valid? [True, True] Translation: X:698.61, Y:4.31, Z:2.73 [[ 9.99517018e-01 -2.98468935e-02 -8.65412262e-03 6.98612682e+02] [ 2.98480340e-02 9.99554448e-01 2.62473508e-06 4.31158354e+00] [ 8.65018842e-03 -2.60932013e-04 9.99962552e-01 2.73192963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.259254154 meters 0.05690592442553369 Centerline is valid? [True, True] Translation: X:698.67, Y:4.32, Z:2.73 [[ 9.99645067e-01 -2.48023796e-02 -9.72531700e-03 6.98672965e+02] [ 2.48035815e-02 9.99692344e-01 2.97333358e-06 4.31944717e+00] [ 9.72225120e-03 -2.44194972e-04 9.99952708e-01 2.73239554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.319254154 meters 0.056848367207730614 Centerline is valid? [True, True] Translation: X:698.73, Y:4.32, Z:2.73 [[ 9.99697863e-01 -2.22193288e-02 -1.05111511e-02 6.98734893e+02] [ 2.22205918e-02 9.99753092e-01 3.37550945e-06 4.32443698e+00] [ 1.05084808e-02 -2.36938487e-04 9.99944756e-01 2.73253939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.379254154 meters 0.05667813100600257 Centerline is valid? [True, True] Translation: X:698.80, Y:4.33, Z:2.73 [[ 9.99754591e-01 -1.98504943e-02 -9.83437042e-03 6.98795715e+02] [ 1.98514867e-02 9.99802940e-01 3.30253266e-06 4.32813042e+00] [ 9.83236691e-03 -1.98528596e-04 9.99951641e-01 2.73374030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.439254154 meters 0.05676654517319698 Centerline is valid? [True, True] Translation: X:698.86, Y:4.32, Z:2.74 [[ 9.99784785e-01 -1.93719357e-02 -7.42368184e-03 6.98856058e+02] [ 1.93724884e-02 9.99812336e-01 2.54839345e-06 4.32422211e+00] [ 7.42223931e-03 -1.46363035e-04 9.99972444e-01 2.73510660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.499254154 meters 0.05627264615440006 Centerline is valid? [True, True] Translation: X:698.92, Y:4.33, Z:2.74 [[ 9.99776440e-01 -2.00337905e-02 -6.76143722e-03 6.98918580e+02] [ 2.00342650e-02 9.99799294e-01 2.44817380e-06 4.32738615e+00] [ 6.76003111e-03 -1.37908051e-04 9.99977141e-01 2.73669124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.559254154 meters 0.0580533641726719 Centerline is valid? [True, True] Translation: X:698.98, Y:4.31, Z:2.73 [[ 9.99734737e-01 -2.19744568e-02 -6.89772365e-03 6.98979275e+02] [ 2.19749981e-02 9.99758521e-01 2.68490118e-06 4.31482050e+00] [ 6.89599899e-03 -1.54261653e-04 9.99976210e-01 2.73487239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.619254154 meters 0.05688286858585324 Centerline is valid? [True, True] Translation: X:699.04, Y:4.32, Z:2.73 [[ 9.99664670e-01 -2.48528305e-02 -7.27220913e-03 6.99040099e+02] [ 2.48535090e-02 9.99691104e-01 2.92827147e-06 4.32046031e+00] [ 7.26989000e-03 -1.83667205e-04 9.99973557e-01 2.73476139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.679254154 meters 0.05943816862378855 Centerline is valid? [True, True] Translation: X:699.10, Y:4.31, Z:2.73 [[ 9.99533988e-01 -2.94329510e-02 -8.09368988e-03 6.99099794e+02] [ 2.94339420e-02 9.99566728e-01 3.32423492e-06 4.30536677e+00] [ 8.09008526e-03 -2.41551884e-04 9.99967246e-01 2.73225698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.739254154 meters 0.05826357342837705 Centerline is valid? [True, True] Translation: X:699.16, Y:4.31, Z:2.73 [[ 9.99476400e-01 -3.13094945e-02 -8.16339628e-03 6.99161383e+02] [ 3.13105659e-02 9.99509704e-01 3.44497211e-06 4.30711691e+00] [ 8.15928594e-03 -2.59043726e-04 9.99966679e-01 2.73292628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.799254154 meters 0.05680795973729463 Centerline is valid? [True, True] Translation: X:699.22, Y:4.32, Z:2.73 [[ 9.99471223e-01 -3.15132775e-02 -8.01175460e-03 6.99223108e+02] [ 3.15143176e-02 9.99503301e-01 3.57785856e-06 4.31872200e+00] [ 8.00766241e-03 -2.56060945e-04 9.99967905e-01 2.73472793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters 0.058711033375476014 Centerline is valid? [True, True] Translation: X:699.28, Y:4.30, Z:2.73 [[ 9.99491648e-01 -3.08241128e-02 -8.14370110e-03 6.99284767e+02] [ 3.08251668e-02 9.99524792e-01 3.91451814e-06 4.30331059e+00] [ 8.13971048e-03 -2.54943473e-04 9.99966839e-01 2.73371352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.919254154 meters 0.05779013583714751 Centerline is valid? [True, True] Translation: X:699.35, Y:4.31, Z:2.73 [[ 9.99506212e-01 -3.05965917e-02 -7.15405449e-03 6.99346538e+02] [ 3.05974008e-02 9.99531790e-01 3.65922397e-06 4.30724238e+00] [ 7.15059293e-03 -2.22552890e-04 9.99974409e-01 2.73495238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters 0.057696653687777044 Centerline is valid? [True, True] Translation: X:699.41, Y:4.30, Z:2.73 [[ 9.99449864e-01 -3.22559556e-02 -7.71516402e-03 6.99406907e+02] [ 3.22569474e-02 9.99479609e-01 4.11344849e-06 4.30335108e+00] [ 7.71101644e-03 -2.52978826e-04 9.99970238e-01 2.73430621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.039254154 meters 0.05763328926634005 Centerline is valid? [True, True] Translation: X:699.47, Y:4.30, Z:2.73 [[ 9.99322368e-01 -3.58241485e-02 -8.45192372e-03 6.99467535e+02] [ 3.58254668e-02 9.99358062e-01 4.58352698e-06 4.30218019e+00] [ 8.44633391e-03 -3.07374534e-04 9.99964282e-01 2.73418900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters 0.057280754021403195 Centerline is valid? [True, True] Translation: X:699.53, Y:4.30, Z:2.73 [[ 9.99171357e-01 -3.97454340e-02 -8.76928226e-03 6.99528366e+02] [ 3.97470047e-02 9.99209776e-01 4.84081115e-06 4.29943986e+00] [ 8.76216016e-03 -3.53389503e-04 9.99961549e-01 2.73413662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.159254154 meters 0.05644021022354532 Centerline is valid? [True, True] Translation: X:699.59, Y:4.31, Z:2.74 [[ 9.98919218e-01 -4.54542942e-02 -9.71093814e-03 6.99588740e+02] [ 4.54564902e-02 9.98966320e-01 5.42245642e-06 4.30638977e+00] [ 9.70065366e-03 -4.46841761e-04 9.99952848e-01 2.73570226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters 0.05531420442561949 Centerline is valid? [True, True] Translation: X:699.65, Y:4.31, Z:2.74 [[ 9.98827947e-01 -4.76546192e-02 -8.47164812e-03 6.99650236e+02] [ 4.76563701e-02 9.98863790e-01 4.81894007e-06 4.30542605e+00] [ 8.46179290e-03 -4.08541290e-04 9.99964115e-01 2.73594403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.279254154 meters 0.05741460622700474 Centerline is valid? [True, True] Translation: X:699.71, Y:4.30, Z:2.74 [[ 9.98853146e-01 -4.73291861e-02 -7.23472394e-03 6.99711758e+02] [ 4.73304555e-02 9.98879286e-01 4.25613521e-06 4.30073146e+00] [ 7.22641444e-03 -3.46674033e-04 9.99973829e-01 2.73648949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters 0.05665129906386731 Centerline is valid? [True, True] Translation: X:699.77, Y:4.31, Z:2.74 [[ 9.99017577e-01 -4.36774664e-02 -7.49398580e-03 6.99772177e+02] [ 4.36787267e-02 9.99045629e-01 4.52414568e-06 4.31184900e+00] [ 7.48663616e-03 -3.31847459e-04 9.99971920e-01 2.73642756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.399254154 meters 0.0560543247958175 Centerline is valid? [True, True] Translation: X:699.83, Y:4.32, Z:2.74 [[ 9.99144501e-01 -4.08323437e-02 -6.55641015e-03 6.99832451e+02] [ 4.08332473e-02 9.99165975e-01 3.96986598e-06 4.31635762e+00] [ 6.55077984e-03 -2.71685987e-04 9.99978506e-01 2.73692846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters 0.057019355265014636 Centerline is valid? [True, True] Translation: X:699.89, Y:4.31, Z:2.74 [[ 9.99282196e-01 -3.74720945e-02 -5.56188671e-03 6.99891597e+02] [ 3.74726927e-02 9.99297652e-01 3.35588360e-06 4.30904408e+00] [ 5.55785457e-03 -2.11772346e-04 9.99984533e-01 2.73764124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.519254154 meters 0.055468171954414086 Centerline is valid? [True, True] Translation: X:699.95, Y:4.32, Z:2.74 [[ 9.99337463e-01 -3.59428712e-02 -5.72233369e-03 6.99952795e+02] [ 3.59434795e-02 9.99353824e-01 3.45178289e-06 4.32165442e+00] [ 5.71851199e-03 -2.09130080e-04 9.99983627e-01 2.73817420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters 0.056803794714689514 Centerline is valid? [True, True] Translation: X:700.01, Y:4.32, Z:2.74 [[ 9.99331732e-01 -3.57947956e-02 -7.40413804e-03 7.00014856e+02] [ 3.57958116e-02 9.99359125e-01 4.70017550e-06 4.31928441e+00] [ 7.39922467e-03 -2.69734165e-04 9.99972589e-01 2.73691030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.639254154 meters 0.05556110059118828 Centerline is valid? [True, True] Translation: X:700.08, Y:4.32, Z:2.74 [[ 9.99305220e-01 -3.61495597e-02 -9.07119980e-03 7.00076522e+02] [ 3.61511023e-02 9.99346335e-01 6.08812393e-06 4.32047411e+00] [ 9.06505019e-03 -3.34017766e-04 9.99958856e-01 2.73573396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters 0.0567392694637935 Centerline is valid? [True, True] Translation: X:700.14, Y:4.32, Z:2.74 [[ 9.99313063e-01 -3.58686039e-02 -9.31912214e-03 7.00139042e+02] [ 3.58702223e-02 9.99356457e-01 6.52746860e-06 4.32339716e+00] [ 9.31289075e-03 -3.40801968e-04 9.99956576e-01 2.73653601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.759254154 meters 0.05690324031674881 Centerline is valid? [True, True] Translation: X:700.20, Y:4.33, Z:2.74 [[ 9.99323762e-01 -3.56611431e-02 -8.96109421e-03 7.00201211e+02] [ 3.56626342e-02 9.99363886e-01 6.60807165e-06 4.32773046e+00] [ 8.95515828e-03 -3.26179828e-04 9.99959849e-01 2.73804045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.819254154 meters 0.05803899635324017 Centerline is valid? [True, True] Translation: X:700.26, Y:4.32, Z:2.74 [[ 9.99319667e-01 -3.60543130e-02 -7.76463068e-03 7.00262768e+02] [ 3.60554461e-02 9.99349791e-01 5.96287282e-06 4.31936552e+00] [ 7.75936706e-03 -2.85916039e-04 9.99969855e-01 2.73792095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.879254154 meters 0.05482085711925028 Centerline is valid? [True, True] Translation: X:700.32, Y:4.33, Z:2.74 [[ 9.99275282e-01 -3.75801032e-02 -6.05363018e-03 7.00324767e+02] [ 3.75808212e-02 9.99293591e-01 4.85229970e-06 4.33488932e+00] [ 6.04917149e-03 -2.32349177e-04 9.99981677e-01 2.73962066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.939254154 meters 0.05598662554309355 Centerline is valid? [True, True] Translation: X:700.39, Y:4.33, Z:2.74 [[ 9.99217947e-01 -3.89253585e-02 -6.95056582e-03 7.00385586e+02] [ 3.89263406e-02 9.99242083e-01 6.02183541e-06 4.33473501e+00] [ 6.94506346e-03 -2.76577218e-04 9.99975844e-01 2.73923961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.999254154 meters 0.0592544286174161 Centerline is valid? [True, True] Translation: X:700.45, Y:4.32, Z:2.74 [[ 9.99219156e-01 -3.86677907e-02 -8.11669997e-03 7.00446721e+02] [ 3.86691246e-02 9.99252070e-01 7.40960517e-06 4.32042351e+00] [ 8.11034273e-03 -3.21269502e-04 9.99967059e-01 2.73774944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.059254154 meters 0.056613002778376297 Centerline is valid? [True, True] Translation: X:700.51, Y:4.33, Z:2.74 [[ 9.99233406e-01 -3.82806027e-02 -8.19729661e-03 7.00509013e+02] [ 3.82819524e-02 9.99266977e-01 7.74947281e-06 4.33144043e+00] [ 8.19099115e-03 -3.21552051e-04 9.99966402e-01 2.73855191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.119254154 meters 0.05628422516970816 Centerline is valid? [True, True] Translation: X:700.57, Y:4.33, Z:2.74 [[ 9.99293907e-01 -3.66722473e-02 -8.17521460e-03 7.00570865e+02] [ 3.66735381e-02 9.99327300e-01 7.98443439e-06 4.33386675e+00] [ 8.16942232e-03 -3.07792840e-04 9.99966582e-01 2.73862428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.179254154 meters 0.05667197895448075 Centerline is valid? [True, True] Translation: X:700.63, Y:4.34, Z:2.74 [[ 9.99477734e-01 -3.13861736e-02 -7.69207638e-03 7.00630125e+02] [ 3.13871604e-02 9.99507302e-01 7.56870546e-06 4.33509324e+00] [ 7.68804895e-03 -2.48997188e-04 9.99970415e-01 2.73917763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.239254154 meters 0.056085087817515464 Centerline is valid? [True, True] Translation: X:700.69, Y:4.35, Z:2.74 [[ 9.99703021e-01 -2.31759949e-02 -7.53277323e-03 7.00690700e+02] [ 2.31767081e-02 9.99731384e-01 7.39780938e-06 4.34714491e+00] [ 7.53057836e-03 -1.81980499e-04 9.99971628e-01 2.73955426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.299254154 meters 0.055948807005349765 Centerline is valid? [True, True] Translation: X:700.75, Y:4.35, Z:2.74 [[ 9.99805961e-01 -1.79482856e-02 -8.11782291e-03 7.00750143e+02] [ 1.79489419e-02 9.99838905e-01 7.99467331e-06 4.34737814e+00] [ 8.11637168e-03 -1.53699454e-04 9.99967050e-01 2.73912717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters 0.056010357148199054 Centerline is valid? [True, True] Translation: X:700.81, Y:4.35, Z:2.74 [[ 9.99879179e-01 -1.29884148e-02 -8.53984827e-03 7.00810224e+02] [ 1.29889602e-02 9.99915640e-01 8.40945485e-06 4.35125291e+00] [ 8.53901862e-03 -1.19332188e-04 9.99963535e-01 2.73929129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.419254154 meters 0.05572585830703871 Centerline is valid? [True, True] Translation: X:700.87, Y:4.35, Z:2.74 [[ 9.99859193e-01 -1.44636473e-02 -8.50865782e-03 7.00870073e+02] [ 1.44642418e-02 9.99895387e-01 8.34120216e-06 4.35397503e+00] [ 8.50764706e-03 -1.31411312e-04 9.99963801e-01 2.74048623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters 0.05581841351865648 Centerline is valid? [True, True] Translation: X:700.93, Y:4.35, Z:2.74 [[ 9.99800149e-01 -1.78334105e-02 -9.03498934e-03 7.00930693e+02] [ 1.78342181e-02 9.99840958e-01 8.82273598e-06 4.35211923e+00] [ 9.03339506e-03 -1.69952943e-04 9.99959184e-01 2.73995437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.539254154 meters 0.055463551163512745 Centerline is valid? [True, True] Translation: X:700.99, Y:4.35, Z:2.74 [[ 9.99676309e-01 -2.40197006e-02 -8.38640451e-03 7.00991463e+02] [ 2.40206140e-02 9.99711463e-01 8.19592801e-06 4.35287007e+00] [ 8.38378786e-03 -2.09639861e-04 9.99964833e-01 2.74035966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters 0.056131323091768014 Centerline is valid? [True, True] Translation: X:701.05, Y:4.35, Z:2.74 [[ 9.99585122e-01 -2.77066761e-02 -7.86924506e-03 7.01051806e+02] [ 2.77075948e-02 9.99616071e-01 7.72825314e-06 4.34636397e+00] [ 7.86600970e-03 -2.25762900e-04 9.99969037e-01 2.74037852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.659254154 meters 0.056518489902298574 Centerline is valid? [True, True] Translation: X:701.11, Y:4.34, Z:2.74 [[ 9.99421854e-01 -3.32115520e-02 -7.27671430e-03 7.01112180e+02] [ 3.32124840e-02 9.99448313e-01 7.23384630e-06 4.34137227e+00] [ 7.27245959e-03 -2.48907421e-04 9.99973524e-01 2.74160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters 0.05564439163874315 Centerline is valid? [True, True] Translation: X:701.17, Y:4.35, Z:2.74 [[ 9.99258061e-01 -3.79718960e-02 -6.43921632e-03 7.01173472e+02] [ 3.79727250e-02 9.99278776e-01 6.49348769e-06 4.35030434e+00] [ 6.43432564e-03 -2.51003261e-04 9.99979268e-01 2.74373555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.779254154 meters 0.05838039564928553 Centerline is valid? [True, True] Translation: X:701.23, Y:4.33, Z:2.74 [[ 9.99004242e-01 -4.41698545e-02 -6.28868284e-03 7.01232558e+02] [ 4.41707680e-02 9.99023995e-01 6.37506735e-06 4.32573697e+00] [ 6.28226347e-03 -2.84144670e-04 9.99980226e-01 2.74240750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters 0.05525046018785409 Centerline is valid? [True, True] Translation: X:701.29, Y:4.34, Z:2.74 [[ 9.98803656e-01 -4.86097054e-02 -5.32487425e-03 7.01293135e+02] [ 4.86104232e-02 9.98817815e-01 5.38693373e-06 4.33845490e+00] [ 5.31831740e-03 -2.64224880e-04 9.99985823e-01 2.74274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.899254154 meters 0.05841785873908864 Centerline is valid? [True, True] Translation: X:701.35, Y:4.32, Z:2.74 [[ 9.98781052e-01 -4.88895844e-02 -6.79840854e-03 7.01354038e+02] [ 4.88907624e-02 9.98804132e-01 7.09653052e-06 4.32180161e+00] [ 6.78993159e-03 -3.39467257e-04 9.99976891e-01 2.74208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters 0.055708648759380704 Centerline is valid? [True, True] Translation: X:701.41, Y:4.33, Z:2.74 [[ 9.98869012e-01 -4.68798262e-02 -7.93595431e-03 7.01414560e+02] [ 4.68813708e-02 9.98900464e-01 8.61060785e-06 4.33386755e+00] [ 7.92682478e-03 -3.80649286e-04 9.99968510e-01 2.74211523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.019254154 meters 0.056015574284610556 Centerline is valid? [True, True] Translation: X:701.47, Y:4.33, Z:2.74 [[ 9.99091314e-01 -4.17792597e-02 -8.42853333e-03 7.01474158e+02] [ 4.17808215e-02 9.99126800e-01 9.22663044e-06 4.32988124e+00] [ 8.42078805e-03 -3.61369293e-04 9.99964479e-01 2.74209156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters 0.05507093074351801 Centerline is valid? [True, True] Translation: X:701.53, Y:4.33, Z:2.74 [[ 9.99383954e-01 -3.42084204e-02 -7.84202545e-03 7.01534261e+02] [ 3.42095399e-02 9.99414682e-01 8.62616167e-06 4.33464998e+00] [ 7.83714029e-03 -2.76892930e-04 9.99969251e-01 2.74310475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.139254154 meters 0.05560563428322044 Centerline is valid? [True, True] Translation: X:701.59, Y:4.33, Z:2.74 [[ 9.99611881e-01 -2.69996490e-02 -6.86334502e-03 7.01594021e+02] [ 2.70003368e-02 9.99635424e-01 7.55638436e-06 4.33057565e+00] [ 6.86063880e-03 -1.92866079e-04 9.99976447e-01 2.74299011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters 0.055722533777795666 Centerline is valid? [True, True] Translation: X:701.65, Y:4.34, Z:2.74 [[ 9.99858743e-01 -1.53560244e-02 -6.83280463e-03 7.01654575e+02] [ 1.53564345e-02 9.99882083e-01 7.54798319e-06 4.33578274e+00] [ 6.83188302e-03 -1.12474433e-04 9.99976656e-01 2.74308379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.259254154 meters 0.05559157802366589 Centerline is valid? [True, True] Translation: X:701.71, Y:4.34, Z:2.74 [[ 9.99926121e-01 -8.99867235e-03 -8.17170956e-03 7.01714172e+02] [ 8.99904668e-03 9.99959508e-01 9.03935112e-06 4.33765031e+00] [ 8.17129733e-03 -8.25762791e-05 9.99966611e-01 2.74271143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.319254154 meters 0.056047391742047495 Centerline is valid? [True, True] Translation: X:701.77, Y:4.34, Z:2.74 [[ 9.99937328e-01 -5.37507800e-03 -9.82081430e-03 7.01773499e+02] [ 5.37543723e-03 9.99985552e-01 1.01824315e-05 4.33953427e+00] [ 9.82061768e-03 -6.29729641e-05 9.99951775e-01 2.74304859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.379254154 meters 0.05584052597288405 Centerline is valid? [True, True] Translation: X:701.83, Y:4.33, Z:2.74 [[ 9.99901298e-01 -8.95798440e-03 -1.08235423e-02 7.01832126e+02] [ 8.95862366e-03 9.99959871e-01 1.05785690e-05 4.33468563e+00] [ 1.08230132e-02 -1.07541567e-04 9.99941424e-01 2.74189929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.439254154 meters 0.05591181238158532 Centerline is valid? [True, True] Translation: X:701.89, Y:4.33, Z:2.74 [[ 9.99859002e-01 -1.38167626e-02 -9.54319351e-03 7.01891652e+02] [ 1.38174791e-02 9.99904534e-01 9.14782210e-06 4.33093048e+00] [ 9.54215607e-03 -1.41009409e-04 9.99954463e-01 2.74240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.499254154 meters 0.05652241011344434 Centerline is valid? [True, True] Translation: X:701.95, Y:4.33, Z:2.74 [[ 9.99725251e-01 -2.18760180e-02 -8.41793888e-03 7.01952006e+02] [ 2.18768605e-02 9.99760673e-01 8.00987008e-06 4.32736649e+00] [ 8.41574901e-03 -1.92165744e-04 9.99964568e-01 2.74409208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.559254154 meters 0.05847627641835988 Centerline is valid? [True, True] Translation: X:702.01, Y:4.31, Z:2.74 [[ 9.99568171e-01 -2.79266802e-02 -9.14175708e-03 7.02011371e+02] [ 2.79279264e-02 9.99609939e-01 8.66156723e-06 4.31228295e+00] [ 9.13794935e-03 -2.63968145e-04 9.99958213e-01 2.74250837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.619254154 meters 0.05606221979329202 Centerline is valid? [True, True] Translation: X:702.07, Y:4.33, Z:2.75 [[ 9.99443028e-01 -3.22809871e-02 -8.45997087e-03 7.02071448e+02] [ 3.22822102e-02 9.99478794e-01 8.02074355e-06 4.32520145e+00] [ 8.45530256e-03 -2.81122834e-04 9.99964214e-01 2.74505472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.679254154 meters 0.05702074887120977 Centerline is valid? [True, True] Translation: X:702.13, Y:4.31, Z:2.74 [[ 9.99348066e-01 -3.52559228e-02 -7.77580146e-03 7.02131035e+02] [ 3.52570462e-02 9.99378277e-01 7.39637053e-06 4.31229817e+00] [ 7.77070630e-03 -2.81543340e-04 9.99969768e-01 2.74443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.739254154 meters 0.05679545345780731 Centerline is valid? [True, True] Translation: X:702.19, Y:4.31, Z:2.74 [[ 9.99359827e-01 -3.48858648e-02 -7.93179574e-03 7.02193161e+02] [ 3.48870233e-02 9.99391263e-01 7.70364868e-06 4.31415687e+00] [ 7.92669861e-03 -2.84415459e-04 9.99968543e-01 2.74489362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.799254154 meters 0.05638344889449082 Centerline is valid? [True, True] Translation: X:702.25, Y:4.32, Z:2.74 [[ 9.99521997e-01 -2.95732095e-02 -9.01123856e-03 7.02254029e+02] [ 2.95744911e-02 9.99562579e-01 8.97031087e-06 4.32092948e+00] [ 9.00703158e-03 -2.75468817e-04 9.99959398e-01 2.74483665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters 0.056471552174334076 Centerline is valid? [True, True] Translation: X:702.31, Y:4.32, Z:2.74 [[ 9.99667578e-01 -2.40842651e-02 -9.20222814e-03 7.02313568e+02] [ 2.40853695e-02 9.99709905e-01 9.19121189e-06 4.31937900e+00] [ 9.19933726e-03 -2.30827221e-04 9.99957659e-01 2.74422597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.919254154 meters 0.05603044628772844 Centerline is valid? [True, True] Translation: X:702.37, Y:4.32, Z:2.75 [[ 9.99805023e-01 -1.73891551e-02 -9.35591827e-03 7.02372948e+02] [ 1.73900032e-02 9.99848782e-01 9.29992462e-06 4.32250478e+00] [ 9.35434177e-03 -1.71997560e-04 9.99956232e-01 2.74503882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters 0.055855715749353774 Centerline is valid? [True, True] Translation: X:702.43, Y:4.32, Z:2.75 [[ 9.99881950e-01 -1.21698214e-02 -9.37984161e-03 7.02432610e+02] [ 1.21704435e-02 9.99925937e-01 9.24744680e-06 4.32452706e+00] [ 9.37903437e-03 -1.23403188e-04 9.99956008e-01 2.74513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.039254154 meters 0.056485993942791475 Centerline is valid? [True, True] Translation: X:702.49, Y:4.33, Z:2.75 [[ 9.99912687e-01 -8.37454840e-03 -1.02218151e-02 7.02491872e+02] [ 8.37508169e-03 9.99964928e-01 9.36662989e-06 4.32718966e+00] [ 1.02213782e-02 -9.49743487e-05 9.99947756e-01 2.74517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters 0.05633965999359551 Centerline is valid? [True, True] Translation: X:702.55, Y:4.32, Z:2.74 [[ 9.99881508e-01 -9.52489739e-03 -1.20932448e-02 7.02549818e+02] [ 9.52571782e-03 9.99954629e-01 1.02415800e-05 4.32492772e+00] [ 1.20925986e-02 -1.25437204e-04 9.99926874e-01 2.74395588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.159254154 meters 0.0568264783843282 Centerline is valid? [True, True] Translation: X:702.61, Y:4.32, Z:2.74 [[ 9.99851873e-01 -1.17814359e-02 -1.25470709e-02 7.02607049e+02] [ 1.17824892e-02 9.99930584e-01 1.00323039e-05 4.32172119e+00] [ 1.25460818e-02 -1.57866546e-04 9.99921282e-01 2.74334021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters 0.05711592395884166 Centerline is valid? [True, True] Translation: X:702.67, Y:4.32, Z:2.75 [[ 9.99805230e-01 -1.57245162e-02 -1.19265153e-02 7.02666780e+02] [ 1.57257446e-02 9.99876343e-01 9.22072613e-06 4.31921289e+00] [ 1.19248955e-02 -1.96772264e-04 9.99928877e-01 2.74500438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.279254154 meters 0.05658248122978186 Centerline is valid? [True, True] Translation: X:702.73, Y:4.32, Z:2.75 [[ 9.99752608e-01 -1.95642690e-02 -1.05812688e-02 7.02726107e+02] [ 1.95654485e-02 9.99808578e-01 7.95440302e-06 4.31850534e+00] [ 1.05790877e-02 -2.14979704e-04 9.99944017e-01 2.74754999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters 0.05701199280581307 Centerline is valid? [True, True] Translation: X:702.79, Y:4.31, Z:2.75 [[ 9.99714825e-01 -2.18282153e-02 -9.68492546e-03 7.02785926e+02] [ 2.18293083e-02 9.99761712e-01 7.14016152e-06 4.31172504e+00] [ 9.68246180e-03 -2.18553349e-04 9.99953100e-01 2.74710457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.399254154 meters 0.05770024775438982 Centerline is valid? [True, True] Translation: X:702.85, Y:4.31, Z:2.75 [[ 9.99689331e-01 -2.32663535e-02 -8.93967652e-03 7.02846509e+02] [ 2.32673428e-02 9.99729279e-01 6.66397952e-06 4.30657730e+00] [ 8.93710131e-03 -2.14664427e-04 9.99960040e-01 2.74759825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters 0.05671813312724538 Centerline is valid? [True, True] Translation: X:702.91, Y:4.31, Z:2.75 [[ 9.99737188e-01 -2.11682497e-02 -8.80115933e-03 7.02907114e+02] [ 2.11691284e-02 9.99775909e-01 6.68281907e-06 4.31481297e+00] [ 8.79904561e-03 -1.92993934e-04 9.99961269e-01 2.74953117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.519254154 meters 0.05703879595538186 Centerline is valid? [True, True] Translation: X:702.97, Y:4.31, Z:2.75 [[ 9.99786878e-01 -1.81554801e-02 -9.82739393e-03 7.02967289e+02] [ 1.81564305e-02 9.99835158e-01 7.49947001e-06 4.31446087e+00] [ 9.82563781e-03 -1.85928267e-04 9.99951710e-01 2.74913009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters 0.056557981595425036 Centerline is valid? [True, True] Translation: X:703.03, Y:4.31, Z:2.75 [[ 9.99847554e-01 -1.40053901e-02 -1.04267550e-02 7.03026608e+02] [ 1.40062339e-02 9.99901908e-01 7.90284085e-06 4.31432401e+00] [ 1.04256216e-02 -1.53941206e-04 9.99945640e-01 2.74830382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.639254154 meters 0.05700198556406157 Centerline is valid? [True, True] Translation: X:703.09, Y:4.31, Z:2.75 [[ 9.99852580e-01 -1.29137363e-02 -1.13161092e-02 7.03085853e+02] [ 1.29146543e-02 9.99916602e-01 8.05200469e-06 4.31468496e+00] [ 1.13150615e-02 -1.54194457e-04 9.99935971e-01 2.74790597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.699254154 meters 0.05665384950554896 Centerline is valid? [True, True] Translation: X:703.14, Y:4.31, Z:2.75 [[ 9.99829343e-01 -1.34697020e-02 -1.26432883e-02 7.03144734e+02] [ 1.34708759e-02 9.99909264e-01 7.68565354e-06 4.31360961e+00] [ 1.26420375e-02 -1.78000509e-04 9.99920070e-01 2.74724466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.759254154 meters 0.057127639659060675 Centerline is valid? [True, True] Translation: X:703.20, Y:4.31, Z:2.75 [[ 9.99765717e-01 -1.62669026e-02 -1.42793566e-02 7.03202774e+02] [ 1.62686752e-02 9.99867656e-01 7.97374819e-06 4.30997923e+00] [ 1.42773371e-02 -2.40278094e-04 9.99898045e-01 2.74567081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.819254154 meters 0.056072779327438045 Centerline is valid? [True, True] Translation: X:703.26, Y:4.31, Z:2.75 [[ 9.99683214e-01 -2.12174852e-02 -1.35384931e-02 7.03262991e+02] [ 2.12195303e-02 9.99774840e-01 7.41035754e-06 4.31160044e+00] [ 1.35352875e-02 -2.94688474e-04 9.99908350e-01 2.74905298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.879254154 meters 0.056806411128492974 Centerline is valid? [True, True] Translation: X:703.32, Y:4.31, Z:2.75 [[ 9.99597405e-01 -2.55562513e-02 -1.23250475e-02 7.03322649e+02] [ 2.55582747e-02 9.99673334e-01 6.66454038e-06 4.30881279e+00] [ 1.23208510e-02 -3.21668808e-04 9.99924044e-01 2.75015971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.939254154 meters 0.056371697193741827 Centerline is valid? [True, True] Translation: X:703.38, Y:4.31, Z:2.75 [[ 9.99385831e-01 -3.34784426e-02 -1.03516004e-02 7.03382851e+02] [ 3.34802938e-02 9.99439378e-01 5.54345220e-06 4.30673864e+00] [ 1.03456114e-02 -3.52114669e-04 9.99946421e-01 2.75217905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.999254154 meters 0.05658726050719693 Centerline is valid? [True, True] Translation: X:703.44, Y:4.30, Z:2.75 [[ 9.99208775e-01 -3.87110332e-02 -9.12582839e-03 7.03443958e+02] [ 3.87126903e-02 9.99250383e-01 4.94017528e-06 4.30449034e+00] [ 9.11879628e-03 -3.58221635e-04 9.99958359e-01 2.75272756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.059254154 meters 0.05710901938850716 Centerline is valid? [True, True] Translation: X:703.50, Y:4.30, Z:2.75 [[ 9.98940825e-01 -4.50419494e-02 -9.40483771e-03 7.03503861e+02] [ 4.50439903e-02 9.98985004e-01 5.18533856e-06 4.30071351e+00] [ 9.39505828e-03 -4.28811265e-04 9.99955774e-01 2.75268746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.119254154 meters 0.05720168029594823 Centerline is valid? [True, True] Translation: X:703.56, Y:4.30, Z:2.75 [[ 9.98678882e-01 -5.04766712e-02 -9.62270671e-03 7.03563554e+02] [ 5.04790599e-02 9.98725120e-01 5.36775319e-06 4.29548003e+00] [ 9.61016797e-03 -4.91105850e-04 9.99953701e-01 2.75273644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.179254154 meters 0.056957158092038634 Centerline is valid? [True, True] Translation: X:703.62, Y:4.30, Z:2.75 [[ 9.98533470e-01 -5.31898383e-02 -1.00871150e-02 7.03624447e+02] [ 5.31926016e-02 9.98584271e-01 5.66093112e-06 4.29587903e+00] [ 1.00725333e-02 -5.42212520e-04 9.99949124e-01 2.75287641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.239254154 meters 0.05715789151935378 Centerline is valid? [True, True] Translation: X:703.68, Y:4.30, Z:2.75 [[ 9.98398750e-01 -5.53782690e-02 -1.15404939e-02 7.03684752e+02] [ 5.53820327e-02 9.98465237e-01 6.55857973e-06 4.30054974e+00] [ 1.15224188e-02 -6.45684089e-04 9.99933406e-01 2.75324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.299254154 meters 0.056721786625040856 Centerline is valid? [True, True] Translation: X:703.75, Y:4.30, Z:2.75 [[ 9.98530812e-01 -5.30467209e-02 -1.10572326e-02 7.03745315e+02] [ 5.30500339e-02 9.98591856e-01 6.33095646e-06 4.30316113e+00] [ 1.10413266e-02 -5.92908221e-04 9.99938867e-01 2.75359287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters 0.057328099301296905 Centerline is valid? [True, True] Translation: X:703.80, Y:4.30, Z:2.75 [[ 9.98753361e-01 -4.88237966e-02 -1.03904085e-02 7.03804681e+02] [ 4.88264936e-02 9.98807275e-01 5.89487117e-06 4.29976176e+00] [ 1.03777278e-02 -5.13214734e-04 9.99946018e-01 2.75322050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.419254154 meters 0.0568865002873278 Centerline is valid? [True, True] Translation: X:703.87, Y:4.31, Z:2.75 [[ 9.99105974e-01 -4.10616419e-02 -1.00595842e-02 7.03865729e+02] [ 4.10637769e-02 9.99156527e-01 5.69216235e-06 4.30591750e+00] [ 1.00508655e-02 -4.18771594e-04 9.99949401e-01 2.75458624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters 0.05730040325839089 Centerline is valid? [True, True] Translation: X:703.92, Y:4.31, Z:2.76 [[ 9.99339509e-01 -3.53042342e-02 -8.61139994e-03 7.03924909e+02] [ 3.53055848e-02 9.99376564e-01 4.82583270e-06 4.30738588e+00] [ 8.60586091e-03 -3.08853156e-04 9.99962921e-01 2.75582773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.539254154 meters 0.059489607803588015 Centerline is valid? [True, True] Translation: X:703.98, Y:4.30, Z:2.76 [[ 9.99613580e-01 -2.65506391e-02 -8.23126812e-03 7.03984424e+02] [ 2.65515761e-02 9.99647445e-01 4.56388679e-06 4.30076059e+00] [ 8.22824497e-03 -2.23115265e-04 9.99966123e-01 2.75550147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters 0.056626396196490236 Centerline is valid? [True, True] Translation: X:704.05, Y:4.32, Z:2.76 [[ 9.99781139e-01 -1.94741979e-02 -7.64398014e-03 7.04045208e+02] [ 1.94747995e-02 9.99810348e-01 4.26740116e-06 4.31974322e+00] [ 7.64244734e-03 -1.53131448e-04 9.99970784e-01 2.75823826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.659254154 meters 0.0573110730639835 Centerline is valid? [True, True] Translation: X:704.10, Y:4.32, Z:2.76 [[ 9.99860302e-01 -1.45821593e-02 -8.16933854e-03 7.04104811e+02] [ 1.45826832e-02 9.99893667e-01 4.55937311e-06 4.31787926e+00] [ 8.16840339e-03 -1.23689612e-04 9.99966630e-01 2.75762995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters 0.05729780492077466 Centerline is valid? [True, True] Translation: X:704.16, Y:4.32, Z:2.76 [[ 9.99928629e-01 -7.80575458e-03 -9.04477179e-03 7.04164430e+02] [ 7.80611848e-03 9.99969532e-01 4.92976259e-06 4.32165515e+00] [ 9.04445773e-03 -7.55339709e-05 9.99959095e-01 2.75751970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.779254154 meters 0.05753100219089274 Centerline is valid? [True, True] Translation: X:704.22, Y:4.32, Z:2.76 [[ 9.99948241e-01 -3.51301226e-03 -9.54856200e-03 7.04223083e+02] [ 3.51321548e-03 9.99993829e-01 4.50901529e-06 4.32330824e+00] [ 9.54848723e-03 -3.80549377e-05 9.99954411e-01 2.76032058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters 0.05696503106829965 Centerline is valid? [True, True] Translation: X:704.28, Y:4.32, Z:2.76 [[ 9.99949882e-01 -3.02094389e-03 -9.54501275e-03 7.04281142e+02] [ 3.02111353e-03 9.99995436e-01 3.35315837e-06 4.32046818e+00] [ 9.54495906e-03 -3.21895574e-05 9.99954445e-01 2.75787670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.899254154 meters 0.0572803785388515 Centerline is valid? [True, True] Translation: X:704.34, Y:4.32, Z:2.76 [[ 9.99953853e-01 -4.50577975e-03 -8.48466947e-03 7.04339050e+02] [ 4.50596183e-03 9.99989848e-01 2.34343903e-06 4.31664831e+00] [ 8.48457277e-03 -4.05749276e-05 9.99964005e-01 2.75911513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters 0.057207870223619554 Centerline is valid? [True, True] Translation: X:704.40, Y:4.31, Z:2.76 [[ 9.99930305e-01 -8.13534650e-03 -8.55581593e-03 7.04397237e+02] [ 8.13566183e-03 9.99966905e-01 2.05187534e-06 4.30827705e+00] [ 8.55551608e-03 -7.16589574e-05 9.99963398e-01 2.75773742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.019254154 meters 0.05837894833241505 Centerline is valid? [True, True] Translation: X:704.46, Y:4.30, Z:2.76 [[ 9.99800223e-01 -1.72436158e-02 -1.01080407e-02 7.04457967e+02] [ 1.72445198e-02 9.99851302e-01 2.27496044e-06 4.29851253e+00] [ 1.01064984e-02 -1.76582813e-04 9.99948912e-01 2.75759099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters 0.05835248104804545 Centerline is valid? [True, True] Translation: X:704.52, Y:4.29, Z:2.76 [[ 9.99645465e-01 -2.44869468e-02 -1.04563291e-02 7.04518514e+02] [ 2.44883106e-02 9.99700116e-01 2.40436639e-06 4.29293714e+00] [ 1.04531346e-02 -2.58461350e-04 9.99945331e-01 2.75884443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.139254154 meters 0.057219823238339 Centerline is valid? [True, True] Translation: X:704.58, Y:4.29, Z:2.76 [[ 9.99351111e-01 -3.45577604e-02 -1.01546737e-02 7.04578957e+02] [ 3.45595663e-02 9.99402640e-01 2.36322019e-06 4.28974470e+00] [ 1.01485260e-02 -3.53302806e-04 9.99948440e-01 2.76084886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.199254154 meters 0.05947740460929201 Centerline is valid? [True, True] Translation: X:704.64, Y:4.28, Z:2.76 [[ 9.99179346e-01 -3.93366561e-02 -9.65722897e-03 7.04639075e+02] [ 3.93385124e-02 9.99225941e-01 2.27281953e-06 4.27530545e+00] [ 9.64966430e-03 -3.82171976e-04 9.99953368e-01 2.75979003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.259254154 meters 0.05843481895591489 Centerline is valid? [True, True] Translation: X:704.70, Y:4.28, Z:2.76 [[ 9.99177222e-01 -3.93646572e-02 -9.76228758e-03 7.04701626e+02] [ 3.93665576e-02 9.99224837e-01 2.50736876e-06 4.28174727e+00] [ 9.75462151e-03 -3.86812962e-04 9.99952348e-01 2.76076500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.319254154 meters 0.05934765023964552 Centerline is valid? [True, True] Translation: X:704.76, Y:4.27, Z:2.76 [[ 9.99387715e-01 -3.36022637e-02 -9.75103180e-03 7.04761082e+02] [ 3.36038869e-02 9.99435230e-01 2.62817390e-06 4.27273447e+00] [ 9.74543640e-03 -3.30299134e-04 9.99952458e-01 2.75900456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.379254154 meters 0.05869933288405191 Centerline is valid? [True, True] Translation: X:704.82, Y:4.28, Z:2.76 [[ 9.99590141e-01 -2.72179355e-02 -8.87324584e-03 7.04821692e+02] [ 2.72190279e-02 9.99629494e-01 2.34070122e-06 4.27745726e+00] [ 8.86989454e-03 -2.43860868e-04 9.99960632e-01 2.76000947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.439254154 meters 0.05809071038485271 Centerline is valid? [True, True] Translation: X:704.88, Y:4.28, Z:2.76 [[ 9.99816909e-01 -1.70306697e-02 -8.72375984e-03 7.04881139e+02] [ 1.70313374e-02 9.99854956e-01 2.25137419e-06 4.28101739e+00] [ 8.72245617e-03 -1.50828259e-04 9.99961947e-01 2.76137888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.499254154 meters 0.05862912267633074 Centerline is valid? [True, True] Translation: X:704.94, Y:4.28, Z:2.76 [[ 9.99888645e-01 -1.13658150e-02 -9.67041126e-03 7.04940611e+02] [ 1.13663693e-02 9.99935401e-01 2.35631162e-06 4.28097666e+00] [ 9.66975978e-03 -1.12273515e-04 9.99953240e-01 2.75974387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.559254154 meters 0.05831200919126183 Centerline is valid? [True, True] Translation: X:705.00, Y:4.28, Z:2.76 [[ 9.99879725e-01 -1.08881103e-02 -1.10446569e-02 7.04999077e+02] [ 1.08887942e-02 9.99940715e-01 1.78665100e-06 4.28146069e+00] [ 1.10439827e-02 -1.22049432e-04 9.99939006e-01 2.76045763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.619254154 meters 0.05881537786129872 Centerline is valid? [True, True] Translation: X:705.06, Y:4.28, Z:2.76 [[ 9.99824419e-01 -1.39959449e-02 -1.24597325e-02 7.05058507e+02] [ 1.39970494e-02 9.99902037e-01 1.44394708e-06 4.27998177e+00] [ 1.24584917e-02 -1.75843185e-04 9.99922374e-01 2.76200456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.679254154 meters 0.05821673881792671 Centerline is valid? [True, True] Translation: X:705.12, Y:4.27, Z:2.76 [[ 9.99688979e-01 -2.08649807e-02 -1.36601002e-02 7.05119313e+02] [ 2.08669498e-02 9.99782262e-01 1.62150276e-06 4.27090981e+00] [ 1.36570921e-02 -2.86665624e-04 9.99906696e-01 2.76019742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.739254154 meters 0.058840103949316935 Centerline is valid? [True, True] Translation: X:705.18, Y:4.27, Z:2.76 [[ 9.99571926e-01 -2.66178224e-02 -1.21431504e-02 7.05179659e+02] [ 2.66198023e-02 9.99645630e-01 1.42127815e-06 4.27125888e+00] [ 1.21388095e-02 -3.24668934e-04 9.99926269e-01 2.76289476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.799254154 meters 0.059115016049731635 Centerline is valid? [True, True] Translation: X:705.24, Y:4.26, Z:2.76 [[ 9.99329879e-01 -3.50411754e-02 -1.05787113e-02 7.05238817e+02] [ 3.50431499e-02 9.99385800e-01 1.29089950e-06 4.26476059e+00] [ 1.05721686e-02 -3.72001401e-04 9.99944044e-01 2.76485894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters 0.05949829542216145 Centerline is valid? [True, True] Translation: X:705.30, Y:4.26, Z:2.76 [[ 9.99171515e-01 -3.95745559e-02 -9.49411917e-03 7.05298110e+02] [ 3.95763506e-02 9.99216549e-01 1.15793245e-06 4.25843693e+00] [ 9.48663517e-03 -3.76899562e-04 9.99954930e-01 2.76484985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.919254154 meters 0.05818904561493251 Centerline is valid? [True, True] Translation: X:705.36, Y:4.27, Z:2.77 [[ 9.98880256e-01 -4.64742304e-02 -8.85330461e-03 7.05358383e+02] [ 4.64760617e-02 9.98919404e-01 1.10651648e-06 4.26549830e+00] [ 8.84368634e-03 -4.12572009e-04 9.99960809e-01 2.76609860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters 0.058965904023320144 Centerline is valid? [True, True] Translation: X:705.42, Y:4.26, Z:2.76 [[ 9.98514972e-01 -5.34019677e-02 -1.07740273e-02 7.05418298e+02] [ 5.34050827e-02 9.98572930e-01 1.41684876e-06 4.25814733e+00] [ 1.07585763e-02 -5.76802563e-04 9.99941958e-01 2.76493591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.039254154 meters 0.057455410385491804 Centerline is valid? [True, True] Translation: X:705.48, Y:4.27, Z:2.77 [[ 9.98264876e-01 -5.78845118e-02 -1.07991299e-02 7.05478782e+02] [ 5.78879030e-02 9.98323089e-01 1.45697154e-06 4.27013115e+00] [ 1.07809364e-02 -6.26593429e-04 9.99941688e-01 2.76586616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters 0.05766755058930792 Centerline is valid? [True, True] Translation: X:705.54, Y:4.28, Z:2.77 [[ 9.98119248e-01 -6.03846316e-02 -1.05670427e-02 7.05539772e+02] [ 6.03880186e-02 9.98174978e-01 1.45048491e-06 4.27568862e+00] [ 1.05476700e-02 -6.39570529e-04 9.99944167e-01 2.76595547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.159254154 meters 0.06003642722351172 Centerline is valid? [True, True] Translation: X:705.60, Y:4.26, Z:2.76 [[ 9.98352122e-01 -5.63692584e-02 -1.07492915e-02 7.05599451e+02] [ 5.63725311e-02 9.98409805e-01 1.47403123e-06 4.26307012e+00] [ 1.07321150e-02 -6.07436374e-04 9.99942225e-01 2.76443448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters 0.05820774712370904 Centerline is valid? [True, True] Translation: X:705.66, Y:4.28, Z:2.77 [[ 9.98627239e-01 -5.13486384e-02 -1.03419400e-02 7.05659914e+02] [ 5.13513992e-02 9.98680647e-01 1.41322381e-06 4.27789959e+00] [ 1.03282228e-02 -5.32484375e-04 9.99946521e-01 2.76562293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.279254154 meters 0.06240673925943539 Centerline is valid? [True, True] Translation: X:705.72, Y:4.27, Z:2.76 [[ 9.99024736e-01 -4.26643930e-02 -1.13722182e-02 7.05719036e+02] [ 4.26671690e-02 9.99089342e-01 1.49095192e-06 4.26825163e+00] [ 1.13617984e-02 -4.86709852e-04 9.99935334e-01 2.76258062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters 0.05780251740606908 Centerline is valid? [True, True] Translation: X:705.78, Y:4.29, Z:2.77 [[ 9.99210834e-01 -3.84584763e-02 -9.93250272e-03 7.05779440e+02] [ 3.84603866e-02 9.99260126e-01 1.31945962e-06 4.29325701e+00] [ 9.92510317e-03 -3.83326312e-04 9.99950671e-01 2.76697910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.399254154 meters 0.05887778606747602 Centerline is valid? [True, True] Translation: X:705.84, Y:4.29, Z:2.77 [[ 9.99412874e-01 -3.30734925e-02 -8.94717461e-03 7.05839052e+02] [ 3.30748268e-02 9.99452878e-01 1.17085442e-06 4.29333243e+00] [ 8.94224069e-03 -2.97096418e-04 9.99959973e-01 2.76662109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters 0.056994747632581735 Centerline is valid? [True, True] Translation: X:705.90, Y:4.31, Z:2.77 [[ 9.99550398e-01 -2.86650480e-02 -8.79297155e-03 7.05899653e+02] [ 2.86661660e-02 9.99589041e-01 1.10994109e-06 4.30906019e+00] [ 8.78932618e-03 -2.53170224e-04 9.99961341e-01 2.76718780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.519254154 meters 0.05809916685980213 Centerline is valid? [True, True] Translation: X:705.96, Y:4.31, Z:2.77 [[ 9.99625315e-01 -2.57319802e-02 -9.33242880e-03 7.05959750e+02] [ 2.57331122e-02 9.99668849e-01 1.21904424e-06 4.30776556e+00] [ 9.32930698e-03 -2.41371025e-04 9.99956452e-01 2.76625131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters 0.057875983047703354 Centerline is valid? [True, True] Translation: X:706.02, Y:4.31, Z:2.77 [[ 9.99677722e-01 -2.38702096e-02 -8.64091901e-03 7.06021185e+02] [ 2.38711115e-02 9.99715044e-01 1.23593016e-06 4.31356226e+00] [ 8.63842723e-03 -2.07503873e-04 9.99962667e-01 2.76773096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.639254154 meters 0.05723622645007523 Centerline is valid? [True, True] Translation: X:706.08, Y:4.31, Z:2.77 [[ 9.99681296e-01 -2.40213366e-02 -7.76409212e-03 7.06082249e+02] [ 2.40220704e-02 9.99711428e-01 1.26007464e-06 4.31357183e+00] [ 7.76182136e-03 -1.87769241e-04 9.99969859e-01 2.76845584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.699254154 meters 0.05737080961096614 Centerline is valid? [True, True] Translation: X:706.14, Y:4.32, Z:2.77 [[ 9.99680902e-01 -2.44814862e-02 -6.22505380e-03 7.06144418e+02] [ 2.44819678e-02 9.99700272e-01 1.15883235e-06 4.31686564e+00] [ 6.22315961e-03 -1.53560029e-04 9.99980624e-01 2.76928024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.759254154 meters 0.05667337566612404 Centerline is valid? [True, True] Translation: X:706.21, Y:4.33, Z:2.77 [[ 9.99686364e-01 -2.42335978e-02 -6.31718466e-03 7.06205188e+02] [ 2.42340899e-02 9.99706311e-01 1.35821272e-06 4.32669481e+00] [ 6.31529646e-03 -1.54449008e-04 9.99980046e-01 2.77051236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.819254154 meters 0.056461909606669594 Centerline is valid? [True, True] Translation: X:706.27, Y:4.32, Z:2.77 [[ 9.99717213e-01 -2.33742771e-02 -4.37454355e-03 7.06267808e+02] [ 2.33745053e-02 9.99726779e-01 1.02094568e-06 4.32127118e+00] [ 4.37332447e-03 -1.03273448e-04 9.99990432e-01 2.76994819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.879254154 meters 0.057112323495294035 Centerline is valid? [True, True] Translation: X:706.33, Y:4.32, Z:2.77 [[ 9.99736074e-01 -2.23931693e-02 -5.13106682e-03 7.06328690e+02] [ 2.23934715e-02 9.99749235e-01 1.44283405e-06 4.31960391e+00] [ 5.12974781e-03 -1.16344852e-04 9.99986836e-01 2.76997629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.939254154 meters 0.05832963639013658 Centerline is valid? [True, True] Translation: X:706.39, Y:4.32, Z:2.77 [[ 9.99723514e-01 -2.28712922e-02 -5.45894284e-03 7.06390611e+02] [ 2.28716429e-02 9.99738410e-01 1.83111946e-06 4.31514978e+00] [ 5.45747296e-03 -1.26685605e-04 9.99985100e-01 2.76951643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.999254154 meters 0.05855544548942407 Centerline is valid? [True, True] Translation: X:706.45, Y:4.31, Z:2.77 [[ 9.99681195e-01 -2.45551187e-02 -5.87823256e-03 7.06452716e+02] [ 2.45555559e-02 9.99698467e-01 2.19386537e-06 4.31255439e+00] [ 5.87640621e-03 -1.46536434e-04 9.99982723e-01 2.76893457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.059254154 meters 0.057285415409803385 Centerline is valid? [True, True] Translation: X:706.51, Y:4.31, Z:2.77 [[ 9.99652946e-01 -2.54111962e-02 -6.94684845e-03 7.06514703e+02] [ 2.54118290e-02 9.99677067e-01 2.82833565e-06 4.31450782e+00] [ 6.94453322e-03 -1.79359479e-04 9.99975870e-01 2.76915137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.119254154 meters 0.05698490553573575 Centerline is valid? [True, True] Translation: X:706.58, Y:4.31, Z:2.77 [[ 9.99672891e-01 -2.44952693e-02 -7.35476542e-03 7.06576448e+02] [ 2.44959554e-02 9.99699929e-01 3.19707947e-06 4.31347171e+00] [ 7.35248015e-03 -1.83358039e-04 9.99972953e-01 2.76885805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.179254154 meters 0.057502836839403465 Centerline is valid? [True, True] Translation: X:706.64, Y:4.31, Z:2.77 [[ 9.99696746e-01 -2.33131734e-02 -7.93169463e-03 7.06638232e+02] [ 2.33139358e-02 9.99728193e-01 3.65980794e-06 4.30973483e+00] [ 7.92945342e-03 -1.88577717e-04 9.99968544e-01 2.76836895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.239254154 meters 0.05672471020034786 Centerline is valid? [True, True] Translation: X:706.70, Y:4.31, Z:2.77 [[ 9.99705511e-01 -2.32114011e-02 -7.07967127e-03 7.06700549e+02] [ 2.32120076e-02 9.99730565e-01 3.49996545e-06 4.31420897e+00] [ 7.07768252e-03 -1.67832318e-04 9.99974939e-01 2.77003475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.299254154 meters 0.05603910427807326 Centerline is valid? [True, True] Translation: X:706.76, Y:4.31, Z:2.77 [[ 9.99744452e-01 -2.18030237e-02 -5.97148796e-03 7.06761752e+02] [ 2.18034311e-02 9.99762277e-01 3.12220975e-06 4.31304177e+00] [ 5.97000033e-03 -1.33320338e-04 9.99982170e-01 2.77056386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters 0.057279581657857064 Centerline is valid? [True, True] Translation: X:706.82, Y:4.31, Z:2.77 [[ 9.99840197e-01 -1.68346611e-02 -6.01454202e-03 7.06821255e+02] [ 1.68349848e-02 9.99858282e-01 3.19368709e-06 4.31062997e+00] [ 6.01363588e-03 -1.04447900e-04 9.99981912e-01 2.77080817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.419254154 meters 0.0570054942407683 Centerline is valid? [True, True] Translation: X:706.88, Y:4.31, Z:2.77 [[ 9.99905068e-01 -1.23163773e-02 -6.17756190e-03 7.06881421e+02] [ 1.23166324e-02 9.99924147e-01 3.24716707e-06 4.31283995e+00] [ 6.17705332e-03 -7.93336180e-05 9.99980919e-01 2.77109258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters 0.057073062312579415 Centerline is valid? [True, True] Translation: X:706.94, Y:4.31, Z:2.77 [[ 9.99964148e-01 -6.21997630e-03 -5.74583722e-03 7.06941550e+02] [ 6.22009634e-03 9.99980655e-01 3.02023577e-06 4.31460942e+00] [ 5.74570728e-03 -3.87597885e-05 9.99983493e-01 2.77110349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.539254154 meters 0.05687519612236622 Centerline is valid? [True, True] Translation: X:707.00, Y:4.31, Z:2.77 [[ 9.99970905e-01 -3.05143387e-03 -6.99122708e-03 7.07001601e+02] [ 3.05153380e-03 9.99995344e-01 3.62638987e-06 4.31446371e+00] [ 6.99118346e-03 -2.49602501e-05 9.99975561e-01 2.77043831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters 0.057324582396633836 Centerline is valid? [True, True] Translation: X:707.06, Y:4.31, Z:2.77 [[ 9.99968364e-01 -3.12182827e-03 -7.31616345e-03 7.07059569e+02] [ 3.12193599e-03 9.99995127e-01 3.30295226e-06 4.31392581e+00] [ 7.31611749e-03 -2.61434417e-05 9.99973236e-01 2.77114901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.659254154 meters 0.057320799536210096 Centerline is valid? [True, True] Translation: X:707.12, Y:4.31, Z:2.77 [[ 9.99952613e-01 -6.08730396e-03 -7.59710283e-03 7.07117749e+02] [ 6.08750059e-03 9.99981471e-01 2.75818414e-06 4.31013309e+00] [ 7.59694527e-03 -4.90054214e-05 9.99971142e-01 2.77189998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters 0.05668450046745386 Centerline is valid? [True, True] Translation: X:707.18, Y:4.30, Z:2.77 [[ 9.99913752e-01 -1.04199139e-02 -7.99461044e-03 7.07176102e+02] [ 1.04202679e-02 9.99945708e-01 2.63304673e-06 4.30469498e+00] [ 7.99414896e-03 -8.59388024e-05 9.99968043e-01 2.77127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.779254154 meters 0.05701194189827685 Centerline is valid? [True, True] Translation: X:707.24, Y:4.30, Z:2.77 [[ 9.99783957e-01 -1.96651318e-02 -6.73222093e-03 7.07236929e+02] [ 1.96655920e-02 9.99806614e-01 2.16147927e-06 4.29971076e+00] [ 6.73087651e-03 -1.34554123e-04 9.99977338e-01 2.77268864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters 0.05728554266488064 Centerline is valid? [True, True] Translation: X:707.30, Y:4.29, Z:2.77 [[ 9.99512572e-01 -3.05368151e-02 -6.49013616e-03 7.07296302e+02] [ 3.05374718e-02 9.99533623e-01 2.09624639e-06 4.28862314e+00] [ 6.48704530e-03 -2.00287575e-04 9.99978939e-01 2.77290142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.899254154 meters 0.05904087152293108 Centerline is valid? [True, True] Translation: X:707.36, Y:4.28, Z:2.77 [[ 9.99233288e-01 -3.87656383e-02 -5.48275203e-03 7.07355283e+02] [ 3.87662307e-02 9.99248307e-01 1.77956314e-06 4.28271251e+00] [ 5.47856170e-03 -2.14323829e-04 9.99984970e-01 2.77414023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters 0.05888032466467993 Centerline is valid? [True, True] Translation: X:707.42, Y:4.28, Z:2.78 [[ 9.98661359e-01 -5.14849928e-02 -4.97856226e-03 7.07416335e+02] [ 5.14856393e-02 9.98673735e-01 1.69175585e-06 4.27982289e+00] [ 4.97187227e-03 -2.58013952e-04 9.99987607e-01 2.77523964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.019254154 meters 0.05855061453386825 Centerline is valid? [True, True] Translation: X:707.48, Y:4.27, Z:2.77 [[ 9.98043131e-01 -6.22784060e-02 -5.59536566e-03 7.07475548e+02] [ 6.22793917e-02 9.98058754e-01 1.92017995e-06 4.27326666e+00] [ 5.58438409e-03 -3.50392392e-04 9.99984346e-01 2.77484409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters 0.05599643104471052 Centerline is valid? [True, True] Translation: X:707.54, Y:4.29, Z:2.77 [[ 9.97613965e-01 -6.88197347e-02 -5.49743528e-03 7.07536271e+02] [ 6.88207851e-02 9.97629039e-01 1.90712277e-06 4.28932087e+00] [ 5.48426983e-03 -3.80240384e-04 9.99984889e-01 2.77480327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.139254154 meters 0.05882724296264133 Centerline is valid? [True, True] Translation: X:707.60, Y:4.28, Z:2.78 [[ 9.97576588e-01 -6.93213042e-02 -5.95880433e-03 7.07597041e+02] [ 6.93225475e-02 9.97594299e-01 2.11833653e-06 4.28056337e+00] [ 5.94432238e-03 -4.15192699e-04 9.99982246e-01 2.77502709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.199254154 meters 0.05559194563675066 Centerline is valid? [True, True] Translation: X:707.66, Y:4.29, Z:2.77 [[ 9.97824595e-01 -6.57150590e-02 -5.25435562e-03 7.07657808e+02] [ 6.57159763e-02 9.97838369e-01 1.92454644e-06 4.29456132e+00] [ 5.24287117e-03 -3.47215469e-04 9.99986196e-01 2.77434620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.259254154 meters 0.059093183911314566 Centerline is valid? [True, True] Translation: X:707.72, Y:4.29, Z:2.77 [[ 9.98238199e-01 -5.90015836e-02 -6.26986181e-03 7.07717698e+02] [ 5.90027577e-02 9.98257820e-01 2.29413941e-06 4.28615825e+00] [ 6.25880323e-03 -3.72229235e-04 9.99980344e-01 2.77383093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.319254154 meters 0.056854318771768025 Centerline is valid? [True, True] Translation: X:707.78, Y:4.30, Z:2.77 [[ 9.98894399e-01 -4.66102891e-02 -6.12058779e-03 7.07777855e+02] [ 4.66111759e-02 9.98913108e-01 2.24392748e-06 4.30443972e+00] [ 6.11383079e-03 -2.87529241e-04 9.99981269e-01 2.77464840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.379254154 meters 0.05649699773437575 Centerline is valid? [True, True] Translation: X:707.84, Y:4.31, Z:2.77 [[ 9.99432005e-01 -3.32094160e-02 -5.72726686e-03 7.07838806e+02] [ 3.32099727e-02 9.99448397e-01 2.10480633e-06 4.31221178e+00] [ 5.72403778e-03 -1.92305987e-04 9.99983599e-01 2.77458063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.439254154 meters 0.05787751974665742 Centerline is valid? [True, True] Translation: X:707.90, Y:4.31, Z:2.77 [[ 9.99664962e-01 -2.51380281e-02 -6.16797492e-03 7.07898136e+02] [ 2.51385202e-02 9.99683977e-01 2.24669312e-06 4.31075572e+00] [ 6.16596923e-03 -1.57299702e-04 9.99980978e-01 2.77494243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.499254154 meters 0.056897595712666955 Centerline is valid? [True, True] Translation: X:707.96, Y:4.33, Z:2.78 [[ 9.99848682e-01 -1.66664762e-02 -4.98408964e-03 7.07958389e+02] [ 1.66666922e-02 9.99861101e-01 1.80715293e-06 4.32838634e+00] [ 4.98336723e-03 -8.48751672e-05 9.99987579e-01 2.77660853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.559254154 meters 0.05645369165793264 Centerline is valid? [True, True] Translation: X:708.02, Y:4.33, Z:2.78 [[ 9.99905912e-01 -1.24175422e-02 -5.82852434e-03 7.08019172e+02] [ 1.24177658e-02 9.99922897e-01 2.17915035e-06 4.32811325e+00] [ 5.82804788e-03 -7.45561954e-05 9.99983014e-01 2.77518240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.619254154 meters 0.056889038947193986 Centerline is valid? [True, True] Translation: X:708.08, Y:4.33, Z:2.77 [[ 9.99895173e-01 -1.26304665e-02 -7.07913886e-03 7.08080497e+02] [ 1.26308030e-02 9.99920228e-01 2.82147599e-06 4.32905619e+00] [ 7.07853851e-03 -9.22363885e-05 9.99974943e-01 2.77446137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.679254154 meters 0.05639548607306016 Centerline is valid? [True, True] Translation: X:708.14, Y:4.33, Z:2.77 [[ 9.99881677e-01 -1.34041634e-02 -7.54716989e-03 7.08140902e+02] [ 1.34045684e-02 9.99910155e-01 3.07872534e-06 4.32976244e+00] [ 7.54645055e-03 -1.04244916e-04 9.99971520e-01 2.77461983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.739254154 meters 0.05654269504516315 Centerline is valid? [True, True] Translation: X:708.20, Y:4.33, Z:2.78 [[ 9.99840031e-01 -1.62001248e-02 -7.58081706e-03 7.08200940e+02] [ 1.62006140e-02 9.99868761e-01 3.12314038e-06 4.32866011e+00] [ 7.57977157e-03 -1.25936532e-04 9.99971265e-01 2.77551718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.799254154 meters 0.0564967925099062 Centerline is valid? [True, True] Translation: X:708.26, Y:4.33, Z:2.78 [[ 9.99825717e-01 -1.75665745e-02 -6.32077235e-03 7.08261681e+02] [ 1.75669422e-02 9.99845689e-01 2.65164141e-06 4.32865230e+00] [ 6.31975041e-03 -1.13687822e-04 9.99980024e-01 2.77639627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters 0.056626031289558384 Centerline is valid? [True, True] Translation: X:708.32, Y:4.33, Z:2.78 [[ 9.99823287e-01 -1.80908937e-02 -5.11032108e-03 7.08322587e+02] [ 1.80911411e-02 9.99836342e-01 2.19981011e-06 4.32584736e+00] [ 5.10944494e-03 -9.46509613e-05 9.99986942e-01 2.77695359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.919254154 meters 0.05667724084992058 Centerline is valid? [True, True] Translation: X:708.38, Y:4.32, Z:2.78 [[ 9.99854698e-01 -1.63887998e-02 -4.68928712e-03 7.08383088e+02] [ 1.63889899e-02 9.99865692e-01 2.11558036e-06 4.32327148e+00] [ 4.68862263e-03 -7.89679521e-05 9.99989005e-01 2.77746512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters 0.056830060992694297 Centerline is valid? [True, True] Translation: X:708.44, Y:4.32, Z:2.78 [[ 9.99870445e-01 -1.52582402e-02 -5.12642836e-03 7.08444357e+02] [ 1.52584528e-02 9.99883583e-01 2.37504733e-06 4.32062013e+00] [ 5.12579532e-03 -8.05961050e-05 9.99986860e-01 2.77675786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.039254154 meters 0.05714331920525221 Centerline is valid? [True, True] Translation: X:708.51, Y:4.32, Z:2.78 [[ 9.99841101e-01 -1.68227344e-02 -5.89640398e-03 7.08506031e+02] [ 1.68230438e-02 9.99858483e-01 2.86674431e-06 4.31719548e+00] [ 5.89552131e-03 -1.02061751e-04 9.99982616e-01 2.77548753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters 0.057432774399770126 Centerline is valid? [True, True] Translation: X:708.57, Y:4.31, Z:2.77 [[ 9.99772412e-01 -1.99845639e-02 -7.46607473e-03 7.08567566e+02] [ 1.99851490e-02 9.99800277e-01 3.76139973e-06 4.31318201e+00] [ 7.46450841e-03 -1.52971159e-04 9.99972128e-01 2.77390878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.159254154 meters 0.05709149067215011 Centerline is valid? [True, True] Translation: X:708.63, Y:4.31, Z:2.77 [[ 9.99609338e-01 -2.66142853e-02 -8.53528886e-03 7.08628139e+02] [ 2.66152928e-02 9.99645750e-01 4.45677192e-06 4.31179020e+00] [ 8.53214663e-03 -2.31624243e-04 9.99963574e-01 2.77331579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters 0.056667245336899694 Centerline is valid? [True, True] Translation: X:708.69, Y:4.31, Z:2.77 [[ 9.99471408e-01 -3.14823753e-02 -8.10959219e-03 7.08689062e+02] [ 3.14834458e-02 9.99504273e-01 4.34735934e-06 4.31209693e+00] [ 8.10543519e-03 -2.59662967e-04 9.99967117e-01 2.77343323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.279254154 meters 0.056571383145347286 Centerline is valid? [True, True] Translation: X:708.75, Y:4.31, Z:2.77 [[ 9.99249027e-01 -3.80107750e-02 -7.52083867e-03 7.08748229e+02] [ 3.80118804e-02 9.99277287e-01 4.03286328e-06 4.30782733e+00] [ 7.51524997e-03 -2.89911055e-04 9.99971718e-01 2.77398860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters 0.055915445610531606 Centerline is valid? [True, True] Translation: X:708.81, Y:4.31, Z:2.77 [[ 9.99029592e-01 -4.34792268e-02 -7.03075682e-03 7.08808774e+02] [ 4.34803279e-02 9.99054283e-01 3.75754747e-06 4.30649611e+00] [ 7.02394434e-03 -3.09453513e-04 9.99975284e-01 2.77492367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.399254154 meters 0.05643566260427404 Centerline is valid? [True, True] Translation: X:708.87, Y:4.31, Z:2.78 [[ 9.98910376e-01 -4.61612573e-02 -6.87015837e-03 7.08869459e+02] [ 4.61623722e-02 9.98933949e-01 3.71295067e-06 4.30517278e+00] [ 6.86266304e-03 -3.20851713e-04 9.99976400e-01 2.77559285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters 0.0570471986277868 Centerline is valid? [True, True] Translation: X:708.93, Y:4.30, Z:2.78 [[ 9.98806422e-01 -4.84429573e-02 -6.24590826e-03 7.08929461e+02] [ 4.84439233e-02 9.98825904e-01 3.37920744e-06 4.30069088e+00] [ 6.23841126e-03 -3.05951475e-04 9.99980494e-01 2.77557113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.519254154 meters 0.0562773456256169 Centerline is valid? [True, True] Translation: X:708.99, Y:4.30, Z:2.78 [[ 9.98849213e-01 -4.76695397e-02 -5.27874452e-03 7.08991759e+02] [ 4.76702190e-02 9.98863129e-01 2.88498658e-06 4.30297110e+00] [ 5.27260574e-03 -2.54520574e-04 9.99986067e-01 2.77589631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters 0.057659285152009083 Centerline is valid? [True, True] Translation: X:709.05, Y:4.30, Z:2.78 [[ 9.98931259e-01 -4.58632062e-02 -5.73647384e-03 7.09051426e+02] [ 4.58639796e-02 9.98947694e-01 3.27694809e-06 4.29506574e+00] [ 5.73028702e-03 -2.66370965e-04 9.99983546e-01 2.77572130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.639254154 meters 0.05725919913450285 Centerline is valid? [True, True] Translation: X:709.11, Y:4.30, Z:2.78 [[ 9.99075258e-01 -4.26336619e-02 -5.56781853e-03 7.09112505e+02] [ 4.26343405e-02 9.99090743e-01 3.18164501e-06 4.29910933e+00] [ 5.56262030e-03 -2.40558974e-04 9.99984500e-01 2.77547247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.699254154 meters 0.0566996736734722 Centerline is valid? [True, True] Translation: X:709.17, Y:4.30, Z:2.78 [[ 9.99180419e-01 -4.00362561e-02 -5.96555202e-03 7.09173387e+02] [ 4.00369889e-02 9.99198198e-01 3.42792726e-06 4.30219687e+00] [ 5.96063159e-03 -2.42267858e-04 9.99982206e-01 2.77534739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.759254154 meters 0.058968328601548756 Centerline is valid? [True, True] Translation: X:709.23, Y:4.30, Z:2.77 [[ 9.99316523e-01 -3.63198654e-02 -6.88144837e-03 7.09233073e+02] [ 3.63207526e-02 9.99340184e-01 3.96749694e-06 4.29519690e+00] [ 6.87676378e-03 -2.53904169e-04 9.99976323e-01 2.77474169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.819254154 meters 0.056860100071316116 Centerline is valid? [True, True] Translation: X:709.29, Y:4.31, Z:2.78 [[ 9.99406600e-01 -3.40499293e-02 -5.20092409e-03 7.09293543e+02] [ 3.40504054e-02 9.99420117e-01 2.98681947e-06 4.30762394e+00] [ 5.19780646e-03 -1.80078621e-04 9.99986475e-01 2.77552966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.879254154 meters 0.056196639822845895 Centerline is valid? [True, True] Translation: X:709.35, Y:4.31, Z:2.78 [[ 9.99456327e-01 -3.25987065e-02 -4.93703258e-03 7.09354384e+02] [ 3.25991180e-02 9.99468508e-01 2.88742380e-06 4.30862967e+00] [ 4.93431446e-03 -1.63828762e-04 9.99987813e-01 2.77585052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.939254154 meters 0.05766408374280054 Centerline is valid? [True, True] Translation: X:709.41, Y:4.30, Z:2.78 [[ 9.99508535e-01 -3.09753288e-02 -4.81850659e-03 7.09414980e+02] [ 3.09757024e-02 9.99520138e-01 2.92475084e-06 4.30042403e+00] [ 4.81610377e-03 -1.52179940e-04 9.99988391e-01 2.77582782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.999254154 meters 0.05851671508885942 Centerline is valid? [True, True] Translation: X:709.47, Y:4.30, Z:2.78 [[ 9.99643349e-01 -2.64522053e-02 -3.66824769e-03 7.09474440e+02] [ 2.64523920e-02 9.99650074e-01 2.37499467e-06 4.30156739e+00] [ 3.66690125e-03 -9.94080735e-05 9.99993272e-01 2.77687501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.059254154 meters 0.05767819580587421 Centerline is valid? [True, True] Translation: X:709.53, Y:4.31, Z:2.78 [[ 9.99759552e-01 -2.17185481e-02 -3.02387703e-03 7.09534887e+02] [ 2.17186532e-02 9.99764122e-01 1.93215728e-06 4.30897349e+00] [ 3.02312180e-03 -6.76062292e-05 9.99995428e-01 2.77746274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.119254154 meters 0.056120727019901874 Centerline is valid? [True, True] Translation: X:709.60, Y:4.32, Z:2.78 [[ 9.99913368e-01 -1.26773071e-02 -3.54140306e-03 7.09595159e+02] [ 1.26773946e-02 9.99919639e-01 2.26714809e-06 4.31569277e+00] [ 3.54108972e-03 -4.71627157e-05 9.99993729e-01 2.77698819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.179254154 meters 0.05625519816508231 Centerline is valid? [True, True] Translation: X:709.66, Y:4.32, Z:2.78 [[ 9.99980619e-01 -5.47924987e-03 -2.95633613e-03 7.09656032e+02] [ 5.47927951e-03 9.99984989e-01 1.92647844e-06 4.32280007e+00] [ 2.95628119e-03 -1.81250331e-05 9.99995630e-01 2.77678482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.239254154 meters 0.05715035458912614 Centerline is valid? [True, True] Translation: X:709.72, Y:4.33, Z:2.78 [[ 9.99989308e-01 -2.94503383e-03 -3.56534716e-03 7.09716730e+02] [ 2.94506065e-03 9.99995663e-01 2.27358358e-06 4.32510190e+00] [ 3.56532500e-03 -1.27737229e-05 9.99993644e-01 2.77669909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.299254154 meters 0.056463371291161815 Centerline is valid? [True, True] Translation: X:709.78, Y:4.32, Z:2.78 [[ 9.99983175e-01 -3.65393983e-03 -4.50530118e-03 7.09776106e+02] [ 3.65398988e-03 9.99993324e-01 2.87743526e-06 4.32445305e+00] [ 4.50526059e-03 -1.93397117e-05 9.99989851e-01 2.77649458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters 0.056530771358767926 Centerline is valid? [True, True] Translation: X:709.84, Y:4.32, Z:2.78 [[ 9.99940596e-01 -9.91753203e-03 -4.52177625e-03 7.09835502e+02] [ 9.91764660e-03 9.99950819e-01 2.91478727e-06 4.31724384e+00] [ 4.52152496e-03 -4.77599930e-05 9.99989777e-01 2.77590929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.419254154 meters 0.056862970421730795 Centerline is valid? [True, True] Translation: X:709.90, Y:4.31, Z:2.78 [[ 9.99863958e-01 -1.58382799e-02 -4.60582641e-03 7.09896231e+02] [ 1.58384614e-02 9.99874564e-01 2.94246290e-06 4.31129076e+00] [ 4.60520207e-03 -7.58912665e-05 9.99989393e-01 2.77587221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters 0.05630411082759561 Centerline is valid? [True, True] Translation: X:709.96, Y:4.31, Z:2.78 [[ 9.99680193e-01 -2.50411058e-02 -3.52911296e-03 7.09957585e+02] [ 2.50412698e-02 9.99686418e-01 2.27226593e-06 4.31053934e+00] [ 3.52794940e-03 -9.06450090e-05 9.99993773e-01 2.77747074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.539254154 meters 0.05672444253929235 Centerline is valid? [True, True] Translation: X:710.02, Y:4.31, Z:2.78 [[ 9.99608382e-01 -2.77374169e-02 -3.70386244e-03 7.10018900e+02] [ 2.77376163e-02 9.99615238e-01 2.44484909e-06 4.30919796e+00] [ 3.70236953e-03 -1.05180207e-04 9.99993141e-01 2.77777543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters 0.057625008246433726 Centerline is valid? [True, True] Translation: X:710.08, Y:4.30, Z:2.78 [[ 9.99412084e-01 -3.41443165e-02 -3.10666490e-03 7.10078453e+02] [ 3.41444878e-02 9.99416907e-01 2.11407822e-06 4.29729523e+00] [ 3.10478124e-03 -1.08188317e-04 9.99995174e-01 2.77829520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.659254154 meters 0.0599368892324254 Centerline is valid? [True, True] Translation: X:710.14, Y:4.29, Z:2.78 [[ 9.99218409e-01 -3.94106385e-02 -3.06156441e-03 7.10138261e+02] [ 3.94108295e-02 9.99223091e-01 2.04426560e-06 4.28689976e+00] [ 3.05910529e-03 -1.22701461e-04 9.99995313e-01 2.77902079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters 0.06213327404846961 Centerline is valid? [True, True] Translation: X:710.20, Y:4.28, Z:2.78 [[ 9.99099696e-01 -4.22515300e-02 -3.82184488e-03 7.10198980e+02] [ 4.22518483e-02 9.99106992e-01 2.54650424e-06 4.27899723e+00] [ 3.81832435e-03 -1.64024222e-04 9.99992697e-01 2.77910532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.779254154 meters 0.059751835530027456 Centerline is valid? [True, True] Translation: X:710.26, Y:4.28, Z:2.78 [[ 9.98946684e-01 -4.57172032e-02 -3.93187243e-03 7.10259569e+02] [ 4.57175669e-02 9.98954405e-01 2.62500369e-06 4.28344309e+00] [ 3.92764127e-03 -1.82377879e-04 9.99992270e-01 2.77848026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters 0.06714147639775785 Centerline is valid? [True, True] Translation: X:710.32, Y:4.26, Z:2.78 [[ 9.98881977e-01 -4.69373718e-02 -5.62849595e-03 7.10319750e+02] [ 4.69381369e-02 9.98897798e-01 3.83648386e-06 4.26487812e+00] [ 5.62211214e-03 -2.68023308e-04 9.99984160e-01 2.77687783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.899254154 meters 0.05692963202344858 Centerline is valid? [True, True] Translation: X:710.38, Y:4.29, Z:2.78 [[ 9.98930411e-01 -4.59646373e-02 -5.02862537e-03 7.10381533e+02] [ 4.59652360e-02 9.98943040e-01 3.48824403e-06 4.29276536e+00] [ 5.02314998e-03 -2.34626465e-04 9.99987356e-01 2.77794390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters 0.056070668299031026 Centerline is valid? [True, True] Translation: X:710.44, Y:4.30, Z:2.78 [[ 9.99152254e-01 -4.08395681e-02 -5.18672222e-03 7.10441829e+02] [ 4.08401368e-02 9.99165694e-01 3.72407780e-06 4.29973031e+00] [ 5.18224281e-03 -2.15547366e-04 9.99986549e-01 2.77857334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.019254154 meters 0.05756443133826539 Centerline is valid? [True, True] Translation: X:710.50, Y:4.30, Z:2.78 [[ 9.99495064e-01 -3.12774509e-02 -5.59811024e-03 7.10501241e+02] [ 3.12779635e-02 9.99510725e-01 4.01528883e-06 4.29819693e+00] [ 5.59524563e-03 -1.79110749e-04 9.99984330e-01 2.77793245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters 0.05625756067717212 Centerline is valid? [True, True] Translation: X:710.56, Y:4.31, Z:2.78 [[ 9.99701008e-01 -2.39566837e-02 -4.89605520e-03 7.10562459e+02] [ 2.39569882e-02 9.99712990e-01 3.53527980e-06 4.30690889e+00] [ 4.89456529e-03 -1.20828959e-04 9.99988014e-01 2.77976395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.139254154 meters 0.05680646344069392 Centerline is valid? [True, True] Translation: X:710.62, Y:4.31, Z:2.78 [[ 9.99908386e-01 -1.29485167e-02 -3.94418418e-03 7.10621862e+02] [ 1.29486288e-02 9.99916163e-01 2.89873954e-06 4.30948061e+00] [ 3.94381598e-03 -5.39702509e-05 9.99992222e-01 2.78150454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.199254154 meters 0.05616400939187451 Centerline is valid? [True, True] Translation: X:710.68, Y:4.32, Z:2.78 [[ 9.99984817e-01 -4.43097008e-03 -3.27592335e-03 7.10682465e+02] [ 4.43100165e-03 9.99990183e-01 2.37772967e-06 4.31900376e+00] [ 3.27588066e-03 -1.68933154e-05 9.99994634e-01 2.78217473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.259254154 meters 0.05660980859910072 Centerline is valid? [True, True] Translation: X:710.74, Y:4.32, Z:2.78 [[ 9.99990489e-01 -4.38461006e-04 -4.33933932e-03 7.10742306e+02] [ 4.38478809e-04 9.99999904e-01 3.15116722e-06 4.31924739e+00] [ 4.33933752e-03 -5.05384557e-06 9.99990585e-01 2.78215076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.319254154 meters 0.05670598959109553 Centerline is valid? [True, True] Translation: X:710.80, Y:4.32, Z:2.78 [[ 9.99985758e-01 1.77391575e-03 -5.03353016e-03 7.10799871e+02] [-1.77391994e-03 9.99998427e-01 3.63336639e-06 4.31673736e+00] [ 5.03352869e-03 5.29576488e-06 9.99987332e-01 2.78108681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.379254154 meters 0.05648988412947795 Centerline is valid? [True, True] Translation: X:710.86, Y:4.31, Z:2.78 [[ 9.99983440e-01 5.78980598e-04 -5.72570989e-03 7.10858807e+02] [-5.78967611e-04 9.99999832e-01 3.92560395e-06 4.31287281e+00] [ 5.72571121e-03 -6.10538356e-07 9.99983608e-01 2.78048633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.439254154 meters 0.05683356484409925 Centerline is valid? [True, True] Translation: X:710.92, Y:4.30, Z:2.78 [[ 9.99978148e-01 -4.72416334e-03 -4.62438679e-03 7.10917186e+02] [ 4.72422807e-03 9.99988841e-01 3.07461001e-06 4.30372319e+00] [ 4.62432066e-03 -2.49212007e-05 9.99989307e-01 2.78150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.499254154 meters 0.0569330727823001 Centerline is valid? [True, True] Translation: X:710.98, Y:4.29, Z:2.78 [[ 9.99911784e-01 -1.25855146e-02 -4.24608686e-03 7.10976442e+02] [ 1.25856395e-02 9.99920798e-01 2.70227096e-06 4.29160716e+00] [ 4.24571655e-03 -5.61417512e-05 9.99990985e-01 2.78189475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.559254154 meters 0.0580483023341363 Centerline is valid? [True, True] Translation: X:711.04, Y:4.28, Z:2.78 [[ 9.99790466e-01 -2.01090317e-02 -3.82775203e-03 7.11037379e+02] [ 2.01091881e-02 9.99797790e-01 2.37805765e-06 4.27679862e+00] [ 3.82693020e-03 -7.93505448e-05 9.99992674e-01 2.78206236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.619254154 meters 0.05933670932350904 Centerline is valid? [True, True] Translation: X:711.10, Y:4.27, Z:2.78 [[ 9.99700850e-01 -2.41128402e-02 -4.09643282e-03 7.11097639e+02] [ 2.41130531e-02 9.99709238e-01 2.58287786e-06 4.26697275e+00] [ 4.09517946e-03 -1.01359607e-04 9.99991610e-01 2.78228521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.679254154 meters 0.0600649328782516 Centerline is valid? [True, True] Translation: X:711.16, Y:4.26, Z:2.78 [[ 9.99596579e-01 -2.81391592e-02 -3.85571978e-03 7.11158636e+02] [ 2.81393777e-02 9.99604009e-01 2.43095379e-06 4.25554772e+00] [ 3.85412455e-03 -1.10927528e-04 9.99992567e-01 2.78279612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.739254154 meters 0.061450279706366635 Centerline is valid? [True, True] Translation: X:711.22, Y:4.24, Z:2.78 [[ 9.99523523e-01 -3.05625265e-02 -4.31954082e-03 7.11220122e+02] [ 3.05628235e-02 9.99532848e-01 2.73942948e-06 4.24316269e+00] [ 4.31743921e-03 -1.34755488e-04 9.99990671e-01 2.78245475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.799254154 meters 0.06029341445643716 Centerline is valid? [True, True] Translation: X:711.28, Y:4.24, Z:2.78 [[ 9.99484174e-01 -3.17472196e-02 -4.84762000e-03 7.11281994e+02] [ 3.17476082e-02 9.99495918e-01 3.20300887e-06 4.24167687e+00] [ 4.84507472e-03 -1.57101697e-04 9.99988250e-01 2.78180868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters 0.05892713806722699 Centerline is valid? [True, True] Translation: X:711.34, Y:4.24, Z:2.78 [[ 9.99454831e-01 -3.25984839e-02 -5.23254845e-03 7.11344004e+02] [ 3.25989491e-02 9.99468513e-01 3.63164303e-06 4.24430893e+00] [ 5.22964903e-03 -1.74205244e-04 9.99986310e-01 2.78167683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.919254154 meters 0.05798052242847462 Centerline is valid? [True, True] Translation: X:711.41, Y:4.24, Z:2.78 [[ 9.99385940e-01 -3.42717500e-02 -7.29317993e-03 7.11405283e+02] [ 3.42727003e-02 9.99412518e-01 5.32633628e-06 4.24344316e+00] [ 7.28871278e-03 -2.55280036e-04 9.99973404e-01 2.78110701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters 0.06008227611479944 Centerline is valid? [True, True] Translation: X:711.47, Y:4.23, Z:2.78 [[ 9.99345756e-01 -3.49937857e-02 -9.13755826e-03 7.11465889e+02] [ 3.49953116e-02 9.99387476e-01 7.10871602e-06 4.23197579e+00] [ 9.13171253e-03 -3.26875764e-04 9.99958252e-01 2.77952693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.039254154 meters 0.058920700536250856 Centerline is valid? [True, True] Translation: X:711.53, Y:4.23, Z:2.78 [[ 9.99354139e-01 -3.47119093e-02 -9.29448605e-03 7.11527633e+02] [ 3.47134790e-02 9.99397306e-01 7.56389263e-06 4.23214567e+00] [ 9.28862176e-03 -3.30202954e-04 9.99956805e-01 2.78092240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters 0.05801171114886538 Centerline is valid? [True, True] Translation: X:711.59, Y:4.24, Z:2.78 [[ 9.99391166e-01 -3.37822265e-02 -8.72113363e-03 7.11588770e+02] [ 3.37835744e-02 9.99429172e-01 7.24298318e-06 4.23639157e+00] [ 8.71591068e-03 -3.01869641e-04 9.99961970e-01 2.78212548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.159254154 meters 0.0582459653509747 Centerline is valid? [True, True] Translation: X:711.65, Y:4.23, Z:2.78 [[ 9.99524157e-01 -2.95202013e-02 -8.94520746e-03 7.11649305e+02] [ 2.95214494e-02 9.99564147e-01 7.48898426e-06 4.23491474e+00] [ 8.94108758e-03 -2.71560910e-04 9.99959991e-01 2.78218159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters 0.059457465882474886 Centerline is valid? [True, True] Translation: X:711.71, Y:4.23, Z:2.78 [[ 9.99630183e-01 -2.56363080e-02 -9.07072315e-03 7.11708992e+02] [ 2.56374315e-02 9.99671307e-01 7.58641832e-06 4.22833378e+00] [ 9.06754718e-03 -2.40133656e-04 9.99958860e-01 2.78167681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.279254154 meters 0.059437017516945335 Centerline is valid? [True, True] Translation: X:711.77, Y:4.23, Z:2.78 [[ 9.99735092e-01 -2.12805903e-02 -8.76821928e-03 7.11769614e+02] [ 2.12814726e-02 9.99773524e-01 7.32091847e-06 4.23026767e+00] [ 8.76607770e-03 -1.93919598e-04 9.99961558e-01 2.78288620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters 0.05894029426501977 Centerline is valid? [True, True] Translation: X:711.83, Y:4.23, Z:2.78 [[ 9.99747812e-01 -2.06450249e-02 -8.83718502e-03 7.11830376e+02] [ 2.06458962e-02 9.99786851e-01 7.36880310e-06 4.23269566e+00] [ 8.83514925e-03 -1.89818549e-04 9.99960951e-01 2.78377912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.399254154 meters 0.058846486514422994 Centerline is valid? [True, True] Translation: X:711.89, Y:4.23, Z:2.78 [[ 9.99685210e-01 -2.31941940e-02 -9.56614819e-03 7.11890595e+02] [ 2.31953316e-02 9.99730952e-01 7.97664213e-06 4.23172611e+00] [ 9.56338942e-03 -2.29864111e-04 9.99954243e-01 2.78390160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters 0.05955995367963106 Centerline is valid? [True, True] Translation: X:711.95, Y:4.23, Z:2.78 [[ 9.99660604e-01 -2.40724052e-02 -9.95975432e-03 7.11950250e+02] [ 2.40736814e-02 9.99710187e-01 8.25437148e-06 4.22705495e+00] [ 9.95666915e-03 -2.48019522e-04 9.99950400e-01 2.78282163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.519254154 meters 0.05861304127531057 Centerline is valid? [True, True] Translation: X:712.01, Y:4.23, Z:2.78 [[ 9.99531840e-01 -2.86172070e-02 -1.08239132e-02 7.12010239e+02] [ 2.86189801e-02 9.99590393e-01 8.92931215e-06 4.23261000e+00] [ 1.08192242e-02 -3.18694490e-04 9.99941420e-01 2.78413800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters 0.058811063382894796 Centerline is valid? [True, True] Translation: X:712.07, Y:4.23, Z:2.78 [[ 9.99374797e-01 -3.35507242e-02 -1.11518742e-02 7.12070530e+02] [ 3.35529139e-02 9.99436942e-01 9.25947177e-06 4.23195209e+00] [ 1.11452844e-02 -3.83431557e-04 9.99937816e-01 2.78492232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.639254154 meters 0.06138977568560522 Centerline is valid? [True, True] Translation: X:712.13, Y:4.22, Z:2.78 [[ 9.99310945e-01 -3.57595425e-02 -9.94441023e-03 7.12130610e+02] [ 3.57613948e-02 9.99360357e-01 8.45670312e-06 4.21808504e+00] [ 9.93774695e-03 -3.64076857e-04 9.99950553e-01 2.78317238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.699254154 meters 0.06192313591256801 Centerline is valid? [True, True] Translation: X:712.19, Y:4.22, Z:2.78 [[ 9.99251355e-01 -3.78213351e-02 -8.14104200e-03 7.12192052e+02] [ 3.78226461e-02 9.99284468e-01 7.07866316e-06 4.21790336e+00] [ 8.13494910e-03 -3.14989114e-04 9.99966861e-01 2.78474380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.759254154 meters 0.06066361091176819 Centerline is valid? [True, True] Translation: X:712.25, Y:4.22, Z:2.79 [[ 9.99254065e-01 -3.78894998e-02 -7.46318043e-03 7.12253163e+02] [ 3.78906043e-02 9.99281893e-01 6.60033654e-06 4.22199829e+00] [ 7.45757099e-03 -2.89379830e-04 9.99972150e-01 2.78535109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.819254154 meters 0.06121677371896099 Centerline is valid? [True, True] Translation: X:712.31, Y:4.22, Z:2.79 [[ 9.99360427e-01 -3.49616153e-02 -7.51152032e-03 7.12312923e+02] [ 3.49626519e-02 9.99388620e-01 6.69524612e-06 4.22217169e+00] [ 7.50669385e-03 -2.69313634e-04 9.99971788e-01 2.78526768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.879254154 meters 0.05906247063243153 Centerline is valid? [True, True] Translation: X:712.37, Y:4.24, Z:2.79 [[ 9.99419044e-01 -3.31475199e-02 -7.92567507e-03 7.12373970e+02] [ 3.31486177e-02 9.99450434e-01 7.15337572e-06 4.23585410e+00] [ 7.92108227e-03 -2.69874393e-04 9.99968591e-01 2.78707493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.939254154 meters 0.05937687522924854 Centerline is valid? [True, True] Translation: X:712.43, Y:4.23, Z:2.79 [[ 9.99493179e-01 -3.08237858e-02 -7.95480480e-03 7.12433873e+02] [ 3.08248190e-02 9.99524802e-01 7.28024752e-06 4.23293650e+00] [ 7.95080029e-03 -2.52481975e-04 9.99968360e-01 2.78672043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.999254154 meters 0.05883141022007846 Centerline is valid? [True, True] Translation: X:712.49, Y:4.24, Z:2.79 [[ 9.99572534e-01 -2.78825519e-02 -8.79272607e-03 7.12494358e+02] [ 2.78837007e-02 9.99611174e-01 8.07157759e-06 4.23973084e+00] [ 8.78908217e-03 -2.53241869e-04 9.99961343e-01 2.78589043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.059254154 meters 0.05797962848746057 Centerline is valid? [True, True] Translation: X:712.55, Y:4.24, Z:2.78 [[ 9.99659673e-01 -2.41855390e-02 -9.77738117e-03 7.12554379e+02] [ 2.41867831e-02 9.99707457e-01 8.99760090e-06 4.24396225e+00] [ 9.77430326e-03 -2.45477936e-04 9.99952200e-01 2.78482050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.119254154 meters 0.057838264940277655 Centerline is valid? [True, True] Translation: X:712.61, Y:4.25, Z:2.79 [[ 9.99691482e-01 -2.26967774e-02 -1.00894375e-02 7.12614689e+02] [ 2.26980264e-02 9.99742367e-01 9.28476966e-06 4.24981095e+00] [ 1.00866274e-02 -2.38292224e-04 9.99949100e-01 2.78570658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.179254154 meters 0.058427247438897954 Centerline is valid? [True, True] Translation: X:712.67, Y:4.25, Z:2.79 [[ 9.99695709e-01 -2.29092039e-02 -9.14642407e-03 7.12674002e+02] [ 2.29102374e-02 9.99737526e-01 8.21895443e-06 4.25169851e+00] [ 9.14383508e-03 -2.17763200e-04 9.99958171e-01 2.78609795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.239254154 meters 0.05789622211249923 Centerline is valid? [True, True] Translation: X:712.73, Y:4.26, Z:2.79 [[ 9.99679075e-01 -2.40180098e-02 -8.05500185e-03 7.12734800e+02] [ 2.40188465e-02 9.99711506e-01 7.14024487e-06 4.25610837e+00] [ 8.05250653e-03 -2.00609806e-04 9.99967558e-01 2.78755295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.299254154 meters 0.058306885531680584 Centerline is valid? [True, True] Translation: X:712.79, Y:4.25, Z:2.79 [[ 9.99585559e-01 -2.77284492e-02 -7.73585194e-03 7.12794555e+02] [ 2.77293328e-02 9.99615468e-01 6.96380920e-06 4.24974784e+00] [ 7.73268417e-03 -2.21470936e-04 9.99970078e-01 2.78745123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters 0.058360413048048294 Centerline is valid? [True, True] Translation: X:712.86, Y:4.25, Z:2.79 [[ 9.99430766e-01 -3.30658099e-02 -6.69295866e-03 7.12855074e+02] [ 3.30665915e-02 9.99453151e-01 6.12594114e-06 4.25425887e+00] [ 6.68909606e-03 -2.27435784e-04 9.99977602e-01 2.78762049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.419254154 meters 0.06110214855385891 Centerline is valid? [True, True] Translation: X:712.91, Y:4.24, Z:2.79 [[ 9.99345958e-01 -3.53213650e-02 -7.74965197e-03 7.12914935e+02] [ 3.53224811e-02 9.99375966e-01 7.14879097e-06 4.24025821e+00] [ 7.74456343e-03 -2.80881051e-04 9.99969971e-01 2.78604794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters 0.059283403367817476 Centerline is valid? [True, True] Translation: X:712.98, Y:4.25, Z:2.79 [[ 9.99349635e-01 -3.52970058e-02 -7.37755466e-03 7.12977574e+02] [ 3.52980174e-02 9.99376831e-01 6.91319987e-06 4.25091256e+00] [ 7.37271318e-03 -2.67321757e-04 9.99972785e-01 2.78754833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.539254154 meters 0.05802565160107765 Centerline is valid? [True, True] Translation: X:713.04, Y:4.26, Z:2.79 [[ 9.99389515e-01 -3.42015460e-02 -7.13098592e-03 7.13038582e+02] [ 3.42024646e-02 9.99414925e-01 6.88077617e-06 4.25735450e+00] [ 7.12657842e-03 -2.50773869e-04 9.99974574e-01 2.78828403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters 0.05769306109319889 Centerline is valid? [True, True] Translation: X:713.10, Y:4.26, Z:2.79 [[ 9.99412709e-01 -3.35786833e-02 -6.83446238e-03 7.13099982e+02] [ 3.35795137e-02 9.99436049e-01 6.76024378e-06 4.25681219e+00] [ 6.83038107e-03 -2.36254197e-04 9.99976645e-01 2.78805948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.659254154 meters 0.05792719347659679 Centerline is valid? [True, True] Translation: X:713.16, Y:4.26, Z:2.79 [[ 9.99426585e-01 -3.31288358e-02 -6.99862702e-03 7.13161830e+02] [ 3.31296973e-02 9.99451061e-01 7.16507475e-06 4.26124697e+00] [ 6.99454783e-03 -2.39023361e-04 9.99975509e-01 2.78841675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters 0.05921430290615244 Centerline is valid? [True, True] Translation: X:713.22, Y:4.26, Z:2.79 [[ 9.99395587e-01 -3.33498727e-02 -9.81051360e-03 7.13223429e+02] [ 3.33515816e-02 9.99443681e-01 1.05909258e-05 4.25512030e+00] [ 9.80470262e-03 -3.37780669e-04 9.99951876e-01 2.78608244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.779254154 meters 0.05714504270749905 Centerline is valid? [True, True] Translation: X:713.29, Y:4.26, Z:2.79 [[ 9.99369500e-01 -3.40213563e-02 -1.01562882e-02 7.13285241e+02] [ 3.40232273e-02 9.99421042e-01 1.14529028e-05 4.26494263e+00] [ 1.01500185e-02 -3.56995383e-04 9.99948423e-01 2.78763668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters 0.05814832894087388 Centerline is valid? [True, True] Translation: X:713.35, Y:4.27, Z:2.79 [[ 9.99346613e-01 -3.48556480e-02 -9.56197635e-03 7.13347717e+02] [ 3.48573480e-02 9.99392298e-01 1.11423082e-05 4.26558923e+00] [ 9.55577714e-03 -3.44440165e-04 9.99954283e-01 2.78877883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.899254154 meters 0.0577751361078668 Centerline is valid? [True, True] Translation: X:713.41, Y:4.26, Z:2.79 [[ 9.99336590e-01 -3.52925423e-02 -8.98977401e-03 7.13408429e+02] [ 3.52940645e-02 9.99376970e-01 1.06837600e-05 4.26462971e+00] [ 8.98379605e-03 -3.27962336e-04 9.99959591e-01 2.78897417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters 0.05944883030844519 Centerline is valid? [True, True] Translation: X:713.47, Y:4.26, Z:2.79 [[ 9.99326161e-01 -3.56696342e-02 -8.65451870e-03 7.13469744e+02] [ 3.56710606e-02 9.99363585e-01 1.04637671e-05 4.25577406e+00] [ 8.64863760e-03 -3.19172577e-04 9.99962549e-01 2.78727867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.019254154 meters 0.05787341014071013 Centerline is valid? [True, True] Translation: X:713.53, Y:4.27, Z:2.79 [[ 9.99414185e-01 -3.31472752e-02 -8.51737690e-03 7.13530720e+02] [ 3.31485667e-02 9.99450435e-01 1.04672408e-05 4.26720883e+00] [ 8.51234909e-03 -2.92799945e-04 9.99963726e-01 2.78844862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters 0.058769711616526984 Centerline is valid? [True, True] Translation: X:713.59, Y:4.27, Z:2.79 [[ 9.99626373e-01 -2.61680419e-02 -7.89604860e-03 7.13590713e+02] [ 2.61689350e-02 9.99657535e-01 9.78816279e-06 4.26643137e+00] [ 7.89308834e-03 -2.16415688e-04 9.99968826e-01 2.78876213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.139254154 meters 0.05791494208173759 Centerline is valid? [True, True] Translation: X:713.65, Y:4.27, Z:2.79 [[ 9.99768490e-01 -2.07013714e-02 -5.86675120e-03 7.13650968e+02] [ 2.07017705e-02 9.99785695e-01 7.28820120e-06 4.27476115e+00] [ 5.86534305e-03 -1.28738651e-04 9.99982790e-01 2.79070523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.199254154 meters 0.05716984466159751 Centerline is valid? [True, True] Translation: X:713.71, Y:4.28, Z:2.79 [[ 9.99901928e-01 -1.28903449e-02 -5.47486726e-03 7.13710713e+02] [ 1.28905752e-02 9.99916913e-01 6.78338906e-06 4.27665954e+00] [ 5.47432493e-03 -7.73569122e-05 9.99985013e-01 2.79086868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.259254154 meters 0.056895356082292646 Centerline is valid? [True, True] Translation: X:713.77, Y:4.28, Z:2.79 [[ 9.99928391e-01 -1.08280090e-02 -5.09571475e-03 7.13770901e+02] [ 1.08281816e-02 9.99941374e-01 6.28392942e-06 4.27991224e+00] [ 5.09534797e-03 -6.14608041e-05 9.99987017e-01 2.79033682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.319254154 meters 0.05693526139100955 Centerline is valid? [True, True] Translation: X:713.83, Y:4.28, Z:2.79 [[ 9.99894747e-01 -1.26194918e-02 -7.15847871e-03 7.13831568e+02] [ 1.26198784e-02 9.99920366e-01 8.82768701e-06 4.27727370e+00] [ 7.15779726e-03 -9.91658884e-05 9.99974378e-01 2.78870472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.379254154 meters 0.057556213578122885 Centerline is valid? [True, True] Translation: X:713.89, Y:4.27, Z:2.79 [[ 9.99822701e-01 -1.71698626e-02 -7.73060203e-03 7.13891705e+02] [ 1.71704491e-02 9.99852577e-01 9.50102682e-06 4.27437549e+00] [ 7.72929923e-03 -1.42237251e-04 9.99970118e-01 2.78824658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.439254154 meters 0.05836068880208672 Centerline is valid? [True, True] Translation: X:713.95, Y:4.27, Z:2.79 [[ 9.99692596e-01 -2.35164454e-02 -7.85435759e-03 7.13952018e+02] [ 2.35172463e-02 9.99723431e-01 9.62518551e-06 4.26884470e+00] [ 7.85195897e-03 -1.94335089e-04 9.99969154e-01 2.78831573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.499254154 meters 0.05749764105355965 Centerline is valid? [True, True] Translation: X:714.01, Y:4.27, Z:2.79 [[ 9.99401424e-01 -3.38614608e-02 -7.08486960e-03 7.14012760e+02] [ 3.38623722e-02 9.99426505e-01 8.68686242e-06 4.26812590e+00] [ 7.08051231e-03 -2.48592154e-04 9.99974902e-01 2.79036442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.559254154 meters 0.05767662177977997 Centerline is valid? [True, True] Translation: X:714.07, Y:4.26, Z:2.79 [[ 9.99084164e-01 -4.23303929e-02 -6.24265779e-03 7.14073354e+02] [ 4.23312656e-02 9.99103630e-01 7.65813625e-06 4.26030022e+00] [ 6.23673789e-03 -2.71910727e-04 9.99980514e-01 2.79027866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.619254154 meters 0.057762099930829265 Centerline is valid? [True, True] Translation: X:714.13, Y:4.26, Z:2.79 [[ 9.98890835e-01 -4.67201109e-02 -5.85925956e-03 7.14133598e+02] [ 4.67209551e-02 9.98907980e-01 7.20717930e-06 4.25507913e+00] [ 5.85252441e-03 -2.80949388e-04 9.99982834e-01 2.79076791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.679254154 meters 0.0583243064589841 Centerline is valid? [True, True] Translation: X:714.19, Y:4.25, Z:2.79 [[ 9.98609226e-01 -5.24849337e-02 -4.99450878e-03 7.14193518e+02] [ 5.24856191e-02 9.98621680e-01 6.16516871e-06 4.24963969e+00] [ 4.98730117e-03 -2.68296479e-04 9.99987527e-01 2.79116245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.739254154 meters 0.05673435021246917 Centerline is valid? [True, True] Translation: X:714.25, Y:4.26, Z:2.79 [[ 9.98392099e-01 -5.64965880e-02 -4.62091908e-03 7.14253754e+02] [ 5.64972175e-02 9.98402757e-01 5.71224039e-06 4.25986254e+00] [ 4.61321563e-03 -2.66772126e-04 9.99989323e-01 2.79186440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.799254154 meters 0.05900019969291682 Centerline is valid? [True, True] Translation: X:714.31, Y:4.25, Z:2.79 [[ 9.98240344e-01 -5.90894555e-02 -4.96504749e-03 7.14313281e+02] [ 5.90902144e-02 9.98252647e-01 6.15500540e-06 4.24691542e+00] [ 4.95600810e-03 -2.99529895e-04 9.99987674e-01 2.79160435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters 0.05724905020327501 Centerline is valid? [True, True] Translation: X:714.37, Y:4.26, Z:2.79 [[ 9.98288963e-01 -5.82348051e-02 -5.27771692e-03 7.14374316e+02] [ 5.82356508e-02 9.98302864e-01 6.57056195e-06 4.25802702e+00] [ 5.26837728e-03 -3.13910599e-04 9.99986073e-01 2.79106055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.919254154 meters 0.05614232105794829 Centerline is valid? [True, True] Translation: X:714.44, Y:4.27, Z:2.79 [[ 9.98384447e-01 -5.65271051e-02 -5.76047141e-03 7.14435077e+02] [ 5.65280848e-02 9.98401009e-01 7.25932686e-06 4.27062265e+00] [ 5.75085012e-03 -3.32876015e-04 9.99983408e-01 2.79092003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters 0.057106241397355956 Centerline is valid? [True, True] Translation: X:714.49, Y:4.26, Z:2.79 [[ 9.98535994e-01 -5.34648160e-02 -8.20865936e-03 7.14494862e+02] [ 5.34667023e-02 9.98569633e-01 1.03547041e-05 4.26451982e+00] [ 8.19636435e-03 -4.49229491e-04 9.99966308e-01 2.78922248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.039254154 meters 0.058561456187926623 Centerline is valid? [True, True] Translation: X:714.55, Y:4.26, Z:2.79 [[ 9.98788025e-01 -4.82718497e-02 -9.60782057e-03 7.14554854e+02] [ 4.82741939e-02 9.98834121e-01 1.20907264e-05 4.26261499e+00] [ 9.59603538e-03 -4.75885866e-04 9.99953844e-01 2.78822680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters 0.05648393970526412 Centerline is valid? [True, True] Translation: X:714.62, Y:4.28, Z:2.79 [[ 9.99053683e-01 -4.27240194e-02 -8.14839338e-03 7.14615615e+02] [ 4.27255214e-02 9.99086848e-01 1.02630460e-05 4.27649472e+00] [ 8.14051418e-03 -3.58397690e-04 9.99966801e-01 2.79057687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.159254154 meters 0.05822274131249881 Centerline is valid? [True, True] Translation: X:714.68, Y:4.28, Z:2.79 [[ 9.99514789e-01 -3.04399763e-02 -6.60254476e-03 7.14675190e+02] [ 3.04406948e-02 9.99536575e-01 8.32509877e-06 4.27695919e+00] [ 6.59923156e-03 -2.09307109e-04 9.99978203e-01 2.79153976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters 0.05654780350525711 Centerline is valid? [True, True] Translation: X:714.74, Y:4.29, Z:2.79 [[ 9.99820856e-01 -1.84248831e-02 -4.33355473e-03 7.14735840e+02] [ 1.84250798e-02 9.99830244e-01 5.46943039e-06 4.28909940e+00] [ 4.33271831e-03 -8.53145424e-05 9.99990610e-01 2.79269191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.279254154 meters 0.05622402914760307 Centerline is valid? [True, True] Translation: X:714.80, Y:4.30, Z:2.79 [[ 9.99915813e-01 -1.21970271e-02 -4.42719677e-03 7.14795600e+02] [ 1.21971713e-02 9.99925612e-01 5.55968976e-06 4.29548688e+00] [ 4.42679963e-03 -5.95584990e-05 9.99990200e-01 2.79252732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters 0.056499128411864045 Centerline is valid? [True, True] Translation: X:714.86, Y:4.30, Z:2.79 [[ 9.99936916e-01 -9.52986709e-03 -5.94529271e-03 7.14856064e+02] [ 9.53008000e-03 9.99954588e-01 7.48230329e-06 4.29759358e+00] [ 5.94495142e-03 -6.41409464e-05 9.99982327e-01 2.79131219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.399254154 meters 0.05629663507610958 Centerline is valid? [True, True] Translation: X:714.92, Y:4.30, Z:2.79 [[ 9.99895103e-01 -1.26880497e-02 -6.98549977e-03 7.14916376e+02] [ 1.26884210e-02 9.99919499e-01 8.82890135e-06 4.29848354e+00] [ 6.98482540e-03 -9.74629369e-05 9.99975601e-01 2.79101938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters 0.05616485379173106 Centerline is valid? [True, True] Translation: X:714.98, Y:4.30, Z:2.79 [[ 9.99857742e-01 -1.53076918e-02 -7.08310441e-03 7.14976008e+02] [ 1.53081390e-02 9.99882824e-01 8.92667956e-06 4.29607647e+00] [ 7.08213779e-03 -1.17354557e-04 9.99974914e-01 2.79099870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.519254154 meters 0.05647650203580374 Centerline is valid? [True, True] Translation: X:715.04, Y:4.29, Z:2.79 [[ 9.99800805e-01 -1.88617520e-02 -6.52573151e-03 7.15036620e+02] [ 1.88622072e-02 9.99822093e-01 8.21609080e-06 4.29441430e+00] [ 6.52441556e-03 -1.31304154e-04 9.99978707e-01 2.79025768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters 0.055857432598685086 Centerline is valid? [True, True] Translation: X:715.10, Y:4.29, Z:2.79 [[ 9.99748712e-01 -2.14696495e-02 -6.44725839e-03 7.15098200e+02] [ 2.14701485e-02 9.99769490e-01 8.19159940e-06 4.29380745e+00] [ 6.44559636e-03 -1.46613136e-04 9.99979216e-01 2.78982635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.639254154 meters 0.05802308584806298 Centerline is valid? [True, True] Translation: X:715.16, Y:4.28, Z:2.79 [[ 9.99653998e-01 -2.57112772e-02 -5.55113151e-03 7.15158267e+02] [ 2.57117131e-02 9.99669399e-01 7.15406280e-06 4.28045317e+00] [ 5.54911236e-03 -1.49880688e-04 9.99984592e-01 2.78970689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.699254154 meters 0.057155554300576554 Centerline is valid? [True, True] Translation: X:715.22, Y:4.28, Z:2.79 [[ 9.99514061e-01 -3.10080711e-02 -3.18454994e-03 7.15218336e+02] [ 3.10082416e-02 9.99519129e-01 4.17142576e-06 4.28343955e+00] [ 3.18288924e-03 -1.02916693e-04 9.99994929e-01 2.79130049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.759254154 meters 0.055511695914321396 Centerline is valid? [True, True] Translation: X:715.28, Y:4.29, Z:2.79 [[ 9.99409416e-01 -3.42308210e-02 -3.01156625e-03 7.15278968e+02] [ 3.42309880e-02 9.99413948e-01 3.90609741e-06 4.28652596e+00] [ 3.00966760e-03 -1.06992679e-04 9.99995465e-01 2.79150850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.819254154 meters 0.05618790462234988 Centerline is valid? [True, True] Translation: X:715.34, Y:4.28, Z:2.79 [[ 9.99401635e-01 -3.43364958e-02 -4.16866900e-03 7.15339762e+02] [ 3.43368170e-02 9.99410318e-01 5.49283042e-06 4.28464061e+00] [ 4.16602220e-03 -1.48628368e-04 9.99991311e-01 2.79071546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.879254154 meters 0.0568707621467291 Centerline is valid? [True, True] Translation: X:715.40, Y:4.28, Z:2.79 [[ 9.99491960e-01 -3.14382186e-02 -5.24030385e-03 7.15399511e+02] [ 3.14386871e-02 9.99505682e-01 7.03099370e-06 4.28287018e+00] [ 5.23749243e-03 -1.71775695e-04 9.99986269e-01 2.79007244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.939254154 meters 0.055454441409004684 Centerline is valid? [True, True] Translation: X:715.46, Y:4.29, Z:2.79 [[ 9.99587717e-01 -2.80332782e-02 -6.20736127e-03 7.15460439e+02] [ 2.80338701e-02 9.99606974e-01 8.34719951e-06 4.28809943e+00] [ 6.20468762e-03 -1.82360117e-04 9.99980734e-01 2.79003906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.999254154 meters 0.05594566019958598 Centerline is valid? [True, True] Translation: X:715.52, Y:4.29, Z:2.79 [[ 9.99713309e-01 -2.28885557e-02 -7.02951246e-03 7.15520900e+02] [ 2.28891881e-02 9.99738008e-01 9.52055769e-06 4.29105466e+00] [ 7.02745287e-03 -1.70417661e-04 9.99975293e-01 2.78988943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.059254154 meters 0.056274466364529 Centerline is valid? [True, True] Translation: X:715.58, Y:4.29, Z:2.79 [[ 9.99767759e-01 -2.00623805e-02 -7.86953033e-03 7.15581214e+02] [ 2.00630862e-02 9.99798716e-01 1.07366403e-05 4.29130130e+00] [ 7.86773092e-03 -1.68621213e-04 9.99969035e-01 2.78972532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.119254154 meters 0.05681693624225349 Centerline is valid? [True, True] Translation: X:715.64, Y:4.29, Z:2.79 [[ 9.99740466e-01 -2.12825891e-02 -8.12721432e-03 7.15641900e+02] [ 2.12833826e-02 9.99773483e-01 1.11580814e-05 4.29027428e+00] [ 8.12513589e-03 -1.84129798e-04 9.99966974e-01 2.79016413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.179254154 meters 0.056461452775884276 Centerline is valid? [True, True] Translation: X:715.70, Y:4.29, Z:2.79 [[ 9.99671781e-01 -2.46412443e-02 -7.00997834e-03 7.15702891e+02] [ 2.46419176e-02 9.99696342e-01 9.67735408e-06 4.28905981e+00] [ 7.00761124e-03 -1.82413486e-04 9.99975430e-01 2.79082917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.239254154 meters 0.05647555999578771 Centerline is valid? [True, True] Translation: X:715.76, Y:4.29, Z:2.79 [[ 9.99462391e-01 -3.21779659e-02 -6.28556238e-03 7.15763543e+02] [ 3.21786562e-02 9.99482133e-01 8.69999115e-06 4.28811283e+00] [ 6.28202735e-03 -2.10956265e-04 9.99980246e-01 2.79182385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.299254154 meters 0.05633413430673797 Centerline is valid? [True, True] Translation: X:715.82, Y:4.29, Z:2.79 [[ 9.99387401e-01 -3.43889036e-02 -6.49818804e-03 7.15823491e+02] [ 3.43896880e-02 9.99408500e-01 8.98329513e-06 4.28738128e+00] [ 6.49403543e-03 -2.32448451e-04 9.99978886e-01 2.79261734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters 0.05791623660000707 Centerline is valid? [True, True] Translation: X:715.88, Y:4.28, Z:2.79 [[ 9.99178109e-01 -4.00472499e-02 -6.27086491e-03 7.15882980e+02] [ 4.00480915e-02 9.99197753e-01 8.64736683e-06 4.27613858e+00] [ 6.26548782e-03 -2.59776431e-04 9.99980338e-01 2.79297987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.419254154 meters 0.05607895643903087 Centerline is valid? [True, True] Translation: X:715.94, Y:4.28, Z:2.79 [[ 9.99098069e-01 -4.22041671e-02 -4.67522492e-03 7.15943789e+02] [ 4.22046584e-02 9.99108986e-01 6.43108136e-06 4.28215194e+00] [ 4.67078781e-03 -2.03741552e-04 9.99989071e-01 2.79459046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters 0.055320145937909265 Centerline is valid? [True, True] Translation: X:716.01, Y:4.29, Z:2.80 [[ 9.99123566e-01 -4.16515912e-02 -4.15271619e-03 7.16005784e+02] [ 4.16519743e-02 9.99132180e-01 5.77393561e-06 4.28632853e+00] [ 4.14887189e-03 -1.78737703e-04 9.99991377e-01 2.79548001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.539254154 meters 0.05739795748431295 Centerline is valid? [True, True] Translation: X:716.07, Y:4.28, Z:2.80 [[ 9.99222969e-01 -3.91811434e-02 -4.27750473e-03 7.16065252e+02] [ 3.91815278e-02 9.99232109e-01 6.07652707e-06 4.27899841e+00] [ 4.27398199e-03 -1.73670976e-04 9.99990851e-01 2.79585524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters 0.05472113017957872 Centerline is valid? [True, True] Translation: X:716.13, Y:4.29, Z:2.80 [[ 9.99272596e-01 -3.78743341e-02 -4.45130587e-03 7.16126566e+02] [ 3.78747374e-02 9.99282495e-01 6.30781165e-06 4.28902106e+00] [ 4.44787313e-03 -1.74895264e-04 9.99990093e-01 2.79598495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.659254154 meters 0.056602772108860125 Centerline is valid? [True, True] Translation: X:716.19, Y:4.29, Z:2.80 [[ 9.99322876e-01 -3.61916501e-02 -6.62975119e-03 7.16188293e+02] [ 3.61925097e-02 9.99344836e-01 9.68883692e-06 4.28890612e+00] [ 6.62505696e-03 -2.49629610e-04 9.99978023e-01 2.79510395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters 0.05706351206340929 Centerline is valid? [True, True] Translation: X:716.25, Y:4.28, Z:2.79 [[ 9.99381291e-01 -3.41270017e-02 -8.50776471e-03 7.16248490e+02] [ 3.41283443e-02 9.99417458e-01 1.26417884e-05 4.28244955e+00] [ 8.50237716e-03 -3.02989890e-04 9.99963808e-01 2.79409815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.779254154 meters 0.05783529298658164 Centerline is valid? [True, True] Translation: X:716.31, Y:4.28, Z:2.79 [[ 9.99401964e-01 -3.34963904e-02 -8.58519184e-03 7.16310364e+02] [ 3.34977349e-02 9.99438793e-01 1.28084174e-05 4.28355550e+00] [ 8.57994474e-03 -3.00385238e-04 9.99963146e-01 2.79442883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters 0.056783724934974 Centerline is valid? [True, True] Translation: X:716.37, Y:4.29, Z:2.80 [[ 9.99412994e-01 -3.33017386e-02 -8.04119175e-03 7.16372541e+02] [ 3.33029129e-02 9.99445304e-01 1.21427289e-05 4.28856996e+00] [ 8.03632696e-03 -2.79930710e-04 9.99967669e-01 2.79552282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.899254154 meters 0.05595920223041278 Centerline is valid? [True, True] Translation: X:716.43, Y:4.30, Z:2.80 [[ 9.99551153e-01 -2.91345534e-02 -6.97637779e-03 7.16433594e+02] [ 2.91353368e-02 9.99575476e-01 1.06695636e-05 4.29879917e+00] [ 6.97310530e-03 -2.13923891e-04 9.99975665e-01 2.79729078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters 0.056599395547467346 Centerline is valid? [True, True] Translation: X:716.49, Y:4.30, Z:2.80 [[ 9.99716045e-01 -2.32790507e-02 -5.09075683e-03 7.16493142e+02] [ 2.32793921e-02 9.99728998e-01 7.80863725e-06 4.29875240e+00] [ 5.08919545e-03 -1.26316144e-04 9.99987042e-01 2.79839689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.019254154 meters 0.05613853202426499 Centerline is valid? [True, True] Translation: X:716.55, Y:4.30, Z:2.80 [[ 9.99794259e-01 -1.97882035e-02 -4.45712340e-03 7.16553997e+02] [ 1.97884306e-02 9.99804190e-01 6.83858140e-06 4.30310850e+00] [ 4.45611533e-03 -9.50366513e-05 9.99990067e-01 2.79959831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters 0.0558254880698444 Centerline is valid? [True, True] Translation: X:716.62, Y:4.30, Z:2.80 [[ 9.99849703e-01 -1.61786953e-02 -6.23069890e-03 7.16615051e+02] [ 1.61790691e-02 9.99869110e-01 9.60021371e-06 4.30496028e+00] [ 6.22972805e-03 -1.10405679e-04 9.99980589e-01 2.79914968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.139254154 meters 0.056053868660113665 Centerline is valid? [True, True] Translation: X:716.68, Y:4.30, Z:2.80 [[ 9.99843812e-01 -1.59262951e-02 -7.66186305e-03 7.16676052e+02] [ 1.59268537e-02 9.99873160e-01 1.18877443e-05 4.30346922e+00] [ 7.66070189e-03 -1.33915259e-04 9.99970647e-01 2.79831194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.199254154 meters 0.05642838384856505 Centerline is valid? [True, True] Translation: X:716.74, Y:4.30, Z:2.80 [[ 9.99786543e-01 -1.80271982e-02 -1.00939422e-02 7.16736928e+02] [ 1.80282765e-02 9.99837477e-01 1.58324025e-05 4.30091854e+00] [ 1.00920163e-02 -1.97805403e-04 9.99949055e-01 2.79737959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.259254154 meters 0.056393105523048145 Centerline is valid? [True, True] Translation: X:716.80, Y:4.30, Z:2.80 [[ 9.99714865e-01 -2.14545249e-02 -1.04829112e-02 7.16797180e+02] [ 2.14558765e-02 9.99769796e-01 1.64753417e-05 4.29935356e+00] [ 1.04801445e-02 -2.41390691e-04 9.99945053e-01 2.79792500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.319254154 meters 0.055893796047407664 Centerline is valid? [True, True] Translation: X:716.86, Y:4.30, Z:2.80 [[ 9.99630113e-01 -2.52352654e-02 -1.01399130e-02 7.16857097e+02] [ 2.52367243e-02 9.99681503e-01 1.59362727e-05 4.29570450e+00] [ 1.01362813e-02 -2.71828568e-04 9.99948590e-01 2.79885314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.379254154 meters 0.055772052605722815 Centerline is valid? [True, True] Translation: X:716.92, Y:4.29, Z:2.80 [[ 9.99602990e-01 -2.63525994e-02 -9.97007318e-03 7.16918449e+02] [ 2.63540669e-02 9.99652671e-01 1.58201809e-05 4.28975186e+00] [ 9.96619339e-03 -2.78565876e-04 9.99950297e-01 2.79887082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.439254154 meters 0.0572092820542622 Centerline is valid? [True, True] Translation: X:716.98, Y:4.29, Z:2.80 [[ 9.99618525e-01 -2.57989769e-02 -9.85987753e-03 7.16978830e+02] [ 2.58003880e-02 9.99667114e-01 1.59213747e-05 4.28692617e+00] [ 9.85618456e-03 -2.70303967e-04 9.99951390e-01 2.79906690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.499254154 meters 0.05750172980707481 Centerline is valid? [True, True] Translation: X:717.04, Y:4.29, Z:2.80 [[ 9.99692461e-01 -2.31068342e-02 -9.00321456e-03 7.17038864e+02] [ 2.31079026e-02 9.99732977e-01 1.46466779e-05 4.28551075e+00] [ 9.00047206e-03 -2.22687579e-04 9.99959470e-01 2.79997557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.559254154 meters 0.057067698444644224 Centerline is valid? [True, True] Translation: X:717.10, Y:4.29, Z:2.80 [[ 9.99735899e-01 -2.14035026e-02 -8.36788584e-03 7.17099676e+02] [ 2.14043665e-02 9.99770900e-01 1.36846003e-05 4.28904122e+00] [ 8.36567586e-03 -1.92790281e-04 9.99964989e-01 2.80167601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.619254154 meters 0.05579932270703912 Centerline is valid? [True, True] Translation: X:717.16, Y:4.29, Z:2.80 [[ 9.99754286e-01 -2.04610048e-02 -8.52728534e-03 7.17161015e+02] [ 2.04618689e-02 9.99790634e-01 1.40849030e-05 4.28790408e+00] [ 8.52521183e-03 -1.88565636e-04 9.99963642e-01 2.80282077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.679254154 meters 0.05659692430011889 Centerline is valid? [True, True] Translation: X:717.22, Y:4.28, Z:2.80 [[ 9.99727354e-01 -2.13487322e-02 -9.45779153e-03 7.17222401e+02] [ 2.13498363e-02 9.99772066e-01 1.57818857e-05 4.28440216e+00] [ 9.45529886e-03 -2.17699884e-04 9.99955274e-01 2.80355538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.739254154 meters 0.056924415135169645 Centerline is valid? [True, True] Translation: X:717.28, Y:4.28, Z:2.80 [[ 9.99706738e-01 -2.18203211e-02 -1.05029616e-02 7.17282411e+02] [ 2.18217100e-02 9.99761878e-01 1.76491725e-05 4.27860544e+00] [ 1.05000755e-02 -2.46836580e-04 9.99944842e-01 2.80219241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.799254154 meters 0.056103516699482596 Centerline is valid? [True, True] Translation: X:717.34, Y:4.29, Z:2.81 [[ 9.99680439e-01 -2.18023554e-02 -1.27936037e-02 7.17342891e+02] [ 2.18044153e-02 9.99762255e-01 2.15370019e-05 4.28542626e+00] [ 1.27900926e-02 -3.00487169e-04 9.99918158e-01 2.80514971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters 0.05731314782018161 Centerline is valid? [True, True] Translation: X:717.40, Y:4.28, Z:2.80 [[ 9.99642807e-01 -2.21095768e-02 -1.50141695e-02 7.17401665e+02] [ 2.21124447e-02 9.99755490e-01 2.50137484e-05 4.28054957e+00] [ 1.50099453e-02 -3.57004807e-04 9.99887281e-01 2.80422399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.919254154 meters 0.057209009518222366 Centerline is valid? [True, True] Translation: X:717.46, Y:4.28, Z:2.81 [[ 9.99604724e-01 -2.37362650e-02 -1.50660382e-02 7.17461278e+02] [ 2.37393346e-02 9.99718182e-01 2.49151367e-05 4.28324305e+00] [ 1.50612009e-02 -3.82563010e-04 9.99886500e-01 2.80780106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters 0.05757024242339094 Centerline is valid? [True, True] Translation: X:717.52, Y:4.28, Z:2.81 [[ 9.99588484e-01 -2.58930420e-02 -1.23455493e-02 7.17519359e+02] [ 2.58952645e-02 9.99664661e-01 2.01759999e-05 4.27510720e+00] [ 1.23408869e-02 -3.39858960e-04 9.99923791e-01 2.80798100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.039254154 meters 0.05800812540627786 Centerline is valid? [True, True] Translation: X:717.58, Y:4.27, Z:2.81 [[ 9.99664046e-01 -2.36499086e-02 -1.06054762e-02 7.17579503e+02] [ 2.36514210e-02 9.99720266e-01 1.71898186e-05 4.27342886e+00] [ 1.06021029e-02 -2.68018626e-04 9.99943760e-01 2.81045180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters 0.0573361598215869 Centerline is valid? [True, True] Translation: X:717.64, Y:4.28, Z:2.81 [[ 9.99726289e-01 -2.08638414e-02 -1.05852391e-02 7.17639534e+02] [ 2.08651916e-02 9.99782298e-01 1.71237480e-05 4.28150583e+00] [ 1.05825774e-02 -2.37982103e-04 9.99943975e-01 2.81359118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.159254154 meters 0.05775617599174336 Centerline is valid? [True, True] Translation: X:717.70, Y:4.27, Z:2.81 [[ 9.99752629e-01 -1.93441429e-02 -1.09766116e-02 7.17699344e+02] [ 1.93455026e-02 9.99812858e-01 1.77008644e-05 4.27027741e+00] [ 1.09742151e-02 -2.30044555e-04 9.99939755e-01 2.81157139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters 0.05767727431063939 Centerline is valid? [True, True] Translation: X:717.76, Y:4.27, Z:2.81 [[ 9.99732114e-01 -2.00921318e-02 -1.14893730e-02 7.17759033e+02] [ 2.00936667e-02 9.99798102e-01 1.81571826e-05 4.26862127e+00] [ 1.14866885e-02 -2.49015950e-04 9.99933995e-01 2.81210300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.279254154 meters 0.05762611889736443 Centerline is valid? [True, True] Translation: X:717.82, Y:4.26, Z:2.81 [[ 9.99594956e-01 -2.51890374e-02 -1.32452637e-02 7.17819038e+02] [ 2.51915206e-02 9.99682643e-01 2.06461282e-05 4.26328991e+00] [ 1.32405402e-02 -3.54306099e-04 9.99912277e-01 2.81186322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters 0.058579548271094975 Centerline is valid? [True, True] Translation: X:717.88, Y:4.25, Z:2.81 [[ 9.99365928e-01 -3.20876665e-02 -1.54312750e-02 7.17879641e+02] [ 3.20918573e-02 9.99484923e-01 2.39682726e-05 4.25499205e+00] [ 1.54225576e-02 -5.19171349e-04 9.99880930e-01 2.80980535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.399254154 meters 0.057961793792603127 Centerline is valid? [True, True] Translation: X:717.94, Y:4.25, Z:2.81 [[ 9.99245581e-01 -3.53004587e-02 -1.61909362e-02 7.17939970e+02] [ 3.53054925e-02 9.99376566e-01 2.50805405e-05 4.25424124e+00] [ 1.61799569e-02 -5.96690595e-04 9.99868918e-01 2.81027851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters 0.06058245982332903 Centerline is valid? [True, True] Translation: X:718.00, Y:4.24, Z:2.81 [[ 9.99223858e-01 -3.58701235e-02 -1.62793116e-02 7.17998920e+02] [ 3.58752842e-02 9.99356275e-01 2.49899029e-05 4.23824853e+00] [ 1.62679358e-02 -6.08995438e-04 9.99867483e-01 2.80709756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.519254154 meters 0.059367045860625835 Centerline is valid? [True, True] Translation: X:718.06, Y:4.24, Z:2.81 [[ 9.99384822e-01 -3.22511255e-02 -1.37783720e-02 7.18059081e+02] [ 3.22544750e-02 9.99479689e-01 2.08892388e-05 4.24301292e+00] [ 1.37705292e-02 -4.65290542e-04 9.99905073e-01 2.81011783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters 0.06003593232455091 Centerline is valid? [True, True] Translation: X:718.12, Y:4.24, Z:2.81 [[ 9.99527647e-01 -2.82424674e-02 -1.21179946e-02 7.18118355e+02] [ 2.82447620e-02 9.99601037e-01 1.82223361e-05 4.24090498e+00] [ 1.21126454e-02 -3.60483603e-04 9.99926574e-01 2.81082712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.639254154 meters 0.058924057309260695 Centerline is valid? [True, True] Translation: X:718.18, Y:4.25, Z:2.81 [[ 9.99712765e-01 -2.15767326e-02 -1.04323036e-02 7.18178732e+02] [ 2.15780689e-02 9.99767166e-01 1.55360734e-05 4.24559434e+00] [ 1.04295394e-02 -2.40640577e-04 9.99945582e-01 2.81264941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.699254154 meters 0.05795819647248393 Centerline is valid? [True, True] Translation: X:718.24, Y:4.25, Z:2.81 [[ 9.99852465e-01 -1.37382146e-02 -1.03106369e-02 7.18239134e+02] [ 1.37391024e-02 9.99905614e-01 1.52743261e-05 4.25360989e+00] [ 1.03094539e-02 -1.56930968e-04 9.99946844e-01 2.81391746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.759254154 meters 0.057620519302883304 Centerline is valid? [True, True] Translation: X:718.30, Y:4.25, Z:2.81 [[ 9.99899844e-01 -9.31470944e-03 -1.06554373e-02 7.18297598e+02] [ 9.31540482e-03 9.99956611e-01 1.56296922e-05 4.25145199e+00] [ 1.06548294e-02 -1.14887839e-04 9.99943229e-01 2.81320718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.819254154 meters 0.057803192402088845 Centerline is valid? [True, True] Translation: X:718.36, Y:4.25, Z:2.81 [[ 9.99909511e-01 -5.96604228e-03 -1.20572340e-02 7.18356551e+02] [ 5.96667753e-03 9.99982199e-01 1.67148657e-05 4.25203428e+00] [ 1.20569197e-02 -8.86549804e-05 9.99927309e-01 2.81357151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.879254154 meters 0.05735246838673109 Centerline is valid? [True, True] Translation: X:718.42, Y:4.25, Z:2.81 [[ 9.99900924e-01 -6.57689849e-03 -1.24453222e-02 7.18415134e+02] [ 6.57761467e-03 9.99978367e-01 1.66151870e-05 4.24988649e+00] [ 1.24449437e-02 -9.84740746e-05 9.99922554e-01 2.81229083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.939254154 meters 0.05742082807286305 Centerline is valid? [True, True] Translation: X:718.47, Y:4.24, Z:2.81 [[ 9.99899785e-01 -7.76685082e-03 -1.18361785e-02 7.18473961e+02] [ 7.76757849e-03 9.99969832e-01 1.55079829e-05 4.24474228e+00] [ 1.18357009e-02 -1.07444874e-04 9.99929950e-01 2.80905729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.999254154 meters 0.05825205211487924 Centerline is valid? [True, True] Translation: X:718.53, Y:4.24, Z:2.81 [[ 9.99880477e-01 -1.01133852e-02 -1.16940762e-02 7.18531962e+02] [ 1.01142509e-02 9.99948850e-01 1.48838339e-05 4.24207734e+00] [ 1.16933275e-02 -1.33158875e-04 9.99931622e-01 2.80893021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.059254154 meters 0.05829679480573054 Centerline is valid? [True, True] Translation: X:718.59, Y:4.24, Z:2.81 [[ 9.99844599e-01 -1.45497668e-02 -9.95404239e-03 7.18591244e+02] [ 1.45506107e-02 9.99894134e-01 1.23578629e-05 4.23950216e+00] [ 9.95280879e-03 -1.57193338e-04 9.99950457e-01 2.80994034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.119254154 meters 0.05822026476801814 Centerline is valid? [True, True] Translation: X:718.65, Y:4.24, Z:2.81 [[ 9.99756311e-01 -2.02438386e-02 -8.80368151e-03 7.18650536e+02] [ 2.02447178e-02 9.99795055e-01 1.07492710e-05 4.23547452e+00] [ 8.80165963e-03 -1.88974699e-04 9.99961247e-01 2.81218884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.179254154 meters 0.05944835608491696 Centerline is valid? [True, True] Translation: X:718.71, Y:4.23, Z:2.81 [[ 9.99676738e-01 -2.45291311e-02 -6.68895049e-03 7.18710919e+02] [ 2.45297341e-02 9.99699101e-01 8.11518556e-06 4.22928475e+00] [ 6.68673874e-03 -1.72190740e-04 9.99977629e-01 2.81237823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.239254154 meters 0.05936091042360065 Centerline is valid? [True, True] Translation: X:718.77, Y:4.22, Z:2.81 [[ 9.99580032e-01 -2.84074883e-02 -5.72482511e-03 7.18770549e+02] [ 2.84079938e-02 9.99596411e-01 6.98921584e-06 4.22129540e+00] [ 5.72231609e-03 -1.69617077e-04 9.99983613e-01 2.81308223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.299254154 meters 0.05851503120269933 Centerline is valid? [True, True] Translation: X:718.83, Y:4.22, Z:2.81 [[ 9.99565216e-01 -2.88301340e-02 -6.18080596e-03 7.18833138e+02] [ 2.88307326e-02 9.99584308e-01 7.74654451e-06 4.22497039e+00] [ 6.17801331e-03 -1.85940340e-04 9.99980899e-01 2.81198753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters 0.058833158276567266 Centerline is valid? [True, True] Translation: X:718.89, Y:4.22, Z:2.81 [[ 9.99601968e-01 -2.69766387e-02 -8.25634111e-03 7.18893544e+02] [ 2.69776458e-02 9.99636037e-01 1.06111768e-05 4.22150010e+00] [ 8.25304985e-03 -2.33343600e-04 9.99965916e-01 2.81064826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.419254154 meters 0.05880440820036679 Centerline is valid? [True, True] Translation: X:718.95, Y:4.22, Z:2.81 [[ 9.99698456e-01 -2.32854461e-02 -7.79648936e-03 7.18954115e+02] [ 2.32862316e-02 9.99728839e-01 9.98707276e-06 4.22499424e+00] [ 7.79414270e-03 -1.91534918e-04 9.99969607e-01 2.81138884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters 0.059257234882194185 Centerline is valid? [True, True] Translation: X:719.01, Y:4.22, Z:2.81 [[ 9.99784471e-01 -1.92846463e-02 -7.68853614e-03 7.19013559e+02] [ 1.92852923e-02 9.99814021e-01 9.87960214e-06 4.22325070e+00] [ 7.68691571e-03 -1.58153139e-04 9.99970443e-01 2.81169867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.539254154 meters 0.05815543326280173 Centerline is valid? [True, True] Translation: X:719.07, Y:4.23, Z:2.81 [[ 9.99811452e-01 -1.81728166e-02 -6.84176779e-03 7.19072902e+02] [ 1.81733025e-02 9.99834852e-01 8.85710179e-06 4.22949048e+00] [ 6.84047692e-03 -1.33192948e-04 9.99976595e-01 2.81304532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters 0.058339472058612805 Centerline is valid? [True, True] Translation: X:719.13, Y:4.23, Z:2.81 [[ 9.99806694e-01 -1.83603879e-02 -7.03350895e-03 7.19133154e+02] [ 1.83609059e-02 9.99831424e-01 9.07053675e-06 4.22878624e+00] [ 7.03215673e-03 -1.38210379e-04 9.99975265e-01 2.81303646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.659254154 meters 0.057766306274285154 Centerline is valid? [True, True] Translation: X:719.19, Y:4.23, Z:2.81 [[ 9.99716293e-01 -2.26267963e-02 -7.44052397e-03 7.19193766e+02] [ 2.26274944e-02 9.99743965e-01 9.65558420e-06 4.22844979e+00] [ 7.43840046e-03 -1.78013260e-04 9.99972319e-01 2.81333032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters 0.05876757759632273 Centerline is valid? [True, True] Translation: X:719.25, Y:4.22, Z:2.81 [[ 9.99592225e-01 -2.73823516e-02 -8.09885732e-03 7.19252917e+02] [ 2.73833354e-02 9.99625006e-01 1.05900553e-05 4.22266423e+00] [ 8.09553031e-03 -2.32359463e-04 9.99967204e-01 2.81391382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.779254154 meters 0.05817467352503155 Centerline is valid? [True, True] Translation: X:719.31, Y:4.23, Z:2.82 [[ 9.99356716e-01 -3.51359136e-02 -7.18482237e-03 7.19312349e+02] [ 3.51368882e-02 9.99382509e-01 9.43121119e-06 4.22757521e+00] [ 7.18005443e-03 -2.61877445e-04 9.99974189e-01 2.81580306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters 0.06146548009294655 Centerline is valid? [True, True] Translation: X:719.37, Y:4.21, Z:2.81 [[ 9.99061462e-01 -4.26678465e-02 -7.45994550e-03 7.19372108e+02] [ 4.26691071e-02 9.99089259e-01 9.83946634e-06 4.20654078e+00] [ 7.45273159e-03 -3.28139445e-04 9.99972174e-01 2.81386236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.899254154 meters 0.06142373776270339 Centerline is valid? [True, True] Translation: X:719.43, Y:4.21, Z:2.81 [[ 9.98800932e-01 -4.81886080e-02 -8.63464503e-03 7.19431359e+02] [ 4.81905025e-02 9.98838163e-01 1.13711958e-05 4.20801866e+00] [ 8.62406502e-03 -4.27465444e-04 9.99962721e-01 2.81326282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters 0.05851108946069434 Centerline is valid? [True, True] Translation: X:719.49, Y:4.22, Z:2.81 [[ 9.98622459e-01 -5.19020724e-02 -7.70444434e-03 7.19492025e+02] [ 5.19036911e-02 9.98652095e-01 1.01777487e-05 4.22495095e+00] [ 7.69353124e-03 -4.10052828e-04 9.99970320e-01 2.81486577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.019254154 meters 0.05798142923504362 Centerline is valid? [True, True] Translation: X:719.55, Y:4.23, Z:2.82 [[ 9.98420360e-01 -5.57002428e-02 -7.36671619e-03 7.19551756e+02] [ 5.57018271e-02 9.98447448e-01 9.90222863e-06 4.23340535e+00] [ 7.35472742e-03 -4.20226138e-04 9.99972865e-01 2.81582407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters 0.0570746704414294 Centerline is valid? [True, True] Translation: X:719.61, Y:4.23, Z:2.82 [[ 9.98373765e-01 -5.64850913e-02 -7.69805976e-03 7.19613826e+02] [ 5.64868473e-02 9.98403343e-01 1.06985311e-05 4.23120780e+00] [ 7.68516429e-03 -4.45520259e-04 9.99970369e-01 2.81585083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.139254154 meters 0.05823761186622039 Centerline is valid? [True, True] Translation: X:719.68, Y:4.23, Z:2.82 [[ 9.98377715e-01 -5.63072612e-02 -8.45161284e-03 7.19675433e+02] [ 5.63093760e-02 9.98413368e-01 1.22853430e-05 4.23398279e+00] [ 8.43751149e-03 -4.88170458e-04 9.99964284e-01 2.81583036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.199254154 meters 0.059635886053209686 Centerline is valid? [True, True] Translation: X:719.74, Y:4.23, Z:2.81 [[ 9.98520560e-01 -5.36973627e-02 -8.56068950e-03 7.19735359e+02] [ 5.36994391e-02 9.98557144e-01 1.27085573e-05 4.22970911e+00] [ 8.54765525e-03 -4.72393980e-04 9.99963357e-01 2.81443899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.259254154 meters 0.0573929255429687 Centerline is valid? [True, True] Translation: X:719.80, Y:4.24, Z:2.81 [[ 9.98659781e-01 -5.10073197e-02 -8.76904359e-03 7.19795493e+02] [ 5.10093950e-02 9.98698173e-01 1.30183094e-05 4.24374921e+00] [ 8.75696378e-03 -4.60304470e-04 9.99961551e-01 2.81474582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.319254154 meters 0.05815902960809944 Centerline is valid? [True, True] Translation: X:719.86, Y:4.25, Z:2.82 [[ 9.98921697e-01 -4.53298746e-02 -1.00322268e-02 7.19856378e+02] [ 4.53323052e-02 9.98971963e-01 1.48961222e-05 4.25108853e+00] [ 1.00212381e-02 -4.69664027e-04 9.99949676e-01 2.81518175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.379254154 meters 0.05818803635421449 Centerline is valid? [True, True] Translation: X:719.92, Y:4.26, Z:2.82 [[ 9.99187567e-01 -3.91516933e-02 -9.55773105e-03 7.19915576e+02] [ 3.91536167e-02 9.99233203e-01 1.41458487e-05 4.25876782e+00] [ 9.54984838e-03 -3.88354095e-04 9.99954324e-01 2.81637857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.439254154 meters 0.05711124679169853 Centerline is valid? [True, True] Translation: X:719.98, Y:4.27, Z:2.82 [[ 9.99365141e-01 -3.45748176e-02 -8.59628098e-03 7.19976708e+02] [ 3.45762045e-02 9.99402064e-01 1.27290098e-05 4.26684762e+00] [ 8.59070085e-03 -3.09947698e-04 9.99963051e-01 2.81683586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.499254154 meters 0.05709849459578033 Centerline is valid? [True, True] Translation: X:720.04, Y:4.27, Z:2.82 [[ 9.99623159e-01 -2.62689138e-02 -7.96767467e-03 7.20035845e+02] [ 2.62698419e-02 9.99654888e-01 1.18261067e-05 4.27316565e+00] [ 7.96461427e-03 -2.21131204e-04 9.99968257e-01 2.81672862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.559254154 meters 0.05671674438866983 Centerline is valid? [True, True] Translation: X:720.10, Y:4.29, Z:2.82 [[ 9.99834496e-01 -1.70165131e-02 -6.43582521e-03 7.20096293e+02] [ 1.70169271e-02 9.99855202e-01 9.57095014e-06 4.28645030e+00] [ 6.43473045e-03 -1.19087335e-04 9.99979290e-01 2.81718911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.619254154 meters 0.05658739708753847 Centerline is valid? [True, True] Translation: X:720.16, Y:4.29, Z:2.82 [[ 9.99931939e-01 -1.02009238e-02 -5.66198265e-03 7.20156380e+02] [ 1.02011352e-02 9.99947967e-01 8.44620241e-06 4.29266192e+00] [ 5.66160188e-03 -6.62042778e-05 9.99983971e-01 2.81746398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.679254154 meters 0.05566319361004655 Centerline is valid? [True, True] Translation: X:720.22, Y:4.29, Z:2.82 [[ 9.99948076e-01 -8.62327464e-03 -5.42989833e-03 7.20216486e+02] [ 8.62344575e-03 9.99962817e-01 8.09999309e-06 4.29414723e+00] [ 5.42962658e-03 -5.49240061e-05 9.99985258e-01 2.81724914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.739254154 meters 0.056619093527925574 Centerline is valid? [True, True] Translation: X:720.28, Y:4.29, Z:2.82 [[ 9.99941886e-01 -9.10114161e-03 -5.77882381e-03 7.20275672e+02] [ 9.10134330e-03 9.99958582e-01 8.60527025e-06 4.29144895e+00] [ 5.77850614e-03 -6.11998295e-05 9.99983302e-01 2.81745289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.799254154 meters 0.05650258867917604 Centerline is valid? [True, True] Translation: X:720.34, Y:4.29, Z:2.82 [[ 9.99899965e-01 -1.31015743e-02 -5.32991796e-03 7.20336189e+02] [ 1.31018026e-02 9.99914168e-01 7.90661258e-06 4.29035101e+00] [ 5.32935689e-03 -7.77373544e-05 9.99985796e-01 2.81628738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters 0.0569961747684249 Centerline is valid? [True, True] Translation: X:720.40, Y:4.29, Z:2.82 [[ 9.99837750e-01 -1.70895734e-02 -5.69390066e-03 7.20396076e+02] [ 1.70898989e-02 9.99853957e-01 8.51615996e-06 4.28701998e+00] [ 5.69292357e-03 -1.05822965e-04 9.99983790e-01 2.81666150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.919254154 meters 0.05779167159658349 Centerline is valid? [True, True] Translation: X:720.46, Y:4.28, Z:2.82 [[ 9.99691565e-01 -2.44986142e-02 -4.07348581e-03 7.20457346e+02] [ 2.44988427e-02 9.99699858e-01 6.20738328e-06 4.27789752e+00] [ 4.07211111e-03 -1.06001157e-04 9.99991703e-01 2.81712128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters 0.0590443436286234 Centerline is valid? [True, True] Translation: X:720.52, Y:4.27, Z:2.82 [[ 9.99478708e-01 -3.20214420e-02 -4.11576407e-03 7.20517227e+02] [ 3.20217394e-02 9.99487173e-01 6.35347485e-06 4.26966619e+00] [ 4.11344994e-03 -1.38144087e-04 9.99991530e-01 2.81703661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.039254154 meters 0.057691276611396065 Centerline is valid? [True, True] Translation: X:720.58, Y:4.27, Z:2.82 [[ 9.99303850e-01 -3.70947399e-02 -3.97448592e-03 7.20578050e+02] [ 3.70950574e-02 9.99311742e-01 6.17446777e-06 4.26688762e+00] [ 3.97152140e-03 -1.53603953e-04 9.99992102e-01 2.81662235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters 0.0580445814805006 Centerline is valid? [True, True] Translation: X:720.64, Y:4.26, Z:2.82 [[ 9.98982176e-01 -4.49443582e-02 -3.82319514e-03 7.20639077e+02] [ 4.49447096e-02 9.98989476e-01 5.99951957e-06 4.26325846e+00] [ 3.81906206e-03 -1.77825808e-04 9.99992692e-01 2.81633405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.159254154 meters 0.057529640469424194 Centerline is valid? [True, True] Translation: X:720.70, Y:4.26, Z:2.82 [[ 9.98608874e-01 -5.25447749e-02 -4.40047518e-03 7.20699508e+02] [ 5.25453141e-02 9.98618541e-01 6.92224179e-06 4.25921344e+00] [ 4.39403237e-03 -2.38136962e-04 9.99990318e-01 2.81534550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters 0.05561105505339719 Centerline is valid? [True, True] Translation: X:720.76, Y:4.27, Z:2.82 [[ 9.98389120e-01 -5.65489752e-02 -4.62372558e-03 7.20759727e+02] [ 5.65496133e-02 9.98399790e-01 7.28480696e-06 4.27217425e+00] [ 4.61591470e-03 -2.68742965e-04 9.99989310e-01 2.81508518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.279254154 meters 0.05980785498852592 Centerline is valid? [True, True] Translation: X:720.82, Y:4.25, Z:2.82 [[ 9.98146480e-01 -6.06975350e-02 -4.40604220e-03 7.20818965e+02] [ 6.06981549e-02 9.98156167e-01 6.97962017e-06 4.25167920e+00] [ 4.39749455e-03 -2.74405315e-04 9.99990293e-01 2.81544518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters 0.06125658781923633 Centerline is valid? [True, True] Translation: X:720.88, Y:4.25, Z:2.82 [[ 9.98038344e-01 -6.24158623e-02 -4.87071396e-03 7.20878847e+02] [ 6.24166403e-02 9.98050181e-01 7.75176179e-06 4.25163718e+00] [ 4.86073312e-03 -3.11750157e-04 9.99988138e-01 2.81555439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.399254154 meters 0.058625561756071386 Centerline is valid? [True, True] Translation: X:720.94, Y:4.26, Z:2.82 [[ 9.98091966e-01 -6.15204934e-02 -5.25900179e-03 7.20940048e+02] [ 6.15213882e-02 9.98105765e-01 8.37511297e-06 4.25956392e+00] [ 5.24852477e-03 -3.31900223e-04 9.99986171e-01 2.81548475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters 0.055676355339743966 Centerline is valid? [True, True] Translation: X:721.00, Y:4.28, Z:2.82 [[ 9.98158050e-01 -6.03757701e-02 -5.93917459e-03 7.21001343e+02] [ 6.03768919e-02 9.98175651e-01 9.59846720e-06 4.27711785e+00] [ 5.92775995e-03 -3.68169690e-04 9.99982363e-01 2.81568645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.519254154 meters 0.056034107064044006 Centerline is valid? [True, True] Translation: X:721.06, Y:4.28, Z:2.82 [[ 9.98267075e-01 -5.83773638e-02 -7.41149425e-03 7.21060612e+02] [ 5.83790563e-02 9.98294488e-01 1.20450963e-05 4.27848724e+00] [ 7.39815070e-03 -4.44700263e-04 9.99972534e-01 2.81579893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters 0.0607616482751082 Centerline is valid? [True, True] Translation: X:721.12, Y:4.26, Z:2.82 [[ 9.98497627e-01 -5.43086791e-02 -7.28395164e-03 7.21120003e+02] [ 5.43102057e-02 9.98524112e-01 1.18047966e-05 4.26389832e+00] [ 7.27256023e-03 -4.07379973e-04 9.99973472e-01 2.81575951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.639254154 meters 0.06533097304907118 Centerline is valid? [True, True] Translation: X:721.18, Y:4.26, Z:2.82 [[ 9.98911005e-01 -4.60685410e-02 -7.38202528e-03 7.21180874e+02] [ 4.60698845e-02 9.98938219e-01 1.19608530e-05 4.25825047e+00] [ 7.37363617e-03 -3.52036879e-04 9.99972752e-01 2.81597953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.699254154 meters 0.059644791082355555 Centerline is valid? [True, True] Translation: X:721.24, Y:4.28, Z:2.82 [[ 9.99227665e-01 -3.87820531e-02 -6.32665660e-03 7.21241191e+02] [ 3.87828941e-02 9.99247661e-01 1.02645427e-05 4.27715430e+00] [ 6.32149873e-03 -2.55622668e-04 9.99979986e-01 2.81715748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.759254154 meters 0.055456538658978975 Centerline is valid? [True, True] Translation: X:721.30, Y:4.30, Z:2.82 [[ 9.99602328e-01 -2.76752177e-02 -5.40992471e-03 7.21301589e+02] [ 2.76756702e-02 9.99616955e-01 8.77500632e-06 4.30237699e+00] [ 5.40760961e-03 -1.58494809e-04 9.99985366e-01 2.81826760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.819254154 meters 0.055388044396457115 Centerline is valid? [True, True] Translation: X:721.36, Y:4.30, Z:2.82 [[ 9.99804185e-01 -1.90236245e-02 -5.44918193e-03 7.21361674e+02] [ 1.90239552e-02 9.99819028e-01 8.84819472e-06 4.30466368e+00] [ 5.44802746e-03 -1.12511455e-04 9.99985153e-01 2.81798563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.879254154 meters 0.055154473365043026 Centerline is valid? [True, True] Translation: X:721.42, Y:4.31, Z:2.82 [[ 9.99867542e-01 -1.50349457e-02 -6.23288769e-03 7.21422108e+02] [ 1.50353011e-02 9.99886963e-01 1.01561939e-05 4.30921237e+00] [ 6.23203045e-03 -1.03868192e-04 9.99980575e-01 2.81759206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.939254154 meters 0.05516084585914899 Centerline is valid? [True, True] Translation: X:721.48, Y:4.31, Z:2.82 [[ 9.99910255e-01 -1.13669011e-02 -7.09049487e-03 7.21482292e+02] [ 1.13672690e-02 9.99935390e-01 1.15798605e-05 4.31316953e+00] [ 7.08990513e-03 -9.21783835e-05 9.99974862e-01 2.81718141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.999254154 meters 0.05514195373527267 Centerline is valid? [True, True] Translation: X:721.54, Y:4.31, Z:2.82 [[ 9.99919585e-01 -1.05014941e-02 -7.10924544e-03 7.21541529e+02] [ 1.05018421e-02 9.99944854e-01 1.16170503e-05 4.31421978e+00] [ 7.10873140e-03 -8.62762892e-05 9.99974729e-01 2.81754248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.059254154 meters 0.05537553301065673 Centerline is valid? [True, True] Translation: X:721.60, Y:4.31, Z:2.82 [[ 9.99919673e-01 -1.12348693e-02 -5.86728846e-03 7.21601547e+02] [ 1.12351187e-02 9.99936884e-01 9.54526405e-06 4.31360079e+00] [ 5.86681090e-03 -7.54641796e-05 9.99982787e-01 2.81872517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.119254154 meters 0.05548145287053019 Centerline is valid? [True, True] Translation: X:721.66, Y:4.31, Z:2.82 [[ 9.99863772e-01 -1.58473873e-02 -4.61490512e-03 7.21662356e+02] [ 1.58475906e-02 9.99874419e-01 7.48862954e-06 4.30920833e+00] [ 4.61420690e-03 -8.06227365e-05 9.99989351e-01 2.81920757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.179254154 meters 0.055055053865290964 Centerline is valid? [True, True] Translation: X:721.72, Y:4.31, Z:2.82 [[ 9.99701618e-01 -2.41538398e-02 -3.64233564e-03 7.21723433e+02] [ 2.41540216e-02 9.99708249e-01 5.93104822e-06 4.30889254e+00] [ 3.64112972e-03 -9.39063323e-05 9.99993367e-01 2.81892363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.239254154 meters 0.05714326232700577 Centerline is valid? [True, True] Translation: X:721.78, Y:4.30, Z:2.82 [[ 9.99532675e-01 -3.03800208e-02 -3.38911367e-03 7.21783758e+02] [ 3.03802141e-02 9.99538415e-01 5.55734345e-06 4.29619368e+00] [ 3.38738047e-03 -1.08516745e-04 9.99994257e-01 2.81926384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.299254154 meters 0.054392377704661446 Centerline is valid? [True, True] Translation: X:721.84, Y:4.30, Z:2.82 [[ 9.99177778e-01 -4.04160649e-02 -3.21087440e-03 7.21844327e+02] [ 4.04162903e-02 9.99182928e-01 5.33031154e-06 4.30312668e+00] [ 3.20803545e-03 -1.35097561e-04 9.99994845e-01 2.81831282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters 0.05640294038042341 Centerline is valid? [True, True] Translation: X:721.90, Y:4.29, Z:2.82 [[ 9.98871895e-01 -4.73245619e-02 -3.91444489e-03 7.21903990e+02] [ 4.73249499e-02 9.98879547e-01 6.51301765e-06 4.28974562e+00] [ 3.90975071e-03 -1.91756579e-04 9.99992338e-01 2.81761936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.419254154 meters 0.05538682662031308 Centerline is valid? [True, True] Translation: X:721.96, Y:4.29, Z:2.82 [[ 9.98674420e-01 -5.12584199e-02 -4.68809393e-03 7.21964617e+02] [ 5.12590197e-02 9.98685392e-01 7.78616774e-06 4.29084768e+00] [ 4.68153182e-03 -2.48082946e-04 9.99989011e-01 2.81726327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters 0.05521014700579602 Centerline is valid? [True, True] Translation: X:722.03, Y:4.30, Z:2.82 [[ 9.98671644e-01 -5.13126478e-02 -4.68617920e-03 7.22026841e+02] [ 5.13132477e-02 9.98682608e-01 7.80785043e-06 4.29510005e+00] [ 4.67960502e-03 -2.48260553e-04 9.99989020e-01 2.81732272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.539254154 meters 0.05564902112771245 Centerline is valid? [True, True] Translation: X:722.09, Y:4.29, Z:2.82 [[ 9.98775800e-01 -4.92410789e-02 -4.71361184e-03 7.22086144e+02] [ 4.92416635e-02 9.98786893e-01 7.97833237e-06 4.29106009e+00] [ 4.70750087e-03 -2.40074653e-04 9.99988891e-01 2.81737216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters 0.057192603140259236 Centerline is valid? [True, True] Translation: X:722.15, Y:4.29, Z:2.82 [[ 9.98918275e-01 -4.61186334e-02 -5.94570339e-03 7.22145846e+02] [ 4.61195082e-02 9.98935929e-01 1.00403222e-05 4.29113731e+00] [ 5.93891369e-03 -2.84242378e-04 9.99982324e-01 2.81718706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.659254154 meters 0.05501724692380832 Centerline is valid? [True, True] Translation: X:722.21, Y:4.30, Z:2.82 [[ 9.98984542e-01 -4.44726054e-02 -7.21617370e-03 7.22207545e+02] [ 4.44738518e-02 9.99010549e-01 1.22666903e-05 4.30159396e+00] [ 7.20848812e-03 -3.33185274e-04 9.99973963e-01 2.81694556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters 0.05417109566193663 Centerline is valid? [True, True] Translation: X:722.27, Y:4.31, Z:2.82 [[ 9.99028587e-01 -4.32032102e-02 -8.68132508e-03 7.22269139e+02] [ 4.32049685e-02 9.99066229e-01 1.50093117e-05 4.30647432e+00] [ 8.67257026e-03 -3.90071108e-04 9.99962316e-01 2.81688436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.779254154 meters 0.05900181326252585 Centerline is valid? [True, True] Translation: X:722.33, Y:4.29, Z:2.81 [[ 9.99093883e-01 -4.14082464e-02 -9.83715185e-03 7.22329766e+02] [ 4.14104189e-02 9.99142221e-01 1.71774459e-05 4.29056079e+00] [ 9.82800245e-03 -4.24522460e-04 9.99951614e-01 2.81458023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters 0.05645537522954047 Centerline is valid? [True, True] Translation: X:722.39, Y:4.31, Z:2.82 [[ 9.99275553e-01 -3.70715204e-02 -8.60647301e-03 7.22390803e+02] [ 3.70730231e-02 9.99312559e-01 1.50783553e-05 4.30633835e+00] [ 8.59999759e-03 -3.34135405e-04 9.99962963e-01 2.81714848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.899254154 meters 0.05516815436590681 Centerline is valid? [True, True] Translation: X:722.45, Y:4.32, Z:2.82 [[ 9.99503819e-01 -3.07530698e-02 -6.80921053e-03 7.22451183e+02] [ 3.07538639e-02 9.99526988e-01 1.19289464e-05 4.31818375e+00] [ 6.80562284e-03 -2.21332561e-04 9.99976817e-01 2.81972596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters 0.055685446025343345 Centerline is valid? [True, True] Translation: X:722.51, Y:4.32, Z:2.82 [[ 9.99693441e-01 -2.43006888e-02 -4.74343245e-03 7.22510918e+02] [ 2.43010016e-02 9.99704687e-01 8.31279376e-06 4.31516247e+00] [ 4.74182964e-03 -1.23580405e-04 9.99988750e-01 2.82138122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.019254154 meters 0.05454931023585131 Centerline is valid? [True, True] Translation: X:722.57, Y:4.32, Z:2.82 [[ 9.99795318e-01 -1.98612458e-02 -3.85385569e-03 7.22571539e+02] [ 1.98614193e-02 9.99802743e-01 6.75051895e-06 4.32272396e+00] [ 3.85296142e-03 -8.32921811e-05 9.99992574e-01 2.82212510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters 0.05498692421303835 Centerline is valid? [True, True] Translation: X:722.63, Y:4.33, Z:2.82 [[ 9.99889077e-01 -1.43146710e-02 -4.11379852e-03 7.22632110e+02] [ 1.43148219e-02 9.99897538e-01 7.24233221e-06 4.32516656e+00] [ 4.11327334e-03 -6.61298222e-05 9.99991538e-01 2.82225834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.139254154 meters 0.05528590413664269 Centerline is valid? [True, True] Translation: X:722.69, Y:4.32, Z:2.82 [[ 9.99895009e-01 -1.30640594e-02 -6.26910822e-03 7.22693204e+02] [ 1.30643861e-02 9.99914657e-01 1.11624420e-05 4.32182720e+00] [ 6.26842737e-03 -9.30633204e-05 9.99980349e-01 2.82135045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.199254154 meters 0.05467884845755919 Centerline is valid? [True, True] Translation: X:722.75, Y:4.32, Z:2.82 [[ 9.99832651e-01 -1.63881140e-02 -8.13013005e-03 7.22753960e+02] [ 1.63887749e-02 9.99865695e-01 1.46682048e-05 4.32035177e+00] [ 8.12879775e-03 -1.47908621e-04 9.99966950e-01 2.82047641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.259254154 meters 0.055379422456617144 Centerline is valid? [True, True] Translation: X:722.81, Y:4.32, Z:2.82 [[ 9.99774429e-01 -1.95377568e-02 -8.32872789e-03 7.22814759e+02] [ 1.95385608e-02 9.99809104e-01 1.51605942e-05 4.31738302e+00] [ 8.32684176e-03 -1.77888530e-04 9.99965315e-01 2.82087147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.319254154 meters 0.05497371985795726 Centerline is valid? [True, True] Translation: X:722.88, Y:4.31, Z:2.82 [[ 9.99681545e-01 -2.38644124e-02 -8.20360307e-03 7.22876048e+02] [ 2.38653387e-02 9.99715182e-01 1.50304720e-05 4.31358240e+00] [ 8.20090785e-03 -2.10807452e-04 9.99966350e-01 2.82136059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.379254154 meters 0.05637057309839281 Centerline is valid? [True, True] Translation: X:722.94, Y:4.31, Z:2.82 [[ 9.99597871e-01 -2.71067951e-02 -8.32576887e-03 7.22936565e+02] [ 2.71078621e-02 9.99632514e-01 1.53223636e-05 4.30797660e+00] [ 8.32229393e-03 -2.41009997e-04 9.99965340e-01 2.82176051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.439254154 meters 0.05540208072325304 Centerline is valid? [True, True] Translation: X:723.00, Y:4.31, Z:2.82 [[ 9.99506315e-01 -3.04249621e-02 -7.83887991e-03 7.22997825e+02] [ 3.04260107e-02 9.99537022e-01 1.45218966e-05 4.31012106e+00] [ 7.83480885e-03 -2.53020572e-04 9.99969275e-01 2.82370544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.499254154 meters 0.0572352361925538 Centerline is valid? [True, True] Translation: X:723.06, Y:4.30, Z:2.82 [[ 9.99458583e-01 -3.19513687e-02 -7.85184748e-03 7.23058933e+02] [ 3.19524692e-02 9.99489389e-01 1.47111773e-05 4.29716294e+00] [ 7.84736820e-03 -2.65589127e-04 9.99969174e-01 2.82280229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.559254154 meters 0.05571665922131384 Centerline is valid? [True, True] Translation: X:723.12, Y:4.30, Z:2.82 [[ 9.99473306e-01 -3.16509283e-02 -7.16440752e-03 7.23121402e+02] [ 3.16518383e-02 9.99498955e-01 1.36424842e-05 4.30130844e+00] [ 7.16038603e-03 -2.40401967e-04 9.99974335e-01 2.82441406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.619254154 meters 0.05521978737717989 Centerline is valid? [True, True] Translation: X:723.18, Y:4.31, Z:2.82 [[ 9.99624060e-01 -2.60303753e-02 -8.61155341e-03 7.23182032e+02] [ 2.60314833e-02 9.99661123e-01 1.65848817e-05 4.30680512e+00] [ 8.60820345e-03 -2.40750156e-04 9.99962920e-01 2.82360276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.679254154 meters 0.05638294978880057 Centerline is valid? [True, True] Translation: X:723.24, Y:4.31, Z:2.82 [[ 9.99809173e-01 -1.67426109e-02 -1.00649587e-02 7.23241574e+02] [ 1.67436544e-02 9.99859815e-01 1.94156832e-05 4.30779595e+00] [ 1.00632227e-02 -1.87936168e-04 9.99949347e-01 2.82240036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.739254154 meters 0.056172459755985504 Centerline is valid? [True, True] Translation: X:723.30, Y:4.31, Z:2.82 [[ 9.99922838e-01 -7.84213110e-03 -9.63429208e-03 7.23302527e+02] [ 7.84267469e-03 9.99969246e-01 1.86434898e-05 4.31212466e+00] [ 9.63384958e-03 -9.42006699e-05 9.99953589e-01 2.82340064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.799254154 meters 0.0561869765191958 Centerline is valid? [True, True] Translation: X:723.36, Y:4.32, Z:2.83 [[ 9.99955346e-01 -3.30376699e-03 -8.85386645e-03 7.23360294e+02] [ 3.30404666e-03 9.99994542e-01 1.69596517e-05 4.31712186e+00] [ 8.85376210e-03 -4.62124822e-05 9.99960804e-01 2.82680607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters 0.05565913852758231 Centerline is valid? [True, True] Translation: X:723.42, Y:4.32, Z:2.82 [[ 9.99955663e-01 -9.69058652e-04 -9.36662392e-03 7.23419379e+02] [ 9.69262227e-04 9.99999530e-01 1.71946186e-05 4.31525651e+00] [ 9.36660285e-03 -2.62725710e-05 9.99956132e-01 2.82459150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.919254154 meters 0.05463910534015447 Centerline is valid? [True, True] Translation: X:723.48, Y:4.31, Z:2.83 [[ 9.99941879e-01 -2.85644464e-03 -1.03961242e-02 7.23478229e+02] [ 2.85679025e-03 9.99995919e-01 1.83943917e-05 4.31400804e+00] [ 1.03960292e-02 -4.80928689e-05 9.99945959e-01 2.82530111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters 0.056000910195858455 Centerline is valid? [True, True] Translation: X:723.54, Y:4.31, Z:2.82 [[ 9.99911232e-01 -7.50592732e-03 -1.10085808e-02 7.23536529e+02] [ 7.50659172e-03 9.99971825e-01 1.90338572e-05 4.31015409e+00] [ 1.10081278e-02 -1.01669089e-04 9.99939404e-01 2.82440797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.039254154 meters 0.055684833212400024 Centerline is valid? [True, True] Translation: X:723.60, Y:4.30, Z:2.82 [[ 9.99761394e-01 -1.84205932e-02 -1.17404133e-02 7.23595722e+02] [ 1.84220984e-02 9.99830299e-01 2.00573889e-05 4.30402964e+00] [ 1.17380515e-02 -2.36335652e-04 9.99931079e-01 2.82463650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters 0.05623159286445604 Centerline is valid? [True, True] Translation: X:723.66, Y:4.30, Z:2.83 [[ 9.99451580e-01 -3.13645088e-02 -1.06210944e-02 7.23656139e+02] [ 3.13664700e-02 9.99507951e-01 1.80748592e-05 4.30228285e+00] [ 1.06153014e-02 -3.51211184e-04 9.99943594e-01 2.82674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.159254154 meters 0.05692308186263611 Centerline is valid? [True, True] Translation: X:723.72, Y:4.29, Z:2.83 [[ 9.99179513e-01 -3.91755119e-02 -1.02752035e-02 7.23715538e+02] [ 3.91777596e-02 9.99232257e-01 1.74783079e-05 4.29326006e+00] [ 1.02666300e-02 -4.20023418e-04 9.99947209e-01 2.82693718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters 0.05552811781006132 Centerline is valid? [True, True] Translation: X:723.78, Y:4.30, Z:2.83 [[ 9.98734080e-01 -4.96082236e-02 -8.32236308e-03 7.23775634e+02] [ 4.96100595e-02 9.98768663e-01 1.41760976e-05 4.29983929e+00] [ 8.31141220e-03 -4.27031080e-04 9.99965368e-01 2.82886488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.279254154 meters 0.06073501490001306 Centerline is valid? [True, True] Translation: X:723.83, Y:4.27, Z:2.83 [[ 9.98359302e-01 -5.68416706e-02 -6.90855584e-03 7.23834931e+02] [ 5.68431084e-02 9.98383123e-01 1.17905484e-05 4.27471774e+00] [ 6.89671536e-03 -4.04474992e-04 9.99976136e-01 2.82845668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters 0.053362951271198444 Centerline is valid? [True, True] Translation: X:723.90, Y:4.31, Z:2.83 [[ 9.98016798e-01 -6.26363804e-02 -6.25732244e-03 7.23895779e+02] [ 6.26376737e-02 9.98036333e-01 1.07345885e-05 4.30918877e+00] [ 6.24436276e-03 -4.02657421e-04 9.99980423e-01 2.82976162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.399254154 meters 0.058149486908344095 Centerline is valid? [True, True] Translation: X:723.96, Y:4.29, Z:2.83 [[ 9.97932823e-01 -6.38166262e-02 -7.58410495e-03 7.23955420e+02] [ 6.38185618e-02 9.97961518e-01 1.32350148e-05 4.28622260e+00] [ 7.56780028e-03 -4.97214326e-04 9.99971240e-01 2.82885858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters 0.06509517182348118 Centerline is valid? [True, True] Translation: X:724.02, Y:4.27, Z:2.83 [[ 9.97947659e-01 -6.34436611e-02 -8.68168945e-03 7.24016972e+02] [ 6.34461859e-02 9.97985261e-01 1.54363093e-05 4.26876905e+00] [ 8.66321878e-03 -5.66224712e-04 9.99962313e-01 2.82698505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.519254154 meters 0.056639522347820846 Centerline is valid? [True, True] Translation: X:724.08, Y:4.29, Z:2.83 [[ 9.98118060e-01 -6.04133752e-02 -1.05148997e-02 7.24077436e+02] [ 6.04169130e-02 9.98173230e-01 1.88497573e-05 4.29321547e+00] [ 1.04945526e-02 -6.54092064e-04 9.99944717e-01 2.82648415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters 0.056449137236576435 Centerline is valid? [True, True] Translation: X:724.14, Y:4.30, Z:2.83 [[ 9.98557374e-01 -5.26116695e-02 -1.07323573e-02 7.24138123e+02] [ 5.26149062e-02 9.98614876e-01 1.92645245e-05 4.29963472e+00] [ 1.07164782e-02 -5.83918707e-04 9.99942406e-01 2.82624210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.639254154 meters 0.05523924593349438 Centerline is valid? [True, True] Translation: X:724.20, Y:4.32, Z:2.83 [[ 9.99106409e-01 -4.10435263e-02 -1.00901843e-02 7.24198674e+02] [ 4.10457986e-02 9.99157266e-01 1.81321098e-05 4.31527921e+00] [ 1.00809367e-02 -4.32275579e-04 9.99949093e-01 2.82784348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.699254154 meters 0.055816135756489436 Centerline is valid? [True, True] Translation: X:724.26, Y:4.32, Z:2.83 [[ 9.99430755e-01 -3.25116289e-02 -9.00889348e-03 7.24259066e+02] [ 3.25130944e-02 9.99471309e-01 1.62280318e-05 4.32013175e+00] [ 9.00360296e-03 -3.09125798e-04 9.99959419e-01 2.82873708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.759254154 meters 0.05664469926846758 Centerline is valid? [True, True] Translation: X:724.32, Y:4.32, Z:2.83 [[ 9.99802604e-01 -1.90381621e-02 -5.68350348e-03 7.24318819e+02] [ 1.90385279e-02 9.99818751e-01 1.02552447e-05 4.31896274e+00] [ 5.68227811e-03 -1.18458760e-04 9.99983849e-01 2.83074855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.819254154 meters 0.056201261378333374 Centerline is valid? [True, True] Translation: X:724.38, Y:4.33, Z:2.83 [[ 9.99960349e-01 -7.67251028e-03 -4.52029642e-03 7.24379398e+02] [ 7.67262559e-03 9.99970565e-01 8.16870707e-06 4.33154259e+00] [ 4.52010069e-03 -4.28509252e-05 9.99989783e-01 2.83138022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.879254154 meters 0.05564767211121893 Centerline is valid? [True, True] Translation: X:724.44, Y:4.33, Z:2.83 [[ 9.99979986e-01 -8.32105070e-04 -6.27173720e-03 7.24439486e+02] [ 8.32192779e-04 9.99999654e-01 1.13750969e-05 4.33499132e+00] [ 6.27172556e-03 -1.65941637e-05 9.99980332e-01 2.82992976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.939254154 meters 0.055725358852002964 Centerline is valid? [True, True] Translation: X:724.50, Y:4.34, Z:2.83 [[ 9.99978137e-01 5.66309185e-04 -6.58820996e-03 7.24497096e+02] [-5.66244976e-04 9.99999840e-01 1.16111590e-05 4.33578776e+00] [ 6.58821548e-03 -7.88036432e-06 9.99978297e-01 2.83007580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.999254154 meters 0.055343070801667615 Centerline is valid? [True, True] Translation: X:724.55, Y:4.33, Z:2.83 [[ 9.99961226e-01 -2.02156146e-03 -8.57082100e-03 7.24554700e+02] [ 2.02175788e-03 9.99997956e-01 1.42527246e-05 4.33135443e+00] [ 8.57077467e-03 -3.15802968e-05 9.99963270e-01 2.82872083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.059254154 meters 0.055768114654287555 Centerline is valid? [True, True] Translation: X:724.61, Y:4.33, Z:2.83 [[ 9.99947840e-01 -6.11424049e-03 -8.18130107e-03 7.24613716e+02] [ 6.11455427e-03 9.99981306e-01 1.33406145e-05 4.32782098e+00] [ 8.18106656e-03 -6.33649280e-05 9.99966532e-01 2.82893305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.119254154 meters 0.055310734385205666 Centerline is valid? [True, True] Translation: X:724.67, Y:4.32, Z:2.83 [[ 9.99885198e-01 -1.35499843e-02 -6.78145799e-03 7.24673855e+02] [ 1.35503702e-02 9.99908189e-01 1.09536062e-05 4.32244136e+00] [ 6.78068696e-03 -1.02843615e-04 9.99977006e-01 2.82964799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.179254154 meters 0.055241424019005586 Centerline is valid? [True, True] Translation: X:724.74, Y:4.32, Z:2.83 [[ 9.99810568e-01 -1.83379342e-02 -6.52288470e-03 7.24735380e+02] [ 1.83383931e-02 9.99831837e-01 1.05476210e-05 4.31782518e+00] [ 6.52159437e-03 -1.30164847e-04 9.99978726e-01 2.82989845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.239254154 meters 0.056581409352177925 Centerline is valid? [True, True] Translation: X:724.80, Y:4.31, Z:2.83 [[ 9.99786811e-01 -1.93141088e-02 -7.30060194e-03 7.24796572e+02] [ 1.93147109e-02 9.99813454e-01 1.19639122e-05 4.31004500e+00] [ 7.29900896e-03 -1.52970377e-04 9.99973350e-01 2.82923782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.299254154 meters 0.055549324560978795 Centerline is valid? [True, True] Translation: X:724.86, Y:4.31, Z:2.83 [[ 9.99766473e-01 -2.02957238e-02 -7.42183450e-03 7.24858481e+02] [ 2.02963747e-02 9.99794007e-01 1.23816519e-05 4.31404337e+00] [ 7.42005436e-03 -1.63015094e-04 9.99972458e-01 2.83008906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters 0.05659023022065963 Centerline is valid? [True, True] Translation: X:724.92, Y:4.31, Z:2.83 [[ 9.99733441e-01 -2.20283463e-02 -6.91374027e-03 7.24919957e+02] [ 2.20289556e-02 9.99757333e-01 1.19868563e-05 4.30587864e+00] [ 6.91179848e-03 -1.64286139e-04 9.99976100e-01 2.82890828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.419254154 meters 0.05586860280152768 Centerline is valid? [True, True] Translation: X:724.98, Y:4.30, Z:2.83 [[ 9.99726240e-01 -2.23464147e-02 -6.93416627e-03 7.24981777e+02] [ 2.23470390e-02 9.99750274e-01 1.25553804e-05 4.30142446e+00] [ 6.93215406e-03 -1.67510027e-04 9.99975958e-01 2.82836211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters 0.05573998027898323 Centerline is valid? [True, True] Translation: X:725.04, Y:4.30, Z:2.83 [[ 9.99775259e-01 -1.99595651e-02 -7.14480970e-03 7.25042199e+02] [ 1.99601681e-02 9.99800776e-01 1.30955122e-05 4.29952484e+00] [ 7.14312490e-03 -1.55704172e-04 9.99974475e-01 2.82762244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.539254154 meters 0.05687796272788868 Centerline is valid? [True, True] Translation: X:725.10, Y:4.30, Z:2.83 [[ 9.99804323e-01 -1.85450715e-02 -6.88442163e-03 7.25103625e+02] [ 1.85455984e-02 9.99828016e-01 1.26975858e-05 4.30122865e+00] [ 6.88300214e-03 -1.40370820e-04 9.99976302e-01 2.82795674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters 0.056063844710636544 Centerline is valid? [True, True] Translation: X:725.17, Y:4.30, Z:2.83 [[ 9.99790638e-01 -1.90669257e-02 -7.42516596e-03 7.25165783e+02] [ 1.90675544e-02 9.99818198e-01 1.38789249e-05 4.29901696e+00] [ 7.42355142e-03 -1.55455775e-04 9.99972433e-01 2.82730390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.659254154 meters 0.056604995944146176 Centerline is valid? [True, True] Translation: X:725.23, Y:4.30, Z:2.83 [[ 9.99695051e-01 -2.30341859e-02 -8.90122638e-03 7.25226377e+02] [ 2.30352483e-02 9.99734653e-01 1.68337526e-05 4.29548801e+00] [ 8.89847672e-03 -2.21870579e-04 9.99960383e-01 2.82638762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters 0.05605258196364223 Centerline is valid? [True, True] Translation: X:725.29, Y:4.29, Z:2.83 [[ 9.99551737e-01 -2.84997432e-02 -9.17000441e-03 7.25286960e+02] [ 2.85011009e-02 9.99593761e-01 1.73825185e-05 4.29280704e+00] [ 9.16578380e-03 -2.78729947e-04 9.99957954e-01 2.82641463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.779254154 meters 0.05642084814309269 Centerline is valid? [True, True] Translation: X:725.35, Y:4.29, Z:2.83 [[ 9.99511657e-01 -2.98470396e-02 -9.25208850e-03 7.25348005e+02] [ 2.98484807e-02 9.99554435e-01 1.76751211e-05 4.29011445e+00] [ 9.24743854e-03 -2.93827274e-04 9.99957198e-01 2.82692460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters 0.056122624791935055 Centerline is valid? [True, True] Translation: X:725.41, Y:4.29, Z:2.83 [[ 9.99477289e-01 -3.11849019e-02 -8.52355081e-03 7.25409711e+02] [ 3.11861753e-02 9.99513593e-01 1.64873731e-05 4.29150366e+00] [ 8.51889073e-03 -2.82295704e-04 9.99963674e-01 2.82889980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.899254154 meters 0.056046702566089825 Centerline is valid? [True, True] Translation: X:725.47, Y:4.29, Z:2.83 [[ 9.99525003e-01 -3.00323233e-02 -6.91572405e-03 7.25469840e+02] [ 3.00331347e-02 9.99548904e-01 1.34813374e-05 4.28995692e+00] [ 6.91219951e-03 -2.21175805e-04 9.99976086e-01 2.83099232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters 0.05661050868777414 Centerline is valid? [True, True] Translation: X:725.53, Y:4.29, Z:2.83 [[ 9.99610652e-01 -2.74223726e-02 -5.15353806e-03 7.25530674e+02] [ 2.74227888e-02 9.99623925e-01 1.00905722e-05 4.29163484e+00] [ 5.15132323e-03 -1.51411029e-04 9.99986720e-01 2.83201003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.019254154 meters 0.056536018826120034 Centerline is valid? [True, True] Translation: X:725.59, Y:4.29, Z:2.83 [[ 9.99737151e-01 -2.23070079e-02 -5.29390287e-03 7.25590479e+02] [ 2.23073756e-02 9.99751160e-01 1.04225873e-05 4.29024794e+00] [ 5.29235304e-03 -1.28512928e-04 9.99985987e-01 2.83175470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters 0.05676245288361356 Centerline is valid? [True, True] Translation: X:725.65, Y:4.29, Z:2.83 [[ 9.99819982e-01 -1.80329999e-02 -5.90044071e-03 7.25649800e+02] [ 1.80333820e-02 9.99837385e-01 1.15661748e-05 4.29374468e+00] [ 5.89927264e-03 -1.17968994e-04 9.99982592e-01 2.83206905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.139254154 meters 0.056600645429257426 Centerline is valid? [True, True] Translation: X:725.71, Y:4.30, Z:2.83 [[ 9.99887326e-01 -1.39716776e-02 -5.48891011e-03 7.25710671e+02] [ 1.39719471e-02 9.99902388e-01 1.07554411e-05 4.29665345e+00] [ 5.48822405e-03 -8.74449910e-05 9.99984936e-01 2.83164719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.199254154 meters 0.055564293026399404 Centerline is valid? [True, True] Translation: X:725.77, Y:4.30, Z:2.83 [[ 9.99888418e-01 -1.36454336e-02 -6.07896976e-03 7.25771871e+02] [ 1.36457588e-02 9.99906892e-01 1.20190899e-05 4.29637437e+00] [ 6.07823976e-03 -9.49699038e-05 9.99981523e-01 2.83137261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.259254154 meters 0.05627084281931909 Centerline is valid? [True, True] Translation: X:725.83, Y:4.29, Z:2.83 [[ 9.99833708e-01 -1.66371775e-02 -7.46737372e-03 7.25831772e+02] [ 1.66377522e-02 9.99861583e-01 1.48444375e-05 4.29224338e+00] [ 7.46609314e-03 -1.39082283e-04 9.99972119e-01 2.83113848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.319254154 meters 0.056211000960996516 Centerline is valid? [True, True] Translation: X:725.89, Y:4.29, Z:2.83 [[ 9.99756196e-01 -2.08243695e-02 -7.34121023e-03 7.25891390e+02] [ 2.08250387e-02 9.99783135e-01 1.47134253e-05 4.28714080e+00] [ 7.33931178e-03 -1.67590825e-04 9.99973053e-01 2.83178810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.379254154 meters 0.05629867755532349 Centerline is valid? [True, True] Translation: X:725.95, Y:4.29, Z:2.83 [[ 9.99702029e-01 -2.34625616e-02 -6.73512993e-03 7.25952293e+02] [ 2.34631856e-02 9.99724701e-01 1.36496388e-05 4.28871728e+00] [ 6.73295550e-03 -1.71673175e-04 9.99977319e-01 2.83245383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.439254154 meters 0.05662889745715883 Centerline is valid? [True, True] Translation: X:726.01, Y:4.28, Z:2.83 [[ 9.99624694e-01 -2.63401025e-02 -7.52796079e-03 7.26013039e+02] [ 2.63409642e-02 9.99653017e-01 1.53233191e-05 4.28430908e+00] [ 7.52494510e-03 -2.13611314e-04 9.99971664e-01 2.83289874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.499254154 meters 0.05644568010491873 Centerline is valid? [True, True] Translation: X:726.07, Y:4.28, Z:2.83 [[ 9.99594018e-01 -2.75561750e-02 -7.24268665e-03 7.26074459e+02] [ 2.75570053e-02 9.99620234e-01 1.48569549e-05 4.27586052e+00] [ 7.23952672e-03 -2.14437678e-04 9.99973771e-01 2.83250330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.559254154 meters 0.05701903607881317 Centerline is valid? [True, True] Translation: X:726.13, Y:4.27, Z:2.83 [[ 9.99664210e-01 -2.49319679e-02 -7.06153660e-03 7.26133953e+02] [ 2.49326925e-02 9.99689132e-01 1.45815654e-05 4.27140488e+00] [ 7.05897785e-03 -1.90639790e-04 9.99975067e-01 2.83248207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.619254154 meters 0.05708263961486555 Centerline is valid? [True, True] Translation: X:726.19, Y:4.27, Z:2.83 [[ 9.99772688e-01 -1.98725711e-02 -7.72358125e-03 7.26194281e+02] [ 1.98732872e-02 9.99802507e-01 1.59610498e-05 4.27440758e+00] [ 7.72173870e-03 -1.69450370e-04 9.99970173e-01 2.83287880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.679254154 meters 0.05611204821895908 Centerline is valid? [True, True] Translation: X:726.25, Y:4.28, Z:2.83 [[ 9.99925285e-01 -8.89899724e-03 -8.38047245e-03 7.26254847e+02] [ 8.89945496e-03 9.99960399e-01 1.73261577e-05 4.27908179e+00] [ 8.37998639e-03 -9.19065003e-05 9.99964883e-01 2.83247065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.739254154 meters 0.056613900102303494 Centerline is valid? [True, True] Translation: X:726.31, Y:4.28, Z:2.83 [[ 9.99957306e-01 8.31310572e-04 -9.20300198e-03 7.26313838e+02] [-8.31171533e-04 9.99999654e-01 1.89327098e-05 4.28138475e+00] [ 9.20301454e-03 -1.12826282e-05 9.99957651e-01 2.83420807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.799254154 meters 0.057187931129101754 Centerline is valid? [True, True] Translation: X:726.37, Y:4.28, Z:2.83 [[ 9.99942664e-01 6.14306122e-03 -8.77102102e-03 7.26372694e+02] [-6.14314256e-03 9.99981131e-01 1.76674990e-05 4.27988224e+00] [ 8.77096405e-03 3.62151465e-05 9.99961534e-01 2.83404986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters 0.056673790193008604 Centerline is valid? [True, True] Translation: X:726.43, Y:4.27, Z:2.84 [[ 9.99932614e-01 5.20550303e-03 -1.03764560e-02 7.26430761e+02] [-5.20557284e-03 9.99986451e-01 2.02803157e-05 4.27278070e+00] [ 1.03764210e-02 3.37364486e-05 9.99946163e-01 2.83554063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.919254154 meters 0.05680879753848557 Centerline is valid? [True, True] Translation: X:726.49, Y:4.27, Z:2.83 [[ 9.99936804e-01 9.81421798e-04 -1.11993314e-02 7.26488797e+02] [-9.81244053e-04 9.99999518e-01 2.13658008e-05 4.26788842e+00] [ 1.11993470e-02 -1.03751732e-05 9.99937285e-01 2.83373397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters 0.05681547450514384 Centerline is valid? [True, True] Translation: X:726.55, Y:4.26, Z:2.83 [[ 9.99890460e-01 -7.47681008e-03 -1.27736426e-02 7.26547041e+02] [ 7.47772507e-03 9.99972041e-01 2.38709676e-05 4.25725725e+00] [ 1.27731070e-02 -1.19386140e-04 9.99918413e-01 2.83307742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.039254154 meters 0.05786443935823459 Centerline is valid? [True, True] Translation: X:726.61, Y:4.25, Z:2.83 [[ 9.99755692e-01 -1.80740473e-02 -1.27234405e-02 7.26607802e+02] [ 1.80758109e-02 9.99836619e-01 2.36196881e-05 4.24565252e+00] [ 1.27209348e-02 -2.53600421e-04 9.99919053e-01 2.83482925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters 0.057882713027312176 Centerline is valid? [True, True] Translation: X:726.67, Y:4.24, Z:2.84 [[ 9.99502177e-01 -2.93508772e-02 -1.15725812e-02 7.26668232e+02] [ 2.93530910e-02 9.99569105e-01 2.14566276e-05 4.23753206e+00] [ 1.15669649e-02 -3.61136975e-04 9.99933035e-01 2.83732295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.159254154 meters 0.059509744255001225 Centerline is valid? [True, True] Translation: X:726.73, Y:4.22, Z:2.84 [[ 9.99156867e-01 -3.99221749e-02 -9.57993401e-03 7.26728033e+02] [ 3.99241774e-02 9.99202712e-01 1.78116264e-05 4.22218073e+00] [ 9.57158496e-03 -4.00267594e-04 9.99954111e-01 2.83825925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters 0.05754579925545294 Centerline is valid? [True, True] Translation: X:726.79, Y:4.23, Z:2.84 [[ 9.98761479e-01 -4.90555735e-02 -8.31019771e-03 7.26788818e+02] [ 4.90573961e-02 9.98795961e-01 1.55065980e-05 4.22819507e+00] [ 8.29943123e-03 -4.23164054e-04 9.99965470e-01 2.84036497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.279254154 meters 0.060381009740254295 Centerline is valid? [True, True] Translation: X:726.85, Y:4.21, Z:2.84 [[ 9.98534910e-01 -5.34757191e-02 -8.26930300e-03 7.26848022e+02] [ 5.34776748e-02 9.98569045e-01 1.54047051e-05 4.21225714e+00] [ 8.25664623e-03 -4.57605233e-04 9.99965809e-01 2.83980377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters 0.05736975578236278 Centerline is valid? [True, True] Translation: X:726.91, Y:4.22, Z:2.84 [[ 9.98263374e-01 -5.82503663e-02 -8.78240359e-03 7.26908217e+02] [ 5.82527561e-02 9.98301866e-01 1.63346563e-05 4.21951750e+00] [ 8.76653839e-03 -5.27905503e-04 9.99961434e-01 2.84082460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.399254154 meters 0.0597199758216661 Centerline is valid? [True, True] Translation: X:726.97, Y:4.21, Z:2.84 [[ 9.98234323e-01 -5.84718740e-02 -1.04535529e-02 7.26969412e+02] [ 5.84752738e-02 9.98288857e-01 1.96192838e-05 4.20852149e+00] [ 1.04345182e-02 -6.30859011e-04 9.99945360e-01 2.83924133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters 0.057653468424360234 Centerline is valid? [True, True] Translation: X:727.03, Y:4.22, Z:2.84 [[ 9.98357213e-01 -5.60366166e-02 -1.19487422e-02 7.27030059e+02] [ 5.60408862e-02 9.98428474e-01 2.25433774e-05 4.22248235e+00] [ 1.19287011e-02 -6.92124443e-04 9.99928611e-01 2.84021624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.519254154 meters 0.05946578455600691 Centerline is valid? [True, True] Translation: X:727.09, Y:4.22, Z:2.84 [[ 9.98633167e-01 -5.04918985e-02 -1.35042688e-02 7.27089653e+02] [ 5.04968468e-02 9.98724220e-01 2.54772342e-05 4.21684176e+00] [ 1.34857539e-02 -7.07365402e-04 9.99908813e-01 2.83882001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters 0.06255826481482964 Centerline is valid? [True, True] Translation: X:727.15, Y:4.21, Z:2.84 [[ 9.98887963e-01 -4.52028755e-02 -1.33991970e-02 7.27149606e+02] [ 4.52072725e-02 9.98977628e-01 2.52998995e-05 4.20842544e+00] [ 1.33843544e-02 -6.31012917e-04 9.99910226e-01 2.83750379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.639254154 meters 0.05774053099336446 Centerline is valid? [True, True] Translation: X:727.21, Y:4.24, Z:2.84 [[ 9.99399183e-01 -3.31297445e-02 -1.01829944e-02 7.27210222e+02] [ 3.31316579e-02 9.99450996e-01 1.92207782e-05 4.23711362e+00] [ 1.01767671e-02 -3.56588717e-04 9.99948152e-01 2.84427711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.699254154 meters 0.05811620374472322 Centerline is valid? [True, True] Translation: X:727.27, Y:4.24, Z:2.84 [[ 9.99502779e-01 -2.98736604e-02 -1.00875603e-02 7.27270420e+02] [ 2.98753724e-02 9.99553631e-01 1.90320824e-05 4.23720088e+00] [ 1.00824889e-02 -3.20392239e-04 9.99949119e-01 2.84464199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.759254154 meters 0.05802686393833583 Centerline is valid? [True, True] Translation: X:727.33, Y:4.24, Z:2.84 [[ 9.99658991e-01 -2.41711181e-02 -9.88226093e-03 7.27330407e+02] [ 2.41724827e-02 9.99707803e-01 1.86538627e-05 4.23957139e+00] [ 9.87892247e-03 -2.57526283e-04 9.99951169e-01 2.84475308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.819254154 meters 0.05808230678924556 Centerline is valid? [True, True] Translation: X:727.39, Y:4.25, Z:2.84 [[ 9.99795638e-01 -1.76059339e-02 -9.93541316e-03 7.27391318e+02] [ 1.76069897e-02 9.99844985e-01 1.88031873e-05 4.24686516e+00] [ 9.93354197e-03 -1.93732062e-04 9.99950642e-01 2.84469477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.879254154 meters 0.057953554882463426 Centerline is valid? [True, True] Translation: X:727.45, Y:4.25, Z:2.84 [[ 9.99816165e-01 -1.61381441e-02 -1.03535395e-02 7.27450640e+02] [ 1.61392117e-02 9.99869754e-01 1.95692163e-05 4.24552320e+00] [ 1.03518751e-02 -1.86663584e-04 9.99946400e-01 2.84389095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.939254154 meters 0.057372274047977685 Centerline is valid? [True, True] Translation: X:727.51, Y:4.25, Z:2.85 [[ 9.99816462e-01 -1.60042574e-02 -1.05312025e-02 7.27510780e+02] [ 1.60053530e-02 9.99871906e-01 1.97588464e-05 4.24837571e+00] [ 1.05295373e-02 -1.88310834e-04 9.99944545e-01 2.84512448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.999254154 meters 0.05769326025099847 Centerline is valid? [True, True] Translation: X:727.57, Y:4.25, Z:2.84 [[ 9.99798565e-01 -1.70934339e-02 -1.05187511e-02 7.27569612e+02] [ 1.70945848e-02 9.99853877e-01 1.95014189e-05 4.24684034e+00] [ 1.05168807e-02 -1.99311173e-04 9.99944676e-01 2.84497178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.059254154 meters 0.05769367743241209 Centerline is valid? [True, True] Translation: X:727.63, Y:4.24, Z:2.85 [[ 9.99734736e-01 -2.03552324e-02 -1.07759784e-02 7.27629472e+02] [ 2.03566279e-02 9.99792782e-01 1.98213259e-05 4.24406463e+00] [ 1.07733419e-02 -2.39178650e-04 9.99941937e-01 2.84534423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.119254154 meters 0.05803950744840809 Centerline is valid? [True, True] Translation: X:727.69, Y:4.24, Z:2.85 [[ 9.99601266e-01 -2.58837407e-02 -1.12845301e-02 7.27689717e+02] [ 2.58856234e-02 9.99664911e-01 2.07827785e-05 4.24411554e+00] [ 1.12802108e-02 -3.12881587e-04 9.99936327e-01 2.84719646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.179254154 meters 0.05741758159357561 Centerline is valid? [True, True] Translation: X:727.75, Y:4.24, Z:2.85 [[ 9.99470526e-01 -3.04145289e-02 -1.15596257e-02 7.27748990e+02] [ 3.04168069e-02 9.99537302e-01 2.12667780e-05 4.23518108e+00] [ 1.15536303e-02 -3.72862421e-04 9.99933185e-01 2.84632295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.239254154 meters 0.05773825599892424 Centerline is valid? [True, True] Translation: X:727.81, Y:4.23, Z:2.85 [[ 9.99218097e-01 -3.78733715e-02 -1.13491228e-02 7.27809322e+02] [ 3.78760475e-02 9.99282445e-01 2.08660817e-05 4.22992489e+00] [ 1.13401890e-02 -4.50709682e-04 9.99935596e-01 2.84698473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.299254154 meters 0.057279362233444514 Centerline is valid? [True, True] Translation: X:727.87, Y:4.24, Z:2.85 [[ 9.98983327e-01 -4.36262186e-02 -1.13607244e-02 7.27869949e+02] [ 4.36292714e-02 9.99047790e-01 2.09003531e-05 4.23519639e+00] [ 1.13489948e-02 -5.16539232e-04 9.99935465e-01 2.84933082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters 0.056474098364471696 Centerline is valid? [True, True] Translation: X:727.93, Y:4.23, Z:2.85 [[ 9.98786535e-01 -4.78092508e-02 -1.18208578e-02 7.27930813e+02] [ 4.78128487e-02 9.98856312e-01 2.17976108e-05 4.23210937e+00] [ 1.18062963e-02 -5.86960045e-04 9.99930131e-01 2.84914046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.419254154 meters 0.05619914261644282 Centerline is valid? [True, True] Translation: X:727.99, Y:4.23, Z:2.85 [[ 9.98578445e-01 -5.19704440e-02 -1.18390082e-02 7.27990950e+02] [ 5.19743446e-02 9.98648420e-01 2.18333167e-05 4.23194165e+00] [ 1.18218722e-02 -6.37126973e-04 9.99929916e-01 2.84907390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters 0.05837542967067741 Centerline is valid? [True, True] Translation: X:728.05, Y:4.22, Z:2.85 [[ 9.98401417e-01 -5.52723014e-02 -1.18145060e-02 7.28051166e+02] [ 5.52764168e-02 9.98471090e-01 2.18178727e-05 4.22205687e+00] [ 1.17952367e-02 -6.74846551e-04 9.99930206e-01 2.84887863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.539254154 meters 0.05608974358236741 Centerline is valid? [True, True] Translation: X:728.11, Y:4.23, Z:2.85 [[ 9.98314401e-01 -5.70933033e-02 -1.04265030e-02 7.28111992e+02] [ 5.70966086e-02 9.98368658e-01 1.93698176e-05 4.23354393e+00] [ 1.04083879e-02 -6.14655129e-04 9.99945642e-01 2.85063843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters 0.05751829251899364 Centerline is valid? [True, True] Translation: X:728.17, Y:4.24, Z:2.85 [[ 9.98304098e-01 -5.71723942e-02 -1.09655995e-02 7.28174288e+02] [ 5.71760588e-02 9.98364111e-01 2.07290584e-05 4.23701682e+00] [ 1.09464758e-02 -6.47663663e-04 9.99939876e-01 2.85023511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.659254154 meters 0.05691864653179901 Centerline is valid? [True, True] Translation: X:728.24, Y:4.24, Z:2.85 [[ 9.98361275e-01 -5.59626472e-02 -1.19560019e-02 7.28236266e+02] [ 5.59669218e-02 9.98432623e-01 2.29855787e-05 4.24015955e+00] [ 1.19359760e-02 -6.92088538e-04 9.99928524e-01 2.84963002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters 0.05942535955549325 Centerline is valid? [True, True] Translation: X:728.30, Y:4.23, Z:2.85 [[ 9.98526863e-01 -5.26196424e-02 -1.32392013e-02 7.28295834e+02] [ 5.26245914e-02 9.98614366e-01 2.54806795e-05 4.23331013e+00] [ 1.32195158e-02 -7.22150701e-04 9.99912358e-01 2.84731060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.779254154 meters 0.05769150828675933 Centerline is valid? [True, True] Translation: X:728.36, Y:4.25, Z:2.85 [[ 9.98804098e-01 -4.74286620e-02 -1.18699488e-02 7.28356391e+02] [ 4.74322749e-02 9.98874456e-01 2.28786815e-05 4.24733942e+00] [ 1.18555035e-02 -5.85869994e-04 9.99929549e-01 2.84981502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters 0.06070549467994987 Centerline is valid? [True, True] Translation: X:728.42, Y:4.23, Z:2.85 [[ 9.99065167e-01 -4.17801664e-02 -1.11000367e-02 7.28416088e+02] [ 4.17829775e-02 9.99126710e-01 2.13666722e-05 4.23483901e+00] [ 1.10894505e-02 -4.85139283e-04 9.99938392e-01 2.84822874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.899254154 meters 0.05838943364720478 Centerline is valid? [True, True] Translation: X:728.48, Y:4.26, Z:2.85 [[ 9.99591039e-01 -2.71016464e-02 -9.12440148e-03 7.28477163e+02] [ 2.71029347e-02 9.99632648e-01 1.75404265e-05 4.25623199e+00] [ 9.12057423e-03 -2.64831310e-04 9.99958372e-01 2.85026360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters 0.05818517355631781 Centerline is valid? [True, True] Translation: X:728.54, Y:4.26, Z:2.85 [[ 9.99776632e-01 -1.94766045e-02 -8.20661112e-03 7.28537725e+02] [ 1.94773903e-02 9.99810298e-01 1.58373110e-05 4.26409104e+00] [ 8.20474585e-03 -1.75677141e-04 9.99966325e-01 2.85099736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.019254154 meters 0.057050123375159856 Centerline is valid? [True, True] Translation: X:728.60, Y:4.28, Z:2.85 [[ 9.99914328e-01 -1.16884004e-02 -5.89216313e-03 7.28598694e+02] [ 1.16886706e-02 9.99931685e-01 1.14231578e-05 4.27623150e+00] [ 5.89162709e-03 -8.02937330e-05 9.99982641e-01 2.85287221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters 0.05612410628181473 Centerline is valid? [True, True] Translation: X:728.66, Y:4.28, Z:2.85 [[ 9.99929131e-01 -1.04317084e-02 -5.73688140e-03 7.28659479e+02] [ 1.04319441e-02 9.99945586e-01 1.11626300e-05 4.27879630e+00] [ 5.73645279e-03 -7.10086649e-05 9.99983544e-01 2.85226088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.139254154 meters 0.056571354219987824 Centerline is valid? [True, True] Translation: X:728.72, Y:4.27, Z:2.85 [[ 9.99845804e-01 -1.54773299e-02 -8.29586547e-03 7.28719066e+02] [ 1.54779966e-02 9.99880209e-01 1.61529516e-05 4.27357449e+00] [ 8.29462169e-03 -1.44553838e-04 9.99965589e-01 2.84981166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.199254154 meters 0.05770957710487148 Centerline is valid? [True, True] Translation: X:728.78, Y:4.26, Z:2.85 [[ 9.99694388e-01 -2.32088454e-02 -8.51355690e-03 7.28778733e+02] [ 2.32098288e-02 9.99730616e-01 1.67119050e-05 4.26428827e+00] [ 8.51087561e-03 -2.14304996e-04 9.99963759e-01 2.84934317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.259254154 meters 0.05686295937836667 Centerline is valid? [True, True] Translation: X:728.84, Y:4.26, Z:2.85 [[ 9.99535718e-01 -2.95889179e-02 -7.26946924e-03 7.28840005e+02] [ 2.95898047e-02 9.99562126e-01 1.44373538e-05 4.26244561e+00] [ 7.26585894e-03 -2.29532826e-04 9.99973577e-01 2.85117709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.319254154 meters 0.058384834761661564 Centerline is valid? [True, True] Translation: X:728.90, Y:4.26, Z:2.85 [[ 9.99443168e-01 -3.26702571e-02 -6.78294180e-03 7.28899891e+02] [ 3.26711004e-02 9.99466157e-01 1.35184563e-05 4.25720366e+00] [ 6.77887912e-03 -2.35117101e-04 9.99976995e-01 2.85180633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.379254154 meters 0.056609189768728564 Centerline is valid? [True, True] Translation: X:728.96, Y:4.27, Z:2.85 [[ 9.99458041e-01 -3.21781460e-02 -6.94194204e-03 7.28962157e+02] [ 3.21790180e-02 9.99482121e-01 1.39231773e-05 4.26600936e+00] [ 6.93789894e-03 -2.37300509e-04 9.99975904e-01 2.85225533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.439254154 meters 0.057349216613768746 Centerline is valid? [True, True] Translation: X:729.02, Y:4.26, Z:2.85 [[ 9.99589763e-01 -2.81958775e-02 -5.02980627e-03 7.29023011e+02] [ 2.81962854e-02 9.99602406e-01 1.01833065e-05 4.26336467e+00] [ 5.02751932e-03 -1.52000982e-04 9.99987350e-01 2.85223287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.499254154 meters 0.05788874086077901 Centerline is valid? [True, True] Translation: X:729.08, Y:4.26, Z:2.85 [[ 9.99746599e-01 -2.18216813e-02 -5.52736717e-03 7.29082331e+02] [ 2.18220767e-02 9.99761870e-01 1.12188027e-05 4.25837305e+00] [ 5.52580612e-03 -1.31834590e-04 9.99984724e-01 2.85178304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.559254154 meters 0.057138457496931944 Centerline is valid? [True, True] Translation: X:729.14, Y:4.26, Z:2.85 [[ 9.99859537e-01 -1.56865694e-02 -5.90243859e-03 7.29141664e+02] [ 1.56869130e-02 9.99876953e-01 1.19280764e-05 4.26256292e+00] [ 5.90152520e-03 -1.04517442e-04 9.99982580e-01 2.84982925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.619254154 meters 0.056154010850258035 Centerline is valid? [True, True] Translation: X:729.20, Y:4.27, Z:2.85 [[ 9.99888071e-01 -1.33753335e-02 -6.70412312e-03 7.29202787e+02] [ 1.33757248e-02 9.99910541e-01 1.35372459e-05 4.27297296e+00] [ 6.70334231e-03 -1.03208237e-04 9.99977527e-01 2.85114688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.679254154 meters 0.055973250053335824 Centerline is valid? [True, True] Translation: X:729.26, Y:4.27, Z:2.85 [[ 9.99966165e-01 -5.58490512e-03 -6.03974685e-03 7.29262776e+02] [ 5.58508081e-03 9.99984403e-01 1.22228890e-05 4.27091681e+00] [ 6.03958438e-03 -4.59549497e-05 9.99981760e-01 2.85037563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.739254154 meters 0.056950680848149464 Centerline is valid? [True, True] Translation: X:729.32, Y:4.27, Z:2.85 [[ 9.99976407e-01 -3.47969558e-03 -5.92267725e-03 7.29321240e+02] [ 3.47982731e-03 9.99993945e-01 1.19364075e-05 4.27293918e+00] [ 5.92259986e-03 -3.25460199e-05 9.99982461e-01 2.85101163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.799254154 meters 0.056820317708544336 Centerline is valid? [True, True] Translation: X:729.38, Y:4.27, Z:2.85 [[ 9.99965443e-01 -4.37765936e-03 -7.06749624e-03 7.29380483e+02] [ 4.37786803e-03 9.99990417e-01 1.40547487e-05 4.27119181e+00] [ 7.06736698e-03 -4.49948288e-05 9.99975025e-01 2.85124883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters 0.05623216380949624 Centerline is valid? [True, True] Translation: X:729.44, Y:4.27, Z:2.85 [[ 9.99908786e-01 -1.00758641e-02 -8.99428797e-03 7.29438962e+02] [ 1.00764305e-02 9.99949231e-01 1.76574912e-05 4.26733861e+00] [ 8.99365343e-03 -1.08286198e-04 9.99959550e-01 2.85140674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.919254154 meters 0.057049016193637954 Centerline is valid? [True, True] Translation: X:729.50, Y:4.25, Z:2.85 [[ 9.99787522e-01 -1.87516670e-02 -8.56075071e-03 7.29499253e+02] [ 1.87524976e-02 9.99824156e-01 1.67583890e-05 4.25169196e+00] [ 8.55893111e-03 -1.77290286e-04 9.99963356e-01 2.84893634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters 0.056938538383770054 Centerline is valid? [True, True] Translation: X:729.56, Y:4.26, Z:2.85 [[ 9.99610768e-01 -2.69719020e-02 -7.12946983e-03 7.29559756e+02] [ 2.69726872e-02 9.99636171e-01 1.39874688e-05 4.25554586e+00] [ 7.12649865e-03 -2.06282984e-04 9.99974585e-01 2.85148946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.039254154 meters 0.05716698584023822 Centerline is valid? [True, True] Translation: X:729.62, Y:4.25, Z:2.85 [[ 9.99499980e-01 -3.09528352e-02 -6.45849856e-03 7.29620583e+02] [ 3.09535627e-02 9.99520824e-01 1.26796363e-05 4.25256456e+00] [ 6.45501133e-03 -2.12586836e-04 9.99979144e-01 2.85247937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters 0.05741819161706458 Centerline is valid? [True, True] Translation: X:729.68, Y:4.24, Z:2.85 [[ 9.99479099e-01 -3.16099288e-02 -6.50711061e-03 7.29682021e+02] [ 3.16106821e-02 9.99500257e-01 1.29262106e-05 4.24339036e+00] [ 6.50345013e-03 -2.18613682e-04 9.99978828e-01 2.85247636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.159254154 meters 0.05637773920546569 Centerline is valid? [True, True] Translation: X:729.74, Y:4.25, Z:2.85 [[ 9.99475729e-01 -3.20332127e-02 -4.70545976e-03 7.29744525e+02] [ 3.20336122e-02 9.99486792e-01 9.53888098e-06 4.24648106e+00] [ 4.70273932e-03 -1.60266753e-04 9.99988929e-01 2.85314698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters 0.0573474844553193 Centerline is valid? [True, True] Translation: X:729.81, Y:4.24, Z:2.85 [[ 9.99487426e-01 -3.16386662e-02 -4.88677023e-03 7.29806299e+02] [ 3.16390933e-02 9.99499359e-01 1.00973164e-05 4.24489026e+00] [ 4.88400425e-03 -1.64705120e-04 9.99988060e-01 2.85338401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.279254154 meters 0.05762268186051858 Centerline is valid? [True, True] Translation: X:729.87, Y:4.24, Z:2.85 [[ 9.99443350e-01 -3.26941083e-02 -6.63967276e-03 7.29866892e+02] [ 3.26949215e-02 9.99465378e-01 1.39318687e-05 4.23634801e+00] [ 6.63566755e-03 -2.31007693e-04 9.99977957e-01 2.85207818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters 0.056521680225851155 Centerline is valid? [True, True] Translation: X:729.93, Y:4.24, Z:2.85 [[ 9.99368086e-01 -3.46684744e-02 -7.84382920e-03 7.29928382e+02] [ 3.46696713e-02 9.99398826e-01 1.66243032e-05 4.23927003e+00] [ 7.83853735e-03 -2.88556778e-04 9.99969237e-01 2.85252891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.399254154 meters 0.05719174627218662 Centerline is valid? [True, True] Translation: X:729.99, Y:4.24, Z:2.85 [[ 9.99253612e-01 -3.75322705e-02 -9.14043215e-03 7.29987743e+02] [ 3.75340168e-02 9.99295350e-01 1.95263105e-05 4.23643899e+00] [ 9.13325848e-03 -3.62588870e-04 9.99958225e-01 2.85206986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters 0.05652890624388062 Centerline is valid? [True, True] Translation: X:730.05, Y:4.25, Z:2.85 [[ 9.99173908e-01 -3.95845619e-02 -9.19589036e-03 7.30048677e+02] [ 3.95864175e-02 9.99216150e-01 1.97772578e-05 4.24501869e+00] [ 9.18789929e-03 -3.83793275e-04 9.99957717e-01 2.85319147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.519254154 meters 0.05781085827015233 Centerline is valid? [True, True] Translation: X:730.11, Y:4.24, Z:2.85 [[ 9.99236830e-01 -3.79545309e-02 -9.23100865e-03 7.30109663e+02] [ 3.79563332e-02 9.99279399e-01 2.00577497e-05 4.23906230e+00] [ 9.22359549e-03 -3.70417682e-04 9.99957393e-01 2.85294219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters 0.05704359927222399 Centerline is valid? [True, True] Translation: X:730.17, Y:4.25, Z:2.85 [[ 9.99427601e-01 -3.27245227e-02 -8.57767085e-03 7.30170434e+02] [ 3.27258875e-02 9.99464365e-01 1.87635616e-05 4.24842931e+00] [ 8.57246232e-03 -2.99464712e-04 9.99963211e-01 2.85404179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.639254154 meters 0.05694943529058101 Centerline is valid? [True, True] Translation: X:730.23, Y:4.26, Z:2.86 [[ 9.99663906e-01 -2.49302242e-02 -7.11043200e-03 7.30231010e+02] [ 2.49309653e-02 9.99689175e-01 1.55880454e-05 4.25647377e+00] [ 7.10783329e-03 -1.92852739e-04 9.99974720e-01 2.85533391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.699254154 meters 0.056581388435928 Centerline is valid? [True, True] Translation: X:730.29, Y:4.26, Z:2.86 [[ 9.99784881e-01 -1.96765763e-02 -6.55921480e-03 7.30290955e+02] [ 1.96770939e-02 9.99806387e-01 1.43721462e-05 4.25966157e+00] [ 6.55766206e-03 -1.43435340e-04 9.99978488e-01 2.85657239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.759254154 meters 0.0566901932998349 Centerline is valid? [True, True] Translation: X:730.35, Y:4.26, Z:2.86 [[ 9.99894201e-01 -1.32952719e-02 -5.90114768e-03 7.30350078e+02] [ 1.32955795e-02 9.99911610e-01 1.28922991e-05 4.26214100e+00] [ 5.90045467e-03 -9.13501130e-05 9.99982588e-01 2.85650748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.819254154 meters 0.05662583269074412 Centerline is valid? [True, True] Translation: X:730.41, Y:4.26, Z:2.86 [[ 9.99913476e-01 -1.18459102e-02 -5.71961916e-03 7.30410885e+02] [ 1.18461753e-02 9.99929832e-01 1.24714137e-05 4.26290648e+00] [ 5.71907009e-03 -8.02259458e-05 9.99983643e-01 2.85646350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.879254154 meters 0.05702078525134346 Centerline is valid? [True, True] Translation: X:730.47, Y:4.27, Z:2.86 [[ 9.99909297e-01 -1.14028582e-02 -7.16745717e-03 7.30471901e+02] [ 1.14032633e-02 9.99934981e-01 1.56544568e-05 4.27155365e+00] [ 7.16681264e-03 -9.73854381e-05 9.99974313e-01 2.85773930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.939254154 meters 0.056886964188971004 Centerline is valid? [True, True] Translation: X:730.53, Y:4.26, Z:2.86 [[ 9.99877332e-01 -1.36016914e-02 -7.76623754e-03 7.30531372e+02] [ 1.36022333e-02 9.99907485e-01 1.69644122e-05 4.26432521e+00] [ 7.76528830e-03 -1.22600506e-04 9.99969842e-01 2.85610385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.999254154 meters 0.05774815600703287 Centerline is valid? [True, True] Translation: X:730.59, Y:4.25, Z:2.86 [[ 9.99837395e-01 -1.63451217e-02 -7.61718096e-03 7.30590774e+02] [ 1.63457221e-02 9.99866400e-01 1.65748294e-05 4.25469274e+00] [ 7.61589239e-03 -1.41080458e-04 9.99970989e-01 2.85536073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.059254154 meters 0.05735954618760437 Centerline is valid? [True, True] Translation: X:730.65, Y:4.25, Z:2.86 [[ 9.99815831e-01 -1.78069580e-02 -7.15654964e-03 7.30651397e+02] [ 1.78075252e-02 9.99841433e-01 1.55410601e-05 4.25463962e+00] [ 7.15513811e-03 -1.42978636e-04 9.99974391e-01 2.85746009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.119254154 meters 0.05663913465316771 Centerline is valid? [True, True] Translation: X:730.71, Y:4.26, Z:2.86 [[ 9.99782711e-01 -1.94503122e-02 -7.49777666e-03 7.30713047e+02] [ 1.94509814e-02 9.99810812e-01 1.63399556e-05 4.25582902e+00] [ 7.49604035e-03 -1.62175520e-04 9.99971891e-01 2.85793281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.179254154 meters 0.057778654042963236 Centerline is valid? [True, True] Translation: X:730.77, Y:4.25, Z:2.86 [[ 9.99689535e-01 -2.34996417e-02 -8.28250892e-03 7.30773608e+02] [ 2.35005984e-02 9.99723823e-01 1.81901902e-05 4.24907030e+00] [ 8.27979402e-03 -2.12828459e-04 9.99965699e-01 2.85751313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.239254154 meters 0.05802767861896651 Centerline is valid? [True, True] Translation: X:730.83, Y:4.24, Z:2.86 [[ 9.99610076e-01 -2.69076313e-02 -7.46158967e-03 7.30834002e+02] [ 2.69085036e-02 9.99637901e-01 1.65148850e-05 4.24129814e+00] [ 7.45844346e-03 -2.17288658e-04 9.99972162e-01 2.85792212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.299254154 meters 0.05870667912514281 Centerline is valid? [True, True] Translation: X:730.89, Y:4.24, Z:2.86 [[ 9.99620952e-01 -2.65810608e-02 -7.16934455e-03 7.30894702e+02] [ 2.65818588e-02 9.99646640e-01 1.60198031e-05 4.23549619e+00] [ 7.16638536e-03 -2.06588235e-04 9.99974300e-01 2.85804366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters 0.05706587991028603 Centerline is valid? [True, True] Translation: X:730.96, Y:4.24, Z:2.86 [[ 9.99647981e-01 -2.56444031e-02 -6.80282421e-03 7.30956133e+02] [ 2.56451009e-02 9.99671110e-01 1.53529214e-05 4.24322037e+00] [ 6.80019311e-03 -1.89806630e-04 9.99976860e-01 2.85962964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.419254154 meters 0.05767590361488529 Centerline is valid? [True, True] Translation: X:731.02, Y:4.24, Z:2.86 [[ 9.99646429e-01 -2.55304928e-02 -7.43041804e-03 7.31017614e+02] [ 2.55313244e-02 9.99674022e-01 1.70643558e-05 4.23858147e+00] [ 7.42756023e-03 -2.06766736e-04 9.99972394e-01 2.85920494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters 0.060956248363641455 Centerline is valid? [True, True] Translation: X:731.08, Y:4.22, Z:2.86 [[ 9.99569329e-01 -2.81314503e-02 -8.35328276e-03 7.31078650e+02] [ 2.81325947e-02 9.99604200e-01 1.95011703e-05 4.21989896e+00] [ 8.34942793e-03 -2.54492290e-04 9.99965111e-01 2.85690924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.539254154 meters 0.05799025732558957 Centerline is valid? [True, True] Translation: X:731.14, Y:4.23, Z:2.86 [[ 9.99530357e-01 -2.95668830e-02 -8.05387594e-03 7.31139647e+02] [ 2.95679943e-02 9.99562771e-01 1.89258416e-05 4.22909134e+00] [ 8.04979497e-03 -2.57053911e-04 9.99967567e-01 2.85864513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters 0.05870911870918582 Centerline is valid? [True, True] Translation: X:731.20, Y:4.23, Z:2.86 [[ 9.99387704e-01 -3.36012502e-02 -9.75565053e-03 7.31200326e+02] [ 3.36030737e-02 9.99435257e-01 2.30095778e-05 4.22729520e+00] [ 9.74936795e-03 -3.50815333e-04 9.99952412e-01 2.85819831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.659254154 meters 0.058243448849794495 Centerline is valid? [True, True] Translation: X:731.26, Y:4.22, Z:2.86 [[ 9.99298596e-01 -3.60229797e-02 -1.02303916e-02 7.31260253e+02] [ 3.60251117e-02 9.99350885e-01 2.41346675e-05 4.22407764e+00] [ 1.02228815e-02 -3.92668740e-04 9.99947668e-01 2.85794392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters 0.05736410598723337 Centerline is valid? [True, True] Translation: X:731.32, Y:4.22, Z:2.86 [[ 9.99195051e-01 -3.91183478e-02 -8.88848874e-03 7.31320766e+02] [ 3.91200799e-02 9.99234516e-01 2.10216794e-05 4.22298739e+00] [ 8.88086242e-03 -3.68723148e-04 9.99960496e-01 2.85842241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.779254154 meters 0.05859955302839681 Centerline is valid? [True, True] Translation: X:731.38, Y:4.22, Z:2.86 [[ 9.99054015e-01 -4.28500450e-02 -7.41271125e-03 7.31380144e+02] [ 4.28513522e-02 9.99081459e-01 1.75418654e-05 4.22014946e+00] [ 7.40515070e-03 -3.35169971e-04 9.99972525e-01 2.85987967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters 0.06087700267138593 Centerline is valid? [True, True] Translation: X:731.44, Y:4.21, Z:2.86 [[ 9.98992639e-01 -4.42085838e-02 -7.70117182e-03 7.31440011e+02] [ 4.42100359e-02 9.99022258e-01 1.83384861e-05 4.21094203e+00] [ 7.69283135e-03 -3.58789095e-04 9.99970345e-01 2.85958525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.899254154 meters 0.05999558644823315 Centerline is valid? [True, True] Translation: X:731.50, Y:4.22, Z:2.86 [[ 9.98901450e-01 -4.62366180e-02 -7.62030690e-03 7.31501462e+02] [ 4.62381002e-02 9.98930447e-01 1.83509463e-05 4.21545901e+00] [ 7.61130809e-03 -3.70679301e-04 9.99970965e-01 2.86039761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters 0.05830680139250875 Centerline is valid? [True, True] Translation: X:731.56, Y:4.23, Z:2.86 [[ 9.98873689e-01 -4.67880912e-02 -7.88845439e-03 7.31563708e+02] [ 4.67896985e-02 9.98904762e-01 1.92194440e-05 4.22563384e+00] [ 7.87891542e-03 -3.88296199e-04 9.99968885e-01 2.86134276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.019254154 meters 0.05752166144028378 Centerline is valid? [True, True] Translation: X:731.63, Y:4.23, Z:2.86 [[ 9.98903082e-01 -4.60503217e-02 -8.48537062e-03 7.31626227e+02] [ 4.60521577e-02 9.98939036e-01 2.09981360e-05 4.23004820e+00] [ 8.47540098e-03 -4.11744728e-04 9.99963998e-01 2.86144867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters 0.058871706863756826 Centerline is valid? [True, True] Translation: X:731.69, Y:4.22, Z:2.86 [[ 9.99024911e-01 -4.32200900e-02 -9.01389548e-03 7.31686242e+02] [ 4.32220481e-02 9.99065490e-01 2.24516638e-05 4.22436560e+00] [ 9.00450154e-03 -4.12028796e-04 9.99959374e-01 2.86043156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.139254154 meters 0.05925169719310318 Centerline is valid? [True, True] Translation: X:731.75, Y:4.22, Z:2.86 [[ 9.99189346e-01 -3.91765547e-02 -9.26542102e-03 7.31746309e+02] [ 3.91784504e-02 9.99232230e-01 2.31034645e-05 4.22220313e+00] [ 9.25740219e-03 -3.86089573e-04 9.99957075e-01 2.86010265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.199254154 meters 0.05786351027467889 Centerline is valid? [True, True] Translation: X:731.81, Y:4.23, Z:2.86 [[ 9.99500076e-01 -3.01816668e-02 -9.41623965e-03 7.31806824e+02] [ 3.01832264e-02 9.99544382e-01 2.35316146e-05 4.23395369e+00] [ 9.41123922e-03 -3.07732344e-04 9.99955666e-01 2.86188158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.259254154 meters 0.05761054594731806 Centerline is valid? [True, True] Translation: X:731.87, Y:4.24, Z:2.86 [[ 9.99618323e-01 -2.61786133e-02 -8.82542336e-03 7.31867471e+02] [ 2.61798277e-02 9.99657249e-01 2.20889563e-05 4.24132878e+00] [ 8.82182019e-03 -2.53128589e-04 9.99961055e-01 2.86298974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.319254154 meters 0.05787114358606819 Centerline is valid? [True, True] Translation: X:731.93, Y:4.24, Z:2.86 [[ 9.99735893e-01 -2.13731248e-02 -8.44593777e-03 7.31926825e+02] [ 2.13740654e-02 9.99771548e-01 2.11149312e-05 4.24155159e+00] [ 8.44355699e-03 -2.01633381e-04 9.99964332e-01 2.86312506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.379254154 meters 0.057385521008849534 Centerline is valid? [True, True] Translation: X:731.99, Y:4.25, Z:2.86 [[ 9.99807173e-01 -1.77861682e-02 -8.32275687e-03 7.31987756e+02] [ 1.77869578e-02 9.99841799e-01 2.08543386e-05 4.25110970e+00] [ 8.32106928e-03 -1.68886842e-04 9.99965365e-01 2.86365339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.439254154 meters 0.05756382549350191 Centerline is valid? [True, True] Translation: X:732.05, Y:4.25, Z:2.86 [[ 9.99858967e-01 -1.46727248e-02 -8.17055810e-03 7.32047648e+02] [ 1.46733824e-02 9.99892340e-01 2.05388793e-05 4.25028498e+00] [ 8.16937709e-03 -1.40425706e-04 9.99966620e-01 2.86378113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.499254154 meters 0.05713671957075441 Centerline is valid? [True, True] Translation: X:732.11, Y:4.25, Z:2.86 [[ 9.99872646e-01 -1.34427821e-02 -8.60136195e-03 7.32107012e+02] [ 1.34434655e-02 9.99909632e-01 2.16460038e-05 4.25357100e+00] [ 8.60029368e-03 -1.37275360e-04 9.99963007e-01 2.86483208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.559254154 meters 0.05608724150357166 Centerline is valid? [True, True] Translation: X:732.17, Y:4.25, Z:2.86 [[ 9.99854988e-01 -1.42826334e-02 -9.27417985e-03 7.32165966e+02] [ 1.42834652e-02 9.99897986e-01 2.34583141e-05 4.24983837e+00] [ 9.27289871e-03 -1.55922338e-04 9.99956994e-01 2.86365200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.619254154 meters 0.05737877689301662 Centerline is valid? [True, True] Translation: X:732.23, Y:4.25, Z:2.86 [[ 9.99799872e-01 -1.77351389e-02 -9.25643622e-03 7.32225630e+02] [ 1.77361137e-02 9.99842703e-01 2.32283987e-05 4.24870096e+00] [ 9.25456825e-03 -1.87396955e-04 9.99957158e-01 2.86406854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.679254154 meters 0.05770656335550065 Centerline is valid? [True, True] Translation: X:732.28, Y:4.24, Z:2.86 [[ 9.99725918e-01 -2.11818758e-02 -9.97080828e-03 7.32284919e+02] [ 2.11831780e-02 9.99775611e-01 2.49990599e-05 4.24141172e+00] [ 9.96804142e-03 -2.36205615e-04 9.99950290e-01 2.86324415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.739254154 meters 0.05743346162880199 Centerline is valid? [True, True] Translation: X:732.35, Y:4.24, Z:2.86 [[ 9.99663715e-01 -2.25407727e-02 -1.28207399e-02 7.32345075e+02] [ 2.25430386e-02 9.99745873e-01 3.22347361e-05 4.23887335e+00] [ 1.28167552e-02 -3.21242330e-04 9.99917810e-01 2.86198377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.799254154 meters 0.05736745885469071 Centerline is valid? [True, True] Translation: X:732.40, Y:4.24, Z:2.86 [[ 9.99677099e-01 -2.12078984e-02 -1.39972280e-02 7.32404982e+02] [ 2.12104660e-02 9.99775032e-01 3.49932515e-05 4.24139969e+00] [ 1.39933370e-02 -3.31869681e-04 9.99902033e-01 2.86375694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters 0.05747559239255486 Centerline is valid? [True, True] Translation: X:732.46, Y:4.24, Z:2.86 [[ 9.99728042e-01 -1.88181248e-02 -1.37738953e-02 7.32464183e+02] [ 1.88203802e-02 9.99822880e-01 3.41322901e-05 4.24050575e+00] [ 1.37708134e-02 -2.93352954e-04 9.99905135e-01 2.86414000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.919254154 meters 0.057053626241690185 Centerline is valid? [True, True] Translation: X:732.52, Y:4.24, Z:2.87 [[ 9.99836918e-01 -1.31904276e-02 -1.23348946e-02 7.32523843e+02] [ 1.31918061e-02 9.99912984e-01 3.03957326e-05 4.24088448e+00] [ 1.23334203e-02 -1.93110313e-04 9.99923922e-01 2.86500816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters 0.057707974158470135 Centerline is valid? [True, True] Translation: X:732.58, Y:4.24, Z:2.87 [[ 9.99914740e-01 -5.85321153e-03 -1.16727142e-02 7.32583044e+02] [ 5.85394421e-03 9.99982865e-01 2.86024796e-05 4.24107917e+00] [ 1.16723468e-02 -9.69314588e-05 9.99931871e-01 2.86501212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.039254154 meters 0.05792345183776918 Centerline is valid? [True, True] Translation: X:732.64, Y:4.24, Z:2.87 [[ 9.99935799e-01 -9.36073740e-04 -1.12925933e-02 7.32641914e+02] [ 9.36435984e-04 9.99999561e-01 2.67904102e-05 4.24337269e+00] [ 1.12925633e-02 -3.73634809e-05 9.99936236e-01 2.86768153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters 0.05693360834007743 Centerline is valid? [True, True] Translation: X:732.70, Y:4.24, Z:2.87 [[ 9.99935086e-01 -2.23138488e-03 -1.11734316e-02 7.32699457e+02] [ 2.23181206e-03 9.99997509e-01 2.57624424e-05 4.23933472e+00] [ 1.11733463e-02 -5.06977693e-05 9.99937575e-01 2.86895751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.159254154 meters 0.05816808168437561 Centerline is valid? [True, True] Translation: X:732.76, Y:4.23, Z:2.87 [[ 9.99911810e-01 -6.62005110e-03 -1.15129517e-02 7.32756831e+02] [ 6.62078951e-03 9.99978082e-01 2.60247955e-05 4.23239135e+00] [ 1.15125271e-02 -1.02247330e-04 9.99933723e-01 2.86728837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters 0.05770803877994051 Centerline is valid? [True, True] Translation: X:732.82, Y:4.22, Z:2.87 [[ 9.99779628e-01 -1.69371204e-02 -1.24027648e-02 7.32817313e+02] [ 1.69387694e-02 9.99856528e-01 2.79139855e-05 4.22400393e+00] [ 1.24005126e-02 -2.37995407e-04 9.99923082e-01 2.86720524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.279254154 meters 0.057987991522765577 Centerline is valid? [True, True] Translation: X:732.88, Y:4.21, Z:2.87 [[ 9.99494382e-01 -2.89207510e-02 -1.32125211e-02 7.32876827e+02] [ 2.89236679e-02 9.99581623e-01 2.97010637e-05 4.21279939e+00] [ 1.32061343e-02 -4.11840618e-04 9.99912710e-01 2.86594035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters 0.05859377654655367 Centerline is valid? [True, True] Translation: X:732.94, Y:4.21, Z:2.87 [[ 9.99147112e-01 -3.93165017e-02 -1.26198736e-02 7.32936827e+02] [ 3.93199908e-02 9.99226670e-01 2.83844927e-05 4.20775143e+00] [ 1.26089982e-02 -5.24573596e-04 9.99920366e-01 2.86753992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.399254154 meters 0.05884490504409255 Centerline is valid? [True, True] Translation: X:733.00, Y:4.21, Z:2.87 [[ 9.98976333e-01 -4.37838542e-02 -1.13692311e-02 7.32997726e+02] [ 4.37869765e-02 9.99040890e-01 2.57264205e-05 4.20811610e+00] [ 1.13572003e-02 -5.23524338e-04 9.99935368e-01 2.86965019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters 0.059537831081357746 Centerline is valid? [True, True] Translation: X:733.06, Y:4.20, Z:2.87 [[ 9.98854544e-01 -4.68954843e-02 -9.50860795e-03 7.33057368e+02] [ 4.68978090e-02 9.98899692e-01 2.15391343e-05 4.20236468e+00] [ 9.49713547e-03 -4.67447342e-04 9.99954792e-01 2.86998773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.519254154 meters 0.05854974592088674 Centerline is valid? [True, True] Translation: X:733.12, Y:4.21, Z:2.87 [[ 9.98755749e-01 -4.93700381e-02 -7.03945690e-03 7.33117699e+02] [ 4.93713734e-02 9.98780490e-01 1.59340686e-05 4.20553533e+00] [ 7.03008555e-03 -3.63461898e-04 9.99975223e-01 2.87123627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.579254154 meters 0.06124245549657763 Centerline is valid? [True, True] Translation: X:733.18, Y:4.19, Z:2.87 [[ 9.98742026e-01 -4.96577810e-02 -6.96206608e-03 7.33178555e+02] [ 4.96590952e-02 9.98766226e-01 1.59207010e-05 4.19261587e+00] [ 6.95268588e-03 -3.61630575e-04 9.99975764e-01 2.87063449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.639254154 meters 0.05819799097717935 Centerline is valid? [True, True] Translation: X:733.24, Y:4.21, Z:2.87 [[ 9.98745566e-01 -4.94058441e-02 -8.14599202e-03 7.33240436e+02] [ 4.94076382e-02 9.98778697e-01 1.90304591e-05 4.20584829e+00] [ 8.13510308e-03 -4.21480813e-04 9.99966821e-01 2.87027116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.699254154 meters 0.05823119843617872 Centerline is valid? [True, True] Translation: X:733.30, Y:4.21, Z:2.87 [[ 9.98822134e-01 -4.77714088e-02 -8.49918969e-03 7.33301627e+02] [ 4.77733046e-02 9.98858204e-01 2.00599274e-05 4.21053574e+00] [ 8.48852706e-03 -4.26070677e-04 9.99963881e-01 2.86962450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.759254154 meters 0.05825940457827931 Centerline is valid? [True, True] Translation: X:733.36, Y:4.21, Z:2.87 [[ 9.98916200e-01 -4.57275815e-02 -8.68407878e-03 7.33361405e+02] [ 4.57294839e-02 9.98953860e-01 2.05296088e-05 4.20982362e+00] [ 8.67405525e-03 -4.17625800e-04 9.99962292e-01 2.86974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.819254154 meters 0.06241063454278212 Centerline is valid? [True, True] Translation: X:733.42, Y:4.20, Z:2.87 [[ 9.99122438e-01 -4.10520871e-02 -8.31147398e-03 7.33420725e+02] [ 4.10536680e-02 9.99156943e-01 1.96093607e-05 4.20234727e+00] [ 8.30366192e-03 -3.60808646e-04 9.99965459e-01 2.86868215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.879254154 meters 0.059735238347010285 Centerline is valid? [True, True] Translation: X:733.48, Y:4.22, Z:2.87 [[ 9.99397578e-01 -3.38070639e-02 -7.84621699e-03 7.33481872e+02] [ 3.38082492e-02 9.99428338e-01 1.84438435e-05 4.21614864e+00] [ 7.84110807e-03 -2.83699592e-04 9.99969218e-01 2.86940826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.939254154 meters 0.05731945997157974 Centerline is valid? [True, True] Translation: X:733.54, Y:4.23, Z:2.87 [[ 9.99641634e-01 -2.58214278e-02 -7.06097212e-03 7.33542399e+02] [ 2.58221885e-02 9.99666552e-01 1.65754193e-05 4.23239230e+00] [ 7.05818965e-03 -1.98899232e-04 9.99975071e-01 2.87199037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.999254154 meters 0.059566411173348044 Centerline is valid? [True, True] Translation: X:733.60, Y:4.23, Z:2.87 [[ 9.99763955e-01 -2.11384910e-02 -5.01985945e-03 7.33601609e+02] [ 2.11388165e-02 9.99776550e-01 1.17846728e-05 4.22552624e+00] [ 5.01848865e-03 -1.17895779e-04 9.99987400e-01 2.87332693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.059254154 meters 0.058071353146907506 Centerline is valid? [True, True] Translation: X:733.66, Y:4.23, Z:2.87 [[ 9.99775263e-01 -2.09636275e-02 -3.15449387e-03 7.33663823e+02] [ 2.09637551e-02 9.99780236e-01 7.36411499e-06 4.23023150e+00] [ 3.15364624e-03 -7.34924968e-05 9.99995025e-01 2.87374644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.119254154 meters 0.058775292399793545 Centerline is valid? [True, True] Translation: X:733.73, Y:4.23, Z:2.87 [[ 9.99731582e-01 -2.28730632e-02 -3.68612656e-03 7.33725786e+02] [ 2.28732509e-02 9.99738373e-01 8.74439436e-06 4.22827983e+00] [ 3.68496215e-03 -9.30557446e-05 9.99993206e-01 2.87282524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.179254154 meters 0.060221635359406264 Centerline is valid? [True, True] Translation: X:733.79, Y:4.22, Z:2.87 [[ 9.99650767e-01 -2.59908203e-02 -4.77727486e-03 7.33786025e+02] [ 2.59911718e-02 9.99662172e-01 1.15029630e-05 4.22063543e+00] [ 4.77536200e-03 -1.35665918e-04 9.99988589e-01 2.87124379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.239254154 meters 0.06042202871545005 Centerline is valid? [True, True] Translation: X:733.85, Y:4.22, Z:2.87 [[ 9.99570237e-01 -2.88496560e-02 -5.19981361e-03 7.33846872e+02] [ 2.88501113e-02 9.99583749e-01 1.25641288e-05 4.21882597e+00] [ 5.19728671e-03 -1.62573931e-04 9.99986481e-01 2.87074286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.299254154 meters 0.05974451779443094 Centerline is valid? [True, True] Translation: X:733.91, Y:4.22, Z:2.87 [[ 9.99509040e-01 -3.11049516e-02 -3.76324612e-03 7.33907843e+02] [ 3.11052061e-02 9.99516116e-01 9.11216585e-06 4.22236842e+00] [ 3.76114171e-03 -1.26164238e-04 9.99992919e-01 2.87177698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters 0.06003783713220229 Centerline is valid? [True, True] Translation: X:733.97, Y:4.22, Z:2.87 [[ 9.99446275e-01 -3.30328114e-02 -3.99704080e-03 7.33967970e+02] [ 3.30331142e-02 9.99454258e-01 9.74627224e-06 4.21659127e+00] [ 3.99453750e-03 -1.41775581e-04 9.99992012e-01 2.87163893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.419254154 meters 0.05777355182019087 Centerline is valid? [True, True] Translation: X:734.03, Y:4.23, Z:2.87 [[ 9.99382338e-01 -3.49654225e-02 -3.51580686e-03 7.34029420e+02] [ 3.49656691e-02 9.99388514e-01 8.69428763e-06 4.22706857e+00] [ 3.51335299e-03 -1.31621457e-04 9.99993819e-01 2.87159416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters 0.05778391767477289 Centerline is valid? [True, True] Translation: X:734.09, Y:4.23, Z:2.87 [[ 9.99241762e-01 -3.86586518e-02 -4.62702483e-03 7.34088564e+02] [ 3.86591190e-02 9.99252457e-01 1.15424943e-05 4.22558837e+00] [ 4.62311971e-03 -1.90410446e-04 9.99989295e-01 2.87092961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.539254154 meters 0.05717819013797516 Centerline is valid? [True, True] Translation: X:734.15, Y:4.23, Z:2.87 [[ 9.99063151e-01 -4.28895450e-02 -5.77126395e-03 7.34149986e+02] [ 4.28903433e-02 9.99079786e-01 1.45714117e-05 4.22833659e+00] [ 5.76532819e-03 -2.62089253e-04 9.99983346e-01 2.87064713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters 0.058213899806618105 Centerline is valid? [True, True] Translation: X:734.21, Y:4.22, Z:2.87 [[ 9.98963593e-01 -4.50310642e-02 -6.62893844e-03 7.34210423e+02] [ 4.50321653e-02 9.98985537e-01 1.68608130e-05 4.22310314e+00] [ 6.62145437e-03 -3.15358790e-04 9.99978028e-01 2.87067085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.659254154 meters 0.06308904719703266 Centerline is valid? [True, True] Translation: X:734.27, Y:4.21, Z:2.87 [[ 9.99025422e-01 -4.33212007e-02 -8.45462101e-03 7.34270802e+02] [ 4.33229329e-02 9.99061121e-01 2.17703288e-05 4.20754555e+00] [ 8.44574003e-03 -3.88028091e-04 9.99964259e-01 2.86885106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters 0.057223862705470176 Centerline is valid? [True, True] Translation: X:734.33, Y:4.23, Z:2.87 [[ 9.99191946e-01 -3.95147361e-02 -7.35122308e-03 7.34331016e+02] [ 3.95159443e-02 9.99218940e-01 1.91254526e-05 4.23282317e+00] [ 7.34472559e-03 -3.09600520e-04 9.99972979e-01 2.87103667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.779254154 meters 0.06050452178271857 Centerline is valid? [True, True] Translation: X:734.39, Y:4.22, Z:2.87 [[ 9.99358257e-01 -3.49152293e-02 -8.00005782e-03 7.34390619e+02] [ 3.49165130e-02 9.99390232e-01 2.08107809e-05 4.22228550e+00] [ 7.99445304e-03 -3.00131549e-04 9.99967999e-01 2.87056272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters 0.057548070392436736 Centerline is valid? [True, True] Translation: X:734.45, Y:4.24, Z:2.87 [[ 9.99628013e-01 -2.64164351e-02 -6.78295590e-03 7.34451062e+02] [ 2.64171623e-02 9.99651006e-01 1.76197585e-05 4.24014075e+00] [ 6.78012324e-03 -1.96799651e-04 9.99976995e-01 2.87285333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.899254154 meters 0.05844458088054645 Centerline is valid? [True, True] Translation: X:734.51, Y:4.24, Z:2.87 [[ 9.99827129e-01 -1.73517955e-02 -6.68031869e-03 7.34510969e+02] [ 1.73522986e-02 9.99849437e-01 1.73579666e-05 4.24156917e+00] [ 6.67901170e-03 -1.33273851e-04 9.99977686e-01 2.87337288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters 0.05839701846483267 Centerline is valid? [True, True] Translation: X:734.57, Y:4.25, Z:2.87 [[ 9.99880166e-01 -1.38174128e-02 -6.98082188e-03 7.34571776e+02] [ 1.38178761e-02 9.99904528e-01 1.81404280e-05 4.24756659e+00] [ 6.97990476e-03 -1.14598386e-04 9.99975634e-01 2.87389262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.019254154 meters 0.057050946263671964 Centerline is valid? [True, True] Translation: X:734.63, Y:4.25, Z:2.87 [[ 9.99824569e-01 -1.64590843e-02 -8.94035063e-03 7.34631848e+02] [ 1.64599499e-02 9.99864526e-01 2.32408495e-05 4.25082917e+00] [ 8.93875692e-03 -1.70394496e-04 9.99960034e-01 2.87290647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.079254154 meters 0.057335837974442125 Centerline is valid? [True, True] Translation: X:734.69, Y:4.25, Z:2.87 [[ 9.99688586e-01 -2.28471158e-02 -1.00369557e-02 7.34692442e+02] [ 2.28485285e-02 9.99738938e-01 2.60953091e-05 4.24988250e+00] [ 1.00337393e-02 -2.55416852e-04 9.99949628e-01 2.87257878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.139254154 meters 0.05820275498284699 Centerline is valid? [True, True] Translation: X:734.75, Y:4.25, Z:2.87 [[ 9.99463630e-01 -3.11997215e-02 -9.95139522e-03 7.34751966e+02] [ 3.12015244e-02 9.99513114e-01 2.59261090e-05 4.24552072e+00] [ 9.94574114e-03 -3.36410904e-04 9.99950483e-01 2.87375598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.199254154 meters 0.05748742522182151 Centerline is valid? [True, True] Translation: X:734.81, Y:4.25, Z:2.88 [[ 9.99264382e-01 -3.72469384e-02 -9.13024377e-03 7.34812168e+02] [ 3.72487083e-02 9.99306026e-01 2.38204980e-05 4.25119443e+00] [ 9.12302038e-03 -3.63892762e-04 9.99958318e-01 2.87526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.259254154 meters 0.05811652593205811 Centerline is valid? [True, True] Translation: X:734.87, Y:4.24, Z:2.88 [[ 9.98956661e-01 -4.47478472e-02 -9.12252390e-03 7.34872028e+02] [ 4.47499260e-02 9.98998220e-01 2.37797465e-05 4.24372450e+00] [ 9.11232104e-03 -4.31987206e-04 9.99958389e-01 2.87547848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.319254154 meters 0.05695109975289881 Centerline is valid? [True, True] Translation: X:734.93, Y:4.25, Z:2.88 [[ 9.98761055e-01 -4.90035473e-02 -8.66073305e-03 7.34932704e+02] [ 4.90055803e-02 9.98798505e-01 2.25540046e-05 4.25079940e+00] [ 8.64922199e-03 -4.46950310e-04 9.99962495e-01 2.87627261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.379254154 meters 0.05704526524641989 Centerline is valid? [True, True] Translation: X:734.99, Y:4.25, Z:2.88 [[ 9.98604489e-01 -5.20587084e-02 -8.88628393e-03 7.34994112e+02] [ 5.20609698e-02 9.98643908e-01 2.31969763e-05 4.25194901e+00] [ 8.87302570e-03 -4.85793164e-04 9.99960516e-01 2.87594272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.439254154 meters 0.05601009600637706 Centerline is valid? [True, True] Translation: X:735.06, Y:4.26, Z:2.88 [[ 9.98589322e-01 -5.23222367e-02 -9.04153360e-03 7.35056007e+02] [ 5.23245918e-02 9.98630130e-01 2.39561374e-05 4.26035713e+00] [ 9.02789443e-03 -4.97016898e-04 9.99959124e-01 2.87673126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.499254154 meters 0.05693945495516789 Centerline is valid? [True, True] Translation: X:735.12, Y:4.26, Z:2.88 [[ 9.98724049e-01 -4.96809177e-02 -9.05984432e-03 7.35115596e+02] [ 4.96831758e-02 9.98765028e-01 2.41998044e-05 4.26068482e+00] [ 9.04745340e-03 -4.74290764e-04 9.99958958e-01 2.87664443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.559254154 meters 0.05570760149972301 Centerline is valid? [True, True] Translation: X:735.18, Y:4.27, Z:2.88 [[ 9.99035763e-01 -4.29443578e-02 -9.12833202e-03 7.35176473e+02] [ 4.29463695e-02 9.99077379e-01 2.43891465e-05 4.27355387e+00] [ 9.11886265e-03 -4.16394350e-04 9.99958336e-01 2.87746078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.619254154 meters 0.05595469283512969 Centerline is valid? [True, True] Translation: X:735.24, Y:4.28, Z:2.88 [[ 9.99370043e-01 -3.41430201e-02 -9.68353427e-03 7.35235821e+02] [ 3.41448712e-02 9.99416894e-01 2.58444442e-05 4.27700418e+00] [ 9.67700533e-03 -3.56471193e-04 9.99953113e-01 2.87669409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.679254154 meters 0.05657749689636932 Centerline is valid? [True, True] Translation: X:735.29, Y:4.28, Z:2.88 [[ 9.99619488e-01 -2.57382471e-02 -9.92083049e-03 7.35294961e+02] [ 2.57397760e-02 9.99668677e-01 2.64341925e-05 4.28279052e+00] [ 9.91686312e-03 -2.81784088e-04 9.99950787e-01 2.87665240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.739254154 meters 0.05601923371662324 Centerline is valid? [True, True] Translation: X:735.36, Y:4.29, Z:2.88 [[ 9.99763681e-01 -1.93527095e-02 -9.90224359e-03 7.35355139e+02] [ 1.93539196e-02 9.99812695e-01 2.63810350e-05 4.29448151e+00] [ 9.89987831e-03 -2.18022027e-04 9.99950971e-01 2.87841787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.799254154 meters 0.05624081775411614 Centerline is valid? [True, True] Translation: X:735.42, Y:4.30, Z:2.88 [[ 9.99835117e-01 -1.60821480e-02 -8.43224997e-03 7.35415897e+02] [ 1.60829098e-02 9.99870661e-01 2.25393335e-05 4.30194565e+00] [ 8.43079687e-03 -1.58150732e-04 9.99964448e-01 2.87941957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters 0.05548607149024249 Centerline is valid? [True, True] Translation: X:735.48, Y:4.30, Z:2.88 [[ 9.99860018e-01 -1.46994302e-02 -7.99197274e-03 7.35476251e+02] [ 1.47000711e-02 9.99891948e-01 2.14599403e-05 4.30181277e+00] [ 7.99079374e-03 -1.38939504e-04 9.99968063e-01 2.87948957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.919254154 meters 0.05644460420673062 Centerline is valid? [True, True] Translation: X:735.54, Y:4.30, Z:2.88 [[ 9.99866871e-01 -1.50033940e-02 -6.41392905e-03 7.35537376e+02] [ 1.50038134e-02 9.99887436e-01 1.72881550e-05 4.30498534e+00] [ 6.41294770e-03 -1.13519248e-04 9.99979430e-01 2.88049864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters 0.055413196773471604 Centerline is valid? [True, True] Translation: X:735.60, Y:4.31, Z:2.88 [[ 9.99852397e-01 -1.64728318e-02 -4.88165014e-03 7.35598789e+02] [ 1.64730926e-02 9.99864309e-01 1.32207372e-05 4.31019364e+00] [ 4.88076996e-03 -9.36346607e-05 9.99988085e-01 2.88177524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.039254154 meters 0.05684761068681808 Centerline is valid? [True, True] Translation: X:735.66, Y:4.30, Z:2.88 [[ 9.99841341e-01 -1.69171028e-02 -5.57719811e-03 7.35659450e+02] [ 1.69174507e-02 9.99856890e-01 1.52064065e-05 4.30296486e+00] [ 5.57614271e-03 -1.09555968e-04 9.99984447e-01 2.88119815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters 0.05629760178583636 Centerline is valid? [True, True] Translation: X:735.72, Y:4.31, Z:2.88 [[ 9.99847283e-01 -1.67635635e-02 -4.93893423e-03 7.35721294e+02] [ 1.67638349e-02 9.99859477e-01 1.35563171e-05 4.30777964e+00] [ 4.93801295e-03 -9.63497250e-05 9.99987803e-01 2.88165260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.159254154 meters 0.05610721409582025 Centerline is valid? [True, True] Translation: X:735.78, Y:4.30, Z:2.88 [[ 9.99841032e-01 -1.67381709e-02 -6.14363469e-03 7.35782587e+02] [ 1.67385917e-02 9.99859900e-01 1.70745064e-05 4.30265732e+00] [ 6.14248817e-03 -1.19907584e-04 9.99981128e-01 2.88062801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters 0.05534768630884857 Centerline is valid? [True, True] Translation: X:735.84, Y:4.30, Z:2.88 [[ 9.99780261e-01 -1.93813133e-02 -7.98708555e-03 7.35843998e+02] [ 1.93821106e-02 9.99812149e-01 2.24227007e-05 4.30407966e+00] [ 7.98515058e-03 -1.77224349e-04 9.99968102e-01 2.87937904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.279254154 meters 0.05546094993237354 Centerline is valid? [True, True] Translation: X:735.91, Y:4.30, Z:2.88 [[ 9.99733883e-01 -2.10735064e-02 -9.38462005e-03 7.35905857e+02] [ 2.10746858e-02 9.99777904e-01 2.67819209e-05 4.30130191e+00] [ 9.38197138e-03 -2.24552712e-04 9.99955963e-01 2.87896094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters 0.05562371198402031 Centerline is valid? [True, True] Translation: X:735.97, Y:4.30, Z:2.88 [[ 9.99703342e-01 -2.22973245e-02 -9.80091912e-03 7.35967126e+02] [ 2.22986727e-02 9.99751353e-01 2.82811544e-05 4.29633313e+00] [ 9.79785156e-03 -2.46820252e-04 9.99951969e-01 2.87901992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.399254154 meters 0.05587848810363587 Centerline is valid? [True, True] Translation: X:736.03, Y:4.29, Z:2.88 [[ 9.99726720e-01 -2.16171881e-02 -8.89850917e-03 7.36027703e+02] [ 2.16182742e-02 9.99766297e-01 2.58779812e-05 4.29315492e+00] [ 8.89587016e-03 -2.18241321e-04 9.99960407e-01 2.87992758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters 0.05636055894739207 Centerline is valid? [True, True] Translation: X:736.09, Y:4.30, Z:2.88 [[ 9.99817457e-01 -1.73740715e-02 -7.94952006e-03 7.36088417e+02] [ 1.73748054e-02 9.99849046e-01 2.32640289e-05 4.29667271e+00] [ 7.94791586e-03 -1.61381146e-04 9.99968402e-01 2.88182256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.519254154 meters 0.05529551792563246 Centerline is valid? [True, True] Translation: X:736.15, Y:4.30, Z:2.88 [[ 9.99915619e-01 -1.09336432e-02 -7.01499827e-03 7.36149472e+02] [ 1.09340564e-02 9.99940221e-01 2.05589377e-05 4.29631706e+00] [ 7.01435413e-03 -9.72595899e-05 9.99975394e-01 2.88193890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.579254154 meters 0.055849776214818354 Centerline is valid? [True, True] Translation: X:736.21, Y:4.29, Z:2.88 [[ 9.99962691e-01 -5.65164400e-03 -6.53262213e-03 7.36208530e+02] [ 5.65188954e-03 9.99984028e-01 1.91256811e-05 4.29402071e+00] [ 6.53240969e-03 -5.60466262e-05 9.99978662e-01 2.88241825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.639254154 meters 0.05541488426529412 Centerline is valid? [True, True] Translation: X:736.27, Y:4.29, Z:2.88 [[ 9.99967955e-01 -3.96158610e-03 -6.95667383e-03 7.36267499e+02] [ 3.96182111e-03 9.99992152e-01 2.00014605e-05 4.29138220e+00] [ 6.95654000e-03 -4.75619168e-05 9.99975802e-01 2.88255675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.699254154 meters 0.05553688864905591 Centerline is valid? [True, True] Translation: X:736.32, Y:4.28, Z:2.88 [[ 9.99942817e-01 -5.82966665e-03 -8.96535672e-03 7.36324993e+02] [ 5.83012512e-03 9.99983004e-01 2.50037008e-05 4.28290790e+00] [ 8.96505859e-03 -7.72714225e-05 9.99959810e-01 2.88118508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.759254154 meters 0.05651530684784788 Centerline is valid? [True, True] Translation: X:736.38, Y:4.28, Z:2.88 [[ 9.99917548e-01 -9.03578428e-03 -9.12423035e-03 7.36384703e+02] [ 9.03639067e-03 9.99959171e-01 2.52340412e-05 4.27858811e+00] [ 9.12362981e-03 -1.07682071e-04 9.99958373e-01 2.88192992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.819254154 meters 0.05661844492676717 Centerline is valid? [True, True] Translation: X:736.44, Y:4.26, Z:2.88 [[ 9.99781518e-01 -1.87302618e-02 -9.27867283e-03 7.36444190e+02] [ 1.87313059e-02 9.99824553e-01 2.56313557e-05 4.26360162e+00] [ 9.27656483e-03 -1.99427415e-04 9.99956952e-01 2.88091401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.879254154 meters 0.056589002079691676 Centerline is valid? [True, True] Translation: X:736.50, Y:4.26, Z:2.88 [[ 9.99640747e-01 -2.51261996e-02 -9.33008925e-03 7.36504470e+02] [ 2.51275338e-02 9.99684253e-01 2.57841145e-05 4.26138888e+00] [ 9.32649544e-03 -2.60216985e-04 9.99956473e-01 2.88213956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.939254154 meters 0.05619238442975643 Centerline is valid? [True, True] Translation: X:736.56, Y:4.25, Z:2.88 [[ 9.99307224e-01 -3.62732096e-02 -8.32625149e-03 7.36564853e+02] [ 3.62746586e-02 9.99341858e-01 2.30289997e-05 4.25314111e+00] [ 8.31993630e-03 -3.25044976e-04 9.99965336e-01 2.88369668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.999254154 meters 0.0584597608398276 Centerline is valid? [True, True] Translation: X:736.62, Y:4.24, Z:2.88 [[ 9.98863889e-01 -4.72147763e-02 -6.45731208e-03 7.36624071e+02] [ 4.72158761e-02 9.98884708e-01 1.78988955e-05 4.23831498e+00] [ 6.44926521e-03 -3.22766208e-04 9.99979151e-01 2.88427123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.059254154 meters 0.056979598888446864 Centerline is valid? [True, True] Translation: X:736.68, Y:4.24, Z:2.89 [[ 9.98560501e-01 -5.33271290e-02 -5.75699151e-03 7.36684346e+02] [ 5.33281048e-02 9.98577044e-01 1.60024740e-05 4.23820776e+00] [ 5.74794620e-03 -3.22988885e-04 9.99983428e-01 2.88529831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.119254154 meters 0.056851900644661474 Centerline is valid? [True, True] Translation: X:736.75, Y:4.23, Z:2.89 [[ 9.98152771e-01 -6.04351885e-02 -6.21565360e-03 7.36745350e+02] [ 6.04364633e-02 9.98172046e-01 1.72889192e-05 4.23385481e+00] [ 6.20324681e-03 -3.92909103e-04 9.99980682e-01 2.88513242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.179254154 meters 0.055454574075365165 Centerline is valid? [True, True] Translation: X:736.81, Y:4.24, Z:2.89 [[ 9.98084576e-01 -6.15119632e-02 -6.59230342e-03 7.36806377e+02] [ 6.15134208e-02 9.98106256e-01 1.83886989e-05 4.24316096e+00] [ 6.57868816e-03 -4.23868611e-04 9.99978270e-01 2.88560977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.239254154 meters 0.06208631604744205 Centerline is valid? [True, True] Translation: X:736.87, Y:4.22, Z:2.88 [[ 9.98093869e-01 -6.12907076e-02 -7.21652388e-03 7.36867786e+02] [ 6.12924507e-02 9.98119850e-01 2.04286780e-05 4.21773426e+00] [ 7.20170365e-03 -4.62708173e-04 9.99973960e-01 2.88458370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.299254154 meters 0.060047549648424 Centerline is valid? [True, True] Translation: X:736.93, Y:4.23, Z:2.88 [[ 9.98272832e-01 -5.81723341e-02 -8.20566013e-03 7.36928821e+02] [ 5.81744857e-02 9.98306430e-01 2.35656481e-05 4.22560611e+00] [ 8.19039241e-03 -5.00885004e-04 9.99966333e-01 2.88465670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters 0.05834815097329023 Centerline is valid? [True, True] Translation: X:736.99, Y:4.23, Z:2.88 [[ 9.98686401e-01 -5.03772240e-02 -9.35989810e-03 7.36989915e+02] [ 5.03796823e-02 9.98730137e-01 2.69064927e-05 4.23181506e+00] [ 9.34665684e-03 -4.98419842e-04 9.99956195e-01 2.88401506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.419254154 meters 0.05657878272806778 Centerline is valid? [True, True] Translation: X:737.05, Y:4.25, Z:2.89 [[ 9.99220563e-01 -3.83565762e-02 -9.32952078e-03 7.37050977e+02] [ 3.83584955e-02 9.99264042e-01 2.68156080e-05 4.24890415e+00] [ 9.32162609e-03 -3.84661088e-04 9.99956479e-01 2.88515548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters 0.05694480578592311 Centerline is valid? [True, True] Translation: X:737.11, Y:4.25, Z:2.88 [[ 9.99684572e-01 -2.34176336e-02 -9.07580207e-03 7.37110407e+02] [ 2.34188350e-02 9.99725741e-01 2.61036258e-05 4.25230793e+00] [ 9.07270166e-03 -2.38640103e-04 9.99958814e-01 2.88497282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.539254154 meters 0.056495816669131414 Centerline is valid? [True, True] Translation: X:737.17, Y:4.26, Z:2.88 [[ 9.99871407e-01 -1.35038034e-02 -8.64964287e-03 7.37170622e+02] [ 1.35045242e-02 9.99908809e-01 2.49231897e-05 4.25531132e+00] [ 8.64851755e-03 -1.41729296e-04 9.99962591e-01 2.88479301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters 0.05695994149194252 Centerline is valid? [True, True] Translation: X:737.23, Y:4.27, Z:2.89 [[ 9.99975221e-01 -1.74032585e-03 -6.82125468e-03 7.37231186e+02] [ 1.74050069e-03 9.99998485e-01 1.96961773e-05 4.26522921e+00] [ 6.82121007e-03 -3.15680878e-05 9.99976735e-01 2.88628704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.659254154 meters 0.05725333761207788 Centerline is valid? [True, True] Translation: X:737.29, Y:4.27, Z:2.89 [[ 9.99959309e-01 4.27558242e-03 -7.94358859e-03 7.37288756e+02] [-4.27553617e-03 9.99990860e-01 2.28038784e-05 4.26839766e+00] [ 7.94361348e-03 1.11601498e-05 9.99968449e-01 2.88566511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters 0.05709078822338911 Centerline is valid? [True, True] Translation: X:737.35, Y:4.27, Z:2.89 [[ 9.99950599e-01 4.52333726e-03 -8.85088716e-03 7.37347174e+02] [-4.52329264e-03 9.99989770e-01 2.50597078e-05 4.26648270e+00] [ 8.85090996e-03 1.49766829e-05 9.99960830e-01 2.88635030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.779254154 meters 0.05674323790791704 Centerline is valid? [True, True] Translation: X:737.41, Y:4.26, Z:2.89 [[ 9.99964961e-01 1.02720961e-03 -8.30792360e-03 7.37405355e+02] [-1.02705192e-03 9.99999472e-01 2.32462196e-05 4.26066296e+00] [ 8.30794310e-03 -1.47127361e-05 9.99965488e-01 2.88553787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters 0.056984482455192796 Centerline is valid? [True, True] Translation: X:737.46, Y:4.25, Z:2.89 [[ 9.99960592e-01 -4.57278331e-03 -7.60943971e-03 7.37463669e+02] [ 4.57307565e-03 9.99989543e-01 2.10187135e-05 4.25306744e+00] [ 7.60926402e-03 -5.58164286e-05 9.99971048e-01 2.88669240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.899254154 meters 0.05655783299279859 Centerline is valid? [True, True] Translation: X:737.52, Y:4.25, Z:2.89 [[ 9.99895221e-01 -1.24601744e-02 -7.36827685e-03 7.37523612e+02] [ 1.24606613e-02 9.99922363e-01 2.01697249e-05 4.24519131e+00] [ 7.36745348e-03 -1.11981214e-04 9.99972854e-01 2.88712906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters 0.05721371990037234 Centerline is valid? [True, True] Translation: X:737.58, Y:4.23, Z:2.89 [[ 9.99762015e-01 -2.04688957e-02 -7.54573397e-03 7.37583301e+02] [ 2.04696340e-02 9.99790475e-01 2.06264485e-05 4.22924215e+00] [ 7.54373075e-03 -1.75079952e-04 9.99971530e-01 2.88586619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.019254154 meters 0.058588260976328924 Centerline is valid? [True, True] Translation: X:737.64, Y:4.22, Z:2.89 [[ 9.99643342e-01 -2.54597316e-02 -8.06169102e-03 7.37643960e+02] [ 2.54607367e-02 9.99675823e-01 2.20462012e-05 4.22133715e+00] [ 8.05851632e-03 -2.27294931e-04 9.99967504e-01 2.88606233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.079254154 meters 0.05893153928537826 Centerline is valid? [True, True] Translation: X:737.70, Y:4.21, Z:2.89 [[ 9.99639437e-01 -2.55629383e-02 -8.21783750e-03 7.37704484e+02] [ 2.55639865e-02 9.99673188e-01 2.25123308e-05 4.21247141e+00] [ 8.21457632e-03 -2.32584900e-04 9.99966233e-01 2.88533519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.139254154 meters 0.05758774350602631 Centerline is valid? [True, True] Translation: X:737.77, Y:4.22, Z:2.89 [[ 9.99743589e-01 -2.14332550e-02 -7.30560553e-03 7.37765480e+02] [ 2.14339735e-02 9.99770266e-01 2.00573921e-05 4.22042978e+00] [ 7.30349728e-03 -1.76640404e-04 9.99973313e-01 2.88723566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.199254154 meters 0.05715148267548566 Centerline is valid? [True, True] Translation: X:737.83, Y:4.22, Z:2.89 [[ 9.99841234e-01 -1.61721755e-02 -7.48114316e-03 7.37825099e+02] [ 1.61727818e-02 9.99869212e-01 2.05410026e-05 4.21699913e+00] [ 7.47983252e-03 -1.41528637e-04 9.99972016e-01 2.88684304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.259254154 meters 0.057746124200762895 Centerline is valid? [True, True] Translation: X:737.89, Y:4.22, Z:2.89 [[ 9.99940467e-01 -6.67448652e-03 -8.63213753e-03 7.37885640e+02] [ 6.67493985e-03 9.99977722e-01 2.37079706e-05 4.21760696e+00] [ 8.63178698e-03 -8.13255580e-05 9.99962742e-01 2.88606911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.319254154 meters 0.05800363426331839 Centerline is valid? [True, True] Translation: X:737.94, Y:4.22, Z:2.89 [[ 9.99961719e-01 -1.16063624e-03 -8.67255158e-03 7.37944087e+02] [ 1.16088212e-03 9.99999326e-01 2.33179255e-05 4.21705958e+00] [ 8.67251867e-03 -3.33848429e-05 9.99962392e-01 2.88664795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.379254154 meters 0.05825979116955343 Centerline is valid? [True, True] Translation: X:738.00, Y:4.21, Z:2.89 [[ 9.99942434e-01 -2.25235110e-03 -1.04907242e-02 7.38002849e+02] [ 2.25276123e-03 9.99997462e-01 2.72779941e-05 4.21134027e+00] [ 1.04906361e-02 -5.09095206e-05 9.99944970e-01 2.88531537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.439254154 meters 0.058492956444618174 Centerline is valid? [True, True] Translation: X:738.06, Y:4.20, Z:2.88 [[ 9.99894472e-01 -9.69048789e-03 -1.08230952e-02 7.38061254e+02] [ 9.69135593e-03 9.99953037e-01 2.77569885e-05 4.20089055e+00] [ 1.08223179e-02 -1.32644527e-04 9.99941428e-01 2.88423499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.499254154 meters 0.05894371767906429 Centerline is valid? [True, True] Translation: X:738.12, Y:4.19, Z:2.88 [[ 9.99785052e-01 -1.76522881e-02 -1.08741288e-02 7.38120856e+02] [ 1.76536342e-02 9.99844162e-01 2.78144041e-05 4.19055029e+00] [ 1.08719432e-02 -2.19776318e-04 9.99940875e-01 2.88412301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.559254154 meters 0.06032632385552243 Centerline is valid? [True, True] Translation: X:738.18, Y:4.18, Z:2.89 [[ 9.99440395e-01 -3.19988666e-02 -9.74518490e-03 7.38181123e+02] [ 3.20006288e-02 9.99487848e-01 2.49159455e-05 4.18050765e+00] [ 9.73939661e-03 -3.36754047e-04 9.99952514e-01 2.88632003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.619254154 meters 0.06131844301968507 Centerline is valid? [True, True] Translation: X:738.24, Y:4.17, Z:2.89 [[ 9.98933611e-01 -4.55197323e-02 -7.71980560e-03 7.38240178e+02] [ 4.55212413e-02 9.98963371e-01 1.97871787e-05 4.16755563e+00] [ 7.71090232e-03 -3.71181211e-04 9.99970202e-01 2.88836950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.679254154 meters 0.07670912450066673 Centerline is valid? [True, True] Translation: X:738.30, Y:4.13, Z:2.89 [[ 9.98406650e-01 -5.61556552e-02 -5.54103266e-03 7.38300655e+02] [ 5.61565962e-02 9.98421973e-01 1.42523644e-05 4.12860656e+00] [ 5.53148841e-03 -3.25395189e-04 9.99984648e-01 2.88915773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.739254154 meters 0.06573791823638976 Centerline is valid? [True, True] Translation: X:738.36, Y:4.15, Z:2.89 [[ 9.97927851e-01 -6.41835732e-02 -4.52480998e-03 7.38360715e+02] [ 6.41842829e-02 9.97938063e-01 1.16529249e-05 4.15144310e+00] [ 4.51473218e-03 -3.02050462e-04 9.99989763e-01 2.89023802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.799254154 meters 0.05708441524052846 Centerline is valid? [True, True] Translation: X:738.42, Y:4.19, Z:2.89 [[ 9.97657524e-01 -6.82293558e-02 -4.92141969e-03 7.38421828e+02] [ 6.82302444e-02 9.97669601e-01 1.26885878e-05 4.18816931e+00] [ 4.90908509e-03 -3.48448533e-04 9.99987890e-01 2.88922407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters 0.05941883863891883 Centerline is valid? [True, True] Translation: X:738.48, Y:4.17, Z:2.89 [[ 9.97694307e-01 -6.74923794e-02 -7.13081314e-03 7.38482324e+02] [ 6.74942268e-02 9.97719665e-01 1.84752314e-05 4.17211991e+00] [ 7.11330556e-03 -4.99721353e-04 9.99974575e-01 2.88857716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.919254154 meters 0.05806625268521725 Centerline is valid? [True, True] Translation: X:738.54, Y:4.19, Z:2.89 [[ 9.97874329e-01 -6.47393472e-02 -7.45921117e-03 7.38542996e+02] [ 6.47412925e-02 9.97902082e-01 1.93794537e-05 4.18844961e+00] [ 7.44230774e-03 -5.02257232e-04 9.99972179e-01 2.88836841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters 0.057635057141148714 Centerline is valid? [True, True] Translation: X:738.60, Y:4.19, Z:2.89 [[ 9.98329089e-01 -5.71922637e-02 -8.25076694e-03 7.38602565e+02] [ 5.71943872e-02 9.98363061e-01 2.14489478e-05 4.19221196e+00] [ 8.23603422e-03 -4.93310668e-04 9.99965962e-01 2.88877640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.039254154 meters 0.058860963501579974 Centerline is valid? [True, True] Translation: X:738.66, Y:4.20, Z:2.89 [[ 9.98884954e-01 -4.66736100e-02 -7.10092809e-03 7.38662108e+02] [ 4.66749177e-02 9.98910132e-01 1.84650663e-05 4.19508424e+00] [ 7.09232719e-03 -3.49879711e-04 9.99974788e-01 2.88918822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters 0.05949950481316575 Centerline is valid? [True, True] Translation: X:738.72, Y:4.20, Z:2.89 [[ 9.99385003e-01 -3.46815951e-02 -5.17716734e-03 7.38721588e+02] [ 3.46821296e-02 9.99398394e-01 1.34725498e-05 4.19707876e+00] [ 5.17358547e-03 -1.93019452e-04 9.99986598e-01 2.88988246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.159254154 meters 0.05812731489145739 Centerline is valid? [True, True] Translation: X:738.78, Y:4.21, Z:2.89 [[ 9.99622468e-01 -2.71120488e-02 -4.45622396e-03 7.38782548e+02] [ 2.71123697e-02 9.99632392e-01 1.15942529e-05 4.20928613e+00] [ 4.45427147e-03 -1.32408667e-04 9.99990071e-01 2.89111970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters 0.05792362312183828 Centerline is valid? [True, True] Translation: X:738.84, Y:4.22, Z:2.89 [[ 9.99778150e-01 -2.05122429e-02 -4.78534391e-03 7.38843462e+02] [ 2.05125373e-02 9.99789596e-01 1.24499393e-05 4.21870798e+00] [ 4.78408168e-03 -1.10606723e-04 9.99988550e-01 2.89153384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.279254154 meters 0.057894102776021465 Centerline is valid? [True, True] Translation: X:738.90, Y:4.22, Z:2.89 [[ 9.99885363e-01 -1.38289584e-02 -6.16603625e-03 7.38902665e+02] [ 1.38293202e-02 9.99904370e-01 1.60427265e-05 4.22201433e+00] [ 6.16522474e-03 -1.01312977e-04 9.99980990e-01 2.88977438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters 0.057913438479512414 Centerline is valid? [True, True] Translation: X:738.96, Y:4.23, Z:2.89 [[ 9.99930634e-01 -9.70430603e-03 -6.67480930e-03 7.38963457e+02] [ 9.70463807e-03 9.99952909e-01 1.73582236e-05 4.22912967e+00] [ 6.67432653e-03 -8.21336280e-05 9.99977723e-01 2.89029173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.399254154 meters 0.056885189235914346 Centerline is valid? [True, True] Translation: X:739.02, Y:4.24, Z:2.89 [[ 9.99959428e-01 -5.32305464e-03 -7.26693693e-03 7.39022865e+02] [ 5.32333236e-03 9.99985831e-01 1.88758902e-05 4.23646548e+00] [ 7.26673349e-03 -5.75594449e-05 9.99973595e-01 2.89070854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters 0.05694353298372593 Centerline is valid? [True, True] Translation: X:739.08, Y:4.24, Z:2.89 [[ 9.99967930e-01 -6.64244223e-04 -7.98115333e-03 7.39080607e+02] [ 6.64428855e-04 9.99999779e-01 2.04819060e-05 4.23954958e+00] [ 7.98113796e-03 -2.57841577e-05 9.99968150e-01 2.89025863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.519254154 meters 0.05712544853419933 Centerline is valid? [True, True] Translation: X:739.14, Y:4.24, Z:2.89 [[ 9.99970932e-01 5.92210741e-04 -7.60165195e-03 7.39139947e+02] [-5.92081209e-04 9.99999825e-01 1.92903571e-05 4.24087277e+00] [ 7.60166204e-03 -1.47890011e-05 9.99971107e-01 2.89103706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.579254154 meters 0.057542623778779695 Centerline is valid? [True, True] Translation: X:739.20, Y:4.24, Z:2.89 [[ 9.99970849e-01 -1.60035124e-03 -7.46591765e-03 7.39198277e+02] [ 1.60053601e-03 9.99998719e-01 1.87731176e-05 4.24033970e+00] [ 7.46587805e-03 -3.07220404e-05 9.99972129e-01 2.89253016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.639254154 meters 0.05737809353552316 Centerline is valid? [True, True] Translation: X:739.26, Y:4.24, Z:2.89 [[ 9.99935639e-01 -8.25758256e-03 -7.78017905e-03 7.39257603e+02] [ 8.25798316e-03 9.99965902e-01 1.93652984e-05 4.23502764e+00] [ 7.77975385e-03 -8.36126395e-05 9.99969734e-01 2.89295706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.699254154 meters 0.058008974527421805 Centerline is valid? [True, True] Translation: X:739.32, Y:4.23, Z:2.89 [[ 9.99820671e-01 -1.64593835e-02 -9.36565523e-03 7.39318334e+02] [ 1.64603228e-02 9.99864519e-01 2.32213507e-05 4.22841153e+00] [ 9.36400416e-03 -1.77378895e-04 9.99956141e-01 2.89312821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.759254154 meters 0.058176424477806396 Centerline is valid? [True, True] Translation: X:739.38, Y:4.22, Z:2.89 [[ 9.99672317e-01 -2.31291932e-02 -1.09681039e-02 7.39379141e+02] [ 2.31308827e-02 9.99732445e-01 2.71886731e-05 4.22490007e+00] [ 1.09645405e-02 -2.80881689e-04 9.99939848e-01 2.89304618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.819254154 meters 0.058176144263964 Centerline is valid? [True, True] Translation: X:739.44, Y:4.22, Z:2.89 [[ 9.99566111e-01 -2.71507785e-02 -1.14204008e-02 7.39439085e+02] [ 2.71528719e-02 9.99631292e-01 2.82644960e-05 4.21551597e+00] [ 1.14154226e-02 -3.38348913e-04 9.99934785e-01 2.89118367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.879254154 meters 0.05802057173526243 Centerline is valid? [True, True] Translation: X:739.50, Y:4.22, Z:2.89 [[ 9.99505972e-01 -2.92472073e-02 -1.15070776e-02 7.39499828e+02] [ 2.92494718e-02 9.99572142e-01 2.85146999e-05 4.22252687e+00] [ 1.15013202e-02 -3.65076554e-04 9.99933791e-01 2.89396575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.939254154 meters 0.05808658909454802 Centerline is valid? [True, True] Translation: X:739.56, Y:4.22, Z:2.89 [[ 9.99394964e-01 -3.30067833e-02 -1.09662108e-02 7.39560597e+02] [ 3.30090671e-02 9.99455052e-01 2.72761228e-05 4.21977601e+00] [ 1.09593345e-02 -3.89244007e-04 9.99939869e-01 2.89490959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.999254154 meters 0.05888215117024339 Centerline is valid? [True, True] Translation: X:739.62, Y:4.22, Z:2.89 [[ 9.99146234e-01 -3.97049860e-02 -1.14156930e-02 7.39620547e+02] [ 3.97078972e-02 9.99211330e-01 2.83847827e-05 4.21670779e+00] [ 1.14055627e-02 -4.81653711e-04 9.99934838e-01 2.89454386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.059254154 meters 0.057354753743960214 Centerline is valid? [True, True] Translation: X:739.68, Y:4.22, Z:2.90 [[ 9.98678734e-01 -4.98092577e-02 -1.26421272e-02 7.39680837e+02] [ 4.98136354e-02 9.98758530e-01 3.14320005e-05 4.22281996e+00] [ 1.26248668e-02 -6.61140786e-04 9.99920085e-01 2.89593677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.119254154 meters 0.057319262099169245 Centerline is valid? [True, True] Translation: X:739.74, Y:4.23, Z:2.90 [[ 9.98143566e-01 -5.92360514e-02 -1.41602127e-02 7.39740947e+02] [ 5.92424893e-02 9.98243621e-01 3.52481483e-05 4.22639266e+00] [ 1.41332540e-02 -8.74068963e-04 9.99899739e-01 2.89677983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.179254154 meters 0.05872454992474566 Centerline is valid? [True, True] Translation: X:739.80, Y:4.22, Z:2.90 [[ 9.97865293e-01 -6.37985996e-02 -1.39497396e-02 7.39800412e+02] [ 6.38052916e-02 9.97962366e-01 3.47447777e-05 4.21931690e+00] [ 1.39190984e-02 -9.24737809e-04 9.99902697e-01 2.89624663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.239254154 meters 0.058958713460119154 Centerline is valid? [True, True] Translation: X:739.86, Y:4.22, Z:2.90 [[ 9.97901097e-01 -6.35301037e-02 -1.25429625e-02 7.39861629e+02] [ 6.35354954e-02 9.97979579e-01 3.14471902e-05 4.21607554e+00] [ 1.25156225e-02 -8.28304519e-04 9.99921333e-01 2.89677592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.299254154 meters 0.05559172971158915 Centerline is valid? [True, True] Translation: X:739.92, Y:4.24, Z:2.90 [[ 9.98188851e-01 -5.93541923e-02 -9.80292494e-03 7.39921884e+02] [ 5.93572855e-02 9.98236802e-01 2.46469306e-05 4.23913600e+00] [ 9.78417754e-03 -6.06477306e-04 9.99951950e-01 2.90033103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters 0.05761279248990737 Centerline is valid? [True, True] Translation: X:739.98, Y:4.24, Z:2.90 [[ 9.98585071e-01 -5.23445801e-02 -9.37558756e-03 7.39981277e+02] [ 5.23471015e-02 9.98628950e-01 2.35679703e-05 4.23646551e+00] [ 9.36149951e-03 -5.14319457e-04 9.99956048e-01 2.89963261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.419254154 meters 0.0570737814686702 Centerline is valid? [True, True] Translation: X:740.04, Y:4.24, Z:2.90 [[ 9.98967824e-01 -4.42749616e-02 -1.01495944e-02 7.40040796e+02] [ 4.42775004e-02 9.99019270e-01 2.54585448e-05 4.24103943e+00] [ 1.01385132e-02 -4.74830938e-04 9.99948491e-01 2.89918913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters 0.057034471877850934 Centerline is valid? [True, True] Translation: X:740.10, Y:4.25, Z:2.90 [[ 9.99320386e-01 -3.54953831e-02 -9.94200202e-03 7.40101281e+02] [ 3.54973848e-02 9.99369769e-01 2.48967958e-05 4.25124124e+00] [ 9.93485254e-03 -3.77794947e-04 9.99950577e-01 2.89963284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.539254154 meters 0.05789928784714824 Centerline is valid? [True, True] Translation: X:740.16, Y:4.25, Z:2.90 [[ 9.99532686e-01 -2.88718608e-02 -1.00412189e-02 7.40161431e+02] [ 2.88735687e-02 9.99583071e-01 2.51335872e-05 4.25070643e+00] [ 1.00363068e-02 -3.15047666e-04 9.99949585e-01 2.89885946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters 0.05763039257525589 Centerline is valid? [True, True] Translation: X:740.22, Y:4.26, Z:2.90 [[ 9.99792966e-01 -1.74023051e-02 -1.05443928e-02 7.40222477e+02] [ 1.74035492e-02 9.99848546e-01 2.62386052e-05 4.26219401e+00] [ 1.05423392e-02 -2.09743033e-04 9.99944406e-01 2.89945100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.659254154 meters 0.05685790852582262 Centerline is valid? [True, True] Translation: X:740.28, Y:4.27, Z:2.90 [[ 9.99925393e-01 -3.84438431e-03 -1.15943514e-02 7.40282573e+02] [ 3.84497574e-03 9.99992608e-01 2.87194589e-05 4.27242989e+00] [ 1.15941553e-02 -7.32973163e-05 9.99932783e-01 2.89940013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters 0.05731501713736225 Centerline is valid? [True, True] Translation: X:740.34, Y:4.28, Z:2.90 [[ 9.99912757e-01 8.47351025e-03 -1.01329717e-02 7.40339983e+02] [-8.47369373e-03 9.99964097e-01 2.48267840e-05 4.27981442e+00] [ 1.01328183e-02 6.10390808e-05 9.99948660e-01 2.90245301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.779254154 meters 0.05763198571184894 Centerline is valid? [True, True] Translation: X:740.40, Y:4.28, Z:2.90 [[ 9.99870659e-01 1.40797587e-02 -7.77337467e-03 7.40399731e+02] [-1.40800384e-02 9.99900871e-01 1.87444388e-05 4.28406752e+00] [ 7.77286802e-03 9.07073995e-05 9.99969787e-01 2.90378725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters 0.057377922972164055 Centerline is valid? [True, True] Translation: X:740.46, Y:4.28, Z:2.90 [[ 9.99909173e-01 1.06964935e-02 -8.19947977e-03 7.40457869e+02] [-1.06966939e-02 9.99942789e-01 1.94057815e-05 4.27633258e+00] [ 8.19921824e-03 6.83033066e-05 9.99966383e-01 2.90483616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.899254154 meters 0.05606661085357534 Centerline is valid? [True, True] Translation: X:740.52, Y:4.26, Z:2.90 [[ 9.99955516e-01 -6.17464181e-04 -9.41194096e-03 7.40517193e+02] [ 6.17698654e-04 9.99999809e-01 2.20052354e-05 4.26377166e+00] [ 9.41192557e-03 -2.78179998e-05 9.99955706e-01 2.90231661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters 0.057364890042586346 Centerline is valid? [True, True] Translation: X:740.58, Y:4.25, Z:2.90 [[ 9.99830550e-01 -1.47174882e-02 -1.10574672e-02 7.40577390e+02] [ 1.47186737e-02 9.99891674e-01 2.58411790e-05 4.24966621e+00] [ 1.10558891e-02 -1.88588053e-04 9.99938864e-01 2.90312785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.019254154 meters 0.0571148107004036 Centerline is valid? [True, True] Translation: X:740.64, Y:4.24, Z:2.90 [[ 9.99758324e-01 -1.90963248e-02 -1.08914531e-02 7.40636187e+02] [ 1.90977354e-02 9.99817621e-01 2.55157763e-05 4.24149092e+00] [ 1.08889795e-02 -2.33511699e-04 9.99940686e-01 2.90214406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.079254154 meters 0.05889910568915891 Centerline is valid? [True, True] Translation: X:740.70, Y:4.23, Z:2.90 [[ 9.99540699e-01 -2.85446817e-02 -1.01780168e-02 7.40695261e+02] [ 2.85464047e-02 9.99592468e-01 2.40172805e-05 4.22686183e+00] [ 1.01731834e-02 -3.14552036e-04 9.99948202e-01 2.90276089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.139254154 meters 0.05788784092906307 Centerline is valid? [True, True] Translation: X:740.76, Y:4.23, Z:2.91 [[ 9.99422724e-01 -3.24945323e-02 -9.91585974e-03 7.40755569e+02] [ 3.24963633e-02 9.99471853e-01 2.35555094e-05 4.23108861e+00] [ 9.90985729e-03 -3.45771292e-04 9.99950836e-01 2.90566275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.199254154 meters 0.057989574776814386 Centerline is valid? [True, True] Translation: X:740.82, Y:4.23, Z:2.91 [[ 9.99434864e-01 -3.22855404e-02 -9.35932863e-03 7.40817039e+02] [ 3.22871642e-02 9.99478633e-01 2.24081028e-05 4.22655638e+00] [ 9.35372553e-03 -3.24581620e-04 9.99956200e-01 2.90604779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.259254154 meters 0.06023971485501842 Centerline is valid? [True, True] Translation: X:740.88, Y:4.21, Z:2.90 [[ 9.99419431e-01 -3.27238435e-02 -9.48425280e-03 7.40878320e+02] [ 3.27255332e-02 9.99464376e-01 2.29766166e-05 4.21136577e+00] [ 9.47842092e-03 -3.33340507e-04 9.99955023e-01 2.90412991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.319254154 meters 0.05852452463607411 Centerline is valid? [True, True] Translation: X:740.94, Y:4.22, Z:2.90 [[ 9.99300945e-01 -3.57733662e-02 -1.08576545e-02 7.40939155e+02] [ 3.57757627e-02 9.99359842e-01 2.65060034e-05 4.21571175e+00] [ 1.08497557e-02 -4.14928345e-04 9.99941054e-01 2.90451026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.379254154 meters 0.059162047665696445 Centerline is valid? [True, True] Translation: X:741.00, Y:4.21, Z:2.90 [[ 9.99218534e-01 -3.74718882e-02 -1.25768947e-02 7.40998752e+02] [ 3.74752386e-02 9.99297556e-01 3.07460604e-05 4.20972961e+00] [ 1.25669081e-02 -5.02044165e-04 9.99920907e-01 2.90282069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.439254154 meters 0.05973170119253137 Centerline is valid? [True, True] Translation: X:741.06, Y:4.21, Z:2.90 [[ 9.99256246e-01 -3.61066157e-02 -1.35375980e-02 7.41059499e+02] [ 3.61103735e-02 9.99347807e-01 3.31682605e-05 4.20737030e+00] [ 1.35275713e-02 -5.21991313e-04 9.99908362e-01 2.90126959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.499254154 meters 0.05930203174542523 Centerline is valid? [True, True] Translation: X:741.12, Y:4.21, Z:2.90 [[ 9.99505393e-01 -2.80080465e-02 -1.43010219e-02 7.41120021e+02] [ 2.80114121e-02 9.99607603e-01 3.50514517e-05 4.21275805e+00] [ 1.42944285e-02 -4.35625932e-04 9.99897735e-01 2.90083343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.559254154 meters 0.05857650694058637 Centerline is valid? [True, True] Translation: X:741.18, Y:4.23, Z:2.90 [[ 9.99793479e-01 -1.57159985e-02 -1.28843898e-02 7.41180551e+02] [ 1.57177100e-02 9.99876469e-01 3.15799242e-05 4.22594433e+00] [ 1.28823019e-02 -2.34086505e-04 9.99916992e-01 2.90343861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.619254154 meters 0.05772597406401061 Centerline is valid? [True, True] Translation: X:741.24, Y:4.23, Z:2.90 [[ 9.99927678e-01 -4.79491260e-03 -1.10294395e-02 7.41241282e+02] [ 4.79550221e-03 9.99988501e-01 2.70114655e-05 4.23341351e+00] [ 1.10291831e-02 -7.99012132e-05 9.99939173e-01 2.90457953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.679254154 meters 0.057605528058709665 Centerline is valid? [True, True] Translation: X:741.30, Y:4.24, Z:2.91 [[ 9.99952078e-01 2.92759312e-04 -9.78553031e-03 7.41299367e+02] [-2.92541355e-04 9.99999957e-01 2.37046723e-05 4.23661805e+00] [ 9.78553683e-03 -2.08408640e-05 9.99952120e-01 2.90594372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.739254154 meters 0.05807349763950908 Centerline is valid? [True, True] Translation: X:741.36, Y:4.24, Z:2.91 [[ 9.99960113e-01 -3.18996736e-04 -8.92579294e-03 7.41357826e+02] [ 3.19199621e-04 9.99999949e-01 2.13055950e-05 4.23579524e+00] [ 8.92578569e-03 -2.41538549e-05 9.99960164e-01 2.90675663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.799254154 meters 0.05794773075051058 Centerline is valid? [True, True] Translation: X:741.42, Y:4.23, Z:2.91 [[ 9.99944792e-01 -4.47818932e-03 -9.50575470e-03 7.41416851e+02] [ 4.47860426e-03 9.99989971e-01 2.23643161e-05 4.23113154e+00] [ 9.50555921e-03 -6.49355949e-05 9.99954819e-01 2.90703899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters 0.0581618151620651 Centerline is valid? [True, True] Translation: X:741.47, Y:4.23, Z:2.91 [[ 9.99898379e-01 -9.90055300e-03 -1.02572515e-02 7.41474939e+02] [ 9.90131774e-03 9.99950980e-01 2.37760277e-05 4.22675601e+00] [ 1.02565133e-02 -1.25333918e-04 9.99947393e-01 2.90770815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.919254154 meters 0.05829744411250576 Centerline is valid? [True, True] Translation: X:741.53, Y:4.22, Z:2.91 [[ 9.99867075e-01 -1.32347892e-02 -9.52222688e-03 7.41534019e+02] [ 1.32355974e-02 9.99912405e-01 2.18571355e-05 4.22279178e+00] [ 9.52110351e-03 -1.47886591e-04 9.99954662e-01 2.90777941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters 0.05845599528190592 Centerline is valid? [True, True] Translation: X:741.59, Y:4.22, Z:2.91 [[ 9.99887024e-01 -1.18819382e-02 -9.20646353e-03 7.41592946e+02] [ 1.18826304e-02 9.99929399e-01 2.04900452e-05 4.21899968e+00] [ 9.20557008e-03 -1.29884734e-04 9.99957619e-01 2.90749872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.039254154 meters 0.05798736055443311 Centerline is valid? [True, True] Translation: X:741.65, Y:4.22, Z:2.91 [[ 9.99920561e-01 -8.80197305e-03 -9.02201543e-03 7.41651395e+02] [ 8.80250745e-03 9.99961257e-01 1.95249239e-05 4.22141068e+00] [ 9.02149403e-03 -9.89397309e-05 9.99959301e-01 2.90947828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters 0.05821378809304512 Centerline is valid? [True, True] Translation: X:741.71, Y:4.22, Z:2.91 [[ 9.99956839e-01 -4.44323725e-03 -8.15948076e-03 7.41710029e+02] [ 4.44352536e-03 9.99990127e-01 1.71823654e-05 4.21931420e+00] [ 8.15932386e-03 -5.34384835e-05 9.99966711e-01 2.91003194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.159254154 meters 0.05821152294133206 Centerline is valid? [True, True] Translation: X:741.77, Y:4.21, Z:2.91 [[ 9.99959263e-01 -3.06737325e-03 -8.48899950e-03 7.41768797e+02] [ 3.06762808e-03 9.99995295e-01 1.69977524e-05 4.21412857e+00] [ 8.48890742e-03 -4.30381532e-05 9.99963968e-01 2.90846535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters 0.05871606634170496 Centerline is valid? [True, True] Translation: X:741.83, Y:4.21, Z:2.91 [[ 9.99955637e-01 -4.91788276e-03 -8.03355875e-03 7.41827490e+02] [ 4.91816624e-03 9.99987906e-01 1.55318134e-05 4.20773858e+00] [ 8.03338521e-03 -5.50415017e-05 9.99967730e-01 2.90879052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.279254154 meters 0.05817759582088728 Centerline is valid? [True, True] Translation: X:741.89, Y:4.20, Z:2.91 [[ 9.99925056e-01 -8.92503307e-03 -8.38015224e-03 7.41885874e+02] [ 8.92548012e-03 9.99960167e-01 1.59469792e-05 4.20077314e+00] [ 8.37967610e-03 -9.07426662e-05 9.99964886e-01 2.90899717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters 0.05845695702972831 Centerline is valid? [True, True] Translation: X:741.95, Y:4.20, Z:2.91 [[ 9.99890778e-01 -1.17605859e-02 -8.95098735e-03 7.41945185e+02] [ 1.17612075e-02 9.99930834e-01 1.68106655e-05 4.19537060e+00] [ 8.95017054e-03 -1.22083249e-04 9.99959939e-01 2.90837374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.399254154 meters 0.05915529566220728 Centerline is valid? [True, True] Translation: X:742.00, Y:4.19, Z:2.91 [[ 9.99852238e-01 -1.45823269e-02 -9.10263708e-03 7.42004278e+02] [ 1.45830847e-02 9.99893661e-01 1.68763770e-05 4.19295574e+00] [ 9.10142301e-03 -1.49618411e-04 9.99958570e-01 2.90892763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters 0.05968030575797569 Centerline is valid? [True, True] Translation: X:742.06, Y:4.18, Z:2.91 [[ 9.99836198e-01 -1.57188574e-02 -8.97194057e-03 7.42061843e+02] [ 1.57196330e-02 9.99876439e-01 1.59391156e-05 4.18223267e+00] [ 8.97058144e-03 -1.56972118e-04 9.99959751e-01 2.90754650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.519254154 meters 0.058970750851801326 Centerline is valid? [True, True] Translation: X:742.12, Y:4.18, Z:2.91 [[ 9.99827990e-01 -1.66755665e-02 -8.11882898e-03 7.42121559e+02] [ 1.66762292e-02 9.99860942e-01 1.39291524e-05 4.18093280e+00] [ 8.11746771e-03 -1.49318209e-04 9.99967042e-01 2.90920645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.579254154 meters 0.05989580532442567 Centerline is valid? [True, True] Translation: X:742.18, Y:4.17, Z:2.91 [[ 9.99796756e-01 -1.85550119e-02 -7.88402621e-03 7.42181038e+02] [ 1.85556945e-02 9.99827828e-01 1.34318670e-05 4.17145816e+00] [ 7.88241957e-03 -1.59722719e-04 9.99968920e-01 2.90904590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.639254154 meters 0.0600728282328605 Centerline is valid? [True, True] Translation: X:742.24, Y:4.17, Z:2.91 [[ 9.99771132e-01 -2.00707251e-02 -7.40603533e-03 7.42240926e+02] [ 2.00713676e-02 9.99798550e-01 1.24351573e-05 4.17015048e+00] [ 7.40429380e-03 -1.61081569e-04 9.99972575e-01 2.90892315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.699254154 meters 0.060061001191987526 Centerline is valid? [True, True] Translation: X:742.30, Y:4.17, Z:2.91 [[ 9.99719050e-01 -2.24803452e-02 -7.51360529e-03 7.42301540e+02] [ 2.24810735e-02 9.99747269e-01 1.24672687e-05 4.16625645e+00] [ 7.51142609e-03 -1.81377678e-04 9.99971772e-01 2.90848997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.759254154 meters 0.05971681637125812 Centerline is valid? [True, True] Translation: X:742.36, Y:4.17, Z:2.91 [[ 9.99740523e-01 -2.14529748e-02 -7.65876922e-03 7.42361859e+02] [ 2.14537018e-02 9.99769843e-01 1.27714681e-05 4.16705065e+00] [ 7.65673252e-03 -1.77077105e-04 9.99970671e-01 2.90935849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.819254154 meters 0.06023456258798067 Centerline is valid? [True, True] Translation: X:742.42, Y:4.16, Z:2.91 [[ 9.99853310e-01 -1.55764375e-02 -7.12275891e-03 7.42420897e+02] [ 1.55769172e-02 9.99878672e-01 1.18764300e-05 4.16470484e+00] [ 7.12170973e-03 -1.22825313e-04 9.99974633e-01 2.90900387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.879254154 meters 0.05916478764263609 Centerline is valid? [True, True] Translation: X:742.48, Y:4.17, Z:2.91 [[ 9.99948992e-01 -7.70235495e-03 -6.53347933e-03 7.42481260e+02] [ 7.70259005e-03 9.99970335e-01 1.08215890e-05 4.17167259e+00] [ 6.53320216e-03 -6.11457499e-05 9.99978657e-01 2.91040823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.939254154 meters 0.05926048856825114 Centerline is valid? [True, True] Translation: X:742.54, Y:4.17, Z:2.91 [[ 9.99964193e-01 -5.03215152e-03 -6.80368257e-03 7.42539932e+02] [ 5.03234382e-03 9.99987338e-01 1.11454641e-05 4.17217907e+00] [ 6.80354034e-03 -4.53835350e-05 9.99976855e-01 2.91088336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.999254154 meters 0.05905619835908287 Centerline is valid? [True, True] Translation: X:742.60, Y:4.17, Z:2.91 [[ 9.99976204e-01 5.22995441e-04 -6.87882514e-03 7.42598826e+02] [-5.22932084e-04 9.99999863e-01 1.10089504e-05 4.17324301e+00] [ 6.87882996e-03 -7.41153001e-06 9.99976341e-01 2.91038967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.059254154 meters 0.059718438054229425 Centerline is valid? [True, True] Translation: X:742.66, Y:4.17, Z:2.91 [[ 9.99979456e-01 1.11152485e-03 -6.31279837e-03 7.42657232e+02] [-1.11148648e-03 9.99999382e-01 9.58593086e-06 4.17143465e+00] [ 6.31280512e-03 -2.56914386e-06 9.99980074e-01 2.91134062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.119254154 meters 0.05951228815379029 Centerline is valid? [True, True] Translation: X:742.72, Y:4.17, Z:2.91 [[ 9.99971229e-01 -3.47313551e-03 -6.74380293e-03 7.42715377e+02] [ 3.47327919e-03 9.99993968e-01 9.59371120e-06 4.16559217e+00] [ 6.74372893e-03 -3.30165456e-05 9.99977260e-01 2.91139929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.179254154 meters 0.059941680593608986 Centerline is valid? [True, True] Translation: X:742.78, Y:4.15, Z:2.91 [[ 9.99901668e-01 -1.24297366e-02 -6.49279414e-03 7.42775633e+02] [ 1.24300578e-02 9.99922744e-01 9.11195970e-06 4.15426414e+00] [ 6.49217928e-03 -8.98168700e-05 9.99978922e-01 2.91192871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.239254154 meters 0.060321020844804 Centerline is valid? [True, True] Translation: X:742.84, Y:4.15, Z:2.91 [[ 9.99820628e-01 -1.81793890e-02 -5.31244133e-03 7.42835424e+02] [ 1.81796851e-02 9.99834736e-01 7.44436686e-06 4.15370475e+00] [ 5.31142804e-03 -1.04021542e-04 9.99985889e-01 2.91327162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.299254154 meters 0.06041698670857336 Centerline is valid? [True, True] Translation: X:742.89, Y:4.15, Z:2.91 [[ 9.99714112e-01 -2.31522370e-02 -5.97230923e-03 7.42894782e+02] [ 2.31526999e-02 9.99731940e-01 8.35805260e-06 4.14766175e+00] [ 5.97051478e-03 -1.46630746e-04 9.99982166e-01 2.91387360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters 0.06131643329591893 Centerline is valid? [True, True] Translation: X:742.96, Y:4.14, Z:2.91 [[ 9.99708829e-01 -2.34825622e-02 -5.55222352e-03 7.42955542e+02] [ 2.34829676e-02 9.99724237e-01 7.82721746e-06 4.14214784e+00] [ 5.55050862e-03 -1.38207623e-04 9.99984586e-01 2.91412679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.419254154 meters 0.05992842793251763 Centerline is valid? [True, True] Translation: X:743.02, Y:4.15, Z:2.91 [[ 9.99761641e-01 -2.10273674e-02 -5.87459384e-03 7.43016738e+02] [ 2.10277791e-02 9.99778892e-01 8.32723545e-06 4.15050757e+00] [ 5.87311982e-03 -1.31854912e-04 9.99982744e-01 2.91451241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters 0.06066705898248501 Centerline is valid? [True, True] Translation: X:743.08, Y:4.14, Z:2.91 [[ 9.99790810e-01 -1.96402969e-02 -5.70921852e-03 7.43077243e+02] [ 1.96406633e-02 9.99807104e-01 8.11745135e-06 4.14487175e+00] [ 5.70795780e-03 -1.20248592e-04 9.99983702e-01 2.91384699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.539254154 meters 0.059751631560962144 Centerline is valid? [True, True] Translation: X:743.14, Y:4.15, Z:2.91 [[ 9.99837411e-01 -1.68004133e-02 -6.54966608e-03 7.43137424e+02] [ 1.68008346e-02 9.99858856e-01 9.30188242e-06 4.15127634e+00] [ 6.54858536e-03 -1.19340226e-04 9.99978551e-01 2.91423421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters 0.05940821332824363 Centerline is valid? [True, True] Translation: X:743.20, Y:4.15, Z:2.91 [[ 9.99856714e-01 -1.51156206e-02 -7.62035458e-03 7.43196920e+02] [ 1.51161418e-02 9.99885745e-01 1.07923440e-05 4.15455071e+00] [ 7.61932078e-03 -1.25981158e-04 9.99970965e-01 2.91487813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.659254154 meters 0.06008675599552664 Centerline is valid? [True, True] Translation: X:743.26, Y:4.15, Z:2.91 [[ 9.99831788e-01 -1.61003995e-02 -8.78485743e-03 7.43255755e+02] [ 1.61011254e-02 9.99870368e-01 1.19110801e-05 4.15009030e+00] [ 8.78352687e-03 -1.53355168e-04 9.99961412e-01 2.91409351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters 0.06054836345177346 Centerline is valid? [True, True] Translation: X:743.32, Y:4.14, Z:2.91 [[ 9.99764668e-01 -1.99365075e-02 -8.55245028e-03 7.43315551e+02] [ 1.99373325e-02 9.99801232e-01 1.12047728e-05 4.14487770e+00] [ 8.55052694e-03 -1.81715181e-04 9.99963427e-01 2.91362280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.779254154 meters 0.05973327742596877 Centerline is valid? [True, True] Translation: X:743.38, Y:4.15, Z:2.92 [[ 9.99691540e-01 -2.30991454e-02 -9.12436909e-03 7.43375248e+02] [ 2.31002159e-02 9.99733154e-01 1.19411298e-05 4.15382198e+00] [ 9.12165846e-03 -2.22712343e-04 9.99958372e-01 2.91644266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters 0.06097784773008458 Centerline is valid? [True, True] Translation: X:743.44, Y:4.14, Z:2.92 [[ 9.99575195e-01 -2.78034225e-02 -8.74062428e-03 7.43435746e+02] [ 2.78045848e-02 9.99613378e-01 1.14639504e-05 4.14340417e+00] [ 8.73692622e-03 -2.54488509e-04 9.99961800e-01 2.91583899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.899254154 meters 0.06102982900890631 Centerline is valid? [True, True] Translation: X:743.49, Y:4.14, Z:2.92 [[ 9.99525236e-01 -2.98300639e-02 -7.71169743e-03 7.43494686e+02] [ 2.98310289e-02 9.99554956e-01 1.01109409e-05 4.13794607e+00] [ 7.70796378e-03 -2.40154009e-04 9.99970264e-01 2.91669975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters 0.06145001941068032 Centerline is valid? [True, True] Translation: X:743.55, Y:4.14, Z:2.92 [[ 9.99551810e-01 -2.90636555e-02 -7.17518733e-03 7.43554832e+02] [ 2.90644710e-02 9.99577539e-01 9.37976093e-06 4.13555014e+00] [ 7.17188348e-03 -2.17918581e-04 9.99974258e-01 2.91707371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.019254154 meters 0.061091454678699954 Centerline is valid? [True, True] Translation: X:743.62, Y:4.14, Z:2.92 [[ 9.99596995e-01 -2.75605368e-02 -6.80182428e-03 7.43615168e+02] [ 2.75612349e-02 9.99620117e-01 8.91395632e-06 4.14080463e+00] [ 6.79899471e-03 -1.96377041e-04 9.99976867e-01 2.91717962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.079254154 meters 0.060370686774068295 Centerline is valid? [True, True] Translation: X:743.68, Y:4.14, Z:2.92 [[ 9.99629867e-01 -2.59905565e-02 -8.03861266e-03 7.43675630e+02] [ 2.59914814e-02 9.99662164e-01 1.06030498e-05 4.14265531e+00] [ 8.03562135e-03 -2.19534577e-04 9.99967690e-01 2.91691827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.139254154 meters 0.061196081944900074 Centerline is valid? [True, True] Translation: X:743.74, Y:4.14, Z:2.92 [[ 9.99631908e-01 -2.59702849e-02 -7.84807983e-03 7.43735864e+02] [ 2.59711664e-02 9.99662692e-01 1.04122610e-05 4.14264574e+00] [ 7.84516220e-03 -2.14232216e-04 9.99969203e-01 2.91634369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.199254154 meters 0.06026188017025081 Centerline is valid? [True, True] Translation: X:743.80, Y:4.15, Z:2.92 [[ 9.99644469e-01 -2.54656017e-02 -7.90182130e-03 7.43796574e+02] [ 2.54664797e-02 9.99675677e-01 1.04967281e-05 4.15027128e+00] [ 7.89899125e-03 -2.11724568e-04 9.99968780e-01 2.91723774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.259254154 meters 0.05974160658740525 Centerline is valid? [True, True] Translation: X:743.86, Y:4.15, Z:2.92 [[ 9.99659103e-01 -2.46259203e-02 -8.67417224e-03 7.43856751e+02] [ 2.46269465e-02 9.99696711e-01 1.15031758e-05 4.15172882e+00] [ 8.67125818e-03 -2.25117630e-04 9.99962379e-01 2.91675391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.319254154 meters 0.060070585062118514 Centerline is valid? [True, True] Translation: X:743.92, Y:4.15, Z:2.92 [[ 9.99671546e-01 -2.41125338e-02 -8.68250596e-03 7.43916013e+02] [ 2.41135427e-02 9.99709226e-01 1.15142274e-05 4.14847734e+00] [ 8.67970368e-03 -2.20876424e-04 9.99962306e-01 2.91613526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.379254154 meters 0.059506255200044975 Centerline is valid? [True, True] Translation: X:743.98, Y:4.16, Z:2.92 [[ 9.99652482e-01 -2.47589947e-02 -9.05024617e-03 7.43976610e+02] [ 2.47601173e-02 9.99693421e-01 1.20019028e-05 4.16415666e+00] [ 9.04717440e-03 -2.36082889e-04 9.99959046e-01 2.91919243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.439254154 meters 0.05975208870219629 Centerline is valid? [True, True] Translation: X:744.04, Y:4.16, Z:2.92 [[ 9.99623497e-01 -2.59151236e-02 -9.01507942e-03 7.44036418e+02] [ 2.59162845e-02 9.99664117e-01 1.19552667e-05 4.15734694e+00] [ 9.01174158e-03 -2.45588128e-04 9.99959363e-01 2.91816624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.499254154 meters 0.058929837525446026 Centerline is valid? [True, True] Translation: X:744.10, Y:4.16, Z:2.92 [[ 9.99648980e-01 -2.52587765e-02 -7.99442314e-03 7.44096474e+02] [ 2.52596671e-02 9.99680924e-01 1.04433354e-05 4.15998385e+00] [ 7.99160852e-03 -2.12376137e-04 9.99968044e-01 2.91897993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.559254154 meters 0.05940449421082492 Centerline is valid? [True, True] Translation: X:744.16, Y:4.17, Z:2.92 [[ 9.99756678e-01 -2.06110939e-02 -7.85919203e-03 7.44156798e+02] [ 2.06118100e-02 9.99787554e-01 1.01227712e-05 4.16589609e+00] [ 7.85731374e-03 -1.72112481e-04 9.99969116e-01 2.92013645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.619254154 meters 0.05996874486071931 Centerline is valid? [True, True] Translation: X:744.22, Y:4.17, Z:2.92 [[ 9.99867932e-01 -1.38108045e-02 -8.56617508e-03 7.44216200e+02] [ 1.38114054e-02 9.99904618e-01 1.09967471e-05 4.16573205e+00] [ 8.56520615e-03 -1.29306212e-04 9.99963310e-01 2.91903545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.679254154 meters 0.05939326136687995 Centerline is valid? [True, True] Translation: X:744.28, Y:4.17, Z:2.92 [[ 9.99922377e-01 -8.54621069e-03 -9.06650962e-03 7.44275632e+02] [ 8.54666674e-03 9.99963477e-01 1.15555481e-05 4.17235789e+00] [ 9.06607973e-03 -8.90430873e-05 9.99958898e-01 2.92061225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.739254154 meters 0.05966405489411882 Centerline is valid? [True, True] Translation: X:744.33, Y:4.17, Z:2.92 [[ 9.99947695e-01 -5.92492030e-03 -8.33681293e-03 7.44333201e+02] [ 5.92521301e-03 9.99982446e-01 1.04117766e-05 4.17353453e+00] [ 8.33660489e-03 -5.98086244e-05 9.99965248e-01 2.92138757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.799254154 meters 0.05951350369560576 Centerline is valid? [True, True] Translation: X:744.39, Y:4.17, Z:2.92 [[ 9.99950138e-01 -6.44089787e-03 -7.63133829e-03 7.44390842e+02] [ 6.44115578e-03 9.99979256e-01 9.21949112e-06 4.17367108e+00] [ 7.63112060e-03 -5.83736701e-05 9.99970881e-01 2.92108569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters 0.058939035613103735 Centerline is valid? [True, True] Translation: X:744.45, Y:4.17, Z:2.92 [[ 9.99937340e-01 -7.95849232e-03 -7.87258321e-03 7.44448400e+02] [ 7.95881110e-03 9.99968328e-01 9.16292146e-06 4.17136089e+00] [ 7.87226095e-03 -7.18187499e-05 9.99969011e-01 2.92075428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.919254154 meters 0.059338982654118674 Centerline is valid? [True, True] Translation: X:744.51, Y:4.17, Z:2.92 [[ 9.99912673e-01 -1.07155740e-02 -7.73446667e-03 7.44507020e+02] [ 1.07159622e-02 9.99942582e-01 8.73878199e-06 4.17257981e+00] [ 7.73392893e-03 -9.16202710e-05 9.99970089e-01 2.92186131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters 0.05888001844486131 Centerline is valid? [True, True] Translation: X:744.57, Y:4.17, Z:2.92 [[ 9.99810148e-01 -1.82882431e-02 -6.72367637e-03 7.44566747e+02] [ 1.82887070e-02 9.99832748e-01 7.52160712e-06 4.16524115e+00] [ 6.72241426e-03 -1.30487527e-04 9.99977396e-01 2.92159422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.039254154 meters 0.06032678265062081 Centerline is valid? [True, True] Translation: X:744.63, Y:4.16, Z:2.92 [[ 9.99541709e-01 -2.97124616e-02 -5.79159810e-03 7.44627220e+02] [ 2.97129976e-02 9.99558471e-01 6.51117618e-06 4.15583849e+00] [ 5.78884748e-03 -1.78593933e-04 9.99983229e-01 2.92112150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters 0.061651370297648785 Centerline is valid? [True, True] Translation: X:744.69, Y:4.15, Z:2.92 [[ 9.99298659e-01 -3.67952912e-02 -6.94955802e-03 7.44686601e+02] [ 3.67962346e-02 9.99322789e-01 7.89399664e-06 4.14736503e+00] [ 6.94456124e-03 -2.63606028e-04 9.99975851e-01 2.92098926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.159254154 meters 0.06528248434577417 Centerline is valid? [True, True] Translation: X:744.75, Y:4.13, Z:2.92 [[ 9.98762022e-01 -4.92862645e-02 -6.72955653e-03 7.44746732e+02] [ 4.92874322e-02 9.98784636e-01 7.69111720e-06 4.13169459e+00] [ 6.72099860e-03 -3.39364157e-04 9.99977356e-01 2.92012014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters 0.05907006691201535 Centerline is valid? [True, True] Translation: X:744.81, Y:4.16, Z:2.92 [[ 9.98517649e-01 -5.40955670e-02 -6.01446690e-03 7.44807698e+02] [ 5.40965869e-02 9.98535708e-01 6.90350344e-06 4.15747625e+00] [ 6.00528652e-03 -3.32255402e-04 9.99981913e-01 2.92139863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.279254154 meters 0.06359753572200186 Centerline is valid? [True, True] Translation: X:744.87, Y:4.14, Z:2.92 [[ 9.98308231e-01 -5.77204724e-02 -7.00164985e-03 7.44867591e+02] [ 5.77219437e-02 9.98332699e-01 8.07779894e-06 4.13952450e+00] [ 6.98950974e-03 -4.12212972e-04 9.99975488e-01 2.92066915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters 0.05825557690575145 Centerline is valid? [True, True] Translation: X:744.93, Y:4.16, Z:2.92 [[ 9.98265147e-01 -5.86026679e-02 -5.69419928e-03 7.44929502e+02] [ 5.86036556e-02 9.98281329e-01 6.62468410e-06 4.16183108e+00] [ 5.68402460e-03 -3.40314085e-04 9.99983788e-01 2.92144000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.399254154 meters 0.05929386334717248 Centerline is valid? [True, True] Translation: X:744.99, Y:4.17, Z:2.92 [[ 9.98383750e-01 -5.65876902e-02 -5.26505825e-03 7.44988967e+02] [ 5.65885074e-02 9.98397587e-01 6.24584745e-06 4.16528857e+00] [ 5.25626801e-03 -3.04177540e-04 9.99986139e-01 2.92201498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters 0.057761394798247365 Centerline is valid? [True, True] Translation: X:745.05, Y:4.18, Z:2.92 [[ 9.98525922e-01 -5.40837011e-02 -4.57564950e-03 7.45049665e+02] [ 5.40842920e-02 9.98536374e-01 5.41592770e-06 4.18356899e+00] [ 4.56865954e-03 -2.52878708e-04 9.99989532e-01 2.92289555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.519254154 meters 0.05842415771218605 Centerline is valid? [True, True] Translation: X:745.11, Y:4.18, Z:2.92 [[ 9.98646813e-01 -5.17404520e-02 -5.24105868e-03 7.45108955e+02] [ 5.17411951e-02 9.98660527e-01 6.20132410e-06 4.18411262e+00] [ 5.23371757e-03 -2.77371573e-04 9.99986266e-01 2.92289573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.579254154 meters 0.05940962786291784 Centerline is valid? [True, True] Translation: X:745.17, Y:4.18, Z:2.92 [[ 9.98756092e-01 -4.93447947e-02 -7.16653556e-03 7.45168417e+02] [ 4.93461224e-02 9.98781738e-01 8.43980518e-06 4.18120987e+00] [ 7.15738839e-03 -3.62070048e-04 9.99974320e-01 2.92301783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.639254154 meters 0.05939861620801789 Centerline is valid? [True, True] Translation: X:745.23, Y:4.19, Z:2.92 [[ 9.98858784e-01 -4.73833390e-02 -5.99580554e-03 7.45229753e+02] [ 4.73842331e-02 9.98876736e-01 7.08131460e-06 4.18648191e+00] [ 5.98873513e-03 -2.91179881e-04 9.99982025e-01 2.92377891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.699254154 meters 0.0586503711393486 Centerline is valid? [True, True] Translation: X:745.29, Y:4.20, Z:2.92 [[ 9.99131899e-01 -4.12728593e-02 -5.65676509e-03 7.45290685e+02] [ 4.12735578e-02 9.99147884e-01 6.74170207e-06 4.19842148e+00] [ 5.65166661e-03 -2.40210670e-04 9.99984000e-01 2.92468196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.759254154 meters 0.058866143964911063 Centerline is valid? [True, True] Translation: X:745.35, Y:4.21, Z:2.92 [[ 9.99548206e-01 -2.96407434e-02 -4.98096333e-03 7.45350612e+02] [ 2.96411406e-02 9.99560605e-01 5.93559956e-06 4.20601766e+00] [ 4.97859878e-03 -1.53574353e-04 9.99987595e-01 2.92490851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.819254154 meters 0.05866858773853619 Centerline is valid? [True, True] Translation: X:745.41, Y:4.21, Z:2.93 [[ 9.99780528e-01 -2.05485692e-02 -4.08059410e-03 7.45409976e+02] [ 2.05487601e-02 9.99788852e-01 4.86055562e-06 4.21176568e+00] [ 4.07963261e-03 -8.87106380e-05 9.99991674e-01 2.92603917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.879254154 meters 0.05836895941637823 Centerline is valid? [True, True] Translation: X:745.47, Y:4.21, Z:2.93 [[ 9.99862717e-01 -1.61388109e-02 -3.75302335e-03 7.45469647e+02] [ 1.61389413e-02 9.99869759e-01 4.45870838e-06 4.21400961e+00] [ 3.75246260e-03 -6.50279199e-05 9.99992957e-01 2.92612584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.939254154 meters 0.058475457163150286 Centerline is valid? [True, True] Translation: X:745.53, Y:4.21, Z:2.92 [[ 9.99880138e-01 -1.45447434e-02 -5.30661321e-03 7.45531003e+02] [ 1.45449818e-02 9.99894216e-01 6.33093279e-06 4.21332648e+00] [ 5.30595978e-03 -8.35147665e-05 9.99985920e-01 2.92445640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.999254154 meters 0.05746152176844406 Centerline is valid? [True, True] Translation: X:745.59, Y:4.22, Z:2.92 [[ 9.99828805e-01 -1.74569472e-02 -6.13314173e-03 7.45591844e+02] [ 1.74573212e-02 9.99847609e-01 7.44300346e-06 4.21666989e+00] [ 6.13207716e-03 -1.14509954e-04 9.99981192e-01 2.92416218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.059254154 meters 0.057915224442931776 Centerline is valid? [True, True] Translation: X:745.65, Y:4.21, Z:2.92 [[ 9.99754405e-01 -2.10105783e-02 -7.04876675e-03 7.45652175e+02] [ 2.10111613e-02 9.99779241e-01 8.65791662e-06 4.21415902e+00] [ 7.04702876e-03 -1.56758565e-04 9.99975157e-01 2.92358652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.119254154 meters 0.058617195035374735 Centerline is valid? [True, True] Translation: X:745.71, Y:4.21, Z:2.92 [[ 9.99703658e-01 -2.33444855e-02 -6.90157504e-03 7.45713008e+02] [ 2.33451007e-02 9.99727466e-01 8.58044716e-06 4.21206890e+00] [ 6.89949382e-03 -1.69695869e-04 9.99976184e-01 2.92356440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.179254154 meters 0.05859092610040548 Centerline is valid? [True, True] Translation: X:745.77, Y:4.21, Z:2.92 [[ 9.99646413e-01 -2.56588164e-02 -6.97673189e-03 7.45773364e+02] [ 2.56595022e-02 9.99670741e-01 8.79260209e-06 4.20505773e+00] [ 6.97420913e-03 -1.87808961e-04 9.99975662e-01 2.92337234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.239254154 meters 0.058179134098231715 Centerline is valid? [True, True] Translation: X:745.83, Y:4.21, Z:2.92 [[ 9.99584708e-01 -2.78408540e-02 -7.43635896e-03 7.45834815e+02] [ 2.78416942e-02 9.99612345e-01 9.45869933e-06 4.21019494e+00] [ 7.43321288e-03 -2.16495603e-04 9.99972350e-01 2.92417375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.299254154 meters 0.058317027547024794 Centerline is valid? [True, True] Translation: X:745.90, Y:4.21, Z:2.92 [[ 9.99611410e-01 -2.68625754e-02 -7.44523944e-03 7.45896293e+02] [ 2.68633913e-02 9.99639114e-01 9.58307307e-06 4.20922897e+00] [ 7.44229513e-03 -2.09583729e-04 9.99972284e-01 2.92464952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters 0.058727446935557856 Centerline is valid? [True, True] Translation: X:745.96, Y:4.21, Z:2.92 [[ 9.99701077e-01 -2.33361240e-02 -7.29263367e-03 7.45957373e+02] [ 2.33368138e-02 9.99727659e-01 9.49767082e-06 4.20778635e+00] [ 7.29042595e-03 -1.79681666e-04 9.99973408e-01 2.92419169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.419254154 meters 0.05806559022008798 Centerline is valid? [True, True] Translation: X:746.02, Y:4.21, Z:2.92 [[ 9.99788453e-01 -1.91272806e-02 -7.56277888e-03 7.46017909e+02] [ 1.91279027e-02 9.99817045e-01 9.93379863e-06 4.20764761e+00] [ 7.56120523e-03 -1.54591796e-04 9.99971402e-01 2.92365935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters 0.05744112878490821 Centerline is valid? [True, True] Translation: X:746.08, Y:4.21, Z:2.92 [[ 9.99833530e-01 -1.64726482e-02 -7.84634599e-03 7.46078564e+02] [ 1.64732363e-02 9.99864307e-01 1.03278244e-05 4.21335690e+00] [ 7.84511117e-03 -1.39580817e-04 9.99969217e-01 2.92454603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.539254154 meters 0.058182208046751734 Centerline is valid? [True, True] Translation: X:746.14, Y:4.21, Z:2.92 [[ 9.99895092e-01 -1.24982778e-02 -7.32109761e-03 7.46137995e+02] [ 1.24986830e-02 9.99921888e-01 9.60771947e-06 4.21283245e+00] [ 7.32040567e-03 -1.01110790e-04 9.99973200e-01 2.92481872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters 0.05794901677826153 Centerline is valid? [True, True] Translation: X:746.20, Y:4.22, Z:2.93 [[ 9.99929726e-01 -8.84117182e-03 -7.89786351e-03 7.46197899e+02] [ 8.84152861e-03 9.99960913e-01 1.02601181e-05 4.21777328e+00] [ 7.89746409e-03 -8.00885831e-05 9.99968811e-01 2.92608064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.659254154 meters 0.05785753757318143 Centerline is valid? [True, True] Translation: X:746.26, Y:4.21, Z:2.92 [[ 9.99938248e-01 -7.05606272e-03 -8.58556073e-03 7.46255579e+02] [ 7.05641334e-03 9.99975103e-01 1.05459601e-05 4.21124583e+00] [ 8.58527256e-03 -7.11285741e-05 9.99963143e-01 2.92370945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters 0.05819471003700667 Centerline is valid? [True, True] Translation: X:746.31, Y:4.21, Z:2.93 [[ 9.99932601e-01 -7.98343118e-03 -8.42955379e-03 7.46314803e+02] [ 7.98379604e-03 9.99968129e-01 9.63344611e-06 4.21030117e+00] [ 8.42920823e-03 -7.69326350e-05 9.99964471e-01 2.92506018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.779254154 meters 0.05799886794727621 Centerline is valid? [True, True] Translation: X:746.37, Y:4.21, Z:2.93 [[ 9.99923904e-01 -8.94764212e-03 -8.49268847e-03 7.46373917e+02] [ 8.94804380e-03 9.99959965e-01 9.30124858e-06 4.20918068e+00] [ 8.49226524e-03 -8.52934892e-05 9.99963936e-01 2.92537195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters 0.05889964565284194 Centerline is valid? [True, True] Translation: X:746.43, Y:4.20, Z:2.93 [[ 9.99870705e-01 -1.31898278e-02 -9.19787208e-03 7.46432192e+02] [ 1.31904753e-02 9.99913002e-01 9.74001148e-06 4.20174196e+00] [ 9.19694341e-03 -1.31063057e-04 9.99957699e-01 2.92542424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.899254154 meters 0.059409614918393645 Centerline is valid? [True, True] Translation: X:746.49, Y:4.20, Z:2.93 [[ 9.99788679e-01 -1.87939113e-02 -8.32982940e-03 7.46492778e+02] [ 1.87946358e-02 9.99823365e-01 8.69619408e-06 4.19529359e+00] [ 8.32819463e-03 -1.65250466e-04 9.99965306e-01 2.92710547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters 0.05952950968718182 Centerline is valid? [True, True] Translation: X:746.55, Y:4.19, Z:2.93 [[ 9.99631311e-01 -2.61166756e-02 -7.42702899e-03 7.46553490e+02] [ 2.61174537e-02 9.99658881e-01 7.78259176e-06 4.18550945e+00] [ 7.42429223e-03 -2.01754808e-04 9.99972419e-01 2.92821766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.019254154 meters 0.057981842057330445 Centerline is valid? [True, True] Translation: X:746.61, Y:4.19, Z:2.93 [[ 9.99334111e-01 -3.58023343e-02 -7.03763516e-03 7.46614145e+02] [ 3.58032730e-02 9.99358857e-01 7.40076659e-06 4.19264628e+00] [ 7.03285807e-03 -2.59366212e-04 9.99975235e-01 2.92963519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.079254154 meters 0.06563003697129523 Centerline is valid? [True, True] Translation: X:746.67, Y:4.16, Z:2.93 [[ 9.98942136e-01 -4.54282957e-02 -7.13288013e-03 7.46674136e+02] [ 4.54295048e-02 9.98967547e-01 7.49903865e-06 4.15867884e+00] [ 7.12517509e-03 -3.31534318e-04 9.99974561e-01 2.92701279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.139254154 meters 0.057573163850502304 Centerline is valid? [True, True] Translation: X:746.73, Y:4.19, Z:2.93 [[ 9.98641202e-01 -5.16580280e-02 -6.87007338e-03 7.46734180e+02] [ 5.16592968e-02 9.98664767e-01 7.23459558e-06 4.19075258e+00] [ 6.86052650e-03 -3.62127925e-04 9.99976401e-01 2.92890920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.199254154 meters 0.0685747088632232 Centerline is valid? [True, True] Translation: X:746.79, Y:4.15, Z:2.93 [[ 9.98309780e-01 -5.76077713e-02 -7.67642950e-03 7.46793496e+02] [ 5.76095312e-02 9.98339192e-01 8.15101746e-06 4.14807830e+00] [ 7.66321086e-03 -4.50372745e-04 9.99970536e-01 2.92698021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.259254154 meters 0.05733772651728989 Centerline is valid? [True, True] Translation: X:746.85, Y:4.19, Z:2.93 [[ 9.98189585e-01 -5.98071581e-02 -6.37625778e-03 7.46854603e+02] [ 5.98084174e-02 9.98209874e-01 6.82433543e-06 4.18631436e+00] [ 6.36443534e-03 -3.88165867e-04 9.99979671e-01 2.92923787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.319254154 meters 0.07031803476080423 Centerline is valid? [True, True] Translation: X:746.91, Y:4.15, Z:2.93 [[ 9.98348327e-01 -5.70686504e-02 -6.61715717e-03 7.46914513e+02] [ 5.70699467e-02 9.98370182e-01 7.08757706e-06 4.15201113e+00] [ 6.60596793e-03 -3.84716678e-04 9.99978106e-01 2.92784316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.379254154 meters 0.057522886486420295 Centerline is valid? [True, True] Translation: X:746.97, Y:4.20, Z:2.93 [[ 9.98634998e-01 -5.18859462e-02 -5.99916241e-03 7.46974692e+02] [ 5.18869185e-02 9.98652967e-01 6.44159411e-06 4.19945503e+00] [ 5.99074711e-03 -3.17710852e-04 9.99982005e-01 2.92916382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.439254154 meters 0.05960214369362507 Centerline is valid? [True, True] Translation: X:747.03, Y:4.19, Z:2.93 [[ 9.98813985e-01 -4.81832063e-02 -7.00016966e-03 7.47034310e+02] [ 4.81844396e-02 9.98838455e-01 7.52638548e-06 4.19221199e+00] [ 6.99167600e-03 -3.44816711e-04 9.99975498e-01 2.92867078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.499254154 meters 0.05770641721140518 Centerline is valid? [True, True] Translation: X:747.09, Y:4.21, Z:2.93 [[ 9.98971262e-01 -4.47664264e-02 -7.23769555e-03 7.47094982e+02] [ 4.47676550e-02 9.98997426e-01 7.74306566e-06 4.20507925e+00] [ 7.23009259e-03 -3.31749757e-04 9.99973807e-01 2.92887691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.559254154 meters 0.05795473824298375 Centerline is valid? [True, True] Translation: X:747.16, Y:4.21, Z:2.93 [[ 9.99047197e-01 -4.28648800e-02 -8.20372996e-03 7.47155718e+02] [ 4.28663948e-02 9.99080814e-01 8.81521461e-06 4.21045307e+00] [ 8.19581134e-03 -3.60471142e-04 9.99966349e-01 2.92917516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.619254154 meters 0.05920272437703623 Centerline is valid? [True, True] Translation: X:747.22, Y:4.21, Z:2.93 [[ 9.99124843e-01 -4.11000544e-02 -7.76750055e-03 7.47215555e+02] [ 4.11013594e-02 9.99154982e-01 8.38174771e-06 4.20829778e+00] [ 7.76059239e-03 -3.27629244e-04 9.99969832e-01 2.92897140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.679254154 meters 0.05677556043765241 Centerline is valid? [True, True] Translation: X:747.28, Y:4.22, Z:2.93 [[ 9.99290075e-01 -3.70285463e-02 -6.94502349e-03 7.47276174e+02] [ 3.70294913e-02 9.99314173e-01 7.49299923e-06 4.22316087e+00] [ 6.93998295e-03 -2.64658367e-04 9.99975883e-01 2.92972320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.739254154 meters 0.057571558705636836 Centerline is valid? [True, True] Translation: X:747.34, Y:4.23, Z:2.93 [[ 9.99465413e-01 -3.20659789e-02 -6.37658772e-03 7.47336192e+02] [ 3.20666748e-02 9.99485732e-01 6.89715013e-06 4.22652088e+00] [ 6.37308728e-03 -2.11369428e-04 9.99979669e-01 2.92995721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.799254154 meters 0.05714418016991217 Centerline is valid? [True, True] Translation: X:747.40, Y:4.23, Z:2.93 [[ 9.99635812e-01 -2.65172804e-02 -5.00765052e-03 7.47396412e+02] [ 2.65176401e-02 9.99648346e-01 5.44002653e-06 4.23345996e+00] [ 5.00574530e-03 -1.38229120e-04 9.99987462e-01 2.93087296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters 0.056244638651663216 Centerline is valid? [True, True] Translation: X:747.46, Y:4.24, Z:2.93 [[ 9.99788090e-01 -2.00088945e-02 -4.83929387e-03 7.47456362e+02] [ 2.00091542e-02 9.99799797e-01 5.25508696e-06 4.24480490e+00] [ 4.83821988e-03 -1.02084151e-04 9.99988291e-01 2.93177338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.919254154 meters 0.05660078110515428 Centerline is valid? [True, True] Translation: X:747.52, Y:4.24, Z:2.93 [[ 9.99861177e-01 -1.59052409e-02 -4.96489673e-03 7.47516884e+02] [ 1.59054638e-02 9.99873500e-01 5.39902695e-06 4.24318672e+00] [ 4.96418280e-03 -8.43672626e-05 9.99987675e-01 2.93106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters 0.0573201094858197 Centerline is valid? [True, True] Translation: X:747.58, Y:4.24, Z:2.93 [[ 9.99880192e-01 -1.45277499e-02 -5.34283521e-03 7.47578471e+02] [ 1.45279886e-02 9.99894463e-01 5.86755531e-06 4.24475913e+00] [ 5.34218611e-03 -8.34875015e-05 9.99985727e-01 2.93077252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.039254154 meters 0.05759862366104601 Centerline is valid? [True, True] Translation: X:747.64, Y:4.24, Z:2.93 [[ 9.99867647e-01 -1.51794186e-02 -5.85442450e-03 7.47639454e+02] [ 1.51797174e-02 9.99884781e-01 6.59641997e-06 4.24393872e+00] [ 5.85364983e-03 -9.54640564e-05 9.99982863e-01 2.93024701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters 0.05666936447742976 Centerline is valid? [True, True] Translation: X:747.70, Y:4.25, Z:2.93 [[ 9.99802604e-01 -1.86445277e-02 -6.86541198e-03 7.47700916e+02] [ 1.86450221e-02 9.99826166e-01 8.01774943e-06 4.24774680e+00] [ 6.86406905e-03 -1.36021925e-04 9.99976433e-01 2.92981460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.159254154 meters 0.05767716601866337 Centerline is valid? [True, True] Translation: X:747.76, Y:4.24, Z:2.93 [[ 9.99682488e-01 -2.42330673e-02 -6.90513521e-03 7.47760624e+02] [ 2.42337011e-02 9.99706321e-01 8.11112854e-06 4.24239349e+00] [ 6.90291075e-03 -1.75445536e-04 9.99976159e-01 2.92887670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters 0.056514535263483504 Centerline is valid? [True, True] Translation: X:747.82, Y:4.24, Z:2.93 [[ 9.99498255e-01 -3.11052055e-02 -5.97535247e-03 7.47821938e+02] [ 3.11058029e-02 9.99516097e-01 7.04225146e-06 4.24200313e+00] [ 5.97224193e-03 -1.92906854e-04 9.99982147e-01 2.92987950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.279254154 meters 0.05723801193497934 Centerline is valid? [True, True] Translation: X:747.88, Y:4.24, Z:2.93 [[ 9.99405275e-01 -3.39921052e-02 -5.79945512e-03 7.47881692e+02] [ 3.39927173e-02 9.99422081e-01 6.97946545e-06 4.23973154e+00] [ 5.79586626e-03 -2.04114553e-04 9.99983183e-01 2.93065345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters 0.057489034804976025 Centerline is valid? [True, True] Translation: X:747.94, Y:4.24, Z:2.93 [[ 9.99350550e-01 -3.55030917e-02 -6.16510542e-03 7.47941929e+02] [ 3.55038131e-02 9.99369541e-01 7.56662317e-06 4.23853993e+00] [ 6.16094994e-03 -2.26446460e-04 9.99980996e-01 2.93102367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.399254154 meters 0.05805464458464628 Centerline is valid? [True, True] Translation: X:748.00, Y:4.24, Z:2.93 [[ 9.99396006e-01 -3.40791799e-02 -6.79941495e-03 7.48003785e+02] [ 3.40800251e-02 9.99419107e-01 8.44575318e-06 4.24049373e+00] [ 6.79517739e-03 -2.40164884e-04 9.99976884e-01 2.93058505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters 0.056556883106450906 Centerline is valid? [True, True] Translation: X:748.07, Y:4.25, Z:2.93 [[ 9.99470638e-01 -3.19680656e-02 -6.04046821e-03 7.48065315e+02] [ 3.19686951e-02 9.99488871e-01 7.65884234e-06 4.25307568e+00] [ 6.03713591e-03 -2.00760675e-04 9.99981756e-01 2.93122126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.519254154 meters 0.05806240328567317 Centerline is valid? [True, True] Translation: X:748.13, Y:4.24, Z:2.93 [[ 9.99578980e-01 -2.81238427e-02 -7.13528864e-03 7.48125136e+02] [ 2.81246243e-02 9.99604424e-01 9.20142613e-06 4.24278913e+00] [ 7.13220731e-03 -2.09874864e-04 9.99974543e-01 2.93010770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.579254154 meters 0.05647493021058007 Centerline is valid? [True, True] Translation: X:748.19, Y:4.25, Z:2.93 [[ 9.99730881e-01 -2.21597323e-02 -6.86379107e-03 7.48185534e+02] [ 2.21603150e-02 9.99754430e-01 8.84487906e-06 4.25017704e+00] [ 6.86190953e-03 -1.60946271e-04 9.99976444e-01 2.93087021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.639254154 meters 0.05584316881267441 Centerline is valid? [True, True] Translation: X:748.25, Y:4.26, Z:2.93 [[ 9.99780197e-01 -1.99243107e-02 -6.52533507e-03 7.48247526e+02] [ 1.99247904e-02 9.99801482e-01 8.50317564e-06 4.25564745e+00] [ 6.52387025e-03 -1.38517240e-04 9.99978710e-01 2.93205197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.699254154 meters 0.056913480592132665 Centerline is valid? [True, True] Translation: X:748.31, Y:4.26, Z:2.93 [[ 9.99888711e-01 -1.34808860e-02 -6.38989438e-03 7.48307629e+02] [ 1.34812152e-02 9.99909124e-01 8.44334077e-06 4.25607082e+00] [ 6.38919987e-03 -9.45859424e-05 9.99979584e-01 2.93196437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.759254154 meters 0.05668606423582862 Centerline is valid? [True, True] Translation: X:748.37, Y:4.26, Z:2.93 [[ 9.99920391e-01 -1.11147104e-02 -5.97276879e-03 7.48368332e+02] [ 1.11149558e-02 9.99938227e-01 7.89318933e-06 4.26008753e+00] [ 5.97231211e-03 -7.42796223e-05 9.99982163e-01 2.93239420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.819254154 meters 0.0561778245066589 Centerline is valid? [True, True] Translation: X:748.43, Y:4.26, Z:2.93 [[ 9.99922138e-01 -1.00653201e-02 -7.37618015e-03 7.48428456e+02] [ 1.00656664e-02 9.99949340e-01 9.81844636e-06 4.25605165e+00] [ 7.37570764e-03 -8.40638502e-05 9.99972796e-01 2.93097723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.879254154 meters 0.05704782275974222 Centerline is valid? [True, True] Translation: X:748.49, Y:4.26, Z:2.93 [[ 9.99912647e-01 -1.13939640e-02 -6.69899625e-03 7.48488294e+02] [ 1.13942793e-02 9.99935083e-01 8.90108519e-06 4.25632099e+00] [ 6.69845996e-03 -8.52305417e-05 9.99977561e-01 2.93204667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.939254154 meters 0.05669747853902212 Centerline is valid? [True, True] Translation: X:748.55, Y:4.25, Z:2.93 [[ 9.99874003e-01 -1.49814918e-02 -5.24711645e-03 7.48547691e+02] [ 1.49817342e-02 9.99887768e-01 6.90905726e-06 4.24985045e+00] [ 5.24642405e-03 -8.55190910e-05 9.99986234e-01 2.93248466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.999254154 meters 0.05699864684365709 Centerline is valid? [True, True] Translation: X:748.61, Y:4.24, Z:2.93 [[ 9.99733575e-01 -2.24876061e-02 -5.20442275e-03 7.48607624e+02] [ 2.24879461e-02 9.99747114e-01 6.81143345e-06 4.24233512e+00] [ 5.20295345e-03 -1.23846397e-04 9.99986457e-01 2.93247909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.059254154 meters 0.05703245762705028 Centerline is valid? [True, True] Translation: X:748.67, Y:4.24, Z:2.93 [[ 9.99401289e-01 -3.41796996e-02 -5.36757463e-03 7.48667990e+02] [ 3.41802295e-02 9.99415685e-01 7.00068335e-06 4.23613737e+00] [ 5.36419900e-03 -1.90461425e-04 9.99985594e-01 2.93209307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.119254154 meters 0.05897342327775421 Centerline is valid? [True, True] Translation: X:748.73, Y:4.22, Z:2.93 [[ 9.98864506e-01 -4.72688171e-02 -5.94628076e-03 7.48727600e+02] [ 4.72696991e-02 9.98882163e-01 7.79532180e-06 4.22290501e+00] [ 5.93926531e-03 -2.88865373e-04 9.99982321e-01 2.93108025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.179254154 meters 0.055593772863303775 Centerline is valid? [True, True] Translation: X:748.79, Y:4.24, Z:2.93 [[ 9.98390258e-01 -5.63509049e-02 -6.43965895e-03 7.48787895e+02] [ 5.63521280e-02 9.98410956e-01 8.50544457e-06 4.23598374e+00] [ 6.42894676e-03 -3.71380239e-04 9.99979265e-01 2.93220901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.239254154 meters 0.06539861060182439 Centerline is valid? [True, True] Translation: X:748.85, Y:4.20, Z:2.93 [[ 9.98267071e-01 -5.84389585e-02 -6.90967772e-03 7.48847185e+02] [ 5.84404165e-02 9.98290898e-01 9.11911303e-06 4.20402159e+00] [ 6.89733547e-03 -4.12907754e-04 9.99976128e-01 2.93168194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.299254154 meters 0.05503485501890168 Centerline is valid? [True, True] Translation: X:748.91, Y:4.24, Z:2.93 [[ 9.98351503e-01 -5.71624239e-02 -5.17051462e-03 7.48909202e+02] [ 5.71632234e-02 9.98364846e-01 6.85576404e-06 4.24180029e+00] [ 5.16166814e-03 -3.02407744e-04 9.99986633e-01 2.93313722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters 0.05865251053743338 Centerline is valid? [True, True] Translation: X:748.97, Y:4.23, Z:2.93 [[ 9.98660042e-01 -5.12687024e-02 -7.04562254e-03 7.48968557e+02] [ 5.12700421e-02 9.98684827e-01 9.53652833e-06 4.22951225e+00] [ 7.03586739e-03 -3.70753113e-04 9.99975179e-01 2.93209596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.419254154 meters 0.05832909022339063 Centerline is valid? [True, True] Translation: X:749.03, Y:4.24, Z:2.93 [[ 9.99059218e-01 -4.26188629e-02 -8.01947883e-03 7.49029365e+02] [ 4.26203199e-02 9.99091341e-01 1.07901010e-05 4.23519084e+00] [ 8.01173200e-03 -3.52572703e-04 9.99967843e-01 2.93156751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters 0.056664252941036254 Centerline is valid? [True, True] Translation: X:749.09, Y:4.25, Z:2.93 [[ 9.99306265e-01 -3.64185604e-02 -7.78954921e-03 7.49089530e+02] [ 3.64197467e-02 9.99336581e-01 1.04576561e-05 4.24900307e+00] [ 7.78400062e-03 -2.94143810e-04 9.99969661e-01 2.93268761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.539254154 meters 0.05616632104378719 Centerline is valid? [True, True] Translation: X:749.15, Y:4.26, Z:2.93 [[ 9.99640539e-01 -2.58927002e-02 -6.95416545e-03 7.49150764e+02] [ 2.58933914e-02 9.99664710e-01 9.35639772e-06 4.25895792e+00] [ 6.95159152e-03 -1.89419962e-04 9.99975819e-01 2.93324988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters 0.05576911279929787 Centerline is valid? [True, True] Translation: X:749.21, Y:4.27, Z:2.93 [[ 9.99875686e-01 -1.43083269e-02 -6.62447497e-03 7.49211380e+02] [ 1.43087001e-02 9.99897625e-01 8.94225453e-06 4.27050460e+00] [ 6.62366884e-03 -1.03728769e-04 9.99978058e-01 2.93451605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.659254154 meters 0.055594831052374435 Centerline is valid? [True, True] Translation: X:749.27, Y:4.28, Z:2.94 [[ 9.99968638e-01 -4.95121364e-03 -6.18134156e-03 7.49271184e+02] [ 4.95135981e-03 9.99987742e-01 8.34354114e-06 4.27780652e+00] [ 6.18122447e-03 -3.89493256e-05 9.99980895e-01 2.93532159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters 0.055778512309617015 Centerline is valid? [True, True] Translation: X:749.33, Y:4.28, Z:2.93 [[ 9.99984338e-01 -1.55748881e-03 -5.37561243e-03 7.49329744e+02] [ 1.55754948e-03 9.99998787e-01 7.09972106e-06 4.27868885e+00] [ 5.37559485e-03 -1.54723922e-05 9.99985551e-01 2.93485579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.779254154 meters 0.05594622530698943 Centerline is valid? [True, True] Translation: X:749.39, Y:4.28, Z:2.93 [[ 9.99984510e-01 -1.38524475e-03 -5.39077465e-03 7.49387428e+02] [ 1.38530060e-03 9.99999040e-01 6.62739648e-06 4.27928289e+00] [ 5.39076030e-03 -1.40951372e-05 9.99985470e-01 2.93463170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters 0.05556164570674309 Centerline is valid? [True, True] Translation: X:749.45, Y:4.28, Z:2.93 [[ 9.99966107e-01 -6.58841934e-03 -4.93732173e-03 7.49447022e+02] [ 6.58852879e-03 9.99978295e-01 5.90217223e-06 4.27622906e+00] [ 4.93717568e-03 -3.84316585e-05 9.99987811e-01 2.93460387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.899254154 meters 0.05555768511569687 Centerline is valid? [True, True] Translation: X:749.51, Y:4.28, Z:2.94 [[ 9.99919416e-01 -1.15275336e-02 -5.31775320e-03 7.49506840e+02] [ 1.15277299e-02 9.99933554e-01 6.27644015e-06 4.27561200e+00] [ 5.31732750e-03 -6.75775571e-05 9.99985861e-01 2.93521527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters 0.056760833740746836 Centerline is valid? [True, True] Translation: X:749.57, Y:4.26, Z:2.94 [[ 9.99710892e-01 -2.36222225e-02 -4.48582798e-03 7.49567514e+02] [ 2.36224839e-02 9.99720950e-01 5.27225042e-06 4.25923164e+00] [ 4.48445166e-03 -1.11237125e-04 9.99989939e-01 2.93512694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.019254154 meters 0.05707226668475921 Centerline is valid? [True, True] Translation: X:749.63, Y:4.26, Z:2.94 [[ 9.99577717e-01 -2.88047739e-02 -3.83049773e-03 7.49628061e+02] [ 2.88050025e-02 9.99585050e-01 4.53191711e-06 4.25671402e+00] [ 3.82877772e-03 -1.14867500e-04 9.99992664e-01 2.93509779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.079254154 meters 0.055113206024109115 Centerline is valid? [True, True] Translation: X:749.69, Y:4.26, Z:2.93 [[ 9.99388699e-01 -3.47460302e-02 -3.86556991e-03 7.49688925e+02] [ 3.47463074e-02 9.99396165e-01 4.57256542e-06 4.26353834e+00] [ 3.86307687e-03 -1.38884051e-04 9.99992529e-01 2.93441332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.139254154 meters 0.05765325623914664 Centerline is valid? [True, True] Translation: X:749.75, Y:4.25, Z:2.93 [[ 9.99267634e-01 -3.79941781e-02 -4.54294210e-03 7.49748928e+02] [ 3.79945947e-02 9.99277945e-01 5.39686029e-06 4.24971181e+00] [ 4.53945680e-03 -1.78000152e-04 9.99989681e-01 2.93445913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.199254154 meters 0.0558092200350285 Centerline is valid? [True, True] Translation: X:749.81, Y:4.26, Z:2.93 [[ 9.99241958e-01 -3.87003031e-02 -4.21856241e-03 7.49810573e+02] [ 3.87006685e-02 9.99250849e-01 4.99334636e-06 4.25606559e+00] [ 4.21520882e-03 -1.68250746e-04 9.99991102e-01 2.93441935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.259254154 meters 0.05702897351922291 Centerline is valid? [True, True] Translation: X:749.87, Y:4.25, Z:2.93 [[ 9.99306618e-01 -3.69741318e-02 -4.38153187e-03 7.49871556e+02] [ 3.69745099e-02 9.99316209e-01 5.29433441e-06 4.25051564e+00] [ 4.37834006e-03 -1.67295657e-04 9.99990401e-01 2.93391750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.319254154 meters 0.05680195899580915 Centerline is valid? [True, True] Translation: X:749.93, Y:4.25, Z:2.93 [[ 9.99350727e-01 -3.57528306e-02 -4.45638138e-03 7.49933197e+02] [ 3.57532099e-02 9.99360650e-01 5.46267863e-06 4.25328788e+00] [ 4.45333688e-03 -1.64789071e-04 9.99990070e-01 2.93415875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.379254154 meters 0.05751893011773994 Centerline is valid? [True, True] Translation: X:749.99, Y:4.25, Z:2.93 [[ 9.99365532e-01 -3.52894436e-02 -4.81543021e-03 7.49994873e+02] [ 3.52898818e-02 9.99377118e-01 6.03589795e-06 4.25112029e+00] [ 4.81221776e-03 -1.75968032e-04 9.99988406e-01 2.93425167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.439254154 meters 0.055841576954266725 Centerline is valid? [True, True] Translation: X:750.06, Y:4.26, Z:2.93 [[ 9.99316805e-01 -3.65037044e-02 -5.77945808e-03 7.50056882e+02] [ 3.65043573e-02 9.99333494e-01 7.48411940e-06 4.26068562e+00] [ 5.77533284e-03 -2.18454409e-04 9.99983299e-01 2.93410851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.499254154 meters 0.057927309879924685 Centerline is valid? [True, True] Translation: X:750.12, Y:4.25, Z:2.93 [[ 9.99289831e-01 -3.68333655e-02 -7.94589675e-03 7.50117597e+02] [ 3.68346121e-02 9.99321375e-01 1.05568308e-05 4.25299787e+00] [ 7.94011562e-03 -3.03233358e-04 9.99968431e-01 2.93235746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.559254154 meters 0.056813278272170704 Centerline is valid? [True, True] Translation: X:750.18, Y:4.26, Z:2.93 [[ 9.99309386e-01 -3.62317130e-02 -8.24707286e-03 7.50179639e+02] [ 3.62330374e-02 9.99343368e-01 1.11867561e-05 4.25881095e+00] [ 8.24125225e-03 -3.09995530e-04 9.99965992e-01 2.93289247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.619254154 meters 0.05600601461969269 Centerline is valid? [True, True] Translation: X:750.24, Y:4.27, Z:2.93 [[ 9.99371459e-01 -3.47521461e-02 -6.99829835e-03 7.50241648e+02] [ 3.47530648e-02 9.99395930e-01 9.66930813e-06 4.26722131e+00] [ 6.99373486e-03 -2.52875546e-04 9.99975512e-01 2.93455574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.679254154 meters 0.05736819979261425 Centerline is valid? [True, True] Translation: X:750.30, Y:4.26, Z:2.94 [[ 9.99538019e-01 -3.00525679e-02 -4.53784321e-03 7.50301150e+02] [ 3.00529060e-02 9.99548309e-01 6.33052284e-06 4.26468536e+00] [ 4.53560326e-03 -1.42702974e-04 9.99989704e-01 2.93645002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.739254154 meters 0.05710294835183664 Centerline is valid? [True, True] Translation: X:750.36, Y:4.27, Z:2.94 [[ 9.99660096e-01 -2.58809508e-02 -3.14152892e-03 7.50360964e+02] [ 2.58810922e-02 9.99665028e-01 4.38698332e-06 4.26696819e+00] [ 3.14036305e-03 -8.56916918e-05 9.99995065e-01 2.93871731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.799254154 meters 0.05524378403183891 Centerline is valid? [True, True] Translation: X:750.42, Y:4.28, Z:2.94 [[ 9.99682186e-01 -2.50401012e-02 -2.91881097e-03 7.50423030e+02] [ 2.50402196e-02 9.99686445e-01 4.01946889e-06 4.27578040e+00] [ 2.91779511e-03 -7.71058591e-05 9.99995740e-01 2.93864090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters 0.056200635116602005 Centerline is valid? [True, True] Translation: X:750.49, Y:4.27, Z:2.94 [[ 9.99644050e-01 -2.64692939e-02 -3.33909705e-03 7.50485055e+02] [ 2.64694572e-02 9.99649623e-01 4.71277677e-06 4.26637202e+00] [ 3.33780236e-03 -9.30951856e-05 9.99994425e-01 2.93804343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.919254154 meters 0.05698801590165441 Centerline is valid? [True, True] Translation: X:750.55, Y:4.27, Z:2.94 [[ 9.99537206e-01 -3.00023707e-02 -5.02313084e-03 7.50545938e+02] [ 3.00027860e-02 9.99549815e-01 7.31876415e-06 4.26537444e+00] [ 5.02064992e-03 -1.58023297e-04 9.99987384e-01 2.93637956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters 0.05587207579725816 Centerline is valid? [True, True] Translation: X:750.61, Y:4.27, Z:2.94 [[ 9.99465348e-01 -3.21029551e-02 -6.19834029e-03 7.50607039e+02] [ 3.21036281e-02 9.99484546e-01 9.09286944e-06 4.26992455e+00] [ 6.19485342e-03 -2.08077219e-04 9.99980790e-01 2.93525723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.039254154 meters 0.05875237646915404 Centerline is valid? [True, True] Translation: X:750.67, Y:4.25, Z:2.93 [[ 9.99486703e-01 -3.12721387e-02 -6.95591974e-03 7.50668727e+02] [ 3.12729675e-02 9.99510881e-01 1.03773336e-05 4.25310710e+00] [ 6.95219295e-03 -2.27904259e-04 9.99975807e-01 2.93432846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters 0.0549132291219004 Centerline is valid? [True, True] Translation: X:750.73, Y:4.27, Z:2.94 [[ 9.99519148e-01 -3.04067651e-02 -6.07470013e-03 7.50730856e+02] [ 3.04073825e-02 9.99537589e-01 9.27427510e-06 4.26822196e+00] [ 6.07160912e-03 -1.93985546e-04 9.99981549e-01 2.93604816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.159254154 meters 0.05547638284880289 Centerline is valid? [True, True] Translation: X:750.79, Y:4.27, Z:2.94 [[ 9.99586033e-01 -2.83562455e-02 -4.86678083e-03 7.50792861e+02] [ 2.83566183e-02 9.99597870e-01 7.59730334e-06 4.27092587e+00] [ 4.86460832e-03 -1.45599605e-04 9.99988157e-01 2.93688891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters 0.056241507838976565 Centerline is valid? [True, True] Translation: X:750.86, Y:4.27, Z:2.94 [[ 9.99621389e-01 -2.71982805e-02 -4.16320771e-03 7.50855196e+02] [ 2.71985436e-02 9.99630051e-01 6.59097441e-06 4.26846419e+00] [ 4.16148827e-03 -1.19821665e-04 9.99991334e-01 2.93743665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.279254154 meters 0.05649951105315313 Centerline is valid? [True, True] Translation: X:750.92, Y:4.26, Z:2.94 [[ 9.99622408e-01 -2.68718836e-02 -5.73957015e-03 7.50916485e+02] [ 2.68723799e-02 9.99638872e-01 9.35402344e-06 4.26086965e+00] [ 5.73724607e-03 -1.63586401e-04 9.99983528e-01 2.93661451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters 0.057493023247410735 Centerline is valid? [True, True] Translation: X:750.98, Y:4.26, Z:2.94 [[ 9.99608709e-01 -2.72845214e-02 -6.16309280e-03 7.50978930e+02] [ 2.72851026e-02 9.99627692e-01 1.02335179e-05 4.25932910e+00] [ 6.16051902e-03 -1.78390133e-04 9.99981008e-01 2.93656593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.399254154 meters 0.056447799713586565 Centerline is valid? [True, True] Translation: X:751.04, Y:4.27, Z:2.94 [[ 9.99610119e-01 -2.71729843e-02 -6.42171752e-03 7.51041545e+02] [ 2.71736145e-02 9.99630729e-01 1.09012932e-05 4.26553990e+00] [ 6.41904995e-03 -1.85398320e-04 9.99979380e-01 2.93724713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters 0.05533915989836435 Centerline is valid? [True, True] Translation: X:751.10, Y:4.27, Z:2.94 [[ 9.99626529e-01 -2.62920294e-02 -7.45199113e-03 7.51103523e+02] [ 2.62928557e-02 9.99654283e-01 1.29177223e-05 4.26855171e+00] [ 7.44907522e-03 -2.08847026e-04 9.99972233e-01 2.93710564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.519254154 meters 0.055461260537415014 Centerline is valid? [True, True] Translation: X:751.16, Y:4.27, Z:2.94 [[ 9.99697040e-01 -2.35486945e-02 -7.16151953e-03 7.51163718e+02] [ 2.35493884e-02 9.99722675e-01 1.25670842e-05 4.26738968e+00] [ 7.15923752e-03 -1.81212681e-04 9.99974356e-01 2.93649234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.579254154 meters 0.05589037854358636 Centerline is valid? [True, True] Translation: X:751.22, Y:4.27, Z:2.94 [[ 9.99817371e-01 -1.80016809e-02 -6.41596667e-03 7.51223755e+02] [ 1.80021239e-02 9.99837949e-01 1.12894806e-05 4.26621307e+00] [ 6.41472372e-03 -1.26788446e-04 9.99979417e-01 2.93687346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.639254154 meters 0.05611581318897712 Centerline is valid? [True, True] Translation: X:751.28, Y:4.27, Z:2.94 [[ 9.99891204e-01 -1.35815413e-02 -5.75525442e-03 7.51283765e+02] [ 1.35818245e-02 9.99907763e-01 1.01299319e-05 4.26663664e+00] [ 5.75458599e-03 -8.82956856e-05 9.99983438e-01 2.93881552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.699254154 meters 0.05518148508176127 Centerline is valid? [True, True] Translation: X:751.34, Y:4.27, Z:2.94 [[ 9.99914743e-01 -1.20708414e-02 -4.98020031e-03 7.51344832e+02] [ 1.20710346e-02 9.99927142e-01 8.74015597e-06 4.26975672e+00] [ 4.97973197e-03 -6.88555813e-05 9.99987599e-01 2.93960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.759254154 meters 0.05567244735102913 Centerline is valid? [True, True] Translation: X:751.41, Y:4.27, Z:2.94 [[ 9.99919858e-01 -1.15286339e-02 -5.23154386e-03 7.51405676e+02] [ 1.15288393e-02 9.99933541e-01 9.10040189e-06 4.26591209e+00] [ 5.23109126e-03 -6.94133008e-05 9.99986315e-01 2.93918340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.819254154 meters 0.05630682298027942 Centerline is valid? [True, True] Translation: X:751.47, Y:4.26, Z:2.94 [[ 9.99887406e-01 -1.36745600e-02 -6.17917061e-03 7.51466181e+02] [ 1.36748880e-02 9.99906494e-01 1.08447130e-05 4.26170805e+00] [ 6.17844452e-03 -9.53429582e-05 9.99980909e-01 2.93913732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.879254154 meters 0.055316754462663785 Centerline is valid? [True, True] Translation: X:751.53, Y:4.26, Z:2.94 [[ 9.99822780e-01 -1.75493862e-02 -6.81379874e-03 7.51527657e+02] [ 1.75498757e-02 9.99845989e-01 1.20416535e-05 4.25910430e+00] [ 6.81253802e-03 -1.31620840e-04 9.99976786e-01 2.93899588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.939254154 meters 0.05710046980897482 Centerline is valid? [True, True] Translation: X:751.59, Y:4.25, Z:2.94 [[ 9.99739325e-01 -2.16529927e-02 -7.24087832e-03 7.51587913e+02] [ 2.16536537e-02 9.99765532e-01 1.28928617e-05 4.25010661e+00] [ 7.23890140e-03 -1.69680972e-04 9.99973784e-01 2.93908885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.999254154 meters 0.056806499612069336 Centerline is valid? [True, True] Translation: X:751.65, Y:4.25, Z:2.94 [[ 9.99706679e-01 -2.32937143e-02 -6.63013141e-03 7.51650253e+02] [ 2.32943054e-02 9.99728651e-01 1.19250296e-05 4.25437136e+00] [ 6.62805455e-03 -1.66365837e-04 9.99978020e-01 2.94041892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.059254154 meters 0.05623705130359395 Centerline is valid? [True, True] Translation: X:751.71, Y:4.25, Z:2.94 [[ 9.99707413e-01 -2.32976008e-02 -6.50467401e-03 7.51712669e+02] [ 2.32981712e-02 9.99728561e-01 1.19156697e-05 4.25424688e+00] [ 6.50263077e-03 -1.63459192e-04 9.99978844e-01 2.94130796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.119254154 meters 0.056406568041727015 Centerline is valid? [True, True] Translation: X:751.77, Y:4.25, Z:2.94 [[ 9.99779651e-01 -2.02624943e-02 -5.48468433e-03 7.51772916e+02] [ 2.02628548e-02 9.99794687e-01 1.01723926e-05 4.25065811e+00] [ 5.48335214e-03 -1.21305513e-04 9.99984959e-01 2.94140934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.179254154 meters 0.05640679400189652 Centerline is valid? [True, True] Translation: X:751.83, Y:4.25, Z:2.94 [[ 9.99874081e-01 -1.48032456e-02 -5.71721393e-03 7.51833344e+02] [ 1.48035484e-02 9.99890421e-01 1.06523007e-05 4.25119921e+00] [ 5.71642976e-03 -9.52860126e-05 9.99983657e-01 2.94212023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.239254154 meters 0.05575309567817365 Centerline is valid? [True, True] Translation: X:751.89, Y:4.25, Z:2.94 [[ 9.99942800e-01 -8.29626043e-03 -6.75043084e-03 7.51893636e+02] [ 8.29653478e-03 9.99965583e-01 1.26394164e-05 4.25143334e+00] [ 6.75009365e-03 -6.86438776e-05 9.99977215e-01 2.94238952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.299254154 meters 0.0568464028174859 Centerline is valid? [True, True] Translation: X:751.95, Y:4.25, Z:2.94 [[ 9.99970609e-01 -2.77079428e-03 -7.14863220e-03 7.51953323e+02] [ 2.77096063e-03 9.99996161e-01 1.33651724e-05 4.25070594e+00] [ 7.14856772e-03 -3.31733579e-05 9.99974448e-01 2.94201824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters 0.0567460284673486 Centerline is valid? [True, True] Translation: X:752.01, Y:4.25, Z:2.94 [[ 9.99963050e-01 -2.85139501e-04 -8.59167401e-03 7.52011352e+02] [ 2.85285652e-04 9.99999959e-01 1.57851367e-05 4.24875103e+00] [ 8.59166916e-03 -1.82356347e-05 9.99963091e-01 2.94131828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.419254154 meters 0.05673231330073036 Centerline is valid? [True, True] Translation: X:752.07, Y:4.25, Z:2.94 [[ 9.99950560e-01 -1.59573424e-03 -9.81485293e-03 7.52070333e+02] [ 1.59598299e-03 9.99998726e-01 1.75115377e-05 4.24597681e+00] [ 9.81481249e-03 -3.31750103e-05 9.99951833e-01 2.94080585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters 0.05684032074658616 Centerline is valid? [True, True] Translation: X:752.13, Y:4.24, Z:2.94 [[ 9.99942282e-01 -3.33271486e-03 -1.02140451e-02 7.52128676e+02] [ 3.33306978e-03 9.99994445e-01 1.77255921e-05 4.24369824e+00] [ 1.02139293e-02 -5.17686941e-05 9.99947835e-01 2.94088122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.539254154 meters 0.057536544828585175 Centerline is valid? [True, True] Translation: X:752.19, Y:4.24, Z:2.94 [[ 9.99881842e-01 -1.13743377e-02 -1.03405672e-02 7.52188239e+02] [ 1.13751285e-02 9.99935301e-01 1.76651258e-05 4.23629998e+00] [ 1.03396972e-02 -1.35288319e-04 9.99946535e-01 2.94144759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters 0.05705226973698921 Centerline is valid? [True, True] Translation: X:752.25, Y:4.23, Z:2.94 [[ 9.99737734e-01 -2.13087421e-02 -8.39053271e-03 7.52247182e+02] [ 2.13096129e-02 9.99772924e-01 1.43815263e-05 4.22859366e+00] [ 8.38832097e-03 -1.93176759e-04 9.99964799e-01 2.94387134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.659254154 meters 0.05707174344537271 Centerline is valid? [True, True] Translation: X:752.31, Y:4.22, Z:2.95 [[ 9.99461870e-01 -3.21913953e-02 -6.29959362e-03 7.52308022e+02] [ 3.21921025e-02 9.99481700e-01 1.08637786e-05 4.22162912e+00] [ 6.29597882e-03 -2.13655096e-04 9.99980157e-01 2.94553937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters 0.05678952244003003 Centerline is valid? [True, True] Translation: X:752.37, Y:4.22, Z:2.95 [[ 9.99191606e-01 -3.98746350e-02 -5.11354621e-03 7.52368852e+02] [ 3.98752014e-02 9.99204668e-01 8.81802109e-06 4.22235845e+00] [ 5.10912763e-03 -2.12714578e-04 9.99986926e-01 2.94596049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.779254154 meters 0.0567912344171388 Centerline is valid? [True, True] Translation: X:752.43, Y:4.22, Z:2.95 [[ 9.98526500e-01 -5.38938534e-02 -6.34680720e-03 7.52428711e+02] [ 5.38950084e-02 9.98546608e-01 1.09663779e-05 4.21552065e+00] [ 6.33699178e-03 -3.53011446e-04 9.99979859e-01 2.94568031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters 0.058011353682483786 Centerline is valid? [True, True] Translation: X:752.49, Y:4.21, Z:2.95 [[ 9.98214340e-01 -5.92732641e-02 -7.40354523e-03 7.52488158e+02] [ 5.92749830e-02 9.98241692e-01 1.27696076e-05 4.21015169e+00] [ 7.38977062e-03 -4.51591823e-04 9.99972593e-01 2.94508775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.899254154 meters 0.057202926174772635 Centerline is valid? [True, True] Translation: X:752.55, Y:4.22, Z:2.95 [[ 9.97873671e-01 -6.45922776e-02 -8.71637047e-03 7.52548344e+02] [ 6.45948617e-02 9.97911571e-01 1.49726200e-05 4.21591630e+00] [ 8.69719984e-03 -5.77973528e-04 9.99962012e-01 2.94551723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters 0.05636600810551373 Centerline is valid? [True, True] Translation: X:752.61, Y:4.21, Z:2.94 [[ 9.97826494e-01 -6.51056668e-02 -1.01754909e-02 7.52609755e+02] [ 6.51092166e-02 9.97878144e-01 1.76285170e-05 4.21362664e+00] [ 1.01527523e-02 -6.80108445e-04 9.99948228e-01 2.94480680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.019254154 meters 0.05705497225175956 Centerline is valid? [True, True] Translation: X:752.67, Y:4.22, Z:2.94 [[ 9.98035591e-01 -6.17293464e-02 -1.06979705e-02 7.52670733e+02] [ 6.17330786e-02 9.98092694e-01 1.86827357e-05 4.21625995e+00] [ 1.06764129e-02 -6.79064687e-04 9.99942775e-01 2.94482705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.079254154 meters 0.05662288958410539 Centerline is valid? [True, True] Translation: X:752.73, Y:4.23, Z:2.95 [[ 9.98596349e-01 -5.17040869e-02 -1.14899677e-02 7.52731042e+02] [ 5.17077313e-02 9.98662260e-01 2.01333975e-05 4.22751118e+00] [ 1.14735561e-02 -6.14225297e-04 9.99933988e-01 2.94661461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.139254154 meters 0.057853870797676114 Centerline is valid? [True, True] Translation: X:752.79, Y:4.23, Z:2.95 [[ 9.99259616e-01 -3.70018855e-02 -1.05394419e-02 7.52790931e+02] [ 3.70041357e-02 9.99315112e-01 1.85052666e-05 4.22713282e+00] [ 1.05315389e-02 -4.08494504e-04 9.99944458e-01 2.94626133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.199254154 meters 0.05710291925424252 Centerline is valid? [True, True] Translation: X:752.85, Y:4.24, Z:2.95 [[ 9.99608451e-01 -2.64546360e-02 -9.11573417e-03 7.52851815e+02] [ 2.64558811e-02 9.99649982e-01 1.60109036e-05 4.23511254e+00] [ 9.11211994e-03 -2.57169414e-04 9.99958451e-01 2.94821354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.259254154 meters 0.05660865779726065 Centerline is valid? [True, True] Translation: X:752.91, Y:4.25, Z:2.95 [[ 9.99949001e-01 -7.21714252e-03 -7.06458126e-03 7.52912054e+02] [ 7.21740998e-03 9.99973954e-01 1.23656629e-05 4.25186674e+00] [ 7.06430802e-03 -6.33530115e-05 9.99975045e-01 2.95094874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.319254154 meters 0.05714396595024463 Centerline is valid? [True, True] Translation: X:752.97, Y:4.26, Z:2.95 [[ 9.99968781e-01 1.82014291e-04 -7.89964355e-03 7.52970519e+02] [-1.81911964e-04 9.99999983e-01 1.36717193e-05 4.25725486e+00] [ 7.89964591e-03 -1.22342528e-05 9.99968797e-01 2.95110828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.379254154 meters 0.057322605716542394 Centerline is valid? [True, True] Translation: X:753.03, Y:4.26, Z:2.95 [[ 9.99931142e-01 6.21013824e-03 -9.95723440e-03 7.53029130e+02] [-6.21027968e-03 9.99980716e-01 1.67147918e-05 4.26050961e+00] [ 9.95714619e-03 4.51235698e-05 9.99950425e-01 2.95239466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.439254154 meters 0.05740490004060489 Centerline is valid? [True, True] Translation: X:753.09, Y:4.26, Z:2.95 [[ 9.99908889e-01 8.24646581e-03 -1.06869090e-02 7.53086799e+02] [-8.24675259e-03 9.99965995e-01 1.72332347e-05 4.26199014e+00] [ 1.06866877e-02 7.09006299e-05 9.99942893e-01 2.95179270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.499254154 meters 0.057546083673641384 Centerline is valid? [True, True] Translation: X:753.15, Y:4.26, Z:2.95 [[ 9.99914364e-01 8.31807776e-03 -1.01031553e-02 7.53145980e+02] [-8.31834209e-03 9.99965402e-01 1.58585435e-05 4.26005212e+00] [ 1.01029377e-02 6.81843167e-05 9.99948962e-01 2.95305002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.559254154 meters 0.05767899983409133 Centerline is valid? [True, True] Translation: X:753.20, Y:4.26, Z:2.95 [[ 9.99936655e-01 7.23135488e-03 -8.62518638e-03 7.53203429e+02] [-7.23150962e-03 9.99973852e-01 1.32460695e-05 4.25827643e+00] [ 8.62505664e-03 4.91278879e-05 9.99962802e-01 2.95323450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.619254154 meters 0.05799987199598372 Centerline is valid? [True, True] Translation: X:753.26, Y:4.25, Z:2.96 [[ 9.99965684e-01 3.79950516e-03 -7.36168496e-03 7.53261804e+02] [-3.79952669e-03 9.99992782e-01 1.10618406e-05 4.25082809e+00] [ 7.36167385e-03 1.69094575e-05 9.99972902e-01 2.95544554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.679254154 meters 0.05756757384553546 Centerline is valid? [True, True] Translation: X:753.32, Y:4.24, Z:2.95 [[ 9.99963707e-01 -3.72945588e-03 -7.66004575e-03 7.53320037e+02] [ 3.72965157e-03 9.99993045e-01 1.12613342e-05 4.24181901e+00] [ 7.65995047e-03 -3.98302272e-05 9.99970661e-01 2.95374076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.739254154 meters 0.05712293333914593 Centerline is valid? [True, True] Translation: X:753.38, Y:4.23, Z:2.95 [[ 9.99857209e-01 -1.47035058e-02 -8.32878342e-03 7.53380617e+02] [ 1.47041166e-02 9.99891889e-01 1.21069868e-05 4.22791963e+00] [ 8.32770497e-03 -1.34572661e-04 9.99965315e-01 2.95306216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.799254154 meters 0.056790233136809615 Centerline is valid? [True, True] Translation: X:753.44, Y:4.22, Z:2.95 [[ 9.99732847e-01 -2.16502041e-02 -8.09341792e-03 7.53440974e+02] [ 2.16510087e-02 9.99765589e-01 1.17941700e-05 4.22239277e+00] [ 8.09126539e-03 -1.87021681e-04 9.99967248e-01 2.95311676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters 0.058204058380260715 Centerline is valid? [True, True] Translation: X:753.50, Y:4.21, Z:2.95 [[ 9.99524399e-01 -2.96427625e-02 -8.50186247e-03 7.53500216e+02] [ 2.96439389e-02 9.99560522e-01 1.23607485e-05 4.20800626e+00] [ 8.49775968e-03 -2.64383561e-04 9.99963858e-01 2.95178936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.919254154 meters 0.05864741623697023 Centerline is valid? [True, True] Translation: X:753.56, Y:4.20, Z:2.95 [[ 9.99475848e-01 -3.10642743e-02 -9.11265783e-03 7.53560817e+02] [ 3.10656852e-02 9.99517345e-01 1.32790024e-05 4.20356102e+00] [ 9.10784706e-03 -2.96363001e-04 9.99958479e-01 2.95187185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters 0.05786458039376805 Centerline is valid? [True, True] Translation: X:753.62, Y:4.21, Z:2.95 [[ 9.99394024e-01 -3.37026758e-02 -8.70143588e-03 7.53622149e+02] [ 3.37040637e-02 9.99431857e-01 1.28652373e-05 4.20740092e+00] [ 8.69605863e-03 -3.06131190e-04 9.99962142e-01 2.95291564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.039254154 meters 0.057785993152312 Centerline is valid? [True, True] Translation: X:753.68, Y:4.21, Z:2.95 [[ 9.99275636e-01 -3.68704603e-02 -9.42195364e-03 7.53683016e+02] [ 3.68722293e-02 9.99319988e-01 1.40518329e-05 4.20629840e+00] [ 9.41502850e-03 -3.61450090e-04 9.99955612e-01 2.95293169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters 0.058999758614972926 Centerline is valid? [True, True] Translation: X:753.74, Y:4.19, Z:2.95 [[ 9.98972187e-01 -4.40340516e-02 -1.07504220e-02 7.53742875e+02] [ 4.40367688e-02 9.99029911e-01 1.60501930e-05 4.19081174e+00] [ 1.07392864e-02 -4.89447546e-04 9.99942212e-01 2.95084855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.159254154 meters 0.059908129930839916 Centerline is valid? [True, True] Translation: X:753.80, Y:4.18, Z:2.95 [[ 9.98582607e-01 -5.18567838e-02 -1.19854899e-02 7.53802771e+02] [ 5.18607234e-02 9.98654327e-01 1.79191492e-05 4.18381029e+00] [ 1.19684321e-02 -6.39469925e-04 9.99928171e-01 2.94999841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters 0.058229115563870504 Centerline is valid? [True, True] Translation: X:753.86, Y:4.19, Z:2.95 [[ 9.98302560e-01 -5.68723859e-02 -1.25510790e-02 7.53863423e+02] [ 5.68771011e-02 9.98381187e-01 1.87690035e-05 4.19252744e+00] [ 1.25296937e-02 -7.32606135e-04 9.99921232e-01 2.95153100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.279254154 meters 0.05650016565350296 Centerline is valid? [True, True] Translation: X:753.93, Y:4.20, Z:2.95 [[ 9.98254196e-01 -5.78752787e-02 -1.17903474e-02 7.53925589e+02] [ 5.78795131e-02 9.98323576e-01 1.79541375e-05 4.19627207e+00] [ 1.17695427e-02 -7.00342361e-04 9.99930491e-01 2.95257243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters 0.057780903416915 Centerline is valid? [True, True] Translation: X:753.99, Y:4.20, Z:2.95 [[ 9.98342738e-01 -5.63181695e-02 -1.18338939e-02 7.53985905e+02] [ 5.63223282e-02 9.98412638e-01 1.81845753e-05 4.19710120e+00] [ 1.18140851e-02 -6.84666894e-04 9.99929977e-01 2.95260074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.399254154 meters 0.05721839103930814 Centerline is valid? [True, True] Translation: X:754.05, Y:4.20, Z:2.95 [[ 9.98509461e-01 -5.33311476e-02 -1.16037020e-02 7.54046158e+02] [ 5.33349449e-02 9.98576679e-01 1.78273132e-05 4.20187752e+00] [ 1.15862355e-02 -6.36683550e-04 9.99932675e-01 2.95329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters 0.05941394830452105 Centerline is valid? [True, True] Translation: X:754.11, Y:4.19, Z:2.95 [[ 9.98700422e-01 -4.98033008e-02 -1.08212308e-02 7.54105725e+02] [ 4.98063960e-02 9.98758891e-01 1.65606769e-05 4.19160159e+00] [ 1.08069757e-02 -5.55505659e-04 9.99941449e-01 2.95210865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.519254154 meters 0.05606391546279765 Centerline is valid? [True, True] Translation: X:754.17, Y:4.21, Z:2.95 [[ 9.99010567e-01 -4.35009498e-02 -9.24958702e-03 7.54165998e+02] [ 4.35029415e-02 9.99053299e-01 1.41462350e-05 4.20873186e+00] [ 9.24021505e-03 -4.16516481e-04 9.99957222e-01 2.95361837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.579254154 meters 0.05743273942931781 Centerline is valid? [True, True] Translation: X:754.23, Y:4.21, Z:2.95 [[ 9.99347434e-01 -3.49398863e-02 -9.16028706e-03 7.54225674e+02] [ 3.49414806e-02 9.99389360e-01 1.40109261e-05 4.21406399e+00] [ 9.15420388e-03 -3.34075776e-04 9.99958044e-01 2.95253602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.639254154 meters 0.05787023944972933 Centerline is valid? [True, True] Translation: X:754.29, Y:4.22, Z:2.95 [[ 9.99638347e-01 -2.54996307e-02 -8.54070898e-03 7.54285341e+02] [ 2.55006719e-02 9.99674805e-01 1.30116460e-05 4.21794214e+00] [ 8.53759979e-03 -2.30800758e-04 9.99963527e-01 2.95207561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.699254154 meters 0.05697341572350252 Centerline is valid? [True, True] Translation: X:754.35, Y:4.23, Z:2.95 [[ 9.99835021e-01 -1.71168637e-02 -6.07819185e-03 7.54345712e+02] [ 1.71172361e-02 9.99853489e-01 9.25083440e-06 4.23175451e+00] [ 6.07714299e-03 -1.13291153e-04 9.99981528e-01 2.95395269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.759254154 meters 0.05572566120335949 Centerline is valid? [True, True] Translation: X:754.41, Y:4.24, Z:2.95 [[ 9.99900540e-01 -1.27206840e-02 -6.09055148e-03 7.54406475e+02] [ 1.27209767e-02 9.99919085e-01 9.31723505e-06 4.23695432e+00] [ 6.08994014e-03 -8.67940720e-05 9.99981452e-01 2.95378674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.819254154 meters 0.05595930208682509 Centerline is valid? [True, True] Translation: X:754.47, Y:4.24, Z:2.95 [[ 9.99940666e-01 -9.00977387e-03 -6.12281962e-03 7.54467352e+02] [ 9.01000031e-03 9.99959409e-01 9.39945196e-06 4.24322388e+00] [ 6.12248640e-03 -6.45655009e-05 9.99981255e-01 2.95301006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.879254154 meters 0.056139904096992405 Centerline is valid? [True, True] Translation: X:754.53, Y:4.24, Z:2.95 [[ 9.99922839e-01 -1.08776602e-02 -5.99940557e-03 7.54526509e+02] [ 1.08779112e-02 9.99940834e-01 9.20958790e-06 4.24381470e+00] [ 5.99895043e-03 -7.44698786e-05 9.99982003e-01 2.95295779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.939254154 meters 0.057324459211038056 Centerline is valid? [True, True] Translation: X:754.59, Y:4.24, Z:2.95 [[ 9.99877421e-01 -1.42387727e-02 -6.51158755e-03 7.54585940e+02] [ 1.42391396e-02 9.99898618e-01 9.99571923e-06 4.23765997e+00] [ 6.51078506e-03 -1.02713898e-04 9.99978799e-01 2.95176446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.999254154 meters 0.056076900466102704 Centerline is valid? [True, True] Translation: X:754.65, Y:4.24, Z:2.95 [[ 9.99863122e-01 -1.53261796e-02 -6.23256914e-03 7.54646798e+02] [ 1.53265370e-02 9.99882542e-01 9.58517356e-06 4.24049804e+00] [ 6.23169017e-03 -1.05107563e-04 9.99980577e-01 2.95159475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.059254154 meters 0.05604398684828871 Centerline is valid? [True, True] Translation: X:754.71, Y:4.24, Z:2.95 [[ 9.99892113e-01 -1.36135150e-02 -5.51668636e-03 7.54707787e+02] [ 1.36137692e-02 9.99907328e-01 8.53689058e-06 4.24275477e+00] [ 5.51605890e-03 -8.36388645e-05 9.99984783e-01 2.95173604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.119254154 meters 0.05637890564612539 Centerline is valid? [True, True] Translation: X:754.77, Y:4.25, Z:2.95 [[ 9.99952902e-01 -8.35852890e-03 -4.93246687e-03 7.54768082e+02] [ 8.35866851e-03 9.99965066e-01 7.68964031e-06 4.24764535e+00] [ 4.93223029e-03 -4.89181337e-05 9.99987835e-01 2.95213601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.179254154 meters 0.05615980940617359 Centerline is valid? [True, True] Translation: X:754.83, Y:4.25, Z:2.95 [[ 9.99985844e-01 -3.89292808e-03 -3.62724126e-03 7.54827207e+02] [ 3.89297421e-03 9.99992422e-01 5.65748902e-06 4.24821300e+00] [ 3.62719175e-03 -1.97781656e-05 9.99993422e-01 2.95204356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.239254154 meters 0.056343908439816154 Centerline is valid? [True, True] Translation: X:754.89, Y:4.25, Z:2.95 [[ 9.99996605e-01 -5.49528544e-04 -2.54717026e-03 7.54886870e+02] [ 5.49540418e-04 9.99999849e-01 3.96149908e-06 4.24826586e+00] [ 2.54716769e-03 -5.36125863e-06 9.99996756e-01 2.95223237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.299254154 meters 0.055498500032554424 Centerline is valid? [True, True] Translation: X:754.95, Y:4.25, Z:2.95 [[ 9.99997510e-01 8.27850891e-04 -2.07245019e-03 7.54946131e+02] [-8.27845978e-04 9.99999657e-01 3.22807197e-06 4.24725676e+00] [ 2.07245215e-03 -1.51239437e-06 9.99997852e-01 2.95253418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters 0.05595915103787661 Centerline is valid? [True, True] Translation: X:755.00, Y:4.24, Z:2.95 [[ 9.99992724e-01 -5.02411198e-04 -3.78137303e-03 7.55004433e+02] [ 5.02436602e-04 9.99999874e-01 5.76789859e-06 4.24215474e+00] [ 3.78136965e-03 -7.66775683e-06 9.99992851e-01 2.95136063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.419254154 meters 0.05643477300952137 Centerline is valid? [True, True] Translation: X:755.06, Y:4.24, Z:2.95 [[ 9.99970640e-01 -5.64634138e-03 -5.18047686e-03 7.55063926e+02] [ 5.64645752e-03 9.99984059e-01 7.79418445e-06 4.23520427e+00] [ 5.18035027e-03 -3.70452982e-05 9.99986581e-01 2.94976532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters 0.056528966309362855 Centerline is valid? [True, True] Translation: X:755.12, Y:4.23, Z:2.95 [[ 9.99905639e-01 -1.20635127e-02 -6.57145879e-03 7.55123205e+02] [ 1.20638381e-02 9.99927229e-01 9.87741756e-06 4.22739153e+00] [ 6.57086142e-03 -8.91535002e-05 9.99978408e-01 2.94987448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.539254154 meters 0.056983800260586734 Centerline is valid? [True, True] Translation: X:755.18, Y:4.22, Z:2.95 [[ 9.99842420e-01 -1.66838578e-02 -6.06502131e-03 7.55183051e+02] [ 1.66842201e-02 9.99860809e-01 9.14442220e-06 4.21957597e+00] [ 6.06402454e-03 -1.10333132e-04 9.99981608e-01 2.95102039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters 0.05738408024203048 Centerline is valid? [True, True] Translation: X:755.24, Y:4.21, Z:2.95 [[ 9.99831990e-01 -1.77711588e-02 -4.49193938e-03 7.55243845e+02] [ 1.77713685e-02 9.99842077e-01 6.75776683e-06 4.21444684e+00] [ 4.49110991e-03 -8.65845414e-05 9.99989911e-01 2.95309492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.659254154 meters 0.0569814835482414 Centerline is valid? [True, True] Translation: X:755.31, Y:4.21, Z:2.95 [[ 9.99853942e-01 -1.67050848e-02 -3.61040510e-03 7.55305229e+02] [ 1.67052135e-02 9.99860458e-01 5.47860292e-06 4.21125329e+00] [ 3.60980977e-03 -6.57903906e-05 9.99993482e-01 2.95392928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters 0.05771724166416953 Centerline is valid? [True, True] Translation: X:755.37, Y:4.21, Z:2.95 [[ 9.99874143e-01 -1.54016558e-02 -3.80620880e-03 7.55366427e+02] [ 1.54017896e-02 9.99881385e-01 5.84204849e-06 4.20582141e+00] [ 3.80566735e-03 -6.44637404e-05 9.99992756e-01 2.95384129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.779254154 meters 0.057341694185349935 Centerline is valid? [True, True] Translation: X:755.43, Y:4.21, Z:2.95 [[ 9.99897222e-01 -1.37107777e-02 -4.19042999e-03 7.55427958e+02] [ 1.37109255e-02 9.99906001e-01 6.54503294e-06 4.20831981e+00] [ 4.18994636e-03 -6.39990335e-05 9.99991220e-01 2.95350218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters 0.05746155635173123 Centerline is valid? [True, True] Translation: X:755.49, Y:4.20, Z:2.95 [[ 9.99904924e-01 -1.31831907e-02 -4.04315358e-03 7.55489341e+02] [ 1.31833242e-02 9.99913096e-01 6.37920409e-06 4.20464197e+00] [ 4.04271811e-03 -5.96808021e-05 9.99991826e-01 2.95377597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.899254154 meters 0.05819244702658174 Centerline is valid? [True, True] Translation: X:755.55, Y:4.20, Z:2.95 [[ 9.99906429e-01 -1.30129222e-02 -4.21878209e-03 7.55550814e+02] [ 1.30130665e-02 9.99915326e-01 6.74546299e-06 4.19875933e+00] [ 4.21833709e-03 -6.16441236e-05 9.99991101e-01 2.95404481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters 0.05681989921110169 Centerline is valid? [True, True] Translation: X:755.61, Y:4.20, Z:2.95 [[ 9.99891850e-01 -1.38452788e-02 -4.95956093e-03 7.55612056e+02] [ 1.38454897e-02 9.99904147e-01 8.19205358e-06 4.20015855e+00] [ 4.95897212e-03 -7.68587176e-05 9.99987701e-01 2.95352117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.019254154 meters 0.05768295261801735 Centerline is valid? [True, True] Translation: X:755.67, Y:4.20, Z:2.95 [[ 9.99875445e-01 -1.45376895e-02 -6.14417017e-03 7.55672809e+02] [ 1.45380276e-02 9.99894317e-01 1.03595176e-05 4.19756036e+00] [ 6.14337024e-03 -9.96823428e-05 9.99981124e-01 2.95235137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.079254154 meters 0.05703801782533439 Centerline is valid? [True, True] Translation: X:755.73, Y:4.20, Z:2.95 [[ 9.99845446e-01 -1.58857223e-02 -7.53183925e-03 7.55733616e+02] [ 1.58862707e-02 9.99873805e-01 1.29824527e-05 4.19654640e+00] [ 7.53068254e-03 -1.32633283e-04 9.99971635e-01 2.95216262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.139254154 meters 0.05753252536689845 Centerline is valid? [True, True] Translation: X:755.79, Y:4.19, Z:2.95 [[ 9.99822419e-01 -1.74366201e-02 -7.14813215e-03 7.55793449e+02] [ 1.74371535e-02 9.99847961e-01 1.22944099e-05 4.19361190e+00] [ 7.14683098e-03 -1.36935304e-04 9.99974452e-01 2.95353832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.199254154 meters 0.0574827451568019 Centerline is valid? [True, True] Translation: X:755.85, Y:4.19, Z:2.96 [[ 9.99764376e-01 -2.10641796e-02 -5.24330479e-03 7.55854104e+02] [ 2.10645163e-02 9.99778118e-01 8.99414095e-06 4.19328150e+00] [ 5.24195194e-03 -1.19439701e-04 9.99986254e-01 2.95585252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.259254154 meters 0.05727854234036559 Centerline is valid? [True, True] Translation: X:755.91, Y:4.19, Z:2.96 [[ 9.99700846e-01 -2.39623601e-02 -4.90135037e-03 7.55914573e+02] [ 2.39626892e-02 9.99712854e-01 8.42961362e-06 4.18960983e+00] [ 4.89974098e-03 -1.25876628e-04 9.99987988e-01 2.95695583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.319254154 meters 0.05775518904438234 Centerline is valid? [True, True] Translation: X:755.98, Y:4.19, Z:2.96 [[ 9.99606431e-01 -2.77462331e-02 -4.13889675e-03 7.55975179e+02] [ 2.77465005e-02 9.99614992e-01 7.19668309e-06 4.19063077e+00] [ 4.13710356e-03 -1.22033752e-04 9.99991435e-01 2.95727235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.379254154 meters 0.05809201454299696 Centerline is valid? [True, True] Translation: X:756.03, Y:4.18, Z:2.96 [[ 9.99283112e-01 -3.75234343e-02 -5.02543288e-03 7.56034422e+02] [ 3.75239523e-02 9.99295728e-01 8.79311579e-06 4.18055330e+00] [ 5.02156367e-03 -1.97360916e-04 9.99987372e-01 2.95647106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.439254154 meters 0.05706137614005325 Centerline is valid? [True, True] Translation: X:756.10, Y:4.19, Z:2.96 [[ 9.98908129e-01 -4.63691629e-02 -5.69651211e-03 7.56095388e+02] [ 4.63699724e-02 9.98924334e-01 1.00404399e-05 4.18717263e+00] [ 5.68991900e-03 -2.74176586e-04 9.99983775e-01 2.95676016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.499254154 meters 0.06548155762652465 Centerline is valid? [True, True] Translation: X:756.16, Y:4.15, Z:2.96 [[ 9.98686898e-01 -5.07396807e-02 -7.06851524e-03 7.56155115e+02] [ 5.07410370e-02 9.98711844e-01 1.25535956e-05 4.15319433e+00] [ 7.05877292e-03 -3.71200905e-04 9.99975018e-01 2.95552995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.559254154 meters 0.06086295064768293 Centerline is valid? [True, True] Translation: X:756.22, Y:4.17, Z:2.96 [[ 9.98502425e-01 -5.43360077e-02 -6.36438699e-03 7.56215768e+02] [ 5.43371805e-02 9.98522644e-01 1.13712756e-05 4.16882662e+00] [ 6.35436665e-03 -3.57177091e-04 9.99979747e-01 2.95697690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.619254154 meters 0.06318984855863137 Centerline is valid? [True, True] Translation: X:756.28, Y:4.16, Z:2.96 [[ 9.98561173e-01 -5.32283283e-02 -6.50599871e-03 7.56276599e+02] [ 5.32295308e-02 9.98582304e-01 1.16897702e-05 4.16115326e+00] [ 6.49615295e-03 -3.57984209e-04 9.99978836e-01 2.95708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.679254154 meters 0.05558971563233866 Centerline is valid? [True, True] Translation: X:756.34, Y:4.19, Z:2.96 [[ 9.98688694e-01 -5.07966346e-02 -6.37132446e-03 7.56337401e+02] [ 5.07977390e-02 9.98708961e-01 1.15303471e-05 4.19027162e+00] [ 6.36251313e-03 -3.35164105e-04 9.99979703e-01 2.95817894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.739254154 meters 0.05772789885768396 Centerline is valid? [True, True] Translation: X:756.40, Y:4.19, Z:2.96 [[ 9.98761306e-01 -4.92571517e-02 -7.04172823e-03 7.56397368e+02] [ 4.92584629e-02 9.98786065e-01 1.27862342e-05 4.18785237e+00] [ 7.03255021e-03 -3.59635105e-04 9.99975207e-01 2.95813433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.799254154 meters 0.059324458194806036 Centerline is valid? [True, True] Translation: X:756.46, Y:4.18, Z:2.96 [[ 9.98818151e-01 -4.79785066e-02 -7.76948730e-03 7.56457733e+02] [ 4.79800645e-02 9.98848293e-01 1.41387381e-05 4.18128431e+00] [ 7.75986077e-03 -3.86902530e-04 9.99969817e-01 2.95883798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters 0.05813309712677745 Centerline is valid? [True, True] Translation: X:756.52, Y:4.19, Z:2.96 [[ 9.98890584e-01 -4.66025495e-02 -6.76790640e-03 7.56519521e+02] [ 4.66037009e-02 9.98913457e-01 1.24357715e-05 4.19130194e+00] [ 6.75997324e-03 -3.27831461e-04 9.99977097e-01 2.96033889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.919254154 meters 0.05805120502787873 Centerline is valid? [True, True] Translation: X:756.58, Y:4.20, Z:2.96 [[ 9.99101287e-01 -4.19282128e-02 -6.21636570e-03 7.56580629e+02] [ 4.19290948e-02 9.99120589e-01 1.15747867e-05 4.20122394e+00] [ 6.21041364e-03 -2.72210971e-04 9.99980678e-01 2.96086562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters 0.05658029026118015 Centerline is valid? [True, True] Translation: X:756.64, Y:4.21, Z:2.96 [[ 9.99308050e-01 -3.67130800e-02 -5.96413823e-03 7.56641277e+02] [ 3.67137996e-02 9.99325821e-01 1.11779691e-05 4.20878668e+00] [ 5.95970696e-03 -2.30136410e-04 9.99982214e-01 2.96134530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.039254154 meters 0.05809258419763561 Centerline is valid? [True, True] Translation: X:756.70, Y:4.21, Z:2.96 [[ 9.99583720e-01 -2.81184160e-02 -6.46082111e-03 7.56701350e+02] [ 2.81190813e-02 9.99604580e-01 1.21388202e-05 4.20875068e+00] [ 6.45792505e-03 -1.93806121e-04 9.99979129e-01 2.96126101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters 0.05779294167308858 Centerline is valid? [True, True] Translation: X:756.76, Y:4.22, Z:2.96 [[ 9.99730042e-01 -2.21062284e-02 -7.15250705e-03 7.56762110e+02] [ 2.21068902e-02 9.99755613e-01 1.34600387e-05 4.21578687e+00] [ 7.15046152e-03 -1.71576093e-04 9.99974420e-01 2.96099733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.159254154 meters 0.058331285551943446 Centerline is valid? [True, True] Translation: X:756.82, Y:4.21, Z:2.96 [[ 9.99766670e-01 -2.00219348e-02 -8.10730305e-03 7.56822445e+02] [ 2.00227170e-02 9.99799525e-01 1.53251016e-05 4.21495221e+00] [ 8.10537090e-03 -1.77651760e-04 9.99967135e-01 2.96024942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters 0.057133023869591605 Centerline is valid? [True, True] Translation: X:756.88, Y:4.22, Z:2.96 [[ 9.99765057e-01 -1.99433606e-02 -8.49072915e-03 7.56884025e+02] [ 1.99442167e-02 9.99801094e-01 1.61587667e-05 4.22200143e+00] [ 8.48871803e-03 -1.85495912e-04 9.99963953e-01 2.96094161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.279254154 meters 0.05663697040168762 Centerline is valid? [True, True] Translation: X:756.94, Y:4.23, Z:2.96 [[ 9.99724181e-01 -2.15257172e-02 -9.39182664e-03 7.56944797e+02] [ 2.15268360e-02 9.99768271e-01 1.80474695e-05 4.22535976e+00] [ 9.38926180e-03 -2.20218804e-04 9.99955896e-01 2.96165043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters 0.057292804726456655 Centerline is valid? [True, True] Translation: X:757.01, Y:4.22, Z:2.96 [[ 9.99634245e-01 -2.51089051e-02 -1.00458664e-02 7.57005185e+02] [ 2.51103674e-02 9.99684685e-01 1.94314345e-05 4.22384196e+00] [ 1.00422109e-02 -2.71679723e-04 9.99949539e-01 2.96261454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.399254154 meters 0.05738436200728945 Centerline is valid? [True, True] Translation: X:757.07, Y:4.23, Z:2.96 [[ 9.99510637e-01 -2.96378370e-02 -1.00042695e-02 7.57065367e+02] [ 2.96395147e-02 9.99560653e-01 1.94421765e-05 4.22575617e+00] [ 9.99929788e-03 -3.15954353e-04 9.99949956e-01 2.96400802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters 0.05728413063540328 Centerline is valid? [True, True] Translation: X:757.13, Y:4.22, Z:2.96 [[ 9.99434709e-01 -3.21589145e-02 -9.80134834e-03 7.57126673e+02] [ 3.21606472e-02 9.99482712e-01 1.91840329e-05 4.22481909e+00] [ 9.79566129e-03 -3.34390894e-04 9.99951965e-01 2.96465171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.519254154 meters 0.05880593451986542 Centerline is valid? [True, True] Translation: X:757.19, Y:4.21, Z:2.96 [[ 9.99341742e-01 -3.50345279e-02 -9.41617281e-03 7.57186482e+02] [ 3.50362567e-02 9.99386042e-01 1.86547780e-05 4.21355994e+00] [ 9.40973811e-03 -3.48549946e-04 9.99955667e-01 2.96326883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.579254154 meters 0.059567448727765565 Centerline is valid? [True, True] Translation: X:757.25, Y:4.21, Z:2.96 [[ 9.99323993e-01 -3.55798152e-02 -9.25386332e-03 7.57247904e+02] [ 3.55815117e-02 9.99366777e-01 1.87018785e-05 4.21215244e+00] [ 9.24733815e-03 -3.47955682e-04 9.99957182e-01 2.96347525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.639254154 meters 0.058188526271676935 Centerline is valid? [True, True] Translation: X:757.31, Y:4.22, Z:2.96 [[ 9.99356363e-01 -3.46018832e-02 -9.46407810e-03 7.57308916e+02] [ 3.46036164e-02 9.99401115e-01 1.94059605e-05 4.21802851e+00] [ 9.45773873e-03 -3.46884799e-04 9.99955214e-01 2.96486289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.699254154 meters 0.056226863381005965 Centerline is valid? [True, True] Translation: X:757.37, Y:4.23, Z:2.97 [[ 9.99424925e-01 -3.26013910e-02 -9.32568373e-03 7.57370726e+02] [ 3.26029888e-02 9.99468381e-01 1.93124330e-05 4.23119187e+00] [ 9.32009640e-03 -3.23346489e-04 9.99956515e-01 2.96714588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.759254154 meters 0.05749213327861331 Centerline is valid? [True, True] Translation: X:757.43, Y:4.22, Z:2.97 [[ 9.99510049e-01 -2.95782844e-02 -1.02365633e-02 7.57430414e+02] [ 2.95800522e-02 9.99562414e-01 2.13031276e-05 4.22108851e+00] [ 1.02314538e-02 -3.24090767e-04 9.99947605e-01 2.96518129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.819254154 meters 0.05727787319428827 Centerline is valid? [True, True] Translation: X:757.49, Y:4.23, Z:2.97 [[ 9.99540857e-01 -2.82865907e-02 -1.08602456e-02 7.57491744e+02] [ 2.82885056e-02 9.99599800e-01 2.27149679e-05 4.22793973e+00] [ 1.08552568e-02 -3.29924656e-04 9.99941026e-01 2.96689299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.879254154 meters 0.056606356633642524 Centerline is valid? [True, True] Translation: X:757.55, Y:4.23, Z:2.97 [[ 9.99580960e-01 -2.67068339e-02 -1.11646833e-02 7.57552626e+02] [ 2.67087613e-02 9.99643257e-01 2.35373673e-05 4.22936048e+00] [ 1.11600718e-02 -3.21722366e-04 9.99937673e-01 2.96739284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.939254154 meters 0.057806897760198483 Centerline is valid? [True, True] Translation: X:757.61, Y:4.23, Z:2.97 [[ 9.99577599e-01 -2.63727064e-02 -1.22108501e-02 7.57614994e+02] [ 2.63749912e-02 9.99652119e-01 2.60825860e-05 4.22935892e+00] [ 1.22059143e-02 -3.48132632e-04 9.99925444e-01 2.96756441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.999254154 meters 0.05685485479847999 Centerline is valid? [True, True] Translation: X:757.68, Y:4.23, Z:2.97 [[ 9.99525485e-01 -2.89009722e-02 -1.06554515e-02 7.57675991e+02] [ 2.89028572e-02 9.99582225e-01 2.29285264e-05 4.23340010e+00] [ 1.06503373e-02 -3.30890640e-04 9.99943229e-01 2.97024100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.059254154 meters 0.05868713691867067 Centerline is valid? [True, True] Translation: X:757.74, Y:4.22, Z:2.97 [[ 9.99403060e-01 -3.32521079e-02 -9.37133800e-03 7.57735743e+02] [ 3.32537570e-02 9.99446941e-01 2.01577605e-05 4.22351136e+00] [ 9.36548481e-03 -3.31777924e-04 9.99956088e-01 2.96994544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.119254154 meters 0.05695034474567298 Centerline is valid? [True, True] Translation: X:757.80, Y:4.23, Z:2.97 [[ 9.99258146e-01 -3.73893091e-02 -9.23021317e-03 7.57796207e+02] [ 3.73910849e-02 9.99300709e-01 1.98350448e-05 4.22725510e+00] [ 9.22301694e-03 -3.64948015e-04 9.99957400e-01 2.97121730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.179254154 meters 0.05785263543933807 Centerline is valid? [True, True] Translation: X:757.86, Y:4.22, Z:2.97 [[ 9.99115601e-01 -4.09410851e-02 -9.58354873e-03 7.57856051e+02] [ 4.09431627e-02 9.99161477e-01 2.06106390e-05 4.22372493e+00] [ 9.57466889e-03 -4.12973206e-04 9.99954077e-01 2.97101183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.239254154 meters 0.056799566910306944 Centerline is valid? [True, True] Translation: X:757.92, Y:4.23, Z:2.97 [[ 9.98916327e-01 -4.55723666e-02 -9.45152125e-03 7.57916549e+02] [ 4.55745942e-02 9.98960938e-01 2.03282605e-05 4.23238981e+00] [ 9.44077413e-03 -4.51055477e-04 9.99955333e-01 2.97298368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.299254154 meters 0.05696142744839599 Centerline is valid? [True, True] Translation: X:757.98, Y:4.23, Z:2.97 [[ 9.98856385e-01 -4.70508908e-02 -8.49327006e-03 7.57976524e+02] [ 4.70527429e-02 9.98892406e-01 1.82634937e-05 4.22932085e+00] [ 8.48300365e-03 -4.17874259e-04 9.99963931e-01 2.97314462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters 0.056787353965621595 Centerline is valid? [True, True] Translation: X:758.04, Y:4.23, Z:2.97 [[ 9.98864667e-01 -4.67686356e-02 -9.05938213e-03 7.58038616e+02] [ 4.67707332e-02 9.98905650e-01 1.96950833e-05 4.23422449e+00] [ 9.04854689e-03 -4.43386667e-04 9.99958963e-01 2.97337783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.419254154 meters 0.058224861992936194 Centerline is valid? [True, True] Translation: X:758.10, Y:4.23, Z:2.97 [[ 9.98995391e-01 -4.35373865e-02 -1.06162282e-02 7.58098289e+02] [ 4.35400864e-02 9.99051681e-01 2.32178167e-05 4.22606687e+00] [ 1.06051498e-02 -4.85425985e-04 9.99943646e-01 2.97105921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters 0.057654210099311355 Centerline is valid? [True, True] Translation: X:758.16, Y:4.23, Z:2.97 [[ 9.99273566e-01 -3.65116086e-02 -1.09198525e-02 7.58158832e+02] [ 3.65140458e-02 9.99333140e-01 2.38419966e-05 4.23412933e+00] [ 1.09117000e-02 -4.22552673e-04 9.99940376e-01 2.97169034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.539254154 meters 0.05757062575563937 Centerline is valid? [True, True] Translation: X:758.22, Y:4.24, Z:2.97 [[ 9.99483945e-01 -3.02158405e-02 -1.09016940e-02 7.58218806e+02] [ 3.02178953e-02 9.99543335e-01 2.37817386e-05 4.23670594e+00] [ 1.08959970e-02 -3.53195716e-04 9.99940574e-01 2.97220291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters 0.056710816553273695 Centerline is valid? [True, True] Translation: X:758.28, Y:4.24, Z:2.97 [[ 9.99738444e-01 -2.07986711e-02 -9.51097889e-03 7.58279126e+02] [ 2.07998095e-02 9.99783660e-01 2.07885401e-05 4.24360592e+00] [ 9.50848892e-03 -2.18609652e-04 9.99954769e-01 2.97344228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.659254154 meters 0.057074665203319754 Centerline is valid? [True, True] Translation: X:758.34, Y:4.24, Z:2.97 [[ 9.99869928e-01 -1.35205110e-02 -8.79337167e-03 7.58338687e+02] [ 1.35212027e-02 9.99908584e-01 1.92120205e-05 4.24495585e+00] [ 8.79230806e-03 -1.38106483e-04 9.99961337e-01 2.97377506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters 0.05650913335758241 Centerline is valid? [True, True] Translation: X:758.40, Y:4.25, Z:2.97 [[ 9.99920564e-01 -9.22043710e-03 -8.59361487e-03 7.58398226e+02] [ 9.22093832e-03 9.99957486e-01 1.87043310e-05 4.25075431e+00] [ 8.59307706e-03 -9.79440379e-05 9.99963074e-01 2.97477692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.779254154 meters 0.057032140292648095 Centerline is valid? [True, True] Translation: X:758.46, Y:4.25, Z:2.97 [[ 9.99930248e-01 -6.52394209e-03 -9.84564824e-03 7.58457060e+02] [ 6.52446746e-03 9.99978715e-01 2.12413727e-05 4.25107914e+00] [ 9.84530010e-03 -8.54775025e-05 9.99951530e-01 2.97362939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters 0.05757061476432695 Centerline is valid? [True, True] Translation: X:758.52, Y:4.25, Z:2.97 [[ 9.99935557e-01 -5.38502893e-03 -9.99412999e-03 7.58515680e+02] [ 5.38550526e-03 9.99985498e-01 2.07483980e-05 4.25108313e+00] [ 9.99387332e-03 -7.45705005e-05 9.99950057e-01 2.97426937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.899254154 meters 0.05678421635442611 Centerline is valid? [True, True] Translation: X:758.57, Y:4.25, Z:2.98 [[ 9.99946148e-01 -5.39039058e-03 -8.86821858e-03 7.58574959e+02] [ 5.39075733e-03 9.99985470e-01 1.74513134e-05 4.25015627e+00] [ 8.86799565e-03 -6.52567879e-05 9.99960676e-01 2.97501697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters 0.05700582452530481 Centerline is valid? [True, True] Translation: X:758.63, Y:4.25, Z:2.98 [[ 9.99948265e-01 -6.17858277e-03 -8.08039127e-03 7.58634114e+02] [ 6.17890861e-03 9.99980910e-01 1.53602048e-05 4.24732330e+00] [ 8.08014211e-03 -6.52874092e-05 9.99967353e-01 2.97571009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.019254154 meters 0.057709989618567464 Centerline is valid? [True, True] Translation: X:758.69, Y:4.24, Z:2.98 [[ 9.99920787e-01 -8.78648568e-03 -9.01211556e-03 7.58694010e+02] [ 8.78699478e-03 9.99961393e-01 1.68952551e-05 4.24374260e+00] [ 9.01161919e-03 -9.60833292e-05 9.99959390e-01 2.97514532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.079254154 meters 0.05714677107872932 Centerline is valid? [True, True] Translation: X:758.75, Y:4.24, Z:2.97 [[ 9.99849101e-01 -1.39037940e-02 -1.04144331e-02 7.58753641e+02] [ 1.39047500e-02 9.99903324e-01 1.93924154e-05 4.23682721e+00] [ 1.04131567e-02 -1.64199578e-04 9.99945768e-01 2.97449134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.139254154 meters 0.05736948000528051 Centerline is valid? [True, True] Translation: X:758.81, Y:4.23, Z:2.98 [[ 9.99720676e-01 -2.11504865e-02 -1.05464668e-02 7.58813737e+02] [ 2.11518696e-02 9.99776274e-01 1.96024311e-05 4.23289434e+00] [ 1.05436927e-02 -2.42674447e-04 9.99944384e-01 2.97564591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.199254154 meters 0.05724735766487431 Centerline is valid? [True, True] Translation: X:758.87, Y:4.22, Z:2.97 [[ 9.99527131e-01 -2.87451793e-02 -1.09191839e-02 7.58873330e+02] [ 2.87471142e-02 9.99586716e-01 2.02596418e-05 4.22446577e+00] [ 1.09140888e-02 -3.34145088e-04 9.99940384e-01 2.97493931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.259254154 meters 0.0575413077895091 Centerline is valid? [True, True] Translation: X:758.93, Y:4.22, Z:2.98 [[ 9.99421978e-01 -3.23097833e-02 -1.05730172e-02 7.58934015e+02] [ 3.23117972e-02 9.99477837e-01 1.96690400e-05 4.22470333e+00] [ 1.05668609e-02 -3.61290860e-04 9.99944104e-01 2.97534139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.319254154 meters 0.060535173383816865 Centerline is valid? [True, True] Translation: X:758.99, Y:4.21, Z:2.97 [[ 9.99347115e-01 -3.41074537e-02 -1.19174458e-02 7.58993992e+02] [ 3.41101406e-02 9.99418080e-01 2.22172570e-05 4.20638806e+00] [ 1.19097530e-02 -4.28708502e-04 9.99928984e-01 2.97200442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.379254154 meters 0.05810457562416133 Centerline is valid? [True, True] Translation: X:759.06, Y:4.22, Z:2.98 [[ 9.99332293e-01 -3.47312011e-02 -1.13451262e-02 7.59055703e+02] [ 3.47336790e-02 9.99396604e-01 2.13910537e-05 4.21873862e+00] [ 1.13375376e-02 -4.15434741e-04 9.99935642e-01 2.97524722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.439254154 meters 0.05762877654448194 Centerline is valid? [True, True] Translation: X:759.12, Y:4.22, Z:2.98 [[ 9.99313921e-01 -3.55431808e-02 -1.04100306e-02 7.59117654e+02] [ 3.55453145e-02 9.99368065e-01 1.99623715e-05 4.22158855e+00] [ 1.04027426e-02 -3.89976488e-04 9.99945814e-01 2.97665198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.499254154 meters 0.05688277857550157 Centerline is valid? [True, True] Translation: X:759.18, Y:4.22, Z:2.98 [[ 9.99274684e-01 -3.69402286e-02 -9.24799866e-03 7.59179474e+02] [ 3.69419747e-02 9.99317412e-01 1.79875559e-05 4.22460452e+00] [ 9.24102162e-03 -3.59613841e-04 9.99957236e-01 2.97720442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.559254154 meters 0.05736851367581578 Centerline is valid? [True, True] Translation: X:759.24, Y:4.22, Z:2.98 [[ 9.99265400e-01 -3.71533348e-02 -9.39625822e-03 7.59240184e+02] [ 3.71551506e-02 9.99309509e-01 1.87010620e-05 4.22078914e+00] [ 9.38907538e-03 -3.67806714e-04 9.99955854e-01 2.97685448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.619254154 meters 0.05793029101200032 Centerline is valid? [True, True] Translation: X:759.30, Y:4.22, Z:2.98 [[ 9.99321525e-01 -3.52191463e-02 -1.07750052e-02 7.59300810e+02] [ 3.52214260e-02 9.99379533e-01 2.18241107e-05 4.21706264e+00] [ 1.07675511e-02 -4.01320352e-04 9.99941948e-01 2.97565201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.679254154 meters 0.05736015592698946 Centerline is valid? [True, True] Translation: X:759.36, Y:4.22, Z:2.98 [[ 9.99482486e-01 -3.03759710e-02 -1.05858243e-02 7.59361210e+02] [ 3.03779006e-02 9.99538485e-01 2.15014868e-05 4.22483916e+00] [ 1.05802857e-02 -3.43065479e-04 9.99943968e-01 2.97734383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.739254154 meters 0.057416164228835755 Centerline is valid? [True, True] Translation: X:759.42, Y:4.23, Z:2.98 [[ 9.99659182e-01 -2.42621527e-02 -9.63678573e-03 7.59421873e+02] [ 2.42634679e-02 9.99705599e-01 1.95682014e-05 4.23015602e+00] [ 9.63347388e-03 -2.53383373e-04 9.99953565e-01 2.97963064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.799254154 meters 0.058862076677617475 Centerline is valid? [True, True] Translation: X:759.48, Y:4.22, Z:2.98 [[ 9.99780033e-01 -1.83540823e-02 -1.01495757e-02 7.59481900e+02] [ 1.83552374e-02 9.99831528e-01 2.06647524e-05 4.22381830e+00] [ 1.01474865e-02 -2.06958079e-04 9.99948491e-01 2.97714522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters 0.05668405937249977 Centerline is valid? [True, True] Translation: X:759.54, Y:4.23, Z:2.98 [[ 9.99838618e-01 -1.50529839e-02 -9.80541919e-03 7.59542184e+02] [ 1.50539037e-02 9.99886683e-01 1.99998492e-05 4.23373184e+00] [ 9.80400702e-03 -1.67606457e-04 9.99951926e-01 2.97998756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.919254154 meters 0.05749906475235586 Centerline is valid? [True, True] Translation: X:759.60, Y:4.24, Z:2.98 [[ 9.99885514e-01 -1.11291294e-02 -1.02519099e-02 7.59601336e+02] [ 1.11299276e-02 9.99938060e-01 2.08042176e-05 4.23706193e+00] [ 1.02510434e-02 -1.34904851e-04 9.99947448e-01 2.98143698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters 0.05731780058739985 Centerline is valid? [True, True] Translation: X:759.66, Y:4.24, Z:2.98 [[ 9.99876752e-01 -1.25641261e-02 -9.41401117e-03 7.59660048e+02] [ 1.25648605e-02 9.99921059e-01 1.88629761e-05 4.23584070e+00] [ 9.41303102e-03 -1.37146388e-04 9.99955687e-01 2.98163460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.039254154 meters 0.05730378468072293 Centerline is valid? [True, True] Translation: X:759.72, Y:4.24, Z:2.98 [[ 9.99809179e-01 -1.76082724e-02 -8.45893501e-03 7.59720001e+02] [ 1.76090447e-02 9.99844949e-01 1.68188986e-05 4.23617755e+00] [ 8.45732728e-03 -1.65769453e-04 9.99964222e-01 2.98316408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters 0.05776178652767266 Centerline is valid? [True, True] Translation: X:759.78, Y:4.23, Z:2.98 [[ 9.99717954e-01 -2.22852337e-02 -8.20859531e-03 7.59780916e+02] [ 2.22861186e-02 9.99751634e-01 1.63457952e-05 4.23439394e+00] [ 8.20619230e-03 -1.99278914e-04 9.99966309e-01 2.98325161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.159254154 meters 0.05813477997857448 Centerline is valid? [True, True] Translation: X:759.84, Y:4.23, Z:2.98 [[ 9.99595285e-01 -2.69838780e-02 -9.00759898e-03 7.59840961e+02] [ 2.69851343e-02 9.99635835e-01 1.79388295e-05 4.23019342e+00] [ 9.00383467e-03 -2.61002838e-04 9.99959431e-01 2.98303538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters 0.059541825640011974 Centerline is valid? [True, True] Translation: X:759.90, Y:4.22, Z:2.98 [[ 9.99414033e-01 -3.29494911e-02 -9.26941043e-03 7.59900643e+02] [ 3.29510774e-02 9.99456966e-01 1.84194616e-05 4.21771819e+00] [ 9.26376991e-03 -3.23845729e-04 9.99957038e-01 2.98145137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.279254154 meters 0.0586040190249956 Centerline is valid? [True, True] Translation: X:759.96, Y:4.22, Z:2.98 [[ 9.99127946e-01 -4.08364944e-02 -8.70215195e-03 7.59960567e+02] [ 4.08381909e-02 9.99165773e-01 1.72751963e-05 4.21757705e+00] [ 8.69418692e-03 -3.72640274e-04 9.99962135e-01 2.98247998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters 0.05989916465986227 Centerline is valid? [True, True] Translation: X:760.02, Y:4.21, Z:2.98 [[ 9.99051997e-01 -4.25543385e-02 -9.17802363e-03 7.60020175e+02] [ 4.25562979e-02 9.99094070e-01 1.82127207e-05 4.21331491e+00] [ 9.16893395e-03 -4.08778163e-04 9.99957881e-01 2.98207120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.399254154 meters 0.058991731181029135 Centerline is valid? [True, True] Translation: X:760.08, Y:4.22, Z:2.98 [[ 9.98828112e-01 -4.73422651e-02 -1.00554591e-02 7.60080916e+02] [ 4.73448594e-02 9.98878603e-01 1.99800147e-05 4.21600035e+00] [ 1.00432371e-02 -4.96030900e-04 9.99949442e-01 2.98109445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters 0.058555422026876955 Centerline is valid? [True, True] Translation: X:760.14, Y:4.22, Z:2.98 [[ 9.98781485e-01 -4.81743598e-02 -1.07133827e-02 7.60143212e+02] [ 4.81773555e-02 9.98838797e-01 2.15717320e-05 4.21826317e+00] [ 1.06999030e-02 -5.37687891e-04 9.99942610e-01 2.98098272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.519254154 meters 0.057277197515913716 Centerline is valid? [True, True] Translation: X:760.20, Y:4.23, Z:2.98 [[ 9.98849081e-01 -4.66507078e-02 -1.11455958e-02 7.60204689e+02] [ 4.66538586e-02 9.98911116e-01 2.27203773e-05 4.22842963e+00] [ 1.11323996e-02 -5.42679277e-04 9.99937886e-01 2.98199678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.579254154 meters 0.058015231050723745 Centerline is valid? [True, True] Translation: X:760.26, Y:4.23, Z:2.98 [[ 9.98964631e-01 -4.42929042e-02 -1.03828879e-02 7.60264653e+02] [ 4.42955117e-02 9.99018472e-01 2.11899709e-05 4.22914672e+00] [ 1.03717582e-02 -4.81083363e-04 9.99946096e-01 2.98309065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.639254154 meters 0.06093778646010847 Centerline is valid? [True, True] Translation: X:760.33, Y:4.22, Z:2.98 [[ 9.99014816e-01 -4.33025114e-02 -9.71027582e-03 7.60325396e+02] [ 4.33047460e-02 9.99061909e-01 1.98839141e-05 4.22316909e+00] [ 9.70030568e-03 -4.40365352e-04 9.99952854e-01 2.98297746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.699254154 meters 0.056108812473080756 Centerline is valid? [True, True] Translation: X:760.39, Y:4.24, Z:2.99 [[ 9.99018018e-01 -4.34418043e-02 -8.70688044e-03 7.60387642e+02] [ 4.34436080e-02 9.99055881e-01 1.80334854e-05 4.24362312e+00] [ 8.69787670e-03 -3.96274077e-04 9.99962094e-01 2.98570042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.759254154 meters 0.05811529798839803 Centerline is valid? [True, True] Translation: X:760.45, Y:4.24, Z:2.98 [[ 9.99027553e-01 -4.31059221e-02 -9.26429537e-03 7.60449308e+02] [ 4.31079525e-02 9.99070420e-01 1.94889008e-05 4.23900498e+00] [ 9.25484338e-03 -4.18834753e-04 9.99957085e-01 2.98474899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.819254154 meters 0.05820136102188502 Centerline is valid? [True, True] Translation: X:760.51, Y:4.24, Z:2.98 [[ 9.99024535e-01 -4.29149790e-02 -1.04059088e-02 7.60510893e+02] [ 4.29175343e-02 9.99078618e-01 2.22758993e-05 4.24088302e+00] [ 1.03953650e-02 -4.68850119e-04 9.99945857e-01 2.98464887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.879254154 meters 0.05777217198777882 Centerline is valid? [True, True] Translation: X:760.57, Y:4.25, Z:2.99 [[ 9.99031662e-01 -4.25973516e-02 -1.10092875e-02 7.60573162e+02] [ 4.26001966e-02 9.99092199e-01 2.39383329e-05 4.24982410e+00] [ 1.09982736e-02 -4.92912966e-04 9.99939396e-01 2.98559863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.939254154 meters 0.05636202312682498 Centerline is valid? [True, True] Translation: X:760.64, Y:4.26, Z:2.99 [[ 9.99062675e-01 -4.18690135e-02 -1.09889291e-02 7.60635559e+02] [ 4.18718078e-02 9.99122991e-01 2.42287062e-05 4.25733089e+00] [ 1.09782773e-02 -4.84332323e-04 9.99939620e-01 2.98578395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.999254154 meters 0.05643989157088972 Centerline is valid? [True, True] Translation: X:760.70, Y:4.26, Z:2.99 [[ 9.99169685e-01 -3.94261699e-02 -1.02722060e-02 7.60695999e+02] [ 3.94284840e-02 9.99222395e-01 2.27813711e-05 4.26061618e+00] [ 1.02633201e-02 -4.27779967e-04 9.99947239e-01 2.98576205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.059254154 meters 0.05625888806312827 Centerline is valid? [True, True] Translation: X:760.76, Y:4.27, Z:2.99 [[ 9.99349535e-01 -3.46489292e-02 -9.99798320e-03 7.60756434e+02] [ 3.46508828e-02 9.99399478e-01 2.21801704e-05 4.26781830e+00] [ 9.99121067e-03 -3.68604686e-04 9.99950019e-01 2.98663973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.119254154 meters 0.05599328211363648 Centerline is valid? [True, True] Translation: X:760.82, Y:4.27, Z:2.99 [[ 9.99510161e-01 -2.95136186e-02 -1.04107532e-02 7.60817303e+02] [ 2.95154590e-02 9.99564324e-01 2.31391581e-05 4.27238653e+00] [ 1.04055345e-02 -3.30405981e-04 9.99945806e-01 2.98628275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.179254154 meters 0.055869826420417566 Centerline is valid? [True, True] Translation: X:760.88, Y:4.28, Z:2.99 [[ 9.99571151e-01 -2.73736148e-02 -1.04019349e-02 7.60879236e+02] [ 2.73753387e-02 9.99625225e-01 2.33559072e-05 4.27610776e+00] [ 1.03973971e-02 -3.08102381e-04 9.99945898e-01 2.98669998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.239254154 meters 0.05596608508557481 Centerline is valid? [True, True] Translation: X:760.94, Y:4.28, Z:2.99 [[ 9.99709570e-01 -2.21257130e-02 -9.55132977e-03 7.60939307e+02] [ 2.21269287e-02 9.99755169e-01 2.16081467e-05 4.27727951e+00] [ 9.54851321e-03 -2.32943463e-04 9.99954385e-01 2.98670868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.299254154 meters 0.05606903970517503 Centerline is valid? [True, True] Translation: X:761.00, Y:4.28, Z:2.99 [[ 9.99816361e-01 -1.70279025e-02 -8.79170333e-03 7.60999992e+02] [ 1.70287358e-02 9.99855000e-01 1.99345915e-05 4.28204715e+00] [ 8.79008909e-03 -1.69642524e-04 9.99961352e-01 2.98690119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters 0.05530734923068203 Centerline is valid? [True, True] Translation: X:761.06, Y:4.29, Z:2.99 [[ 9.99934893e-01 -8.12947051e-03 -8.00765036e-03 7.61060925e+02] [ 8.12987579e-03 9.99966952e-01 1.80611753e-05 4.28974793e+00] [ 8.00723889e-03 -8.31612022e-05 9.99967938e-01 2.98807287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.419254154 meters 0.05564713053313588 Centerline is valid? [True, True] Translation: X:761.12, Y:4.29, Z:2.99 [[ 9.99964452e-01 -2.60494282e-03 -8.01925354e-03 7.61119698e+02] [ 2.60516728e-03 9.99996606e-01 1.75443868e-05 4.29217156e+00] [ 8.01918062e-03 -3.84352600e-05 9.99967845e-01 2.98818274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters 0.05547686531442057 Centerline is valid? [True, True] Translation: X:761.18, Y:4.29, Z:2.99 [[ 9.99962409e-01 -2.37485325e-03 -8.33909665e-03 7.61177663e+02] [ 2.37507940e-03 9.99997179e-01 1.72154203e-05 4.29038174e+00] [ 8.33903224e-03 -3.70207898e-05 9.99965229e-01 2.98850727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.539254154 meters 0.056373264803646066 Centerline is valid? [True, True] Translation: X:761.24, Y:4.28, Z:2.99 [[ 9.99953596e-01 -4.87289459e-03 -8.31025150e-03 7.61235422e+02] [ 4.87319957e-03 9.99988126e-01 1.64495578e-05 4.28465309e+00] [ 8.31007266e-03 -5.69463084e-05 9.99965469e-01 2.98767058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters 0.05611572250014404 Centerline is valid? [True, True] Translation: X:761.29, Y:4.28, Z:2.99 [[ 9.99918305e-01 -9.51070126e-03 -8.53988174e-03 7.61294743e+02] [ 9.51119008e-03 9.99954767e-01 1.66265614e-05 4.27956737e+00] [ 8.53933733e-03 -9.78496415e-05 9.99963534e-01 2.98809155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.659254154 meters 0.056014116366854314 Centerline is valid? [True, True] Translation: X:761.35, Y:4.28, Z:2.99 [[ 9.99856640e-01 -1.43277110e-02 -9.02310831e-03 7.61354929e+02] [ 1.43284516e-02 9.99897342e-01 1.74263760e-05 4.27730303e+00] [ 9.02193234e-03 -1.46711048e-04 9.99959291e-01 2.98854366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters 0.055916461603501076 Centerline is valid? [True, True] Translation: X:761.42, Y:4.27, Z:2.99 [[ 9.99662195e-01 -2.37593449e-02 -1.05351119e-02 7.61415113e+02] [ 2.37608771e-02 9.99717670e-01 2.02788425e-05 4.27046432e+00] [ 1.05316557e-02 -2.70595491e-04 9.99944504e-01 2.98814824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.779254154 meters 0.05520994859720194 Centerline is valid? [True, True] Translation: X:761.48, Y:4.27, Z:2.99 [[ 9.99406051e-01 -3.27305919e-02 -1.07820846e-02 7.61475476e+02] [ 3.27327182e-02 9.99464141e-01 2.07485355e-05 4.26586060e+00] [ 1.07756278e-02 -3.73663150e-04 9.99941871e-01 2.98813135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters 0.05882000810243502 Centerline is valid? [True, True] Translation: X:761.53, Y:4.25, Z:2.99 [[ 9.99182830e-01 -3.89646126e-02 -1.07439333e-02 7.61534709e+02] [ 3.89670845e-02 9.99240495e-01 2.07558314e-05 4.24648348e+00] [ 1.07349645e-02 -4.39398628e-04 9.99942282e-01 2.98613643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.899254154 meters 0.05623419687900892 Centerline is valid? [True, True] Translation: X:761.59, Y:4.25, Z:2.99 [[ 9.98917649e-01 -4.53265591e-02 -1.04419254e-02 7.61594747e+02] [ 4.53292414e-02 9.98972101e-01 2.02277493e-05 4.25475686e+00] [ 1.04302753e-02 -4.93530415e-04 9.99945481e-01 2.98857004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters 0.05535899796197223 Centerline is valid? [True, True] Translation: X:761.66, Y:4.25, Z:2.99 [[ 9.98562062e-01 -5.26455940e-02 -1.01118464e-02 7.61655627e+02] [ 5.26484836e-02 9.98613107e-01 1.96058088e-05 4.25224049e+00] [ 1.00967902e-02 -5.51950995e-04 9.99948874e-01 2.98885336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.019254154 meters 0.05542005912240546 Centerline is valid? [True, True] Translation: X:761.72, Y:4.26, Z:2.99 [[ 9.98420133e-01 -5.53573367e-02 -9.63340330e-03 7.61716370e+02] [ 5.53600853e-02 9.98466454e-01 1.86921395e-05 4.26118307e+00] [ 9.61759529e-03 -5.51968637e-04 9.99953597e-01 2.98970672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.079254154 meters 0.05637461286403964 Centerline is valid? [True, True] Translation: X:761.78, Y:4.24, Z:2.99 [[ 9.98021702e-01 -6.21783174e-02 -9.30261797e-03 7.61775515e+02] [ 6.21811758e-02 9.98064878e-01 1.80799184e-05 4.24046275e+00] [ 9.28349209e-03 -5.96491875e-04 9.99956730e-01 2.98845967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.139254154 meters 0.055205065015173686 Centerline is valid? [True, True] Translation: X:761.84, Y:4.25, Z:2.99 [[ 9.97759516e-01 -6.61883322e-02 -9.74946981e-03 7.61835623e+02] [ 6.61916629e-02 9.97806927e-01 1.89987889e-05 4.24632343e+00] [ 9.72683101e-03 -6.64289842e-04 9.99952473e-01 2.98953810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.199254154 meters 0.05543126844000649 Centerline is valid? [True, True] Translation: X:761.90, Y:4.25, Z:2.99 [[ 9.97729531e-01 -6.64875498e-02 -1.07326286e-02 7.61897395e+02] [ 6.64916113e-02 9.97786984e-01 2.16530095e-05 4.24695736e+00] [ 1.07074375e-02 -7.35233619e-04 9.99942403e-01 2.98960481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.259254154 meters 0.0546782052891325 Centerline is valid? [True, True] Translation: X:761.96, Y:4.26, Z:2.99 [[ 9.97800649e-01 -6.52147821e-02 -1.18699988e-02 7.61957732e+02] [ 6.52196660e-02 9.97870931e-01 2.44067284e-05 4.25667483e+00] [ 1.18431351e-02 -7.98510405e-04 9.99929549e-01 2.99033011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.319254154 meters 0.05660832619462598 Centerline is valid? [True, True] Translation: X:762.02, Y:4.25, Z:2.99 [[ 9.98048085e-01 -6.11964065e-02 -1.24506892e-02 7.62016851e+02] [ 6.12014677e-02 9.98125433e-01 2.55370377e-05 4.24858685e+00] [ 1.24257867e-02 -7.87487642e-04 9.99922487e-01 2.99007125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.379254154 meters 0.056053619586635316 Centerline is valid? [True, True] Translation: X:762.08, Y:4.25, Z:2.99 [[ 9.98441559e-01 -5.48519104e-02 -1.02821126e-02 7.62077109e+02] [ 5.48550264e-02 9.98494329e-01 2.10602727e-05 4.25168385e+00] [ 1.02654759e-02 -5.85053007e-04 9.99947137e-01 2.99154899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.439254154 meters 0.05483280549153004 Centerline is valid? [True, True] Translation: X:762.14, Y:4.26, Z:2.99 [[ 9.98886345e-01 -4.64634085e-02 -8.19884903e-03 7.62138312e+02] [ 4.64651077e-02 9.98919913e-01 1.67866157e-05 4.25920406e+00] [ 8.18921360e-03 -3.97728324e-04 9.99966389e-01 2.99300152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.499254154 meters 0.05832428925264283 Centerline is valid? [True, True] Translation: X:762.20, Y:4.25, Z:2.99 [[ 9.99278222e-01 -3.68169250e-02 -9.35677197e-03 7.62198323e+02] [ 3.68187158e-02 9.99321961e-01 1.91478770e-05 4.24753233e+00] [ 9.34972275e-03 -3.63638385e-04 9.99956224e-01 2.99068723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.559254154 meters 0.055216735986207396 Centerline is valid? [True, True] Translation: X:762.26, Y:4.26, Z:2.99 [[ 9.99576287e-01 -2.71178374e-02 -1.05768116e-02 7.62259054e+02] [ 2.71195831e-02 9.99632196e-01 2.16303474e-05 4.26176108e+00] [ 1.05723348e-02 -3.08459903e-04 9.99944064e-01 2.99160916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.619254154 meters 0.05653293411422249 Centerline is valid? [True, True] Translation: X:762.32, Y:4.27, Z:2.99 [[ 9.99833346e-01 -1.48906094e-02 -1.05617575e-02 7.62319287e+02] [ 1.48916681e-02 9.99889113e-01 2.15985231e-05 4.26734387e+00] [ 1.05602647e-02 -1.78877110e-04 9.99944223e-01 2.99249160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.679254154 meters 0.05634247071990163 Centerline is valid? [True, True] Translation: X:762.38, Y:4.27, Z:2.99 [[ 9.99957468e-01 -4.83691555e-04 -9.21026447e-03 7.62378874e+02] [ 4.83885508e-04 9.99999883e-01 1.88298609e-05 4.27228548e+00] [ 9.21025429e-03 -2.32857735e-05 9.99957584e-01 2.99387834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.739254154 meters 0.05699394302373967 Centerline is valid? [True, True] Translation: X:762.44, Y:4.28, Z:3.00 [[ 9.99886664e-01 1.26644441e-02 -8.14075741e-03 7.62437807e+02] [-1.26647291e-02 9.99919799e-01 1.65326148e-05 4.27520227e+00] [ 8.14031389e-03 8.65697466e-05 9.99966863e-01 2.99657633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.799254154 meters 0.05759661974543707 Centerline is valid? [True, True] Translation: X:762.50, Y:4.28, Z:3.00 [[ 9.99804372e-01 1.79795896e-02 -8.24328197e-03 7.62498472e+02] [-1.79800631e-02 9.99838345e-01 1.66732559e-05 4.27992924e+00] [ 8.24224919e-03 1.31544736e-04 9.99966023e-01 2.99598675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters 0.05765987622248825 Centerline is valid? [True, True] Translation: X:762.56, Y:4.27, Z:3.00 [[ 9.99803483e-01 1.78223779e-02 -8.68096427e-03 7.62556649e+02] [-1.78228987e-02 9.99841159e-01 1.73651590e-05 4.27066957e+00] [ 8.67989487e-03 1.37358201e-04 9.99962320e-01 2.99787354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.919254154 meters 0.057170126765736205 Centerline is valid? [True, True] Translation: X:762.62, Y:4.27, Z:3.00 [[ 9.99914925e-01 8.41939239e-03 -9.96281137e-03 7.62616712e+02] [-8.41961386e-03 9.99964554e-01 1.97140678e-05 4.26524144e+00] [ 9.96262421e-03 6.41706340e-05 9.99950370e-01 2.99529852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters 0.05678608467819676 Centerline is valid? [True, True] Translation: X:762.67, Y:4.25, Z:2.99 [[ 9.99936383e-01 -6.34150890e-03 -9.32819114e-03 7.62674662e+02] [ 6.34195489e-03 9.99979889e-01 1.82312083e-05 4.24963572e+00] [ 9.32788793e-03 -7.73890159e-05 9.99956491e-01 2.99447046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.039254154 meters 0.05774464789879069 Centerline is valid? [True, True] Translation: X:762.73, Y:4.23, Z:3.00 [[ 9.99768852e-01 -1.96943945e-02 -8.62399617e-03 7.62734393e+02] [ 1.96952708e-02 9.99806029e-01 1.66858894e-05 4.23468397e+00] [ 8.62199475e-03 -1.86533972e-04 9.99962812e-01 2.99501760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters 0.05813473096954096 Centerline is valid? [True, True] Translation: X:762.79, Y:4.22, Z:3.00 [[ 9.99612022e-01 -2.68014995e-02 -7.58189819e-03 7.62794851e+02] [ 2.68023811e-02 9.99640752e-01 1.46766155e-05 4.22343333e+00] [ 7.57878105e-03 -2.17883846e-04 9.99971257e-01 2.99506674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.159254154 meters 0.05834672820049627 Centerline is valid? [True, True] Translation: X:762.86, Y:4.22, Z:3.00 [[ 9.99336411e-01 -3.58403723e-02 -6.49651692e-03 7.62855100e+02] [ 3.58412103e-02 9.99357497e-01 1.25777766e-05 4.21503793e+00] [ 6.49189210e-03 -2.45412459e-04 9.99978897e-01 2.99635901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters 0.05699140037825232 Centerline is valid? [True, True] Translation: X:762.92, Y:4.22, Z:3.00 [[ 9.98977122e-01 -4.47980297e-02 -6.15185860e-03 7.62916124e+02] [ 4.47989507e-02 9.98996023e-01 1.19092596e-05 4.21906931e+00] [ 6.14514877e-03 -2.87493888e-04 9.99981077e-01 2.99724646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.279254154 meters 0.056495216178264474 Centerline is valid? [True, True] Translation: X:762.98, Y:4.22, Z:3.00 [[ 9.98582752e-01 -5.26812194e-02 -7.56151875e-03 7.62977071e+02] [ 5.26828365e-02 9.98611295e-01 1.46899200e-05 4.21750201e+00] [ 7.55024414e-03 -4.13031356e-04 9.99971411e-01 2.99718154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters 0.0595414205613919 Centerline is valid? [True, True] Translation: X:763.04, Y:4.19, Z:3.00 [[ 9.98375973e-01 -5.62109808e-02 -9.25972759e-03 7.63036729e+02] [ 5.62135588e-02 9.98418768e-01 1.81735981e-05 4.19342426e+00] [ 9.24406426e-03 -5.38666325e-04 9.99957128e-01 2.99527209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.399254154 meters 0.05879179077334316 Centerline is valid? [True, True] Translation: X:763.10, Y:4.20, Z:3.00 [[ 9.98392749e-01 -5.58531517e-02 -9.60954943e-03 7.63099459e+02] [ 5.58559151e-02 9.98438840e-01 1.92157057e-05 4.19804273e+00] [ 9.59347413e-03 -5.55934998e-04 9.99953827e-01 2.99624957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.459254154 meters 0.0576934059708096 Centerline is valid? [True, True] Translation: X:763.16, Y:4.21, Z:3.00 [[ 9.98607331e-01 -5.18937206e-02 -9.51000749e-03 7.63160500e+02] [ 5.18962497e-02 9.98652482e-01 1.91905967e-05 4.20695384e+00] [ 9.49619671e-03 -5.12697594e-04 9.99954779e-01 2.99751588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.519254154 meters 0.05904990237089027 Centerline is valid? [True, True] Translation: X:763.22, Y:4.20, Z:3.00 [[ 9.98902686e-01 -4.61102324e-02 -8.20180719e-03 7.63219862e+02] [ 4.61119188e-02 9.98936280e-01 1.65250598e-05 4.20221026e+00] [ 8.19232078e-03 -3.94707994e-04 9.99966364e-01 2.99737413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.579254154 meters 0.056914289583348585 Centerline is valid? [True, True] Translation: X:763.28, Y:4.21, Z:3.00 [[ 9.99181438e-01 -3.96843584e-02 -7.84896510e-03 7.63280664e+02] [ 3.96857046e-02 9.99212212e-01 1.57778757e-05 4.21475759e+00] [ 7.84215564e-03 -3.27256670e-04 9.99969196e-01 2.99893539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.639254154 meters 0.05734926868146281 Centerline is valid? [True, True] Translation: X:763.34, Y:4.21, Z:3.00 [[ 9.99346950e-01 -3.51493220e-02 -8.37845996e-03 7.63339898e+02] [ 3.51506965e-02 9.99382023e-01 1.68007357e-05 4.21070623e+00] [ 8.37269173e-03 -3.11298467e-04 9.99964900e-01 2.99834003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.699254154 meters 0.057897982800109785 Centerline is valid? [True, True] Translation: X:763.40, Y:4.21, Z:3.00 [[ 9.99535922e-01 -2.90849486e-02 -9.05574023e-03 7.63399515e+02] [ 2.90863055e-02 9.99576904e-01 1.81483850e-05 4.21116709e+00] [ 9.05138094e-03 -2.81537990e-04 9.99958996e-01 2.99743950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.759254154 meters 0.05670704898476973 Centerline is valid? [True, True] Translation: X:763.46, Y:4.22, Z:3.00 [[ 9.99677244e-01 -2.37365019e-02 -9.05459979e-03 7.63459867e+02] [ 2.37376399e-02 9.99718222e-01 1.82088254e-05 4.21785665e+00] [ 9.05161619e-03 -2.33137777e-04 9.99959006e-01 2.99861170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.819254154 meters 0.057481989805730375 Centerline is valid? [True, True] Translation: X:763.52, Y:4.22, Z:3.00 [[ 9.99802137e-01 -1.81012298e-02 -8.24821822e-03 7.63519534e+02] [ 1.81019823e-02 9.99836146e-01 1.65834090e-05 4.22091911e+00] [ 8.24656654e-03 -1.65889228e-04 9.99965983e-01 2.99903301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.879254154 meters 0.05735643299884247 Centerline is valid? [True, True] Translation: X:763.58, Y:4.23, Z:3.00 [[ 9.99835611e-01 -1.63740727e-02 -7.78727548e-03 7.63580715e+02] [ 1.63746914e-02 9.99865926e-01 1.56948132e-05 4.22678919e+00] [ 7.78597442e-03 -1.43206466e-04 9.99969679e-01 3.00059451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.939254154 meters 0.05785845547601936 Centerline is valid? [True, True] Translation: X:763.64, Y:4.23, Z:3.00 [[ 9.99898556e-01 -1.20025163e-02 -7.66922232e-03 7.63640743e+02] [ 1.20029883e-02 9.99927961e-01 1.55241031e-05 4.22783564e+00] [ 7.66848351e-03 -1.07576114e-04 9.99970591e-01 3.00061265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.999254154 meters 0.05802302930782585 Centerline is valid? [True, True] Translation: X:763.70, Y:4.23, Z:3.00 [[ 9.99916715e-01 -1.04181205e-02 -7.61753485e-03 7.63700682e+02] [ 1.04185402e-02 9.99945725e-01 1.54194769e-05 4.23110764e+00] [ 7.61696077e-03 -9.47817857e-05 9.99970986e-01 3.00193814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.059254154 meters 0.05775055630461264 Centerline is valid? [True, True] Translation: X:763.76, Y:4.23, Z:3.00 [[ 9.99909446e-01 -1.13933691e-02 -7.16179473e-03 7.63760261e+02] [ 1.13937650e-02 9.99935089e-01 1.44719567e-05 4.22589727e+00] [ 7.16116497e-03 -9.60704521e-05 9.99974354e-01 3.00104317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.119254154 meters 0.057901144265141403 Centerline is valid? [True, True] Translation: X:763.82, Y:4.22, Z:3.00 [[ 9.99877437e-01 -1.39709419e-02 -7.06568202e-03 7.63819502e+02] [ 1.39713912e-02 9.99902395e-01 1.42232332e-05 4.22071958e+00] [ 7.06479366e-03 -1.12938897e-04 9.99975038e-01 3.00071120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.179254154 meters 0.05829696526617892 Centerline is valid? [True, True] Translation: X:763.88, Y:4.22, Z:3.00 [[ 9.99839457e-01 -1.61620118e-02 -7.73623024e-03 7.63880109e+02] [ 1.61626157e-02 9.99869376e-01 1.55394785e-05 4.21763268e+00] [ 7.73496855e-03 -1.40574700e-04 9.99970075e-01 3.00005962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.239254154 meters 0.05740508354236734 Centerline is valid? [True, True] Translation: X:763.94, Y:4.22, Z:3.00 [[ 9.99772116e-01 -1.97335721e-02 -8.14260108e-03 7.63941603e+02] [ 1.97343601e-02 9.99805258e-01 1.64252917e-05 4.21977429e+00] [ 8.14069125e-03 -1.77110570e-04 9.99966848e-01 3.00014016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.299254154 meters 0.057820801248643416 Centerline is valid? [True, True] Translation: X:764.00, Y:4.22, Z:3.00 [[ 9.99699247e-01 -2.30192134e-02 -8.45766727e-03 7.64002507e+02] [ 2.30201819e-02 9.99735000e-01 1.71663052e-05 4.21752088e+00] [ 8.45503084e-03 -2.11858181e-04 9.99964233e-01 2.99990278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters 0.05776623824171152 Centerline is valid? [True, True] Translation: X:764.06, Y:4.22, Z:3.00 [[ 9.99601269e-01 -2.68875270e-02 -8.62349399e-03 7.64063220e+02] [ 2.68886784e-02 9.99638434e-01 1.75765295e-05 4.22051539e+00] [ 8.61990344e-03 -2.49443877e-04 9.99962817e-01 3.00063388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.419254154 meters 0.0574896854310962 Centerline is valid? [True, True] Translation: X:764.12, Y:4.22, Z:3.00 [[ 9.99491965e-01 -3.07055659e-02 -8.54286541e-03 7.64122952e+02] [ 3.07068351e-02 9.99528434e-01 1.74146425e-05 4.21814330e+00] [ 8.53830216e-03 -2.79730155e-04 9.99963509e-01 3.00092135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters 0.059785855553110966 Centerline is valid? [True, True] Translation: X:764.18, Y:4.20, Z:3.00 [[ 9.99418235e-01 -3.31937538e-02 -7.83371975e-03 7.64183306e+02] [ 3.31948974e-02 9.99448897e-01 1.59769792e-05 4.20464616e+00] [ 7.82887223e-03 -2.76007208e-04 9.99969316e-01 3.00055673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.539254154 meters 0.060034755835396254 Centerline is valid? [True, True] Translation: X:764.25, Y:4.20, Z:3.00 [[ 9.99387846e-01 -3.41304998e-02 -7.68393640e-03 7.64245470e+02] [ 3.41316290e-02 9.99417346e-01 1.58375507e-05 4.20355476e+00] [ 7.67891878e-03 -2.78093122e-04 9.99970478e-01 3.00076348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters 0.05807076679211484 Centerline is valid? [True, True] Translation: X:764.31, Y:4.21, Z:3.00 [[ 9.99391560e-01 -3.39508917e-02 -7.99044010e-03 7.64307727e+02] [ 3.39521093e-02 9.99423461e-01 1.67456745e-05 4.21475879e+00] [ 7.98526477e-03 -2.88027781e-04 9.99968076e-01 3.00186824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.659254154 meters 0.058242114133992606 Centerline is valid? [True, True] Translation: X:764.37, Y:4.22, Z:3.00 [[ 9.99481877e-01 -3.12962572e-02 -7.51806653e-03 7.64368162e+02] [ 3.12972612e-02 9.99510121e-01 1.59037712e-05 4.21763822e+00] [ 7.51388586e-03 -2.51190423e-04 9.99971739e-01 3.00210437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters 0.0577966660560926 Centerline is valid? [True, True] Translation: X:764.43, Y:4.23, Z:3.00 [[ 9.99635194e-01 -2.59308928e-02 -7.55426899e-03 7.64428883e+02] [ 2.59317536e-02 9.99663715e-01 1.60113450e-05 4.22532249e+00] [ 7.55131342e-03 -2.11900946e-04 9.99971466e-01 3.00293425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.779254154 meters 0.058186060851982385 Centerline is valid? [True, True] Translation: X:764.49, Y:4.23, Z:3.00 [[ 9.99771391e-01 -2.00701520e-02 -7.37251516e-03 7.64488391e+02] [ 2.00708125e-02 9.99798561e-01 1.55962461e-05 4.22994404e+00] [ 7.37071702e-03 -1.63565050e-04 9.99972822e-01 3.00358203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters 0.05748384426633841 Centerline is valid? [True, True] Translation: X:764.55, Y:4.23, Z:3.00 [[ 9.99832742e-01 -1.68001011e-02 -7.22800659e-03 7.64549547e+02] [ 1.68006506e-02 9.99858859e-01 1.53128050e-05 4.23449286e+00] [ 7.22672917e-03 -1.36745457e-04 9.99973877e-01 3.00426740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.899254154 meters 0.05743923075827632 Centerline is valid? [True, True] Translation: X:764.61, Y:4.24, Z:3.01 [[ 9.99864744e-01 -1.53477059e-02 -5.91108929e-03 7.64610322e+02] [ 1.53480486e-02 9.99882212e-01 1.26249861e-05 4.23680560e+00] [ 5.91019927e-03 -1.03346964e-04 9.99982529e-01 3.00576350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.959254154 meters 0.05816648831649299 Centerline is valid? [True, True] Translation: X:764.67, Y:4.23, Z:3.01 [[ 9.99821056e-01 -1.83757041e-02 -4.49321471e-03 7.64670613e+02] [ 1.83759331e-02 9.99831148e-01 9.68467454e-06 4.23409225e+00] [ 4.49227806e-03 -9.22499546e-05 9.99989905e-01 3.00761516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.019254154 meters 0.05818620823034441 Centerline is valid? [True, True] Translation: X:764.73, Y:4.23, Z:3.01 [[ 9.99663349e-01 -2.55851935e-02 -4.31118884e-03 7.64731183e+02] [ 2.55854718e-02 9.99672638e-01 9.39204147e-06 4.23357388e+00] [ 4.30953723e-03 -1.19692680e-04 9.99990707e-01 3.00860016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.079254154 meters 0.05718137591477042 Centerline is valid? [True, True] Translation: X:764.79, Y:4.23, Z:3.01 [[ 9.99395463e-01 -3.44326438e-02 -4.80646140e-03 7.64791903e+02] [ 3.44330922e-02 9.99407005e-01 1.05546130e-05 4.23478057e+00] [ 4.80324777e-03 -1.76049561e-04 9.99988449e-01 3.00870897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.139254154 meters 0.05700324426877022 Centerline is valid? [True, True] Translation: X:764.85, Y:4.24, Z:3.01 [[ 9.99096696e-01 -4.22068210e-02 -4.93723658e-03 7.64852051e+02] [ 4.22073891e-02 9.99108871e-01 1.08834692e-05 4.23535501e+00] [ 4.93237751e-03 -2.19261504e-04 9.99987812e-01 3.00865016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.199254154 meters 0.05598898051216165 Centerline is valid? [True, True] Translation: X:764.91, Y:4.24, Z:3.01 [[ 9.98810073e-01 -4.86077914e-02 -3.96500553e-03 7.64912449e+02] [ 4.86082081e-02 9.98817922e-01 8.73976339e-06 4.23798513e+00] [ 3.95989376e-03 -2.01461178e-04 9.99992139e-01 3.00812034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.259254154 meters 0.05875488508539755 Centerline is valid? [True, True] Translation: X:764.97, Y:4.22, Z:3.01 [[ 9.98663714e-01 -5.14413686e-02 -4.95699446e-03 7.64972103e+02] [ 5.14420549e-02 9.98675981e-01 1.09832749e-05 4.22304871e+00] [ 4.94986631e-03 -2.65966579e-04 9.99987714e-01 3.00855227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.319254154 meters 0.05802598821366122 Centerline is valid? [True, True] Translation: X:765.03, Y:4.23, Z:3.01 [[ 9.98731611e-01 -5.01500852e-02 -4.48746251e-03 7.65033241e+02] [ 5.01506349e-02 9.98741665e-01 9.97093825e-06 4.22721510e+00] [ 4.48131573e-03 -2.35007385e-04 9.99989931e-01 3.00825525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.379254154 meters 0.05578924091943451 Centerline is valid? [True, True] Translation: X:765.09, Y:4.24, Z:3.01 [[ 9.98837393e-01 -4.79929155e-02 -4.53231359e-03 7.65093681e+02] [ 4.79934544e-02 9.98847650e-01 1.01648628e-05 4.24101093e+00] [ 4.52660293e-03 -2.27674431e-04 9.99989729e-01 3.00871328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.439254154 meters 0.05982225749210557 Centerline is valid? [True, True] Translation: X:765.15, Y:4.23, Z:3.01 [[ 9.99074021e-01 -4.27687947e-02 -4.68301432e-03 7.65153370e+02] [ 4.27693128e-02 9.99084974e-01 1.04971253e-05 4.22608166e+00] [ 4.67828029e-03 -2.10776709e-04 9.99989035e-01 3.00887513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.499254154 meters 0.056958692146878626 Centerline is valid? [True, True] Translation: X:765.21, Y:4.24, Z:3.01 [[ 9.99283500e-01 -3.76377137e-02 -3.98608336e-03 7.65214417e+02] [ 3.76380482e-02 9.99291438e-01 8.91282200e-06 4.24090820e+00] [ 3.98292351e-03 -1.58934834e-04 9.99992055e-01 3.00957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.559254154 meters 0.059791610652219045 Centerline is valid? [True, True] Translation: X:765.27, Y:4.24, Z:3.01 [[ 9.99458319e-01 -3.24467311e-02 -5.50263045e-03 7.65274330e+02] [ 3.24472904e-02 9.99473448e-01 1.23929523e-05 4.23605592e+00] [ 5.49933091e-03 -1.90931688e-04 9.99984860e-01 3.00865745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.619254154 meters 0.059232600109161544 Centerline is valid? [True, True] Translation: X:765.33, Y:4.24, Z:3.01 [[ 9.99613166e-01 -2.70037937e-02 -6.65686163e-03 7.65334561e+02] [ 2.70044919e-02 9.99635312e-01 1.50139180e-05 4.23881612e+00] [ 6.65402852e-03 -1.94773276e-04 9.99977843e-01 3.00748590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.679254154 meters 0.05719363569119841 Centerline is valid? [True, True] Translation: X:765.40, Y:4.26, Z:3.01 [[ 9.99730532e-01 -2.25334057e-02 -5.57747649e-03 7.65395569e+02] [ 2.25338264e-02 9.99746081e-01 1.25937597e-05 4.25681433e+00] [ 5.57577648e-03 -1.38272253e-04 9.99984446e-01 3.00902595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.739254154 meters 0.056969011417234934 Centerline is valid? [True, True] Translation: X:765.45, Y:4.26, Z:3.01 [[ 9.99874343e-01 -1.49295936e-02 -5.32973574e-03 7.65454845e+02] [ 1.49298699e-02 9.99888543e-01 1.20603004e-05 4.26034024e+00] [ 5.32896165e-03 -9.16310463e-05 9.99985797e-01 3.00898768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.799254154 meters 0.05641301692597163 Centerline is valid? [True, True] Translation: X:765.52, Y:4.26, Z:3.01 [[ 9.99937406e-01 -1.01270861e-02 -4.75680278e-03 7.65515349e+02] [ 1.01272518e-02 9.99948718e-01 1.07402077e-05 4.26445391e+00] [ 4.75645007e-03 -5.89128748e-05 9.99988686e-01 3.00957601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters 0.05683860471184203 Centerline is valid? [True, True] Translation: X:765.58, Y:4.27, Z:3.01 [[ 9.99972243e-01 -5.85160753e-03 -4.61212125e-03 7.65575705e+02] [ 5.85171794e-03 9.99982879e-01 1.04431760e-05 4.26708429e+00] [ 4.61198118e-03 -3.74317187e-05 9.99989364e-01 3.00970294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.919254154 meters 0.056596096379730926 Centerline is valid? [True, True] Translation: X:765.64, Y:4.27, Z:3.01 [[ 9.99991405e-01 -1.42496222e-03 -3.89364585e-03 7.65635173e+02] [ 1.42500735e-03 9.99998985e-01 8.81633993e-06 4.26711724e+00] [ 3.89362933e-03 -1.43647381e-05 9.99992420e-01 3.00965962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters 0.05659325326776088 Centerline is valid? [True, True] Translation: X:765.69, Y:4.27, Z:3.01 [[ 9.99993678e-01 3.13718022e-04 -3.54205188e-03 7.65694995e+02] [-3.13691557e-04 9.99999951e-01 8.02704171e-06 4.26696482e+00] [ 3.54205423e-03 -6.91587918e-06 9.99993727e-01 3.00997164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.039254154 meters 0.05622954777734365 Centerline is valid? [True, True] Translation: X:765.75, Y:4.26, Z:3.01 [[ 9.99987277e-01 -1.63275085e-03 -4.77275711e-03 7.65753492e+02] [ 1.63282057e-03 9.99998667e-01 1.07110761e-05 4.26146355e+00] [ 4.77273326e-03 -1.85039958e-05 9.99988610e-01 3.00929850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters 0.05662144865788553 Centerline is valid? [True, True] Translation: X:765.81, Y:4.25, Z:3.01 [[ 9.99957350e-01 -7.50593378e-03 -5.38146879e-03 7.65813314e+02] [ 7.50610696e-03 9.99971829e-01 1.19851089e-05 4.25418882e+00] [ 5.38122723e-03 -5.23784780e-05 9.99985520e-01 3.00854148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.159254154 meters 0.0570123071528285 Centerline is valid? [True, True] Translation: X:765.87, Y:4.24, Z:3.01 [[ 9.99878674e-01 -1.42655328e-02 -6.25547708e-03 7.65872849e+02] [ 1.42658988e-02 9.99898237e-01 1.38934536e-05 4.24277673e+00] [ 6.25464230e-03 -1.03131771e-04 9.99980434e-01 3.00786918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters 0.055713218020502754 Centerline is valid? [True, True] Translation: X:765.93, Y:4.24, Z:3.01 [[ 9.99804239e-01 -1.88882148e-02 -5.89236747e-03 7.65933945e+02] [ 1.88886200e-02 9.99821594e-01 1.31195972e-05 4.24195890e+00] [ 5.89106843e-03 -1.24415719e-04 9.99982640e-01 3.00797864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.279254154 meters 0.05868745975434622 Centerline is valid? [True, True] Translation: X:765.99, Y:4.23, Z:3.01 [[ 9.99672295e-01 -2.48358304e-02 -6.20354037e-03 7.65993334e+02] [ 2.48363943e-02 9.99691529e-01 1.38663451e-05 4.22513438e+00] [ 6.20128238e-03 -1.67935376e-04 9.99980758e-01 3.00769787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters 0.0577890297252306 Centerline is valid? [True, True] Translation: X:766.05, Y:4.22, Z:3.01 [[ 9.99529008e-01 -3.01303544e-02 -5.82450831e-03 7.66053887e+02] [ 3.01309413e-02 9.99545960e-01 1.30156328e-05 4.22262325e+00] [ 5.82147159e-03 -1.88507420e-04 9.99983037e-01 3.00874494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.399254154 meters 0.05759552531240501 Centerline is valid? [True, True] Translation: X:766.11, Y:4.22, Z:3.01 [[ 9.99419145e-01 -3.36228127e-02 -5.55689309e-03 7.66113673e+02] [ 3.36234010e-02 9.99434574e-01 1.24513964e-05 4.21584101e+00] [ 5.55333243e-03 -1.99285809e-04 9.99984560e-01 3.00859204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.459254154 meters 0.056139844634118335 Centerline is valid? [True, True] Translation: X:766.17, Y:4.22, Z:3.01 [[ 9.99207711e-01 -3.94910924e-02 -4.94010534e-03 7.66174117e+02] [ 3.94916288e-02 9.99219901e-01 1.10474043e-05 4.22353050e+00] [ 4.93581530e-03 -2.06131458e-04 9.99987798e-01 3.00848491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.519254154 meters 0.060494156585275065 Centerline is valid? [True, True] Translation: X:766.23, Y:4.20, Z:3.01 [[ 9.98927580e-01 -4.59548353e-02 -5.64302576e-03 7.66233611e+02] [ 4.59556382e-02 9.98943481e-01 1.26228593e-05 4.20257824e+00] [ 5.63648372e-03 -2.71938172e-04 9.99984078e-01 3.00721601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.579254154 meters 0.058962081947425506 Centerline is valid? [True, True] Translation: X:766.29, Y:4.21, Z:3.01 [[ 9.98589777e-01 -5.27682823e-02 -5.82809694e-03 7.66293703e+02] [ 5.27692543e-02 9.98606732e-01 1.30283793e-05 4.20662880e+00] [ 5.81928935e-03 -3.20554336e-04 9.99983016e-01 3.00752833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.639254154 meters 0.055029785526108814 Centerline is valid? [True, True] Translation: X:766.35, Y:4.23, Z:3.01 [[ 9.98282128e-01 -5.83407908e-02 -5.39857161e-03 7.66353856e+02] [ 5.83417059e-02 9.98296672e-01 1.20525451e-05 4.22900944e+00] [ 5.38867291e-03 -3.26993718e-04 9.99985428e-01 3.00772271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.699254154 meters 0.055580243224003095 Centerline is valid? [True, True] Translation: X:766.41, Y:4.22, Z:3.01 [[ 9.98169863e-01 -6.01878488e-02 -5.86073833e-03 7.66413405e+02] [ 6.01889591e-02 9.98187001e-01 1.30892236e-05 4.22211072e+00] [ 5.84932500e-03 -3.65817008e-04 9.99982826e-01 3.00824556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.759254154 meters 0.05387960376744854 Centerline is valid? [True, True] Translation: X:766.47, Y:4.23, Z:3.01 [[ 9.98305426e-01 -5.80162667e-02 -4.51542636e-03 7.66474126e+02] [ 5.80169035e-02 9.98315601e-01 1.00667955e-05 4.23315889e+00] [ 4.50723654e-03 -2.72020792e-04 9.99989805e-01 3.00828039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.819254154 meters 0.05560156093037894 Centerline is valid? [True, True] Translation: X:766.53, Y:4.23, Z:3.01 [[ 9.98570922e-01 -5.32496793e-02 -4.53719235e-03 7.66534712e+02] [ 5.32502733e-02 9.98581198e-01 1.01218337e-05 4.23133923e+00] [ 4.53021598e-03 -2.51714101e-04 9.99989707e-01 3.00806954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.879254154 meters 0.05542775242960352 Centerline is valid? [True, True] Translation: X:766.60, Y:4.24, Z:3.01 [[ 9.99117502e-01 -4.17782800e-02 -4.33502678e-03 7.66595469e+02] [ 4.17787145e-02 9.99126888e-01 9.69645311e-06 4.24194395e+00] [ 4.33083672e-03 -1.90799742e-04 9.99990604e-01 3.00844519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.939254154 meters 0.05747349439471571 Centerline is valid? [True, True] Translation: X:766.66, Y:4.24, Z:3.01 [[ 9.99630919e-01 -2.69701601e-02 -3.26129210e-03 7.66655281e+02] [ 2.69703273e-02 9.99636235e-01 7.26576593e-06 4.23754398e+00] [ 3.25990980e-03 -9.52211996e-05 9.99994682e-01 3.01017124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.999254154 meters 0.05585044463470246 Centerline is valid? [True, True] Translation: X:766.72, Y:4.25, Z:3.01 [[ 9.99941251e-01 -1.04378547e-02 -2.92338105e-03 7.66716052e+02] [ 1.04379183e-02 9.99945523e-01 6.50988389e-06 4.25415589e+00] [ 2.92315385e-03 -3.70235141e-05 9.99995727e-01 3.01034139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.059254154 meters 0.05612357728839634 Centerline is valid? [True, True] Translation: X:766.78, Y:4.27, Z:3.01 [[ 9.99984360e-01 4.93902511e-03 -2.62397931e-03 7.66776988e+02] [-4.93902683e-03 9.99987803e-01 5.82493931e-06 4.26542116e+00] [ 2.62397608e-03 7.13505604e-06 9.99996557e-01 3.01007194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.119254154 meters 0.056357830843413025 Centerline is valid? [True, True] Translation: X:766.84, Y:4.27, Z:3.01 [[ 9.99924424e-01 1.18085993e-02 -3.42105061e-03 7.66836398e+02] [-1.18086421e-02 9.99930276e-01 7.68822806e-06 4.27133804e+00] [ 3.42090287e-03 3.27103152e-05 9.99994148e-01 3.00961448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.179254154 meters 0.05679627332604445 Centerline is valid? [True, True] Translation: X:766.89, Y:4.27, Z:3.01 [[ 9.99871443e-01 1.50781120e-02 -5.45419693e-03 7.66893957e+02] [-1.50782705e-02 9.99886316e-01 1.20564181e-05 4.26939646e+00] [ 5.45375866e-03 7.01849887e-05 9.99985126e-01 3.00816192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.239254154 meters 0.05617209314329794 Centerline is valid? [True, True] Translation: X:766.95, Y:4.27, Z:3.01 [[ 9.99929395e-01 1.05179338e-02 -5.52975493e-03 7.66952658e+02] [-1.05180288e-02 9.99944684e-01 1.19020957e-05 4.26736599e+00] [ 5.52957423e-03 4.62608662e-05 9.99984711e-01 3.00829070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.299254154 meters 0.05619694700620837 Centerline is valid? [True, True] Translation: X:767.01, Y:4.26, Z:3.01 [[ 9.99979552e-01 4.65578795e-03 -4.38397550e-03 7.67011421e+02] [-4.65579198e-03 9.99989162e-01 9.28561944e-06 4.26159933e+00] [ 4.38397122e-03 1.11254484e-05 9.99990390e-01 3.00934445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters 0.05629151612106452 Centerline is valid? [True, True] Translation: X:767.07, Y:4.26, Z:3.01 [[ 9.99992987e-01 1.55758452e-03 -3.40585744e-03 7.67069785e+02] [-1.55756940e-03 9.99998787e-01 7.09108977e-06 4.25675316e+00] [ 3.40586435e-03 -1.78618070e-06 9.99994200e-01 3.00943639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.419254154 meters 0.05631327601942963 Centerline is valid? [True, True] Translation: X:767.13, Y:4.25, Z:3.01 [[ 9.99992606e-01 -2.57180429e-03 -2.85889763e-03 7.67128822e+02] [ 2.57183166e-03 9.99996693e-01 5.89602006e-06 4.24822879e+00] [ 2.85887301e-03 -1.32485799e-05 9.99995913e-01 3.00935615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters 0.056076567589653036 Centerline is valid? [True, True] Translation: X:767.19, Y:4.24, Z:3.01 [[ 9.99978116e-01 -6.22964426e-03 -2.22688284e-03 7.67188444e+02] [ 6.22966979e-03 9.99980595e-01 4.52849653e-06 4.24033626e+00] [ 2.22681142e-03 -1.84011422e-05 9.99997520e-01 3.00985541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.539254154 meters 0.05648326566968314 Centerline is valid? [True, True] Translation: X:767.25, Y:4.23, Z:3.01 [[ 9.99958366e-01 -8.90532492e-03 -1.99015323e-03 7.67249309e+02] [ 8.90535049e-03 9.99960347e-01 3.98847180e-06 4.23251950e+00] [ 1.99003880e-03 -2.17113178e-05 9.99998020e-01 3.00848530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters 0.05668453554681655 Centerline is valid? [True, True] Translation: X:767.31, Y:4.23, Z:3.01 [[ 9.99955789e-01 -9.03002890e-03 -2.62287203e-03 7.67310682e+02] [ 9.03007388e-03 9.99959228e-01 5.30575277e-06 4.22660831e+00] [ 2.62271718e-03 -2.89902464e-05 9.99996560e-01 3.00696320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.659254154 meters 0.05665547139914823 Centerline is valid? [True, True] Translation: X:767.37, Y:4.22, Z:3.01 [[ 9.99970815e-01 -6.59576631e-03 -3.85540655e-03 7.67370731e+02] [ 6.59584594e-03 9.99978247e-01 7.93988266e-06 4.22204216e+00] [ 3.85527032e-03 -3.33693186e-05 9.99992568e-01 3.00625909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters 0.056234569015531824 Centerline is valid? [True, True] Translation: X:767.43, Y:4.22, Z:3.01 [[ 9.99977295e-01 -5.46549452e-03 -3.94191151e-03 7.67431587e+02] [ 5.46556912e-03 9.99985064e-01 8.15087374e-06 4.22151444e+00] [ 3.94180809e-03 -2.96954785e-05 9.99992231e-01 3.00614138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.779254154 meters 0.05691713508935918 Centerline is valid? [True, True] Translation: X:767.49, Y:4.22, Z:3.01 [[ 9.99980616e-01 -3.16166854e-03 -5.36387543e-03 7.67491914e+02] [ 3.16177352e-03 9.99995002e-01 1.10911346e-05 4.21739302e+00] [ 5.36381355e-03 -2.80502789e-05 9.99985614e-01 3.00518304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters 0.05680290423923905 Centerline is valid? [True, True] Translation: X:767.55, Y:4.21, Z:3.01 [[ 9.99975834e-01 -3.14258453e-03 -6.20123078e-03 7.67550500e+02] [ 3.14272281e-03 9.99995062e-01 1.25541225e-05 4.21307551e+00] [ 6.20116070e-03 -3.20425685e-05 9.99980772e-01 3.00533882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.899254154 meters 0.0570114340361597 Centerline is valid? [True, True] Translation: X:767.61, Y:4.21, Z:3.01 [[ 9.99966560e-01 -5.22741038e-03 -6.28909778e-03 7.67609224e+02] [ 5.22759033e-03 9.99986336e-01 1.21746356e-05 4.20812210e+00] [ 6.28894820e-03 -4.50510551e-05 9.99980223e-01 3.00583539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.959254154 meters 0.056961694203471205 Centerline is valid? [True, True] Translation: X:767.67, Y:4.20, Z:3.01 [[ 9.99946583e-01 -7.91178139e-03 -6.65088174e-03 7.67667821e+02] [ 7.91204058e-03 9.99968699e-01 1.26600494e-05 4.20157285e+00] [ 6.65057340e-03 -6.52814194e-05 9.99977883e-01 3.00571056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.019254154 meters 0.05758879511392793 Centerline is valid? [True, True] Translation: X:767.73, Y:4.19, Z:3.01 [[ 9.99898590e-01 -1.32324702e-02 -5.26411907e-03 7.67727760e+02] [ 1.32327059e-02 9.99912444e-01 9.93602521e-06 4.19350412e+00] [ 5.26352669e-03 -7.95935570e-05 9.99986144e-01 3.00709114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.079254154 meters 0.05925486379355254 Centerline is valid? [True, True] Translation: X:767.79, Y:4.18, Z:3.01 [[ 9.99825183e-01 -1.83499053e-02 -3.58956361e-03 7.67788234e+02] [ 1.83500478e-02 9.99831624e-01 6.76003455e-06 4.17896093e+00] [ 3.58883517e-03 -7.26275167e-05 9.99993557e-01 3.00899811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.139254154 meters 0.0570514811114081 Centerline is valid? [True, True] Translation: X:767.85, Y:4.19, Z:3.01 [[ 9.99734418e-01 -2.28807225e-02 -2.75053318e-03 7.67849687e+02] [ 2.28808234e-02 9.99738200e-01 5.22155149e-06 4.18609569e+00] [ 2.74969362e-03 -6.81546287e-05 9.99996217e-01 3.00941344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.199254154 meters 0.05868698952932727 Centerline is valid? [True, True] Translation: X:767.91, Y:4.17, Z:3.01 [[ 9.99648583e-01 -2.63879618e-02 -2.52703748e-03 7.67909369e+02] [ 2.63880583e-02 9.99651775e-01 4.85644195e-06 4.17361581e+00] [ 2.52602935e-03 -7.15383477e-05 9.99996807e-01 3.00944330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.259254154 meters 0.058300019951834876 Centerline is valid? [True, True] Translation: X:767.97, Y:4.17, Z:3.01 [[ 9.99610904e-01 -2.78218469e-02 -1.99661328e-03 7.67971505e+02] [ 2.78219099e-02 9.99612896e-01 3.77820709e-06 4.17445499e+00] [ 1.99573526e-03 -5.93263317e-05 9.99998007e-01 3.00981571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.319254154 meters 0.058176195112809394 Centerline is valid? [True, True] Translation: X:768.03, Y:4.17, Z:3.01 [[ 9.99583845e-01 -2.87224381e-02 -2.67560071e-03 7.68033181e+02] [ 2.87225547e-02 9.99587422e-01 5.18306917e-06 4.17393147e+00] [ 2.67434794e-03 -8.20310000e-05 9.99996421e-01 3.00884939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.379254154 meters 0.05835041823051393 Centerline is valid? [True, True] Translation: X:768.09, Y:4.17, Z:3.01 [[ 9.99523896e-01 -3.05697334e-02 -4.18003224e-03 7.68093808e+02] [ 3.05700351e-02 9.99532627e-01 8.29242897e-06 4.16955807e+00] [ 4.17782511e-03 -1.36072213e-04 9.99991264e-01 3.00761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.439254154 meters 0.058241039124291044 Centerline is valid? [True, True] Translation: X:768.16, Y:4.18, Z:3.01 [[ 9.99488442e-01 -3.15683119e-02 -5.12802257e-03 7.68155547e+02] [ 3.15687795e-02 9.99501582e-01 1.02395484e-05 4.17630527e+00] [ 5.12514343e-03 -1.72119724e-04 9.99986852e-01 3.00678756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.499254154 meters 0.05936108062519702 Centerline is valid? [True, True] Translation: X:768.22, Y:4.17, Z:3.01 [[ 9.99515047e-01 -3.06140632e-02 -5.69653066e-03 7.68216672e+02] [ 3.06146259e-02 9.99531262e-01 1.15898597e-05 4.17053528e+00] [ 5.69350567e-03 -1.85981395e-04 9.99983775e-01 3.00677223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.559254154 meters 0.05862280035048372 Centerline is valid? [True, True] Translation: X:768.28, Y:4.18, Z:3.01 [[ 9.99537096e-01 -2.99552197e-02 -5.31783702e-03 7.68278939e+02] [ 2.99557023e-02 9.99551227e-01 1.10921028e-05 4.17879524e+00] [ 5.31511825e-03 -1.70386511e-04 9.99985860e-01 3.00728364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.619254154 meters 0.05790575262265123 Centerline is valid? [True, True] Translation: X:768.34, Y:4.18, Z:3.01 [[ 9.99562687e-01 -2.92078474e-02 -4.61905751e-03 7.68341530e+02] [ 2.92082041e-02 9.99573349e-01 9.76854546e-06 4.18144611e+00] [ 4.61680146e-03 -1.44678648e-04 9.99989332e-01 3.00746320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.679254154 meters 0.05604189721952653 Centerline is valid? [True, True] Translation: X:768.40, Y:4.19, Z:3.01 [[ 9.99717680e-01 -2.35289966e-02 -3.30864469e-03 7.68401856e+02] [ 2.35291489e-02 9.99723151e-01 7.10694046e-06 4.19282384e+00] [ 3.30756148e-03 -8.49545276e-05 9.99994526e-01 3.00810183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.739254154 meters 0.05705934983966477 Centerline is valid? [True, True] Translation: X:768.46, Y:4.20, Z:3.01 [[ 9.99865711e-01 -1.62335517e-02 -2.24310814e-03 7.68461449e+02] [ 1.62336034e-02 9.99868226e-01 4.83891982e-06 4.19802757e+00] [ 2.24273400e-03 -4.12519979e-05 9.99997484e-01 3.01000943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.799254154 meters 0.05659817800304822 Centerline is valid? [True, True] Translation: X:768.52, Y:4.21, Z:3.01 [[ 9.99937845e-01 -1.09527980e-02 -2.08373289e-03 7.68521928e+02] [ 1.09528310e-02 9.99940016e-01 4.44894045e-06 4.20681031e+00] [ 2.08355917e-03 -2.72714382e-05 9.99997829e-01 3.00943970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters 0.05654613670408479 Centerline is valid? [True, True] Translation: X:768.58, Y:4.21, Z:3.01 [[ 9.99950880e-01 -9.13090858e-03 -3.85540775e-03 7.68582714e+02] [ 9.13100839e-03 9.99958311e-01 8.28871179e-06 4.20930892e+00] [ 3.85517134e-03 -4.34920651e-05 9.99992568e-01 3.00836006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.919254154 meters 0.05632032302920709 Centerline is valid? [True, True] Translation: X:768.64, Y:4.21, Z:3.01 [[ 9.99926008e-01 -1.05153550e-02 -6.11609261e-03 7.68643841e+02] [ 1.05156333e-02 9.99944709e-01 1.33364005e-05 4.21058031e+00] [ 6.11561421e-03 -7.76500005e-05 9.99981296e-01 3.00607058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters 0.05617402800277254 Centerline is valid? [True, True] Translation: X:768.70, Y:4.21, Z:3.01 [[ 9.99861304e-01 -1.53866430e-02 -6.37375051e-03 7.68703750e+02] [ 1.53870445e-02 9.99881612e-01 1.39638121e-05 4.21249389e+00] [ 6.37278108e-03 -1.12035058e-04 9.99979687e-01 3.00635017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.039254154 meters 0.05680746254934657 Centerline is valid? [True, True] Translation: X:768.76, Y:4.21, Z:3.01 [[ 9.99783750e-01 -2.00161205e-02 -5.63985716e-03 7.68763740e+02] [ 2.00165086e-02 9.99799650e-01 1.23559756e-05 4.20590998e+00] [ 5.63847989e-03 -1.25243553e-04 9.99984096e-01 3.00672743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters 0.056471302152386 Centerline is valid? [True, True] Translation: X:768.83, Y:4.21, Z:3.01 [[ 9.99739723e-01 -2.24168048e-02 -4.23937004e-03 7.68825218e+02] [ 2.24170456e-02 9.99748706e-01 9.29251666e-06 4.21087106e+00] [ 4.23809640e-03 -1.04324250e-04 9.99991014e-01 3.00763524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.159254154 meters 0.05627870735553315 Centerline is valid? [True, True] Translation: X:768.89, Y:4.21, Z:3.01 [[ 9.99725866e-01 -2.31078053e-02 -3.77116091e-03 7.68886732e+02] [ 2.31080009e-02 9.99732974e-01 8.31453377e-06 4.21135949e+00] [ 3.76996178e-03 -9.54562443e-05 9.99992889e-01 3.00799277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters 0.05627198015065601 Centerline is valid? [True, True] Translation: X:768.95, Y:4.21, Z:3.01 [[ 9.99738505e-01 -2.26652612e-02 -3.03449006e-03 7.68947601e+02] [ 2.26653862e-02 9.99743107e-01 6.79500383e-06 4.20961340e+00] [ 3.03355651e-03 -7.55711161e-05 9.99995396e-01 3.00848505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.279254154 meters 0.055963981114107365 Centerline is valid? [True, True] Translation: X:769.01, Y:4.21, Z:3.01 [[ 9.99786590e-01 -2.05863772e-02 -1.72499837e-03 7.69008763e+02] [ 2.05864146e-02 9.99788077e-01 3.92334227e-06 4.21398880e+00] [ 1.72455204e-03 -3.94340366e-05 9.99998512e-01 3.00845118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters 0.056687925998439005 Centerline is valid? [True, True] Translation: X:769.07, Y:4.21, Z:3.01 [[ 9.99859322e-01 -1.66408879e-02 -2.10152022e-03 7.69068623e+02] [ 1.66409350e-02 9.99861530e-01 4.90933337e-06 4.21314322e+00] [ 2.10114753e-03 -3.98799041e-05 9.99997792e-01 3.00766789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.399254154 meters 0.05663537922824414 Centerline is valid? [True, True] Translation: X:769.13, Y:4.21, Z:3.01 [[ 9.99922242e-01 -1.21732361e-02 -2.70594249e-03 7.69128381e+02] [ 1.21732978e-02 9.99925903e-01 6.32131617e-06 4.20999716e+00] [ 2.70566504e-03 -3.92610683e-05 9.99996339e-01 3.00789003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.459254154 meters 0.05543584861883108 Centerline is valid? [True, True] Translation: X:769.19, Y:4.21, Z:3.01 [[ 9.99956484e-01 -9.13384342e-03 -1.89797206e-03 7.69189509e+02] [ 9.13386819e-03 9.99958285e-01 4.38352325e-06 4.21262520e+00] [ 1.89785285e-03 -2.17191592e-05 9.99998199e-01 3.00762283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.519254154 meters 0.05601563090921693 Centerline is valid? [True, True] Translation: X:769.25, Y:4.21, Z:3.01 [[ 9.99960278e-01 -8.63518120e-03 -2.20842863e-03 7.69251379e+02] [ 8.63521364e-03 9.99962716e-01 5.15480167e-06 4.21161063e+00] [ 2.20830178e-03 -2.42248500e-05 9.99997561e-01 3.00719880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.579254154 meters 0.05640582098166745 Centerline is valid? [True, True] Translation: X:769.31, Y:4.20, Z:3.01 [[ 9.99921215e-01 -1.18046132e-02 -4.26797109e-03 7.69312003e+02] [ 1.18047643e-02 9.99930321e-01 1.02247894e-05 4.20138872e+00] [ 4.26755301e-03 -6.06063767e-05 9.99990892e-01 3.00664135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.639254154 meters 0.057152911320289365 Centerline is valid? [True, True] Translation: X:769.37, Y:4.20, Z:3.01 [[ 9.99854336e-01 -1.63800099e-02 -4.79604318e-03 7.69372813e+02] [ 1.63802538e-02 9.99865835e-01 1.15711737e-05 4.19820385e+00] [ 4.79521018e-03 -9.01298925e-05 9.99988499e-01 3.00636807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.699254154 meters 0.057310975803576795 Centerline is valid? [True, True] Translation: X:769.43, Y:4.19, Z:3.01 [[ 9.99753892e-01 -2.16773147e-02 -4.71687909e-03 7.69433504e+02] [ 2.16776097e-02 9.99765013e-01 1.14123787e-05 4.19298841e+00] [ 4.71552329e-03 -1.13660234e-04 9.99988875e-01 3.00675642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.759254154 meters 0.05678074729398459 Centerline is valid? [True, True] Translation: X:769.49, Y:4.19, Z:3.01 [[ 9.99582042e-01 -2.86259711e-02 -4.03669760e-03 7.69494174e+02] [ 2.86262438e-02 9.99590185e-01 9.77381806e-06 4.18751891e+00] [ 4.03476351e-03 -1.25325223e-04 9.99991852e-01 3.00819763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.819254154 meters 0.05687297950047415 Centerline is valid? [True, True] Translation: X:769.56, Y:4.18, Z:3.01 [[ 9.99405547e-01 -3.43887043e-02 -2.44322590e-03 7.69555371e+02] [ 3.43888214e-02 9.99408530e-01 5.92697472e-06 4.18388626e+00] [ 2.44157698e-03 -8.99431106e-05 9.99997015e-01 3.00865249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.879254154 meters 0.058245969194597985 Centerline is valid? [True, True] Translation: X:769.62, Y:4.18, Z:3.01 [[ 9.99270969e-01 -3.81234574e-02 -2.03274501e-03 7.69615078e+02] [ 3.81235462e-02 9.99273033e-01 4.97179430e-06 4.17597356e+00] [ 2.03107773e-03 -8.24636180e-05 9.99997934e-01 3.00887662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.939254154 meters 0.057030313223007424 Centerline is valid? [True, True] Translation: X:769.68, Y:4.18, Z:3.01 [[ 9.99208849e-01 -3.97108017e-02 -2.17448106e-03 7.69676577e+02] [ 3.97109071e-02 9.99211211e-01 5.28794057e-06 4.18163195e+00] [ 2.17255586e-03 -9.16343722e-05 9.99997636e-01 3.00893943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.999254154 meters 0.05899247024823723 Centerline is valid? [True, True] Translation: X:769.74, Y:4.17, Z:3.01 [[ 9.99301403e-01 -3.72749489e-02 -2.69881398e-03 7.69736662e+02] [ 3.72751027e-02 9.99305042e-01 6.68381674e-06 4.17166487e+00] [ 2.69668928e-03 -1.07277716e-04 9.99996358e-01 3.01006205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.059254154 meters 0.05708457127787452 Centerline is valid? [True, True] Translation: X:769.80, Y:4.18, Z:3.01 [[ 9.99469901e-01 -3.23182939e-02 -3.92998682e-03 7.69797764e+02] [ 3.23185817e-02 9.99477618e-01 9.73280694e-06 4.18250683e+00] [ 3.92761932e-03 -1.36739248e-04 9.99992278e-01 3.00844187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.119254154 meters 0.05828517741050073 Centerline is valid? [True, True] Translation: X:769.86, Y:4.18, Z:3.01 [[ 9.99613670e-01 -2.72414384e-02 -5.51500369e-03 7.69857548e+02] [ 2.72419282e-02 9.99628870e-01 1.36981154e-05 4.17904192e+00] [ 5.51258374e-03 -1.63932158e-04 9.99984792e-01 3.00745012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.179254154 meters 0.057285720416493484 Centerline is valid? [True, True] Translation: X:769.92, Y:4.18, Z:3.01 [[ 9.99704028e-01 -2.35918114e-02 -5.94002515e-03 7.69918164e+02] [ 2.35923153e-02 9.99721663e-01 1.47727702e-05 4.18476200e+00] [ 5.93802331e-03 -1.54907344e-04 9.99982358e-01 3.00732877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.239254154 meters 0.05683174624332698 Centerline is valid? [True, True] Translation: X:769.98, Y:4.19, Z:3.01 [[ 9.99842897e-01 -1.65740940e-02 -6.28334070e-03 7.69978250e+02] [ 1.65745197e-02 9.99862633e-01 1.56877483e-05 4.18868156e+00] [ 6.28221756e-03 -1.19828638e-04 9.99980259e-01 3.00758033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.299254154 meters 0.0568095323408422 Centerline is valid? [True, True] Translation: X:770.04, Y:4.20, Z:3.01 [[ 9.99890863e-01 -1.32597142e-02 -6.51478871e-03 7.70038755e+02] [ 1.32601018e-02 9.99912081e-01 1.62963360e-05 4.19578973e+00] [ 6.51399985e-03 -1.02681319e-04 9.99978778e-01 3.00858857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters 0.05639913320070171 Centerline is valid? [True, True] Translation: X:770.10, Y:4.20, Z:3.01 [[ 9.99939291e-01 -9.19235451e-03 -6.07571799e-03 7.70099654e+02] [ 9.19261662e-03 9.99957747e-01 1.52160255e-05 4.20091981e+00] [ 6.07532140e-03 -7.10668479e-05 9.99981543e-01 3.00967911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.419254154 meters 0.05613043222273856 Centerline is valid? [True, True] Translation: X:770.16, Y:4.20, Z:3.01 [[ 9.99967880e-01 -5.98646783e-03 -5.32933441e-03 7.70158836e+02] [ 5.98662407e-03 9.99982080e-01 1.33643869e-05 4.20423819e+00] [ 5.32915891e-03 -4.52686792e-05 9.99985799e-01 3.01054224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters 0.0566234979191904 Centerline is valid? [True, True] Translation: X:770.22, Y:4.20, Z:3.01 [[ 9.99985912e-01 -2.65372210e-03 -4.59718790e-03 7.70217421e+02] [ 2.65380293e-03 9.99996479e-01 1.14841061e-05 4.20482735e+00] [ 4.59714124e-03 -2.36839751e-05 9.99989433e-01 3.01145394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.539254154 meters 0.05631738319194199 Centerline is valid? [True, True] Translation: X:770.28, Y:4.20, Z:3.01 [[ 9.99990516e-01 -6.15205318e-04 -4.31155990e-03 7.70275199e+02] [ 6.15256921e-04 9.99999811e-01 1.06419990e-05 4.20403466e+00] [ 4.31155254e-03 -1.32946152e-05 9.99990705e-01 3.01173723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters 0.05702877600422299 Centerline is valid? [True, True] Translation: X:770.33, Y:4.20, Z:3.01 [[ 9.99990560e-01 -6.40381591e-04 -4.29761579e-03 7.70333537e+02] [ 6.40431131e-04 9.99999795e-01 1.01508516e-05 4.20213774e+00] [ 4.29760841e-03 -1.29030827e-05 9.99990765e-01 3.01159240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.659254154 meters 0.05704648593411947 Centerline is valid? [True, True] Translation: X:770.39, Y:4.20, Z:3.01 [[ 9.99976690e-01 -4.06952811e-03 -5.48263140e-03 7.70392272e+02] [ 4.06965716e-03 9.99991719e-01 1.23814553e-05 4.19591152e+00] [ 5.48253561e-03 -3.46935968e-05 9.99984970e-01 3.01024450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters 0.05590852594095475 Centerline is valid? [True, True] Translation: X:770.45, Y:4.19, Z:3.01 [[ 9.99926036e-01 -1.03863048e-02 -6.32830828e-03 7.70451572e+02] [ 1.03866024e-02 9.99946058e-01 1.41661580e-05 4.18883227e+00] [ 6.32781979e-03 -7.98947322e-05 9.99979976e-01 3.00931403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.779254154 meters 0.05668580450804526 Centerline is valid? [True, True] Translation: X:770.51, Y:4.18, Z:3.01 [[ 9.99816710e-01 -1.80425286e-02 -6.40413415e-03 7.70512126e+02] [ 1.80429903e-02 9.99837212e-01 1.43221466e-05 4.18348850e+00] [ 6.40283323e-03 -1.29869252e-04 9.99979493e-01 3.00939954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters 0.05791959947634484 Centerline is valid? [True, True] Translation: X:770.57, Y:4.18, Z:3.01 [[ 9.99625227e-01 -2.66023248e-02 -6.45931231e-03 7.70572236e+02] [ 2.66029732e-02 9.99646078e-01 1.44644316e-05 4.17642078e+00] [ 6.45664143e-03 -1.86295923e-04 9.99979138e-01 3.00972074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.899254154 meters 0.0573940845086487 Centerline is valid? [True, True] Translation: X:770.63, Y:4.17, Z:3.01 [[ 9.99363746e-01 -3.51488083e-02 -6.05517927e-03 7.70632645e+02] [ 3.51495347e-02 9.99382064e-01 1.35500077e-05 4.17241382e+00] [ 6.05096129e-03 -2.26378120e-04 9.99981667e-01 3.00964949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.959254154 meters 0.0575906225642878 Centerline is valid? [True, True] Translation: X:770.69, Y:4.17, Z:3.01 [[ 9.99032150e-01 -4.35744177e-02 -6.00271458e-03 7.70693448e+02] [ 4.35752834e-02 9.99050146e-01 1.34467206e-05 4.17015476e+00] [ 5.99642695e-03 -2.75003695e-04 9.99981983e-01 3.00969509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.019254154 meters 0.05680233063977564 Centerline is valid? [True, True] Translation: X:770.75, Y:4.17, Z:3.01 [[ 9.98769614e-01 -4.92450010e-02 -5.84710146e-03 7.70753507e+02] [ 4.92459194e-02 9.98786684e-01 1.31148920e-05 4.17046193e+00] [ 5.83936124e-03 -3.01044643e-04 9.99982905e-01 3.01009378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.079254154 meters 0.05761666191652419 Centerline is valid? [True, True] Translation: X:770.81, Y:4.17, Z:3.01 [[ 9.98380170e-01 -5.65747820e-02 -6.02740438e-03 7.70814419e+02] [ 5.65758911e-02 9.98398301e-01 1.35287759e-05 4.16999957e+00] [ 6.01698491e-03 -3.54512635e-04 9.99981835e-01 3.01062753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.139254154 meters 0.06003349116996873 Centerline is valid? [True, True] Translation: X:770.87, Y:4.16, Z:3.01 [[ 9.98210910e-01 -5.95149798e-02 -5.73991144e-03 7.70874138e+02] [ 5.95160344e-02 9.98227350e-01 1.29434280e-05 4.16341450e+00] [ 5.72896625e-03 -3.54537038e-04 9.99983526e-01 3.01157499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.199254154 meters 0.0581838939427097 Centerline is valid? [True, True] Translation: X:770.94, Y:4.17, Z:3.01 [[ 9.98268502e-01 -5.85674588e-02 -5.46350022e-03 7.70936162e+02] [ 5.85684010e-02 9.98283398e-01 1.24813974e-05 4.17180240e+00] [ 5.45339056e-03 -3.32448257e-04 9.99985075e-01 3.01188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.259254154 meters 0.06225872829816708 Centerline is valid? [True, True] Translation: X:771.00, Y:4.16, Z:3.01 [[ 9.98423455e-01 -5.57927623e-02 -6.14586417e-03 7.70995371e+02] [ 5.57939027e-02 9.98442307e-01 1.41231914e-05 4.16360798e+00] [ 6.13550282e-03 -3.57002673e-04 9.99981114e-01 3.01061713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.319254154 meters 0.05787067527552113 Centerline is valid? [True, True] Translation: X:771.06, Y:4.18, Z:3.01 [[ 9.98740984e-01 -4.96764968e-02 -6.97807630e-03 7.71056144e+02] [ 4.96778179e-02 9.98765295e-01 1.60102606e-05 4.18384641e+00] [ 6.96866510e-03 -3.62645707e-04 9.99975653e-01 3.01078527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.379254154 meters 0.05599580641238859 Centerline is valid? [True, True] Translation: X:771.12, Y:4.20, Z:3.01 [[ 9.99138238e-01 -4.06595944e-02 -8.34134450e-03 7.71116649e+02] [ 4.06611688e-02 9.99172993e-01 1.91716436e-05 4.19951535e+00] [ 8.33366663e-03 -3.58323939e-04 9.99965210e-01 3.01094226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.439254154 meters 0.055442961230760125 Centerline is valid? [True, True] Translation: X:771.18, Y:4.21, Z:3.01 [[ 9.99556301e-01 -2.87269534e-02 -7.87163964e-03 7.71177009e+02] [ 2.87279862e-02 9.99587266e-01 1.81342184e-05 4.21441433e+00] [ 7.86786981e-03 -2.44262527e-04 9.99969018e-01 3.01265014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.499254154 meters 0.056247609620720965 Centerline is valid? [True, True] Translation: X:771.24, Y:4.21, Z:3.01 [[ 9.99786164e-01 -1.95909535e-02 -6.61978717e-03 7.71236292e+02] [ 1.95914839e-02 9.99808068e-01 1.52788039e-05 4.21284613e+00] [ 6.61821729e-03 -1.44966990e-04 9.99978089e-01 3.01322940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.559254154 meters 0.05595050865164848 Centerline is valid? [True, True] Translation: X:771.30, Y:4.22, Z:3.01 [[ 9.99920705e-01 -1.09140568e-02 -6.28234826e-03 7.71296194e+02] [ 1.09143634e-02 9.99940436e-01 1.45055031e-05 4.21905059e+00] [ 6.28181575e-03 -8.30721845e-05 9.99980266e-01 3.01362549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.619254154 meters 0.055365322696370144 Centerline is valid? [True, True] Translation: X:771.36, Y:4.23, Z:3.01 [[ 9.99973629e-01 -1.31934884e-03 -7.14145708e-03 7.71356508e+02] [ 1.31949944e-03 9.99999129e-01 1.63764439e-05 4.23115428e+00] [ 7.14142926e-03 -2.57991606e-05 9.99974499e-01 3.01351462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.679254154 meters 0.05578145259640561 Centerline is valid? [True, True] Translation: X:771.41, Y:4.24, Z:3.02 [[ 9.99960984e-01 1.46371078e-03 -8.71143409e-03 7.71414228e+02] [-1.46359890e-03 9.99998929e-01 1.92172457e-05 4.23670321e+00] [ 8.71145289e-03 -6.46645048e-06 9.99962055e-01 3.01539009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.739254154 meters 0.054854763537222 Centerline is valid? [True, True] Translation: X:771.47, Y:4.24, Z:3.01 [[ 9.99958354e-01 2.18912685e-04 -9.12377856e-03 7.71473201e+02] [-2.18745433e-04 9.99999976e-01 1.93292715e-05 4.23678640e+00] [ 9.12378257e-03 -1.73326816e-05 9.99958377e-01 3.01255288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.799254154 meters 0.05514611791858622 Centerline is valid? [True, True] Translation: X:771.53, Y:4.24, Z:3.01 [[ 9.99950495e-01 -3.62956720e-03 -9.26466768e-03 7.71531937e+02] [ 3.62990118e-03 9.99993412e-01 1.92335803e-05 4.23566083e+00] [ 9.26453683e-03 -5.28624563e-05 9.99957082e-01 3.01322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters 0.055371830451559086 Centerline is valid? [True, True] Translation: X:771.59, Y:4.23, Z:3.01 [[ 9.99938556e-01 -6.89967784e-03 -8.67628918e-03 7.71591000e+02] [ 6.90009145e-03 9.99976194e-01 1.77368558e-05 4.23291115e+00] [ 8.67596026e-03 -7.76029548e-05 9.99962360e-01 3.01368413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.919254154 meters 0.05538089297329411 Centerline is valid? [True, True] Translation: X:771.65, Y:4.23, Z:3.01 [[ 9.99930899e-01 -8.54723088e-03 -8.07105766e-03 7.71650019e+02] [ 8.54764037e-03 9.99963468e-01 1.62421035e-05 4.23299986e+00] [ 8.07062398e-03 -8.52294794e-05 9.99967428e-01 3.01461442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters 0.055338719734826715 Centerline is valid? [True, True] Translation: X:771.71, Y:4.23, Z:3.01 [[ 9.99927494e-01 -9.60248851e-03 -7.26627578e-03 7.71709592e+02] [ 9.60284701e-03 9.99953892e-01 1.44485375e-05 4.23139270e+00] [ 7.26580201e-03 -8.42244246e-05 9.99973600e-01 3.01466792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.039254154 meters 0.05484383748986825 Centerline is valid? [True, True] Translation: X:771.77, Y:4.23, Z:3.01 [[ 9.99926384e-01 -9.71885153e-03 -7.26435495e-03 7.71769282e+02] [ 9.71921222e-03 9.99952767e-01 1.43514692e-05 4.22679714e+00] [ 7.26387235e-03 -8.49542201e-05 9.99973614e-01 3.01389825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters 0.05563666883535111 Centerline is valid? [True, True] Translation: X:771.83, Y:4.22, Z:3.01 [[ 9.99951433e-01 -7.13176432e-03 -6.80222954e-03 7.71829086e+02] [ 7.13202037e-03 9.99974567e-01 1.33862379e-05 4.22482223e+00] [ 6.80196107e-03 -6.18992274e-05 9.99976864e-01 3.01385697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.159254154 meters 0.05478245697810988 Centerline is valid? [True, True] Translation: X:771.89, Y:4.23, Z:3.01 [[ 9.99966454e-01 -4.30724381e-03 -6.96689592e-03 7.71888359e+02] [ 4.30744332e-03 9.99990723e-01 1.36320549e-05 4.22619532e+00] [ 6.96677257e-03 -4.36411069e-05 9.99975731e-01 3.01420253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters 0.05577638566515338 Centerline is valid? [True, True] Translation: X:771.95, Y:4.23, Z:3.01 [[ 9.99975407e-01 1.01148435e-04 -7.01244786e-03 7.71946804e+02] [-1.01057517e-04 9.99999995e-01 1.33194451e-05 4.22667567e+00] [ 7.01244918e-03 -1.26104570e-05 9.99975412e-01 3.01353549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.279254154 meters 0.05522898654618244 Centerline is valid? [True, True] Translation: X:772.00, Y:4.23, Z:3.01 [[ 9.99965343e-01 3.02391534e-03 -7.75682014e-03 7.72004266e+02] [-3.02389991e-03 9.99995428e-01 1.37170501e-05 4.22534989e+00] [ 7.75682615e-03 9.73927297e-06 9.99969915e-01 3.01291430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters 0.05590624689331729 Centerline is valid? [True, True] Translation: X:772.06, Y:4.22, Z:3.01 [[ 9.99960718e-01 2.94861332e-03 -8.35877170e-03 7.72062236e+02] [-2.94859936e-03 9.99995653e-01 1.39939752e-05 4.22232399e+00] [ 8.35877663e-03 1.06532434e-05 9.99965065e-01 3.01215862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.399254154 meters 0.0559153194641294 Centerline is valid? [True, True] Translation: X:772.12, Y:4.22, Z:3.01 [[ 9.99963164e-01 1.34478699e-04 -8.58216359e-03 7.72121501e+02] [-1.34363222e-04 9.99999991e-01 1.40319043e-05 4.21841556e+00] [ 8.58216540e-03 -1.28782602e-05 9.99963172e-01 3.01279863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.459254154 meters 0.05612009239112669 Centerline is valid? [True, True] Translation: X:772.18, Y:4.21, Z:3.01 [[ 9.99958402e-01 -3.66852002e-03 -8.35078011e-03 7.72179914e+02] [ 3.66875960e-03 9.99993270e-01 1.33705515e-05 4.21425652e+00] [ 8.35067485e-03 -4.40070000e-05 9.99965132e-01 3.01306115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.519254154 meters 0.055630154416721804 Centerline is valid? [True, True] Translation: X:772.24, Y:4.21, Z:3.01 [[ 9.99902387e-01 -1.14030887e-02 -8.07374014e-03 7.72239383e+02] [ 1.14035632e-02 9.99934977e-01 1.27255317e-05 4.20756564e+00] [ 8.07307005e-03 -1.04793695e-04 9.99967407e-01 3.01345343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.579254154 meters 0.0557307410621258 Centerline is valid? [True, True] Translation: X:772.30, Y:4.20, Z:3.01 [[ 9.99795790e-01 -1.87229121e-02 -7.60463581e-03 7.72298891e+02] [ 1.87235444e-02 9.99824699e-01 1.19650983e-05 4.20072231e+00] [ 7.60307869e-03 -1.54348391e-04 9.99971084e-01 3.01434375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.639254154 meters 0.05757665273687944 Centerline is valid? [True, True] Translation: X:772.36, Y:4.19, Z:3.01 [[ 9.99665035e-01 -2.49217091e-02 -6.98046936e-03 7.72358243e+02] [ 2.49223931e-02 9.99689389e-01 1.10046172e-05 4.18723430e+00] [ 6.97802690e-03 -1.84970932e-04 9.99975636e-01 3.01467694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.699254154 meters 0.056476623677713736 Centerline is valid? [True, True] Translation: X:772.42, Y:4.19, Z:3.02 [[ 9.99522809e-01 -3.03701371e-02 -5.63999689e-03 7.72418406e+02] [ 3.03706700e-02 9.99538705e-01 8.85839205e-06 4.18994470e+00] [ 5.63712616e-03 -1.80144649e-04 9.99984095e-01 3.01598929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.759254154 meters 0.05815456658641927 Centerline is valid? [True, True] Translation: X:772.48, Y:4.18, Z:3.02 [[ 9.99416939e-01 -3.36526462e-02 -5.76901844e-03 7.72477967e+02] [ 3.36532583e-02 9.99433569e-01 9.02268722e-06 4.18062504e+00] [ 5.76544705e-03 -2.03163694e-04 9.99983359e-01 3.01612464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.819254154 meters 0.05595813241007615 Centerline is valid? [True, True] Translation: X:772.54, Y:4.19, Z:3.02 [[ 9.99373671e-01 -3.49026893e-02 -5.83678592e-03 7.72539986e+02] [ 3.49033374e-02 9.99390693e-01 9.18395377e-06 4.18751589e+00] [ 5.83290898e-03 -2.12901510e-04 9.99982966e-01 3.01689649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.879254154 meters 0.05632234994820119 Centerline is valid? [True, True] Translation: X:772.60, Y:4.19, Z:3.02 [[ 9.99377142e-01 -3.48427336e-02 -5.59563680e-03 7.72602303e+02] [ 3.48433295e-02 9.99392787e-01 9.01886643e-06 4.18733368e+00] [ 5.59192481e-03 -2.03983866e-04 9.99984344e-01 3.01673123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.939254154 meters 0.056238857707550424 Centerline is valid? [True, True] Translation: X:772.66, Y:4.18, Z:3.02 [[ 9.99419246e-01 -3.34357642e-02 -6.57419076e-03 7.72662310e+02] [ 3.34365577e-02 9.99440842e-01 1.07966163e-05 4.18423895e+00] [ 6.57015376e-03 -2.30608655e-04 9.99978390e-01 3.01614281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.999254154 meters 0.05667644802493094 Centerline is valid? [True, True] Translation: X:772.72, Y:4.19, Z:3.02 [[ 9.99499702e-01 -3.05883300e-02 -8.04365477e-03 7.72721854e+02] [ 3.05894261e-02 9.99532034e-01 1.32566929e-05 4.18660141e+00] [ 8.03948511e-03 -2.59300844e-04 9.99967649e-01 3.01615714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.059254154 meters 0.05611058807542371 Centerline is valid? [True, True] Translation: X:772.78, Y:4.19, Z:3.02 [[ 9.99591729e-01 -2.79101841e-02 -6.11523158e-03 7.72782945e+02] [ 2.79107675e-02 9.99610419e-01 1.00641923e-05 4.19091959e+00] [ 6.11256830e-03 -1.80740890e-04 9.99981302e-01 3.01798428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.119254154 meters 0.057351015662562434 Centerline is valid? [True, True] Translation: X:772.84, Y:4.18, Z:3.02 [[ 9.99702020e-01 -2.39929338e-02 -4.49559929e-03 7.72842426e+02] [ 2.39932095e-02 9.99712122e-01 7.41258183e-06 4.18479908e+00] [ 4.49412726e-03 -1.15274229e-04 9.99989895e-01 3.01947759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.179254154 meters 0.05641597638558988 Centerline is valid? [True, True] Translation: X:772.90, Y:4.19, Z:3.02 [[ 9.99770378e-01 -2.10650141e-02 -3.93135677e-03 7.72902802e+02] [ 2.10652023e-02 9.99778104e-01 6.48222891e-06 4.19131853e+00] [ 3.93034787e-03 -8.92955662e-05 9.99992272e-01 3.02051787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.239254154 meters 0.057242993193386126 Centerline is valid? [True, True] Translation: X:772.96, Y:4.18, Z:3.02 [[ 9.99756364e-01 -2.14893715e-02 -5.04171907e-03 7.72964970e+02] [ 2.14896868e-02 9.99769070e-01 8.35715292e-06 4.18377843e+00] [ 5.04037520e-03 -1.16700081e-04 9.99987290e-01 3.01971888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.299254154 meters 0.056227966127402294 Centerline is valid? [True, True] Translation: X:773.03, Y:4.19, Z:3.02 [[ 9.99653590e-01 -2.56141962e-02 -6.05084469e-03 7.73025347e+02] [ 2.56147270e-02 9.99671889e-01 1.02302998e-05 4.19144098e+00] [ 6.04859730e-03 -1.65217491e-04 9.99981693e-01 3.01970811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters 0.05570146235304119 Centerline is valid? [True, True] Translation: X:773.09, Y:4.19, Z:3.02 [[ 9.99543536e-01 -2.95444875e-02 -6.31209673e-03 7.73086031e+02] [ 2.95451436e-02 9.99563447e-01 1.06966376e-05 4.19270563e+00] [ 6.30902514e-03 -1.97183559e-04 9.99980078e-01 3.01972574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.419254154 meters 0.05567421156225248 Centerline is valid? [True, True] Translation: X:773.15, Y:4.19, Z:3.02 [[ 9.99512345e-01 -3.04072130e-02 -7.10452497e-03 7.73146799e+02] [ 3.04080664e-02 9.99537568e-01 1.21008581e-05 4.19028747e+00] [ 7.10087166e-03 -2.28129824e-04 9.99974762e-01 3.01998546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters 0.05668173163906784 Centerline is valid? [True, True] Translation: X:773.21, Y:4.19, Z:3.02 [[ 9.99436848e-01 -3.26456710e-02 -7.76192671e-03 7.73207888e+02] [ 3.26467579e-02 9.99466952e-01 1.33239094e-05 4.19139440e+00] [ 7.75735427e-03 -2.66718148e-04 9.99969876e-01 3.01944012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.539254154 meters 0.05597145285280871 Centerline is valid? [True, True] Translation: X:773.27, Y:4.19, Z:3.02 [[ 9.99349113e-01 -3.52006763e-02 -7.89064691e-03 7.73268879e+02] [ 3.52018795e-02 9.99380222e-01 1.36100030e-05 4.19171849e+00] [ 7.88527738e-03 -2.91366746e-04 9.99968868e-01 3.01952787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters 0.05541823134090045 Centerline is valid? [True, True] Translation: X:773.33, Y:4.20, Z:3.02 [[ 9.99234701e-01 -3.85673318e-02 -6.52486098e-03 7.73328176e+02] [ 3.85682264e-02 9.99255969e-01 1.13000654e-05 4.19596648e+00] [ 6.51957047e-03 -2.62943733e-04 9.99978713e-01 3.02120633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.659254154 meters 0.05511212584461684 Centerline is valid? [True, True] Translation: X:773.39, Y:4.20, Z:3.02 [[ 9.99099939e-01 -4.21172295e-02 -5.04492955e-03 7.73388795e+02] [ 4.21178097e-02 9.99112651e-01 8.76982368e-06 4.20300286e+00] [ 5.04008357e-03 -2.21243313e-04 9.99987274e-01 3.02235124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters 0.054963927880441625 Centerline is valid? [True, True] Translation: X:773.45, Y:4.20, Z:3.02 [[ 9.99030132e-01 -4.36940626e-02 -5.44286167e-03 7.73450180e+02] [ 4.36947616e-02 9.99044928e-01 9.52386849e-06 4.20428481e+00] [ 5.43724721e-03 -2.47339174e-04 9.99985187e-01 3.02233241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.779254154 meters 0.05576252905937823 Centerline is valid? [True, True] Translation: X:773.51, Y:4.20, Z:3.02 [[ 9.99021775e-01 -4.38124117e-02 -5.99706969e-03 7.73512288e+02] [ 4.38132636e-02 9.99039738e-01 1.06806878e-05 4.20330504e+00] [ 5.99084298e-03 -2.73421435e-04 9.99982017e-01 3.02118525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters 0.05781231935707785 Centerline is valid? [True, True] Translation: X:773.57, Y:4.20, Z:3.02 [[ 9.99112135e-01 -4.14746362e-02 -7.40250504e-03 7.73571626e+02] [ 4.14758730e-02 9.99139506e-01 1.35808990e-05 4.19541634e+00] [ 7.39557197e-03 -3.20594200e-04 9.99972601e-01 3.02037114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.899254154 meters 0.05557720574664906 Centerline is valid? [True, True] Translation: X:773.63, Y:4.21, Z:3.02 [[ 9.99295208e-01 -3.66204432e-02 -8.24807064e-03 7.73632201e+02] [ 3.66218150e-02 9.99329196e-01 1.52985464e-05 4.21409047e+00] [ 8.24197756e-03 -3.17347081e-04 9.99965984e-01 3.02096093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.959254154 meters 0.0563614738832293 Centerline is valid? [True, True] Translation: X:773.69, Y:4.21, Z:3.02 [[ 9.99530684e-01 -2.92596386e-02 -9.07109011e-03 7.73691630e+02] [ 2.92609953e-02 9.99571805e-01 1.68576502e-05 4.21260164e+00] [ 9.06671267e-03 -2.82278864e-04 9.99958857e-01 3.01993776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.019254154 meters 0.0551859897056346 Centerline is valid? [True, True] Translation: X:773.75, Y:4.22, Z:3.02 [[ 9.99751166e-01 -2.01164520e-02 -9.64029421e-03 7.73751967e+02] [ 2.01175597e-02 9.99797621e-01 1.79303311e-05 4.22478634e+00] [ 9.63798252e-03 -2.11865063e-04 9.99953531e-01 3.02086374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.079254154 meters 0.05558171469924618 Centerline is valid? [True, True] Translation: X:773.81, Y:4.23, Z:3.02 [[ 9.99901566e-01 -1.07040893e-02 -9.07092250e-03 7.73812072e+02] [ 1.07046831e-02 9.99942703e-01 1.69116894e-05 4.23483651e+00] [ 9.07022174e-03 -1.14011375e-04 9.99958858e-01 3.02173376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.139254154 meters 0.05495658574391693 Centerline is valid? [True, True] Translation: X:773.87, Y:4.24, Z:3.02 [[ 9.99963647e-01 -3.26218574e-03 -7.87800066e-03 7.73870962e+02] [ 3.26240235e-03 9.99994678e-01 1.46457793e-05 4.24118429e+00] [ 7.87791096e-03 -4.03464548e-05 9.99968968e-01 3.02260751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.199254154 meters 0.055207641459240245 Centerline is valid? [True, True] Translation: X:773.93, Y:4.25, Z:3.02 [[ 9.99973192e-01 -4.70966198e-04 -7.30703891e-03 7.73930231e+02] [ 4.71076031e-04 9.99999889e-01 1.33098993e-05 4.24539109e+00] [ 7.30703183e-03 -1.67517134e-05 9.99973303e-01 3.02380586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.259254154 meters 0.05441569252397666 Centerline is valid? [True, True] Translation: X:773.99, Y:4.25, Z:3.02 [[ 9.99975432e-01 2.15106509e-03 -6.67148987e-03 7.73987884e+02] [-2.15103570e-03 9.99997686e-01 1.15818850e-05 4.24814916e+00] [ 6.67149934e-03 2.76901241e-06 9.99977745e-01 3.02340022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.319254154 meters 0.05506105148790131 Centerline is valid? [True, True] Translation: X:774.05, Y:4.25, Z:3.02 [[ 9.99978147e-01 2.08672945e-03 -6.27301988e-03 7.74045257e+02] [-2.08670597e-03 9.99997823e-01 1.02882423e-05 4.24785171e+00] [ 6.27302769e-03 2.80193051e-06 9.99980324e-01 3.02285940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.379254154 meters 0.054358624447167 Centerline is valid? [True, True] Translation: X:774.10, Y:4.25, Z:3.02 [[ 9.99987523e-01 2.45246710e-05 -4.99540648e-03 7.74103817e+02] [-2.44850922e-05 1.00000000e+00 7.98400813e-06 4.24542645e+00] [ 4.99540667e-03 -7.86159552e-06 9.99987523e-01 3.02297966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.439254154 meters 0.054350379400527865 Centerline is valid? [True, True] Translation: X:774.16, Y:4.24, Z:3.02 [[ 9.99977218e-01 -4.07285110e-03 -5.38290703e-03 7.74162907e+02] [ 4.07295570e-03 9.99991705e-01 8.46817660e-06 4.24024684e+00] [ 5.38282789e-03 -3.03923255e-05 9.99985512e-01 3.02249081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.499254154 meters 0.054572994121626923 Centerline is valid? [True, True] Translation: X:774.22, Y:4.23, Z:3.02 [[ 9.99925454e-01 -1.07843898e-02 -5.72572871e-03 7.74222931e+02] [ 1.07846176e-02 9.99941844e-01 8.90779813e-06 4.23047561e+00] [ 5.72529966e-03 -7.06569287e-05 9.99983608e-01 3.02109590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.559254154 meters 0.05379324081198835 Centerline is valid? [True, True] Translation: X:774.28, Y:4.23, Z:3.02 [[ 9.99817423e-01 -1.77991651e-02 -6.95052828e-03 7.74284013e+02] [ 1.77996705e-02 9.99841573e-01 1.08477331e-05 4.22817215e+00] [ 6.94923405e-03 -1.34562866e-04 9.99975845e-01 3.02016714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.619254154 meters 0.055074032116296544 Centerline is valid? [True, True] Translation: X:774.34, Y:4.22, Z:3.02 [[ 9.99724678e-01 -2.17990679e-02 -8.68157605e-03 7.74343774e+02] [ 2.18000076e-02 9.99762352e-01 1.36058413e-05 4.21641651e+00] [ 8.67921629e-03 -2.02860519e-04 9.99962314e-01 3.01786780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.679254154 meters 0.05473664120707968 Centerline is valid? [True, True] Translation: X:774.41, Y:4.22, Z:3.02 [[ 9.99706741e-01 -2.27666259e-02 -8.25305091e-03 7.74406135e+02] [ 2.27675091e-02 9.99740787e-01 1.30718571e-05 4.21668481e+00] [ 8.25061400e-03 -2.00969436e-04 9.99965943e-01 3.01801994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.739254154 meters 0.054782873334805526 Centerline is valid? [True, True] Translation: X:774.47, Y:4.22, Z:3.02 [[ 9.99780261e-01 -1.99027625e-02 -6.58107302e-03 7.74467602e+02] [ 1.99032632e-02 9.99801910e-01 1.05885734e-05 4.21774862e+00] [ 6.57955864e-03 -1.41571075e-04 9.99978344e-01 3.01942390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.799254154 meters 0.05460208269370577 Centerline is valid? [True, True] Translation: X:774.53, Y:4.22, Z:3.02 [[ 9.99911087e-01 -1.18405167e-02 -6.13356032e-03 7.74526958e+02] [ 1.18408004e-02 9.99929895e-01 9.94057082e-06 4.21706035e+00] [ 6.13301263e-03 -8.25659506e-05 9.99981189e-01 3.02059841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters 0.054816892888076604 Centerline is valid? [True, True] Translation: X:774.59, Y:4.22, Z:3.02 [[ 9.99986115e-01 -3.41729323e-03 -4.01149995e-03 7.74587013e+02] [ 3.41734672e-03 9.99994161e-01 6.47768607e-06 4.22237931e+00] [ 4.01145439e-03 -2.01862823e-05 9.99991954e-01 3.02199027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.919254154 meters 0.054810077012884824 Centerline is valid? [True, True] Translation: X:774.65, Y:4.22, Z:3.02 [[ 9.99988946e-01 6.29523195e-04 -4.65965651e-03 7.74645455e+02] [-6.29495879e-04 9.99999802e-01 7.32863618e-06 4.22301987e+00] [ 4.65966020e-03 -4.39532059e-06 9.99989144e-01 3.02197929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters 0.05449976493701547 Centerline is valid? [True, True] Translation: X:774.70, Y:4.22, Z:3.02 [[ 9.99979728e-01 5.27856030e-04 -6.34555053e-03 7.74704445e+02] [-5.27804567e-04 9.99999861e-01 9.78472091e-06 4.22133018e+00] [ 6.34555481e-03 -6.43531199e-06 9.99979867e-01 3.02096849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.039254154 meters 0.05452304332034663 Centerline is valid? [True, True] Translation: X:774.76, Y:4.21, Z:3.02 [[ 9.99941585e-01 -6.94886463e-03 -8.27891204e-03 7.74764221e+02] [ 6.94920681e-03 9.99975854e-01 1.25653268e-05 4.21446519e+00] [ 8.27862482e-03 -7.00964647e-05 9.99965729e-01 3.01944788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters 0.0555777089033961 Centerline is valid? [True, True] Translation: X:774.82, Y:4.20, Z:3.02 [[ 9.99771942e-01 -1.93206519e-02 -9.09815467e-03 7.74823265e+02] [ 1.93215758e-02 9.99813321e-01 1.36563278e-05 4.20148088e+00] [ 9.09619238e-03 -1.89443898e-04 9.99958611e-01 3.01836108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.159254154 meters 0.05489799624935409 Centerline is valid? [True, True] Translation: X:774.88, Y:4.20, Z:3.02 [[ 9.99396465e-01 -3.34957086e-02 -9.20557066e-03 7.74884002e+02] [ 3.34972546e-02 9.99438809e-01 1.37657831e-05 4.20084876e+00] [ 9.19994348e-03 -3.22118819e-04 9.99957628e-01 3.02075680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters 0.05390662740304463 Centerline is valid? [True, True] Translation: X:774.94, Y:4.20, Z:3.02 [[ 9.99086886e-01 -4.18434803e-02 -8.63234746e-03 7.74943291e+02] [ 4.18451513e-02 9.99124108e-01 1.29737586e-05 4.20193384e+00] [ 8.62424359e-03 -3.74183798e-04 9.99962740e-01 3.02180012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.279254154 meters 0.054719535672767695 Centerline is valid? [True, True] Translation: X:775.00, Y:4.20, Z:3.02 [[ 9.98597869e-01 -5.24600944e-02 -7.08759266e-03 7.75003533e+02] [ 5.24614879e-02 9.98622948e-01 1.07046037e-05 4.19714193e+00] [ 7.07727112e-03 -3.82515251e-04 9.99974883e-01 3.02313733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters 0.055852949923337496 Centerline is valid? [True, True] Translation: X:775.06, Y:4.19, Z:3.02 [[ 9.98394982e-01 -5.62349559e-02 -6.71495737e-03 7.75063580e+02] [ 5.62362920e-02 9.98417488e-01 1.01692190e-05 4.18952238e+00] [ 6.70375900e-03 -3.87777201e-04 9.99977454e-01 3.02363631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.399254154 meters 0.054499594821802916 Centerline is valid? [True, True] Translation: X:775.12, Y:4.20, Z:3.02 [[ 9.98298537e-01 -5.79948841e-02 -6.05179617e-03 7.75124198e+02] [ 5.79960017e-02 9.98316815e-01 9.19742178e-06 4.19559221e+00] [ 6.04107648e-03 -3.60161754e-04 9.99981688e-01 3.02455827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.459254154 meters 0.059107880595731604 Centerline is valid? [True, True] Translation: X:775.18, Y:4.18, Z:3.02 [[ 9.98370011e-01 -5.67845045e-02 -5.73067277e-03 7.75184380e+02] [ 5.67854870e-02 9.98386402e-01 8.75173396e-06 4.18147787e+00] [ 5.72092881e-03 -3.34156513e-04 9.99983580e-01 3.02494767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.519254154 meters 0.05850282486513139 Centerline is valid? [True, True] Translation: X:775.25, Y:4.19, Z:3.02 [[ 9.98604934e-01 -5.23599600e-02 -6.82789950e-03 7.75245095e+02] [ 5.23612519e-02 9.98628209e-01 1.04631768e-05 4.18735884e+00] [ 6.81798519e-03 -3.67965945e-04 9.99976690e-01 3.02440692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.579254154 meters 0.055139632654298484 Centerline is valid? [True, True] Translation: X:775.31, Y:4.21, Z:3.02 [[ 9.98953560e-01 -4.49892775e-02 -8.23100779e-03 7.75305617e+02] [ 4.49909056e-02 9.98987396e-01 1.26567553e-05 4.20609932e+00] [ 8.22210362e-03 -3.82964005e-04 9.99966125e-01 3.02399252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.639254154 meters 0.05765602823620347 Centerline is valid? [True, True] Translation: X:775.37, Y:4.20, Z:3.02 [[ 9.99214476e-01 -3.83408446e-02 -1.00205405e-02 7.75365282e+02] [ 3.83429244e-02 9.99264640e-01 1.54528911e-05 4.20239381e+00] [ 1.00125793e-02 -3.99657581e-04 9.99949793e-01 3.02255471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.699254154 meters 0.055349358745183166 Centerline is valid? [True, True] Translation: X:775.43, Y:4.22, Z:3.02 [[ 9.99508762e-01 -2.93571803e-02 -1.09722652e-02 7.75426431e+02] [ 2.93591343e-02 9.99568928e-01 1.70190960e-05 4.21871657e+00] [ 1.09670357e-02 -3.39146942e-04 9.99939803e-01 3.02292884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.759254154 meters 0.05548857275427546 Centerline is valid? [True, True] Translation: X:775.49, Y:4.22, Z:3.02 [[ 9.99756625e-01 -1.92846184e-02 -1.07141822e-02 7.75486290e+02] [ 1.92859040e-02 9.99814010e-01 1.66740940e-05 4.22473510e+00] [ 1.07118679e-02 -2.23302726e-04 9.99942601e-01 3.02255937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.819254154 meters 0.054415122168002115 Centerline is valid? [True, True] Translation: X:775.55, Y:4.24, Z:3.03 [[ 9.99925686e-01 -8.32724802e-03 -8.90389879e-03 7.75546461e+02] [ 8.32769985e-03 9.99965324e-01 1.36701295e-05 4.24075725e+00] [ 8.90347621e-03 -8.78181102e-05 9.99960359e-01 3.02607388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.879254154 meters 0.054999878236027346 Centerline is valid? [True, True] Translation: X:775.61, Y:4.25, Z:3.03 [[ 9.99971258e-01 9.91125145e-04 -7.51668309e-03 7.75605484e+02] [-9.91070252e-04 9.99999509e-01 1.10276545e-05 4.24893656e+00] [ 7.51669033e-03 -3.57777653e-06 9.99971749e-01 3.02798865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.939254154 meters 0.05463503734847004 Centerline is valid? [True, True] Translation: X:775.66, Y:4.25, Z:3.03 [[ 9.99967594e-01 3.81510718e-03 -7.08916323e-03 7.75662286e+02] [-3.81513348e-03 9.99992722e-01 9.81336841e-06 4.25192203e+00] [ 7.08914908e-03 1.72330536e-05 9.99974871e-01 3.02881311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.999254154 meters 0.05436506673188214 Centerline is valid? [True, True] Translation: X:775.72, Y:4.25, Z:3.03 [[ 9.99974414e-01 7.10105054e-05 -7.15309945e-03 7.75719614e+02] [-7.09438670e-05 9.99999997e-01 9.56962883e-06 4.24917532e+00] [ 7.15310011e-03 -9.06191543e-06 9.99974416e-01 3.02803488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.059254154 meters 0.054586585431821905 Centerline is valid? [True, True] Translation: X:775.78, Y:4.24, Z:3.03 [[ 9.99956919e-01 -5.66924683e-03 -7.34983408e-03 7.75778792e+02] [ 5.66947053e-03 9.99983928e-01 9.60175504e-06 4.24409035e+00] [ 7.34966153e-03 -5.12710091e-05 9.99972990e-01 3.02835032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.119254154 meters 0.05495961523258418 Centerline is valid? [True, True] Translation: X:775.84, Y:4.24, Z:3.03 [[ 9.99835383e-01 -1.64372148e-02 -7.68276424e-03 7.75838908e+02] [ 1.64377760e-02 9.99864891e-01 9.90662500e-06 4.23957853e+00] [ 7.68156339e-03 -1.36192552e-04 9.99970487e-01 3.02929856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.179254154 meters 0.055508367564167105 Centerline is valid? [True, True] Translation: X:775.90, Y:4.23, Z:3.03 [[ 9.99699297e-01 -2.29787688e-02 -8.56111964e-03 7.75898072e+02] [ 2.29797056e-02 9.99735932e-01 1.10559006e-05 4.23053841e+00] [ 8.55860486e-03 -2.07784585e-04 9.99963353e-01 3.02810470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.239254154 meters 0.05495609482430737 Centerline is valid? [True, True] Translation: X:775.96, Y:4.23, Z:3.03 [[ 9.99475263e-01 -3.12735003e-02 -8.43604747e-03 7.75958677e+02] [ 3.12747053e-02 9.99510827e-01 1.09174731e-05 4.22536140e+00] [ 8.43157935e-03 -2.74746643e-04 9.99964416e-01 3.02841831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.299254154 meters 0.056829646863483844 Centerline is valid? [True, True] Translation: X:776.02, Y:4.22, Z:3.03 [[ 9.99321614e-01 -3.60242232e-02 -7.65285972e-03 7.76018289e+02] [ 3.60253550e-02 9.99350876e-01 1.00388635e-05 4.21872107e+00] [ 7.64753043e-03 -2.85729041e-04 9.99970716e-01 3.02795258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters 0.05713499723474747 Centerline is valid? [True, True] Translation: X:776.08, Y:4.22, Z:3.03 [[ 9.99344799e-01 -3.55315692e-02 -6.89056167e-03 7.76080059e+02] [ 3.55324766e-02 9.99368522e-01 9.27365705e-06 4.21602939e+00] [ 6.88588093e-03 -2.54106302e-04 9.99976260e-01 3.02816116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.419254154 meters 0.05708413180163961 Centerline is valid? [True, True] Translation: X:776.14, Y:4.22, Z:3.03 [[ 9.99515676e-01 -3.02318913e-02 -7.37883381e-03 7.76140836e+02] [ 3.02327890e-02 9.99542885e-01 1.01118560e-05 4.21714414e+00] [ 7.37515513e-03 -2.33189684e-04 9.99972776e-01 3.02802919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters 0.05588297942162711 Centerline is valid? [True, True] Translation: X:776.20, Y:4.22, Z:3.03 [[ 9.99689038e-01 -2.35646108e-02 -8.15693396e-03 7.76201824e+02] [ 2.35654862e-02 9.99722295e-01 1.12035838e-05 4.22435710e+00] [ 8.15440473e-03 -2.03422214e-04 9.99966732e-01 3.02822362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.539254154 meters 0.05514565244413897 Centerline is valid? [True, True] Translation: X:776.26, Y:4.23, Z:3.03 [[ 9.99767733e-01 -1.97708330e-02 -8.57872601e-03 7.76262754e+02] [ 1.97716619e-02 9.99804522e-01 1.18147633e-05 4.22969237e+00] [ 8.57681547e-03 -1.81427690e-04 9.99963202e-01 3.02799595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters 0.05500283073073647 Centerline is valid? [True, True] Translation: X:776.32, Y:4.24, Z:3.03 [[ 9.99828426e-01 -1.54919393e-02 -1.01547251e-02 7.76323952e+02] [ 1.54928801e-02 9.99879978e-01 1.39766542e-05 4.23631372e+00] [ 1.01532898e-02 -1.71300195e-04 9.99948439e-01 3.02794555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.659254154 meters 0.054441614037434485 Centerline is valid? [True, True] Translation: X:776.38, Y:4.24, Z:3.03 [[ 9.99827172e-01 -1.45065749e-02 -1.16269347e-02 7.76383539e+02] [ 1.45077414e-02 9.99894757e-01 1.59854109e-05 4.23743486e+00] [ 1.16254791e-02 -1.84663210e-04 9.99932405e-01 3.02715905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters 0.05483456753277856 Centerline is valid? [True, True] Translation: X:776.44, Y:4.23, Z:3.02 [[ 9.99788622e-01 -1.57737203e-02 -1.31871254e-02 7.76442494e+02] [ 1.57753293e-02 9.99875562e-01 1.79945997e-05 4.23431974e+00] [ 1.31852006e-02 -2.26022042e-04 9.99913046e-01 3.02469359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.779254154 meters 0.05481813168532355 Centerline is valid? [True, True] Translation: X:776.50, Y:4.23, Z:3.03 [[ 9.99726475e-01 -1.93773275e-02 -1.30956204e-02 7.76502165e+02] [ 1.93792207e-02 9.99812205e-01 1.76677369e-05 4.23335149e+00] [ 1.30928187e-02 -2.71445822e-04 9.99914249e-01 3.02552528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters 0.05555799170526025 Centerline is valid? [True, True] Translation: X:776.56, Y:4.23, Z:3.03 [[ 9.99674589e-01 -2.25100107e-02 -1.20006874e-02 7.76561753e+02] [ 2.25118241e-02 9.99746577e-01 1.60285174e-05 4.23251362e+00] [ 1.19972854e-02 -2.86180667e-04 9.99927989e-01 3.02760713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.899254154 meters 0.054543908623051765 Centerline is valid? [True, True] Translation: X:776.62, Y:4.23, Z:3.03 [[ 9.99523724e-01 -2.94024538e-02 -9.37124345e-03 7.76622398e+02] [ 2.94038620e-02 9.99567613e-01 1.25010806e-05 4.23281540e+00] [ 9.36682388e-03 -2.88045876e-04 9.99956089e-01 3.03078393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.959254154 meters 0.05478094513739854 Centerline is valid? [True, True] Translation: X:776.68, Y:4.23, Z:3.03 [[ 9.99236092e-01 -3.80619930e-02 -8.86104532e-03 7.76682649e+02] [ 3.80635921e-02 9.99275319e-01 1.18316741e-05 4.23410140e+00] [ 8.85417355e-03 -3.49105851e-04 9.99960740e-01 3.03200624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.019254154 meters 0.05791795276011526 Centerline is valid? [True, True] Translation: X:776.74, Y:4.22, Z:3.03 [[ 9.98993827e-01 -4.40077326e-02 -8.64018615e-03 7.76741876e+02] [ 4.40094750e-02 9.99031114e-01 1.15535760e-05 4.22086484e+00] [ 8.63130634e-03 -3.91792008e-04 9.99962673e-01 3.03076680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.079254154 meters 0.057982441297223956 Centerline is valid? [True, True] Translation: X:776.80, Y:4.22, Z:3.03 [[ 9.98539885e-01 -5.32924845e-02 -8.83231612e-03 7.76802483e+02] [ 5.32946677e-02 9.98578829e-01 1.18351878e-05 4.21783636e+00] [ 8.81913317e-03 -4.82533260e-04 9.99960994e-01 3.03101211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.139254154 meters 0.05384187421707709 Centerline is valid? [True, True] Translation: X:776.86, Y:4.24, Z:3.03 [[ 9.98142977e-01 -6.01625460e-02 -9.54278335e-03 7.76863126e+02] [ 6.01654075e-02 9.98188421e-01 1.28136847e-05 4.23662618e+00] [ 9.52472494e-03 -5.86935339e-04 9.99954467e-01 3.03256361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.199254154 meters 0.05314622556809221 Centerline is valid? [True, True] Translation: X:776.92, Y:4.24, Z:3.03 [[ 9.98014494e-01 -6.21848196e-02 -1.00059150e-02 7.76923579e+02] [ 6.21880672e-02 9.98064449e-01 1.34600096e-05 4.24270924e+00] [ 9.98571106e-03 -6.35681800e-04 9.99949939e-01 3.03274435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.259254154 meters 0.05274159312866251 Centerline is valid? [True, True] Translation: X:776.98, Y:4.24, Z:3.03 [[ 9.98041594e-01 -6.17398868e-02 -1.00579421e-02 7.76984976e+02] [ 6.17431477e-02 9.98092072e-01 1.37289781e-05 4.23909978e+00] [ 1.00379046e-02 -6.34711096e-04 9.99949418e-01 3.03279667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.319254154 meters 0.05369615642569554 Centerline is valid? [True, True] Translation: X:777.04, Y:4.24, Z:3.03 [[ 9.98229952e-01 -5.85119835e-02 -1.06447840e-02 7.77044724e+02] [ 5.85154546e-02 9.98286503e-01 1.46572858e-05 4.23954341e+00] [ 1.06256865e-02 -6.37515715e-04 9.99943343e-01 3.03240327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.379254154 meters 0.0530489066938998 Centerline is valid? [True, True] Translation: X:777.10, Y:4.24, Z:3.03 [[ 9.98411028e-01 -5.52968249e-02 -1.08480384e-02 7.77104919e+02] [ 5.53002405e-02 9.98469771e-01 1.49294514e-05 4.24278781e+00] [ 1.08306129e-02 -6.14804864e-04 9.99941158e-01 3.03241696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.439254154 meters 0.053692706304155825 Centerline is valid? [True, True] Translation: X:777.17, Y:4.25, Z:3.03 [[ 9.98692891e-01 -4.97869156e-02 -1.15659873e-02 7.77165251e+02] [ 4.97904301e-02 9.98759687e-01 1.59391229e-05 4.24991270e+00] [ 1.15508483e-02 -5.91793770e-04 9.99933112e-01 3.03412219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.499254154 meters 0.05489791452913387 Centerline is valid? [True, True] Translation: X:777.22, Y:4.24, Z:3.03 [[ 9.99004026e-01 -4.32153900e-02 -1.11079679e-02 7.77224672e+02] [ 4.32182256e-02 9.99065656e-01 1.52546674e-05 4.24484934e+00] [ 1.10969300e-02 -4.95306136e-04 9.99938304e-01 3.03309194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.559254154 meters 0.054733565302662816 Centerline is valid? [True, True] Translation: X:777.29, Y:4.25, Z:3.03 [[ 9.99216064e-01 -3.80034887e-02 -1.10902013e-02 7.77285849e+02] [ 3.80059955e-02 9.99277511e-01 1.52965139e-05 4.25387824e+00] [ 1.10816074e-02 -4.36778662e-04 9.99938502e-01 3.03451558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.619254154 meters 0.05426042959228924 Centerline is valid? [True, True] Translation: X:777.35, Y:4.26, Z:3.04 [[ 9.99562068e-01 -2.75250214e-02 -1.08648870e-02 7.77347026e+02] [ 2.75268095e-02 9.99621065e-01 1.50416037e-05 4.26229839e+00] [ 1.08603559e-02 -3.14110690e-04 9.99940975e-01 3.03548046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.679254154 meters 0.054493601431401285 Centerline is valid? [True, True] Translation: X:777.41, Y:4.26, Z:3.03 [[ 9.99775780e-01 -1.80875642e-02 -1.10104188e-02 7.77406459e+02] [ 1.80888278e-02 9.99836384e-01 1.51774801e-05 4.26221076e+00] [ 1.10083428e-02 -2.14339647e-04 9.99939383e-01 3.03466572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.739254154 meters 0.05434286942274289 Centerline is valid? [True, True] Translation: X:777.47, Y:4.27, Z:3.04 [[ 9.99938947e-01 -3.56424786e-03 -1.04593982e-02 7.77466784e+02] [ 3.56459352e-03 9.99993647e-01 1.44055951e-05 4.27391068e+00] [ 1.04592804e-02 -5.16882187e-05 9.99945299e-01 3.03691107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.799254154 meters 0.054561825338310596 Centerline is valid? [True, True] Translation: X:777.52, Y:4.28, Z:3.04 [[ 9.99901873e-01 9.17578751e-03 -1.05853442e-02 7.77524916e+02] [-9.17615007e-03 9.99957898e-01 1.43171281e-05 4.28212614e+00] [ 1.05850299e-02 8.28169839e-05 9.99943974e-01 3.03618583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters 0.05481757159184068 Centerline is valid? [True, True] Translation: X:777.58, Y:4.29, Z:3.04 [[ 9.99826975e-01 1.54122727e-02 -1.04154252e-02 7.77584503e+02] [-1.54129643e-02 9.99881213e-01 1.38738581e-05 4.28565740e+00] [ 1.04144018e-02 1.46661119e-04 9.99945758e-01 3.03625969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.919254154 meters 0.05523667510866072 Centerline is valid? [True, True] Translation: X:777.64, Y:4.29, Z:3.04 [[ 9.99826528e-01 1.53606977e-02 -1.05338847e-02 7.77641697e+02] [-1.53614065e-02 9.99882007e-01 1.36264601e-05 4.28518540e+00] [ 1.05328511e-02 1.48191189e-04 9.99944517e-01 3.03605771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters 0.05451457463164239 Centerline is valid? [True, True] Translation: X:777.70, Y:4.28, Z:3.04 [[ 9.99891642e-01 9.87340503e-03 -1.09188371e-02 7.77701379e+02] [-9.87384259e-03 9.99951252e-01 1.38341444e-05 4.27682102e+00] [ 1.09184414e-02 9.39782332e-05 9.99940388e-01 3.03787896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.039254154 meters 0.05455886742527526 Centerline is valid? [True, True] Translation: X:777.76, Y:4.27, Z:3.04 [[ 9.99941096e-01 4.04825615e-03 -1.00705455e-02 7.77759047e+02] [-4.04833586e-03 9.99991805e-01 1.24697239e-05 4.27164009e+00] [ 1.00705135e-02 2.82999612e-05 9.99949291e-01 3.03699315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters 0.054694335508057114 Centerline is valid? [True, True] Translation: X:777.82, Y:4.26, Z:3.04 [[ 9.99932769e-01 -6.90670077e-03 -9.31421201e-03 7.77817724e+02] [ 6.90710476e-03 9.99976146e-01 1.12049965e-05 4.25845247e+00] [ 9.31391243e-03 -7.55384813e-05 9.99956622e-01 3.03806972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.159254154 meters 0.05482881890732358 Centerline is valid? [True, True] Translation: X:777.88, Y:4.25, Z:3.04 [[ 9.99784661e-01 -1.87116365e-02 -8.97253808e-03 7.77877942e+02] [ 1.87124855e-02 9.99824906e-01 1.06725780e-05 4.24896018e+00] [ 8.97076734e-03 -1.78568769e-04 9.99959746e-01 3.03918492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters 0.0543064660384965 Centerline is valid? [True, True] Translation: X:777.94, Y:4.24, Z:3.04 [[ 9.99555728e-01 -2.83602537e-02 -9.16743932e-03 7.77938409e+02] [ 2.83615456e-02 9.99597730e-01 1.09248761e-05 4.24056087e+00] [ 9.16344171e-03 -2.70922771e-04 9.99957978e-01 3.03943871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.279254154 meters 0.0541156764287095 Centerline is valid? [True, True] Translation: X:778.00, Y:4.23, Z:3.04 [[ 9.99416344e-01 -3.28869370e-02 -9.24235801e-03 7.77998160e+02] [ 3.28884433e-02 9.99459029e-01 1.09914814e-05 4.23249274e+00] [ 9.23699668e-03 -3.14951833e-04 9.99957288e-01 3.03897922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters 0.054073463515906056 Centerline is valid? [True, True] Translation: X:778.06, Y:4.23, Z:3.04 [[ 9.99261833e-01 -3.69783197e-02 -1.04112258e-02 7.78058582e+02] [ 3.69804524e-02 9.99315989e-01 1.23497371e-05 4.22823854e+00] [ 1.04036477e-02 -3.97352462e-04 9.99945802e-01 3.03900543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.399254154 meters 0.0543719228789644 Centerline is valid? [True, True] Translation: X:778.12, Y:4.22, Z:3.04 [[ 9.99229197e-01 -3.75434999e-02 -1.14672433e-02 7.78119994e+02] [ 3.75461266e-02 9.99294896e-01 1.37843206e-05 4.22225811e+00] [ 1.14586402e-02 -4.44324264e-04 9.99934249e-01 3.03804484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.459254154 meters 0.05523351927944801 Centerline is valid? [True, True] Translation: X:778.18, Y:4.22, Z:3.04 [[ 9.99327969e-01 -3.43028844e-02 -1.29198219e-02 7.78180495e+02] [ 3.43059514e-02 9.99411378e-01 1.57774399e-05 4.21803133e+00] [ 1.29116758e-02 -4.58993621e-04 9.99916535e-01 3.03707640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.519254154 meters 0.05504122747370299 Centerline is valid? [True, True] Translation: X:778.24, Y:4.22, Z:3.04 [[ 9.99593758e-01 -2.52233324e-02 -1.32703703e-02 7.78240711e+02] [ 2.52257698e-02 9.99681780e-01 1.62949389e-05 4.22066023e+00] [ 1.32657364e-02 -3.51043626e-04 9.99911945e-01 3.03781375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.579254154 meters 0.05591509742428137 Centerline is valid? [True, True] Translation: X:778.30, Y:4.22, Z:3.04 [[ 9.99841064e-01 -1.08347044e-02 -1.41582548e-02 7.78300691e+02] [ 1.08360365e-02 9.99941288e-01 1.73778835e-05 4.22447562e+00] [ 1.41572353e-02 -1.70794488e-04 9.99899767e-01 3.03748990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.639254154 meters 0.05536077623725727 Centerline is valid? [True, True] Translation: X:778.36, Y:4.23, Z:3.04 [[ 9.99906326e-01 -5.51038608e-04 -1.36760812e-02 7.78360860e+02] [ 5.51319639e-04 9.99999848e-01 1.67788719e-05 4.22927861e+00] [ 1.36760699e-02 -2.43171922e-05 9.99906478e-01 3.03776048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.699254154 meters 0.05586416314801893 Centerline is valid? [True, True] Translation: X:778.42, Y:4.23, Z:3.04 [[ 9.99855344e-01 1.17504358e-02 -1.22970806e-02 7.78419092e+02] [-1.17511514e-02 9.99930953e-01 1.40687907e-05 4.23370551e+00] [ 1.22963968e-02 1.30438100e-04 9.99924388e-01 3.04079858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.759254154 meters 0.056410484763959885 Centerline is valid? [True, True] Translation: X:778.48, Y:4.24, Z:3.04 [[ 9.99792227e-01 1.65227580e-02 -1.19374009e-02 7.78477891e+02] [-1.65237804e-02 9.99863473e-01 1.29815076e-05 4.23697027e+00] [ 1.19359856e-02 1.84272182e-04 9.99928747e-01 3.03994665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.819254154 meters 0.05613043374099277 Centerline is valid? [True, True] Translation: X:778.54, Y:4.23, Z:3.04 [[ 9.99779982e-01 1.64340961e-02 -1.30348555e-02 7.78535195e+02] [-1.64353173e-02 9.99864931e-01 1.34324283e-05 4.23069074e+00] [ 1.30333157e-02 2.00802514e-04 9.99915043e-01 3.04118168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.879254154 meters 0.05594176011521123 Centerline is valid? [True, True] Translation: X:778.60, Y:4.22, Z:3.04 [[ 9.99884628e-01 7.27362388e-03 -1.33350845e-02 7.78595017e+02] [-7.27409115e-03 9.99973543e-01 1.34622801e-05 4.22065008e+00] [ 1.33348296e-02 8.35398930e-05 9.99911084e-01 3.04153788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.939254154 meters 0.05619553312856356 Centerline is valid? [True, True] Translation: X:778.65, Y:4.21, Z:3.04 [[ 9.99863735e-01 -9.39384503e-03 -1.35745112e-02 7.78653817e+02] [ 9.39489223e-03 9.99955867e-01 1.33766440e-05 4.20723477e+00] [ 1.35737865e-02 -1.40905891e-04 9.99907862e-01 3.04199435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.999254154 meters 0.05703362193055814 Centerline is valid? [True, True] Translation: X:778.71, Y:4.20, Z:3.04 [[ 9.99661760e-01 -2.24668370e-02 -1.30998759e-02 7.78713320e+02] [ 2.24689315e-02 9.99747542e-01 1.27106189e-05 4.19624751e+00] [ 1.30962832e-02 -3.07046534e-04 9.99914193e-01 3.04124687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.059254154 meters 0.05633540054423575 Centerline is valid? [True, True] Translation: X:778.77, Y:4.19, Z:3.04 [[ 9.99109613e-01 -4.06664360e-02 -1.12348897e-02 7.78774239e+02] [ 4.06691248e-02 9.99172669e-01 1.08789404e-05 4.18805533e+00] [ 1.12251523e-02 -4.67782386e-04 9.99936887e-01 3.04375265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.119254154 meters 0.05583617264364648 Centerline is valid? [True, True] Translation: X:778.83, Y:4.18, Z:3.04 [[ 9.98901894e-01 -4.56421416e-02 -1.05736279e-02 7.78834114e+02] [ 4.56448014e-02 9.98957733e-01 1.02318670e-05 4.18150660e+00] [ 1.05621403e-02 -4.92851775e-04 9.99944098e-01 3.04361473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.179254154 meters 0.05538762596895297 Centerline is valid? [True, True] Translation: X:778.89, Y:4.19, Z:3.05 [[ 9.98308720e-01 -5.73615625e-02 -9.45256588e-03 7.78894700e+02] [ 5.73642118e-02 9.98353318e-01 9.15956244e-06 4.18545106e+00] [ 9.43647510e-03 -5.51383062e-04 9.99955323e-01 3.04522944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.239254154 meters 0.05469942182191583 Centerline is valid? [True, True] Translation: X:778.96, Y:4.19, Z:3.05 [[ 9.97938243e-01 -6.35959561e-02 -8.64972873e-03 7.78955771e+02] [ 6.35984080e-02 9.97975572e-01 8.41476417e-06 4.18757666e+00] [ 8.63168283e-03 -5.58506391e-04 9.99962590e-01 3.04607454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.299254154 meters 0.05550851900991798 Centerline is valid? [True, True] Translation: X:779.02, Y:4.18, Z:3.05 [[ 9.97831498e-01 -6.52219550e-02 -8.85428661e-03 7.79016505e+02] [ 6.52245888e-02 9.97870609e-01 8.71749015e-06 4.18369197e+00] [ 8.83486380e-03 -5.86215790e-04 9.99960800e-01 3.04580070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters 0.05502847695422208 Centerline is valid? [True, True] Translation: X:779.08, Y:4.18, Z:3.04 [[ 9.97853506e-01 -6.47614011e-02 -9.71296777e-03 7.79077751e+02] [ 6.47645559e-02 9.97900572e-01 1.02906296e-05 4.17791965e+00] [ 9.69190966e-03 -6.39324585e-04 9.99952828e-01 3.04470284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.419254154 meters 0.05851499408844718 Centerline is valid? [True, True] Translation: X:779.14, Y:4.16, Z:3.04 [[ 9.97980662e-01 -6.22839682e-02 -1.24621357e-02 7.79137424e+02] [ 6.22889757e-02 9.98058156e-01 1.37075728e-05 4.16203806e+00] [ 1.24370824e-02 -7.89933562e-04 9.99922344e-01 3.04206696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters 0.055376754542238685 Centerline is valid? [True, True] Translation: X:779.20, Y:4.18, Z:3.04 [[ 9.98199941e-01 -5.85086099e-02 -1.31764999e-02 7.79197733e+02] [ 5.85138796e-02 9.98286595e-01 1.44413579e-05 4.17866511e+00] [ 1.31530783e-02 -7.85423492e-04 9.99913186e-01 3.04344106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.539254154 meters 0.05653091654630311 Centerline is valid? [True, True] Translation: X:779.26, Y:4.18, Z:3.04 [[ 9.98407609e-01 -5.47556343e-02 -1.35671333e-02 7.79258932e+02] [ 5.47608766e-02 9.98499497e-01 1.49312928e-05 4.18324924e+00] [ 1.35459582e-02 -7.57855629e-04 9.99907962e-01 3.04472755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters 0.05667767318754327 Centerline is valid? [True, True] Translation: X:779.32, Y:4.18, Z:3.04 [[ 9.98736685e-01 -4.82941980e-02 -1.38817846e-02 7.79318852e+02] [ 4.82990649e-02 9.98832919e-01 1.53593581e-05 4.18045191e+00] [ 1.38648417e-02 -6.85817169e-04 9.99903643e-01 3.04388235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.659254154 meters 0.06043053582218612 Centerline is valid? [True, True] Translation: X:779.38, Y:4.17, Z:3.04 [[ 9.99011549e-01 -4.24339616e-02 -1.32394902e-02 7.79378006e+02] [ 4.24378751e-02 9.99099107e-01 1.46637276e-05 4.16848100e+00] [ 1.32269406e-02 -5.76505066e-04 9.99912354e-01 3.04135948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters 0.05592295519557955 Centerline is valid? [True, True] Translation: X:779.44, Y:4.19, Z:3.05 [[ 9.99146969e-01 -3.94847222e-02 -1.20951223e-02 7.79438175e+02] [ 3.94877735e-02 9.99220054e-01 1.34685878e-05 4.19317620e+00] [ 1.20851569e-02 -4.91066547e-04 9.99926851e-01 3.04613999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.779254154 meters 0.05622681691428283 Centerline is valid? [True, True] Translation: X:779.50, Y:4.20, Z:3.05 [[ 9.99355876e-01 -3.39859952e-02 -1.15232792e-02 7.79498427e+02] [ 3.39883999e-02 9.99422227e-01 1.28593421e-05 4.19765425e+00] [ 1.15161844e-02 -4.04508882e-04 9.99933605e-01 3.04726788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters 0.055695807504535455 Centerline is valid? [True, True] Translation: X:779.56, Y:4.21, Z:3.05 [[ 9.99471810e-01 -3.04289411e-02 -1.14096873e-02 7.79558241e+02] [ 3.04310667e-02 9.99536868e-01 1.26925387e-05 4.21037639e+00] [ 1.14040169e-02 -3.59894788e-04 9.99934907e-01 3.05064796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.899254154 meters 0.05613146248454568 Centerline is valid? [True, True] Translation: X:779.62, Y:4.20, Z:3.05 [[ 9.99607342e-01 -2.53793830e-02 -1.18764306e-02 7.79618402e+02] [ 2.53813305e-02 9.99677842e-01 1.32595769e-05 4.20017245e+00] [ 1.18722680e-02 -3.14693981e-04 9.99929473e-01 3.04787714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.959254154 meters 0.056250819640711235 Centerline is valid? [True, True] Translation: X:779.68, Y:4.20, Z:3.05 [[ 9.99772319e-01 -1.68763459e-02 -1.30575103e-02 7.79677918e+02] [ 1.68779755e-02 9.99857557e-01 1.46051264e-05 4.20185526e+00] [ 1.30554039e-02 -2.34986140e-04 9.99914747e-01 3.04652706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.019254154 meters 0.05645165569878476 Centerline is valid? [True, True] Translation: X:779.74, Y:4.21, Z:3.05 [[ 9.99893348e-01 -5.44225579e-03 -1.35526331e-02 7.79738142e+02] [ 5.44296086e-03 9.99985187e-01 1.51399821e-05 4.20913197e+00] [ 1.35523500e-02 -8.89048190e-05 9.99908159e-01 3.04665175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.079254154 meters 0.056602341118110716 Centerline is valid? [True, True] Translation: X:779.80, Y:4.21, Z:3.05 [[ 9.99901784e-01 2.18540392e-03 -1.38436244e-02 7.79796486e+02] [-2.18541477e-03 9.99997612e-01 1.43439101e-05 4.21458487e+00] [ 1.38436227e-02 1.59115599e-05 9.99904172e-01 3.04854173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.139254154 meters 0.0575404796898165 Centerline is valid? [True, True] Translation: X:779.86, Y:4.22, Z:3.05 [[ 9.99847842e-01 1.07366462e-02 -1.37483334e-02 7.79855341e+02] [-1.07374748e-02 9.99942352e-01 1.35492258e-05 4.21544757e+00] [ 1.37476863e-02 1.34075218e-04 9.99905487e-01 3.05309709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.199254154 meters 0.05675936487190477 Centerline is valid? [True, True] Translation: X:779.91, Y:4.22, Z:3.05 [[ 9.99843719e-01 1.14791236e-02 -1.34449506e-02 7.79913848e+02] [-1.14799929e-02 9.99934103e-01 1.25242342e-05 4.21763907e+00] [ 1.34442084e-02 1.41825660e-04 9.99909612e-01 3.04913872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.259254154 meters 0.057766605642093294 Centerline is valid? [True, True] Translation: X:779.97, Y:4.21, Z:3.05 [[ 9.99869838e-01 9.43425647e-03 -1.30882309e-02 7.79972421e+02] [-9.43491236e-03 9.99955490e-01 1.16328539e-05 4.21006579e+00] [ 1.30877581e-02 1.11854972e-04 9.99914345e-01 3.05429261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.319254154 meters 0.05696773843264634 Centerline is valid? [True, True] Translation: X:780.03, Y:4.21, Z:3.05 [[ 9.99907349e-01 4.34223161e-03 -1.29010895e-02 7.80031545e+02] [-4.34244946e-03 9.99990571e-01 1.11260820e-05 4.20596619e+00] [ 1.29010162e-02 4.48972780e-05 9.99916777e-01 3.05435799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.379254154 meters 0.05685729777478442 Centerline is valid? [True, True] Translation: X:780.09, Y:4.20, Z:3.05 [[ 9.99902524e-01 -2.03238857e-03 -1.38134924e-02 7.80090654e+02] [ 2.03274141e-03 9.99997934e-01 1.15030515e-05 4.19904903e+00] [ 1.38134405e-02 -3.95811883e-05 9.99904589e-01 3.05496584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.439254154 meters 0.05695360566267306 Centerline is valid? [True, True] Translation: X:780.15, Y:4.19, Z:3.05 [[ 9.99883685e-01 -6.57392492e-03 -1.37622445e-02 7.80147898e+02] [ 6.57469721e-03 9.99978386e-01 1.08732678e-05 4.19364151e+00] [ 1.37618756e-02 -1.01354593e-04 9.99905296e-01 3.05380365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.499254154 meters 0.05704812746248488 Centerline is valid? [True, True] Translation: X:780.21, Y:4.19, Z:3.05 [[ 9.99829836e-01 -1.16570450e-02 -1.42972802e-02 7.80207632e+02] [ 1.16583930e-02 9.99932039e-01 1.09373983e-05 4.18638842e+00] [ 1.42961810e-02 -1.77618849e-04 9.99897789e-01 3.05486691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.559254154 meters 0.05690794032579431 Centerline is valid? [True, True] Translation: X:780.27, Y:4.18, Z:3.05 [[ 9.99817528e-01 -1.30613842e-02 -1.39395850e-02 7.80266187e+02] [ 1.30627967e-02 9.99914678e-01 1.02807619e-05 4.18218205e+00] [ 1.39382613e-02 -1.92368850e-04 9.99902839e-01 3.05495547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.619254154 meters 0.05763062427450449 Centerline is valid? [True, True] Translation: X:780.32, Y:4.18, Z:3.05 [[ 9.99824077e-01 -1.23022298e-02 -1.41587313e-02 7.80324077e+02] [ 1.23036034e-02 9.99924308e-01 9.90402986e-06 4.17533116e+00] [ 1.41575378e-02 -1.84105702e-04 9.99899760e-01 3.05456753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.679254154 meters 0.057221509492821815 Centerline is valid? [True, True] Translation: X:780.38, Y:4.17, Z:3.06 [[ 9.99840163e-01 -9.85091896e-03 -1.49200206e-02 7.80382487e+02] [ 9.85215182e-03 9.99951466e-01 9.13027960e-06 4.17104555e+00] [ 1.49192065e-02 -1.56123128e-04 9.99888690e-01 3.05539313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.739254154 meters 0.05812745915146 Centerline is valid? [True, True] Translation: X:780.44, Y:4.17, Z:3.06 [[ 9.99866046e-01 -7.45937413e-03 -1.45686991e-02 7.80441422e+02] [ 7.46028056e-03 9.99972172e-01 7.87161489e-06 4.16735808e+00] [ 1.45682349e-02 -1.16557143e-04 9.99893871e-01 3.05702880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.799254154 meters 0.05819159915249102 Centerline is valid? [True, True] Translation: X:780.50, Y:4.16, Z:3.06 [[ 9.99880433e-01 -6.67221476e-03 -1.39499236e-02 7.80500282e+02] [ 6.67294983e-03 9.99977736e-01 6.14772838e-06 4.16412655e+00] [ 1.39495720e-02 -9.92341336e-05 9.99902695e-01 3.05798717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters 0.05791722726285467 Centerline is valid? [True, True] Translation: X:780.56, Y:4.16, Z:3.06 [[ 9.99881432e-01 -7.10124757e-03 -1.36635806e-02 7.80557631e+02] [ 7.10197468e-03 9.99974781e-01 4.69386827e-06 4.15889641e+00] [ 1.36632027e-02 -1.01731715e-04 9.99906649e-01 3.05970154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.919254154 meters 0.058094742633687975 Centerline is valid? [True, True] Translation: X:780.62, Y:4.16, Z:3.06 [[ 9.99878743e-01 -8.08923500e-03 -1.33065171e-02 7.80616343e+02] [ 8.09000432e-03 9.99967275e-01 3.98810201e-06 4.15501955e+00] [ 1.33060494e-02 -1.11637399e-04 9.99911464e-01 3.05972986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters 0.05791303604415189 Centerline is valid? [True, True] Translation: X:780.68, Y:4.15, Z:3.06 [[ 9.99829347e-01 -1.07779988e-02 -1.50037477e-02 7.80675191e+02] [ 1.07792737e-02 9.99941902e-01 4.10658368e-06 4.14834968e+00] [ 1.50028318e-02 -1.65835387e-04 9.99887437e-01 3.05868035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.039254154 meters 0.058655605311837146 Centerline is valid? [True, True] Translation: X:780.73, Y:4.15, Z:3.06 [[ 9.99803073e-01 -1.23802042e-02 -1.55095483e-02 7.80734411e+02] [ 1.23817518e-02 9.99923343e-01 3.75944999e-06 4.14810300e+00] [ 1.55083128e-02 -1.95794087e-04 9.99879720e-01 3.06030608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters 0.05926916325507741 Centerline is valid? [True, True] Translation: X:780.79, Y:4.14, Z:3.06 [[ 9.99696891e-01 -1.88018690e-02 -1.58938739e-02 7.80794593e+02] [ 1.88043033e-02 9.99823183e-01 3.71878431e-06 4.13791972e+00] [ 1.58909937e-02 -3.02590884e-04 9.99873684e-01 3.05853008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.159254154 meters 0.05874674676586427 Centerline is valid? [True, True] Translation: X:780.85, Y:4.14, Z:3.06 [[ 9.99590271e-01 -2.40745518e-02 -1.54824641e-02 7.80854832e+02] [ 2.40774923e-02 9.99710095e-01 3.52195069e-06 4.13687248e+00] [ 1.54778909e-02 -3.76299418e-04 9.99880139e-01 3.06181710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters 0.059369419329516074 Centerline is valid? [True, True] Translation: X:780.91, Y:4.13, Z:3.06 [[ 9.99374514e-01 -3.19538409e-02 -1.51503168e-02 7.80913774e+02] [ 3.19575577e-02 9.99489227e-01 3.22990583e-06 4.12839158e+00] [ 1.51424752e-02 -4.87395009e-04 9.99885227e-01 3.06232300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.279254154 meters 0.05900720756739269 Centerline is valid? [True, True] Translation: X:780.97, Y:4.13, Z:3.06 [[ 9.99153459e-01 -3.82305098e-02 -1.51919047e-02 7.80973944e+02] [ 3.82349692e-02 9.99268776e-01 3.09214084e-06 4.12819836e+00] [ 1.51806778e-02 -5.83951533e-04 9.99884596e-01 3.06437303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters 0.06021381694593797 Centerline is valid? [True, True] Translation: X:781.03, Y:4.12, Z:3.06 [[ 9.98918732e-01 -4.40489799e-02 -1.48678701e-02 7.81034140e+02] [ 4.40538949e-02 9.99029156e-01 3.07167827e-06 4.11953903e+00] [ 1.48533005e-02 -6.58055945e-04 9.99889467e-01 3.06436990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.399254154 meters 0.06046394733281681 Centerline is valid? [True, True] Translation: X:781.09, Y:4.12, Z:3.07 [[ 9.98752165e-01 -4.76792611e-02 -1.48593589e-02 7.81094624e+02] [ 4.76845724e-02 9.98862444e-01 3.14155771e-06 4.11548926e+00] [ 1.48423057e-02 -7.11699810e-04 9.99889594e-01 3.06511296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.459254154 meters 0.06001094114993119 Centerline is valid? [True, True] Translation: X:781.15, Y:4.12, Z:3.07 [[ 9.98462214e-01 -5.34565535e-02 -1.46834512e-02 7.81154862e+02] [ 5.34623619e-02 9.98569865e-01 3.05285973e-06 4.11558674e+00] [ 1.46622887e-02 -7.88060148e-04 9.99892192e-01 3.06678633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.519254154 meters 0.06979975251880999 Centerline is valid? [True, True] Translation: X:781.21, Y:4.08, Z:3.06 [[ 9.98258912e-01 -5.65766596e-02 -1.66800930e-02 7.81214662e+02] [ 5.65845951e-02 9.98397808e-01 3.80199050e-06 4.08326680e+00] [ 1.66531532e-02 -9.47631678e-04 9.99860878e-01 3.06001497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.579254154 meters 0.05959938898907625 Centerline is valid? [True, True] Translation: X:781.28, Y:4.12, Z:3.07 [[ 9.98183357e-01 -5.77735521e-02 -1.70939066e-02 7.81276003e+02] [ 5.77820688e-02 9.98329221e-01 4.34144136e-06 4.12014472e+00] [ 1.70650956e-02 -9.92054843e-04 9.99853888e-01 3.06796130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.639254154 meters 0.06076180773812618 Centerline is valid? [True, True] Translation: X:781.34, Y:4.12, Z:3.07 [[ 9.98286987e-01 -5.61980480e-02 -1.62748438e-02 7.81337023e+02] [ 5.62055642e-02 9.98419218e-01 4.43763818e-06 4.11528475e+00] [ 1.62488674e-02 -9.19166814e-04 9.99867556e-01 3.06752392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.699254154 meters 0.06165298596465371 Centerline is valid? [True, True] Translation: X:781.40, Y:4.12, Z:3.07 [[ 9.98555275e-01 -5.12966862e-02 -1.60003968e-02 7.81396510e+02] [ 5.13033231e-02 9.98683117e-01 4.33446540e-06 4.11551104e+00] [ 1.59791038e-02 -8.25201729e-04 9.99871985e-01 3.06801222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.759254154 meters 0.05994280663324459 Centerline is valid? [True, True] Translation: X:781.46, Y:4.12, Z:3.07 [[ 9.98794398e-01 -4.64762908e-02 -1.58020524e-02 7.81456960e+02] [ 4.64821640e-02 9.98919120e-01 4.39575202e-06 4.12317557e+00] [ 1.57847680e-02 -7.38904042e-04 9.99875140e-01 3.07020290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.819254154 meters 0.062131607134181234 Centerline is valid? [True, True] Translation: X:781.52, Y:4.12, Z:3.07 [[ 9.99117209e-01 -3.89808388e-02 -1.56619484e-02 7.81517084e+02] [ 3.89856908e-02 9.99239769e-01 4.47885479e-06 4.12001429e+00] [ 1.56498671e-02 -6.15066776e-04 9.99877344e-01 3.06864094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.879254154 meters 0.060957424875423 Centerline is valid? [True, True] Translation: X:781.58, Y:4.13, Z:3.07 [[ 9.99238768e-01 -3.56101660e-02 -1.59311285e-02 7.81577881e+02] [ 3.56147585e-02 9.99365593e-01 4.56131342e-06 4.12777445e+00] [ 1.59208592e-02 -5.71941134e-04 9.99873091e-01 3.07045696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.939254154 meters 0.06187841250250311 Centerline is valid? [True, True] Translation: X:781.64, Y:4.12, Z:3.07 [[ 9.99328012e-01 -3.27519228e-02 -1.64571186e-02 7.81636905e+02] [ 3.27564329e-02 9.99463364e-01 4.49567133e-06 4.12281019e+00] [ 1.64481399e-02 -5.43569152e-04 9.99864572e-01 3.06816919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.999254154 meters 0.060326588168455465 Centerline is valid? [True, True] Translation: X:781.70, Y:4.14, Z:3.07 [[ 9.99374311e-01 -3.11363580e-02 -1.67783707e-02 7.81696044e+02] [ 3.11408137e-02 9.99515007e-01 4.30041946e-06 4.13591275e+00] [ 1.67700994e-02 -5.26789845e-04 9.99859233e-01 3.07196073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.059254154 meters 0.060927326386997105 Centerline is valid? [True, True] Translation: X:781.76, Y:4.14, Z:3.07 [[ 9.99441039e-01 -2.85971826e-02 -1.73150572e-02 7.81756425e+02] [ 2.86015441e-02 9.99590892e-01 4.25639083e-06 4.13844780e+00] [ 1.73078518e-02 -4.99491385e-04 9.99850083e-01 3.07255368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.119254154 meters 0.05984141415489328 Centerline is valid? [True, True] Translation: X:781.82, Y:4.14, Z:3.07 [[ 9.99585623e-01 -2.28346236e-02 -1.75260680e-02 7.81816069e+02] [ 2.28382040e-02 9.99739174e-01 4.14020385e-06 4.14062592e+00] [ 1.75214022e-02 -4.04402404e-04 9.99846407e-01 3.07250254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.179254154 meters 0.060323148363363686 Centerline is valid? [True, True] Translation: X:781.88, Y:4.14, Z:3.07 [[ 9.99684110e-01 -1.84216098e-02 -1.70974777e-02 7.81875685e+02] [ 1.84243672e-02 9.99830257e-01 3.76091239e-06 4.14439997e+00] [ 1.70945063e-02 -3.18769932e-04 9.99853827e-01 3.07412413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.239254154 meters 0.060229917494840454 Centerline is valid? [True, True] Translation: X:781.93, Y:4.15, Z:3.08 [[ 9.99778836e-01 -1.28281203e-02 -1.66648858e-02 7.81934544e+02] [ 1.28299583e-02 9.99917693e-01 3.37840685e-06 4.14786220e+00] [ 1.66634709e-02 -2.17187449e-04 9.99861131e-01 3.07708017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.299254154 meters 0.06045946146339751 Centerline is valid? [True, True] Translation: X:781.99, Y:4.15, Z:3.08 [[ 9.99818250e-01 -1.05647075e-02 -1.58699239e-02 7.81993962e+02] [ 1.05660851e-02 9.99944177e-01 2.95864282e-06 4.14667689e+00] [ 1.58690067e-02 -1.70641071e-04 9.99874065e-01 3.07797958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters 0.06005299877770653 Centerline is valid? [True, True] Translation: X:782.05, Y:4.15, Z:3.08 [[ 9.99810323e-01 -1.12577384e-02 -1.58928285e-02 7.82052607e+02] [ 1.12591842e-02 9.99936613e-01 1.49476626e-06 4.14516061e+00] [ 1.58918043e-02 -1.80434766e-04 9.99873701e-01 3.07903462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.419254154 meters 0.060290929989035125 Centerline is valid? [True, True] Translation: X:782.11, Y:4.14, Z:3.08 [[ 9.99745418e-01 -1.54575536e-02 -1.64366556e-02 7.82110625e+02] [ 1.54596550e-02 9.99880492e-01 7.88086637e-07 4.13740708e+00] [ 1.64346791e-02 -2.54892911e-04 9.99864909e-01 3.07716038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters 0.060912325103781265 Centerline is valid? [True, True] Translation: X:782.17, Y:4.13, Z:3.08 [[ 9.99608044e-01 -2.21565773e-02 -1.71126831e-02 7.82171347e+02] [ 2.21598364e-02 9.99754441e-01 8.28225387e-07 4.13242623e+00] [ 1.71084625e-02 -3.80042157e-04 9.99853567e-01 3.07903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.539254154 meters 0.061139678348241445 Centerline is valid? [True, True] Translation: X:782.23, Y:4.13, Z:3.08 [[ 9.99510685e-01 -2.59482687e-02 -1.74664984e-02 7.82231735e+02] [ 2.59522410e-02 9.99663184e-01 7.60372399e-07 4.12860856e+00] [ 1.74605957e-02 -4.54054778e-04 9.99847449e-01 3.07974545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters 0.06147291614585572 Centerline is valid? [True, True] Translation: X:782.29, Y:4.12, Z:3.08 [[ 9.99401316e-01 -3.00229101e-02 -1.71940424e-02 7.82291022e+02] [ 3.00273575e-02 9.99549077e-01 4.92203231e-07 4.12258447e+00] [ 1.71862744e-02 -5.16783566e-04 9.99852172e-01 3.08001277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.659254154 meters 0.062019030173510833 Centerline is valid? [True, True] Translation: X:782.35, Y:4.12, Z:3.08 [[ 9.99350241e-01 -3.20740174e-02 -1.64424292e-02 7.82350633e+02] [ 3.20783571e-02 9.99485357e-01 1.95806988e-07 4.12246715e+00] [ 1.64339609e-02 -5.27641794e-04 9.99864814e-01 3.08195172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters 0.06101853442436674 Centerline is valid? [True, True] Translation: X:782.41, Y:4.12, Z:3.08 [[ 9.99231792e-01 -3.59672530e-02 -1.55622097e-02 7.82410053e+02] [ 3.59716089e-02 9.99352812e-01 -1.15786277e-08 4.11869960e+00] [ 1.55521385e-02 -5.59786152e-04 9.99878901e-01 3.08291050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.779254154 meters 0.060798918361548715 Centerline is valid? [True, True] Translation: X:782.47, Y:4.12, Z:3.08 [[ 9.98969578e-01 -4.23986135e-02 -1.61907400e-02 7.82470820e+02] [ 4.24041712e-02 9.99100539e-01 -3.86918041e-08 4.11966790e+00] [ 1.61761787e-02 -6.86516257e-04 9.99868921e-01 3.08469056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters 0.06183113230758255 Centerline is valid? [True, True] Translation: X:782.53, Y:4.11, Z:3.08 [[ 9.98587676e-01 -5.01423293e-02 -1.75613277e-02 7.82530628e+02] [ 5.01500629e-02 9.98741694e-01 -3.89772459e-09 4.10862573e+00] [ 1.75392304e-02 -8.80697796e-04 9.99845788e-01 3.08309140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.899254154 meters 0.061787876244261915 Centerline is valid? [True, True] Translation: X:782.59, Y:4.11, Z:3.08 [[ 9.98351383e-01 -5.47186961e-02 -1.73314947e-02 7.82591310e+02] [ 5.47269165e-02 9.98501359e-01 2.01332719e-08 4.10733749e+00] [ 1.73055199e-02 -9.48519364e-04 9.99849798e-01 3.08433406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.959254154 meters 0.06314367238937003 Centerline is valid? [True, True] Translation: X:782.65, Y:4.10, Z:3.09 [[ 9.98183840e-01 -5.79591329e-02 -1.64244150e-02 7.82652283e+02] [ 5.79669550e-02 9.98318502e-01 1.82429533e-07 4.10368100e+00] [ 1.63967869e-02 -9.52255426e-04 9.99865110e-01 3.08511835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.019254154 meters 0.06293930194307973 Centerline is valid? [True, True] Translation: X:782.71, Y:4.10, Z:3.09 [[ 9.98064397e-01 -5.99948046e-02 -1.63732617e-02 7.82711622e+02] [ 6.00028537e-02 9.98198206e-01 3.45271211e-07 4.10127454e+00] [ 1.63437397e-02 -9.82787028e-04 9.99865949e-01 3.08569127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.079254154 meters 0.06311077924174416 Centerline is valid? [True, True] Translation: X:782.77, Y:4.10, Z:3.09 [[ 9.98085259e-01 -5.94894443e-02 -1.69358401e-02 7.82771858e+02] [ 5.94979860e-02 9.98228426e-01 4.99078282e-07 4.10021012e+00] [ 1.69058073e-02 -1.00814650e-03 9.99856578e-01 3.08590175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.139254154 meters 0.0642383474137843 Centerline is valid? [True, True] Translation: X:782.83, Y:4.10, Z:3.09 [[ 9.98210139e-01 -5.75893871e-02 -1.61239436e-02 7.82831056e+02] [ 5.75968831e-02 9.98339922e-01 5.25579158e-07 4.09780356e+00] [ 1.60971464e-02 -9.29213535e-04 9.99870001e-01 3.08589736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.199254154 meters 0.06493246784540958 Centerline is valid? [True, True] Translation: X:782.89, Y:4.10, Z:3.09 [[ 9.98437704e-01 -5.38031447e-02 -1.50789012e-02 7.82891089e+02] [ 5.38092696e-02 9.98551232e-01 4.77023748e-07 4.09684933e+00] [ 1.50570297e-02 -8.11860940e-04 9.99886307e-01 3.08696398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.259254154 meters 0.06080543076763772 Centerline is valid? [True, True] Translation: X:782.95, Y:4.12, Z:3.09 [[ 9.98634899e-01 -5.02564021e-02 -1.42348987e-02 7.82952011e+02] [ 5.02615004e-02 9.98736092e-01 4.03810206e-07 4.12216222e+00] [ 1.42168868e-02 -7.15870627e-04 9.99898679e-01 3.09242919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.319254154 meters 0.0625815206365084 Centerline is valid? [True, True] Translation: X:783.01, Y:4.11, Z:3.09 [[ 9.98802695e-01 -4.65248995e-02 -1.51198395e-02 7.83011552e+02] [ 4.65302246e-02 9.98916883e-01 4.07436637e-07 4.11081606e+00] [ 1.51034439e-02 -7.03936475e-04 9.99885689e-01 3.08971021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.379254154 meters 0.06247549291318671 Centerline is valid? [True, True] Translation: X:783.07, Y:4.11, Z:3.09 [[ 9.98951767e-01 -4.31821030e-02 -1.51879005e-02 7.83071986e+02] [ 4.31870905e-02 9.99067002e-01 4.04147345e-07 4.11322943e+00] [ 1.51737128e-02 -6.56324957e-04 9.99884657e-01 3.09005703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.439254154 meters 0.06232830321035937 Centerline is valid? [True, True] Translation: X:783.13, Y:4.12, Z:3.09 [[ 9.99191879e-01 -3.74211000e-02 -1.46714419e-02 7.83132804e+02] [ 3.74251315e-02 9.99299434e-01 2.27303429e-07 4.11878099e+00] [ 1.46611551e-02 -5.49307763e-04 9.99892369e-01 3.09153296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.499254154 meters 0.061394615645089363 Centerline is valid? [True, True] Translation: X:783.19, Y:4.13, Z:3.09 [[ 9.99345073e-01 -3.30938912e-02 -1.46362080e-02 7.83193135e+02] [ 3.30974388e-02 9.99452130e-01 1.58168520e-07 4.12605238e+00] [ 1.46281840e-02 -4.84579062e-04 9.99892885e-01 3.09321295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.559254154 meters 0.06183539264922503 Centerline is valid? [True, True] Translation: X:783.25, Y:4.13, Z:3.09 [[ 9.99521227e-01 -2.68426462e-02 -1.53879377e-02 7.83253165e+02] [ 2.68458264e-02 9.99639586e-01 1.06821445e-07 4.12886975e+00] [ 1.53823888e-02 -4.13208674e-04 9.99881599e-01 3.09232742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.619254154 meters 0.06187134159819784 Centerline is valid? [True, True] Translation: X:783.31, Y:4.14, Z:3.09 [[ 9.99657439e-01 -2.14000272e-02 -1.50679642e-02 7.83313961e+02] [ 2.14024580e-02 9.99770941e-01 6.67289582e-08 4.13518624e+00] [ 1.50645114e-02 -3.22558178e-04 9.99886472e-01 3.09462415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.679254154 meters 0.06202227405446068 Centerline is valid? [True, True] Translation: X:783.37, Y:4.14, Z:3.10 [[ 9.99751032e-01 -1.65228990e-02 -1.49955858e-02 7.83372789e+02] [ 1.65247550e-02 9.99863457e-01 -1.31081169e-07 4.13689193e+00] [ 1.49935404e-02 -2.47667334e-04 9.99887560e-01 3.09557815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.739254154 meters 0.061462048746513016 Centerline is valid? [True, True] Translation: X:783.43, Y:4.13, Z:3.09 [[ 9.99781749e-01 -1.38628357e-02 -1.56293418e-02 7.83431090e+02] [ 1.38645068e-02 9.99903883e-01 -1.43276485e-06 4.13242913e+00] [ 1.56278595e-02 -2.15260664e-04 9.99877854e-01 3.09173301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.799254154 meters 0.061350377283029334 Centerline is valid? [True, True] Translation: X:783.49, Y:4.14, Z:3.09 [[ 9.99826945e-01 -1.11499256e-02 -1.48915787e-02 7.83489876e+02] [ 1.11511307e-02 9.99937824e-01 -2.10858729e-06 4.13569305e+00] [ 1.48906763e-02 -1.63949718e-04 9.99889114e-01 3.09485882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters 0.06192078557366265 Centerline is valid? [True, True] Translation: X:783.55, Y:4.13, Z:3.10 [[ 9.99846533e-01 -8.80977080e-03 -1.51425745e-02 7.83548504e+02] [ 8.81072814e-03 9.99961185e-01 -3.49059194e-06 4.13469915e+00] [ 1.51420174e-02 -1.29927051e-04 9.99885345e-01 3.09598554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.919254154 meters 0.06184893547959712 Centerline is valid? [True, True] Translation: X:783.61, Y:4.13, Z:3.10 [[ 9.99863081e-01 -7.04475393e-03 -1.49730303e-02 7.83607189e+02] [ 7.04546618e-03 9.99975180e-01 -5.18024663e-06 4.13362542e+00] [ 1.49726952e-02 -1.00312441e-04 9.99887898e-01 3.09661746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters 0.062004088315651115 Centerline is valid? [True, True] Translation: X:783.67, Y:4.13, Z:3.10 [[ 9.99883539e-01 -3.58419448e-03 -1.48345082e-02 7.83665422e+02] [ 3.58448825e-03 9.99993576e-01 -6.78569376e-06 4.13069679e+00] [ 1.48344372e-02 -4.63892167e-05 9.99889963e-01 3.09654141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.039254154 meters 0.06202900639830216 Centerline is valid? [True, True] Translation: X:783.72, Y:4.13, Z:3.10 [[ 9.99906745e-01 -1.78943812e-03 -1.35387760e-02 7.83724407e+02] [ 1.78949851e-03 9.99998399e-01 -7.65393552e-06 4.12837912e+00] [ 1.35387680e-02 -1.65743977e-05 9.99908347e-01 3.09787836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters 0.06229837821712748 Centerline is valid? [True, True] Translation: X:783.78, Y:4.12, Z:3.10 [[ 9.99902517e-01 1.98307774e-04 -1.39612561e-02 7.83782566e+02] [-1.98449604e-04 9.99999980e-01 -8.77352244e-06 4.12290542e+00] [ 1.39612541e-02 1.15432729e-05 9.99902537e-01 3.09651402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.159254154 meters 0.0618353204731287 Centerline is valid? [True, True] Translation: X:783.84, Y:4.12, Z:3.10 [[ 9.99913749e-01 -3.98252848e-04 -1.31276534e-02 7.83841558e+02] [ 3.98172591e-04 9.99999921e-01 -8.72729305e-06 4.11564931e+00] [ 1.31276559e-02 3.49946856e-06 9.99913829e-01 3.10305420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters 0.06325359659836953 Centerline is valid? [True, True] Translation: X:783.90, Y:4.11, Z:3.10 [[ 9.99903663e-01 -3.04654542e-03 -1.35418942e-02 7.83900794e+02] [ 3.04669258e-03 9.99995359e-01 -9.76252730e-06 4.10720653e+00] [ 1.35418611e-02 -3.14964018e-05 9.99908304e-01 3.10047635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.279254154 meters 0.06340778644604267 Centerline is valid? [True, True] Translation: X:783.96, Y:4.10, Z:3.10 [[ 9.99893551e-01 -5.20303317e-03 -1.36313907e-02 7.83959706e+02] [ 5.20337474e-03 9.99986462e-01 -1.04093927e-05 4.10162279e+00] [ 1.36312603e-02 -6.05209495e-05 9.99907088e-01 3.10127270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters 0.06281205480430524 Centerline is valid? [True, True] Translation: X:784.02, Y:4.09, Z:3.10 [[ 9.99875929e-01 -8.24246559e-03 -1.34234344e-02 7.84017373e+02] [ 8.24306364e-03 9.99966025e-01 -1.07753764e-05 4.09273881e+00] [ 1.34230672e-02 -9.98761846e-05 9.99909902e-01 3.10184584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.399254154 meters 0.0628066661327254 Centerline is valid? [True, True] Translation: X:784.08, Y:4.08, Z:3.10 [[ 9.99857144e-01 -1.21086629e-02 -1.17928385e-02 7.84076251e+02] [ 1.21093893e-02 9.99926679e-01 -9.81104979e-06 4.08352053e+00] [ 1.17920926e-02 -1.32994424e-04 9.99930462e-01 3.10186503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.459254154 meters 0.0636116050273639 Centerline is valid? [True, True] Translation: X:784.13, Y:4.07, Z:3.10 [[ 9.99816571e-01 -1.40953144e-02 -1.29671655e-02 7.84133806e+02] [ 1.40963533e-02 9.99900641e-01 -1.12834273e-05 4.07443943e+00] [ 1.29660361e-02 -1.71508389e-04 9.99915923e-01 3.09924068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.519254154 meters 0.06354532490859942 Centerline is valid? [True, True] Translation: X:784.19, Y:4.07, Z:3.10 [[ 9.99782598e-01 -1.63949702e-02 -1.28826301e-02 7.84192580e+02] [ 1.63961804e-02 9.99865574e-01 -1.16819067e-05 4.07102454e+00] [ 1.28810899e-02 -1.99546560e-04 9.99917015e-01 3.10210758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.579254154 meters 0.06326838958163722 Centerline is valid? [True, True] Translation: X:784.25, Y:4.07, Z:3.10 [[ 9.99775864e-01 -1.70789485e-02 -1.25112615e-02 7.84251714e+02] [ 1.70801298e-02 9.99854124e-01 -1.24342668e-05 4.06528882e+00] [ 1.25096487e-02 -2.01262490e-04 9.99921731e-01 3.10206280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.639254154 meters 0.06342946868258159 Centerline is valid? [True, True] Translation: X:784.31, Y:4.06, Z:3.10 [[ 9.99789048e-01 -1.69598488e-02 -1.15854929e-02 7.84309383e+02] [ 1.69608452e-02 9.99856154e-01 -1.22513158e-05 4.06051406e+00] [ 1.15840341e-02 -1.84251020e-04 9.99932886e-01 3.10411500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.699254154 meters 0.06405731368747297 Centerline is valid? [True, True] Translation: X:784.37, Y:4.05, Z:3.10 [[ 9.99795951e-01 -1.65097330e-02 -1.16397853e-02 7.84367627e+02] [ 1.65107010e-02 9.99863689e-01 -1.29322119e-05 4.05287664e+00] [ 1.16384122e-02 -1.79251441e-04 9.99932255e-01 3.10327987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.759254154 meters 0.06401457825562536 Centerline is valid? [True, True] Translation: X:784.43, Y:4.06, Z:3.11 [[ 9.99783761e-01 -1.69199740e-02 -1.20890760e-02 7.84426175e+02] [ 1.69210337e-02 9.99856829e-01 -1.46276901e-05 4.06060252e+00] [ 1.20875927e-02 -1.89935135e-04 9.99926924e-01 3.10845707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.819254154 meters 0.06388495416088828 Centerline is valid? [True, True] Translation: X:784.48, Y:4.05, Z:3.11 [[ 9.99762143e-01 -1.82540571e-02 -1.19351015e-02 7.84483699e+02] [ 1.82551683e-02 9.99833360e-01 -1.58433122e-05 4.04758443e+00] [ 1.19334018e-02 -2.02037742e-04 9.99928774e-01 3.10500163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.879254154 meters 0.06446951682461421 Centerline is valid? [True, True] Translation: X:784.54, Y:4.05, Z:3.11 [[ 9.99756279e-01 -1.89161517e-02 -1.13824912e-02 7.84542030e+02] [ 1.89171965e-02 9.99821054e-01 -1.58743432e-05 4.04775826e+00] [ 1.13807546e-02 -1.99454349e-04 9.99935217e-01 3.10607184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.939254154 meters 0.06370460163690002 Centerline is valid? [True, True] Translation: X:784.60, Y:4.04, Z:3.11 [[ 9.99691047e-01 -2.19738437e-02 -1.16172822e-02 7.84600622e+02] [ 2.19751342e-02 9.99758517e-01 -1.65702402e-05 4.04122789e+00] [ 1.16148410e-02 -2.38726215e-04 9.99932517e-01 3.10725282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.999254154 meters 0.06448214209754963 Centerline is valid? [True, True] Translation: X:784.66, Y:4.04, Z:3.11 [[ 9.99570397e-01 -2.69530847e-02 -1.15131455e-02 7.84661480e+02] [ 2.69546822e-02 9.99636656e-01 -1.64247893e-05 4.04041654e+00] [ 1.15094050e-02 -2.93915445e-04 9.99933721e-01 3.10838149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.059254154 meters 0.0633809942794983 Centerline is valid? [True, True] Translation: X:784.72, Y:4.04, Z:3.11 [[ 9.99460038e-01 -3.04779185e-02 -1.22771737e-02 7.84720751e+02] [ 3.04799998e-02 9.99535377e-01 -1.75944408e-05 4.03635949e+00] [ 1.22720056e-02 -3.56623310e-04 9.99924632e-01 3.10821697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.119254154 meters 0.06417185814227658 Centerline is valid? [True, True] Translation: X:784.78, Y:4.03, Z:3.11 [[ 9.99220642e-01 -3.73879564e-02 -1.26589762e-02 7.84781224e+02] [ 3.73907222e-02 9.99300722e-01 -1.81988349e-05 4.02624409e+00] [ 1.26508045e-02 -4.55143611e-04 9.99919872e-01 3.10637551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.179254154 meters 0.06487947499535485 Centerline is valid? [True, True] Translation: X:784.84, Y:4.03, Z:3.11 [[ 9.99061104e-01 -4.12753570e-02 -1.31626195e-02 7.84840608e+02] [ 4.12786842e-02 9.99147672e-01 -1.89198258e-05 4.02750984e+00] [ 1.31521816e-02 -5.24433553e-04 9.99913369e-01 3.10817173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.239254154 meters 0.06470453656691581 Centerline is valid? [True, True] Translation: X:784.90, Y:4.03, Z:3.11 [[ 9.98950782e-01 -4.44091853e-02 -1.11875140e-02 7.84900544e+02] [ 4.44117850e-02 9.99013310e-01 -1.60810516e-05 4.02794906e+00] [ 1.11771896e-02 -4.80793289e-04 9.99937418e-01 3.10990429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.299254154 meters 0.06466871979556804 Centerline is valid? [True, True] Translation: X:784.96, Y:4.03, Z:3.11 [[ 9.99096517e-01 -4.10786930e-02 -1.08945145e-02 7.84960278e+02] [ 4.10809598e-02 9.99155821e-01 -1.57328173e-05 4.02927429e+00] [ 1.08859638e-02 -4.31838508e-04 9.99940653e-01 3.11069664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters 0.06504596231629287 Centerline is valid? [True, True] Translation: X:785.02, Y:4.03, Z:3.11 [[ 9.99269450e-01 -3.64072067e-02 -1.16224385e-02 7.85019806e+02] [ 3.64094696e-02 9.99336955e-01 -1.69007167e-05 4.02852850e+00] [ 1.16153476e-02 -4.06278451e-04 9.99932457e-01 3.11049515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.419254154 meters 0.06431478404170013 Centerline is valid? [True, True] Translation: X:785.08, Y:4.04, Z:3.11 [[ 9.99507196e-01 -2.90345534e-02 -1.19314607e-02 7.85080151e+02] [ 2.90364119e-02 9.99578354e-01 -1.74676695e-05 4.03556198e+00] [ 1.19269371e-02 -3.28987748e-04 9.99928817e-01 3.11146518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters 0.06457226167288836 Centerline is valid? [True, True] Translation: X:785.14, Y:4.04, Z:3.11 [[ 9.99667506e-01 -2.33742519e-02 -1.08867375e-02 7.85140413e+02] [ 2.33754638e-02 9.99726756e-01 -1.59262345e-05 4.04400941e+00] [ 1.08841350e-02 -2.38561600e-04 9.99940738e-01 3.11385299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.539254154 meters 0.06461147232282072 Centerline is valid? [True, True] Translation: X:785.20, Y:4.04, Z:3.11 [[ 9.99716742e-01 -2.07939558e-02 -1.15778813e-02 7.85199299e+02] [ 2.07951517e-02 9.99783757e-01 -1.71007760e-05 4.04103519e+00] [ 1.15757333e-02 -2.23667866e-04 9.99932974e-01 3.11350505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters 0.06491810838920259 Centerline is valid? [True, True] Translation: X:785.26, Y:4.04, Z:3.11 [[ 9.99718120e-01 -2.07538239e-02 -1.15308137e-02 7.85257265e+02] [ 2.07549995e-02 9.99784592e-01 -1.77154992e-05 4.03978232e+00] [ 1.15286975e-02 -2.21611526e-04 9.99933518e-01 3.11313468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.659254154 meters 0.06433510833855252 Centerline is valid? [True, True] Translation: X:785.32, Y:4.05, Z:3.12 [[ 9.99669135e-01 -2.28363725e-02 -1.18372389e-02 7.85316292e+02] [ 2.28377515e-02 9.99739184e-01 -1.86825995e-05 4.04743913e+00] [ 1.18345782e-02 -2.51659501e-04 9.99929937e-01 3.11619441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters 0.06560043143762416 Centerline is valid? [True, True] Translation: X:785.38, Y:4.04, Z:3.11 [[ 9.99524161e-01 -2.83216813e-02 -1.22202073e-02 7.85376386e+02] [ 2.83235602e-02 9.99598807e-01 -1.93194229e-05 4.04132407e+00] [ 1.22158518e-02 -3.26809547e-04 9.99925330e-01 3.11478320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.779254154 meters 0.06564142152482717 Centerline is valid? [True, True] Translation: X:785.44, Y:4.03, Z:3.12 [[ 9.99349084e-01 -3.41878568e-02 -1.15151912e-02 7.85435265e+02] [ 3.41899153e-02 9.99415354e-01 -1.81003105e-05 4.03390045e+00] [ 1.15090777e-02 -3.75614885e-04 9.99933698e-01 3.11530012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters 0.0647790296727734 Centerline is valid? [True, True] Translation: X:785.50, Y:4.04, Z:3.12 [[ 9.99250867e-01 -3.73447469e-02 -1.01526063e-02 7.85495907e+02] [ 3.73465107e-02 9.99302376e-01 -1.58704955e-05 4.04144693e+00] [ 1.01461163e-02 -3.63305815e-04 9.99948461e-01 3.11772882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.899254154 meters 0.06700004280161914 Centerline is valid? [True, True] Translation: X:785.56, Y:4.03, Z:3.12 [[ 9.99250622e-01 -3.72434761e-02 -1.05412337e-02 7.85555365e+02] [ 3.72453716e-02 9.99306150e-01 -1.64993455e-05 4.03011700e+00] [ 1.05345342e-02 -3.76125186e-04 9.99944439e-01 3.11610070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.959254154 meters 0.06593526942717899 Centerline is valid? [True, True] Translation: X:785.61, Y:4.04, Z:3.12 [[ 9.99311816e-01 -3.54683976e-02 -1.08576153e-02 7.85614880e+02] [ 3.54703025e-02 9.99370731e-01 -1.71300426e-05 4.03614389e+00] [ 1.08513905e-02 -3.68004645e-04 9.99941054e-01 3.11652045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.019254154 meters 0.06594208475308815 Centerline is valid? [True, True] Translation: X:785.68, Y:4.04, Z:3.12 [[ 9.99501668e-01 -2.95952949e-02 -1.09787805e-02 7.85675778e+02] [ 2.95968889e-02 9.99561916e-01 -1.72921772e-05 4.04064584e+00] [ 1.09744827e-02 -3.07654188e-04 9.99939731e-01 3.11734806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.079254154 meters 0.06561977283948764 Centerline is valid? [True, True] Translation: X:785.74, Y:4.05, Z:3.12 [[ 9.99631395e-01 -2.51677426e-02 -1.01813294e-02 7.85735823e+02] [ 2.51688843e-02 9.99683213e-01 -1.59990724e-05 4.04953392e+00] [ 1.01785068e-02 -2.40259528e-04 9.99948169e-01 3.11965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.139254154 meters 0.06501362387918004 Centerline is valid? [True, True] Translation: X:785.80, Y:4.06, Z:3.12 [[ 9.99778621e-01 -1.91445914e-02 -8.72888399e-03 7.85796314e+02] [ 1.91452013e-02 9.99816714e-01 -1.36899507e-05 4.05721864e+00] [ 8.72754619e-03 -1.53429321e-04 9.99961902e-01 3.12232160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.199254154 meters 0.06494627323024063 Centerline is valid? [True, True] Translation: X:785.86, Y:4.06, Z:3.12 [[ 9.99862969e-01 -1.37566820e-02 -9.20857820e-03 7.85855644e+02] [ 1.37571318e-02 9.99905366e-01 -1.44982987e-05 4.05989980e+00] [ 9.20790621e-03 -1.12187312e-04 9.99957600e-01 3.12210483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.259254154 meters 0.06464307244697814 Centerline is valid? [True, True] Translation: X:785.91, Y:4.06, Z:3.12 [[ 9.99888618e-01 -1.17544220e-02 -9.19704298e-03 7.85914594e+02] [ 1.17547804e-02 9.99930910e-01 -1.50871842e-05 4.06211184e+00] [ 9.19658490e-03 -9.30237168e-05 9.99957706e-01 3.12246802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.319254154 meters 0.06494069162743624 Centerline is valid? [True, True] Translation: X:785.97, Y:4.06, Z:3.12 [[ 9.99894349e-01 -1.12917608e-02 -9.15349311e-03 7.85972605e+02] [ 1.12920908e-02 9.99936242e-01 -1.56306058e-05 4.06190289e+00] [ 9.15308600e-03 -8.77331207e-05 9.99958106e-01 3.12327190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.379254154 meters 0.06482499973550888 Centerline is valid? [True, True] Translation: X:786.03, Y:4.06, Z:3.12 [[ 9.99876559e-01 -1.29593039e-02 -8.88389104e-03 7.86031103e+02] [ 1.29596782e-02 9.99916020e-01 -1.54330676e-05 4.06000438e+00] [ 8.88334497e-03 -9.97012069e-05 9.99960537e-01 3.12354291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.439254154 meters 0.06497354671846227 Centerline is valid? [True, True] Translation: X:786.09, Y:4.06, Z:3.12 [[ 9.99816439e-01 -1.69946762e-02 -8.84700040e-03 7.86090674e+02] [ 1.69952043e-02 9.99855571e-01 -1.54935612e-05 4.05583778e+00] [ 8.84598594e-03 -1.34865862e-04 9.99960864e-01 3.12380194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.499254154 meters 0.06476028556146458 Centerline is valid? [True, True] Translation: X:786.15, Y:4.05, Z:3.12 [[ 9.99741046e-01 -2.02751091e-02 -1.03324915e-02 7.86149448e+02] [ 2.02760044e-02 9.99794421e-01 -1.81068221e-05 4.05456052e+00] [ 1.03307344e-02 -1.91399509e-04 9.99946618e-01 3.12429079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.559254154 meters 0.06474197926338333 Centerline is valid? [True, True] Translation: X:786.21, Y:4.06, Z:3.13 [[ 9.99701773e-01 -2.14136530e-02 -1.17397219e-02 7.86209479e+02] [ 2.14148868e-02 9.99770675e-01 -2.06130794e-05 4.05534269e+00] [ 1.17374711e-02 -2.30797885e-04 9.99931087e-01 3.12537269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.619254154 meters 0.06574365386117238 Centerline is valid? [True, True] Translation: X:786.27, Y:4.05, Z:3.12 [[ 9.99675946e-01 -2.18926038e-02 -1.29890879e-02 7.86266925e+02] [ 2.18941419e-02 9.99760294e-01 -2.37822026e-05 4.04817492e+00] [ 1.29864950e-02 -2.60610438e-04 9.99915638e-01 3.12384425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.679254154 meters 0.06566709153323178 Centerline is valid? [True, True] Translation: X:786.32, Y:4.06, Z:3.13 [[ 9.99670746e-01 -2.18882570e-02 -1.33904266e-02 7.86324722e+02] [ 2.18898697e-02 9.99760388e-01 -2.61356172e-05 4.05940305e+00] [ 1.33877902e-02 -2.66987682e-04 9.99910344e-01 3.13081978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.739254154 meters 0.06420035195920551 Centerline is valid? [True, True] Translation: X:786.38, Y:4.05, Z:3.13 [[ 9.99693442e-01 -2.08793543e-02 -1.33069343e-02 7.86382579e+02] [ 2.08808444e-02 9.99781971e-01 -2.69663627e-05 4.04958357e+00] [ 1.33045961e-02 -2.50901929e-04 9.99911458e-01 3.12778917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.799254154 meters 0.0655417720899456 Centerline is valid? [True, True] Translation: X:786.44, Y:4.05, Z:3.13 [[ 9.99718821e-01 -1.95467587e-02 -1.34240090e-02 7.86441181e+02] [ 1.95481405e-02 9.99808916e-01 -2.82846316e-05 4.04523628e+00] [ 1.34219967e-02 -2.34137735e-04 9.99909894e-01 3.12648430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters 0.0657752015877532 Centerline is valid? [True, True] Translation: X:786.50, Y:4.05, Z:3.13 [[ 9.99773390e-01 -1.54079142e-02 -1.46889201e-02 7.86501219e+02] [ 1.54091151e-02 9.99881272e-01 -3.14225057e-05 4.04780551e+00] [ 1.46876603e-02 -1.94927876e-04 9.99892111e-01 3.12853558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.919254154 meters 0.06591847855578584 Centerline is valid? [True, True] Translation: X:786.56, Y:4.05, Z:3.13 [[ 9.99801485e-01 -1.23675486e-02 -1.56216265e-02 7.86559703e+02] [ 1.23685177e-02 9.99923506e-01 -3.45845404e-05 4.04678001e+00] [ 1.56208593e-02 -1.58638689e-04 9.99877974e-01 3.12844131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters 0.06559114238416905 Centerline is valid? [True, True] Translation: X:786.62, Y:4.04, Z:3.13 [[ 9.99847328e-01 -9.00466354e-03 -1.49745460e-02 7.86618253e+02] [ 9.00515341e-03 9.99959452e-01 -3.47155403e-05 4.04453150e+00] [ 1.49742514e-02 -1.00137844e-04 9.99887875e-01 3.12862065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.039254154 meters 0.0656432630050885 Centerline is valid? [True, True] Translation: X:786.68, Y:4.04, Z:3.13 [[ 9.99878088e-01 -6.11762516e-03 -1.43660791e-02 7.86675837e+02] [ 6.11776592e-03 9.99981286e-01 -3.41492691e-05 4.04123994e+00] [ 1.43660192e-02 -5.37432033e-05 9.99896802e-01 3.12871378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters 0.0664434038826554 Centerline is valid? [True, True] Translation: X:786.73, Y:4.04, Z:3.13 [[ 9.99873700e-01 -5.15195030e-03 -1.50346526e-02 7.86733758e+02] [ 5.15198587e-03 9.99986728e-01 -3.63657505e-05 4.03837549e+00] [ 1.50346404e-02 -4.10971601e-05 9.99886973e-01 3.12792969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.159254154 meters 0.06603767754535632 Centerline is valid? [True, True] Translation: X:786.79, Y:4.03, Z:3.13 [[ 9.99861762e-01 -6.89143336e-03 -1.51315776e-02 7.86792409e+02] [ 6.89166191e-03 9.99976252e-01 -3.70403853e-05 4.03279570e+00] [ 1.51314735e-02 -6.72464521e-05 9.99885510e-01 3.12814477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters 0.06574824033119529 Centerline is valid? [True, True] Translation: X:786.85, Y:4.02, Z:3.13 [[ 9.99799958e-01 -1.22574692e-02 -1.58050241e-02 7.86851371e+02] [ 1.22583826e-02 9.99924862e-01 -3.90850329e-05 4.02299048e+00] [ 1.58043156e-02 -1.54666819e-04 9.99875092e-01 3.12760227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.279254154 meters 0.06636661415088561 Centerline is valid? [True, True] Translation: X:786.91, Y:4.02, Z:3.13 [[ 9.99678773e-01 -2.07076853e-02 -1.46131233e-02 7.86911197e+02] [ 2.07093660e-02 9.99785537e-01 -3.63154134e-05 4.01570935e+00] [ 1.46107414e-02 -2.66324771e-04 9.99893222e-01 3.13017519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters 0.06632911676544359 Centerline is valid? [True, True] Translation: X:786.97, Y:4.01, Z:3.13 [[ 9.99558145e-01 -2.62437522e-02 -1.39563933e-02 7.86971456e+02] [ 2.62458230e-02 9.99655518e-01 -3.47957339e-05 4.01288558e+00] [ 1.39524987e-02 -3.31516669e-04 9.99902604e-01 3.13288880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.399254154 meters 0.06621172578860024 Centerline is valid? [True, True] Translation: X:787.03, Y:4.00, Z:3.13 [[ 9.99363779e-01 -3.30596917e-02 -1.33825719e-02 7.87031833e+02] [ 3.30622069e-02 9.99453295e-01 -3.33117052e-05 4.00341124e+00] [ 1.33763568e-02 -4.09166849e-04 9.99910449e-01 3.13283113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.459254154 meters 0.06693688283476214 Centerline is valid? [True, True] Translation: X:787.09, Y:4.00, Z:3.13 [[ 9.99229972e-01 -3.64015490e-02 -1.46421036e-02 7.87091662e+02] [ 3.64049189e-02 9.99337121e-01 -3.64078759e-05 3.99667309e+00] [ 1.46337229e-02 -4.96664753e-04 9.99892798e-01 3.13362355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.519254154 meters 0.06741739123238137 Centerline is valid? [True, True] Translation: X:787.15, Y:3.99, Z:3.13 [[ 9.99183768e-01 -3.75629612e-02 -1.48600836e-02 7.87151558e+02] [ 3.75665591e-02 9.99294127e-01 -3.70392635e-05 3.98877891e+00] [ 1.48509856e-02 -5.21233179e-04 9.99889582e-01 3.13293151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.579254154 meters 0.06715480476074608 Centerline is valid? [True, True] Translation: X:787.21, Y:3.99, Z:3.13 [[ 9.99190932e-01 -3.76284599e-02 -1.41979107e-02 7.87210389e+02] [ 3.76317409e-02 9.99291675e-01 -3.60929064e-05 3.98730561e+00] [ 1.41892120e-02 -4.98228390e-04 9.99899204e-01 3.13480136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.639254154 meters 0.06692645872963668 Centerline is valid? [True, True] Translation: X:787.27, Y:3.99, Z:3.14 [[ 9.99321371e-01 -3.43641613e-02 -1.32628121e-02 7.87270104e+02] [ 3.43667326e-02 9.99409289e-01 -3.40596577e-05 3.98826452e+00] [ 1.32561480e-02 -4.21762973e-04 9.99912044e-01 3.13710753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.699254154 meters 0.06764354478534149 Centerline is valid? [True, True] Translation: X:787.33, Y:3.98, Z:3.14 [[ 9.99454330e-01 -3.03063698e-02 -1.31364841e-02 7.87329764e+02] [ 3.03085414e-02 9.99540590e-01 -3.37892901e-05 3.98364100e+00] [ 1.31314731e-02 -3.64376821e-04 9.99913712e-01 3.13615947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.759254154 meters 0.06764513584917164 Centerline is valid? [True, True] Translation: X:787.39, Y:3.99, Z:3.14 [[ 9.99634588e-01 -2.36013874e-02 -1.31781710e-02 7.87389351e+02] [ 2.36029889e-02 9.99721410e-01 -3.40124417e-05 3.98784602e+00] [ 1.31753025e-02 -2.77044211e-04 9.99913164e-01 3.13794119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.819254154 meters 0.06744383334282439 Centerline is valid? [True, True] Translation: X:787.45, Y:3.99, Z:3.14 [[ 9.99723264e-01 -1.99287142e-02 -1.24996820e-02 7.87449094e+02] [ 1.99298666e-02 9.99801380e-01 -3.23772015e-05 3.98748598e+00] [ 1.24978446e-02 -2.16748753e-04 9.99921875e-01 3.13804617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.879254154 meters 0.06684968102280682 Centerline is valid? [True, True] Translation: X:787.51, Y:3.99, Z:3.14 [[ 9.99764590e-01 -1.72808449e-02 -1.31201062e-02 7.87506785e+02] [ 1.72818811e-02 9.99850657e-01 -3.43990540e-05 3.98571545e+00] [ 1.31187412e-02 -1.92349159e-04 9.99913927e-01 3.13922534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.939254154 meters 0.0670520962089671 Centerline is valid? [True, True] Translation: X:787.56, Y:3.98, Z:3.14 [[ 9.99760590e-01 -1.79179454e-02 -1.25582740e-02 7.87564340e+02] [ 1.79189301e-02 9.99839443e-01 -3.41165532e-05 3.98442886e+00] [ 1.25568690e-02 -1.90922448e-04 9.99921141e-01 3.14063775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.999254154 meters 0.06748882391792119 Centerline is valid? [True, True] Translation: X:787.62, Y:3.98, Z:3.14 [[ 9.99705334e-01 -2.06005988e-02 -1.28398399e-02 7.87622497e+02] [ 2.06018397e-02 9.99787759e-01 -3.56301013e-05 3.97956795e+00] [ 1.28378487e-02 -2.28904721e-04 9.99917565e-01 3.14019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.059254154 meters 0.06730895250216404 Centerline is valid? [True, True] Translation: X:787.68, Y:3.98, Z:3.14 [[ 9.99627552e-01 -2.38849275e-02 -1.32010111e-02 7.87681506e+02] [ 2.38865220e-02 9.99714676e-01 -3.68953847e-05 3.98108700e+00] [ 1.31981258e-02 -2.78444599e-04 9.99912862e-01 3.14181240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.119254154 meters 0.06780885609426572 Centerline is valid? [True, True] Translation: X:787.74, Y:3.97, Z:3.14 [[ 9.99477389e-01 -2.92064128e-02 -1.38540143e-02 7.87740835e+02] [ 2.92086788e-02 9.99573335e-01 -3.87878648e-05 3.97077017e+00] [ 1.38492361e-02 -3.65889861e-04 9.99904028e-01 3.13925082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.179254154 meters 0.06830816055794915 Centerline is valid? [True, True] Translation: X:787.80, Y:3.97, Z:3.14 [[ 9.99348436e-01 -3.32189745e-02 -1.41139331e-02 7.87799860e+02] [ 3.32217263e-02 9.99448005e-01 -3.95083938e-05 3.96721421e+00] [ 1.41074547e-02 -4.29406570e-04 9.99900393e-01 3.14024596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.239254154 meters 0.06782978663209206 Centerline is valid? [True, True] Translation: X:787.86, Y:3.97, Z:3.14 [[ 9.99318657e-01 -3.43866101e-02 -1.34083276e-02 7.87858130e+02] [ 3.43891941e-02 9.99408516e-01 -3.78633389e-05 3.97101812e+00] [ 1.34016988e-02 -4.23264040e-04 9.99910104e-01 3.14220972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.299254154 meters 0.06830641206595857 Centerline is valid? [True, True] Translation: X:787.92, Y:3.97, Z:3.14 [[ 9.99362032e-01 -3.34380434e-02 -1.25469930e-02 7.87916651e+02] [ 3.34402198e-02 9.99440719e-01 -3.63527015e-05 3.97017540e+00] [ 1.25411913e-02 -3.83244694e-04 9.99921283e-01 3.14238989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters 0.06833861533945361 Centerline is valid? [True, True] Translation: X:787.98, Y:3.97, Z:3.14 [[ 9.99443750e-01 -3.07581531e-02 -1.28890436e-02 7.87977002e+02] [ 3.07602223e-02 9.99526792e-01 -3.77165456e-05 3.97159693e+00] [ 1.28841045e-02 -3.58774282e-04 9.99916932e-01 3.14123782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.419254154 meters 0.06795997974889056 Centerline is valid? [True, True] Translation: X:788.04, Y:3.97, Z:3.14 [[ 9.99474052e-01 -2.91513204e-02 -1.42063295e-02 7.88035498e+02] [ 2.91536567e-02 9.99574941e-01 -4.26519088e-05 3.97335396e+00] [ 1.42015343e-02 -3.71536976e-04 9.99899084e-01 3.14090631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters 0.06735747694635633 Centerline is valid? [True, True] Translation: X:788.09, Y:3.98, Z:3.14 [[ 9.99520690e-01 -2.72880720e-02 -1.46202575e-02 7.88093935e+02] [ 2.72903360e-02 9.99627548e-01 -4.46677129e-05 3.97525501e+00] [ 1.46160310e-02 -3.54345435e-04 9.99893117e-01 3.14086630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.539254154 meters 0.06762764226125774 Centerline is valid? [True, True] Translation: X:788.15, Y:3.98, Z:3.14 [[ 9.99567626e-01 -2.65626887e-02 -1.26089285e-02 7.88152886e+02] [ 2.65643071e-02 9.99647106e-01 -3.91358696e-05 3.98388233e+00] [ 1.26055184e-02 -2.95828500e-04 9.99920504e-01 3.14479501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters 0.06771104861986788 Centerline is valid? [True, True] Translation: X:788.21, Y:3.98, Z:3.14 [[ 9.99619725e-01 -2.49202353e-02 -1.18062286e-02 7.88211052e+02] [ 2.49215342e-02 9.99689410e-01 -3.71135186e-05 3.98000783e+00] [ 1.18034866e-02 -2.57129925e-04 9.99930303e-01 3.14285318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.659254154 meters 0.06817232597759468 Centerline is valid? [True, True] Translation: X:788.27, Y:3.98, Z:3.14 [[ 9.99629595e-01 -2.42363630e-02 -1.23803298e-02 7.88269380e+02] [ 2.42377262e-02 9.99706222e-01 -3.99400180e-05 3.97660708e+00] [ 1.23776608e-02 -2.60145821e-04 9.99923360e-01 3.14111330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters 0.0671130573038784 Centerline is valid? [True, True] Translation: X:788.33, Y:3.99, Z:3.14 [[ 9.99693154e-01 -2.14784029e-02 -1.23400572e-02 7.88328830e+02] [ 2.14795413e-02 9.99769287e-01 -4.02861841e-05 3.98948246e+00] [ 1.23380755e-02 -2.24784947e-04 9.99923858e-01 3.14470645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.779254154 meters 0.06789620251003417 Centerline is valid? [True, True] Translation: X:788.39, Y:3.99, Z:3.14 [[ 9.99743128e-01 -1.94302025e-02 -1.16681233e-02 7.88388072e+02] [ 1.94310754e-02 9.99811198e-01 -3.85631155e-05 3.99104160e+00] [ 1.16666697e-02 -1.88170975e-04 9.99931924e-01 3.14492996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters 0.06696550442962987 Centerline is valid? [True, True] Translation: X:788.45, Y:3.99, Z:3.15 [[ 9.99824084e-01 -1.63349242e-02 -9.21802763e-03 7.88446786e+02] [ 1.63353347e-02 9.99866569e-01 -3.07573425e-05 3.99243955e+00] [ 9.21730008e-03 -1.19827635e-04 9.99957513e-01 3.14653363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.899254154 meters 0.06681499358841635 Centerline is valid? [True, True] Translation: X:788.50, Y:3.99, Z:3.15 [[ 9.99870915e-01 -1.42828223e-02 -7.35896298e-03 7.88504773e+02] [ 1.42830270e-02 9.99897992e-01 -2.47480683e-05 3.99454158e+00] [ 7.35856578e-03 -8.03633932e-05 9.99972922e-01 3.14772192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.959254154 meters 0.06792779235774211 Centerline is valid? [True, True] Translation: X:788.56, Y:3.99, Z:3.15 [[ 9.99857687e-01 -1.46739372e-02 -8.32352128e-03 7.88563863e+02] [ 1.46742090e-02 9.99892328e-01 -2.84157130e-05 3.99339140e+00] [ 8.32304203e-03 -9.37294220e-05 9.99965358e-01 3.14629815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.019254154 meters 0.0672735144910236 Centerline is valid? [True, True] Translation: X:788.62, Y:3.99, Z:3.15 [[ 9.99827739e-01 -1.60262792e-02 -9.36219501e-03 7.88621768e+02] [ 1.60266776e-02 9.99871564e-01 -3.24750512e-05 3.99137591e+00] [ 9.36151302e-03 -1.17575424e-04 9.99956173e-01 3.14514308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.079254154 meters 0.06728995253445719 Centerline is valid? [True, True] Translation: X:788.68, Y:3.99, Z:3.15 [[ 9.99785664e-01 -1.91699815e-02 -7.81905805e-03 7.88681215e+02] [ 1.91703539e-02 9.99816232e-01 -2.73311129e-05 3.98937871e+00] [ 7.81814509e-03 -1.22568855e-04 9.99969430e-01 3.14686650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.139254154 meters 0.06768292912949501 Centerline is valid? [True, True] Translation: X:788.74, Y:3.99, Z:3.15 [[ 9.99755250e-01 -2.15238362e-02 -5.11519626e-03 7.88739731e+02] [ 2.15240260e-02 9.99768331e-01 -1.79447561e-05 3.98853893e+00] [ 5.11439747e-03 -9.21592533e-05 9.99986917e-01 3.14897021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.199254154 meters 0.06804088647080696 Centerline is valid? [True, True] Translation: X:788.80, Y:3.99, Z:3.15 [[ 9.99681835e-01 -2.49597714e-02 -3.63863157e-03 7.88799452e+02] [ 2.49598900e-02 9.99688453e-01 -1.28281579e-05 3.98894846e+00] [ 3.63781816e-03 -7.79957672e-05 9.99993380e-01 3.14899735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.259254154 meters 0.067852274749352 Centerline is valid? [True, True] Translation: X:788.86, Y:3.99, Z:3.15 [[ 9.99605515e-01 -2.76777728e-02 -4.77032525e-03 7.88860128e+02] [ 2.76780074e-02 9.99616890e-01 -1.68516407e-05 3.98567781e+00] [ 4.76896411e-03 -1.15188105e-04 9.99988622e-01 3.14766668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.319254154 meters 0.06726222212895243 Centerline is valid? [True, True] Translation: X:788.92, Y:3.98, Z:3.15 [[ 9.99501302e-01 -3.07493977e-02 -7.18485715e-03 7.88918960e+02] [ 3.07500091e-02 9.99527106e-01 -2.53856799e-05 3.98453911e+00] [ 7.18224007e-03 -1.95561403e-04 9.99974188e-01 3.14625680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.379254154 meters 0.06730766973691758 Centerline is valid? [True, True] Translation: X:788.98, Y:3.99, Z:3.15 [[ 9.99512989e-01 -3.08469461e-02 -4.71705483e-03 7.88977392e+02] [ 3.08472101e-02 9.99524111e-01 -1.67930435e-05 3.98713365e+00] [ 4.71532805e-03 -1.28723116e-04 9.99988874e-01 3.14746525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.439254154 meters 0.06710613929188533 Centerline is valid? [True, True] Translation: X:789.04, Y:3.99, Z:3.15 [[ 9.99582034e-01 -2.86847250e-02 -3.59777509e-03 7.89037467e+02] [ 2.86848634e-02 9.99588505e-01 -1.31360355e-05 3.98729383e+00] [ 3.59667143e-03 -9.00711421e-05 9.99993528e-01 3.14841768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.499254154 meters 0.06707446907319183 Centerline is valid? [True, True] Translation: X:789.10, Y:3.99, Z:3.15 [[ 9.99691329e-01 -2.46887565e-02 -2.77705875e-03 7.89098298e+02] [ 2.46888236e-02 9.99695185e-01 -1.01348610e-05 3.99387397e+00] [ 2.77646247e-03 -5.84305808e-05 9.99996144e-01 3.14738454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.559254154 meters 0.06775863826884908 Centerline is valid? [True, True] Translation: X:789.16, Y:3.99, Z:3.15 [[ 9.99724650e-01 -2.29525087e-02 -4.87914309e-03 7.89158921e+02] [ 2.29526949e-02 9.99736552e-01 -1.78257934e-05 3.99321748e+00] [ 4.87826683e-03 -9.41685978e-05 9.99988097e-01 3.14527991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.619254154 meters 0.06728191214619109 Centerline is valid? [True, True] Translation: X:789.22, Y:3.99, Z:3.15 [[ 9.99688226e-01 -2.40943498e-02 -6.55084767e-03 7.89218579e+02] [ 2.40947102e-02 9.99709680e-01 -2.39103309e-05 3.99093642e+00] [ 6.54952194e-03 -1.33937900e-04 9.99978543e-01 3.14526050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.679254154 meters 0.06764938819440895 Centerline is valid? [True, True] Translation: X:789.28, Y:3.99, Z:3.15 [[ 9.99607097e-01 -2.77859655e-02 -3.68671047e-03 7.89278478e+02] [ 2.77861046e-02 9.99613892e-01 -1.34753374e-05 3.99132265e+00] [ 3.68566143e-03 -8.89692801e-05 9.99993204e-01 3.14769993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.739254154 meters 0.06709328569389934 Centerline is valid? [True, True] Translation: X:789.34, Y:3.99, Z:3.15 [[ 9.99549084e-01 -2.99084520e-02 -2.66709387e-03 7.89339147e+02] [ 2.99085324e-02 9.99552640e-01 -9.75790257e-06 3.99428133e+00] [ 2.66619256e-03 -7.00153608e-05 9.99996443e-01 3.14858503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.799254154 meters 0.06691913078382065 Centerline is valid? [True, True] Translation: X:789.40, Y:4.00, Z:3.15 [[ 9.99463964e-01 -3.27023235e-02 -1.53061742e-03 7.89399928e+02] [ 3.27023532e-02 9.99465135e-01 -5.62191142e-06 3.99886129e+00] [ 1.52998259e-03 -4.44358935e-05 9.99998829e-01 3.14730091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters 0.06739552537878857 Centerline is valid? [True, True] Translation: X:789.46, Y:4.00, Z:3.15 [[ 9.99388470e-01 -3.48408672e-02 -2.96640693e-03 7.89460326e+02] [ 3.48409885e-02 9.99392868e-01 -1.07889797e-05 3.99561213e+00] [ 2.96498183e-03 -9.25701679e-05 9.99995600e-01 3.14654152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.919254154 meters 0.06862176403218924 Centerline is valid? [True, True] Translation: X:789.52, Y:3.99, Z:3.15 [[ 9.99213698e-01 -3.94325245e-02 -4.13060820e-03 7.89520182e+02] [ 3.94327992e-02 9.99222225e-01 -1.49347434e-05 3.98860781e+00] [ 4.12798443e-03 -1.47958443e-04 9.99991469e-01 3.14639912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters 0.06801329773571842 Centerline is valid? [True, True] Translation: X:789.58, Y:4.00, Z:3.15 [[ 9.99097344e-01 -4.23833847e-02 -2.85407173e-03 7.89580601e+02] [ 4.23835279e-02 9.99101415e-01 -1.03172179e-05 3.99500887e+00] [ 2.85194438e-03 -1.10657724e-04 9.99995927e-01 3.14756395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.039254154 meters 0.07014291193927498 Centerline is valid? [True, True] Translation: X:789.64, Y:3.99, Z:3.15 [[ 9.99014869e-01 -4.43378642e-02 -1.85598913e-03 7.89640371e+02] [ 4.43379281e-02 9.99016591e-01 -6.70796059e-06 3.98996439e+00] [ 1.85446135e-03 -7.55893604e-05 9.99998278e-01 3.14867625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters 0.06916097215422176 Centerline is valid? [True, True] Translation: X:789.70, Y:4.00, Z:3.15 [[ 9.99108509e-01 -4.21597126e-02 -2.17865540e-03 7.89700966e+02] [ 4.21597956e-02 9.99110881e-01 -7.85118854e-06 3.99637841e+00] [ 2.17704932e-03 -8.40074771e-05 9.99997627e-01 3.14803815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.159254154 meters 0.06822637299862502 Centerline is valid? [True, True] Translation: X:789.76, Y:4.01, Z:3.15 [[ 9.99244948e-01 -3.87551827e-02 -2.75141298e-03 7.89761450e+02] [ 3.87553022e-02 9.99248731e-01 -9.87775223e-06 4.00560110e+00] [ 2.74972874e-03 -9.67615475e-05 9.99996215e-01 3.14661978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters 0.06688379008245456 Centerline is valid? [True, True] Translation: X:789.82, Y:4.02, Z:3.15 [[ 9.99501088e-01 -3.15077372e-02 -2.19934784e-03 7.89822131e+02] [ 3.15077960e-02 9.99503506e-01 -7.90537930e-06 4.02248437e+00] [ 2.19850495e-03 -6.13951678e-05 9.99997581e-01 3.14657826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.279254154 meters 0.06646500337255876 Centerline is valid? [True, True] Translation: X:789.88, Y:4.03, Z:3.15 [[ 9.99720874e-01 -2.35677635e-02 -1.65395675e-03 7.89881812e+02] [ 2.35677860e-02 9.99722241e-01 -5.92339788e-06 4.03147426e+00] [ 1.65363695e-03 -3.30583542e-05 9.99998632e-01 3.14770434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters 0.06630784819010334 Centerline is valid? [True, True] Translation: X:789.94, Y:4.04, Z:3.15 [[ 9.99849574e-01 -1.73357969e-02 -5.46469802e-04 7.89942380e+02] [ 1.73357984e-02 9.99849724e-01 -1.98912993e-06 4.03717189e+00] [ 5.46422163e-04 -7.48465961e-06 9.99999851e-01 3.14755734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.399254154 meters 0.0660833479439027 Centerline is valid? [True, True] Translation: X:790.00, Y:4.04, Z:3.15 [[ 9.99906485e-01 -1.36560237e-02 -7.30931006e-04 7.90003295e+02] [ 1.36560255e-02 9.99906752e-01 -2.54889751e-06 4.03966014e+00] [ 7.30897655e-04 -7.43295331e-06 9.99999733e-01 3.14674000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.459254154 meters 0.06615345041559517 Centerline is valid? [True, True] Translation: X:790.06, Y:4.05, Z:3.14 [[ 9.99973136e-01 -7.03446809e-03 -2.06000550e-03 7.90064163e+02] [ 7.03446773e-03 9.99975258e-01 -7.41921427e-06 4.04680388e+00] [ 2.06000672e-03 -7.07202724e-06 9.99997878e-01 3.14403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.519254154 meters 0.06575704126880973 Centerline is valid? [True, True] Translation: X:790.12, Y:4.05, Z:3.14 [[ 9.99992726e-01 -1.49353323e-03 -3.50962402e-03 7.90123718e+02] [ 1.49349828e-03 9.99998885e-01 -1.25799762e-05 4.04858478e+00] [ 3.50963889e-03 7.33826730e-06 9.99993841e-01 3.14466607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.579254154 meters 0.06571584630809345 Centerline is valid? [True, True] Translation: X:790.18, Y:4.05, Z:3.15 [[ 9.99993970e-01 1.18852780e-03 -3.26297172e-03 7.90182726e+02] [-1.18857220e-03 9.99999294e-01 -1.16666623e-05 4.04964172e+00] [ 3.26295555e-03 1.55448694e-05 9.99994676e-01 3.14520920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.639254154 meters 0.06598291004274637 Centerline is valid? [True, True] Translation: X:790.24, Y:4.05, Z:3.15 [[ 9.99958112e-01 9.14623180e-03 -3.46678869e-04 7.90242888e+02] [-9.14623279e-03 9.99958172e-01 -1.27573240e-06 4.04873220e+00] [ 3.46652700e-04 4.44648461e-06 9.99999940e-01 3.14580722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.699254154 meters 0.06555028930682749 Centerline is valid? [True, True] Translation: X:790.30, Y:4.05, Z:3.15 [[ 9.99902429e-01 1.39607957e-02 4.77896691e-04 7.90302519e+02] [-1.39607982e-02 9.99902543e-01 1.78915991e-06 4.04744739e+00] [-4.77825139e-04 -8.46080458e-06 9.99999886e-01 3.14646805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.759254154 meters 0.0662754295926608 Centerline is valid? [True, True] Translation: X:790.36, Y:4.05, Z:3.15 [[ 9.99896683e-01 1.43524551e-02 -7.94150783e-04 7.90361938e+02] [-1.43524619e-02 9.99896998e-01 -2.88500606e-06 4.04580928e+00] [ 7.94027577e-04 1.42827269e-05 9.99999685e-01 3.14601484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.819254154 meters 0.06631322158463297 Centerline is valid? [True, True] Translation: X:790.42, Y:4.04, Z:3.15 [[ 9.99931167e-01 1.16555091e-02 -1.34535786e-03 7.90421693e+02] [-1.16555263e-02 9.99932072e-01 -4.94283357e-06 4.03651685e+00] [ 1.34520886e-03 2.06233473e-05 9.99999095e-01 3.14540007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.879254154 meters 0.0659460551603508 Centerline is valid? [True, True] Translation: X:790.48, Y:4.03, Z:3.15 [[ 9.99957639e-01 8.79002939e-03 -2.73052444e-03 7.90481298e+02] [-8.79008980e-03 9.99961366e-01 -1.01246299e-05 4.02658352e+00] [ 2.73032996e-03 3.41257561e-05 9.99996272e-01 3.14555148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.939254154 meters 0.06598522121450733 Centerline is valid? [True, True] Translation: X:790.54, Y:4.01, Z:3.14 [[ 9.99967174e-01 7.48407587e-03 -3.10476574e-03 7.90540108e+02] [-7.48414781e-03 9.99971993e-01 -1.15503494e-05 4.01363248e+00] [ 3.10459234e-03 3.47864959e-05 9.99995180e-01 3.14438097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.999254154 meters 0.06574563740327741 Centerline is valid? [True, True] Translation: X:790.60, Y:4.01, Z:3.14 [[ 9.99963137e-01 8.12246845e-03 -2.78384602e-03 7.90599091e+02] [-8.12252884e-03 9.99967012e-01 -1.03901183e-05 4.00718908e+00] [ 2.78366979e-03 3.30016049e-05 9.99996125e-01 3.14429376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.059254154 meters 0.06663090107944215 Centerline is valid? [True, True] Translation: X:790.66, Y:4.00, Z:3.14 [[ 9.99937521e-01 1.06641002e-02 -3.35117405e-03 7.90657972e+02] [-1.06642028e-02 9.99943136e-01 -1.27589732e-05 3.99938791e+00] [ 3.35084742e-03 4.84957758e-05 9.99994385e-01 3.14335741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.119254154 meters 0.0662324393803163 Centerline is valid? [True, True] Translation: X:790.72, Y:3.99, Z:3.14 [[ 9.99922869e-01 1.19879099e-02 -3.24756293e-03 7.90717055e+02] [-1.19880134e-02 9.99928141e-01 -1.24082500e-05 3.98864045e+00] [ 3.24718082e-03 5.13391208e-05 9.99994727e-01 3.14280216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.179254154 meters 0.06669083215507479 Centerline is valid? [True, True] Translation: X:790.78, Y:3.98, Z:3.14 [[ 9.99896939e-01 1.40460508e-02 -2.96997381e-03 7.90775972e+02] [-1.40461472e-02 9.99901348e-01 -1.15940807e-05 3.97560680e+00] [ 2.96951797e-03 5.33095752e-05 9.99995590e-01 3.14390114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.239254154 meters 0.06659626745302989 Centerline is valid? [True, True] Translation: X:790.83, Y:3.97, Z:3.14 [[ 9.99837448e-01 1.76793884e-02 -3.53791659e-03 7.90834814e+02] [-1.76795497e-02 9.99843704e-01 -1.43171899e-05 3.96731460e+00] [ 3.53711051e-03 7.68636349e-05 9.99993741e-01 3.14486335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.299254154 meters 0.0673576552775122 Centerline is valid? [True, True] Translation: X:790.89, Y:3.97, Z:3.15 [[ 9.99771207e-01 2.11579427e-02 -3.14240761e-03 7.90893915e+02] [-2.11580872e-02 9.99776143e-01 -1.27315664e-05 3.97061155e+00] [ 3.14143479e-03 7.92159878e-05 9.99995063e-01 3.14636643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters 0.0667953404086988 Centerline is valid? [True, True] Translation: X:790.95, Y:3.96, Z:3.15 [[ 9.99699383e-01 2.44383538e-02 -1.97732722e-03 7.90954089e+02] [-2.44384174e-02 9.99701337e-01 -8.03485297e-06 3.95599503e+00] [ 1.97654031e-03 5.63551855e-05 9.99998045e-01 3.14738765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.419254154 meters 0.0662940713609195 Centerline is valid? [True, True] Translation: X:791.01, Y:3.94, Z:3.15 [[ 9.99651887e-01 2.61727977e-02 -3.32997955e-03 7.91013325e+02] [-2.61729880e-02 9.99657429e-01 -1.35660668e-05 3.94187960e+00] [ 3.32848374e-03 1.00716859e-04 9.99994455e-01 3.14678618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters 0.06665658814013684 Centerline is valid? [True, True] Translation: X:791.07, Y:3.93, Z:3.15 [[ 9.99715117e-01 2.37908554e-02 -1.91861873e-03 7.91073329e+02] [-2.37909143e-02 9.99716956e-01 -7.86532435e-06 3.92525471e+00] [ 1.91788856e-03 5.35087775e-05 9.99998159e-01 3.14830803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.539254154 meters 0.0663409325859955 Centerline is valid? [True, True] Translation: X:791.13, Y:3.90, Z:3.15 [[ 9.99849230e-01 1.73462195e-02 -7.91675922e-04 7.91134001e+02] [-1.73462275e-02 9.99849543e-01 -3.24436650e-06 3.90049501e+00] [ 7.91500530e-04 1.69764680e-05 9.99999687e-01 3.14868174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters 0.06669508066904975 Centerline is valid? [True, True] Translation: X:791.19, Y:3.87, Z:3.15 [[ 9.99985708e-01 2.51593440e-03 -4.71730568e-03 7.91193839e+02] [-2.51605361e-03 9.99996835e-01 -1.93350241e-05 3.87447260e+00] [ 4.71724210e-03 3.12037417e-05 9.99988873e-01 3.14739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.659254154 meters 0.06645759052965179 Centerline is valid? [True, True] Translation: X:791.25, Y:3.87, Z:3.15 [[ 9.99987119e-01 -9.99448993e-04 -4.97629388e-03 7.91253384e+02] [ 9.99359923e-04 9.99999500e-01 -2.03857362e-05 3.86898237e+00] [ 4.97631177e-03 1.54123650e-05 9.99987618e-01 3.14782141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters 0.06645759052965179 Centerline is valid? [True, True] Translation: X:791.31, Y:3.87, Z:3.15 [[ 9.99987086e-01 -1.03143689e-03 -4.97629348e-03 7.91311715e+02] [ 1.03134774e-03 9.99999468e-01 -2.04815697e-05 3.86925299e+00] [ 4.97631196e-03 1.53490162e-05 9.99987618e-01 3.14805146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.779254154 meters 0.06612559641369917 Centerline is valid? [True, True] Translation: X:791.37, Y:3.86, Z:3.15 [[ 9.99948307e-01 -8.52012334e-03 -5.54896467e-03 7.91370735e+02] [ 8.52012679e-03 9.99963703e-01 -2.30175005e-05 3.86032343e+00] [ 5.54895937e-03 -2.42615719e-05 9.99984604e-01 3.14894857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters 0.06958793904896844 Centerline is valid? [True, True] Translation: X:791.43, Y:3.82, Z:3.15 [[ 9.99064353e-01 -4.28266108e-02 -6.02500861e-03 7.91431777e+02] [ 4.28272371e-02 9.99082493e-01 -2.50907800e-05 3.81831888e+00] [ 6.02055517e-03 -2.32967168e-04 9.99981849e-01 3.14918683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.899254154 meters 0.0679352910243491 Centerline is valid? [True, True] Translation: X:791.49, Y:3.83, Z:3.15 [[ 9.98950797e-01 -4.54490218e-02 -5.62951649e-03 7.91491840e+02] [ 4.54496102e-02 9.98966632e-01 -2.34296129e-05 3.82948688e+00] [ 5.62476398e-03 -2.32454300e-04 9.99984154e-01 3.15059290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.959254154 meters 0.0679352910243491 Centerline is valid? [True, True] Translation: X:791.55, Y:3.83, Z:3.15 [[ 9.98945543e-01 -4.55643542e-02 -5.62951575e-03 7.91549384e+02] [ 4.55649435e-02 9.98961378e-01 -2.36051518e-05 3.82969456e+00] [ 5.62474437e-03 -2.32928306e-04 9.99984154e-01 3.15081985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.019254154 meters 0.0679352910243491 Centerline is valid? [True, True] Translation: X:791.61, Y:3.83, Z:3.15 [[ 9.98940276e-01 -4.56796879e-02 -5.62951296e-03 7.91606927e+02] [ 4.56802754e-02 9.98956111e-01 -2.42551012e-05 3.82990909e+00] [ 5.62474434e-03 -2.32928305e-04 9.99984154e-01 3.15104676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.079254154 meters 0.06745544507595763 Centerline is valid? [True, True] Translation: X:791.67, Y:3.83, Z:3.15 [[ 9.98819874e-01 -4.83184744e-02 -4.91783158e-03 7.91666866e+02] [ 4.83189526e-02 9.98831957e-01 -2.15850084e-05 3.83273229e+00] [ 4.91313029e-03 -2.16064936e-04 9.99987907e-01 3.15202739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.139254154 meters 0.06855883950905417 Centerline is valid? [True, True] Translation: X:791.73, Y:3.83, Z:3.15 [[ 9.98605883e-01 -5.26077492e-02 -4.32607669e-03 7.91726390e+02] [ 5.26081595e-02 9.98615232e-01 -1.89846737e-05 3.82903452e+00] [ 4.32108482e-03 -2.08628726e-04 9.99990642e-01 3.15312037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.199254154 meters 0.06919025817491407 Centerline is valid? [True, True] Translation: X:791.79, Y:3.83, Z:3.15 [[ 9.98448636e-01 -5.55634202e-02 -3.60931430e-03 7.91786086e+02] [ 5.55637250e-02 9.98455143e-01 -1.58581679e-05 3.83429920e+00] [ 3.60461956e-03 -1.84713381e-04 9.99993486e-01 3.15341768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.259254154 meters 0.06697728773258631 Centerline is valid? [True, True] Translation: X:791.85, Y:3.86, Z:3.15 [[ 9.98563271e-01 -5.34685173e-02 -3.53722244e-03 7.91845668e+02] [ 5.34687968e-02 9.98569521e-01 -1.55665582e-05 3.85526808e+00] [ 3.53299484e-03 -1.73586835e-04 9.99993744e-01 3.15289103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.319254154 meters 0.06727598573675121 Centerline is valid? [True, True] Translation: X:791.91, Y:3.87, Z:3.15 [[ 9.98905247e-01 -4.66200813e-02 -3.85687796e-03 7.91905994e+02] [ 4.66203626e-02 9.98912680e-01 -1.70069300e-05 3.87259160e+00] [ 3.85347717e-03 -1.62820737e-04 9.99992562e-01 3.15220085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.379254154 meters 0.06924555231023537 Centerline is valid? [True, True] Translation: X:791.97, Y:3.86, Z:3.15 [[ 9.99129068e-01 -4.15721405e-02 -3.58640363e-03 7.91965241e+02] [ 4.15723512e-02 9.99135496e-01 -1.58169121e-05 3.86294817e+00] [ 3.58396071e-03 -1.33292095e-04 9.99993569e-01 3.15284609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.439254154 meters 0.06828530726103084 Centerline is valid? [True, True] Translation: X:792.03, Y:3.88, Z:3.15 [[ 9.99385493e-01 -3.49859514e-02 -2.14934504e-03 7.92025314e+02] [ 3.49860118e-02 9.99387802e-01 -9.49926435e-06 3.88209698e+00] [ 2.14836156e-03 -6.57035840e-05 9.99997690e-01 3.15429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.499254154 meters 0.06729204240795642 Centerline is valid? [True, True] Translation: X:792.08, Y:3.89, Z:3.15 [[ 9.99458312e-01 -3.28632739e-02 -1.75703016e-03 7.92083754e+02] [ 3.28633111e-02 9.99459856e-01 -7.74319038e-06 3.88781973e+00] [ 1.75633558e-03 -5.00028327e-05 9.99998456e-01 3.15471163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.559254154 meters 0.06751942024250206 Centerline is valid? [True, True] Translation: X:792.14, Y:3.90, Z:3.15 [[ 9.99660623e-01 -2.60126615e-02 -1.40699968e-03 7.92143736e+02] [ 2.60126785e-02 9.99661613e-01 -6.18845241e-06 3.90233408e+00] [ 1.40668454e-03 -3.04134781e-05 9.99999010e-01 3.15419441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.619254154 meters 0.06733374720223691 Centerline is valid? [True, True] Translation: X:792.20, Y:3.92, Z:3.15 [[ 9.99811198e-01 -1.92681806e-02 -2.51109083e-03 7.92203847e+02] [ 1.92682130e-02 9.99814351e-01 -1.12697828e-05 3.91965077e+00] [ 2.51084179e-03 -3.71165780e-05 9.99996847e-01 3.15259359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.679254154 meters 0.06656535328276851 Centerline is valid? [True, True] Translation: X:792.26, Y:3.93, Z:3.15 [[ 9.99883863e-01 -1.48985918e-02 -3.20822560e-03 7.92263057e+02] [ 1.48986223e-02 9.99889009e-01 -1.43949538e-05 3.92675192e+00] [ 3.20808398e-03 -3.34048594e-05 9.99994854e-01 3.15248555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.739254154 meters 0.06663228791776162 Centerline is valid? [True, True] Translation: X:792.32, Y:3.94, Z:3.15 [[ 9.99964583e-01 -8.15860033e-03 -2.06618166e-03 7.92321712e+02] [ 8.15859860e-03 9.99966718e-01 -9.26774508e-06 3.93775032e+00] [ 2.06618851e-03 -7.58972997e-06 9.99997865e-01 3.15308079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.799254154 meters 0.0663397372252485 Centerline is valid? [True, True] Translation: X:792.38, Y:3.94, Z:3.15 [[ 9.99991435e-01 -3.72208729e-03 -1.81024986e-03 7.92381374e+02] [ 3.72207858e-03 9.99993073e-01 -8.17911516e-06 3.94485037e+00] [ 1.81026776e-03 1.44115290e-06 9.99998361e-01 3.15344496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters 0.06614715281795838 Centerline is valid? [True, True] Translation: X:792.44, Y:3.95, Z:3.15 [[ 9.99988864e-01 3.67552081e-03 -2.96015846e-03 7.92440901e+02] [-3.67557660e-03 9.99993245e-01 -1.34070850e-05 3.95368119e+00] [ 2.96008919e-03 2.42872249e-05 9.99995619e-01 3.15181549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.919254154 meters 0.06636757159129535 Centerline is valid? [True, True] Translation: X:792.50, Y:3.96, Z:3.15 [[ 9.99927720e-01 1.13486121e-02 -3.97024911e-03 7.92500808e+02] [-1.13487732e-02 9.99935600e-01 -1.80601690e-05 3.96019206e+00] [ 3.96978847e-03 6.31163205e-05 9.99992118e-01 3.15126168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters 0.066979815797123 Centerline is valid? [True, True] Translation: X:792.56, Y:3.96, Z:3.15 [[ 9.99857351e-01 1.64150147e-02 -3.97808687e-03 7.92560623e+02] [-1.64152167e-02 9.99865261e-01 -1.81253422e-05 3.95880874e+00] [ 3.97725334e-03 8.34239146e-05 9.99992087e-01 3.15144145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.039254154 meters 0.06722876419210443 Centerline is valid? [True, True] Translation: X:792.62, Y:3.96, Z:3.15 [[ 9.99705941e-01 2.40304334e-02 -3.25120495e-03 7.92621195e+02] [-2.40306086e-02 9.99711223e-01 -1.48379448e-05 3.96433043e+00] [ 3.24990952e-03 9.29620153e-05 9.99994715e-01 3.15223443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters 0.0668611877612621 Centerline is valid? [True, True] Translation: X:792.68, Y:3.96, Z:3.15 [[ 9.99509980e-01 3.11449194e-02 -3.12952367e-03 7.92681636e+02] [-3.11451166e-02 9.99514873e-01 -1.42850418e-05 3.96144752e+00] [ 3.12756054e-03 1.11747421e-04 9.99995103e-01 3.15189622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.159254154 meters 0.06684957384271571 Centerline is valid? [True, True] Translation: X:792.74, Y:3.96, Z:3.15 [[ 9.99374784e-01 3.51974119e-02 -3.34430225e-03 7.92741597e+02] [-3.51976596e-02 9.99380370e-01 -1.52377002e-05 3.95664079e+00] [ 3.34169369e-03 1.32939786e-04 9.99994408e-01 3.15129061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters 0.06728957767179794 Centerline is valid? [True, True] Translation: X:792.80, Y:3.95, Z:3.15 [[ 9.99171469e-01 4.04857676e-02 -4.15669435e-03 7.92802344e+02] [-4.04861960e-02 9.99180098e-01 -1.89374579e-05 3.94957360e+00] [ 4.15251957e-03 1.87210510e-04 9.99991361e-01 3.15076681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.279254154 meters 0.06759333789370868 Centerline is valid? [True, True] Translation: X:792.86, Y:3.95, Z:3.15 [[ 9.99032608e-01 4.38530331e-02 -3.28025661e-03 7.92861845e+02] [-4.38533180e-02 9.99037980e-01 -1.49456641e-05 3.94552598e+00] [ 3.27644552e-03 1.58781342e-04 9.99994620e-01 3.15152289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.339254154 meters 0.06894780341084757 Centerline is valid? [True, True] Translation: X:792.92, Y:3.94, Z:3.15 [[ 9.98984320e-01 4.49999567e-02 -2.30935192e-03 7.92921127e+02] [-4.50001009e-02 9.98986982e-01 -1.05173563e-05 3.93951132e+00] [ 2.30653923e-03 1.14427744e-04 9.99997333e-01 3.15257924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.399254154 meters 0.06624722667591305 Centerline is valid? [True, True] Translation: X:792.98, Y:3.92, Z:3.15 [[ 9.99008251e-01 4.44500975e-02 -2.58901676e-03 7.92980770e+02] [-4.44502771e-02 9.99011598e-01 -1.18454338e-05 3.91595480e+00] [ 2.58593124e-03 1.26916199e-04 9.99996648e-01 3.15185738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.459254154 meters 0.067577953738197 Centerline is valid? [True, True] Translation: X:793.04, Y:3.91, Z:3.15 [[ 9.99125063e-01 4.16739568e-02 -3.51987097e-03 7.93041173e+02] [-4.16742718e-02 9.99131250e-01 -1.61467238e-05 3.91051676e+00] [ 3.51614018e-03 1.62820656e-04 9.99993805e-01 3.15153738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.519254154 meters 0.06680400405350265 Centerline is valid? [True, True] Translation: X:793.10, Y:3.90, Z:3.15 [[ 9.99228440e-01 3.91443058e-02 -3.20127639e-03 7.93102074e+02] [-3.91445533e-02 9.99233558e-01 -1.46599865e-05 3.89503078e+00] [ 3.19824894e-03 1.39961210e-04 9.99994876e-01 3.15199286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.579254154 meters 0.06613705920033668 Centerline is valid? [True, True] Translation: X:793.16, Y:3.88, Z:3.15 [[ 9.99240613e-01 3.88607080e-02 -2.83587700e-03 7.93163032e+02] [-3.88609011e-02 9.99244630e-01 -1.29967066e-05 3.87850706e+00] [ 2.83322980e-03 1.23191573e-04 9.99995979e-01 3.15243043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.639254154 meters 0.06900781971593606 Centerline is valid? [True, True] Translation: X:793.22, Y:3.88, Z:3.15 [[ 9.99198341e-01 3.99114933e-02 -3.12214127e-03 7.93223571e+02] [-3.99117323e-02 9.99203209e-01 -1.42608817e-05 3.87876667e+00] [ 3.11908440e-03 1.38859516e-04 9.99995126e-01 3.15255606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.699254154 meters 0.06686036346479476 Centerline is valid? [True, True] Translation: X:793.28, Y:3.86, Z:3.15 [[ 9.99073410e-01 4.28237007e-02 -4.29563255e-03 7.93284037e+02] [-4.28241795e-02 9.99082624e-01 -1.94907295e-05 3.85805179e+00] [ 4.29085717e-03 2.03429609e-04 9.99990774e-01 3.15186610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.759254154 meters 0.06529108088756481 Centerline is valid? [True, True] Translation: X:793.34, Y:3.84, Z:3.15 [[ 9.98962713e-01 4.52509405e-02 -5.08425595e-03 7.93344841e+02] [-4.52516423e-02 9.98975620e-01 -2.30274161e-05 3.84261814e+00] [ 5.07800572e-03 2.53074462e-04 9.99987075e-01 3.15107245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.819254154 meters 0.06859493160334283 Centerline is valid? [True, True] Translation: X:793.41, Y:3.84, Z:3.15 [[ 9.98754609e-01 4.95918074e-02 -5.46663735e-03 7.93405719e+02] [-4.95926835e-02 9.98769526e-01 -2.47399566e-05 3.84237603e+00] [ 5.45868389e-03 2.95814361e-04 9.99985057e-01 3.15096467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.879254154 meters 0.06594958151719854 Centerline is valid? [True, True] Translation: X:793.47, Y:3.83, Z:3.15 [[ 9.98621401e-01 5.22556748e-02 -4.96415042e-03 7.93466757e+02] [-5.22564298e-02 9.98633699e-01 -2.24322908e-05 3.82574506e+00] [ 4.95619569e-03 2.81810144e-04 9.99987678e-01 3.15166705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.939254154 meters 0.06879005035227392 Centerline is valid? [True, True] Translation: X:793.53, Y:3.82, Z:3.15 [[ 9.98515457e-01 5.43539477e-02 -3.53996594e-03 7.93526417e+02] [-5.43543447e-02 9.98521710e-01 -1.59932516e-05 3.82265885e+00] [ 3.53386354e-03 2.08382038e-04 9.99993734e-01 3.15284479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.999254154 meters 0.06681577425452753 Centerline is valid? [True, True] Translation: X:793.59, Y:3.81, Z:3.15 [[ 9.98540861e-01 5.38852272e-02 -3.53986040e-03 7.93588987e+02] [-5.38856215e-02 9.98547114e-01 -1.60309762e-05 3.80592993e+00] [ 3.53385355e-03 2.06755162e-04 9.99993735e-01 3.15319027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.059254154 meters 0.06661492674398381 Centerline is valid? [True, True] Translation: X:793.65, Y:3.79, Z:3.15 [[ 9.98770209e-01 4.93834472e-02 -4.39825496e-03 7.93648447e+02] [-4.93840100e-02 9.98779865e-01 -1.93871916e-05 3.79409125e+00] [ 4.39193109e-03 2.36566817e-04 9.99990327e-01 3.15244833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.119254154 meters 0.06469017085307538 Centerline is valid? [True, True] Translation: X:793.71, Y:3.77, Z:3.15 [[ 9.99131153e-01 4.14156248e-02 -4.65683932e-03 7.93708762e+02] [-4.14161695e-02 9.99141982e-01 -2.05569430e-05 3.77473228e+00] [ 4.65199229e-03 2.13407529e-04 9.99989157e-01 3.15267230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.179254154 meters 0.06450643669598585 Centerline is valid? [True, True] Translation: X:793.77, Y:3.76, Z:3.15 [[ 9.99354169e-01 3.57013403e-02 -4.08155575e-03 7.93769070e+02] [-3.57017111e-02 9.99362491e-01 -1.80058184e-05 3.76252940e+00] [ 4.07831088e-03 1.63712714e-04 9.99991670e-01 3.15259614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.239254154 meters 0.06405139898385032 Centerline is valid? [True, True] Translation: X:793.83, Y:3.75, Z:3.15 [[ 9.99614405e-01 2.74199938e-02 -4.38009052e-03 7.93828902e+02] [-2.74203412e-02 9.99623992e-01 -1.92864208e-05 3.74723160e+00] [ 4.37791474e-03 1.39382561e-04 9.99990407e-01 3.15208118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.299254154 meters 0.05973389875829997 Centerline is valid? [True, True] Translation: X:793.89, Y:3.72, Z:3.15 [[ 9.99767311e-01 2.11017559e-02 -4.47669952e-03 7.93889820e+02] [-2.11020555e-02 9.99777327e-01 -1.96823882e-05 3.71594129e+00] [ 4.47528734e-03 1.14145370e-04 9.99989979e-01 3.15175809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters 0.060491009224024686 Centerline is valid? [True, True] Translation: X:793.95, Y:3.71, Z:3.15 [[ 9.99790447e-01 2.00101827e-02 -4.31900814e-03 7.93951633e+02] [-2.00104512e-02 9.99799771e-01 -1.89516991e-05 3.71427052e+00] [ 4.31776412e-03 1.05373029e-04 9.99990673e-01 3.15178380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.419254154 meters 0.05907524830172809 Centerline is valid? [True, True] Translation: X:794.01, Y:3.70, Z:3.15 [[ 9.99792685e-01 1.99930129e-02 -3.85570700e-03 7.94013642e+02] [-1.99932262e-02 9.99800115e-01 -1.67844586e-05 3.69646188e+00] [ 3.85460073e-03 9.38690012e-05 9.99992567e-01 3.15217871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters 0.061295818385160745 Centerline is valid? [True, True] Translation: X:794.07, Y:3.70, Z:3.15 [[ 9.99751582e-01 2.20666056e-02 -3.13683379e-03 7.94074606e+02] [-2.20667558e-02 9.99756499e-01 -1.32703172e-05 3.70465497e+00] [ 3.13577713e-03 8.24867657e-05 9.99995080e-01 3.15316968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.539254154 meters 0.05943155431991863 Centerline is valid? [True, True] Translation: X:794.14, Y:3.69, Z:3.15 [[ 9.99667727e-01 2.56706207e-02 -2.33542621e-03 7.94135670e+02] [-2.56707137e-02 9.99670453e-01 -9.84312435e-06 3.69007938e+00] [ 2.33440390e-03 6.97919114e-05 9.99997273e-01 3.15318818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters 0.06026943870981991 Centerline is valid? [True, True] Translation: X:794.20, Y:3.69, Z:3.15 [[ 9.99607559e-01 2.78854404e-02 -2.67023970e-03 7.94195940e+02] [-2.78855698e-02 9.99611122e-01 -1.12431047e-05 3.68748772e+00] [ 2.66888778e-03 8.56998481e-05 9.99996435e-01 3.15272449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.659254154 meters 0.0604924507032839 Centerline is valid? [True, True] Translation: X:794.26, Y:3.68, Z:3.15 [[ 9.99537712e-01 3.01666386e-02 -3.78630280e-03 7.94255810e+02] [-3.01669150e-02 9.99544875e-01 -1.58991826e-05 3.68099579e+00] [ 3.78409994e-03 1.30112907e-04 9.99992832e-01 3.15147213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters 0.061260081838695565 Centerline is valid? [True, True] Translation: X:794.32, Y:3.68, Z:3.15 [[ 9.99481428e-01 3.18613617e-02 -4.66146401e-03 7.94316956e+02] [-3.18617990e-02 9.99492284e-01 -1.95687533e-05 3.67509659e+00] [ 4.65847382e-03 1.68081235e-04 9.99989135e-01 3.15106706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.779254154 meters 0.05924315792991123 Centerline is valid? [True, True] Translation: X:794.38, Y:3.66, Z:3.15 [[ 9.99466573e-01 3.23102129e-02 -4.75604240e-03 7.94378786e+02] [-3.23106729e-02 9.99477874e-01 -1.99058837e-05 3.66048388e+00] [ 4.75291598e-03 1.73566196e-04 9.99988690e-01 3.15138567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.839254154 meters 0.059525520145761415 Centerline is valid? [True, True] Translation: X:794.44, Y:3.65, Z:3.15 [[ 9.99483879e-01 3.17177580e-02 -5.09498286e-03 7.94441463e+02] [-3.17182772e-02 9.99496849e-01 -2.11262466e-05 3.65335626e+00] [ 5.09174923e-03 1.82719422e-04 9.99987020e-01 3.15126895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.899254154 meters 0.05620502201777551 Centerline is valid? [True, True] Translation: X:794.50, Y:3.63, Z:3.15 [[ 9.99571957e-01 2.89250057e-02 -4.38707594e-03 7.94502410e+02] [-2.89253632e-02 9.99581574e-01 -1.80620660e-05 3.63095910e+00] [ 4.38471783e-03 1.44952100e-04 9.99990377e-01 3.15203654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.959254154 meters 0.056276705499439916 Centerline is valid? [True, True] Translation: X:794.56, Y:3.63, Z:3.15 [[ 9.99629660e-01 2.68654701e-02 -4.33477502e-03 7.94563852e+02] [-2.68657997e-02 9.99639049e-01 -1.78083964e-05 3.62667055e+00] [ 4.33273195e-03 1.34258999e-04 9.99990605e-01 3.15272970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.019254154 meters 0.05569491556144487 Centerline is valid? [True, True] Translation: X:794.63, Y:3.61, Z:3.15 [[ 9.99686138e-01 2.46738998e-02 -4.33858238e-03 7.94625250e+02] [-2.46742089e-02 9.99695545e-01 -1.77287019e-05 3.61353675e+00] [ 4.33682404e-03 1.24774225e-04 9.99990588e-01 3.15316207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.079254154 meters 0.0557684406342631 Centerline is valid? [True, True] Translation: X:794.69, Y:3.61, Z:3.15 [[ 9.99708956e-01 2.36511642e-02 -4.75661085e-03 7.94686200e+02] [-2.36515235e-02 9.99720263e-01 -1.92875610e-05 3.61039834e+00] [ 4.75482408e-03 1.31783041e-04 9.99988687e-01 3.15325377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.139254154 meters 0.05589705754012094 Centerline is valid? [True, True] Translation: X:794.75, Y:3.61, Z:3.15 [[ 9.99711798e-01 2.35065358e-02 -4.87472644e-03 7.94748402e+02] [-2.35069090e-02 9.99723674e-01 -1.92632066e-05 3.60589248e+00] [ 4.87292662e-03 1.33847406e-04 9.99988118e-01 3.15280182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.199254154 meters 0.05429383039356632 Centerline is valid? [True, True] Translation: X:794.81, Y:3.59, Z:3.15 [[ 9.99714986e-01 2.32273499e-02 -5.51698558e-03 7.94810471e+02] [-2.32278201e-02 9.99730198e-01 -2.11675059e-05 3.59276517e+00] [ 5.51500541e-03 1.49309021e-04 9.99984781e-01 3.15242302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.259254154 meters 0.055368773961782004 Centerline is valid? [True, True] Translation: X:794.87, Y:3.59, Z:3.15 [[ 9.99707161e-01 2.35216565e-02 -5.68540050e-03 7.94871544e+02] [-2.35221575e-02 9.99723316e-01 -2.12691558e-05 3.59162780e+00] [ 5.68332715e-03 1.54995813e-04 9.99983838e-01 3.15133085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.319254154 meters 0.055219284831877796 Centerline is valid? [True, True] Translation: X:794.93, Y:3.59, Z:3.15 [[ 9.99669750e-01 2.50306842e-02 -5.81860932e-03 7.94933751e+02] [-2.50312329e-02 9.99686669e-01 -2.14737030e-05 3.58792961e+00] [ 5.81624867e-03 1.67113576e-04 9.99983071e-01 3.15118269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.379254154 meters 0.055380063443892756 Centerline is valid? [True, True] Translation: X:794.99, Y:3.58, Z:3.15 [[ 9.99584930e-01 2.83143231e-02 -5.31669998e-03 7.94994912e+02] [-2.83148270e-02 9.99599055e-01 -1.95018056e-05 3.58346161e+00] [ 5.31401609e-03 1.70035151e-04 9.99985866e-01 3.15150508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.439254154 meters 0.05496883739141766 Centerline is valid? [True, True] Translation: X:795.06, Y:3.58, Z:3.15 [[ 9.99551846e-01 2.96197804e-02 -4.33308487e-03 7.95057423e+02] [-2.96201271e-02 9.99561228e-01 -1.58504594e-05 3.57683840e+00] [ 4.33071415e-03 1.44189881e-04 9.99990612e-01 3.15166927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.499254154 meters 0.053645064058875556 Centerline is valid? [True, True] Translation: X:795.12, Y:3.57, Z:3.15 [[ 9.99566564e-01 2.91282565e-02 -4.26943944e-03 7.95119974e+02] [-2.91285880e-02 9.99575673e-01 -1.54692485e-05 3.56955777e+00] [ 4.26717721e-03 1.39825286e-04 9.99990886e-01 3.15175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.559254154 meters 0.05363668260873984 Centerline is valid? [True, True] Translation: X:795.18, Y:3.56, Z:3.15 [[ 9.99637426e-01 2.65270007e-02 -4.61904355e-03 7.95181130e+02] [-2.65273589e-02 9.99648088e-01 -1.62863621e-05 3.56226419e+00] [ 4.61698602e-03 1.38811483e-04 9.99989332e-01 3.15184419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.619254154 meters 0.053923420989866286 Centerline is valid? [True, True] Translation: X:795.24, Y:3.56, Z:3.15 [[ 9.99695100e-01 2.42833893e-02 -4.47473774e-03 7.95241919e+02] [-2.42837028e-02 9.99705107e-01 -1.57413670e-05 3.56064999e+00] [ 4.47303591e-03 1.24399769e-04 9.99989988e-01 3.15114865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.679254154 meters 0.05301596784177125 Centerline is valid? [True, True] Translation: X:795.30, Y:3.55, Z:3.15 [[ 9.99792097e-01 1.99381242e-02 -4.27012877e-03 7.95302759e+02] [-1.99383699e-02 9.99801211e-01 -1.49656440e-05 3.55046931e+00] [ 4.26898153e-03 1.00101939e-04 9.99990883e-01 3.15097503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.739254154 meters 0.052272854621898644 Centerline is valid? [True, True] Translation: X:795.36, Y:3.54, Z:3.15 [[ 9.99878574e-01 1.51298390e-02 -3.73176854e-03 7.95363299e+02] [-1.51299931e-02 9.99885535e-01 -1.30737253e-05 3.54374065e+00] [ 3.73114358e-03 6.95337701e-05 9.99993037e-01 3.15096447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.799254154 meters 0.05273121314911735 Centerline is valid? [True, True] Translation: X:795.42, Y:3.54, Z:3.15 [[ 9.99942741e-01 9.91602640e-03 -4.02332472e-03 7.95422644e+02] [-9.91616321e-03 9.99950834e-01 -1.40562123e-05 3.54070335e+00] [ 4.02298753e-03 5.39513520e-05 9.99991906e-01 3.15081807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters 0.05335086118598905 Centerline is valid? [True, True] Translation: X:795.48, Y:3.54, Z:3.15 [[ 9.99967431e-01 6.86450469e-03 -4.24443142e-03 7.95484569e+02] [-6.86462890e-03 9.99976438e-01 -1.46972830e-05 3.53694751e+00] [ 4.24423052e-03 4.38332509e-05 9.99990992e-01 3.15059026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.919254154 meters 0.051460352417277366 Centerline is valid? [True, True] Translation: X:795.55, Y:3.54, Z:3.15 [[ 9.99976795e-01 5.52406858e-03 -3.98670594e-03 7.95545966e+02] [-5.52416718e-03 9.99984742e-01 -1.37218665e-05 3.53729851e+00] [ 3.98656931e-03 3.57447782e-05 9.99992053e-01 3.15091537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters 0.052932292133211344 Centerline is valid? [True, True] Translation: X:795.61, Y:3.54, Z:3.15 [[ 9.99961039e-01 7.89591270e-03 -3.94644611e-03 7.95606848e+02] [-7.89602756e-03 9.99968826e-01 -1.35251814e-05 3.53987810e+00] [ 3.94621629e-03 4.46859017e-05 9.99992213e-01 3.15074908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.039254154 meters 0.05286828223007371 Centerline is valid? [True, True] Translation: X:795.67, Y:3.55, Z:3.15 [[ 9.99892253e-01 1.39633405e-02 -4.52858693e-03 7.95667050e+02] [-1.39635539e-02 9.99902505e-01 -1.55098470e-05 3.54849785e+00] [ 4.52792885e-03 7.87433435e-05 9.99989746e-01 3.14962314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters 0.05293582923504305 Centerline is valid? [True, True] Translation: X:795.73, Y:3.55, Z:3.15 [[ 9.99757798e-01 2.09332741e-02 -6.79284060e-03 7.95728375e+02] [-2.09339142e-02 9.99780861e-01 -2.31277402e-05 3.55421129e+00] [ 6.79086789e-03 1.65322881e-04 9.99976928e-01 3.14802611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.159254154 meters 0.0523705476910095 Centerline is valid? [True, True] Translation: X:795.79, Y:3.55, Z:3.15 [[ 9.99709852e-01 2.25431714e-02 -8.48631737e-03 7.95790817e+02] [-2.25442264e-02 9.99745846e-01 -2.86626706e-05 3.55092294e+00] [ 8.48351440e-03 2.19971814e-04 9.99963990e-01 3.14739615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters 0.05280086765672211 Centerline is valid? [True, True] Translation: X:795.85, Y:3.55, Z:3.15 [[ 9.99718539e-01 2.24969067e-02 -7.53209727e-03 7.95852132e+02] [-2.24977327e-02 9.99746894e-01 -2.49407181e-05 3.55374457e+00] [ 7.52962976e-03 1.94388809e-04 9.99971633e-01 3.14806039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.279254154 meters 0.05320312920458376 Centerline is valid? [True, True] Translation: X:795.91, Y:3.56, Z:3.15 [[ 9.99730720e-01 2.22043133e-02 -6.74210765e-03 7.95913754e+02] [-2.22049640e-02 9.99753439e-01 -2.16681097e-05 3.55804546e+00] [ 6.73996418e-03 1.71370533e-04 9.99977271e-01 3.14879620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.339254154 meters 0.05227937124493939 Centerline is valid? [True, True] Translation: X:795.98, Y:3.55, Z:3.15 [[ 9.99766468e-01 2.11097498e-02 -4.62481839e-03 7.95975827e+02] [-2.11100429e-02 9.99777158e-01 -1.45477868e-05 3.55462885e+00] [ 4.62348068e-03 1.12174504e-04 9.99989305e-01 3.15081553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.399254154 meters 0.05255160955593952 Centerline is valid? [True, True] Translation: X:796.04, Y:3.56, Z:3.15 [[ 9.99768050e-01 2.11078881e-02 -4.27829169e-03 7.96037891e+02] [-2.11081380e-02 9.99777198e-01 -1.32810708e-05 3.55537081e+00] [ 4.27705814e-03 1.03584762e-04 9.99990848e-01 3.15066375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.459254154 meters 0.054691097343713996 Centerline is valid? [True, True] Translation: X:796.10, Y:3.56, Z:3.15 [[ 9.99740924e-01 2.22541818e-02 -4.77875152e-03 7.96098937e+02] [-2.22545041e-02 9.99752338e-01 -1.42879729e-05 3.56211300e+00] [ 4.77725004e-03 1.20633017e-04 9.99988582e-01 3.15011986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.519254154 meters 0.054505978258716704 Centerline is valid? [True, True] Translation: X:796.16, Y:3.57, Z:3.15 [[ 9.99667447e-01 2.51301856e-02 -5.78520566e-03 7.96159489e+02] [-2.51307046e-02 9.99684174e-01 -1.70281910e-05 3.56607152e+00] [ 5.78295062e-03 1.62408823e-04 9.99983265e-01 3.14923085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.579254154 meters 0.05431783202276928 Centerline is valid? [True, True] Translation: X:796.22, Y:3.57, Z:3.15 [[ 9.99592619e-01 2.78480018e-02 -6.25173578e-03 7.96220602e+02] [-2.78486607e-02 9.99612151e-01 -1.83533853e-05 3.56904833e+00] [ 6.24879994e-03 1.92448377e-04 9.99980458e-01 3.14927177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.639254154 meters 0.05494048242323955 Centerline is valid? [True, True] Translation: X:796.28, Y:3.57, Z:3.15 [[ 9.99524379e-01 2.99488978e-02 -7.35384574e-03 7.96282134e+02] [-2.99498657e-02 9.99551402e-01 -2.15056051e-05 3.57343929e+00] [ 7.34990275e-03 2.41742069e-04 9.99972960e-01 3.14785209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.699254154 meters 0.054738747818316606 Centerline is valid? [True, True] Translation: X:796.34, Y:3.57, Z:3.15 [[ 9.99497440e-01 3.07869414e-02 -7.55188911e-03 7.96343711e+02] [-3.07879830e-02 9.99525937e-01 -2.16854320e-05 3.57492668e+00] [ 7.54764142e-03 2.54181968e-04 9.99971484e-01 3.14762283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.759254154 meters 0.053621656198782466 Centerline is valid? [True, True] Translation: X:796.40, Y:3.57, Z:3.15 [[ 9.99421581e-01 3.32102162e-02 -7.32018175e-03 7.96404419e+02] [-3.32112570e-02 9.99448354e-01 -2.06342286e-05 3.56975404e+00] [ 7.31545833e-03 2.63734731e-04 9.99973207e-01 3.14931747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.819254154 meters 0.05227455209046233 Centerline is valid? [True, True] Translation: X:796.47, Y:3.57, Z:3.15 [[ 9.99381823e-01 3.44345578e-02 -7.08756146e-03 7.96466623e+02] [-3.44355634e-02 9.99406920e-01 -1.98552928e-05 3.56929311e+00] [ 7.08267426e-03 2.63907191e-04 9.99974883e-01 3.14976698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.879254154 meters 0.053634566189126556 Centerline is valid? [True, True] Translation: X:796.53, Y:3.58, Z:3.15 [[ 9.99314774e-01 3.64537206e-02 -6.41168391e-03 7.96526344e+02] [-3.64545843e-02 9.99335311e-01 -1.78540735e-05 3.57880405e+00] [ 6.40677129e-03 2.51577111e-04 9.99979445e-01 3.15021654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.939254154 meters 0.05176496931691472 Centerline is valid? [True, True] Translation: X:796.59, Y:3.57, Z:3.15 [[ 9.99227640e-01 3.89061158e-02 -5.51709956e-03 7.96587181e+02] [-3.89067925e-02 9.99242844e-01 -1.53379501e-05 3.56841265e+00] [ 5.51232551e-03 2.29978752e-04 9.99984781e-01 3.15176583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.999254154 meters 0.051243069087937264 Centerline is valid? [True, True] Translation: X:796.65, Y:3.58, Z:3.15 [[ 9.99045033e-01 4.33931918e-02 -5.10419718e-03 7.96647079e+02] [-4.33938289e-02 9.99058044e-01 -1.40960701e-05 3.57558410e+00] [ 5.09877758e-03 2.35573268e-04 9.99986973e-01 3.15177022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.059254154 meters 0.052595252900187225 Centerline is valid? [True, True] Translation: X:796.71, Y:3.59, Z:3.15 [[ 9.98941882e-01 4.56916699e-02 -5.23334260e-03 7.96707054e+02] [-4.56923705e-02 9.98955558e-01 -1.43355997e-05 3.58810781e+00] [ 5.22722166e-03 2.53444260e-04 9.99986306e-01 3.15161453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.119254154 meters 0.054354531528890755 Centerline is valid? [True, True] Translation: X:796.77, Y:3.60, Z:3.15 [[ 9.98848220e-01 4.76797532e-02 -5.37354419e-03 7.96766869e+02] [-4.76805207e-02 9.98862637e-01 -1.47517102e-05 3.59810760e+00] [ 5.36672916e-03 2.70948105e-04 9.99985562e-01 3.15143205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.179254154 meters 0.0537096264496116 Centerline is valid? [True, True] Translation: X:796.83, Y:3.60, Z:3.15 [[ 9.98699091e-01 5.06439776e-02 -5.94255849e-03 7.96828356e+02] [-5.06449687e-02 9.98716720e-01 -1.63126560e-05 3.59998967e+00] [ 5.93410639e-03 3.17252123e-04 9.99982343e-01 3.15182432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.239254154 meters 0.05468984607993395 Centerline is valid? [True, True] Translation: X:796.89, Y:3.61, Z:3.15 [[ 9.98627396e-01 5.19464284e-02 -6.70019742e-03 7.96888063e+02] [-5.19477172e-02 9.98649806e-01 -1.83411521e-05 3.60924845e+00] [ 6.69019810e-03 3.66375938e-04 9.99977553e-01 3.15106559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.299254154 meters 0.05689673096262056 Centerline is valid? [True, True] Translation: X:796.95, Y:3.62, Z:3.15 [[ 9.98593084e-01 5.25247360e-02 -7.28046013e-03 7.96949980e+02] [-5.25262723e-02 9.98619542e-01 -1.98344997e-05 3.62072672e+00] [ 7.26936796e-03 4.02222025e-04 9.99973497e-01 3.15036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters 0.055845265661847554 Centerline is valid? [True, True] Translation: X:797.01, Y:3.62, Z:3.15 [[ 9.98616027e-01 5.20304534e-02 -7.67226184e-03 7.97011916e+02] [-5.20321412e-02 9.98645411e-01 -2.04108760e-05 3.62019946e+00] [ 7.66080708e-03 4.19586839e-04 9.99970568e-01 3.15090305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.419254154 meters 0.05505582575714223 Centerline is valid? [True, True] Translation: X:797.07, Y:3.62, Z:3.15 [[ 9.98795389e-01 4.85752564e-02 -6.94377864e-03 7.97072482e+02] [-4.85765532e-02 9.98819462e-01 -1.81184455e-05 3.61936502e+00] [ 6.93470113e-03 3.55401452e-04 9.99975891e-01 3.15110780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters 0.05719580756636246 Centerline is valid? [True, True] Translation: X:797.13, Y:3.63, Z:3.15 [[ 9.98997735e-01 4.43205213e-02 -6.26236848e-03 7.97132054e+02] [-4.43214927e-02 9.99017320e-01 -1.63520095e-05 3.63294099e+00] [ 6.25548985e-03 2.93893139e-04 9.99980391e-01 3.15069477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.539254154 meters 0.05588987153923427 Centerline is valid? [True, True] Translation: X:797.19, Y:3.63, Z:3.15 [[ 9.99098341e-01 4.20414300e-02 -5.91806431e-03 7.97192878e+02] [-4.20422577e-02 9.99115833e-01 -1.54623824e-05 3.63010933e+00] [ 5.91218170e-03 2.64257225e-04 9.99982488e-01 3.15135597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters 0.05630245385845822 Centerline is valid? [True, True] Translation: X:797.25, Y:3.64, Z:3.15 [[ 9.99236934e-01 3.86276053e-02 -5.78423150e-03 7.97253287e+02] [-3.86283387e-02 9.99253647e-01 -1.50907898e-05 3.63512507e+00] [ 5.77933150e-03 2.38514528e-04 9.99983271e-01 3.15062768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.659254154 meters 0.05773192194263811 Centerline is valid? [True, True] Translation: X:797.31, Y:3.64, Z:3.15 [[ 9.99322051e-01 3.63519426e-02 -5.82872210e-03 7.97314157e+02] [-3.63526484e-02 9.99339024e-01 -1.51659624e-05 3.64279789e+00] [ 5.82431814e-03 2.27045166e-04 9.99983013e-01 3.15046103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters 0.05627270363315112 Centerline is valid? [True, True] Translation: X:797.37, Y:3.64, Z:3.15 [[ 9.99394424e-01 3.42102429e-02 -6.35958244e-03 7.97374464e+02] [-3.42110396e-02 9.99414631e-01 -1.65158154e-05 3.64109497e+00] [ 6.35529473e-03 2.34073741e-04 9.99979777e-01 3.14989424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.779254154 meters 0.056597005660484236 Centerline is valid? [True, True] Translation: X:797.44, Y:3.64, Z:3.15 [[ 9.99366871e-01 3.49162161e-02 -6.83490810e-03 7.97436028e+02] [-3.49171510e-02 9.99390210e-01 -1.74730443e-05 3.64462634e+00] [ 6.83013015e-03 2.56117500e-04 9.99976642e-01 3.14956002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.839254154 meters 0.05559631358149172 Centerline is valid? [True, True] Translation: X:797.50, Y:3.64, Z:3.15 [[ 9.99364208e-01 3.49699495e-02 -6.94863237e-03 7.97499191e+02] [-3.49709118e-02 9.99388330e-01 -1.70101831e-05 3.64250273e+00] [ 6.94378726e-03 2.59999378e-04 9.99975858e-01 3.14929643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.899254154 meters 0.056778894847809645 Centerline is valid? [True, True] Translation: X:797.56, Y:3.65, Z:3.15 [[ 9.99330723e-01 3.58973131e-02 -7.03477656e-03 7.97559721e+02] [-3.58983187e-02 9.99355448e-01 -1.66830746e-05 3.65219635e+00] [ 7.02964340e-03 2.69208560e-04 9.99975255e-01 3.14895182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.959254154 meters 0.05894787275938291 Centerline is valid? [True, True] Translation: X:797.62, Y:3.66, Z:3.15 [[ 9.99301043e-01 3.68019749e-02 -6.56045233e-03 7.97622096e+02] [-3.68028668e-02 9.99322545e-01 -1.52320752e-05 3.66092759e+00] [ 6.55544734e-03 2.56664882e-04 9.99978480e-01 3.14857130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.019254154 meters 0.05731644829102501 Centerline is valid? [True, True] Translation: X:797.68, Y:3.66, Z:3.15 [[ 9.99266022e-01 3.78113029e-02 -6.14187311e-03 7.97684298e+02] [-3.78121009e-02 9.99284867e-01 -1.38147871e-05 3.65778543e+00] [ 6.13695850e-03 2.46041773e-04 9.99981138e-01 3.14931074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.079254154 meters 0.05728651434872983 Centerline is valid? [True, True] Translation: X:797.74, Y:3.66, Z:3.15 [[ 9.99184011e-01 3.99473022e-02 -5.96025572e-03 7.97744857e+02] [-3.99480908e-02 9.99201756e-01 -1.32784614e-05 3.66042437e+00] [ 5.95496755e-03 2.51368463e-04 9.99982237e-01 3.14912273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.139254154 meters 0.057805347011421815 Centerline is valid? [True, True] Translation: X:797.81, Y:3.66, Z:3.15 [[ 9.99104816e-01 4.19237045e-02 -5.65415967e-03 7.97805659e+02] [-4.19244456e-02 9.99120784e-01 -1.25563186e-05 3.66114914e+00] [ 5.64866203e-03 2.49592588e-04 9.99984015e-01 3.14891841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.199254154 meters 0.05724226596207519 Centerline is valid? [True, True] Translation: X:797.87, Y:3.66, Z:3.15 [[ 9.99090987e-01 4.22786465e-02 -5.45129222e-03 7.97867797e+02] [-4.22793396e-02 9.99105829e-01 -1.19228273e-05 3.66229008e+00] [ 5.44591375e-03 2.42389024e-04 9.99985142e-01 3.14865364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.259254154 meters 0.05723898395385876 Centerline is valid? [True, True] Translation: X:797.93, Y:3.66, Z:3.15 [[ 9.99072278e-01 4.27645505e-02 -5.07704145e-03 7.97930084e+02] [-4.27651555e-02 9.99085152e-01 -1.06105080e-05 3.66299817e+00] [ 5.07194297e-03 2.27721131e-04 9.99987112e-01 3.14864117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.319254154 meters 0.054798478991883684 Centerline is valid? [True, True] Translation: X:797.99, Y:3.65, Z:3.15 [[ 9.99081234e-01 4.25876101e-02 -4.79411903e-03 7.97991849e+02] [-4.25881453e-02 9.99092713e-01 -9.54492443e-06 3.65260640e+00] [ 4.78936289e-03 2.13708793e-04 9.99988508e-01 3.14943051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.379254154 meters 0.0580269920397141 Centerline is valid? [True, True] Translation: X:798.05, Y:3.66, Z:3.15 [[ 9.99129235e-01 4.14762089e-02 -4.52723364e-03 7.98052168e+02] [-4.14766729e-02 9.99139473e-01 -8.60762599e-06 3.66472884e+00] [ 4.52298082e-03 1.96374719e-04 9.99989752e-01 3.14898119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.439254154 meters 0.054216553913440456 Centerline is valid? [True, True] Translation: X:798.11, Y:3.65, Z:3.15 [[ 9.99186528e-01 4.00689039e-02 -4.55684331e-03 7.98113500e+02] [-4.00693592e-02 9.99196901e-01 -8.62389160e-06 3.64683336e+00] [ 4.55283816e-03 1.91206668e-04 9.99989617e-01 3.14863903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.499254154 meters 0.05680601405370397 Centerline is valid? [True, True] Translation: X:798.17, Y:3.66, Z:3.15 [[ 9.99220562e-01 3.90945783e-02 -5.46650104e-03 7.98173640e+02] [-3.90952185e-02 9.99235490e-01 -1.02589051e-05 3.65847959e+00] [ 5.46192077e-03 2.23964961e-04 9.99985058e-01 3.14781113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.559254154 meters 0.05493545226208245 Centerline is valid? [True, True] Translation: X:798.24, Y:3.65, Z:3.15 [[ 9.99278683e-01 3.74449579e-02 -6.32370747e-03 7.98235378e+02] [-3.74457810e-02 9.99298661e-01 -1.17769942e-05 3.64833465e+00] [ 6.31883141e-03 2.48564664e-04 9.99980005e-01 3.14715345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.619254154 meters 0.05676298953986149 Centerline is valid? [True, True] Translation: X:798.30, Y:3.65, Z:3.15 [[ 9.99375771e-01 3.46599020e-02 -6.83810850e-03 7.98295199e+02] [-3.46607987e-02 9.99399134e-01 -1.26394423e-05 3.65039635e+00] [ 6.83356163e-03 2.49645855e-04 9.99976620e-01 3.14658492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.679254154 meters 0.05534483366706798 Centerline is valid? [True, True] Translation: X:798.36, Y:3.64, Z:3.15 [[ 9.99440794e-01 3.28144572e-02 -6.42736773e-03 7.98356374e+02] [-3.28152111e-02 9.99461436e-01 -1.18470738e-05 3.64315028e+00] [ 6.42351743e-03 2.22755878e-04 9.99979344e-01 3.14732776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.739254154 meters 0.05449097865909868 Centerline is valid? [True, True] Translation: X:798.42, Y:3.63, Z:3.15 [[ 9.99535986e-01 2.99910155e-02 -5.32472726e-03 7.98417325e+02] [-2.99914926e-02 9.99550154e-01 -9.75181246e-06 3.63276955e+00] [ 5.32203948e-03 1.69443806e-04 9.99985823e-01 3.14830185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.799254154 meters 0.054815904514371225 Centerline is valid? [True, True] Translation: X:798.48, Y:3.64, Z:3.15 [[ 9.99586692e-01 2.83185389e-02 -4.95036653e-03 7.98477730e+02] [-2.83189305e-02 9.99598939e-01 -9.02031598e-06 3.63509521e+00] [ 4.94812569e-03 1.49205674e-04 9.99987747e-01 3.14815209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters 0.05486116923779466 Centerline is valid? [True, True] Translation: X:798.54, Y:3.63, Z:3.15 [[ 9.99642766e-01 2.63935819e-02 -4.20944439e-03 7.98539634e+02] [-2.63938479e-02 9.99651622e-01 -7.63811815e-06 3.62554803e+00] [ 4.20777631e-03 1.18738825e-04 9.99991140e-01 3.14843056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.919254154 meters 0.054829543981440895 Centerline is valid? [True, True] Translation: X:798.60, Y:3.62, Z:3.15 [[ 9.99647289e-01 2.63492055e-02 -3.31930011e-03 7.98601251e+02] [-2.63493706e-02 9.99652795e-01 -6.01324362e-06 3.62098620e+00] [ 3.31798919e-03 9.34725914e-05 9.99994491e-01 3.14914751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters 0.0543799270189236 Centerline is valid? [True, True] Translation: X:798.66, Y:3.61, Z:3.15 [[ 9.99638364e-01 2.66982487e-02 -3.21638473e-03 7.98663372e+02] [-2.66984045e-02 9.99643534e-01 -5.52666143e-06 3.61459379e+00] [ 3.21509064e-03 9.13970034e-05 9.99994827e-01 3.14901666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.039254154 meters 0.0537934809935936 Centerline is valid? [True, True] Translation: X:798.72, Y:3.61, Z:3.15 [[ 9.99611495e-01 2.75869736e-02 -3.97715250e-03 7.98724672e+02] [-2.75872169e-02 9.99619400e-01 -6.31298809e-06 3.61233907e+00] [ 3.97546464e-03 1.16029104e-04 9.99992091e-01 3.14709611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters 0.05271157974570225 Centerline is valid? [True, True] Translation: X:798.79, Y:3.60, Z:3.15 [[ 9.99608734e-01 2.77157087e-02 -3.77063917e-03 7.98788027e+02] [-2.77159269e-02 9.99615840e-01 -5.63984723e-06 3.60333836e+00] [ 3.76903433e-03 1.10144400e-04 9.99992891e-01 3.14552215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.159254154 meters 0.052707243266161226 Centerline is valid? [True, True] Translation: X:798.85, Y:3.60, Z:3.15 [[ 9.99632240e-01 2.67300954e-02 -4.57016454e-03 7.98850194e+02] [-2.67304028e-02 9.99642679e-01 -6.18758398e-06 3.59854204e+00] [ 4.56836613e-03 1.28347647e-04 9.99989557e-01 3.14530507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters 0.05274251388927349 Centerline is valid? [True, True] Translation: X:798.91, Y:3.59, Z:3.14 [[ 9.99719170e-01 2.32926220e-02 -4.36300534e-03 7.98910004e+02] [-2.32928677e-02 9.99728684e-01 -5.50638320e-06 3.59232169e+00] [ 4.36169333e-03 1.07131743e-04 9.99990482e-01 3.14481567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.279254154 meters 0.051144897323004715 Centerline is valid? [True, True] Translation: X:798.97, Y:3.58, Z:3.15 [[ 9.99824213e-01 1.83581436e-02 -3.81061210e-03 7.98970531e+02] [-1.83582952e-02 9.99831472e-01 -4.80996842e-06 3.57937158e+00] [ 3.80988161e-03 7.47654649e-05 9.99992740e-01 3.14533177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.339254154 meters 0.05148418608976851 Centerline is valid? [True, True] Translation: X:799.03, Y:3.57, Z:3.15 [[ 9.99883342e-01 1.47881454e-02 -3.82267003e-03 7.99031721e+02] [-1.47882718e-02 9.99890648e-01 -4.80621214e-06 3.57326039e+00] [ 3.82218094e-03 6.13363349e-05 9.99992694e-01 3.14502774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.399254154 meters 0.05129875474176843 Centerline is valid? [True, True] Translation: X:799.09, Y:3.57, Z:3.14 [[ 9.99939842e-01 1.02073787e-02 -4.01515413e-03 7.99092652e+02] [-1.02074808e-02 9.99947902e-01 -4.94545738e-06 3.56926063e+00] [ 4.01489447e-03 4.59297687e-05 9.99991939e-01 3.14465231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.459254154 meters 0.05113417959937467 Centerline is valid? [True, True] Translation: X:799.15, Y:3.57, Z:3.14 [[ 9.99955786e-01 8.38581191e-03 -4.25497238e-03 7.99153581e+02] [-8.38590969e-03 9.99964838e-01 -5.14100788e-06 3.56777418e+00] [ 4.25477965e-03 4.08225947e-05 9.99990948e-01 3.14453993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.519254154 meters 0.05069826416343183 Centerline is valid? [True, True] Translation: X:799.21, Y:3.56, Z:3.14 [[ 9.99964313e-01 7.14440622e-03 -4.50892267e-03 7.99214782e+02] [-7.14450147e-03 9.99974478e-01 -5.01707082e-06 3.56239517e+00] [ 4.50877174e-03 3.72308964e-05 9.99989835e-01 3.14479534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.579254154 meters 0.05078563430108578 Centerline is valid? [True, True] Translation: X:799.28, Y:3.56, Z:3.15 [[ 9.99940299e-01 1.02805596e-02 -3.70257070e-03 7.99275543e+02] [-1.02806452e-02 9.99947153e-01 -4.07212723e-06 3.56386923e+00] [ 3.70233316e-03 4.21366998e-05 9.99993145e-01 3.14540670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.639254154 meters 0.05051620259993893 Centerline is valid? [True, True] Translation: X:799.34, Y:3.56, Z:3.14 [[ 9.99892594e-01 1.39989796e-02 -4.33932278e-03 7.99336500e+02] [-1.39991319e-02 9.99902007e-01 -4.73391867e-06 3.56488690e+00] [ 4.33883129e-03 6.54801623e-05 9.99990585e-01 3.14498040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.699254154 meters 0.05051739266658993 Centerline is valid? [True, True] Translation: X:799.40, Y:3.56, Z:3.14 [[ 9.99858392e-01 1.61353805e-02 -4.77970458e-03 7.99398224e+02] [-1.61355895e-02 9.99869813e-01 -5.16007692e-06 3.56271859e+00] [ 4.77899907e-03 8.22826973e-05 9.99988577e-01 3.14496332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.759254154 meters 0.05114701816168261 Centerline is valid? [True, True] Translation: X:799.46, Y:3.56, Z:3.14 [[ 9.99801386e-01 1.91317064e-02 -5.58277573e-03 7.99459608e+02] [-1.91320375e-02 9.99816966e-01 -5.88753674e-06 3.56495722e+00] [ 5.58164125e-03 1.12696242e-04 9.99984416e-01 3.14445307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.819254154 meters 0.051355974155995826 Centerline is valid? [True, True] Translation: X:799.52, Y:3.58, Z:3.14 [[ 9.99722455e-01 2.24515694e-02 -7.13717852e-03 7.99519500e+02] [-2.24521944e-02 9.99747918e-01 -7.44474259e-06 3.57519942e+00] [ 7.13521222e-03 1.67687996e-04 9.99974530e-01 3.14413985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.879254154 meters 0.05166171127990948 Centerline is valid? [True, True] Translation: X:799.58, Y:3.58, Z:3.14 [[ 9.99661243e-01 2.47851850e-02 -7.94311569e-03 7.99580192e+02] [-2.47860320e-02 9.99692779e-01 -8.20122550e-06 3.57528937e+00] [ 7.94047213e-03 2.05076767e-04 9.99968453e-01 3.14477639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.939254154 meters 0.05124548365173358 Centerline is valid? [True, True] Translation: X:799.64, Y:3.57, Z:3.15 [[ 9.99594564e-01 2.71936177e-02 -8.43885828e-03 7.99640837e+02] [-2.71946585e-02 9.99630157e-01 -8.58893908e-06 3.57261740e+00] [ 8.43550366e-03 2.38077326e-04 9.99964392e-01 3.14570014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.999254154 meters 0.051894524558632804 Centerline is valid? [True, True] Translation: X:799.70, Y:3.58, Z:3.14 [[ 9.99565530e-01 2.81016797e-02 -8.89086515e-03 7.99701645e+02] [-2.81028681e-02 9.99605036e-01 -8.73141566e-06 3.58426864e+00] [ 8.88710821e-03 2.58586432e-04 9.99960475e-01 3.14442149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.059254154 meters 0.05100393309580801 Centerline is valid? [True, True] Translation: X:799.76, Y:3.57, Z:3.15 [[ 9.99564160e-01 2.80718634e-02 -9.13568468e-03 7.99764951e+02] [-2.80731087e-02 9.99605873e-01 -8.08098862e-06 3.57403746e+00] [ 9.13185720e-03 2.64544536e-04 9.99958269e-01 3.14626105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.119254154 meters 0.05130869688545571 Centerline is valid? [True, True] Translation: X:799.83, Y:3.58, Z:3.15 [[ 9.99571654e-01 2.77943374e-02 -9.16427868e-03 7.99826236e+02] [-2.77955713e-02 9.99613628e-01 -7.27551319e-06 3.57750267e+00] [ 9.16053564e-03 2.61998758e-04 9.99958007e-01 3.14631736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.179254154 meters 0.05206544137325737 Centerline is valid? [True, True] Translation: X:799.89, Y:3.58, Z:3.15 [[ 9.99617743e-01 2.61340614e-02 -9.02096759e-03 7.99886930e+02] [-2.61351865e-02 9.99658418e-01 -6.83765458e-06 3.58237490e+00] [ 9.01770749e-03 2.42599711e-04 9.99959310e-01 3.14658213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.239254154 meters 0.05148887477575566 Centerline is valid? [True, True] Translation: X:799.95, Y:3.58, Z:3.15 [[ 9.99704342e-01 2.28572357e-02 -8.29307615e-03 7.99947770e+02] [-2.28580731e-02 9.99738720e-01 -6.19633321e-06 3.57792068e+00] [ 8.29076771e-03 1.95758242e-04 9.99965612e-01 3.14791401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.299254154 meters 0.05126527959326505 Centerline is valid? [True, True] Translation: X:800.01, Y:3.58, Z:3.15 [[ 9.99748972e-01 2.11692708e-02 -7.33863710e-03 8.00009131e+02] [-2.11698805e-02 9.99775893e-01 -5.40441953e-06 3.57763260e+00] [ 7.33687805e-03 1.60761134e-04 9.99973072e-01 3.14801512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters 0.05112609027782428 Centerline is valid? [True, True] Translation: X:800.07, Y:3.58, Z:3.15 [[ 9.99741820e-01 2.15255627e-02 -7.27616920e-03 8.00072099e+02] [-2.15261681e-02 9.99768285e-01 -4.88758228e-06 3.57797587e+00] [ 7.27437800e-03 1.61514362e-04 9.99973528e-01 3.14771512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.419254154 meters 0.051113242022415226 Centerline is valid? [True, True] Translation: X:800.13, Y:3.58, Z:3.15 [[ 9.99715481e-01 2.24156400e-02 -8.15454722e-03 8.00134327e+02] [-2.24164219e-02 9.99748720e-01 -4.47950245e-06 3.57874384e+00] [ 8.15239774e-03 1.87273999e-04 9.99966751e-01 3.14704108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters 0.0501866868003452 Centerline is valid? [True, True] Translation: X:800.20, Y:3.57, Z:3.15 [[ 9.99649913e-01 2.52227841e-02 -7.99136625e-03 8.00195233e+02] [-2.52236210e-02 9.99681834e-01 -3.94049514e-06 3.57289858e+00] [ 7.98872428e-03 2.05510309e-04 9.99968068e-01 3.14870021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.539254154 meters 0.05227676630426386 Centerline is valid? [True, True] Translation: X:800.26, Y:3.59, Z:3.15 [[ 9.99569526e-01 2.84229689e-02 -7.27309525e-03 8.00255576e+02] [-2.84237463e-02 9.99595964e-01 -3.52984873e-06 3.58513725e+00] [ 7.27005633e-03 2.10256944e-04 9.99973551e-01 3.14741743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters 0.053306853889236415 Centerline is valid? [True, True] Translation: X:800.31, Y:3.59, Z:3.15 [[ 9.99445825e-01 3.24049774e-02 -7.61311501e-03 8.00314966e+02] [-3.24059446e-02 9.99474789e-01 -3.68432399e-06 3.59116511e+00] [ 7.60899713e-03 2.50392465e-04 9.99971020e-01 3.14712075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.659254154 meters 0.05159075140380859 Centerline is valid? [True, True] Translation: X:800.38, Y:3.59, Z:3.15 [[ 9.99380841e-01 3.41322426e-02 -8.53959877e-03 8.00376058e+02] [-3.41335224e-02 9.99417282e-01 -4.12552393e-06 3.58609991e+00] [ 8.53448177e-03 2.95609556e-04 9.99963537e-01 3.14755463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters 0.051865602033929765 Centerline is valid? [True, True] Translation: X:800.44, Y:3.59, Z:3.15 [[ 9.99322661e-01 3.56625290e-02 -9.07759134e-03 8.00437088e+02] [-3.56640376e-02 9.99363836e-01 -4.31448160e-06 3.58759117e+00] [ 9.07166264e-03 3.28055118e-04 9.99958798e-01 3.14738302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.779254154 meters 0.051832793280106294 Centerline is valid? [True, True] Translation: X:800.50, Y:3.60, Z:3.15 [[ 9.99261247e-01 3.75257515e-02 -8.29322949e-03 8.00497645e+02] [-3.75270742e-02 9.99295611e-01 -3.88105939e-06 3.59560800e+00] [ 8.28724219e-03 3.15098830e-04 9.99965611e-01 3.14701061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.839254154 meters 0.05274200026768377 Centerline is valid? [True, True] Translation: X:800.56, Y:3.60, Z:3.15 [[ 9.99165653e-01 3.99217384e-02 -8.61697769e-03 8.00558870e+02] [-3.99232548e-02 9.99202749e-01 -3.96819209e-06 3.59921332e+00] [ 8.60994938e-03 3.47982678e-04 9.99962873e-01 3.14667298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.899254154 meters 0.051138123414649996 Centerline is valid? [True, True] Translation: X:800.62, Y:3.60, Z:3.15 [[ 9.99109203e-01 4.12524835e-02 -8.89004716e-03 8.00620133e+02] [-4.12541492e-02 9.99148685e-01 -3.99059812e-06 3.59681615e+00] [ 8.88231431e-03 3.70738375e-04 9.99960483e-01 3.14763985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.959254154 meters 0.053555954698988356 Centerline is valid? [True, True] Translation: X:800.68, Y:3.61, Z:3.15 [[ 9.99107944e-01 4.13578653e-02 -8.53481788e-03 8.00681724e+02] [-4.13593995e-02 9.99144334e-01 -3.26560634e-06 3.60509462e+00] [ 8.52737987e-03 3.56257636e-04 9.99963578e-01 3.14702071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.019254154 meters 0.05253153266235436 Centerline is valid? [True, True] Translation: X:800.74, Y:3.60, Z:3.15 [[ 9.99118445e-01 4.12730520e-02 -7.67254617e-03 8.00743957e+02] [-4.12742835e-02 9.99147854e-01 -2.15840559e-06 3.60196223e+00] [ 7.66591895e-03 3.18835348e-04 9.99970566e-01 3.14840544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.079254154 meters 0.05103462802146706 Centerline is valid? [True, True] Translation: X:800.81, Y:3.60, Z:3.15 [[ 9.99123728e-01 4.12084699e-02 -7.32376700e-03 8.00806302e+02] [-4.12095847e-02 9.99150524e-01 -1.30736518e-06 3.59640594e+00] [ 7.31749177e-03 3.03115616e-04 9.99973181e-01 3.14931468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.139254154 meters 0.051873801457612646 Centerline is valid? [True, True] Translation: X:800.87, Y:3.60, Z:3.15 [[ 9.99124655e-01 4.11244804e-02 -7.66162540e-03 8.00868210e+02] [-4.11256935e-02 9.99153981e-01 -7.77728774e-07 3.60134214e+00] [ 7.65511154e-03 3.15866706e-04 9.99970649e-01 3.14917254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.199254154 meters 0.05174618084298791 Centerline is valid? [True, True] Translation: X:800.93, Y:3.60, Z:3.15 [[ 9.99136121e-01 4.08432733e-02 -7.67068938e-03 8.00930576e+02] [-4.08444766e-02 9.99165516e-01 -2.15782821e-07 3.60296420e+00] [ 7.66427950e-03 3.13520889e-04 9.99970580e-01 3.14953813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.259254154 meters 0.053063152890280844 Centerline is valid? [True, True] Translation: X:800.99, Y:3.61, Z:3.15 [[ 9.99138460e-01 4.08446829e-02 -7.35184143e-03 8.00991663e+02] [-4.08457827e-02 9.99165463e-01 5.51288253e-07 3.61170980e+00] [ 7.34572856e-03 2.99740904e-04 9.99972975e-01 3.14904855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.319254154 meters 0.05402118022353425 Centerline is valid? [True, True] Translation: X:801.05, Y:3.62, Z:3.15 [[ 9.99183714e-01 3.96299229e-02 -7.83425752e-03 8.01052297e+02] [-3.96311308e-02 9.99214378e-01 1.06807061e-06 3.61731947e+00] [ 7.82814508e-03 3.09413286e-04 9.99969312e-01 3.14812902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.379254154 meters 0.05129547783361375 Centerline is valid? [True, True] Translation: X:801.11, Y:3.61, Z:3.15 [[ 9.99200469e-01 3.89901551e-02 -8.84253731e-03 8.01114974e+02] [-3.89916666e-02 9.99239536e-01 1.46510333e-06 3.60716846e+00] [ 8.83587001e-03 3.43321335e-04 9.99960904e-01 3.14908058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.439254154 meters 0.05430469227854163 Centerline is valid? [True, True] Translation: X:801.18, Y:3.62, Z:3.15 [[ 9.99172026e-01 3.96102491e-02 -9.28931534e-03 8.01175751e+02] [-3.96119373e-02 9.99215139e-01 2.25287625e-06 3.62330579e+00] [ 9.28211376e-03 3.65716766e-04 9.99956853e-01 3.14748360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.499254154 meters 0.05339502421172315 Centerline is valid? [True, True] Translation: X:801.24, Y:3.62, Z:3.15 [[ 9.99125052e-01 4.06157066e-02 -9.97466506e-03 8.01237802e+02] [-4.06176965e-02 9.99174761e-01 3.08223532e-06 3.62264813e+00] [ 9.96655876e-03 4.02068380e-04 9.99950252e-01 3.14775653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.559254154 meters 0.05454849741916228 Centerline is valid? [True, True] Translation: X:801.30, Y:3.63, Z:3.15 [[ 9.99150199e-01 4.00651327e-02 -9.67811779e-03 8.01299085e+02] [-4.00669734e-02 9.99196996e-01 3.69733163e-06 3.62860909e+00] [ 9.67049436e-03 3.84078699e-04 9.99953166e-01 3.14768458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.619254154 meters 0.052413472628111094 Centerline is valid? [True, True] Translation: X:801.36, Y:3.62, Z:3.15 [[ 9.99201757e-01 3.88355704e-02 -9.36197942e-03 8.01361053e+02] [-3.88372338e-02 9.99245550e-01 4.13185303e-06 3.62257815e+00] [ 9.35507674e-03 3.59464829e-04 9.99956176e-01 3.14952613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.679254154 meters 0.05368109904001302 Centerline is valid? [True, True] Translation: X:801.42, Y:3.63, Z:3.15 [[ 9.99280393e-01 3.68491002e-02 -8.99106763e-03 8.01421181e+02] [-3.68505530e-02 9.99320788e-01 4.09481757e-06 3.62954474e+00] [ 8.98511168e-03 3.27233943e-04 9.99959580e-01 3.14891419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.739254154 meters 0.05287303581390664 Centerline is valid? [True, True] Translation: X:801.48, Y:3.63, Z:3.15 [[ 9.99307014e-01 3.59650253e-02 -9.59208641e-03 8.01483850e+02] [-3.59666347e-02 9.99352991e-01 4.72225443e-06 3.62533254e+00] [ 9.58605008e-03 3.40276086e-04 9.99953995e-01 3.15035955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.799254154 meters 0.05341568566747751 Centerline is valid? [True, True] Translation: X:801.54, Y:3.63, Z:3.15 [[ 9.99337677e-01 3.51137704e-02 -9.55147371e-03 8.01544840e+02] [-3.51153194e-02 9.99383267e-01 5.52745747e-06 3.63175659e+00] [ 9.54577709e-03 3.29879254e-04 9.99954384e-01 3.14966654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters 0.053028687098420665 Centerline is valid? [True, True] Translation: X:801.61, Y:3.63, Z:3.15 [[ 9.99387973e-01 3.35051696e-02 -1.00540208e-02 8.01606786e+02] [-3.35067989e-02 9.99438490e-01 6.39083427e-06 3.63351260e+00] [ 1.00485894e-02 3.30491129e-04 9.99949457e-01 3.14947468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.919254154 meters 0.052905865346004034 Centerline is valid? [True, True] Translation: X:801.67, Y:3.63, Z:3.15 [[ 9.99488473e-01 3.03013816e-02 -1.02283566e-02 8.01667382e+02] [-3.03028989e-02 9.99540762e-01 6.64498722e-06 3.63117628e+00] [ 1.02238607e-02 3.03307267e-04 9.99947689e-01 3.14999954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters 0.05316267459627784 Centerline is valid? [True, True] Translation: X:801.73, Y:3.63, Z:3.15 [[ 9.99559587e-01 2.80310044e-02 -9.74137785e-03 8.01728272e+02] [-2.80322717e-02 9.99607019e-01 6.45392122e-06 3.63182514e+00] [ 9.73773058e-03 2.66621871e-04 9.99952552e-01 3.15025137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.039254154 meters 0.05399961300505461 Centerline is valid? [True, True] Translation: X:801.79, Y:3.64, Z:3.15 [[ 9.99626339e-01 2.56686819e-02 -9.39682912e-03 8.01789091e+02] [-2.56697553e-02 9.99670478e-01 6.37705193e-06 3.63618784e+00] [ 9.39389634e-03 2.34839635e-04 9.99955849e-01 3.14949920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters 0.05340839749427163 Centerline is valid? [True, True] Translation: X:801.85, Y:3.63, Z:3.15 [[ 9.99692938e-01 2.28936655e-02 -9.48206084e-03 8.01850365e+02] [-2.28946324e-02 9.99737884e-01 6.58553014e-06 3.63413664e+00] [ 9.47972620e-03 2.10504789e-04 9.99955044e-01 3.14936895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.159254154 meters 0.054164616421625386 Centerline is valid? [True, True] Translation: X:801.91, Y:3.63, Z:3.15 [[ 9.99720449e-01 2.17607745e-02 -9.24622085e-03 8.01911138e+02] [-2.17616418e-02 9.99763187e-01 6.81011852e-06 3.63482345e+00] [ 9.24417942e-03 1.94404731e-04 9.99957253e-01 3.14932498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters 0.053550486832530074 Centerline is valid? [True, True] Translation: X:801.97, Y:3.63, Z:3.15 [[ 9.99720108e-01 2.19004007e-02 -8.94861140e-03 8.01973927e+02] [-2.19012108e-02 9.99760140e-01 7.46889163e-06 3.63008037e+00] [ 8.94662856e-03 1.88518624e-04 9.99959960e-01 3.15008048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.279254154 meters 0.05415207917966347 Centerline is valid? [True, True] Translation: X:802.03, Y:3.64, Z:3.15 [[ 9.99659046e-01 2.44899923e-02 -9.05716026e-03 8.02034141e+02] [-2.44909234e-02 9.99700052e-01 8.11173698e-06 3.63516417e+00] [ 9.05464225e-03 2.13709247e-04 9.99958983e-01 3.14872612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.339254154 meters 0.05327065404869673 Centerline is valid? [True, True] Translation: X:802.09, Y:3.63, Z:3.15 [[ 9.99524247e-01 2.94550769e-02 -9.14758868e-03 8.02094636e+02] [-2.94562341e-02 9.99566071e-01 8.23257067e-06 3.62850062e+00] [ 9.14386176e-03 2.61224860e-04 9.99958160e-01 3.14974374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.399254154 meters 0.05435873419822971 Centerline is valid? [True, True] Translation: X:802.15, Y:3.64, Z:3.15 [[ 9.99373689e-01 3.38870708e-02 -1.01929644e-02 8.02154408e+02] [-3.38887376e-02 9.99425612e-01 9.20509844e-06 3.63868484e+00] [ 1.01874216e-02 3.36227361e-04 9.99948050e-01 3.14753346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.459254154 meters 0.05352516486878947 Centerline is valid? [True, True] Translation: X:802.22, Y:3.64, Z:3.15 [[ 9.99331640e-01 3.50179841e-02 -1.04887565e-02 8.02216179e+02] [-3.50198044e-02 9.99386619e-01 1.01248783e-05 3.63673161e+00] [ 1.04826774e-02 3.57196090e-04 9.99944991e-01 3.14759102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.519254154 meters 0.0544077148233153 Centerline is valid? [True, True] Translation: X:802.28, Y:3.64, Z:3.15 [[ 9.99356455e-01 3.41167970e-02 -1.10779480e-02 8.02278432e+02] [-3.41187648e-02 9.99417785e-01 1.13649545e-05 3.63532500e+00] [ 1.10718860e-02 3.66608261e-04 9.99938638e-01 3.14831806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.579254154 meters 0.052435090404954865 Centerline is valid? [True, True] Translation: X:802.34, Y:3.62, Z:3.15 [[ 9.99608806e-01 2.64134770e-02 -9.19577886e-03 8.02338836e+02] [-2.64145060e-02 9.99651076e-01 9.56395087e-06 3.62198210e+00] [ 9.19282285e-03 2.33341746e-04 9.99957718e-01 3.15069150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.639254154 meters 0.051568471438554885 Centerline is valid? [True, True] Translation: X:802.40, Y:3.61, Z:3.15 [[ 9.99731515e-01 2.16082768e-02 -8.36539001e-03 8.02398791e+02] [-2.16089604e-02 9.99766499e-01 8.67930234e-06 3.60953281e+00] [ 8.36362423e-03 1.72090409e-04 9.99965009e-01 3.15313024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.699254154 meters 0.051699745585573886 Centerline is valid? [True, True] Translation: X:802.46, Y:3.60, Z:3.15 [[ 9.99858662e-01 1.52600140e-02 -7.05606725e-03 8.02459523e+02] [-1.52603424e-02 9.99883554e-01 7.30166953e-06 3.60199598e+00] [ 7.05535703e-03 1.00377365e-04 9.99975106e-01 3.15413316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.759254154 meters 0.05143079328567081 Centerline is valid? [True, True] Translation: X:802.52, Y:3.60, Z:3.15 [[ 9.99898648e-01 1.24468348e-02 -6.91161389e-03 8.02520759e+02] [-1.24470822e-02 9.99922532e-01 7.22109784e-06 3.60294193e+00] [ 6.91116834e-03 7.88090600e-05 9.99976114e-01 3.15239465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.819254154 meters 0.05152792188373895 Centerline is valid? [True, True] Translation: X:802.58, Y:3.60, Z:3.15 [[ 9.99869571e-01 1.39627820e-02 -8.11679804e-03 8.02581285e+02] [-1.39631720e-02 9.99902510e-01 8.61846302e-06 3.60088265e+00] [ 8.11612707e-03 1.04718908e-04 9.99967058e-01 3.15111582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.879254154 meters 0.051951525291531644 Centerline is valid? [True, True] Translation: X:802.64, Y:3.60, Z:3.15 [[ 9.99825299e-01 1.65309844e-02 -8.72340691e-03 8.02642335e+02] [-1.65315317e-02 9.99863345e-01 9.36800448e-06 3.59848841e+00] [ 8.72236967e-03 1.34844910e-04 9.99961950e-01 3.15045503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.939254154 meters 0.05134295040157608 Centerline is valid? [True, True] Translation: X:802.70, Y:3.59, Z:3.15 [[ 9.99741699e-01 2.07054291e-02 -9.37121909e-03 8.02703064e+02] [-2.07062430e-02 9.99785603e-01 1.01728214e-05 3.59145829e+00] [ 9.36942056e-03 1.83872546e-04 9.99956089e-01 3.15186446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.999254154 meters 0.05241975779742993 Centerline is valid? [True, True] Translation: X:802.76, Y:3.60, Z:3.15 [[ 9.99679743e-01 2.41008579e-02 -7.71756342e-03 8.02763623e+02] [-2.41015106e-02 9.99709516e-01 8.43498382e-06 3.59598873e+00] [ 7.71552488e-03 1.77572654e-04 9.99970219e-01 3.15149573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.059254154 meters 0.052322649292507205 Centerline is valid? [True, True] Translation: X:802.83, Y:3.59, Z:3.15 [[ 9.99633790e-01 2.63144253e-02 -6.31167547e-03 8.02825871e+02] [-2.63149054e-02 9.99653703e-01 6.99482054e-06 3.59472322e+00] [ 6.30967382e-03 1.59098884e-04 9.99980081e-01 3.15284078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.119254154 meters 0.05278506230312455 Centerline is valid? [True, True] Translation: X:802.89, Y:3.59, Z:3.15 [[ 9.99546483e-01 2.92062161e-02 -7.33661996e-03 8.02886855e+02] [-2.92069411e-02 9.99573386e-01 8.32204878e-06 3.59465318e+00] [ 7.33373312e-03 2.05961953e-04 9.99973087e-01 3.15292144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.179254154 meters 0.050333596568628916 Centerline is valid? [True, True] Translation: X:802.95, Y:3.58, Z:3.15 [[ 9.99570302e-01 2.73366155e-02 -1.05792912e-02 8.02948700e+02] [-2.73380097e-02 9.99626247e-01 1.28320417e-05 3.57865872e+00] [ 1.05756880e-02 2.76390238e-04 9.99944038e-01 3.15232763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters 0.05067580948417136 Centerline is valid? [True, True] Translation: X:803.01, Y:3.58, Z:3.15 [[ 9.99642281e-01 2.38988669e-02 -1.20064639e-02 8.03008898e+02] [-2.39004088e-02 9.99714344e-01 1.50614322e-05 3.57787388e+00] [ 1.20033941e-02 2.71903350e-04 9.99927920e-01 3.15161602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.299254154 meters 0.05089760582714033 Centerline is valid? [True, True] Translation: X:803.07, Y:3.57, Z:3.15 [[ 9.99695558e-01 2.20116066e-02 -1.11480880e-02 8.03070295e+02] [-2.20128174e-02 9.99757689e-01 1.41003879e-05 3.57309096e+00] [ 1.11456971e-02 2.31304730e-04 9.99937858e-01 3.15339675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters 0.050663148252020875 Centerline is valid? [True, True] Translation: X:803.13, Y:3.58, Z:3.15 [[ 9.99779814e-01 1.91354767e-02 -8.61143426e-03 8.03130445e+02] [-1.91360901e-02 9.99816888e-01 1.11643290e-05 3.57822992e+00] [ 8.61007104e-03 1.53627311e-04 9.99962921e-01 3.15301798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.419254154 meters 0.05087616319586518 Centerline is valid? [True, True] Translation: X:803.19, Y:3.57, Z:3.16 [[ 9.99828700e-01 1.73166286e-02 -6.53484926e-03 8.03191580e+02] [-1.73169418e-02 9.99850051e-01 8.65483634e-06 3.57496627e+00] [ 6.53401923e-03 1.04510251e-04 9.99978648e-01 3.15501979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters 0.051338720897409394 Centerline is valid? [True, True] Translation: X:803.25, Y:3.58, Z:3.16 [[ 9.99815186e-01 1.81732529e-02 -6.27111546e-03 8.03252944e+02] [-1.81735564e-02 9.99834847e-01 8.59117609e-06 3.57714035e+00] [ 6.27023590e-03 1.05378882e-04 9.99980336e-01 3.15536498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.539254154 meters 0.05058051500539771 Centerline is valid? [True, True] Translation: X:803.31, Y:3.58, Z:3.16 [[ 9.99718200e-01 2.27761199e-02 -6.69101360e-03 8.03314097e+02] [-2.27765655e-02 9.99740580e-01 9.60001574e-06 3.57811527e+00] [ 6.68949647e-03 1.42800999e-04 9.99977615e-01 3.15505880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters 0.05021484600646997 Centerline is valid? [True, True] Translation: X:803.37, Y:3.58, Z:3.16 [[ 9.99592821e-01 2.75355061e-02 -7.48252430e-03 8.03374395e+02] [-2.75361963e-02 9.99620807e-01 1.07762270e-05 3.57555352e+00] [ 7.47998371e-03 1.95268419e-04 9.99972005e-01 3.15521876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.659254154 meters 0.05317341108237682 Centerline is valid? [True, True] Translation: X:803.43, Y:3.60, Z:3.15 [[ 9.99210963e-01 3.84205273e-02 -1.00655025e-02 8.03433549e+02] [-3.84223271e-02 9.99261590e-01 1.45733828e-05 3.59718610e+00] [ 1.00586299e-02 3.72178144e-04 9.99949341e-01 3.15282811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters 0.052801355287561615 Centerline is valid? [True, True] Translation: X:803.49, Y:3.60, Z:3.15 [[ 9.99021773e-01 4.30226179e-02 -1.02250175e-02 8.03494592e+02] [-4.30247150e-02 9.99074008e-01 1.48918642e-05 3.59656233e+00] [ 1.02161899e-02 4.25051166e-04 9.99947723e-01 3.15398214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.779254154 meters 0.057554554027178295 Centerline is valid? [True, True] Translation: X:803.55, Y:3.61, Z:3.15 [[ 9.98912965e-01 4.56036395e-02 -9.65381754e-03 8.03554826e+02] [-4.56056287e-02 9.98959522e-01 1.41025149e-05 3.61448467e+00] [ 9.64441608e-03 4.26181233e-04 9.99953401e-01 3.15241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.839254154 meters 0.053193229873736154 Centerline is valid? [True, True] Translation: X:803.62, Y:3.60, Z:3.15 [[ 9.98929950e-01 4.54228699e-02 -8.70155564e-03 8.03616741e+02] [-4.54244749e-02 9.98967776e-01 1.32060519e-05 3.60117308e+00] [ 8.69317354e-03 3.82071675e-04 9.99962141e-01 3.15486503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.899254154 meters 0.051786877873148715 Centerline is valid? [True, True] Translation: X:803.68, Y:3.60, Z:3.16 [[ 9.99031497e-01 4.31518245e-02 -8.60159327e-03 8.03677600e+02] [-4.31533050e-02 9.99068462e-01 1.34893452e-05 3.59668301e+00] [ 8.59416265e-03 3.57710897e-04 9.99963005e-01 3.15593314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.959254154 meters 0.051617298162691616 Centerline is valid? [True, True] Translation: X:803.74, Y:3.59, Z:3.16 [[ 9.99174609e-01 3.96836034e-02 -8.67822502e-03 8.03738589e+02] [-3.96849792e-02 9.99212241e-01 1.36761436e-05 3.59408839e+00] [ 8.67193138e-03 3.30730324e-04 9.99962343e-01 3.15630933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.019254154 meters 0.05217434928401772 Centerline is valid? [True, True] Translation: X:803.80, Y:3.59, Z:3.16 [[ 9.99384990e-01 3.39569575e-02 -8.75029509e-03 8.03798586e+02] [-3.39581364e-02 9.99423256e-01 1.38497959e-05 3.59299041e+00] [ 8.74571871e-03 2.83302436e-04 9.99961715e-01 3.15630593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.079254154 meters 0.05196937262626187 Centerline is valid? [True, True] Translation: X:803.86, Y:3.59, Z:3.16 [[ 9.99570577e-01 2.75339405e-02 -1.00272034e-02 8.03859486e+02] [-2.75351650e-02 9.99620835e-01 1.59384408e-05 3.58682219e+00] [ 1.00238403e-02 2.60169104e-04 9.99949726e-01 3.15670836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.139254154 meters 0.05121987355914715 Centerline is valid? [True, True] Translation: X:803.92, Y:3.58, Z:3.16 [[ 9.99674559e-01 2.32862469e-02 -1.04176304e-02 8.03920694e+02] [-2.32873372e-02 9.99728813e-01 1.66523534e-05 3.58043013e+00] [ 1.04151930e-02 2.25951937e-04 9.99945735e-01 3.15681682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.199254154 meters 0.05126088124307623 Centerline is valid? [True, True] Translation: X:803.98, Y:3.58, Z:3.16 [[ 9.99783494e-01 1.82271525e-02 -1.00367769e-02 8.03981759e+02] [-1.82279088e-02 9.99833858e-01 1.61286183e-05 3.57570754e+00] [ 1.00354033e-02 1.66824327e-04 9.99949630e-01 3.15712818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.259254154 meters 0.051843256514397994 Centerline is valid? [True, True] Translation: X:804.04, Y:3.58, Z:3.16 [[ 9.99779808e-01 1.89528046e-02 -9.00699350e-03 8.04043668e+02] [-1.89534381e-02 9.99820367e-01 1.50290702e-05 3.57726097e+00] [ 9.00566040e-03 1.55687733e-04 9.99959436e-01 3.15829488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.319254154 meters 0.052665027476941566 Centerline is valid? [True, True] Translation: X:804.10, Y:3.58, Z:3.16 [[ 9.99668826e-01 2.40340399e-02 -9.19800490e-03 8.04104680e+02] [-2.40349115e-02 9.99711120e-01 1.57798967e-05 3.58118947e+00] [ 9.19572703e-03 2.05298563e-04 9.99957697e-01 3.15928408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.379254154 meters 0.052519854653044824 Centerline is valid? [True, True] Translation: X:804.17, Y:3.58, Z:3.16 [[ 9.99480226e-01 3.03981462e-02 -1.07345176e-02 8.04165964e+02] [-3.03996992e-02 9.99537822e-01 1.85104939e-05 3.58432353e+00] [ 1.07301190e-02 3.07825232e-04 9.99942383e-01 3.15866890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.439254154 meters 0.0516718372392003 Centerline is valid? [True, True] Translation: X:804.23, Y:3.58, Z:3.16 [[ 9.99359131e-01 3.37730907e-02 -1.18619409e-02 8.04226078e+02] [-3.37752235e-02 9.99429454e-01 2.05358157e-05 3.58193283e+00] [ 1.18558667e-02 3.80117049e-04 9.99929644e-01 3.15996799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.499254154 meters 0.051015006975432355 Centerline is valid? [True, True] Translation: X:804.29, Y:3.58, Z:3.16 [[ 9.99246581e-01 3.66457373e-02 -1.27812479e-02 8.04286668e+02] [-3.66484477e-02 9.99328220e-01 2.21703659e-05 3.57952992e+00] [ 1.27734742e-02 4.46259235e-04 9.99918316e-01 3.16125334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.559254154 meters 0.051057407726975604 Centerline is valid? [True, True] Translation: X:804.35, Y:3.59, Z:3.16 [[ 9.99192443e-01 3.80180606e-02 -1.30034466e-02 8.04347628e+02] [-3.80209700e-02 9.99276941e-01 2.34903889e-05 3.58508925e+00] [ 1.29949374e-02 4.70932234e-04 9.99915451e-01 3.16066718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.619254154 meters 0.051776461797828514 Centerline is valid? [True, True] Translation: X:804.41, Y:3.59, Z:3.16 [[ 9.99203472e-01 3.79646910e-02 -1.22924486e-02 8.04409869e+02] [-3.79672712e-02 9.99278983e-01 2.34790667e-05 3.58618197e+00] [ 1.22844769e-02 4.43250367e-04 9.99924445e-01 3.16116055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.679254154 meters 0.05177945410739924 Centerline is valid? [True, True] Translation: X:804.47, Y:3.59, Z:3.16 [[ 9.99315893e-01 3.53039236e-02 -1.10172220e-02 8.04470417e+02] [-3.53058299e-02 9.99376555e-01 2.14752066e-05 3.58647125e+00] [ 1.10111115e-02 3.67511652e-04 9.99939308e-01 3.16191674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters 0.05280708676785338 Centerline is valid? [True, True] Translation: X:804.53, Y:3.59, Z:3.16 [[ 9.99499002e-01 3.01957860e-02 -9.48474830e-03 8.04530192e+02] [-3.01969684e-02 9.99543967e-01 1.85533048e-05 3.59360326e+00] [ 9.48098318e-03 2.67866635e-04 9.99955019e-01 3.16138087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.799254154 meters 0.052365383059443896 Centerline is valid? [True, True] Translation: X:804.59, Y:3.59, Z:3.16 [[ 9.99621872e-01 2.60424938e-02 -8.82623481e-03 8.04590448e+02] [-2.60433556e-02 9.99660814e-01 1.72991532e-05 3.58807538e+00] [ 8.82369159e-03 2.12572160e-04 9.99961048e-01 3.16273462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters 0.05231858060040943 Centerline is valid? [True, True] Translation: X:804.65, Y:3.59, Z:3.16 [[ 9.99768777e-01 1.96716046e-02 -8.68446465e-03 8.04650622e+02] [-1.96721986e-02 9.99806483e-01 1.70275337e-05 3.58519855e+00] [ 8.68311902e-03 1.53818917e-04 9.99962289e-01 3.16255374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.919254154 meters 0.05208098875618977 Centerline is valid? [True, True] Translation: X:804.71, Y:3.58, Z:3.16 [[ 9.99851128e-01 1.43475051e-02 -9.58495281e-03 8.04711156e+02] [-1.43479836e-02 9.99897062e-01 1.88353331e-05 3.58030374e+00] [ 9.58423640e-03 1.18692217e-04 9.99954063e-01 3.16153464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters 0.05195255949317608 Centerline is valid? [True, True] Translation: X:804.77, Y:3.58, Z:3.16 [[ 9.99883153e-01 1.13593532e-02 -1.02296308e-02 8.04772100e+02] [-1.13597407e-02 9.99935476e-01 2.02281979e-05 3.57753574e+00] [ 1.02292005e-02 9.59801182e-05 9.99947676e-01 3.16023211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.039254154 meters 0.051553169148900346 Centerline is valid? [True, True] Translation: X:804.83, Y:3.57, Z:3.16 [[ 9.99919948e-01 6.99639580e-03 -1.05426973e-02 8.04832193e+02] [-6.99656476e-03 9.99975524e-01 2.08571064e-05 3.57150186e+00] [ 1.05425852e-02 5.29072275e-05 9.99944424e-01 3.16076122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters 0.051872656227128805 Centerline is valid? [True, True] Translation: X:804.89, Y:3.57, Z:3.16 [[ 9.99942920e-01 3.83053205e-03 -9.97418262e-03 8.04891081e+02] [-3.83052747e-03 9.99992663e-01 1.95629648e-05 3.56770659e+00] [ 9.97418438e-03 1.86445324e-05 9.99950256e-01 3.16130041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.159254154 meters 0.05205158700731145 Centerline is valid? [True, True] Translation: X:804.95, Y:3.57, Z:3.16 [[ 9.99952419e-01 2.13612294e-03 -9.51821702e-03 8.04949774e+02] [-2.13604394e-03 9.99997719e-01 1.84656584e-05 3.56570375e+00] [ 9.51823475e-03 1.86655000e-06 9.99954701e-01 3.16364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters 0.05162913133404394 Centerline is valid? [True, True] Translation: X:805.01, Y:3.56, Z:3.16 [[ 9.99962380e-01 1.71837294e-03 -8.50208275e-03 8.05008799e+02] [-1.71829624e-03 9.99998524e-01 1.63262363e-05 3.56435226e+00] [ 8.50209826e-03 -1.71652521e-06 9.99963856e-01 3.16440887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.279254154 meters 0.05116647048445414 Centerline is valid? [True, True] Translation: X:805.07, Y:3.56, Z:3.16 [[ 9.99969154e-01 1.91677588e-03 -7.61688743e-03 8.05066530e+02] [-1.91672376e-03 9.99998163e-01 1.41430378e-05 3.56438135e+00] [ 7.61690055e-03 4.56867518e-07 9.99970991e-01 3.16438682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.339254154 meters 0.051242050197103116 Centerline is valid? [True, True] Translation: X:805.12, Y:3.57, Z:3.16 [[ 9.99966952e-01 2.75961554e-03 -7.64723861e-03 8.05124990e+02] [-2.75959427e-03 9.99996192e-01 1.33331938e-05 3.56573229e+00] [ 7.64724628e-03 7.77052269e-06 9.99970759e-01 3.16375724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.399254154 meters 0.05174925783905345 Centerline is valid? [True, True] Translation: X:805.18, Y:3.57, Z:3.16 [[ 9.99962177e-01 3.79251816e-03 -7.82699778e-03 8.05182998e+02] [-3.79253497e-03 9.99992808e-01 1.26945563e-05 3.56637510e+00] [ 7.82698964e-03 1.69900866e-05 9.99969368e-01 3.16469093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.459254154 meters 0.051456703540790495 Centerline is valid? [True, True] Translation: X:805.24, Y:3.57, Z:3.16 [[ 9.99942458e-01 5.72695921e-03 -9.07102774e-03 8.05241190e+02] [-5.72706778e-03 9.99983600e-01 1.40073193e-05 3.56925212e+00] [ 9.07095920e-03 3.79438774e-05 9.99958857e-01 3.16372310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.519254154 meters 0.05189853059104605 Centerline is valid? [True, True] Translation: X:805.30, Y:3.57, Z:3.16 [[ 9.99927225e-01 7.58294590e-03 -9.38311711e-03 8.05300431e+02] [-7.58315019e-03 9.99971247e-01 1.38059357e-05 3.57233712e+00] [ 9.38295201e-03 5.73486554e-05 9.99955977e-01 3.16306108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.579254154 meters 0.051943474166961136 Centerline is valid? [True, True] Translation: X:805.36, Y:3.57, Z:3.16 [[ 9.99925725e-01 8.34268685e-03 -8.88503561e-03 8.05358809e+02] [-8.34290488e-03 9.99965197e-01 1.25252506e-05 3.57448641e+00] [ 8.88483088e-03 6.16026867e-05 9.99960527e-01 3.16354782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.639254154 meters 0.05147803141754367 Centerline is valid? [True, True] Translation: X:805.42, Y:3.58, Z:3.17 [[ 9.99938466e-01 8.68689923e-03 -6.89945699e-03 8.05418140e+02] [-8.68704054e-03 9.99962267e-01 9.48693587e-06 3.57536282e+00] [ 6.89927907e-03 5.04495105e-05 9.99976198e-01 3.16551427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.699254154 meters 0.05170697820824834 Centerline is valid? [True, True] Translation: X:805.48, Y:3.58, Z:3.17 [[ 9.99923298e-01 1.08250231e-02 -6.01801359e-03 8.05478971e+02] [-1.08251704e-02 9.99941406e-01 8.10409227e-06 3.57581777e+00] [ 6.01774870e-03 5.70425516e-05 9.99981892e-01 3.16682526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.759254154 meters 0.051778032070291705 Centerline is valid? [True, True] Translation: X:805.54, Y:3.58, Z:3.17 [[ 9.99880014e-01 1.38946529e-02 -6.84809388e-03 8.05539677e+02] [-1.38949152e-02 9.99903461e-01 9.26559532e-06 3.58307120e+00] [ 6.84756151e-03 8.58892003e-05 9.99976551e-01 3.16519811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.819254154 meters 0.05272293177648036 Centerline is valid? [True, True] Translation: X:805.60, Y:3.59, Z:3.16 [[ 9.99811558e-01 1.74387232e-02 -8.52878406e-03 8.05600629e+02] [-1.74392582e-02 9.99847925e-01 1.16480961e-05 3.58720451e+00] [ 8.52769017e-03 1.37089766e-04 9.99963629e-01 3.16358718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.879254154 meters 0.052272955422040114 Centerline is valid? [True, True] Translation: X:805.66, Y:3.59, Z:3.16 [[ 9.99735095e-01 2.07509898e-02 -9.95674422e-03 8.05662152e+02] [-2.07518819e-02 9.99784656e-01 1.37260825e-05 3.58925450e+00] [ 9.95488493e-03 1.92898733e-04 9.99950430e-01 3.16262124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.939254154 meters 0.05281719194979076 Centerline is valid? [True, True] Translation: X:805.72, Y:3.59, Z:3.16 [[ 9.99675427e-01 2.33335923e-02 -1.02266103e-02 8.05721861e+02] [-2.33346678e-02 9.99727709e-01 1.41607692e-05 3.59396243e+00] [ 1.02241561e-02 2.24478380e-04 9.99947707e-01 3.16242013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.999254154 meters 0.052524218839025444 Centerline is valid? [True, True] Translation: X:805.78, Y:3.59, Z:3.16 [[ 9.99670052e-01 2.39158093e-02 -9.37128258e-03 8.05783717e+02] [-2.39167326e-02 9.99713954e-01 1.35459867e-05 3.59452592e+00] [ 9.36892592e-03 2.10588942e-04 9.99956088e-01 3.16384200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.059254154 meters 0.05268207026523169 Centerline is valid? [True, True] Translation: X:805.85, Y:3.60, Z:3.16 [[ 9.99667979e-01 2.43430028e-02 -8.44693215e-03 8.05846598e+02] [-2.43437605e-02 9.99703647e-01 1.31207038e-05 3.59618917e+00] [ 8.44474827e-03 1.92513746e-04 9.99964324e-01 3.16494229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.119254154 meters 0.053610890784142724 Centerline is valid? [True, True] Translation: X:805.91, Y:3.60, Z:3.16 [[ 9.99636748e-01 2.54491246e-02 -8.87206755e-03 8.05907659e+02] [-2.54499951e-02 9.99676096e-01 1.47881298e-05 3.60242432e+00] [ 8.86957020e-03 2.11011318e-04 9.99960642e-01 3.16450567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.179254154 meters 0.05257125295490198 Centerline is valid? [True, True] Translation: X:805.97, Y:3.60, Z:3.17 [[ 9.99597503e-01 2.67808035e-02 -9.36053863e-03 8.05970081e+02] [-2.67818210e-02 9.99641303e-01 1.66483511e-05 3.59522689e+00] [ 9.35762689e-03 2.34050620e-04 9.99956189e-01 3.16654794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters 0.05213555957082841 Centerline is valid? [True, True] Translation: X:806.03, Y:3.60, Z:3.17 [[ 9.99554078e-01 2.81854742e-02 -9.86027844e-03 8.06031842e+02] [-2.81866656e-02 9.99602677e-01 1.81538443e-05 3.59674012e+00] [ 9.85687240e-03 2.59782622e-04 9.99951386e-01 3.16686514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.299254154 meters 0.053699836553991284 Centerline is valid? [True, True] Translation: X:806.09, Y:3.61, Z:3.16 [[ 9.99534047e-01 2.87715072e-02 -1.01926219e-02 8.06092828e+02] [-2.87728029e-02 9.99585977e-01 1.95246778e-05 3.61058857e+00] [ 1.01889637e-02 2.73754721e-04 9.99948054e-01 3.16421141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters 0.05351768197164782 Centerline is valid? [True, True] Translation: X:806.15, Y:3.61, Z:3.16 [[ 9.99533504e-01 2.86400819e-02 -1.06075863e-02 8.06155000e+02] [-2.86414660e-02 9.99589749e-01 2.14419662e-05 3.61092848e+00] [ 1.06038486e-02 2.82384857e-04 9.99943738e-01 3.16460689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.419254154 meters 0.05404804488381265 Centerline is valid? [True, True] Translation: X:806.22, Y:3.62, Z:3.17 [[ 9.99527204e-01 2.92143767e-02 -9.58581442e-03 8.06216847e+02] [-2.92155242e-02 9.99573135e-01 2.03310360e-05 3.61605381e+00] [ 9.58231653e-03 2.59733170e-04 9.99954055e-01 3.16540025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters 0.0538145109654044 Centerline is valid? [True, True] Translation: X:806.28, Y:3.62, Z:3.17 [[ 9.99490539e-01 3.05367802e-02 -9.28262079e-03 8.06278821e+02] [-3.05379081e-02 9.99533609e-01 2.02441568e-05 3.61567430e+00] [ 9.27890966e-03 2.63237978e-04 9.99956915e-01 3.16651476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.539254154 meters 0.05299953430187407 Centerline is valid? [True, True] Translation: X:806.34, Y:3.61, Z:3.17 [[ 9.99446597e-01 3.17568610e-02 -9.89953918e-03 8.06341246e+02] [-3.17582005e-02 9.99495581e-01 2.19018751e-05 3.61387881e+00] [ 9.89524120e-03 2.92501796e-04 9.99950998e-01 3.16727385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters 0.05553414062987153 Centerline is valid? [True, True] Translation: X:806.40, Y:3.62, Z:3.16 [[ 9.99460934e-01 3.08149901e-02 -1.13259431e-02 8.06402100e+02] [-3.08166730e-02 9.99525053e-01 2.59436272e-05 3.62480355e+00] [ 1.13213633e-02 3.23098242e-04 9.99935859e-01 3.16498497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.659254154 meters 0.05317122223278049 Centerline is valid? [True, True] Translation: X:806.46, Y:3.61, Z:3.17 [[ 9.99538604e-01 2.82318674e-02 -1.12045309e-02 8.06463276e+02] [-2.82333466e-02 9.99601359e-01 2.61739094e-05 3.61356581e+00] [ 1.12008032e-02 2.90179571e-04 9.99937227e-01 3.16827559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters 0.05414898920845608 Centerline is valid? [True, True] Translation: X:806.52, Y:3.62, Z:3.17 [[ 9.99694814e-01 2.26314635e-02 -9.90433629e-03 8.06522824e+02] [-2.26323440e-02 9.99743855e-01 2.31930256e-05 3.61915275e+00] [ 9.90232424e-03 2.00972398e-04 9.99950951e-01 3.16808014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.779254154 meters 0.053949662311403725 Centerline is valid? [True, True] Translation: X:806.58, Y:3.62, Z:3.17 [[ 9.99786640e-01 1.84682437e-02 -9.25189512e-03 8.06583361e+02] [-1.84688337e-02 9.99829436e-01 2.16659956e-05 3.61817505e+00] [ 9.25071721e-03 1.49210340e-04 9.99957200e-01 3.16816305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.839254154 meters 0.05315212604459834 Centerline is valid? [True, True] Translation: X:806.65, Y:3.61, Z:3.17 [[ 9.99863552e-01 1.36135625e-02 -9.35675402e-03 8.06645079e+02] [-1.36139516e-02 9.99907326e-01 2.21057147e-05 3.61045956e+00] [ 9.35618783e-03 1.05279698e-04 9.99956224e-01 3.17005744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.899254154 meters 0.05313635421109342 Centerline is valid? [True, True] Translation: X:806.71, Y:3.61, Z:3.17 [[ 9.99885121e-01 1.07549457e-02 -1.06806369e-02 8.06705080e+02] [-1.07552874e-02 9.99942160e-01 2.54499857e-05 3.61146461e+00] [ 1.06802929e-02 8.94262577e-05 9.99942960e-01 3.16784218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.959254154 meters 0.052302367460433416 Centerline is valid? [True, True] Translation: X:806.76, Y:3.61, Z:3.17 [[ 9.99885071e-01 1.02490055e-02 -1.11715202e-02 8.06764770e+02] [-1.02493487e-02 9.99947474e-01 2.65316885e-05 3.60726821e+00] [ 1.11712053e-02 8.79721669e-05 9.99937596e-01 3.17011940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.019254154 meters 0.05272876263993324 Centerline is valid? [True, True] Translation: X:806.82, Y:3.61, Z:3.17 [[ 9.99846624e-01 1.20955729e-02 -1.26659219e-02 8.06823458e+02] [-1.20961660e-02 9.99926838e-01 2.97871861e-05 3.60796717e+00] [ 1.26653555e-02 1.23426476e-04 9.99919784e-01 3.16851150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.079254154 meters 0.05318602550430412 Centerline is valid? [True, True] Translation: X:806.88, Y:3.61, Z:3.17 [[ 9.99786574e-01 1.56075777e-02 -1.35355357e-02 8.06882761e+02] [-1.56085814e-02 9.99878178e-01 3.14908304e-05 3.60779971e+00] [ 1.35343783e-02 1.79786402e-04 9.99908390e-01 3.16895344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.139254154 meters 0.053093555705597886 Centerline is valid? [True, True] Translation: X:806.94, Y:3.61, Z:3.17 [[ 9.99723797e-01 1.96431867e-02 -1.29024857e-02 8.06941552e+02] [-1.96444386e-02 9.99807029e-01 2.97080326e-05 3.60990004e+00] [ 1.29005795e-02 2.23762262e-04 9.99916759e-01 3.16912039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.199254154 meters 0.053651867396008024 Centerline is valid? [True, True] Translation: X:807.00, Y:3.61, Z:3.17 [[ 9.99575897e-01 2.67587833e-02 -1.14888332e-02 8.07001969e+02] [-2.67602466e-02 9.99641880e-01 2.63658066e-05 3.61235723e+00] [ 1.14854243e-02 2.81089384e-04 9.99934001e-01 3.17065111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.259254154 meters 0.052797452687678124 Centerline is valid? [True, True] Translation: X:807.06, Y:3.61, Z:3.17 [[ 9.99375807e-01 3.34403609e-02 -1.13902946e-02 8.07063023e+02] [-3.34422316e-02 9.99440652e-01 2.62416214e-05 3.61318266e+00] [ 1.13848010e-02 3.54691629e-04 9.99935128e-01 3.17051337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.319254154 meters 0.05682010124672055 Centerline is valid? [True, True] Translation: X:807.12, Y:3.63, Z:3.17 [[ 9.99249422e-01 3.64806094e-02 -1.30291061e-02 8.07122884e+02] [-3.64833133e-02 9.99334262e-01 3.01685000e-05 3.62981407e+00] [ 1.30215327e-02 4.45199104e-04 9.99915117e-01 3.16594291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.379254154 meters 0.05232861496671651 Centerline is valid? [True, True] Translation: X:807.18, Y:3.61, Z:3.17 [[ 9.99154581e-01 3.92532322e-02 -1.22191080e-02 8.07183931e+02] [-3.92558161e-02 9.99229193e-01 2.83962200e-05 3.60693514e+00] [ 1.22108041e-02 4.51298844e-04 9.99925343e-01 3.17164646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.439254154 meters 0.0554885860226844 Centerline is valid? [True, True] Translation: X:807.25, Y:3.62, Z:3.17 [[ 9.99142480e-01 3.96841231e-02 -1.18099274e-02 8.07245286e+02] [-3.96865570e-02 9.99212178e-01 2.82930077e-05 3.62344791e+00] [ 1.18017461e-02 4.40426612e-04 9.99930260e-01 3.16858090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.499254154 meters 0.05213446531290457 Centerline is valid? [True, True] Translation: X:807.31, Y:3.61, Z:3.17 [[ 9.99250889e-01 3.77749696e-02 -8.40907832e-03 8.07305772e+02] [-3.77761332e-02 9.99286227e-01 2.04726217e-05 3.60541591e+00] [ 8.40384950e-03 2.97205177e-04 9.99964643e-01 3.17267323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.559254154 meters 0.05450504633172898 Centerline is valid? [True, True] Translation: X:807.37, Y:3.62, Z:3.17 [[ 9.99425198e-01 3.31736963e-02 -6.98420772e-03 8.07365064e+02] [-3.31743867e-02 9.99449578e-01 1.70044770e-05 3.61612978e+00] [ 6.98092757e-03 2.14702105e-04 9.99975610e-01 3.17195781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.619254154 meters 0.053279704265791594 Centerline is valid? [True, True] Translation: X:807.43, Y:3.61, Z:3.17 [[ 9.99586813e-01 2.77002105e-02 -7.67479310e-03 8.07425549e+02] [-2.77008831e-02 9.99616257e-01 1.86761863e-05 3.60598008e+00] [ 7.67236528e-03 1.93930077e-04 9.99970548e-01 3.17203544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.679254154 meters 0.05276500681592975 Centerline is valid? [True, True] Translation: X:807.49, Y:3.60, Z:3.17 [[ 9.99678614e-01 2.35024472e-02 -9.50279044e-03 8.07486229e+02] [-2.35032880e-02 9.99723759e-01 2.32003130e-05 3.60068908e+00] [ 9.50071064e-03 2.00153964e-04 9.99954847e-01 3.16980573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters 0.05202962870382997 Centerline is valid? [True, True] Translation: X:807.55, Y:3.59, Z:3.17 [[ 9.99728463e-01 2.11790351e-02 -9.71847719e-03 8.07547904e+02] [-2.11798032e-02 9.99775683e-01 2.38929929e-05 3.59274948e+00] [ 9.71680320e-03 1.81948929e-04 9.99952774e-01 3.17065552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.799254154 meters 0.05111686593818327 Centerline is valid? [True, True] Translation: X:807.61, Y:3.58, Z:3.17 [[ 9.99850162e-01 1.36163709e-02 -1.06886704e-02 8.07609215e+02] [-1.36168657e-02 9.99907286e-01 2.64848769e-05 3.58445616e+00] [ 1.06880401e-02 1.19065281e-04 9.99942874e-01 3.17023335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters 0.05101274691523179 Centerline is valid? [True, True] Translation: X:807.67, Y:3.58, Z:3.17 [[ 9.99943924e-01 5.16293753e-03 -9.24620870e-03 8.07669354e+02] [-5.16294591e-03 9.99986672e-01 2.29635370e-05 3.57608943e+00] [ 9.24620402e-03 2.47754261e-05 9.99957253e-01 3.17130554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.919254154 meters 0.0511884424799636 Centerline is valid? [True, True] Translation: X:807.73, Y:3.57, Z:3.17 [[ 9.99967955e-01 -3.05984052e-04 -7.99974048e-03 8.07728226e+02] [ 3.06152031e-04 9.99999953e-01 1.97732649e-05 3.56995440e+00] [ 7.99973405e-03 -2.22217680e-05 9.99968001e-01 3.17230474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters 0.05168745039974096 Centerline is valid? [True, True] Translation: X:807.79, Y:3.56, Z:3.17 [[ 9.99961502e-01 -5.27917876e-03 -7.00885209e-03 8.07787064e+02] [ 5.27942864e-03 9.99986064e-01 1.71518878e-05 3.56400433e+00] [ 7.00866386e-03 -5.41539620e-05 9.99975438e-01 3.17279509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.039254154 meters 0.05141656236675911 Centerline is valid? [True, True] Translation: X:807.84, Y:3.56, Z:3.17 [[ 9.99957681e-01 -5.18189992e-03 -7.60154558e-03 8.07844971e+02] [ 5.18218686e-03 9.99986572e-01 1.80509643e-05 3.56185287e+00] [ 7.60134997e-03 -5.74428300e-05 9.99971108e-01 3.17274728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters 0.05185588882511548 Centerline is valid? [True, True] Translation: X:807.90, Y:3.57, Z:3.17 [[ 9.99962498e-01 -5.64218229e-04 -8.64196906e-03 8.07904105e+02] [ 5.64407743e-04 9.99999841e-01 1.94905322e-05 3.56580663e+00] [ 8.64195669e-03 -2.43673955e-05 9.99962657e-01 3.17213026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.159254154 meters 0.05132333130156868 Centerline is valid? [True, True] Translation: X:807.96, Y:3.57, Z:3.17 [[ 9.99951292e-01 2.90561014e-03 -9.43244247e-03 8.07960882e+02] [-2.90554619e-03 9.99995779e-01 2.04824412e-05 3.56715567e+00] [ 9.43246216e-03 6.92495382e-06 9.99955513e-01 3.17214345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters 0.05072983007381741 Centerline is valid? [True, True] Translation: X:808.02, Y:3.57, Z:3.17 [[ 9.99938174e-01 6.40306515e-03 -9.09117746e-03 8.08018267e+02] [-6.40315565e-03 9.99979499e-01 1.91525497e-05 3.56893860e+00] [ 9.09111372e-03 3.90608588e-05 9.99958674e-01 3.17314100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.279254154 meters 0.052470435724103634 Centerline is valid? [True, True] Translation: X:808.08, Y:3.57, Z:3.17 [[ 9.99939570e-01 7.08588019e-03 -8.40520760e-03 8.08075900e+02] [-7.08598585e-03 9.99974894e-01 1.72102143e-05 3.57123916e+00] [ 8.40511852e-03 4.23500078e-05 9.99964675e-01 3.17307901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.339254154 meters 0.05126245530920656 Centerline is valid? [True, True] Translation: X:808.13, Y:3.57, Z:3.18 [[ 9.99957435e-01 7.20162506e-03 -5.76755916e-03 8.08134842e+02] [-7.20167782e-03 9.99974068e-01 1.16212955e-05 3.56974359e+00] [ 5.76749329e-03 2.99153020e-05 9.99983367e-01 3.17714199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.399254154 meters 0.05154585685142911 Centerline is valid? [True, True] Translation: X:808.19, Y:3.57, Z:3.18 [[ 9.99956836e-01 7.32737874e-03 -5.71278345e-03 8.08194585e+02] [-7.32743317e-03 9.99973154e-01 1.14029295e-05 3.57118840e+00] [ 5.71271364e-03 3.04576016e-05 9.99983682e-01 3.17651236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.459254154 meters 0.050893345946039684 Centerline is valid? [True, True] Translation: X:808.25, Y:3.57, Z:3.18 [[ 9.99945681e-01 8.00036296e-03 -6.68046641e-03 8.08254983e+02] [-8.00045266e-03 9.99967996e-01 1.32975257e-05 3.57138446e+00] [ 6.68035899e-03 4.01499519e-05 9.99977685e-01 3.17586569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.519254154 meters 0.05192705535892372 Centerline is valid? [True, True] Translation: X:808.31, Y:3.57, Z:3.17 [[ 9.99913818e-01 9.16853520e-03 -9.39653818e-03 8.08314539e+02] [-9.16876464e-03 9.99957966e-01 1.86611788e-05 3.57305075e+00] [ 9.39631430e-03 6.74950764e-05 9.99955851e-01 3.17303962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.579254154 meters 0.05086102636525159 Centerline is valid? [True, True] Translation: X:808.37, Y:3.57, Z:3.17 [[ 9.99911184e-01 9.26068521e-03 -9.58455921e-03 8.08374076e+02] [-9.26092935e-03 9.99957117e-01 1.89105010e-05 3.57191132e+00] [ 9.58432332e-03 6.98531042e-05 9.99954067e-01 3.17323701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.639254154 meters 0.050770039702463465 Centerline is valid? [True, True] Translation: X:808.43, Y:3.57, Z:3.17 [[ 9.99927047e-01 8.65103578e-03 -8.42977726e-03 8.08433819e+02] [-8.65120407e-03 9.99962578e-01 1.65011782e-05 3.57165563e+00] [ 8.42960454e-03 5.64277489e-05 9.99964469e-01 3.17359927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.699254154 meters 0.05165849215034228 Centerline is valid? [True, True] Translation: X:808.49, Y:3.57, Z:3.17 [[ 9.99957474e-01 6.52060329e-03 -6.52173115e-03 8.08493241e+02] [-6.52065917e-03 9.99978740e-01 1.26948127e-05 3.57126068e+00] [ 6.52167528e-03 2.98317132e-05 9.99978733e-01 3.17418630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.759254154 meters 0.05097747069046167 Centerline is valid? [True, True] Translation: X:808.55, Y:3.57, Z:3.17 [[ 9.99970320e-01 5.15906407e-03 -5.72226067e-03 8.08552474e+02] [-5.15908512e-03 9.99986692e-01 1.10831624e-05 3.56940007e+00] [ 5.72224169e-03 1.84387963e-05 9.99983628e-01 3.17455820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.819254154 meters 0.05177523708510277 Centerline is valid? [True, True] Translation: X:808.61, Y:3.57, Z:3.17 [[ 9.99963678e-01 6.20103406e-03 -5.84714389e-03 8.08611966e+02] [-6.20107438e-03 9.99980773e-01 1.12327940e-05 3.56859367e+00] [ 5.84710112e-03 2.50261882e-05 9.99982905e-01 3.17492250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.879254154 meters 0.051125457942774 Centerline is valid? [True, True] Translation: X:808.67, Y:3.57, Z:3.17 [[ 9.99937890e-01 9.34636270e-03 -6.07134115e-03 8.08671459e+02] [-9.34646457e-03 9.99956321e-01 1.15931308e-05 3.57327551e+00] [ 6.07118431e-03 4.51531642e-05 9.99981569e-01 3.17382186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.939254154 meters 0.051153036554182935 Centerline is valid? [True, True] Translation: X:808.73, Y:3.58, Z:3.17 [[ 9.99855349e-01 1.52244916e-02 -7.58258545e-03 8.08731893e+02] [-1.52248195e-02 9.99884096e-01 1.44686831e-05 3.57747619e+00] [ 7.58192687e-03 1.00976905e-04 9.99971252e-01 3.17368855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.999254154 meters 0.05146558286027464 Centerline is valid? [True, True] Translation: X:808.79, Y:3.58, Z:3.17 [[ 9.99784892e-01 1.88760496e-02 -8.59447210e-03 8.08792593e+02] [-1.88766055e-02 9.99821821e-01 1.64356040e-05 3.58015955e+00] [ 8.59325098e-03 1.45802391e-04 9.99963067e-01 3.17338922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.059254154 meters 0.05206991386045022 Centerline is valid? [True, True] Translation: X:808.85, Y:3.58, Z:3.17 [[ 9.99722556e-01 2.22259198e-02 -7.79874560e-03 8.08853290e+02] [-2.22264790e-02 9.99752961e-01 1.49715971e-05 3.58268773e+00] [ 7.79715177e-03 1.58371212e-04 9.99969589e-01 3.17407353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.119254154 meters 0.05168603733252115 Centerline is valid? [True, True] Translation: X:808.92, Y:3.58, Z:3.17 [[ 9.99729791e-01 2.22551885e-02 -6.71204764e-03 8.08915219e+02] [-2.22556012e-02 9.99752313e-01 1.32098086e-05 3.58274164e+00] [ 6.71067914e-03 1.36174417e-04 9.99977474e-01 3.17491890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.179254154 meters 0.051595513822513664 Centerline is valid? [True, True] Translation: X:808.98, Y:3.58, Z:3.18 [[ 9.99749569e-01 2.12843249e-02 -6.91208713e-03 8.08976742e+02] [-2.12847343e-02 9.99773454e-01 1.43355466e-05 3.58129501e+00] [ 6.91082635e-03 1.32789981e-04 9.99976111e-01 3.17515886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters 0.051430623378373806 Centerline is valid? [True, True] Translation: X:809.04, Y:3.58, Z:3.17 [[ 9.99770255e-01 2.00691626e-02 -7.52773379e-03 8.09039248e+02] [-2.00696088e-02 9.99798585e-01 1.62633865e-05 3.57713730e+00] [ 7.52654398e-03 1.34819022e-04 9.99971666e-01 3.17489858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.299254154 meters 0.051070232967186734 Centerline is valid? [True, True] Translation: X:809.10, Y:3.57, Z:3.17 [[ 9.99766948e-01 1.98102205e-02 -8.57929317e-03 8.09102065e+02] [-1.98107830e-02 9.99803747e-01 1.94183241e-05 3.57464510e+00] [ 8.57799414e-03 1.50548717e-04 9.99963197e-01 3.17432679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters 0.05103539830071819 Centerline is valid? [True, True] Translation: X:809.16, Y:3.58, Z:3.17 [[ 9.99746490e-01 2.03262383e-02 -9.68501762e-03 8.09163282e+02] [-2.03269680e-02 9.99793386e-01 2.30972933e-05 3.57844315e+00] [ 9.68348603e-03 1.73775605e-04 9.99953099e-01 3.17301947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.419254154 meters 0.05093802905522145 Centerline is valid? [True, True] Translation: X:809.22, Y:3.58, Z:3.18 [[ 9.99718339e-01 2.23097210e-02 -8.09434366e-03 8.09224890e+02] [-2.23102910e-02 9.99751094e-01 1.98786558e-05 3.57861518e+00] [ 8.09277242e-03 1.60714106e-04 9.99967240e-01 3.17528987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters 0.05239288327682343 Centerline is valid? [True, True] Translation: X:809.29, Y:3.58, Z:3.18 [[ 9.99667079e-01 2.46958954e-02 -7.47294503e-03 8.09285419e+02] [-2.46964450e-02 9.99694996e-01 1.87456618e-05 3.58316480e+00] [ 7.47112870e-03 1.65815755e-04 9.99972077e-01 3.17590366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.539254154 meters 0.05215880781298239 Centerline is valid? [True, True] Translation: X:809.35, Y:3.59, Z:3.18 [[ 9.99538652e-01 2.92910368e-02 -8.03239144e-03 8.09345814e+02] [-2.92918181e-02 9.99570902e-01 2.03836972e-05 3.58532475e+00] [ 8.02954182e-03 2.14909056e-04 9.99967740e-01 3.17615552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters 0.0510103114919508 Centerline is valid? [True, True] Translation: X:809.41, Y:3.58, Z:3.18 [[ 9.99505353e-01 3.03797432e-02 -8.13147117e-03 8.09408199e+02] [-3.03805761e-02 9.99538404e-01 2.11057196e-05 3.58165640e+00] [ 8.12835890e-03 2.25943499e-04 9.99966939e-01 3.17659975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.659254154 meters 0.051811571994307186 Centerline is valid? [True, True] Translation: X:809.47, Y:3.58, Z:3.18 [[ 9.99386034e-01 3.35068773e-02 -1.02393948e-02 8.09469259e+02] [-3.35083556e-02 9.99438437e-01 2.71997461e-05 3.58480206e+00] [ 1.02345561e-02 3.15922235e-04 9.99947576e-01 3.17588588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters 0.051177898794511185 Centerline is valid? [True, True] Translation: X:809.53, Y:3.59, Z:3.18 [[ 9.99322601e-01 3.51636515e-02 -1.08561662e-02 8.09530746e+02] [-3.51654092e-02 9.99381505e-01 2.89950953e-05 3.58539012e+00] [ 1.08504713e-02 3.52786073e-04 9.99941070e-01 3.17573575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.779254154 meters 0.05396750007719136 Centerline is valid? [True, True] Translation: X:809.59, Y:3.60, Z:3.17 [[ 9.99281281e-01 3.63324689e-02 -1.08107873e-02 8.09592145e+02] [-3.63342720e-02 9.99339692e-01 2.96392026e-05 3.59917177e+00] [ 1.08047257e-02 3.63184184e-04 9.99941561e-01 3.17434509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.839254154 meters 0.05202261509096165 Centerline is valid? [True, True] Translation: X:809.65, Y:3.59, Z:3.18 [[ 9.99331205e-01 3.52557605e-02 -9.70435235e-03 8.09653627e+02] [-3.52571583e-02 9.99378273e-01 2.70555443e-05 3.59216418e+00] [ 9.69927275e-03 3.15110437e-04 9.99952911e-01 3.17683098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.899254154 meters 0.05609265205473163 Centerline is valid? [True, True] Translation: X:809.71, Y:3.61, Z:3.17 [[ 9.99364235e-01 3.42661507e-02 -9.84667880e-03 8.09714657e+02] [-3.42675355e-02 9.99412695e-01 2.80891243e-05 3.60732170e+00] [ 9.84185830e-03 3.09350149e-04 9.99951520e-01 3.17411570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.959254154 meters 0.05464682520781431 Centerline is valid? [True, True] Translation: X:809.78, Y:3.60, Z:3.17 [[ 9.99411238e-01 3.30683627e-02 -9.14658112e-03 8.09775725e+02] [-3.30695036e-02 9.99453054e-01 2.65262240e-05 3.60351858e+00] [ 9.14245561e-03 2.75962290e-04 9.99958169e-01 3.17473804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.019254154 meters 0.05150539608684691 Centerline is valid? [True, True] Translation: X:809.84, Y:3.59, Z:3.18 [[ 9.99460058e-01 3.16729373e-02 -8.74167621e-03 8.09837323e+02] [-3.16739242e-02 9.99498255e-01 2.55571430e-05 3.59001231e+00] [ 8.73809959e-03 2.51339846e-04 9.99961790e-01 3.17743430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.079254154 meters 0.05536720021108968 Centerline is valid? [True, True] Translation: X:809.90, Y:3.61, Z:3.18 [[ 9.99424158e-01 3.27241093e-02 -8.97134680e-03 8.09898356e+02] [-3.27251854e-02 9.99464387e-01 2.68612981e-05 3.60718357e+00] [ 8.96742064e-03 2.66743157e-04 9.99959756e-01 3.17552918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.139254154 meters 0.05267946572699975 Centerline is valid? [True, True] Translation: X:809.96, Y:3.60, Z:3.18 [[ 9.99374281e-01 3.41622784e-02 -9.16435895e-03 8.09959898e+02] [-3.41634534e-02 9.99416258e-01 2.83445711e-05 3.59929069e+00] [ 9.15997764e-03 2.84759315e-04 9.99958006e-01 3.17750227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.199254154 meters 0.05457785264034506 Centerline is valid? [True, True] Translation: X:810.02, Y:3.61, Z:3.18 [[ 9.99259603e-01 3.71727166e-02 -9.92141148e-03 8.10020194e+02] [-3.71742377e-02 9.99308799e-01 3.11206423e-05 3.60943693e+00] [ 9.91571063e-03 3.37723308e-04 9.99950781e-01 3.17639995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.259254154 meters 0.051840433580597325 Centerline is valid? [True, True] Translation: X:810.08, Y:3.60, Z:3.18 [[ 9.99195667e-01 3.88144709e-02 -1.00725078e-02 8.10081756e+02] [-3.88161208e-02 9.99246370e-01 3.17065704e-05 3.59752583e+00] [ 1.00661475e-02 3.59294611e-04 9.99949270e-01 3.17882105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.319254154 meters 0.05477488787570743 Centerline is valid? [True, True] Translation: X:810.14, Y:3.61, Z:3.18 [[ 9.99192866e-01 3.88067564e-02 -1.03755853e-02 8.10144088e+02] [-3.88085009e-02 9.99246666e-01 3.32203507e-05 3.61266056e+00] [ 1.03690581e-02 3.69467373e-04 9.99946172e-01 3.17715835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.379254154 meters 0.05406842254296288 Centerline is valid? [True, True] Translation: X:810.21, Y:3.61, Z:3.18 [[ 9.99207637e-01 3.83459222e-02 -1.06624788e-02 8.10205855e+02] [-3.83477277e-02 9.99264455e-01 3.51397207e-05 3.61061686e+00] [ 1.06559835e-02 3.73769957e-04 9.99943154e-01 3.17927377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.439254154 meters 0.05549322924600255 Centerline is valid? [True, True] Translation: X:810.27, Y:3.62, Z:3.18 [[ 9.99252796e-01 3.74106144e-02 -9.71059116e-03 8.10267781e+02] [-3.74120629e-02 9.99299923e-01 3.24975492e-05 3.61649038e+00] [ 9.70500875e-03 3.30819981e-04 9.99952851e-01 3.18002766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.499254154 meters 0.05364677089393774 Centerline is valid? [True, True] Translation: X:810.33, Y:3.61, Z:3.18 [[ 9.99297195e-01 3.61777453e-02 -9.81255394e-03 8.10328959e+02] [-3.61791634e-02 9.99345319e-01 3.30137097e-05 3.60968477e+00] [ 9.80732421e-03 3.22019484e-04 9.99951855e-01 3.18193892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.559254154 meters 0.0532618804318351 Centerline is valid? [True, True] Translation: X:810.39, Y:3.61, Z:3.18 [[ 9.99367451e-01 3.38462088e-02 -1.09147744e-02 8.10390174e+02] [-3.38478227e-02 9.99426998e-01 3.68871527e-05 3.61105794e+00] [ 1.09097687e-02 3.32577530e-04 9.99940431e-01 3.18169645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.619254154 meters 0.053956902852564964 Centerline is valid? [True, True] Translation: X:810.45, Y:3.61, Z:3.18 [[ 9.99482196e-01 3.01588356e-02 -1.12153548e-02 8.10450738e+02] [-3.01603065e-02 9.99545074e-01 3.79946988e-05 3.61171952e+00] [ 1.12113985e-02 3.00283512e-04 9.99937105e-01 3.18134403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.679254154 meters 0.054550282668194804 Centerline is valid? [True, True] Translation: X:810.51, Y:3.62, Z:3.18 [[ 9.99561383e-01 2.75133369e-02 -1.09570549e-02 8.10511884e+02] [-2.75145812e-02 9.99621402e-01 3.71893851e-05 3.61702131e+00] [ 1.09539297e-02 2.64305703e-04 9.99939969e-01 3.18012565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters 0.053645699071506854 Centerline is valid? [True, True] Translation: X:810.57, Y:3.61, Z:3.18 [[ 9.99633815e-01 2.43938520e-02 -1.17122026e-02 8.10573114e+02] [-2.43950580e-02 9.99702396e-01 3.99029861e-05 3.60935734e+00] [ 1.17096904e-02 2.45831487e-04 9.99931409e-01 3.18273107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.799254154 meters 0.05451390909631518 Centerline is valid? [True, True] Translation: X:810.63, Y:3.62, Z:3.18 [[ 9.99643457e-01 2.33867429e-02 -1.28848192e-02 8.10634129e+02] [-2.33881066e-02 9.99726460e-01 4.48527105e-05 3.61832706e+00] [ 1.28823437e-02 2.56514807e-04 9.99916986e-01 3.17890450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters 0.053164105636663836 Centerline is valid? [True, True] Translation: X:810.70, Y:3.61, Z:3.18 [[ 9.99623767e-01 2.39850114e-02 -1.33058093e-02 8.10695499e+02] [-2.39865114e-02 9.99712281e-01 4.68702171e-05 3.61226960e+00] [ 1.33031051e-02 2.72307363e-04 9.99911473e-01 3.18256987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.919254154 meters 0.054416984541677996 Centerline is valid? [True, True] Translation: X:810.76, Y:3.62, Z:3.18 [[ 9.99587872e-01 2.51820935e-02 -1.37822043e-02 8.10756642e+02] [-2.51838018e-02 9.99682837e-01 4.96160458e-05 3.61857321e+00] [ 1.37790825e-02 2.97492704e-04 9.99905020e-01 3.18042733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters 0.05395846318636862 Centerline is valid? [True, True] Translation: X:810.82, Y:3.62, Z:3.18 [[ 9.99530074e-01 2.70663573e-02 -1.43890200e-02 8.10818092e+02] [-2.70684061e-02 9.99633582e-01 5.23807255e-05 3.61959241e+00] [ 1.43851653e-02 3.37131726e-04 9.99896471e-01 3.18151834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.039254154 meters 0.05445225651610623 Centerline is valid? [True, True] Translation: X:810.88, Y:3.62, Z:3.18 [[ 9.99509425e-01 2.79763509e-02 -1.40795251e-02 8.10879335e+02] [-2.79783878e-02 9.99608527e-01 5.23174382e-05 3.62490429e+00] [ 1.40754770e-02 3.41630641e-04 9.99900877e-01 3.18114002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters 0.05383331102548632 Centerline is valid? [True, True] Translation: X:810.94, Y:3.62, Z:3.18 [[ 9.99526227e-01 2.75529997e-02 -1.37168913e-02 8.10941433e+02] [-2.75548735e-02 9.99620291e-01 5.24047424e-05 3.62238332e+00] [ 1.37131267e-02 3.25587290e-04 9.99905918e-01 3.18354401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.159254154 meters 0.05331134003880231 Centerline is valid? [True, True] Translation: X:811.00, Y:3.62, Z:3.18 [[ 9.99595175e-01 2.49657490e-02 -1.36454329e-02 8.11003043e+02] [-2.49673535e-02 9.99688266e-01 5.27808887e-05 3.62037279e+00] [ 1.36424969e-02 2.87930826e-04 9.99906895e-01 3.18444949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters 0.0536479337347018 Centerline is valid? [True, True] Translation: X:811.06, Y:3.62, Z:3.18 [[ 9.99704632e-01 1.96722060e-02 -1.42706767e-02 8.11064051e+02] [-1.96734181e-02 9.99806458e-01 5.54565705e-05 3.61707357e+00] [ 1.42690056e-02 2.25312798e-04 9.99898167e-01 3.18374451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.279254154 meters 0.052950581792112074 Centerline is valid? [True, True] Translation: X:811.12, Y:3.61, Z:3.18 [[ 9.99778881e-01 1.50318971e-02 -1.47048300e-02 8.11124603e+02] [-1.50326813e-02 9.99887001e-01 5.72071249e-05 3.61268244e+00] [ 1.47040283e-02 1.63858548e-04 9.99891876e-01 3.18382754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.339254154 meters 0.053575593007337455 Centerline is valid? [True, True] Translation: X:811.18, Y:3.60, Z:3.19 [[ 9.99875853e-01 7.28089186e-03 -1.39737963e-02 8.11184097e+02] [-7.28084540e-03 9.99973493e-01 5.41985317e-05 3.60431226e+00] [ 1.39738205e-02 4.75492471e-05 9.99902360e-01 3.18799209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.399254154 meters 0.05367269360709605 Centerline is valid? [True, True] Translation: X:811.24, Y:3.60, Z:3.19 [[ 9.99918312e-01 7.30944456e-04 -1.27606532e-02 8.11242357e+02] [-7.30376810e-04 9.99999732e-01 4.91441953e-05 3.59794931e+00] [ 1.27606858e-02 -3.98200956e-05 9.99918578e-01 3.18724839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.459254154 meters 0.05374235497375345 Centerline is valid? [True, True] Translation: X:811.30, Y:3.59, Z:3.19 [[ 9.99922597e-01 -2.82032699e-03 -1.21180326e-02 8.11300746e+02] [ 2.82109503e-03 9.99996020e-01 4.62864618e-05 3.59439833e+00] [ 1.21178538e-02 -8.04690005e-05 9.99926573e-01 3.18853539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.519254154 meters 0.05345950517209408 Centerline is valid? [True, True] Translation: X:811.36, Y:3.59, Z:3.19 [[ 9.99911833e-01 -5.08741097e-03 -1.22655480e-02 8.11359156e+02] [ 5.08836357e-03 9.99987053e-01 4.64592555e-05 3.59017895e+00] [ 1.22651528e-02 -1.08866727e-04 9.99924774e-01 3.18777366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.579254154 meters 0.05409051153228894 Centerline is valid? [True, True] Translation: X:811.42, Y:3.59, Z:3.19 [[ 9.99896739e-01 -6.09975382e-03 -1.30117128e-02 8.11417896e+02] [ 6.10090603e-03 9.99981388e-01 4.88602229e-05 3.58878450e+00] [ 1.30111726e-02 -1.28238415e-04 9.99915343e-01 3.18880888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.639254154 meters 0.05387905309429978 Centerline is valid? [True, True] Translation: X:811.48, Y:3.58, Z:3.19 [[ 9.99901142e-01 -5.58850213e-03 -1.29025241e-02 8.11476260e+02] [ 5.58957897e-03 9.99984377e-01 4.73993179e-05 3.58482476e+00] [ 1.29020576e-02 -1.19514309e-04 9.99916758e-01 3.18656955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.699254154 meters 0.053474086528074255 Centerline is valid? [True, True] Translation: X:811.54, Y:3.59, Z:3.19 [[ 9.99913844e-01 -4.73879877e-03 -1.22412776e-02 8.11535061e+02] [ 4.73968756e-03 9.99988767e-01 4.35953352e-05 3.58829740e+00] [ 1.22409335e-02 -1.01611411e-04 9.99925072e-01 3.19116860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.759254154 meters 0.05349741425778341 Centerline is valid? [True, True] Translation: X:811.59, Y:3.59, Z:3.19 [[ 9.99921324e-01 -3.29754880e-03 -1.21025853e-02 8.11592806e+02] [ 3.29830221e-03 9.99994560e-01 4.22919909e-05 3.58820512e+00] [ 1.21023800e-02 -8.22066471e-05 9.99926760e-01 3.19312892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.819254154 meters 0.05301984875715702 Centerline is valid? [True, True] Translation: X:811.65, Y:3.58, Z:3.19 [[ 9.99927859e-01 -2.79700895e-03 -1.16813121e-02 8.11651667e+02] [ 2.79766579e-03 9.99996086e-01 3.98893809e-05 3.58323498e+00] [ 1.16811548e-02 -7.25669105e-05 9.99931770e-01 3.19143622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.879254154 meters 0.05248758031884785 Centerline is valid? [True, True] Translation: X:811.71, Y:3.58, Z:3.19 [[ 9.99942270e-01 -2.33251504e-03 -1.04888706e-02 8.11709309e+02] [ 2.33300801e-03 9.99997278e-01 3.47635607e-05 3.57935450e+00] [ 1.04887610e-02 -5.92321729e-05 9.99944990e-01 3.19092753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.939254154 meters 0.053174532211024444 Centerline is valid? [True, True] Translation: X:811.77, Y:3.58, Z:3.19 [[ 9.99950844e-01 -1.16767314e-03 -9.84612330e-03 8.11767943e+02] [ 1.16804100e-03 9.99999317e-01 3.16100122e-05 3.58048737e+00] [ 9.84607967e-03 -4.31091341e-05 9.99951525e-01 3.19441836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.999254154 meters 0.052234382799028395 Centerline is valid? [True, True] Translation: X:811.83, Y:3.58, Z:3.19 [[ 9.99951886e-01 2.65261217e-03 -9.44398816e-03 8.11826999e+02] [-2.65245304e-03 9.99996482e-01 2.93753367e-05 3.57973495e+00] [ 9.44403286e-03 -4.32418823e-06 9.99955404e-01 3.19138961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.059254154 meters 0.051756406488595426 Centerline is valid? [True, True] Translation: X:811.89, Y:3.58, Z:3.19 [[ 9.99928287e-01 6.16821141e-03 -1.02651728e-02 8.11885509e+02] [-6.16822007e-03 9.99980976e-01 3.08162211e-05 3.57946564e+00] [ 1.02651676e-02 3.25038337e-05 9.99947311e-01 3.19021764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.119254154 meters 0.052070837899508136 Centerline is valid? [True, True] Translation: X:811.94, Y:3.58, Z:3.19 [[ 9.99925571e-01 6.80270526e-03 -1.01279923e-02 8.11944373e+02] [-6.80275255e-03 9.99976861e-01 2.97812804e-05 3.57768598e+00] [ 1.01279605e-02 3.91191614e-05 9.99948710e-01 3.19042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.179254154 meters 0.05177591043755981 Centerline is valid? [True, True] Translation: X:812.00, Y:3.57, Z:3.19 [[ 9.99943723e-01 4.55901097e-03 -9.57946434e-03 8.12002097e+02] [-4.55895317e-03 9.99989608e-01 2.78701564e-05 3.57347521e+00] [ 9.57949184e-03 1.58037414e-05 9.99954115e-01 3.18973554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters 0.051575510664733946 Centerline is valid? [True, True] Translation: X:812.06, Y:3.57, Z:3.19 [[ 9.99952451e-01 -2.22311567e-03 -9.49496950e-03 8.12062036e+02] [ 2.22347616e-03 9.99997528e-01 2.74109354e-05 3.56572443e+00] [ 9.49488508e-03 -4.85214703e-05 9.99954921e-01 3.19051875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.299254154 meters 0.052006440287136246 Centerline is valid? [True, True] Translation: X:812.12, Y:3.56, Z:3.19 [[ 9.99914380e-01 -8.55300105e-03 -9.90344349e-03 8.12120231e+02] [ 8.55370111e-03 9.99963416e-01 2.83334054e-05 3.55956607e+00] [ 9.90283884e-03 -1.13042075e-04 9.99950959e-01 3.19023682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters 0.05187520466889581 Centerline is valid? [True, True] Translation: X:812.18, Y:3.55, Z:3.19 [[ 9.99815812e-01 -1.69946705e-02 -8.91761290e-03 8.12179897e+02] [ 1.69955724e-02 9.99855565e-01 2.53584997e-05 3.55367738e+00] [ 8.91589392e-03 -1.76913765e-04 9.99960237e-01 3.19097979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.419254154 meters 0.05250851730736597 Centerline is valid? [True, True] Translation: X:812.24, Y:3.55, Z:3.19 [[ 9.99759810e-01 -2.07363318e-02 -7.09416437e-03 8.12239614e+02] [ 2.07369965e-02 9.99784965e-01 2.01474368e-05 3.54754501e+00] [ 7.09222109e-03 -1.67254259e-04 9.99974836e-01 3.19146130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters 0.05220969116122125 Centerline is valid? [True, True] Translation: X:812.30, Y:3.55, Z:3.19 [[ 9.99803673e-01 -1.89477851e-02 -5.79626182e-03 8.12298671e+02] [ 1.89481976e-02 9.99820467e-01 1.62645968e-05 3.54558911e+00] [ 5.79491302e-03 -1.26090118e-04 9.99983201e-01 3.19056919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.539254154 meters 0.05184989240218482 Centerline is valid? [True, True] Translation: X:812.36, Y:3.55, Z:3.19 [[ 9.99855128e-01 -1.55427127e-02 -6.93883796e-03 8.12357552e+02] [ 1.55432182e-02 9.99879197e-01 1.89201932e-05 3.55212076e+00] [ 6.93770565e-03 -1.26769324e-04 9.99975926e-01 3.19118890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters 0.05173301258242717 Centerline is valid? [True, True] Translation: X:812.42, Y:3.55, Z:3.19 [[ 9.99927955e-01 -9.23160004e-03 -7.67213474e-03 8.12417244e+02] [ 9.23203147e-03 9.99957384e-01 2.08192381e-05 3.54992546e+00] [ 7.67161559e-03 -9.16471276e-05 9.99970569e-01 3.18926695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.659254154 meters 0.05143907827103187 Centerline is valid? [True, True] Translation: X:812.47, Y:3.55, Z:3.19 [[ 9.99949618e-01 -5.40454636e-03 -8.45881419e-03 8.12474946e+02] [ 5.40493210e-03 9.99985393e-01 2.27430274e-05 3.55089070e+00] [ 8.45856772e-03 -6.84611979e-05 9.99964223e-01 3.18850177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters 0.051859637408255214 Centerline is valid? [True, True] Translation: X:812.53, Y:3.55, Z:3.19 [[ 9.99962243e-01 -1.97863636e-03 -8.46159692e-03 8.12533546e+02] [ 1.97889465e-03 9.99998042e-01 2.21525935e-05 3.55330345e+00] [ 8.46153652e-03 -3.88963659e-05 9.99964200e-01 3.18889690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.779254154 meters 0.0516999338952066 Centerline is valid? [True, True] Translation: X:812.59, Y:3.55, Z:3.19 [[ 9.99972416e-01 1.01486052e-04 -7.42675939e-03 8.12592449e+02] [-1.01349723e-04 9.99999995e-01 1.87325832e-05 3.55393407e+00] [ 7.42676125e-03 -1.79793665e-05 9.99972421e-01 3.18965346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.839254154 meters 0.05121094115539587 Centerline is valid? [True, True] Translation: X:812.65, Y:3.55, Z:3.19 [[ 9.99968930e-01 7.86712988e-04 -7.84344589e-03 8.12649992e+02] [-7.86589203e-04 9.99999690e-01 1.88666773e-05 3.55356256e+00] [ 7.84345831e-03 -1.26965213e-05 9.99969240e-01 3.18888968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.899254154 meters 0.05093628337485744 Centerline is valid? [True, True] Translation: X:812.71, Y:3.55, Z:3.19 [[ 9.99966426e-01 -1.05742769e-04 -8.19365214e-03 8.12708805e+02] [ 1.05902584e-04 9.99999994e-01 1.90707990e-05 3.55290019e+00] [ 8.19365008e-03 -1.99378876e-05 9.99966431e-01 3.18950153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.959254154 meters 0.05153689969726622 Centerline is valid? [True, True] Translation: X:812.77, Y:3.55, Z:3.19 [[ 9.99960155e-01 -4.13590056e-03 -7.91098578e-03 8.12768033e+02] [ 4.13617363e-03 9.99991446e-01 1.81571060e-05 3.54989090e+00] [ 7.91084301e-03 -5.08775932e-05 9.99968707e-01 3.18963652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.019254154 meters 0.052208820329986895 Centerline is valid? [True, True] Translation: X:812.83, Y:3.54, Z:3.19 [[ 9.99916705e-01 -1.04749620e-02 -7.54040002e-03 8.12826369e+02] [ 1.04753885e-02 9.99945131e-01 1.70629508e-05 3.54303557e+00] [ 7.53980755e-03 -9.60501488e-05 9.99971571e-01 3.18979820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.079254154 meters 0.05247914886086797 Centerline is valid? [True, True] Translation: X:812.89, Y:3.54, Z:3.19 [[ 9.99846604e-01 -1.60695851e-02 -6.96681598e-03 8.12885785e+02] [ 1.60700839e-02 9.99870868e-01 1.56152233e-05 3.53607783e+00] [ 6.96566541e-03 -1.27570145e-04 9.99975731e-01 3.18983726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.139254154 meters 0.05229010888526136 Centerline is valid? [True, True] Translation: X:812.94, Y:3.54, Z:3.19 [[ 9.99820554e-01 -1.82054280e-02 -5.23665425e-03 8.12944423e+02] [ 1.82057382e-02 9.99834262e-01 1.15719672e-05 3.53875661e+00] [ 5.23557566e-03 -1.06907047e-04 9.99986289e-01 3.19077604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.199254154 meters 0.05277541423847254 Centerline is valid? [True, True] Translation: X:813.00, Y:3.54, Z:3.19 [[ 9.99762325e-01 -2.11087555e-02 -5.45109371e-03 8.13002588e+02] [ 2.11091321e-02 9.99777177e-01 1.15637269e-05 3.53936883e+00] [ 5.44963499e-03 -1.26628836e-04 9.99985143e-01 3.19136256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.259254154 meters 0.05258810874822392 Centerline is valid? [True, True] Translation: X:813.06, Y:3.55, Z:3.19 [[ 9.99724454e-01 -2.27653638e-02 -5.72323067e-03 8.13061884e+02] [ 2.27658051e-02 9.99740825e-01 1.19683670e-05 3.54528834e+00] [ 5.72147489e-03 -1.42259023e-04 9.99983622e-01 3.19110190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.319254154 meters 0.052320273932173776 Centerline is valid? [True, True] Translation: X:813.12, Y:3.55, Z:3.19 [[ 9.99698863e-01 -2.35805072e-02 -6.79279894e-03 8.13120994e+02] [ 2.35811451e-02 9.99721926e-01 1.38267321e-05 3.55346255e+00] [ 6.79058399e-03 -1.74004546e-04 9.99976929e-01 3.19002877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.379254154 meters 0.052809769480514177 Centerline is valid? [True, True] Translation: X:813.18, Y:3.55, Z:3.19 [[ 9.99720283e-01 -2.20525442e-02 -8.54641820e-03 8.13178777e+02] [ 2.20534926e-02 9.99756792e-01 1.67397943e-05 3.55409708e+00] [ 8.54397049e-03 -2.05213483e-04 9.99963479e-01 3.18858522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.439254154 meters 0.052835344974245683 Centerline is valid? [True, True] Translation: X:813.24, Y:3.56, Z:3.19 [[ 9.99752423e-01 -2.07311382e-02 -8.08168953e-03 8.13237459e+02] [ 2.07319388e-02 9.99785070e-01 1.52871073e-05 3.55870178e+00] [ 8.07963562e-03 -1.82832415e-04 9.99967342e-01 3.18938570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.499254154 meters 0.05276977542123174 Centerline is valid? [True, True] Translation: X:813.30, Y:3.56, Z:3.19 [[ 9.99863086e-01 -1.49657854e-02 -7.05932981e-03 8.13296543e+02] [ 1.49662502e-02 9.99887999e-01 1.30134313e-05 3.56210361e+00] [ 7.05834440e-03 -1.18663346e-04 9.99975083e-01 3.19003006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.559254154 meters 0.052228203530575584 Centerline is valid? [True, True] Translation: X:813.36, Y:3.57, Z:3.19 [[ 9.99954158e-01 -7.76207126e-03 -5.60637876e-03 8.13356926e+02] [ 7.76225089e-03 9.99969873e-01 1.02809553e-05 3.56674529e+00] [ 5.60613006e-03 -5.37986025e-05 9.99984284e-01 3.19041538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.619254154 meters 0.051957877867397 Centerline is valid? [True, True] Translation: X:813.41, Y:3.57, Z:3.19 [[ 9.99984765e-01 -2.94418647e-03 -4.66921377e-03 8.13414662e+02] [ 2.94425794e-03 9.99995666e-01 8.43473965e-06 3.57120514e+00] [ 4.66916869e-03 -2.21819809e-05 9.99989099e-01 3.19118961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.679254154 meters 0.05196857109152819 Centerline is valid? [True, True] Translation: X:813.47, Y:3.58, Z:3.19 [[ 9.99978538e-01 4.38202221e-03 -4.87045221e-03 8.13472324e+02] [-4.38203244e-03 9.99990399e-01 8.57077887e-06 3.58022663e+00] [ 4.87044300e-03 1.27718847e-05 9.99988139e-01 3.19027951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters 0.05181991743107328 Centerline is valid? [True, True] Translation: X:813.53, Y:3.59, Z:3.19 [[ 9.99942271e-01 9.19456994e-03 -5.56007701e-03 8.13532398e+02] [-9.19465928e-03 9.99957728e-01 9.49348212e-06 3.58579733e+00] [ 5.55992926e-03 4.16300796e-05 9.99984543e-01 3.18985092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.799254154 meters 0.051825984186094146 Centerline is valid? [True, True] Translation: X:813.59, Y:3.59, Z:3.19 [[ 9.99877094e-01 1.45328655e-02 -5.88159336e-03 8.13592945e+02] [-1.45330580e-02 9.99894390e-01 1.00105055e-05 3.58738910e+00] [ 5.88111769e-03 7.54682623e-05 9.99982703e-01 3.19002840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters 0.052612633496700124 Centerline is valid? [True, True] Translation: X:813.65, Y:3.59, Z:3.19 [[ 9.99830649e-01 1.72356127e-02 -6.45031688e-03 8.13654269e+02] [-1.72359000e-02 9.99851451e-01 1.10392732e-05 3.59151247e+00] [ 6.44954896e-03 1.00139613e-04 9.99979196e-01 3.18941144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.919254154 meters 0.052949342496885876 Centerline is valid? [True, True] Translation: X:813.72, Y:3.60, Z:3.19 [[ 9.99807831e-01 1.83912685e-02 -6.78693291e-03 8.13715086e+02] [-1.83916106e-02 9.99830860e-01 1.20068846e-05 3.59690067e+00] [ 6.78600579e-03 1.12818050e-04 9.99976968e-01 3.18841278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters 0.05196587797861292 Centerline is valid? [True, True] Translation: X:813.78, Y:3.60, Z:3.19 [[ 9.99812849e-01 1.82122920e-02 -6.52523021e-03 8.13777725e+02] [-1.82126012e-02 9.99834137e-01 1.20289805e-05 3.59546028e+00] [ 6.52436699e-03 1.06814686e-04 9.99978710e-01 3.18851608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.039254154 meters 0.05313849073615498 Centerline is valid? [True, True] Translation: X:813.84, Y:3.59, Z:3.19 [[ 9.99827307e-01 1.68836779e-02 -7.76513214e-03 8.13840338e+02] [-1.68840733e-02 9.99857454e-01 1.46345088e-05 3.59128523e+00] [ 7.76427234e-03 1.16475079e-04 9.99969851e-01 3.18833731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters 0.052046981777675 Centerline is valid? [True, True] Translation: X:813.90, Y:3.58, Z:3.19 [[ 9.99839156e-01 1.48798054e-02 -1.00126770e-02 8.13902107e+02] [-1.48803537e-02 9.99889281e-01 1.97317243e-05 3.58394870e+00] [ 1.00118620e-02 1.29263625e-04 9.99949872e-01 3.18867908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.159254154 meters 0.05198947396297819 Centerline is valid? [True, True] Translation: X:813.96, Y:3.58, Z:3.19 [[ 9.99844310e-01 1.37741465e-02 -1.10285441e-02 8.13962379e+02] [-1.37747386e-02 9.99905124e-01 2.22696746e-05 3.58149291e+00] [ 1.10278045e-02 1.29649105e-04 9.99939183e-01 3.18833747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters 0.052740948488196514 Centerline is valid? [True, True] Translation: X:814.02, Y:3.58, Z:3.19 [[ 9.99865579e-01 1.20566637e-02 -1.11112913e-02 8.14021701e+02] [-1.20571590e-02 9.99927310e-01 2.24115719e-05 3.58157999e+00] [ 1.11107539e-02 1.11562047e-04 9.99938267e-01 3.18609477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.279254154 meters 0.05181434257741335 Centerline is valid? [True, True] Translation: X:814.08, Y:3.57, Z:3.19 [[ 9.99904888e-01 9.37834473e-03 -1.01124293e-02 8.14081673e+02] [-9.37861927e-03 9.99956020e-01 2.02735397e-05 3.57294941e+00] [ 1.01121747e-02 7.45690127e-05 9.99948868e-01 3.18939627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.339254154 meters 0.05214568224873924 Centerline is valid? [True, True] Translation: X:814.14, Y:3.57, Z:3.19 [[ 9.99924611e-01 7.60837776e-03 -9.63768182e-03 8.14140853e+02] [-7.60854727e-03 9.99971054e-01 1.90765289e-05 3.56751059e+00] [ 9.63754799e-03 5.42536670e-05 9.99953556e-01 3.19199159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.399254154 meters 0.05113151709349797 Centerline is valid? [True, True] Translation: X:814.20, Y:3.56, Z:3.19 [[ 9.99930148e-01 5.61991757e-03 -1.03978575e-02 8.14199830e+02] [-5.62001050e-03 9.99984207e-01 2.02820562e-05 3.56279576e+00] [ 1.03978073e-02 3.81554288e-05 9.99945941e-01 3.19450562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.459254154 meters 0.051428603132786035 Centerline is valid? [True, True] Translation: X:814.26, Y:3.56, Z:3.19 [[ 9.99926168e-01 4.10651164e-03 -1.14365450e-02 8.14259154e+02] [-4.10652828e-03 9.99991568e-01 2.20282372e-05 3.56051397e+00] [ 1.14365390e-02 2.49378845e-05 9.99934600e-01 3.19237309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.519254154 meters 0.051722898216367184 Centerline is valid? [True, True] Translation: X:814.32, Y:3.56, Z:3.19 [[ 9.99934682e-01 1.27392939e-03 -1.13582044e-02 8.14317753e+02] [-1.27376684e-03 9.99999189e-01 2.15455011e-05 3.55587512e+00] [ 1.13582226e-02 -7.07638966e-06 9.99935493e-01 3.19494949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.579254154 meters 0.05153139321440734 Centerline is valid? [True, True] Translation: X:814.38, Y:3.55, Z:3.19 [[ 9.99936710e-01 -1.11797564e-03 -1.11949120e-02 8.14375081e+02] [ 1.11827984e-03 9.99999375e-01 2.09135439e-05 3.55184233e+00] [ 1.11948816e-02 -3.34312648e-05 9.99937335e-01 3.19442976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.639254154 meters 0.05156693064460757 Centerline is valid? [True, True] Translation: X:814.43, Y:3.55, Z:3.20 [[ 9.99942925e-01 -3.46276266e-03 -1.01072328e-02 8.14432733e+02] [ 3.46312702e-03 9.99994003e-01 1.85483802e-05 3.54802567e+00] [ 1.01071080e-02 -5.35499526e-05 9.99948920e-01 3.19514618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.699254154 meters 0.05174340498173119 Centerline is valid? [True, True] Translation: X:814.49, Y:3.55, Z:3.20 [[ 9.99945380e-01 -3.33252809e-03 -9.90611750e-03 8.14490412e+02] [ 3.33286300e-03 9.99994446e-01 1.73000492e-05 3.54696175e+00] [ 9.90600483e-03 -5.03148367e-05 9.99950933e-01 3.19573047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.759254154 meters 0.05191713750784406 Centerline is valid? [True, True] Translation: X:814.55, Y:3.55, Z:3.20 [[ 9.99950709e-01 -6.48163883e-04 -9.90754483e-03 8.14548904e+02] [ 6.48356061e-04 9.99999790e-01 1.61851987e-05 3.54759946e+00] [ 9.90753225e-03 -2.26080177e-05 9.99950919e-01 3.19839239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.819254154 meters 0.05181714561014612 Centerline is valid? [True, True] Translation: X:814.61, Y:3.55, Z:3.20 [[ 9.99937035e-01 3.32004146e-03 -1.07192966e-02 8.14608194e+02] [-3.32005378e-03 9.99994488e-01 1.66450582e-05 3.54714320e+00] [ 1.07192928e-02 1.89446312e-05 9.99942547e-01 3.19596467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.879254154 meters 0.051293737510322866 Centerline is valid? [True, True] Translation: X:814.67, Y:3.55, Z:3.19 [[ 9.99909673e-01 8.78959489e-03 -1.01680427e-02 8.14666252e+02] [-8.78989479e-03 9.99961368e-01 1.51950472e-05 3.55014167e+00] [ 1.01677834e-02 7.41823508e-05 9.99948304e-01 3.19496446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.939254154 meters 0.05119521833292225 Centerline is valid? [True, True] Translation: X:814.73, Y:3.55, Z:3.20 [[ 9.99870122e-01 1.22543105e-02 -1.04676335e-02 8.14725512e+02] [-1.22548223e-02 9.99924907e-01 1.52455415e-05 3.54842558e+00] [ 1.04670343e-02 1.13035428e-04 9.99945213e-01 3.19721698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.999254154 meters 0.051445620880991576 Centerline is valid? [True, True] Translation: X:814.78, Y:3.55, Z:3.20 [[ 9.99827098e-01 1.53376290e-02 -1.05133525e-02 8.14784545e+02] [-1.53383178e-02 9.99882361e-01 1.51110953e-05 3.55280063e+00] [ 1.05123475e-02 1.46148659e-04 9.99944733e-01 3.19569235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.059254154 meters 0.052309221198542956 Centerline is valid? [True, True] Translation: X:814.85, Y:3.55, Z:3.20 [[ 9.99803389e-01 1.72970058e-02 -9.69520408e-03 8.14845961e+02] [-1.72976835e-02 9.99850384e-01 1.39627989e-05 3.55386568e+00] [ 9.69399503e-03 1.53744518e-04 9.99953000e-01 3.19647670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.119254154 meters 0.05177442933129905 Centerline is valid? [True, True] Translation: X:814.91, Y:3.56, Z:3.20 [[ 9.99750034e-01 2.03941223e-02 -9.16234249e-03 8.14906898e+02] [-2.03948562e-02 9.99792003e-01 1.33307398e-05 3.55800983e+00] [ 9.16070862e-03 1.73537250e-04 9.99958025e-01 3.19650204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.179254154 meters 0.05275855514496641 Centerline is valid? [True, True] Translation: X:814.97, Y:3.56, Z:3.19 [[ 9.99642200e-01 2.44542956e-02 -1.08379134e-02 8.14967786e+02] [-2.44555598e-02 9.99700918e-01 1.58892428e-05 3.56167402e+00] [ 1.08350605e-02 2.49163682e-04 9.99941268e-01 3.19471460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters 0.05333043790111928 Centerline is valid? [True, True] Translation: X:815.03, Y:3.57, Z:3.19 [[ 9.99528862e-01 2.74524816e-02 -1.37264517e-02 8.15028445e+02] [-2.74547912e-02 9.99623046e-01 2.01889913e-05 3.56525743e+00] [ 1.37218317e-02 3.56677385e-04 9.99905788e-01 3.19172177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.299254154 meters 0.051902182187417434 Centerline is valid? [True, True] Translation: X:815.09, Y:3.56, Z:3.19 [[ 9.99489394e-01 2.81427117e-02 -1.51307118e-02 8.15090633e+02] [-2.81455792e-02 9.99603834e-01 2.34367238e-05 3.56081841e+00] [ 1.51253771e-02 4.02437890e-04 9.99885524e-01 3.19301912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters 0.05192415619284982 Centerline is valid? [True, True] Translation: X:815.15, Y:3.56, Z:3.19 [[ 9.99495274e-01 2.79259482e-02 -1.51439135e-02 8.15152481e+02] [-2.79287719e-02 9.99609915e-01 2.50401573e-05 3.55990465e+00] [ 1.51387054e-02 3.97923386e-04 9.99885324e-01 3.19352779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.419254154 meters 0.0525012600053469 Centerline is valid? [True, True] Translation: X:815.21, Y:3.56, Z:3.19 [[ 9.99608737e-01 2.42161037e-02 -1.39983310e-02 8.15212558e+02] [-2.42181467e-02 9.99706697e-01 2.35744178e-05 3.55834118e+00] [ 1.39947961e-02 3.15448439e-04 9.99902018e-01 3.19412375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters 0.05190505630227655 Centerline is valid? [True, True] Translation: X:815.27, Y:3.55, Z:3.20 [[ 9.99755696e-01 1.88972000e-02 -1.14648947e-02 8.15272957e+02] [-1.88982206e-02 9.99821413e-01 1.93251155e-05 3.55301233e+00] [ 1.14632124e-02 1.97345715e-04 9.99934276e-01 3.19673722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.539254154 meters 0.05111139494616751 Centerline is valid? [True, True] Translation: X:815.33, Y:3.55, Z:3.20 [[ 9.99849814e-01 1.50090887e-02 -8.66474001e-03 8.15333688e+02] [-1.50095250e-02 9.99887351e-01 1.46781264e-05 3.54828312e+00] [ 8.66398424e-03 1.15377710e-04 9.99962460e-01 3.19946330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters 0.05109036325730306 Centerline is valid? [True, True] Translation: X:815.39, Y:3.55, Z:3.20 [[ 9.99864123e-01 1.41807027e-02 -8.40493935e-03 8.15394879e+02] [-1.41810798e-02 9.99899443e-01 1.47399580e-05 3.54848576e+00] [ 8.40430320e-03 1.04453160e-04 9.99964678e-01 3.19942791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.659254154 meters 0.050661376089045404 Centerline is valid? [True, True] Translation: X:815.46, Y:3.55, Z:3.20 [[ 9.99833209e-01 1.59136159e-02 -8.96165050e-03 8.15456289e+02] [-1.59141097e-02 9.99873362e-01 1.62092919e-05 3.55084285e+00] [ 8.96077357e-03 1.26410101e-04 9.99959843e-01 3.19894751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters 0.05121523871171868 Centerline is valid? [True, True] Translation: X:815.52, Y:3.55, Z:3.20 [[ 9.99731622e-01 2.04423876e-02 -1.08992554e-02 8.15517201e+02] [-2.04433857e-02 9.99791012e-01 1.98377134e-05 3.55359540e+00] [ 1.08973831e-02 2.02985292e-04 9.99940601e-01 3.19812133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.779254154 meters 0.05064454593191739 Centerline is valid? [True, True] Translation: X:815.58, Y:3.55, Z:3.20 [[ 9.99626322e-01 2.46428233e-02 -1.18299188e-02 8.15578256e+02] [-2.46442920e-02 9.99696283e-01 2.16277911e-05 3.54882049e+00] [ 1.18268588e-02 2.69920263e-04 9.99930024e-01 3.20046130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.839254154 meters 0.053513559008632014 Centerline is valid? [True, True] Translation: X:815.64, Y:3.57, Z:3.20 [[ 9.99451287e-01 3.06266514e-02 -1.26147804e-02 8.15638623e+02] [-3.06287969e-02 9.99530828e-01 2.31294586e-05 3.56510534e+00] [ 1.26095703e-02 3.63258779e-04 9.99920430e-01 3.19740480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.899254154 meters 0.05240541618044933 Centerline is valid? [True, True] Translation: X:815.70, Y:3.57, Z:3.20 [[ 9.99342349e-01 3.36077148e-02 -1.36158556e-02 8.15699575e+02] [-3.36104899e-02 9.99435008e-01 2.50301599e-05 3.56641703e+00] [ 1.36090040e-02 4.32621879e-04 9.99907300e-01 3.19844429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.959254154 meters 0.0509548433716576 Centerline is valid? [True, True] Translation: X:815.76, Y:3.56, Z:3.20 [[ 9.99350861e-01 3.35315496e-02 -1.31715947e-02 8.15761735e+02] [-3.35341263e-02 9.99437573e-01 2.52431671e-05 3.55866427e+00] [ 1.31650331e-02 4.16471140e-04 9.99913250e-01 3.20175755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.019254154 meters 0.05312224080754414 Centerline is valid? [True, True] Translation: X:815.82, Y:3.57, Z:3.20 [[ 9.99362313e-01 3.32438867e-02 -1.30311775e-02 8.15822951e+02] [-3.32463668e-02 9.99447186e-01 2.63220670e-05 3.57181744e+00] [ 1.30248487e-02 4.06934024e-04 9.99915090e-01 3.19880637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.079254154 meters 0.050918108014769 Centerline is valid? [True, True] Translation: X:815.89, Y:3.56, Z:3.20 [[ 9.99379335e-01 3.24247007e-02 -1.37689095e-02 8.15885241e+02] [-3.24273713e-02 9.99474094e-01 2.93082429e-05 3.56062334e+00] [ 1.37626187e-02 4.17199489e-04 9.99905204e-01 3.20202354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.139254154 meters 0.051939794714501206 Centerline is valid? [True, True] Translation: X:815.94, Y:3.57, Z:3.20 [[ 9.99489419e-01 2.88375831e-02 -1.37584946e-02 8.15944810e+02] [-2.88399041e-02 9.99584043e-01 2.97164183e-05 3.56652847e+00] [ 1.37536286e-02 3.67092420e-04 9.99905347e-01 3.20055916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.199254154 meters 0.05199973992349159 Centerline is valid? [True, True] Translation: X:816.01, Y:3.56, Z:3.20 [[ 9.99590538e-01 2.55859634e-02 -1.28107053e-02 8.16005366e+02] [-2.55877079e-02 9.99672581e-01 2.77361055e-05 3.56335802e+00] [ 1.28072205e-02 3.00071836e-04 9.99917939e-01 3.20270258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.259254154 meters 0.05181514489363991 Centerline is valid? [True, True] Translation: X:816.07, Y:3.56, Z:3.20 [[ 9.99734835e-01 2.02478061e-02 -1.09674597e-02 8.16065380e+02] [-2.02487633e-02 9.99794973e-01 2.37672551e-05 3.56421163e+00] [ 1.09656923e-02 1.98316543e-04 9.99939855e-01 3.20307004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.319254154 meters 0.051859388507973295 Centerline is valid? [True, True] Translation: X:816.13, Y:3.56, Z:3.20 [[ 9.99819128e-01 1.61649370e-02 -1.00202649e-02 8.16126078e+02] [-1.61655301e-02 9.99869329e-01 2.18031026e-05 3.56091448e+00] [ 1.00193079e-02 1.40183734e-04 9.99949796e-01 3.20376933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.379254154 meters 0.051731763394271615 Centerline is valid? [True, True] Translation: X:816.19, Y:3.56, Z:3.21 [[ 9.99852105e-01 1.41671633e-02 -9.74988115e-03 8.16187966e+02] [-1.41676280e-02 9.99899634e-01 2.14095351e-05 3.55543471e+00] [ 9.74920591e-03 1.16726321e-04 9.99952469e-01 3.20565401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.439254154 meters 0.0514538456014363 Centerline is valid? [True, True] Translation: X:816.25, Y:3.55, Z:3.21 [[ 9.99873213e-01 1.25391426e-02 -9.81466871e-03 8.16249345e+02] [-1.25395332e-02 9.99921377e-01 2.17391384e-05 3.55388105e+00] [ 9.81416964e-03 1.01334982e-04 9.99951835e-01 3.20529452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.499254154 meters 0.051149935569762946 Centerline is valid? [True, True] Translation: X:816.31, Y:3.56, Z:3.20 [[ 9.99865966e-01 1.23897565e-02 -1.07024906e-02 8.16308941e+02] [-1.23902123e-02 9.99923238e-01 2.37207786e-05 3.55561483e+00] [ 1.07019629e-02 1.08888530e-04 9.99942726e-01 3.20301718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.559254154 meters 0.051067515391205055 Centerline is valid? [True, True] Translation: X:816.37, Y:3.55, Z:3.20 [[ 9.99853592e-01 1.32011158e-02 -1.08868944e-02 8.16368929e+02] [-1.32016355e-02 9.99912854e-01 2.41306753e-05 3.55477733e+00] [ 1.08862642e-02 1.19597670e-04 9.99940736e-01 3.20389003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.619254154 meters 0.05174377817427176 Centerline is valid? [True, True] Translation: X:816.43, Y:3.56, Z:3.20 [[ 9.99820783e-01 1.47556405e-02 -1.18605440e-02 8.16429117e+02] [-1.47563665e-02 9.99891119e-01 2.63089981e-05 3.55572785e+00] [ 1.18596409e-02 1.48714251e-04 9.99929661e-01 3.20311278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.679254154 meters 0.0504030343439156 Centerline is valid? [True, True] Translation: X:816.49, Y:3.55, Z:3.20 [[ 9.99795044e-01 1.50121802e-02 -1.35832374e-02 8.16489184e+02] [-1.50131571e-02 9.99887296e-01 3.00532399e-05 3.55312476e+00] [ 1.35821577e-02 1.73880196e-04 9.99907743e-01 3.20298596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters 0.050662020634934496 Centerline is valid? [True, True] Translation: X:816.55, Y:3.55, Z:3.20 [[ 9.99804201e-01 1.26002745e-02 -1.52575775e-02 8.16547455e+02] [-1.26012310e-02 9.99920601e-01 3.34512509e-05 3.55245044e+00] [ 1.52567876e-02 1.58819558e-04 9.99883596e-01 3.20148816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.799254154 meters 0.05128806577553495 Centerline is valid? [True, True] Translation: X:816.61, Y:3.55, Z:3.20 [[ 9.99842105e-01 9.97520885e-03 -1.47057924e-02 8.16606314e+02] [-9.97582001e-03 9.99950240e-01 3.17976664e-05 3.54887314e+00] [ 1.47053778e-02 1.14909692e-04 9.99891863e-01 3.20444224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters 0.050761293413307526 Centerline is valid? [True, True] Translation: X:816.67, Y:3.55, Z:3.21 [[ 9.99908249e-01 5.56515849e-03 -1.23500190e-02 8.16665166e+02] [-5.56525701e-03 9.99984514e-01 2.63897163e-05 3.54653149e+00] [ 1.23499746e-02 4.23437348e-05 9.99923735e-01 3.20530380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.919254154 meters 0.051251078564687476 Centerline is valid? [True, True] Translation: X:816.72, Y:3.54, Z:3.21 [[ 9.99947266e-01 1.59197705e-03 -1.01455350e-02 8.16723530e+02] [-1.59184182e-03 9.99998733e-01 2.14045799e-05 3.54345556e+00] [ 1.01455562e-02 -5.25336416e-06 9.99948532e-01 3.20674300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters 0.05083617177860339 Centerline is valid? [True, True] Translation: X:816.78, Y:3.54, Z:3.21 [[ 9.99959463e-01 3.08193142e-05 -9.00392641e-03 8.16782602e+02] [-3.06519330e-05 9.99999999e-01 1.87276821e-05 3.54190299e+00] [ 9.00392698e-03 -1.84509351e-05 9.99959464e-01 3.20741953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.039254154 meters 0.051268547107427155 Centerline is valid? [True, True] Translation: X:816.84, Y:3.54, Z:3.21 [[ 9.99962904e-01 -9.24889340e-05 -8.61294044e-03 8.16841054e+02] [ 9.26437077e-05 9.99999996e-01 1.75708034e-05 3.54233259e+00] [ 8.61293877e-03 -1.83680863e-05 9.99962908e-01 3.20848063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters 0.0516068121210164 Centerline is valid? [True, True] Translation: X:816.90, Y:3.54, Z:3.21 [[ 9.99951311e-01 -4.94481227e-04 -9.85554548e-03 8.16898443e+02] [ 4.94698925e-04 9.99999877e-01 1.96509693e-05 3.54142038e+00] [ 9.85553456e-03 -2.45255403e-05 9.99951433e-01 3.20781638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.159254154 meters 0.05090071280405566 Centerline is valid? [True, True] Translation: X:816.96, Y:3.54, Z:3.21 [[ 9.99941064e-01 -1.90276218e-03 -1.06886780e-02 8.16957429e+02] [ 1.90309462e-03 9.99998189e-01 2.09302629e-05 3.53949896e+00] [ 1.06886188e-02 -4.12705948e-05 9.99942874e-01 3.20719024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters 0.051215505546422374 Centerline is valid? [True, True] Translation: X:817.02, Y:3.54, Z:3.21 [[ 9.99939023e-01 -2.03463421e-03 -1.08540387e-02 8.17016640e+02] [ 2.03498100e-03 9.99997929e-01 2.09062912e-05 3.53973719e+00] [ 1.08539737e-02 -4.29927788e-05 9.99941093e-01 3.20804344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.279254154 meters 0.05119379480509919 Centerline is valid? [True, True] Translation: X:817.07, Y:3.54, Z:3.21 [[ 9.99936688e-01 -1.12115922e-03 -1.11965628e-02 8.17074193e+02] [ 1.12145908e-03 9.99999371e-01 2.05023743e-05 3.54214693e+00] [ 1.11965328e-02 -3.30575632e-05 9.99937316e-01 3.20837957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.339254154 meters 0.05147188914631326 Centerline is valid? [True, True] Translation: X:817.13, Y:3.54, Z:3.21 [[ 9.99936680e-01 -1.03955010e-03 -1.12051680e-02 8.17130967e+02] [ 1.03983509e-03 9.99999459e-01 1.96075809e-05 3.54305675e+00] [ 1.12051416e-02 -3.12578662e-05 9.99937220e-01 3.20817003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.399254154 meters 0.051627134770752967 Centerline is valid? [True, True] Translation: X:817.19, Y:3.54, Z:3.21 [[ 9.99926757e-01 -3.60278055e-03 -1.15542522e-02 8.17188933e+02] [ 3.60324867e-03 9.99993508e-01 1.96979297e-05 3.54115954e+00] [ 1.15541062e-02 -6.13293307e-05 9.99933247e-01 3.20905205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.459254154 meters 0.05186775544646729 Centerline is valid? [True, True] Translation: X:817.25, Y:3.54, Z:3.21 [[ 9.99925328e-01 -5.98741234e-03 -1.06531673e-02 8.17247930e+02] [ 5.98794193e-03 9.99982072e-01 1.78157585e-05 3.54063546e+00] [ 1.06528696e-02 -8.16049751e-05 9.99943253e-01 3.21026390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.519254154 meters 0.051737204968751706 Centerline is valid? [True, True] Translation: X:817.31, Y:3.55, Z:3.21 [[ 9.99927392e-01 -5.25111893e-03 -1.08460706e-02 8.17306059e+02] [ 5.25161356e-03 9.99986210e-01 1.71242642e-05 3.54696418e+00] [ 1.08458311e-02 -7.40823922e-05 9.99941179e-01 3.21074254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.579254154 meters 0.0521822105314991 Centerline is valid? [True, True] Translation: X:817.36, Y:3.55, Z:3.21 [[ 9.99932789e-01 -3.68320199e-03 -1.09932622e-02 8.17363515e+02] [ 3.68360660e-03 9.99993215e-01 1.65575334e-05 3.55176066e+00] [ 1.09931267e-02 -5.70512739e-05 9.99939572e-01 3.21254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.639254154 meters 0.05213748376470458 Centerline is valid? [True, True] Translation: X:817.42, Y:3.55, Z:3.21 [[ 9.99943145e-01 -2.89512581e-03 -1.02627774e-02 8.17422857e+02] [ 2.89543179e-03 9.99995808e-01 1.49567686e-05 3.55223083e+00] [ 1.02626911e-02 -4.46710901e-05 9.99947336e-01 3.21160857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.699254154 meters 0.05190236662902991 Centerline is valid? [True, True] Translation: X:817.48, Y:3.56, Z:3.21 [[ 9.99947701e-01 -4.49099271e-03 -9.18841435e-03 8.17481050e+02] [ 4.49130100e-03 9.99989914e-01 1.29174323e-05 3.55516869e+00] [ 9.18826366e-03 -5.41846913e-05 9.99957786e-01 3.21496991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.759254154 meters 0.0522590311466838 Centerline is valid? [True, True] Translation: X:817.54, Y:3.56, Z:3.21 [[ 9.99964285e-01 -4.55614102e-03 -7.11825862e-03 8.17540267e+02] [ 4.55632422e-03 9.99989620e-01 9.52011910e-06 3.55635816e+00] [ 7.11814135e-03 -4.19528732e-05 9.99974665e-01 3.21353312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.819254154 meters 0.05258381103812406 Centerline is valid? [True, True] Translation: X:817.60, Y:3.56, Z:3.21 [[ 9.99963462e-01 -3.49039325e-03 -7.80326709e-03 8.17598117e+02] [ 3.49057631e-03 9.99993908e-01 9.83997366e-06 3.55843361e+00] [ 7.80318521e-03 -3.70775134e-05 9.99969554e-01 3.21207095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.879254154 meters 0.05215771938506005 Centerline is valid? [True, True] Translation: X:817.66, Y:3.56, Z:3.21 [[ 9.99945684e-01 -1.56011890e-03 -1.03050959e-02 8.17656797e+02] [ 1.56032598e-03 9.99998783e-01 1.20546270e-05 3.56490741e+00] [ 1.03050646e-02 -2.81332811e-05 9.99946901e-01 3.21189717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.939254154 meters 0.052398359192308945 Centerline is valid? [True, True] Translation: X:817.71, Y:3.57, Z:3.21 [[ 9.99934097e-01 -5.77794398e-04 -1.14659375e-02 8.17714863e+02] [ 5.77976816e-04 9.99999833e-01 1.25958257e-05 3.56994842e+00] [ 1.14659283e-02 -1.92220416e-05 9.99934264e-01 3.20911664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.999254154 meters 0.05275440629656619 Centerline is valid? [True, True] Translation: X:817.77, Y:3.57, Z:3.21 [[ 9.99938572e-01 -7.07382637e-04 -1.10612479e-02 8.17773377e+02] [ 7.07556054e-04 9.99999750e-01 1.17644567e-05 3.57253647e+00] [ 1.10612368e-02 -1.95901869e-05 9.99938822e-01 3.21120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.059254154 meters 0.05236031411595648 Centerline is valid? [True, True] Translation: X:817.83, Y:3.58, Z:3.21 [[ 9.99957269e-01 -6.22988997e-04 -9.22346879e-03 8.17831350e+02] [ 6.23103048e-04 9.99999806e-01 9.49154796e-06 3.57528062e+00] [ 9.22346109e-03 -1.52383139e-05 9.99957463e-01 3.21094649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.119254154 meters 0.05306598282102295 Centerline is valid? [True, True] Translation: X:817.89, Y:3.58, Z:3.21 [[ 9.99954625e-01 1.05097543e-03 -9.46801858e-03 8.17889819e+02] [-1.05093825e-03 9.99999448e-01 8.90174245e-06 3.57924976e+00] [ 9.46802271e-03 1.04896438e-06 9.99955177e-01 3.20962170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.179254154 meters 0.05370008899748433 Centerline is valid? [True, True] Translation: X:817.95, Y:3.58, Z:3.21 [[ 9.99953481e-01 1.70301328e-03 -9.49400178e-03 8.17947683e+02] [-1.70301652e-03 9.99998550e-01 7.74336507e-06 3.58081793e+00] [ 9.49400120e-03 8.42543703e-06 9.99954931e-01 3.20967138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters 0.05331284701297514 Centerline is valid? [True, True] Translation: X:818.01, Y:3.58, Z:3.21 [[ 9.99957110e-01 1.88429259e-03 -9.06797265e-03 8.18006760e+02] [-1.88430875e-03 9.99998225e-01 6.76185621e-06 3.58239906e+00] [ 9.06796929e-03 1.03252940e-05 9.99958885e-01 3.21032266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.299254154 meters 0.05300234519139964 Centerline is valid? [True, True] Translation: X:818.07, Y:3.58, Z:3.21 [[ 9.99960611e-01 1.39483474e-03 -8.76536262e-03 8.18065421e+02] [-1.39483341e-03 9.99999027e-01 6.26490926e-06 3.58348562e+00] [ 8.76536283e-03 5.96155816e-06 9.99961583e-01 3.20994820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters 0.0529573246861954 Centerline is valid? [True, True] Translation: X:818.12, Y:3.58, Z:3.21 [[ 9.99963298e-01 8.15031353e-04 -8.52872163e-03 8.18124301e+02] [-8.15011260e-04 9.99999668e-01 5.83137905e-06 3.58451061e+00] [ 8.52872355e-03 1.11983915e-06 9.99963630e-01 3.20929015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.419254154 meters 0.052867396662637074 Centerline is valid? [True, True] Translation: X:818.18, Y:3.59, Z:3.21 [[ 9.99974314e-01 6.77282014e-04 -7.13525769e-03 8.18183384e+02] [-6.77265919e-04 9.99999771e-01 4.67183444e-06 3.58580794e+00] [ 7.13525921e-03 1.60752426e-07 9.99974544e-01 3.21000006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters 0.052896972544566476 Centerline is valid? [True, True] Translation: X:818.24, Y:3.59, Z:3.21 [[ 9.99984029e-01 1.29373123e-03 -5.50164269e-03 8.18241428e+02] [-1.29373188e-03 9.99999163e-01 3.44106559e-06 3.58782867e+00] [ 5.50164254e-03 3.67663992e-06 9.99984866e-01 3.21012430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.539254154 meters 0.05264355473176163 Centerline is valid? [True, True] Translation: X:818.30, Y:3.59, Z:3.21 [[ 9.99980764e-01 4.63742819e-03 -4.11891001e-03 8.18300400e+02] [-4.63745748e-03 9.99989247e-01 2.43774182e-06 3.59203983e+00] [ 4.11887702e-03 1.66635751e-05 9.99991517e-01 3.21071510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters 0.052656645098691945 Centerline is valid? [True, True] Translation: X:818.36, Y:3.60, Z:3.21 [[ 9.99938109e-01 8.73725574e-03 -6.88755679e-03 8.18359742e+02] [-8.73744013e-03 9.99961828e-01 3.31874441e-06 3.59653192e+00] [ 6.88732288e-03 5.68610761e-05 9.99976280e-01 3.20847316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.659254154 meters 0.05309883981206425 Centerline is valid? [True, True] Translation: X:818.42, Y:3.60, Z:3.21 [[ 9.99917322e-01 9.74099604e-03 -8.39414465e-03 8.18419741e+02] [-9.74130618e-03 9.99952552e-01 3.93923728e-06 3.59745299e+00] [ 8.39378474e-03 7.78310216e-05 9.99964769e-01 3.20657850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters 0.05268210743235384 Centerline is valid? [True, True] Translation: X:818.48, Y:3.60, Z:3.21 [[ 9.99928393e-01 8.24171430e-03 -8.67658592e-03 8.18479265e+02] [-8.24199038e-03 9.99966034e-01 3.93813142e-06 3.59661247e+00] [ 8.67632367e-03 6.75744883e-05 9.99962358e-01 3.20582514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.779254154 meters 0.052378780241079115 Centerline is valid? [True, True] Translation: X:818.54, Y:3.59, Z:3.21 [[ 9.99970699e-01 2.93920029e-03 -7.06837098e-03 8.18538884e+02] [-2.93925173e-03 9.99995680e-01 3.11079084e-06 3.59135165e+00] [ 7.06834959e-03 1.76650220e-05 9.99975019e-01 3.20695285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.839254154 meters 0.05254861629269838 Centerline is valid? [True, True] Translation: X:818.60, Y:3.59, Z:3.21 [[ 9.99980457e-01 -1.91277450e-03 -5.95204825e-03 8.18598041e+02] [ 1.91282328e-03 9.99998171e-01 2.50306260e-06 3.58671707e+00] [ 5.95203258e-03 -1.38882302e-05 9.99982286e-01 3.20774112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.899254154 meters 0.05225909233403062 Centerline is valid? [True, True] Translation: X:818.66, Y:3.59, Z:3.21 [[ 9.99987123e-01 -3.26746274e-03 -3.88295082e-03 8.18656803e+02] [ 3.26749340e-03 9.99994662e-01 1.55216605e-06 3.58507321e+00] [ 3.88292502e-03 -1.42396622e-05 9.99992461e-01 3.20891078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.959254154 meters 0.05259746552265928 Centerline is valid? [True, True] Translation: X:818.71, Y:3.59, Z:3.21 [[ 9.99997139e-01 -1.13406355e-03 -2.10619808e-03 8.18714961e+02] [ 1.13406821e-03 9.99999357e-01 1.01380531e-06 3.58584770e+00] [ 2.10619558e-03 -3.40237468e-06 9.99997782e-01 3.20951445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.019254154 meters 0.05238026004479318 Centerline is valid? [True, True] Translation: X:818.77, Y:3.59, Z:3.21 [[ 9.99967140e-01 5.54797117e-03 -5.91091037e-03 8.18773415e+02] [-5.54806014e-03 9.99984609e-01 1.34465246e-06 3.59167497e+00] [ 5.91082686e-03 3.14494780e-05 9.99982530e-01 3.20508679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.079254154 meters 0.05159102113678962 Centerline is valid? [True, True] Translation: X:818.83, Y:3.59, Z:3.20 [[ 9.99908410e-01 1.09894737e-02 -7.89953155e-03 8.18833175e+02] [-1.09898039e-02 9.99939610e-01 1.60554596e-06 3.59188062e+00] [ 7.89907215e-03 8.52089041e-05 9.99968798e-01 3.20373312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.139254154 meters 0.052075897464262604 Centerline is valid? [True, True] Translation: X:818.89, Y:3.59, Z:3.20 [[ 9.99838627e-01 1.53185109e-02 -9.38417598e-03 8.18893387e+02] [-1.53191686e-02 9.99882655e-01 1.78839427e-06 3.59204804e+00] [ 9.38310218e-03 1.41969669e-04 9.99955968e-01 3.20363072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.199254154 meters 0.052407485454787614 Centerline is valid? [True, True] Translation: X:818.95, Y:3.59, Z:3.20 [[ 9.99806911e-01 1.76347800e-02 -8.66926323e-03 8.18954210e+02] [-1.76354287e-02 9.99844484e-01 1.62257286e-06 3.59141600e+00] [ 8.66794363e-03 1.51263914e-04 9.99962421e-01 3.20428581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.259254154 meters 0.05241778469499346 Centerline is valid? [True, True] Translation: X:819.02, Y:3.59, Z:3.20 [[ 9.99825969e-01 1.71333397e-02 -7.38106554e-03 8.19015218e+02] [-1.71337936e-02 9.99853206e-01 1.73909533e-06 3.59160256e+00] [ 7.38001183e-03 1.24726861e-04 9.99972760e-01 3.20450448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.319254154 meters 0.051476977516581084 Centerline is valid? [True, True] Translation: X:819.08, Y:3.59, Z:3.20 [[ 9.99859981e-01 1.55289144e-02 -6.23462399e-03 8.19077669e+02] [-1.55292033e-02 9.99879415e-01 2.06303161e-06 3.58722161e+00] [ 6.23390422e-03 9.47560008e-05 9.99980565e-01 3.20496947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.379254154 meters 0.05271443911997582 Centerline is valid? [True, True] Translation: X:819.14, Y:3.59, Z:3.20 [[ 9.99860591e-01 1.54095209e-02 -6.43009568e-03 8.19139169e+02] [-1.54098211e-02 9.99881262e-01 2.85338480e-06 3.58775322e+00] [ 6.42937615e-03 9.62336371e-05 9.99979327e-01 3.20472223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.439254154 meters 0.051890086611030825 Centerline is valid? [True, True] Translation: X:819.20, Y:3.58, Z:3.21 [[ 9.99827789e-01 1.70303678e-02 -7.37289152e-03 8.19201211e+02] [-1.70308000e-02 9.99854965e-01 4.16239640e-06 3.58142933e+00] [ 7.37189308e-03 1.21404561e-04 9.99972820e-01 3.20527067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.499254154 meters 0.052495131220066577 Centerline is valid? [True, True] Translation: X:819.26, Y:3.58, Z:3.20 [[ 9.99760463e-01 2.00493660e-02 -8.77723172e-03 8.19260955e+02] [-2.00500889e-02 9.99798977e-01 5.63605599e-06 3.58200319e+00] [ 8.77558029e-03 1.70349570e-04 9.99961479e-01 3.20397334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.559254154 meters 0.05207175557431031 Centerline is valid? [True, True] Translation: X:819.32, Y:3.58, Z:3.20 [[ 9.99695758e-01 2.25368721e-02 -1.00240640e-02 8.19321641e+02] [-2.25379378e-02 9.99745988e-01 6.64461214e-06 3.57865847e+00] [ 1.00216675e-02 2.19279140e-04 9.99949758e-01 3.20304399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.619254154 meters 0.051305592332756646 Centerline is valid? [True, True] Translation: X:819.38, Y:3.57, Z:3.20 [[ 9.99634896e-01 2.50735426e-02 -1.00693357e-02 8.19383186e+02] [-2.50747454e-02 9.99685579e-01 6.79994706e-06 3.56803461e+00] [ 1.00663402e-02 2.45688564e-04 9.99949303e-01 3.20403654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.679254154 meters 0.05292170094460246 Centerline is valid? [True, True] Translation: X:819.44, Y:3.57, Z:3.20 [[ 9.99628024e-01 2.55057785e-02 -9.65755886e-03 8.19443917e+02] [-2.55068990e-02 9.99674646e-01 7.15207164e-06 3.57438586e+00] [ 9.65459916e-03 2.39184967e-04 9.99953365e-01 3.20271058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters 0.05219335861935771 Centerline is valid? [True, True] Translation: X:819.51, Y:3.57, Z:3.21 [[ 9.99610592e-01 2.69077484e-02 -7.39169243e-03 8.19505849e+02] [-2.69084382e-02 9.99637902e-01 6.13194668e-06 3.56538269e+00] [ 7.38918091e-03 1.92769340e-04 9.99972681e-01 3.20591804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.799254154 meters 0.050241704795104425 Centerline is valid? [True, True] Translation: X:819.57, Y:3.56, Z:3.21 [[ 9.99501511e-01 3.10157167e-02 -5.89525719e-03 8.19566573e+02] [-3.10162249e-02 9.99518881e-01 5.21828083e-06 3.55669033e+00] [ 5.89258272e-03 1.77632943e-04 9.99982623e-01 3.20820544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters 0.05153113940744269 Centerline is valid? [True, True] Translation: X:819.63, Y:3.56, Z:3.21 [[ 9.99424721e-01 3.28697894e-02 -8.35490112e-03 8.19626628e+02] [-3.28708749e-02 9.99459607e-01 7.40343051e-06 3.55767786e+00] [ 8.35062954e-03 2.67233738e-04 9.99965097e-01 3.20718599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.919254154 meters 0.05196287295842369 Centerline is valid? [True, True] Translation: X:819.69, Y:3.56, Z:3.20 [[ 9.99383656e-01 3.36777469e-02 -9.90544078e-03 8.19687468e+02] [-3.36793115e-02 9.99432691e-01 8.86669379e-06 3.56446054e+00] [ 9.90011994e-03 3.24747196e-04 9.99950940e-01 3.20497573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters 0.05061964358031601 Centerline is valid? [True, True] Translation: X:819.75, Y:3.56, Z:3.21 [[ 9.99311066e-01 3.58573960e-02 -9.57285834e-03 8.19748892e+02] [-3.58589558e-02 9.99356861e-01 8.71252574e-06 3.55549183e+00] [ 9.56701407e-03 3.34566180e-04 9.99954179e-01 3.20670478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.039254154 meters 0.051453634181822146 Centerline is valid? [True, True] Translation: X:819.81, Y:3.56, Z:3.21 [[ 9.99319036e-01 3.56607431e-02 -9.47498589e-03 8.19809684e+02] [-3.56622565e-02 9.99363899e-01 9.23077851e-06 3.56289537e+00] [ 9.46928803e-03 3.28674884e-04 9.99955111e-01 3.20638849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters 0.0508214562889516 Centerline is valid? [True, True] Translation: X:819.87, Y:3.56, Z:3.21 [[ 9.99334294e-01 3.53565044e-02 -8.99369475e-03 8.19871976e+02] [-3.53578506e-02 9.99374716e-01 9.32278748e-06 3.55776900e+00] [ 8.98840076e-03 3.08681134e-04 9.99959556e-01 3.20777411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.159254154 meters 0.050616858109507265 Centerline is valid? [True, True] Translation: X:819.93, Y:3.56, Z:3.21 [[ 9.99347888e-01 3.50354495e-02 -8.73591944e-03 8.19933241e+02] [-3.50367020e-02 9.99386026e-01 9.66958816e-06 3.56076286e+00] [ 8.73089459e-03 2.96414524e-04 9.99961841e-01 3.20808193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters 0.05065276741182011 Centerline is valid? [True, True] Translation: X:819.99, Y:3.56, Z:3.21 [[ 9.99401590e-01 3.37349375e-02 -7.64308372e-03 8.19994312e+02] [-3.37358552e-02 9.99430784e-01 8.85385867e-06 3.56257770e+00] [ 7.63903184e-03 2.48997405e-04 9.99970791e-01 3.20807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.279254154 meters 0.05012957733987233 Centerline is valid? [True, True] Translation: X:820.06, Y:3.56, Z:3.21 [[ 9.99456234e-01 3.24570042e-02 -5.81199206e-03 8.20055903e+02] [-3.24575128e-02 9.99473116e-01 6.80787039e-06 3.55567612e+00] [ 5.80915078e-03 1.81838638e-04 9.99983110e-01 3.20977881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.339254154 meters 0.0504545059677695 Centerline is valid? [True, True] Translation: X:820.12, Y:3.56, Z:3.21 [[ 9.99442012e-01 3.29570501e-02 -5.43123988e-03 8.20116792e+02] [-3.29575005e-02 9.99456754e-01 6.57383449e-06 3.56368389e+00] [ 5.42850603e-03 1.72429925e-04 9.99985251e-01 3.21008351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.399254154 meters 0.051099728552977855 Centerline is valid? [True, True] Translation: X:820.18, Y:3.57, Z:3.21 [[ 9.99379925e-01 3.46872183e-02 -6.04665561e-03 8.20177886e+02] [-3.46878054e-02 9.99398197e-01 7.78604957e-06 3.56653462e+00] [ 6.04328679e-03 2.01963991e-04 9.99981719e-01 3.20934791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.459254154 meters 0.05134155985335777 Centerline is valid? [True, True] Translation: X:820.24, Y:3.57, Z:3.21 [[ 9.99208018e-01 3.89905504e-02 -7.94189939e-03 8.20237495e+02] [-3.89916987e-02 9.99239535e-01 1.02525870e-05 3.57154120e+00] [ 7.93625960e-03 2.99423681e-04 9.99968463e-01 3.20793220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.519254154 meters 0.05471247119622077 Centerline is valid? [True, True] Translation: X:820.30, Y:3.59, Z:3.21 [[ 9.99028947e-01 4.30758002e-02 -9.25415575e-03 8.20297885e+02] [-4.30775342e-02 9.99071732e-01 1.19580052e-05 3.58959554e+00] [ 9.24608052e-03 3.86699818e-04 9.99957179e-01 3.20585878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.579254154 meters 0.0524797109839911 Centerline is valid? [True, True] Translation: X:820.36, Y:3.58, Z:3.21 [[ 9.98876557e-01 4.62854560e-02 -1.01627092e-02 8.20358419e+02] [-4.62877118e-02 9.98928149e-01 1.32583507e-05 3.58435520e+00] [ 1.01524300e-02 4.57165101e-04 9.99948358e-01 3.20627377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.639254154 meters 0.054074126808209826 Centerline is valid? [True, True] Translation: X:820.42, Y:3.59, Z:3.20 [[ 9.98809175e-01 4.75249412e-02 -1.10278177e-02 8.20419088e+02] [-4.75276715e-02 9.98869922e-01 1.45102173e-05 3.59187408e+00] [ 1.10160450e-02 5.09633560e-04 9.99939192e-01 3.20474002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.699254154 meters 0.051717964354606655 Centerline is valid? [True, True] Translation: X:820.48, Y:3.58, Z:3.21 [[ 9.98728397e-01 4.89031579e-02 -1.22503134e-02 8.20480328e+02] [-4.89066287e-02 9.98803355e-01 1.62723717e-05 3.58449096e+00] [ 1.22364499e-02 5.82869847e-04 9.99924962e-01 3.20656841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.759254154 meters 0.049528738310614655 Centerline is valid? [True, True] Translation: X:820.54, Y:3.58, Z:3.21 [[ 9.98694847e-01 4.97414420e-02 -1.15927774e-02 8.20542263e+02] [-4.97446031e-02 9.98761971e-01 1.56908152e-05 3.57612053e+00] [ 1.15792057e-02 5.61007775e-04 9.99932801e-01 3.20896163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.819254154 meters 0.05083553415233721 Centerline is valid? [True, True] Translation: X:820.60, Y:3.58, Z:3.21 [[ 9.98680370e-01 5.00139760e-02 -1.16671222e-02 8.20603291e+02] [-5.00171895e-02 9.98748357e-01 1.63691622e-05 3.58315176e+00] [ 1.16533379e-02 5.67209104e-04 9.99931937e-01 3.20894772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.879254154 meters 0.051847319733965044 Centerline is valid? [True, True] Translation: X:820.66, Y:3.58, Z:3.21 [[ 9.98886317e-01 4.54943184e-02 -1.25056735e-02 8.20664088e+02] [-4.54976536e-02 9.98964445e-01 1.78247066e-05 3.58494334e+00] [ 1.24935342e-02 5.51173947e-04 9.99921801e-01 3.20831715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.939254154 meters 0.05356409401773005 Centerline is valid? [True, True] Translation: X:820.72, Y:3.59, Z:3.21 [[ 9.99106500e-01 4.03668659e-02 -1.25186981e-02 8.20724312e+02] [-4.03698062e-02 9.99184807e-01 1.78456193e-05 3.59349611e+00] [ 1.25092133e-02 4.87547740e-04 9.99921638e-01 3.20648524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.999254154 meters 0.0519089997682243 Centerline is valid? [True, True] Translation: X:820.78, Y:3.58, Z:3.21 [[ 9.99435108e-01 3.17375359e-02 -1.10540956e-02 8.20784588e+02] [-3.17393012e-02 9.99496181e-01 1.57425025e-05 3.58380538e+00] [ 1.10490260e-02 3.35115660e-04 9.99938901e-01 3.20872129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.059254154 meters 0.05001946684776168 Centerline is valid? [True, True] Translation: X:820.84, Y:3.57, Z:3.21 [[ 9.99598774e-01 2.63750368e-02 -1.03270361e-02 8.20844826e+02] [-2.63762916e-02 9.99652085e-01 1.46991698e-05 3.57191907e+00] [ 1.03238308e-02 2.57695643e-04 9.99946675e-01 3.21173889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.119254154 meters 0.05130983163328733 Centerline is valid? [True, True] Translation: X:820.91, Y:3.58, Z:3.21 [[ 9.99711877e-01 2.17530900e-02 -1.01472710e-02 8.20905077e+02] [-2.17540630e-02 9.99763352e-01 1.44899105e-05 3.57745279e+00] [ 1.01451848e-02 2.06258637e-04 9.99948515e-01 3.21008812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.179254154 meters 0.051070425051821106 Centerline is valid? [True, True] Translation: X:820.97, Y:3.57, Z:3.21 [[ 9.99765467e-01 1.88591299e-02 -1.06462950e-02 8.20967082e+02] [-1.88600350e-02 9.99822134e-01 1.53853476e-05 3.57173132e+00] [ 1.06446916e-02 1.85407758e-04 9.99943326e-01 3.21008123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters 0.051211142059447906 Centerline is valid? [True, True] Translation: X:821.03, Y:3.57, Z:3.21 [[ 9.99748852e-01 1.91901496e-02 -1.15745533e-02 8.21028124e+02] [-1.91912391e-02 9.99815831e-01 1.69402672e-05 3.56877930e+00] [ 1.15727467e-02 2.05194008e-04 9.99933012e-01 3.21009332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.299254154 meters 0.051634999184710186 Centerline is valid? [True, True] Translation: X:821.09, Y:3.57, Z:3.21 [[ 9.99657256e-01 2.25319809e-02 -1.33296774e-02 8.21087723e+02] [-2.25337220e-02 9.99746083e-01 1.95786680e-05 3.57055511e+00] [ 1.33267340e-02 2.80795288e-04 9.99911156e-01 3.20865387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters 0.05072519356554339 Centerline is valid? [True, True] Translation: X:821.15, Y:3.56, Z:3.21 [[ 9.99521769e-01 2.64517329e-02 -1.60168636e-02 8.21147920e+02] [-2.64547492e-02 9.99650012e-01 2.35586947e-05 3.56332990e+00] [ 1.60118810e-02 4.00174682e-04 9.99871722e-01 3.21138108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.419254154 meters 0.05118790711425049 Centerline is valid? [True, True] Translation: X:821.21, Y:3.56, Z:3.21 [[ 9.99498170e-01 2.64872136e-02 -1.73734096e-02 8.21208914e+02] [-2.64907440e-02 9.99649058e-01 2.69320174e-05 3.56201067e+00] [ 1.73680259e-02 4.33316044e-04 9.99849071e-01 3.21047033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters 0.050745925661072666 Centerline is valid? [True, True] Translation: X:821.27, Y:3.56, Z:3.21 [[ 9.99578279e-01 2.37485405e-02 -1.67113891e-02 8.21269233e+02] [-2.37514180e-02 9.99717895e-01 2.62916802e-05 3.55571155e+00] [ 1.67072991e-02 3.70638596e-04 9.99860355e-01 3.21278599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.539254154 meters 0.05037295434787154 Centerline is valid? [True, True] Translation: X:821.33, Y:3.55, Z:3.21 [[ 9.99756164e-01 1.65226033e-02 -1.46497586e-02 8.21329437e+02] [-1.65240390e-02 9.99863469e-01 2.30436005e-05 3.54820880e+00] [ 1.46481392e-02 2.19035201e-04 9.99892686e-01 3.21498668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters 0.05105695917019212 Centerline is valid? [True, True] Translation: X:821.39, Y:3.55, Z:3.21 [[ 9.99857271e-01 1.09786425e-02 -1.28416001e-02 8.21389070e+02] [-1.09792884e-02 9.99939726e-01 2.01979528e-05 3.54602152e+00] [ 1.28410478e-02 1.20796561e-04 9.99917543e-01 3.21354838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.659254154 meters 0.05083861275102937 Centerline is valid? [True, True] Translation: X:821.45, Y:3.54, Z:3.22 [[ 9.99923697e-01 4.66644749e-03 -1.14378276e-02 8.21448679e+02] [-4.66654764e-03 9.99989111e-01 1.79322451e-05 3.53803402e+00] [ 1.14377867e-02 3.54442904e-05 9.99934586e-01 3.21600025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters 0.050029052834660345 Centerline is valid? [True, True] Translation: X:821.51, Y:3.54, Z:3.22 [[ 9.99932047e-01 2.83568252e-03 -1.13075443e-02 8.21507624e+02] [-2.83566634e-03 9.99995979e-01 1.74630910e-05 3.53530133e+00] [ 1.13075484e-02 1.46025184e-05 9.99936068e-01 3.21696829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.779254154 meters 0.05054019456137137 Centerline is valid? [True, True] Translation: X:821.57, Y:3.54, Z:3.22 [[ 9.99921556e-01 4.36372098e-03 -1.17404962e-02 8.21565456e+02] [-4.36381404e-03 9.99990478e-01 1.76913456e-05 3.53655000e+00] [ 1.17404616e-02 3.35433842e-05 9.99931078e-01 3.21594977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.839254154 meters 0.05089550661909731 Centerline is valid? [True, True] Translation: X:821.62, Y:3.54, Z:3.22 [[ 9.99907152e-01 5.29220354e-03 -1.25571008e-02 8.21624423e+02] [-5.29239711e-03 9.99985995e-01 1.78146719e-05 3.53816912e+00] [ 1.25570192e-02 4.86441460e-05 9.99921156e-01 3.21534693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.899254154 meters 0.05087645040957156 Centerline is valid? [True, True] Translation: X:821.68, Y:3.54, Z:3.22 [[ 9.99906285e-01 5.13635920e-03 -1.26901276e-02 8.21683024e+02] [-5.13655330e-03 9.99986808e-01 1.72972438e-05 3.53891203e+00] [ 1.26900490e-02 4.78878938e-05 9.99919477e-01 3.21669099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.959254154 meters 0.05075619497444388 Centerline is valid? [True, True] Translation: X:821.74, Y:3.54, Z:3.22 [[ 9.99937509e-01 3.56798645e-03 -1.05946677e-02 8.21742046e+02] [-3.56803643e-03 9.99993634e-01 1.41842935e-05 3.53951574e+00] [ 1.05946509e-02 2.36187532e-05 9.99943875e-01 3.21840777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.019254154 meters 0.0511214908756203 Centerline is valid? [True, True] Translation: X:821.80, Y:3.54, Z:3.22 [[ 9.99942052e-01 3.39044479e-03 -1.02175114e-02 8.21799435e+02] [-3.39048539e-03 9.99994252e-01 1.33478706e-05 3.54184556e+00] [ 1.02174979e-02 2.12952261e-05 9.99947800e-01 3.21718219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.079254154 meters 0.05070638219809615 Centerline is valid? [True, True] Translation: X:821.86, Y:3.54, Z:3.22 [[ 9.99923248e-01 3.94199251e-03 -1.17456274e-02 8.21858429e+02] [-3.94209600e-03 9.99992230e-01 1.43417962e-05 3.54448854e+00] [ 1.17455927e-02 3.19616955e-05 9.99931018e-01 3.21591854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.139254154 meters 0.05134637616256018 Centerline is valid? [True, True] Translation: X:821.92, Y:3.55, Z:3.22 [[ 9.99877853e-01 6.84321158e-03 -1.40516964e-02 8.21917004e+02] [-6.84366899e-03 9.99976582e-01 1.55330339e-05 3.54877259e+00] [ 1.40514736e-02 8.06340225e-05 9.99901270e-01 3.21641876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.199254154 meters 0.051265423815845444 Centerline is valid? [True, True] Translation: X:821.98, Y:3.55, Z:3.22 [[ 9.99840844e-01 9.24947141e-03 -1.52555919e-02 8.21975297e+02] [-9.25030488e-03 9.99957215e-01 1.59302275e-05 3.55160960e+00] [ 1.52550865e-02 1.25191184e-04 9.99883627e-01 3.21717906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.259254154 meters 0.051249694534777915 Centerline is valid? [True, True] Translation: X:822.03, Y:3.56, Z:3.22 [[ 9.99809299e-01 1.16999969e-02 -1.56357102e-02 8.22033546e+02] [-1.17011820e-02 9.99931539e-01 1.56946374e-05 3.55743960e+00] [ 1.56348233e-02 1.67264645e-04 9.99877755e-01 3.21553505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.319254154 meters 0.05168676195149158 Centerline is valid? [True, True] Translation: X:822.09, Y:3.56, Z:3.22 [[ 9.99819881e-01 1.28322829e-02 -1.39835003e-02 8.22092680e+02] [-1.28333478e-02 9.99917649e-01 1.35793836e-05 3.55940785e+00] [ 1.39825230e-02 1.65878186e-04 9.99902226e-01 3.21767715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.379254154 meters 0.05133485020730595 Centerline is valid? [True, True] Translation: X:822.15, Y:3.56, Z:3.22 [[ 9.99828968e-01 1.36521475e-02 -1.24760859e-02 8.22150331e+02] [-1.36530645e-02 9.99906793e-01 1.16721905e-05 3.56347260e+00] [ 1.24750824e-02 1.58666611e-04 9.99922171e-01 3.21735328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.439254154 meters 0.05187977448612121 Centerline is valid? [True, True] Translation: X:822.21, Y:3.57, Z:3.22 [[ 9.99820423e-01 1.48480668e-02 -1.17752378e-02 8.22209524e+02] [-1.48489703e-02 9.99889748e-01 1.06942604e-05 3.56531783e+00] [ 1.17740983e-02 1.64157817e-04 9.99930669e-01 3.21779997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.499254154 meters 0.05169946593098838 Centerline is valid? [True, True] Translation: X:822.27, Y:3.57, Z:3.22 [[ 9.99770439e-01 1.72280369e-02 -1.27383269e-02 8.22269458e+02] [-1.72292904e-02 9.99851565e-01 1.13405159e-05 3.56773075e+00] [ 1.27366315e-02 2.08134422e-04 9.99918864e-01 3.21738115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.559254154 meters 0.051632973641170546 Centerline is valid? [True, True] Translation: X:822.33, Y:3.56, Z:3.22 [[ 9.99720790e-01 1.87889485e-02 -1.43289136e-02 8.22329512e+02] [-1.87906970e-02 9.99823439e-01 1.26050909e-05 3.56221635e+00] [ 1.43266205e-02 2.56648702e-04 9.99897336e-01 3.22030938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.619254154 meters 0.05202517488080438 Centerline is valid? [True, True] Translation: X:822.39, Y:3.57, Z:3.22 [[ 9.99683232e-01 1.93375317e-02 -1.61088635e-02 8.22388548e+02] [-1.93398090e-02 9.99812968e-01 1.44130559e-05 3.56671737e+00] [ 1.61061294e-02 2.97133853e-04 9.99870244e-01 3.21674281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.679254154 meters 0.0520359108630767 Centerline is valid? [True, True] Translation: X:822.45, Y:3.57, Z:3.22 [[ 9.99685565e-01 1.88552882e-02 -1.65302824e-02 8.22448261e+02] [-1.88576220e-02 9.99822179e-01 1.46905266e-05 3.56629651e+00] [ 1.65276200e-02 2.97035910e-04 9.99863365e-01 3.21639800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters 0.05265050796007425 Centerline is valid? [True, True] Translation: X:822.51, Y:3.57, Z:3.22 [[ 9.99737399e-01 1.75830476e-02 -1.46958964e-02 8.22506669e+02] [-1.75847565e-02 9.99845376e-01 1.29318193e-05 3.56756988e+00] [ 1.46938514e-02 2.45495337e-04 9.99892009e-01 3.21590480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.799254154 meters 0.05134807234255475 Centerline is valid? [True, True] Translation: X:822.57, Y:3.56, Z:3.22 [[ 9.99770323e-01 1.66166086e-02 -1.35347500e-02 8.22566099e+02] [-1.66179720e-02 9.99861912e-01 1.17311547e-05 3.55942625e+00] [ 1.35330760e-02 2.13191637e-04 9.99908401e-01 3.22142536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters 0.05095438265631427 Centerline is valid? [True, True] Translation: X:822.63, Y:3.56, Z:3.22 [[ 9.99779415e-01 1.61509809e-02 -1.34263657e-02 8.22625799e+02] [-1.61522825e-02 9.99869543e-01 1.14987031e-05 3.56083348e+00] [ 1.34247998e-02 2.05370284e-04 9.99909862e-01 3.22007097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.919254154 meters 0.050962910362602434 Centerline is valid? [True, True] Translation: X:822.69, Y:3.56, Z:3.22 [[ 9.99736842e-01 1.80507459e-02 -1.41568994e-02 8.22685520e+02] [-1.80523861e-02 9.99837042e-01 1.19342878e-05 3.56086268e+00] [ 1.41548079e-02 2.43634666e-04 9.99899786e-01 3.21995819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters 0.05062215270998814 Centerline is valid? [True, True] Translation: X:822.75, Y:3.56, Z:3.22 [[ 9.99719368e-01 1.90308392e-02 -1.41071833e-02 8.22745877e+02] [-1.90325663e-02 9.99818864e-01 1.18320440e-05 3.55789808e+00] [ 1.41048532e-02 2.56667179e-04 9.99900489e-01 3.22195761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.039254154 meters 0.050974546311205966 Centerline is valid? [True, True] Translation: X:822.81, Y:3.56, Z:3.22 [[ 9.99631057e-01 2.27039221e-02 -1.49091473e-02 8.22806497e+02] [-2.27062595e-02 9.99742180e-01 1.25046710e-05 3.55590038e+00] [ 1.49055873e-02 3.26030909e-04 9.99888852e-01 3.22274257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters 0.051211565143260515 Centerline is valid? [True, True] Translation: X:822.87, Y:3.56, Z:3.22 [[ 9.99577203e-01 2.46862290e-02 -1.53624849e-02 8.22866920e+02] [-2.46889433e-02 9.99695182e-01 1.29772583e-05 3.56007949e+00] [ 1.53581225e-02 3.66311747e-04 9.99881990e-01 3.22119381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.159254154 meters 0.050192135156628744 Centerline is valid? [True, True] Translation: X:822.93, Y:3.56, Z:3.22 [[ 9.99522430e-01 2.71077648e-02 -1.48351391e-02 8.22928008e+02] [-2.71105594e-02 9.99632441e-01 1.27335633e-05 3.55746965e+00] [ 1.48300314e-02 3.89461437e-04 9.99889953e-01 3.22281156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539999 meters 0.050844093361707726 Centerline is valid? [True, True] Translation: X:822.99, Y:3.56, Z:3.22 [[ 9.99483912e-01 2.93709035e-02 -1.30099917e-02 8.22990202e+02] [-2.93732397e-02 9.99568513e-01 1.15120815e-05 3.55560204e+00] [ 1.30047162e-02 3.70639465e-04 9.99915366e-01 3.22479989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.279254154 meters 0.0526632456372654 Centerline is valid? [True, True] Translation: X:823.05, Y:3.57, Z:3.22 [[ 9.99384390e-01 3.25797717e-02 -1.30153279e-02 8.23049818e+02] [-3.25823766e-02 9.99469053e-01 1.19074014e-05 3.57047435e+00] [ 1.30088054e-02 4.12170246e-04 9.99915297e-01 3.22118299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.339254154 meters 0.052767473777155766 Centerline is valid? [True, True] Translation: X:823.11, Y:3.57, Z:3.22 [[ 9.99270305e-01 3.55208896e-02 -1.40400899e-02 8.23110759e+02] [-3.55242089e-02 9.99368816e-01 1.29828526e-05 3.56968842e+00] [ 1.40316892e-02 4.85789708e-04 9.99901433e-01 3.22087449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.399254154 meters 0.05301147318060918 Centerline is valid? [True, True] Translation: X:823.17, Y:3.57, Z:3.22 [[ 9.99125010e-01 3.88011907e-02 -1.56103270e-02 8.23171733e+02] [-3.88056937e-02 9.99246775e-01 1.44544579e-05 3.57230186e+00] [ 1.55991297e-02 5.91327757e-04 9.99878151e-01 3.22037924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.459254154 meters 0.051576956746466014 Centerline is valid? [True, True] Translation: X:823.23, Y:3.57, Z:3.22 [[ 9.98957870e-01 4.27397584e-02 -1.60152312e-02 8.23232356e+02] [-4.27450002e-02 9.99086015e-01 1.50248594e-05 3.57171757e+00] [ 1.60012356e-02 6.69561857e-04 9.99871748e-01 3.22153948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.519254154 meters 0.05018540255806881 Centerline is valid? [True, True] Translation: X:823.29, Y:3.56, Z:3.22 [[ 9.98875436e-01 4.49622364e-02 -1.50419504e-02 8.23293377e+02] [-4.49671083e-02 9.98988468e-01 1.43458954e-05 3.56436144e+00] [ 1.50273800e-02 6.62063249e-04 9.99886863e-01 3.22438246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.579254154 meters 0.05170841408119971 Centerline is valid? [True, True] Translation: X:823.36, Y:3.57, Z:3.22 [[ 9.98869496e-01 4.53417949e-02 -1.42776779e-02 8.23355234e+02] [-4.53462045e-02 9.98971332e-01 1.49040118e-05 3.57003271e+00] [ 1.42636667e-02 6.32551338e-04 9.99898069e-01 3.22438593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.639254154 meters 0.05300812209291214 Centerline is valid? [True, True] Translation: X:823.42, Y:3.58, Z:3.22 [[ 9.98882504e-01 4.55718701e-02 -1.25279181e-02 8.23416812e+02] [-4.55752675e-02 9.98960908e-01 1.43216836e-05 3.58325046e+00] [ 1.25155531e-02 5.56657541e-04 9.99921522e-01 3.22282545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.699254154 meters 0.05294048367179651 Centerline is valid? [True, True] Translation: X:823.48, Y:3.58, Z:3.22 [[ 9.98899357e-01 4.53785746e-02 -1.18683900e-02 8.23478892e+02] [-4.53815962e-02 9.98969725e-01 1.47281475e-05 3.58073542e+00] [ 1.18568306e-02 5.23894545e-04 9.99929568e-01 3.22417845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.759254154 meters 0.05224127332245629 Centerline is valid? [True, True] Translation: X:823.54, Y:3.58, Z:3.22 [[ 9.98918574e-01 4.50311657e-02 -1.15704864e-02 8.23541389e+02] [-4.50340007e-02 9.98985455e-01 1.55330235e-05 3.57974672e+00] [ 1.15594471e-02 5.05549067e-04 9.99933060e-01 3.22464697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.819254154 meters 0.052517431849763895 Centerline is valid? [True, True] Translation: X:823.60, Y:3.58, Z:3.22 [[ 9.98958001e-01 4.41405579e-02 -1.15984021e-02 8.23602801e+02] [-4.41433407e-02 9.99025208e-01 1.60923827e-05 3.58056553e+00] [ 1.15878064e-02 4.95916601e-04 9.99932736e-01 3.22439298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.879254154 meters 0.05113885038600505 Centerline is valid? [True, True] Translation: X:823.66, Y:3.57, Z:3.23 [[ 9.98960821e-01 4.39391385e-02 -1.21091327e-02 8.23664963e+02] [-4.39421455e-02 9.99034077e-01 1.77476537e-05 3.57432085e+00] [ 1.20982160e-02 5.14372061e-04 9.99926682e-01 3.22615486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.939254154 meters 0.05383492493155629 Centerline is valid? [True, True] Translation: X:823.73, Y:3.59, Z:3.22 [[ 9.98991428e-01 4.30381216e-02 -1.28002810e-02 8.23725927e+02] [-4.30413908e-02 9.99073290e-01 2.00986010e-05 3.59437177e+00] [ 1.27892839e-02 5.30863567e-04 9.99918073e-01 3.22156542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.999254154 meters 0.051799075767879975 Centerline is valid? [True, True] Translation: X:823.79, Y:3.58, Z:3.22 [[ 9.99049543e-01 4.11089301e-02 -1.44936533e-02 8.23787128e+02] [-4.11129089e-02 9.99154507e-01 2.34563683e-05 3.57865785e+00] [ 1.44823633e-02 5.72442172e-04 9.99894961e-01 3.22390463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.059254154 meters 0.05168365527468354 Centerline is valid? [True, True] Translation: X:823.85, Y:3.59, Z:3.22 [[ 9.99094783e-01 3.95538009e-02 -1.56560618e-02 8.23847995e+02] [-3.95582484e-02 9.99217266e-01 2.56263389e-05 3.58567136e+00] [ 1.56448209e-02 5.93723240e-04 9.99877436e-01 3.22242134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.119254154 meters 0.05140720709203763 Centerline is valid? [True, True] Translation: X:823.91, Y:3.58, Z:3.22 [[ 9.99191729e-01 3.75859480e-02 -1.42543409e-02 8.23908577e+02] [-3.75894327e-02 9.99293267e-01 2.34701272e-05 3.58365431e+00] [ 1.42451490e-02 5.12361431e-04 9.99898401e-01 3.22451919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.179254154 meters 0.05081729165760756 Centerline is valid? [True, True] Translation: X:823.97, Y:3.58, Z:3.23 [[ 9.99270948e-01 3.58383822e-02 -1.31598956e-02 8.23970236e+02] [-3.58411976e-02 9.99357498e-01 2.19164417e-05 3.58220472e+00] [ 1.31522258e-02 4.49765956e-04 9.99913405e-01 3.22585220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters 0.050914589222639764 Centerline is valid? [True, True] Translation: X:824.03, Y:3.58, Z:3.23 [[ 9.99359307e-01 3.35158075e-02 -1.25565519e-02 8.24029689e+02] [-3.35181830e-02 9.99438108e-01 2.12764088e-05 3.58430541e+00] [ 1.25502095e-02 3.99610025e-04 9.99921163e-01 3.22591886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.299254154 meters 0.051788112728090065 Centerline is valid? [True, True] Translation: X:824.09, Y:3.59, Z:3.23 [[ 9.99363227e-01 3.33244013e-02 -1.27524166e-02 8.24090775e+02] [-3.33268228e-02 9.99444507e-01 2.26338800e-05 3.59005992e+00] [ 1.27460869e-02 4.02378059e-04 9.99918684e-01 3.22545995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters 0.05125321309723403 Centerline is valid? [True, True] Translation: X:824.15, Y:3.59, Z:3.23 [[ 9.99343221e-01 3.39227540e-02 -1.27426089e-02 8.24153038e+02] [-3.39252028e-02 9.99424374e-01 2.39917635e-05 3.58935226e+00] [ 1.27360878e-02 4.08319586e-04 9.99918809e-01 3.22610345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.419254154 meters 0.05286553617393319 Centerline is valid? [True, True] Translation: X:824.21, Y:3.60, Z:3.22 [[ 9.99280475e-01 3.53889474e-02 -1.36438209e-02 8.24214189e+02] [-3.53918715e-02 9.99373511e-01 2.71464940e-05 3.59836648e+00] [ 1.36362339e-02 4.55753394e-04 9.99906918e-01 3.22441526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters 0.05399719502937276 Centerline is valid? [True, True] Translation: X:824.28, Y:3.60, Z:3.22 [[ 9.99250564e-01 3.63155298e-02 -1.33974774e-02 8.24275750e+02] [-3.63184202e-02 9.99340268e-01 2.75692780e-05 3.60393902e+00] [ 1.33896399e-02 4.59026599e-04 9.99910249e-01 3.22345823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.539254154 meters 0.05234747653813076 Centerline is valid? [True, True] Translation: X:824.34, Y:3.60, Z:3.23 [[ 9.99226004e-01 3.69862070e-02 -1.33945130e-02 8.24337674e+02] [-3.69891395e-02 9.99315667e-01 2.88221936e-05 3.59647379e+00] [ 1.33864127e-02 4.66651624e-04 9.99910289e-01 3.22628011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters 0.05258719348543278 Centerline is valid? [True, True] Translation: X:824.40, Y:3.60, Z:3.23 [[ 9.99193919e-01 3.80470031e-02 -1.28038278e-02 8.24398517e+02] [-3.80497527e-02 9.99275846e-01 2.88723876e-05 3.60085561e+00] [ 1.27956543e-02 4.58333366e-04 9.99918027e-01 3.22617157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.659254154 meters 0.05246242027325682 Centerline is valid? [True, True] Translation: X:824.46, Y:3.60, Z:3.23 [[ 9.99112837e-01 4.01659759e-02 -1.26583662e-02 8.24459640e+02] [-4.01688261e-02 9.99192907e-01 2.91103074e-05 3.60156963e+00] [ 1.26493189e-02 4.79387227e-04 9.99919879e-01 3.22709822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539999 meters 0.05299270481424528 Centerline is valid? [True, True] Translation: X:824.52, Y:3.61, Z:3.23 [[ 9.98936465e-01 4.42665392e-02 -1.29001191e-02 8.24519304e+02] [-4.42698399e-02 9.99019610e-01 2.97142189e-05 3.60655497e+00] [ 1.28887873e-02 5.41403593e-04 9.99916790e-01 3.22648623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.779254154 meters 0.05203219872163981 Centerline is valid? [True, True] Translation: X:824.58, Y:3.61, Z:3.23 [[ 9.98755104e-01 4.82497173e-02 -1.26572675e-02 8.24580310e+02] [-4.82532129e-02 9.98835135e-01 2.92527787e-05 3.60553522e+00] [ 1.26439349e-02 5.81537461e-04 9.99919893e-01 3.22791258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.839254154 meters 0.052035591289669364 Centerline is valid? [True, True] Translation: X:824.64, Y:3.61, Z:3.23 [[ 9.98713058e-01 4.90428962e-02 -1.29236961e-02 8.24641897e+02] [-4.90466025e-02 9.98796491e-01 3.02009786e-05 3.60788441e+00] [ 1.29096234e-02 6.03701273e-04 9.99916485e-01 3.22783654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.899254154 meters 0.05191909493283643 Centerline is valid? [True, True] Translation: X:824.70, Y:3.61, Z:3.23 [[ 9.98657928e-01 5.01643177e-02 -1.28796310e-02 8.24704370e+02] [-5.01680865e-02 9.98740788e-01 3.05007876e-05 3.60829539e+00] [ 1.28649429e-02 6.15686589e-04 9.99917054e-01 3.22814551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.959254154 meters 0.05212024524091552 Centerline is valid? [True, True] Translation: X:824.77, Y:3.61, Z:3.23 [[ 9.98631409e-01 5.07124115e-02 -1.27890534e-02 8.24766205e+02] [-5.07161583e-02 9.98713107e-01 3.13935232e-05 3.60601395e+00] [ 1.27741873e-02 6.17261098e-04 9.99918216e-01 3.22923820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.019254154 meters 0.05409073894779404 Centerline is valid? [True, True] Translation: X:824.83, Y:3.62, Z:3.23 [[ 9.98709170e-01 4.92337442e-02 -1.24913278e-02 8.24825911e+02] [-4.92371978e-02 9.98787113e-01 3.10915019e-05 3.61956449e+00] [ 1.24777079e-02 5.83986607e-04 9.99921980e-01 3.22756737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.079254154 meters 0.05217618364262033 Centerline is valid? [True, True] Translation: X:824.89, Y:3.61, Z:3.23 [[ 9.98887848e-01 4.57428615e-02 -1.14305588e-02 8.24886892e+02] [-4.57455239e-02 9.98953125e-01 2.85646136e-05 3.60996584e+00] [ 1.14198990e-02 4.94364054e-04 9.99934669e-01 3.22940747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.139254154 meters 0.05249624896414024 Centerline is valid? [True, True] Translation: X:824.95, Y:3.61, Z:3.23 [[ 9.99051110e-01 4.19351459e-02 -1.17611108e-02 8.24946981e+02] [-4.19377001e-02 9.99120227e-01 2.94742230e-05 3.61233659e+00] [ 1.17519997e-02 4.63787683e-04 9.99930835e-01 3.22931259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.199254154 meters 0.0535831610030611 Centerline is valid? [True, True] Translation: X:825.01, Y:3.61, Z:3.23 [[ 9.99299649e-01 3.53627948e-02 -1.22345744e-02 8.25006637e+02] [-3.53650664e-02 9.99374460e-01 3.06854997e-05 3.61432839e+00] [ 1.22280063e-02 4.02012527e-04 9.99925154e-01 3.22775431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.259254154 meters 0.05410759661387634 Centerline is valid? [True, True] Translation: X:825.07, Y:3.61, Z:3.23 [[ 9.99484124e-01 2.97069242e-02 -1.22058903e-02 8.25065942e+02] [-2.97087646e-02 9.99558597e-01 3.05523962e-05 3.61307708e+00] [ 1.22014102e-02 3.32085288e-04 9.99925505e-01 3.22730372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.319254154 meters 0.05367193646962067 Centerline is valid? [True, True] Translation: X:825.13, Y:3.61, Z:3.23 [[ 9.99572645e-01 2.62518601e-02 -1.28595030e-02 8.25126329e+02] [-2.62536176e-02 9.99655314e-01 3.21545502e-05 3.61009309e+00] [ 1.28559146e-02 3.05467665e-04 9.99917313e-01 3.22761927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.379254154 meters 0.0530884896087372 Centerline is valid? [True, True] Translation: X:825.19, Y:3.60, Z:3.23 [[ 9.99585219e-01 2.57883534e-02 -1.28199035e-02 8.25187741e+02] [-2.57900592e-02 9.99667381e-01 3.22695964e-05 3.60320566e+00] [ 1.28164715e-02 2.98369858e-04 9.99917821e-01 3.23042076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.439254154 meters 0.05284524517687066 Centerline is valid? [True, True] Translation: X:825.25, Y:3.60, Z:3.23 [[ 9.99538757e-01 2.72032834e-02 -1.35001698e-02 8.25250041e+02] [-2.72052985e-02 9.99629867e-01 3.43912113e-05 3.60310153e+00] [ 1.34961085e-02 3.32900802e-04 9.99908868e-01 3.23005213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.499254154 meters 0.05365428945219563 Centerline is valid? [True, True] Translation: X:825.31, Y:3.61, Z:3.23 [[ 9.99444345e-01 2.96429968e-02 -1.52411804e-02 8.25310107e+02] [-2.96458466e-02 9.99560465e-01 3.89703969e-05 3.60678954e+00] [ 1.52356365e-02 4.12888951e-04 9.99883846e-01 3.22878699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.559254154 meters 0.05214495668458788 Centerline is valid? [True, True] Translation: X:825.37, Y:3.61, Z:3.23 [[ 9.99400404e-01 3.10072542e-02 -1.54072115e-02 8.25371483e+02] [-3.10103256e-02 9.99519063e-01 3.95741566e-05 3.60731630e+00] [ 1.54010286e-02 4.38232216e-04 9.99881301e-01 3.22906864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.619254154 meters 0.05250940390359804 Centerline is valid? [True, True] Translation: X:825.43, Y:3.60, Z:3.23 [[ 9.99434226e-01 3.00042950e-02 -1.51977056e-02 8.25433487e+02] [-3.00071470e-02 9.99549683e-01 4.03906838e-05 3.59784175e+00] [ 1.51920737e-02 4.15671954e-04 9.99884507e-01 3.23341115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.679254154 meters 0.05293757936873974 Centerline is valid? [True, True] Translation: X:825.49, Y:3.60, Z:3.23 [[ 9.99547485e-01 2.55474404e-02 -1.58793200e-02 8.25493910e+02] [-2.55499828e-02 9.99673545e-01 4.27730363e-05 3.59760396e+00] [ 1.58752288e-02 3.62962671e-04 9.99873915e-01 3.23320177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters 0.052293230215344294 Centerline is valid? [True, True] Translation: X:825.55, Y:3.59, Z:3.23 [[ 9.99687961e-01 1.99728465e-02 -1.50022116e-02 8.25553991e+02] [-1.99744888e-02 9.99800489e-01 4.03730935e-05 3.59337402e+00] [ 1.50000249e-02 2.59301012e-04 9.99887460e-01 3.23483915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.799254154 meters 0.0523393430144766 Centerline is valid? [True, True] Translation: X:825.61, Y:3.59, Z:3.23 [[ 9.99803433e-01 1.48977283e-02 -1.30825160e-02 8.25614072e+02] [-1.48985431e-02 9.99889010e-01 3.51858802e-05 3.59263044e+00] [ 1.30815882e-02 1.59731465e-04 9.99914420e-01 3.23369007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters 0.053032895359324435 Centerline is valid? [True, True] Translation: X:825.67, Y:3.59, Z:3.23 [[ 9.99840344e-01 1.28372787e-02 -1.24294449e-02 8.25672794e+02] [-1.28378565e-02 9.99917591e-01 3.33003754e-05 3.59211868e+00] [ 1.24288480e-02 1.26272371e-04 9.99922751e-01 3.23251071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.919254154 meters 0.052800702427999065 Centerline is valid? [True, True] Translation: X:825.73, Y:3.59, Z:3.23 [[ 9.99844795e-01 1.16590637e-02 -1.32080163e-02 8.25731432e+02] [-1.16596170e-02 9.99932024e-01 3.51077846e-05 3.58775301e+00] [ 1.32075278e-02 1.18898076e-04 9.99912770e-01 3.23374746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters 0.052171622699065334 Centerline is valid? [True, True] Translation: X:825.79, Y:3.58, Z:3.24 [[ 9.99806733e-01 1.25485221e-02 -1.51337821e-02 8.25790318e+02] [-1.25493719e-02 9.99921253e-01 3.88148009e-05 3.58384480e+00] [ 1.51330774e-02 1.51112160e-04 9.99885477e-01 3.23619718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.039254154 meters 0.05275858388686819 Centerline is valid? [True, True] Translation: X:825.85, Y:3.58, Z:3.24 [[ 9.99771228e-01 1.46486301e-02 -1.55855209e-02 8.25848333e+02] [-1.46498015e-02 9.99892685e-01 3.90171293e-05 3.58452531e+00] [ 1.55844198e-02 1.89316583e-04 9.99878538e-01 3.23566859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters 0.0524173767645952 Centerline is valid? [True, True] Translation: X:825.91, Y:3.58, Z:3.24 [[ 9.99755302e-01 1.61405891e-02 -1.51267384e-02 8.25907015e+02] [-1.61418849e-02 9.99869711e-01 3.64332511e-05 3.58395998e+00] [ 1.51253556e-02 2.07749734e-04 9.99885584e-01 3.23621786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.159254154 meters 0.05187494674872688 Centerline is valid? [True, True] Translation: X:825.96, Y:3.59, Z:3.23 [[ 9.99746674e-01 1.68170506e-02 -1.49590836e-02 8.25964629e+02] [-1.68184076e-02 9.99858560e-01 3.50927709e-05 3.58542657e+00] [ 1.49575580e-02 2.16504085e-04 9.99888106e-01 3.23499696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539999 meters 0.053404171165334226 Centerline is valid? [True, True] Translation: X:826.02, Y:3.59, Z:3.23 [[ 9.99760147e-01 1.63079714e-02 -1.46184492e-02 8.26022978e+02] [-1.63092201e-02 9.99866995e-01 3.37941047e-05 3.58700773e+00] [ 1.46170560e-02 2.04629507e-04 9.99893144e-01 3.23404928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.279254154 meters 0.05245266421034781 Centerline is valid? [True, True] Translation: X:826.08, Y:3.58, Z:3.24 [[ 9.99802577e-01 1.42258001e-02 -1.38720528e-02 8.26082524e+02] [-1.42267280e-02 9.99898795e-01 3.17932389e-05 3.57918732e+00] [ 1.38711011e-02 1.65566959e-04 9.99903778e-01 3.23965541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.339254154 meters 0.05276019320116184 Centerline is valid? [True, True] Translation: X:826.14, Y:3.58, Z:3.24 [[ 9.99807478e-01 1.26785305e-02 -1.49753573e-02 8.26140430e+02] [-1.26794461e-02 9.99919612e-01 3.38089544e-05 3.57681041e+00] [ 1.49745821e-02 1.56076791e-04 9.99887862e-01 3.23945777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.399254154 meters 0.05274165106506072 Centerline is valid? [True, True] Translation: X:826.20, Y:3.58, Z:3.24 [[ 9.99794482e-01 1.23767034e-02 -1.60564927e-02 8.26199522e+02] [-1.23777308e-02 9.99923392e-01 3.53968596e-05 3.57548243e+00] [ 1.60557008e-02 1.63353359e-04 9.99871086e-01 3.23933199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.459254154 meters 0.053176904484376876 Centerline is valid? [True, True] Translation: X:826.26, Y:3.58, Z:3.24 [[ 9.99783567e-01 1.23281113e-02 -1.67581738e-02 8.26257603e+02] [-1.23292374e-02 9.99923991e-01 3.61183886e-05 3.57646428e+00] [ 1.67573453e-02 1.70504932e-04 9.99859571e-01 3.23742934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.519254154 meters 0.05291507072251756 Centerline is valid? [True, True] Translation: X:826.32, Y:3.57, Z:3.24 [[ 9.99801435e-01 1.23642493e-02 -1.56274274e-02 8.26316290e+02] [-1.23652414e-02 9.99923547e-01 3.31388899e-05 3.57305695e+00] [ 1.56266424e-02 1.60104604e-04 9.99877884e-01 3.24119376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.579254154 meters 0.05314389378283038 Centerline is valid? [True, True] Translation: X:826.37, Y:3.57, Z:3.24 [[ 9.99816871e-01 1.26225757e-02 -1.43838356e-02 8.26374150e+02] [-1.26234511e-02 9.99920321e-01 2.99323180e-05 3.57409894e+00] [ 1.43830673e-02 1.51646809e-04 9.99896547e-01 3.24018751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.639254154 meters 0.05225310087842685 Centerline is valid? [True, True] Translation: X:826.43, Y:3.57, Z:3.24 [[ 9.99807005e-01 1.42283654e-02 -1.35464845e-02 8.26432485e+02] [-1.42292966e-02 9.99898758e-01 2.76432902e-05 3.57094438e+00] [ 1.35455063e-02 1.65118991e-04 9.99908242e-01 3.24343850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.699254154 meters 0.05225101061594496 Centerline is valid? [True, True] Translation: X:826.49, Y:3.58, Z:3.24 [[ 9.99736858e-01 1.84884575e-02 -1.35790919e-02 8.26490816e+02] [-1.84897923e-02 9.99829049e-01 2.72440142e-05 3.57582474e+00] [ 1.35772743e-02 2.23837745e-04 9.99907799e-01 3.24114805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.759254154 meters 0.05214231095491271 Centerline is valid? [True, True] Translation: X:826.55, Y:3.57, Z:3.24 [[ 9.99697460e-01 2.03086470e-02 -1.38761705e-02 8.26551547e+02] [-2.03102180e-02 9.99793726e-01 2.77115231e-05 3.57315212e+00] [ 1.38738710e-02 2.54124909e-04 9.99903721e-01 3.24316023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.819254154 meters 0.05215237940652795 Centerline is valid? [True, True] Translation: X:826.61, Y:3.58, Z:3.24 [[ 9.99527665e-01 2.66471070e-02 -1.53094008e-02 8.26612311e+02] [-2.66497623e-02 9.99644832e-01 3.05773431e-05 3.57613864e+00] [ 1.53047782e-02 3.77428992e-04 9.99882804e-01 3.24220566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.879254154 meters 0.052222176483863986 Centerline is valid? [True, True] Translation: X:826.67, Y:3.57, Z:3.24 [[ 9.99362530e-01 3.13788068e-02 -1.70265577e-02 8.26673273e+02] [-3.13827770e-02 9.99507439e-01 3.40265910e-05 3.57355679e+00] [ 1.70192388e-02 5.00335764e-04 9.99855037e-01 3.24314034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.939254154 meters 0.05270085903095552 Centerline is valid? [True, True] Translation: X:826.73, Y:3.58, Z:3.24 [[ 9.99326667e-01 3.24286173e-02 -1.71638277e-02 8.26734267e+02] [-3.24327832e-02 9.99473918e-01 3.56593941e-05 3.57598346e+00] [ 1.71559545e-02 5.21035319e-04 9.99852690e-01 3.24232685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.999254154 meters 0.05270139084486269 Centerline is valid? [True, True] Translation: X:826.80, Y:3.57, Z:3.25 [[ 9.99401564e-01 3.05536583e-02 -1.62168736e-02 8.26795847e+02] [-3.05571195e-02 9.99533022e-01 3.43700036e-05 3.56809508e+00] [ 1.62103508e-02 4.61191507e-04 9.99868497e-01 3.24595098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.059254154 meters 0.0514928099003164 Centerline is valid? [True, True] Translation: X:826.86, Y:3.57, Z:3.25 [[ 9.99550732e-01 2.65454533e-02 -1.39166313e-02 8.26855194e+02] [-2.65476138e-02 9.99647550e-01 2.95018143e-05 3.56713536e+00] [ 1.39125095e-02 3.39964792e-04 9.99903159e-01 3.24517576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.119254154 meters 0.052475333429428755 Centerline is valid? [True, True] Translation: X:826.91, Y:3.57, Z:3.24 [[ 9.99660543e-01 2.21740272e-02 -1.36788558e-02 8.26914981e+02] [-2.21757058e-02 9.99754088e-01 2.89686548e-05 3.56864071e+00] [ 1.36761344e-02 2.74379461e-04 9.99906440e-01 3.24267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.179254154 meters 0.052168288026613746 Centerline is valid? [True, True] Translation: X:826.98, Y:3.56, Z:3.25 [[ 9.99720670e-01 1.89326843e-02 -1.41469550e-02 8.26976769e+02] [-1.89341518e-02 9.99820732e-01 3.02048100e-05 3.55953392e+00] [ 1.41449908e-02 2.37664221e-04 9.99899926e-01 3.24563718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters 0.05225256560642336 Centerline is valid? [True, True] Translation: X:827.04, Y:3.56, Z:3.25 [[ 9.99756565e-01 1.69103924e-02 -1.41721440e-02 8.27037301e+02] [-1.69116607e-02 9.99856987e-01 3.03533897e-05 3.55753851e+00] [ 1.41706304e-02 2.09328490e-04 9.99899570e-01 3.24544652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.299254154 meters 0.052010709362164 Centerline is valid? [True, True] Translation: X:827.10, Y:3.55, Z:3.24 [[ 9.99812149e-01 1.29802518e-02 -1.43937197e-02 8.27097319e+02] [-1.29811583e-02 9.99915741e-01 3.04561595e-05 3.55430618e+00] [ 1.43929022e-02 1.56396715e-04 9.99896405e-01 3.24475036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters 0.05166145922526378 Centerline is valid? [True, True] Translation: X:827.16, Y:3.55, Z:3.25 [[ 9.99875738e-01 9.14085262e-03 -1.28434408e-02 8.27157539e+02] [-9.14126012e-03 9.99958217e-01 2.69768836e-05 3.54911397e+00] [ 1.28431508e-02 9.04317021e-05 9.99917519e-01 3.24682842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.419254154 meters 0.05082293002965578 Centerline is valid? [True, True] Translation: X:827.22, Y:3.55, Z:3.25 [[ 9.99916263e-01 6.63180371e-03 -1.11124483e-02 8.27215646e+02] [-6.63195735e-03 9.99978008e-01 2.30245877e-05 3.54645715e+00] [ 1.11123566e-02 5.06746236e-05 9.99938255e-01 3.24795803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters 0.0509898897311221 Centerline is valid? [True, True] Translation: X:827.27, Y:3.55, Z:3.25 [[ 9.99924898e-01 6.19408895e-03 -1.05750987e-02 8.27273243e+02] [-6.19420805e-03 9.99980816e-01 2.14907962e-05 3.54554755e+00] [ 1.05750289e-02 4.40151792e-05 9.99944082e-01 3.24802314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.539254154 meters 0.05151657173406306 Centerline is valid? [True, True] Translation: X:827.33, Y:3.55, Z:3.25 [[ 9.99918691e-01 7.18599381e-03 -1.05343656e-02 8.27331072e+02] [-7.18617151e-03 9.99974179e-01 2.09840906e-05 3.54540324e+00] [ 1.05342443e-02 5.47193732e-05 9.99944512e-01 3.24723856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters 0.05179528812686506 Centerline is valid? [True, True] Translation: X:827.39, Y:3.55, Z:3.25 [[ 9.99874221e-01 9.53906615e-03 -1.26707732e-02 8.27389538e+02] [-9.53951898e-03 9.99954497e-01 2.47013118e-05 3.54618747e+00] [ 1.26704323e-02 9.61748769e-05 9.99919722e-01 3.24586870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.659254154 meters 0.051277966382709185 Centerline is valid? [True, True] Translation: X:827.45, Y:3.54, Z:3.25 [[ 9.99835044e-01 1.16600246e-02 -1.39258460e-02 8.27448569e+02] [-1.16607962e-02 9.99932010e-01 2.57944667e-05 3.54490615e+00] [ 1.39251999e-02 1.36596240e-04 9.99903030e-01 3.24750287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539999 meters 0.05129502211316159 Centerline is valid? [True, True] Translation: X:827.51, Y:3.55, Z:3.25 [[ 9.99841083e-01 1.14291294e-02 -1.36815476e-02 8.27506112e+02] [-1.14298644e-02 9.99934677e-01 2.44756227e-05 3.54582199e+00] [ 1.36809337e-02 1.31906501e-04 9.99906403e-01 3.24712173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.779254154 meters 0.05162382275373275 Centerline is valid? [True, True] Translation: X:827.56, Y:3.54, Z:3.25 [[ 9.99877424e-01 8.56086820e-03 -1.31090920e-02 8.27564387e+02] [-8.56130240e-03 9.99963351e-01 2.29964891e-05 3.54462678e+00] [ 1.31088085e-02 8.92372309e-05 9.99914072e-01 3.24693422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.839254154 meters 0.051648202328376656 Centerline is valid? [True, True] Translation: X:827.62, Y:3.54, Z:3.25 [[ 9.99913627e-01 4.36886469e-03 -1.23956086e-02 8.27623148e+02] [-4.36893481e-03 9.99990456e-01 2.14220543e-05 3.54107867e+00] [ 1.23955839e-02 3.27354020e-05 9.99923171e-01 3.24790042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.899254154 meters 0.05110811809328882 Centerline is valid? [True, True] Translation: X:827.68, Y:3.54, Z:3.25 [[ 9.99926998e-01 2.10494088e-03 -1.18982240e-02 8.27681686e+02] [-2.10484947e-03 9.99997785e-01 2.02053403e-05 3.53960954e+00] [ 1.18982402e-02 4.84010511e-06 9.99929213e-01 3.24947960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.959254154 meters 0.05121980493596708 Centerline is valid? [True, True] Translation: X:827.74, Y:3.54, Z:3.25 [[ 9.99929204e-01 1.59421458e-03 -1.17917689e-02 8.27739101e+02] [-1.59409624e-03 9.99998729e-01 1.94343753e-05 3.53851448e+00] [ 1.17917849e-02 -6.35784986e-07 9.99930474e-01 3.24914476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.019254154 meters 0.05189026484186944 Centerline is valid? [True, True] Translation: X:827.80, Y:3.54, Z:3.25 [[ 9.99917334e-01 4.76320297e-03 -1.19430719e-02 8.27797276e+02] [-4.76331621e-03 9.99988655e-01 1.89641539e-05 3.53979550e+00] [ 1.19430267e-02 3.79260418e-05 9.99928679e-01 3.24820151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.079254154 meters 0.05162643431012791 Centerline is valid? [True, True] Translation: X:827.86, Y:3.54, Z:3.25 [[ 9.99876791e-01 1.03693621e-02 -1.17846907e-02 8.27855439e+02] [-1.03698680e-02 9.99946231e-01 1.81728999e-05 3.54364314e+00] [ 1.17842454e-02 1.04035026e-04 9.99930558e-01 3.24761022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.139254154 meters 0.05172864522741289 Centerline is valid? [True, True] Translation: X:827.92, Y:3.55, Z:3.25 [[ 9.99817249e-01 1.49374617e-02 -1.19306560e-02 8.27915097e+02] [-1.49383087e-02 9.99888417e-01 1.81223247e-05 3.54596037e+00] [ 1.19295955e-02 1.60104810e-04 9.99928827e-01 3.24811939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.199254154 meters 0.052522422672957376 Centerline is valid? [True, True] Translation: X:827.98, Y:3.55, Z:3.25 [[ 9.99689195e-01 2.14139860e-02 -1.27653438e-02 8.27975110e+02] [-2.14154844e-02 9.99770662e-01 1.93133117e-05 3.54931759e+00] [ 1.27628298e-02 2.54068712e-04 9.99918519e-01 3.24717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.259254154 meters 0.0508763557407737 Centerline is valid? [True, True] Translation: X:828.04, Y:3.54, Z:3.25 [[ 9.99561315e-01 2.64647347e-02 -1.32964480e-02 8.28036104e+02] [-2.64668068e-02 9.99649693e-01 2.01260231e-05 3.54108665e+00] [ 1.32923228e-02 3.31797327e-04 9.99911598e-01 3.25030888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.319254154 meters 0.05263907819777145 Centerline is valid? [True, True] Translation: X:828.10, Y:3.55, Z:3.25 [[ 9.99465062e-01 2.95336557e-02 -1.40482208e-02 8.28096391e+02] [-2.95362706e-02 9.99563709e-01 2.13510332e-05 3.55155791e+00] [ 1.40427222e-02 3.93592438e-04 9.99901319e-01 3.24687356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.379254154 meters 0.051007850007663745 Centerline is valid? [True, True] Translation: X:828.16, Y:3.55, Z:3.25 [[ 9.99428399e-01 3.06367414e-02 -1.42921572e-02 8.28158206e+02] [-3.06395557e-02 9.99530498e-01 2.20633042e-05 3.54500147e+00] [ 1.42861230e-02 4.15854654e-04 9.99897862e-01 3.24891248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.439254154 meters 0.050311616626061526 Centerline is valid? [True, True] Translation: X:828.22, Y:3.54, Z:3.25 [[ 9.99416633e-01 3.12995204e-02 -1.36650478e-02 8.28219827e+02] [-3.13021455e-02 9.99509968e-01 2.17914931e-05 3.53597700e+00] [ 1.36590336e-02 4.05966534e-04 9.99906629e-01 3.25244741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.499254154 meters 0.05090398889012687 Centerline is valid? [True, True] Translation: X:828.28, Y:3.54, Z:3.25 [[ 9.99437397e-01 3.13711458e-02 -1.18634642e-02 8.28281096e+02] [-3.13731173e-02 9.99507742e-01 1.99332002e-05 3.53639520e+00] [ 1.18582496e-02 3.52271867e-04 9.99929626e-01 3.25221234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.559254154 meters 0.05060898205986443 Centerline is valid? [True, True] Translation: X:828.34, Y:3.53, Z:3.25 [[ 9.99446670e-01 3.09997969e-02 -1.20568030e-02 8.28343348e+02] [-3.10017907e-02 9.99519329e-01 2.15435888e-05 3.53492794e+00] [ 1.20516755e-02 3.52250815e-04 9.99927314e-01 3.25207850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.619254154 meters 0.05107998100063336 Centerline is valid? [True, True] Translation: X:828.41, Y:3.53, Z:3.25 [[ 9.99450161e-01 3.06656391e-02 -1.26092915e-02 8.28405599e+02] [-3.06677755e-02 9.99529633e-01 2.39369250e-05 3.53063325e+00] [ 1.26040946e-02 3.62775158e-04 9.99920499e-01 3.25362244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.679254154 meters 0.051443359354964704 Centerline is valid? [True, True] Translation: X:828.47, Y:3.54, Z:3.25 [[ 9.99455277e-01 3.04076208e-02 -1.28267938e-02 8.28466309e+02] [-3.04097975e-02 9.99537515e-01 2.53492289e-05 3.53744845e+00] [ 1.28216324e-02 3.64724782e-04 9.99917733e-01 3.25134284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters 0.05033493279566317 Centerline is valid? [True, True] Translation: X:828.53, Y:3.53, Z:3.25 [[ 9.99471298e-01 3.00561772e-02 -1.23996236e-02 8.28528714e+02] [-3.00581697e-02 9.99548151e-01 2.56815249e-05 3.53133580e+00] [ 1.23947927e-02 3.47042044e-04 9.99923121e-01 3.25329449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.799254154 meters 0.05153414696099167 Centerline is valid? [True, True] Translation: X:828.59, Y:3.54, Z:3.25 [[ 9.99463845e-01 3.03866258e-02 -1.21932969e-02 8.28590329e+02] [-3.03885658e-02 9.99538161e-01 2.61852295e-05 3.53555344e+00] [ 1.21884612e-02 3.44365613e-04 9.99925659e-01 3.25218956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters 0.049531726249781256 Centerline is valid? [True, True] Translation: X:828.65, Y:3.53, Z:3.25 [[ 9.99457556e-01 3.03261460e-02 -1.28420985e-02 8.28653106e+02] [-3.03282750e-02 9.99539992e-01 2.89728702e-05 3.52721758e+00] [ 1.28370697e-02 3.60521541e-04 9.99917536e-01 3.25401280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.919254154 meters 0.05092874636222045 Centerline is valid? [True, True] Translation: X:828.71, Y:3.53, Z:3.25 [[ 9.99479445e-01 2.90529867e-02 -1.40272338e-02 8.28714190e+02] [-2.90553792e-02 9.99577803e-01 3.32430425e-05 3.53453913e+00] [ 1.40222773e-02 3.74340859e-04 9.99901613e-01 3.25108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters 0.05055130808106924 Centerline is valid? [True, True] Translation: X:828.77, Y:3.53, Z:3.25 [[ 9.99587348e-01 2.50232182e-02 -1.41057338e-02 8.28774606e+02] [-2.50252297e-02 9.99686819e-01 3.39198048e-05 3.52968487e+00] [ 1.41021649e-02 3.19093420e-04 9.99900509e-01 3.25240256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.039254154 meters 0.05060379976100325 Centerline is valid? [True, True] Translation: X:828.84, Y:3.53, Z:3.25 [[ 9.99709675e-01 2.04173231e-02 -1.27945039e-02 8.28835422e+02] [-2.04185996e-02 9.99791518e-01 3.08650248e-05 3.52569069e+00] [ 1.27924667e-02 2.30389789e-04 9.99918146e-01 3.25388348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters 0.0503065269123734 Centerline is valid? [True, True] Translation: X:828.90, Y:3.52, Z:3.25 [[ 9.99796707e-01 1.60207205e-02 -1.22426246e-02 8.28896095e+02] [-1.60215585e-02 9.99871646e-01 2.96294164e-05 3.52365178e+00] [ 1.22415279e-02 1.66522534e-04 9.99925056e-01 3.25383208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.159254154 meters 0.051323270336127116 Centerline is valid? [True, True] Translation: X:828.96, Y:3.53, Z:3.25 [[ 9.99834882e-01 1.32361651e-02 -1.24504035e-02 8.28956508e+02] [-1.32368147e-02 9.99912389e-01 3.02315073e-05 3.52694490e+00] [ 1.24497129e-02 1.34577169e-04 9.99922490e-01 3.25038072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539999 meters 0.050343596494738144 Centerline is valid? [True, True] Translation: X:829.02, Y:3.52, Z:3.25 [[ 9.99884365e-01 1.05443045e-02 -1.09578551e-02 8.29016603e+02] [-1.05446463e-02 9.99944403e-01 2.65807251e-05 3.52291148e+00] [ 1.09575262e-02 8.89690552e-05 9.99939961e-01 3.25356315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.279254154 meters 0.05054793836458738 Centerline is valid? [True, True] Translation: X:829.08, Y:3.53, Z:3.25 [[ 9.99884272e-01 1.13035818e-02 -1.01819587e-02 8.29075762e+02] [-1.13039176e-02 9.99936108e-01 2.45664356e-05 3.52538670e+00] [ 1.01815858e-02 9.05324296e-05 9.99948162e-01 3.25392034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.339254154 meters 0.051205486715790366 Centerline is valid? [True, True] Translation: X:829.14, Y:3.53, Z:3.25 [[ 9.99838133e-01 1.35369270e-02 -1.18515622e-02 8.29135776e+02] [-1.35375412e-02 9.99908363e-01 2.83992224e-05 3.52865248e+00] [ 1.18508606e-02 1.32046387e-04 9.99929767e-01 3.25183428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.399254154 meters 0.05101722888378377 Centerline is valid? [True, True] Translation: X:829.20, Y:3.53, Z:3.25 [[ 9.99766784e-01 1.66488696e-02 -1.37547371e-02 8.29195296e+02] [-1.66499945e-02 9.99861379e-01 3.27299806e-05 3.52608333e+00] [ 1.37533753e-02 1.96293950e-04 9.99905399e-01 3.25467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.459254154 meters 0.0515171233800726 Centerline is valid? [True, True] Translation: X:829.26, Y:3.53, Z:3.25 [[ 9.99733817e-01 1.90691186e-02 -1.29870913e-02 8.29255126e+02] [-1.90703269e-02 9.99818144e-01 3.08021484e-05 3.53187921e+00] [ 1.29853169e-02 2.16874127e-04 9.99915664e-01 3.25306077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.519254154 meters 0.05091243344025016 Centerline is valid? [True, True] Translation: X:829.32, Y:3.53, Z:3.26 [[ 9.99715930e-01 2.14170882e-02 -1.04578795e-02 8.29316600e+02] [-2.14179992e-02 9.99770608e-01 2.48888942e-05 3.53478567e+00] [ 1.04560136e-02 1.99105032e-04 9.99945315e-01 3.25506438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.579254154 meters 0.05045427745156728 Centerline is valid? [True, True] Translation: X:829.38, Y:3.54, Z:3.26 [[ 9.99689233e-01 2.29866934e-02 -9.64618430e-03 8.29378933e+02] [-2.29875349e-02 9.99735751e-01 2.36362565e-05 3.53516849e+00] [ 9.64417863e-03 1.98113088e-04 9.99953474e-01 3.25559849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.639254154 meters 0.05104732824663978 Centerline is valid? [True, True] Translation: X:829.44, Y:3.54, Z:3.26 [[ 9.99546796e-01 2.79241623e-02 -1.12447562e-02 8.29439497e+02] [-2.79256124e-02 9.99610004e-01 2.80656183e-05 3.53902526e+00] [ 1.12411545e-02 2.85963803e-04 9.99936775e-01 3.25502681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.699254154 meters 0.05079668098094931 Centerline is valid? [True, True] Translation: X:829.50, Y:3.54, Z:3.26 [[ 9.99398943e-01 3.17870230e-02 -1.38325157e-02 8.29499736e+02] [-3.17895867e-02 9.99494583e-01 3.45527115e-05 3.53954505e+00] [ 1.38266228e-02 4.05198014e-04 9.99904326e-01 3.25510840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.759254154 meters 0.0513290927368007 Centerline is valid? [True, True] Translation: X:829.56, Y:3.54, Z:3.26 [[ 9.99378412e-01 3.24239837e-02 -1.38374474e-02 8.29562233e+02] [-3.24265945e-02 9.99474119e-01 3.56957471e-05 3.54184339e+00] [ 1.38313280e-02 4.13027738e-04 9.99904257e-01 3.25571207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.819254154 meters 0.05210645381817139 Centerline is valid? [True, True] Translation: X:829.62, Y:3.54, Z:3.26 [[ 9.99552952e-01 2.75404243e-02 -1.16370390e-02 8.29622171e+02] [-2.75419356e-02 9.99620649e-01 3.03933451e-05 3.54274085e+00] [ 1.16334616e-02 2.90126822e-04 9.99932287e-01 3.25752655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.879254154 meters 0.05201649899665933 Centerline is valid? [True, True] Translation: X:829.68, Y:3.55, Z:3.26 [[ 9.99715564e-01 2.16821182e-02 -9.93365840e-03 8.29681550e+02] [-2.16829304e-02 9.99764897e-01 2.59434974e-05 3.54519228e+00] [ 9.93188548e-03 1.89454705e-04 9.99950660e-01 3.25686179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.939254154 meters 0.05177328436097631 Centerline is valid? [True, True] Translation: X:829.74, Y:3.54, Z:3.26 [[ 9.99889858e-01 1.20668933e-02 -8.64066532e-03 8.29740730e+02] [-1.20671488e-02 9.99927189e-01 2.25654127e-05 3.54207598e+00] [ 8.64030848e-03 8.17052668e-05 9.99962668e-01 3.25736149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.999254154 meters 0.05211625098981438 Centerline is valid? [True, True] Translation: X:829.80, Y:3.54, Z:3.26 [[ 9.99964016e-01 2.83903442e-03 -7.99413514e-03 8.29801320e+02] [-2.83895802e-03 9.99995970e-01 2.09040888e-05 3.53668253e+00] [ 7.99416227e-03 1.79167755e-06 9.99968046e-01 3.25848637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.059254154 meters 0.0521937075858264 Centerline is valid? [True, True] Translation: X:829.86, Y:3.53, Z:3.26 [[ 9.99955189e-01 -2.25045967e-03 -9.19543067e-03 8.29860356e+02] [ 2.25077547e-03 9.99997467e-01 2.39946756e-05 3.53384200e+00] [ 9.19535337e-03 -4.46904501e-05 9.99957721e-01 3.25756850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.119254154 meters 0.05290581648379139 Centerline is valid? [True, True] Translation: X:829.92, Y:3.54, Z:3.26 [[ 9.99901454e-01 -7.29885602e-03 -1.19920395e-02 8.29919856e+02] [ 7.29975360e-03 9.99973356e-01 3.10784458e-05 3.53754639e+00] [ 1.19914932e-02 -1.18614317e-04 9.99928092e-01 3.26003369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.179254154 meters 0.05234104849569735 Centerline is valid? [True, True] Translation: X:829.98, Y:3.54, Z:3.26 [[ 9.99889237e-01 -8.91804566e-03 -1.19156050e-02 8.29979136e+02] [ 8.91904364e-03 9.99960224e-01 3.06156647e-05 3.53854596e+00] [ 1.19148580e-02 -1.36888074e-04 9.99929006e-01 3.25820898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters 0.05305434162029252 Centerline is valid? [True, True] Translation: X:830.04, Y:3.54, Z:3.26 [[ 9.99923816e-01 -8.86212175e-03 -8.59215345e-03 8.30038015e+02] [ 8.86263314e-03 9.99960726e-01 2.14447011e-05 3.54420330e+00] [ 8.59162595e-03 -9.75921712e-05 9.99963087e-01 3.26157740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.299254154 meters 0.05380725929459241 Centerline is valid? [True, True] Translation: X:830.10, Y:3.55, Z:3.26 [[ 9.99944115e-01 -7.45496128e-03 -7.49606500e-03 8.30096224e+02] [ 7.45530674e-03 9.99972209e-01 1.81429899e-05 3.54803921e+00] [ 7.49572142e-03 -7.40274399e-05 9.99971904e-01 3.26303279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters 0.05264685883209742 Centerline is valid? [True, True] Translation: X:830.15, Y:3.55, Z:3.26 [[ 9.99971286e-01 -2.56797611e-03 -7.12972037e-03 8.30154982e+02] [ 2.56816104e-03 9.99996702e-01 1.67830045e-05 3.55414480e+00] [ 7.12965375e-03 -3.50927927e-05 9.99974583e-01 3.26202589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.419254154 meters 0.05345211357918622 Centerline is valid? [True, True] Translation: X:830.21, Y:3.57, Z:3.26 [[ 9.99944855e-01 4.72522551e-03 -9.37864493e-03 8.30213028e+02] [-4.72523696e-03 9.99988836e-01 2.09380397e-05 3.56740951e+00] [ 9.37863916e-03 2.33794345e-05 9.99956019e-01 3.26000808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters 0.054112222111458066 Centerline is valid? [True, True] Translation: X:830.27, Y:3.58, Z:3.26 [[ 9.99853745e-01 1.15876180e-02 -1.25783939e-02 8.30272607e+02] [-1.15881910e-02 9.99932854e-01 2.73286803e-05 3.57730697e+00] [ 1.25778659e-02 1.18436147e-04 9.99920888e-01 3.25940751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.539254154 meters 0.05402080292678618 Centerline is valid? [True, True] Translation: X:830.33, Y:3.59, Z:3.26 [[ 9.99768758e-01 1.61940755e-02 -1.41486128e-02 8.30331219e+02] [-1.61952663e-02 9.99868848e-01 3.04187178e-05 3.58685654e+00] [ 1.41472498e-02 1.98728868e-04 9.99899903e-01 3.25792765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters 0.05425711445244381 Centerline is valid? [True, True] Translation: X:830.39, Y:3.59, Z:3.26 [[ 9.99760009e-01 1.68542505e-02 -1.39949875e-02 8.30389973e+02] [-1.68554862e-02 9.99857936e-01 2.96639158e-05 3.58717983e+00] [ 1.39934993e-02 2.06235521e-04 9.99902065e-01 3.25919779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.659254154 meters 0.05405163284968871 Centerline is valid? [True, True] Translation: X:830.45, Y:3.59, Z:3.26 [[ 9.99754613e-01 1.76694692e-02 -1.33605431e-02 8.30449961e+02] [-1.76706719e-02 9.99843861e-01 2.80386661e-05 3.59010975e+00] [ 1.33589525e-02 2.08057988e-04 9.99910744e-01 3.26108650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539999 meters 0.053978723267384156 Centerline is valid? [True, True] Translation: X:830.51, Y:3.60, Z:3.26 [[ 9.99763901e-01 1.80319574e-02 -1.21240100e-02 8.30508593e+02] [-1.80329776e-02 9.99837392e-01 2.51796770e-05 3.59601765e+00] [ 1.21224925e-02 1.93458268e-04 9.99926501e-01 3.26041274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.779254154 meters 0.05486265161014212 Centerline is valid? [True, True] Translation: X:830.57, Y:3.60, Z:3.26 [[ 9.99755931e-01 1.87410280e-02 -1.16983757e-02 8.30568220e+02] [-1.87420281e-02 9.99824352e-01 2.41391698e-05 3.60012349e+00] [ 1.16967733e-02 1.95118008e-04 9.99931571e-01 3.26039352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.839254154 meters 0.05386956509003799 Centerline is valid? [True, True] Translation: X:830.63, Y:3.60, Z:3.26 [[ 9.99696433e-01 2.13178552e-02 -1.23527408e-02 8.30628069e+02] [-2.13191683e-02 9.99772720e-01 2.53897500e-05 3.60234250e+00] [ 1.23504746e-02 2.37968118e-04 9.99923702e-01 3.26149547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.899254154 meters 0.054779960753396716 Centerline is valid? [True, True] Translation: X:830.69, Y:3.61, Z:3.26 [[ 9.99632990e-01 2.40923170e-02 -1.23873253e-02 8.30688417e+02] [-2.40938507e-02 9.99709701e-01 2.54294879e-05 3.60551418e+00] [ 1.23843419e-02 2.73038211e-04 9.99923274e-01 3.26191159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.959254154 meters 0.05533351081523713 Centerline is valid? [True, True] Translation: X:830.75, Y:3.61, Z:3.26 [[ 9.99629494e-01 2.45759127e-02 -1.17004235e-02 8.30748593e+02] [-2.45773109e-02 9.99697932e-01 2.42966898e-05 3.61085000e+00] [ 1.16974863e-02 2.63277258e-04 9.99931547e-01 3.26172999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.019254154 meters 0.05496237961370706 Centerline is valid? [True, True] Translation: X:830.81, Y:3.61, Z:3.26 [[ 9.99650575e-01 2.39679959e-02 -1.11473089e-02 8.30810334e+02] [-2.39692238e-02 9.99712697e-01 2.34506940e-05 3.61102251e+00] [ 1.11446683e-02 2.43749843e-04 9.99937867e-01 3.26197541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.079254154 meters 0.05544870122537054 Centerline is valid? [True, True] Translation: X:830.87, Y:3.61, Z:3.26 [[ 9.99673464e-01 2.26833810e-02 -1.17656351e-02 8.30871207e+02] [-2.26846496e-02 9.99742670e-01 2.56332755e-05 3.61471849e+00] [ 1.17631889e-02 2.41274404e-04 9.99930782e-01 3.26030701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.139254154 meters 0.055203332838616635 Centerline is valid? [True, True] Translation: X:830.93, Y:3.61, Z:3.26 [[ 9.99700112e-01 2.17749805e-02 -1.12043055e-02 8.30932241e+02] [-2.17760691e-02 9.99762873e-01 2.48414241e-05 3.61168482e+00] [ 1.12021896e-02 2.19151757e-04 9.99937229e-01 3.26163982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.199254154 meters 0.05483184569995799 Centerline is valid? [True, True] Translation: X:830.99, Y:3.61, Z:3.26 [[ 9.99659301e-01 2.35799402e-02 -1.11923626e-02 8.30993196e+02] [-2.35811380e-02 9.99721926e-01 2.49592844e-05 3.61001224e+00] [ 1.11898388e-02 2.38977866e-04 9.99937363e-01 3.26310967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.259254154 meters 0.05533419090315776 Centerline is valid? [True, True] Translation: X:831.05, Y:3.61, Z:3.26 [[ 9.99591100e-01 2.60940660e-02 -1.16933121e-02 8.31052890e+02] [-2.60955410e-02 9.99659453e-01 2.64452929e-05 3.61237695e+00] [ 1.16900201e-02 2.78708827e-04 9.99931631e-01 3.26231287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.319254154 meters 0.055188555790559375 Centerline is valid? [True, True] Translation: X:831.11, Y:3.61, Z:3.26 [[ 9.99481005e-01 2.96881004e-02 -1.25034747e-02 8.31114304e+02] [-2.96900641e-02 9.99559152e-01 2.85803515e-05 3.60887744e+00] [ 1.24988111e-02 3.42663447e-04 9.99921828e-01 3.26308157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.379254154 meters 0.05709969275525669 Centerline is valid? [True, True] Translation: X:831.17, Y:3.62, Z:3.26 [[ 9.99387340e-01 3.25069170e-02 -1.29709179e-02 8.31174720e+02] [-3.25092657e-02 9.99471434e-01 2.97865531e-05 3.62059972e+00] [ 1.29650302e-02 3.91906712e-04 9.99915874e-01 3.25953849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.439254154 meters 0.05478069796644943 Centerline is valid? [True, True] Translation: X:831.24, Y:3.60, Z:3.27 [[ 9.99318342e-01 3.48508054e-02 -1.21767243e-02 8.31235900e+02] [-3.48530471e-02 9.99392448e-01 2.81280127e-05 3.60432006e+00] [ 1.21703066e-02 3.96287107e-04 9.99925861e-01 3.26525709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.499254154 meters 0.05413013201093657 Centerline is valid? [True, True] Translation: X:831.30, Y:3.61, Z:3.27 [[ 9.99115973e-01 4.07122550e-02 -1.04778248e-02 8.31295487e+02] [-4.07142337e-02 9.99170832e-01 2.44774762e-05 3.60821403e+00] [ 1.04701334e-02 4.02140769e-04 9.99945106e-01 3.26581009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.559254154 meters 0.054019645775492675 Centerline is valid? [True, True] Translation: X:831.36, Y:3.61, Z:3.27 [[ 9.98970231e-01 4.42815942e-02 -9.88015417e-03 8.31356171e+02] [-4.42835265e-02 9.99019003e-01 2.32136879e-05 3.60572308e+00] [ 9.87148971e-03 4.14338286e-04 9.99951190e-01 3.26669275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.619254154 meters 0.05445843043634306 Centerline is valid? [True, True] Translation: X:831.42, Y:3.61, Z:3.27 [[ 9.98723493e-01 4.95300510e-02 -9.90755153e-03 8.31416095e+02] [-4.95322521e-02 9.98772524e-01 2.32414939e-05 3.60981017e+00] [ 9.89654140e-03 4.67531514e-04 9.99950919e-01 3.26701100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.679254154 meters 0.054575120506248506 Centerline is valid? [True, True] Translation: X:831.48, Y:3.62, Z:3.27 [[ 9.98459040e-01 5.45797441e-02 -1.00298573e-02 8.31475187e+02] [-5.45822527e-02 9.98509277e-01 2.36554616e-05 3.61903657e+00] [ 1.00161967e-02 5.23833195e-04 9.99949699e-01 3.26577163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters 0.061859738020171806 Centerline is valid? [True, True] Translation: X:831.53, Y:3.64, Z:3.26 [[ 9.98261790e-01 5.78333381e-02 -1.13447686e-02 8.31534810e+02] [-5.78367531e-02 9.98326054e-01 2.71085457e-05 3.64365088e+00] [ 1.13273459e-02 6.29083157e-04 9.99935646e-01 3.26231604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.799254154 meters 0.056038614004875205 Centerline is valid? [True, True] Translation: X:831.60, Y:3.63, Z:3.27 [[ 9.98208307e-01 5.86957830e-02 -1.16181610e-02 8.31595971e+02] [-5.86994200e-02 9.98275702e-01 2.80046727e-05 3.62592460e+00] [ 1.15997715e-02 6.54024813e-04 9.99932506e-01 3.26527885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters 0.05397136769767331 Centerline is valid? [True, True] Translation: X:831.66, Y:3.62, Z:3.27 [[ 9.98281114e-01 5.75780947e-02 -1.09353229e-02 8.31657963e+02] [-5.75812475e-02 9.98340823e-01 2.65789138e-05 3.61709607e+00] [ 1.09187096e-02 6.03136304e-04 9.99940207e-01 3.26659683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.919254154 meters 0.05498376134142458 Centerline is valid? [True, True] Translation: X:831.72, Y:3.62, Z:3.27 [[ 9.98528784e-01 5.30449723e-02 -1.12471434e-02 8.31717151e+02] [-5.30480200e-02 9.98591962e-01 2.73868780e-05 3.61648697e+00] [ 1.12327597e-02 5.69292101e-04 9.99936748e-01 3.26627010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters 0.05380553010384123 Centerline is valid? [True, True] Translation: X:831.78, Y:3.61, Z:3.27 [[ 9.98838298e-01 4.67475853e-02 -1.16926224e-02 8.31777576e+02] [-4.67504483e-02 9.98906600e-01 2.85004180e-05 3.60874722e+00] [ 1.16811700e-02 5.18168030e-04 9.99931639e-01 3.26732900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.039254154 meters 0.055722687621633765 Centerline is valid? [True, True] Translation: X:831.84, Y:3.62, Z:3.27 [[ 9.99075793e-01 4.12311080e-02 -1.21472205e-02 8.31837470e+02] [-4.12337908e-02 9.99149525e-01 2.96063859e-05 3.61508219e+00] [ 1.21381103e-02 4.71296928e-04 9.99926219e-01 3.26578309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters 0.055054311105192065 Centerline is valid? [True, True] Translation: X:831.90, Y:3.61, Z:3.27 [[ 9.99168374e-01 3.86995895e-02 -1.28413929e-02 8.31897806e+02] [-3.87023792e-02 9.99250782e-01 3.12825488e-05 3.61220942e+00] [ 1.28329825e-02 4.65735925e-04 9.99917545e-01 3.26604581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.159254154 meters 0.055471036382014116 Centerline is valid? [True, True] Translation: X:831.96, Y:3.61, Z:3.27 [[ 9.99343690e-01 3.41770900e-02 -1.20048069e-02 8.31958565e+02] [-3.41792007e-02 9.99415720e-01 2.93626365e-05 3.60861370e+00] [ 1.19987963e-02 3.80971340e-04 9.99927939e-01 3.26661547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539999 meters 0.05483817622422758 Centerline is valid? [True, True] Translation: X:832.02, Y:3.60, Z:3.27 [[ 9.99424587e-01 3.16669368e-02 -1.21531931e-02 8.32019214e+02] [-3.16689131e-02 9.99498414e-01 2.98483561e-05 3.60240723e+00] [ 1.21480424e-02 3.55047234e-04 9.99926147e-01 3.26791943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.279254154 meters 0.05417495930122932 Centerline is valid? [True, True] Translation: X:832.08, Y:3.60, Z:3.27 [[ 9.99459521e-01 3.01101867e-02 -1.31925117e-02 8.32081708e+02] [-3.01123735e-02 9.99546519e-01 3.28874589e-05 3.59577328e+00] [ 1.31875194e-02 3.64388155e-04 9.99912974e-01 3.26976538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.339254154 meters 0.05445979681183436 Centerline is valid? [True, True] Translation: X:832.14, Y:3.60, Z:3.27 [[ 9.99431253e-01 3.09721940e-02 -1.33376884e-02 8.32142908e+02] [-3.09744901e-02 9.99520175e-01 3.44413915e-05 3.60051608e+00] [ 1.33323554e-02 3.78706293e-04 9.99911048e-01 3.26826323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.399254154 meters 0.05432284076440772 Centerline is valid? [True, True] Translation: X:832.20, Y:3.60, Z:3.27 [[ 9.99378413e-01 3.27276653e-02 -1.31029535e-02 8.32204847e+02] [-3.27300227e-02 9.99464229e-01 3.45430293e-05 3.59578549e+00] [ 1.30970638e-02 3.94338406e-04 9.99914152e-01 3.27031633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.459254154 meters 0.05520183407331437 Centerline is valid? [True, True] Translation: X:832.27, Y:3.60, Z:3.27 [[ 9.99346919e-01 3.35930646e-02 -1.33131813e-02 8.32266366e+02] [-3.35955603e-02 9.99435509e-01 3.62019237e-05 3.60184573e+00] [ 1.33068823e-02 4.11085503e-04 9.99911375e-01 3.26867757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.519254154 meters 0.05456581984129481 Centerline is valid? [True, True] Translation: X:832.33, Y:3.60, Z:3.27 [[ 9.99282930e-01 3.53423471e-02 -1.35847471e-02 8.32328199e+02] [-3.53450882e-02 9.99375166e-01 3.83359938e-05 3.59792712e+00] [ 1.35776138e-02 4.41845581e-04 9.99907722e-01 3.26972726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.579254154 meters 0.05482218098023828 Centerline is valid? [True, True] Translation: X:832.39, Y:3.60, Z:3.27 [[ 9.99281446e-01 3.51284022e-02 -1.42333072e-02 8.32389720e+02] [-3.51313689e-02 9.99382702e-01 4.16218247e-05 3.59887066e+00] [ 1.42259832e-02 4.58443650e-04 9.99898700e-01 3.26858046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.639254154 meters 0.054335070081008456 Centerline is valid? [True, True] Translation: X:832.45, Y:3.59, Z:3.27 [[ 9.99388330e-01 3.27269371e-02 -1.23253103e-02 8.32450681e+02] [-3.27289741e-02 9.99464263e-01 3.64540910e-05 3.58625477e+00] [ 1.23199002e-02 3.66962968e-04 9.99924040e-01 3.27343430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.699254154 meters 0.054693796776659635 Centerline is valid? [True, True] Translation: X:832.51, Y:3.59, Z:3.27 [[ 9.99444841e-01 3.15826123e-02 -1.06088686e-02 8.32511504e+02] [-3.15840556e-02 9.99501099e-01 3.15114476e-05 3.59043028e+00] [ 1.06045710e-02 3.03577140e-04 9.99943724e-01 3.27239350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.759254154 meters 0.054192676589790614 Centerline is valid? [True, True] Translation: X:832.57, Y:3.58, Z:3.27 [[ 9.99412219e-01 3.21436497e-02 -1.19164416e-02 8.32573460e+02] [-3.21454992e-02 9.99483199e-01 3.63438717e-05 3.58133036e+00] [ 1.19114514e-02 3.46737456e-04 9.99928996e-01 3.27207337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.819254154 meters 0.05380664630934104 Centerline is valid? [True, True] Translation: X:832.63, Y:3.58, Z:3.27 [[ 9.99335434e-01 3.37725372e-02 -1.37151473e-02 8.32634192e+02] [-3.37751309e-02 9.99429457e-01 4.25353278e-05 3.57656706e+00] [ 1.37087587e-02 4.20723835e-04 9.99905942e-01 3.27128337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.879254154 meters 0.054308954543703644 Centerline is valid? [True, True] Translation: X:832.69, Y:3.58, Z:3.27 [[ 9.99243432e-01 3.57989841e-02 -1.51985900e-02 8.32693862e+02] [-3.58024021e-02 9.99358887e-01 4.72280802e-05 3.57818573e+00] [ 1.51905367e-02 4.96953682e-04 9.99884494e-01 3.26868790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.939254154 meters 0.05348379408831192 Centerline is valid? [True, True] Translation: X:832.75, Y:3.57, Z:3.27 [[ 9.99181549e-01 3.74280386e-02 -1.53418827e-02 8.32754999e+02] [-3.74317105e-02 9.99299187e-01 4.78496637e-05 3.56856093e+00] [ 1.53329218e-02 5.26462409e-04 9.99882305e-01 3.27100021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.999254154 meters 0.055405897017697534 Centerline is valid? [True, True] Translation: X:832.81, Y:3.57, Z:3.27 [[ 9.99084413e-01 4.00411172e-02 -1.50679766e-02 8.32814924e+02] [-4.00449501e-02 9.99197878e-01 4.73745934e-05 3.57283644e+00] [ 1.50577871e-02 5.56065151e-04 9.99886470e-01 3.26890755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.059254154 meters 0.05206059502102625 Centerline is valid? [True, True] Translation: X:832.88, Y:3.55, Z:3.27 [[ 9.99015106e-01 4.19469151e-02 -1.44663337e-02 8.32875473e+02] [-4.19506447e-02 9.99119683e-01 4.56743646e-05 3.55135732e+00] [ 1.44555147e-02 5.61242646e-04 9.99895356e-01 3.27411148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.119254154 meters 0.05469355096389766 Centerline is valid? [True, True] Translation: X:832.94, Y:3.56, Z:3.27 [[ 9.98966779e-01 4.35367861e-02 -1.30354801e-02 8.32936508e+02] [-4.35399370e-02 9.99051686e-01 4.21090047e-05 3.55960925e+00] [ 1.30249516e-02 5.25498484e-04 9.99915034e-01 3.27230537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.179254154 meters 0.05571269286767133 Centerline is valid? [True, True] Translation: X:833.00, Y:3.56, Z:3.27 [[ 9.98872682e-01 4.57729570e-02 -1.25777893e-02 8.32997149e+02] [-4.57760610e-02 9.98951726e-01 4.11444907e-05 3.55975610e+00] [ 1.25664876e-02 5.34663542e-04 9.99920896e-01 3.27301677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters 0.05346654921600191 Centerline is valid? [True, True] Translation: X:833.06, Y:3.55, Z:3.28 [[ 9.98683232e-01 4.95458392e-02 -1.33045888e-02 8.33058032e+02] [-4.95496447e-02 9.98771661e-01 4.36523615e-05 3.54600255e+00] [ 1.32904090e-02 6.15642767e-04 9.99911489e-01 3.27565974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.299254154 meters 0.051677503278271766 Centerline is valid? [True, True] Translation: X:833.12, Y:3.54, Z:3.28 [[ 9.98522323e-01 5.24395392e-02 -1.42571315e-02 8.33118554e+02] [-5.24442025e-02 9.98623855e-01 4.68471027e-05 3.53863110e+00] [ 1.42399682e-02 7.00926012e-04 9.99898361e-01 3.27664375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters 0.051154572564563426 Centerline is valid? [True, True] Translation: X:833.18, Y:3.53, Z:3.28 [[ 9.98444396e-01 5.36527864e-02 -1.51712280e-02 8.33179673e+02] [-5.36582032e-02 9.98559360e-01 5.00779734e-05 3.52927972e+00] [ 1.51520586e-02 7.64060765e-04 9.99884909e-01 3.27807256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.419254154 meters 0.051126757038644416 Centerline is valid? [True, True] Translation: X:833.24, Y:3.52, Z:3.28 [[ 9.98673326e-01 4.94710737e-02 -1.42899114e-02 8.33240650e+02] [-4.94754491e-02 9.98775339e-01 4.73873019e-05 3.52306487e+00] [ 1.42747554e-02 6.59675348e-04 9.99897893e-01 3.28030631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters 0.052973244429461004 Centerline is valid? [True, True] Translation: X:833.30, Y:3.53, Z:3.28 [[ 9.98848873e-01 4.62483177e-02 -1.27287738e-02 8.33299852e+02] [-4.62515283e-02 9.98929825e-01 4.21890270e-05 3.53360362e+00] [ 1.27171030e-02 5.46584780e-04 9.99918985e-01 3.27917405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.539254154 meters 0.05253347534262261 Centerline is valid? [True, True] Translation: X:833.36, Y:3.53, Z:3.28 [[ 9.98855964e-01 4.60859052e-02 -1.27613885e-02 8.33361921e+02] [-4.60891080e-02 9.98937332e-01 4.31598276e-05 3.53231035e+00] [ 1.27498164e-02 5.45050561e-04 9.99918569e-01 3.27949250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters 0.052686316399809925 Centerline is valid? [True, True] Translation: X:833.42, Y:3.53, Z:3.28 [[ 9.98770656e-01 4.74372707e-02 -1.43834189e-02 8.33422612e+02] [-4.74414718e-02 9.98874018e-01 4.91718781e-05 3.53362569e+00] [ 1.43695560e-02 6.33259136e-04 9.99896552e-01 3.27781572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.659254154 meters 0.05318099782824572 Centerline is valid? [True, True] Translation: X:833.49, Y:3.53, Z:3.28 [[ 9.98728716e-01 4.81568144e-02 -1.48954277e-02 8.33485066e+02] [-4.81613947e-02 9.98839565e-01 5.12663440e-05 3.53334763e+00] [ 1.48806113e-02 6.66183402e-04 9.99889056e-01 3.27859306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539999 meters 0.05167833071377621 Centerline is valid? [True, True] Translation: X:833.55, Y:3.53, Z:3.28 [[ 9.98699932e-01 4.90660453e-02 -1.38191581e-02 8.33547165e+02] [-4.90700587e-02 9.98795338e-01 4.87036383e-05 3.52640703e+00] [ 1.38049004e-02 6.29466578e-04 9.99904510e-01 3.28127585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.779254154 meters 0.05119864854291567 Centerline is valid? [True, True] Translation: X:833.61, Y:3.53, Z:3.28 [[ 9.98678792e-01 4.96010994e-02 -1.34313515e-02 8.33608285e+02] [-4.96049211e-02 9.98768917e-01 4.86635711e-05 3.52892239e+00] [ 1.34172301e-02 6.17661853e-04 9.99909794e-01 3.28072740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.839254154 meters 0.05141801273806237 Centerline is valid? [True, True] Translation: X:833.67, Y:3.53, Z:3.28 [[ 9.98666816e-01 4.97590022e-02 -1.37343468e-02 8.33670627e+02] [-4.97629938e-02 9.98761053e-01 5.11773061e-05 3.52930499e+00] [ 1.37198772e-02 6.32353139e-04 9.99905678e-01 3.28077825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.899254154 meters 0.05084292202773788 Centerline is valid? [True, True] Translation: X:833.73, Y:3.53, Z:3.28 [[ 9.98621650e-01 5.09665452e-02 -1.25384358e-02 8.33732790e+02] [-5.09699579e-02 9.98700186e-01 4.74300426e-05 3.52601160e+00] [ 1.25245555e-02 5.91718878e-04 9.99921390e-01 3.28280277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.959254154 meters 0.05424305926100216 Centerline is valid? [True, True] Translation: X:833.79, Y:3.54, Z:3.28 [[ 9.98495968e-01 5.36077346e-02 -1.14896903e-02 8.33792423e+02] [-5.36107736e-02 9.98561908e-01 4.35553415e-05 3.54275739e+00] [ 1.14755019e-02 5.72481350e-04 9.99933990e-01 3.28223264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.019254154 meters 0.051183786182416105 Centerline is valid? [True, True] Translation: X:833.85, Y:3.53, Z:3.28 [[ 9.98293313e-01 5.72180235e-02 -1.16858509e-02 8.33853623e+02] [-5.72214122e-02 9.98361512e-01 4.44385674e-05 3.53468340e+00] [ 1.16692465e-02 6.24318168e-04 9.99931717e-01 3.28415972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.079254154 meters 0.054885815306354856 Centerline is valid? [True, True] Translation: X:833.91, Y:3.56, Z:3.28 [[ 9.98063544e-01 6.07869395e-02 -1.31951010e-02 8.33913597e+02] [-6.07915680e-02 9.98150481e-01 5.04065241e-05 3.55607651e+00] [ 1.31737605e-02 7.51841969e-04 9.99912940e-01 3.28052683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.139254154 meters 0.05204804373414785 Centerline is valid? [True, True] Translation: X:833.97, Y:3.55, Z:3.28 [[ 9.97976581e-01 6.18260364e-02 -1.48419790e-02 8.33974354e+02] [-6.18320049e-02 9.98086569e-01 5.68424246e-05 3.54502220e+00] [ 1.48170942e-02 8.60981908e-04 9.99889850e-01 3.28236744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.199254154 meters 0.052313925810830414 Centerline is valid? [True, True] Translation: X:834.04, Y:3.54, Z:3.28 [[ 9.98047074e-01 6.08410776e-02 -1.41563269e-02 8.34036214e+02] [-6.08464049e-02 9.98147140e-01 5.44781399e-05 3.54059339e+00] [ 1.41334117e-02 8.06989848e-04 9.99899793e-01 3.28466047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.259254154 meters 0.055663953401209214 Centerline is valid? [True, True] Translation: X:834.10, Y:3.57, Z:3.28 [[ 9.98129866e-01 5.95751996e-02 -1.36954879e-02 8.34096197e+02] [-5.95800657e-02 9.98223529e-01 5.27920521e-05 3.56577533e+00] [ 1.36743034e-02 7.63284746e-04 9.99906211e-01 3.28171891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.319254154 meters 0.053274952876955765 Centerline is valid? [True, True] Translation: X:834.16, Y:3.56, Z:3.28 [[ 9.98206191e-01 5.82416417e-02 -1.38676599e-02 8.34157093e+02] [-5.82465020e-02 9.98302230e-01 5.34979279e-05 3.56031208e+00] [ 1.38472316e-02 7.54340715e-04 9.99903838e-01 3.28345072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.379254154 meters 0.05463734549613517 Centerline is valid? [True, True] Translation: X:834.22, Y:3.57, Z:3.28 [[ 9.98268925e-01 5.71850919e-02 -1.37484388e-02 8.34218075e+02] [-5.71897669e-02 9.98363325e-01 5.31984062e-05 3.56903987e+00] [ 1.37289792e-02 7.33163694e-04 9.99905484e-01 3.28231859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.439254154 meters 0.05257416603461664 Centerline is valid? [True, True] Translation: X:834.28, Y:3.55, Z:3.29 [[ 9.98320580e-01 5.63121673e-02 -1.35999705e-02 8.34279395e+02] [-5.63166582e-02 9.98412956e-01 5.28331744e-05 3.55239314e+00] [ 1.35813619e-02 7.13160443e-04 9.99907515e-01 3.28588384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.499254154 meters 0.05283216989115126 Centerline is valid? [True, True] Translation: X:834.34, Y:3.57, Z:3.28 [[ 9.98405175e-01 5.48645996e-02 -1.33034951e-02 8.34339372e+02] [-5.48687679e-02 9.98493573e-01 5.17421713e-05 3.56647354e+00] [ 1.32862932e-02 6.78286735e-04 9.99911503e-01 3.28489324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.559254154 meters 0.05332949551638387 Centerline is valid? [True, True] Translation: X:834.40, Y:3.57, Z:3.29 [[ 9.98493601e-01 5.32126335e-02 -1.33770178e-02 8.34400548e+02] [-5.32166991e-02 9.98582986e-01 5.20996077e-05 3.57069727e+00] [ 1.33608347e-02 6.59859605e-04 9.99910522e-01 3.28502192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.619254154 meters 0.053197627276776245 Centerline is valid? [True, True] Translation: X:834.46, Y:3.57, Z:3.29 [[ 9.98586134e-01 5.12368265e-02 -1.41605062e-02 8.34461684e+02] [-5.12411815e-02 9.98686306e-01 5.53412165e-05 3.57140153e+00] [ 1.41447392e-02 6.70338099e-04 9.99899733e-01 3.28625337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.679254154 meters 0.05499551599483241 Centerline is valid? [True, True] Translation: X:834.52, Y:3.59, Z:3.28 [[ 9.98693093e-01 4.91458072e-02 -1.40283626e-02 8.34521638e+02] [-4.91498746e-02 9.98791413e-01 5.48853970e-05 3.58578341e+00] [ 1.40141055e-02 6.34678597e-04 9.99901596e-01 3.28405777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters 0.05670188825872808 Centerline is valid? [True, True] Translation: X:834.58, Y:3.60, Z:3.28 [[ 9.98849549e-01 4.57056555e-02 -1.45110792e-02 8.34581707e+02] [-4.57096441e-02 9.98954766e-01 5.68502462e-05 3.59594480e+00] [ 1.44985101e-02 6.06511424e-04 9.99894707e-01 3.28200982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.799254154 meters 0.0552699827425872 Centerline is valid? [True, True] Translation: X:834.64, Y:3.59, Z:3.28 [[ 9.98944212e-01 4.34548416e-02 -1.49043153e-02 8.34642725e+02] [-4.34587976e-02 9.99055218e-01 5.85026456e-05 3.59121164e+00] [ 1.48927762e-02 5.89282741e-04 9.99888923e-01 3.28417583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters 0.05500867055266469 Centerline is valid? [True, True] Translation: X:834.70, Y:3.59, Z:3.29 [[ 9.99120452e-01 3.93964962e-02 -1.43610102e-02 8.34703605e+02] [-3.93997516e-02 9.99223527e-01 5.62784081e-05 3.58982473e+00] [ 1.43520765e-02 5.09591327e-04 9.99896874e-01 3.28547689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.919254154 meters 0.05522710765882673 Centerline is valid? [True, True] Translation: X:834.76, Y:3.59, Z:3.29 [[ 9.99207818e-01 3.72249732e-02 -1.40725828e-02 8.34764260e+02] [-3.72278836e-02 9.99306801e-01 5.51845568e-05 3.58712700e+00] [ 1.40648819e-02 4.68751633e-04 9.99900975e-01 3.28707028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters 0.056021450136947225 Centerline is valid? [True, True] Translation: X:834.82, Y:3.60, Z:3.28 [[ 9.99293394e-01 3.51558998e-02 -1.32957048e-02 8.34824241e+02] [-3.51583143e-02 9.99381754e-01 5.21679107e-05 3.59595153e+00] [ 1.32893188e-02 4.15323518e-04 9.99911607e-01 3.28460293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.039254154 meters 0.05557603991647008 Centerline is valid? [True, True] Translation: X:834.89, Y:3.59, Z:3.28 [[ 9.99303667e-01 3.46059478e-02 -1.39502221e-02 8.34886709e+02] [-3.46085471e-02 9.99400943e-01 5.51178153e-05 3.59269696e+00] [ 1.39437725e-02 4.27717481e-04 9.99902689e-01 3.28466057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters 0.05555170080241009 Centerline is valid? [True, True] Translation: X:834.95, Y:3.59, Z:3.28 [[ 9.99310880e-01 3.42282775e-02 -1.43593406e-02 8.34949267e+02] [-3.42309741e-02 9.99413947e-01 5.80172404e-05 3.59071135e+00] [ 1.43529111e-02 4.33556956e-04 9.99896898e-01 3.28477244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.159254154 meters 0.05489754329810205 Centerline is valid? [True, True] Translation: X:835.01, Y:3.58, Z:3.29 [[ 9.99338539e-01 3.39508997e-02 -1.30315152e-02 8.35011462e+02] [-3.39530785e-02 9.99423427e-01 5.40691463e-05 3.58337450e+00] [ 1.30258373e-02 3.88426677e-04 9.99915085e-01 3.28800019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539999 meters 0.05549998136980706 Centerline is valid? [True, True] Translation: X:835.07, Y:3.59, Z:3.29 [[ 9.99383338e-01 3.27114305e-02 -1.27634661e-02 8.35072399e+02] [-3.27134113e-02 9.99464772e-01 5.36074918e-05 3.59029661e+00] [ 1.27583883e-02 3.63962082e-04 9.99918542e-01 3.28580013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.279254154 meters 0.054720376876621346 Centerline is valid? [True, True] Translation: X:835.13, Y:3.58, Z:3.29 [[ 9.99444747e-01 3.05440408e-02 -1.33138690e-02 8.35133867e+02] [-3.05460007e-02 9.99533360e-01 5.61681908e-05 3.57969815e+00] [ 1.33093718e-02 3.50548447e-04 9.99911365e-01 3.28746150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.339254154 meters 0.054465963207181625 Centerline is valid? [True, True] Translation: X:835.19, Y:3.57, Z:3.29 [[ 9.99551110e-01 2.66805224e-02 -1.36282372e-02 8.35194367e+02] [-2.66822162e-02 9.99643965e-01 5.75588834e-05 3.57225039e+00] [ 1.36249208e-02 3.06098525e-04 9.99907130e-01 3.28862975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.399254154 meters 0.05391961591780886 Centerline is valid? [True, True] Translation: X:835.26, Y:3.57, Z:3.29 [[ 9.99637344e-01 2.38088930e-02 -1.25824100e-02 8.35255899e+02] [-2.38101067e-02 9.99716498e-01 5.33536095e-05 3.56933793e+00] [ 1.25801131e-02 2.46254263e-04 9.99920837e-01 3.28963761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.459254154 meters 0.054604807910181276 Centerline is valid? [True, True] Translation: X:835.32, Y:3.57, Z:3.29 [[ 9.99746404e-01 1.92938107e-02 -1.16136090e-02 8.35315678e+02] [-1.92945390e-02 9.99813842e-01 4.93348090e-05 3.56753841e+00] [ 1.16123989e-02 1.74756935e-04 9.99932559e-01 3.28866824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.519254154 meters 0.05421013459133581 Centerline is valid? [True, True] Translation: X:835.38, Y:3.56, Z:3.29 [[ 9.99802450e-01 1.55876270e-02 -1.23323646e-02 8.35376605e+02] [-1.55881647e-02 9.99878496e-01 5.25227130e-05 3.56135726e+00] [ 1.23316848e-02 1.39726593e-04 9.99923952e-01 3.28849055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.579254154 meters 0.053907956037521305 Centerline is valid? [True, True] Translation: X:835.44, Y:3.56, Z:3.29 [[ 9.99864198e-01 1.17635227e-02 -1.15414307e-02 8.35436577e+02] [-1.17637390e-02 9.99930804e-01 4.91505050e-05 3.55567176e+00] [ 1.15412102e-02 8.66265472e-05 9.99933394e-01 3.28953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.639254154 meters 0.054062738747402375 Centerline is valid? [True, True] Translation: X:835.50, Y:3.55, Z:3.29 [[ 9.99913491e-01 7.77929191e-03 -1.06062959e-02 8.35495624e+02] [-7.77925190e-03 9.99969740e-01 4.50282980e-05 3.55190453e+00] [ 1.06063252e-02 3.74846449e-05 9.99943751e-01 3.28877114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.699254154 meters 0.05408368158579047 Centerline is valid? [True, True] Translation: X:835.55, Y:3.55, Z:3.29 [[ 9.99926072e-01 6.39989891e-03 -1.03388808e-02 8.35554018e+02] [-6.39978945e-03 9.99979520e-01 4.36724357e-05 3.54744890e+00] [ 1.03389486e-02 2.24974534e-05 9.99946551e-01 3.28977787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.759254154 meters 0.0535646745522752 Centerline is valid? [True, True] Translation: X:835.61, Y:3.55, Z:3.29 [[ 9.99907754e-01 8.55994991e-03 -1.05456793e-02 8.35612079e+02] [-8.55996004e-03 9.99963362e-01 4.41765363e-05 3.54585635e+00] [ 1.05456710e-02 4.60981318e-05 9.99944392e-01 3.29126204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.819254154 meters 0.05329624223019779 Centerline is valid? [True, True] Translation: X:835.67, Y:3.55, Z:3.29 [[ 9.99895626e-01 1.03102443e-02 -1.01210810e-02 8.35670621e+02] [-1.03103514e-02 9.99946846e-01 4.15970125e-05 3.54726081e+00] [ 1.01209719e-02 6.27592302e-05 9.99948780e-01 3.28869218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.879254154 meters 0.0540791062413898 Centerline is valid? [True, True] Translation: X:835.73, Y:3.54, Z:3.29 [[ 9.99882452e-01 1.13679975e-02 -1.02884108e-02 8.35729812e+02] [-1.13681695e-02 9.99935379e-01 4.17581934e-05 3.54375704e+00] [ 1.02882206e-02 7.52071130e-05 9.99947072e-01 3.29095384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.939254154 meters 0.053917796708344096 Centerline is valid? [True, True] Translation: X:835.79, Y:3.54, Z:3.29 [[ 9.99888584e-01 1.05149069e-02 -1.05950972e-02 8.35788902e+02] [-1.05150428e-02 9.99944715e-01 4.28785489e-05 3.54202156e+00] [ 1.05949623e-02 6.85341290e-05 9.99943869e-01 3.29085418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.999254154 meters 0.05334546348278786 Centerline is valid? [True, True] Translation: X:835.85, Y:3.54, Z:3.29 [[ 9.99890241e-01 1.01415152e-02 -1.08007127e-02 8.35848641e+02] [-1.01416363e-02 9.99948571e-01 4.35620157e-05 3.54079085e+00] [ 1.08005990e-02 6.59796657e-05 9.99941670e-01 3.29025069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.059254154 meters 0.05354878010573723 Centerline is valid? [True, True] Translation: X:835.91, Y:3.54, Z:3.29 [[ 9.99903583e-01 9.28890538e-03 -1.03218755e-02 8.35906897e+02] [-9.28897227e-03 9.99956856e-01 4.14622680e-05 3.54091596e+00] [ 1.03218153e-02 5.44213446e-05 9.99946727e-01 3.28829434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.119254154 meters 0.053611851451981836 Centerline is valid? [True, True] Translation: X:835.97, Y:3.54, Z:3.29 [[ 9.99923423e-01 7.84082152e-03 -9.57447637e-03 8.35965862e+02] [-7.84081451e-03 9.99969260e-01 3.82688293e-05 3.53811567e+00] [ 9.57448211e-03 3.68057945e-05 9.99954163e-01 3.29095232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.179254154 meters 0.053548444974651506 Centerline is valid? [True, True] Translation: X:836.02, Y:3.54, Z:3.29 [[ 9.99927238e-01 7.44939711e-03 -9.48819496e-03 8.36024312e+02] [-7.44937590e-03 9.99972252e-01 3.75767128e-05 3.53716844e+00] [ 9.48821160e-03 3.31071522e-05 9.99954985e-01 3.29122932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters 0.053018439697119286 Centerline is valid? [True, True] Translation: X:836.08, Y:3.54, Z:3.29 [[ 9.99908195e-01 9.18739982e-03 -9.95956630e-03 8.36082702e+02] [-9.18747051e-03 9.99957794e-01 3.86553569e-05 3.53737196e+00] [ 9.95950108e-03 5.28514136e-05 9.99950402e-01 3.29111112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.299254154 meters 0.05307290567944542 Centerline is valid? [True, True] Translation: X:836.14, Y:3.54, Z:3.29 [[ 9.99901929e-01 1.00689952e-02 -9.73389339e-03 8.36141490e+02] [-1.00691095e-02 9.99949305e-01 3.72642855e-05 3.53839061e+00] [ 9.73377514e-03 6.07510073e-05 9.99952624e-01 3.29045330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters 0.053579926257596444 Centerline is valid? [True, True] Translation: X:836.20, Y:3.54, Z:3.29 [[ 9.99874035e-01 1.21534682e-02 -1.02082047e-02 8.36200470e+02] [-1.21537045e-02 9.99926140e-01 3.88892990e-05 3.54009546e+00] [ 1.02079234e-02 8.51831037e-05 9.99947894e-01 3.28887392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.419254154 meters 0.053041449829092244 Centerline is valid? [True, True] Translation: X:836.26, Y:3.54, Z:3.29 [[ 9.99863331e-01 1.33006713e-02 -9.81895113e-03 8.36260533e+02] [-1.33009473e-02 9.99911538e-01 3.71875100e-05 3.53777060e+00] [ 9.81857714e-03 9.34189244e-05 9.99951792e-01 3.29032651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters 0.05334960410145216 Centerline is valid? [True, True] Translation: X:836.32, Y:3.54, Z:3.29 [[ 9.99836624e-01 1.42736125e-02 -1.10900668e-02 8.36320303e+02] [-1.42740256e-02 9.99898120e-01 4.19066241e-05 3.54025951e+00] [ 1.10895351e-02 1.16400119e-04 9.99938502e-01 3.28784168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.539254154 meters 0.05308043446726175 Centerline is valid? [True, True] Translation: X:836.38, Y:3.53, Z:3.29 [[ 9.99836594e-01 1.44269633e-02 -1.08925331e-02 8.36380431e+02] [-1.44273707e-02 9.99895919e-01 4.11747879e-05 3.53317554e+00] [ 1.08919934e-02 1.15982553e-04 9.99940674e-01 3.29151295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters 0.05293363059835985 Centerline is valid? [True, True] Translation: X:836.44, Y:3.53, Z:3.29 [[ 9.99857979e-01 1.30096231e-02 -1.07131170e-02 8.36439947e+02] [-1.30099364e-02 9.99915366e-01 4.04413281e-05 3.53151701e+00] [ 1.07127364e-02 9.89413865e-05 9.99942612e-01 3.29081433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.659254154 meters 0.052686340512981766 Centerline is valid? [True, True] Translation: X:836.50, Y:3.53, Z:3.29 [[ 9.99881605e-01 1.13758405e-02 -1.03617608e-02 8.36499230e+02] [-1.13760455e-02 9.99935290e-01 3.91540708e-05 3.52544223e+00] [ 1.03615357e-02 7.87264270e-05 9.99946315e-01 3.29157067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539999 meters 0.052248776692645216 Centerline is valid? [True, True] Translation: X:836.56, Y:3.52, Z:3.29 [[ 9.99886022e-01 1.15820820e-02 -9.68499311e-03 8.36559290e+02] [-1.15822719e-02 9.99932923e-01 3.64895493e-05 3.52191867e+00] [ 9.68476609e-03 7.56888329e-05 9.99953099e-01 3.29238830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.779254154 meters 0.05214469622549673 Centerline is valid? [True, True] Translation: X:836.62, Y:3.52, Z:3.29 [[ 9.99884429e-01 1.26693150e-02 -8.40342119e-03 8.36619621e+02] [-1.26694971e-02 9.99919738e-01 3.15731051e-05 3.51728235e+00] [ 8.40314673e-03 7.48976639e-05 9.99964690e-01 3.29488554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.839254154 meters 0.052542136060152476 Centerline is valid? [True, True] Translation: X:836.68, Y:3.52, Z:3.30 [[ 9.99867198e-01 1.44508004e-02 -7.53400985e-03 8.36680302e+02] [-1.44509971e-02 9.99895579e-01 2.83357072e-05 3.51786687e+00] [ 7.53363261e-03 8.05420100e-05 9.99971619e-01 3.29503531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.899254154 meters 0.05178606484987339 Centerline is valid? [True, True] Translation: X:836.74, Y:3.52, Z:3.29 [[ 9.99835349e-01 1.70136395e-02 -6.30963781e-03 8.36742437e+02] [-1.70138278e-02 9.99855254e-01 2.38315940e-05 3.51690372e+00] [ 6.30912998e-03 8.35234213e-05 9.99980094e-01 3.29483058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.959254154 meters 0.05249571115654612 Centerline is valid? [True, True] Translation: X:836.80, Y:3.52, Z:3.29 [[ 9.99809231e-01 1.80084098e-02 -7.56300993e-03 8.36803448e+02] [-1.80087060e-02 9.99837830e-01 2.89353600e-05 3.51839656e+00] [ 7.56230452e-03 1.07270183e-04 9.99971400e-01 3.29298818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.019254154 meters 0.05165205207217804 Centerline is valid? [True, True] Translation: X:836.87, Y:3.51, Z:3.29 [[ 9.99821816e-01 1.69299537e-02 -8.34947744e-03 8.36865476e+02] [-1.69302708e-02 9.99856672e-01 3.26987495e-05 3.51105748e+00] [ 8.34883431e-03 1.08665991e-04 9.99965142e-01 3.29332299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.079254154 meters 0.05165941483055377 Centerline is valid? [True, True] Translation: X:836.93, Y:3.51, Z:3.29 [[ 9.99853758e-01 1.46942864e-02 -8.74880787e-03 8.36928175e+02] [-1.46945425e-02 9.99892029e-01 3.50048152e-05 3.50852587e+00] [ 8.74837763e-03 9.35600336e-05 9.99961728e-01 3.29286491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.139254154 meters 0.05204817984301761 Centerline is valid? [True, True] Translation: X:836.99, Y:3.51, Z:3.29 [[ 9.99890508e-01 1.14865015e-02 -9.32915453e-03 8.36988654e+02] [-1.14866501e-02 9.99934026e-01 3.76606905e-05 3.50664475e+00] [ 9.32897163e-03 6.95041668e-05 9.99956482e-01 3.29114951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.199254154 meters 0.05214574044204363 Centerline is valid? [True, True] Translation: X:837.05, Y:3.50, Z:3.29 [[ 9.99940437e-01 6.57485190e-03 -8.71166344e-03 8.37049490e+02] [-6.57479420e-03 9.99978385e-01 3.52627688e-05 3.49991970e+00] [ 8.71170698e-03 2.20167259e-05 9.99962052e-01 3.29246816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.259254154 meters 0.051285349496017645 Centerline is valid? [True, True] Translation: X:837.11, Y:3.49, Z:3.29 [[ 9.99971206e-01 8.81191431e-04 -7.53726382e-03 8.37109278e+02] [-8.80986721e-04 9.99999611e-01 3.04796623e-05 3.49367453e+00] [ 7.53728775e-03 -2.38385554e-05 9.99971594e-01 3.29428198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.319254154 meters 0.05217358536243192 Centerline is valid? [True, True] Translation: X:837.17, Y:3.49, Z:3.30 [[ 9.99977986e-01 -3.06420035e-03 -5.88537099e-03 8.37167291e+02] [ 3.06439271e-03 9.99995304e-01 2.36664764e-05 3.48836531e+00] [ 5.88527083e-03 -4.17010434e-05 9.99982681e-01 3.29579771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.379254154 meters 0.05160481419655171 Centerline is valid? [True, True] Translation: X:837.23, Y:3.49, Z:3.30 [[ 9.99977562e-01 -3.73316713e-03 -5.56219950e-03 8.37225568e+02] [ 3.73334803e-03 9.99993031e-01 2.21412839e-05 3.48671768e+00] [ 5.56207808e-03 -4.29064137e-05 9.99984531e-01 3.29548939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.439254154 meters 0.052327178212690555 Centerline is valid? [True, True] Translation: X:837.28, Y:3.49, Z:3.30 [[ 9.99984085e-01 -2.44812193e-03 -5.08306188e-03 8.37284579e+02] [ 2.44825502e-03 9.99997003e-01 1.99603127e-05 3.49076064e+00] [ 5.08299778e-03 -3.24046268e-05 9.99987081e-01 3.29642043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.499254154 meters 0.05146754746144014 Centerline is valid? [True, True] Translation: X:837.34, Y:3.49, Z:3.30 [[ 9.99979239e-01 -1.00799979e-03 -6.36439744e-03 8.37342223e+02] [ 1.00817488e-03 9.99999492e-01 2.43022434e-05 3.49026366e+00] [ 6.36436970e-03 -3.07181645e-05 9.99979747e-01 3.29620239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.559254154 meters 0.05184018717586203 Centerline is valid? [True, True] Translation: X:837.40, Y:3.49, Z:3.29 [[ 9.99965873e-01 4.58531840e-04 -8.24877847e-03 8.37399446e+02] [-4.58291346e-04 9.99999895e-01 3.10451827e-05 3.49182637e+00] [ 8.24879184e-03 -2.72637794e-05 9.99965978e-01 3.29473510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.619254154 meters 0.05225102179842302 Centerline is valid? [True, True] Translation: X:837.46, Y:3.49, Z:3.30 [[ 9.99964856e-01 -7.99233540e-04 -8.34558432e-03 8.37458250e+02] [ 7.99519563e-04 9.99999680e-01 3.09360359e-05 3.49453721e+00] [ 8.34555693e-03 -3.76074066e-05 9.99965175e-01 3.29583720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.679254154 meters 0.05235202351410551 Centerline is valid? [True, True] Translation: X:837.52, Y:3.49, Z:3.29 [[ 9.99943443e-01 -5.13910040e-03 -9.31134568e-03 8.37516515e+02] [ 5.13964192e-03 9.99986791e-01 3.42285237e-05 3.49226370e+00] [ 9.31104679e-03 -8.20835704e-05 9.99956648e-01 3.29442986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters 0.05324680583257368 Centerline is valid? [True, True] Translation: X:837.58, Y:3.50, Z:3.30 [[ 9.99897926e-01 -1.11635282e-02 -8.91706521e-03 8.37575255e+02] [ 1.11642631e-02 9.99937677e-01 3.26379250e-05 3.49760952e+00] [ 8.91614512e-03 -1.32187056e-04 9.99960242e-01 3.29832278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.799254154 meters 0.0533808900596142 Centerline is valid? [True, True] Translation: X:837.64, Y:3.50, Z:3.30 [[ 9.99840254e-01 -1.66474138e-02 -6.50615790e-03 8.37635512e+02] [ 1.66479206e-02 9.99861414e-01 2.37457182e-05 3.49504287e+00] [ 6.50486093e-03 -1.32055925e-04 9.99978834e-01 3.29931562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters 0.05369328998234267 Centerline is valid? [True, True] Translation: X:837.70, Y:3.49, Z:3.30 [[ 9.99793999e-01 -1.95630071e-02 -5.40821066e-03 8.37695406e+02] [ 1.95633999e-02 9.99808618e-01 1.97263558e-05 3.49414214e+00] [ 5.40678972e-03 -1.25525280e-04 9.99985375e-01 3.29954811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.919254154 meters 0.05382594160983064 Centerline is valid? [True, True] Translation: X:837.75, Y:3.51, Z:3.30 [[ 9.99803766e-01 -1.83187397e-02 -7.54018008e-03 8.37753201e+02] [ 1.83194664e-02 9.99832184e-01 2.73077688e-05 3.50582377e+00] [ 7.53841448e-03 -1.65434486e-04 9.99971572e-01 3.29841719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters 0.053913238101249004 Centerline is valid? [True, True] Translation: X:837.81, Y:3.52, Z:3.30 [[ 9.99835522e-01 -1.55100828e-02 -9.40035306e-03 8.37812634e+02] [ 1.55110851e-02 9.99879695e-01 3.37231182e-05 3.51616057e+00] [ 9.39869910e-03 -1.79527248e-04 9.99955815e-01 3.29725895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.039254154 meters 0.0548548099849778 Centerline is valid? [True, True] Translation: X:837.87, Y:3.52, Z:3.30 [[ 9.99826041e-01 -1.49123084e-02 -1.12031941e-02 8.37869391e+02] [ 1.49136869e-02 9.99888784e-01 3.95097878e-05 3.52244563e+00] [ 1.12013590e-02 -2.06583844e-04 9.99937241e-01 3.29682329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters 0.055013008896175004 Centerline is valid? [True, True] Translation: X:837.93, Y:3.53, Z:3.30 [[ 9.99847850e-01 -1.44217465e-02 -9.81280393e-03 8.37927882e+02] [ 1.44227719e-02 9.99895986e-01 3.37383863e-05 3.52929090e+00] [ 9.81129669e-03 -1.75261086e-04 9.99951853e-01 3.29725772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.159254154 meters 0.05450597008128861 Centerline is valid? [True, True] Translation: X:837.99, Y:3.54, Z:3.30 [[ 9.99899158e-01 -1.11406375e-02 -8.80686817e-03 8.37987559e+02] [ 1.11413324e-02 9.99937933e-01 2.98465937e-05 3.53884962e+00] [ 8.80598904e-03 -1.27963830e-04 9.99961218e-01 3.29842003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539999 meters 0.05489458705463793 Centerline is valid? [True, True] Translation: X:838.05, Y:3.54, Z:3.30 [[ 9.99950963e-01 -4.56100093e-03 -8.79026996e-03 8.38047755e+02] [ 4.56143848e-03 9.99989596e-01 2.97287519e-05 3.54263009e+00] [ 8.79004292e-03 -6.98235698e-05 9.99961364e-01 3.29727041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.279254154 meters 0.05514839004635851 Centerline is valid? [True, True] Translation: X:838.11, Y:3.55, Z:3.30 [[ 9.99962717e-01 1.21429162e-03 -8.54926339e-03 8.38107057e+02] [-1.21409110e-03 9.99999263e-01 2.86444084e-05 3.54718003e+00] [ 8.54929186e-03 -1.82637558e-05 9.99963454e-01 3.29748921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.339254154 meters 0.054382263865221415 Centerline is valid? [True, True] Translation: X:838.16, Y:3.55, Z:3.30 [[ 9.99956565e-01 3.96964377e-03 -8.43262843e-03 8.38163606e+02] [-3.96955208e-03 9.99992121e-01 2.76097820e-05 3.54929068e+00] [ 8.43267159e-03 5.86517503e-06 9.99964444e-01 3.29706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.399254154 meters 0.054478874799325595 Centerline is valid? [True, True] Translation: X:838.22, Y:3.55, Z:3.30 [[ 9.99892048e-01 1.15218954e-02 -9.11797467e-03 8.38222366e+02] [-1.15221108e-02 9.99933618e-01 2.89109425e-05 3.55444637e+00] [ 9.11770251e-03 7.61504929e-05 9.99958430e-01 3.29740855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.459254154 meters 0.05331569559697244 Centerline is valid? [True, True] Translation: X:838.28, Y:3.55, Z:3.30 [[ 9.99847046e-01 1.41003851e-02 -1.03472019e-02 8.38282303e+02] [-1.41008065e-02 9.99900578e-01 3.22304869e-05 3.55488200e+00] [ 1.03466276e-02 1.13678335e-04 9.99946466e-01 3.29720558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.519254154 meters 0.054237392019026824 Centerline is valid? [True, True] Translation: X:838.34, Y:3.55, Z:3.30 [[ 9.99885660e-01 1.01960286e-02 -1.11672301e-02 8.38341540e+02] [-1.01962755e-02 9.99948016e-01 3.48290064e-05 3.55182131e+00] [ 1.11670047e-02 7.90391306e-05 9.99937644e-01 3.29593337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.579254154 meters 0.0545701713820729 Centerline is valid? [True, True] Translation: X:838.40, Y:3.54, Z:3.30 [[ 9.99921164e-01 2.27924180e-03 -1.23478820e-02 8.38400962e+02] [-2.27894176e-03 9.99997402e-01 3.83690846e-05 3.54435566e+00] [ 1.23479373e-02 -1.02259559e-05 9.99923761e-01 3.29622333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.639254154 meters 0.05395356897698531 Centerline is valid? [True, True] Translation: X:838.46, Y:3.54, Z:3.30 [[ 9.99923511e-01 -4.51208207e-03 -1.15157969e-02 8.38458451e+02] [ 4.51278943e-03 9.99989817e-01 3.54405003e-05 3.53614359e+00] [ 1.15155197e-02 -8.74061560e-05 9.99933690e-01 3.29658726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.699254154 meters 0.05463973030231493 Centerline is valid? [True, True] Translation: X:838.52, Y:3.53, Z:3.30 [[ 9.99888499e-01 -9.85455379e-03 -1.12194756e-02 8.38518120e+02] [ 9.85555871e-03 9.99951432e-01 3.42818344e-05 3.53075622e+00] [ 1.12185928e-02 -1.44852212e-04 9.99937059e-01 3.29717738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.759254154 meters 0.05458729303978915 Centerline is valid? [True, True] Translation: X:838.58, Y:3.52, Z:3.30 [[ 9.99826980e-01 -1.44409931e-02 -1.17246949e-02 8.38576660e+02] [ 1.44424017e-02 9.99895702e-01 3.54808706e-05 3.52324518e+00] [ 1.17229597e-02 -2.04807486e-04 9.99931263e-01 3.29580362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.819254154 meters 0.05510206793694803 Centerline is valid? [True, True] Translation: X:838.64, Y:3.52, Z:3.30 [[ 9.99756130e-01 -1.93013701e-02 -1.07302197e-02 8.38637067e+02] [ 1.93028284e-02 9.99813683e-01 3.23429333e-05 3.52157575e+00] [ 1.07275962e-02 -2.39458635e-04 9.99942429e-01 3.29801520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.879254154 meters 0.05483160670344636 Centerline is valid? [True, True] Translation: X:838.70, Y:3.53, Z:3.30 [[ 9.99721919e-01 -2.12104807e-02 -1.03053237e-02 8.38695470e+02] [ 2.12119254e-02 9.99775001e-01 3.09012715e-05 3.52579701e+00] [ 1.03023496e-02 -2.49488437e-04 9.99946898e-01 3.30065588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.939254154 meters 0.054726174720066946 Centerline is valid? [True, True] Translation: X:838.75, Y:3.53, Z:3.30 [[ 9.99796092e-01 -1.75925472e-02 -9.91348781e-03 8.38754065e+02] [ 1.75937041e-02 9.99845218e-01 2.94978332e-05 3.52664462e+00] [ 9.91143444e-03 -2.03906790e-04 9.99950860e-01 3.30143448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.999254154 meters 0.05530316783685677 Centerline is valid? [True, True] Translation: X:838.81, Y:3.53, Z:3.30 [[ 9.99838776e-01 -1.46328659e-02 -1.04067840e-02 8.38814025e+02] [ 1.46339796e-02 9.99892917e-01 3.08737529e-05 3.52616556e+00] [ 1.04052178e-02 -1.83161440e-04 9.99945847e-01 3.29955598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.059254154 meters 0.05492242161319909 Centerline is valid? [True, True] Translation: X:838.87, Y:3.53, Z:3.30 [[ 9.99845783e-01 -1.40365349e-02 -1.05539203e-02 8.38873036e+02] [ 1.40376391e-02 9.99901467e-01 3.05490980e-05 3.53381875e+00] [ 1.05524516e-02 -1.78696511e-04 9.99944305e-01 3.30231445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.119254154 meters 0.05497118989628199 Centerline is valid? [True, True] Translation: X:838.93, Y:3.53, Z:3.30 [[ 9.99811604e-01 -1.63336464e-02 -1.04865769e-02 8.38931704e+02] [ 1.63348504e-02 9.99866577e-01 2.91706424e-05 3.53039889e+00] [ 1.04847013e-02 -2.00461812e-04 9.99945014e-01 3.30175913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.179254154 meters 0.054890563670013826 Centerline is valid? [True, True] Translation: X:838.99, Y:3.53, Z:3.30 [[ 9.99763004e-01 -1.88663848e-02 -1.08625812e-02 8.38990362e+02] [ 1.88678193e-02 9.99821986e-01 2.95805357e-05 3.53226253e+00] [ 1.08600894e-02 -2.34526744e-04 9.99941000e-01 3.30250872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters 0.055713251721541235 Centerline is valid? [True, True] Translation: X:839.05, Y:3.54, Z:3.30 [[ 9.99635223e-01 -2.40628894e-02 -1.22637093e-02 8.39050584e+02] [ 2.40651080e-02 9.99710393e-01 3.33457534e-05 3.53730374e+00] [ 1.22593552e-02 -3.28461078e-04 9.99924797e-01 3.30257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.299254154 meters 0.05655221488450463 Centerline is valid? [True, True] Translation: X:839.11, Y:3.53, Z:3.30 [[ 9.99593343e-01 -2.55991476e-02 -1.25631262e-02 8.39109011e+02] [ 2.56015948e-02 9.99672225e-01 3.39797734e-05 3.53496478e+00] [ 1.25581385e-02 -3.55602023e-04 9.99921080e-01 3.30244414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters 0.05635439377941653 Centerline is valid? [True, True] Translation: X:839.17, Y:3.54, Z:3.30 [[ 9.99601246e-01 -2.59573108e-02 -1.11160740e-02 8.39167018e+02] [ 2.59592376e-02 9.99663002e-01 2.90600650e-05 3.53551497e+00] [ 1.11115736e-02 -3.17613284e-04 9.99938214e-01 3.30407204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.419254154 meters 0.05666187524593742 Centerline is valid? [True, True] Translation: X:839.23, Y:3.55, Z:3.31 [[ 9.99665736e-01 -2.41609839e-02 -9.20120837e-03 8.39226084e+02] [ 2.41622233e-02 9.99708051e-01 2.35454994e-05 3.54546169e+00] [ 9.19795320e-03 -2.45859280e-04 9.99957668e-01 3.30633110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters 0.056551135219609756 Centerline is valid? [True, True] Translation: X:839.29, Y:3.55, Z:3.31 [[ 9.99755294e-01 -1.97028472e-02 -1.00573730e-02 8.39285617e+02] [ 1.97041013e-02 9.99805855e-01 2.56101762e-05 3.54900294e+00] [ 1.00549158e-02 -2.23775405e-04 9.99949423e-01 3.30510368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.539254154 meters 0.055858635598388495 Centerline is valid? [True, True] Translation: X:839.34, Y:3.55, Z:3.30 [[ 9.99829441e-01 -1.42013735e-02 -1.18071801e-02 8.39344967e+02] [ 1.42027172e-02 9.99899136e-01 2.99582183e-05 3.55231724e+00] [ 1.18055637e-02 -1.97647148e-04 9.99930292e-01 3.30312903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters 0.05601185036674559 Centerline is valid? [True, True] Translation: X:839.40, Y:3.56, Z:3.30 [[ 9.99889573e-01 -8.55345009e-03 -1.21523565e-02 8.39404821e+02] [ 8.55445519e-03 9.99963410e-01 3.07286124e-05 3.55983218e+00] [ 1.21516490e-02 -1.34682008e-04 9.99926157e-01 3.30420650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.659254154 meters 0.056158707251151914 Centerline is valid? [True, True] Translation: X:839.46, Y:3.56, Z:3.30 [[ 9.99901515e-01 -3.71157345e-03 -1.35345607e-02 8.39462384e+02] [ 3.71236875e-03 9.99993109e-01 3.36371424e-05 3.56199009e+00] [ 1.35343426e-02 -8.38791098e-05 9.99908403e-01 3.30285527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539999 meters 0.055726733506346784 Centerline is valid? [True, True] Translation: X:839.52, Y:3.57, Z:3.30 [[ 9.99921255e-01 2.19745945e-03 -1.23553846e-02 8.39521555e+02] [-2.19726260e-03 9.99997586e-01 2.95067316e-05 3.56520014e+00] [ 1.23554196e-02 -2.35638360e-06 9.99923669e-01 3.30493334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.779254154 meters 0.05563903737637171 Centerline is valid? [True, True] Translation: X:839.58, Y:3.57, Z:3.30 [[ 9.99898210e-01 9.05886176e-03 -1.10230265e-02 8.39579510e+02] [-9.05913169e-03 9.99958965e-01 2.54443446e-05 3.56917772e+00] [ 1.10228046e-02 7.44172939e-05 9.99939244e-01 3.30397621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.839254154 meters 0.05565164191443459 Centerline is valid? [True, True] Translation: X:839.64, Y:3.57, Z:3.30 [[ 9.99862659e-01 1.26292884e-02 -1.07315066e-02 8.39638516e+02] [-1.26297606e-02 9.99920241e-01 2.37674972e-05 3.57041386e+00] [ 1.07309508e-02 1.11772126e-04 9.99942415e-01 3.30489333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.899254154 meters 0.055519828367276175 Centerline is valid? [True, True] Translation: X:839.70, Y:3.57, Z:3.31 [[ 9.99810316e-01 1.62474939e-02 -1.07401964e-02 8.39698512e+02] [-1.62481815e-02 9.99867989e-01 2.32359379e-05 3.56666731e+00] [ 1.07391561e-02 1.51277130e-04 9.99942322e-01 3.30766385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.959254154 meters 0.05522835140920295 Centerline is valid? [True, True] Translation: X:839.76, Y:3.57, Z:3.31 [[ 9.99779582e-01 1.81741829e-02 -1.05112352e-02 8.39758340e+02] [-1.81749487e-02 9.99834822e-01 2.26760714e-05 3.56897448e+00] [ 1.05099111e-02 1.68370087e-04 9.99944755e-01 3.30622514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.019254154 meters 0.05460688336611835 Centerline is valid? [True, True] Translation: X:839.82, Y:3.56, Z:3.31 [[ 9.99759316e-01 1.89639619e-02 -1.10307638e-02 8.39819458e+02] [-1.89648520e-02 9.99820151e-01 2.39137593e-05 3.56415632e+00] [ 1.10292335e-02 1.85288800e-04 9.99939159e-01 3.30718604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.079254154 meters 0.05491988160919842 Centerline is valid? [True, True] Translation: X:839.88, Y:3.56, Z:3.31 [[ 9.99760049e-01 1.86528203e-02 -1.14854766e-02 8.39879452e+02] [-1.86537632e-02 9.99826003e-01 2.50292202e-05 3.56292257e+00] [ 1.14839450e-02 1.89224146e-04 9.99934039e-01 3.30602965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.139254154 meters 0.054415151747870136 Centerline is valid? [True, True] Translation: X:839.94, Y:3.56, Z:3.31 [[ 9.99757026e-01 1.72910133e-02 -1.36715318e-02 8.39940106e+02] [-1.72922216e-02 9.99850478e-01 2.98316450e-05 3.55641732e+00] [ 1.36700035e-02 2.06586762e-04 9.99906540e-01 3.30567736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.199254154 meters 0.05480729990392743 Centerline is valid? [True, True] Translation: X:840.00, Y:3.55, Z:3.30 [[ 9.99748644e-01 1.62186421e-02 -1.54791458e-02 8.39998906e+02] [-1.62200671e-02 9.99868446e-01 3.34922856e-05 3.55278372e+00] [ 1.54776526e-02 2.17588915e-04 9.99880190e-01 3.30313088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.259254154 meters 0.054133342280546025 Centerline is valid? [True, True] Translation: X:840.06, Y:3.54, Z:3.31 [[ 9.99735207e-01 1.71888807e-02 -1.52989649e-02 8.40057621e+02] [-1.71903933e-02 9.99852234e-01 3.26371773e-05 3.54371198e+00] [ 1.52972652e-02 2.30366689e-04 9.99882963e-01 3.30556414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.319254154 meters 0.05409509249324539 Centerline is valid? [True, True] Translation: X:840.12, Y:3.54, Z:3.31 [[ 9.99664512e-01 2.09152515e-02 -1.52779629e-02 8.40116244e+02] [-2.09172012e-02 9.99781211e-01 3.21897035e-05 3.53942478e+00] [ 1.52752935e-02 2.87393319e-04 9.99883285e-01 3.30545987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.379254154 meters 0.0543508381620771 Centerline is valid? [True, True] Translation: X:840.18, Y:3.53, Z:3.31 [[ 9.99581985e-01 2.50573890e-02 -1.44215875e-02 8.40176905e+02] [-2.50595583e-02 9.99685960e-01 3.02952020e-05 3.53291985e+00] [ 1.44178176e-02 3.31116074e-04 9.99896003e-01 3.30676661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.439254154 meters 0.053308461934284866 Centerline is valid? [True, True] Translation: X:840.24, Y:3.53, Z:3.31 [[ 9.99509943e-01 2.86894943e-02 -1.25214700e-02 8.40237422e+02] [-2.86914136e-02 9.99588316e-01 2.63703055e-05 3.52753809e+00] [ 1.25170716e-02 3.32901291e-04 9.99921603e-01 3.30876322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.499254154 meters 0.05432599804396698 Centerline is valid? [True, True] Translation: X:840.30, Y:3.52, Z:3.31 [[ 9.99432250e-01 3.17457845e-02 -1.12864112e-02 8.40297779e+02] [-3.17475375e-02 9.99495920e-01 2.38524978e-05 3.52494566e+00] [ 1.12814792e-02 3.34476809e-04 9.99936306e-01 3.30907548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.559254154 meters 0.054011650286968756 Centerline is valid? [True, True] Translation: X:840.36, Y:3.52, Z:3.31 [[ 9.99348748e-01 3.41551502e-02 -1.16406965e-02 8.40357813e+02] [-3.41571780e-02 9.99416473e-01 2.46320466e-05 3.52348287e+00] [ 1.16347452e-02 3.72997339e-04 9.99932244e-01 3.30832919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.619254154 meters 0.05355384831060645 Centerline is valid? [True, True] Translation: X:840.42, Y:3.51, Z:3.31 [[ 9.99197375e-01 3.74272377e-02 -1.42761572e-02 8.40418192e+02] [-3.74306211e-02 9.99299228e-01 3.02224198e-05 3.51361639e+00] [ 1.42672840e-02 5.04167269e-04 9.99898090e-01 3.30671250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.679254154 meters 0.05163438921152673 Centerline is valid? [True, True] Translation: X:840.48, Y:3.49, Z:3.31 [[ 9.99257919e-01 3.55840788e-02 -1.47439611e-02 8.40480053e+02] [-3.55874834e-02 9.99366564e-01 3.14728884e-05 3.49486069e+00] [ 1.47357417e-02 4.93250938e-04 9.99891301e-01 3.31042022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters 0.051882498664021906 Centerline is valid? [True, True] Translation: X:840.54, Y:3.49, Z:3.31 [[ 9.99525057e-01 2.71102873e-02 -1.46524106e-02 8.40540019e+02] [-2.71127380e-02 9.99632382e-01 3.13948789e-05 3.49119121e+00] [ 1.46478753e-02 3.65887003e-04 9.99892647e-01 3.30891067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.799254154 meters 0.05224310043238016 Centerline is valid? [True, True] Translation: X:840.60, Y:3.48, Z:3.31 [[ 9.99676671e-01 2.10707104e-02 -1.42329872e-02 8.40600521e+02] [-2.10724108e-02 9.99777952e-01 3.05065321e-05 3.48374581e+00] [ 1.42304696e-02 2.69426684e-04 9.99898705e-01 3.31020798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters 0.051365340712074055 Centerline is valid? [True, True] Translation: X:840.66, Y:3.48, Z:3.31 [[ 9.99753719e-01 1.81491459e-02 -1.27714865e-02 8.40662207e+02] [-1.81502725e-02 9.99835270e-01 2.76978011e-05 3.48410689e+00] [ 1.27698854e-02 2.04114981e-04 9.99918441e-01 3.31067082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.919254154 meters 0.05241262194821306 Centerline is valid? [True, True] Translation: X:840.72, Y:3.49, Z:3.31 [[ 9.99646959e-01 2.35511012e-02 -1.23005102e-02 8.40722286e+02] [-2.35525533e-02 9.99722600e-01 2.68142203e-05 3.49350290e+00] [ 1.22977296e-02 2.62903669e-04 9.99924345e-01 3.30989591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters 0.05180585001135951 Centerline is valid? [True, True] Translation: X:840.78, Y:3.49, Z:3.31 [[ 9.99556919e-01 2.73215465e-02 -1.18110058e-02 8.40783036e+02] [-2.73231467e-02 9.99626653e-01 2.58798457e-05 3.49347855e+00] [ 1.18073033e-02 2.96845466e-04 9.99930247e-01 3.31070219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.039254154 meters 0.05227237998910307 Centerline is valid? [True, True] Translation: X:840.84, Y:3.50, Z:3.31 [[ 9.99418317e-01 3.15632194e-02 -1.29147796e-02 8.40843358e+02] [-3.15654855e-02 9.99501686e-01 2.83848399e-05 3.49533963e+00] [ 1.29092399e-02 3.79292960e-04 9.99916600e-01 3.31109349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters 0.05321157221700716 Centerline is valid? [True, True] Translation: X:840.90, Y:3.50, Z:3.31 [[ 9.99331658e-01 3.38704537e-02 -1.37488333e-02 8.40903624e+02] [-3.38732375e-02 9.99426137e-01 3.04129088e-05 3.50400941e+00] [ 1.37419735e-02 4.35324914e-04 9.99905480e-01 3.30829824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.159254154 meters 0.052877505355651194 Centerline is valid? [True, True] Translation: X:840.97, Y:3.50, Z:3.31 [[ 9.99316642e-01 3.38962401e-02 -1.47408904e-02 8.40965319e+02] [-3.38994248e-02 9.99425249e-01 3.38466275e-05 3.50122083e+00] [ 1.47335654e-02 4.65884208e-04 9.99891347e-01 3.30984693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539999 meters 0.05331286336869216 Centerline is valid? [True, True] Translation: X:841.03, Y:3.51, Z:3.31 [[ 9.99464528e-01 3.01715427e-02 -1.26623988e-02 8.41025277e+02] [-3.01735891e-02 9.99544673e-01 2.94393135e-05 3.50818082e+00] [ 1.26575215e-02 3.52646468e-04 9.99919828e-01 3.30909078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.279254154 meters 0.05247227515841214 Centerline is valid? [True, True] Translation: X:841.09, Y:3.50, Z:3.31 [[ 9.99688383e-01 2.26883830e-02 -1.04103199e-02 8.41086403e+02] [-2.26893596e-02 9.99742563e-01 2.42999505e-05 3.49749930e+00] [ 1.04081912e-02 2.11911113e-04 9.99945811e-01 3.31297117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.339254154 meters 0.05199976375511545 Centerline is valid? [True, True] Translation: X:841.15, Y:3.50, Z:3.31 [[ 9.99847726e-01 1.50555308e-02 -8.82363447e-03 8.41146366e+02] [-1.50559344e-02 9.99886653e-01 2.06848774e-05 3.49642355e+00] [ 8.82294576e-03 1.12166334e-04 9.99961071e-01 3.31340070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.399254154 meters 0.05175721971982089 Centerline is valid? [True, True] Translation: X:841.21, Y:3.49, Z:3.31 [[ 9.99925021e-01 8.39788303e-03 -8.91221493e-03 8.41207292e+02] [-8.39802941e-03 9.99964736e-01 2.09993129e-05 3.49028657e+00] [ 8.91207699e-03 5.38473047e-05 9.99960285e-01 3.31498279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.459254154 meters 0.05230968971353155 Centerline is valid? [True, True] Translation: X:841.27, Y:3.49, Z:3.31 [[ 9.99956314e-01 2.82298665e-03 -8.91069242e-03 8.41266567e+02] [-2.82291147e-03 9.99996015e-01 2.10137307e-05 3.48900576e+00] [ 8.91071623e-03 4.14128320e-06 9.99960299e-01 3.31384639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.519254154 meters 0.05273632574155077 Centerline is valid? [True, True] Translation: X:841.32, Y:3.48, Z:3.31 [[ 9.99950322e-01 -1.80622601e-03 -9.80258417e-03 8.41324777e+02] [ 1.80653666e-03 9.99998368e-01 2.28361943e-05 3.48496287e+00] [ 9.80252693e-03 -4.05437876e-05 9.99951953e-01 3.31133457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.579254154 meters 0.0529170564246705 Centerline is valid? [True, True] Translation: X:841.38, Y:3.48, Z:3.31 [[ 9.99933917e-01 -4.27229403e-03 -1.06728381e-02 8.41383621e+02] [ 4.27279680e-03 9.99990871e-01 2.43060408e-05 3.48339937e+00] [ 1.06726368e-02 -6.99073030e-05 9.99943043e-01 3.31086967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.639254154 meters 0.05292641216836001 Centerline is valid? [True, True] Translation: X:841.44, Y:3.48, Z:3.31 [[ 9.99921718e-01 -6.56055916e-03 -1.06544703e-02 8.41442805e+02] [ 6.56118535e-03 9.99978475e-01 2.38195712e-05 3.48347646e+00] [ 1.06540847e-02 -9.37236610e-05 9.99943239e-01 3.31214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.699254154 meters 0.052666746535176584 Centerline is valid? [True, True] Translation: X:841.50, Y:3.49, Z:3.32 [[ 9.99938562e-01 -6.30077037e-03 -9.11988222e-03 8.41501181e+02] [ 6.30121187e-03 9.99980147e-01 1.96771989e-05 3.48602760e+00] [ 9.11957718e-03 -7.71423001e-05 9.99958413e-01 3.31565978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.759254154 meters 0.05275723761042475 Centerline is valid? [True, True] Translation: X:841.56, Y:3.49, Z:3.32 [[ 9.99945644e-01 -4.21419425e-03 -9.53680802e-03 8.41559028e+02] [ 4.21457566e-03 9.99991118e-01 1.98964068e-05 3.48553285e+00] [ 9.53663947e-03 -6.00889242e-05 9.99954523e-01 3.31511999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.819254154 meters 0.05241429525499409 Centerline is valid? [True, True] Translation: X:841.62, Y:3.49, Z:3.31 [[ 9.99915183e-01 2.44179513e-03 -1.27931742e-02 8.41618277e+02] [-2.44166284e-03 9.99997019e-01 2.59591667e-05 3.48929219e+00] [ 1.27931994e-02 5.27965304e-06 9.99918164e-01 3.31006402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.879254154 meters 0.0524325043252016 Centerline is valid? [True, True] Translation: X:841.68, Y:3.49, Z:3.31 [[ 9.99883336e-01 6.40056515e-03 -1.38689478e-02 8.41677229e+02] [-6.40081014e-03 9.99979514e-01 2.67245830e-05 3.49047334e+00] [ 1.38688347e-02 6.20510363e-05 9.99903821e-01 3.31181598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.939254154 meters 0.05263067390665593 Centerline is valid? [True, True] Translation: X:841.74, Y:3.49, Z:3.31 [[ 9.99836100e-01 1.13559166e-02 -1.41002559e-02 8.41735362e+02] [-1.13566750e-02 9.99935511e-01 2.62855339e-05 3.49453906e+00] [ 1.40996451e-02 1.33850799e-04 9.99900586e-01 3.30972184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.999254154 meters 0.0520904573747466 Centerline is valid? [True, True] Translation: X:841.79, Y:3.49, Z:3.31 [[ 9.99837788e-01 1.32162610e-02 -1.22363084e-02 8.41794290e+02] [-1.32169847e-02 9.99912652e-01 2.17311947e-05 3.49230399e+00] [ 1.22355268e-02 1.39999431e-04 9.99925133e-01 3.31358786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.059254154 meters 0.05249244194382483 Centerline is valid? [True, True] Translation: X:841.85, Y:3.49, Z:3.32 [[ 9.99848731e-01 1.44908435e-02 -9.61929014e-03 8.41854342e+02] [-1.44913539e-02 9.99894995e-01 1.66404949e-05 3.49140493e+00] [ 9.61852120e-03 1.22758560e-04 9.99953733e-01 3.31558544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.119254154 meters 0.052018848911794216 Centerline is valid? [True, True] Translation: X:841.91, Y:3.49, Z:3.32 [[ 9.99837453e-01 1.65405856e-02 -7.17475546e-03 8.41914360e+02] [-1.65409225e-02 9.99863190e-01 1.23900132e-05 3.49419140e+00] [ 7.17397882e-03 1.06289075e-04 9.99974261e-01 3.31648819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.179254154 meters 0.0525701623302927 Centerline is valid? [True, True] Translation: X:841.98, Y:3.50, Z:3.32 [[ 9.99779054e-01 1.95505185e-02 -7.72147100e-03 8.41975442e+02] [-1.95509976e-02 9.99808861e-01 1.34482974e-05 3.49633347e+00] [ 7.72025804e-03 1.37517135e-04 9.99970189e-01 3.31588833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters 0.052011972832637976 Centerline is valid? [True, True] Translation: X:842.04, Y:3.50, Z:3.32 [[ 9.99684413e-01 2.32658057e-02 -9.47507257e-03 8.42036502e+02] [-2.32666924e-02 9.99729294e-01 1.66483465e-05 3.49515126e+00] [ 9.47289494e-03 2.03810506e-04 9.99955110e-01 3.31554867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.299254154 meters 0.05225950821353922 Centerline is valid? [True, True] Translation: X:842.10, Y:3.50, Z:3.31 [[ 9.99586496e-01 2.63420244e-02 -1.15297637e-02 8.42097596e+02] [-2.63435409e-02 9.99652949e-01 2.03554862e-05 3.49711233e+00] [ 1.15262985e-02 2.83387732e-04 9.99933530e-01 3.31479559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters 0.05211787453991731 Centerline is valid? [True, True] Translation: X:842.16, Y:3.50, Z:3.31 [[ 9.99560208e-01 2.69949366e-02 -1.22745133e-02 8.42158251e+02] [-2.69967025e-02 9.99635522e-01 2.18324282e-05 3.49979992e+00] [ 1.22706289e-02 3.09548557e-04 9.99924665e-01 3.31412594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.419254154 meters 0.05239479474001696 Centerline is valid? [True, True] Translation: X:842.22, Y:3.49, Z:3.32 [[ 9.99642264e-01 2.42848180e-02 -1.12067482e-02 8.42217963e+02] [-2.42861192e-02 9.99705049e-01 1.99890915e-05 3.49037021e+00] [ 1.12039282e-02 2.52186482e-04 9.99937202e-01 3.31742443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters 0.0521694228557227 Centerline is valid? [True, True] Translation: X:842.28, Y:3.49, Z:3.32 [[ 9.99760039e-01 1.99032764e-02 -9.15009287e-03 8.42278976e+02] [-1.99039599e-02 9.99801896e-01 1.63651737e-05 3.49424244e+00] [ 9.14860593e-03 1.65761835e-04 9.99958137e-01 3.31646329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.539254154 meters 0.0513614187833559 Centerline is valid? [True, True] Translation: X:842.34, Y:3.49, Z:3.32 [[ 9.99835547e-01 1.62779404e-02 -7.99423603e-03 8.42340166e+02] [-1.62783453e-02 9.99867499e-01 1.44259836e-05 3.48805351e+00] [ 7.99341161e-03 1.15709323e-04 9.99968045e-01 3.31852258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters 0.052142442650853826 Centerline is valid? [True, True] Translation: X:842.40, Y:3.49, Z:3.32 [[ 9.99853856e-01 1.47471731e-02 -8.64804015e-03 8.42401805e+02] [-1.47475842e-02 9.99891248e-01 1.62435113e-05 3.48907916e+00] [ 8.64733921e-03 1.11296562e-04 9.99962605e-01 3.31783188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.659254154 meters 0.05238761222237036 Centerline is valid? [True, True] Translation: X:842.46, Y:3.49, Z:3.32 [[ 9.99824671e-01 1.56436270e-02 -1.02909613e-02 8.42462552e+02] [-1.56442475e-02 9.99877621e-01 2.02109857e-05 3.49150829e+00] [ 1.02900181e-02 1.40786903e-04 9.99947046e-01 3.31593864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539999 meters 0.052346036590456155 Centerline is valid? [True, True] Translation: X:842.52, Y:3.49, Z:3.32 [[ 9.99804972e-01 1.61704767e-02 -1.13372542e-02 8.42523857e+02] [-1.61712596e-02 9.99869236e-01 2.26201714e-05 3.49137452e+00] [ 1.13361375e-02 1.60721921e-04 9.99935731e-01 3.31581670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.779254154 meters 0.05286207543296665 Centerline is valid? [True, True] Translation: X:842.59, Y:3.49, Z:3.32 [[ 9.99820983e-01 1.54505489e-02 -1.09216826e-02 8.42585171e+02] [-1.54512306e-02 9.99880622e-01 2.19631292e-05 3.48957242e+00] [ 1.09207181e-02 1.46794239e-04 9.99940356e-01 3.31688483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.839254154 meters 0.052291803500173345 Centerline is valid? [True, True] Translation: X:842.65, Y:3.49, Z:3.32 [[ 9.99872076e-01 1.26460212e-02 -9.79332660e-03 8.42645351e+02] [-1.26464315e-02 9.99920031e-01 2.00295322e-05 3.48840708e+00] [ 9.79279673e-03 1.03823664e-04 9.99952044e-01 3.31805457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.899254154 meters 0.05212072643150555 Centerline is valid? [True, True] Translation: X:842.71, Y:3.49, Z:3.32 [[ 9.99918381e-01 9.32583438e-03 -8.73273021e-03 8.42705602e+02] [-9.32603224e-03 9.99956511e-01 1.80654461e-05 3.48729887e+00] [ 8.73251891e-03 6.33777518e-05 9.99961869e-01 3.31818358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.959254154 meters 0.052113975583158036 Centerline is valid? [True, True] Translation: X:842.77, Y:3.48, Z:3.32 [[ 9.99926818e-01 8.93156588e-03 -8.16002676e-03 8.42765288e+02] [-8.93172555e-03 9.99960111e-01 1.68752984e-05 3.48428495e+00] [ 8.15985199e-03 5.60090561e-05 9.99966706e-01 3.31985245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.019254154 meters 0.05224549046053236 Centerline is valid? [True, True] Translation: X:842.82, Y:3.49, Z:3.32 [[ 9.99884627e-01 1.20873717e-02 -9.19933665e-03 8.42824407e+02] [-1.20877093e-02 9.99926941e-01 1.89024045e-05 3.48702847e+00] [ 9.19889303e-03 9.22986838e-05 9.99957685e-01 3.31846755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.079254154 meters 0.052255630826391675 Centerline is valid? [True, True] Translation: X:842.88, Y:3.49, Z:3.32 [[ 9.99832087e-01 1.53861893e-02 -9.95302401e-03 8.42884134e+02] [-1.53867486e-02 9.99881617e-01 2.03812961e-05 3.48964193e+00] [ 9.95215933e-03 1.32766804e-04 9.99950467e-01 3.31794498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.139254154 meters 0.05176381158518238 Centerline is valid? [True, True] Translation: X:842.94, Y:3.49, Z:3.32 [[ 9.99738178e-01 2.05133525e-02 -1.01379046e-02 8.42944717e+02] [-2.05141958e-02 9.99789562e-01 2.08089463e-05 3.49033885e+00] [ 1.01361981e-02 1.87167463e-04 9.99948610e-01 3.31942551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.199254154 meters 0.053443581076186186 Centerline is valid? [True, True] Translation: X:843.00, Y:3.50, Z:3.32 [[ 9.99620945e-01 2.57624950e-02 -9.70875935e-03 8.43004667e+02] [-2.57635149e-02 9.99668065e-01 2.00280902e-05 3.49882246e+00] [ 9.70605265e-03 2.30111267e-04 9.99952869e-01 3.31796323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.259254154 meters 0.05308249693273101 Centerline is valid? [True, True] Translation: X:843.07, Y:3.50, Z:3.32 [[ 9.99570965e-01 2.78002574e-02 -9.22126026e-03 8.43066568e+02] [-2.78012622e-02 9.99613470e-01 1.92229251e-05 3.50031549e+00] [ 9.21823037e-03 2.37147997e-04 9.99957483e-01 3.31847595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.319254154 meters 0.05379901206648569 Centerline is valid? [True, True] Translation: X:843.13, Y:3.50, Z:3.32 [[ 9.99503710e-01 3.00727858e-02 -9.37877310e-03 8.43127721e+02] [-3.00739234e-02 9.99547677e-01 1.97491520e-05 3.50110507e+00] [ 9.37512478e-03 2.62317153e-04 9.99956018e-01 3.31847056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.379254154 meters 0.05240441001233706 Centerline is valid? [True, True] Translation: X:843.19, Y:3.49, Z:3.32 [[ 9.99439078e-01 3.16357536e-02 -1.09867185e-02 8.43188923e+02] [-3.16374071e-02 9.99499412e-01 2.33119948e-05 3.49285718e+00] [ 1.09819561e-02 3.24292366e-04 9.99939644e-01 3.32022340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.439254154 meters 0.053359535727383674 Centerline is valid? [True, True] Translation: X:843.25, Y:3.50, Z:3.32 [[ 9.99403957e-01 3.24262128e-02 -1.18436594e-02 8.43249658e+02] [-3.24281875e-02 9.99474068e-01 2.53184383e-05 3.50233985e+00] [ 1.18382514e-02 3.58765061e-04 9.99929861e-01 3.31721910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.499254154 meters 0.052784723347504295 Centerline is valid? [True, True] Translation: X:843.31, Y:3.50, Z:3.32 [[ 9.99432953e-01 3.18648145e-02 -1.08814799e-02 8.43311651e+02] [-3.18664397e-02 9.99492136e-01 2.40321070e-05 3.49787214e+00] [ 1.08767194e-02 3.22735545e-04 9.99940795e-01 3.31880556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.559254154 meters 0.052218299619175304 Centerline is valid? [True, True] Translation: X:843.37, Y:3.49, Z:3.32 [[ 9.99493941e-01 3.03025875e-02 -9.67544942e-03 8.43372835e+02] [-3.03037949e-02 9.99540734e-01 2.18164138e-05 3.49424938e+00] [ 9.67166691e-03 2.71397462e-04 9.99953191e-01 3.32040686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.619254154 meters 0.05202664896999691 Centerline is valid? [True, True] Translation: X:843.43, Y:3.49, Z:3.32 [[ 9.99578105e-01 2.76335081e-02 -8.94439624e-03 8.43433943e+02] [-2.76344324e-02 9.99618096e-01 2.02611870e-05 3.49374474e+00] [ 8.94154023e-03 2.26920674e-04 9.99959998e-01 3.32108507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.679254154 meters 0.052977573814199846 Centerline is valid? [True, True] Translation: X:843.50, Y:3.50, Z:3.32 [[ 9.99576467e-01 2.75107617e-02 -9.48921719e-03 8.43495526e+02] [-2.75117902e-02 9.99621479e-01 2.21541590e-05 3.50010085e+00] [ 9.48623480e-03 2.38920577e-04 9.99954976e-01 3.31969891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters 0.051905673088291186 Centerline is valid? [True, True] Translation: X:843.56, Y:3.50, Z:3.32 [[ 9.99568525e-01 2.77978192e-02 -9.48918654e-03 8.43558241e+02] [-2.77988500e-02 9.99613537e-01 2.32740706e-05 3.49822788e+00] [ 9.48616629e-03 2.40524445e-04 9.99954976e-01 3.32097674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.799254154 meters 0.05309101536406761 Centerline is valid? [True, True] Translation: X:843.62, Y:3.50, Z:3.32 [[ 9.99590739e-01 2.69027660e-02 -9.72600188e-03 8.43619733e+02] [-2.69037963e-02 9.99638027e-01 2.49141755e-05 3.50416199e+00] [ 9.72315159e-03 2.36762394e-04 9.99952701e-01 3.32045846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters 0.05339725744092126 Centerline is valid? [True, True] Translation: X:843.68, Y:3.51, Z:3.32 [[ 9.99644074e-01 2.46652835e-02 -1.01661198e-02 8.43681291e+02] [-2.46662880e-02 9.99695741e-01 2.65836415e-05 3.50628018e+00] [ 1.01636824e-02 2.24186259e-04 9.99948323e-01 3.32027287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.919254154 meters 0.053630542373684656 Centerline is valid? [True, True] Translation: X:843.74, Y:3.51, Z:3.32 [[ 9.99670250e-01 2.36832508e-02 -9.92443201e-03 8.43743607e+02] [-2.36841528e-02 9.99719491e-01 2.66547724e-05 3.50707697e+00] [ 9.92227939e-03 2.08405781e-04 9.99950751e-01 3.32014265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters 0.05234507527946972 Centerline is valid? [True, True] Translation: X:843.80, Y:3.50, Z:3.32 [[ 9.99759093e-01 1.98103268e-02 -9.45020813e-03 8.43804510e+02] [-1.98109671e-02 9.99803743e-01 2.58577596e-05 3.50103476e+00] [ 9.44886571e-03 1.61366232e-04 9.99955345e-01 3.32252094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.039254154 meters 0.05250812222669971 Centerline is valid? [True, True] Translation: X:843.86, Y:3.51, Z:3.32 [[ 9.99851141e-01 1.46366079e-02 -9.13598233e-03 8.43864744e+02] [-1.46369899e-02 9.99892873e-01 2.50591943e-05 3.50531496e+00] [ 9.13537040e-03 1.08667817e-04 9.99958266e-01 3.32175648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters 0.05244072333523653 Centerline is valid? [True, True] Translation: X:843.93, Y:3.50, Z:3.32 [[ 9.99919381e-01 9.01846906e-03 -8.93863068e-03 8.43925888e+02] [-9.01861035e-03 9.99959331e-01 2.45021102e-05 3.50303022e+00] [ 8.93848813e-03 5.61138923e-05 9.99960049e-01 3.32317578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.159254154 meters 0.05316947802147649 Centerline is valid? [True, True] Translation: X:843.99, Y:3.50, Z:3.32 [[ 9.99945430e-01 5.01759072e-03 -9.16304618e-03 8.43985054e+02] [-5.01757211e-03 9.99987412e-01 2.50191198e-05 3.50425404e+00] [ 9.16305637e-03 2.09584905e-05 9.99958018e-01 3.32270913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539999 meters 0.05326231497092738 Centerline is valid? [True, True] Translation: X:844.04, Y:3.51, Z:3.32 [[ 9.99958439e-01 3.05938608e-03 -8.58843124e-03 8.44042792e+02] [-3.05929962e-03 9.99995320e-01 2.32043917e-05 3.50601504e+00] [ 8.58846204e-03 3.07115715e-06 9.99963118e-01 3.32256789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.279254154 meters 0.05309507070437416 Centerline is valid? [True, True] Translation: X:844.10, Y:3.51, Z:3.32 [[ 9.99960606e-01 4.09645991e-03 -7.87433937e-03 8.44100939e+02] [-4.09642429e-03 9.99991609e-01 2.06511763e-05 3.51034386e+00] [ 7.87435790e-03 1.16062723e-05 9.99968997e-01 3.32338108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.339254154 meters 0.053658150699604334 Centerline is valid? [True, True] Translation: X:844.16, Y:3.51, Z:3.32 [[ 9.99942394e-01 6.41755980e-03 -8.60373105e-03 8.44159683e+02] [-6.41761205e-03 9.99979407e-01 2.15355184e-05 3.51448575e+00] [ 8.60369208e-03 3.36811303e-05 9.99962987e-01 3.32305950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.399254154 meters 0.05404285385903376 Centerline is valid? [True, True] Translation: X:844.22, Y:3.53, Z:3.32 [[ 9.99829599e-01 1.41461952e-02 -1.18599046e-02 8.44218474e+02] [-1.41468457e-02 9.99899928e-01 2.90471557e-05 3.52578343e+00] [ 1.18591286e-02 1.38738034e-04 9.99929668e-01 3.31944363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.459254154 meters 0.05426912800719799 Centerline is valid? [True, True] Translation: X:844.28, Y:3.53, Z:3.32 [[ 9.99735216e-01 1.91108391e-02 -1.28169626e-02 8.44278539e+02] [-1.91120079e-02 9.99817348e-01 3.12958007e-05 3.53333338e+00] [ 1.28152196e-02 2.13670376e-04 9.99917859e-01 3.31911833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.519254154 meters 0.05369677766057361 Centerline is valid? [True, True] Translation: X:844.34, Y:3.53, Z:3.32 [[ 9.99690375e-01 2.12559688e-02 -1.29359103e-02 8.44339350e+02] [-2.12573393e-02 9.99774037e-01 3.15560627e-05 3.53027140e+00] [ 1.29336580e-02 2.43436742e-04 9.99916327e-01 3.32292967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.579254154 meters 0.05408162375815406 Centerline is valid? [True, True] Translation: X:844.40, Y:3.53, Z:3.32 [[ 9.99656944e-01 2.31629150e-02 -1.22259800e-02 8.44399449e+02] [-2.31642810e-02 9.99731672e-01 2.98895717e-05 3.53441904e+00] [ 1.22233918e-02 2.53326719e-04 9.99925259e-01 3.32367983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.639254154 meters 0.053926391018910926 Centerline is valid? [True, True] Translation: X:844.46, Y:3.54, Z:3.32 [[ 9.99666210e-01 2.32488920e-02 -1.12675705e-02 8.44460566e+02] [-2.32500547e-02 9.99729681e-01 2.78070930e-05 3.53514580e+00] [ 1.12651711e-02 2.34173819e-04 9.99936519e-01 3.32450859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.699254154 meters 0.05553664688001947 Centerline is valid? [True, True] Translation: X:844.52, Y:3.54, Z:3.32 [[ 9.99693171e-01 2.22380131e-02 -1.09102594e-02 8.44521342e+02] [-2.22390369e-02 9.99752682e-01 2.74883852e-05 3.54138665e+00] [ 1.09081724e-02 2.15153711e-04 9.99940481e-01 3.32244592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.759254154 meters 0.054221902883910066 Centerline is valid? [True, True] Translation: X:844.58, Y:3.54, Z:3.32 [[ 9.99701498e-01 2.19961023e-02 -1.06341902e-02 8.44583482e+02] [-2.19970511e-02 9.99758035e-01 2.77475607e-05 3.53917162e+00] [ 1.06322275e-02 2.06181548e-04 9.99943455e-01 3.32306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.819254154 meters 0.05500631830264102 Centerline is valid? [True, True] Translation: X:844.65, Y:3.54, Z:3.32 [[ 9.99681679e-01 2.25695826e-02 -1.12763117e-02 8.44645323e+02] [-2.25706722e-02 9.99745249e-01 3.06435748e-05 3.54056971e+00] [ 1.12741307e-02 2.23880114e-04 9.99936420e-01 3.32265947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.879254154 meters 0.054098607266896866 Centerline is valid? [True, True] Translation: X:844.71, Y:3.54, Z:3.32 [[ 9.99650535e-01 2.37904152e-02 -1.15249692e-02 8.44707557e+02] [-2.37916202e-02 9.99716939e-01 3.25511065e-05 3.54117602e+00] [ 1.15224813e-02 2.41657959e-04 9.99933585e-01 3.32275391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.939254154 meters 0.054412719724634316 Centerline is valid? [True, True] Translation: X:844.77, Y:3.54, Z:3.32 [[ 9.99621002e-01 2.46987432e-02 -1.21582891e-02 8.44769961e+02] [-2.47001354e-02 9.99694905e-01 3.56705788e-05 3.53930473e+00] [ 1.21554607e-02 2.64654327e-04 9.99926085e-01 3.32320486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.999254154 meters 0.05520495755532636 Centerline is valid? [True, True] Translation: X:844.83, Y:3.54, Z:3.32 [[ 9.99593805e-01 2.55858838e-02 -1.25534216e-02 8.44831351e+02] [-2.55874215e-02 9.99672588e-01 3.81288604e-05 3.54387262e+00] [ 1.25502871e-02 2.83096318e-04 9.99921202e-01 3.32131704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.059254154 meters 0.05420215204134243 Centerline is valid? [True, True] Translation: X:844.89, Y:3.54, Z:3.32 [[ 9.99540144e-01 2.77112084e-02 -1.23121637e-02 8.44893160e+02] [-2.77128385e-02 9.99615925e-01 3.82292770e-05 3.53632262e+00] [ 1.23084942e-02 3.02993306e-04 9.99924202e-01 3.32495795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.119254154 meters 0.05437395839688385 Centerline is valid? [True, True] Translation: X:844.95, Y:3.54, Z:3.33 [[ 9.99446801e-01 3.09986045e-02 -1.20490212e-02 8.44953938e+02] [-3.10004011e-02 9.99519371e-01 3.76825331e-05 3.53641177e+00] [ 1.20443982e-02 3.35862803e-04 9.99927407e-01 3.32535282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.179254154 meters 0.05490783761079243 Centerline is valid? [True, True] Translation: X:845.01, Y:3.54, Z:3.32 [[ 9.99379544e-01 3.31570254e-02 -1.18802206e-02 8.45014516e+02] [-3.31589233e-02 9.99450091e-01 3.72473995e-05 3.54128383e+00] [ 1.18749226e-02 3.56711035e-04 9.99929427e-01 3.32472589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters 0.05326878401829438 Centerline is valid? [True, True] Translation: X:845.08, Y:3.53, Z:3.33 [[ 9.99277663e-01 3.63020547e-02 -1.12388986e-02 8.45075924e+02] [-3.63039502e-02 9.99340794e-01 3.53804867e-05 3.53296442e+00] [ 1.12327742e-02 3.72661485e-04 9.99936841e-01 3.32709609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.299254154 meters 0.05629512475196712 Centerline is valid? [True, True] Translation: X:845.14, Y:3.55, Z:3.32 [[ 9.99184227e-01 3.87826040e-02 -1.12601149e-02 8.45135861e+02] [-3.87846607e-02 9.99247591e-01 3.57312850e-05 3.54575745e+00] [ 1.12530285e-02 4.01017600e-04 9.99936602e-01 3.32469658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters 0.05763501214736555 Centerline is valid? [True, True] Translation: X:845.20, Y:3.54, Z:3.33 [[ 9.99132748e-01 4.00755014e-02 -1.13006924e-02 8.45198103e+02] [-4.00776518e-02 9.99196568e-01 3.61956800e-05 3.54483446e+00] [ 1.12930636e-02 4.16740925e-04 9.99936144e-01 3.32507630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.419254154 meters 0.055211155809001045 Centerline is valid? [True, True] Translation: X:845.26, Y:3.54, Z:3.33 [[ 9.99097521e-01 4.11748608e-02 -1.04294908e-02 8.45260059e+02] [-4.11767444e-02 9.99151878e-01 3.41568949e-05 3.53658932e+00] [ 1.04220517e-02 3.95326408e-04 9.99945611e-01 3.32723168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters 0.058885270195486054 Centerline is valid? [True, True] Translation: X:845.32, Y:3.55, Z:3.33 [[ 9.99033529e-01 4.28506922e-02 -9.78911866e-03 8.45321558e+02] [-4.28524275e-02 9.99081412e-01 3.25132553e-05 3.54507315e+00] [ 9.78151971e-03 3.87005665e-04 9.99952085e-01 3.32618950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.539254154 meters 0.053589588334581315 Centerline is valid? [True, True] Translation: X:845.38, Y:3.53, Z:3.33 [[ 9.98966085e-01 4.44708537e-02 -9.43947153e-03 8.45382162e+02] [-4.44725385e-02 9.99010607e-01 3.14480017e-05 3.52843997e+00] [ 9.43153070e-03 3.88381774e-04 9.99955447e-01 3.32934156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters 0.05554438376102448 Centerline is valid? [True, True] Translation: X:845.44, Y:3.53, Z:3.33 [[ 9.98735123e-01 4.95011104e-02 -8.82008934e-03 8.45441536e+02] [-4.95027771e-02 9.98773986e-01 2.93813188e-05 3.53318630e+00] [ 8.81073019e-03 4.07274761e-04 9.99961102e-01 3.32836400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.659254154 meters 0.054373042392968585 Centerline is valid? [True, True] Translation: X:845.50, Y:3.53, Z:3.33 [[ 9.98568819e-01 5.27610773e-02 -8.75115344e-03 8.45502976e+02] [-5.27628426e-02 9.98607071e-01 2.91902044e-05 3.52856598e+00] [ 8.74050381e-03 4.32587303e-04 9.99961707e-01 3.32934644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539999 meters 0.05086814203330647 Centerline is valid? [True, True] Translation: X:845.56, Y:3.51, Z:3.33 [[ 9.98301204e-01 5.74466930e-02 -9.72545274e-03 8.45563314e+02] [-5.74490943e-02 9.98348436e-01 3.25063941e-05 3.51011682e+00] [ 9.71125793e-03 5.26267280e-04 9.99952706e-01 3.33071235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.779254154 meters 0.05248780202806716 Centerline is valid? [True, True] Translation: X:845.62, Y:3.52, Z:3.33 [[ 9.98148824e-01 5.97953804e-02 -1.11102289e-02 8.45622831e+02] [-5.97986597e-02 9.98210458e-01 3.70958756e-05 3.52323060e+00] [ 1.10925648e-02 6.27349592e-04 9.99938279e-01 3.32895837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.839254154 meters 0.051386741383726585 Centerline is valid? [True, True] Translation: X:845.68, Y:3.51, Z:3.33 [[ 9.98153151e-01 5.97269685e-02 -1.10894721e-02 8.45684862e+02] [-5.97302287e-02 9.98214555e-01 3.72763258e-05 3.51458076e+00] [ 1.10718989e-02 6.25169222e-04 9.99938509e-01 3.32987789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.899254154 meters 0.052292340977008904 Centerline is valid? [True, True] Translation: X:845.74, Y:3.52, Z:3.33 [[ 9.98249526e-01 5.81065115e-02 -1.10234468e-02 8.45744874e+02] [-5.81096328e-02 9.98310207e-01 3.72052862e-05 3.52106877e+00] [ 1.10069813e-02 6.03428287e-04 9.99939239e-01 3.32956057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.959254154 meters 0.05231422449587111 Centerline is valid? [True, True] Translation: X:845.81, Y:3.52, Z:3.33 [[ 9.98330087e-01 5.69461898e-02 -9.70408057e-03 8.45805191e+02] [-5.69485539e-02 9.98377114e-01 3.27522871e-05 3.52112324e+00] [ 9.69019706e-03 5.19935762e-04 9.99952914e-01 3.33023762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.019254154 meters 0.05466822616375841 Centerline is valid? [True, True] Translation: X:845.87, Y:3.53, Z:3.33 [[ 9.98357679e-01 5.65865084e-02 -8.93933360e-03 8.45866330e+02] [-5.65884976e-02 9.98397587e-01 3.04660860e-05 3.53106243e+00] [ 8.92673306e-03 4.75447407e-04 9.99960043e-01 3.32934376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.079254154 meters 0.05478665504320433 Centerline is valid? [True, True] Translation: X:845.93, Y:3.53, Z:3.33 [[ 9.98308882e-01 5.73363665e-02 -9.58731101e-03 8.45928556e+02] [-5.73386850e-02 9.98354784e-01 3.30863591e-05 3.53235916e+00] [ 9.57343486e-03 5.16693400e-04 9.99954040e-01 3.32885271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.139254154 meters 0.051757139080066815 Centerline is valid? [True, True] Translation: X:845.99, Y:3.52, Z:3.33 [[ 9.98177157e-01 5.94578892e-02 -1.03499994e-02 8.45989454e+02] [-5.94607037e-02 9.98230646e-01 3.58502602e-05 3.51993117e+00] [ 1.03338181e-02 5.79633335e-04 9.99946437e-01 3.32985701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.199254154 meters 0.064999809127802 Centerline is valid? [True, True] Translation: X:846.05, Y:3.56, Z:3.33 [[ 9.98058977e-01 6.13244933e-02 -1.08436495e-02 8.46049125e+02] [-6.13276928e-02 9.98117685e-01 3.75245837e-05 3.56056033e+00] [ 1.08255395e-02 6.27564257e-04 9.99941205e-01 3.32532923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.259254154 meters 0.05566774394358136 Centerline is valid? [True, True] Translation: X:846.11, Y:3.54, Z:3.33 [[ 9.98025201e-01 6.19799277e-02 -1.02071934e-02 8.46111009e+02] [-6.19827952e-02 9.98077217e-01 3.54777333e-05 3.53773814e+00] [ 1.01897661e-02 5.97262705e-04 9.99947905e-01 3.32875284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.319254154 meters 0.05238499632457584 Centerline is valid? [True, True] Translation: X:846.17, Y:3.52, Z:3.33 [[ 9.98068279e-01 6.14296925e-02 -9.27924283e-03 8.46172831e+02] [-6.14320360e-02 9.98111268e-01 3.25279230e-05 3.52411145e+00] [ 9.26371501e-03 5.37577692e-04 9.99956946e-01 3.33076370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.379254154 meters 0.05128975862791161 Centerline is valid? [True, True] Translation: X:846.23, Y:3.52, Z:3.33 [[ 9.98136804e-01 6.02875967e-02 -9.39815520e-03 8.46233639e+02] [-6.02899482e-02 9.98180906e-01 3.31644155e-05 3.51853414e+00] [ 9.38305848e-03 5.33511667e-04 9.99955836e-01 3.33185583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.439254154 meters 0.05179386907118375 Centerline is valid? [True, True] Translation: X:846.29, Y:3.52, Z:3.33 [[ 9.98358310e-01 5.65099068e-02 -9.34421940e-03 8.46294247e+02] [-5.65120654e-02 9.98401916e-01 3.30760881e-05 3.52047794e+00] [ 9.33115568e-03 4.95039351e-04 9.99956341e-01 3.33166568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.499254154 meters 0.05528570657094317 Centerline is valid? [True, True] Translation: X:846.35, Y:3.54, Z:3.33 [[ 9.98666165e-01 5.06808586e-02 -9.86616963e-03 8.46353763e+02] [-5.06829815e-02 9.98714791e-01 3.49012329e-05 3.53965011e+00] [ 9.85525836e-03 4.65192212e-04 9.99951328e-01 3.32976240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.559254154 meters 0.05514536476501347 Centerline is valid? [True, True] Translation: X:846.41, Y:3.54, Z:3.33 [[ 9.99050917e-01 4.22945578e-02 -1.04132801e-02 8.46414525e+02] [-4.22964682e-02 9.99105103e-01 3.68063227e-05 3.53656902e+00] [ 1.04055180e-02 4.03673582e-04 9.99945780e-01 3.32873448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.619254154 meters 0.05470347736693894 Centerline is valid? [True, True] Translation: X:846.48, Y:3.53, Z:3.33 [[ 9.99409808e-01 3.27243289e-02 -1.04477155e-02 8.46475221e+02] [-3.27257294e-02 9.99464369e-01 3.69250690e-05 3.52974404e+00] [ 1.04433277e-02 3.05005833e-04 9.99945420e-01 3.32851545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.679254154 meters 0.05271955244700127 Centerline is valid? [True, True] Translation: X:846.54, Y:3.51, Z:3.33 [[ 9.99668284e-01 2.31549590e-02 -1.12769629e-02 8.46535562e+02] [-2.31559820e-02 9.99731864e-01 3.98624188e-05 3.51320266e+00] [ 1.12748621e-02 2.21279954e-04 9.99936412e-01 3.33173558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters 0.05316621418840724 Centerline is valid? [True, True] Translation: X:846.60, Y:3.51, Z:3.33 [[ 9.99779631e-01 1.74240851e-02 -1.17085455e-02 8.46595486e+02] [-1.74247942e-02 9.99848176e-01 4.14566923e-05 3.51382269e+00] [ 1.17074902e-02 1.62571440e-04 9.99931452e-01 3.32932227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.799254154 meters 0.052681068606131504 Centerline is valid? [True, True] Translation: X:846.66, Y:3.51, Z:3.33 [[ 9.99864364e-01 1.12406631e-02 -1.20375140e-02 8.46656039e+02] [-1.12409626e-02 9.99936817e-01 4.27768876e-05 3.50543895e+00] [ 1.20372342e-02 9.25421588e-05 9.99927546e-01 3.33098756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters 0.05305337420453623 Centerline is valid? [True, True] Translation: X:846.72, Y:3.50, Z:3.33 [[ 9.99893510e-01 8.89280276e-03 -1.15709886e-02 8.46715844e+02] [-8.89292237e-03 9.99960456e-01 4.11155334e-05 3.50190447e+00] [ 1.15708966e-02 6.17887481e-05 9.99933053e-01 3.33158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.919254154 meters 0.05257246094081841 Centerline is valid? [True, True] Translation: X:846.77, Y:3.50, Z:3.33 [[ 9.99891661e-01 9.17335866e-03 -1.15115947e-02 8.46773363e+02] [-9.17349948e-03 9.99957922e-01 4.05705695e-05 3.50118993e+00] [ 1.15114825e-02 6.50354336e-05 9.99933739e-01 3.33132419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters 0.052725523477286304 Centerline is valid? [True, True] Translation: X:846.83, Y:3.50, Z:3.33 [[ 9.99866846e-01 1.16311199e-02 -1.14458414e-02 8.46831580e+02] [-1.16314246e-02 9.99932352e-01 3.99486885e-05 3.50267267e+00] [ 1.14455318e-02 9.31880725e-05 9.99934493e-01 3.33054090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.039254154 meters 0.05264333472196902 Centerline is valid? [True, True] Translation: X:846.89, Y:3.50, Z:3.33 [[ 9.99809860e-01 1.58071390e-02 -1.14183152e-02 8.46891178e+02] [-1.58077173e-02 9.99875049e-01 3.96132083e-05 3.50134054e+00] [ 1.14175146e-02 1.40891821e-04 9.99934808e-01 3.33226292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters 0.053083712509395316 Centerline is valid? [True, True] Translation: X:846.95, Y:3.50, Z:3.33 [[ 9.99739736e-01 1.90873801e-02 -1.24952665e-02 8.46951041e+02] [-1.90883304e-02 9.99817800e-01 4.32152261e-05 3.50147598e+00] [ 1.24938147e-02 1.95309796e-04 9.99921930e-01 3.33194912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.159254154 meters 0.051978418490707265 Centerline is valid? [True, True] Translation: X:847.01, Y:3.50, Z:3.33 [[ 9.99725778e-01 1.98261782e-02 -1.24616422e-02 8.47011564e+02] [-1.98271804e-02 9.99803421e-01 4.31337815e-05 3.50063159e+00] [ 1.24600477e-02 2.03957274e-04 9.99922350e-01 3.33196874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539999 meters 0.052986141765140396 Centerline is valid? [True, True] Translation: X:847.07, Y:3.50, Z:3.33 [[ 9.99802489e-01 1.64439431e-02 -1.11615417e-02 8.47072622e+02] [-1.64445348e-02 9.99864779e-01 3.87702692e-05 3.49545192e+00] [ 1.11606699e-02 1.44783748e-04 9.99937707e-01 3.33368376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.279254154 meters 0.05233288946709797 Centerline is valid? [True, True] Translation: X:847.13, Y:3.49, Z:3.33 [[ 9.99898760e-01 9.73707265e-03 -1.03759072e-02 8.47132481e+02] [-9.73722179e-03 9.99952592e-01 3.61453929e-05 3.48878474e+00] [ 1.03757672e-02 6.48907759e-05 9.99946168e-01 3.33350535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.339254154 meters 0.05245932933711128 Centerline is valid? [True, True] Translation: X:847.19, Y:3.48, Z:3.34 [[ 9.99935033e-01 5.48712127e-03 -9.99109045e-03 8.47191866e+02] [-5.48704807e-03 9.99984945e-01 3.47386579e-05 3.48298686e+00] [ 9.99113065e-03 2.00851925e-05 9.99950087e-01 3.33543777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.399254154 meters 0.05264944883680835 Centerline is valid? [True, True] Translation: X:847.25, Y:3.48, Z:3.34 [[ 9.99951820e-01 9.87258420e-05 -9.81567174e-03 8.47250239e+02] [-9.83975307e-05 9.99999995e-01 3.39304841e-05 3.47690911e+00] [ 9.81567504e-03 -3.29630114e-05 9.99951825e-01 3.33540658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.459254154 meters 0.05318238353519686 Centerline is valid? [True, True] Translation: X:847.31, Y:3.47, Z:3.34 [[ 9.99943386e-01 -3.18646729e-03 -1.01523611e-02 8.47308324e+02] [ 3.18698415e-03 9.99994921e-01 3.47325017e-05 3.47435711e+00] [ 1.01521989e-02 -6.70859492e-05 9.99948463e-01 3.33655998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.519254154 meters 0.052269943214723995 Centerline is valid? [True, True] Translation: X:847.37, Y:3.47, Z:3.33 [[ 9.99931903e-01 -5.16754838e-03 -1.04635206e-02 8.47366656e+02] [ 5.16820195e-03 9.99986644e-01 3.54228510e-05 3.46933275e+00] [ 1.04631978e-02 -8.94980266e-05 9.99945255e-01 3.33483622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.579254154 meters 0.05254059620334266 Centerline is valid? [True, True] Translation: X:847.42, Y:3.47, Z:3.34 [[ 9.99924383e-01 -7.31963132e-03 -9.88188804e-03 8.47424968e+02] [ 7.32031629e-03 9.99973206e-01 3.31475231e-05 3.46518302e+00] [ 9.88138063e-03 -1.05483563e-04 9.99951172e-01 3.33502794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.639254154 meters 0.05251736584582054 Centerline is valid? [True, True] Translation: X:847.48, Y:3.46, Z:3.33 [[ 9.99927049e-01 -7.60485768e-03 -9.38415370e-03 8.47481604e+02] [ 7.60548392e-03 9.99971077e-01 3.10486098e-05 3.46072657e+00] [ 9.38364617e-03 -1.02417375e-04 9.99955967e-01 3.33321111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.699254154 meters 0.05231220989491621 Centerline is valid? [True, True] Translation: X:847.54, Y:3.46, Z:3.33 [[ 9.99935669e-01 -7.22700708e-03 -8.74234251e-03 8.47540353e+02] [ 7.22752953e-03 9.99973881e-01 2.81684058e-05 3.46395992e+00] [ 8.74191059e-03 -9.13521324e-05 9.99961785e-01 3.33474481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.759254154 meters 0.05244233927947059 Centerline is valid? [True, True] Translation: X:847.60, Y:3.47, Z:3.33 [[ 9.99964445e-01 -3.56688472e-03 -7.64102871e-03 8.47597950e+02] [ 3.56717228e-03 9.99993637e-01 2.40058067e-05 3.46590610e+00] [ 7.64089447e-03 -5.12618190e-05 9.99970807e-01 3.33444348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.819254154 meters 0.051119292324859636 Centerline is valid? [True, True] Translation: X:847.66, Y:3.47, Z:3.33 [[ 9.99967737e-01 1.99718385e-03 -7.78049393e-03 8.47656306e+02] [-1.99705926e-03 9.99998006e-01 2.37813877e-05 3.46906784e+00] [ 7.78052591e-03 -8.24251302e-06 9.99969731e-01 3.33434268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.879254154 meters 0.05100015329408437 Centerline is valid? [True, True] Translation: X:847.71, Y:3.47, Z:3.33 [[ 9.99929154e-01 8.48828774e-03 -8.34483937e-03 8.47714704e+02] [-8.48837651e-03 9.99963973e-01 2.47804137e-05 3.47431328e+00] [ 8.34474907e-03 4.60554804e-05 9.99965181e-01 3.33417249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.939254154 meters 0.051423369629882094 Centerline is valid? [True, True] Translation: X:847.77, Y:3.48, Z:3.33 [[ 9.99839978e-01 1.53953852e-02 -9.11045448e-03 8.47774970e+02] [-1.53957804e-02 9.99881478e-01 2.67616182e-05 3.48161824e+00] [ 9.10978669e-03 1.13505221e-04 9.99958499e-01 3.33209552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.999254154 meters 0.05258093740848686 Centerline is valid? [True, True] Translation: X:847.84, Y:3.48, Z:3.33 [[ 9.99731500e-01 2.12911611e-02 -9.14410029e-03 8.47835811e+02] [-2.12918057e-02 9.99773303e-01 2.68657613e-05 3.48407833e+00] [ 9.14259936e-03 1.67835859e-04 9.99958191e-01 3.33203669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.059254154 meters 0.05259199595864185 Centerline is valid? [True, True] Translation: X:847.90, Y:3.48, Z:3.33 [[ 9.99670484e-01 2.39911983e-02 -9.12941053e-03 8.47897220e+02] [-2.39919524e-02 9.99712151e-01 2.69265171e-05 3.48427326e+00] [ 9.12742864e-03 1.92114739e-04 9.99958326e-01 3.33228135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.119254154 meters 0.05138606691498164 Centerline is valid? [True, True] Translation: X:847.96, Y:3.48, Z:3.33 [[ 9.99660566e-01 2.42978783e-02 -9.40026698e-03 8.47959119e+02] [-2.42986853e-02 9.99704743e-01 2.83695456e-05 3.47714272e+00] [ 9.39818080e-03 2.00054213e-04 9.99955816e-01 3.33405209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.179254154 meters 0.051672154836333584 Centerline is valid? [True, True] Translation: X:848.02, Y:3.47, Z:3.33 [[ 9.99767674e-01 1.94677428e-02 -9.25226363e-03 8.48019076e+02] [-1.94683140e-02 9.99810474e-01 2.83381085e-05 3.47455580e+00] [ 9.25106176e-03 1.51794449e-04 9.99957196e-01 3.33394575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters 0.050476015167122225 Centerline is valid? [True, True] Translation: X:848.08, Y:3.47, Z:3.33 [[ 9.99890382e-01 1.25128112e-02 -7.91546415e-03 8.48080087e+02] [-1.25130109e-02 9.99921709e-01 2.43032800e-05 3.46630390e+00] [ 7.91514854e-03 7.47456733e-05 9.99968672e-01 3.33470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.299254154 meters 0.05046372001961011 Centerline is valid? [True, True] Translation: X:848.14, Y:3.46, Z:3.33 [[ 9.99938730e-01 7.81390367e-03 -7.84091684e-03 8.48141646e+02] [-7.81395419e-03 9.99969470e-01 2.41921067e-05 3.46092771e+00] [ 7.84086649e-03 3.70779406e-05 9.99969259e-01 3.33496564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters 0.050876400434945124 Centerline is valid? [True, True] Translation: X:848.20, Y:3.45, Z:3.34 [[ 9.99970034e-01 2.11725072e-03 -7.44634291e-03 8.48200905e+02] [-2.11713813e-03 9.99997759e-01 2.30029210e-05 3.45442615e+00] [ 7.44637493e-03 -7.23729519e-06 9.99972275e-01 3.33603686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.419254154 meters 0.05107964461177389 Centerline is valid? [True, True] Translation: X:848.26, Y:3.45, Z:3.34 [[ 9.99970847e-01 -2.28947142e-03 -7.28447538e-03 8.48259784e+02] [ 2.28969526e-03 9.99997378e-01 2.23894982e-05 3.45006848e+00] [ 7.28440502e-03 -3.90680742e-05 9.99973468e-01 3.33638424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters 0.051029335261636964 Centerline is valid? [True, True] Translation: X:848.32, Y:3.45, Z:3.34 [[ 9.99966680e-01 -3.40787785e-03 -7.41790667e-03 8.48318221e+02] [ 3.40813927e-03 9.99994192e-01 2.26011122e-05 3.44918941e+00] [ 7.41778656e-03 -4.78816181e-05 9.99972487e-01 3.33589970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.539254154 meters 0.05155913863774323 Centerline is valid? [True, True] Translation: X:848.38, Y:3.45, Z:3.33 [[ 9.99959018e-01 -3.83206998e-03 -8.20235199e-03 8.48376753e+02] [ 3.83240065e-03 9.99992656e-01 2.45964358e-05 3.44922582e+00] [ 8.20219749e-03 -5.60301268e-05 9.99966360e-01 3.33431880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters 0.051168991828540254 Centerline is valid? [True, True] Translation: X:848.43, Y:3.45, Z:3.33 [[ 9.99948615e-01 -4.94089718e-03 -8.85185826e-03 8.48434724e+02] [ 4.94132117e-03 9.99987791e-01 2.60281551e-05 3.44897539e+00] [ 8.85162159e-03 -6.97666923e-05 9.99960821e-01 3.33394073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.659254154 meters 0.05118868239367376 Centerline is valid? [True, True] Translation: X:848.49, Y:3.45, Z:3.34 [[ 9.99952949e-01 -6.42546703e-03 -7.26733220e-03 8.48493565e+02] [ 6.42579011e-03 9.99979354e-01 2.11076619e-05 3.45342787e+00] [ 7.26704653e-03 -6.78050201e-05 9.99973592e-01 3.33711400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539999 meters 0.05051888822634856 Centerline is valid? [True, True] Translation: X:848.55, Y:3.45, Z:3.34 [[ 9.99968489e-01 -5.49243546e-03 -5.73189581e-03 8.48552006e+02] [ 5.49261958e-03 9.99984915e-01 1.63812965e-05 3.45248165e+00] [ 5.73171937e-03 -4.78639034e-05 9.99983572e-01 3.33685833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.779254154 meters 0.05072935950291265 Centerline is valid? [True, True] Translation: X:848.61, Y:3.46, Z:3.34 [[ 9.99971189e-01 -2.46206293e-03 -7.18051373e-03 8.48610906e+02] [ 2.46226779e-03 9.99996968e-01 1.96889505e-05 3.45955171e+00] [ 7.18044349e-03 -3.73687309e-05 9.99974220e-01 3.33644808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.839254154 meters 0.05108076915177174 Centerline is valid? [True, True] Translation: X:848.67, Y:3.46, Z:3.33 [[ 9.99953813e-01 2.20822051e-03 -9.35395467e-03 8.48668464e+02] [-2.20808449e-03 9.99997562e-01 2.48685337e-05 3.46394027e+00] [ 9.35398677e-03 -4.21306286e-06 9.99956250e-01 3.33438356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.899254154 meters 0.05128341769657702 Centerline is valid? [True, True] Translation: X:848.73, Y:3.47, Z:3.33 [[ 9.99916681e-01 7.78688187e-03 -1.02954334e-02 8.48727098e+02] [-7.78702197e-03 9.99969680e-01 2.64788223e-05 3.46958566e+00] [ 1.02953274e-02 5.36941499e-05 9.99947000e-01 3.33413921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.959254154 meters 0.051349049437452575 Centerline is valid? [True, True] Translation: X:848.79, Y:3.48, Z:3.33 [[ 9.99880240e-01 1.15391686e-02 -1.03127813e-02 8.48785004e+02] [-1.15395159e-02 9.99933417e-01 2.58274989e-05 3.47507908e+00] [ 1.03123927e-02 9.31800986e-05 9.99946822e-01 3.33345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.019254154 meters 0.05132422801415123 Centerline is valid? [True, True] Translation: X:848.84, Y:3.48, Z:3.33 [[ 9.99826889e-01 1.59000491e-02 -9.66334885e-03 8.48844449e+02] [-1.59005599e-02 9.99873578e-01 2.39681477e-05 3.48021272e+00] [ 9.66250829e-03 1.29688659e-04 9.99953308e-01 3.33452812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.079254154 meters 0.051849785652678525 Centerline is valid? [True, True] Translation: X:848.91, Y:3.48, Z:3.34 [[ 9.99774368e-01 1.92098524e-02 -9.06616908e-03 8.48905591e+02] [-1.92104379e-02 9.99815462e-01 2.25080442e-05 3.48074011e+00] [ 9.06492841e-03 1.51662112e-04 9.99958901e-01 3.33643817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.139254154 meters 0.05156845940249484 Centerline is valid? [True, True] Translation: X:848.97, Y:3.48, Z:3.34 [[ 9.99763943e-01 2.03992062e-02 -7.47872107e-03 8.48967450e+02] [-2.03996365e-02 9.99791906e-01 1.87462209e-05 3.48264685e+00] [ 7.47754720e-03 1.33821396e-04 9.99972034e-01 3.33766086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.199254154 meters 0.05110542867946133 Centerline is valid? [True, True] Translation: X:849.03, Y:3.48, Z:3.34 [[ 9.99754112e-01 2.11200948e-02 -6.75708616e-03 8.49029497e+02] [-2.11204597e-02 9.99776938e-01 1.73660169e-05 3.48082454e+00] [ 6.75594569e-03 1.25351019e-04 9.99977170e-01 3.33890557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.259254154 meters 0.05132788857187534 Centerline is valid? [True, True] Translation: X:849.09, Y:3.48, Z:3.34 [[ 9.99709966e-01 2.22958874e-02 -9.10367947e-03 8.49091458e+02] [-2.22965883e-02 9.99751400e-01 2.45013712e-05 3.48193155e+00] [ 9.10196257e-03 1.78486728e-04 9.99958560e-01 3.33696216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.319254154 meters 0.0511567538388422 Centerline is valid? [True, True] Translation: X:849.15, Y:3.48, Z:3.34 [[ 9.99682442e-01 2.24831398e-02 -1.13808875e-02 8.49153879e+02] [-2.24842327e-02 9.99747197e-01 3.19291521e-05 3.48099688e+00] [ 1.13787282e-02 2.23971509e-04 9.99935235e-01 3.33513676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.379254154 meters 0.05190499749743299 Centerline is valid? [True, True] Translation: X:849.22, Y:3.48, Z:3.34 [[ 9.99722963e-01 2.09534891e-02 -1.07214519e-02 8.49215562e+02] [-2.09543594e-02 9.99780433e-01 3.11710089e-05 3.47941232e+00] [ 1.07197509e-02 1.93498782e-04 9.99942523e-01 3.33529401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.439254154 meters 0.051869124033861555 Centerline is valid? [True, True] Translation: X:849.28, Y:3.48, Z:3.34 [[ 9.99778810e-01 1.87366119e-02 -9.55356094e-03 8.49276668e+02] [-1.87371974e-02 9.99824443e-01 2.82231605e-05 3.47731360e+00] [ 9.55241255e-03 1.50790040e-04 9.99954363e-01 3.33537476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.499254154 meters 0.05160383227828647 Centerline is valid? [True, True] Translation: X:849.34, Y:3.47, Z:3.34 [[ 9.99806376e-01 1.76094840e-02 -8.78159050e-03 8.49338472e+02] [-1.76099303e-02 9.99844933e-01 2.65004054e-05 3.47259218e+00] [ 8.78069542e-03 1.28147923e-04 9.99961441e-01 3.33653132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.559254154 meters 0.051181962155816274 Centerline is valid? [True, True] Translation: X:849.40, Y:3.47, Z:3.34 [[ 9.99785083e-01 1.86470568e-02 -9.05949153e-03 8.49400667e+02] [-1.86475657e-02 9.99826119e-01 2.82976759e-05 3.47130561e+00] [ 9.05844392e-03 1.40645870e-04 9.99958962e-01 3.33605143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.619254154 meters 0.051320894089611796 Centerline is valid? [True, True] Translation: X:849.46, Y:3.47, Z:3.34 [[ 9.99733505e-01 2.09646476e-02 -9.66448067e-03 8.49462570e+02] [-2.09653291e-02 9.99780203e-01 3.07985152e-05 3.47269475e+00] [ 9.66300213e-03 1.71828710e-04 9.99953297e-01 3.33527490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.679254154 meters 0.050429550144625745 Centerline is valid? [True, True] Translation: X:849.52, Y:3.47, Z:3.34 [[ 9.99653216e-01 2.44002364e-02 -9.90337327e-03 8.49523342e+02] [-2.44011189e-02 9.99702248e-01 3.17277259e-05 3.46761384e+00] [ 9.90119869e-03 2.09936666e-04 9.99950960e-01 3.33706916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters 0.051315586160794784 Centerline is valid? [True, True] Translation: X:849.58, Y:3.48, Z:3.34 [[ 9.99508622e-01 2.97037739e-02 -1.00100043e-02 8.49582659e+02] [-2.97049406e-02 9.99558710e-01 3.21370945e-05 3.47676311e+00] [ 1.00065416e-02 2.65225280e-04 9.99949898e-01 3.33629520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.799254154 meters 0.05031392352835372 Centerline is valid? [True, True] Translation: X:849.64, Y:3.47, Z:3.34 [[ 9.99455644e-01 3.11675617e-02 -1.08166042e-02 8.49644893e+02] [-3.11690071e-02 9.99514128e-01 3.49649797e-05 3.47091353e+00] [ 1.08124385e-02 3.02196867e-04 9.99941498e-01 3.33742115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters 0.05120410621686731 Centerline is valid? [True, True] Translation: X:849.71, Y:3.47, Z:3.34 [[ 9.99484860e-01 3.00012813e-02 -1.13990307e-02 8.49706552e+02] [-3.00028002e-02 9.99549814e-01 3.77785950e-05 3.47351668e+00] [ 1.13950324e-02 3.04243707e-04 9.99935028e-01 3.33607388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.919254154 meters 0.05061253209947583 Centerline is valid? [True, True] Translation: X:849.77, Y:3.47, Z:3.34 [[ 9.99557302e-01 2.73989812e-02 -1.15972001e-02 8.49768354e+02] [-2.74003702e-02 9.99624539e-01 3.91263087e-05 3.46882458e+00] [ 1.15939178e-02 2.78658588e-04 9.99932749e-01 3.33693242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters 0.05024836310175538 Centerline is valid? [True, True] Translation: X:849.83, Y:3.46, Z:3.34 [[ 9.99629420e-01 2.48635012e-02 -1.10828617e-02 8.49829504e+02] [-2.48646113e-02 9.99690827e-01 3.76326957e-05 3.46443277e+00] [ 1.10803709e-02 2.37952300e-04 9.99938582e-01 3.33842519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.039254154 meters 0.05091887614920822 Centerline is valid? [True, True] Translation: X:849.89, Y:3.47, Z:3.34 [[ 9.99665243e-01 2.37378702e-02 -1.02915389e-02 8.49890673e+02] [-2.37387604e-02 9.99718195e-01 3.56597231e-05 3.46729750e+00] [ 1.02894851e-02 2.08660590e-04 9.99947040e-01 3.33891503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters 0.05096042489977595 Centerline is valid? [True, True] Translation: X:849.95, Y:3.47, Z:3.34 [[ 9.99665141e-01 2.40070266e-02 -9.65760312e-03 8.49952755e+02] [-2.40078132e-02 9.99711770e-01 3.44985413e-05 3.46953203e+00] [ 9.65564772e-03 1.97370942e-04 9.99953364e-01 3.33922474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.159254154 meters 0.051686338221259814 Centerline is valid? [True, True] Translation: X:850.01, Y:3.47, Z:3.34 [[ 9.99647886e-01 2.47731049e-02 -9.50778505e-03 8.50014029e+02] [-2.47738925e-02 9.99693079e-01 3.49453889e-05 3.47164832e+00] [ 9.50573262e-03 2.00611760e-04 9.99954799e-01 3.33878432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539999 meters 0.0507378928417156 Centerline is valid? [True, True] Translation: X:850.08, Y:3.47, Z:3.34 [[ 9.99617629e-01 2.60081785e-02 -9.38991023e-03 8.50075716e+02] [-2.60089948e-02 9.99661708e-01 3.51915122e-05 3.47081404e+00] [ 9.38764897e-03 2.09044070e-04 9.99955913e-01 3.33876283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.279254154 meters 0.051060832740107184 Centerline is valid? [True, True] Translation: X:850.14, Y:3.47, Z:3.34 [[ 9.99553159e-01 2.82780688e-02 -9.68673398e-03 8.50136372e+02] [-2.82790414e-02 9.99600067e-01 3.65729813e-05 3.47139166e+00] [ 9.68389415e-03 2.37374913e-04 9.99953082e-01 3.33925094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.339254154 meters 0.05048943535650231 Centerline is valid? [True, True] Translation: X:850.20, Y:3.47, Z:3.34 [[ 9.99426191e-01 3.18093265e-02 -1.16385523e-02 8.50197358e+02] [-3.18109693e-02 9.99493902e-01 4.39912554e-05 3.47295498e+00] [ 1.16340613e-02 3.26267615e-04 9.99932269e-01 3.33907136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.399254154 meters 0.05121572425108466 Centerline is valid? [True, True] Translation: X:850.26, Y:3.47, Z:3.34 [[ 9.99313676e-01 3.48531269e-02 -1.25473959e-02 8.50258642e+02] [-3.48552751e-02 9.99392369e-01 4.74988684e-05 3.47395000e+00] [ 1.25414272e-02 3.89876667e-04 9.99921277e-01 3.33888414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.459254154 meters 0.05197991409704232 Centerline is valid? [True, True] Translation: X:850.32, Y:3.48, Z:3.34 [[ 9.99253446e-01 3.62101151e-02 -1.34676681e-02 8.50319810e+02] [-3.62127063e-02 9.99344104e-01 5.14901787e-05 3.47726544e+00] [ 1.34606992e-02 4.36248973e-04 9.99909305e-01 3.33842008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.519254154 meters 0.05083087687030038 Centerline is valid? [True, True] Translation: X:850.38, Y:3.47, Z:3.34 [[ 9.99251335e-01 3.61191307e-02 -1.38627986e-02 8.50383080e+02] [-3.61218478e-02 9.99347392e-01 5.44185557e-05 3.47476739e+00] [ 1.38557172e-02 4.46372089e-04 9.99903905e-01 3.33955999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.579254154 meters 0.051536261068598696 Centerline is valid? [True, True] Translation: X:850.44, Y:3.47, Z:3.34 [[ 9.99314074e-01 3.47114484e-02 -1.29033712e-02 8.50444769e+02] [-3.47136755e-02 9.99397297e-01 5.14000851e-05 3.47498661e+00] [ 1.28973785e-02 3.96558613e-04 9.99916747e-01 3.34060637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.639254154 meters 0.05192233525154527 Centerline is valid? [True, True] Translation: X:850.50, Y:3.48, Z:3.34 [[ 9.99386992e-01 3.30397238e-02 -1.15765715e-02 8.50504843e+02] [-3.30413989e-02 9.99453983e-01 4.65850058e-05 3.47853334e+00] [ 1.15717897e-02 3.35949669e-04 9.99932988e-01 3.34117277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.699254154 meters 0.0523995816087963 Centerline is valid? [True, True] Translation: X:850.57, Y:3.48, Z:3.34 [[ 9.99534865e-01 2.94431690e-02 -7.94697322e-03 8.50565799e+02] [-2.94438437e-02 9.99566436e-01 3.21013601e-05 3.47919049e+00] [ 7.94447286e-03 2.01903009e-04 9.99968422e-01 3.34372701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.759254154 meters 0.05066732051613563 Centerline is valid? [True, True] Translation: X:850.63, Y:3.47, Z:3.34 [[ 9.99572295e-01 2.82742965e-02 -7.46930958e-03 8.50627536e+02] [-2.82748571e-02 9.99600186e-01 3.05567640e-05 3.47168452e+00] [ 7.46718722e-03 1.80649966e-04 9.99972104e-01 3.34495941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.819254154 meters 0.05121337397753627 Centerline is valid? [True, True] Translation: X:850.69, Y:3.48, Z:3.34 [[ 9.99576443e-01 2.76249391e-02 -9.15414106e-03 8.50689174e+02] [-2.76257438e-02 9.99618336e-01 3.85515666e-05 3.47639850e+00] [ 9.15171223e-03 2.14354718e-04 9.99958099e-01 3.34328774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.879254154 meters 0.05256314542853661 Centerline is valid? [True, True] Translation: X:850.75, Y:3.48, Z:3.34 [[ 9.99537238e-01 2.88319915e-02 -9.69670261e-03 8.50750693e+02] [-2.88329414e-02 9.99584243e-01 4.18498633e-05 3.47930637e+00] [ 9.69387776e-03 2.37753961e-04 9.99952985e-01 3.34249823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.939254154 meters 0.05245320583322774 Centerline is valid? [True, True] Translation: X:850.81, Y:3.48, Z:3.34 [[ 9.99419990e-01 3.18051650e-02 -1.21702569e-02 8.50811386e+02] [-3.18068751e-02 9.99494032e-01 5.30624648e-05 3.48214715e+00] [ 1.21657868e-02 3.34066152e-04 9.99925938e-01 3.34115995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.999254154 meters 0.05192511181444668 Centerline is valid? [True, True] Translation: X:850.87, Y:3.48, Z:3.34 [[ 9.99333844e-01 3.38628237e-02 -1.36079774e-02 8.50872824e+02] [-3.38651500e-02 9.99426410e-01 5.95055398e-05 3.48132082e+00] [ 1.36021871e-02 4.01370298e-04 9.99907405e-01 3.34070774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.059254154 meters 0.051168084197665664 Centerline is valid? [True, True] Translation: X:850.94, Y:3.48, Z:3.34 [[ 9.99340281e-01 3.39245606e-02 -1.29664170e-02 8.50935102e+02] [-3.39266645e-02 9.99424323e-01 5.77342872e-05 3.47557197e+00] [ 1.29609112e-02 3.82211082e-04 9.99915931e-01 3.34337855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.119254154 meters 0.052730047345318075 Centerline is valid? [True, True] Translation: X:851.00, Y:3.48, Z:3.34 [[ 9.99356602e-01 3.40843468e-02 -1.11642219e-02 8.50995917e+02] [-3.40859042e-02 9.99418905e-01 5.08035949e-05 3.48332795e+00] [ 1.11594660e-02 3.29771690e-04 9.99937677e-01 3.34439636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.179254154 meters 0.051854511374223616 Centerline is valid? [True, True] Translation: X:851.06, Y:3.48, Z:3.35 [[ 9.99367366e-01 3.40913752e-02 -1.01314627e-02 8.51057888e+02] [-3.40926481e-02 9.99418676e-01 4.71000578e-05 3.48390281e+00] [ 1.01271788e-02 2.98338132e-04 9.99948674e-01 3.34559862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters 0.051734813223251096 Centerline is valid? [True, True] Translation: X:851.12, Y:3.49, Z:3.35 [[ 9.99300923e-01 3.59132048e-02 -1.03878418e-02 8.51119007e+02] [-3.59146364e-02 9.99354860e-01 4.87556231e-05 3.48537291e+00] [ 1.03828912e-02 3.24354023e-04 9.99946044e-01 3.34563702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.299254154 meters 0.05117282006540064 Centerline is valid? [True, True] Translation: X:851.18, Y:3.48, Z:3.35 [[ 9.99271268e-01 3.66360039e-02 -1.07114679e-02 8.51181135e+02] [-3.66375594e-02 9.99328618e-01 5.10344548e-05 3.48051182e+00] [ 1.07061461e-02 3.41444777e-04 9.99942629e-01 3.34642377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters 0.05093657699040675 Centerline is valid? [True, True] Translation: X:851.24, Y:3.48, Z:3.35 [[ 9.99249098e-01 3.69134267e-02 -1.17744978e-02 8.51243609e+02] [-3.69153099e-02 9.99318396e-01 5.74332708e-05 3.47777677e+00] [ 1.17685923e-02 3.77269092e-04 9.99930677e-01 3.34659759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.419254154 meters 0.05263679049139567 Centerline is valid? [True, True] Translation: X:851.30, Y:3.49, Z:3.34 [[ 9.99396877e-01 3.23806089e-02 -1.25450202e-02 8.51303064e+02] [-3.23823839e-02 9.99475551e-01 6.16609857e-05 3.48547175e+00] [ 1.25404376e-02 3.44613864e-04 9.99921306e-01 3.34345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters 0.052427087158172445 Centerline is valid? [True, True] Translation: X:851.36, Y:3.48, Z:3.34 [[ 9.99632881e-01 2.48033066e-02 -1.09041178e-02 8.51364134e+02] [-2.48041964e-02 9.99692327e-01 5.36438754e-05 3.47848426e+00] [ 1.09020935e-02 2.16843699e-04 9.99940547e-01 3.34496009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.539254154 meters 0.051923559695585285 Centerline is valid? [True, True] Translation: X:851.42, Y:3.48, Z:3.34 [[ 9.99708032e-01 2.20327487e-02 -9.92016003e-03 8.51424458e+02] [-2.20333481e-02 9.99757235e-01 4.88717642e-05 3.47750199e+00] [ 9.91882854e-03 1.69716844e-04 9.99950793e-01 3.34496896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters 0.05129999995532846 Centerline is valid? [True, True] Translation: X:851.49, Y:3.47, Z:3.35 [[ 9.99853537e-01 1.47683540e-02 -8.64875228e-03 8.51485126e+02] [-1.47685371e-02 9.99890938e-01 4.26947224e-05 3.47136336e+00] [ 8.64843957e-03 8.50409501e-05 9.99962598e-01 3.34546342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.659254154 meters 0.050960299564579946 Centerline is valid? [True, True] Translation: X:851.55, Y:3.47, Z:3.34 [[ 9.99903091e-01 1.01921134e-02 -9.48309703e-03 8.51546692e+02] [-1.01921264e-02 9.99948058e-01 4.69537466e-05 3.46762417e+00] [ 9.48308302e-03 4.97037274e-05 9.99955033e-01 3.34435938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539999 meters 0.051162121772006755 Centerline is valid? [True, True] Translation: X:851.61, Y:3.46, Z:3.34 [[ 9.99912002e-01 7.09757110e-03 -1.12077366e-02 8.51606091e+02] [-7.09739480e-03 9.99974812e-01 5.55045296e-05 3.46420368e+00] [ 1.12078483e-02 2.40460865e-05 9.99937190e-01 3.34490252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.779254154 meters 0.051560804240989175 Centerline is valid? [True, True] Translation: X:851.66, Y:3.46, Z:3.34 [[ 9.99919133e-01 4.55121359e-03 -1.18749053e-02 8.51664266e+02] [-4.55084037e-03 9.99989643e-01 5.84502087e-05 3.46344089e+00] [ 1.18750483e-02 -4.40468363e-06 9.99929489e-01 3.34166689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.839254154 meters 0.05143274992699207 Centerline is valid? [True, True] Translation: X:851.72, Y:3.46, Z:3.35 [[ 9.99938727e-01 1.14295711e-03 -1.10107668e-02 8.51723202e+02] [-1.14243382e-03 9.99999346e-01 5.38143986e-05 3.46260214e+00] [ 1.10108211e-02 -4.12320288e-05 9.99939378e-01 3.34578550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.899254154 meters 0.05211042723963457 Centerline is valid? [True, True] Translation: X:851.78, Y:3.46, Z:3.35 [[ 9.99947695e-01 -1.28525321e-03 -1.01467381e-02 8.51781949e+02] [ 1.28581980e-03 9.99999172e-01 4.93156583e-05 3.46182659e+00] [ 1.01466663e-02 -6.23599556e-05 9.99948519e-01 3.34617663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.959254154 meters 0.05202751482448086 Centerline is valid? [True, True] Translation: X:851.84, Y:3.46, Z:3.35 [[ 9.99950690e-01 -3.76367001e-03 -9.18981132e-03 8.51839318e+02] [ 3.76423712e-03 9.99992914e-01 4.44152881e-05 3.46028720e+00] [ 9.18957903e-03 -7.90057269e-05 9.99957772e-01 3.34711284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.019254154 meters 0.052094988702106944 Centerline is valid? [True, True] Translation: X:851.90, Y:3.46, Z:3.35 [[ 9.99955431e-01 -3.59236148e-03 -8.73101989e-03 8.51897145e+02] [ 3.59286413e-03 9.99993545e-01 4.18853304e-05 3.45885410e+00] [ 8.73081306e-03 -7.32528318e-05 9.99961883e-01 3.34634210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.079254154 meters 0.05158405285402394 Centerline is valid? [True, True] Translation: X:851.96, Y:3.47, Z:3.35 [[ 9.99972958e-01 5.35370699e-04 -7.33464156e-03 8.51956063e+02] [-5.35130789e-04 9.99999856e-01 3.46715164e-05 3.46578593e+00] [ 7.33465906e-03 -3.07455863e-05 9.99973101e-01 3.34843278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.139254154 meters 0.05226312673382231 Centerline is valid? [True, True] Translation: X:852.01, Y:3.47, Z:3.35 [[ 9.99933191e-01 7.72024314e-03 -8.60298018e-03 8.52014379e+02] [-7.72018848e-03 9.99970198e-01 3.95630610e-05 3.47368834e+00] [ 8.60302923e-03 2.68562107e-05 9.99962993e-01 3.34699243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.199254154 meters 0.05206889085004701 Centerline is valid? [True, True] Translation: X:852.07, Y:3.48, Z:3.35 [[ 9.99855775e-01 1.39656287e-02 -9.66386884e-03 8.52073643e+02] [-1.39658582e-02 9.99902472e-01 4.37359325e-05 3.47802463e+00] [ 9.66353714e-03 9.12345973e-05 9.99953303e-01 3.34730844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.259254154 meters 0.052061359385720075 Centerline is valid? [True, True] Translation: X:852.13, Y:3.49, Z:3.34 [[ 9.99819015e-01 1.61125797e-02 -1.01154163e-02 8.52133698e+02] [-1.61129416e-02 9.99870177e-01 4.57260926e-05 3.48603395e+00] [ 1.01148399e-02 1.17271296e-04 9.99948837e-01 3.34402607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.319254154 meters 0.05183356212662774 Centerline is valid? [True, True] Translation: X:852.19, Y:3.48, Z:3.35 [[ 9.99827746e-01 1.57401688e-02 -9.83494779e-03 8.52194676e+02] [-1.57404921e-02 9.99876110e-01 4.45349287e-05 3.48097659e+00] [ 9.83443032e-03 1.10279660e-04 9.99951635e-01 3.34822629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.379254154 meters 0.05216294777645781 Centerline is valid? [True, True] Translation: X:852.26, Y:3.48, Z:3.35 [[ 9.99874136e-01 1.25664318e-02 -9.68488596e-03 8.52255805e+02] [-1.25665967e-02 9.99921036e-01 4.38266316e-05 3.48363015e+00] [ 9.68467195e-03 7.78849409e-05 9.99953099e-01 3.34568381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.439254154 meters 0.052203535206174566 Centerline is valid? [True, True] Translation: X:852.32, Y:3.48, Z:3.35 [[ 9.99926331e-01 7.90961106e-03 -9.20713882e-03 8.52316655e+02] [-7.90956269e-03 9.99968718e-01 4.16667811e-05 3.48015869e+00] [ 9.20718037e-03 3.11607301e-05 9.99957613e-01 3.34576182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.499254154 meters 0.05220662119157065 Centerline is valid? [True, True] Translation: X:852.38, Y:3.48, Z:3.35 [[ 9.99961255e-01 3.85578838e-03 -7.91333611e-03 8.52376708e+02] [-3.85562575e-03 9.99992566e-01 3.58063572e-05 3.47598989e+00] [ 7.91341535e-03 -5.29410734e-06 9.99968688e-01 3.34688435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.559254154 meters 0.05290536299084104 Centerline is valid? [True, True] Translation: X:852.43, Y:3.47, Z:3.35 [[ 9.99972312e-01 1.62906186e-03 -7.26093667e-03 8.52434510e+02] [-1.62886739e-03 9.99998673e-01 3.26959948e-05 3.47435930e+00] [ 7.26098030e-03 -2.08679865e-05 9.99973638e-01 3.34776970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.619254154 meters 0.05224068722254761 Centerline is valid? [True, True] Translation: X:852.49, Y:3.47, Z:3.35 [[ 9.99977121e-01 -2.14051236e-05 -6.76435589e-03 8.52492868e+02] [ 2.16101276e-05 9.99999999e-01 3.02332552e-05 3.47465334e+00] [ 6.76435523e-03 -3.03787421e-05 9.99977121e-01 3.34827408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.679254154 meters 0.05220974893258259 Centerline is valid? [True, True] Translation: X:852.55, Y:3.47, Z:3.35 [[ 9.99981368e-01 -2.42976486e-03 -5.60002313e-03 8.52551944e+02] [ 2.42994237e-03 9.99997047e-01 2.48928968e-05 3.47146494e+00] [ 5.59994611e-03 -3.85001664e-05 9.99984319e-01 3.34839755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters 0.0520361607779897 Centerline is valid? [True, True] Translation: X:852.61, Y:3.47, Z:3.35 [[ 9.99975939e-01 -3.75675168e-03 -5.83174997e-03 8.52610669e+02] [ 3.75696579e-03 9.99992942e-01 2.57590609e-05 3.47157026e+00] [ 5.83161204e-03 -4.76681262e-05 9.99982995e-01 3.34822356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.799254154 meters 0.05251821977615665 Centerline is valid? [True, True] Translation: X:852.67, Y:3.47, Z:3.35 [[ 9.99960846e-01 -6.14676082e-03 -6.36590542e-03 8.52668652e+02] [ 6.14706282e-03 9.99981106e-01 2.78747444e-05 3.47055196e+00] [ 6.36561381e-03 -6.70052735e-05 9.99979737e-01 3.34731570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters 0.052801610991370325 Centerline is valid? [True, True] Translation: X:852.73, Y:3.47, Z:3.35 [[ 9.99939091e-01 -8.95900487e-03 -6.44595149e-03 8.52727661e+02] [ 8.95937145e-03 9.99959864e-01 2.79959105e-05 3.47184357e+00] [ 6.44544196e-03 -8.57458790e-05 9.99979224e-01 3.34770925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.919254154 meters 0.05312220159489605 Centerline is valid? [True, True] Translation: X:852.79, Y:3.47, Z:3.35 [[ 9.99901626e-01 -1.20065298e-02 -7.25134181e-03 8.52785952e+02] [ 1.20070722e-02 9.99927912e-01 3.12678109e-05 3.46823925e+00] [ 7.25044366e-03 -1.18332119e-04 9.99973708e-01 3.34715959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters 0.05268741617630859 Centerline is valid? [True, True] Translation: X:852.84, Y:3.47, Z:3.35 [[ 9.99875883e-01 -1.43988905e-02 -6.39465478e-03 8.52844461e+02] [ 1.43993598e-02 9.99896323e-01 2.73477522e-05 3.47334583e+00] [ 6.39359802e-03 -1.19423293e-04 9.99979554e-01 3.34800845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.039254154 meters 0.05305241592183839 Centerline is valid? [True, True] Translation: X:852.90, Y:3.47, Z:3.35 [[ 9.99875274e-01 -1.45254191e-02 -6.20063968e-03 8.52901919e+02] [ 1.45258609e-02 9.99894494e-01 2.62146869e-05 3.47497045e+00] [ 6.19960469e-03 -1.16281046e-04 9.99980775e-01 3.34762485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539999 meters 0.05300899449130976 Centerline is valid? [True, True] Translation: X:852.96, Y:3.48, Z:3.35 [[ 9.99911539e-01 -1.17189843e-02 -6.29130996e-03 8.52960850e+02] [ 1.17193818e-02 9.99931325e-01 2.63234376e-05 3.47563527e+00] [ 6.29056942e-03 -1.00051372e-04 9.99980209e-01 3.34722905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.159254154 meters 0.05303127735960781 Centerline is valid? [True, True] Translation: X:853.02, Y:3.48, Z:3.35 [[ 9.99951355e-01 -7.87866484e-03 -5.93411249e-03 8.53021038e+02] [ 7.87895058e-03 9.99968960e-01 2.47747504e-05 3.47595183e+00] [ 5.93373311e-03 -7.15281243e-05 9.99982393e-01 3.34708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539999 meters 0.05308548692294305 Centerline is valid? [True, True] Translation: X:853.08, Y:3.48, Z:3.35 [[ 9.99967646e-01 -5.46953144e-03 -5.89843623e-03 8.53078769e+02] [ 5.46977139e-03 9.99985040e-01 2.45488223e-05 3.47841119e+00] [ 5.89821372e-03 -5.68111257e-05 9.99982604e-01 3.34708193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.279254154 meters 0.05320211200961273 Centerline is valid? [True, True] Translation: X:853.14, Y:3.48, Z:3.35 [[ 9.99973283e-01 -2.40274700e-03 -6.90363453e-03 8.53137367e+02] [ 2.40299916e-03 9.99997112e-01 2.82305312e-05 3.48381070e+00] [ 6.90354676e-03 -4.48192049e-05 9.99976169e-01 3.34684655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.339254154 meters 0.052890396983918175 Centerline is valid? [True, True] Translation: X:853.20, Y:3.49, Z:3.35 [[ 9.99970305e-01 -4.13857439e-04 -7.69527959e-03 8.53196515e+02] [ 4.14105126e-04 9.99999914e-01 3.05934125e-05 3.48634697e+00] [ 7.69526627e-03 -3.37791587e-05 9.99970390e-01 3.34585082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.399254154 meters 0.053147385359234585 Centerline is valid? [True, True] Translation: X:853.25, Y:3.49, Z:3.35 [[ 9.99965298e-01 -3.95180607e-04 -8.32143916e-03 8.53254619e+02] [ 3.95461398e-04 9.99999921e-01 3.20975148e-05 3.49038656e+00] [ 8.32142582e-03 -3.53872089e-05 9.99965376e-01 3.34812038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.459254154 meters 0.05377859191863918 Centerline is valid? [True, True] Translation: X:853.31, Y:3.49, Z:3.35 [[ 9.99968158e-01 -9.06960867e-04 -7.92840157e-03 8.53312334e+02] [ 9.07226916e-04 9.99999588e-01 2.99599598e-05 3.48877514e+00] [ 7.92837113e-03 -3.71518652e-05 9.99968569e-01 3.34724876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.519254154 meters 0.053060483499234395 Centerline is valid? [True, True] Translation: X:853.37, Y:3.49, Z:3.35 [[ 9.99976979e-01 -2.45213500e-03 -6.32684106e-03 8.53370790e+02] [ 2.45233402e-03 9.99996993e-01 2.36983096e-05 3.48892683e+00] [ 6.32676392e-03 -3.92132916e-05 9.99979985e-01 3.34901463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.579254154 meters 0.05326243607483665 Centerline is valid? [True, True] Translation: X:853.43, Y:3.49, Z:3.35 [[ 9.99972791e-01 -3.18117299e-03 -6.65567205e-03 8.53428136e+02] [ 3.18140774e-03 9.99994939e-01 2.46830332e-05 3.48811146e+00] [ 6.65555985e-03 -4.58567681e-05 9.99977850e-01 3.34821585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.639254154 meters 0.0535642197293475 Centerline is valid? [True, True] Translation: X:853.49, Y:3.49, Z:3.35 [[ 9.99968205e-01 -3.04372214e-03 -7.37053073e-03 8.53485470e+02] [ 3.04400359e-03 9.99995367e-01 2.69675587e-05 3.49139414e+00] [ 7.37041450e-03 -4.94026233e-05 9.99972837e-01 3.34922766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.699254154 meters 0.052876057986820206 Centerline is valid? [True, True] Translation: X:853.54, Y:3.49, Z:3.35 [[ 9.99960332e-01 -4.33008617e-03 -7.78359157e-03 8.53544706e+02] [ 4.33043655e-03 9.99990623e-01 2.81617255e-05 3.49138566e+00] [ 7.78339664e-03 -6.18669577e-05 9.99969707e-01 3.34959556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.759254154 meters 0.05314963467225318 Centerline is valid? [True, True] Translation: X:853.60, Y:3.49, Z:3.35 [[ 9.99941995e-01 -6.60963432e-03 -8.50413047e-03 8.53602308e+02] [ 6.61013276e-03 9.99978152e-01 3.05047630e-05 3.49146446e+00] [ 8.50374305e-03 -8.67164249e-05 9.99963839e-01 3.35034785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.819254154 meters 0.05416836050602462 Centerline is valid? [True, True] Translation: X:853.66, Y:3.49, Z:3.35 [[ 9.99875953e-01 -1.24925818e-02 -9.59244152e-03 8.53662424e+02] [ 1.24934847e-02 9.99921953e-01 3.42047652e-05 3.48973727e+00] [ 9.59126555e-03 -1.54043544e-04 9.99953991e-01 3.34963986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.879254154 meters 0.053733560497815136 Centerline is valid? [True, True] Translation: X:853.72, Y:3.49, Z:3.35 [[ 9.99781925e-01 -1.87379181e-02 -9.21916244e-03 8.53723203e+02] [ 1.87390176e-02 9.99824409e-01 3.28824478e-05 3.48627745e+00] [ 9.21692748e-03 -2.05633324e-04 9.99957502e-01 3.34989748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.939254154 meters 0.05360030565231893 Centerline is valid? [True, True] Translation: X:853.78, Y:3.48, Z:3.35 [[ 9.99731550e-01 -2.17332090e-02 -8.03089940e-03 8.53782513e+02] [ 2.17341395e-02 9.99763785e-01 2.86000487e-05 3.47943334e+00] [ 8.02838081e-03 -2.03137059e-04 9.99967751e-01 3.34959728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.999254154 meters 0.05472547738041807 Centerline is valid? [True, True] Translation: X:853.84, Y:3.49, Z:3.35 [[ 9.99688365e-01 -2.40144713e-02 -6.81749904e-03 8.53841759e+02] [ 2.40151940e-02 9.99711593e-01 2.41508729e-05 3.49318490e+00] [ 6.81495286e-03 -1.87866908e-04 9.99976760e-01 3.35232789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.059254154 meters 0.054195499077998255 Centerline is valid? [True, True] Translation: X:853.90, Y:3.49, Z:3.35 [[ 9.99676719e-01 -2.46199500e-02 -6.34940566e-03 8.53900569e+02] [ 2.46205868e-02 9.99696867e-01 2.21497759e-05 3.48547934e+00] [ 6.34693562e-03 -1.78468709e-04 9.99979842e-01 3.35186865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.119254154 meters 0.053777364091274454 Centerline is valid? [True, True] Translation: X:853.96, Y:3.49, Z:3.35 [[ 9.99681097e-01 -2.43870587e-02 -6.55560550e-03 8.53958270e+02] [ 2.43877292e-02 9.99702575e-01 2.23424123e-05 3.48564319e+00] [ 6.55311083e-03 -1.82211619e-04 9.99978512e-01 3.35157158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.179254154 meters 0.05413203532869429 Centerline is valid? [True, True] Translation: X:854.02, Y:3.49, Z:3.35 [[ 9.99730437e-01 -2.25330078e-02 -5.59607795e-03 8.54017462e+02] [ 2.25334664e-02 9.99746089e-01 1.89142392e-05 3.48725212e+00] [ 5.59423085e-03 -1.45008175e-04 9.99984342e-01 3.35142424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters 0.05382021535493099 Centerline is valid? [True, True] Translation: X:854.08, Y:3.50, Z:3.35 [[ 9.99843176e-01 -1.70352770e-02 -4.83971970e-03 8.54078260e+02] [ 1.70355554e-02 9.99854884e-01 1.63146320e-05 3.49746207e+00] [ 4.83873945e-03 -9.87593867e-05 9.99988288e-01 3.35147361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.299254154 meters 0.05375523762021752 Centerline is valid? [True, True] Translation: X:854.14, Y:3.50, Z:3.35 [[ 9.99949601e-01 -8.13526264e-03 -5.88320797e-03 8.54137927e+02] [ 8.13552019e-03 9.99966906e-01 1.98455355e-05 3.49911699e+00] [ 5.88285182e-03 -6.77074925e-05 9.99982694e-01 3.35075864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters 0.05358500757842151 Centerline is valid? [True, True] Translation: X:854.20, Y:3.50, Z:3.35 [[ 9.99978289e-01 -1.38736632e-03 -6.44185142e-03 8.54197424e+02] [ 1.38753461e-03 9.99999037e-01 2.16557694e-05 3.50450335e+00] [ 6.44181517e-03 -3.05935910e-05 9.99979251e-01 3.35034297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.419254154 meters 0.05320234920754709 Centerline is valid? [True, True] Translation: X:854.26, Y:3.51, Z:3.35 [[ 9.99953901e-01 7.06638708e-03 -6.50091132e-03 8.54255608e+02] [-7.06639660e-03 9.99975033e-01 2.15039651e-05 3.51180471e+00] [ 6.50090096e-03 2.44350439e-05 9.99978869e-01 3.34965343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters 0.053149073486137524 Centerline is valid? [True, True] Translation: X:854.31, Y:3.52, Z:3.35 [[ 9.99892781e-01 1.25923088e-02 -7.47392353e-03 8.54314175e+02] [-1.25924802e-02 9.99920711e-01 2.41221680e-05 3.51656612e+00] [ 7.47363468e-03 6.99956525e-05 9.99972070e-01 3.34897915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.539254154 meters 0.053562517124701996 Centerline is valid? [True, True] Translation: X:854.37, Y:3.52, Z:3.35 [[ 9.99832747e-01 1.61598377e-02 -8.56378422e-03 8.54374415e+02] [-1.61601942e-02 9.99869415e-01 2.75721434e-05 3.51847588e+00] [ 8.56311148e-03 1.10824884e-04 9.99963330e-01 3.34811979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539999 meters 0.05366384126865533 Centerline is valid? [True, True] Translation: X:854.44, Y:3.52, Z:3.35 [[ 9.99796475e-01 1.85972325e-02 -7.81999051e-03 8.54435865e+02] [-1.85976036e-02 9.99827049e-01 2.52664008e-05 3.51861409e+00] [ 7.81910792e-03 1.20171825e-04 9.99969423e-01 3.34915472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.659254154 meters 0.05381974444718394 Centerline is valid? [True, True] Translation: X:854.50, Y:3.52, Z:3.35 [[ 9.99776130e-01 1.99920780e-02 -6.92869691e-03 8.54497935e+02] [-1.99924001e-02 9.99800132e-01 2.27709003e-05 3.51731627e+00] [ 6.92776732e-03 1.15755478e-04 9.99975996e-01 3.35066357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539999 meters 0.05361439629184543 Centerline is valid? [True, True] Translation: X:854.56, Y:3.52, Z:3.35 [[ 9.99713908e-01 2.28967752e-02 -6.91667826e-03 8.54558486e+02] [-2.28971625e-02 9.99737825e-01 2.31889629e-05 3.51610762e+00] [ 6.91539583e-03 1.35189978e-04 9.99976079e-01 3.35050616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.779254154 meters 0.05431015945369413 Centerline is valid? [True, True] Translation: X:854.62, Y:3.52, Z:3.35 [[ 9.99639964e-01 2.55764328e-02 -8.11105734e-03 8.54619566e+02] [-2.55770528e-02 9.99672853e-01 2.72909745e-05 3.51717299e+00] [ 8.10910184e-03 1.80175793e-04 9.99967104e-01 3.34914883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.839254154 meters 0.05306987096144832 Centerline is valid? [True, True] Translation: X:854.68, Y:3.51, Z:3.35 [[ 9.99465417e-01 3.09360112e-02 -1.05755686e-02 8.54680451e+02] [-3.09373643e-02 9.99521325e-01 3.56671495e-05 3.51220835e+00] [ 1.05716097e-02 2.91532136e-04 9.99944076e-01 3.34780742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.899254154 meters 0.052368943421255955 Centerline is valid? [True, True] Translation: X:854.74, Y:3.50, Z:3.35 [[ 9.99310647e-01 3.55359364e-02 -1.07437212e-02 8.54740971e+02] [-3.55375983e-02 9.99368339e-01 3.62484771e-05 3.50009022e+00] [ 1.07382229e-02 3.45582557e-04 9.99942284e-01 3.35027480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.959254154 meters 0.05139073684936572 Centerline is valid? [True, True] Translation: X:854.80, Y:3.49, Z:3.35 [[ 9.99274596e-01 3.69268532e-02 -9.31071416e-03 8.54802668e+02] [-3.69281563e-02 9.99317923e-01 3.19756426e-05 3.49346359e+00] [ 9.30554429e-03 3.11875060e-04 9.99956654e-01 3.35184793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.019254154 meters 0.053336651142227964 Centerline is valid? [True, True] Translation: X:854.86, Y:3.49, Z:3.35 [[ 9.99340791e-01 3.55985180e-02 -7.12249433e-03 8.54862741e+02] [-3.55992444e-02 9.99366146e-01 2.47994157e-05 3.49462208e+00] [ 7.11886253e-03 2.28772349e-04 9.99974634e-01 3.35130777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.079254154 meters 0.052453913566051724 Centerline is valid? [True, True] Translation: X:854.93, Y:3.49, Z:3.35 [[ 9.99352017e-01 3.53912887e-02 -6.55773479e-03 8.54925117e+02] [-3.53918981e-02 9.99373510e-01 2.31335164e-05 3.48773780e+00] [ 6.55444516e-03 2.08972155e-04 9.99978498e-01 3.35234148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.139254154 meters 0.054320124212424485 Centerline is valid? [True, True] Translation: X:854.99, Y:3.49, Z:3.35 [[ 9.99316323e-01 3.63046494e-02 -6.98993084e-03 8.54986231e+02] [-3.63053590e-02 9.99340743e-01 2.53883899e-05 3.49148197e+00] [ 6.98624440e-03 2.28400916e-04 9.99975570e-01 3.35153745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.199254154 meters 0.05222205440157503 Centerline is valid? [True, True] Translation: X:855.05, Y:3.48, Z:3.35 [[ 9.99191884e-01 3.93064308e-02 -8.40135471e-03 8.55046767e+02] [-3.93075579e-02 9.99227159e-01 3.09792247e-05 3.47943738e+00] [ 8.39607948e-03 2.99282547e-04 9.99964707e-01 3.35103088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.259254154 meters 0.05228201102686559 Centerline is valid? [True, True] Translation: X:855.11, Y:3.48, Z:3.35 [[ 9.99034992e-01 4.26356109e-02 -1.05493608e-02 8.55107503e+02] [-4.26375733e-02 9.99090604e-01 3.89162290e-05 3.47556473e+00] [ 1.05414265e-02 4.10920473e-04 9.99944353e-01 3.34967946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.319254154 meters 0.051104806352074275 Centerline is valid? [True, True] Translation: X:855.17, Y:3.47, Z:3.35 [[ 9.98987839e-01 4.35212038e-02 -1.13667101e-02 8.55169249e+02] [-4.35235312e-02 9.99052401e-01 4.26541512e-05 3.46950453e+00] [ 1.13577953e-02 4.52108382e-04 9.99935396e-01 3.34931460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.379254154 meters 0.05151336975539694 Centerline is valid? [True, True] Translation: X:855.23, Y:3.46, Z:3.35 [[ 9.99096040e-01 4.10376833e-02 -1.10910399e-02 8.55230164e+02] [-4.10397416e-02 9.99157514e-01 4.20450008e-05 3.46058949e+00] [ 1.10834213e-02 4.13166420e-04 9.99938492e-01 3.35015832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.439254154 meters 0.05009723704839568 Centerline is valid? [True, True] Translation: X:855.29, Y:3.45, Z:3.35 [[ 9.99342309e-01 3.48776380e-02 -9.92474794e-03 8.55290477e+02] [-3.48789823e-02 9.99391543e-01 3.76542633e-05 3.44924570e+00] [ 9.92002244e-03 3.08535610e-04 9.99950748e-01 3.35189015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.499254154 meters 0.05143379593868951 Centerline is valid? [True, True] Translation: X:855.35, Y:3.45, Z:3.35 [[ 9.99599615e-01 2.68685729e-02 -8.87076943e-03 8.55349933e+02] [-2.68693319e-02 9.99638954e-01 3.36354612e-05 3.44628058e+00] [ 8.86847041e-03 2.04729654e-04 9.99960653e-01 3.35171451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.559254154 meters 0.050045208208032065 Centerline is valid? [True, True] Translation: X:855.41, Y:3.44, Z:3.35 [[ 9.99733332e-01 2.14623417e-02 -8.52246723e-03 8.55410460e+02] [-2.14628456e-02 9.99769646e-01 3.23420663e-05 3.43946529e+00] [ 8.52119819e-03 1.50582956e-04 9.99963683e-01 3.35247668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.619254154 meters 0.050294765644131496 Centerline is valid? [True, True] Translation: X:855.47, Y:3.43, Z:3.35 [[ 9.99849154e-01 1.54874489e-02 -7.86187438e-03 8.55471075e+02] [-1.54876923e-02 9.99880058e-01 2.99335139e-05 3.43301388e+00] [ 7.86139501e-03 9.18332924e-05 9.99969095e-01 3.35424439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.679254154 meters 0.05055019171220824 Centerline is valid? [True, True] Translation: X:855.53, Y:3.44, Z:3.35 [[ 9.99888454e-01 1.27551811e-02 -7.77081056e-03 8.55532160e+02] [-1.27553327e-02 9.99918647e-01 3.00492293e-05 3.43582352e+00] [ 7.77056167e-03 6.90733971e-05 9.99969806e-01 3.35349283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters 0.04997073749281365 Centerline is valid? [True, True] Translation: X:855.59, Y:3.44, Z:3.35 [[ 9.99916455e-01 1.01046596e-02 -8.06099151e-03 8.55592916e+02] [-1.01047299e-02 9.99948945e-01 3.20083680e-05 3.43702418e+00] [ 8.06090339e-03 4.94484481e-05 9.99967509e-01 3.35332042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.799254154 meters 0.049687027357394976 Centerline is valid? [True, True] Translation: X:855.65, Y:3.44, Z:3.35 [[ 9.99947850e-01 6.51952062e-03 -7.86086095e-03 8.55653308e+02] [-6.51947345e-03 9.99978748e-01 3.16258200e-05 3.43640945e+00] [ 7.86090007e-03 1.96245035e-05 9.99969102e-01 3.35360289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters 0.049722275449674315 Centerline is valid? [True, True] Translation: X:855.71, Y:3.44, Z:3.35 [[ 9.99960415e-01 3.91651015e-03 -7.98931287e-03 8.55712786e+02] [-3.91637862e-03 9.99992330e-01 3.21083204e-05 3.43640201e+00] [ 7.98937735e-03 -8.17875260e-07 9.99968084e-01 3.35418481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.919254154 meters 0.05084714811951111 Centerline is valid? [True, True] Translation: X:855.77, Y:3.44, Z:3.35 [[ 9.99963346e-01 9.30409659e-05 -8.56140436e-03 8.55771316e+02] [-9.27513080e-05 9.99999995e-01 3.42298978e-05 3.43660623e+00] [ 8.56140750e-03 -3.34345617e-05 9.99963350e-01 3.35145727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters 0.05071732578893413 Centerline is valid? [True, True] Translation: X:855.83, Y:3.44, Z:3.35 [[ 9.99958313e-01 -2.71023891e-03 -8.71931018e-03 8.55830231e+02] [ 2.71064382e-03 9.99996326e-01 3.46208186e-05 3.43650696e+00] [ 8.71918431e-03 -5.82543196e-05 9.99961985e-01 3.35165004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.039254154 meters 0.05080269280893601 Centerline is valid? [True, True] Translation: X:855.89, Y:3.44, Z:3.35 [[ 9.99957205e-01 -3.72744638e-03 -8.46720413e-03 8.55888812e+02] [ 3.72786277e-03 9.99993051e-01 3.33950826e-05 3.43873873e+00] [ 8.46702081e-03 -6.49582285e-05 9.99964152e-01 3.35223879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539999 meters 0.05044438406335171 Centerline is valid? [True, True] Translation: X:855.95, Y:3.44, Z:3.35 [[ 9.99968894e-01 -1.66534272e-03 -7.70955885e-03 8.55948073e+02] [ 1.66562262e-03 9.99998612e-01 2.98845390e-05 3.44321690e+00] [ 7.70949839e-03 -4.27248250e-05 9.99970280e-01 3.35247953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.159254154 meters 0.05026602692374435 Centerline is valid? [True, True] Translation: X:856.01, Y:3.45, Z:3.35 [[ 9.99974069e-01 2.44853868e-03 -6.77246232e-03 8.56006345e+02] [-2.44842054e-03 9.99997002e-01 2.57350454e-05 3.44661721e+00] [ 6.77250503e-03 -9.15254219e-06 9.99977066e-01 3.35333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539999 meters 0.04994356341949503 Centerline is valid? [True, True] Translation: X:856.06, Y:3.45, Z:3.35 [[ 9.99966338e-01 5.25256040e-03 -6.30348449e-03 8.56064036e+02] [-5.25251532e-03 9.99986205e-01 2.37064758e-05 3.44915741e+00] [ 6.30352205e-03 9.40347104e-06 9.99980133e-01 3.35347692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.279254154 meters 0.05010194615062518 Centerline is valid? [True, True] Translation: X:856.12, Y:3.45, Z:3.35 [[ 9.99937524e-01 9.39806134e-03 -6.05181686e-03 8.56122405e+02] [-9.39809694e-03 9.99955837e-01 2.25566885e-05 3.45433799e+00] [ 6.05176158e-03 3.43202823e-05 9.99981687e-01 3.35369199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.339254154 meters 0.05144600712459428 Centerline is valid? [True, True] Translation: X:856.18, Y:3.46, Z:3.35 [[ 9.99896073e-01 1.30423884e-02 -6.14318758e-03 8.56183318e+02] [-1.30424944e-02 9.99914943e-01 2.28037534e-05 3.45769922e+00] [ 6.14296247e-03 5.73211063e-05 9.99981130e-01 3.35303969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.399254154 meters 0.05103487041761152 Centerline is valid? [True, True] Translation: X:856.24, Y:3.46, Z:3.35 [[ 9.99857193e-01 1.53894367e-02 -6.98275942e-03 8.56244068e+02] [-1.53896305e-02 9.99881572e-01 2.59672863e-05 3.46223003e+00] [ 6.98233209e-03 8.14985097e-05 9.99975620e-01 3.35289862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.459254154 meters 0.05090004094425501 Centerline is valid? [True, True] Translation: X:856.31, Y:3.46, Z:3.35 [[ 9.99858719e-01 1.45358913e-02 -8.44093902e-03 8.56305765e+02] [-1.45361393e-02 9.99894344e-01 3.19642002e-05 3.46042441e+00] [ 8.44051181e-03 9.07389813e-05 9.99964374e-01 3.35301437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.519254154 meters 0.05042615757807599 Centerline is valid? [True, True] Translation: X:856.37, Y:3.46, Z:3.35 [[ 9.99898958e-01 1.02417706e-02 -9.85803727e-03 8.56366534e+02] [-1.02418892e-02 9.99947550e-01 3.84514834e-05 3.45991203e+00] [ 9.85791402e-03 6.25173273e-05 9.99951408e-01 3.35196559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.579254154 meters 0.050933059935190844 Centerline is valid? [True, True] Translation: X:856.43, Y:3.45, Z:3.35 [[ 9.99937949e-01 1.99705842e-03 -1.09595114e-02 8.56426561e+02] [-1.99670490e-03 9.99998006e-01 4.31988129e-05 3.45429108e+00] [ 1.09595759e-02 -2.13132222e-05 9.99939942e-01 3.35305390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.639254154 meters 0.05165075084333814 Centerline is valid? [True, True] Translation: X:856.49, Y:3.45, Z:3.35 [[ 9.99912743e-01 -7.90656821e-03 -1.05826349e-02 8.56486260e+02] [ 7.90745185e-03 9.99968735e-01 4.16596143e-05 3.44700964e+00] [ 1.05819747e-02 -1.25337655e-04 9.99944001e-01 3.35397187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.699254154 meters 0.051922549027464446 Centerline is valid? [True, True] Translation: X:856.55, Y:3.44, Z:3.36 [[ 9.99852728e-01 -1.36391626e-02 -1.04160829e-02 8.56546922e+02] [ 1.36403293e-02 9.99906966e-01 4.09725818e-05 3.44439708e+00] [ 1.04145551e-02 -1.83045349e-04 9.99945750e-01 3.35537481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.759254154 meters 0.05268775591820735 Centerline is valid? [True, True] Translation: X:856.61, Y:3.44, Z:3.36 [[ 9.99754368e-01 -1.99913695e-02 -9.56808985e-03 8.56607563e+02] [ 1.99926451e-02 9.99800126e-01 3.76759340e-05 3.43720784e+00] [ 9.56542425e-03 -2.28958104e-04 9.99954224e-01 3.35574114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.819254154 meters 0.05259968404571811 Centerline is valid? [True, True] Translation: X:856.67, Y:3.44, Z:3.36 [[ 9.99702385e-01 -2.25917925e-02 -9.20614162e-03 8.56666200e+02] [ 2.25930826e-02 9.99744743e-01 3.61475000e-05 3.44133281e+00] [ 9.20297506e-03 -2.44131860e-04 9.99957622e-01 3.35800942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.879254154 meters 0.05239682424140729 Centerline is valid? [True, True] Translation: X:856.72, Y:3.44, Z:3.36 [[ 9.99721540e-01 -2.15159838e-02 -9.69047657e-03 8.56724921e+02] [ 2.15173556e-02 9.99768474e-01 3.73168975e-05 3.44146640e+00] [ 9.68743007e-03 -2.45819937e-04 9.99953046e-01 3.35740082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.939254154 meters 0.05249343072738026 Centerline is valid? [True, True] Translation: X:856.78, Y:3.45, Z:3.36 [[ 9.99794866e-01 -1.70419623e-02 -1.09451766e-02 8.56784673e+02] [ 1.70434378e-02 9.99854749e-01 4.15414508e-05 3.45189932e+00] [ 1.09428789e-02 -2.28076366e-04 9.99940099e-01 3.35919374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.999254154 meters 0.05204308036671447 Centerline is valid? [True, True] Translation: X:856.84, Y:3.45, Z:3.36 [[ 9.99897962e-01 -8.91016850e-03 -1.11657952e-02 8.56844551e+02] [ 8.91119631e-03 9.99960294e-01 4.23004195e-05 3.44752026e+00] [ 1.11649749e-02 -1.41796696e-04 9.99937660e-01 3.35535595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.059254154 meters 0.05149273385342491 Centerline is valid? [True, True] Translation: X:856.90, Y:3.45, Z:3.36 [[ 9.99938755e-01 5.26504991e-04 -1.10547797e-02 8.56903781e+02] [-5.26075500e-04 9.99999861e-01 4.17589080e-05 3.45453627e+00] [ 1.10548002e-02 -3.59407017e-05 9.99938893e-01 3.35546487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.119254154 meters 0.05172487818877757 Centerline is valid? [True, True] Translation: X:856.96, Y:3.46, Z:3.36 [[ 9.99921873e-01 7.67143023e-03 -9.86896761e-03 8.56961835e+02] [-7.67144428e-03 9.99970573e-01 3.64322663e-05 3.46090697e+00] [ 9.86895669e-03 3.92798152e-05 9.99951300e-01 3.35863464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.179254154 meters 0.05144439007229689 Centerline is valid? [True, True] Translation: X:857.02, Y:3.47, Z:3.36 [[ 9.99876719e-01 1.25671093e-02 -9.41349243e-03 8.57019486e+02] [-1.25673458e-02 9.99921027e-01 3.40241990e-05 3.46678495e+00] [ 9.41317660e-03 8.42826102e-05 9.99955691e-01 3.35785100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters 0.05140597914438052 Centerline is valid? [True, True] Translation: X:857.08, Y:3.47, Z:3.36 [[ 9.99844451e-01 1.49487879e-02 -9.35991275e-03 8.57080269e+02] [-1.49491277e-02 9.99888255e-01 3.36692388e-05 3.46868430e+00] [ 9.35937014e-03 1.06258529e-04 9.99956194e-01 3.35853060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.299254154 meters 0.052307827446502 Centerline is valid? [True, True] Translation: X:857.14, Y:3.47, Z:3.36 [[ 9.99811735e-01 1.64482162e-02 -1.02932035e-02 8.57141265e+02] [-1.64487055e-02 9.99864710e-01 3.71222320e-05 3.47130339e+00] [ 1.02924216e-02 1.32194630e-04 9.99947023e-01 3.35735657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters 0.05179747505569483 Centerline is valid? [True, True] Translation: X:857.20, Y:3.47, Z:3.36 [[ 9.99806722e-01 1.60661980e-02 -1.13312204e-02 8.57202348e+02] [-1.60667645e-02 9.99870920e-01 4.10431430e-05 3.47069341e+00] [ 1.13304172e-02 1.41020840e-04 9.99935799e-01 3.35690542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.419254154 meters 0.05140713147794703 Centerline is valid? [True, True] Translation: X:857.26, Y:3.46, Z:3.36 [[ 9.99856455e-01 1.18609912e-02 -1.20990150e-02 8.57262911e+02] [-1.18613277e-02 9.99929651e-01 4.39543901e-05 3.46271747e+00] [ 1.20986852e-02 9.95623009e-05 9.99926803e-01 3.36019848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters 0.05151423931164667 Centerline is valid? [True, True] Translation: X:857.32, Y:3.46, Z:3.36 [[ 9.99923716e-01 1.30848666e-03 -1.22820861e-02 8.57322076e+02] [-1.30803856e-03 9.99999144e-01 4.45161766e-05 3.45535458e+00] [ 1.22821338e-02 -2.84473385e-05 9.99924571e-01 3.36024758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.539254154 meters 0.051913666557828635 Centerline is valid? [True, True] Translation: X:857.38, Y:3.45, Z:3.36 [[ 9.99915223e-01 -4.92411292e-03 -1.20540161e-02 8.57379976e+02] [ 4.92499346e-03 9.99987871e-01 4.33663217e-05 3.44884278e+00] [ 1.20536563e-02 -1.02728595e-04 9.99927347e-01 3.35883008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539999 meters 0.052464838792185386 Centerline is valid? [True, True] Translation: X:857.44, Y:3.45, Z:3.36 [[ 9.99871468e-01 -1.07112921e-02 -1.19296339e-02 8.57439568e+02] [ 1.07125634e-02 9.99942618e-01 4.26701017e-05 3.44522353e+00] [ 1.19284923e-02 -1.70461577e-04 9.99928838e-01 3.36045529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.659254154 meters 0.05246360420633606 Centerline is valid? [True, True] Translation: X:857.50, Y:3.45, Z:3.36 [[ 9.99799686e-01 -1.69796152e-02 -1.05962164e-02 8.57500081e+02] [ 1.69809690e-02 9.99855812e-01 3.77999268e-05 3.44610291e+00] [ 1.05940468e-02 -2.17726377e-04 9.99943858e-01 3.36346034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539999 meters 0.05261082409857221 Centerline is valid? [True, True] Translation: X:857.56, Y:3.44, Z:3.36 [[ 9.99727814e-01 -2.04514334e-02 -1.12266178e-02 8.57560490e+02] [ 2.04531709e-02 9.99790811e-01 3.99703667e-05 3.43738916e+00] [ 1.12234518e-02 -2.69579420e-04 9.99936979e-01 3.36161648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.779254154 meters 0.052876186339487305 Centerline is valid? [True, True] Translation: X:857.62, Y:3.44, Z:3.36 [[ 9.99649670e-01 -2.32550077e-02 -1.26388834e-02 8.57620970e+02] [ 2.32574300e-02 9.99729508e-01 4.46828429e-05 3.43978640e+00] [ 1.26344256e-02 -3.38615134e-04 9.99920125e-01 3.36175770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.839254154 meters 0.05263484418640626 Centerline is valid? [True, True] Translation: X:857.68, Y:3.45, Z:3.36 [[ 9.99604098e-01 -2.50292204e-02 -1.28524747e-02 8.57680942e+02] [ 2.50318681e-02 9.99686653e-01 4.51540777e-05 3.44551526e+00] [ 1.28473172e-02 -3.66857652e-04 9.99917402e-01 3.36316153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.899254154 meters 0.0525217665844384 Centerline is valid? [True, True] Translation: X:857.74, Y:3.45, Z:3.37 [[ 9.99551590e-01 -2.69659011e-02 -1.30176626e-02 8.57739923e+02] [ 2.69687776e-02 9.99636275e-01 4.54477199e-05 3.45102023e+00] [ 1.30117023e-02 -3.96497790e-04 9.99915266e-01 3.36505039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.959254154 meters 0.05319627757941483 Centerline is valid? [True, True] Translation: X:857.80, Y:3.46, Z:3.37 [[ 9.99583617e-01 -2.60516403e-02 -1.24058437e-02 8.57798999e+02] [ 2.60541781e-02 9.99660531e-01 4.29630342e-05 3.45974941e+00] [ 1.24005131e-02 -3.66169207e-04 9.99923044e-01 3.36810092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.019254154 meters 0.05292071358703144 Centerline is valid? [True, True] Translation: X:857.86, Y:3.45, Z:3.37 [[ 9.99718552e-01 -2.10510118e-02 -1.09394336e-02 8.57858185e+02] [ 2.10526833e-02 9.99778367e-01 3.76503910e-05 3.45329704e+00] [ 1.09362165e-02 -2.67944225e-04 9.99940162e-01 3.36612536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.079254154 meters 0.05250751825498541 Centerline is valid? [True, True] Translation: X:857.92, Y:3.46, Z:3.37 [[ 9.99860235e-01 -1.24566490e-02 -1.11509083e-02 8.57918137e+02] [ 1.24578500e-02 9.99922397e-01 3.82483443e-05 3.45875715e+00] [ 1.11495665e-02 -1.77159341e-04 9.99937826e-01 3.36561513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.139254154 meters 0.052839862885703956 Centerline is valid? [True, True] Translation: X:857.98, Y:3.47, Z:3.36 [[ 9.99919962e-01 -1.75802691e-03 -1.25290989e-02 8.57978427e+02] [ 1.75870000e-03 9.99998453e-01 4.27037929e-05 3.46797320e+00] [ 1.25290045e-02 -6.47353012e-05 9.99921507e-01 3.36363712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.199254154 meters 0.05218373072766154 Centerline is valid? [True, True] Translation: X:858.04, Y:3.48, Z:3.36 [[ 9.99873331e-01 7.02130046e-03 -1.42836672e-02 8.58037020e+02] [-7.02134077e-03 9.99975349e-01 4.73261925e-05 3.47633358e+00] [ 1.42836474e-02 5.29702974e-05 9.99897982e-01 3.36388656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.259254154 meters 0.05248312208916057 Centerline is valid? [True, True] Translation: X:858.10, Y:3.48, Z:3.36 [[ 9.99829489e-01 1.08803823e-02 -1.49201214e-02 8.58095673e+02] [-1.08808826e-02 9.99940800e-01 4.76494641e-05 3.47968201e+00] [ 1.49197566e-02 1.14702750e-04 9.99888688e-01 3.36445533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.319254154 meters 0.05261074913523871 Centerline is valid? [True, True] Translation: X:858.15, Y:3.48, Z:3.36 [[ 9.99845898e-01 9.61141654e-03 -1.46901776e-02 8.58154035e+02] [-9.61177650e-03 9.99953805e-01 4.61010162e-05 3.48125535e+00] [ 1.46899421e-02 9.51047920e-05 9.99892092e-01 3.36268783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.379254154 meters 0.05276211641616233 Centerline is valid? [True, True] Translation: X:858.21, Y:3.48, Z:3.37 [[ 9.99905988e-01 1.90217360e-04 -1.37105323e-02 8.58212773e+02] [-1.89650188e-04 9.99999981e-01 4.26676763e-05 3.47540776e+00] [ 1.37105402e-02 -4.00634600e-05 9.99906005e-01 3.36539084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.439254154 meters 0.05300975099835862 Centerline is valid? [True, True] Translation: X:858.27, Y:3.47, Z:3.36 [[ 9.99887694e-01 -5.75146929e-03 -1.38390831e-02 8.58270872e+02] [ 5.75261042e-03 9.99983453e-01 4.26506396e-05 3.47012209e+00] [ 1.38386088e-02 -1.22256703e-04 9.99904234e-01 3.36426090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.499254154 meters 0.053939030800435765 Centerline is valid? [True, True] Translation: X:858.33, Y:3.47, Z:3.37 [[ 9.99789362e-01 -1.36004848e-02 -1.53706851e-02 8.58331189e+02] [ 1.36028182e-02 9.99907476e-01 4.72692289e-05 3.46651478e+00] [ 1.53686201e-02 -2.56343908e-04 9.99881863e-01 3.36547106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.559254154 meters 0.053799165295298296 Centerline is valid? [True, True] Translation: X:858.39, Y:3.46, Z:3.37 [[ 9.99708220e-01 -1.78288856e-02 -1.62974242e-02 8.58390837e+02] [ 1.78320687e-02 9.99840995e-01 5.00035900e-05 3.46374721e+00] [ 1.62939413e-02 -3.40605788e-04 9.99867187e-01 3.36567853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.619254154 meters 0.05386340770161975 Centerline is valid? [True, True] Translation: X:858.45, Y:3.47, Z:3.37 [[ 9.99684881e-01 -1.93434448e-02 -1.59990795e-02 8.58448268e+02] [ 1.93466916e-02 9.99812834e-01 4.81704286e-05 3.46730338e+00] [ 1.59951532e-02 -3.57684506e-04 9.99872005e-01 3.36820639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.679254154 meters 0.054205314320552866 Centerline is valid? [True, True] Translation: X:858.51, Y:3.46, Z:3.37 [[ 9.99664759e-01 -2.01539896e-02 -1.62538343e-02 8.58507031e+02] [ 2.01574213e-02 9.99796817e-01 4.73186582e-05 3.46176960e+00] [ 1.62495781e-02 -3.74938181e-04 9.99867897e-01 3.36563755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters 0.054466709826114214 Centerline is valid? [True, True] Translation: X:858.56, Y:3.46, Z:3.37 [[ 9.99669940e-01 -2.02412127e-02 -1.58210048e-02 8.58564933e+02] [ 2.02444607e-02 9.99795059e-01 4.51524000e-05 3.46474740e+00] [ 1.58168485e-02 -3.65425207e-04 9.99874839e-01 3.36764094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.799254154 meters 0.05393536204393421 Centerline is valid? [True, True] Translation: X:858.62, Y:3.47, Z:3.37 [[ 9.99724981e-01 -1.91292584e-02 -1.35659230e-02 8.58622693e+02] [ 1.91315370e-02 9.99816975e-01 3.81941041e-05 3.47356461e+00] [ 1.35627094e-02 -2.97720557e-04 9.99907978e-01 3.37276713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters 0.054358850505844124 Centerline is valid? [True, True] Translation: X:858.68, Y:3.47, Z:3.37 [[ 9.99779657e-01 -1.64716498e-02 -1.30123660e-02 8.58682664e+02] [ 1.64735192e-02 9.99864302e-01 3.64853227e-05 3.46782573e+00] [ 1.30099993e-02 -2.50836745e-04 9.99915335e-01 3.36942558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.919254154 meters 0.053917754197307086 Centerline is valid? [True, True] Translation: X:858.74, Y:3.48, Z:3.37 [[ 9.99838559e-01 -1.16911962e-02 -1.36444812e-02 8.58741254e+02] [ 1.16928035e-02 9.99931636e-01 3.80224823e-05 3.47789835e+00] [ 1.36431039e-02 -1.97558581e-04 9.99906909e-01 3.37114959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters 0.0536608242626652 Centerline is valid? [True, True] Translation: X:858.80, Y:3.48, Z:3.37 [[ 9.99876920e-01 -7.06022114e-03 -1.40106317e-02 8.58800807e+02] [ 7.06145786e-03 9.99975067e-01 3.88010435e-05 3.48451897e+00] [ 1.40100084e-02 -1.37731753e-04 9.99901846e-01 3.37217064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.039254154 meters 0.05327979876276941 Centerline is valid? [True, True] Translation: X:858.86, Y:3.48, Z:3.37 [[ 9.99883498e-01 -6.07758961e-03 -1.40019174e-02 8.58859289e+02] [ 6.07871347e-03 9.99981524e-01 3.77068372e-05 3.48434983e+00] [ 1.40014295e-02 -1.22816088e-04 9.99901968e-01 3.36881593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539999 meters 0.05329843311534296 Centerline is valid? [True, True] Translation: X:858.92, Y:3.48, Z:3.37 [[ 9.99830311e-01 -1.19711263e-02 -1.40014483e-02 8.58918893e+02] [ 1.19728151e-02 9.99928323e-01 3.68001644e-05 3.48408325e+00] [ 1.40000042e-02 -2.04430672e-04 9.99901974e-01 3.37218458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.159254154 meters 0.05444748697407445 Centerline is valid? [True, True] Translation: X:858.98, Y:3.49, Z:3.37 [[ 9.99800832e-01 -1.41745533e-02 -1.40491752e-02 8.58976486e+02] [ 1.41764593e-02 9.99899508e-01 3.60843718e-05 3.48671777e+00] [ 1.40472519e-02 -2.35244746e-04 9.99901305e-01 3.37432479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539999 meters 0.0538590587398235 Centerline is valid? [True, True] Translation: X:859.03, Y:3.48, Z:3.37 [[ 9.99764238e-01 -1.65091788e-02 -1.41037428e-02 8.59034611e+02] [ 1.65113242e-02 9.99863678e-01 3.56785948e-05 3.48488030e+00] [ 1.41012311e-02 -2.68541652e-04 9.99900537e-01 3.37392765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.279254154 meters 0.05482323330590408 Centerline is valid? [True, True] Translation: X:859.10, Y:3.49, Z:3.38 [[ 9.99592382e-01 -2.42023591e-02 -1.51431551e-02 8.59095158e+02] [ 2.42057142e-02 9.99706998e-01 3.82811198e-05 3.48979756e+00] [ 1.51377916e-02 -4.04816398e-04 9.99885335e-01 3.37761142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.339254154 meters 0.054706896697563984 Centerline is valid? [True, True] Translation: X:859.15, Y:3.49, Z:3.38 [[ 9.99381297e-01 -3.12444871e-02 -1.61494805e-02 8.59154395e+02] [ 3.12492212e-02 9.99511623e-01 4.08187921e-05 3.48528952e+00] [ 1.61403181e-02 -5.45452226e-04 9.99869588e-01 3.37689340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.399254154 meters 0.055779262427899975 Centerline is valid? [True, True] Translation: X:859.21, Y:3.48, Z:3.38 [[ 9.99237306e-01 -3.53620193e-02 -1.65630360e-02 8.59214796e+02] [ 3.53675653e-02 9.99374371e-01 4.19532316e-05 3.48334473e+00] [ 1.65511901e-02 -6.27715492e-04 9.99862823e-01 3.37631771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.459254154 meters 0.055626262426866045 Centerline is valid? [True, True] Translation: X:859.27, Y:3.48, Z:3.38 [[ 9.99225626e-01 -3.61343599e-02 -1.55710162e-02 8.59272345e+02] [ 3.61393485e-02 9.99346760e-01 3.90183925e-05 3.47752716e+00] [ 1.55594346e-02 -6.01714556e-04 9.99878764e-01 3.37502807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.519254154 meters 0.05466838705001101 Centerline is valid? [True, True] Translation: X:859.33, Y:3.49, Z:3.38 [[ 9.99279096e-01 -3.50860902e-02 -1.45001486e-02 8.59331120e+02] [ 3.50902880e-02 9.99384146e-01 3.51040306e-05 3.48596651e+00] [ 1.44899869e-02 -5.43893114e-04 9.99894867e-01 3.37815835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.579254154 meters 0.05537543754833796 Centerline is valid? [True, True] Translation: X:859.39, Y:3.49, Z:3.38 [[ 9.99445479e-01 -3.03915824e-02 -1.36046800e-02 8.59391585e+02] [ 3.03948374e-02 9.99537970e-01 3.25091668e-05 3.49498779e+00] [ 1.35974062e-02 -4.46003176e-04 9.99907452e-01 3.37966213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.639254154 meters 0.05521140653548876 Centerline is valid? [True, True] Translation: X:859.45, Y:3.49, Z:3.38 [[ 9.99666769e-01 -2.20847525e-02 -1.33647004e-02 8.59450935e+02] [ 2.20871510e-02 9.99756049e-01 3.18711880e-05 3.49128503e+00] [ 1.33607362e-02 -3.27048722e-04 9.99910688e-01 3.37687064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.699254154 meters 0.054685127532217354 Centerline is valid? [True, True] Translation: X:859.51, Y:3.50, Z:3.38 [[ 9.99831581e-01 -1.21665724e-02 -1.37398818e-02 8.59510028e+02] [ 1.21681687e-02 9.99925965e-01 3.25871704e-05 3.49900909e+00] [ 1.37384681e-02 -1.99770882e-04 9.99905603e-01 3.37697503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.759254154 meters 0.054899371345315216 Centerline is valid? [True, True] Translation: X:859.57, Y:3.51, Z:3.38 [[ 9.99891775e-01 -4.64827104e-03 -1.39582240e-02 8.59569780e+02] [ 4.64918314e-03 9.99989192e-01 3.28965266e-05 3.50532192e+00] [ 1.39579202e-02 -9.77873060e-05 9.99902579e-01 3.37694568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.819254154 meters 0.054899165403877084 Centerline is valid? [True, True] Translation: X:859.63, Y:3.51, Z:3.38 [[ 9.99892350e-01 -2.24854947e-03 -1.44993846e-02 8.59628449e+02] [ 2.24926352e-03 9.99997470e-01 3.29401020e-05 3.50741323e+00] [ 1.44992739e-02 -6.55494929e-05 9.99894878e-01 3.37740653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.879254154 meters 0.054881487724343085 Centerline is valid? [True, True] Translation: X:859.69, Y:3.51, Z:3.38 [[ 9.99891595e-01 -1.84097574e-03 -1.46085071e-02 8.59685783e+02] [ 1.84164132e-03 9.99998304e-01 3.21085837e-05 3.50756129e+00] [ 1.46084232e-02 -5.90087332e-05 9.99893290e-01 3.37536608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.939254154 meters 0.05492713939889045 Centerline is valid? [True, True] Translation: X:859.74, Y:3.51, Z:3.38 [[ 9.99898629e-01 -4.46396595e-03 -1.35205276e-02 8.59743753e+02] [ 4.46476787e-03 9.99990032e-01 2.91272288e-05 3.50692905e+00] [ 1.35202628e-02 -8.94902933e-05 9.99908593e-01 3.37810419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.999254154 meters 0.054909377543428076 Centerline is valid? [True, True] Translation: X:859.80, Y:3.51, Z:3.38 [[ 9.99874370e-01 -8.06655279e-03 -1.36446004e-02 8.59802509e+02] [ 8.06769499e-03 9.99967455e-01 2.86693057e-05 3.50676487e+00] [ 1.36439251e-02 -1.38746179e-04 9.99906908e-01 3.38049799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.059254154 meters 0.05558771210302253 Centerline is valid? [True, True] Translation: X:859.86, Y:3.50, Z:3.38 [[ 9.99827148e-01 -1.07354902e-02 -1.51797034e-02 8.59861774e+02] [ 1.07372046e-02 9.99942354e-01 3.14455456e-05 3.50337066e+00] [ 1.51784908e-02 -1.94427692e-04 9.99884781e-01 3.37728306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.119254154 meters 0.05552687692061794 Centerline is valid? [True, True] Translation: X:859.92, Y:3.51, Z:3.38 [[ 9.99762273e-01 -1.34369849e-02 -1.71710348e-02 8.59920649e+02] [ 1.34395700e-02 9.99909684e-01 3.51572539e-05 3.50621258e+00] [ 1.71690116e-02 -2.65920220e-04 9.99852566e-01 3.37992093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.179254154 meters 0.05583829465064846 Centerline is valid? [True, True] Translation: X:859.98, Y:3.50, Z:3.38 [[ 9.99711393e-01 -1.68182377e-02 -1.71545432e-02 8.59980513e+02] [ 1.68213117e-02 9.99858511e-01 3.49124021e-05 3.50287394e+00] [ 1.71515288e-02 -3.23464245e-04 9.99852849e-01 3.37964651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters 0.05590119058128322 Centerline is valid? [True, True] Translation: X:860.04, Y:3.50, Z:3.38 [[ 9.99668017e-01 -1.96321115e-02 -1.66863875e-02 8.60039998e+02] [ 1.96354095e-02 9.99807206e-01 3.38196616e-05 3.50106115e+00] [ 1.66825065e-02 -3.61452487e-04 9.99860772e-01 3.38122252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.299254154 meters 0.05606201951489928 Centerline is valid? [True, True] Translation: X:860.10, Y:3.50, Z:3.38 [[ 9.99593967e-01 -2.43309550e-02 -1.48292569e-02 8.60099078e+02] [ 2.43340731e-02 9.99703882e-01 2.98416011e-05 3.50400527e+00] [ 1.48241396e-02 -3.90685707e-04 9.99890040e-01 3.38438864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters 0.05678343376326313 Centerline is valid? [True, True] Translation: X:860.16, Y:3.50, Z:3.38 [[ 9.99506521e-01 -2.80506036e-02 -1.41378112e-02 8.60158578e+02] [ 2.80538074e-02 9.99606414e-01 2.83067318e-05 3.49954941e+00] [ 1.41314527e-02 -4.24912197e-04 9.99900056e-01 3.38329955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.419254154 meters 0.056070472884280256 Centerline is valid? [True, True] Translation: X:860.22, Y:3.51, Z:3.39 [[ 9.99508523e-01 -2.81046031e-02 -1.38868162e-02 8.60216609e+02] [ 2.81076825e-02 9.99604901e-01 2.65865354e-05 3.50615939e+00] [ 1.38805824e-02 -4.16899690e-04 9.99903573e-01 3.38524520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters 0.05664771847331363 Centerline is valid? [True, True] Translation: X:860.28, Y:3.51, Z:3.39 [[ 9.99658820e-01 -2.19164980e-02 -1.42095164e-02 8.60276220e+02] [ 2.19190888e-02 9.99759748e-01 2.65972571e-05 3.51277181e+00] [ 1.42055196e-02 -3.38047835e-04 9.99899039e-01 3.38593076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.539254154 meters 0.05700188579757708 Centerline is valid? [True, True] Translation: X:860.34, Y:3.52, Z:3.38 [[ 9.99816297e-01 -1.26008876e-02 -1.44426118e-02 8.60336444e+02] [ 1.26025924e-02 9.99920584e-01 2.70295455e-05 3.51673721e+00] [ 1.44411243e-02 -2.09038930e-04 9.99895700e-01 3.38469802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539999 meters 0.05608405735831595 Centerline is valid? [True, True] Translation: X:860.40, Y:3.52, Z:3.38 [[ 9.99892035e-01 -4.10745796e-03 -1.41083803e-02 8.60395233e+02] [ 4.10823711e-03 9.99991561e-01 2.62448624e-05 3.52271652e+00] [ 1.41081535e-02 -8.42026006e-05 9.99900471e-01 3.38341035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.659254154 meters 0.056694717248500455 Centerline is valid? [True, True] Translation: X:860.45, Y:3.53, Z:3.38 [[ 9.99912368e-01 -1.23801907e-03 -1.31804050e-02 8.60454491e+02] [ 1.23844688e-03 9.99999233e-01 2.42960154e-05 3.52513036e+00] [ 1.31803648e-02 -4.06171176e-05 9.99913134e-01 3.38436323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539999 meters 0.055832090318813296 Centerline is valid? [True, True] Translation: X:860.51, Y:3.53, Z:3.39 [[ 9.99919968e-01 -8.40656317e-05 -1.26511167e-02 8.60511997e+02] [ 8.43618478e-05 9.99999996e-01 2.28804816e-05 3.52693408e+00] [ 1.26511148e-02 -2.39459220e-05 9.99919971e-01 3.38595988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.779254154 meters 0.05556410087597272 Centerline is valid? [True, True] Translation: X:860.57, Y:3.53, Z:3.38 [[ 9.99924889e-01 -4.82201496e-04 -1.22468240e-02 8.60569732e+02] [ 4.82499157e-04 9.99999883e-01 2.13504142e-05 3.52780766e+00] [ 1.22468123e-02 -2.72578928e-05 9.99925005e-01 3.38495413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.839254154 meters 0.056043426279880085 Centerline is valid? [True, True] Translation: X:860.63, Y:3.53, Z:3.38 [[ 9.99920708e-01 -1.03993696e-03 -1.25497931e-02 8.60627735e+02] [ 1.04028627e-03 9.99999459e-01 2.13053577e-05 3.52799776e+00] [ 1.25497642e-02 -3.43590458e-05 9.99921248e-01 3.38285760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.899254154 meters 0.05567759409189322 Centerline is valid? [True, True] Translation: X:860.69, Y:3.53, Z:3.39 [[ 9.99912191e-01 -1.97390397e-03 -1.31039530e-02 8.60686490e+02] [ 1.97435972e-03 9.99998051e-01 2.18424714e-05 3.52832469e+00] [ 1.31038843e-02 -4.77124703e-05 9.99914139e-01 3.38567615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.959254154 meters 0.055936728144413375 Centerline is valid? [True, True] Translation: X:860.74, Y:3.53, Z:3.38 [[ 9.99904061e-01 -3.86418059e-03 -1.33017474e-02 8.60744930e+02] [ 3.86480805e-03 9.99992531e-01 2.14659729e-05 3.52537372e+00] [ 1.33015651e-02 -7.28726139e-05 9.99911528e-01 3.38348938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.019254154 meters 0.05586432063531331 Centerline is valid? [True, True] Translation: X:860.80, Y:3.52, Z:3.39 [[ 9.99884534e-01 -5.34293122e-03 -1.42257651e-02 8.60803756e+02] [ 5.34378994e-03 9.99985722e-01 2.23529430e-05 3.52401693e+00] [ 1.42254425e-02 -9.83698625e-05 9.99898808e-01 3.38503938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.079254154 meters 0.056223704025269224 Centerline is valid? [True, True] Translation: X:860.86, Y:3.52, Z:3.38 [[ 9.99874881e-01 -6.01989385e-03 -1.46281437e-02 8.60861816e+02] [ 6.02086714e-03 9.99981874e-01 2.24960421e-05 3.52127847e+00] [ 1.46277431e-02 -1.10567337e-04 9.99893003e-01 3.38328123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.139254154 meters 0.05596790605997452 Centerline is valid? [True, True] Translation: X:860.92, Y:3.52, Z:3.38 [[ 9.99871887e-01 -6.10747719e-03 -1.47955407e-02 8.60920107e+02] [ 6.10845938e-03 9.99981343e-01 2.11935475e-05 3.51998239e+00] [ 1.47951352e-02 -1.11568792e-04 9.99890540e-01 3.38459209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.199254154 meters 0.05629145024966134 Centerline is valid? [True, True] Translation: X:860.98, Y:3.52, Z:3.39 [[ 9.99876849e-01 -6.01504690e-03 -1.44950414e-02 8.60978118e+02] [ 6.01596634e-03 9.99981904e-01 1.98287291e-05 3.51967576e+00] [ 1.44946599e-02 -1.07027969e-04 9.99894941e-01 3.38694846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.259254154 meters 0.05527156422598859 Centerline is valid? [True, True] Translation: X:861.04, Y:3.52, Z:3.39 [[ 9.99886645e-01 -5.02016120e-03 -1.41949354e-02 8.61037005e+02] [ 5.02092591e-03 9.99987395e-01 1.82345948e-05 3.51651199e+00] [ 1.41946649e-02 -8.95042469e-05 9.99899247e-01 3.38888630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.319254154 meters 0.05579208277361275 Centerline is valid? [True, True] Translation: X:861.10, Y:3.52, Z:3.39 [[ 9.99895679e-01 -3.35485196e-03 -1.40490628e-02 8.61096380e+02] [ 3.35542898e-03 9.99994370e-01 1.74997802e-05 3.51500516e+00] [ 1.40489250e-02 -6.46385868e-05 9.99901307e-01 3.38663910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.379254154 meters 0.055179497893790626 Centerline is valid? [True, True] Translation: X:861.15, Y:3.52, Z:3.39 [[ 9.99900580e-01 1.42463049e-04 -1.40999720e-02 8.61153793e+02] [-1.42235943e-04 9.99999990e-01 1.71095116e-05 3.51529739e+00] [ 1.40999743e-02 -1.51022878e-05 9.99900590e-01 3.38594979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.439254154 meters 0.05539987685313826 Centerline is valid? [True, True] Translation: X:861.21, Y:3.51, Z:3.39 [[ 9.99898763e-01 1.18814122e-03 -1.41792920e-02 8.61212068e+02] [-1.18803081e-03 9.99999294e-01 1.62096944e-05 3.51432186e+00] [ 1.41793013e-02 6.37382468e-07 9.99899469e-01 3.38914463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.499254154 meters 0.05483272142998268 Centerline is valid? [True, True] Translation: X:861.27, Y:3.51, Z:3.39 [[ 9.99898396e-01 2.52844143e-03 -1.40287271e-02 8.61269014e+02] [-2.52848849e-03 9.99996803e-01 1.43816447e-05 3.51257817e+00] [ 1.40287186e-02 2.10912915e-05 9.99901592e-01 3.38694730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.559254154 meters 0.05586358779076393 Centerline is valid? [True, True] Translation: X:861.33, Y:3.51, Z:3.39 [[ 9.99902080e-01 4.01335601e-03 -1.34061273e-02 8.61327310e+02] [-4.01354415e-03 9.99991946e-01 1.28706052e-05 3.50935324e+00] [ 1.34060710e-02 4.09367389e-05 9.99910134e-01 3.39282913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.619254154 meters 0.05521409873486441 Centerline is valid? [True, True] Translation: X:861.39, Y:3.51, Z:3.39 [[ 9.99911126e-01 4.97045962e-03 -1.23707025e-02 8.61386279e+02] [-4.97070507e-03 9.99987646e-01 1.09053058e-05 3.50589261e+00] [ 1.23706039e-02 5.05867771e-05 9.99923480e-01 3.39392307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.679254154 meters 0.05489986449623932 Centerline is valid? [True, True] Translation: X:861.44, Y:3.50, Z:3.39 [[ 9.99901708e-01 6.09418993e-03 -1.26267740e-02 8.61444362e+02] [-6.09455101e-03 9.99981428e-01 9.88259292e-06 3.50440796e+00] [ 1.26265997e-02 6.70728965e-05 9.99920279e-01 3.39192721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters 0.05414410945203777 Centerline is valid? [True, True] Translation: X:861.50, Y:3.50, Z:3.39 [[ 9.99899487e-01 6.94656943e-03 -1.23596698e-02 8.61502931e+02] [-6.94699534e-03 9.99975869e-01 8.47339920e-06 3.50088761e+00] [ 1.23594304e-02 7.73900206e-05 9.99923616e-01 3.39224541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.799254154 meters 0.0546156294821184 Centerline is valid? [True, True] Translation: X:861.56, Y:3.50, Z:3.39 [[ 9.99888810e-01 7.61255530e-03 -1.28224904e-02 8.61561735e+02] [-7.61308447e-03 9.99971020e-01 7.54231509e-06 3.49684811e+00] [ 1.28221762e-02 9.00772262e-05 9.99917788e-01 3.39357215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters 0.053675212067643564 Centerline is valid? [True, True] Translation: X:861.62, Y:3.49, Z:3.39 [[ 9.99896748e-01 6.97304886e-03 -1.25646265e-02 8.61619502e+02] [-6.97351511e-03 9.99975685e-01 6.70388887e-06 3.49361383e+00] [ 1.25643678e-02 8.09164163e-05 9.99921062e-01 3.39245754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.919254154 meters 0.05371059254139429 Centerline is valid? [True, True] Translation: X:861.68, Y:3.49, Z:3.39 [[ 9.99924673e-01 5.18868438e-03 -1.11232297e-02 8.61677977e+02] [-5.18894255e-03 9.99986537e-01 5.64919730e-06 3.48953460e+00] [ 1.11231093e-02 5.20690281e-05 9.99938135e-01 3.39419448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters 0.053870985452024886 Centerline is valid? [True, True] Translation: X:861.74, Y:3.48, Z:3.39 [[ 9.99939822e-01 2.32433278e-03 -1.07214976e-02 8.61735377e+02] [-2.32441101e-03 9.99997299e-01 5.16383957e-06 3.48483473e+00] [ 1.07214806e-02 1.97576382e-05 9.99942523e-01 3.39343606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.039254154 meters 0.05384019848108731 Centerline is valid? [True, True] Translation: X:861.79, Y:3.48, Z:3.39 [[ 9.99941353e-01 5.30989912e-04 -1.08170748e-02 8.61793936e+02] [-5.30968076e-04 9.99999859e-01 4.89039386e-06 3.47971898e+00] [ 1.08170759e-02 8.53414354e-07 9.99941494e-01 3.39359790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539999 meters 0.05387664436119754 Centerline is valid? [True, True] Translation: X:861.85, Y:3.48, Z:3.39 [[ 9.99941495e-01 -7.49490791e-05 -1.08167177e-02 8.61851875e+02] [ 7.50023607e-05 9.99999997e-01 4.52009587e-06 3.47540613e+00] [ 1.08167174e-02 -5.33111076e-06 9.99941498e-01 3.39429277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.159254154 meters 0.05370181641649674 Centerline is valid? [True, True] Translation: X:861.91, Y:3.47, Z:3.40 [[ 9.99943721e-01 -6.53621035e-04 -1.05890213e-02 8.61910037e+02] [ 6.53700260e-04 9.99999786e-01 4.02059218e-06 3.47144684e+00] [ 1.05890165e-02 -1.09424119e-05 9.99943935e-01 3.39516903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539999 meters 0.05367911785679096 Centerline is valid? [True, True] Translation: X:861.97, Y:3.47, Z:3.39 [[ 9.99944754e-01 -4.05765468e-03 -9.69657278e-03 8.61967573e+02] [ 4.05787757e-03 9.99991767e-01 3.31258657e-06 3.46523758e+00] [ 9.69647950e-03 -4.26599088e-05 9.99952987e-01 3.39416995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.279254154 meters 0.05328967180863953 Centerline is valid? [True, True] Translation: X:862.03, Y:3.46, Z:3.39 [[ 9.99913586e-01 -9.28231672e-03 -9.30905905e-03 8.62026117e+02] [ 9.28274602e-03 9.99956914e-01 2.90837178e-06 3.45863582e+00] [ 9.30863097e-03 -8.93217513e-05 9.99956670e-01 3.39456972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.339254154 meters 0.053529381373994524 Centerline is valid? [True, True] Translation: X:862.09, Y:3.46, Z:3.40 [[ 9.99872003e-01 -1.34622162e-02 -8.64555398e-03 8.62085839e+02] [ 1.34627414e-02 9.99909373e-01 2.54506663e-06 3.45737275e+00] [ 8.64473620e-03 -1.18937598e-04 9.99962626e-01 3.39626806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.399254154 meters 0.05343452351980291 Centerline is valid? [True, True] Translation: X:862.14, Y:3.45, Z:3.39 [[ 9.99846017e-01 -1.48956204e-02 -9.27700102e-03 8.62143727e+02] [ 1.48962847e-02 9.99889044e-01 2.51037851e-06 3.44892243e+00] [ 9.27593429e-03 -1.40702840e-04 9.99956968e-01 3.39409261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.459254154 meters 0.05267699865541947 Centerline is valid? [True, True] Translation: X:862.20, Y:3.45, Z:3.39 [[ 9.99839676e-01 -1.43158074e-02 -1.07554634e-02 8.62201958e+02] [ 1.43166570e-02 9.99897511e-01 1.99211977e-06 3.44879614e+00] [ 1.07543326e-02 -1.55974081e-04 9.99942158e-01 3.39374650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.519254154 meters 0.05333800656525173 Centerline is valid? [True, True] Translation: X:862.26, Y:3.45, Z:3.39 [[ 9.99832798e-01 -1.37070965e-02 -1.21033466e-02 8.62259804e+02] [ 1.37081136e-02 9.99906039e-01 1.07771702e-06 3.44518005e+00] [ 1.21021946e-02 -1.66991587e-04 9.99926752e-01 3.39224584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.579254154 meters 0.053255712223752485 Centerline is valid? [True, True] Translation: X:862.32, Y:3.44, Z:3.39 [[ 9.99833833e-01 -1.33179249e-02 -1.24475016e-02 8.62316851e+02] [ 1.33189572e-02 9.99911299e-01 3.74913153e-08 3.44166456e+00] [ 1.24463970e-02 -1.65825226e-04 9.99922527e-01 3.39117223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.639254154 meters 0.0532641306303371 Centerline is valid? [True, True] Translation: X:862.38, Y:3.44, Z:3.39 [[ 9.99838391e-01 -1.28152889e-02 -1.26079625e-02 8.62375164e+02] [ 1.28162993e-02 9.99917868e-01 -6.52563163e-07 3.43730126e+00] [ 1.26069354e-02 -1.60934964e-04 9.99920516e-01 3.39050932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.699254154 meters 0.05241449671197374 Centerline is valid? [True, True] Translation: X:862.43, Y:3.44, Z:3.39 [[ 9.99843312e-01 -1.28451439e-02 -1.21800874e-02 8.62433528e+02] [ 1.28460740e-02 9.99917486e-01 -1.87438914e-06 3.44067676e+00] [ 1.21791065e-02 -1.54592209e-04 9.99925820e-01 3.39392324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.759254154 meters 0.05297057425211107 Centerline is valid? [True, True] Translation: X:862.49, Y:3.44, Z:3.39 [[ 9.99880337e-01 -1.05732736e-02 -1.12923644e-02 8.62492665e+02] [ 1.05739137e-02 9.99944095e-01 -3.02107902e-06 3.43909839e+00] [ 1.12917650e-02 -1.16383769e-04 9.99936239e-01 3.39375036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.819254154 meters 0.05261099995630351 Centerline is valid? [True, True] Translation: X:862.55, Y:3.44, Z:3.39 [[ 9.99920056e-01 -5.63387717e-03 -1.13199422e-02 8.62550390e+02] [ 5.63419555e-03 9.99984128e-01 -3.76512704e-06 3.43839672e+00] [ 1.13197838e-02 -6.00139421e-05 9.99935927e-01 3.39210290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.879254154 meters 0.05201032937573756 Centerline is valid? [True, True] Translation: X:862.61, Y:3.44, Z:3.39 [[ 9.99932982e-01 5.17070551e-04 -1.15656607e-02 8.62609757e+02] [-5.17160617e-04 9.99999866e-01 -4.79663055e-06 3.44114685e+00] [ 1.15656566e-02 1.07776133e-05 9.99933115e-01 3.39239602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.939254154 meters 0.05258129609729275 Centerline is valid? [True, True] Translation: X:862.67, Y:3.44, Z:3.39 [[ 9.99925200e-01 1.94044026e-03 -1.20759742e-02 8.62668648e+02] [-1.94065812e-03 9.99998117e-01 -6.32256197e-06 3.44175597e+00] [ 1.20759392e-02 2.97574264e-05 9.99927083e-01 3.39199223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.999254154 meters 0.052081947105516044 Centerline is valid? [True, True] Translation: X:862.73, Y:3.44, Z:3.39 [[ 9.99898672e-01 4.95950610e-03 -1.33435167e-02 8.62727320e+02] [-4.96006138e-03 9.99987699e-01 -8.52067486e-06 3.44048143e+00] [ 1.33433103e-02 7.47044736e-05 9.99910971e-01 3.39271222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.059254154 meters 0.05215178910173354 Centerline is valid? [True, True] Translation: X:862.79, Y:3.44, Z:3.39 [[ 9.99907037e-01 4.57718747e-03 -1.28439791e-02 8.62785008e+02] [-4.57768042e-03 9.99989522e-01 -8.98108160e-06 3.43785959e+00] [ 1.28438035e-02 6.77758786e-05 9.99917513e-01 3.39292998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.119254154 meters 0.051796052057476734 Centerline is valid? [True, True] Translation: X:862.84, Y:3.43, Z:3.39 [[ 9.99939048e-01 1.04186323e-03 -1.09916009e-02 8.62843320e+02] [-1.04201451e-03 9.99999457e-01 -8.03686643e-06 3.43317913e+00] [ 1.09915865e-02 1.94897842e-05 9.99939590e-01 3.39428427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.179254154 meters 0.05185049224953415 Centerline is valid? [True, True] Translation: X:862.90, Y:3.43, Z:3.39 [[ 9.99929169e-01 -3.76790945e-03 -1.12897827e-02 8.62901740e+02] [ 3.76805250e-03 9.99992901e-01 -8.60030261e-06 3.42810356e+00] [ 1.12897349e-02 -3.39408003e-05 9.99936268e-01 3.39451000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters 0.05230663943518407 Centerline is valid? [True, True] Translation: X:862.96, Y:3.42, Z:3.39 [[ 9.99894164e-01 -7.24572456e-03 -1.26158983e-02 8.62960089e+02] [ 7.24617490e-03 9.99973746e-01 -1.00146748e-05 3.42230730e+00] [ 1.26156396e-02 -8.14033904e-05 9.99920416e-01 3.39185327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.299254154 meters 0.05200446635292319 Centerline is valid? [True, True] Translation: X:863.02, Y:3.42, Z:3.39 [[ 9.99872869e-01 -9.83089825e-03 -1.25538428e-02 8.63019348e+02] [ 9.83154276e-03 9.99951669e-01 -1.03750723e-05 3.42057159e+00] [ 1.25533381e-02 -1.13049889e-04 9.99921197e-01 3.39387629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters 0.05252326676967317 Centerline is valid? [True, True] Translation: X:863.08, Y:3.42, Z:3.40 [[ 9.99852646e-01 -1.19240322e-02 -1.23492672e-02 8.63078385e+02] [ 1.19248103e-02 9.99928897e-01 -1.06202947e-05 3.42023418e+00] [ 1.23485157e-02 -1.36643939e-04 9.99923745e-01 3.39615079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.419254154 meters 0.05228377210903351 Centerline is valid? [True, True] Translation: X:863.14, Y:3.42, Z:3.40 [[ 9.99802487e-01 -1.60742592e-02 -1.16877940e-02 8.63136530e+02] [ 1.60752349e-02 9.99870785e-01 -1.04652318e-05 3.41575536e+00] [ 1.16864519e-02 -1.77420868e-04 9.99931695e-01 3.39695792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters 0.05332497836269062 Centerline is valid? [True, True] Translation: X:863.20, Y:3.41, Z:3.40 [[ 9.99710728e-01 -2.14020880e-02 -1.09732170e-02 8.63195807e+02] [ 2.14032663e-02 9.99770924e-01 -1.00614283e-05 3.40897045e+00] [ 1.09709186e-02 -2.24804167e-04 9.99939792e-01 3.39750763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.539254154 meters 0.05250358265422201 Centerline is valid? [True, True] Translation: X:863.26, Y:3.41, Z:3.40 [[ 9.99632480e-01 -2.52246112e-02 -9.93091244e-03 8.63255976e+02] [ 2.52257638e-02 9.99681780e-01 -9.19742623e-06 3.40893687e+00] [ 9.92798422e-03 -2.41320806e-04 9.99950687e-01 3.39897598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539999 meters 0.05299668387248355 Centerline is valid? [True, True] Translation: X:863.32, Y:3.41, Z:3.40 [[ 9.99596409e-01 -2.66271630e-02 -9.90020926e-03 8.63315122e+02] [ 2.66283758e-02 9.99645402e-01 -9.32008062e-06 3.40915213e+00] [ 9.89694684e-03 -2.54310174e-04 9.99950992e-01 3.40030682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.659254154 meters 0.053139424363250906 Centerline is valid? [True, True] Translation: X:863.38, Y:3.41, Z:3.40 [[ 9.99645884e-01 -2.44536258e-02 -1.04941286e-02 8.63375078e+02] [ 2.44548655e-02 9.99700935e-01 -1.01971072e-05 3.41327937e+00] [ 1.04912395e-02 -2.46439007e-04 9.99944935e-01 3.40014320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539999 meters 0.053264313247895406 Centerline is valid? [True, True] Translation: X:863.44, Y:3.42, Z:3.40 [[ 9.99767579e-01 -1.85588948e-02 -1.09706764e-02 8.63435898e+02] [ 1.85598928e-02 9.99827750e-01 -1.08436521e-05 3.42092111e+00] [ 1.09689879e-02 -1.92773445e-04 9.99939820e-01 3.39996303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.779254154 meters 0.05342848530741458 Centerline is valid? [True, True] Translation: X:863.50, Y:3.42, Z:3.40 [[ 9.99849553e-01 -1.37565569e-02 -1.05654014e-02 8.63495434e+02] [ 1.37572136e-02 9.99905365e-01 -1.05210718e-05 3.42493323e+00] [ 1.05645463e-02 -1.34830995e-04 9.99944185e-01 3.40033257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.839254154 meters 0.05263349019022708 Centerline is valid? [True, True] Translation: X:863.55, Y:3.43, Z:3.40 [[ 9.99940527e-01 -3.42672116e-03 -1.03537927e-02 8.63553992e+02] [ 3.42679602e-03 9.99994128e-01 -1.05107006e-05 3.43058479e+00] [ 1.03537679e-02 -2.49702601e-05 9.99946398e-01 3.39843386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.899254154 meters 0.05226575499558324 Centerline is valid? [True, True] Translation: X:863.61, Y:3.44, Z:3.40 [[ 9.99945004e-01 1.12539190e-03 -1.04270573e-02 8.63612160e+02] [-1.12557281e-03 9.99999367e-01 -1.14817667e-05 3.43680448e+00] [ 1.04270377e-02 2.32175474e-05 9.99945637e-01 3.39887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.959254154 meters 0.0520650033567554 Centerline is valid? [True, True] Translation: X:863.67, Y:3.44, Z:3.40 [[ 9.99928543e-01 5.82791407e-03 -1.04376639e-02 8.63671389e+02] [-5.82836404e-03 9.99983015e-01 -1.26925039e-05 3.44183223e+00] [ 1.04374127e-02 7.35261022e-05 9.99945526e-01 3.40025342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.019254154 meters 0.05213924368143929 Centerline is valid? [True, True] Translation: X:863.73, Y:3.45, Z:3.40 [[ 9.99918949e-01 8.04962897e-03 -9.86405646e-03 8.63729542e+02] [-8.05014526e-03 9.99967597e-01 -1.26363509e-05 3.44728190e+00] [ 9.86363512e-03 9.20424140e-05 9.99951349e-01 3.39927403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.079254154 meters 0.052457277933358075 Centerline is valid? [True, True] Translation: X:863.79, Y:3.45, Z:3.40 [[ 9.99905856e-01 9.31613923e-03 -1.00741599e-02 8.63787981e+02] [-9.31675013e-03 9.99956598e-01 -1.37111140e-05 3.45143376e+00] [ 1.00735950e-02 1.07568254e-04 9.99949254e-01 3.39854010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.139254154 meters 0.05280786270762699 Centerline is valid? [True, True] Translation: X:863.85, Y:3.45, Z:3.40 [[ 9.99902000e-01 8.73759150e-03 -1.09382600e-02 8.63846493e+02] [-8.73828435e-03 9.99961820e-01 -1.55507631e-05 3.45203975e+00] [ 1.09377065e-02 1.11130865e-04 9.99940175e-01 3.39761500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.199254154 meters 0.0528002415135396 Centerline is valid? [True, True] Translation: X:863.91, Y:3.45, Z:3.40 [[ 9.99898922e-01 7.35918518e-03 -1.21650162e-02 8.63905491e+02] [-7.35994479e-03 9.99972915e-01 -1.76746856e-05 3.45025473e+00] [ 1.21645567e-02 1.07206747e-04 9.99926003e-01 3.39744116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.259254154 meters 0.05281145715632359 Centerline is valid? [True, True] Translation: X:863.96, Y:3.45, Z:3.40 [[ 9.99917008e-01 3.77478628e-03 -1.23177953e-02 8.63964133e+02] [-3.77529783e-03 9.99992873e-01 -1.82769737e-05 3.44598313e+00] [ 1.23176385e-02 6.47788028e-05 9.99924133e-01 3.39835750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.319254154 meters 0.052585826137527755 Centerline is valid? [True, True] Translation: X:864.02, Y:3.44, Z:3.40 [[ 9.99925188e-01 -2.76103095e-04 -1.22287322e-02 8.64022411e+02] [ 2.75896316e-04 9.99999962e-01 -1.85964260e-05 3.44267578e+00] [ 1.22287369e-02 1.52211726e-05 9.99925226e-01 3.39783021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.379254154 meters 0.053286904757980647 Centerline is valid? [True, True] Translation: X:864.08, Y:3.44, Z:3.40 [[ 9.99909135e-01 -5.16834346e-03 -1.24503023e-02 8.64081060e+02] [ 5.16850373e-03 9.99986643e-01 -1.93036253e-05 3.43860954e+00] [ 1.24502358e-02 -4.50475627e-05 9.99922492e-01 3.40038992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.439254154 meters 0.05353110921922527 Centerline is valid? [True, True] Translation: X:864.14, Y:3.44, Z:3.40 [[ 9.99885613e-01 -9.89194829e-03 -1.14415655e-02 8.64138343e+02] [ 9.89238805e-03 9.99951069e-01 -1.81593124e-05 3.43505027e+00] [ 1.14411852e-02 -9.50271702e-05 9.99934543e-01 3.40184776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.499254154 meters 0.05409087687017707 Centerline is valid? [True, True] Translation: X:864.20, Y:3.43, Z:3.40 [[ 9.99837613e-01 -1.49523924e-02 -1.00585039e-02 8.64197597e+02] [ 1.49529855e-02 9.99888198e-01 -1.62444031e-05 3.43241563e+00] [ 1.00576222e-02 -1.34162898e-04 9.99949412e-01 3.40371185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.559254154 meters 0.053888035301324556 Centerline is valid? [True, True] Translation: X:864.26, Y:3.43, Z:3.40 [[ 9.99731166e-01 -2.08978097e-02 -1.00437874e-02 8.64257935e+02] [ 2.08987001e-02 9.99781598e-01 -1.63018801e-05 3.43228961e+00] [ 1.00419345e-02 -1.93604603e-04 9.99949560e-01 3.40443877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.619254154 meters 0.05476031668646657 Centerline is valid? [True, True] Translation: X:864.32, Y:3.43, Z:3.40 [[ 9.99583838e-01 -2.68799052e-02 -1.04700743e-02 8.64317036e+02] [ 2.68811997e-02 9.99638635e-01 -1.70874782e-05 3.42792263e+00] [ 1.04667501e-02 -2.64367793e-04 9.99945187e-01 3.40376490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.679254154 meters 0.05520471248851764 Centerline is valid? [True, True] Translation: X:864.38, Y:3.43, Z:3.40 [[ 9.99495189e-01 -2.99611960e-02 -1.05685429e-02 8.64377072e+02] [ 2.99626866e-02 9.99551018e-01 -1.73057102e-05 3.42701022e+00] [ 1.05643163e-02 -2.99364964e-04 9.99944151e-01 3.40384082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters 0.053556746187137336 Centerline is valid? [True, True] Translation: X:864.44, Y:3.43, Z:3.41 [[ 9.99469054e-01 -3.13929846e-02 -8.72300360e-03 8.64435858e+02] [ 3.13940504e-02 9.99507085e-01 -1.47543097e-05 3.43215739e+00] [ 8.71916708e-03 -2.59103938e-04 9.99961954e-01 3.40558566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.799254154 meters 0.054202008664081786 Centerline is valid? [True, True] Translation: X:864.50, Y:3.43, Z:3.41 [[ 9.99587807e-01 -2.75605431e-02 -8.03944050e-03 8.64496452e+02] [ 2.75613218e-02 9.99620115e-01 -1.39323331e-05 3.43389686e+00] [ 8.03677042e-03 -2.07651016e-04 9.99967683e-01 3.40513187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters 0.0537200900636671 Centerline is valid? [True, True] Translation: X:864.56, Y:3.44, Z:3.40 [[ 9.99723737e-01 -2.18746438e-02 -8.59938345e-03 8.64556573e+02] [ 2.18753247e-02 9.99760706e-01 -1.48843442e-05 3.44055652e+00] [ 8.59765126e-03 -1.73234073e-04 9.99963024e-01 3.40457847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.919254154 meters 0.0537867248149833 Centerline is valid? [True, True] Translation: X:864.62, Y:3.44, Z:3.40 [[ 9.99853313e-01 -1.43388310e-02 -9.36756438e-03 8.64615701e+02] [ 1.43393078e-02 9.99897187e-01 -1.62672212e-05 3.44335085e+00] [ 9.36683452e-03 -1.18059554e-04 9.99956123e-01 3.40278996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters 0.05371149071113647 Centerline is valid? [True, True] Translation: X:864.68, Y:3.46, Z:3.40 [[ 9.99951717e-01 -1.14906724e-03 -9.75926730e-03 8.64675206e+02] [ 1.14895503e-03 9.99999340e-01 -1.71045497e-05 3.45501744e+00] [ 9.75928051e-03 5.89076453e-06 9.99952377e-01 3.40251702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.039254154 meters 0.05354598364753665 Centerline is valid? [True, True] Translation: X:864.73, Y:3.46, Z:3.40 [[ 9.99945404e-01 2.89390370e-03 -1.00406055e-02 8.64732652e+02] [-2.89423095e-03 9.99995812e-01 -1.80626316e-05 3.45988275e+00] [ 1.00405112e-02 4.71214767e-05 9.99949592e-01 3.40200286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539999 meters 0.05383551928802167 Centerline is valid? [True, True] Translation: X:864.79, Y:3.46, Z:3.41 [[ 9.99954104e-01 3.48256784e-03 -8.92532617e-03 8.64791039e+02] [-3.48285731e-03 9.99993935e-01 -1.68892513e-05 3.46073663e+00] [ 8.92521322e-03 4.79741136e-05 9.99960168e-01 3.40534786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.159254154 meters 0.053630060955897646 Centerline is valid? [True, True] Translation: X:864.85, Y:3.46, Z:3.40 [[ 9.99969710e-01 -1.81148654e-03 -7.56951805e-03 8.64849966e+02] [ 1.81142625e-03 9.99998359e-01 -1.48216688e-05 3.46099219e+00] [ 7.56953247e-03 1.10959620e-06 9.99971351e-01 3.40492768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539999 meters 0.053767841900990695 Centerline is valid? [True, True] Translation: X:864.91, Y:3.46, Z:3.40 [[ 9.99912479e-01 -1.09644505e-02 -7.40369281e-03 8.64908711e+02] [ 1.09646424e-02 9.99939886e-01 -1.46698278e-05 3.45887155e+00] [ 7.40340859e-03 -6.65103002e-05 9.99972592e-01 3.40482720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.279254154 meters 0.054271502607909715 Centerline is valid? [True, True] Translation: X:864.97, Y:3.45, Z:3.40 [[ 9.99752100e-01 -2.02851695e-02 -9.17880452e-03 8.64969519e+02] [ 2.02858565e-02 9.99794221e-01 -1.82623346e-05 3.45390120e+00] [ 9.17728616e-03 -1.67942103e-04 9.99957874e-01 3.40323111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.339254154 meters 0.054346799092921186 Centerline is valid? [True, True] Translation: X:865.03, Y:3.46, Z:3.40 [[ 9.99623594e-01 -2.54596401e-02 -1.02213944e-02 8.65029371e+02] [ 2.54607621e-02 9.99675822e-01 -2.03540842e-05 3.45792477e+00] [ 1.02185990e-02 -2.39898068e-04 9.99947760e-01 3.40424681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.399254154 meters 0.05500385816730505 Centerline is valid? [True, True] Translation: X:865.09, Y:3.46, Z:3.40 [[ 9.99434914e-01 -3.14881605e-02 -1.17621584e-02 8.65089032e+02] [ 3.14900624e-02 9.99504065e-01 -2.35210938e-05 3.45641872e+00] [ 1.17570657e-02 -3.46883298e-04 9.99930823e-01 3.40229182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.459254154 meters 0.05476368469983711 Centerline is valid? [True, True] Translation: X:865.15, Y:3.47, Z:3.40 [[ 9.99247330e-01 -3.71339087e-02 -1.12181170e-02 8.65148974e+02] [ 3.71359934e-02 9.99310221e-01 -2.24903485e-05 3.46553862e+00] [ 1.12112141e-02 -3.94122497e-04 9.99937075e-01 3.40472528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.519254154 meters 0.05620586854598282 Centerline is valid? [True, True] Translation: X:865.21, Y:3.46, Z:3.41 [[ 9.99021863e-01 -4.32629210e-02 -9.14533147e-03 8.65207755e+02] [ 4.32645619e-02 9.99063650e-01 -1.84256105e-05 3.46351946e+00] [ 9.13756539e-03 -3.77261172e-04 9.99958180e-01 3.40537428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.579254154 meters 0.059869266243755125 Centerline is valid? [True, True] Translation: X:865.27, Y:3.44, Z:3.41 [[ 9.98883394e-01 -4.66013784e-02 -7.76376178e-03 8.65267265e+02] [ 4.66026613e-02 9.98913506e-01 -1.56949094e-05 3.44369293e+00] [ 7.75605790e-03 -3.46134576e-04 9.99969861e-01 3.40546467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.639254154 meters 0.05688124074736927 Centerline is valid? [True, True] Translation: X:865.33, Y:3.46, Z:3.41 [[ 9.98997463e-01 -4.42497456e-02 -6.78439803e-03 8.65327663e+02] [ 4.42506712e-02 9.99020459e-01 -1.37021991e-05 3.46138456e+00] [ 6.77835876e-03 -2.86525704e-04 9.99976986e-01 3.40703591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.699254154 meters 0.05576689275476378 Centerline is valid? [True, True] Translation: X:865.39, Y:3.48, Z:3.41 [[ 9.99292594e-01 -3.70570470e-02 -6.40984215e-03 8.65388346e+02] [ 3.70577252e-02 9.99313127e-01 -1.29662981e-05 3.47562904e+00] [ 6.40591989e-03 -2.24577043e-04 9.99979457e-01 3.40682606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.759254154 meters 0.055796666146164915 Centerline is valid? [True, True] Translation: X:865.45, Y:3.48, Z:3.41 [[ 9.99603847e-01 -2.71657184e-02 -7.36023335e-03 8.65448917e+02] [ 2.71663443e-02 9.99630927e-01 -1.49470744e-05 3.48286205e+00] [ 7.35792294e-03 -1.85009481e-04 9.99972913e-01 3.40602775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.819254154 meters 0.05538393784821095 Centerline is valid? [True, True] Translation: X:865.51, Y:3.49, Z:3.41 [[ 9.99737886e-01 -2.10110595e-02 -9.09363580e-03 8.65509123e+02] [ 2.10117605e-02 9.99779228e-01 -1.84529604e-05 3.49499887e+00] [ 9.09201590e-03 -1.72625174e-04 9.99958652e-01 3.40631390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.879254154 meters 0.05550508296883275 Centerline is valid? [True, True] Translation: X:865.57, Y:3.50, Z:3.40 [[ 9.99838749e-01 -1.52460719e-02 -9.48861131e-03 8.65568884e+02] [ 1.52465739e-02 9.99883764e-01 -1.94352277e-05 3.49945927e+00] [ 9.48780470e-03 -1.25236720e-04 9.99954982e-01 3.40484299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.939254154 meters 0.05540618009094315 Centerline is valid? [True, True] Translation: X:865.63, Y:3.51, Z:3.41 [[ 9.99857579e-01 -1.43701862e-02 -8.84987054e-03 8.65626438e+02] [ 1.43705858e-02 9.99896738e-01 -1.84441943e-05 3.50687406e+00] [ 8.84922173e-03 -1.08736256e-04 9.99960839e-01 3.40649744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.999254154 meters 0.055811796545555986 Centerline is valid? [True, True] Translation: X:865.69, Y:3.51, Z:3.41 [[ 9.99813507e-01 -1.72358096e-02 -8.71078145e-03 8.65685939e+02] [ 1.72363035e-02 9.99851444e-01 -1.83843943e-05 3.50988535e+00] [ 8.70980428e-03 -1.31760707e-04 9.99962060e-01 3.40655451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.059254154 meters 0.05612585397911366 Centerline is valid? [True, True] Translation: X:865.75, Y:3.51, Z:3.40 [[ 9.99729373e-01 -2.09419638e-02 -1.01298765e-02 8.65745660e+02] [ 2.09428206e-02 9.99780675e-01 -2.14932322e-05 3.50941447e+00] [ 1.01281048e-02 -1.90660771e-04 9.99948691e-01 3.40485415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.119254154 meters 0.056067121124254785 Centerline is valid? [True, True] Translation: X:865.80, Y:3.51, Z:3.41 [[ 9.99655041e-01 -2.40644190e-02 -1.05215368e-02 8.65804784e+02] [ 2.40655145e-02 9.99710383e-01 -2.24984122e-05 3.51487730e+00] [ 1.05190310e-02 -2.30715545e-04 9.99944647e-01 3.40671302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.179254154 meters 0.056024016179553174 Centerline is valid? [True, True] Translation: X:865.87, Y:3.51, Z:3.41 [[ 9.99528472e-01 -2.89117658e-02 -1.03413704e-02 8.65865499e+02] [ 2.89130828e-02 9.99581929e-01 -2.21559841e-05 3.51387460e+00] [ 1.03376875e-02 -2.76855362e-04 9.99946526e-01 3.40746536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters 0.05743100857791627 Centerline is valid? [True, True] Translation: X:865.93, Y:3.51, Z:3.41 [[ 9.99380189e-01 -3.36596634e-02 -1.03084453e-02 8.65925837e+02] [ 3.36612251e-02 9.99433300e-01 -2.20111082e-05 3.51104695e+00] [ 1.03033444e-02 -3.24997433e-04 9.99946866e-01 3.40642096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.299254154 meters 0.05702524524696279 Centerline is valid? [True, True] Translation: X:865.99, Y:3.51, Z:3.41 [[ 9.99289072e-01 -3.63805994e-02 -9.88948941e-03 8.65985747e+02] [ 3.63821701e-02 9.99337949e-01 -2.10876825e-05 3.51492310e+00] [ 9.88370925e-03 -3.38728395e-04 9.99951098e-01 3.40764258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters 0.05719989478495207 Centerline is valid? [True, True] Translation: X:866.04, Y:3.51, Z:3.41 [[ 9.99322780e-01 -3.55022134e-02 -9.67341991e-03 8.66044671e+02] [ 3.55036693e-02 9.99369546e-01 -2.12347280e-05 3.51295891e+00] [ 9.66807515e-03 -3.22221554e-04 9.99953211e-01 3.40747854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.419254154 meters 0.0566669327307659 Centerline is valid? [True, True] Translation: X:866.10, Y:3.51, Z:3.41 [[ 9.99529640e-01 -2.90530500e-02 -9.81931426e-03 8.66103935e+02] [ 2.90542341e-02 9.99577836e-01 -2.20657326e-05 3.51265168e+00] [ 9.81580997e-03 -2.63237302e-04 9.99951789e-01 3.40737395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters 0.05630274077066801 Centerline is valid? [True, True] Translation: X:866.16, Y:3.52, Z:3.41 [[ 9.99699278e-01 -2.27766639e-02 -9.08720048e-03 8.66163728e+02] [ 2.27774176e-02 9.99740561e-01 -2.05550066e-05 3.52237611e+00] [ 9.08531107e-03 -1.86434135e-04 9.99958710e-01 3.40925423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.539254154 meters 0.055747817043747275 Centerline is valid? [True, True] Translation: X:866.22, Y:3.52, Z:3.41 [[ 9.99886887e-01 -1.24620821e-02 -8.42083030e-03 8.66222348e+02] [ 1.24623626e-02 9.99922342e-01 -1.91593857e-05 3.52288592e+00] [ 8.42041512e-03 -8.57862223e-05 9.99964544e-01 3.40824468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539999 meters 0.05591645264567388 Centerline is valid? [True, True] Translation: X:866.28, Y:3.53, Z:3.41 [[ 9.99945981e-01 -4.93876425e-03 -9.14565298e-03 8.66281566e+02] [ 4.93877925e-03 9.99987804e-01 -2.09446452e-05 3.52738056e+00] [ 9.14564488e-03 -2.42248474e-05 9.99958177e-01 3.40735459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.659254154 meters 0.05535143629649055 Centerline is valid? [True, True] Translation: X:866.34, Y:3.53, Z:3.41 [[ 9.99940074e-01 -4.85063844e-03 -9.81425300e-03 8.66339224e+02] [ 4.85064846e-03 9.99988235e-01 -2.27824019e-05 3.52669289e+00] [ 9.81424805e-03 -2.48244546e-05 9.99951839e-01 3.40792389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539999 meters 0.05580104551474523 Centerline is valid? [True, True] Translation: X:866.40, Y:3.52, Z:3.41 [[ 9.99928652e-01 -7.63238058e-03 -9.18900986e-03 8.66398208e+02] [ 7.63250421e-03 9.99970872e-01 -2.16142671e-05 3.52421750e+00] [ 9.18890717e-03 -4.85224315e-05 9.99957780e-01 3.40803732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.779254154 meters 0.05595868580041742 Centerline is valid? [True, True] Translation: X:866.46, Y:3.52, Z:3.41 [[ 9.99912071e-01 -1.01461507e-02 -8.53844788e-03 8.66456459e+02] [ 1.01463466e-02 9.99948524e-01 -2.03724372e-05 3.52411982e+00] [ 8.53821506e-03 -6.62634055e-05 9.99963547e-01 3.40934977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.839254154 meters 0.0560204128093392 Centerline is valid? [True, True] Translation: X:866.51, Y:3.52, Z:3.41 [[ 9.99885070e-01 -1.27706073e-02 -8.17054537e-03 8.66514084e+02] [ 1.27708717e-02 9.99918449e-01 -1.98092368e-05 3.51992909e+00] [ 8.17013203e-03 -8.45380269e-05 9.99966620e-01 3.40907958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.899254154 meters 0.056003680328146316 Centerline is valid? [True, True] Translation: X:866.57, Y:3.52, Z:3.41 [[ 9.99818092e-01 -1.69875826e-02 -8.67204166e-03 8.66573375e+02] [ 1.69880371e-02 9.99855693e-01 -2.12545508e-05 3.51720356e+00] [ 8.67115128e-03 -1.26070281e-04 9.99962397e-01 3.40922384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.959254154 meters 0.05538849101868001 Centerline is valid? [True, True] Translation: X:866.63, Y:3.51, Z:3.41 [[ 9.99744854e-01 -2.00979995e-02 -1.03100381e-02 8.66631752e+02] [ 2.00988044e-02 9.99797998e-01 -2.55513989e-05 3.51177305e+00] [ 1.03084690e-02 -1.81674559e-04 9.99946850e-01 3.40766374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.019254154 meters 0.05662153886716368 Centerline is valid? [True, True] Translation: X:866.69, Y:3.51, Z:3.41 [[ 9.99694179e-01 -2.24352924e-02 -1.04022668e-02 8.66691228e+02] [ 2.24362358e-02 9.99748276e-01 -2.60075113e-05 3.51269412e+00] [ 1.04002318e-02 -2.07388154e-04 9.99945895e-01 3.40840503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.079254154 meters 0.056143588910022066 Centerline is valid? [True, True] Translation: X:866.75, Y:3.51, Z:3.41 [[ 9.99626473e-01 -2.56591482e-02 -9.40869619e-03 8.66749733e+02] [ 2.56600610e-02 9.99670726e-01 -2.37028390e-05 3.50752264e+00] [ 9.40620635e-03 -2.17733733e-04 9.99955737e-01 3.40936952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.139254154 meters 0.05612877618377512 Centerline is valid? [True, True] Translation: X:866.81, Y:3.50, Z:3.41 [[ 9.99524675e-01 -2.96202329e-02 -8.54789898e-03 8.66810055e+02] [ 2.96211304e-02 9.99561198e-01 -2.16161077e-05 3.49951640e+00] [ 8.54478841e-03 -2.31592597e-04 9.99963466e-01 3.40965935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.199254154 meters 0.05642655454533947 Centerline is valid? [True, True] Translation: X:866.87, Y:3.50, Z:3.41 [[ 9.99453617e-01 -3.20334389e-02 -8.14404805e-03 8.66870553e+02] [ 3.20343336e-02 9.99486769e-01 -2.05947521e-05 3.49919078e+00] [ 8.14052799e-03 -2.40305653e-04 9.99966836e-01 3.41026300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.259254154 meters 0.05641982198548509 Centerline is valid? [True, True] Translation: X:866.93, Y:3.50, Z:3.41 [[ 9.99456384e-01 -3.19750347e-02 -8.03327424e-03 8.66929574e+02] [ 3.19759004e-02 9.99488640e-01 -2.06846020e-05 3.50136160e+00] [ 8.02982773e-03 -2.36197820e-04 9.99967732e-01 3.41055976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.319254154 meters 0.05656745951016674 Centerline is valid? [True, True] Translation: X:866.99, Y:3.51, Z:3.41 [[ 9.99563439e-01 -2.84099050e-02 -8.11221578e-03 8.66989615e+02] [ 2.84106677e-02 9.99596335e-01 -2.12270775e-05 3.50507783e+00] [ 8.10954422e-03 -2.09255657e-04 9.99967095e-01 3.41061119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.379254154 meters 0.055612587023238416 Centerline is valid? [True, True] Translation: X:867.05, Y:3.51, Z:3.41 [[ 9.99700682e-01 -2.29311863e-02 -8.52689287e-03 8.67050442e+02] [ 2.29318302e-02 9.99737031e-01 -2.22635264e-05 3.50560944e+00] [ 8.52516109e-03 -1.73280397e-04 9.99963645e-01 3.41005598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.439254154 meters 0.055484830833688804 Centerline is valid? [True, True] Translation: X:867.11, Y:3.51, Z:3.41 [[ 9.99771625e-01 -1.93042164e-02 -9.16763497e-03 8.67110653e+02] [ 1.93048075e-02 9.99813645e-01 -2.40125649e-05 3.50973133e+00] [ 9.16639008e-03 -1.52972347e-04 9.99957976e-01 3.41094274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.499254154 meters 0.05601502561037433 Centerline is valid? [True, True] Translation: X:867.17, Y:3.51, Z:3.41 [[ 9.99769960e-01 -1.92180053e-02 -9.52345395e-03 8.67168907e+02] [ 1.92186324e-02 9.99815305e-01 -2.56781284e-05 3.50840083e+00] [ 9.52218849e-03 -1.57355539e-04 9.99954651e-01 3.41098919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.559254154 meters 0.05616494772904841 Centerline is valid? [True, True] Translation: X:867.23, Y:3.50, Z:3.41 [[ 9.99751553e-01 -2.03526149e-02 -9.08865493e-03 8.67226535e+02] [ 2.03532263e-02 9.99792851e-01 -2.52287983e-05 3.50395318e+00] [ 9.08728569e-03 -1.59760920e-04 9.99958697e-01 3.41090248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.619254154 meters 0.05582299567608196 Centerline is valid? [True, True] Translation: X:867.29, Y:3.50, Z:3.41 [[ 9.99757270e-01 -2.00961816e-02 -9.03016665e-03 8.67285187e+02] [ 2.00967681e-02 9.99798039e-01 -2.57853136e-05 3.50011500e+00] [ 9.02886109e-03 -1.55698111e-04 9.99959227e-01 3.41098986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.679254154 meters 0.0554152297425163 Centerline is valid? [True, True] Translation: X:867.34, Y:3.50, Z:3.41 [[ 9.99776045e-01 -1.90330888e-02 -9.25206068e-03 8.67343798e+02] [ 1.90336508e-02 9.99818843e-01 -2.73145940e-05 3.50137685e+00] [ 9.25090448e-03 -1.48792015e-04 9.99957198e-01 3.41140944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters 0.05520698507902162 Centerline is valid? [True, True] Translation: X:867.40, Y:3.50, Z:3.41 [[ 9.99855170e-01 -1.39253789e-02 -9.78382912e-03 8.67403229e+02] [ 1.39257582e-02 9.99903032e-01 -2.93584442e-05 3.50459198e+00] [ 9.78328923e-03 -1.06893046e-04 9.99952137e-01 3.41193001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.799254154 meters 0.0554346971263724 Centerline is valid? [True, True] Translation: X:867.46, Y:3.50, Z:3.41 [[ 9.99916936e-01 -8.19862791e-03 -9.94508038e-03 8.67462210e+02] [ 8.19872984e-03 9.99966389e-01 -3.05210515e-05 3.50445418e+00] [ 9.94499635e-03 -5.10185110e-05 9.99950546e-01 3.40989364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters 0.05447734574531571 Centerline is valid? [True, True] Translation: X:867.52, Y:3.51, Z:3.41 [[ 9.99928478e-01 -3.91851599e-03 -1.12997816e-02 8.67519819e+02] [ 3.91835808e-03 9.99992323e-01 -3.61130330e-05 3.50596997e+00] [ 1.12998364e-02 -8.16614060e-06 9.99936155e-01 3.41043046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.919254154 meters 0.054674659496928325 Centerline is valid? [True, True] Translation: X:867.58, Y:3.50, Z:3.41 [[ 9.99920959e-01 -2.73000182e-03 -1.22728448e-02 8.67579017e+02] [ 2.72970732e-03 9.99996274e-01 -4.07474703e-05 3.50459916e+00] [ 1.22729103e-02 7.24297522e-06 9.99924685e-01 3.41049260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters 0.0543453947791677 Centerline is valid? [True, True] Translation: X:867.64, Y:3.50, Z:3.41 [[ 9.99916350e-01 -3.75712659e-03 -1.23765070e-02 8.67636253e+02] [ 3.75689417e-03 9.99992942e-01 -4.20293215e-05 3.50018617e+00] [ 1.23765775e-02 -4.47142108e-06 9.99923407e-01 3.41033475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.039254154 meters 0.054260279074506715 Centerline is valid? [True, True] Translation: X:867.69, Y:3.50, Z:3.41 [[ 9.99909192e-01 -6.31851899e-03 -1.19031113e-02 8.67692933e+02] [ 6.31847769e-03 9.99980037e-01 -4.10760023e-05 3.49605441e+00] [ 1.19031332e-02 -3.41372706e-05 9.99929155e-01 3.41148451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539999 meters 0.05471426637954993 Centerline is valid? [True, True] Translation: X:867.75, Y:3.49, Z:3.41 [[ 9.99851492e-01 -1.22123538e-02 -1.21594607e-02 8.67752283e+02] [ 1.22127415e-02 9.99925421e-01 -4.23688458e-05 3.48954614e+00] [ 1.21590713e-02 -1.06137797e-04 9.99926070e-01 3.41423705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.159254154 meters 0.0547948426718823 Centerline is valid? [True, True] Translation: X:867.81, Y:3.48, Z:3.42 [[ 9.99734919e-01 -1.93813041e-02 -1.24280909e-02 8.67812637e+02] [ 1.93822610e-02 9.99812145e-01 -4.34567930e-05 3.48178131e+00] [ 1.24265985e-02 -1.97439228e-04 9.99922767e-01 3.41592634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539999 meters 0.054070836575943915 Centerline is valid? [True, True] Translation: X:867.87, Y:3.47, Z:3.42 [[ 9.99599985e-01 -2.55611466e-02 -1.21036373e-02 8.67872824e+02] [ 2.55625064e-02 9.99673225e-01 -4.23662907e-05 3.47435354e+00] [ 1.21007650e-02 -2.67049962e-04 9.99926747e-01 3.41697249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.279254154 meters 0.05461416018238519 Centerline is valid? [True, True] Translation: X:867.93, Y:3.47, Z:3.42 [[ 9.99478868e-01 -2.97816298e-02 -1.24517800e-02 8.67933299e+02] [ 2.97833960e-02 9.99556375e-01 -4.36097545e-05 3.46698499e+00] [ 1.24475548e-02 -3.27269265e-04 9.99922473e-01 3.41688894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.339254154 meters 0.05528404647135782 Centerline is valid? [True, True] Translation: X:867.99, Y:3.46, Z:3.42 [[ 9.99423610e-01 -3.16137402e-02 -1.23701025e-02 8.67993031e+02] [ 3.16156219e-02 9.99500100e-01 -4.34508155e-05 3.45945457e+00] [ 1.23652923e-02 -3.47662713e-04 9.99923486e-01 3.41720302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.399254154 meters 0.05473926936462051 Centerline is valid? [True, True] Translation: X:868.05, Y:3.46, Z:3.42 [[ 9.99464105e-01 -3.06217401e-02 -1.15677334e-02 8.68052125e+02] [ 3.06233104e-02 9.99530996e-01 -4.13899189e-05 3.45693557e+00] [ 1.15635755e-02 -3.12874553e-04 9.99933091e-01 3.41758949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.459254154 meters 0.05416946312602471 Centerline is valid? [True, True] Translation: X:868.11, Y:3.46, Z:3.42 [[ 9.99611960e-01 -2.55614492e-02 -1.10699041e-02 8.68112453e+02] [ 2.55625731e-02 9.99673223e-01 -3.99691454e-05 3.46393376e+00] [ 1.10673084e-02 -2.43021598e-04 9.99938726e-01 3.41977391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.519254154 meters 0.05407872578954145 Centerline is valid? [True, True] Translation: X:868.17, Y:3.46, Z:3.42 [[ 9.99775920e-01 -1.78059227e-02 -1.14481402e-02 8.68172619e+02] [ 1.78066159e-02 9.99841449e-01 -4.13795133e-05 3.46446838e+00] [ 1.14470619e-02 -1.62482395e-04 9.99934467e-01 3.41857078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.579254154 meters 0.05345844058729826 Centerline is valid? [True, True] Translation: X:868.23, Y:3.47, Z:3.42 [[ 9.99871653e-01 -9.97435542e-03 -1.25375596e-02 8.68232098e+02] [ 9.97457016e-03 9.99950252e-01 -4.54051257e-05 3.46561364e+00] [ 1.25373888e-02 -7.96574697e-05 9.99921401e-01 3.41505568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.639254154 meters 0.053474197558966534 Centerline is valid? [True, True] Translation: X:868.29, Y:3.47, Z:3.41 [[ 9.99897474e-01 -6.10756410e-03 -1.29514042e-02 8.68291203e+02] [ 6.10745586e-03 9.99981348e-01 -4.79097042e-05 3.46829811e+00] [ 1.29514553e-02 -3.11953374e-05 9.99916126e-01 3.41380701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.699254154 meters 0.05357158471407446 Centerline is valid? [True, True] Translation: X:868.35, Y:3.47, Z:3.42 [[ 9.99909230e-01 -3.36003142e-03 -1.30476555e-02 8.68349428e+02] [ 3.35966807e-03 9.99994355e-01 -4.97664896e-05 3.47025531e+00] [ 1.30477491e-02 5.92618072e-06 9.99914874e-01 3.41675449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.759254154 meters 0.053112094677936976 Centerline is valid? [True, True] Translation: X:868.41, Y:3.47, Z:3.42 [[ 9.99913093e-01 -2.15262711e-03 -1.30066061e-02 8.68407829e+02] [ 2.15214222e-03 9.99997683e-01 -5.12770759e-05 3.46943168e+00] [ 1.30066863e-02 2.32805535e-05 9.99915409e-01 3.41925595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.819254154 meters 0.052568876936387385 Centerline is valid? [True, True] Translation: X:868.47, Y:3.47, Z:3.42 [[ 9.99924956e-01 -3.15494241e-03 -1.18375726e-02 8.68466124e+02] [ 3.15460025e-03 9.99995023e-01 -4.75769120e-05 3.46778047e+00] [ 1.18376638e-02 1.02305323e-05 9.99929932e-01 3.42045983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.879254154 meters 0.05325623391819954 Centerline is valid? [True, True] Translation: X:868.52, Y:3.46, Z:3.42 [[ 9.99912380e-01 -6.48358298e-03 -1.15410384e-02 8.68523845e+02] [ 6.48347399e-03 9.99978981e-01 -4.68585208e-05 3.46345322e+00] [ 1.15410996e-02 -2.79716071e-05 9.99933399e-01 3.42105543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.939254154 meters 0.05320199268327328 Centerline is valid? [True, True] Translation: X:868.58, Y:3.46, Z:3.42 [[ 9.99873000e-01 -1.00307059e-02 -1.23842583e-02 8.68582651e+02] [ 1.00308442e-02 9.99949689e-01 -5.09450734e-05 3.45553264e+00] [ 1.23841462e-02 -7.32859622e-05 9.99923311e-01 3.41585850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.999254154 meters 0.052536542211658675 Centerline is valid? [True, True] Translation: X:868.64, Y:3.45, Z:3.42 [[ 9.99855071e-01 -1.12283431e-02 -1.27969642e-02 8.68641395e+02] [ 1.12285818e-02 9.99936956e-01 -5.31989845e-05 3.45448926e+00] [ 1.27967547e-02 -9.05004844e-05 9.99918114e-01 3.41999058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.059254154 meters 0.0524088856426684 Centerline is valid? [True, True] Translation: X:868.70, Y:3.45, Z:3.42 [[ 9.99844753e-01 -1.09904159e-02 -1.37724427e-02 8.68699030e+02] [ 1.09906619e-02 9.99939599e-01 -5.78247822e-05 3.44929712e+00] [ 1.37722463e-02 -9.35524564e-05 9.99905154e-01 3.41814022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.119254154 meters 0.05283317252424922 Centerline is valid? [True, True] Translation: X:868.76, Y:3.45, Z:3.42 [[ 9.99833610e-01 -1.17333525e-02 -1.39671622e-02 8.68757458e+02] [ 1.17336606e-02 9.99931156e-01 -5.98921280e-05 3.44532872e+00] [ 1.39669034e-02 -1.04003778e-04 9.99902453e-01 3.41872265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.179254154 meters 0.052759639669542835 Centerline is valid? [True, True] Translation: X:868.81, Y:3.44, Z:3.42 [[ 9.99803186e-01 -1.49808488e-02 -1.30063037e-02 8.68814910e+02] [ 1.49813797e-02 9.99887771e-01 -5.66161897e-05 3.43551684e+00] [ 1.30056921e-02 -1.38247326e-04 9.99915413e-01 3.41581647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters 0.05294435483196247 Centerline is valid? [True, True] Translation: X:868.87, Y:3.43, Z:3.42 [[ 9.99747468e-01 -1.84347877e-02 -1.28514436e-02 8.68873983e+02] [ 1.84355853e-02 9.99830049e-01 -5.64122367e-05 3.43408975e+00] [ 1.28502994e-02 -1.80525893e-04 9.99917415e-01 3.42094031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.299254154 meters 0.05251849731940951 Centerline is valid? [True, True] Translation: X:868.93, Y:3.43, Z:3.42 [[ 9.99718867e-01 -2.00534684e-02 -1.26509080e-02 8.68932689e+02] [ 2.00543584e-02 9.99798890e-01 -5.65179909e-05 3.43349911e+00] [ 1.26494971e-02 -1.97203741e-04 9.99919972e-01 3.42239545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters 0.05225329468196491 Centerline is valid? [True, True] Translation: X:868.99, Y:3.43, Z:3.42 [[ 9.99756056e-01 -1.86530765e-02 -1.18276059e-02 8.68990709e+02] [ 1.86537488e-02 9.99826002e-01 -5.34844766e-05 3.42833893e+00] [ 1.18265456e-02 -1.67157760e-04 9.99930050e-01 3.42067098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.419254154 meters 0.05292703527834732 Centerline is valid? [True, True] Translation: X:869.05, Y:3.43, Z:3.42 [[ 9.99799781e-01 -1.54457099e-02 -1.27211630e-02 8.69050116e+02] [ 1.54462202e-02 9.99880698e-01 -5.81380285e-05 3.42765843e+00] [ 1.27205433e-02 -1.38367497e-04 9.99919081e-01 3.41824443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters 0.052163028628728285 Centerline is valid? [True, True] Translation: X:869.11, Y:3.43, Z:3.42 [[ 9.99821242e-01 -1.38118851e-02 -1.29118253e-02 8.69109179e+02] [ 1.38122600e-02 9.99904604e-01 -6.01437716e-05 3.43155067e+00] [ 1.29114242e-02 -1.18208467e-04 9.99916637e-01 3.42000376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.539254154 meters 0.05255198801291232 Centerline is valid? [True, True] Translation: X:869.17, Y:3.43, Z:3.42 [[ 9.99814529e-01 -1.42589968e-02 -1.29456181e-02 8.69166915e+02] [ 1.42594012e-02 9.99898328e-01 -6.10643869e-05 3.43116738e+00] [ 1.29451726e-02 -1.23543702e-04 9.99916200e-01 3.41895909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539999 meters 0.052918343561060746 Centerline is valid? [True, True] Translation: X:869.23, Y:3.43, Z:3.42 [[ 9.99792031e-01 -1.62299122e-02 -1.23484672e-02 8.69225658e+02] [ 1.62304176e-02 9.99868276e-01 -5.92972407e-05 3.43229301e+00] [ 1.23478030e-02 -1.41135870e-04 9.99923753e-01 3.42063878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.659254154 meters 0.05306022646412725 Centerline is valid? [True, True] Translation: X:869.28, Y:3.44, Z:3.42 [[ 9.99781947e-01 -1.70279612e-02 -1.20874951e-02 8.69284887e+02] [ 1.70284884e-02 9.99855003e-01 -5.93160214e-05 3.43634841e+00] [ 1.20867525e-02 -1.46528683e-04 9.99926942e-01 3.42377866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539999 meters 0.0525093965781739 Centerline is valid? [True, True] Translation: X:869.34, Y:3.43, Z:3.42 [[ 9.99758102e-01 -1.81172604e-02 -1.24700623e-02 8.69343781e+02] [ 1.81178899e-02 9.99835856e-01 -6.24995097e-05 3.43433878e+00] [ 1.24691477e-02 -1.63446824e-04 9.99922244e-01 3.42217774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.779254154 meters 0.05337550039948865 Centerline is valid? [True, True] Translation: X:869.40, Y:3.44, Z:3.42 [[ 9.99708612e-01 -2.05077302e-02 -1.27327649e-02 8.69402132e+02] [ 2.05085706e-02 9.99789675e-01 -6.45804901e-05 3.43712524e+00] [ 1.27314112e-02 -1.96569134e-04 9.99918933e-01 3.42234247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.839254154 meters 0.05388520323082365 Centerline is valid? [True, True] Translation: X:869.46, Y:3.44, Z:3.42 [[ 9.99598559e-01 -2.51084356e-02 -1.31258669e-02 8.69460836e+02] [ 2.51097212e-02 9.99684699e-01 -6.68779858e-05 3.44066202e+00] [ 1.31234075e-02 -2.62735719e-04 9.99913850e-01 3.42469741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.899254154 meters 0.05394897116810267 Centerline is valid? [True, True] Translation: X:869.52, Y:3.44, Z:3.42 [[ 9.99445114e-01 -3.07733679e-02 -1.27461461e-02 8.69521336e+02] [ 3.07750405e-02 9.99526334e-01 -6.49408614e-05 3.43661873e+00] [ 1.27421071e-02 -3.27358336e-04 9.99918762e-01 3.42421184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.959254154 meters 0.05431025138192161 Centerline is valid? [True, True] Translation: X:869.58, Y:3.44, Z:3.43 [[ 9.99301112e-01 -3.53575556e-02 -1.21297635e-02 8.69581914e+02] [ 3.53594086e-02 9.99374659e-01 -6.17302081e-05 3.43910314e+00] [ 1.21243609e-02 -3.67214198e-04 9.99926430e-01 3.42525817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.019254154 meters 0.05475135065592055 Centerline is valid? [True, True] Translation: X:869.64, Y:3.44, Z:3.43 [[ 9.99230684e-01 -3.73531601e-02 -1.19491531e-02 8.69640766e+02] [ 3.73550986e-02 9.99302053e-01 -6.09946959e-05 3.44362351e+00] [ 1.19430916e-02 -3.85414021e-04 9.99928604e-01 3.42749532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.079254154 meters 0.053977065014916906 Centerline is valid? [True, True] Translation: X:869.70, Y:3.45, Z:3.43 [[ 9.99288687e-01 -3.57017996e-02 -1.21450085e-02 8.69700175e+02] [ 3.57036776e-02 9.99362419e-01 -6.22218790e-05 3.44759938e+00] [ 1.21394865e-02 -3.71443848e-04 9.99926245e-01 3.42775841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.139254154 meters 0.05331844089688212 Centerline is valid? [True, True] Translation: X:869.76, Y:3.45, Z:3.43 [[ 9.99428321e-01 -3.19069767e-02 -1.11793064e-02 8.69760596e+02] [ 3.19083289e-02 9.99490798e-01 -5.74316018e-05 3.44666738e+00] [ 1.11754464e-02 -2.99314217e-04 9.99937508e-01 3.42699244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.199254154 meters 0.05314426885560802 Centerline is valid? [True, True] Translation: X:869.82, Y:3.45, Z:3.43 [[ 9.99525962e-01 -2.87914306e-02 -1.09043133e-02 8.69819812e+02] [ 2.87925299e-02 9.99585408e-01 -5.61902790e-05 3.45345222e+00] [ 1.09014103e-02 -2.57799125e-04 9.99940545e-01 3.42889908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.259254154 meters 0.05360834754397339 Centerline is valid? [True, True] Translation: X:869.88, Y:3.45, Z:3.43 [[ 9.99653047e-01 -2.44327566e-02 -9.84003638e-03 8.69878948e+02] [ 2.44334400e-02 9.99701458e-01 -5.07792664e-05 3.45356190e+00] [ 9.83833939e-03 -1.89664290e-04 9.99951584e-01 3.42810479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.319254154 meters 0.0534572083966661 Centerline is valid? [True, True] Translation: X:869.94, Y:3.46, Z:3.43 [[ 9.99734901e-01 -2.10671854e-02 -9.28982472e-03 8.69938739e+02] [ 2.10676484e-02 9.99778051e-01 -4.80245669e-05 3.46015567e+00] [ 9.28877460e-03 -1.47702925e-04 9.99956847e-01 3.42951469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.379254154 meters 0.0536783402519348 Centerline is valid? [True, True] Translation: X:870.00, Y:3.46, Z:3.43 [[ 9.99727099e-01 -2.13866604e-02 -9.39885487e-03 8.69997294e+02] [ 2.13871449e-02 9.99771268e-01 -4.89685084e-05 3.46401321e+00] [ 9.39775232e-03 -1.52059526e-04 9.99955829e-01 3.42962811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.439254154 meters 0.05379588350076887 Centerline is valid? [True, True] Translation: X:870.06, Y:3.46, Z:3.43 [[ 9.99654304e-01 -2.42336754e-02 -1.01981214e-02 8.70056026e+02] [ 2.42343892e-02 9.99706303e-01 -5.35878530e-05 3.46469684e+00] [ 1.01964249e-02 -1.93575916e-04 9.99947996e-01 3.42903540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.499254154 meters 0.053793318663890914 Centerline is valid? [True, True] Translation: X:870.11, Y:3.46, Z:3.43 [[ 9.99591721e-01 -2.66123232e-02 -1.04007399e-02 8.70114706e+02] [ 2.66131916e-02 9.99645805e-01 -5.49238981e-05 3.46298405e+00] [ 1.03985177e-02 -2.21895411e-04 9.99945909e-01 3.42745238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.559254154 meters 0.05447815744317542 Centerline is valid? [True, True] Translation: X:870.17, Y:3.46, Z:3.43 [[ 9.99531701e-01 -2.88322261e-02 -1.02509290e-02 8.70174485e+02] [ 2.88331850e-02 9.99584236e-01 -5.42631025e-05 3.46356660e+00] [ 1.02482316e-02 -2.41329241e-04 9.99947456e-01 3.42751334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.619254154 meters 0.054392685449381 Centerline is valid? [True, True] Translation: X:870.23, Y:3.47, Z:3.43 [[ 9.99445864e-01 -3.21065471e-02 -8.78266073e-03 8.70234832e+02] [ 3.21073768e-02 9.99484424e-01 -4.65496677e-05 3.46909397e+00] [ 8.77962715e-03 -2.35464324e-04 9.99961431e-01 3.42906279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.679254154 meters 0.0554102148082002 Centerline is valid? [True, True] Translation: X:870.29, Y:3.47, Z:3.43 [[ 9.99351888e-01 -3.48491029e-02 -9.01908404e-03 8.70294900e+02] [ 3.48500892e-02 9.99392550e-01 -4.78318218e-05 3.46528252e+00] [ 9.01527229e-03 -2.66515061e-04 9.99959326e-01 3.42855023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters 0.05519621786383768 Centerline is valid? [True, True] Translation: X:870.35, Y:3.47, Z:3.43 [[ 9.99313261e-01 -3.58358922e-02 -9.42309427e-03 8.70353462e+02] [ 3.58370075e-02 9.99357647e-01 -5.05213809e-05 3.47451169e+00] [ 9.41885179e-03 -2.87208815e-04 9.99955600e-01 3.42908861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.799254154 meters 0.05524165427703578 Centerline is valid? [True, True] Translation: X:870.41, Y:3.48, Z:3.43 [[ 9.99314559e-01 -3.54393159e-02 -1.06988897e-02 8.70412317e+02] [ 3.54407190e-02 9.99371779e-01 -5.84781702e-05 3.47931323e+00] [ 1.06942409e-02 -3.20738258e-04 9.99942764e-01 3.42799413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters 0.05609407322861441 Centerline is valid? [True, True] Translation: X:870.47, Y:3.48, Z:3.43 [[ 9.99290833e-01 -3.60363387e-02 -1.09184905e-02 8.70471109e+02] [ 3.60378239e-02 9.99350425e-01 -6.07516636e-05 3.47795378e+00] [ 1.09135874e-02 -3.32770059e-04 9.99940390e-01 3.42709271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.919254154 meters 0.05615574480737009 Centerline is valid? [True, True] Translation: X:870.53, Y:3.49, Z:3.43 [[ 9.99207795e-01 -3.85828577e-02 -9.75424203e-03 8.70531025e+02] [ 3.85841606e-02 9.99255353e-01 -5.46544746e-05 3.48913586e+00] [ 9.74908728e-03 -3.21748063e-04 9.99952425e-01 3.43000868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters 0.05605939591604847 Centerline is valid? [True, True] Translation: X:870.59, Y:3.49, Z:3.43 [[ 9.99118126e-01 -4.11094819e-02 -8.54283547e-03 8.70591116e+02] [ 4.11105732e-02 9.99154602e-01 -4.78907156e-05 3.49359246e+00] [ 8.53758213e-03 -3.03352381e-04 9.99963508e-01 3.43096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.039254154 meters 0.056842805271950785 Centerline is valid? [True, True] Translation: X:870.65, Y:3.50, Z:3.43 [[ 9.99072607e-01 -4.21205458e-02 -8.93232943e-03 8.70650156e+02] [ 4.21217749e-02 9.99112483e-01 -5.05645423e-05 3.50141650e+00] [ 8.92653164e-03 -3.25727921e-04 9.99960105e-01 3.43173510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539999 meters 0.05646456381024111 Centerline is valid? [True, True] Translation: X:870.71, Y:3.51, Z:3.43 [[ 9.99105414e-01 -4.11357310e-02 -9.80939657e-03 8.70709003e+02] [ 4.11371602e-02 9.99153507e-01 -5.61135874e-05 3.51254302e+00] [ 9.80340126e-03 -3.47467329e-04 9.99951885e-01 3.43200506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.159254154 meters 0.057139526142195814 Centerline is valid? [True, True] Translation: X:870.77, Y:3.52, Z:3.43 [[ 9.99135264e-01 -4.03549231e-02 -1.00102685e-02 8.70768054e+02] [ 4.03563657e-02 9.99185348e-01 -5.79164186e-05 3.52131631e+00] [ 1.00044508e-02 -3.46111719e-04 9.99949894e-01 3.43195469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539999 meters 0.05872557584760387 Centerline is valid? [True, True] Translation: X:870.83, Y:3.52, Z:3.43 [[ 9.99134568e-01 -4.01310097e-02 -1.09370047e-02 8.70826913e+02] [ 4.01327073e-02 9.99194356e-01 -6.42980156e-05 3.51827596e+00] [ 1.09307737e-02 -3.74689237e-04 9.99940187e-01 3.43000102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.279254154 meters 0.05880372882512337 Centerline is valid? [True, True] Translation: X:870.89, Y:3.52, Z:3.43 [[ 9.99104981e-01 -4.10349997e-02 -1.02648070e-02 8.70886022e+02] [ 4.10365329e-02 9.99157645e-01 -6.13008470e-05 3.52270082e+00] [ 1.02586759e-02 -3.59986108e-04 9.99947314e-01 3.43035185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.339254154 meters 0.0580564530561982 Centerline is valid? [True, True] Translation: X:870.94, Y:3.54, Z:3.43 [[ 9.99085006e-01 -4.17295031e-02 -9.37008305e-03 8.70944283e+02] [ 4.17308061e-02 9.99128889e-01 -5.64986155e-05 3.53741602e+00] [ 9.36427832e-03 -3.34574199e-04 9.99956098e-01 3.43248577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.399254154 meters 0.05911248574820529 Centerline is valid? [True, True] Translation: X:871.00, Y:3.54, Z:3.43 [[ 9.99083805e-01 -4.17755434e-02 -9.29270038e-03 8.71002749e+02] [ 4.17768202e-02 9.99126966e-01 -5.67645807e-05 3.54200412e+00] [ 9.28695891e-03 -3.31506899e-04 9.99956820e-01 3.43165350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.459254154 meters 0.05947035506653034 Centerline is valid? [True, True] Translation: X:871.06, Y:3.55, Z:3.43 [[ 9.99113643e-01 -4.10516948e-02 -9.31059184e-03 8.71061727e+02] [ 4.10529364e-02 9.99156971e-01 -5.78085852e-05 3.54531901e+00] [ 9.30511588e-03 -3.24469789e-04 9.99956654e-01 3.43093137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.519254154 meters 0.05908887889021781 Centerline is valid? [True, True] Translation: X:871.12, Y:3.56, Z:3.43 [[ 9.99216271e-01 -3.84745545e-02 -9.30337019e-03 8.71121411e+02] [ 3.84756788e-02 9.99259535e-01 -5.81643673e-05 3.55548833e+00] [ 9.29871922e-03 -2.99834701e-04 9.99956721e-01 3.43106035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.579254154 meters 0.05814339374942761 Centerline is valid? [True, True] Translation: X:871.18, Y:3.57, Z:3.43 [[ 9.99304793e-01 -3.61950388e-02 -8.93590524e-03 8.71181238e+02] [ 3.61959847e-02 9.99344709e-01 -5.58939422e-05 3.57021945e+00] [ 8.93207270e-03 -2.67588805e-04 9.99960072e-01 3.43241591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.639254154 meters 0.05801842617742799 Centerline is valid? [True, True] Translation: X:871.24, Y:3.58, Z:3.43 [[ 9.99441029e-01 -3.26619344e-02 -7.12933527e-03 8.71241267e+02] [ 3.26624468e-02 9.99466439e-01 -4.45751739e-05 3.58230832e+00] [ 7.12698725e-03 -1.88311276e-04 9.99974585e-01 3.43281024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.699254154 meters 0.05867319933418931 Centerline is valid? [True, True] Translation: X:871.30, Y:3.58, Z:3.43 [[ 9.99557677e-01 -2.88165508e-02 -7.35228158e-03 8.71300474e+02] [ 2.88169918e-02 9.99584703e-01 -4.59700211e-05 3.58250861e+00] [ 7.35055290e-03 -1.65920951e-04 9.99972971e-01 3.43193471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.759254154 meters 0.057646393270757164 Centerline is valid? [True, True] Translation: X:871.36, Y:3.59, Z:3.43 [[ 9.99615605e-01 -2.68058031e-02 -7.07745456e-03 8.71359873e+02] [ 2.68061591e-02 9.99640649e-01 -4.45775652e-05 3.59435352e+00] [ 7.07610621e-03 -1.45158943e-04 9.99974953e-01 3.43308625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.819254154 meters 0.05869842035697877 Centerline is valid? [True, True] Translation: X:871.42, Y:3.60, Z:3.43 [[ 9.99637647e-01 -2.62434506e-02 -5.98796436e-03 8.71418356e+02] [ 2.62436923e-02 9.99655574e-01 -3.82323591e-05 3.59683671e+00] [ 5.98690530e-03 -1.18927788e-04 9.99982071e-01 3.43326926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.879254154 meters 0.05820647240232459 Centerline is valid? [True, True] Translation: X:871.48, Y:3.61, Z:3.43 [[ 9.99645072e-01 -2.59982140e-02 -5.81583177e-03 8.71477499e+02] [ 2.59984345e-02 9.99661983e-01 -3.77049933e-05 3.60625828e+00] [ 5.81484618e-03 -1.13510911e-04 9.99983087e-01 3.43410126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.939254154 meters 0.05846089662483638 Centerline is valid? [True, True] Translation: X:871.54, Y:3.61, Z:3.43 [[ 9.99695382e-01 -2.39624335e-02 -5.91139438e-03 8.71535321e+02] [ 2.39626228e-02 9.99712854e-01 -3.88190435e-05 3.61099860e+00] [ 5.91062715e-03 -1.02845295e-04 9.99982527e-01 3.43346499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.999254154 meters 0.05834070235407002 Centerline is valid? [True, True] Translation: X:871.59, Y:3.61, Z:3.43 [[ 9.99746137e-01 -2.15149993e-02 -6.69073799e-03 8.71594578e+02] [ 2.15151856e-02 9.99768521e-01 -4.41389810e-05 3.61469963e+00] [ 6.69013887e-03 -9.98246938e-05 9.99977616e-01 3.43290930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.059254154 meters 0.05861694127494025 Centerline is valid? [True, True] Translation: X:871.65, Y:3.62, Z:3.43 [[ 9.99823882e-01 -1.74775978e-02 -6.83653166e-03 8.71652319e+02] [ 1.74776968e-02 9.99847252e-01 -4.52746204e-05 3.62091663e+00] [ 6.83627869e-03 -7.42201806e-05 9.99976630e-01 3.43290696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.119254154 meters 0.05897321518903196 Centerline is valid? [True, True] Translation: X:871.71, Y:3.63, Z:3.43 [[ 9.99866260e-01 -1.49139425e-02 -6.71096785e-03 8.71711714e+02] [ 1.49139773e-02 9.99888779e-01 -4.48558165e-05 3.62504636e+00] [ 6.71089043e-03 -5.52374047e-05 9.99977480e-01 3.43280412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.179254154 meters 0.058858389577600596 Centerline is valid? [True, True] Translation: X:871.77, Y:3.63, Z:3.43 [[ 9.99874431e-01 -1.41843439e-02 -7.06594616e-03 8.71770172e+02] [ 1.41843593e-02 9.99899396e-01 -4.79451181e-05 3.62840978e+00] [ 7.06591537e-03 -5.22868214e-05 9.99975035e-01 3.43287970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters 0.058433885340854246 Centerline is valid? [True, True] Translation: X:871.83, Y:3.63, Z:3.43 [[ 9.99859174e-01 -1.55350357e-02 -6.34776314e-03 8.71829069e+02] [ 1.55350725e-02 9.99879323e-01 -4.35047976e-05 3.63050680e+00] [ 6.34767295e-03 -5.51142898e-05 9.99979852e-01 3.43397331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.299254154 meters 0.059258069321862616 Centerline is valid? [True, True] Translation: X:871.89, Y:3.63, Z:3.43 [[ 9.99829223e-01 -1.73605163e-02 -6.33548708e-03 8.71888259e+02] [ 1.73605886e-02 9.99849293e-01 -4.35847690e-05 3.63009690e+00] [ 6.33528893e-03 -6.64104591e-05 9.99979930e-01 3.43353452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters 0.05931256411439783 Centerline is valid? [True, True] Translation: X:871.95, Y:3.63, Z:3.43 [[ 9.99803967e-01 -1.86002501e-02 -6.78658150e-03 8.71946581e+02] [ 1.86003603e-02 9.99826997e-01 -4.68810303e-05 3.63180747e+00] [ 6.78627940e-03 -7.93610212e-05 9.99976970e-01 3.43372499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.419254154 meters 0.058938544163438494 Centerline is valid? [True, True] Translation: X:872.00, Y:3.63, Z:3.43 [[ 9.99800158e-01 -1.86942305e-02 -7.08312786e-03 8.72004190e+02] [ 1.86943493e-02 9.99825244e-01 -4.94309609e-05 3.63498356e+00] [ 7.08281412e-03 -8.29933842e-05 9.99974913e-01 3.43363570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters 0.05958058126129447 Centerline is valid? [True, True] Translation: X:872.06, Y:3.63, Z:3.43 [[ 9.99799567e-01 -1.86359084e-02 -7.31633045e-03 8.72061605e+02] [ 1.86360291e-02 9.99826333e-01 -5.16937606e-05 3.63391372e+00] [ 7.31602321e-03 -8.46639476e-05 9.99973234e-01 3.43319910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.539254154 meters 0.059277728557192454 Centerline is valid? [True, True] Translation: X:872.12, Y:3.64, Z:3.43 [[ 9.99778433e-01 -2.00592994e-02 -6.38039413e-03 8.72120486e+02] [ 2.00594174e-02 9.99798789e-01 -4.55112923e-05 3.63707245e+00] [ 6.38002325e-03 -8.24857803e-05 9.99979644e-01 3.43413217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539999 meters 0.059279020327250645 Centerline is valid? [True, True] Translation: X:872.18, Y:3.64, Z:3.43 [[ 9.99714191e-01 -2.29753155e-02 -6.60836908e-03 8.72178828e+02] [ 2.29755025e-02 9.99736027e-01 -4.76405055e-05 3.63640139e+00] [ 6.60771921e-03 -1.04203711e-04 9.99978163e-01 3.43450383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.659254154 meters 0.059083663430997205 Centerline is valid? [True, True] Translation: X:872.24, Y:3.64, Z:3.43 [[ 9.99676112e-01 -2.47329159e-02 -5.99611295e-03 8.72237739e+02] [ 2.47330995e-02 9.99694089e-01 -4.35438091e-05 3.63625655e+00] [ 5.99535564e-03 -1.04772752e-04 9.99982022e-01 3.43444588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539999 meters 0.059539188729155784 Centerline is valid? [True, True] Translation: X:872.30, Y:3.64, Z:3.44 [[ 9.99671635e-01 -2.49753883e-02 -5.73176673e-03 8.72295678e+02] [ 2.49755575e-02 9.99688061e-01 -4.20676556e-05 3.63765169e+00] [ 5.73102942e-03 -1.01100228e-04 9.99983572e-01 3.43504761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.779254154 meters 0.058346637283161286 Centerline is valid? [True, True] Translation: X:872.35, Y:3.64, Z:3.44 [[ 9.99712824e-01 -2.32960683e-02 -5.61805600e-03 8.72354374e+02] [ 2.32962026e-02 9.99728606e-01 -4.15466961e-05 3.63914081e+00] [ 5.61749916e-03 -8.93446057e-05 9.99984218e-01 3.43552441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.839254154 meters 0.05944011232466846 Centerline is valid? [True, True] Translation: X:872.41, Y:3.64, Z:3.44 [[ 9.99767209e-01 -2.09435107e-02 -5.18627222e-03 8.72412440e+02] [ 2.09435913e-02 9.99780658e-01 -3.87612652e-05 3.64180736e+00] [ 5.18594645e-03 -6.98669239e-05 9.99986550e-01 3.43566168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.899254154 meters 0.05932516728344892 Centerline is valid? [True, True] Translation: X:872.47, Y:3.64, Z:3.44 [[ 9.99804790e-01 -1.89465220e-02 -5.60463872e-03 8.72471699e+02] [ 1.89465831e-02 9.99820497e-01 -4.22033813e-05 3.64404929e+00] [ 5.60443228e-03 -6.39936106e-05 9.99984293e-01 3.43528565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.959254154 meters 0.058735703941819664 Centerline is valid? [True, True] Translation: X:872.53, Y:3.65, Z:3.44 [[ 9.99840882e-01 -1.68037403e-02 -5.98713898e-03 8.72530491e+02] [ 1.68037681e-02 9.99858806e-01 -4.56637138e-05 3.64596499e+00] [ 5.98706095e-03 -5.49500468e-05 9.99982076e-01 3.43523175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.019254154 meters 0.0588075037249702 Centerline is valid? [True, True] Translation: X:872.59, Y:3.65, Z:3.44 [[ 9.99889117e-01 -1.36847151e-02 -5.87213444e-03 8.72588411e+02] [ 1.36846856e-02 9.99906359e-01 -4.52189500e-05 3.64848915e+00] [ 5.87220338e-03 -3.51443774e-05 9.99982758e-01 3.43515766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.079254154 meters 0.059024662251537345 Centerline is valid? [True, True] Translation: X:872.65, Y:3.65, Z:3.43 [[ 9.99929870e-01 -1.05241668e-02 -5.43107831e-03 8.72647764e+02] [ 1.05240938e-02 9.99944619e-01 -4.20281448e-05 3.65065964e+00] [ 5.43121985e-03 -1.51319802e-05 9.99985251e-01 3.43474241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.139254154 meters 0.058082807985133905 Centerline is valid? [True, True] Translation: X:872.71, Y:3.65, Z:3.43 [[ 9.99939761e-01 -9.21943671e-03 -5.95629481e-03 8.72705733e+02] [ 9.21932305e-03 9.99957500e-01 -4.65387387e-05 3.65158608e+00] [ 5.95647073e-03 -8.37707085e-06 9.99982260e-01 3.43484225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.199254154 meters 0.059079396923098014 Centerline is valid? [True, True] Translation: X:872.76, Y:3.65, Z:3.43 [[ 9.99885407e-01 -1.35267785e-02 -6.79707502e-03 8.72764511e+02] [ 1.35267261e-02 9.99908508e-01 -5.36874676e-05 3.64849770e+00] [ 6.79717937e-03 -3.82608567e-05 9.99976898e-01 3.43458312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.259254154 meters 0.0589936470356809 Centerline is valid? [True, True] Translation: X:872.82, Y:3.64, Z:3.44 [[ 9.99759582e-01 -2.07719118e-02 -7.02188415e-03 8.72823330e+02] [ 2.07720334e-02 9.99784237e-01 -5.56204940e-05 3.64432533e+00] [ 7.02152443e-03 -9.02516906e-05 9.99975345e-01 3.43530036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.319254154 meters 0.05960939748638477 Centerline is valid? [True, True] Translation: X:872.88, Y:3.64, Z:3.44 [[ 9.99597610e-01 -2.76541272e-02 -6.31403432e-03 8.72884209e+02] [ 2.76543623e-02 9.99617544e-01 -5.00950891e-05 3.63781699e+00] [ 6.31300481e-03 -1.24535661e-04 9.99980065e-01 3.43530211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.379254154 meters 0.05907092483067322 Centerline is valid? [True, True] Translation: X:872.94, Y:3.64, Z:3.44 [[ 9.99434696e-01 -3.29861061e-02 -6.49651509e-03 8.72944631e+02] [ 3.29864674e-02 9.99455797e-01 -5.15547049e-05 3.64017725e+00] [ 6.49468025e-03 -1.62771522e-04 9.99978896e-01 3.43539733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.439254154 meters 0.059121809142440196 Centerline is valid? [True, True] Translation: X:873.00, Y:3.64, Z:3.44 [[ 9.99381666e-01 -3.43906625e-02 -7.31900664e-03 8.73002856e+02] [ 3.43911580e-02 9.99408447e-01 -5.81868417e-05 3.64039062e+00] [ 7.31667815e-03 -1.93558251e-04 9.99973214e-01 3.43535108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.499254154 meters 0.059503162953363206 Centerline is valid? [True, True] Translation: X:873.06, Y:3.64, Z:3.44 [[ 9.99406671e-01 -3.38408246e-02 -6.41134863e-03 8.73061370e+02] [ 3.38411913e-02 9.99427222e-01 -5.13191329e-05 3.64288668e+00] [ 6.40941303e-03 -1.65678991e-04 9.99979446e-01 3.43538821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.559254154 meters 0.059616618807984495 Centerline is valid? [True, True] Translation: X:873.12, Y:3.64, Z:3.44 [[ 9.99371782e-01 -3.49607225e-02 -5.81281789e-03 8.73118684e+02] [ 3.49610399e-02 9.99388675e-01 -4.70170991e-05 3.64290359e+00] [ 5.81090812e-03 -1.56234596e-04 9.99983104e-01 3.43650846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.619254154 meters 0.060183783995035066 Centerline is valid? [True, True] Translation: X:873.18, Y:3.64, Z:3.44 [[ 9.99338065e-01 -3.58895040e-02 -5.94768415e-03 8.73177777e+02] [ 3.58898505e-02 9.99355751e-01 -4.84959906e-05 3.64353388e+00] [ 5.94559285e-03 -1.64997605e-04 9.99982311e-01 3.43636817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.679254154 meters 0.05996280897391609 Centerline is valid? [True, True] Translation: X:873.24, Y:3.65, Z:3.44 [[ 9.99380315e-01 -3.45270952e-02 -6.84585577e-03 8.73236406e+02] [ 3.45275200e-02 9.99403746e-01 -5.61573092e-05 3.64676042e+00] [ 6.84371285e-03 -1.80247913e-04 9.99976565e-01 3.43559859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters 0.05956457821178134 Centerline is valid? [True, True] Translation: X:873.30, Y:3.65, Z:3.44 [[ 9.99442678e-01 -3.26782163e-02 -6.81670892e-03 8.73295705e+02] [ 3.26785928e-02 9.99465911e-01 -5.61710467e-05 3.64866240e+00] [ 6.81490376e-03 -1.66620714e-04 9.99976764e-01 3.43594230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.799254154 meters 0.059309735186251475 Centerline is valid? [True, True] Translation: X:873.36, Y:3.66, Z:3.44 [[ 9.99551838e-01 -2.92041843e-02 -6.57565867e-03 8.73355753e+02] [ 2.92044583e-02 9.99573457e-01 -5.43721576e-05 3.65791886e+00] [ 6.57444177e-03 -1.37690759e-04 9.99978379e-01 3.43747568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters 0.059826369280281705 Centerline is valid? [True, True] Translation: X:873.41, Y:3.66, Z:3.44 [[ 9.99592794e-01 -2.77496599e-02 -6.64849986e-03 8.73413746e+02] [ 2.77499060e-02 9.99614896e-01 -5.52605920e-05 3.65615619e+00] [ 6.64747296e-03 -1.29257156e-04 9.99977897e-01 3.43730434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.919254154 meters 0.0591463258617337 Centerline is valid? [True, True] Translation: X:873.47, Y:3.66, Z:3.44 [[ 9.99582861e-01 -2.80857360e-02 -6.73024056e-03 8.73472530e+02] [ 2.80859909e-02 9.99605509e-01 -5.66496488e-05 3.65745881e+00] [ 6.72917658e-03 -1.32399457e-04 9.99977350e-01 3.43738084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters 0.05984183875213077 Centerline is valid? [True, True] Translation: X:873.53, Y:3.66, Z:3.44 [[ 9.99504669e-01 -3.08328988e-02 -6.30463336e-03 8.73530699e+02] [ 3.08331743e-02 9.99524543e-01 -5.35298234e-05 3.65631888e+00] [ 6.30328626e-03 -1.40888551e-04 9.99980124e-01 3.43751874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.039254154 meters 0.05994298773544091 Centerline is valid? [True, True] Translation: X:873.59, Y:3.66, Z:3.44 [[ 9.99286966e-01 -3.71349371e-02 -6.82322594e-03 8.73591319e+02] [ 3.71354055e-02 9.99310241e-01 -5.80791032e-05 3.66061658e+00] [ 6.82067632e-03 -1.95345571e-04 9.99976720e-01 3.43908115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539999 meters 0.06047102921614219 Centerline is valid? [True, True] Translation: X:873.65, Y:3.66, Z:3.44 [[ 9.98907228e-01 -4.61353290e-02 -7.47537763e-03 8.73651621e+02] [ 4.61361431e-02 9.98935159e-01 -6.35954993e-05 3.65970576e+00] [ 7.47035154e-03 -2.81359088e-04 9.99972057e-01 3.43893303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.159254154 meters 0.060584323807833705 Centerline is valid? [True, True] Translation: X:873.71, Y:3.66, Z:3.44 [[ 9.98524038e-01 -5.36492536e-02 -8.45592185e-03 8.73711230e+02] [ 5.36505642e-02 9.98559769e-01 -7.19308675e-05 3.66032668e+00] [ 8.44760240e-03 -3.81840278e-04 9.99964245e-01 3.43876153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539999 meters 0.06067529227117642 Centerline is valid? [True, True] Translation: X:873.77, Y:3.67, Z:3.44 [[ 9.98348763e-01 -5.67067290e-02 -9.17027892e-03 8.73771890e+02] [ 5.67083992e-02 9.98390781e-01 -7.79966246e-05 3.67141077e+00] [ 9.15994487e-03 -4.42164004e-04 9.99957949e-01 3.44017113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.279254154 meters 0.06189076552827098 Centerline is valid? [True, True] Translation: X:873.83, Y:3.67, Z:3.44 [[ 9.98460897e-01 -5.45854544e-02 -9.81154228e-03 8.73830488e+02] [ 5.45872630e-02 9.98509000e-01 -8.35648521e-05 3.66567581e+00] [ 9.80147470e-03 -4.52149002e-04 9.99951862e-01 3.43966149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.339254154 meters 0.06185371369469179 Centerline is valid? [True, True] Translation: X:873.89, Y:3.67, Z:3.44 [[ 9.98702840e-01 -5.01178630e-02 -8.99091875e-03 8.73890344e+02] [ 5.01192002e-02 9.98743240e-01 -7.66736935e-05 3.67489664e+00] [ 8.98346205e-03 -3.74043421e-04 9.99959578e-01 3.44088496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.399254154 meters 0.0621004062624276 Centerline is valid? [True, True] Translation: X:873.95, Y:3.68, Z:3.44 [[ 9.98872392e-01 -4.67791949e-02 -8.10261844e-03 8.73949412e+02] [ 4.67801708e-02 9.98905206e-01 -6.91411696e-05 3.67691696e+00] [ 8.09698211e-03 -3.09978669e-04 9.99967171e-01 3.44156377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.459254154 meters 0.062292750669842294 Centerline is valid? [True, True] Translation: X:874.01, Y:3.69, Z:3.44 [[ 9.99142022e-01 -4.08551327e-02 -6.78809474e-03 8.74009522e+02] [ 4.08556807e-02 9.99165056e-01 -5.79771313e-05 3.69122922e+00] [ 6.78479572e-03 -2.19404843e-04 9.99976959e-01 3.44349426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.519254154 meters 0.06225040365077882 Centerline is valid? [True, True] Translation: X:874.07, Y:3.70, Z:3.44 [[ 9.99300112e-01 -3.67298940e-02 -7.08522661e-03 8.74069546e+02] [ 3.67303872e-02 9.99325210e-01 -6.05514660e-05 3.70239443e+00] [ 7.08266962e-03 -1.99734030e-04 9.99974898e-01 3.44360963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.579254154 meters 0.062004035449976784 Centerline is valid? [True, True] Translation: X:874.13, Y:3.71, Z:3.44 [[ 9.99297331e-01 -3.68203473e-02 -7.00759413e-03 8.74127481e+02] [ 3.68208294e-02 9.99321882e-01 -6.02407300e-05 3.71022461e+00] [ 7.00506024e-03 -1.97827028e-04 9.99975445e-01 3.44418562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.639254154 meters 0.061360416502498696 Centerline is valid? [True, True] Translation: X:874.19, Y:3.71, Z:3.45 [[ 9.99114357e-01 -4.15109169e-02 -6.88086636e-03 8.74187083e+02] [ 4.15114897e-02 9.99138025e-01 -5.96124101e-05 3.71491582e+00] [ 6.87740979e-03 -2.26075398e-04 9.99976325e-01 3.44537581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.699254154 meters 0.06285331097639073 Centerline is valid? [True, True] Translation: X:874.25, Y:3.71, Z:3.44 [[ 9.98973653e-01 -4.42574293e-02 -9.63954566e-03 8.74246247e+02] [ 4.42586809e-02 9.99020101e-01 -8.35501668e-05 3.71441992e+00] [ 9.63379760e-03 -3.43169160e-04 9.99953535e-01 3.44286318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.759254154 meters 0.06261310412364521 Centerline is valid? [True, True] Translation: X:874.30, Y:3.72, Z:3.44 [[ 9.98951352e-01 -4.42875801e-02 -1.16106039e-02 8.74304804e+02] [ 4.42893890e-02 9.99018738e-01 -1.01404888e-04 3.72170791e+00] [ 1.16037018e-02 -4.12928002e-04 9.99932590e-01 3.44299746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.819254154 meters 0.0629597188435645 Centerline is valid? [True, True] Translation: X:874.36, Y:3.73, Z:3.44 [[ 9.99016723e-01 -4.29098352e-02 -1.11504975e-02 8.74364574e+02] [ 4.29114130e-02 9.99078876e-01 -9.78207194e-05 3.72665272e+00] [ 1.11444240e-02 -3.80759069e-04 9.99937826e-01 3.44390550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.879254154 meters 0.06296882940050234 Centerline is valid? [True, True] Translation: X:874.42, Y:3.73, Z:3.44 [[ 9.99061555e-01 -4.18165884e-02 -1.12863548e-02 8.74423045e+02] [ 4.18181264e-02 9.99125235e-01 -9.97886589e-05 3.72876361e+00] [ 1.12806547e-02 -3.72279198e-04 9.99936302e-01 3.44391832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.939254154 meters 0.06261627585012036 Centerline is valid? [True, True] Translation: X:874.48, Y:3.74, Z:3.45 [[ 9.99167435e-01 -3.94021273e-02 -1.05787557e-02 8.74481626e+02] [ 3.94033377e-02 9.99223383e-01 -9.40642053e-05 3.73659801e+00] [ 1.05742464e-02 -3.22852392e-04 9.99944039e-01 3.44503711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.999254154 meters 0.06272583058135373 Centerline is valid? [True, True] Translation: X:874.54, Y:3.74, Z:3.44 [[ 9.99303652e-01 -3.58522861e-02 -1.03356384e-02 8.74542301e+02] [ 3.58532502e-02 9.99357061e-01 -9.20528364e-05 3.73884397e+00] [ 1.03322935e-02 -2.78577493e-04 9.99946582e-01 3.44441536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.059254154 meters 0.06232557763143065 Centerline is valid? [True, True] Translation: X:874.60, Y:3.75, Z:3.45 [[ 9.99481680e-01 -3.08257701e-02 -9.28138519e-03 8.74602909e+02] [ 3.08263309e-02 9.99524752e-01 -8.26619551e-05 3.74649152e+00] [ 9.27952235e-03 -2.03491942e-04 9.99956924e-01 3.44576891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.119254154 meters 0.06315553051872082 Centerline is valid? [True, True] Translation: X:874.66, Y:3.74, Z:3.45 [[ 9.99594199e-01 -2.74644646e-02 -7.55908328e-03 8.74661648e+02] [ 2.74647401e-02 9.99622771e-01 -6.73856804e-05 3.73882612e+00] [ 7.55808248e-03 -1.40249922e-04 9.99971427e-01 3.44514565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.179254154 meters 0.06189125639774914 Centerline is valid? [True, True] Translation: X:874.72, Y:3.76, Z:3.45 [[ 9.99659106e-01 -2.51934392e-02 -6.85293074e-03 8.74720705e+02] [ 2.51936099e-02 9.99682589e-01 -6.14370673e-05 3.75616137e+00] [ 6.85230335e-03 -1.11233940e-04 9.99976516e-01 3.44690734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters 0.06229340626001444 Centerline is valid? [True, True] Translation: X:874.78, Y:3.75, Z:3.44 [[ 9.99694122e-01 -2.32635709e-02 -8.39454610e-03 8.74779403e+02] [ 2.32637533e-02 9.99729359e-01 -7.59349364e-05 3.75108718e+00] [ 8.39404071e-03 -1.19376940e-04 9.99964762e-01 3.44471446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.299254154 meters 0.06167180005329745 Centerline is valid? [True, True] Translation: X:874.84, Y:3.75, Z:3.45 [[ 9.99671787e-01 -2.41617968e-02 -8.51619303e-03 8.74837203e+02] [ 2.41620130e-02 9.99708053e-01 -7.75113997e-05 3.74741905e+00] [ 8.51557957e-03 -1.28282408e-04 9.99963734e-01 3.44513603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters 0.0618060641762541 Centerline is valid? [True, True] Translation: X:874.90, Y:3.75, Z:3.45 [[ 9.99607109e-01 -2.66700601e-02 -8.62180329e-03 8.74896457e+02] [ 2.66703724e-02 9.99644279e-01 -7.87754289e-05 3.75031773e+00] [ 8.62083728e-03 -1.51202226e-04 9.99962828e-01 3.44651424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.419254154 meters 0.06201264207557242 Centerline is valid? [True, True] Translation: X:874.95, Y:3.74, Z:3.45 [[ 9.99511420e-01 -3.00670735e-02 -8.53766796e-03 8.74954958e+02] [ 3.00675018e-02 9.99547867e-01 -7.82166276e-05 3.74383602e+00] [ 8.53615955e-03 -1.78527934e-04 9.99963550e-01 3.44529979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters 0.062373331997938986 Centerline is valid? [True, True] Translation: X:875.02, Y:3.74, Z:3.44 [[ 9.99394043e-01 -3.38455069e-02 -8.12579516e-03 8.75015642e+02] [ 3.38460189e-02 9.99427057e-01 -7.45339163e-05 3.73689647e+00] [ 8.12366217e-03 -2.00537064e-04 9.99966982e-01 3.44498361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.539254154 meters 0.06165378490019131 Centerline is valid? [True, True] Translation: X:875.07, Y:3.74, Z:3.45 [[ 9.99359399e-01 -3.49971879e-02 -7.48260713e-03 8.75074150e+02] [ 3.49976530e-02 9.99387392e-01 -6.88243972e-05 3.74026171e+00] [ 7.48043189e-03 -1.93093379e-04 9.99972003e-01 3.44566693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539999 meters 0.06134577928674296 Centerline is valid? [True, True] Translation: X:875.13, Y:3.74, Z:3.45 [[ 9.99381086e-01 -3.45366044e-02 -6.68343211e-03 8.75131930e+02] [ 3.45369626e-02 9.99403419e-01 -6.18467855e-05 3.74073740e+00] [ 6.68158088e-03 -1.69016937e-04 9.99977664e-01 3.44627622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.659254154 meters 0.06157484079475993 Centerline is valid? [True, True] Translation: X:875.19, Y:3.74, Z:3.45 [[ 9.99352104e-01 -3.55790655e-02 -5.43161396e-03 8.75190382e+02] [ 3.55793156e-02 9.99366854e-01 -5.06057660e-05 3.74287580e+00] [ 5.42997546e-03 -1.42680128e-04 9.99985247e-01 3.44732147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539999 meters 0.061587332700700104 Centerline is valid? [True, True] Translation: X:875.25, Y:3.74, Z:3.45 [[ 9.99337675e-01 -3.59506598e-02 -5.63568639e-03 8.75248823e+02] [ 3.59509315e-02 9.99353555e-01 -5.31206079e-05 3.74400835e+00] [ 5.63395295e-03 -1.49522751e-04 9.99984118e-01 3.44675001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.779254154 meters 0.06151355245600588 Centerline is valid? [True, True] Translation: X:875.31, Y:3.74, Z:3.44 [[ 9.99490084e-01 -3.12151567e-02 -6.72201424e-03 8.75308597e+02] [ 3.12154327e-02 9.99512678e-01 -6.38830886e-05 3.74290236e+00] [ 6.72073257e-03 -1.45980069e-04 9.99977405e-01 3.44488258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.839254154 meters 0.061414697765099675 Centerline is valid? [True, True] Translation: X:875.37, Y:3.75, Z:3.44 [[ 9.99646014e-01 -2.57635307e-02 -6.63981016e-03 8.75368941e+02] [ 2.57636793e-02 9.99668059e-01 -6.31712452e-05 3.75015082e+00] [ 6.63923365e-03 -1.07917056e-04 9.99977954e-01 3.44486758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.899254154 meters 0.06050441370776445 Centerline is valid? [True, True] Translation: X:875.43, Y:3.75, Z:3.44 [[ 9.99703399e-01 -2.33234032e-02 -7.00949200e-03 8.75428133e+02] [ 2.33235062e-02 9.99727968e-01 -6.70548663e-05 3.75231908e+00] [ 7.00914914e-03 -9.64509524e-05 9.99975431e-01 3.44432072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.959254154 meters 0.06181427259860254 Centerline is valid? [True, True] Translation: X:875.49, Y:3.75, Z:3.44 [[ 9.99679304e-01 -2.43786848e-02 -6.85342683e-03 8.75485728e+02] [ 2.43788046e-02 9.99702791e-01 -6.60703412e-05 3.74974525e+00] [ 6.85300063e-03 -1.01029201e-04 9.99976513e-01 3.44453281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.019254154 meters 0.061569149200510764 Centerline is valid? [True, True] Translation: X:875.55, Y:3.75, Z:3.44 [[ 9.99539442e-01 -2.96523728e-02 -6.45294021e-03 8.75546427e+02] [ 2.96525879e-02 9.99560263e-01 -6.23544961e-05 3.74589463e+00] [ 6.45195158e-03 -1.29020599e-04 9.99979178e-01 3.44392567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.079254154 meters 0.06080056578714197 Centerline is valid? [True, True] Translation: X:875.61, Y:3.75, Z:3.45 [[ 9.99489932e-01 -3.14025944e-02 -5.80967218e-03 8.75605246e+02] [ 3.14027972e-02 9.99506809e-01 -5.63390250e-05 3.74672280e+00] [ 5.80857610e-03 -1.26129669e-04 9.99983122e-01 3.44516750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.139254154 meters 0.061347287254679125 Centerline is valid? [True, True] Translation: X:875.66, Y:3.74, Z:3.45 [[ 9.99492583e-01 -3.15995859e-02 -4.00530035e-03 8.75663142e+02] [ 3.15996826e-02 9.99500605e-01 -3.91406363e-05 3.74144772e+00] [ 4.00453695e-03 -8.74454442e-05 9.99991978e-01 3.44603168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.199254154 meters 0.06084581509739408 Centerline is valid? [True, True] Translation: X:875.72, Y:3.74, Z:3.45 [[ 9.99599926e-01 -2.79274892e-02 -4.47703137e-03 8.75721886e+02] [ 2.79275709e-02 9.99609948e-01 -4.42941863e-05 3.74034026e+00] [ 4.47652212e-03 -8.07561455e-05 9.99989977e-01 3.44605893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.259254154 meters 0.06059346720369655 Centerline is valid? [True, True] Translation: X:875.78, Y:3.74, Z:3.45 [[ 9.99722347e-01 -2.31281650e-02 -4.50747333e-03 8.75781373e+02] [ 2.31281985e-02 9.99732506e-01 -4.46992827e-05 3.74205637e+00] [ 4.50730142e-03 -5.95628660e-05 9.99989840e-01 3.44575689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.319254154 meters 0.060897490176107946 Centerline is valid? [True, True] Translation: X:875.84, Y:3.74, Z:3.45 [[ 9.99753433e-01 -2.16814882e-02 -4.79443504e-03 8.75839863e+02] [ 2.16815089e-02 9.99764927e-01 -4.76547292e-05 3.74242271e+00] [ 4.79434123e-03 -5.63076070e-05 9.99988505e-01 3.44575485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.379254154 meters 0.060255145941982134 Centerline is valid? [True, True] Translation: X:875.90, Y:3.74, Z:3.44 [[ 9.99824990e-01 -1.74757003e-02 -6.67754501e-03 8.75897632e+02] [ 1.74756438e-02 9.99847287e-01 -6.68203357e-05 3.73978731e+00] [ 6.67769300e-03 -4.98857566e-05 9.99977703e-01 3.44454529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.439254154 meters 0.06018477936446019 Centerline is valid? [True, True] Translation: X:875.96, Y:3.74, Z:3.45 [[ 9.99885066e-01 -1.38244393e-02 -6.22412363e-03 8.75956302e+02] [ 1.38243169e-02 9.99904438e-01 -6.26846188e-05 3.73788839e+00] [ 6.22439542e-03 -2.33668434e-05 9.99980628e-01 3.44519391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.499254154 meters 0.060112386623623074 Centerline is valid? [True, True] Translation: X:876.02, Y:3.73, Z:3.45 [[ 9.99927930e-01 -1.03737818e-02 -6.04310175e-03 8.76015626e+02] [ 1.03736001e-02 9.99946191e-01 -6.14119851e-05 3.73423672e+00] [ 6.04341365e-03 -1.28116199e-06 9.99981738e-01 3.44548905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.559254154 meters 0.059888348968949505 Centerline is valid? [True, True] Translation: X:876.07, Y:3.73, Z:3.45 [[ 9.99977692e-01 -4.82009079e-03 -4.62402886e-03 8.76074923e+02] [ 4.81992353e-03 9.99988383e-01 -4.73145894e-05 3.72997953e+00] [ 4.62420320e-03 2.50260685e-05 9.99989308e-01 3.44642722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.619254154 meters 0.05963612512857411 Centerline is valid? [True, True] Translation: X:876.13, Y:3.72, Z:3.45 [[ 9.99990336e-01 2.03012251e-03 -3.89948094e-03 8.76134176e+02] [-2.03029431e-03 9.99997938e-01 -4.00997856e-05 3.72230448e+00] [ 3.89939149e-03 4.80164920e-05 9.99992396e-01 3.44672378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.679254154 meters 0.05967951109816447 Centerline is valid? [True, True] Translation: X:876.19, Y:3.72, Z:3.45 [[ 9.99973361e-01 6.19911928e-03 -3.85328993e-03 8.76192255e+02] [-6.19931832e-03 9.99980783e-01 -3.97144217e-05 3.71867411e+00] [ 3.85296969e-03 6.36011347e-05 9.99992575e-01 3.44791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters 0.059090034688797526 Centerline is valid? [True, True] Translation: X:876.25, Y:3.71, Z:3.45 [[ 9.99963429e-01 8.02390867e-03 -2.95926320e-03 8.76251672e+02] [-8.02403437e-03 9.99967806e-01 -3.06075206e-05 3.71211895e+00] [ 2.95892234e-03 5.43516310e-05 9.99995621e-01 3.44882986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.799254154 meters 0.0591739717553455 Centerline is valid? [True, True] Translation: X:876.31, Y:3.70, Z:3.45 [[ 9.99948576e-01 9.15854383e-03 -4.35504750e-03 8.76312313e+02] [-9.15882705e-03 9.99958056e-01 -4.50930951e-05 3.70268883e+00] [ 4.35445185e-03 8.49779031e-05 9.99990516e-01 3.44724256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters 0.05892465873940682 Centerline is valid? [True, True] Translation: X:876.37, Y:3.69, Z:3.45 [[ 9.99940933e-01 8.81245153e-03 -6.36174638e-03 8.76371698e+02] [-8.81304921e-03 9.99961162e-01 -6.59205864e-05 3.69306380e+00] [ 6.36091838e-03 1.21983076e-04 9.99979762e-01 3.44513687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.919254154 meters 0.058804519349032025 Centerline is valid? [True, True] Translation: X:876.43, Y:3.68, Z:3.44 [[ 9.99954943e-01 6.76384510e-03 -6.66058178e-03 8.76431709e+02] [-6.76445486e-03 9.99977118e-01 -6.90235238e-05 3.68242622e+00] [ 6.65996251e-03 1.14075619e-04 9.99977816e-01 3.44499095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters 0.057606455014243524 Centerline is valid? [True, True] Translation: X:876.49, Y:3.66, Z:3.45 [[ 9.99974501e-01 1.85132797e-03 -6.89712479e-03 8.76491670e+02] [-1.85186557e-03 9.99998283e-01 -7.15610837e-05 3.66215490e+00] [ 6.89698046e-03 8.43318069e-05 9.99976212e-01 3.44608730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.039254154 meters 0.05692258312188726 Centerline is valid? [True, True] Translation: X:876.55, Y:3.64, Z:3.45 [[ 9.99958553e-01 -5.28627871e-03 -7.41263287e-03 8.76550366e+02] [ 5.28585294e-03 9.99986027e-01 -7.70285999e-05 3.63819538e+00] [ 7.41293648e-03 3.78433201e-05 9.99972523e-01 3.44694509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539999 meters 0.056234690027433046 Centerline is valid? [True, True] Translation: X:876.61, Y:3.62, Z:3.45 [[ 9.99912070e-01 -1.18049557e-02 -6.04113082e-03 8.76609367e+02] [ 1.18047911e-02 9.99930319e-01 -6.29001047e-05 3.62294526e+00] [ 6.04145240e-03 -8.41971342e-06 9.99981750e-01 3.44853011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.159254154 meters 0.05629626968970284 Centerline is valid? [True, True] Translation: X:876.67, Y:3.61, Z:3.45 [[ 9.99844333e-01 -1.69897188e-02 -4.76016524e-03 8.76668547e+02] [ 1.69896749e-02 9.99855664e-01 -4.96534358e-05 3.61003810e+00] [ 4.76032178e-03 -3.12279536e-05 9.99988669e-01 3.45021438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539999 meters 0.05607846817991404 Centerline is valid? [True, True] Translation: X:876.73, Y:3.60, Z:3.45 [[ 9.99793560e-01 -1.97669291e-02 -4.70176639e-03 8.76727240e+02] [ 1.97669164e-02 9.99804614e-01 -4.91747751e-05 3.60150227e+00] [ 4.70181977e-03 -4.37747998e-05 9.99988945e-01 3.44981799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.279254154 meters 0.055566046631259004 Centerline is valid? [True, True] Translation: X:876.79, Y:3.59, Z:3.45 [[ 9.99751442e-01 -2.17016528e-02 -5.10814368e-03 8.76785185e+02] [ 2.17016624e-02 9.99764490e-01 -5.35688831e-05 3.59446093e+00] [ 5.10810319e-03 -5.72996413e-05 9.99986952e-01 3.44948970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.339254154 meters 0.056114053673992935 Centerline is valid? [True, True] Translation: X:876.85, Y:3.59, Z:3.45 [[ 9.99667028e-01 -2.51219141e-02 -5.89258372e-03 8.76845200e+02] [ 2.51219850e-02 9.99684391e-01 -6.19855803e-05 3.58837063e+00] [ 5.89228116e-03 -8.60684590e-05 9.99982637e-01 3.44925380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.399254154 meters 0.05548188205021676 Centerline is valid? [True, True] Translation: X:876.90, Y:3.58, Z:3.45 [[ 9.99608259e-01 -2.69975272e-02 -7.37990211e-03 8.76902803e+02] [ 2.69976883e-02 9.99635493e-01 -7.78015410e-05 3.57939218e+00] [ 7.37931253e-03 -1.21469234e-04 9.99972765e-01 3.44838656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.459254154 meters 0.055276642965528276 Centerline is valid? [True, True] Translation: X:876.96, Y:3.58, Z:3.45 [[ 9.99603742e-01 -2.70348613e-02 -7.84067103e-03 8.76960510e+02] [ 2.70350394e-02 9.99634483e-01 -8.32894439e-05 3.57694670e+00] [ 7.84005685e-03 -1.28716410e-04 9.99969258e-01 3.44840463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.519254154 meters 0.054499244033418937 Centerline is valid? [True, True] Translation: X:877.02, Y:3.58, Z:3.45 [[ 9.99682716e-01 -2.40064889e-02 -7.62597968e-03 8.77018906e+02] [ 2.40065649e-02 9.99711798e-01 -8.15792888e-05 3.57510083e+00] [ 7.62574029e-03 -1.01520171e-04 9.99970918e-01 3.44826831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.579254154 meters 0.054960870616610334 Centerline is valid? [True, True] Translation: X:877.08, Y:3.57, Z:3.45 [[ 9.99797517e-01 -1.92387294e-02 -5.89887376e-03 8.77079038e+02] [ 1.92386913e-02 9.99814917e-01 -6.31937786e-05 3.57130441e+00] [ 5.89899775e-03 -5.03056287e-05 9.99982599e-01 3.44894571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.639254154 meters 0.05406094700365985 Centerline is valid? [True, True] Translation: X:877.14, Y:3.58, Z:3.45 [[ 9.99888700e-01 -1.41363632e-02 -4.76989501e-03 8.77137724e+02] [ 1.41362798e-02 9.99900077e-01 -5.11868542e-05 3.57516240e+00] [ 4.77014198e-03 -1.62474137e-05 9.99988623e-01 3.45074940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.699254154 meters 0.0541282943457173 Centerline is valid? [True, True] Translation: X:877.20, Y:3.58, Z:3.45 [[ 9.99936053e-01 -1.00823862e-02 -5.12213783e-03 8.77196744e+02] [ 1.00822343e-02 9.99949171e-01 -5.54886853e-05 3.57634485e+00] [ 5.12243694e-03 3.84254341e-06 9.99986880e-01 3.44938338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.759254154 meters 0.05375054270163811 Centerline is valid? [True, True] Translation: X:877.26, Y:3.58, Z:3.45 [[ 9.99940733e-01 -8.88563556e-03 -6.29098750e-03 8.77255449e+02] [ 8.88537911e-03 9.99960522e-01 -6.87138830e-05 3.57616108e+00] [ 6.29134971e-03 1.28120016e-05 9.99980209e-01 3.44882475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.819254154 meters 0.053716748685193765 Centerline is valid? [True, True] Translation: X:877.31, Y:3.57, Z:3.45 [[ 9.99923303e-01 -9.83939569e-03 -7.52164049e-03 8.77313481e+02] [ 9.83904841e-03 9.99951592e-01 -8.31731397e-05 3.57231526e+00] [ 7.52209475e-03 9.16097561e-06 9.99971709e-01 3.44816505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.879254154 meters 0.05391387637171573 Centerline is valid? [True, True] Translation: X:877.37, Y:3.57, Z:3.45 [[ 9.99844948e-01 -1.51920904e-02 -8.90400865e-03 8.77371439e+02] [ 1.51918088e-02 9.99884593e-01 -9.92578944e-05 3.56577468e+00] [ 8.90448900e-03 -3.60254932e-05 9.99960354e-01 3.44660213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.939254154 meters 0.05385904583933808 Centerline is valid? [True, True] Translation: X:877.43, Y:3.56, Z:3.45 [[ 9.99706619e-01 -2.23716660e-02 -9.28353045e-03 8.77431100e+02] [ 2.23716673e-02 9.99749718e-01 -1.03714194e-04 3.55781332e+00] [ 9.28352721e-03 -1.04004288e-04 9.99956902e-01 3.44759751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.999254154 meters 0.05441452068485568 Centerline is valid? [True, True] Translation: X:877.49, Y:3.55, Z:3.45 [[ 9.99579970e-01 -2.78197499e-02 -8.12069201e-03 8.77490595e+02] [ 2.78199296e-02 9.99612947e-01 -9.08471887e-05 3.54987782e+00] [ 8.12007621e-03 -1.35108050e-04 9.99967022e-01 3.44932411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.059254154 meters 0.05376455383258971 Centerline is valid? [True, True] Translation: X:877.55, Y:3.55, Z:3.45 [[ 9.99550090e-01 -2.88784450e-02 -8.10267437e-03 8.77548630e+02] [ 2.88786569e-02 9.99582921e-01 -9.08760050e-05 3.54824048e+00] [ 8.10191927e-03 -1.43159234e-04 9.99967169e-01 3.45062507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.119254154 meters 0.05340456483722036 Centerline is valid? [True, True] Translation: X:877.61, Y:3.55, Z:3.45 [[ 9.99632751e-01 -2.55844043e-02 -8.93315088e-03 8.77607622e+02] [ 2.55845243e-02 9.99672657e-01 -1.00862149e-04 3.54502919e+00] [ 8.93280718e-03 -1.27725308e-04 9.99960094e-01 3.44963408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.179254154 meters 0.054254655049673535 Centerline is valid? [True, True] Translation: X:877.67, Y:3.54, Z:3.45 [[ 9.99661191e-01 -2.42959459e-02 -9.33862206e-03 8.77666885e+02] [ 2.42960115e-02 9.99704803e-01 -1.06440328e-04 3.54496277e+00] [ 9.33845140e-03 -1.20487005e-04 9.99956388e-01 3.44969527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters 0.052957351885462675 Centerline is valid? [True, True] Translation: X:877.72, Y:3.54, Z:3.45 [[ 9.99739604e-01 -2.01321815e-02 -1.07433591e-02 8.77724711e+02] [ 2.01320195e-02 9.99797323e-01 -1.23232446e-04 3.54396150e+00] [ 1.07436626e-02 -9.30851576e-05 9.99942281e-01 3.44951791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.299254154 meters 0.052953877164710214 Centerline is valid? [True, True] Translation: X:877.78, Y:3.54, Z:3.45 [[ 9.99792230e-01 -1.78719298e-02 -9.80259870e-03 8.77783797e+02] [ 1.78716792e-02 9.99840282e-01 -1.13160054e-04 3.54221827e+00] [ 9.80305544e-03 -6.20523574e-05 9.99951947e-01 3.45139339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters 0.05312776383057322 Centerline is valid? [True, True] Translation: X:877.84, Y:3.54, Z:3.45 [[ 9.99792124e-01 -1.88030435e-02 -7.88382336e-03 8.77842279e+02] [ 1.88029043e-02 9.99823206e-01 -9.17757612e-05 3.53686997e+00] [ 7.88415521e-03 -5.64820931e-05 9.99968918e-01 3.45287403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.419254154 meters 0.05214295986987255 Centerline is valid? [True, True] Translation: X:877.90, Y:3.53, Z:3.45 [[ 9.99713231e-01 -2.26953286e-02 -7.64050157e-03 8.77901599e+02] [ 2.26953053e-02 9.99742424e-01 -8.97638744e-05 3.52963456e+00] [ 7.64057078e-03 -8.36653829e-05 9.99970807e-01 3.45293529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters 0.053233319715035705 Centerline is valid? [True, True] Translation: X:877.96, Y:3.53, Z:3.45 [[ 9.99594088e-01 -2.74339161e-02 -7.68376659e-03 8.77961054e+02] [ 2.74340288e-02 9.99623612e-01 -9.07636912e-05 3.52904796e+00] [ 7.68336452e-03 -1.20069825e-04 9.99970475e-01 3.45469662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.539254154 meters 0.05318103649136882 Centerline is valid? [True, True] Translation: X:878.02, Y:3.52, Z:3.45 [[ 9.99448221e-01 -3.21663207e-02 -8.28138411e-03 8.78020094e+02] [ 3.21666126e-02 9.99482516e-01 -9.79852745e-05 3.52480943e+00] [ 8.28025045e-03 -1.68452866e-04 9.99965704e-01 3.45408970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539999 meters 0.05355056712095447 Centerline is valid? [True, True] Translation: X:878.08, Y:3.52, Z:3.45 [[ 9.99306549e-01 -3.59148593e-02 -9.82571897e-03 8.78080450e+02] [ 3.59154502e-02 9.99354825e-01 -1.16365457e-04 3.52164022e+00] [ 9.82355892e-03 -2.36610357e-04 9.99951720e-01 3.45332574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.659254154 meters 0.054248292843346924 Centerline is valid? [True, True] Translation: X:878.14, Y:3.53, Z:3.45 [[ 9.98986669e-01 -4.35885679e-02 -1.12103227e-02 8.78140908e+02] [ 4.35898191e-02 9.99049503e-01 -1.32812478e-04 3.52689410e+00] [ 1.12054565e-02 -3.55978044e-04 9.99937154e-01 3.45492643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539999 meters 0.054099394634608465 Centerline is valid? [True, True] Translation: X:878.20, Y:3.52, Z:3.46 [[ 9.98244728e-01 -5.80522017e-02 -1.17219702e-02 8.78201658e+02] [ 5.80545651e-02 9.98313402e-01 -1.38837375e-04 3.52031104e+00] [ 1.17102597e-02 -5.41920203e-04 9.99931286e-01 3.45525653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.779254154 meters 0.054941850669393874 Centerline is valid? [True, True] Translation: X:878.26, Y:3.51, Z:3.46 [[ 9.97786831e-01 -6.56498875e-02 -1.05608430e-02 8.78260899e+02] [ 6.56522312e-02 9.97842557e-01 -1.24980123e-04 3.51398156e+00] [ 1.05462636e-02 -5.68639388e-04 9.99944225e-01 3.45555962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.839254154 meters 0.056829352925661276 Centerline is valid? [True, True] Translation: X:878.32, Y:3.51, Z:3.46 [[ 9.97121476e-01 -7.51653649e-02 -9.94632486e-03 8.78320705e+02] [ 7.51679156e-02 9.97170883e-01 -1.17670638e-04 3.50784293e+00] [ 9.92703031e-03 -6.30312587e-04 9.99950527e-01 3.45545624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.899254154 meters 0.05556945649964118 Centerline is valid? [True, True] Translation: X:878.38, Y:3.52, Z:3.46 [[ 9.96691366e-01 -8.06703404e-02 -9.93059661e-03 8.78380763e+02] [ 8.06731547e-02 9.96740602e-01 -1.17510999e-04 3.51698774e+00] [ 9.90770849e-03 -6.84010358e-04 9.99950683e-01 3.45700170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.959254154 meters 0.056668956861206723 Centerline is valid? [True, True] Translation: X:878.44, Y:3.52, Z:3.46 [[ 9.96639097e-01 -8.12599828e-02 -1.03597977e-02 8.78439813e+02] [ 8.12630752e-02 9.96692680e-01 -1.22795469e-04 3.52102251e+00] [ 1.03355129e-02 -7.19486256e-04 9.99946328e-01 3.45610873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.019254154 meters 0.0566125440123295 Centerline is valid? [True, True] Translation: X:878.50, Y:3.53, Z:3.46 [[ 9.96686904e-01 -8.05723759e-02 -1.11043698e-02 8.78498385e+02] [ 8.05758777e-02 9.96748469e-01 -1.32392038e-04 3.53408329e+00] [ 1.10789307e-02 -7.62790932e-04 9.99938336e-01 3.45616148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.079254154 meters 0.056538355490250644 Centerline is valid? [True, True] Translation: X:878.56, Y:3.55, Z:3.46 [[ 9.96732870e-01 -7.98913138e-02 -1.18728191e-02 8.78556994e+02] [ 7.98952557e-02 9.96803254e-01 -1.42680872e-04 3.54556801e+00] [ 1.18462636e-02 -8.06367199e-04 9.99929505e-01 3.45621788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.139254154 meters 0.05730025262440043 Centerline is valid? [True, True] Translation: X:878.62, Y:3.55, Z:3.46 [[ 9.96777990e-01 -7.93551867e-02 -1.16787064e-02 8.78615526e+02] [ 7.93589571e-02 9.96846094e-01 -1.40954402e-04 3.55097855e+00] [ 1.16530584e-02 -7.86309718e-04 9.99931792e-01 3.45580663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.199254154 meters 0.05797280912040374 Centerline is valid? [True, True] Translation: X:878.68, Y:3.56, Z:3.46 [[ 9.96910301e-01 -7.77181672e-02 -1.13902762e-02 8.78675357e+02] [ 7.77216446e-02 9.96975088e-01 -1.37707758e-04 3.55630296e+00] [ 1.13665240e-02 -7.47988716e-04 9.99935119e-01 3.45542336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.259254154 meters 0.06173299917168547 Centerline is valid? [True, True] Translation: X:878.74, Y:3.55, Z:3.45 [[ 9.97279058e-01 -7.28377364e-02 -1.13641996e-02 8.78735106e+02] [ 7.28408807e-02 9.97343565e-01 -1.37523362e-04 3.55096431e+00] [ 1.13440282e-02 -6.90629138e-04 9.99935416e-01 3.45330231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.319254154 meters 0.057259732446770656 Centerline is valid? [True, True] Translation: X:878.79, Y:3.59, Z:3.46 [[ 9.97724801e-01 -6.63632007e-02 -1.18805098e-02 8.78794745e+02] [ 6.63661782e-02 9.97795325e-01 -1.43880773e-04 3.58750400e+00] [ 1.18638655e-02 -6.44910616e-04 9.99929414e-01 3.45555100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.379254154 meters 0.057471471342240676 Centerline is valid? [True, True] Translation: X:878.85, Y:3.59, Z:3.45 [[ 9.98098335e-01 -6.03908454e-02 -1.23555293e-02 8.78854293e+02] [ 6.03936082e-02 9.98174629e-01 -1.49727147e-04 3.58657738e+00] [ 1.23420180e-02 -5.96752579e-04 9.99923656e-01 3.45461832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.439254154 meters 0.0567284773999838 Centerline is valid? [True, True] Translation: X:878.91, Y:3.60, Z:3.46 [[ 9.98798591e-01 -4.73411601e-02 -1.26566065e-02 8.78914920e+02] [ 4.73430111e-02 9.98878679e-01 -1.53494940e-04 3.60296123e+00] [ 1.26496811e-02 -4.45891334e-04 9.99919890e-01 3.45534146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.499254154 meters 0.05700524025625966 Centerline is valid? [True, True] Translation: X:878.97, Y:3.61, Z:3.45 [[ 9.99095370e-01 -4.06518378e-02 -1.24847462e-02 8.78973696e+02] [ 4.06531146e-02 9.99173309e-01 -1.51606547e-04 3.60826618e+00] [ 1.24805883e-02 -3.56074420e-04 9.99922051e-01 3.45436595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.559254154 meters 0.056996487826722356 Centerline is valid? [True, True] Translation: X:879.03, Y:3.61, Z:3.45 [[ 9.99406163e-01 -3.21767064e-02 -1.23280892e-02 8.79034060e+02] [ 3.21773040e-02 9.99482165e-01 -1.49926106e-04 3.61390945e+00] [ 1.23265294e-02 -2.46847598e-04 9.99923995e-01 3.45342339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.619254154 meters 0.05626484076180021 Centerline is valid? [True, True] Translation: X:879.09, Y:3.63, Z:3.46 [[ 9.99624057e-01 -2.49929336e-02 -1.12737956e-02 8.79093306e+02] [ 2.49929750e-02 9.99687617e-01 -1.37237535e-04 3.62624162e+00] [ 1.12737039e-02 -1.44579751e-04 9.99936439e-01 3.45712913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.679254154 meters 0.05541706584173097 Centerline is valid? [True, True] Translation: X:879.15, Y:3.63, Z:3.46 [[ 9.99763504e-01 -1.91460187e-02 -1.03134374e-02 8.79152914e+02] [ 1.91457407e-02 9.99816696e-01 -1.25697003e-04 3.63089037e+00] [ 1.03139535e-02 -7.17911223e-05 9.99946807e-01 3.45686893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters 0.05581588867868691 Centerline is valid? [True, True] Translation: X:879.21, Y:3.63, Z:3.46 [[ 9.99847292e-01 -1.43721862e-02 -9.94145678e-03 8.79212065e+02] [ 1.43716852e-02 9.99896715e-01 -1.21836310e-04 3.63475818e+00] [ 9.94218103e-03 -2.10577827e-05 9.99950575e-01 3.45749885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.799254154 meters 0.0557236151289765 Centerline is valid? [True, True] Translation: X:879.27, Y:3.64, Z:3.46 [[ 9.99882711e-01 -1.20027946e-02 -9.51297114e-03 8.79271354e+02] [ 1.20022197e-02 9.99927964e-01 -1.17516473e-04 3.63593369e+00] [ 9.51369639e-03 3.32592013e-06 9.99954744e-01 3.45715382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters 0.05507780523403078 Centerline is valid? [True, True] Translation: X:879.33, Y:3.64, Z:3.46 [[ 9.99881793e-01 -1.09295299e-02 -1.08141040e-02 8.79330207e+02] [ 1.09287121e-02 9.99940271e-01 -1.34713424e-04 3.63585322e+00] [ 1.08149304e-02 1.65132705e-05 9.99941517e-01 3.45500237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.919254154 meters 0.0556077164767289 Centerline is valid? [True, True] Translation: X:879.39, Y:3.63, Z:3.46 [[ 9.99820051e-01 -1.38324206e-02 -1.29819319e-02 8.79389329e+02] [ 1.38314771e-02 9.99904327e-01 -1.62463552e-04 3.63261845e+00] [ 1.29829372e-02 -1.71249775e-05 9.99915718e-01 3.45681109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters 0.05685618218276492 Centerline is valid? [True, True] Translation: X:879.45, Y:3.62, Z:3.46 [[ 9.99656574e-01 -2.16667126e-02 -1.47407090e-02 8.79449256e+02] [ 2.16663444e-02 9.99765240e-01 -1.84698523e-04 3.62444400e+00] [ 1.47412503e-02 -1.34742185e-04 9.99891333e-01 3.45561936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.039254154 meters 0.0562337159556229 Centerline is valid? [True, True] Translation: X:879.51, Y:3.62, Z:3.46 [[ 9.99475286e-01 -2.92168766e-02 -1.39830710e-02 8.79509215e+02] [ 2.92172822e-02 9.99573069e-01 -1.75320695e-04 3.61831800e+00] [ 1.39822235e-02 -2.33318630e-04 9.99902217e-01 3.45774497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539999 meters 0.05549977861984874 Centerline is valid? [True, True] Translation: X:879.57, Y:3.62, Z:3.46 [[ 9.99380465e-01 -3.26053482e-02 -1.32505658e-02 8.79567690e+02] [ 3.26060066e-02 9.99468269e-01 -1.66403770e-04 3.61859039e+00] [ 1.32489458e-02 -2.65747359e-04 9.99912194e-01 3.46111259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.159254154 meters 0.05709395058920515 Centerline is valid? [True, True] Translation: X:879.63, Y:3.60, Z:3.46 [[ 9.99294414e-01 -3.56225337e-02 -1.19041394e-02 8.79626011e+02] [ 3.56232750e-02 9.99365279e-01 -1.49835336e-04 3.60320934e+00] [ 1.19019211e-02 -2.74334815e-04 9.99929132e-01 3.45813930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539999 meters 0.05571498120434728 Centerline is valid? [True, True] Translation: X:879.68, Y:3.61, Z:3.46 [[ 9.99251564e-01 -3.69737381e-02 -1.13690212e-02 8.79684222e+02] [ 3.69744971e-02 9.99316199e-01 -1.43492587e-04 3.61178153e+00] [ 1.13665525e-02 -2.76978650e-04 9.99935360e-01 3.46250952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.279254154 meters 0.056514098950231066 Centerline is valid? [True, True] Translation: X:879.74, Y:3.60, Z:3.46 [[ 9.99181228e-01 -3.90912375e-02 -1.04282377e-02 8.79744320e+02] [ 3.90919894e-02 9.99235607e-01 -1.31799294e-04 3.60256593e+00] [ 1.04254187e-02 -2.75969179e-04 9.99945616e-01 3.46147880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.339254154 meters 0.05588618861945397 Centerline is valid? [True, True] Translation: X:879.80, Y:3.60, Z:3.46 [[ 9.99132890e-01 -4.03017931e-02 -1.04514995e-02 8.79803509e+02] [ 4.03026073e-02 9.99187511e-01 -1.32789353e-04 3.60262136e+00] [ 1.04483594e-02 -2.88548468e-04 9.99945373e-01 3.46184855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.399254154 meters 0.05651527169920594 Centerline is valid? [True, True] Translation: X:879.86, Y:3.61, Z:3.46 [[ 9.99056112e-01 -4.15967086e-02 -1.25139805e-02 8.79862729e+02] [ 4.15979690e-02 9.99134417e-01 -1.59665454e-04 3.60546786e+00] [ 1.25097901e-02 -3.61041423e-04 9.99921684e-01 3.46033687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.459254154 meters 0.05596055344179684 Centerline is valid? [True, True] Translation: X:879.92, Y:3.61, Z:3.46 [[ 9.98872730e-01 -4.53574185e-02 -1.39990421e-02 8.79923301e+02] [ 4.53593644e-02 9.98970718e-01 -1.78638492e-04 3.60649452e+00] [ 1.39927357e-02 -4.56550533e-04 9.99901993e-01 3.45990791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.519254154 meters 0.05671749757413096 Centerline is valid? [True, True] Translation: X:879.98, Y:3.61, Z:3.46 [[ 9.98674351e-01 -4.94835049e-02 -1.41747728e-02 8.79982443e+02] [ 4.94859142e-02 9.98774805e-01 -1.80936914e-04 3.60993032e+00] [ 1.41663593e-02 -5.20754535e-04 9.99899516e-01 3.46164653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.579254154 meters 0.05702024891025519 Centerline is valid? [True, True] Translation: X:880.04, Y:3.60, Z:3.46 [[ 9.98443406e-01 -5.40521413e-02 -1.37524874e-02 8.80042210e+02] [ 5.40548403e-02 9.98537953e-01 -1.75646393e-04 3.60496790e+00] [ 1.37418746e-02 -5.68015525e-04 9.99905415e-01 3.46213677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.639254154 meters 0.05671803671425743 Centerline is valid? [True, True] Translation: X:880.10, Y:3.61, Z:3.46 [[ 9.98495276e-01 -5.34201297e-02 -1.23884651e-02 8.80100598e+02] [ 5.34222607e-02 9.98571999e-01 -1.59079856e-04 3.61423472e+00] [ 1.23792724e-02 -5.02979325e-04 9.99923247e-01 3.46422922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.699254154 meters 0.056994376225979436 Centerline is valid? [True, True] Translation: X:880.16, Y:3.62, Z:3.46 [[ 9.98752601e-01 -4.84870815e-02 -1.19266360e-02 8.80160047e+02] [ 4.84886998e-02 9.98823719e-01 -1.53603286e-04 3.61626297e+00] [ 1.19200547e-02 -4.24895393e-04 9.99928863e-01 3.46394269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.759254154 meters 0.057432944640026885 Centerline is valid? [True, True] Translation: X:880.22, Y:3.62, Z:3.46 [[ 9.98963984e-01 -4.39993430e-02 -1.16196215e-02 8.80218657e+02] [ 4.40005737e-02 9.99031495e-01 -1.49831919e-04 3.61839273e+00] [ 1.16149603e-02 -3.61593320e-04 9.99932479e-01 3.46404721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.819254154 meters 0.056272210694042535 Centerline is valid? [True, True] Translation: X:880.28, Y:3.62, Z:3.46 [[ 9.99156966e-01 -3.95573520e-02 -1.09805781e-02 8.80279099e+02] [ 3.95581820e-02 9.99217259e-01 -1.41678230e-04 3.62362895e+00] [ 1.09775875e-02 -2.92812915e-04 9.99939702e-01 3.46447497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.879254154 meters 0.05663919970756712 Centerline is valid? [True, True] Translation: X:880.34, Y:3.63, Z:3.47 [[ 9.99311803e-01 -3.57315414e-02 -9.95879031e-03 8.80338719e+02] [ 3.57320338e-02 9.99361399e-01 -1.28545474e-04 3.63484892e+00] [ 9.95702374e-03 -2.27390822e-04 9.99950402e-01 3.46613753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.939254154 meters 0.056399547426035285 Centerline is valid? [True, True] Translation: X:880.40, Y:3.64, Z:3.47 [[ 9.99271867e-01 -3.65808868e-02 -1.08431844e-02 8.80397779e+02] [ 3.65815118e-02 9.99330663e-01 -1.40757543e-04 3.63840175e+00] [ 1.08410757e-02 -2.56005024e-04 9.99941201e-01 3.46569685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.999254154 meters 0.05735106786417255 Centerline is valid? [True, True] Translation: X:880.46, Y:3.63, Z:3.46 [[ 9.99192360e-01 -3.84909286e-02 -1.15358499e-02 8.80456618e+02] [ 3.84917558e-02 9.99258906e-01 -1.50395684e-04 3.62976851e+00] [ 1.15330896e-02 -2.93760898e-04 9.99933449e-01 3.46228085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.059254154 meters 0.057527046107274105 Centerline is valid? [True, True] Translation: X:880.52, Y:3.64, Z:3.46 [[ 9.98984954e-01 -4.33164080e-02 -1.23592541e-02 8.80517272e+02] [ 4.33177252e-02 9.99061334e-01 -1.61227614e-04 3.63608624e+00] [ 1.23546367e-02 -3.74310814e-04 9.99923608e-01 3.46480272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.119254154 meters 0.057935953031398875 Centerline is valid? [True, True] Translation: X:880.58, Y:3.64, Z:3.46 [[ 9.98727029e-01 -4.87761997e-02 -1.28531713e-02 8.80577317e+02] [ 4.87780759e-02 9.98809627e-01 -1.67662042e-04 3.63662657e+00] [ 1.28460491e-02 -4.59504350e-04 9.99917381e-01 3.46497034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.179254154 meters 0.05760206461963211 Centerline is valid? [True, True] Translation: X:880.64, Y:3.64, Z:3.47 [[ 9.98494757e-01 -5.34626368e-02 -1.22460793e-02 8.80637654e+02] [ 5.34646919e-02 9.98569728e-01 -1.59734641e-04 3.64257756e+00] [ 1.22371039e-02 -4.95238653e-04 9.99925001e-01 3.46609630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters 0.05765222442216565 Centerline is valid? [True, True] Translation: X:880.70, Y:3.64, Z:3.47 [[ 9.98312897e-01 -5.71141441e-02 -1.04563121e-02 8.80698046e+02] [ 5.71158428e-02 9.98367549e-01 -1.36335438e-04 3.64237535e+00] [ 1.04470293e-02 -4.61115650e-04 9.99945322e-01 3.46676688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.299254154 meters 0.05786625079283798 Centerline is valid? [True, True] Translation: X:880.76, Y:3.65, Z:3.47 [[ 9.98386264e-01 -5.61839523e-02 -8.26020611e-03 8.80756766e+02] [ 5.61849796e-02 9.98420371e-01 -1.07818350e-04 3.65124236e+00] [ 8.25321571e-03 -3.56455152e-04 9.99965878e-01 3.46844535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters 0.05799451118441209 Centerline is valid? [True, True] Translation: X:880.82, Y:3.65, Z:3.47 [[ 9.98838575e-01 -4.74752360e-02 -8.22215168e-03 8.80815934e+02] [ 4.74759579e-02 9.98872375e-01 -1.07474870e-04 3.65137290e+00] [ 8.21798257e-03 -2.83004480e-04 9.99966192e-01 3.46795245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.419254154 meters 0.05716608673623326 Centerline is valid? [True, True] Translation: X:880.88, Y:3.66, Z:3.47 [[ 9.99308453e-01 -3.64159594e-02 -7.51624811e-03 8.80875967e+02] [ 3.64162495e-02 9.99336704e-01 -9.83109646e-05 3.66092939e+00] [ 7.51484270e-03 -1.75470588e-04 9.99971748e-01 3.46720579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters 0.05664702002746541 Centerline is valid? [True, True] Translation: X:880.94, Y:3.67, Z:3.47 [[ 9.99495449e-01 -3.07457300e-02 -7.97170500e-03 8.80936546e+02] [ 3.07458756e-02 9.99527228e-01 -1.04323655e-04 3.66710201e+00] [ 7.97114371e-03 -1.40826031e-04 9.99968220e-01 3.46669582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.539254154 meters 0.057433255464471075 Centerline is valid? [True, True] Translation: X:881.00, Y:3.68, Z:3.47 [[ 9.99663145e-01 -2.40712854e-02 -9.70412649e-03 8.80996735e+02] [ 2.40711857e-02 9.99710239e-01 -1.27091725e-04 3.67510533e+00] [ 9.70437388e-03 -1.06540917e-04 9.99952906e-01 3.46595217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539999 meters 0.05694428649354001 Centerline is valid? [True, True] Translation: X:881.05, Y:3.68, Z:3.47 [[ 9.99710496e-01 -2.12662374e-02 -1.12548036e-02 8.81054866e+02] [ 2.12659162e-02 9.99773844e-01 -1.48228249e-04 3.67691597e+00] [ 1.12554105e-02 -9.11583725e-05 9.99936652e-01 3.46530566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.659254154 meters 0.05653094902765398 Centerline is valid? [True, True] Translation: X:881.11, Y:3.68, Z:3.47 [[ 9.99799201e-01 -1.71044084e-02 -1.04401190e-02 8.81113904e+02] [ 1.71038942e-02 9.99853708e-01 -1.38544114e-04 3.68008992e+00] [ 1.04409614e-02 -4.00503959e-05 9.99945491e-01 3.46609248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539999 meters 0.056369596848159884 Centerline is valid? [True, True] Translation: X:881.17, Y:3.68, Z:3.47 [[ 9.99877048e-01 -1.29983798e-02 -8.77105613e-03 8.81172223e+02] [ 1.29978515e-02 9.99915518e-01 -1.17230911e-04 3.68075658e+00] [ 8.77183894e-03 3.21161254e-06 9.99961527e-01 3.46692632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.779254154 meters 0.05604592647650136 Centerline is valid? [True, True] Translation: X:881.23, Y:3.68, Z:3.47 [[ 9.99928044e-01 -8.34267395e-03 -8.62008465e-03 8.81231043e+02] [ 8.34198317e-03 9.99965198e-01 -1.16089041e-04 3.68141685e+00] [ 8.62075315e-03 4.41720872e-05 9.99962840e-01 3.46646499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.839254154 meters 0.05617459946014553 Centerline is valid? [True, True] Translation: X:881.29, Y:3.68, Z:3.47 [[ 9.99951674e-01 -3.44345105e-03 -9.20827978e-03 8.81290117e+02] [ 3.44244995e-03 9.99994067e-01 -1.24565108e-04 3.67791756e+00] [ 9.20865408e-03 9.28600457e-05 9.99957595e-01 3.46800884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.899254154 meters 0.05656408796753418 Centerline is valid? [True, True] Translation: X:881.35, Y:3.67, Z:3.47 [[ 9.99963960e-01 9.90241407e-04 -8.43192893e-03 8.81349859e+02] [-9.91239647e-04 9.99999502e-01 -1.14210019e-04 3.67419465e+00] [ 8.43181163e-03 1.22563965e-04 9.99964444e-01 3.46864675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.959254154 meters 0.05637320382619928 Centerline is valid? [True, True] Translation: X:881.41, Y:3.67, Z:3.47 [[ 9.99964925e-01 2.92322078e-03 -7.84882755e-03 8.81408187e+02] [-2.92414909e-03 9.99995719e-01 -1.06800230e-04 3.67322046e+00] [ 7.84848175e-03 1.29747625e-04 9.99969192e-01 3.46849167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.019254154 meters 0.05603059298892235 Centerline is valid? [True, True] Translation: X:881.47, Y:3.67, Z:3.47 [[ 9.99957830e-01 3.72267653e-03 -8.39519969e-03 8.81467371e+02] [-3.72377467e-03 9.99993060e-01 -1.15177836e-04 3.66963385e+00] [ 8.39471266e-03 1.46434811e-04 9.99964753e-01 3.46841196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.079254154 meters 0.05557012720077794 Centerline is valid? [True, True] Translation: X:881.53, Y:3.66, Z:3.47 [[ 9.99939008e-01 2.25356644e-03 -1.08120732e-02 8.81526873e+02] [-2.25530972e-03 9.99997446e-01 -1.49044358e-04 3.66010968e+00] [ 1.08117097e-02 1.73419841e-04 9.99941537e-01 3.46753227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.139254154 meters 0.05516185090857924 Centerline is valid? [True, True] Translation: X:881.59, Y:3.65, Z:3.47 [[ 9.99921452e-01 -3.84727578e-03 -1.19284878e-02 8.81587209e+02] [ 3.84558458e-03 9.99992592e-01 -1.64712083e-04 3.64739831e+00] [ 1.19290331e-02 1.18827137e-04 9.99928839e-01 3.46774742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.199254154 meters 0.054774370450861774 Centerline is valid? [True, True] Translation: X:881.65, Y:3.63, Z:3.47 [[ 9.99841920e-01 -1.35837278e-02 -1.14724983e-02 8.81646423e+02] [ 1.35828004e-02 9.99907737e-01 -1.58752305e-04 3.63380123e+00] [ 1.14735963e-02 2.89855430e-06 9.99934176e-01 3.46905948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.259254154 meters 0.0551378843914776 Centerline is valid? [True, True] Translation: X:881.70, Y:3.62, Z:3.47 [[ 9.99629601e-01 -2.50221223e-02 -1.07030283e-02 8.81704773e+02] [ 2.50219667e-02 9.99686891e-01 -1.48459846e-04 3.61856563e+00] [ 1.07033918e-02 -1.19405961e-04 9.99942710e-01 3.47013162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.319254154 meters 0.05506325975771438 Centerline is valid? [True, True] Translation: X:881.77, Y:3.61, Z:3.47 [[ 9.99333007e-01 -3.52514342e-02 -9.53293590e-03 8.81765605e+02] [ 3.52517753e-02 9.99378454e-01 -1.32303616e-04 3.60816545e+00] [ 9.53167463e-03 -2.03837543e-04 9.99954552e-01 3.47243107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.379254154 meters 0.05539521357103815 Centerline is valid? [True, True] Translation: X:881.82, Y:3.59, Z:3.47 [[ 9.99063318e-01 -4.24243217e-02 -8.52431978e-03 8.81824960e+02] [ 4.24248549e-02 9.99099654e-01 -1.18343562e-04 3.59463240e+00] [ 8.52166559e-03 -2.43410319e-04 9.99963660e-01 3.47236151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.439254154 meters 0.05505613687247015 Centerline is valid? [True, True] Translation: X:881.89, Y:3.58, Z:3.47 [[ 9.98772686e-01 -4.90719238e-02 -6.71328605e-03 8.81885339e+02] [ 4.90724042e-02 9.98795220e-01 -9.32413760e-05 3.58477154e+00] [ 6.70977354e-03 -2.36310147e-04 9.99977461e-01 3.47367353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.499254154 meters 0.056073948387266134 Centerline is valid? [True, True] Translation: X:881.94, Y:3.58, Z:3.47 [[ 9.98475810e-01 -5.47225701e-02 -7.17615180e-03 8.81944939e+02] [ 5.47232647e-02 9.98501555e-01 -9.96630980e-05 3.57974834e+00] [ 7.17085255e-03 -2.93191262e-04 9.99974246e-01 3.47374865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.559254154 meters 0.05510335897273696 Centerline is valid? [True, True] Translation: X:882.01, Y:3.59, Z:3.47 [[ 9.97896975e-01 -6.43439090e-02 -7.84142045e-03 8.82005679e+02] [ 6.43450350e-02 9.97927705e-01 -1.08865357e-04 3.58593847e+00] [ 7.83217554e-03 -3.95920063e-04 9.99969250e-01 3.47389905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.619254154 meters 0.05511255605361473 Centerline is valid? [True, True] Translation: X:882.07, Y:3.59, Z:3.47 [[ 9.97300187e-01 -7.29497608e-02 -8.40647698e-03 8.82066053e+02] [ 7.29513597e-02 9.97335493e-01 -1.16692002e-04 3.59395302e+00] [ 8.39259052e-03 -4.96886971e-04 9.99964658e-01 3.47443233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.679254154 meters 0.05627091318249746 Centerline is valid? [True, True] Translation: X:882.13, Y:3.60, Z:3.47 [[ 9.97019019e-01 -7.65927308e-02 -9.30749894e-03 8.82125889e+02] [ 7.65948489e-02 9.97062291e-01 -1.29203965e-04 3.59528627e+00] [ 9.29005230e-03 -5.84087665e-04 9.99956676e-01 3.47425265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters 0.0558367078410915 Centerline is valid? [True, True] Translation: X:882.19, Y:3.59, Z:3.47 [[ 9.97139013e-01 -7.48703407e-02 -1.04029377e-02 8.82186387e+02] [ 7.48728936e-02 9.97193075e-01 -1.44396383e-04 3.59425533e+00] [ 1.03845485e-02 -6.34914782e-04 9.99945878e-01 3.47399320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.799254154 meters 0.05652288197626436 Centerline is valid? [True, True] Translation: X:882.25, Y:3.60, Z:3.47 [[ 9.97357160e-01 -7.18128456e-02 -1.10277284e-02 8.82245056e+02] [ 7.18155263e-02 9.97417920e-01 -1.53224018e-04 3.60375618e+00] [ 1.10102573e-02 -6.39143044e-04 9.99939181e-01 3.47429713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters 0.055890619860935534 Centerline is valid? [True, True] Translation: X:882.30, Y:3.60, Z:3.47 [[ 9.97401301e-01 -7.12478599e-02 -1.06951601e-02 8.82304163e+02] [ 7.12503457e-02 9.97458453e-01 -1.48905630e-04 3.60426044e+00] [ 1.06785871e-02 -6.13515188e-04 9.99942794e-01 3.47432153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.919254154 meters 0.05630005569027424 Centerline is valid? [True, True] Translation: X:882.36, Y:3.61, Z:3.47 [[ 9.97199559e-01 -7.41700195e-02 -9.58377194e-03 8.82364495e+02] [ 7.41721489e-02 9.97245443e-01 -1.33544140e-04 3.61003008e+00] [ 9.56727787e-03 -5.77678801e-04 9.99954066e-01 3.47487573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539999 meters 0.056902059101058666 Centerline is valid? [True, True] Translation: X:882.42, Y:3.61, Z:3.48 [[ 9.96858034e-01 -7.87066270e-02 -8.90659441e-03 8.82423573e+02] [ 7.87086470e-02 9.96897655e-01 -1.24037474e-04 3.61294658e+00] [ 8.88872565e-03 -5.77378242e-04 9.99960328e-01 3.47530847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.039254154 meters 0.05651537589558582 Centerline is valid? [True, True] Translation: X:882.48, Y:3.62, Z:3.48 [[ 9.97060338e-01 -7.60678996e-02 -9.18461200e-03 8.82483125e+02] [ 7.60699358e-02 9.97102476e-01 -1.27952472e-04 3.62010173e+00] [ 9.16773245e-03 -5.71096510e-04 9.99957812e-01 3.47506931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539999 meters 0.05679509520979513 Centerline is valid? [True, True] Translation: X:882.54, Y:3.62, Z:3.47 [[ 9.97812999e-01 -6.54360828e-02 -9.34546165e-03 8.82542436e+02] [ 6.54377247e-02 9.97856647e-01 -1.30306529e-04 3.62372210e+00] [ 9.33395777e-03 -4.81524198e-04 9.99956322e-01 3.47486555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.159254154 meters 0.05668018856280713 Centerline is valid? [True, True] Translation: X:882.60, Y:3.64, Z:3.48 [[ 9.98541717e-01 -5.34261929e-02 -7.75118659e-03 8.82602790e+02] [ 5.34269608e-02 9.98571754e-01 -1.08121191e-04 3.64281791e+00] [ 7.74589249e-03 -3.06158822e-04 9.99969953e-01 3.47521082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539999 meters 0.05606321996263845 Centerline is valid? [True, True] Translation: X:882.66, Y:3.65, Z:3.48 [[ 9.98956455e-01 -4.50250164e-02 -7.66481811e-03 8.82662808e+02] [ 4.50255198e-02 9.98985831e-01 -1.06961826e-04 3.65425411e+00] [ 7.66186065e-03 -2.38262213e-04 9.99970619e-01 3.47509666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.279254154 meters 0.05669639637799369 Centerline is valid? [True, True] Translation: X:882.72, Y:3.65, Z:3.47 [[ 9.99028307e-01 -4.32100331e-02 -8.67959590e-03 8.82720953e+02] [ 4.32106086e-02 9.99065978e-01 -1.21302478e-04 3.65389845e+00] [ 8.67673045e-03 -2.53866012e-04 9.99962324e-01 3.47386339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.339254154 meters 0.056228908799350254 Centerline is valid? [True, True] Translation: X:882.78, Y:3.67, Z:3.47 [[ 9.99092525e-01 -4.18713799e-02 -7.80481260e-03 8.82779334e+02] [ 4.18718002e-02 9.99122986e-01 -1.09611294e-04 3.66624084e+00] [ 7.80255724e-03 -2.17289729e-04 9.99969536e-01 3.47350861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.399254154 meters 0.05709846385364726 Centerline is valid? [True, True] Translation: X:882.84, Y:3.67, Z:3.47 [[ 9.99086742e-01 -4.23202432e-02 -5.88886806e-03 8.82836627e+02] [ 4.23204878e-02 9.99104083e-01 -8.31256607e-05 3.67024352e+00] [ 5.88711003e-03 -1.66170024e-04 9.99982657e-01 3.47442585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.459254154 meters 0.05727969393176068 Centerline is valid? [True, True] Translation: X:882.90, Y:3.67, Z:3.47 [[ 9.98983499e-01 -4.46048625e-02 -6.50957925e-03 8.82896714e+02] [ 4.46052084e-02 9.99004688e-01 -9.21066198e-05 3.67236357e+00] [ 6.50720860e-03 -1.98348146e-04 9.99978808e-01 3.47361770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.519254154 meters 0.05802806010894679 Centerline is valid? [True, True] Translation: X:882.96, Y:3.68, Z:3.47 [[ 9.98692471e-01 -5.03792125e-02 -8.67662120e-03 8.82955987e+02] [ 5.03800445e-02 9.98730112e-01 -1.22787186e-04 3.67752566e+00] [ 8.67178878e-03 -3.14501924e-04 9.99962350e-01 3.47236935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.579254154 meters 0.05760160288235817 Centerline is valid? [True, True] Translation: X:883.02, Y:3.68, Z:3.47 [[ 9.98517311e-01 -5.37398344e-02 -8.67241217e-03 8.83016245e+02] [ 5.37407923e-02 9.98554912e-01 -1.22708193e-04 3.67988445e+00] [ 8.66647409e-03 -3.43536046e-04 9.99962386e-01 3.47345273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.639254154 meters 0.05787328728209659 Centerline is valid? [True, True] Translation: X:883.08, Y:3.69, Z:3.47 [[ 9.98568014e-01 -5.28135244e-02 -8.52365678e-03 8.83075343e+02] [ 5.28144122e-02 9.98604338e-01 -1.21056792e-04 3.69338087e+00] [ 8.51815407e-03 -3.29288482e-04 9.99963666e-01 3.47435754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.699254154 meters 0.05746349066260095 Centerline is valid? [True, True] Translation: X:883.13, Y:3.70, Z:3.47 [[ 9.98831646e-01 -4.71939705e-02 -1.03958019e-02 8.83134097e+02] [ 4.71949804e-02 9.98885685e-01 -1.48293814e-04 3.69799998e+00] [ 1.03912162e-02 -3.42509110e-04 9.99945951e-01 3.47397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.759254154 meters 0.057323942114719965 Centerline is valid? [True, True] Translation: X:883.19, Y:3.70, Z:3.48 [[ 9.99162485e-01 -3.93292529e-02 -1.12933263e-02 8.83194074e+02] [ 3.93299402e-02 9.99226266e-01 -1.61304951e-04 3.70445378e+00] [ 1.12909322e-02 -2.82995991e-04 9.99936215e-01 3.47533693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.819254154 meters 0.05767433915637606 Centerline is valid? [True, True] Translation: X:883.25, Y:3.71, Z:3.48 [[ 9.99335073e-01 -3.52133223e-02 -9.45694685e-03 8.83253296e+02] [ 3.52136189e-02 9.99379799e-01 -1.35197758e-04 3.70974969e+00] [ 9.45584240e-03 -1.97905461e-04 9.99955273e-01 3.47641309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.879254154 meters 0.05758732603111294 Centerline is valid? [True, True] Translation: X:883.31, Y:3.71, Z:3.48 [[ 9.99337049e-01 -3.54344670e-02 -8.35835668e-03 8.83310473e+02] [ 3.54347039e-02 9.99371987e-01 -1.19785161e-04 3.70549777e+00] [ 8.35735204e-03 -1.76470145e-04 9.99965061e-01 3.47652125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.939254154 meters 0.057163937680644 Centerline is valid? [True, True] Translation: X:883.37, Y:3.71, Z:3.48 [[ 9.99271906e-01 -3.74216326e-02 -7.43495073e-03 8.83369431e+02] [ 3.74218732e-02 9.99299551e-01 -1.06799339e-04 3.71107209e+00] [ 7.43373953e-03 -1.71508205e-04 9.99972355e-01 3.47853951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.999254154 meters 0.059142286133894016 Centerline is valid? [True, True] Translation: X:883.43, Y:3.71, Z:3.48 [[ 9.99144727e-01 -4.05475682e-02 -8.10609659e-03 8.83429180e+02] [ 4.05479566e-02 9.99177587e-01 -1.16502296e-04 3.71237409e+00] [ 8.10415392e-03 -2.12282997e-04 9.99967138e-01 3.47838746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.059254154 meters 0.0595015001113622 Centerline is valid? [True, True] Translation: X:883.49, Y:3.71, Z:3.48 [[ 9.99116472e-01 -4.12265897e-02 -8.16358377e-03 8.83487237e+02] [ 4.12270050e-02 9.99149799e-01 -1.17483385e-04 3.71156762e+00] [ 8.16148652e-03 -2.19180524e-04 9.99966670e-01 3.47676150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.119254154 meters 0.05823685180110397 Centerline is valid? [True, True] Translation: X:883.55, Y:3.72, Z:3.48 [[ 9.99169761e-01 -3.98339330e-02 -8.54677244e-03 8.83546067e+02] [ 3.98343319e-02 9.99206290e-01 -1.23612558e-04 3.72438005e+00] [ 8.54491275e-03 -2.16945040e-04 9.99963468e-01 3.47822996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.179254154 meters 0.058744719508781865 Centerline is valid? [True, True] Translation: X:883.61, Y:3.73, Z:3.48 [[ 9.99344561e-01 -3.42250982e-02 -1.17936782e-02 8.83605715e+02] [ 3.42254605e-02 9.99414123e-01 -1.71163864e-04 3.72852718e+00] [ 1.17926267e-02 -2.32592391e-04 9.99930437e-01 3.47544493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters 0.0584612675774182 Centerline is valid? [True, True] Translation: X:883.66, Y:3.74, Z:3.48 [[ 9.99364060e-01 -3.38390075e-02 -1.12426783e-02 8.83663010e+02] [ 3.38393090e-02 9.99427273e-01 -1.63465664e-04 3.73523748e+00] [ 1.12417708e-02 -2.17082755e-04 9.99936786e-01 3.47727224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.299254154 meters 0.05898549033849377 Centerline is valid? [True, True] Translation: X:883.72, Y:3.73, Z:3.48 [[ 9.99280479e-01 -3.66147620e-02 -9.89365935e-03 8.83722683e+02] [ 3.66151293e-02 9.99329431e-01 -1.44065084e-04 3.73231730e+00] [ 9.89229988e-03 -2.18296190e-04 9.99951046e-01 3.47787037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters 0.05890451748632929 Centerline is valid? [True, True] Translation: X:883.78, Y:3.74, Z:3.48 [[ 9.99212390e-01 -3.86977112e-02 -8.77995042e-03 8.83782426e+02] [ 3.86980798e-02 9.99250941e-01 -1.27961588e-04 3.73873809e+00] [ 8.77832554e-03 -2.11906419e-04 9.99961447e-01 3.47913117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.419254154 meters 0.05868041238244845 Centerline is valid? [True, True] Translation: X:883.84, Y:3.74, Z:3.48 [[ 9.99306296e-01 -3.63251717e-02 -8.21027115e-03 8.83842248e+02] [ 3.63254124e-02 9.99340007e-01 -1.19859506e-04 3.74248528e+00] [ 8.20920635e-03 -1.78465126e-04 9.99966288e-01 3.47865765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539999 meters 0.058445223900626744 Centerline is valid? [True, True] Translation: X:883.90, Y:3.75, Z:3.48 [[ 9.99481829e-01 -3.11767597e-02 -8.00518162e-03 8.83902066e+02] [ 3.11768222e-02 9.99513878e-01 -1.17012916e-04 3.74983501e+00] [ 8.00493821e-03 -1.32623841e-04 9.99967951e-01 3.47996991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.539254154 meters 0.0583402513630921 Centerline is valid? [True, True] Translation: X:883.96, Y:3.75, Z:3.48 [[ 9.99589110e-01 -2.72731708e-02 -8.81959705e-03 8.83961187e+02] [ 2.72730937e-02 9.99628012e-01 -1.29035357e-04 3.75069234e+00] [ 8.81983547e-03 -1.11555359e-04 9.99961098e-01 3.47861351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539999 meters 0.05850131024062286 Centerline is valid? [True, True] Translation: X:884.02, Y:3.75, Z:3.48 [[ 9.99591880e-01 -2.65843212e-02 -1.04569253e-02 8.84018826e+02] [ 2.65841661e-02 9.99646567e-01 -1.53848248e-04 3.75259953e+00] [ 1.04573195e-02 -1.24203181e-04 9.99945313e-01 3.47697710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.659254154 meters 0.05821807465882041 Centerline is valid? [True, True] Translation: X:884.08, Y:3.75, Z:3.48 [[ 9.99484036e-01 -3.00610273e-02 -1.13135597e-02 8.84078168e+02] [ 3.00610617e-02 9.99548050e-01 -1.67057504e-04 3.75341942e+00] [ 1.13134685e-02 -1.73126308e-04 9.99935986e-01 3.47717946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539999 meters 0.05850018345251372 Centerline is valid? [True, True] Translation: X:884.14, Y:3.75, Z:3.48 [[ 9.99398169e-01 -3.29961976e-02 -1.07028603e-02 8.84137418e+02] [ 3.29963943e-02 9.99455458e-01 -1.58248719e-04 3.75324083e+00] [ 1.07022537e-02 -1.95002317e-04 9.99942710e-01 3.47772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.779254154 meters 0.058949442988495 Centerline is valid? [True, True] Translation: X:884.20, Y:3.75, Z:3.48 [[ 9.99257648e-01 -3.76994448e-02 -7.93122291e-03 8.84196919e+02] [ 3.76997001e-02 9.99289107e-01 -1.17364244e-04 3.74857821e+00] [ 7.93000922e-03 -1.81727606e-04 9.99968540e-01 3.47884768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.839254154 meters 0.058845725769180096 Centerline is valid? [True, True] Translation: X:884.26, Y:3.75, Z:3.48 [[ 9.99184480e-01 -3.97529449e-02 -7.07656863e-03 8.84256141e+02] [ 3.97531991e-02 9.99209524e-01 -1.04787646e-04 3.75138716e+00] [ 7.07514039e-03 -1.76614052e-04 9.99974955e-01 3.48032637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.899254154 meters 0.059280545633713606 Centerline is valid? [True, True] Translation: X:884.32, Y:3.75, Z:3.48 [[ 9.99017699e-01 -4.37857577e-02 -6.81507136e-03 8.84316932e+02] [ 4.37860869e-02 9.99040924e-01 -1.00952797e-04 3.74928541e+00] [ 6.81295549e-03 -1.97551676e-04 9.99976772e-01 3.48019192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.959254154 meters 0.05957695351292304 Centerline is valid? [True, True] Translation: X:884.38, Y:3.75, Z:3.48 [[ 9.98881058e-01 -4.66464440e-02 -7.79367880e-03 8.84376800e+02] [ 4.66469616e-02 9.98911431e-01 -1.15451753e-04 3.75212379e+00] [ 7.79058026e-03 -2.48228866e-04 9.99969622e-01 3.47901398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.019254154 meters 0.05977530800882678 Centerline is valid? [True, True] Translation: X:884.44, Y:3.76, Z:3.48 [[ 9.98910188e-01 -4.58828840e-02 -8.55560303e-03 8.84435338e+02] [ 4.58834756e-02 9.98946791e-01 -1.27228245e-04 3.75657177e+00] [ 8.55242979e-03 -2.65471212e-04 9.99963392e-01 3.47818904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.079254154 meters 0.05904269680590778 Centerline is valid? [True, True] Translation: X:884.50, Y:3.76, Z:3.48 [[ 9.99054160e-01 -4.24311823e-02 -9.50681576e-03 8.84495521e+02] [ 4.24317525e-02 9.99099358e-01 -1.41808912e-04 3.76473266e+00] [ 9.50427063e-03 -2.61716070e-04 9.99954799e-01 3.47822350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.139254154 meters 0.05936480419145502 Centerline is valid? [True, True] Translation: X:884.55, Y:3.77, Z:3.48 [[ 9.99177169e-01 -3.92967793e-02 -1.00373433e-02 8.84554750e+02] [ 3.92972559e-02 9.99227553e-01 -1.49818748e-04 3.76803431e+00] [ 1.00354774e-02 -2.44744577e-04 9.99949613e-01 3.47820778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.199254154 meters 0.05910333922270024 Centerline is valid? [True, True] Translation: X:884.61, Y:3.78, Z:3.48 [[ 9.99262413e-01 -3.71177220e-02 -9.84402461e-03 8.84613770e+02] [ 3.71180707e-02 9.99310876e-01 -1.47330553e-04 3.77556974e+00] [ 9.84270943e-03 -2.18169318e-04 9.99951536e-01 3.47935360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.259254154 meters 0.05897887747085272 Centerline is valid? [True, True] Translation: X:884.67, Y:3.78, Z:3.48 [[ 9.99336019e-01 -3.53514098e-02 -8.82042991e-03 8.84671991e+02] [ 3.53516179e-02 9.99374927e-01 -1.32371597e-04 3.77924958e+00] [ 8.81959602e-03 -1.79532763e-04 9.99961090e-01 3.48008179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.319254154 meters 0.05888158253463845 Centerline is valid? [True, True] Translation: X:884.73, Y:3.78, Z:3.48 [[ 9.99428439e-01 -3.30160538e-02 -7.26193254e-03 8.84731511e+02] [ 3.30161323e-02 9.99454813e-01 -1.09112230e-04 3.78121224e+00] [ 7.26157589e-03 -1.30711059e-04 9.99973626e-01 3.48043668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.379254154 meters 0.059354026725133846 Centerline is valid? [True, True] Translation: X:884.79, Y:3.78, Z:3.48 [[ 9.99437197e-01 -3.26832065e-02 -7.55621559e-03 8.84790637e+02] [ 3.26832791e-02 9.99465752e-01 -1.13898873e-04 3.78081417e+00] [ 7.55590128e-03 -1.33127132e-04 9.99971445e-01 3.47953900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.439254154 meters 0.05922522498817728 Centerline is valid? [True, True] Translation: X:884.85, Y:3.78, Z:3.48 [[ 9.99355935e-01 -3.49825649e-02 -7.99595100e-03 8.84850486e+02] [ 3.49827162e-02 9.99387910e-01 -1.20973493e-04 3.78302104e+00] [ 7.99528872e-03 -1.58824506e-04 9.99968025e-01 3.47942373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.499254154 meters 0.059453904625634234 Centerline is valid? [True, True] Translation: X:884.91, Y:3.78, Z:3.48 [[ 9.99277956e-01 -3.72221925e-02 -7.62075271e-03 8.84909886e+02] [ 3.72223945e-02 9.99307000e-01 -1.15378064e-04 3.78426587e+00] [ 7.61976615e-03 -1.68367908e-04 9.99970955e-01 3.48054847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.559254154 meters 0.059706091251274185 Centerline is valid? [True, True] Translation: X:884.97, Y:3.78, Z:3.48 [[ 9.99183140e-01 -3.97040896e-02 -7.52582044e-03 8.84968945e+02] [ 3.97043563e-02 9.99211465e-01 -1.14022541e-04 3.78206454e+00] [ 7.52441323e-03 -1.84878456e-04 9.99971674e-01 3.47941695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.619254154 meters 0.05891148966205697 Centerline is valid? [True, True] Translation: X:885.03, Y:3.79, Z:3.48 [[ 9.99263222e-01 -3.72363690e-02 -9.29869864e-03 8.85027370e+02] [ 3.72366678e-02 9.99306465e-01 -1.41055654e-04 3.78886546e+00] [ 9.29750207e-03 -2.05300825e-04 9.99956756e-01 3.47993450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.679254154 meters 0.05852254786226091 Centerline is valid? [True, True] Translation: X:885.09, Y:3.79, Z:3.48 [[ 9.99463543e-01 -3.14384447e-02 -9.17876993e-03 8.85087961e+02] [ 3.14384910e-02 9.99505679e-01 -1.39278485e-04 3.78877763e+00] [ 9.17861136e-03 -1.49362908e-04 9.99957864e-01 3.47919657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters 0.05810160029167361 Centerline is valid? [True, True] Translation: X:885.15, Y:3.79, Z:3.48 [[ 9.99652625e-01 -2.48050179e-02 -8.90737581e-03 8.85147811e+02] [ 2.48047983e-02 9.99692305e-01 -1.35137880e-04 3.79206169e+00] [ 8.90798715e-03 -8.58547245e-05 9.99960319e-01 3.48020567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.799254154 meters 0.058645668967814306 Centerline is valid? [True, True] Translation: X:885.21, Y:3.79, Z:3.48 [[ 9.99708998e-01 -2.24219880e-02 -8.89792786e-03 8.85206969e+02] [ 2.24216701e-02 9.99748594e-01 -1.35495511e-04 3.79352206e+00] [ 8.89872894e-03 -6.40503215e-05 9.99960403e-01 3.48022698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters 0.05818163652427952 Centerline is valid? [True, True] Translation: X:885.27, Y:3.80, Z:3.48 [[ 9.99843602e-01 -1.57716970e-02 -8.00155648e-03 8.85265705e+02] [ 1.57712208e-02 9.99875619e-01 -1.22614007e-04 3.79696435e+00] [ 8.00249507e-03 -3.59948359e-06 9.99967979e-01 3.48082538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.919254154 meters 0.05879456075229603 Centerline is valid? [True, True] Translation: X:885.32, Y:3.80, Z:3.48 [[ 9.99907287e-01 -1.16144745e-02 -7.10781047e-03 8.85324622e+02] [ 1.16139889e-02 9.99932549e-01 -1.09600980e-04 3.79778946e+00] [ 7.10860400e-03 2.70407870e-05 9.99974733e-01 3.48111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539999 meters 0.05782217619566715 Centerline is valid? [True, True] Translation: X:885.38, Y:3.79, Z:3.48 [[ 9.99896055e-01 -1.16020965e-02 -8.55982449e-03 8.85382478e+02] [ 1.16013860e-02 9.99932693e-01 -1.32655677e-04 3.79441246e+00] [ 8.56078744e-03 3.33360604e-05 9.99963355e-01 3.48008153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.039254154 meters 0.05779677367520685 Centerline is valid? [True, True] Translation: X:885.44, Y:3.79, Z:3.48 [[ 9.99818154e-01 -1.69401621e-02 -8.75725883e-03 8.85441674e+02] [ 1.69396206e-02 9.99856505e-01 -1.36000651e-04 3.78604245e+00] [ 8.75830608e-03 -1.23687228e-05 9.99961645e-01 3.48068419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539999 meters 0.05784941438821081 Centerline is valid? [True, True] Translation: X:885.50, Y:3.78, Z:3.48 [[ 9.99687158e-01 -2.35557271e-02 -8.40919241e-03 8.85500798e+02] [ 2.35554601e-02 9.99722523e-01 -1.30800252e-04 3.77717006e+00] [ 8.40994015e-03 -6.73230650e-05 9.99964634e-01 3.48046093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.159254154 meters 0.058408731084018874 Centerline is valid? [True, True] Translation: X:885.56, Y:3.77, Z:3.48 [[ 9.99345033e-01 -3.53132350e-02 -7.90452593e-03 8.85561194e+02] [ 3.53133663e-02 9.99376281e-01 -1.22998832e-04 3.77129086e+00] [ 7.90393921e-03 -1.56217148e-04 9.99968751e-01 3.48206900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539999 meters 0.057706027935436485 Centerline is valid? [True, True] Translation: X:885.62, Y:3.76, Z:3.48 [[ 9.98937048e-01 -4.54813517e-02 -7.49805504e-03 8.85620590e+02] [ 4.54817563e-02 9.98965163e-01 -1.16640428e-04 3.76226729e+00] [ 7.49560074e-03 -2.24508267e-04 9.99971882e-01 3.48211686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.279254154 meters 0.05809907187177155 Centerline is valid? [True, True] Translation: X:885.68, Y:3.76, Z:3.48 [[ 9.98771522e-01 -4.88395172e-02 -8.37545783e-03 8.85680512e+02] [ 4.88401399e-02 9.98806600e-01 -1.30282604e-04 3.75755409e+00] [ 8.37182550e-03 -2.78935978e-04 9.99964917e-01 3.48237957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.339254154 meters 0.058132289287935096 Centerline is valid? [True, True] Translation: X:885.74, Y:3.76, Z:3.48 [[ 9.98999274e-01 -4.40112192e-02 -7.96643279e-03 8.85740732e+02] [ 4.40116294e-02 9.99031011e-01 -1.23904621e-04 3.75638036e+00] [ 7.96416660e-03 -2.26835061e-04 9.99968260e-01 3.48202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.399254154 meters 0.05792409386833227 Centerline is valid? [True, True] Translation: X:885.80, Y:3.76, Z:3.48 [[ 9.99367015e-01 -3.47353921e-02 -7.68263411e-03 8.85800899e+02] [ 3.47354995e-02 9.99396533e-01 -1.19486199e-04 3.75977116e+00] [ 7.68214830e-03 -1.47449567e-04 9.99970481e-01 3.48231219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.459254154 meters 0.05741581008846693 Centerline is valid? [True, True] Translation: X:885.86, Y:3.77, Z:3.48 [[ 9.99691756e-01 -2.37318440e-02 -7.29338846e-03 8.85861003e+02] [ 2.37316471e-02 9.99718358e-01 -1.13547623e-04 3.76615604e+00] [ 7.29402903e-03 -5.95714982e-05 9.99973396e-01 3.48228970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.519254154 meters 0.057117605603509855 Centerline is valid? [True, True] Translation: X:885.92, Y:3.77, Z:3.48 [[ 9.99841917e-01 -1.62784782e-02 -7.15205308e-03 8.85919662e+02] [ 1.62780952e-02 9.99867497e-01 -1.11767847e-04 3.76930935e+00] [ 7.15292482e-03 -4.67162233e-06 9.99974417e-01 3.48207274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.579254154 meters 0.05688504654127685 Centerline is valid? [True, True] Translation: X:885.98, Y:3.77, Z:3.48 [[ 9.99958278e-01 -6.35432975e-03 -6.56243664e-03 8.85979281e+02] [ 6.35379110e-03 9.99979809e-01 -1.02925419e-04 3.77037219e+00] [ 6.56295816e-03 6.12247728e-05 9.99978462e-01 3.48320314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.639254154 meters 0.05732692944430862 Centerline is valid? [True, True] Translation: X:886.04, Y:3.78, Z:3.48 [[ 9.99978587e-01 3.05659429e-03 -5.78638905e-03 8.86038496e+02] [-3.05717091e-03 9.99995323e-01 -9.08089296e-05 3.77842295e+00] [ 5.78608442e-03 1.08496965e-04 9.99983255e-01 3.48296102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.699254154 meters 0.05741499930441726 Centerline is valid? [True, True] Translation: X:886.10, Y:3.77, Z:3.48 [[ 9.99922206e-01 1.12556821e-02 -5.37501134e-03 8.86099184e+02] [-1.12562981e-02 9.99936642e-01 -8.43671397e-05 3.77471356e+00] [ 5.37372118e-03 1.44863307e-04 9.99985551e-01 3.48334470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.759254154 meters 0.057728742144406146 Centerline is valid? [True, True] Translation: X:886.16, Y:3.77, Z:3.48 [[ 9.99836805e-01 1.70594846e-02 -5.94453402e-03 8.86158908e+02] [-1.70603408e-02 9.99854457e-01 -9.33410172e-05 3.77317106e+00] [ 5.94207648e-03 1.94741560e-04 9.99982327e-01 3.48235235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.819254154 meters 0.05744254787673158 Centerline is valid? [True, True] Translation: X:886.22, Y:3.76, Z:3.48 [[ 9.99786861e-01 1.90929441e-02 -7.85441838e-03 8.86220013e+02] [-1.90945015e-02 9.99817676e-01 -1.23336934e-04 3.76492835e+00] [ 7.85063146e-03 2.73286850e-04 9.99969146e-01 3.48062727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.879254154 meters 0.056589204155492026 Centerline is valid? [True, True] Translation: X:886.28, Y:3.76, Z:3.48 [[ 9.99780562e-01 1.86171912e-02 -9.60357704e-03 8.86281237e+02] [-1.86194965e-02 9.99826631e-01 -1.50680390e-04 3.75648334e+00] [ 9.59910683e-03 3.29461094e-04 9.99953873e-01 3.47979166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.939254154 meters 0.05605300914439874 Centerline is valid? [True, True] Translation: X:886.34, Y:3.74, Z:3.48 [[ 9.99819250e-01 1.53806577e-02 -1.11759738e-02 8.86341912e+02] [-1.53835769e-02 9.99881650e-01 -1.75281397e-04 3.73814249e+00] [ 1.11719552e-02 3.47176168e-04 9.99937531e-01 3.47924061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.999254154 meters 0.05522053210880937 Centerline is valid? [True, True] Translation: X:886.40, Y:3.72, Z:3.48 [[ 9.99862723e-01 1.26629038e-02 -1.06857566e-02 8.86402471e+02] [-1.26654174e-02 9.99919776e-01 -1.67592944e-04 3.72435545e+00] [ 1.06827771e-02 3.02909505e-04 9.99942892e-01 3.48068181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.059254154 meters 0.05441426683398613 Centerline is valid? [True, True] Translation: X:886.46, Y:3.71, Z:3.48 [[ 9.99934691e-01 6.12249551e-03 -9.65037798e-03 8.86463812e+02] [-6.12424086e-03 9.99981235e-01 -1.51316846e-04 3.70670791e+00] [ 9.64927046e-03 2.10408202e-04 9.99953423e-01 3.48207767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.119254154 meters 0.05310732008169288 Centerline is valid? [True, True] Translation: X:886.52, Y:3.69, Z:3.48 [[ 9.99948866e-01 -2.58746809e-03 -9.77600284e-03 8.86524059e+02] [ 2.58609375e-03 9.99996644e-01 -1.53222151e-04 3.69050480e+00] [ 9.77636649e-03 1.27932657e-04 9.99952202e-01 3.48129668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.179254154 meters 0.05216808095758535 Centerline is valid? [True, True] Translation: X:886.58, Y:3.67, Z:3.48 [[ 9.99880360e-01 -1.21412148e-02 -9.58415805e-03 8.86584717e+02] [ 1.21403320e-02 9.99926292e-01 -1.50284185e-04 3.67053623e+00] [ 9.58527625e-03 3.39113435e-05 9.99954060e-01 3.48197775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters 0.0520284561332358 Centerline is valid? [True, True] Translation: X:886.64, Y:3.65, Z:3.48 [[ 9.99731470e-01 -2.15227068e-02 -8.58841031e-03 8.86643885e+02] [ 2.15223409e-02 9.99768359e-01 -1.35028836e-04 3.65372391e+00] [ 8.58932706e-03 -4.98501184e-05 9.99963110e-01 3.48390598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.299254154 meters 0.05192638529729729 Centerline is valid? [True, True] Translation: X:886.70, Y:3.64, Z:3.48 [[ 9.99473661e-01 -3.13251974e-02 -8.43405768e-03 8.86703562e+02] [ 3.13251910e-02 9.99509237e-01 -1.32889838e-04 3.63689793e+00] [ 8.43408136e-03 -1.31378575e-04 9.99964424e-01 3.48342781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters 0.05263833407610238 Centerline is valid? [True, True] Translation: X:886.76, Y:3.63, Z:3.48 [[ 9.99300917e-01 -3.64683685e-02 -8.23012439e-03 8.86764028e+02] [ 3.64685365e-02 9.99334793e-01 -1.29709280e-04 3.62664687e+00] [ 8.22937994e-03 -1.70521990e-04 9.99966124e-01 3.48300251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.419254154 meters 0.05301047006604236 Centerline is valid? [True, True] Translation: X:886.82, Y:3.62, Z:3.48 [[ 9.99121808e-01 -4.10122203e-02 -8.57969189e-03 8.86824587e+02] [ 4.10125700e-02 9.99158621e-01 -1.35245863e-04 3.61854505e+00] [ 8.57801986e-03 -2.16748123e-04 9.99963185e-01 3.48297715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539999 meters 0.05187495046183084 Centerline is valid? [True, True] Translation: X:886.88, Y:3.63, Z:3.49 [[ 9.99186663e-01 -3.93915624e-02 -8.62074160e-03 8.86883190e+02] [ 3.93918539e-02 9.99223830e-01 -1.36045506e-04 3.62719262e+00] [ 8.61940949e-03 -2.03652138e-04 9.99962831e-01 3.48519243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.539254154 meters 0.05144888471595091 Centerline is valid? [True, True] Translation: X:886.94, Y:3.62, Z:3.48 [[ 9.99486048e-01 -3.11642171e-02 -7.51207905e-03 8.86943115e+02] [ 3.11642052e-02 9.99514271e-01 -1.18659010e-04 3.62234857e+00] [ 7.51212813e-03 -1.15509948e-04 9.99971777e-01 3.48336157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539999 meters 0.05133944225053593 Centerline is valid? [True, True] Translation: X:887.00, Y:3.63, Z:3.48 [[ 9.99671932e-01 -2.40003665e-02 -8.94490232e-03 8.87001794e+02] [ 2.40000617e-02 9.99711947e-01 -1.41433463e-04 3.62705383e+00] [ 8.94572017e-03 -7.32911448e-05 9.99959984e-01 3.48278432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.659254154 meters 0.05114744901071487 Centerline is valid? [True, True] Translation: X:887.06, Y:3.63, Z:3.48 [[ 9.99764140e-01 -1.95696931e-02 -9.41761270e-03 8.87059331e+02] [ 1.95691557e-02 9.99808495e-01 -1.49220961e-04 3.63271784e+00] [ 9.41872938e-03 -3.51089634e-05 9.99955642e-01 3.48189210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539999 meters 0.050986433035285335 Centerline is valid? [True, True] Translation: X:887.12, Y:3.64, Z:3.48 [[ 9.99790933e-01 -1.84179016e-02 -8.88094749e-03 8.87118108e+02] [ 1.84173742e-02 9.99830376e-01 -1.41173650e-04 3.63625643e+00] [ 8.88204119e-03 -2.24195980e-05 9.99960554e-01 3.48309715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.779254154 meters 0.051463205656013415 Centerline is valid? [True, True] Translation: X:887.18, Y:3.64, Z:3.48 [[ 9.99841727e-01 -1.56062644e-02 -8.54198945e-03 8.87175711e+02] [ 1.56056665e-02 9.99878215e-01 -1.36649524e-04 3.64079397e+00] [ 8.54308175e-03 3.32445683e-06 9.99963507e-01 3.48348987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.839254154 meters 0.05122096306436341 Centerline is valid? [True, True] Translation: X:887.23, Y:3.64, Z:3.48 [[ 9.99861490e-01 -1.39818116e-02 -9.02828171e-03 8.87233220e+02] [ 1.39810704e-02 9.99902250e-01 -1.45207342e-04 3.64378934e+00] [ 9.02942945e-03 1.89621872e-05 9.99959234e-01 3.48227991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.899254154 meters 0.05073976986851424 Centerline is valid? [True, True] Translation: X:887.29, Y:3.65, Z:3.48 [[ 9.99885603e-01 -1.17968348e-02 -9.46651078e-03 8.87292463e+02] [ 1.17959145e-02 9.99930414e-01 -1.53048331e-04 3.64641792e+00] [ 9.46765753e-03 4.13646719e-05 9.99955180e-01 3.48299387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.959254154 meters 0.050806392887524 Centerline is valid? [True, True] Translation: X:887.35, Y:3.65, Z:3.48 [[ 9.99917214e-01 -8.08119209e-03 -1.00129708e-02 8.87350854e+02] [ 8.07996899e-03 9.99967343e-01 -1.62599805e-04 3.64943067e+00] [ 1.00139579e-02 8.16818497e-05 9.99949856e-01 3.48228757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.019254154 meters 0.052022306974079426 Centerline is valid? [True, True] Translation: X:887.41, Y:3.65, Z:3.48 [[ 9.99930232e-01 -5.52508720e-03 -1.04405756e-02 8.87408652e+02] [ 5.52361356e-03 9.99984730e-01 -1.69976740e-04 3.65381412e+00] [ 1.04413553e-02 1.12295176e-04 9.99945481e-01 3.48077018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.079254154 meters 0.05074137477189979 Centerline is valid? [True, True] Translation: X:887.47, Y:3.65, Z:3.48 [[ 9.99944355e-01 -1.41632964e-03 -1.04537594e-02 8.87468111e+02] [ 1.41462445e-03 9.99998985e-01 -1.70510573e-04 3.65070731e+00] [ 1.04539903e-02 1.55712941e-04 9.99945343e-01 3.48355483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.139254154 meters 0.05067404291672882 Centerline is valid? [True, True] Translation: X:887.53, Y:3.65, Z:3.48 [[ 9.99936564e-01 1.60143211e-03 -1.11491325e-02 8.87526450e+02] [-1.60356299e-03 9.99998698e-01 -1.82187748e-04 3.65261650e+00] [ 1.11488262e-02 2.00054527e-04 9.99937830e-01 3.48308486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.199254154 meters 0.05053456802313056 Centerline is valid? [True, True] Translation: X:887.59, Y:3.65, Z:3.48 [[ 9.99930814e-01 4.48616178e-04 -1.17544110e-02 8.87585638e+02] [-4.50909622e-04 9.99999880e-01 -1.92464083e-04 3.64834434e+00] [ 1.17543233e-02 1.97750944e-04 9.99930896e-01 3.48342215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.259254154 meters 0.050545697306548586 Centerline is valid? [True, True] Translation: X:887.65, Y:3.64, Z:3.48 [[ 9.99911929e-01 -5.54780681e-03 -1.20563993e-02 8.87645552e+02] [ 5.54582742e-03 9.99984602e-01 -1.97603951e-04 3.64411320e+00] [ 1.20573099e-02 1.30723838e-04 9.99927299e-01 3.48450727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.319254154 meters 0.05061374747818076 Centerline is valid? [True, True] Translation: X:887.70, Y:3.64, Z:3.49 [[ 9.99897922e-01 -1.09935759e-02 -9.12612026e-03 8.87704609e+02] [ 1.09926676e-02 9.99939568e-01 -1.49683843e-04 3.64290597e+00] [ 9.12721431e-03 4.93481569e-05 9.99958345e-01 3.48600026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.379254154 meters 0.051044166088925716 Centerline is valid? [True, True] Translation: X:887.76, Y:3.64, Z:3.49 [[ 9.99805363e-01 -1.79925749e-02 -8.09338070e-03 8.87762462e+02] [ 1.79920883e-02 9.99838120e-01 -1.32934466e-04 3.64208115e+00] [ 8.09446238e-03 -1.27082274e-05 9.99967239e-01 3.48661928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.439254154 meters 0.051973122347755855 Centerline is valid? [True, True] Translation: X:887.82, Y:3.64, Z:3.49 [[ 9.99602934e-01 -2.71081947e-02 -7.68903112e-03 8.87820910e+02] [ 2.71080233e-02 9.99632502e-01 -1.26539160e-04 3.64089465e+00] [ 7.68963567e-03 -8.19455189e-05 9.99970431e-01 3.48808220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.499254154 meters 0.05235207859629956 Centerline is valid? [True, True] Translation: X:887.88, Y:3.64, Z:3.49 [[ 9.99357966e-01 -3.47119267e-02 -8.87345089e-03 8.87881429e+02] [ 3.47119964e-02 9.99397346e-01 -1.46193515e-04 3.64217081e+00] [ 8.87317793e-03 -1.61915542e-04 9.99960619e-01 3.48721106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.559254154 meters 0.052726736167014246 Centerline is valid? [True, True] Translation: X:887.94, Y:3.64, Z:3.49 [[ 9.99061291e-01 -4.15797702e-02 -1.21515657e-02 8.87941883e+02] [ 4.15804094e-02 9.99135141e-01 -2.00146211e-04 3.64297009e+00] [ 1.21493783e-02 -3.05308742e-04 9.99926147e-01 3.48560486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.619254154 meters 0.052848590505922506 Centerline is valid? [True, True] Translation: X:888.00, Y:3.64, Z:3.49 [[ 9.98906995e-01 -4.52052780e-02 -1.18868706e-02 8.88001990e+02] [ 4.52061465e-02 9.98977660e-01 -1.95755614e-04 3.64204436e+00] [ 1.18835674e-02 -3.41817962e-04 9.99929329e-01 3.48567053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.679254154 meters 0.05292543671463828 Centerline is valid? [True, True] Translation: X:888.06, Y:3.65, Z:3.49 [[ 9.98922478e-01 -4.52366173e-02 -1.03697741e-02 8.88060083e+02] [ 4.52372772e-02 9.98976256e-01 -1.71035709e-04 3.65098012e+00] [ 1.03668951e-02 -2.98248928e-04 9.99946218e-01 3.48792254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters 0.052643540079376945 Centerline is valid? [True, True] Translation: X:888.12, Y:3.66, Z:3.49 [[ 9.99114400e-01 -4.11088389e-02 -8.97098870e-03 8.88119285e+02] [ 4.11091647e-02 9.99154650e-01 -1.48150649e-04 3.65784084e+00] [ 8.96949537e-03 -2.20770405e-04 9.99959749e-01 3.48883920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.799254154 meters 0.052475067537228144 Centerline is valid? [True, True] Translation: X:888.18, Y:3.67, Z:3.49 [[ 9.99417403e-01 -3.32715230e-02 -7.60657334e-03 8.88179191e+02] [ 3.32715292e-02 9.99446342e-01 -1.25761151e-04 3.66604248e+00] [ 7.60654616e-03 -1.27394444e-04 9.99971062e-01 3.48917418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters 0.051448188559141024 Centerline is valid? [True, True] Translation: X:888.24, Y:3.67, Z:3.49 [[ 9.99677523e-01 -2.42224109e-02 -7.62401626e-03 8.88239614e+02] [ 2.42221530e-02 9.99706593e-01 -1.26176432e-04 3.67293587e+00] [ 7.62483562e-03 -5.85343454e-05 9.99970929e-01 3.48920770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.919254154 meters 0.0517977242623034 Centerline is valid? [True, True] Translation: X:888.30, Y:3.68, Z:3.49 [[ 9.99799775e-01 -1.81009588e-02 -8.53021094e-03 8.88297926e+02] [ 1.81004108e-02 9.99836164e-01 -1.41440401e-04 3.67800044e+00] [ 8.53137360e-03 -1.29882414e-05 9.99963607e-01 3.48609713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539999 meters 0.0519532001353386 Centerline is valid? [True, True] Translation: X:888.36, Y:3.68, Z:3.49 [[ 9.99859793e-01 -1.41440344e-02 -8.96329063e-03 8.88357175e+02] [ 1.41432634e-02 9.99899968e-01 -1.49402291e-04 3.68384571e+00] [ 8.96450716e-03 2.26111630e-05 9.99959818e-01 3.48614992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.039254154 meters 0.05178292206259143 Centerline is valid? [True, True] Translation: X:888.41, Y:3.69, Z:3.49 [[ 9.99859945e-01 -1.39695587e-02 -9.21635896e-03 8.88414827e+02] [ 1.39687261e-02 9.99902421e-01 -1.54709953e-04 3.68718621e+00] [ 9.21762086e-03 2.59474909e-05 9.99957516e-01 3.48558215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539999 meters 0.05190311527662884 Centerline is valid? [True, True] Translation: X:888.47, Y:3.69, Z:3.49 [[ 9.99837329e-01 -1.53820560e-02 -9.41848907e-03 8.88473021e+02] [ 1.53812381e-02 9.99881689e-01 -1.59273054e-04 3.68734582e+00] [ 9.41982471e-03 1.43791220e-05 9.99955632e-01 3.48639431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.159254154 meters 0.0508241392171535 Centerline is valid? [True, True] Translation: X:888.53, Y:3.69, Z:3.49 [[ 9.99814672e-01 -1.60070720e-02 -1.06955935e-02 8.88531897e+02] [ 1.60060394e-02 9.99871879e-01 -1.82144626e-04 3.68831362e+00] [ 1.06971387e-02 1.09167786e-05 9.99942784e-01 3.48510756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539999 meters 0.05196061298502546 Centerline is valid? [True, True] Translation: X:888.59, Y:3.69, Z:3.49 [[ 9.99823747e-01 -1.44097812e-02 -1.20346811e-02 8.88591141e+02] [ 1.44083411e-02 9.99896173e-01 -2.06359750e-04 3.68947385e+00] [ 1.20364052e-02 3.29235871e-05 9.99927559e-01 3.48659850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.279254154 meters 0.05129928012459518 Centerline is valid? [True, True] Translation: X:888.65, Y:3.69, Z:3.49 [[ 9.99874071e-01 -9.28684134e-03 -1.28684662e-02 8.88649594e+02] [ 9.28475952e-03 9.99956871e-01 -2.21511671e-04 3.69154681e+00] [ 1.28699683e-02 1.02003162e-04 9.99917173e-01 3.48679332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.339254154 meters 0.05186015570412089 Centerline is valid? [True, True] Translation: X:888.71, Y:3.70, Z:3.49 [[ 9.99904074e-01 -7.25001300e-03 -1.18016767e-02 8.88706968e+02] [ 7.24811468e-03 9.99973711e-01 -2.03615830e-04 3.69531302e+00] [ 1.18028427e-02 1.18056392e-04 9.99930337e-01 3.48549438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.399254154 meters 0.05207090324216545 Centerline is valid? [True, True] Translation: X:888.77, Y:3.69, Z:3.49 [[ 9.99913438e-01 -8.19645063e-03 -1.02924219e-02 8.88765581e+02] [ 8.19504858e-03 9.99966404e-01 -1.78390233e-04 3.69306938e+00] [ 1.02935383e-02 9.40278941e-05 9.99947016e-01 3.48736339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.459254154 meters 0.05164696034258433 Centerline is valid? [True, True] Translation: X:888.83, Y:3.69, Z:3.49 [[ 9.99889973e-01 -1.21535723e-02 -8.50486188e-03 8.88825032e+02] [ 1.21527543e-02 9.99926142e-01 -1.47858514e-04 3.68800235e+00] [ 8.50603073e-03 4.44847484e-05 9.99963822e-01 3.48991318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.519254154 meters 0.05155475488975367 Centerline is valid? [True, True] Translation: X:888.88, Y:3.69, Z:3.49 [[ 9.99852678e-01 -1.55077535e-02 -7.35749035e-03 8.88884211e+02] [ 1.55072308e-02 9.99879747e-01 -1.28096142e-04 3.68505260e+00] [ 7.35859208e-03 1.39829698e-05 9.99972925e-01 3.49112784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.579254154 meters 0.05122317341532672 Centerline is valid? [True, True] Translation: X:888.94, Y:3.68, Z:3.49 [[ 9.99851783e-01 -1.54399432e-02 -7.61708072e-03 8.88941839e+02] [ 1.54393764e-02 9.99880797e-01 -1.33217999e-04 3.68472838e+00] [ 7.61822962e-03 1.55952777e-05 9.99970981e-01 3.49078202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.639254154 meters 0.05080876498429771 Centerline is valid? [True, True] Translation: X:889.00, Y:3.69, Z:3.49 [[ 9.99858863e-01 -1.47496982e-02 -8.04365770e-03 8.89000058e+02] [ 1.47490375e-02 9.99891217e-01 -1.41466269e-04 3.68611709e+00] [ 8.04486927e-03 2.28100941e-05 9.99967639e-01 3.48985552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.699254154 meters 0.05109583862906358 Centerline is valid? [True, True] Translation: X:889.06, Y:3.69, Z:3.49 [[ 9.99872233e-01 -1.21211727e-02 -1.04208931e-02 8.89058194e+02] [ 1.21199150e-02 9.99926534e-01 -1.83839444e-04 3.68912635e+00] [ 1.04223559e-02 5.75156176e-05 9.99945684e-01 3.48646867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.759254154 meters 0.051209221691948595 Centerline is valid? [True, True] Translation: X:889.12, Y:3.69, Z:3.48 [[ 9.99874090e-01 -1.03462422e-02 -1.20315840e-02 8.89116995e+02] [ 1.03444247e-02 9.99946472e-01 -2.13289789e-04 3.68998161e+00] [ 1.20331467e-02 8.88031197e-05 9.99927595e-01 3.48472621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.819254154 meters 0.05127864282818824 Centerline is valid? [True, True] Translation: X:889.18, Y:3.69, Z:3.49 [[ 9.99877410e-01 -1.01162955e-02 -1.19509616e-02 8.89175309e+02] [ 1.01144692e-02 9.99948825e-01 -2.13245502e-04 3.68780142e+00] [ 1.19525073e-02 9.23417273e-05 9.99928562e-01 3.48607174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.879254154 meters 0.05050830629331607 Centerline is valid? [True, True] Translation: X:889.23, Y:3.69, Z:3.49 [[ 9.99887571e-01 -1.09870465e-02 -1.02044677e-02 8.89233853e+02] [ 1.09857500e-02 9.99939638e-01 -1.83100603e-04 3.68564662e+00] [ 1.02058635e-02 7.09762867e-05 9.99947916e-01 3.48719660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.939254154 meters 0.05077638155747437 Centerline is valid? [True, True] Translation: X:889.29, Y:3.68, Z:3.49 [[ 9.99872894e-01 -1.27688284e-02 -9.54742344e-03 8.89292764e+02] [ 1.27677696e-02 9.99918474e-01 -1.71845301e-04 3.68186700e+00] [ 9.54883934e-03 4.99241557e-05 9.99954408e-01 3.48897067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.999254154 meters 0.050865814422464385 Centerline is valid? [True, True] Translation: X:889.35, Y:3.68, Z:3.49 [[ 9.99832440e-01 -1.56029515e-02 -9.57286620e-03 8.89352111e+02] [ 1.56020140e-02 9.99878266e-01 -1.72606377e-04 3.67854310e+00] [ 9.57439402e-03 2.32214622e-05 9.99954164e-01 3.49003185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.059254154 meters 0.05058428852711523 Centerline is valid? [True, True] Translation: X:889.41, Y:3.68, Z:3.49 [[ 9.99799011e-01 -1.74523866e-02 -9.86674617e-03 8.89410366e+02] [ 1.74514767e-02 9.99847696e-01 -1.78320306e-04 3.67593886e+00] [ 9.86835553e-03 6.09517552e-06 9.99951307e-01 3.49049604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.119254154 meters 0.05048204141160819 Centerline is valid? [True, True] Translation: X:889.47, Y:3.68, Z:3.49 [[ 9.99791754e-01 -1.76797959e-02 -1.01918427e-02 8.89468279e+02] [ 1.76788323e-02 9.99843700e-01 -1.84640755e-04 3.67583886e+00] [ 1.01935141e-02 4.42242694e-06 9.99948045e-01 3.48888568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.179254154 meters 0.050105981583600696 Centerline is valid? [True, True] Translation: X:889.53, Y:3.68, Z:3.49 [[ 9.99831263e-01 -1.53655678e-02 -1.00670029e-02 8.89526356e+02] [ 1.53645011e-02 9.99881942e-01 -1.83302415e-04 3.67940263e+00] [ 1.00686310e-02 2.85970085e-05 9.99949310e-01 3.48936056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters 0.050563122231155055 Centerline is valid? [True, True] Translation: X:889.58, Y:3.68, Z:3.49 [[ 9.99848159e-01 -1.30353946e-02 -1.15645102e-02 8.89584265e+02] [ 1.30338210e-02 9.99915034e-01 -2.11433050e-04 3.68255345e+00] [ 1.15662837e-02 6.06711900e-05 9.99933106e-01 3.48756297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.299254154 meters 0.05085498068933385 Centerline is valid? [True, True] Translation: X:889.64, Y:3.69, Z:3.49 [[ 9.99878008e-01 -1.05390262e-02 -1.15281203e-02 8.89642612e+02] [ 1.05372915e-02 9.99944459e-01 -2.11206080e-04 3.68636185e+00] [ 1.15297059e-02 8.97051511e-05 9.99933527e-01 3.48716295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters 0.049852243400784445 Centerline is valid? [True, True] Translation: X:889.70, Y:3.69, Z:3.49 [[ 9.99906764e-01 -8.82300163e-03 -1.04220027e-02 8.89701029e+02] [ 8.82148212e-03 9.99961072e-01 -1.91760367e-04 3.68941389e+00] [ 1.04232889e-02 9.98049768e-05 9.99945671e-01 3.48845432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.419254154 meters 0.050210800601432855 Centerline is valid? [True, True] Translation: X:889.76, Y:3.69, Z:3.49 [[ 9.99911374e-01 -8.58189169e-03 -1.01781774e-02 8.89759531e+02] [ 8.58041758e-03 9.99963170e-01 -1.88490910e-04 3.68872645e+00] [ 1.01794201e-02 1.01141192e-04 9.99948183e-01 3.49065096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539999 meters 0.05037198155732171 Centerline is valid? [True, True] Translation: X:889.82, Y:3.69, Z:3.49 [[ 9.99894916e-01 -9.87682449e-03 -1.06115588e-02 8.89816915e+02] [ 9.87528656e-03 9.99951219e-01 -1.97318766e-04 3.69330148e+00] [ 1.06129900e-02 9.25058468e-05 9.99943676e-01 3.48832822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.539254154 meters 0.050496949410404085 Centerline is valid? [True, True] Translation: X:889.88, Y:3.69, Z:3.49 [[ 9.99882775e-01 -1.19332884e-02 -9.59341195e-03 8.89875487e+02] [ 1.19321231e-02 9.99928794e-01 -1.78699567e-04 3.68979909e+00] [ 9.59486131e-03 6.42088459e-05 9.99953966e-01 3.49214218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539999 meters 0.050867620030709854 Centerline is valid? [True, True] Translation: X:889.93, Y:3.69, Z:3.49 [[ 9.99848917e-01 -1.51900693e-02 -8.45018632e-03 8.89934289e+02] [ 1.51892798e-02 9.99884624e-01 -1.57612876e-04 3.69190812e+00] [ 8.45160552e-03 2.92368194e-05 9.99964284e-01 3.49121321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.659254154 meters 0.050523767902007015 Centerline is valid? [True, True] Translation: X:889.99, Y:3.69, Z:3.49 [[ 9.99786416e-01 -1.86062990e-02 -8.99605770e-03 8.89992265e+02] [ 1.86055401e-02 9.99826888e-01 -1.68047861e-04 3.69203171e+00] [ 8.99762713e-03 6.35455884e-07 9.99959521e-01 3.48991694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539999 meters 0.050967454774283195 Centerline is valid? [True, True] Translation: X:890.05, Y:3.69, Z:3.49 [[ 9.99697954e-01 -2.25197716e-02 -9.84175085e-03 8.90051161e+02] [ 2.25190499e-02 9.99746397e-01 -1.84159256e-04 3.69102838e+00] [ 9.84340218e-03 -3.75232468e-05 9.99951552e-01 3.48955692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.779254154 meters 0.051507378685754335 Centerline is valid? [True, True] Translation: X:890.11, Y:3.69, Z:3.49 [[ 9.99600953e-01 -2.62252286e-02 -1.04962613e-02 8.90109570e+02] [ 2.62246077e-02 9.99656056e-01 -1.96803899e-04 3.69272925e+00] [ 1.04978124e-02 -7.85349699e-05 9.99944893e-01 3.49049935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.839254154 meters 0.05161220136104985 Centerline is valid? [True, True] Translation: X:890.17, Y:3.69, Z:3.49 [[ 9.99516048e-01 -2.92899020e-02 -1.04771570e-02 8.90167761e+02] [ 2.92894458e-02 9.99570953e-01 -1.97009905e-04 3.69043516e+00] [ 1.04784323e-02 -1.09955562e-04 9.99945094e-01 3.48874329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.899254154 meters 0.05230106927935365 Centerline is valid? [True, True] Translation: X:890.23, Y:3.70, Z:3.49 [[ 9.99393179e-01 -3.33275673e-02 -1.01265790e-02 8.90226859e+02] [ 3.33273445e-02 9.99444472e-01 -1.90799058e-04 3.69709339e+00] [ 1.01273123e-02 -1.46808710e-04 9.99948707e-01 3.49289193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.959254154 meters 0.05208336806518758 Centerline is valid? [True, True] Translation: X:890.29, Y:3.69, Z:3.49 [[ 9.99226913e-01 -3.80551715e-02 -9.86814041e-03 8.90285982e+02] [ 3.80551892e-02 9.99275622e-01 -1.86054846e-04 3.69441034e+00] [ 9.86807249e-03 -1.89622941e-04 9.99951291e-01 3.49212372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.019254154 meters 0.0517275390527553 Centerline is valid? [True, True] Translation: X:890.35, Y:3.70, Z:3.49 [[ 9.99119684e-01 -4.08005445e-02 -9.75561400e-03 8.90345225e+02] [ 4.08006915e-02 9.99167288e-01 -1.84042136e-04 3.70089568e+00] [ 9.75499941e-03 -2.14155677e-04 9.99952396e-01 3.49362128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.079254154 meters 0.052483597219890696 Centerline is valid? [True, True] Translation: X:890.40, Y:3.70, Z:3.49 [[ 9.98992781e-01 -4.39446997e-02 -9.07122163e-03 8.90404667e+02] [ 4.39449558e-02 9.99033939e-01 -1.71185410e-04 3.70215165e+00] [ 9.06998097e-03 -2.27621445e-04 9.99958841e-01 3.49335469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.139254154 meters 0.05286594739682042 Centerline is valid? [True, True] Translation: X:890.46, Y:3.71, Z:3.49 [[ 9.98973912e-01 -4.44127573e-02 -8.86735077e-03 8.90462497e+02] [ 4.44130189e-02 9.99013241e-01 -1.67517110e-04 3.70552089e+00] [ 8.86604073e-03 -2.26480595e-04 9.99960670e-01 3.49379466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.199254154 meters 0.05280042941711246 Centerline is valid? [True, True] Translation: X:890.52, Y:3.71, Z:3.49 [[ 9.99032137e-01 -4.32008737e-02 -8.27490453e-03 8.90521291e+02] [ 4.32010578e-02 9.99066386e-01 -1.56582385e-04 3.71346096e+00] [ 8.27394346e-03 -2.01053794e-04 9.99965750e-01 3.49420073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.259254154 meters 0.05238367632959678 Centerline is valid? [True, True] Translation: X:890.58, Y:3.72, Z:3.49 [[ 9.99187966e-01 -3.93199547e-02 -8.79491268e-03 8.90581161e+02] [ 3.93200113e-02 9.99226655e-01 -1.66541934e-04 3.71881161e+00] [ 8.79465961e-03 -1.79409370e-04 9.99961310e-01 3.49291630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.319254154 meters 0.052294488918312634 Centerline is valid? [True, True] Translation: X:890.64, Y:3.72, Z:3.49 [[ 9.99412507e-01 -3.26866030e-02 -1.03066202e-02 8.90641016e+02] [ 3.26863263e-02 9.99465640e-01 -1.95337159e-04 3.72420234e+00] [ 1.03074976e-02 -1.41663151e-04 9.99946866e-01 3.49014474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.379254154 meters 0.05180815790102364 Centerline is valid? [True, True] Translation: X:890.70, Y:3.73, Z:3.49 [[ 9.99631622e-01 -2.47777583e-02 -1.10762739e-02 8.90700567e+02] [ 2.47769506e-02 9.99692982e-01 -2.10153760e-04 3.73454359e+00] [ 1.10780805e-02 -6.43599481e-05 9.99938634e-01 3.49073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.439254154 meters 0.05246086766851576 Centerline is valid? [True, True] Translation: X:890.76, Y:3.74, Z:3.49 [[ 9.99806521e-01 -1.65530255e-02 -1.06262845e-02 8.90759604e+02] [ 1.65518091e-02 9.99862989e-01 -2.02415247e-04 3.74190064e+00] [ 1.06281792e-02 2.64918510e-05 9.99943519e-01 3.49078244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.499254154 meters 0.05181216057233633 Centerline is valid? [True, True] Translation: X:890.82, Y:3.75, Z:3.49 [[ 9.99921145e-01 -8.63281392e-03 -9.12025752e-03 8.90818038e+02] [ 8.63158388e-03 9.99962732e-01 -1.74223082e-04 3.74986900e+00] [ 9.12142166e-03 9.54870755e-05 9.99958394e-01 3.49188418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.559254154 meters 0.05259155116493101 Centerline is valid? [True, True] Translation: X:890.88, Y:3.76, Z:3.49 [[ 9.99943496e-01 -6.28196144e-03 -8.57563357e-03 8.90875991e+02] [ 6.28078520e-03 9.99980262e-01 -1.64085682e-04 3.75559328e+00] [ 8.57649509e-03 1.10214698e-04 9.99963215e-01 3.49139029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.619254154 meters 0.05141965374220192 Centerline is valid? [True, True] Translation: X:890.94, Y:3.76, Z:3.49 [[ 9.99965485e-01 -2.71272158e-04 -8.30387892e-03 8.90936310e+02] [ 2.69960579e-04 9.99999951e-01 -1.59068382e-04 3.75635932e+00] [ 8.30392166e-03 1.56821172e-04 9.99965510e-01 3.49305139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.679254154 meters 0.052099127530698855 Centerline is valid? [True, True] Translation: X:891.00, Y:3.76, Z:3.49 [[ 9.99945883e-01 2.27779167e-03 -1.01510342e-02 8.90995023e+02] [-2.27988486e-03 9.99997382e-01 -1.94637865e-04 3.76215513e+00] [ 1.01505643e-02 2.17770521e-04 9.99948458e-01 3.49083637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters 0.052266265569596224 Centerline is valid? [True, True] Translation: X:891.05, Y:3.76, Z:3.49 [[ 9.99909532e-01 9.57859810e-04 -1.34167627e-02 8.91052493e+02] [-9.61404367e-04 9.99999505e-01 -2.57741529e-04 3.76193475e+00] [ 1.34165091e-02 2.70617146e-04 9.99909958e-01 3.48849853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.799254154 meters 0.051702064100718474 Centerline is valid? [True, True] Translation: X:891.11, Y:3.75, Z:3.49 [[ 9.99889880e-01 -2.19838308e-03 -1.46763586e-02 8.91111280e+02] [ 2.19447408e-03 9.99997552e-01 -2.82445960e-04 3.75421455e+00] [ 1.46769436e-02 2.50207969e-04 9.99892257e-01 3.49009534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters 0.0516731624555101 Centerline is valid? [True, True] Translation: X:891.17, Y:3.75, Z:3.49 [[ 9.99812148e-01 -1.13302966e-02 -1.57255813e-02 8.91171200e+02] [ 1.13269358e-02 9.99935802e-01 -3.02771073e-04 3.74516186e+00] [ 1.57280023e-02 1.24591547e-04 9.99876300e-01 3.49063990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.919254154 meters 0.05239055369099886 Centerline is valid? [True, True] Translation: X:891.23, Y:3.73, Z:3.49 [[ 9.99568035e-01 -2.55866974e-02 -1.44590713e-02 8.91230754e+02] [ 2.55853382e-02 9.99672603e-01 -2.79001732e-04 3.73339355e+00] [ 1.44614761e-02 -9.10590155e-05 9.99895423e-01 3.49213579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539999 meters 0.0524358434340289 Centerline is valid? [True, True] Translation: X:891.29, Y:3.72, Z:3.49 [[ 9.99122609e-01 -3.99797262e-02 -1.24753513e-02 8.91290154e+02] [ 3.99798342e-02 9.99200458e-01 -2.40832482e-04 3.71739725e+00] [ 1.24750052e-02 -2.58141300e-04 9.99922151e-01 3.49271849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.039254154 meters 0.052378332051842065 Centerline is valid? [True, True] Translation: X:891.35, Y:3.72, Z:3.50 [[ 9.98665997e-01 -5.02978954e-02 -1.16768067e-02 8.91350223e+02] [ 5.02986947e-02 9.98734194e-01 -2.25400604e-04 3.71795105e+00] [ 1.16733633e-02 -3.62228214e-04 9.99931798e-01 3.49674134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539999 meters 0.052877392742356616 Centerline is valid? [True, True] Translation: X:891.41, Y:3.71, Z:3.50 [[ 9.98573217e-01 -5.23141408e-02 -1.07126426e-02 8.91410000e+02] [ 5.23149287e-02 9.98630615e-01 -2.06859312e-04 3.71071311e+00] [ 1.07087946e-02 -3.53866966e-04 9.99942597e-01 3.49543491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.159254154 meters 0.05274171045202141 Centerline is valid? [True, True] Translation: X:891.47, Y:3.71, Z:3.50 [[ 9.98711618e-01 -4.95544079e-02 -1.09299851e-02 8.91468429e+02] [ 4.95550605e-02 9.98771371e-01 -2.11275742e-04 3.71294478e+00] [ 1.09270258e-02 -3.30632533e-04 9.99940244e-01 3.49534787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539999 meters 0.053543741648072664 Centerline is valid? [True, True] Translation: X:891.53, Y:3.72, Z:3.49 [[ 9.98897599e-01 -4.53689670e-02 -1.20517178e-02 8.91527872e+02] [ 4.53694536e-02 9.98970249e-01 -2.33162093e-04 3.71527270e+00] [ 1.20498859e-02 -3.13874798e-04 9.99927348e-01 3.49469506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.279254154 meters 0.05261194870242809 Centerline is valid? [True, True] Translation: X:891.59, Y:3.72, Z:3.49 [[ 9.98940804e-01 -4.43938625e-02 -1.21018437e-02 8.91586718e+02] [ 4.43942704e-02 9.99014061e-01 -2.35063283e-04 3.71568186e+00] [ 1.21003474e-02 -3.02438217e-04 9.99926742e-01 3.49357524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.339254154 meters 0.05272655904221264 Centerline is valid? [True, True] Translation: X:891.65, Y:3.73, Z:3.50 [[ 9.98783159e-01 -4.79455833e-02 -1.15508714e-02 8.91646042e+02] [ 4.79461867e-02 9.98849895e-01 -2.24834679e-04 3.72592649e+00] [ 1.15483665e-02 -3.29259146e-04 9.99933261e-01 3.49595743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.399254154 meters 0.05297007937795859 Centerline is valid? [True, True] Translation: X:891.71, Y:3.73, Z:3.50 [[ 9.98454938e-01 -5.44558909e-02 -1.10585767e-02 8.91706347e+02] [ 5.44568425e-02 9.98516102e-01 -2.15278146e-04 3.72992868e+00] [ 1.10538900e-02 -3.87269640e-04 9.99938829e-01 3.49824191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.459254154 meters 0.053935117921020376 Centerline is valid? [True, True] Translation: X:891.77, Y:3.72, Z:3.50 [[ 9.98185428e-01 -5.91720067e-02 -1.11590513e-02 8.91765424e+02] [ 5.91732702e-02 9.98247703e-01 -2.17190264e-04 3.72158045e+00] [ 1.11523489e-02 -4.43521402e-04 9.99937712e-01 3.49638292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.519254154 meters 0.05518849918703661 Centerline is valid? [True, True] Translation: X:891.82, Y:3.72, Z:3.50 [[ 9.98193392e-01 -5.89507647e-02 -1.16086228e-02 8.91824479e+02] [ 5.89521088e-02 9.98260786e-01 -2.26665628e-04 3.72143968e+00] [ 1.16017951e-02 -4.58096663e-04 9.99932592e-01 3.49503322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.579254154 meters 0.05414531129658161 Centerline is valid? [True, True] Translation: X:891.88, Y:3.74, Z:3.50 [[ 9.98374332e-01 -5.58945766e-02 -1.11575216e-02 8.91884072e+02] [ 5.58956240e-02 9.98436594e-01 -2.18189690e-04 3.74403152e+00] [ 1.11522734e-02 -4.05821644e-04 9.99937729e-01 3.49940822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.639254154 meters 0.053957798312350945 Centerline is valid? [True, True] Translation: X:891.94, Y:3.73, Z:3.50 [[ 9.98811896e-01 -4.75351562e-02 -1.07333457e-02 8.91943850e+02] [ 4.75356434e-02 9.98869520e-01 -2.09862143e-04 3.73344351e+00] [ 1.07311877e-02 -3.00603686e-04 9.99942374e-01 3.49616494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.699254154 meters 0.05338088255274617 Centerline is valid? [True, True] Translation: X:892.00, Y:3.75, Z:3.50 [[ 9.99268804e-01 -3.64214219e-02 -1.16334275e-02 8.92004065e+02] [ 3.64212411e-02 9.99336501e-01 -2.27471829e-04 3.74683301e+00] [ 1.16339936e-02 -1.96398365e-04 9.99932303e-01 3.49577664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.759254154 meters 0.05215322376162293 Centerline is valid? [True, True] Translation: X:892.06, Y:3.76, Z:3.50 [[ 9.99624295e-01 -2.36187755e-02 -1.39076601e-02 8.92063684e+02] [ 2.36172772e-02 9.99721036e-01 -2.71985770e-04 3.76075485e+00] [ 1.39102043e-02 -5.65774792e-05 9.99903247e-01 3.49653280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.819254154 meters 0.05194278316636566 Centerline is valid? [True, True] Translation: X:892.12, Y:3.77, Z:3.50 [[ 9.99783196e-01 -1.31688988e-02 -1.61288772e-02 8.92121672e+02] [ 1.31655154e-02 9.99913281e-01 -3.15942266e-04 3.76988513e+00] [ 1.61316392e-02 1.03528788e-04 9.99869871e-01 3.49619725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.879254154 meters 0.05252053850566644 Centerline is valid? [True, True] Translation: X:892.18, Y:3.77, Z:3.50 [[ 9.99848670e-01 -6.31805805e-03 -1.62086220e-02 8.92180753e+02] [ 6.31373334e-03 9.99980018e-01 -3.17974067e-04 3.77331250e+00] [ 1.62103070e-02 2.15589031e-04 9.99868581e-01 3.50047782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.939254154 meters 0.05274171668840111 Centerline is valid? [True, True] Translation: X:892.24, Y:3.78, Z:3.50 [[ 9.99878754e-01 -3.77131945e-03 -1.51081165e-02 8.92238713e+02] [ 3.76726317e-03 9.99992860e-01 -2.96934368e-04 3.77999211e+00] [ 1.51091284e-02 2.39982115e-04 9.99885822e-01 3.49917265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.999254154 meters 0.05271922474597095 Centerline is valid? [True, True] Translation: X:892.30, Y:3.78, Z:3.50 [[ 9.99899575e-01 -3.46065369e-03 -1.37427787e-02 8.92296070e+02] [ 3.45726096e-03 9.99993987e-01 -2.70623695e-04 3.78368353e+00] [ 1.37436326e-02 2.23084146e-04 9.99905527e-01 3.49970639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.059254154 meters 0.05319073597811261 Centerline is valid? [True, True] Translation: X:892.36, Y:3.78, Z:3.50 [[ 9.99883618e-01 -6.21211099e-03 -1.39341713e-02 8.92355273e+02] [ 6.20888489e-03 9.99980687e-01 -2.74772269e-04 3.78379626e+00] [ 1.39356091e-02 1.88224625e-04 9.99902877e-01 3.49932222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.119254154 meters 0.05287048647978256 Centerline is valid? [True, True] Translation: X:892.41, Y:3.78, Z:3.50 [[ 9.99849614e-01 -9.06362107e-03 -1.47851663e-02 8.92414302e+02] [ 9.06029417e-03 9.99958912e-01 -2.91984763e-04 3.77763419e+00] [ 1.47872053e-02 1.57982897e-04 9.99890651e-01 3.50338286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.179254154 meters 0.05323412129757019 Centerline is valid? [True, True] Translation: X:892.47, Y:3.77, Z:3.51 [[ 9.99718133e-01 -1.60088625e-02 -1.75319920e-02 8.92473407e+02] [ 1.60052348e-02 9.99871848e-01 -3.47215549e-04 3.77334924e+00] [ 1.75353038e-02 6.65140306e-05 9.99846243e-01 3.50530298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters 0.05292540129093813 Centerline is valid? [True, True] Translation: X:892.53, Y:3.77, Z:3.50 [[ 9.99479492e-01 -2.63250187e-02 -1.86477632e-02 8.92531801e+02] [ 2.63226956e-02 9.99653429e-01 -3.70060095e-04 3.76573005e+00] [ 1.86510423e-02 -1.20991919e-04 9.99826047e-01 3.50197467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.299254154 meters 0.054234573250934 Centerline is valid? [True, True] Translation: X:892.59, Y:3.76, Z:3.51 [[ 9.99102682e-01 -3.86228805e-02 -1.73811571e-02 8.92592333e+02] [ 3.86227198e-02 9.99253805e-01 -3.45051964e-04 3.76024022e+00] [ 1.73815142e-02 -3.26565217e-04 9.99848877e-01 3.50600525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters 0.05474819606414107 Centerline is valid? [True, True] Translation: X:892.65, Y:3.76, Z:3.51 [[ 9.98795677e-01 -4.61505996e-02 -1.66528644e-02 8.92651851e+02] [ 4.61514957e-02 9.98934397e-01 -3.30694313e-04 3.75636764e+00] [ 1.66503808e-02 -4.38258551e-04 9.99861277e-01 3.50604435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.419254154 meters 0.054879806217053184 Centerline is valid? [True, True] Translation: X:892.71, Y:3.75, Z:3.51 [[ 9.98503751e-01 -5.22344694e-02 -1.61808500e-02 8.92712223e+02] [ 5.22361145e-02 9.98634711e-01 -3.21241222e-04 3.75424734e+00] [ 1.61755383e-02 -5.24464166e-04 9.99869030e-01 3.50781995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539999 meters 0.05532057234898503 Centerline is valid? [True, True] Translation: X:892.77, Y:3.75, Z:3.51 [[ 9.98229127e-01 -5.77456676e-02 -1.42845277e-02 8.92772163e+02] [ 5.77475122e-02 9.98331180e-01 -2.83644450e-04 3.74717921e+00] [ 1.42770686e-02 -5.41753787e-04 9.99897931e-01 3.50797569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.539254154 meters 0.05638958844729438 Centerline is valid? [True, True] Translation: X:892.83, Y:3.75, Z:3.51 [[ 9.98146080e-01 -5.92746844e-02 -1.38171646e-02 8.92832045e+02] [ 5.92765543e-02 9.98241561e-01 -2.74531464e-04 3.74502476e+00] [ 1.38091407e-02 -5.45011401e-04 9.99904501e-01 3.50764369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539999 meters 0.054348840803805296 Centerline is valid? [True, True] Translation: X:892.89, Y:3.76, Z:3.51 [[ 9.98154091e-01 -5.90910739e-02 -1.40233768e-02 8.92890923e+02] [ 5.90929681e-02 9.98252445e-01 -2.79607319e-04 3.75614958e+00] [ 1.40153925e-02 -5.49591769e-04 9.99901628e-01 3.50949751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.659254154 meters 0.05545053873856882 Centerline is valid? [True, True] Translation: X:892.95, Y:3.76, Z:3.51 [[ 9.98226216e-01 -5.76594666e-02 -1.48258927e-02 8.92950257e+02] [ 5.76614178e-02 9.98336152e-01 -2.96180342e-04 3.75630203e+00] [ 1.48183023e-02 -5.59227012e-04 9.99890047e-01 3.50830260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539999 meters 0.05424867093006473 Centerline is valid? [True, True] Translation: X:893.01, Y:3.77, Z:3.51 [[ 9.98396241e-01 -5.45204615e-02 -1.52468235e-02 8.93009237e+02] [ 5.45221554e-02 9.98512515e-01 -3.04856193e-04 3.77030966e+00] [ 1.52407649e-02 -5.26922401e-04 9.99883714e-01 3.51073320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.779254154 meters 0.054862450598292145 Centerline is valid? [True, True] Translation: X:893.07, Y:3.77, Z:3.51 [[ 9.98619714e-01 -5.02456870e-02 -1.52983185e-02 8.93069812e+02] [ 5.02468912e-02 9.98736780e-01 -3.05888119e-04 3.76983011e+00] [ 1.52943629e-02 -4.63227037e-04 9.99882927e-01 3.50921478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.839254154 meters 0.05484884148270701 Centerline is valid? [True, True] Translation: X:893.13, Y:3.77, Z:3.51 [[ 9.98817599e-01 -4.60634907e-02 -1.55421599e-02 8.93129151e+02] [ 4.60642258e-02 9.98938432e-01 -3.10883595e-04 3.77188120e+00] [ 1.55399812e-02 -4.05421556e-04 9.99879165e-01 3.50906607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.899254154 meters 0.05405871954468392 Centerline is valid? [True, True] Translation: X:893.19, Y:3.78, Z:3.51 [[ 9.98928337e-01 -4.38283089e-02 -1.48747099e-02 8.93189304e+02] [ 4.38287307e-02 9.99039015e-01 -2.97783956e-04 3.78243070e+00] [ 1.48734669e-02 -3.54474823e-04 9.99889321e-01 3.51208447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.959254154 meters 0.0543028054553618 Centerline is valid? [True, True] Translation: X:893.25, Y:3.78, Z:3.51 [[ 9.99042937e-01 -4.16643415e-02 -1.33151440e-02 8.93248218e+02] [ 4.16644847e-02 9.99131623e-01 -2.66763476e-04 3.78428471e+00] [ 1.33146960e-02 -2.88260447e-04 9.99911314e-01 3.51081824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.019254154 meters 0.054314124333331604 Centerline is valid? [True, True] Translation: X:893.31, Y:3.79, Z:3.51 [[ 9.99148588e-01 -3.89298901e-02 -1.36587968e-02 8.93307666e+02] [ 3.89297827e-02 9.99241911e-01 -2.73841602e-04 3.79408032e+00] [ 1.36591029e-02 -2.58125543e-04 9.99906677e-01 3.51179544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.079254154 meters 0.05448699758938599 Centerline is valid? [True, True] Translation: X:893.37, Y:3.80, Z:3.51 [[ 9.99218399e-01 -3.68195532e-02 -1.43844130e-02 8.93366445e+02] [ 3.68191980e-02 9.99321902e-01 -2.89607795e-04 3.79753788e+00] [ 1.43853222e-02 -2.40241112e-04 9.99896497e-01 3.51000755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.139254154 meters 0.05448759760080484 Centerline is valid? [True, True] Translation: X:893.42, Y:3.81, Z:3.51 [[ 9.99253184e-01 -3.50429924e-02 -1.62807762e-02 8.93424170e+02] [ 3.50422850e-02 9.99385776e-01 -3.28811567e-04 3.80617238e+00] [ 1.62822987e-02 -2.41949594e-04 9.99867405e-01 3.51201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.199254154 meters 0.05408498908958701 Centerline is valid? [True, True] Translation: X:893.48, Y:3.81, Z:3.51 [[ 9.99125293e-01 -3.89133406e-02 -1.53101364e-02 8.93483777e+02] [ 3.89131641e-02 9.99242548e-01 -3.09540127e-04 3.81025066e+00] [ 1.53105850e-02 -2.86496481e-04 9.99882745e-01 3.51412814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.259254154 meters 0.054326084054912835 Centerline is valid? [True, True] Translation: X:893.54, Y:3.80, Z:3.51 [[ 9.98961528e-01 -4.34074614e-02 -1.38440311e-02 8.93543619e+02] [ 4.34077466e-02 9.99057400e-01 -2.80028015e-04 3.80471561e+00] [ 1.38431370e-02 -3.21200980e-04 9.99904128e-01 3.51262373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.319254154 meters 0.05582306611867919 Centerline is valid? [True, True] Translation: X:893.60, Y:3.80, Z:3.51 [[ 9.98715691e-01 -4.90113980e-02 -1.28394395e-02 8.93604211e+02] [ 4.90121052e-02 9.98798151e-01 -2.59757269e-04 3.80228159e+00] [ 1.28367395e-02 -3.69864298e-04 9.99917537e-01 3.51253000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.379254154 meters 0.05512589895086291 Centerline is valid? [True, True] Translation: X:893.66, Y:3.81, Z:3.51 [[ 9.98615858e-01 -5.07844672e-02 -1.36859864e-02 8.93663373e+02] [ 5.07854343e-02 9.98709549e-01 -2.77098085e-04 3.80964372e+00] [ 1.36823976e-02 -4.18334220e-04 9.99906304e-01 3.51407574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.439254154 meters 0.055037478448680136 Centerline is valid? [True, True] Translation: X:893.72, Y:3.82, Z:3.52 [[ 9.98783238e-01 -4.71345771e-02 -1.45043316e-02 8.93723332e+02] [ 4.71352775e-02 9.98888472e-01 -2.93753678e-04 3.82132602e+00] [ 1.45020556e-02 -3.90269447e-04 9.99894763e-01 3.51572413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.499254154 meters 0.05514605313358662 Centerline is valid? [True, True] Translation: X:893.78, Y:3.83, Z:3.52 [[ 9.98985018e-01 -4.24825470e-02 -1.49722438e-02 8.93783283e+02] [ 4.24827700e-02 9.99097154e-01 -3.03297095e-04 3.82639302e+00] [ 1.49716110e-02 -3.33073138e-04 9.99887864e-01 3.51557264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.559254154 meters 0.055759250765723724 Centerline is valid? [True, True] Translation: X:893.84, Y:3.83, Z:3.51 [[ 9.99210194e-01 -3.61204371e-02 -1.65620654e-02 8.93841976e+02] [ 3.61198316e-02 9.99347410e-01 -3.35788148e-04 3.83079658e+00] [ 1.65633860e-02 -2.62696074e-04 9.99862783e-01 3.51385383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.619254154 meters 0.05527183420441001 Centerline is valid? [True, True] Translation: X:893.90, Y:3.84, Z:3.52 [[ 9.99349166e-01 -3.17400488e-02 -1.71410175e-02 8.93902061e+02] [ 3.17387459e-02 9.99496139e-01 -3.48116237e-04 3.84101544e+00] [ 1.71434300e-02 -1.96144728e-04 9.99853021e-01 3.51850785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.679254154 meters 0.05520787984924624 Centerline is valid? [True, True] Translation: X:893.96, Y:3.84, Z:3.52 [[ 9.99398012e-01 -3.04735774e-02 -1.65823392e-02 8.93960138e+02] [ 3.04721693e-02 9.99535559e-01 -3.37631513e-04 3.84004238e+00] [ 1.65849266e-02 -1.67871587e-04 9.99862447e-01 3.51685278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters 0.055284670291362616 Centerline is valid? [True, True] Translation: X:894.02, Y:3.84, Z:3.52 [[ 9.99404219e-01 -3.10339839e-02 -1.51029518e-02 8.94018783e+02] [ 3.10328608e-02 9.99518317e-01 -3.08770914e-04 3.84099743e+00] [ 1.51052593e-02 -1.60100844e-04 9.99885896e-01 3.51821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.799254154 meters 0.05504906405503368 Centerline is valid? [True, True] Translation: X:894.08, Y:3.84, Z:3.52 [[ 9.99395073e-01 -3.17080888e-02 -1.42858234e-02 8.94076073e+02] [ 3.17071402e-02 9.99497159e-01 -2.92946513e-04 3.84096938e+00] [ 1.42879287e-02 -1.60193304e-04 9.99897909e-01 3.51890420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters 0.05563926825944401 Centerline is valid? [True, True] Translation: X:894.13, Y:3.84, Z:3.52 [[ 9.99391301e-01 -3.14351440e-02 -1.51280986e-02 8.94134601e+02] [ 3.14340363e-02 9.99505780e-01 -3.11053772e-04 3.84181125e+00] [ 1.51304001e-02 -1.64672769e-04 9.99885515e-01 3.51897502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.919254154 meters 0.0556079225389878 Centerline is valid? [True, True] Translation: X:894.19, Y:3.84, Z:3.52 [[ 9.99373594e-01 -3.15703074e-02 -1.59917298e-02 8.94193071e+02] [ 3.15690623e-02 9.99501518e-01 -3.30355304e-04 3.84482929e+00] [ 1.59941877e-02 -1.74695548e-04 9.99872070e-01 3.52053012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539999 meters 0.05606401042766763 Centerline is valid? [True, True] Translation: X:894.25, Y:3.85, Z:3.52 [[ 9.99347779e-01 -3.15750400e-02 -1.75223735e-02 8.94251222e+02] [ 3.15735277e-02 9.99501366e-01 -3.63014144e-04 3.84729710e+00] [ 1.75250984e-02 -1.90465767e-04 9.99846406e-01 3.52112404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.039254154 meters 0.05559441353246074 Centerline is valid? [True, True] Translation: X:894.31, Y:3.84, Z:3.52 [[ 9.99316221e-01 -3.24713943e-02 -1.76833196e-02 8.94310361e+02] [ 3.24699646e-02 9.99472644e-01 -3.68033324e-04 3.84483695e+00] [ 1.76859448e-02 -2.06395090e-04 9.99843570e-01 3.51949165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539999 meters 0.05521608564893538 Centerline is valid? [True, True] Translation: X:894.37, Y:3.84, Z:3.52 [[ 9.99343196e-01 -3.17414363e-02 -1.74830844e-02 8.94367791e+02] [ 3.17399095e-02 9.99496096e-01 -3.64871929e-04 3.84424438e+00] [ 1.74858561e-02 -1.90279235e-04 9.99847093e-01 3.51916128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.159254154 meters 0.055335723635872955 Centerline is valid? [True, True] Translation: X:894.43, Y:3.85, Z:3.52 [[ 9.99430860e-01 -2.89316718e-02 -1.73468913e-02 8.94426174e+02] [ 2.89297152e-02 9.99581382e-01 -3.63773172e-04 3.84690820e+00] [ 1.73501541e-02 -1.38274490e-04 9.99849465e-01 3.52280535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539999 meters 0.055646869702364994 Centerline is valid? [True, True] Translation: X:894.49, Y:3.85, Z:3.53 [[ 9.99510623e-01 -2.63711635e-02 -1.68248455e-02 8.94485365e+02] [ 2.63689491e-02 9.99652216e-01 -3.53484128e-04 3.84907120e+00] [ 1.68283158e-02 -9.03423526e-05 9.99858390e-01 3.52521924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.279254154 meters 0.05491200614394509 Centerline is valid? [True, True] Translation: X:894.54, Y:3.85, Z:3.53 [[ 9.99603720e-01 -2.25213023e-02 -1.68877008e-02 8.94544513e+02] [ 2.25184976e-02 9.99746363e-01 -3.56243517e-04 3.84958506e+00] [ 1.68914406e-02 -2.41833052e-05 9.99857329e-01 3.52513786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.339254154 meters 0.05481475660880361 Centerline is valid? [True, True] Translation: X:894.60, Y:3.85, Z:3.53 [[ 9.99684723e-01 -1.93963478e-02 -1.59448157e-02 8.94603136e+02] [ 1.93934216e-02 9.99811873e-01 -3.38134845e-04 3.85099623e+00] [ 1.59483747e-02 2.88037049e-05 9.99872816e-01 3.52510507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.399254154 meters 0.05349614065052848 Centerline is valid? [True, True] Translation: X:894.66, Y:3.85, Z:3.52 [[ 9.99764144e-01 -1.54467741e-02 -1.52661053e-02 8.94660742e+02] [ 1.54436046e-02 9.99880687e-01 -3.25491217e-04 3.85352588e+00] [ 1.52693116e-02 8.96507554e-05 9.99883413e-01 3.52315924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.459254154 meters 0.05434281895942634 Centerline is valid? [True, True] Translation: X:894.72, Y:3.86, Z:3.52 [[ 9.99848425e-01 -9.91371821e-03 -1.43124049e-02 8.94719262e+02] [ 9.91035583e-03 9.99950844e-01 -3.05835023e-04 3.85857314e+00] [ 1.43147334e-02 1.63947640e-04 9.99897525e-01 3.52224458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.519254154 meters 0.05410774133445694 Centerline is valid? [True, True] Translation: X:894.78, Y:3.86, Z:3.52 [[ 9.99879714e-01 -6.75095451e-03 -1.39635820e-02 8.94778043e+02] [ 6.74742843e-03 9.99977191e-01 -2.99616001e-04 3.85681888e+00] [ 1.39652862e-02 2.05361691e-04 9.99902460e-01 3.52441283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.579254154 meters 0.05470034074077796 Centerline is valid? [True, True] Translation: X:894.84, Y:3.86, Z:3.52 [[ 9.99856050e-01 -6.92427724e-03 -1.54898188e-02 8.94835709e+02] [ 6.91994041e-03 9.99976001e-01 -3.33560235e-04 3.85898527e+00] [ 1.54917567e-02 2.26323596e-04 9.99879970e-01 3.52164503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.639254154 meters 0.053652056489147566 Centerline is valid? [True, True] Translation: X:894.89, Y:3.85, Z:3.52 [[ 9.99824556e-01 -7.95228234e-03 -1.69593273e-02 8.94894271e+02] [ 7.94721977e-03 9.99968353e-01 -3.65887493e-04 3.85406681e+00] [ 1.69617002e-02 2.31043799e-04 9.99856113e-01 3.52265271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.699254154 meters 0.0541373808364526 Centerline is valid? [True, True] Translation: X:894.95, Y:3.85, Z:3.52 [[ 9.99812257e-01 -9.55659540e-03 -1.68559028e-02 8.94952900e+02] [ 9.55181311e-03 9.99954314e-01 -3.64203241e-04 3.85133835e+00] [ 1.68586132e-02 2.03130432e-04 9.99857863e-01 3.52266161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.759254154 meters 0.05372379488815424 Centerline is valid? [True, True] Translation: X:895.01, Y:3.85, Z:3.52 [[ 9.99808000e-01 -1.12017289e-02 -1.60774485e-02 8.95010495e+02] [ 1.11975810e-02 9.99937245e-01 -3.47993444e-04 3.84856469e+00] [ 1.60803376e-02 1.67898097e-04 9.99870689e-01 3.52236418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.819254154 meters 0.05296820684533303 Centerline is valid? [True, True] Translation: X:895.07, Y:3.84, Z:3.53 [[ 9.99801798e-01 -1.31298285e-02 -1.49656909e-02 8.95069318e+02] [ 1.31264427e-02 9.99913792e-01 -3.24443766e-04 3.84406777e+00] [ 1.49686606e-02 1.27933176e-04 9.99887955e-01 3.52500573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.879254154 meters 0.05301790114990133 Centerline is valid? [True, True] Translation: X:895.13, Y:3.84, Z:3.52 [[ 9.99757054e-01 -1.64937436e-02 -1.46215187e-02 8.95127523e+02] [ 1.64908632e-02 9.99863966e-01 -3.17549785e-04 3.84057985e+00] [ 1.46247672e-02 7.63511739e-05 9.99893049e-01 3.52184658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.939254154 meters 0.05298624753464787 Centerline is valid? [True, True] Translation: X:895.19, Y:3.83, Z:3.52 [[ 9.99734171e-01 -1.96395319e-02 -1.20779208e-02 8.95186428e+02] [ 1.96377913e-02 9.99807125e-01 -2.62707734e-04 3.83362380e+00] [ 1.20807507e-02 2.54542106e-05 9.99927025e-01 3.52461667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.999254154 meters 0.052624028350606554 Centerline is valid? [True, True] Translation: X:895.24, Y:3.83, Z:3.52 [[ 9.99742935e-01 -2.04174498e-02 -9.85856968e-03 8.95244132e+02] [ 2.04163245e-02 9.99791542e-01 -2.14780583e-04 3.82939822e+00] [ 9.86089986e-03 1.34496125e-05 9.99951380e-01 3.52462799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.059254154 meters 0.05269921947476977 Centerline is valid? [True, True] Translation: X:895.30, Y:3.83, Z:3.52 [[ 9.99764269e-01 -1.95683468e-02 -9.40666967e-03 8.95300856e+02] [ 1.95672804e-02 9.99808521e-01 -2.05393803e-04 3.82866139e+00] [ 9.40888772e-03 2.12824421e-05 9.99955735e-01 3.52397880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.119254154 meters 0.052425283005268226 Centerline is valid? [True, True] Translation: X:895.36, Y:3.83, Z:3.52 [[ 9.99820794e-01 -1.71695395e-02 -7.97411214e-03 8.95359372e+02] [ 1.71686912e-02 9.99852592e-01 -1.74829495e-04 3.82591881e+00] [ 7.97593844e-03 3.78930955e-05 9.99968191e-01 3.52371314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.179254154 meters 0.052841694849555566 Centerline is valid? [True, True] Translation: X:895.42, Y:3.83, Z:3.52 [[ 9.99851278e-01 -1.48632011e-02 -8.74687839e-03 8.95417376e+02] [ 1.48620846e-02 9.99889535e-01 -1.92633123e-04 3.82542968e+00] [ 8.74877530e-03 6.26076277e-05 9.99961727e-01 3.52187272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters 0.052708300488521015 Centerline is valid? [True, True] Translation: X:895.48, Y:3.82, Z:3.52 [[ 9.99884038e-01 -1.33230916e-02 -7.37598554e-03 8.95475835e+02] [ 1.33222514e-02 9.99911242e-01 -1.63028028e-04 3.82417686e+00] [ 7.37750290e-03 6.47443889e-05 9.99972784e-01 3.52136964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.299254154 meters 0.05248873811715579 Centerline is valid? [True, True] Translation: X:895.53, Y:3.82, Z:3.52 [[ 9.99909763e-01 -1.15829662e-02 -6.80448647e-03 8.95534019e+02] [ 1.15822074e-02 9.99932913e-01 -1.50914739e-04 3.82454507e+00] [ 6.80577801e-03 7.20901469e-05 9.99976838e-01 3.52107752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters 0.05187132323302106 Centerline is valid? [True, True] Translation: X:895.59, Y:3.82, Z:3.52 [[ 9.99926999e-01 -1.00811240e-02 -6.66098036e-03 8.95592557e+02] [ 1.00803605e-02 9.99949181e-01 -1.48183720e-04 3.82199357e+00] [ 6.66213571e-03 8.10278189e-05 9.99977804e-01 3.52108810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.419254154 meters 0.05118672044316224 Centerline is valid? [True, True] Translation: X:895.65, Y:3.82, Z:3.52 [[ 9.99946124e-01 -7.58318281e-03 -7.08836006e-03 8.95650130e+02] [ 7.58225068e-03 9.99971242e-01 -1.58366974e-04 3.81748327e+00] [ 7.08935714e-03 1.04612719e-04 9.99974865e-01 3.52130218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539999 meters 0.050265231664915894 Centerline is valid? [True, True] Translation: X:895.71, Y:3.82, Z:3.52 [[ 9.99965742e-01 -6.90999712e-03 -4.55702900e-03 8.95709195e+02] [ 6.90960382e-03 9.99976123e-01 -1.02044862e-04 3.82135821e+00] [ 4.55762532e-03 7.05541008e-05 9.99989611e-01 3.52078397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.539254154 meters 0.05154077978903712 Centerline is valid? [True, True] Translation: X:895.77, Y:3.82, Z:3.52 [[ 9.99970544e-01 -6.71886176e-03 -3.71047738e-03 8.95766836e+02] [ 6.71859854e-03 9.99977427e-01 -8.33991086e-05 3.82073652e+00] [ 3.71095397e-03 5.84674441e-05 9.99993113e-01 3.52127763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539999 meters 0.05145157910472515 Centerline is valid? [True, True] Translation: X:895.83, Y:3.82, Z:3.52 [[ 9.99973833e-01 -6.12074390e-03 -3.85614341e-03 8.95825538e+02] [ 6.12045460e-03 9.99981266e-01 -8.68209604e-05 3.82130871e+00] [ 3.85660258e-03 6.32173379e-05 9.99992561e-01 3.52044711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.659254154 meters 0.05073554395915166 Centerline is valid? [True, True] Translation: X:895.88, Y:3.82, Z:3.52 [[ 9.99973086e-01 -5.04327976e-03 -5.32849728e-03 8.95884362e+02] [ 5.04270820e-03 9.99987278e-01 -1.20695528e-04 3.82088406e+00] [ 5.32903819e-03 9.38222224e-05 9.99985796e-01 3.51938495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539999 meters 0.0507093046451724 Centerline is valid? [True, True] Translation: X:895.94, Y:3.82, Z:3.52 [[ 9.99972639e-01 -5.20268349e-03 -5.25866618e-03 8.95942961e+02] [ 5.20212601e-03 9.99986462e-01 -1.19684123e-04 3.81825284e+00] [ 5.25921766e-03 9.23246040e-05 9.99986166e-01 3.51892766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.779254154 meters 0.05234489106438069 Centerline is valid? [True, True] Translation: X:896.00, Y:3.82, Z:3.52 [[ 9.99968649e-01 -4.44786763e-03 -6.55110799e-03 8.96000514e+02] [ 4.44698173e-03 9.99990101e-01 -1.49789993e-04 3.82361523e+00] [ 6.55170938e-03 1.20652639e-04 9.99978530e-01 3.51802556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.839254154 meters 0.05146521329632592 Centerline is valid? [True, True] Translation: X:896.06, Y:3.83, Z:3.52 [[ 9.99966518e-01 -3.46377896e-03 -7.41381650e-03 8.96058148e+02] [ 3.46261504e-03 9.99993991e-01 -1.69823597e-04 3.82798797e+00] [ 7.41436018e-03 1.44146719e-04 9.99972503e-01 3.51779879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.899254154 meters 0.05124712532991129 Centerline is valid? [True, True] Translation: X:896.12, Y:3.82, Z:3.52 [[ 9.99970213e-01 -3.59674960e-03 -6.82905229e-03 8.96117544e+02] [ 3.59576358e-03 9.99993523e-01 -1.56657907e-04 3.82202737e+00] [ 6.82957152e-03 1.32097584e-04 9.99976669e-01 3.51951511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.959254154 meters 0.05132013485046526 Centerline is valid? [True, True] Translation: X:896.18, Y:3.83, Z:3.52 [[ 9.99961985e-01 -5.64224122e-03 -6.64777176e-03 8.96175378e+02] [ 5.64135051e-03 9.99984076e-01 -1.52730686e-04 3.82575056e+00] [ 6.64852764e-03 1.15222469e-04 9.99977892e-01 3.51981567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.019254154 meters 0.051798993071852005 Centerline is valid? [True, True] Translation: X:896.24, Y:3.82, Z:3.52 [[ 9.99935598e-01 -1.01575774e-02 -5.06206894e-03 8.96235608e+02] [ 1.01571180e-02 9.99948408e-01 -1.16460421e-04 3.82461649e+00] [ 5.06299074e-03 6.50368893e-05 9.99987181e-01 3.52069664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.079254154 meters 0.050661887912915836 Centerline is valid? [True, True] Translation: X:896.30, Y:3.82, Z:3.52 [[ 9.99857253e-01 -1.60713082e-02 -5.21405066e-03 8.96295880e+02] [ 1.60709001e-02 9.99870848e-01 -1.20157603e-04 3.82239669e+00] [ 5.21530834e-03 3.63459642e-05 9.99986400e-01 3.52147483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.139254154 meters 0.05099386182363869 Centerline is valid? [True, True] Translation: X:896.35, Y:3.82, Z:3.52 [[ 9.99769561e-01 -2.07872200e-02 -5.35870098e-03 8.96354042e+02] [ 2.07868555e-02 9.99783922e-01 -1.23703578e-04 3.82157756e+00] [ 5.36011454e-03 1.22845293e-05 9.99985634e-01 3.52190173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.199254154 meters 0.05172236749060796 Centerline is valid? [True, True] Translation: X:896.41, Y:3.82, Z:3.52 [[ 9.99584011e-01 -2.82814899e-02 -5.65354289e-03 8.96412712e+02] [ 2.82812030e-02 9.99599998e-01 -1.30702582e-04 3.81937503e+00] [ 5.65497792e-03 -2.92407824e-05 9.99984010e-01 3.52223197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.259254154 meters 0.05147278601491147 Centerline is valid? [True, True] Translation: X:896.47, Y:3.82, Z:3.52 [[ 9.99511108e-01 -3.05933004e-02 -6.44949450e-03 8.96470915e+02] [ 3.05929735e-02 9.99531914e-01 -1.49353361e-04 3.82106353e+00] [ 6.45104480e-03 -4.80288710e-05 9.99979191e-01 3.52291727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.319254154 meters 0.051391736213683765 Centerline is valid? [True, True] Translation: X:896.53, Y:3.82, Z:3.52 [[ 9.99365006e-01 -3.48717900e-02 -7.31736163e-03 8.96530235e+02] [ 3.48714822e-02 9.99391791e-01 -1.69688336e-04 3.81874111e+00] [ 7.31882848e-03 -8.55866607e-05 9.99973213e-01 3.52177764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.379254154 meters 0.05291673114772437 Centerline is valid? [True, True] Translation: X:896.59, Y:3.83, Z:3.52 [[ 9.99310288e-01 -3.62533336e-02 -8.04020517e-03 8.96589267e+02] [ 3.62530023e-02 9.99342626e-01 -1.86995999e-04 3.82605605e+00] [ 8.04169898e-03 -1.04614552e-04 9.99967660e-01 3.52439462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.439254154 meters 0.05223219446152812 Centerline is valid? [True, True] Translation: X:896.65, Y:3.83, Z:3.52 [[ 9.99366845e-01 -3.46481328e-02 -8.08799348e-03 8.96648086e+02] [ 3.46477376e-02 9.99399569e-01 -1.89016422e-04 3.82523149e+00] [ 8.08968627e-03 -9.13339311e-05 9.99967274e-01 3.52294783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.499254154 meters 0.05210744129192932 Centerline is valid? [True, True] Translation: X:896.71, Y:3.83, Z:3.52 [[ 9.99457945e-01 -3.18161789e-02 -8.45852114e-03 8.96705713e+02] [ 3.18156399e-02 9.99493735e-01 -1.98311563e-04 3.83075341e+00] [ 8.46054840e-03 -7.09091951e-05 9.99964206e-01 3.52446611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.559254154 meters 0.05207296316294246 Centerline is valid? [True, True] Translation: X:896.76, Y:3.83, Z:3.52 [[ 9.99650297e-01 -2.49002448e-02 -8.90289858e-03 8.96764883e+02] [ 2.48993711e-02 9.99689941e-01 -2.08983570e-04 3.83487438e+00] [ 8.90534190e-03 -1.27660871e-05 9.99960347e-01 3.52423425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.619254154 meters 0.05217810048100175 Centerline is valid? [True, True] Translation: X:896.82, Y:3.84, Z:3.53 [[ 9.99761390e-01 -2.01471142e-02 -8.44142804e-03 8.96823280e+02] [ 2.01461537e-02 9.99797026e-01 -1.98802987e-04 3.83999387e+00] [ 8.44371996e-03 2.86932433e-05 9.99964351e-01 3.52533959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.679254154 meters 0.05157338459453805 Centerline is valid? [True, True] Translation: X:896.88, Y:3.85, Z:3.53 [[ 9.99860239e-01 -1.49428456e-02 -7.49760843e-03 8.96880591e+02] [ 1.49419371e-02 9.99888347e-01 -1.77178933e-04 3.84920719e+00] [ 7.49941886e-03 6.51253772e-05 9.99971877e-01 3.52561731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters 0.05152051580344091 Centerline is valid? [True, True] Translation: X:896.94, Y:3.85, Z:3.53 [[ 9.99893131e-01 -1.32621679e-02 -6.15158468e-03 8.96939446e+02] [ 1.32615223e-02 9.99912052e-01 -1.45735035e-04 3.85198969e+00] [ 6.15297642e-03 6.41400831e-05 9.99981068e-01 3.52743094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.799254154 meters 0.05224979848454133 Centerline is valid? [True, True] Translation: X:897.00, Y:3.85, Z:3.53 [[ 9.99884175e-01 -1.38533556e-02 -6.30240830e-03 8.96997017e+02] [ 1.38526851e-02 9.99904036e-01 -1.50020219e-04 3.85488036e+00] [ 6.30388178e-03 6.26975657e-05 9.99980128e-01 3.52729730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters 0.051821754151655415 Centerline is valid? [True, True] Translation: X:897.06, Y:3.86, Z:3.53 [[ 9.99824740e-01 -1.73522657e-02 -7.02761581e-03 8.97056297e+02] [ 1.73515145e-02 9.99849437e-01 -1.67858891e-04 3.85556918e+00] [ 7.02947044e-03 4.58896949e-05 9.99975292e-01 3.52659368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.919254154 meters 0.0520648135379877 Centerline is valid? [True, True] Translation: X:897.12, Y:3.85, Z:3.53 [[ 9.99642837e-01 -2.56009468e-02 -7.66746886e-03 8.97115091e+02] [ 2.56002929e-02 9.99672242e-01 -1.83434428e-04 3.85312014e+00] [ 7.66965188e-03 -1.29205366e-05 9.99970588e-01 3.52756841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539999 meters 0.05304370554028863 Centerline is valid? [True, True] Translation: X:897.18, Y:3.85, Z:3.53 [[ 9.99221237e-01 -3.87415701e-02 -7.48396952e-03 8.97175658e+02] [ 3.87413137e-02 9.99249257e-01 -1.79279240e-04 3.84919330e+00] [ 7.48529655e-03 -1.10799187e-04 9.99971979e-01 3.52719518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.039254154 meters 0.05375363194708505 Centerline is valid? [True, True] Translation: X:897.24, Y:3.86, Z:3.53 [[ 9.98783965e-01 -4.87039576e-02 -7.64952751e-03 8.97235852e+02] [ 4.87039817e-02 9.98813240e-01 -1.83242330e-04 3.85713992e+00] [ 7.64937399e-03 -1.89542946e-04 9.99970725e-01 3.52898269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539999 meters 0.05420247343206086 Centerline is valid? [True, True] Translation: X:897.30, Y:3.86, Z:3.53 [[ 9.98095570e-01 -6.12547192e-02 -7.28640865e-03 8.97296738e+02] [ 6.12550752e-02 9.98122129e-01 -1.74513829e-04 3.85786813e+00] [ 7.28341551e-03 -2.72148030e-04 9.99973439e-01 3.52941611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.159254154 meters 0.05397473175245268 Centerline is valid? [True, True] Translation: X:897.36, Y:3.86, Z:3.53 [[ 9.97737419e-01 -6.68660483e-02 -6.99817625e-03 8.97356437e+02] [ 6.68665145e-02 9.97761916e-01 -1.67598748e-04 3.85806032e+00] [ 6.99372041e-03 -3.00724111e-04 9.99975498e-01 3.53006680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539999 meters 0.05461415212062176 Centerline is valid? [True, True] Translation: X:897.41, Y:3.86, Z:3.53 [[ 9.97784069e-01 -6.61056492e-02 -7.54952412e-03 8.97414976e+02] [ 6.61061670e-02 9.97812579e-01 -1.81197893e-04 3.86272444e+00] [ 7.54498834e-03 -3.18273732e-04 9.99971485e-01 3.53079266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.279254154 meters 0.05436487493575254 Centerline is valid? [True, True] Translation: X:897.48, Y:3.87, Z:3.53 [[ 9.98030825e-01 -6.21892406e-02 -8.18353205e-03 8.97475307e+02] [ 6.21897134e-02 9.98064327e-01 -1.96928779e-04 3.86677398e+00] [ 8.17993826e-03 -3.12390522e-04 9.99966495e-01 3.53112600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.339254154 meters 0.05477866465738273 Centerline is valid? [True, True] Translation: X:897.53, Y:3.87, Z:3.53 [[ 9.98638819e-01 -5.14680859e-02 -8.45842989e-03 8.97534302e+02] [ 5.14682056e-02 9.98674613e-01 -2.03664211e-04 3.87382857e+00] [ 8.45770140e-03 -2.31953221e-04 9.99964206e-01 3.53137109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.399254154 meters 0.05449555166335604 Centerline is valid? [True, True] Translation: X:897.59, Y:3.88, Z:3.53 [[ 9.99297170e-01 -3.66889891e-02 -7.68661995e-03 8.97594454e+02] [ 3.66886497e-02 9.99326728e-01 -1.85199128e-04 3.88377877e+00] [ 7.68823953e-03 -9.69427428e-05 9.99970440e-01 3.53036904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.459254154 meters 0.05399356453618587 Centerline is valid? [True, True] Translation: X:897.65, Y:3.90, Z:3.53 [[ 9.99734049e-01 -2.15717954e-02 -8.15406536e-03 8.97653703e+02] [ 2.15709092e-02 9.99767302e-01 -1.96624133e-04 3.90340556e+00] [ 8.15640946e-03 2.06812369e-05 9.99966736e-01 3.53115913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.519254154 meters 0.05441800656138546 Centerline is valid? [True, True] Translation: X:897.71, Y:3.91, Z:3.53 [[ 9.99867298e-01 -1.32473710e-02 -9.48121785e-03 8.97711657e+02] [ 1.32457961e-02 9.99912244e-01 -2.28887182e-04 3.91415708e+00] [ 9.48341797e-03 1.03270530e-04 9.99955026e-01 3.53059481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.579254154 meters 0.05479885689371393 Centerline is valid? [True, True] Translation: X:897.77, Y:3.93, Z:3.53 [[ 9.99942205e-01 -2.98642181e-03 -1.03280195e-02 8.97771496e+02] [ 2.98400437e-03 9.99995517e-01 -2.49468024e-04 3.92871007e+00] [ 1.03287183e-02 2.18634750e-04 9.99946633e-01 3.53065719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.639254154 meters 0.054277555470329586 Centerline is valid? [True, True] Translation: X:897.83, Y:3.93, Z:3.53 [[ 9.99929028e-01 2.18449269e-03 -1.17118570e-02 8.97831622e+02] [-2.18795515e-03 9.99997566e-01 -2.82832589e-04 3.93346936e+00] [ 1.17112107e-02 3.08437534e-04 9.99931374e-01 3.53214152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.699254154 meters 0.054996009413232745 Centerline is valid? [True, True] Translation: X:897.89, Y:3.94, Z:3.53 [[ 9.99926009e-01 2.07498468e-03 -1.19863062e-02 8.97888110e+02] [-2.07860844e-03 9.99997798e-01 -2.89875194e-04 3.93888997e+00] [ 1.19856784e-02 3.14768583e-04 9.99928120e-01 3.53215093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.759254154 meters 0.05531619957622305 Centerline is valid? [True, True] Translation: X:897.95, Y:3.94, Z:3.53 [[ 9.99920783e-01 -1.46383826e-03 -1.25013833e-02 8.97948557e+02] [ 1.46016989e-03 9.99998888e-01 -3.02559303e-04 3.93939932e+00] [ 1.25018123e-02 2.84281192e-04 9.99921809e-01 3.53315814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.819254154 meters 0.05496964160313104 Centerline is valid? [True, True] Translation: X:898.01, Y:3.94, Z:3.53 [[ 9.99872632e-01 -8.34806567e-03 -1.36025598e-02 8.98008801e+02] [ 8.34435897e-03 9.99965131e-01 -3.29233499e-04 3.93764365e+00] [ 1.36048340e-02 2.15686923e-04 9.99907427e-01 3.53366094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.879254154 meters 0.05467949712600676 Centerline is valid? [True, True] Translation: X:898.07, Y:3.93, Z:3.54 [[ 9.99789991e-01 -1.45443203e-02 -1.44373560e-02 8.98068651e+02] [ 1.45407890e-02 9.99894216e-01 -3.49534924e-04 3.93493338e+00] [ 1.44409125e-02 1.39530970e-04 9.99895715e-01 3.53560784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.939254154 meters 0.05530972756391396 Centerline is valid? [True, True] Translation: X:898.13, Y:3.93, Z:3.54 [[ 9.99549381e-01 -2.56340874e-02 -1.56182071e-02 8.98128122e+02] [ 2.56313047e-02 9.99671393e-01 -3.78351896e-04 3.93208470e+00] [ 1.56227736e-02 -2.21336214e-05 9.99877957e-01 3.53699026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.999254154 meters 0.055242414059606025 Centerline is valid? [True, True] Translation: X:898.19, Y:3.93, Z:3.54 [[ 9.99310022e-01 -3.38528750e-02 -1.52794796e-02 8.98186691e+02] [ 3.38511667e-02 9.99426816e-01 -3.70491297e-04 3.92975835e+00] [ 1.52832639e-02 -1.46992545e-04 9.99883193e-01 3.53763852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.059254154 meters 0.05609055211607834 Centerline is valid? [True, True] Translation: X:898.25, Y:3.92, Z:3.54 [[ 9.98834856e-01 -4.56649347e-02 -1.56091161e-02 8.98246936e+02] [ 4.56645917e-02 9.98956757e-01 -3.78575848e-04 3.92322989e+00] [ 1.56101196e-02 -3.34649160e-04 9.99878099e-01 3.53685836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.119254154 meters 0.05640218012118924 Centerline is valid? [True, True] Translation: X:898.31, Y:3.93, Z:3.54 [[ 9.98373067e-01 -5.46777003e-02 -1.61730562e-02 8.98307318e+02] [ 5.46785144e-02 9.98503934e-01 -3.92176812e-04 3.93206213e+00] [ 1.61703036e-02 -4.92779920e-04 9.99869131e-01 3.54210409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.179254154 meters 0.05652414725950446 Centerline is valid? [True, True] Translation: X:898.37, Y:3.93, Z:3.54 [[ 9.98251416e-01 -5.69506202e-02 -1.58347207e-02 8.98366301e+02] [ 5.69516835e-02 9.98376862e-01 -3.84137814e-04 3.92845354e+00] [ 1.58308956e-02 -5.18347884e-04 9.99874549e-01 3.54066388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters 0.05616612835007615 Centerline is valid? [True, True] Translation: X:898.43, Y:3.93, Z:3.54 [[ 9.97936037e-01 -6.23294900e-02 -1.54499688e-02 8.98426820e+02] [ 6.23311451e-02 9.98055453e-01 -3.74856117e-04 3.93317386e+00] [ 1.54432902e-02 -5.88931821e-04 9.99880572e-01 3.54320538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.299254154 meters 0.05669499292208496 Centerline is valid? [True, True] Translation: X:898.49, Y:3.93, Z:3.54 [[ 9.97691840e-01 -6.61582917e-02 -1.52994532e-02 8.98486512e+02] [ 6.61603627e-02 9.97808934e-01 -3.71287002e-04 3.93205888e+00] [ 1.52904948e-02 -6.41787361e-04 9.99882888e-01 3.54286741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters 0.057312461061500494 Centerline is valid? [True, True] Translation: X:898.55, Y:3.94, Z:3.55 [[ 9.97602630e-01 -6.75277594e-02 -1.51325666e-02 8.98545826e+02] [ 6.75299410e-02 9.97717180e-01 -3.67356592e-04 3.93996053e+00] [ 1.51228285e-02 -6.55425427e-04 9.99885429e-01 3.54502419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.419254154 meters 0.058058046848531566 Centerline is valid? [True, True] Translation: X:898.60, Y:3.94, Z:3.54 [[ 9.97655944e-01 -6.69669725e-02 -1.40727466e-02 8.98604282e+02] [ 6.69687984e-02 9.97755012e-01 -3.41984475e-04 3.94017016e+00] [ 1.40640551e-02 -6.01252083e-04 9.99900915e-01 3.54322374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539999 meters 0.05817567142477163 Centerline is valid? [True, True] Translation: X:898.66, Y:3.94, Z:3.54 [[ 9.97932114e-01 -6.27975807e-02 -1.37098455e-02 8.98662938e+02] [ 6.27989163e-02 9.98026144e-01 -3.33487358e-04 3.94427458e+00] [ 1.37037264e-02 -5.28165697e-04 9.99905960e-01 3.54291683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.539254154 meters 0.05763259354262975 Centerline is valid? [True, True] Translation: X:898.72, Y:3.97, Z:3.55 [[ 9.98362630e-01 -5.53216996e-02 -1.45453888e-02 8.98723224e+02] [ 5.53224074e-02 9.98468480e-01 -3.54004214e-04 3.96589621e+00] [ 1.45426963e-02 -4.51261346e-04 9.99894148e-01 3.54599467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539999 meters 0.057742061552135744 Centerline is valid? [True, True] Translation: X:898.78, Y:3.97, Z:3.54 [[ 9.98713780e-01 -4.86874883e-02 -1.41532240e-02 8.98782169e+02] [ 4.86874895e-02 9.98814002e-01 -3.44679462e-04 3.97105015e+00] [ 1.41532199e-02 -3.44848818e-04 9.99899779e-01 3.54474029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.659254154 meters 0.05715184121068705 Centerline is valid? [True, True] Translation: X:898.84, Y:3.98, Z:3.54 [[ 9.99178510e-01 -3.83198481e-02 -1.31869380e-02 8.98841277e+02] [ 3.83189450e-02 9.99265508e-01 -3.21239414e-04 3.97910454e+00] [ 1.31895622e-02 -1.84334035e-04 9.99912997e-01 3.54154150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539999 meters 0.05715903575907383 Centerline is valid? [True, True] Translation: X:898.90, Y:4.00, Z:3.54 [[ 9.99507208e-01 -2.89293684e-02 -1.21833174e-02 8.98900588e+02] [ 2.89278988e-02 9.99581457e-01 -2.96870265e-04 3.99578284e+00] [ 1.21868065e-02 -5.57138032e-05 9.99925737e-01 3.54371737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.779254154 meters 0.05708633136770096 Centerline is valid? [True, True] Translation: X:898.96, Y:4.01, Z:3.54 [[ 9.99666789e-01 -2.29037436e-02 -1.19050527e-02 8.98958592e+02] [ 2.29019087e-02 9.99737675e-01 -2.90454042e-04 4.00583598e+00] [ 1.19085822e-02 1.77088280e-05 9.99929090e-01 3.54379149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.839254154 meters 0.05813766288160545 Centerline is valid? [True, True] Translation: X:899.02, Y:4.01, Z:3.54 [[ 9.99793411e-01 -1.51671564e-02 -1.35311540e-02 8.99017909e+02] [ 1.51640729e-02 9.99884964e-01 -3.30458223e-04 4.01492347e+00] [ 1.35346096e-02 1.25202549e-04 9.99908395e-01 3.54486444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.899254154 meters 0.05788307209046466 Centerline is valid? [True, True] Translation: X:899.08, Y:4.02, Z:3.54 [[ 9.99847207e-01 -1.01012555e-02 -1.42663033e-02 8.99076869e+02] [ 1.00973090e-02 9.99948960e-01 -3.48640551e-04 4.02367934e+00] [ 1.42690969e-02 2.04536009e-04 9.99898170e-01 3.54284918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.959254154 meters 0.057539609364645625 Centerline is valid? [True, True] Translation: X:899.14, Y:4.03, Z:3.54 [[ 9.99856354e-01 -8.07768329e-03 -1.49003861e-02 8.99135658e+02] [ 8.07313401e-03 9.99967345e-01 -3.65438996e-04 4.02765342e+00] [ 1.49028514e-02 2.45093688e-04 9.99888916e-01 3.54257695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.019254154 meters 0.05710076293332672 Centerline is valid? [True, True] Translation: X:899.19, Y:4.03, Z:3.54 [[ 9.99863615e-01 -6.48103948e-03 -1.51903775e-02 8.99193038e+02] [ 6.47611344e-03 9.99978960e-01 -3.73455479e-04 4.03245694e+00] [ 1.51924783e-02 2.75029937e-04 9.99884550e-01 3.54090933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.079254154 meters 0.056486152361871794 Centerline is valid? [True, True] Translation: X:899.25, Y:4.03, Z:3.54 [[ 9.99863983e-01 -7.13768852e-03 -1.48684223e-02 8.99251142e+02] [ 7.13303286e-03 9.99974493e-01 -3.66132626e-04 4.02990618e+00] [ 1.48706564e-02 2.60025881e-04 9.99889392e-01 3.54295354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.139254154 meters 0.05740562715105486 Centerline is valid? [True, True] Translation: X:899.31, Y:4.03, Z:3.55 [[ 9.99858003e-01 -9.36757940e-03 -1.40079615e-02 8.99310381e+02] [ 9.36366156e-03 9.99956100e-01 -3.45247822e-04 4.02748650e+00] [ 1.40105807e-02 2.14032987e-04 9.99901824e-01 3.54538072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.199254154 meters 0.05748674119054202 Centerline is valid? [True, True] Translation: X:899.37, Y:4.03, Z:3.54 [[ 9.99851124e-01 -1.05761401e-02 -1.36336272e-02 8.99368696e+02] [ 1.05725363e-02 9.99944053e-01 -3.36379590e-04 4.02856807e+00] [ 1.36364220e-02 1.92187493e-04 9.99907001e-01 3.54493252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.259254154 meters 0.05712490559327078 Centerline is valid? [True, True] Translation: X:899.43, Y:4.03, Z:3.55 [[ 9.99836564e-01 -1.21072246e-02 -1.34261390e-02 8.99427602e+02] [ 1.21038631e-02 9.99926691e-01 -3.31601803e-04 4.02603516e+00] [ 1.34291695e-02 1.69039459e-04 9.99909810e-01 3.54629921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.319254154 meters 0.057202362085642985 Centerline is valid? [True, True] Translation: X:899.49, Y:4.02, Z:3.55 [[ 9.99808225e-01 -1.39835305e-02 -1.37103649e-02 8.99486569e+02] [ 1.39801971e-02 9.99902215e-01 -3.38950666e-04 4.02490439e+00] [ 1.37137639e-02 1.47212061e-04 9.99905951e-01 3.54594240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.379254154 meters 0.056869007094553954 Centerline is valid? [True, True] Translation: X:899.55, Y:4.02, Z:3.55 [[ 9.99755429e-01 -1.73986901e-02 -1.36516784e-02 8.99545773e+02] [ 1.73956978e-02 9.99848626e-01 -3.37913400e-04 4.02040154e+00] [ 1.36554911e-02 1.00350284e-04 9.99906754e-01 3.54688738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.439254154 meters 0.05746271556581789 Centerline is valid? [True, True] Translation: X:899.61, Y:4.02, Z:3.55 [[ 9.99699827e-01 -2.05763734e-02 -1.32991920e-02 8.99605069e+02] [ 2.05738089e-02 9.99788282e-01 -3.29626153e-04 4.01744167e+00] [ 1.33031588e-02 5.59121743e-05 9.99911507e-01 3.54793252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.499254154 meters 0.05701724541180202 Centerline is valid? [True, True] Translation: X:899.66, Y:4.01, Z:3.55 [[ 9.99619646e-01 -2.46513635e-02 -1.23642160e-02 8.99662724e+02] [ 2.46494528e-02 9.99696109e-01 -3.06921857e-04 4.01312320e+00] [ 1.23680247e-02 2.03395912e-06 9.99923513e-01 3.54762836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.559254154 meters 0.05662992508806615 Centerline is valid? [True, True] Translation: X:899.72, Y:4.01, Z:3.55 [[ 9.99546173e-01 -2.79224252e-02 -1.13042189e-02 8.99720427e+02] [ 2.79210329e-02 9.99610092e-01 -2.81000351e-04 4.00898190e+00] [ 1.13076575e-02 -3.47526431e-05 9.99936066e-01 3.54656548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.619254154 meters 0.05625144810077209 Centerline is valid? [True, True] Translation: X:899.78, Y:4.01, Z:3.55 [[ 9.99496267e-01 -2.99814763e-02 -1.04078587e-02 8.99778447e+02] [ 2.99803976e-02 9.99550453e-01 -2.59683410e-04 4.00782023e+00] [ 1.04109656e-02 -5.24791426e-05 9.99945803e-01 3.54764459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.679254154 meters 0.05638282534215517 Centerline is valid? [True, True] Translation: X:899.84, Y:4.00, Z:3.55 [[ 9.99416999e-01 -3.22499394e-02 -1.12073120e-02 8.99836364e+02] [ 3.22488217e-02 9.99479832e-01 -2.80480720e-04 4.00498477e+00] [ 1.12105278e-02 -8.11054060e-05 9.99937157e-01 3.54625825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters 0.05701855786627688 Centerline is valid? [True, True] Translation: X:899.90, Y:4.01, Z:3.55 [[ 9.99373223e-01 -3.36088596e-02 -1.11177821e-02 8.99895583e+02] [ 3.36078329e-02 9.99435058e-01 -2.79212065e-04 4.00770653e+00] [ 1.11208852e-02 -9.46075013e-05 9.99938157e-01 3.54953301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.799254154 meters 0.0565389111745339 Centerline is valid? [True, True] Translation: X:899.95, Y:4.00, Z:3.55 [[ 9.99366266e-01 -3.38423507e-02 -1.10345898e-02 8.99954173e+02] [ 3.38413390e-02 9.99427179e-01 -2.78445650e-04 4.00387738e+00] [ 1.10376922e-02 -9.51561033e-05 9.99939078e-01 3.54664242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters 0.05640210601123075 Centerline is valid? [True, True] Translation: X:900.01, Y:4.00, Z:3.55 [[ 9.99332339e-01 -3.47555411e-02 -1.12662654e-02 9.00012494e+02] [ 3.47545354e-02 9.99395838e-01 -2.85093459e-04 4.00334819e+00] [ 1.12693674e-02 -1.06650708e-04 9.99936493e-01 3.54577753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.919254154 meters 0.05655060840799267 Centerline is valid? [True, True] Translation: X:900.07, Y:4.00, Z:3.55 [[ 9.99180705e-01 -3.90011650e-02 -1.08086586e-02 9.00072392e+02] [ 3.90004824e-02 9.99239154e-01 -2.74001310e-04 4.00096069e+00] [ 1.08111212e-02 -1.47766077e-04 9.99941547e-01 3.54640986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539999 meters 0.05716859252272787 Centerline is valid? [True, True] Translation: X:900.13, Y:4.00, Z:3.55 [[ 9.98957968e-01 -4.42141894e-02 -1.13174477e-02 9.00131509e+02] [ 4.42137726e-02 9.99022052e-01 -2.87146663e-04 4.00487110e+00] [ 1.13190758e-02 -2.13539614e-04 9.99935914e-01 3.54984450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.039254154 meters 0.05730113786257186 Centerline is valid? [True, True] Translation: X:900.19, Y:4.00, Z:3.55 [[ 9.98698360e-01 -5.00730536e-02 -9.70950363e-03 9.00192364e+02] [ 5.00730236e-02 9.98745529e-01 -2.46335484e-04 4.00129537e+00] [ 9.70965811e-03 -2.40169361e-04 9.99952831e-01 3.55051546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539999 meters 0.05779763855440751 Centerline is valid? [True, True] Translation: X:900.25, Y:4.01, Z:3.55 [[ 9.98419478e-01 -5.55250630e-02 -8.68981229e-03 9.00252928e+02] [ 5.55252458e-02 9.98457259e-01 -2.20404958e-04 4.00664892e+00] [ 8.68864416e-03 -2.62447360e-04 9.99962219e-01 3.55293633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.159254154 meters 0.05847150339233089 Centerline is valid? [True, True] Translation: X:900.31, Y:4.01, Z:3.55 [[ 9.98183289e-01 -5.97312188e-02 -7.89318370e-03 9.00312682e+02] [ 5.97315009e-02 9.98214460e-01 -2.00205357e-04 4.00600781e+00] [ 7.89104861e-03 -2.71630067e-04 9.99968828e-01 3.55322638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539999 meters 0.058058512179758846 Centerline is valid? [True, True] Translation: X:900.37, Y:4.01, Z:3.55 [[ 9.98290164e-01 -5.78598564e-02 -8.30574898e-03 9.00372354e+02] [ 5.78601035e-02 9.98324679e-01 -2.10737050e-04 4.00960512e+00] [ 8.30402739e-03 -2.70194772e-04 9.99965484e-01 3.55290026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.279254154 meters 0.057916574853159285 Centerline is valid? [True, True] Translation: X:900.43, Y:4.02, Z:3.55 [[ 9.98522925e-01 -5.35539935e-02 -9.16179940e-03 9.00432503e+02] [ 5.35541127e-02 9.98564922e-01 -2.32499206e-04 4.01667326e+00] [ 9.16110277e-03 -2.58496250e-04 9.99958003e-01 3.55240174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.339254154 meters 0.058933250713317155 Centerline is valid? [True, True] Translation: X:900.49, Y:4.02, Z:3.55 [[ 9.98937001e-01 -4.51178258e-02 -9.44717763e-03 9.00493017e+02] [ 4.51175746e-02 9.98981655e-01 -2.39825496e-04 4.02185954e+00] [ 9.44837755e-03 -1.86663180e-04 9.99955346e-01 3.55087441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.399254154 meters 0.05773501746917267 Centerline is valid? [True, True] Translation: X:900.55, Y:4.03, Z:3.55 [[ 9.99314516e-01 -3.56675275e-02 -9.91589950e-03 9.00552916e+02] [ 3.56667853e-02 9.99363706e-01 -2.51742012e-04 4.03174993e+00] [ 9.91856909e-03 -1.02098811e-04 9.99950805e-01 3.55062812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.459254154 meters 0.05781441044595221 Centerline is valid? [True, True] Translation: X:900.61, Y:4.04, Z:3.55 [[ 9.99551488e-01 -2.86499217e-02 -8.71811491e-03 9.00612036e+02] [ 2.86490766e-02 9.99589506e-01 -2.21837565e-04 4.04113633e+00] [ 8.72089181e-03 -2.80278729e-05 9.99961972e-01 3.55242964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.519254154 meters 0.057845828121562956 Centerline is valid? [True, True] Translation: X:900.67, Y:4.04, Z:3.55 [[ 9.99598507e-01 -2.69769297e-02 -8.66427528e-03 9.00669614e+02] [ 2.69760267e-02 9.99636056e-01 -2.21092868e-04 4.04470557e+00] [ 8.66708638e-03 -1.27236204e-05 9.99962440e-01 3.55287675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.579254154 meters 0.057613498139786334 Centerline is valid? [True, True] Translation: X:900.73, Y:4.05, Z:3.55 [[ 9.99542738e-01 -2.88243682e-02 -9.13627545e-03 9.00728247e+02] [ 2.88234349e-02 9.99584491e-01 -2.33838579e-04 4.04665913e+00] [ 9.13921950e-03 -2.96071867e-05 9.99958236e-01 3.55199383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.639254154 meters 0.058466777466213676 Centerline is valid? [True, True] Translation: X:900.79, Y:4.05, Z:3.55 [[ 9.99360965e-01 -3.43487348e-02 -9.89073836e-03 9.00785946e+02] [ 3.43479049e-02 9.99409904e-01 -2.53817698e-04 4.04878178e+00] [ 9.89362019e-03 -8.60706403e-05 9.99951053e-01 3.55368865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.699254154 meters 0.05810457843624635 Centerline is valid? [True, True] Translation: X:900.85, Y:4.05, Z:3.55 [[ 9.99189216e-01 -3.89488252e-02 -1.01931375e-02 9.00845238e+02] [ 3.89481800e-02 9.99241197e-01 -2.61867815e-04 4.05029370e+00] [ 1.01956024e-02 -1.35348659e-04 9.99948014e-01 3.55420241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.759254154 meters 0.05838482312736483 Centerline is valid? [True, True] Translation: X:900.91, Y:4.05, Z:3.55 [[ 9.98924024e-01 -4.52469499e-02 -1.01738537e-02 9.00906158e+02] [ 4.52466336e-02 9.98975812e-01 -2.61380336e-04 4.04950307e+00] [ 1.01752604e-02 -1.99233534e-04 9.99948211e-01 3.55314053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.819254154 meters 0.05855415687489635 Centerline is valid? [True, True] Translation: X:900.97, Y:4.06, Z:3.55 [[ 9.98728565e-01 -4.94373271e-02 -9.85923976e-03 9.00966234e+02] [ 4.94372341e-02 9.98777200e-01 -2.53297230e-04 4.05732355e+00] [ 9.85970622e-03 -2.34438366e-04 9.99951364e-01 3.55489922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.879254154 meters 0.05797257247781932 Centerline is valid? [True, True] Translation: X:901.03, Y:4.06, Z:3.55 [[ 9.98690437e-01 -5.01074619e-02 -1.03273576e-02 9.01025001e+02] [ 5.01073885e-02 9.98743800e-01 -2.66017701e-04 4.05602040e+00] [ 1.03277139e-02 -2.51807586e-04 9.99946636e-01 3.55365731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.939254154 meters 0.058789987627188636 Centerline is valid? [True, True] Translation: X:901.08, Y:4.06, Z:3.55 [[ 9.98782727e-01 -4.82834816e-02 -1.00880589e-02 9.01082820e+02] [ 4.82833121e-02 9.98833647e-01 -2.60498006e-04 4.06051340e+00] [ 1.00888704e-02 -2.26903986e-04 9.99949080e-01 3.55455039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.999254154 meters 0.05853532540885219 Centerline is valid? [True, True] Translation: X:901.14, Y:4.06, Z:3.55 [[ 9.99066402e-01 -4.20906825e-02 -9.73134580e-03 9.01142249e+02] [ 4.20902290e-02 9.99113782e-01 -2.51490294e-04 4.06137311e+00] [ 9.73330710e-03 -1.58339070e-04 9.99952618e-01 3.55484145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.059254154 meters 0.05791476179898886 Centerline is valid? [True, True] Translation: X:901.20, Y:4.07, Z:3.56 [[ 9.99387858e-01 -3.39510905e-02 -8.43993281e-03 9.01202004e+02] [ 3.39504587e-02 9.99423493e-01 -2.18155879e-04 4.06796944e+00] [ 8.44247376e-03 -6.85172540e-05 9.99964359e-01 3.55581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.119254154 meters 0.05770300784470174 Centerline is valid? [True, True] Translation: X:901.26, Y:4.07, Z:3.56 [[ 9.99567393e-01 -2.81937392e-02 -8.37490580e-03 9.01259975e+02] [ 2.81929136e-02 9.99602477e-01 -2.16646889e-04 4.07217661e+00] [ 8.37768467e-03 -1.95598295e-05 9.99964906e-01 3.55504103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.179254154 meters 0.057073119581145 Centerline is valid? [True, True] Translation: X:901.32, Y:4.08, Z:3.56 [[ 9.99776874e-01 -1.94344017e-02 -8.27684673e-03 9.01318696e+02] [ 1.94332902e-02 9.99811133e-01 -2.14697112e-04 4.07789942e+00] [ 8.27945601e-03 5.38028426e-05 9.99965723e-01 3.55548577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters 0.05766496428637782 Centerline is valid? [True, True] Translation: X:901.38, Y:4.08, Z:3.55 [[ 9.99871619e-01 -1.21930048e-02 -1.03959517e-02 9.01377767e+02] [ 1.21908536e-02 9.99925652e-01 -2.70273111e-04 4.08322857e+00] [ 1.03984743e-02 1.43502887e-04 9.99945924e-01 3.55435876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.299254154 meters 0.05753736270319533 Centerline is valid? [True, True] Translation: X:901.44, Y:4.08, Z:3.56 [[ 9.99905910e-01 -9.76882972e-03 -9.63023753e-03 9.01436454e+02] [ 9.76686549e-03 9.99952272e-01 -2.50974921e-04 4.08164715e+00] [ 9.63222962e-03 1.56894073e-04 9.99953597e-01 3.55603955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters 0.058082422156918743 Centerline is valid? [True, True] Translation: X:901.50, Y:4.08, Z:3.56 [[ 9.99918997e-01 -9.93749077e-03 -7.95271483e-03 9.01495068e+02] [ 9.93615220e-03 9.99950614e-01 -2.07809871e-04 4.08408003e+00] [ 7.95438718e-03 1.28773653e-04 9.99968355e-01 3.55616328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.419254154 meters 0.05739624633365054 Centerline is valid? [True, True] Translation: X:901.55, Y:4.08, Z:3.56 [[ 9.99898786e-01 -1.18021758e-02 -7.94522048e-03 9.01554116e+02] [ 1.18008957e-02 9.99930345e-01 -2.07972280e-04 4.07801391e+00] [ 7.94712158e-03 1.14190512e-04 9.99968415e-01 3.55595146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539999 meters 0.05680024365593356 Centerline is valid? [True, True] Translation: X:901.61, Y:4.07, Z:3.56 [[ 9.99876880e-01 -1.31851153e-02 -8.50750750e-03 9.01613268e+02] [ 1.31836956e-02 9.99913066e-01 -2.22933855e-04 4.07208249e+00] [ 8.50970732e-03 1.10746018e-04 9.99963786e-01 3.55649512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.539254154 meters 0.056314830083163354 Centerline is valid? [True, True] Translation: X:901.67, Y:4.07, Z:3.56 [[ 9.99859472e-01 -1.49504206e-02 -7.58422112e-03 9.01672309e+02] [ 1.49493416e-02 9.99888233e-01 -1.98947952e-04 4.06527738e+00] [ 7.58634781e-03 8.55408822e-05 9.99971220e-01 3.55702718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539999 meters 0.05628723172951811 Centerline is valid? [True, True] Translation: X:901.73, Y:4.06, Z:3.56 [[ 9.99848228e-01 -1.59477090e-02 -7.01365241e-03 9.01730528e+02] [ 1.59468090e-02 9.99872825e-01 -1.84232388e-04 4.06008668e+00] [ 7.01569853e-03 7.23590519e-05 9.99975387e-01 3.55833288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.659254154 meters 0.05556231432132551 Centerline is valid? [True, True] Translation: X:901.79, Y:4.06, Z:3.56 [[ 9.99814978e-01 -1.79158723e-02 -7.00222436e-03 9.01788167e+02] [ 1.79150218e-02 9.99839496e-01 -1.84183021e-04 4.05571383e+00] [ 7.00440027e-03 5.87039413e-05 9.99975467e-01 3.55811472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539999 meters 0.05608794590169739 Centerline is valid? [True, True] Translation: X:901.85, Y:4.05, Z:3.56 [[ 9.99695136e-01 -2.33088020e-02 -8.14460018e-03 9.01846932e+02] [ 2.33078283e-02 9.99728313e-01 -2.14458071e-04 4.04906975e+00] [ 8.14738616e-03 2.45597480e-05 9.99966809e-01 3.55778214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.779254154 meters 0.0560093141780426 Centerline is valid? [True, True] Translation: X:901.91, Y:4.05, Z:3.56 [[ 9.99564777e-01 -2.81400837e-02 -8.85398928e-03 9.01905142e+02] [ 2.81391196e-02 9.99603989e-01 -2.33470085e-04 4.04542135e+00] [ 8.85705287e-03 -1.57749900e-05 9.99960775e-01 3.55818488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.839254154 meters 0.056386211665355464 Centerline is valid? [True, True] Translation: X:901.96, Y:4.04, Z:3.56 [[ 9.99336165e-01 -3.53695611e-02 -8.73055921e-03 9.01964182e+02] [ 3.53688969e-02 9.99374298e-01 -2.30507320e-04 4.03801725e+00] [ 8.73324942e-03 -7.84359478e-05 9.99961861e-01 3.55754382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.899254154 meters 0.05578039395403923 Centerline is valid? [True, True] Translation: X:902.02, Y:4.03, Z:3.56 [[ 9.99107622e-01 -4.14429718e-02 -8.15100542e-03 9.02023442e+02] [ 4.14425937e-02 9.99140863e-01 -2.15358973e-04 4.03137298e+00] [ 8.15292771e-03 -1.22632015e-04 9.99966757e-01 3.55810601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.959254154 meters 0.05595838614771421 Centerline is valid? [True, True] Translation: X:902.08, Y:4.03, Z:3.56 [[ 9.99030284e-01 -4.32083792e-02 -8.45742232e-03 9.02080958e+02] [ 4.32080331e-02 9.99066072e-01 -2.23711928e-04 4.03367118e+00] [ 8.45918993e-03 -1.41933593e-04 9.99964210e-01 3.55894920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.019254154 meters 0.05622222986793668 Centerline is valid? [True, True] Translation: X:902.14, Y:4.03, Z:3.56 [[ 9.98888850e-01 -4.62263346e-02 -9.17562131e-03 9.02140178e+02] [ 4.62260522e-02 9.98930975e-01 -2.42966684e-04 4.02914370e+00] [ 9.17704381e-03 -1.81456038e-04 9.99957874e-01 3.55793407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.079254154 meters 0.056153975007849126 Centerline is valid? [True, True] Translation: X:902.20, Y:4.03, Z:3.56 [[ 9.98915519e-01 -4.57552214e-02 -8.61662257e-03 9.02198059e+02] [ 4.57549528e-02 9.98952668e-01 -2.28395528e-04 4.02821785e+00] [ 8.61804839e-03 -1.66105322e-04 9.99962850e-01 3.55819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.139254154 meters 0.05565387514510539 Centerline is valid? [True, True] Translation: X:902.26, Y:4.03, Z:3.56 [[ 9.99035062e-01 -4.33400963e-02 -7.11203026e-03 9.02257351e+02] [ 4.33398491e-02 9.99060369e-01 -1.88947068e-04 4.03327827e+00] [ 7.11353657e-03 -1.19469573e-04 9.99974691e-01 3.55996803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.199254154 meters 0.055494336357876504 Centerline is valid? [True, True] Translation: X:902.31, Y:4.03, Z:3.56 [[ 9.99144979e-01 -4.07395532e-02 -7.04266170e-03 9.02314911e+02] [ 4.07392423e-02 9.99169795e-01 -1.87647590e-04 4.03174604e+00] [ 7.04445952e-03 -9.94255539e-05 9.99975183e-01 3.56045773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.259254154 meters 0.05545365268687656 Centerline is valid? [True, True] Translation: X:902.37, Y:4.03, Z:3.56 [[ 9.99222888e-01 -3.87557968e-02 -7.18384440e-03 9.02373560e+02] [ 3.87554183e-02 9.99248708e-01 -1.91940947e-04 4.03470536e+00] [ 7.18588606e-03 -8.66211072e-05 9.99974177e-01 3.56064790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.319254154 meters 0.05499828530574353 Centerline is valid? [True, True] Translation: X:902.43, Y:4.04, Z:3.56 [[ 9.99396148e-01 -3.40095868e-02 -7.11949023e-03 9.02432792e+02] [ 3.40090908e-02 9.99421505e-01 -1.90758881e-04 4.04076284e+00] [ 7.12185927e-03 -5.14836988e-05 9.99974638e-01 3.56093460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.379254154 meters 0.05527745788600655 Centerline is valid? [True, True] Translation: X:902.49, Y:4.04, Z:3.56 [[ 9.99486115e-01 -3.12007826e-02 -7.34964422e-03 9.02491869e+02] [ 3.12001740e-02 9.99513137e-01 -1.97483483e-04 4.04342259e+00] [ 7.35222758e-03 -3.19281785e-05 9.99972971e-01 3.56062214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.439254154 meters 0.05523358115089593 Centerline is valid? [True, True] Translation: X:902.55, Y:4.05, Z:3.56 [[ 9.99545576e-01 -2.85460131e-02 -9.68327451e-03 9.02550060e+02] [ 2.85448243e-02 9.99592479e-01 -2.60988291e-04 4.04542052e+00] [ 9.68677855e-03 -1.55376778e-05 9.99953082e-01 3.55824054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.499254154 meters 0.0546437202006365 Centerline is valid? [True, True] Translation: X:902.61, Y:4.05, Z:3.56 [[ 9.99531768e-01 -2.86511290e-02 -1.07404588e-02 9.02608520e+02] [ 2.86496625e-02 9.99589472e-01 -2.90406415e-04 4.04699634e+00] [ 1.07443700e-02 -1.74400819e-05 9.99942277e-01 3.55881021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.559254154 meters 0.055293673023647384 Centerline is valid? [True, True] Translation: X:902.67, Y:4.05, Z:3.56 [[ 9.99475141e-01 -3.07388052e-02 -1.02258609e-02 9.02666430e+02] [ 3.07375722e-02 9.99527451e-01 -2.77755270e-04 4.04673561e+00] [ 1.02295666e-02 -3.67086505e-05 9.99947676e-01 3.55907253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.619254154 meters 0.05531467388248893 Centerline is valid? [True, True] Translation: X:902.72, Y:4.05, Z:3.56 [[ 9.99399040e-01 -3.35937765e-02 -8.54504529e-03 9.02723985e+02] [ 3.35930143e-02 9.99435568e-01 -2.32742459e-04 4.04608001e+00] [ 8.54804089e-03 -5.44512385e-05 9.99963463e-01 3.56135580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.679254154 meters 0.055646275042020854 Centerline is valid? [True, True] Translation: X:902.78, Y:4.05, Z:3.56 [[ 9.99345555e-01 -3.52691576e-02 -8.03420873e-03 9.02782725e+02] [ 3.52685334e-02 9.99377848e-01 -2.19399876e-04 4.04569636e+00] [ 8.03694828e-03 -6.40984682e-05 9.99967701e-01 3.56122044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters 0.054458869486805256 Centerline is valid? [True, True] Translation: X:902.84, Y:4.05, Z:3.56 [[ 9.99324259e-01 -3.57371454e-02 -8.59551420e-03 9.02841970e+02] [ 3.57364402e-02 9.99361222e-01 -2.35665486e-04 4.04856886e+00] [ 8.59844559e-03 -7.16668423e-05 9.99963030e-01 3.56265120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.799254154 meters 0.055138175885373016 Centerline is valid? [True, True] Translation: X:902.90, Y:4.05, Z:3.56 [[ 9.99343864e-01 -3.51411249e-02 -8.77170020e-03 9.02900433e+02] [ 3.51403584e-02 9.99382358e-01 -2.41538633e-04 4.04729396e+00] [ 8.77477037e-03 -6.68605383e-05 9.99961499e-01 3.56094362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters 0.05547204374914258 Centerline is valid? [True, True] Translation: X:902.96, Y:4.05, Z:3.56 [[ 9.99410771e-01 -3.30677576e-02 -9.19964408e-03 9.02959039e+02] [ 3.30668161e-02 9.99453111e-01 -2.54470038e-04 4.05105176e+00] [ 9.20302765e-03 -4.98828421e-05 9.99957650e-01 3.56113919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.919254154 meters 0.05496912049855504 Centerline is valid? [True, True] Translation: X:903.02, Y:4.05, Z:3.56 [[ 9.99482462e-01 -3.07766533e-02 -9.35979911e-03 9.03017577e+02] [ 3.07755676e-02 9.99526286e-01 -2.60031598e-04 4.05304024e+00] [ 9.36336814e-03 -2.81561080e-05 9.99956162e-01 3.56185770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539999 meters 0.05509566172176764 Centerline is valid? [True, True] Translation: X:903.08, Y:4.05, Z:3.56 [[ 9.99531523e-01 -2.92267380e-02 -9.08477167e-03 9.03075508e+02] [ 2.92256451e-02 9.99572808e-01 -2.53061345e-04 4.05446317e+00] [ 9.08828689e-03 -1.25655211e-05 9.99958701e-01 3.56118115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.039254154 meters 0.05495053595161433 Centerline is valid? [True, True] Translation: X:903.13, Y:4.06, Z:3.56 [[ 9.99604379e-01 -2.68965020e-02 -8.22578619e-03 9.03134818e+02] [ 2.68955253e-02 9.99638224e-01 -2.29346251e-04 4.05602309e+00] [ 8.22897891e-03 8.01867611e-06 9.99966141e-01 3.56021655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539999 meters 0.05513905570628949 Centerline is valid? [True, True] Translation: X:903.19, Y:4.06, Z:3.56 [[ 9.99689889e-01 -2.39299352e-02 -6.89090458e-03 9.03193082e+02] [ 2.39291767e-02 9.99713638e-01 -1.92520213e-04 4.05841678e+00] [ 6.89353828e-03 2.75668371e-05 9.99976239e-01 3.56196869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.159254154 meters 0.054865652364869594 Centerline is valid? [True, True] Translation: X:903.25, Y:4.06, Z:3.56 [[ 9.99791561e-01 -1.93504381e-02 -6.51110844e-03 9.03251767e+02] [ 1.93496590e-02 9.99812761e-01 -1.82623600e-04 4.06237199e+00] [ 6.51342315e-03 5.65978054e-05 9.99978786e-01 3.56237741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539999 meters 0.05433261107069329 Centerline is valid? [True, True] Translation: X:903.31, Y:4.06, Z:3.56 [[ 9.99845249e-01 -1.62752919e-02 -6.67774931e-03 9.03310048e+02] [ 1.62743999e-02 9.99867546e-01 -1.87901883e-04 4.06020504e+00] [ 6.67992297e-03 7.91964425e-05 9.99977686e-01 3.56318342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.279254154 meters 0.05474124245788295 Centerline is valid? [True, True] Translation: X:903.37, Y:4.07, Z:3.56 [[ 9.99906909e-01 -1.16968873e-02 -7.02542423e-03 9.03369082e+02] [ 1.16957849e-02 9.99931582e-01 -1.97974373e-04 4.06987802e+00] [ 7.02725925e-03 1.15788092e-04 9.99975302e-01 3.56120489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.339254154 meters 0.0543131239110189 Centerline is valid? [True, True] Translation: X:903.43, Y:4.06, Z:3.56 [[ 9.99927839e-01 -9.68349804e-03 -7.10962250e-03 9.03427996e+02] [ 9.68231531e-03 9.99953105e-01 -2.00757838e-04 4.06450367e+00] [ 7.11123313e-03 1.31905744e-04 9.99974706e-01 3.56202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.399254154 meters 0.054612196625305885 Centerline is valid? [True, True] Translation: X:903.49, Y:4.06, Z:3.56 [[ 9.99921996e-01 -1.00257005e-02 -7.44899669e-03 9.03485729e+02] [ 1.00244073e-02 9.99949732e-01 -2.10929601e-04 4.06466075e+00] [ 7.45073696e-03 1.36241371e-04 9.99972234e-01 3.56133488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.459254154 meters 0.05423001792304921 Centerline is valid? [True, True] Translation: X:903.55, Y:4.06, Z:3.56 [[ 9.99871728e-01 -1.43853425e-02 -7.04205086e-03 9.03545118e+02] [ 1.43842935e-02 9.99896521e-01 -1.99591812e-04 4.06169512e+00] [ 7.04419335e-03 9.82712839e-05 9.99975185e-01 3.56203202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.519254154 meters 0.05417334987642381 Centerline is valid? [True, True] Translation: X:903.61, Y:4.05, Z:3.56 [[ 9.99761824e-01 -2.07668732e-02 -6.71054558e-03 9.03605462e+02] [ 2.07660638e-02 9.99784344e-01 -1.90272171e-04 4.05221698e+00] [ 6.71304976e-03 5.08752352e-05 9.99977466e-01 3.56377154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.579254154 meters 0.054131256881163305 Centerline is valid? [True, True] Translation: X:903.66, Y:4.05, Z:3.56 [[ 9.99663573e-01 -2.50134094e-02 -6.86077811e-03 9.03663867e+02] [ 2.50126626e-02 9.99687115e-01 -1.94643948e-04 4.05036703e+00] [ 6.86350018e-03 2.29721363e-05 9.99976446e-01 3.56329950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.639254154 meters 0.0536036307135596 Centerline is valid? [True, True] Translation: X:903.72, Y:4.05, Z:3.56 [[ 9.99527808e-01 -2.97229025e-02 -7.79162799e-03 9.03722275e+02] [ 2.97220779e-02 9.99558177e-01 -2.21624148e-04 4.04527770e+00] [ 7.79477278e-03 -1.00638753e-05 9.99969620e-01 3.56292137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.699254154 meters 0.0533158412367153 Centerline is valid? [True, True] Translation: X:903.78, Y:4.04, Z:3.56 [[ 9.99499319e-01 -3.06090352e-02 -8.01239476e-03 9.03780706e+02] [ 3.06081867e-02 9.99531434e-01 -2.28530238e-04 4.04247223e+00] [ 8.01563551e-03 -1.68290576e-05 9.99967874e-01 3.56456271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.759254154 meters 0.05382351016193286 Centerline is valid? [True, True] Translation: X:903.84, Y:4.04, Z:3.56 [[ 9.99532404e-01 -2.94347308e-02 -8.28073643e-03 9.03838716e+02] [ 2.94337789e-02 9.99566704e-01 -2.36828745e-04 4.04203206e+00] [ 8.28411942e-03 -7.01536001e-06 9.99965686e-01 3.56334376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.819254154 meters 0.05314001679085417 Centerline is valid? [True, True] Translation: X:903.90, Y:4.04, Z:3.56 [[ 9.99607847e-01 -2.65566951e-02 -8.88228032e-03 9.03897392e+02] [ 2.65554776e-02 9.99647309e-01 -2.54997691e-04 4.04291228e+00] [ 8.88591951e-03 1.90244968e-05 9.99960519e-01 3.56292039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.879254154 meters 0.05384002482184453 Centerline is valid? [True, True] Translation: X:903.95, Y:4.04, Z:3.56 [[ 9.99626208e-01 -2.59009103e-02 -8.75140230e-03 9.03954956e+02] [ 2.58996947e-02 9.99664515e-01 -2.52223424e-04 4.04399863e+00] [ 8.75499915e-03 2.54704969e-05 9.99961674e-01 3.56358028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.939254154 meters 0.052939680630610025 Centerline is valid? [True, True] Translation: X:904.01, Y:4.04, Z:3.56 [[ 9.99688243e-01 -2.32297281e-02 -9.15400444e-03 9.04014116e+02] [ 2.32282763e-02 9.99730152e-01 -2.64906052e-04 4.04413793e+00] [ 9.15768795e-03 5.21917216e-05 9.99958066e-01 3.56339420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.999254154 meters 0.05304158472789551 Centerline is valid? [True, True] Translation: X:904.07, Y:4.04, Z:3.56 [[ 9.99755988e-01 -2.05088142e-02 -8.20683657e-03 9.04071459e+02] [ 2.05075500e-02 9.99789670e-01 -2.38166916e-04 4.04489725e+00] [ 8.20999494e-03 6.98066891e-05 9.99966295e-01 3.56383926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.059254154 meters 0.05317606883319939 Centerline is valid? [True, True] Translation: X:904.13, Y:4.05, Z:3.56 [[ 9.99789539e-01 -1.91004644e-02 -7.48665139e-03 9.04130067e+02] [ 1.90993683e-02 9.99817567e-01 -2.17886932e-04 4.04622849e+00] [ 7.48944731e-03 7.48507631e-05 9.99971951e-01 3.56477883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.119254154 meters 0.0529366646026097 Centerline is valid? [True, True] Translation: X:904.19, Y:4.04, Z:3.57 [[ 9.99825920e-01 -1.73062380e-02 -6.97303842e-03 9.04188846e+02] [ 1.73052384e-02 9.99850232e-01 -2.03665340e-04 4.04204174e+00] [ 6.97551876e-03 8.29597931e-05 9.99975667e-01 3.56687814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.179254154 meters 0.052650658995300095 Centerline is valid? [True, True] Translation: X:904.25, Y:4.04, Z:3.57 [[ 9.99844224e-01 -1.61213399e-02 -7.18535795e-03 9.04246552e+02] [ 1.61202437e-02 9.99870038e-01 -2.10441763e-04 4.04343151e+00] [ 7.18781674e-03 9.45792594e-05 9.99974163e-01 3.56610824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters 0.05351096877062446 Centerline is valid? [True, True] Translation: X:904.31, Y:4.04, Z:3.56 [[ 9.99845967e-01 -1.54384192e-02 -8.34847594e-03 9.04305892e+02] [ 1.54369101e-02 9.99880814e-01 -2.45170204e-04 4.04171466e+00] [ 8.35126595e-03 1.16257767e-04 9.99965121e-01 3.56423699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.299254154 meters 0.052108170658738934 Centerline is valid? [True, True] Translation: X:904.36, Y:4.04, Z:3.56 [[ 9.99823097e-01 -1.62748641e-02 -9.42891831e-03 9.04363826e+02] [ 1.62729653e-02 9.99867548e-01 -2.78078223e-04 4.03817136e+00] [ 9.43219511e-03 1.24592570e-04 9.99955508e-01 3.56374724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters 0.051568605487404315 Centerline is valid? [True, True] Translation: X:904.42, Y:4.03, Z:3.56 [[ 9.99806359e-01 -1.76166391e-02 -8.76918765e-03 9.04423282e+02] [ 1.76150399e-02 9.99844809e-01 -2.59569419e-04 4.03391472e+00] [ 8.77239950e-03 1.05049565e-04 9.99961516e-01 3.56465869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.419254154 meters 0.05111975197786751 Centerline is valid? [True, True] Translation: X:904.48, Y:4.03, Z:3.56 [[ 9.99799390e-01 -1.80745415e-02 -8.63075660e-03 9.04482648e+02] [ 1.80730021e-02 9.99836637e-01 -2.56335015e-04 4.03285140e+00] [ 8.63397979e-03 1.00299910e-04 9.99962721e-01 3.56485456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539999 meters 0.050879549384685856 Centerline is valid? [True, True] Translation: X:904.54, Y:4.03, Z:3.56 [[ 9.99826207e-01 -1.68283224e-02 -8.02270968e-03 9.04541549e+02] [ 1.68269456e-02 9.99858388e-01 -2.39095424e-04 4.03025016e+00] [ 8.02559714e-03 1.04056172e-04 9.99967789e-01 3.56469812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.539254154 meters 0.05217338316589181 Centerline is valid? [True, True] Translation: X:904.60, Y:4.03, Z:3.56 [[ 9.99864147e-01 -1.42499786e-02 -8.28409985e-03 9.04599757e+02] [ 1.42484172e-02 9.99898456e-01 -2.47471763e-04 4.03154103e+00] [ 8.28678512e-03 1.29402832e-04 9.99965656e-01 3.56393214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539999 meters 0.0511785750181433 Centerline is valid? [True, True] Translation: X:904.66, Y:4.03, Z:3.56 [[ 9.99895732e-01 -1.15273854e-02 -8.69737000e-03 9.04659484e+02] [ 1.15255596e-02 9.99933545e-01 -2.60019395e-04 4.03020075e+00] [ 8.69978936e-03 1.59750228e-04 9.99962143e-01 3.56438238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.659254154 meters 0.05242270242784835 Centerline is valid? [True, True] Translation: X:904.72, Y:4.03, Z:3.56 [[ 9.99914737e-01 -9.59965510e-03 -8.85241001e-03 9.04718345e+02] [ 9.59768661e-03 9.99953906e-01 -2.64824776e-04 4.03485018e+00] [ 8.85454420e-03 1.79839539e-04 9.99960782e-01 3.56430915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539999 meters 0.0519051549356686 Centerline is valid? [True, True] Translation: X:904.78, Y:4.04, Z:3.56 [[ 9.99930796e-01 -7.82371266e-03 -8.78590888e-03 9.04777886e+02] [ 7.82170372e-03 9.99969375e-01 -2.62994247e-04 4.03994065e+00] [ 8.78769741e-03 1.94255270e-04 9.99961369e-01 3.56429835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.779254154 meters 0.05225787526821776 Centerline is valid? [True, True] Translation: X:904.84, Y:4.04, Z:3.56 [[ 9.99929320e-01 -7.79055763e-03 -8.98126258e-03 9.04836222e+02] [ 7.78845177e-03 9.99969633e-01 -2.69424969e-04 4.04346019e+00] [ 8.98308882e-03 1.99455795e-04 9.99959631e-01 3.56446824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.839254154 meters 0.05224776001225188 Centerline is valid? [True, True] Translation: X:904.89, Y:4.04, Z:3.56 [[ 9.99927262e-01 -8.78991674e-03 -8.25879476e-03 9.04894973e+02] [ 8.78816596e-03 9.99961353e-01 -2.48256622e-04 4.04468334e+00] [ 8.26065774e-03 1.75658905e-04 9.99965865e-01 3.56486399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.899254154 meters 0.051060876005942175 Centerline is valid? [True, True] Translation: X:904.95, Y:4.04, Z:3.56 [[ 9.99922489e-01 -1.01824328e-02 -7.16484458e-03 9.04953627e+02] [ 1.01811494e-02 9.99948148e-01 -2.15571211e-04 4.04329125e+00] [ 7.16666810e-03 1.42608149e-04 9.99974309e-01 3.56478174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.959254154 meters 0.05219546822052451 Centerline is valid? [True, True] Translation: X:905.01, Y:4.04, Z:3.56 [[ 9.99886737e-01 -1.25374651e-02 -8.32612441e-03 9.05011202e+02] [ 1.25358111e-02 9.99921392e-01 -2.50812993e-04 4.04480858e+00] [ 8.32861447e-03 1.46409862e-04 9.99965306e-01 3.56288042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.019254154 meters 0.05155257731373153 Centerline is valid? [True, True] Translation: X:905.07, Y:4.04, Z:3.56 [[ 9.99848924e-01 -1.48095999e-02 -9.09975276e-03 9.05070099e+02] [ 1.48077154e-02 9.99890322e-01 -2.74436371e-04 4.04200764e+00] [ 9.10281901e-03 1.39648361e-04 9.99958559e-01 3.56358876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.079254154 meters 0.05143431053538614 Centerline is valid? [True, True] Translation: X:905.13, Y:4.04, Z:3.56 [[ 9.99792455e-01 -1.89190873e-02 -7.55741268e-03 9.05130410e+02] [ 1.89179031e-02 9.99821014e-01 -2.28156797e-04 4.04167126e+00] [ 7.56037653e-03 8.51390433e-05 9.99971416e-01 3.56418623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.139254154 meters 0.05108517641169046 Centerline is valid? [True, True] Translation: X:905.19, Y:4.04, Z:3.56 [[ 9.99705757e-01 -2.35603662e-02 -5.77134978e-03 9.05188349e+02] [ 2.35597517e-02 9.99722415e-01 -1.74445216e-04 4.04145459e+00] [ 5.77385774e-03 3.84223186e-05 9.99983330e-01 3.56436599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.199254154 meters 0.051486078219501005 Centerline is valid? [True, True] Translation: X:905.25, Y:4.04, Z:3.56 [[ 9.99606321e-01 -2.76154057e-02 -4.95901455e-03 9.05247395e+02] [ 2.76150009e-02 9.99618622e-01 -1.50102154e-04 4.04065137e+00] [ 4.96126842e-03 1.30998705e-05 9.99987693e-01 3.56403846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.259254154 meters 0.05105697347441691 Centerline is valid? [True, True] Translation: X:905.30, Y:4.04, Z:3.56 [[ 9.99557422e-01 -2.93037848e-02 -5.12335274e-03 9.05304787e+02] [ 2.93033740e-02 9.99570552e-01 -1.55249618e-04 4.04248679e+00] [ 5.12570193e-03 5.04938658e-06 9.99986863e-01 3.56379836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.319254154 meters 0.051273647923502585 Centerline is valid? [True, True] Translation: X:905.36, Y:4.05, Z:3.56 [[ 9.99501430e-01 -3.09304432e-02 -6.34027340e-03 9.05362283e+02] [ 3.09298437e-02 9.99521539e-01 -1.92610021e-04 4.04503560e+00] [ 6.34319734e-03 -3.58967333e-06 9.99979882e-01 3.56268144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.379254154 meters 0.051545793521269236 Centerline is valid? [True, True] Translation: X:905.42, Y:4.05, Z:3.56 [[ 9.99480041e-01 -3.16211069e-02 -6.30499716e-03 9.05420445e+02] [ 3.16205229e-02 9.99499928e-01 -1.92317242e-04 4.04845946e+00] [ 6.30792549e-03 -7.15006160e-06 9.99980105e-01 3.56249688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.439254154 meters 0.05141271443720959 Centerline is valid? [True, True] Translation: X:905.48, Y:4.05, Z:3.56 [[ 9.99440530e-01 -3.27975864e-02 -6.55322931e-03 9.05477240e+02] [ 3.27969753e-02 9.99462014e-01 -2.00728402e-04 4.05085121e+00] [ 6.55628717e-03 -1.43099987e-05 9.99978507e-01 3.56222878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.499254154 meters 0.0513133359564377 Centerline is valid? [True, True] Translation: X:905.54, Y:4.05, Z:3.56 [[ 9.99404783e-01 -3.39971667e-02 -5.85432367e-03 9.05535133e+02] [ 3.39966956e-02 9.99421929e-01 -1.79991596e-04 4.05389519e+00] [ 5.85705866e-03 -1.91431981e-05 9.99982847e-01 3.56287249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.559254154 meters 0.05128238009971918 Centerline is valid? [True, True] Translation: X:905.59, Y:4.06, Z:3.56 [[ 9.99389776e-01 -3.44511998e-02 -5.76111481e-03 9.05593482e+02] [ 3.44507472e-02 9.99406381e-01 -1.77808399e-04 4.05717200e+00] [ 5.76382062e-03 -2.07748138e-05 9.99983389e-01 3.56282789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.619254154 meters 0.05115850067252326 Centerline is valid? [True, True] Translation: X:905.65, Y:4.06, Z:3.56 [[ 9.99418443e-01 -3.36044635e-02 -5.78926028e-03 9.05651381e+02] [ 3.36039883e-02 9.99435210e-01 -1.79360607e-04 4.06096003e+00] [ 5.79201789e-03 -1.52859358e-05 9.99983226e-01 3.56211846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.679254154 meters 0.05116444920218563 Centerline is valid? [True, True] Translation: X:905.71, Y:4.07, Z:3.56 [[ 9.99476568e-01 -3.16978152e-02 -6.46828163e-03 9.05709496e+02] [ 3.16971765e-02 9.99497498e-01 -2.01253663e-04 4.06622506e+00] [ 6.47141061e-03 -3.87794472e-06 9.99979060e-01 3.56100781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters 0.05094854985281721 Centerline is valid? [True, True] Translation: X:905.77, Y:4.07, Z:3.56 [[ 9.99535700e-01 -2.97819022e-02 -6.43599103e-03 9.05767313e+02] [ 2.97812251e-02 9.99556421e-01 -2.01040298e-04 4.06961303e+00] [ 6.43912352e-03 9.27525780e-06 9.99979269e-01 3.56186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.799254154 meters 0.0514158745921731 Centerline is valid? [True, True] Translation: X:905.83, Y:4.07, Z:3.56 [[ 9.99553722e-01 -2.92325521e-02 -6.14936341e-03 9.05825118e+02] [ 2.92319197e-02 9.99572638e-01 -1.92718742e-04 4.07272257e+00] [ 6.15236906e-03 1.28750384e-05 9.99981074e-01 3.56138169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters 0.051073745765150086 Centerline is valid? [True, True] Translation: X:905.88, Y:4.08, Z:3.56 [[ 9.99599452e-01 -2.77573102e-02 -5.51968081e-03 9.05883533e+02] [ 2.77567756e-02 9.99614691e-01 -1.73449722e-04 4.07614758e+00] [ 5.52236853e-03 2.01717055e-05 9.99984751e-01 3.56168908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.919254154 meters 0.05152628175855067 Centerline is valid? [True, True] Translation: X:905.94, Y:4.08, Z:3.56 [[ 9.99611484e-01 -2.72874505e-02 -5.68128301e-03 9.05940960e+02] [ 2.72868729e-02 9.99627628e-01 -1.79174138e-04 4.07892018e+00] [ 5.68405666e-03 2.40800782e-05 9.99983845e-01 3.56165704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539999 meters 0.05120380240751693 Centerline is valid? [True, True] Translation: X:906.00, Y:4.08, Z:3.56 [[ 9.99617598e-01 -2.70705967e-02 -5.64279174e-03 9.05999163e+02] [ 2.70700204e-02 9.99633524e-01 -1.78495789e-04 4.08037541e+00] [ 5.64555578e-03 2.56770439e-05 9.99984063e-01 3.56189464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.039254154 meters 0.051212293988785115 Centerline is valid? [True, True] Translation: X:906.06, Y:4.08, Z:3.56 [[ 9.99596821e-01 -2.76024899e-02 -6.65574445e-03 9.06057368e+02] [ 2.76016939e-02 9.99618978e-01 -2.11441389e-04 4.08209051e+00] [ 6.65904477e-03 2.76463196e-05 9.99977828e-01 3.56042434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539999 meters 0.051232475713685145 Centerline is valid? [True, True] Translation: X:906.12, Y:4.08, Z:3.56 [[ 9.99554531e-01 -2.87860222e-02 -7.88059214e-03 9.06115554e+02] [ 2.87849346e-02 9.99585596e-01 -2.51417917e-04 4.08273567e+00] [ 7.88456372e-03 2.44635884e-05 9.99968916e-01 3.56014633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.159254154 meters 0.05144623119929789 Centerline is valid? [True, True] Translation: X:906.17, Y:4.08, Z:3.56 [[ 9.99484829e-01 -3.10372368e-02 -8.17111719e-03 9.06172612e+02] [ 3.10361357e-02 9.99518229e-01 -2.61554279e-04 4.08239734e+00] [ 8.17529851e-03 7.81963169e-06 9.99966582e-01 3.56037470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539999 meters 0.05158313228920905 Centerline is valid? [True, True] Translation: X:906.23, Y:4.08, Z:3.56 [[ 9.99350834e-01 -3.52955284e-02 -7.22050555e-03 9.06229706e+02] [ 3.52947747e-02 9.99376918e-01 -2.31817569e-04 4.08102950e+00] [ 7.22418871e-03 -2.31790356e-05 9.99973905e-01 3.56086082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.279254154 meters 0.0516507872566187 Centerline is valid? [True, True] Translation: X:906.29, Y:4.08, Z:3.56 [[ 9.99194788e-01 -3.95538716e-02 -6.72805697e-03 9.06288293e+02] [ 3.95533088e-02 9.99217438e-01 -2.16753353e-04 4.08018820e+00] [ 6.73136528e-03 -4.95380939e-05 9.99977343e-01 3.56148139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.339254154 meters 0.05150090681577693 Centerline is valid? [True, True] Translation: X:906.35, Y:4.08, Z:3.56 [[ 9.98929322e-01 -4.57622033e-02 -6.78455586e-03 9.06346753e+02] [ 4.57617705e-02 9.98952357e-01 -2.19089287e-04 4.08071004e+00] [ 6.78747407e-03 -9.16185752e-05 9.99976961e-01 3.56299872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.399254154 meters 0.05246162002087258 Centerline is valid? [True, True] Translation: X:906.41, Y:4.08, Z:3.56 [[ 9.98779604e-01 -4.89212861e-02 -6.78303648e-03 9.06406730e+02] [ 4.89209247e-02 9.98802631e-01 -2.19292178e-04 4.07683864e+00] [ 6.78564273e-03 -1.12807862e-04 9.99976971e-01 3.56251682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.459254154 meters 0.052120397925390624 Centerline is valid? [True, True] Translation: X:906.47, Y:4.09, Z:3.56 [[ 9.98642919e-01 -5.16386858e-02 -6.76512042e-03 9.06466354e+02] [ 5.16383871e-02 9.98665825e-01 -2.18938597e-04 4.08576397e+00] [ 6.76740027e-03 -1.30698427e-04 9.99977092e-01 3.56386126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.519254154 meters 0.05274378935543102 Centerline is valid? [True, True] Translation: X:906.53, Y:4.08, Z:3.56 [[ 9.98528964e-01 -5.37641132e-02 -7.02342149e-03 9.06525308e+02] [ 5.37638426e-02 9.98553653e-01 -2.27453290e-04 4.08297182e+00] [ 7.02549201e-03 -1.50487430e-04 9.99975310e-01 3.56382179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.579254154 meters 0.052156095308272914 Centerline is valid? [True, True] Translation: X:906.58, Y:4.09, Z:3.56 [[ 9.98439313e-01 -5.53922703e-02 -7.11584345e-03 9.06584297e+02] [ 5.53920309e-02 9.98464656e-01 -2.30875671e-04 4.08869348e+00] [ 7.11770691e-03 -1.63645674e-04 9.99974655e-01 3.56400364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.639254154 meters 0.05260019688574361 Centerline is valid? [True, True] Translation: X:906.64, Y:4.09, Z:3.56 [[ 9.98443293e-01 -5.53361269e-02 -6.99309714e-03 9.06642055e+02] [ 5.53358893e-02 9.98467770e-01 -2.27599831e-04 4.09293768e+00] [ 6.99497659e-03 -1.59723724e-04 9.99975522e-01 3.56442825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.699254154 meters 0.052291633725881866 Centerline is valid? [True, True] Translation: X:906.70, Y:4.10, Z:3.56 [[ 9.98523300e-01 -5.38236768e-02 -7.36422033e-03 9.06700628e+02] [ 5.38233682e-02 9.98550443e-01 -2.40223506e-04 4.09938522e+00] [ 7.36647519e-03 -1.56498375e-04 9.99972855e-01 3.56493903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.759254154 meters 0.05271104497167965 Centerline is valid? [True, True] Translation: X:906.76, Y:4.10, Z:3.56 [[ 9.98686572e-01 -5.07804346e-02 -6.81748226e-03 9.06761004e+02] [ 5.07800985e-02 9.98709834e-01 -2.22493777e-04 4.09939064e+00] [ 6.81998490e-03 -1.23990873e-04 9.99976736e-01 3.56454578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.819254154 meters 0.05303372597793879 Centerline is valid? [True, True] Translation: X:906.82, Y:4.11, Z:3.56 [[ 9.98823289e-01 -4.80536338e-02 -6.54867997e-03 9.06819610e+02] [ 4.80532634e-02 9.98844752e-01 -2.13986006e-04 4.10559430e+00] [ 6.55139742e-03 -1.00951237e-04 9.99978534e-01 3.56459462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.879254154 meters 0.05285414363493572 Centerline is valid? [True, True] Translation: X:906.88, Y:4.12, Z:3.57 [[ 9.99036143e-01 -4.32954602e-02 -7.23099644e-03 9.06878512e+02] [ 4.32948803e-02 9.99062309e-01 -2.36775004e-04 4.12002314e+00] [ 7.23446728e-03 -7.65183383e-05 9.99973828e-01 3.56549638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.939254154 meters 0.05291798206633583 Centerline is valid? [True, True] Translation: X:906.94, Y:4.12, Z:3.56 [[ 9.99222648e-01 -3.85309838e-02 -8.33448471e-03 9.06937590e+02] [ 3.85300436e-02 9.99257405e-01 -2.73407889e-04 4.12397849e+00] [ 8.33883024e-03 -4.79327046e-05 9.99965230e-01 3.56318962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.999254154 meters 0.0521717768343946 Centerline is valid? [True, True] Translation: X:907.00, Y:4.13, Z:3.56 [[ 9.99324266e-01 -3.57373927e-02 -8.59366296e-03 9.06996746e+02] [ 3.57362841e-02 9.99361215e-01 -2.82569393e-04 4.13131128e+00] [ 8.59827175e-03 -2.47271297e-05 9.99963034e-01 3.56396345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.059254154 meters 0.05259868648153422 Centerline is valid? [True, True] Translation: X:907.05, Y:4.14, Z:3.56 [[ 9.99476454e-01 -3.11361131e-02 -8.79545434e-03 9.07053695e+02] [ 3.11347678e-02 9.99515154e-01 -2.89861857e-04 4.13889564e+00] [ 8.80021507e-03 1.58656725e-05 9.99961277e-01 3.56325827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.119254154 meters 0.05190169529997477 Centerline is valid? [True, True] Translation: X:907.11, Y:4.14, Z:3.56 [[ 9.99587384e-01 -2.75720278e-02 -8.05268372e-03 9.07112313e+02] [ 2.75707784e-02 9.99619818e-01 -2.66147741e-04 4.14488095e+00] [ 8.05696048e-03 4.40191658e-05 9.99967541e-01 3.56455610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.179254154 meters 0.052077994651561245 Centerline is valid? [True, True] Translation: X:907.17, Y:4.15, Z:3.57 [[ 9.99740755e-01 -2.16926083e-02 -6.91760516e-03 9.07170445e+02] [ 2.16915423e-02 9.99764685e-01 -2.29091259e-04 4.14887483e+00] [ 6.92094693e-03 7.89783429e-05 9.99976047e-01 3.56714803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters 0.05304034658648402 Centerline is valid? [True, True] Translation: X:907.23, Y:4.16, Z:3.57 [[ 9.99833408e-01 -1.67352812e-02 -7.28602802e-03 9.07229854e+02] [ 1.67339661e-02 9.99859948e-01 -2.41420961e-04 4.16082207e+00] [ 7.28904784e-03 1.19456596e-04 9.99973427e-01 3.56610764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.299254154 meters 0.05278198954513162 Centerline is valid? [True, True] Translation: X:907.29, Y:4.16, Z:3.57 [[ 9.99860817e-01 -1.40872131e-02 -8.93848961e-03 9.07289174e+02] [ 1.40851271e-02 9.99900756e-01 -2.96291623e-04 4.16448821e+00] [ 8.94177644e-03 1.70350622e-04 9.99960007e-01 3.56653773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters 0.052426495084852164 Centerline is valid? [True, True] Translation: X:907.35, Y:4.17, Z:3.57 [[ 9.99863875e-01 -1.30145397e-02 -1.01416268e-02 9.07346500e+02] [ 1.30117951e-02 9.99915286e-01 -3.36565560e-04 4.16906591e+00] [ 1.01451479e-02 2.04558975e-04 9.99948516e-01 3.56638625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.419254154 meters 0.05363702423749888 Centerline is valid? [True, True] Translation: X:907.40, Y:4.17, Z:3.57 [[ 9.99848227e-01 -1.35901412e-02 -1.09009781e-02 9.07404943e+02] [ 1.35869930e-02 9.99907627e-01 -3.62807075e-04 4.17073469e+00] [ 1.09049018e-02 2.14640497e-04 9.99940517e-01 3.56591474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539999 meters 0.052886230182253066 Centerline is valid? [True, True] Translation: X:907.46, Y:4.17, Z:3.57 [[ 9.99777544e-01 -1.74709115e-02 -1.18164951e-02 9.07463765e+02] [ 1.74674750e-02 9.99847354e-01 -3.93973502e-04 4.16984353e+00] [ 1.18215744e-02 1.87481528e-04 9.99930105e-01 3.56614104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.539254154 meters 0.05221990405481307 Centerline is valid? [True, True] Translation: X:907.52, Y:4.17, Z:3.57 [[ 9.99693123e-01 -2.21193631e-02 -1.11531759e-02 9.07523419e+02] [ 2.21165887e-02 9.99755329e-01 -3.72050231e-04 4.16723944e+00] [ 1.11586765e-02 1.25265854e-04 9.99937732e-01 3.56689208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539999 meters 0.05253924562378198 Centerline is valid? [True, True] Translation: X:907.58, Y:4.16, Z:3.57 [[ 9.99445668e-01 -3.16802648e-02 -1.02331746e-02 9.07584118e+02] [ 3.16784292e-02 9.99498054e-01 -3.41462543e-04 4.15900640e+00] [ 1.02388557e-02 1.71023631e-05 9.99947581e-01 3.57017776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.659254154 meters 0.05215708955660091 Centerline is valid? [True, True] Translation: X:907.64, Y:4.16, Z:3.57 [[ 9.99329769e-01 -3.51425039e-02 -1.02478432e-02 9.07641856e+02] [ 3.51408397e-02 9.99382311e-01 -3.42468297e-04 4.15760973e+00] [ 1.02535484e-02 -1.78790506e-05 9.99947431e-01 3.56981496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539999 meters 0.052986966050339 Centerline is valid? [True, True] Translation: X:907.70, Y:4.15, Z:3.57 [[ 9.98960651e-01 -4.42856116e-02 -1.07890366e-02 9.07701414e+02] [ 4.42842948e-02 9.99018904e-01 -3.61033733e-04 4.15049437e+00] [ 1.07944401e-02 -1.17126383e-04 9.99941731e-01 3.57097846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.779254154 meters 0.052964964733050984 Centerline is valid? [True, True] Translation: X:907.76, Y:4.15, Z:3.57 [[ 9.98572802e-01 -5.19572323e-02 -1.23614289e-02 9.07760807e+02] [ 5.19560889e-02 9.98649285e-01 -4.13828090e-04 4.14748414e+00] [ 1.23662335e-02 -2.29014024e-04 9.99923509e-01 3.57144161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.839254154 meters 0.05363219570328025 Centerline is valid? [True, True] Translation: X:907.82, Y:4.16, Z:3.58 [[ 9.98291526e-01 -5.67236311e-02 -1.40163645e-02 9.07821129e+02] [ 5.67226298e-02 9.98389865e-01 -4.69290764e-04 4.15706853e+00] [ 1.40204161e-02 -3.26556060e-04 9.99901656e-01 3.57598941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.899254154 meters 0.054376124088526594 Centerline is valid? [True, True] Translation: X:907.88, Y:4.16, Z:3.58 [[ 9.97895608e-01 -6.32191905e-02 -1.44114157e-02 9.07881819e+02] [ 6.32188098e-02 9.97999574e-01 -4.82437139e-04 4.15621785e+00] [ 1.44130860e-02 -4.29650644e-04 9.99896034e-01 3.57616369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.959254154 meters 0.05414023162858068 Centerline is valid? [True, True] Translation: X:907.94, Y:4.15, Z:3.57 [[ 9.97600209e-01 -6.77310478e-02 -1.43641387e-02 9.07941162e+02] [ 6.77311368e-02 9.97703494e-01 -4.80837421e-04 4.15144989e+00] [ 1.43637190e-02 -4.93215934e-04 9.99896715e-01 3.57428175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.019254154 meters 0.05425207389092302 Centerline is valid? [True, True] Translation: X:908.00, Y:4.15, Z:3.57 [[ 9.97514319e-01 -6.89457842e-02 -1.45486175e-02 9.08000376e+02] [ 6.89460011e-02 9.97620274e-01 -4.87251959e-04 4.15365487e+00] [ 1.45475897e-02 -5.17028189e-04 9.99894045e-01 3.57431198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.079254154 meters 0.054332786537015315 Centerline is valid? [True, True] Translation: X:908.06, Y:4.16, Z:3.58 [[ 9.97654989e-01 -6.67915700e-02 -1.49468923e-02 9.08059700e+02] [ 6.67915548e-02 9.97766825e-01 -5.00765556e-04 4.16000415e+00] [ 1.49469602e-02 -4.98734919e-04 9.99888164e-01 3.57617325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.139254154 meters 0.0539714356342764 Centerline is valid? [True, True] Translation: X:908.12, Y:4.16, Z:3.57 [[ 9.97939435e-01 -6.24969940e-02 -1.45261686e-02 9.08119909e+02] [ 6.24965231e-02 9.98045063e-01 -4.86801201e-04 4.15926587e+00] [ 1.45281945e-02 -4.22036916e-04 9.99894371e-01 3.57442694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.199254154 meters 0.053631355687775585 Centerline is valid? [True, True] Translation: X:908.18, Y:4.17, Z:3.57 [[ 9.98134289e-01 -5.95341038e-02 -1.35510935e-02 9.08178408e+02] [ 5.95334194e-02 9.98226210e-01 -4.54248548e-04 4.16671891e+00] [ 1.35541000e-02 -3.53341883e-04 9.99908077e-01 3.57488616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.259254154 meters 0.05405112384679185 Centerline is valid? [True, True] Translation: X:908.24, Y:4.17, Z:3.58 [[ 9.98365795e-01 -5.56408175e-02 -1.30322022e-02 9.08238658e+02] [ 5.56398521e-02 9.98450808e-01 -4.36918751e-04 4.17256420e+00] [ 1.30363233e-02 -2.88905065e-04 9.99914982e-01 3.57509823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.319254154 meters 0.05392995432898417 Centerline is valid? [True, True] Translation: X:908.30, Y:4.18, Z:3.57 [[ 9.98433286e-01 -5.45014133e-02 -1.26715957e-02 9.08297323e+02] [ 5.45003988e-02 9.98513658e-01 -4.25626177e-04 4.17712739e+00] [ 1.26759586e-02 -2.65647679e-04 9.99919621e-01 3.57448069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.379254154 meters 0.05387166584515155 Centerline is valid? [True, True] Translation: X:908.36, Y:4.18, Z:3.57 [[ 9.98416289e-01 -5.48141442e-02 -1.26619278e-02 9.08356451e+02] [ 5.48131455e-02 9.98496539e-01 -4.26152173e-04 4.18052968e+00] [ 1.26662502e-02 -2.68562818e-04 9.99919744e-01 3.57417186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.439254154 meters 0.053718404162488735 Centerline is valid? [True, True] Translation: X:908.41, Y:4.19, Z:3.58 [[ 9.98341365e-01 -5.62947739e-02 -1.20588944e-02 9.08414647e+02] [ 5.62939682e-02 9.98414155e-01 -4.06512534e-04 4.18808435e+00] [ 1.20626554e-02 -2.73004738e-04 9.99927206e-01 3.57595397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.499254154 meters 0.054099598221127976 Centerline is valid? [True, True] Translation: X:908.47, Y:4.19, Z:3.58 [[ 9.98139530e-01 -5.97154114e-02 -1.23105237e-02 9.08474579e+02] [ 5.97148289e-02 9.98215391e-01 -4.15214404e-04 4.19065071e+00] [ 1.23133489e-02 -3.20678907e-04 9.99924136e-01 3.57504153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.559254154 meters 0.054419023358682234 Centerline is valid? [True, True] Translation: X:908.53, Y:4.20, Z:3.58 [[ 9.97914691e-01 -6.32173204e-02 -1.30322767e-02 9.08534668e+02] [ 6.32169659e-02 9.97999710e-01 -4.39557985e-04 4.19695012e+00] [ 1.30339960e-02 -3.85219619e-04 9.99914980e-01 3.57617751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.619254154 meters 0.054799206879806286 Centerline is valid? [True, True] Translation: X:908.59, Y:4.20, Z:3.58 [[ 9.97534844e-01 -6.89992331e-02 -1.27805026e-02 9.08594515e+02] [ 6.89993656e-02 9.97616611e-01 -4.31101007e-04 4.20441759e+00] [ 1.27797874e-02 -4.51808299e-04 9.99918233e-01 3.57668623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.679254154 meters 0.058948966052131097 Centerline is valid? [True, True] Translation: X:908.65, Y:4.19, Z:3.57 [[ 9.97202035e-01 -7.35753852e-02 -1.32198060e-02 9.08654334e+02] [ 7.35759272e-02 9.97289519e-01 -4.46011172e-04 4.18861348e+00] [ 1.32167894e-02 -5.27896234e-04 9.99912515e-01 3.57252390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters 0.05626518428278142 Centerline is valid? [True, True] Translation: X:908.71, Y:4.22, Z:3.58 [[ 9.97029276e-01 -7.60028953e-02 -1.24973256e-02 9.08713293e+02] [ 7.60035698e-02 9.97107456e-01 -4.21647310e-04 4.21596844e+00] [ 1.24932229e-02 -5.29446645e-04 9.99921816e-01 3.57755578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.799254154 meters 0.06326636583265466 Centerline is valid? [True, True] Translation: X:908.77, Y:4.19, Z:3.57 [[ 9.97103908e-01 -7.50607777e-02 -1.22342117e-02 9.08772771e+02] [ 7.50613506e-02 9.97178832e-01 -4.12986590e-04 4.19121223e+00] [ 1.22306960e-02 -5.06525908e-04 9.99925074e-01 3.57196352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters 0.05821041680504014 Centerline is valid? [True, True] Translation: X:908.83, Y:4.22, Z:3.58 [[ 9.97328310e-01 -7.21125313e-02 -1.16630176e-02 9.08832196e+02] [ 7.21128497e-02 9.97396402e-01 -3.93786935e-04 4.21553677e+00] [ 1.16610487e-02 -4.48318573e-04 9.99931907e-01 3.57516789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.919254154 meters 0.056767859307265134 Centerline is valid? [True, True] Translation: X:908.89, Y:4.23, Z:3.58 [[ 9.97517621e-01 -6.95613851e-02 -1.09457285e-02 9.08891501e+02] [ 6.95615126e-02 9.97577596e-01 -3.69529588e-04 4.23498332e+00] [ 1.09449185e-02 -3.92789152e-04 9.99940025e-01 3.57713190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539999 meters 0.05639669271474142 Centerline is valid? [True, True] Translation: X:908.95, Y:4.25, Z:3.58 [[ 9.97599886e-01 -6.85380551e-02 -9.84895397e-03 9.08949989e+02] [ 6.85381028e-02 9.97648444e-01 -3.33073300e-04 4.24723346e+00] [ 9.84862180e-03 -3.42754734e-04 9.99951442e-01 3.57759369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.039254154 meters 0.05649869782374686 Centerline is valid? [True, True] Translation: X:909.01, Y:4.25, Z:3.58 [[ 9.97719189e-01 -6.67759319e-02 -9.86892565e-03 9.09008523e+02] [ 6.67758885e-02 9.97767943e-01 -3.34276047e-04 4.25356267e+00] [ 9.86921924e-03 -3.25492652e-04 9.99951245e-01 3.57790603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539999 meters 0.057147084317590795 Centerline is valid? [True, True] Translation: X:909.07, Y:4.26, Z:3.58 [[ 9.97790243e-01 -6.57395344e-02 -9.64076585e-03 9.09066071e+02] [ 6.57394418e-02 9.97836770e-01 -3.26838227e-04 4.26017129e+00] [ 9.64139685e-03 -3.07662572e-04 9.99953473e-01 3.57728089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.159254154 meters 0.05736138251611158 Centerline is valid? [True, True] Translation: X:909.12, Y:4.26, Z:3.58 [[ 9.97807351e-01 -6.54045456e-02 -1.01358489e-02 9.09124948e+02] [ 6.54044183e-02 9.97858779e-01 -3.44381898e-04 4.26352827e+00] [ 1.01366700e-02 -3.19302515e-04 9.99948572e-01 3.57538880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539999 meters 0.05794061545366423 Centerline is valid? [True, True] Translation: X:909.18, Y:4.27, Z:3.58 [[ 9.97724582e-01 -6.66387582e-02 -1.02437456e-02 9.09183368e+02] [ 6.66386820e-02 9.97777111e-01 -3.49137263e-04 4.27341908e+00] [ 1.02442409e-02 -3.34286874e-04 9.99947470e-01 3.57524934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.279254154 meters 0.05722639582048536 Centerline is valid? [True, True] Translation: X:909.24, Y:4.29, Z:3.58 [[ 9.97711306e-01 -6.68690903e-02 -1.00337188e-02 9.09240697e+02] [ 6.68690220e-02 9.97761703e-01 -3.42663517e-04 4.29291456e+00] [ 1.00341739e-02 -3.29065695e-04 9.99949602e-01 3.57777037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.339254154 meters 0.05800248124099087 Centerline is valid? [True, True] Translation: X:909.30, Y:4.29, Z:3.58 [[ 9.97805218e-01 -6.54531900e-02 -1.00312685e-02 9.09298520e+02] [ 6.54530468e-02 9.97855591e-01 -3.42930821e-04 4.29393863e+00] [ 1.00322033e-02 -3.14398927e-04 9.99949627e-01 3.57621102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.399254154 meters 0.05786383294584366 Centerline is valid? [True, True] Translation: X:909.36, Y:4.30, Z:3.58 [[ 9.97916061e-01 -6.37996078e-02 -9.65117647e-03 9.09358469e+02] [ 6.37993964e-02 9.97962689e-01 -3.30093071e-04 4.30193300e+00] [ 9.65257382e-03 -2.86334056e-04 9.99953372e-01 3.57649784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.459254154 meters 0.05684474427396524 Centerline is valid? [True, True] Translation: X:909.42, Y:4.32, Z:3.58 [[ 9.98135440e-01 -6.03443863e-02 -9.17600024e-03 9.09418230e+02] [ 6.03440476e-02 9.98177588e-01 -3.14024261e-04 4.32005858e+00] [ 9.17822739e-03 -2.40278252e-04 9.99957850e-01 3.57812074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.519254154 meters 0.05809743152608795 Centerline is valid? [True, True] Translation: X:909.48, Y:4.32, Z:3.58 [[ 9.98351200e-01 -5.66315792e-02 -9.36732324e-03 9.09476874e+02] [ 5.66310612e-02 9.98395122e-01 -3.20747531e-04 4.32234104e+00] [ 9.37045427e-03 -2.10262773e-04 9.99956074e-01 3.57735304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.579254154 meters 0.057668599344196235 Centerline is valid? [True, True] Translation: X:909.54, Y:4.33, Z:3.58 [[ 9.98396229e-01 -5.58083117e-02 -9.50800005e-03 9.09535243e+02] [ 5.58077344e-02 9.98441481e-01 -3.26221087e-04 4.32779275e+00] [ 9.51138750e-03 -2.04922039e-04 9.99954745e-01 3.57818756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.639254154 meters 0.058514389845227006 Centerline is valid? [True, True] Translation: X:909.59, Y:4.34, Z:3.58 [[ 9.98395832e-01 -5.60231390e-02 -8.19579321e-03 9.09592516e+02] [ 5.60227097e-02 9.98429455e-01 -2.82129159e-04 4.33774714e+00] [ 8.19872710e-03 -1.77473968e-04 9.99966374e-01 3.57971718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.699254154 meters 0.0579767664071598 Centerline is valid? [True, True] Translation: X:909.65, Y:4.34, Z:3.58 [[ 9.98300471e-01 -5.76648386e-02 -8.42241143e-03 9.09650399e+02] [ 5.76644377e-02 9.98335980e-01 -2.90638861e-04 4.33789300e+00] [ 8.42515601e-03 -1.95528707e-04 9.99964489e-01 3.57940772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.759254154 meters 0.058386362784144503 Centerline is valid? [True, True] Translation: X:909.71, Y:4.34, Z:3.58 [[ 9.98059109e-01 -6.17275750e-02 -8.22929241e-03 9.09710363e+02] [ 6.17273290e-02 9.98093010e-01 -2.84130101e-04 4.34143506e+00] [ 8.23113790e-03 -2.24393605e-04 9.99966098e-01 3.57893900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.819254154 meters 0.05900436794973662 Centerline is valid? [True, True] Translation: X:909.77, Y:4.34, Z:3.58 [[ 9.97854375e-01 -6.49963661e-02 -7.88160985e-03 9.09769626e+02] [ 6.49962418e-02 9.97885472e-01 -2.72187637e-04 4.34238293e+00] [ 7.88263517e-03 -2.40671396e-04 9.99968903e-01 3.57854131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.879254154 meters 0.05872668909210776 Centerline is valid? [True, True] Translation: X:909.83, Y:4.36, Z:3.58 [[ 9.97845178e-01 -6.51961413e-02 -7.37991666e-03 9.09826982e+02] [ 6.51960341e-02 9.97872443e-01 -2.55359154e-04 4.35733647e+00] [ 7.38086390e-03 -2.26332398e-04 9.99972735e-01 3.57959693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.939254154 meters 0.05884370183816576 Centerline is valid? [True, True] Translation: X:909.89, Y:4.36, Z:3.58 [[ 9.97968375e-01 -6.31977666e-02 -8.07242859e-03 9.09885511e+02] [ 6.31975677e-02 9.98000997e-01 -2.79977698e-04 4.35719948e+00] [ 8.07398574e-03 -2.30748965e-04 9.99967378e-01 3.57880379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.999254154 meters 0.058297692505926486 Centerline is valid? [True, True] Translation: X:909.95, Y:4.36, Z:3.58 [[ 9.98112883e-01 -6.09165499e-02 -7.73602748e-03 9.09945669e+02] [ 6.09162978e-02 9.98142842e-01 -2.68435220e-04 4.36409900e+00] [ 7.73801260e-03 -2.03321503e-04 9.99970040e-01 3.57892709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.059254154 meters 0.059014538359004276 Centerline is valid? [True, True] Translation: X:910.00, Y:4.37, Z:3.58 [[ 9.98075817e-01 -6.16070768e-02 -7.01652747e-03 9.10004285e+02] [ 6.16068841e-02 9.98100462e-01 -2.43807460e-04 4.37138869e+00] [ 7.01821957e-03 -1.88928065e-04 9.99975354e-01 3.57986739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.119254154 meters 0.05936950258189078 Centerline is valid? [True, True] Translation: X:910.06, Y:4.37, Z:3.58 [[ 9.97984011e-01 -6.31154268e-02 -6.66004813e-03 9.10063675e+02] [ 6.31152841e-02 9.98006216e-01 -2.31821189e-04 4.37347020e+00] [ 6.66140093e-03 -1.88996990e-04 9.99977795e-01 3.58038420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.179254154 meters 0.05885031547648123 Centerline is valid? [True, True] Translation: X:910.12, Y:4.38, Z:3.58 [[ 9.97964316e-01 -6.34610412e-02 -6.31822520e-03 9.10121906e+02] [ 6.34609178e-02 9.97984300e-01 -2.20218026e-04 4.38196523e+00] [ 6.31946482e-03 -1.81190638e-04 9.99980016e-01 3.58119801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters 0.05998753563029538 Centerline is valid? [True, True] Translation: X:910.18, Y:4.38, Z:3.58 [[ 9.98221690e-01 -5.93151910e-02 -5.93015481e-03 9.10180823e+02] [ 5.93150065e-02 9.98239294e-01 -2.07125272e-04 4.38419283e+00] [ 5.93199922e-03 -1.44990232e-04 9.99982395e-01 3.58119959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.299254154 meters 0.05942964613716567 Centerline is valid? [True, True] Translation: X:910.24, Y:4.40, Z:3.58 [[ 9.98429444e-01 -5.57099116e-02 -5.92032206e-03 9.10240056e+02] [ 5.57096640e-02 9.98446989e-01 -2.06850218e-04 4.39560472e+00] [ 5.92265134e-03 -1.23293805e-04 9.99982453e-01 3.58163167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters 0.058726631126175655 Centerline is valid? [True, True] Translation: X:910.30, Y:4.41, Z:3.58 [[ 9.98753388e-01 -4.95370330e-02 -6.14429128e-03 9.10300563e+02] [ 4.95366492e-02 9.98772284e-01 -2.14721341e-04 4.40553988e+00] [ 6.14738449e-03 -8.99139350e-05 9.99981101e-01 3.58170610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.419254154 meters 0.05905568050696892 Centerline is valid? [True, True] Translation: X:910.36, Y:4.42, Z:3.58 [[ 9.99070759e-01 -4.25139296e-02 -7.08405659e-03 9.10360369e+02] [ 4.25132424e-02 9.99095873e-01 -2.47634465e-04 4.41589462e+00] [ 7.08817962e-03 -5.37618616e-05 9.99974877e-01 3.58118778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539999 meters 0.058705792231170034 Centerline is valid? [True, True] Translation: X:910.42, Y:4.42, Z:3.58 [[ 9.99242607e-01 -3.83245616e-02 -6.74089789e-03 9.10418167e+02] [ 3.83238413e-02 9.99265344e-01 -2.36041677e-04 4.42265495e+00] [ 6.74499184e-03 -2.24741998e-05 9.99977252e-01 3.58176273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.539254154 meters 0.05845805898785965 Centerline is valid? [True, True] Translation: X:910.48, Y:4.43, Z:3.58 [[ 9.99256640e-01 -3.81000007e-02 -5.87855972e-03 9.10475597e+02] [ 3.80994456e-02 9.99273931e-01 -2.06423838e-04 4.42625446e+00] [ 5.88215623e-03 -1.76994759e-05 9.99982700e-01 3.58277073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539999 meters 0.05899852517299972 Centerline is valid? [True, True] Translation: X:910.53, Y:4.43, Z:3.58 [[ 9.99139861e-01 -4.11328915e-02 -5.25589241e-03 9.10534087e+02] [ 4.11324869e-02 9.99153684e-01 -1.85097018e-04 4.42661771e+00] [ 5.25905784e-03 -3.12501167e-05 9.99986171e-01 3.58309061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.659254154 meters 0.05863958791647755 Centerline is valid? [True, True] Translation: X:910.59, Y:4.43, Z:3.58 [[ 9.98893929e-01 -4.67080347e-02 -5.41085369e-03 9.10593745e+02] [ 4.67076855e-02 9.98908582e-01 -1.90960409e-04 4.42768359e+00] [ 5.41386757e-03 -6.19792589e-05 9.99985343e-01 3.58346266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539999 meters 0.05961306724204874 Centerline is valid? [True, True] Translation: X:910.65, Y:4.43, Z:3.58 [[ 9.98704782e-01 -5.05537463e-02 -5.75129153e-03 9.10652649e+02] [ 5.05534148e-02 9.98721338e-01 -2.03079564e-04 4.42663488e+00] [ 5.75420401e-03 -8.79308946e-05 9.99983441e-01 3.58281269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.779254154 meters 0.05922146070393499 Centerline is valid? [True, True] Translation: X:910.71, Y:4.43, Z:3.58 [[ 9.98423687e-01 -5.57205280e-02 -6.73533175e-03 9.10712234e+02] [ 5.57201901e-02 9.98446395e-01 -2.37951730e-04 4.43022110e+00] [ 6.73812650e-03 -1.37717322e-04 9.99977289e-01 3.58345278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.839254154 meters 0.05969344660639228 Centerline is valid? [True, True] Translation: X:910.77, Y:4.43, Z:3.58 [[ 9.98249732e-01 -5.86964638e-02 -7.22486735e-03 9.10771427e+02] [ 5.86961523e-02 9.98275862e-01 -2.55329090e-04 4.42854435e+00] [ 7.22739760e-03 -1.69189718e-04 9.99973868e-01 3.58273048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.899254154 meters 0.05974315148373464 Centerline is valid? [True, True] Translation: X:910.83, Y:4.44, Z:3.58 [[ 9.98179701e-01 -5.98496256e-02 -7.43687810e-03 9.10830160e+02] [ 5.98493240e-02 9.98207388e-01 -2.63289722e-04 4.43739039e+00] [ 7.43930446e-03 -1.82281671e-04 9.99972311e-01 3.58319827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.959254154 meters 0.0595239959625454 Centerline is valid? [True, True] Translation: X:910.89, Y:4.44, Z:3.58 [[ 9.98101906e-01 -6.10475787e-02 -8.11044672e-03 9.10888186e+02] [ 6.10472541e-02 9.98134836e-01 -2.87807635e-04 4.43869601e+00] [ 8.11288936e-03 -2.07859153e-04 9.99967068e-01 3.58323291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.019254154 meters 0.059697305351901146 Centerline is valid? [True, True] Translation: X:910.95, Y:4.44, Z:3.58 [[ 9.98208198e-01 -5.93094539e-02 -7.92356515e-03 9.10946305e+02] [ 5.93090871e-02 9.98239627e-01 -2.81456734e-04 4.44036657e+00] [ 7.92630976e-03 -1.88986997e-04 9.99968568e-01 3.58321290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.079254154 meters 0.059786299662257986 Centerline is valid? [True, True] Translation: X:911.01, Y:4.44, Z:3.58 [[ 9.98488918e-01 -5.44413325e-02 -7.48485318e-03 9.11006854e+02] [ 5.44408678e-02 9.98516961e-01 -2.65966983e-04 4.44263735e+00] [ 7.48823245e-03 -1.41916818e-04 9.99971953e-01 3.58387605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.139254154 meters 0.05952893478015416 Centerline is valid? [True, True] Translation: X:911.07, Y:4.45, Z:3.59 [[ 9.98643452e-01 -5.17443911e-02 -5.81145003e-03 9.11066363e+02] [ 5.17440652e-02 9.98660357e-01 -2.06514061e-04 4.44819543e+00] [ 5.81435070e-03 -9.44741344e-05 9.99983092e-01 3.58549050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.199254154 meters 0.059676708307182955 Centerline is valid? [True, True] Translation: X:911.13, Y:4.45, Z:3.59 [[ 9.98773743e-01 -4.92121251e-02 -5.40157914e-03 9.11125124e+02] [ 4.92118061e-02 9.98788347e-01 -1.92045017e-04 4.45310090e+00] [ 5.40448524e-03 -7.40119445e-05 9.99985393e-01 3.58563169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.259254154 meters 0.060002550426644 Centerline is valid? [True, True] Translation: X:911.18, Y:4.46, Z:3.59 [[ 9.98746641e-01 -4.96540244e-02 -6.29484220e-03 9.11184316e+02] [ 4.96535975e-02 9.98766474e-01 -2.24173495e-04 4.45750387e+00] [ 6.29820846e-03 -8.86690360e-05 9.99980162e-01 3.58518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.319254154 meters 0.058993869857019286 Centerline is valid? [True, True] Translation: X:911.24, Y:4.46, Z:3.59 [[ 9.98590624e-01 -5.26356901e-02 -6.80069087e-03 9.11243466e+02] [ 5.26352578e-02 9.98613775e-01 -2.42654465e-04 4.45888704e+00] [ 6.80403586e-03 -1.15643643e-04 9.99976846e-01 3.58556114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.379254154 meters 0.06036063537700862 Centerline is valid? [True, True] Translation: X:911.30, Y:4.46, Z:3.59 [[ 9.98413096e-01 -5.59107588e-02 -6.72882633e-03 9.11301643e+02] [ 5.59104090e-02 9.98435761e-01 -2.40236305e-04 4.45562345e+00] [ 6.73173263e-03 -1.36356359e-04 9.99977332e-01 3.58598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.439254154 meters 0.05977684729677145 Centerline is valid? [True, True] Translation: X:911.36, Y:4.46, Z:3.59 [[ 9.98294372e-01 -5.79245035e-02 -7.28684936e-03 9.11360363e+02] [ 5.79241454e-02 9.98320953e-01 -2.60361513e-04 4.46470128e+00] [ 7.28969571e-03 -1.62167089e-04 9.99973417e-01 3.58667841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.499254154 meters 0.0605531635250174 Centerline is valid? [True, True] Translation: X:911.42, Y:4.46, Z:3.59 [[ 9.98329315e-01 -5.72586068e-02 -7.74798013e-03 9.11419652e+02] [ 5.72581783e-02 9.98359366e-01 -2.77287434e-04 4.46195473e+00] [ 7.75114562e-03 -1.66811054e-04 9.99969945e-01 3.58541150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.559254154 meters 0.0596029562742129 Centerline is valid? [True, True] Translation: X:911.48, Y:4.47, Z:3.59 [[ 9.98518414e-01 -5.38857715e-02 -7.56971775e-03 9.11479212e+02] [ 5.38852627e-02 9.98547097e-01 -2.71299717e-04 4.47016790e+00] [ 7.57333888e-03 -1.36998467e-04 9.99971312e-01 3.58648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.619254154 meters 0.05998131104900879 Centerline is valid? [True, True] Translation: X:911.54, Y:4.47, Z:3.59 [[ 9.98610410e-01 -5.22549964e-02 -6.83112208e-03 9.11538353e+02] [ 5.22545418e-02 9.98633768e-01 -2.45135767e-04 4.47122324e+00] [ 6.83459875e-03 -1.12162026e-04 9.99976638e-01 3.58714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.679254154 meters 0.05980916913979544 Centerline is valid? [True, True] Translation: X:911.60, Y:4.47, Z:3.59 [[ 9.98623089e-01 -5.18743886e-02 -7.80859107e-03 9.11596421e+02] [ 5.18737784e-02 9.98653610e-01 -2.80795180e-04 4.47259442e+00] [ 7.81264373e-03 -1.24652572e-04 9.99969473e-01 3.58641544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters 0.059929265131784905 Centerline is valid? [True, True] Translation: X:911.65, Y:4.48, Z:3.59 [[ 9.98635718e-01 -5.14286229e-02 -9.04433714e-03 9.11654344e+02] [ 5.14277794e-02 9.98676663e-01 -3.25963442e-04 4.47586434e+00] [ 9.04913228e-03 -1.39611439e-04 9.99959046e-01 3.58641506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.799254154 meters 0.06012203278662042 Centerline is valid? [True, True] Translation: X:911.71, Y:4.48, Z:3.59 [[ 9.98677104e-01 -5.07101108e-02 -8.51626965e-03 9.11712776e+02] [ 5.07093293e-02 9.98713407e-01 -3.07812884e-04 4.48070610e+00] [ 8.52092190e-03 -1.24448642e-04 9.99963689e-01 3.58763012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539999 meters 0.05943435385839018 Centerline is valid? [True, True] Translation: X:911.77, Y:4.48, Z:3.59 [[ 9.98803197e-01 -4.82301985e-02 -8.12532815e-03 9.11770440e+02] [ 4.82294006e-02 9.98836242e-01 -2.94220832e-04 4.48211649e+00] [ 8.13006257e-03 -9.80109989e-05 9.99966946e-01 3.58715214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.919254154 meters 0.05958862945692687 Centerline is valid? [True, True] Translation: X:911.83, Y:4.48, Z:3.59 [[ 9.98888440e-01 -4.63376297e-02 -8.64340873e-03 9.11829127e+02] [ 4.63366510e-02 9.98925831e-01 -3.13563348e-04 4.48271297e+00] [ 8.64865404e-03 -8.72918109e-05 9.99962596e-01 3.58641027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539999 meters 0.05984149776794993 Centerline is valid? [True, True] Translation: X:911.89, Y:4.49, Z:3.59 [[ 9.99006140e-01 -4.35256088e-02 -9.60491460e-03 9.11887634e+02] [ 4.35242608e-02 9.99052309e-01 -3.49431625e-04 4.48613603e+00] [ 9.61102133e-03 -6.89624688e-05 9.99953811e-01 3.58711342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.039254154 meters 0.05997244494490206 Centerline is valid? [True, True] Translation: X:911.95, Y:4.49, Z:3.59 [[ 9.99163619e-01 -4.00685925e-02 -8.15903854e-03 9.11945412e+02] [ 4.00674998e-02 9.99196931e-01 -2.97399300e-04 4.48539564e+00] [ 8.16440264e-03 -2.97617141e-05 9.99966670e-01 3.58668522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539999 meters 0.05906894729159185 Centerline is valid? [True, True] Translation: X:912.00, Y:4.49, Z:3.59 [[ 9.99250242e-01 -3.81199282e-02 -6.76935356e-03 9.12004765e+02] [ 3.81191292e-02 9.99273171e-01 -2.47062148e-04 4.48594181e+00] [ 6.77385140e-03 -1.11649515e-05 9.99977057e-01 3.58789120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.159254154 meters 0.058671815636872314 Centerline is valid? [True, True] Translation: X:912.06, Y:4.48, Z:3.59 [[ 9.99355686e-01 -3.52837980e-02 -6.57774735e-03 9.12062127e+02] [ 3.52829788e-02 9.99377333e-01 -2.40571250e-04 4.48437230e+00] [ 6.58213987e-03 8.33372623e-06 9.99978337e-01 3.58821010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539999 meters 0.05919358036395559 Centerline is valid? [True, True] Translation: X:912.12, Y:4.48, Z:3.59 [[ 9.99492626e-01 -3.10049130e-02 -7.29284504e-03 9.12120696e+02] [ 3.10037858e-02 9.99519231e-01 -2.67590963e-04 4.48360353e+00] [ 7.29763550e-03 4.13493886e-05 9.99973371e-01 3.58815571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.279254154 meters 0.058800524633831924 Centerline is valid? [True, True] Translation: X:912.18, Y:4.48, Z:3.59 [[ 9.99576580e-01 -2.79702057e-02 -8.02054040e-03 9.12178400e+02] [ 2.79687397e-02 9.99608755e-01 -2.94903536e-04 4.48397591e+00] [ 8.02565092e-03 7.04542606e-05 9.99967791e-01 3.58757581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.339254154 meters 0.05881437825367311 Centerline is valid? [True, True] Translation: X:912.24, Y:4.48, Z:3.59 [[ 9.99675181e-01 -2.40495374e-02 -8.43518010e-03 9.12238077e+02] [ 2.40477747e-02 9.99710762e-01 -3.10338940e-04 4.48386007e+00] [ 8.44020383e-03 1.07390825e-04 9.99964375e-01 3.58675327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.399254154 meters 0.0572494989148943 Centerline is valid? [True, True] Translation: X:912.30, Y:4.48, Z:3.59 [[ 9.99728458e-01 -2.13655930e-02 -9.30167471e-03 9.12296819e+02] [ 2.13633320e-02 9.99771719e-01 -3.42375002e-04 4.47541781e+00] [ 9.30686636e-03 1.43567267e-04 9.99956680e-01 3.58735714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.459254154 meters 0.05793319791684105 Centerline is valid? [True, True] Translation: X:912.36, Y:4.48, Z:3.59 [[ 9.99741978e-01 -2.04708922e-02 -9.84475302e-03 9.12355463e+02] [ 2.04683092e-02 9.99790436e-01 -3.63066274e-04 4.47520510e+00] [ 9.85012221e-03 1.61467146e-04 9.99951473e-01 3.58537414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.519254154 meters 0.0590938850332149 Centerline is valid? [True, True] Translation: X:912.41, Y:4.47, Z:3.58 [[ 9.99759722e-01 -1.96421692e-02 -9.73059350e-03 9.12413180e+02] [ 1.96396004e-02 9.99807060e-01 -3.59484116e-04 4.47093120e+00] [ 9.73577713e-03 1.68292772e-04 9.99952592e-01 3.58447142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.579254154 meters 0.05783892101846453 Centerline is valid? [True, True] Translation: X:912.47, Y:4.46, Z:3.59 [[ 9.99764237e-01 -1.98188472e-02 -8.87036938e-03 9.12472294e+02] [ 1.98167134e-02 9.99803576e-01 -3.28385990e-04 4.46373182e+00] [ 8.87513525e-03 1.52527001e-04 9.99960604e-01 3.58627270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.639254154 meters 0.056754395768827036 Centerline is valid? [True, True] Translation: X:912.53, Y:4.45, Z:3.59 [[ 9.99742028e-01 -2.11561737e-02 -8.26400304e-03 9.12532212e+02] [ 2.11543620e-02 9.99776174e-01 -3.06586636e-04 4.45127109e+00] [ 8.26863955e-03 1.31687834e-04 9.99965806e-01 3.58821513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.699254154 meters 0.05579871717573118 Centerline is valid? [True, True] Translation: X:912.59, Y:4.44, Z:3.59 [[ 9.99695725e-01 -2.32005275e-02 -8.37808375e-03 9.12591195e+02] [ 2.31987313e-02 9.99730825e-01 -3.11523051e-04 4.44040782e+00] [ 8.38305608e-03 1.17067348e-04 9.99964855e-01 3.58847262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.759254154 meters 0.05573897790294377 Centerline is valid? [True, True] Translation: X:912.65, Y:4.43, Z:3.59 [[ 9.99641507e-01 -2.51920859e-02 -9.06727508e-03 9.12650869e+02] [ 2.51900573e-02 9.99682623e-01 -3.37883608e-04 4.43062576e+00] [ 9.07290933e-03 1.09357300e-04 9.99958834e-01 3.58807546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.819254154 meters 0.05575496123578853 Centerline is valid? [True, True] Translation: X:912.71, Y:4.42, Z:3.59 [[ 9.99592602e-01 -2.66281121e-02 -1.02748753e-02 9.12709807e+02] [ 2.66255735e-02 9.99645403e-01 -3.83809324e-04 4.42091467e+00] [ 1.02814520e-02 1.10078514e-04 9.99947138e-01 3.58725863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.879254154 meters 0.05555230162893666 Centerline is valid? [True, True] Translation: X:912.77, Y:4.42, Z:3.59 [[ 9.99564488e-01 -2.74971406e-02 -1.07117229e-02 9.12769015e+02] [ 2.74944223e-02 9.99621877e-01 -4.00972842e-04 4.41679728e+00] [ 1.07186982e-02 1.06285581e-04 9.99942547e-01 3.58654867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.939254154 meters 0.055071294666160536 Centerline is valid? [True, True] Translation: X:912.83, Y:4.41, Z:3.59 [[ 9.99549655e-01 -2.78254705e-02 -1.12352677e-02 9.12827210e+02] [ 2.78224877e-02 9.99612791e-01 -4.21725277e-04 4.40690963e+00] [ 1.12426520e-02 1.08942258e-04 9.99936793e-01 3.58781426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.999254154 meters 0.05466852883569631 Centerline is valid? [True, True] Translation: X:912.89, Y:4.40, Z:3.59 [[ 9.99565258e-01 -2.71524868e-02 -1.14907213e-02 9.12885997e+02] [ 2.71493072e-02 9.99631296e-01 -4.32639998e-04 4.40238446e+00] [ 1.14982319e-02 1.20486789e-04 9.99933886e-01 3.58839521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.059254154 meters 0.05355541966162248 Centerline is valid? [True, True] Translation: X:912.95, Y:4.39, Z:3.59 [[ 9.99640130e-01 -2.45186670e-02 -1.08832698e-02 9.12945090e+02] [ 2.45156457e-02 9.99699362e-01 -4.10947567e-04 4.39427610e+00] [ 1.08900737e-02 1.43989294e-04 9.99940691e-01 3.59007718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.119254154 meters 0.054103299660398646 Centerline is valid? [True, True] Translation: X:913.01, Y:4.39, Z:3.59 [[ 9.99724439e-01 -2.12554547e-02 -9.96251802e-03 9.13005055e+02] [ 2.12527561e-02 9.99774064e-01 -3.76676414e-04 4.38750120e+00] [ 9.96827356e-03 1.64841651e-04 9.99950302e-01 3.59070183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.179254154 meters 0.05443148228769936 Centerline is valid? [True, True] Translation: X:913.06, Y:4.39, Z:3.59 [[ 9.99781672e-01 -1.88630025e-02 -8.98861365e-03 9.13063860e+02] [ 1.88607076e-02 9.99822063e-01 -3.40027589e-04 4.39022317e+00] [ 8.99342819e-03 1.70421738e-04 9.99959544e-01 3.58986762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters 0.05238147304505829 Centerline is valid? [True, True] Translation: X:913.12, Y:4.38, Z:3.59 [[ 9.99864704e-01 -1.46248993e-02 -7.52907982e-03 9.13124137e+02] [ 1.46231682e-02 9.99893035e-01 -2.84920565e-04 4.37707526e+00] [ 7.53244141e-03 1.74783016e-04 9.99971615e-01 3.59268936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.299254154 meters 0.05311585201380214 Centerline is valid? [True, True] Translation: X:913.18, Y:4.38, Z:3.59 [[ 9.99912894e-01 -1.16165192e-02 -6.26588053e-03 9.13183522e+02] [ 1.16152610e-02 9.99932512e-01 -2.37151214e-04 4.37545047e+00] [ 6.26821253e-03 1.64350719e-04 9.99980341e-01 3.59276360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539999 meters 0.05228007539803752 Centerline is valid? [True, True] Translation: X:913.24, Y:4.37, Z:3.59 [[ 9.99914032e-01 -1.16437567e-02 -6.02920448e-03 9.13241262e+02] [ 1.16425907e-02 9.99932197e-01 -2.28453939e-04 4.37131844e+00] [ 6.03145574e-03 1.58238739e-04 9.99981798e-01 3.59317897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.419254154 meters 0.051210544062499294 Centerline is valid? [True, True] Translation: X:913.30, Y:4.37, Z:3.59 [[ 9.99908147e-01 -1.21143009e-02 -6.07787997e-03 9.13300687e+02] [ 1.21131204e-02 9.99926607e-01 -2.31000272e-04 4.36555949e+00] [ 6.08023230e-03 1.57356962e-04 9.99981503e-01 3.59351560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539999 meters 0.052089324860008626 Centerline is valid? [True, True] Translation: X:913.36, Y:4.36, Z:3.59 [[ 9.99871742e-01 -1.37088970e-02 -8.28045289e-03 9.13358677e+02] [ 1.37067544e-02 9.99906008e-01 -3.15457925e-04 4.36086000e+00] [ 8.28399918e-03 2.01919331e-04 9.99965667e-01 3.59111752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.539254154 meters 0.050983941269293113 Centerline is valid? [True, True] Translation: X:913.42, Y:4.35, Z:3.59 [[ 9.99817196e-01 -1.53822665e-02 -1.13561034e-02 9.13417845e+02] [ 1.53783393e-02 9.99881653e-01 -4.33068260e-04 4.35073785e+00] [ 1.13614210e-02 2.58351082e-04 9.99935424e-01 3.58972842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539999 meters 0.051116815708284837 Centerline is valid? [True, True] Translation: X:913.48, Y:4.34, Z:3.59 [[ 9.99768304e-01 -1.73823751e-02 -1.26961278e-02 9.13476894e+02] [ 1.73776223e-02 9.99848880e-01 -4.84581728e-04 4.34336182e+00] [ 1.27026323e-02 2.63840939e-04 9.99919283e-01 3.58925793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.659254154 meters 0.05021192172784367 Centerline is valid? [True, True] Translation: X:913.54, Y:4.33, Z:3.59 [[ 9.99704305e-01 -2.09246234e-02 -1.23879940e-02 9.13537494e+02] [ 2.09203666e-02 9.99781033e-01 -4.73123280e-04 4.33489938e+00] [ 1.23951814e-02 2.13822004e-04 9.99923154e-01 3.59188243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539999 meters 0.05098167806633081 Centerline is valid? [True, True] Translation: X:913.60, Y:4.33, Z:3.59 [[ 9.99482887e-01 -3.03015734e-02 -1.07597568e-02 9.13597424e+02] [ 3.02989043e-02 9.99540798e-01 -4.11022275e-04 4.33359019e+00] [ 1.07672705e-02 8.48008880e-05 9.99942028e-01 3.58960924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.779254154 meters 0.050494075525229686 Centerline is valid? [True, True] Translation: X:913.66, Y:4.34, Z:3.59 [[ 9.99391238e-01 -3.41704712e-02 -7.03795533e-03 9.13656556e+02] [ 3.41694249e-02 9.99416019e-01 -2.68900623e-04 4.33506008e+00] [ 7.04303376e-03 2.82540405e-05 9.99975197e-01 3.59208622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.839254154 meters 0.050428209803180565 Centerline is valid? [True, True] Translation: X:913.72, Y:4.34, Z:3.59 [[ 9.99423765e-01 -3.30882201e-02 -7.57017937e-03 9.13715442e+02] [ 3.30869750e-02 9.99452434e-01 -2.89686187e-04 4.34308641e+00] [ 7.57561940e-03 3.90449242e-05 9.99971304e-01 3.59088630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.899254154 meters 0.051047466492972954 Centerline is valid? [True, True] Translation: X:913.77, Y:4.35, Z:3.59 [[ 9.99513401e-01 -2.99338752e-02 -8.77069895e-03 9.13773795e+02] [ 2.99320736e-02 9.99551878e-01 -3.36639363e-04 4.34821718e+00] [ 8.77684553e-03 7.39503483e-05 9.99961480e-01 3.58980655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.959254154 meters 0.051028985441186496 Centerline is valid? [True, True] Translation: X:913.83, Y:4.35, Z:3.59 [[ 9.99680232e-01 -2.31024705e-02 -1.02815446e-02 9.13833504e+02] [ 2.30996277e-02 9.99733090e-01 -3.95182444e-04 4.35476351e+00] [ 1.02879301e-02 1.57556225e-04 9.99947065e-01 3.58928357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.019254154 meters 0.05079696421071092 Centerline is valid? [True, True] Translation: X:913.89, Y:4.36, Z:3.59 [[ 9.99784923e-01 -1.78490066e-02 -1.05603825e-02 9.13893859e+02] [ 1.78457142e-02 9.99840670e-01 -4.05931509e-04 4.36082658e+00] [ 1.05659453e-02 2.17386636e-04 9.99944155e-01 3.58964095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.079254154 meters 0.051377884540209216 Centerline is valid? [True, True] Translation: X:913.95, Y:4.36, Z:3.59 [[ 9.99801047e-01 -1.72576481e-02 -1.00020299e-02 9.13951124e+02] [ 1.72546609e-02 9.99851053e-01 -3.84875506e-04 4.36462355e+00] [ 1.00071821e-02 2.12217300e-04 9.99949904e-01 3.58989563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.139254154 meters 0.05052577320442534 Centerline is valid? [True, True] Translation: X:914.01, Y:4.36, Z:3.59 [[ 9.99740181e-01 -2.12954727e-02 -8.12857224e-03 9.14011181e+02] [ 2.12936313e-02 9.99773216e-01 -3.13032232e-04 4.36428275e+00] [ 8.13339497e-03 1.39864080e-04 9.99966914e-01 3.59155599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.199254154 meters 0.0505261411555756 Centerline is valid? [True, True] Translation: X:914.07, Y:4.37, Z:3.59 [[ 9.99637826e-01 -2.59795961e-02 -7.01983770e-03 9.14070022e+02] [ 2.59783378e-02 9.99662469e-01 -2.70384261e-04 4.36698406e+00] [ 7.02449276e-03 8.79226194e-05 9.99975324e-01 3.59112317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.259254154 meters 0.05102828803948566 Centerline is valid? [True, True] Translation: X:914.13, Y:4.37, Z:3.59 [[ 9.99577659e-01 -2.82728042e-02 -6.71958434e-03 9.14129073e+02] [ 2.82717009e-02 9.99600242e-01 -2.59142406e-04 4.36720281e+00] [ 6.72422482e-03 6.90588808e-05 9.99977390e-01 3.59077683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.319254154 meters 0.050700093370453184 Centerline is valid? [True, True] Translation: X:914.19, Y:4.37, Z:3.59 [[ 9.99519421e-01 -3.02429050e-02 -6.80390098e-03 9.14187355e+02] [ 3.02418146e-02 9.99542577e-01 -2.63119165e-04 4.36848143e+00] [ 6.80874621e-03 5.72304035e-05 9.99976819e-01 3.59081576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.379254154 meters 0.05114019641629538 Centerline is valid? [True, True] Translation: X:914.25, Y:4.37, Z:3.59 [[ 9.99500744e-01 -3.06064628e-02 -7.84259467e-03 9.14245410e+02] [ 3.06050176e-02 9.99531510e-01 -3.04263757e-04 4.36889425e+00] [ 7.84823294e-03 6.40891043e-05 9.99969200e-01 3.59031585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.439254154 meters 0.05106612068701089 Centerline is valid? [True, True] Translation: X:914.30, Y:4.37, Z:3.59 [[ 9.99531158e-01 -2.92080851e-02 -9.18431769e-03 9.14302799e+02] [ 2.92060357e-02 9.99573349e-01 -3.57216619e-04 4.37473658e+00] [ 9.19083281e-03 8.88116304e-05 9.99957759e-01 3.58768307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.499254154 meters 0.05103338139115322 Centerline is valid? [True, True] Translation: X:914.36, Y:4.38, Z:3.59 [[ 9.99572865e-01 -2.78683360e-02 -8.80020607e-03 9.14362099e+02] [ 2.78663957e-02 9.99611598e-01 -3.43041104e-04 4.37545091e+00] [ 8.80634804e-03 9.76645541e-05 9.99961219e-01 3.58872682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.559254154 meters 0.050409665244464656 Centerline is valid? [True, True] Translation: X:914.42, Y:4.38, Z:3.59 [[ 9.99634526e-01 -2.59373211e-02 -7.62035482e-03 9.14420411e+02] [ 2.59358055e-02 9.99663566e-01 -2.97652901e-04 4.37672487e+00] [ 7.62551139e-03 9.99040754e-05 9.99970920e-01 3.58999812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.619254154 meters 0.05096783409073933 Centerline is valid? [True, True] Translation: X:914.48, Y:4.39, Z:3.59 [[ 9.99675691e-01 -2.45725974e-02 -6.68584452e-03 9.14478029e+02] [ 2.45713982e-02 9.99698043e-01 -2.61472440e-04 4.38539532e+00] [ 6.69025074e-03 9.71070948e-05 9.99977615e-01 3.58994193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.679254154 meters 0.05139911265101787 Centerline is valid? [True, True] Translation: X:914.54, Y:4.39, Z:3.59 [[ 9.99695177e-01 -2.39035346e-02 -6.17855385e-03 9.14536873e+02] [ 2.39024953e-02 9.99714265e-01 -2.42013840e-04 4.38866429e+00] [ 6.18257341e-03 9.42572143e-05 9.99980883e-01 3.59037123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters 0.05126137547414592 Centerline is valid? [True, True] Translation: X:914.60, Y:4.39, Z:3.59 [[ 9.99689840e-01 -2.39117629e-02 -6.96072425e-03 9.14595596e+02] [ 2.39104385e-02 9.99714067e-01 -2.73431124e-04 4.39162613e+00] [ 6.96527217e-03 1.06912348e-04 9.99975736e-01 3.58919628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.799254154 meters 0.05060403917165282 Centerline is valid? [True, True] Translation: X:914.66, Y:4.39, Z:3.59 [[ 9.99618172e-01 -2.65766076e-02 -7.56264224e-03 9.14655095e+02] [ 2.65751145e-02 9.99646775e-01 -2.97876116e-04 4.39009584e+00] [ 7.56788746e-03 9.67842958e-05 9.99971358e-01 3.58868936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539999 meters 0.05086548750375058 Centerline is valid? [True, True] Translation: X:914.71, Y:4.39, Z:3.59 [[ 9.99550210e-01 -2.93494061e-02 -6.16369189e-03 9.14714231e+02] [ 2.93484646e-02 9.99569211e-01 -2.43159408e-04 4.38614460e+00] [ 6.16817323e-03 6.21551436e-05 9.99980975e-01 3.59078677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.919254154 meters 0.05030140812381948 Centerline is valid? [True, True] Translation: X:914.77, Y:4.39, Z:3.59 [[ 9.99388209e-01 -3.45817824e-02 -5.22566453e-03 9.14772464e+02] [ 3.45811759e-02 9.99401871e-01 -2.06398320e-04 4.38811452e+00] [ 5.22967653e-03 2.55624227e-05 9.99986325e-01 3.59146947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539999 meters 0.05062868898409665 Centerline is valid? [True, True] Translation: X:914.83, Y:4.39, Z:3.59 [[ 9.99173128e-01 -4.03359527e-02 -5.10598026e-03 9.14830231e+02] [ 4.03354465e-02 9.99186174e-01 -2.02123426e-04 4.38693688e+00] [ 5.10997772e-03 -3.99569761e-06 9.99986944e-01 3.59225196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.039254154 meters 0.05120370618850002 Centerline is valid? [True, True] Translation: X:914.89, Y:4.39, Z:3.59 [[ 9.99010812e-01 -4.41404054e-02 -5.38723652e-03 9.14888379e+02] [ 4.41398955e-02 9.99025337e-01 -2.13573798e-04 4.38656842e+00] [ 5.39141301e-03 -2.44295233e-05 9.99985466e-01 3.59092925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539999 meters 0.05151547007487667 Centerline is valid? [True, True] Translation: X:914.95, Y:4.39, Z:3.59 [[ 9.98994130e-01 -4.44561622e-02 -5.86334775e-03 9.14946542e+02] [ 4.44555595e-02 9.99011336e-01 -2.33150889e-04 4.39177787e+00] [ 5.86791586e-03 -2.77420351e-05 9.99982783e-01 3.59007265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.159254154 meters 0.05162190090204483 Centerline is valid? [True, True] Translation: X:915.00, Y:4.40, Z:3.59 [[ 9.99073610e-01 -4.24936593e-02 -6.79785039e-03 9.15003972e+02] [ 4.24927990e-02 9.99096736e-01 -2.71000869e-04 4.39919952e+00] [ 6.80322596e-03 -1.81098736e-05 9.99976858e-01 3.59074554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539999 meters 0.05130015670495591 Centerline is valid? [True, True] Translation: X:915.06, Y:4.41, Z:3.59 [[ 9.99206455e-01 -3.91269840e-02 -7.45245578e-03 9.15061980e+02] [ 3.91258520e-02 9.99234246e-01 -2.97689579e-04 4.40523914e+00] [ 7.45839673e-03 5.86966727e-06 9.99972186e-01 3.58964514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.279254154 meters 0.05147167894765596 Centerline is valid? [True, True] Translation: X:915.12, Y:4.41, Z:3.59 [[ 9.99248452e-01 -3.79444931e-02 -7.92130682e-03 9.15119695e+02] [ 3.79431687e-02 9.99279848e-01 -3.17459984e-04 4.40871168e+00] [ 7.92764813e-03 1.66619163e-05 9.99968576e-01 3.59057360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.339254154 meters 0.051953351552895606 Centerline is valid? [True, True] Translation: X:915.18, Y:4.42, Z:3.59 [[ 9.99373674e-01 -3.43907344e-02 -8.33885123e-03 9.15177623e+02] [ 3.43891367e-02 9.99408463e-01 -3.34938096e-04 4.41671874e+00] [ 8.34543726e-03 4.79624207e-05 9.99965175e-01 3.58854455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.399254154 meters 0.05087738882291089 Centerline is valid? [True, True] Translation: X:915.24, Y:4.42, Z:3.59 [[ 9.99470515e-01 -3.16629071e-02 -7.49333105e-03 9.15235056e+02] [ 3.16615382e-02 9.99498602e-01 -3.01262592e-04 4.41900003e+00] [ 7.49911276e-03 6.38526904e-05 9.99971879e-01 3.59089690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.459254154 meters 0.05085636044990069 Centerline is valid? [True, True] Translation: X:915.29, Y:4.42, Z:3.59 [[ 9.99517460e-01 -3.03698405e-02 -6.52069936e-03 9.15294005e+02] [ 3.03687745e-02 9.99538728e-01 -2.62451577e-04 4.42414747e+00] [ 6.52566215e-03 6.42992850e-05 9.99978706e-01 3.59114303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.519254154 meters 0.05183781784807806 Centerline is valid? [True, True] Translation: X:915.35, Y:4.43, Z:3.59 [[ 9.99554589e-01 -2.93551616e-02 -5.37569872e-03 9.15351486e+02] [ 2.93544209e-02 9.99569043e-01 -2.16650781e-04 4.42811436e+00] [ 5.37974184e-03 5.87537595e-05 9.99985527e-01 3.59156354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.579254154 meters 0.051396989329551335 Centerline is valid? [True, True] Translation: X:915.41, Y:4.43, Z:3.59 [[ 9.99563846e-01 -2.90940024e-02 -5.06520229e-03 9.15410475e+02] [ 2.90933397e-02 9.99576678e-01 -2.04473069e-04 4.43058344e+00] [ 5.06900702e-03 5.70202357e-05 9.99987151e-01 3.59134387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.639254154 meters 0.05138775570300336 Centerline is valid? [True, True] Translation: X:915.47, Y:4.43, Z:3.59 [[ 9.99552596e-01 -2.93038278e-02 -5.99118251e-03 9.15468121e+02] [ 2.93029000e-02 9.99570548e-01 -2.42603971e-04 4.43258094e+00] [ 5.99571881e-03 6.69364068e-05 9.99982023e-01 3.58988350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.699254154 meters 0.05142336123832103 Centerline is valid? [True, True] Translation: X:915.53, Y:4.43, Z:3.59 [[ 9.99534595e-01 -2.97008196e-02 -6.96101143e-03 9.15526234e+02] [ 2.96995703e-02 9.99558830e-01 -2.82803296e-04 4.43453511e+00] [ 6.96633993e-03 7.59326298e-05 9.99975732e-01 3.58911822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.759254154 meters 0.05124628154072196 Centerline is valid? [True, True] Translation: X:915.59, Y:4.44, Z:3.59 [[ 9.99517850e-01 -2.98736948e-02 -8.46345010e-03 9.15585380e+02] [ 2.98718454e-02 9.99553677e-01 -3.44872757e-04 4.43594326e+00] [ 8.46997530e-03 9.18876035e-05 9.99964125e-01 3.58777136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.819254154 meters 0.051175637565801756 Centerline is valid? [True, True] Translation: X:915.64, Y:4.43, Z:3.59 [[ 9.99513305e-01 -2.96271563e-02 -9.76650801e-03 9.15644798e+02] [ 2.96246710e-02 9.99561013e-01 -3.99075695e-04 4.43402757e+00] [ 9.77404412e-03 1.09551880e-04 9.99952227e-01 3.58793567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.879254154 meters 0.050601021683543995 Centerline is valid? [True, True] Translation: X:915.70, Y:4.43, Z:3.59 [[ 9.99487242e-01 -3.04681047e-02 -9.84622481e-03 9.15703810e+02] [ 3.04656086e-02 9.99535734e-01 -4.03436085e-04 4.43418512e+00] [ 9.85394548e-03 1.03257988e-04 9.99951443e-01 3.58835741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.939254154 meters 0.050299310113614965 Centerline is valid? [True, True] Translation: X:915.76, Y:4.44, Z:3.59 [[ 9.99449865e-01 -3.20190148e-02 -8.64575955e-03 9.15761374e+02] [ 3.20171433e-02 9.99487257e-01 -3.54819238e-04 4.43637014e+00] [ 8.65268746e-03 7.78115172e-05 9.99962562e-01 3.58833608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.999254154 meters 0.05085820571954161 Centerline is valid? [True, True] Translation: X:915.82, Y:4.43, Z:3.59 [[ 9.99354283e-01 -3.52562717e-02 -6.92910270e-03 9.15820335e+02] [ 3.52551442e-02 9.99378304e-01 -2.84825728e-04 4.43358301e+00] [ 6.93483680e-03 4.03552959e-05 9.99975953e-01 3.59070545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.059254154 meters 0.051019144100103275 Centerline is valid? [True, True] Translation: X:915.88, Y:4.43, Z:3.59 [[ 9.99268994e-01 -3.77340079e-02 -6.13364130e-03 9.15878495e+02] [ 3.77331682e-02 9.99287819e-01 -2.52602497e-04 4.43475582e+00] [ 6.13880474e-03 2.09761242e-05 9.99981157e-01 3.59054559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.119254154 meters 0.05054595538509926 Centerline is valid? [True, True] Translation: X:915.94, Y:4.44, Z:3.59 [[ 9.99213211e-01 -3.91719730e-02 -6.20606207e-03 9.15936300e+02] [ 3.91711385e-02 9.99232484e-01 -2.56019305e-04 4.43590007e+00] [ 6.21132759e-03 1.27193551e-05 9.99980709e-01 3.59048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.179254154 meters 0.05067905231823189 Centerline is valid? [True, True] Translation: X:915.99, Y:4.44, Z:3.59 [[ 9.99205985e-01 -3.93314562e-02 -6.35894288e-03 9.15994732e+02] [ 3.93305782e-02 9.99226219e-01 -2.63114914e-04 4.43931620e+00] [ 6.36437115e-03 1.28050967e-05 9.99979747e-01 3.59071816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters 0.050587466930825754 Centerline is valid? [True, True] Translation: X:916.05, Y:4.44, Z:3.59 [[ 9.99220804e-01 -3.88955419e-02 -6.70240422e-03 9.16052660e+02] [ 3.88945510e-02 9.99243282e-01 -2.78171089e-04 4.44440344e+00] [ 6.70815200e-03 1.72673371e-05 9.99977500e-01 3.59019289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.299254154 meters 0.05108313710106829 Centerline is valid? [True, True] Translation: X:916.11, Y:4.45, Z:3.59 [[ 9.99194512e-01 -3.94344470e-02 -7.43308377e-03 9.16110258e+02] [ 3.94332360e-02 9.99222160e-01 -3.09455826e-04 4.44746321e+00] [ 7.43950524e-03 1.60960168e-05 9.99972326e-01 3.59019228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539999 meters 0.05111402967010709 Centerline is valid? [True, True] Translation: X:916.17, Y:4.45, Z:3.59 [[ 9.99164157e-01 -4.02128400e-02 -7.34262866e-03 9.16167876e+02] [ 4.02116729e-02 9.99191137e-01 -3.06574392e-04 4.45083623e+00] [ 7.34901771e-03 1.10587624e-05 9.99972996e-01 3.58920729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.419254154 meters 0.050726762763357296 Centerline is valid? [True, True] Translation: X:916.23, Y:4.46, Z:3.59 [[ 9.99184734e-01 -3.99407419e-02 -5.88254189e-03 9.16226708e+02] [ 3.99399852e-02 9.99202050e-01 -2.46107300e-04 4.45546084e+00] [ 5.88767762e-03 1.09580213e-05 9.99982667e-01 3.59131452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539999 meters 0.05088654625417425 Centerline is valid? [True, True] Translation: X:916.28, Y:4.46, Z:3.59 [[ 9.99235089e-01 -3.87276287e-02 -5.42280387e-03 9.16284790e+02] [ 3.87269656e-02 9.99249804e-01 -2.27272059e-04 4.46098832e+00] [ 5.42753741e-03 1.70894773e-05 9.99985271e-01 3.59166568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.539254154 meters 0.05112851092032379 Centerline is valid? [True, True] Translation: X:916.34, Y:4.47, Z:3.59 [[ 9.99276045e-01 -3.77086909e-02 -5.04380424e-03 9.16342390e+02] [ 3.77081018e-02 9.99288774e-01 -2.11883572e-04 4.46523574e+00] [ 5.04820681e-03 2.15378946e-05 9.99987257e-01 3.59110903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539999 meters 0.05133526445762266 Centerline is valid? [True, True] Translation: X:916.40, Y:4.47, Z:3.59 [[ 9.99322636e-01 -3.63050871e-02 -6.01741471e-03 9.16401214e+02] [ 3.63042207e-02 9.99340752e-01 -2.53183543e-04 4.47039404e+00] [ 6.02263959e-03 3.45544936e-05 9.99981863e-01 3.59008584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.659254154 meters 0.05123596187295318 Centerline is valid? [True, True] Translation: X:916.46, Y:4.48, Z:3.59 [[ 9.99349961e-01 -3.53998498e-02 -6.81950613e-03 9.16460320e+02] [ 3.53987106e-02 9.99373228e-01 -2.87711640e-04 4.47524131e+00] [ 6.82541680e-03 4.61228923e-05 9.99976705e-01 3.58920951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539999 meters 0.051589850992049914 Centerline is valid? [True, True] Translation: X:916.52, Y:4.48, Z:3.59 [[ 9.99370329e-01 -3.46961536e-02 -7.42445551e-03 9.16518750e+02] [ 3.46947778e-02 9.99397906e-01 -3.14058755e-04 4.47897602e+00] [ 7.43088191e-03 5.62711677e-05 9.99972389e-01 3.58847121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.779254154 meters 0.051647828608653745 Centerline is valid? [True, True] Translation: X:916.58, Y:4.48, Z:3.59 [[ 9.99354530e-01 -3.51835949e-02 -7.25515266e-03 9.16577054e+02] [ 3.51822882e-02 9.99380864e-01 -3.07699348e-04 4.47959341e+00] [ 7.26148671e-03 5.22478661e-05 9.99973634e-01 3.58999533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.839254154 meters 0.051246738646760874 Centerline is valid? [True, True] Translation: X:916.64, Y:4.48, Z:3.59 [[ 9.99321916e-01 -3.62374396e-02 -6.52356667e-03 9.16635989e+02] [ 3.62364011e-02 9.99343207e-01 -2.77356254e-04 4.48293380e+00] [ 6.52933272e-03 4.07776047e-05 9.99978683e-01 3.58940015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.899254154 meters 0.05072860326739505 Centerline is valid? [True, True] Translation: X:916.69, Y:4.49, Z:3.59 [[ 9.99316789e-01 -3.64118582e-02 -6.33502610e-03 9.16692837e+02] [ 3.64108791e-02 9.99336868e-01 -2.69861803e-04 4.48538197e+00] [ 6.34065131e-03 3.90135607e-05 9.99979897e-01 3.58915733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.959254154 meters 0.05079455396658935 Centerline is valid? [True, True] Translation: X:916.75, Y:4.49, Z:3.59 [[ 9.99366741e-01 -3.50841259e-02 -5.93481047e-03 9.16750412e+02] [ 3.50832415e-02 9.99384362e-01 -2.53091824e-04 4.48912675e+00] [ 5.94003628e-03 4.47191620e-05 9.99982357e-01 3.58876473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.019254154 meters 0.05050281724824265 Centerline is valid? [True, True] Translation: X:916.81, Y:4.49, Z:3.59 [[ 9.99451790e-01 -3.24772634e-02 -6.43012647e-03 9.16808710e+02] [ 3.24761693e-02 9.99472472e-01 -2.74519296e-04 4.49327616e+00] [ 6.43565004e-03 6.55429259e-05 9.99979289e-01 3.58823530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.079254154 meters 0.05084896345320237 Centerline is valid? [True, True] Translation: X:916.87, Y:4.50, Z:3.59 [[ 9.99561996e-01 -2.86944999e-02 -7.24172552e-03 9.16868394e+02] [ 2.86930107e-02 9.99588223e-01 -3.09471828e-04 4.49549423e+00] [ 7.24762368e-03 1.01549370e-04 9.99973730e-01 3.58765080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.139254154 meters 0.05231708902880033 Centerline is valid? [True, True] Translation: X:916.93, Y:4.50, Z:3.59 [[ 9.99593265e-01 -2.74271165e-02 -7.81399645e-03 9.16927269e+02] [ 2.74253403e-02 9.99623799e-01 -3.34401585e-04 4.50497036e+00] [ 7.82022848e-03 1.19964061e-04 9.99969414e-01 3.58506067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.199254154 meters 0.051060397316920095 Centerline is valid? [True, True] Translation: X:916.99, Y:4.50, Z:3.59 [[ 9.99584264e-01 -2.78106332e-02 -7.60711543e-03 9.16986444e+02] [ 2.78089548e-02 9.99613203e-01 -3.26337888e-04 4.49973643e+00] [ 7.61324868e-03 1.14656288e-04 9.99971012e-01 3.58729057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.259254154 meters 0.050854759886974306 Centerline is valid? [True, True] Translation: X:917.05, Y:4.50, Z:3.59 [[ 9.99545115e-01 -2.95450732e-02 -6.05404920e-03 9.17045207e+02] [ 2.95440387e-02 9.99563446e-01 -2.60263545e-04 4.49892277e+00] [ 6.05909579e-03 8.12840916e-05 9.99981640e-01 3.58857477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.319254154 meters 0.05048382336941643 Centerline is valid? [True, True] Translation: X:917.10, Y:4.50, Z:3.59 [[ 9.99492484e-01 -3.14287663e-02 -5.19679348e-03 9.17104170e+02] [ 3.14280269e-02 9.99505993e-01 -2.23897569e-04 4.50020887e+00] [ 5.20126305e-03 6.04589719e-05 9.99986471e-01 3.58906300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.379254154 meters 0.05002994489875141 Centerline is valid? [True, True] Translation: X:917.16, Y:4.50, Z:3.59 [[ 9.99473705e-01 -3.21957158e-02 -3.96851759e-03 9.17163563e+02] [ 3.21952894e-02 9.99481583e-01 -1.71297298e-04 4.50028805e+00] [ 3.97197528e-03 4.34395725e-05 9.99992111e-01 3.58980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.439254154 meters 0.05086800981847179 Centerline is valid? [True, True] Translation: X:917.22, Y:4.51, Z:3.59 [[ 9.99478608e-01 -3.20958245e-02 -3.51709496e-03 9.17220741e+02] [ 3.20954885e-02 9.99484796e-01 -1.51961712e-04 4.50736389e+00] [ 3.52016027e-03 3.89995999e-05 9.99993803e-01 3.58964142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.499254154 meters 0.050111847680536815 Centerline is valid? [True, True] Translation: X:917.28, Y:4.51, Z:3.59 [[ 9.99502947e-01 -3.12167413e-02 -4.40166048e-03 9.17279769e+02] [ 3.12162044e-02 9.99512637e-01 -1.90640121e-04 4.50829214e+00] [ 4.40546644e-03 5.31422300e-05 9.99990294e-01 3.58835135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.559254154 meters 0.051865059416159175 Centerline is valid? [True, True] Translation: X:917.34, Y:4.52, Z:3.58 [[ 9.99545021e-01 -2.94354506e-02 -6.58072044e-03 9.17336614e+02] [ 2.94342069e-02 9.99566679e-01 -2.85782095e-04 4.52022759e+00] [ 6.58628100e-03 9.19537831e-05 9.99978306e-01 3.58497114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.619254154 meters 0.05028273662420253 Centerline is valid? [True, True] Translation: X:917.40, Y:4.52, Z:3.59 [[ 9.99552950e-01 -2.90670548e-02 -7.00049744e-03 9.17395683e+02] [ 2.90656348e-02 9.99577459e-01 -3.04510014e-04 4.51654316e+00] [ 7.00639066e-03 1.00899980e-04 9.99975450e-01 3.58595835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.679254154 meters 0.05061210398791069 Centerline is valid? [True, True] Translation: X:917.45, Y:4.52, Z:3.59 [[ 9.99543083e-01 -2.93403446e-02 -7.26428991e-03 9.17452307e+02] [ 2.93388186e-02 9.99569474e-01 -3.16569607e-04 4.52281159e+00] [ 7.27045070e-03 1.03299277e-04 9.99973565e-01 3.58553275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters 0.05084884434521097 Centerline is valid? [True, True] Translation: X:917.51, Y:4.52, Z:3.59 [[ 9.99525743e-01 -3.02542328e-02 -5.74205710e-03 9.17510788e+02] [ 3.02532924e-02 9.99542233e-01 -2.50593587e-04 4.52285549e+00] [ 5.74701009e-03 7.67586091e-05 9.99983483e-01 3.58721566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.799254154 meters 0.050671592752079615 Centerline is valid? [True, True] Translation: X:917.57, Y:4.52, Z:3.59 [[ 9.99484367e-01 -3.17359277e-02 -4.88166716e-03 9.17569421e+02] [ 3.17352633e-02 9.99496287e-01 -2.13514335e-04 4.52242098e+00] [ 4.88598427e-03 5.84832472e-05 9.99988062e-01 3.58829006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539999 meters 0.05039266811745985 Centerline is valid? [True, True] Translation: X:917.63, Y:4.53, Z:3.59 [[ 9.99470310e-01 -3.23057416e-02 -3.92920666e-03 9.17627276e+02] [ 3.23053142e-02 9.99478032e-01 -1.72220526e-04 4.52975227e+00] [ 3.93271945e-03 4.51950473e-05 9.99992266e-01 3.58861299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.919254154 meters 0.050639071896998906 Centerline is valid? [True, True] Translation: X:917.69, Y:4.53, Z:3.59 [[ 9.99465980e-01 -3.25763309e-02 -2.55690680e-03 9.17685067e+02] [ 3.25761510e-02 9.99469250e-01 -1.12003411e-04 4.53274690e+00] [ 2.55919838e-03 2.86494173e-05 9.99996725e-01 3.58895592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539999 meters 0.05079903274475743 Centerline is valid? [True, True] Translation: X:917.74, Y:4.54, Z:3.59 [[ 9.99456963e-01 -3.26804628e-02 -4.21513386e-03 9.17742205e+02] [ 3.26799712e-02 9.99465850e-01 -1.85470113e-04 4.53834692e+00] [ 4.21894359e-03 4.76189432e-05 9.99991099e-01 3.58704255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.039254154 meters 0.0505522503750075 Centerline is valid? [True, True] Translation: X:917.80, Y:4.53, Z:3.59 [[ 9.99440502e-01 -3.28894169e-02 -6.08022432e-03 9.17800874e+02] [ 3.28883944e-02 9.99458995e-01 -2.68104720e-04 4.53410796e+00] [ 6.08575270e-03 6.79859002e-05 9.99981479e-01 3.58601508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539999 meters 0.05049977880915766 Centerline is valid? [True, True] Translation: X:917.86, Y:4.54, Z:3.59 [[ 9.99436247e-01 -3.28574476e-02 -6.89754269e-03 9.17859705e+02] [ 3.28561253e-02 9.99460045e-01 -3.04966239e-04 4.53678756e+00] [ 6.90383875e-03 7.81677863e-05 9.99976165e-01 3.58549401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.159254154 meters 0.0505484711626067 Centerline is valid? [True, True] Translation: X:917.92, Y:4.54, Z:3.59 [[ 9.99397961e-01 -3.38692650e-02 -7.52252402e-03 9.17918406e+02] [ 3.38677152e-02 9.99426269e-01 -3.33355341e-04 4.53810290e+00] [ 7.52949862e-03 7.83839467e-05 9.99971650e-01 3.58570654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539999 meters 0.0500173867364513 Centerline is valid? [True, True] Translation: X:917.98, Y:4.54, Z:3.58 [[ 9.99326927e-01 -3.58727740e-02 -7.67048252e-03 9.17977302e+02] [ 3.58712157e-02 9.99356363e-01 -3.40677712e-04 4.54428153e+00] [ 7.67776656e-03 6.52988786e-05 9.99970523e-01 3.58403515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.279254154 meters 0.04998060270552215 Centerline is valid? [True, True] Translation: X:918.04, Y:4.54, Z:3.59 [[ 9.99147677e-01 -4.07903873e-02 -6.32962324e-03 9.18036342e+02] [ 4.07894211e-02 9.99167726e-01 -2.81717593e-04 4.54098580e+00] [ 6.33584663e-03 2.32958103e-05 9.99979928e-01 3.58664613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.339254154 meters 0.04962942144315465 Centerline is valid? [True, True] Translation: X:918.09, Y:4.54, Z:3.59 [[ 9.98928795e-01 -4.60400390e-02 -4.64513789e-03 9.18094086e+02] [ 4.60395735e-02 9.98939595e-01 -2.07143968e-04 4.54316079e+00] [ 4.64974908e-03 -6.93809242e-06 9.99989190e-01 3.58702891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.399254154 meters 0.04963494598401679 Centerline is valid? [True, True] Translation: X:918.15, Y:4.55, Z:3.59 [[ 9.98712926e-01 -5.05247979e-02 -4.44255018e-03 9.18152866e+02] [ 5.05244144e-02 9.98722806e-01 -1.98583471e-04 4.54677670e+00] [ 4.44690957e-03 -2.61293664e-05 9.99990112e-01 3.58727481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.459254154 meters 0.05021126822727534 Centerline is valid? [True, True] Translation: X:918.21, Y:4.55, Z:3.59 [[ 9.98571030e-01 -5.31627715e-02 -5.44218289e-03 9.18211430e+02] [ 5.31622314e-02 9.98585859e-01 -2.43960881e-04 4.54717896e+00] [ 5.44745652e-03 -4.57063177e-05 9.99985161e-01 3.58641359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.519254154 meters 0.05121674653540327 Centerline is valid? [True, True] Translation: X:918.27, Y:4.55, Z:3.59 [[ 9.98383647e-01 -5.62257537e-02 -8.29207968e-03 9.18269341e+02] [ 5.62245986e-02 9.98418077e-01 -3.72533765e-04 4.55220765e+00] [ 8.29990824e-03 -9.42872324e-05 9.99965551e-01 3.58503188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.579254154 meters 0.050639478719611095 Centerline is valid? [True, True] Translation: X:918.33, Y:4.55, Z:3.58 [[ 9.98265375e-01 -5.80081073e-02 -1.00648035e-02 9.18328241e+02] [ 5.80064877e-02 9.98316103e-01 -4.53008463e-04 4.55365781e+00] [ 1.00741336e-02 -1.31601238e-04 9.99949246e-01 3.58320137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.639254154 meters 0.05181738492195077 Centerline is valid? [True, True] Translation: X:918.39, Y:4.56, Z:3.58 [[ 9.98109362e-01 -6.04213294e-02 -1.12678109e-02 9.18386933e+02] [ 6.04194460e-02 9.98172947e-01 -5.07789850e-04 4.56199608e+00] [ 1.12779054e-02 -1.73965091e-04 9.99936387e-01 3.58448294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.699254154 meters 0.05166219251253752 Centerline is valid? [True, True] Translation: X:918.44, Y:4.56, Z:3.59 [[ 9.97880447e-01 -6.41704350e-02 -1.08060030e-02 9.18444935e+02] [ 6.41689199e-02 9.97938932e-01 -4.87220823e-04 4.56228790e+00] [ 1.08149963e-02 -2.07221408e-04 9.99941495e-01 3.58557462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.759254154 meters 0.05192522411844371 Centerline is valid? [True, True] Translation: X:918.50, Y:4.56, Z:3.59 [[ 9.97709408e-01 -6.71525423e-02 -8.15317362e-03 9.18504477e+02] [ 6.71517782e-02 9.97742704e-01 -3.67742873e-04 4.55825709e+00] [ 8.15946437e-03 -1.80599583e-04 9.99966695e-01 3.58630369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.819254154 meters 0.051995350196686926 Centerline is valid? [True, True] Translation: X:918.56, Y:4.56, Z:3.59 [[ 9.97746725e-01 -6.67628385e-02 -6.64798790e-03 9.18562550e+02] [ 6.67623208e-02 9.97768862e-01 -3.00011365e-04 4.56325124e+00] [ 6.65318493e-03 -1.44499744e-04 9.99977857e-01 3.58798758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.879254154 meters 0.050726047559953316 Centerline is valid? [True, True] Translation: X:918.62, Y:4.58, Z:3.59 [[ 9.98127641e-01 -6.07632583e-02 -7.00277765e-03 9.18622634e+02] [ 6.07625349e-02 9.98152200e-01 -3.16213898e-04 4.57806164e+00] [ 7.00905210e-03 -1.09884689e-04 9.99975430e-01 3.58830890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.939254154 meters 0.05089342515485481 Centerline is valid? [True, True] Translation: X:918.68, Y:4.59, Z:3.59 [[ 9.98664768e-01 -5.09364372e-02 -8.61169069e-03 9.18682570e+02] [ 5.09349774e-02 9.98701896e-01 -3.88893952e-04 4.58503541e+00] [ 8.62032070e-03 -5.02615821e-05 9.99962843e-01 3.58627564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.999254154 meters 0.05043714126075213 Centerline is valid? [True, True] Translation: X:918.74, Y:4.59, Z:3.59 [[ 9.99005801e-01 -4.35545227e-02 -9.50858268e-03 9.18740865e+02] [ 4.35524030e-02 9.99051051e-01 -4.29981375e-04 4.59386206e+00] [ 9.51828715e-03 1.54322634e-05 9.99954700e-01 3.58757025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.059254154 meters 0.05095853248233667 Centerline is valid? [True, True] Translation: X:918.80, Y:4.60, Z:3.59 [[ 9.99379899e-01 -3.34844473e-02 -1.08907766e-02 9.18801163e+02] [ 3.34810607e-02 9.99439230e-01 -4.93179143e-04 4.60483014e+00] [ 1.09011832e-02 1.28238568e-04 9.99940572e-01 3.58506005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.119254154 meters 0.05074739334212147 Centerline is valid? [True, True] Translation: X:918.86, Y:4.61, Z:3.58 [[ 9.99447990e-01 -3.12754437e-02 -1.12054538e-02 9.18858545e+02] [ 3.12717137e-02 9.99510791e-01 -5.07975297e-04 4.61106490e+00] [ 1.12158592e-02 1.57281146e-04 9.99937088e-01 3.58399134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.179254154 meters 0.051364273546229855 Centerline is valid? [True, True] Translation: X:918.92, Y:4.61, Z:3.59 [[ 9.99562106e-01 -2.77885556e-02 -1.01682190e-02 9.18918395e+02] [ 2.77853008e-02 9.99613808e-01 -4.61257192e-04 4.61412804e+00] [ 1.01771098e-02 1.78528188e-04 9.99948196e-01 3.58533557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters 0.051278607822211816 Centerline is valid? [True, True] Translation: X:918.98, Y:4.62, Z:3.59 [[ 9.99610144e-01 -2.63366451e-02 -9.27042450e-03 9.18976736e+02] [ 2.63338749e-02 9.99653115e-01 -4.20783432e-04 4.61581548e+00] [ 9.27829075e-03 1.76493188e-04 9.99956940e-01 3.58609697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.299254154 meters 0.05164740115683831 Centerline is valid? [True, True] Translation: X:919.04, Y:4.62, Z:3.59 [[ 9.99619955e-01 -2.59179370e-02 -9.39182524e-03 9.19035701e+02] [ 2.59150689e-02 9.99664057e-01 -4.26971870e-04 4.61911976e+00] [ 9.39973636e-03 1.83419803e-04 9.99955805e-01 3.58515308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539999 meters 0.05043458360134763 Centerline is valid? [True, True] Translation: X:919.09, Y:4.62, Z:3.59 [[ 9.99580541e-01 -2.72877839e-02 -9.70145405e-03 9.19094512e+02] [ 2.72847783e-02 9.99627603e-01 -4.42050753e-04 4.61691751e+00] [ 9.70990385e-03 1.77163308e-04 9.99952842e-01 3.58530233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.419254154 meters 0.05057564417888693 Centerline is valid? [True, True] Translation: X:919.15, Y:4.61, Z:3.58 [[ 9.99421298e-01 -3.24293640e-02 -1.02667301e-02 9.19154862e+02] [ 3.24262642e-02 9.99474021e-01 -4.68292869e-04 4.61363805e+00] [ 1.02765164e-02 1.35110166e-04 9.99947186e-01 3.58462242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539999 meters 0.04974946159518291 Centerline is valid? [True, True] Translation: X:919.21, Y:4.61, Z:3.58 [[ 9.99241329e-01 -3.74378310e-02 -1.07319852e-02 9.19213867e+02] [ 3.74347288e-02 9.99298955e-01 -4.89873220e-04 4.61026731e+00] [ 1.07428014e-02 8.77526111e-05 9.99942291e-01 3.58344195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.539254154 meters 0.04963953676778509 Centerline is valid? [True, True] Translation: X:919.27, Y:4.61, Z:3.58 [[ 9.98944800e-01 -4.51041155e-02 -8.65473728e-03 9.19272824e+02] [ 4.51023802e-02 9.98982292e-01 -3.95675457e-04 4.60646366e+00] [ 8.66377587e-03 4.90868865e-06 9.99962469e-01 3.58477393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539999 meters 0.049319746244041285 Centerline is valid? [True, True] Translation: X:919.33, Y:4.61, Z:3.59 [[ 9.98798623e-01 -4.82176022e-02 -8.73921517e-03 9.19330978e+02] [ 4.82159434e-02 9.98836855e-01 -4.00520201e-04 4.60761601e+00] [ 8.74836232e-03 -2.13304784e-05 9.99961732e-01 3.58578162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.659254154 meters 0.05028489906473894 Centerline is valid? [True, True] Translation: X:919.39, Y:4.61, Z:3.59 [[ 9.98541751e-01 -5.30796586e-02 -9.84491993e-03 9.19390056e+02] [ 5.30777784e-02 9.98590279e-01 -4.52356141e-04 4.60863952e+00] [ 9.85505225e-03 -7.08499854e-05 9.99951435e-01 3.58726831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539999 meters 0.050781160563561564 Centerline is valid? [True, True] Translation: X:919.45, Y:4.61, Z:3.59 [[ 9.98430842e-01 -5.49834133e-02 -1.06150409e-02 9.19448613e+02] [ 5.49813223e-02 9.98487263e-01 -4.88936179e-04 4.61129418e+00] [ 1.06258665e-02 -9.54600231e-05 9.99943539e-01 3.58681210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.779254154 meters 0.051038938228369274 Centerline is valid? [True, True] Translation: X:919.51, Y:4.62, Z:3.59 [[ 9.98349213e-01 -5.64939436e-02 -1.03578107e-02 9.19507212e+02] [ 5.64920217e-02 9.98402936e-01 -4.78259354e-04 4.62058950e+00] [ 1.03682873e-02 -1.07663815e-04 9.99946242e-01 3.58802260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.839254154 meters 0.05132007016353457 Centerline is valid? [True, True] Translation: X:919.57, Y:4.62, Z:3.58 [[ 9.98418124e-01 -5.52285373e-02 -1.05384478e-02 9.19565753e+02] [ 5.52264649e-02 9.98473735e-01 -4.87781602e-04 4.61806730e+00] [ 1.05493028e-02 -9.49912235e-05 9.99944350e-01 3.58295104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.899254154 meters 0.0508535378200727 Centerline is valid? [True, True] Translation: X:919.62, Y:4.63, Z:3.59 [[ 9.98638857e-01 -5.15785583e-02 -7.75153184e-03 9.19623724e+02] [ 5.15773214e-02 9.98668939e-01 -3.59525743e-04 4.63281559e+00] [ 7.75975790e-03 -4.07668719e-05 9.99969892e-01 3.58888541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.959254154 meters 0.05105815488133351 Centerline is valid? [True, True] Translation: X:919.68, Y:4.64, Z:3.59 [[ 9.98786822e-01 -4.88193025e-02 -6.44677342e-03 9.19681439e+02] [ 4.88183864e-02 9.98807627e-01 -2.99479825e-04 4.63785141e+00] [ 6.45370686e-03 -1.56045738e-05 9.99979174e-01 3.58885816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.019254154 meters 0.05014178353647188 Centerline is valid? [True, True] Translation: X:919.74, Y:4.64, Z:3.59 [[ 9.98976064e-01 -4.49276181e-02 -5.32290948e-03 9.19739192e+02] [ 4.49269373e-02 9.98990245e-01 -2.47465413e-04 4.64496911e+00] [ 5.32865268e-03 8.07000424e-06 9.99985803e-01 3.58838497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.079254154 meters 0.05068316597066795 Centerline is valid? [True, True] Translation: X:919.80, Y:4.65, Z:3.59 [[ 9.99093420e-01 -4.21752823e-02 -5.79523793e-03 9.19797440e+02] [ 4.21744268e-02 9.99110227e-01 -2.69803156e-04 4.64912013e+00] [ 5.80146050e-03 2.51477199e-05 9.99983171e-01 3.58778243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.139254154 meters 0.05041289657172813 Centerline is valid? [True, True] Translation: X:919.86, Y:4.65, Z:3.59 [[ 9.99210914e-01 -3.92021239e-02 -6.38295918e-03 9.19855085e+02] [ 3.92010217e-02 9.99231300e-01 -2.97749436e-04 4.65352362e+00] [ 6.38972501e-03 4.72959655e-05 9.99979584e-01 3.58723925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.199254154 meters 0.05037683816674297 Centerline is valid? [True, True] Translation: X:919.91, Y:4.66, Z:3.59 [[ 9.99238316e-01 -3.82758953e-02 -7.59887198e-03 9.19914255e+02] [ 3.82743017e-02 9.99267207e-01 -3.55080579e-04 4.65536547e+00] [ 7.60689461e-03 6.39686016e-05 9.99971065e-01 3.58690400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.259254154 meters 0.04950850575434069 Centerline is valid? [True, True] Translation: X:919.97, Y:4.66, Z:3.59 [[ 9.99108435e-01 -4.11474759e-02 -9.44566233e-03 9.19973088e+02] [ 4.11451304e-02 9.99153083e-01 -4.42585824e-04 4.65569198e+00] [ 9.45587392e-03 5.35482215e-05 9.99955291e-01 3.58648863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.319254154 meters 0.050348356009166255 Centerline is valid? [True, True] Translation: X:920.03, Y:4.66, Z:3.59 [[ 9.98877542e-01 -4.63369967e-02 -9.82546356e-03 9.20031249e+02] [ 4.63347027e-02 9.98925865e-01 -4.61102579e-04 4.65503026e+00] [ 9.83627579e-03 5.32507775e-06 9.99951623e-01 3.58607826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.379254154 meters 0.050007987726027374 Centerline is valid? [True, True] Translation: X:920.09, Y:4.65, Z:3.59 [[ 9.98357697e-01 -5.65405159e-02 -9.22387651e-03 9.20090840e+02] [ 5.65389269e-02 9.98400302e-01 -4.33154241e-04 4.64985833e+00] [ 9.23361185e-03 -8.90652093e-05 9.99957365e-01 3.58707676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.439254154 meters 0.050969590172768094 Centerline is valid? [True, True] Translation: X:920.15, Y:4.64, Z:3.59 [[ 9.97768320e-01 -6.61938244e-02 -8.76115456e-03 9.20151990e+02] [ 6.61927621e-02 9.97806769e-01 -4.11482438e-04 4.64302768e+00] [ 8.76917693e-03 -1.69360879e-04 9.99961536e-01 3.58712080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.499254154 meters 0.05148066557573373 Centerline is valid? [True, True] Translation: X:920.21, Y:4.64, Z:3.59 [[ 9.97341711e-01 -7.21389807e-02 -1.02703248e-02 9.20211042e+02] [ 7.21378350e-02 9.97394556e-01 -4.82443520e-04 4.64165698e+00] [ 1.02783691e-02 -2.59717952e-04 9.99947142e-01 3.58663171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.559254154 meters 0.05182134008964624 Centerline is valid? [True, True] Translation: X:920.27, Y:4.65, Z:3.59 [[ 9.97288481e-01 -7.26808824e-02 -1.15401228e-02 9.20268602e+02] [ 7.26794676e-02 9.97355203e-01 -5.42483474e-04 4.64932770e+00] [ 1.15490297e-02 -2.97717458e-04 9.99933263e-01 3.58669996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.619254154 meters 0.05202942446524101 Centerline is valid? [True, True] Translation: X:920.33, Y:4.65, Z:3.59 [[ 9.97047129e-01 -7.56050628e-02 -1.34497975e-02 9.20329101e+02] [ 7.56034054e-02 9.97137766e-01 -6.32364981e-04 4.65382243e+00] [ 1.34591111e-02 -3.86352807e-04 9.99909347e-01 3.58705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.679254154 meters 0.051505252703411726 Centerline is valid? [True, True] Translation: X:920.39, Y:4.66, Z:3.59 [[ 9.96700717e-01 -8.02146512e-02 -1.23810879e-02 9.20388724e+02] [ 8.02136011e-02 9.96777527e-01 -5.82175013e-04 4.65982480e+00] [ 1.23878891e-02 -4.12877390e-04 9.99923182e-01 3.58861014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters 0.0521278052007562 Centerline is valid? [True, True] Translation: X:920.45, Y:4.66, Z:3.59 [[ 9.96582316e-01 -8.18575095e-02 -1.10921741e-02 9.20447049e+02] [ 8.18567661e-02 9.96643967e-01 -5.21767077e-04 4.66148386e+00] [ 1.10976590e-02 -3.87985660e-04 9.99938344e-01 3.58828396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.799254154 meters 0.05226005317616792 Centerline is valid? [True, True] Translation: X:920.51, Y:4.68, Z:3.59 [[ 9.96838479e-01 -7.91036875e-02 -7.46011551e-03 9.20506543e+02] [ 7.91032738e-02 9.96866365e-01 -3.50965189e-04 4.67694344e+00] [ 7.46450087e-03 -2.40263955e-04 9.99972111e-01 3.59109033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539999 meters 0.05101187349542497 Centerline is valid? [True, True] Translation: X:920.57, Y:4.68, Z:3.59 [[ 9.97625359e-01 -6.85633872e-02 -6.53488612e-03 9.20565781e+02] [ 6.85628437e-02 9.97646752e-01 -3.07437813e-04 4.67949437e+00] [ 6.54058689e-03 -1.41342617e-04 9.99978600e-01 3.59052413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.919254154 meters 0.051675606626301156 Centerline is valid? [True, True] Translation: X:920.63, Y:4.70, Z:3.59 [[ 9.98571218e-01 -5.30717279e-02 -6.23808446e-03 9.20625594e+02] [ 5.30709299e-02 9.98590702e-01 -2.93502565e-04 4.69675888e+00] [ 6.24486983e-03 -3.79777289e-05 9.99980500e-01 3.59035829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539999 meters 0.051162370145070274 Centerline is valid? [True, True] Translation: X:920.68, Y:4.71, Z:3.59 [[ 9.99112496e-01 -4.16718971e-02 -6.13790779e-03 9.20682500e+02] [ 4.16709086e-02 9.99131349e-01 -2.88895851e-04 4.70779048e+00] [ 6.14461493e-03 3.28672605e-05 9.99981121e-01 3.59010861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.039254154 meters 0.05220231453268693 Centerline is valid? [True, True] Translation: X:920.74, Y:4.72, Z:3.59 [[ 9.99478375e-01 -3.17030945e-02 -6.15565330e-03 9.20741246e+02] [ 3.17019101e-02 9.99497326e-01 -2.89914517e-04 4.72205021e+00] [ 6.16175020e-03 9.46173235e-05 9.99981012e-01 3.58980111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539999 meters 0.05275763553435189 Centerline is valid? [True, True] Translation: X:920.80, Y:4.73, Z:3.59 [[ 9.99666265e-01 -2.48489542e-02 -7.06310020e-03 9.20800994e+02] [ 2.48472235e-02 9.99691205e-01 -3.32692628e-04 4.73133449e+00] [ 7.06918621e-03 1.57083168e-04 9.99975001e-01 3.59003299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.159254154 meters 0.05120147131238709 Centerline is valid? [True, True] Translation: X:920.86, Y:4.73, Z:3.59 [[ 9.99745582e-01 -2.13163602e-02 -7.37451013e-03 9.20861421e+02] [ 2.13143772e-02 9.99772763e-01 -3.47389953e-04 4.72585366e+00] [ 7.38023946e-03 1.90118480e-04 9.99972748e-01 3.59106582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539999 meters 0.0527128526044186 Centerline is valid? [True, True] Translation: X:920.92, Y:4.74, Z:3.59 [[ 9.99667730e-01 -2.45414789e-02 -7.88320328e-03 9.20920205e+02] [ 2.45393123e-02 9.99698797e-01 -3.71451240e-04 4.73545581e+00] [ 7.88994480e-03 1.77879430e-04 9.99968858e-01 3.58948031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.279254154 meters 0.050858395559155806 Centerline is valid? [True, True] Translation: X:920.98, Y:4.73, Z:3.59 [[ 9.99480153e-01 -3.12175568e-02 -8.05535651e-03 9.20980736e+02] [ 3.12155105e-02 9.99512605e-01 -3.79654160e-04 4.72668151e+00] [ 8.06328224e-03 1.28004731e-04 9.99967483e-01 3.59058925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.339254154 meters 0.05131513130341758 Centerline is valid? [True, True] Translation: X:921.04, Y:4.72, Z:3.59 [[ 9.99254586e-01 -3.74095725e-02 -9.52873636e-03 9.21040477e+02] [ 3.74069895e-02 9.99300013e-01 -4.49214294e-04 4.72458621e+00] [ 9.53887128e-03 9.24381026e-05 9.99954500e-01 3.59017573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.399254154 meters 0.05133141490037668 Centerline is valid? [True, True] Translation: X:921.10, Y:4.72, Z:3.59 [[ 9.98735860e-01 -4.89089708e-02 -1.16014784e-02 9.21099957e+02] [ 4.89059070e-02 9.98803240e-01 -5.47809625e-04 4.71793319e+00] [ 1.16143870e-02 -2.02637074e-05 9.99932551e-01 3.58822252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.459254154 meters 0.051228036967083945 Centerline is valid? [True, True] Translation: X:921.16, Y:4.72, Z:3.59 [[ 9.98289111e-01 -5.69550981e-02 -1.32275168e-02 9.21159533e+02] [ 5.69518120e-02 9.98376733e-01 -6.25285610e-04 4.71562303e+00] [ 1.32416582e-02 -1.29115237e-04 9.99912317e-01 3.59241361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.519254154 meters 0.052290283733438955 Centerline is valid? [True, True] Translation: X:921.22, Y:4.70, Z:3.59 [[ 9.97548783e-01 -6.84385363e-02 -1.45805264e-02 9.21220408e+02] [ 6.84357674e-02 9.97655286e-01 -6.89343402e-04 4.70425947e+00] [ 1.45935169e-02 -3.10175842e-04 9.99893461e-01 3.59087123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.579254154 meters 0.05211836627338389 Centerline is valid? [True, True] Translation: X:921.28, Y:4.71, Z:3.60 [[ 9.96774873e-01 -7.88550198e-02 -1.48909149e-02 9.21280270e+02] [ 7.88532917e-02 9.96885983e-01 -7.04064578e-04 4.71058419e+00] [ 1.49000634e-02 -4.72403776e-04 9.99888876e-01 3.59756938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.639254154 meters 0.05226559775296324 Centerline is valid? [True, True] Translation: X:921.34, Y:4.70, Z:3.60 [[ 9.96309496e-01 -8.47304468e-02 -1.37164375e-02 9.21341276e+02] [ 8.47295374e-02 9.96403776e-01 -6.48457933e-04 4.70369691e+00] [ 1.37220542e-02 -5.16122604e-04 9.99905715e-01 3.59744622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.699254154 meters 0.052168544068618206 Centerline is valid? [True, True] Translation: X:921.40, Y:4.71, Z:3.60 [[ 9.95913427e-01 -8.94036948e-02 -1.27837723e-02 9.21400926e+02] [ 8.94032885e-02 9.95995325e-01 -6.04407615e-04 4.71342180e+00] [ 1.27866137e-02 -5.40973625e-04 9.99918102e-01 3.60160677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.759254154 meters 0.05239800175044629 Centerline is valid? [True, True] Translation: X:921.46, Y:4.71, Z:3.60 [[ 9.96229938e-01 -8.58091677e-02 -1.27552657e-02 9.21460621e+02] [ 8.58084678e-02 9.96311469e-01 -6.03145749e-04 4.71297954e+00] [ 1.27599730e-02 -4.93637957e-04 9.99918466e-01 3.60240817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.819254154 meters 0.05224007532691731 Centerline is valid? [True, True] Translation: X:921.52, Y:4.72, Z:3.60 [[ 9.96785955e-01 -7.92137704e-02 -1.19556679e-02 9.21520460e+02] [ 7.92126808e-02 9.96857578e-01 -5.65386327e-04 4.71925265e+00] [ 1.19628846e-02 -3.83471356e-04 9.99928369e-01 3.60396935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.879254154 meters 0.05185684456142663 Centerline is valid? [True, True] Translation: X:921.58, Y:4.72, Z:3.60 [[ 9.97625592e-01 -6.80021841e-02 -1.09032698e-02 9.21579535e+02] [ 6.80006075e-02 9.97685146e-01 -5.15687445e-04 4.71836576e+00] [ 1.09130982e-02 -2.26965978e-04 9.99940425e-01 3.60214583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.939254154 meters 0.05190481759886621 Centerline is valid? [True, True] Translation: X:921.64, Y:4.73, Z:3.60 [[ 9.98066197e-01 -6.11645754e-02 -1.10797659e-02 9.21638165e+02] [ 6.11625247e-02 9.98127683e-01 -5.24152551e-04 4.72699175e+00] [ 1.10910806e-02 -1.54527511e-04 9.99938480e-01 3.60149516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.999254154 meters 0.05169027648838481 Centerline is valid? [True, True] Translation: X:921.70, Y:4.74, Z:3.60 [[ 9.98173260e-01 -5.92487224e-02 -1.18208091e-02 9.21697002e+02] [ 5.92462432e-02 9.98243241e-01 -5.60106556e-04 4.73541140e+00] [ 1.18332284e-02 -1.41255144e-04 9.99929975e-01 3.60336159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.059254154 meters 0.05158527318493146 Centerline is valid? [True, True] Translation: X:921.76, Y:4.74, Z:3.60 [[ 9.98160696e-01 -5.94554548e-02 -1.18437178e-02 9.21755051e+02] [ 5.94529645e-02 9.98230950e-01 -5.62548217e-04 4.73852540e+00] [ 1.18562122e-02 -1.42630614e-04 9.99929702e-01 3.60247949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.119254154 meters 0.0513858708146552 Centerline is valid? [True, True] Translation: X:921.81, Y:4.74, Z:3.60 [[ 9.98149407e-01 -5.97853843e-02 -1.11116327e-02 9.21811703e+02] [ 5.97832036e-02 9.98211245e-01 -5.28605946e-04 4.74418102e+00] [ 1.11233596e-02 -1.36661285e-04 9.99938124e-01 3.60258900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.179254154 meters 0.05153061182331851 Centerline is valid? [True, True] Translation: X:921.87, Y:4.75, Z:3.60 [[ 9.98103374e-01 -6.07816690e-02 -9.75932012e-03 9.21869583e+02] [ 6.07800255e-02 9.98151077e-01 -4.65185492e-04 4.74615072e+00] [ 9.76955064e-03 -1.28868516e-04 9.99952268e-01 3.60236525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters 0.052219398356680456 Centerline is valid? [True, True] Translation: X:921.93, Y:4.75, Z:3.60 [[ 9.98181133e-01 -5.95852814e-02 -9.16626506e-03 9.21927320e+02] [ 5.95837749e-02 9.98223213e-01 -4.37591993e-04 4.75000911e+00] [ 9.17605260e-03 -1.09364603e-04 9.99957893e-01 3.60285446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.299254154 meters 0.051499020305936935 Centerline is valid? [True, True] Translation: X:921.99, Y:4.76, Z:3.60 [[ 9.98475089e-01 -5.45433458e-02 -8.51590492e-03 9.21985948e+02] [ 5.45418571e-02 9.98511402e-01 -4.07127468e-04 4.75868878e+00] [ 8.52543426e-03 -5.79666341e-05 9.99963656e-01 3.60341639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539999 meters 0.05109620289244056 Centerline is valid? [True, True] Translation: X:922.04, Y:4.77, Z:3.60 [[ 9.98844383e-01 -4.69712670e-02 -1.01783507e-02 9.22044977e+02] [ 4.69687415e-02 9.98896241e-01 -4.87151054e-04 4.76612861e+00] [ 1.01899984e-02 8.52376980e-06 9.99948081e-01 3.60009323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.419254154 meters 0.05120587657384867 Centerline is valid? [True, True] Translation: X:922.10, Y:4.77, Z:3.60 [[ 9.99051561e-01 -4.17911376e-02 -1.22261514e-02 9.22103516e+02] [ 4.17870926e-02 9.99126366e-01 -5.86224334e-04 4.77117979e+00] [ 1.22399692e-02 7.47730142e-05 9.99925086e-01 3.60040012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539999 meters 0.05159803183573271 Centerline is valid? [True, True] Translation: X:922.16, Y:4.78, Z:3.60 [[ 9.99265891e-01 -3.54143517e-02 -1.46117650e-02 9.22162580e+02] [ 3.54078816e-02 9.99372698e-01 -7.01349307e-04 4.77882770e+00] [ 1.46274368e-02 1.83462796e-04 9.99892996e-01 3.59817641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.539254154 meters 0.05133113819035209 Centerline is valid? [True, True] Translation: X:922.22, Y:4.78, Z:3.60 [[ 9.99331764e-01 -3.32660078e-02 -1.51459197e-02 9.22220731e+02] [ 3.32587977e-02 9.99446508e-01 -7.27745643e-04 4.78234179e+00] [ 1.51617457e-02 2.23524258e-04 9.99885029e-01 3.59877421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539999 meters 0.05082260413418493 Centerline is valid? [True, True] Translation: X:922.28, Y:4.78, Z:3.60 [[ 9.99305364e-01 -3.43268916e-02 -1.45070280e-02 9.22279483e+02] [ 3.43203672e-02 9.99410639e-01 -6.98530617e-04 4.78048250e+00] [ 1.45224565e-02 2.00158866e-04 9.99894524e-01 3.60070210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.659254154 meters 0.050539062779786245 Centerline is valid? [True, True] Translation: X:922.34, Y:4.78, Z:3.60 [[ 9.99029152e-01 -4.17319471e-02 -1.41137679e-02 9.22338131e+02] [ 4.17265003e-02 9.99128839e-01 -6.80303311e-04 4.77815166e+00] [ 1.41298629e-02 9.07246989e-05 9.99900164e-01 3.60027500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539999 meters 0.0507432911675495 Centerline is valid? [True, True] Translation: X:922.40, Y:4.77, Z:3.60 [[ 9.98509883e-01 -5.33526076e-02 -1.14678691e-02 9.22397065e+02] [ 5.33497713e-02 9.98575734e-01 -5.53311955e-04 4.77149499e+00] [ 1.14810565e-02 -5.93207405e-05 9.99934089e-01 3.60378667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.779254154 meters 0.051033161857483446 Centerline is valid? [True, True] Translation: X:922.46, Y:4.77, Z:3.61 [[ 9.98139242e-01 -6.02165435e-02 -9.59277422e-03 9.22455593e+02] [ 6.02148719e-02 9.98185331e-01 -4.63240546e-04 4.77208435e+00] [ 9.60326126e-03 -1.15249104e-04 9.99953881e-01 3.60635129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.839254154 meters 0.051317720133840845 Centerline is valid? [True, True] Translation: X:922.52, Y:4.76, Z:3.60 [[ 9.97776659e-01 -6.58886794e-02 -1.00209764e-02 9.22515148e+02] [ 6.58871392e-02 9.97826964e-01 -4.84107802e-04 4.76417397e+00] [ 1.00310977e-02 -1.77222003e-04 9.99949672e-01 3.60393032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.899254154 meters 0.05134198407978572 Centerline is valid? [True, True] Translation: X:922.57, Y:4.77, Z:3.60 [[ 9.97738963e-01 -6.64830384e-02 -9.84716137e-03 9.22573572e+02] [ 6.64815737e-02 9.97787539e-01 -4.76359225e-04 4.76709459e+00] [ 9.85704472e-03 -1.79372625e-04 9.99951402e-01 3.60383833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.959254154 meters 0.05113878314702296 Centerline is valid? [True, True] Translation: X:922.63, Y:4.77, Z:3.60 [[ 9.97870203e-01 -6.42616978e-02 -1.12023220e-02 9.22631870e+02] [ 6.42596478e-02 9.97933065e-01 -5.43208542e-04 4.77258501e+00] [ 1.12140751e-02 -1.77805650e-04 9.99937104e-01 3.60416338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.019254154 meters 0.050828322443647565 Centerline is valid? [True, True] Translation: X:922.69, Y:4.77, Z:3.60 [[ 9.98170308e-01 -5.92799397e-02 -1.19132421e-02 9.22691936e+02] [ 5.92772568e-02 9.98241390e-01 -5.78490007e-04 4.77306427e+00] [ 1.19265842e-02 -1.28752764e-04 9.99928867e-01 3.60147307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.079254154 meters 0.050432688072757303 Centerline is valid? [True, True] Translation: X:922.75, Y:4.78, Z:3.60 [[ 9.98631701e-01 -5.10952121e-02 -1.11357865e-02 9.22750965e+02] [ 5.10923559e-02 9.98693786e-01 -5.41012976e-04 4.77740671e+00] [ 1.11488840e-02 -2.86808583e-05 9.99937849e-01 3.60123827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.139254154 meters 0.04996852163154076 Centerline is valid? [True, True] Translation: X:922.81, Y:4.78, Z:3.60 [[ 9.98953730e-01 -4.45163026e-02 -1.04759309e-02 9.22808717e+02] [ 4.45134031e-02 9.99008657e-01 -5.09897614e-04 4.78260124e+00] [ 1.04882444e-02 4.30447888e-05 9.99944996e-01 3.60268537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.199254154 meters 0.050325760976733865 Centerline is valid? [True, True] Translation: X:922.87, Y:4.79, Z:3.60 [[ 9.99352658e-01 -3.46844672e-02 -9.55262782e-03 9.22867503e+02] [ 3.46816015e-02 9.99398304e-01 -4.65534463e-04 4.79180622e+00] [ 9.56302686e-03 1.33932672e-04 9.99954264e-01 3.60242113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.259254154 meters 0.04921631761460616 Centerline is valid? [True, True] Translation: X:922.93, Y:4.79, Z:3.60 [[ 9.99516146e-01 -2.97643782e-02 -9.03082333e-03 9.22928214e+02] [ 2.97616156e-02 9.99556928e-01 -4.40166934e-04 4.79258090e+00] [ 9.03992332e-03 1.71182064e-04 9.99959124e-01 3.60443551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.319254154 meters 0.05011345485059748 Centerline is valid? [True, True] Translation: X:922.99, Y:4.80, Z:3.60 [[ 9.99634416e-01 -2.53050533e-02 -9.52304996e-03 9.22986813e+02] [ 2.53017783e-02 9.99679751e-01 -4.64245108e-04 4.79943040e+00] [ 9.53174796e-03 2.23125289e-04 9.99954547e-01 3.60427412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.379254154 meters 0.04988237155465005 Centerline is valid? [True, True] Translation: X:923.05, Y:4.80, Z:3.60 [[ 9.99652490e-01 -2.42156064e-02 -1.04165426e-02 9.23045555e+02] [ 2.42116205e-02 9.99706726e-01 -5.08597868e-04 4.79747737e+00] [ 1.04258037e-02 2.56219749e-04 9.99945617e-01 3.60468034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.439254154 meters 0.0500314395953253 Centerline is valid? [True, True] Translation: X:923.10, Y:4.80, Z:3.60 [[ 9.99599078e-01 -2.57666340e-02 -1.17372995e-02 9.23104731e+02] [ 2.57616639e-02 9.99667948e-01 -5.74467324e-04 4.79843664e+00] [ 1.17482042e-02 2.71864642e-04 9.99930950e-01 3.60442159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.499254154 meters 0.04972547835973334 Centerline is valid? [True, True] Translation: X:923.17, Y:4.80, Z:3.60 [[ 9.99359724e-01 -3.33221635e-02 -1.30297691e-02 9.23165191e+02] [ 3.33166746e-02 9.99444642e-01 -6.38160135e-04 4.79688663e+00] [ 1.30437978e-02 2.03642960e-04 9.99914905e-01 3.60451088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.559254154 meters 0.05014794895439971 Centerline is valid? [True, True] Translation: X:923.22, Y:4.79, Z:3.60 [[ 9.98862173e-01 -4.62654210e-02 -1.15702340e-02 9.23224862e+02] [ 4.62619608e-02 9.98929182e-01 -5.66664521e-04 4.79346176e+00] [ 1.15840613e-02 3.07580433e-05 9.99932902e-01 3.60442923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters 0.05028251762084824 Centerline is valid? [True, True] Translation: X:923.28, Y:4.79, Z:3.61 [[ 9.98348061e-01 -5.68049906e-02 -8.62214485e-03 9.23284222e+02] [ 5.68034576e-02 9.98385291e-01 -4.22786263e-04 4.79292393e+00] [ 8.63223896e-03 -6.76797934e-05 9.99962739e-01 3.60555746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.679254154 meters 0.05044000504110219 Centerline is valid? [True, True] Translation: X:923.34, Y:4.80, Z:3.61 [[ 9.97767473e-01 -6.58621894e-02 -1.10563038e-02 9.23343696e+02] [ 6.58602181e-02 9.97828711e-01 -5.42691588e-04 4.79697342e+00] [ 1.10680402e-02 -1.86690563e-04 9.99938730e-01 3.60653980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters 0.05108705487774837 Centerline is valid? [True, True] Translation: X:923.40, Y:4.80, Z:3.61 [[ 9.97452330e-01 -7.02183524e-02 -1.25790650e-02 9.23403887e+02] [ 7.02161469e-02 9.97531609e-01 -6.17437764e-04 4.80177631e+00] [ 1.25913704e-02 -2.67388742e-04 9.99920690e-01 3.60588165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.799254154 meters 0.051121312362627354 Centerline is valid? [True, True] Translation: X:923.46, Y:4.81, Z:3.61 [[ 9.96918528e-01 -7.67324220e-02 -1.62967788e-02 9.23462833e+02] [ 7.67295896e-02 9.97051619e-01 -7.99913127e-04 4.80853019e+00] [ 1.63101090e-02 -4.52996935e-04 9.99866879e-01 3.60559050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539999 meters 0.052004037755773114 Centerline is valid? [True, True] Translation: X:923.52, Y:4.82, Z:3.61 [[ 9.96273278e-01 -8.48605660e-02 -1.54350235e-02 9.23523136e+02] [ 8.48589982e-02 9.96392682e-01 -7.57665468e-04 4.81825428e+00] [ 1.54436403e-02 -5.54958768e-04 9.99880586e-01 3.60723176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.919254154 meters 0.05149309047253525 Centerline is valid? [True, True] Translation: X:923.58, Y:4.82, Z:3.61 [[ 9.95964361e-01 -8.88190512e-02 -1.28905921e-02 9.23583164e+02] [ 8.88182888e-02 9.96047645e-01 -6.32744735e-04 4.81858660e+00] [ 1.28958437e-02 -5.14729123e-04 9.99916713e-01 3.60724315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539999 meters 0.05245068909560895 Centerline is valid? [True, True] Translation: X:923.64, Y:4.82, Z:3.61 [[ 9.95989705e-01 -8.90838081e-02 -8.28148068e-03 9.23640782e+02] [ 8.90835011e-02 9.96024078e-01 -4.06676323e-04 4.82357453e+00] [ 8.28478244e-03 -3.32697863e-04 9.99965625e-01 3.60857692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.039254154 meters 0.0526823316274164 Centerline is valid? [True, True] Translation: X:923.70, Y:4.83, Z:3.61 [[ 9.96683613e-01 -8.11457939e-02 -6.09392574e-03 9.23699842e+02] [ 8.11454786e-02 9.96702223e-01 -2.99378843e-04 4.83206259e+00] [ 6.09812267e-03 -1.96108534e-04 9.99981387e-01 3.60844380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539999 meters 0.05276437915902938 Centerline is valid? [True, True] Translation: X:923.76, Y:4.85, Z:3.61 [[ 9.97697829e-01 -6.75347143e-02 -6.17296251e-03 9.23759030e+02] [ 6.75341300e-02 9.97716918e-01 -3.03291814e-04 4.84534134e+00] [ 6.17935186e-03 -1.14292068e-04 9.99980901e-01 3.60758322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.159254154 meters 0.05203370845683384 Centerline is valid? [True, True] Translation: X:923.82, Y:4.86, Z:3.61 [[ 9.98323520e-01 -5.74405910e-02 -7.12241957e-03 9.23818909e+02] [ 5.74395556e-02 9.98348924e-01 -3.50015432e-04 4.85887544e+00] [ 7.13076501e-03 -5.96799770e-05 9.99974574e-01 3.60652087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539999 meters 0.05149848513406672 Centerline is valid? [True, True] Translation: X:923.88, Y:4.87, Z:3.61 [[ 9.98991129e-01 -4.42178164e-02 -7.84278455e-03 9.23877001e+02] [ 4.42161495e-02 9.99021913e-01 -3.85882038e-04 4.87323745e+00] [ 7.85217649e-03 3.87149980e-05 9.99969170e-01 3.60524826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.279254154 meters 0.05243689852900791 Centerline is valid? [True, True] Translation: X:923.94, Y:4.89, Z:3.61 [[ 9.99349436e-01 -3.54294541e-02 -6.74223921e-03 9.23935641e+02] [ 3.54280196e-02 9.99372176e-01 -3.32112254e-04 4.88766834e+00] [ 6.74977282e-03 9.30320110e-05 9.99977216e-01 3.60507612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.339254154 meters 0.05213592767979836 Centerline is valid? [True, True] Translation: X:923.99, Y:4.89, Z:3.61 [[ 9.99477943e-01 -3.18701419e-02 -5.30436391e-03 9.23994787e+02] [ 3.18692037e-02 9.99492014e-01 -2.61324647e-04 4.89465503e+00] [ 5.30999782e-03 9.21423672e-05 9.99985898e-01 3.60540413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.399254154 meters 0.052252914688425044 Centerline is valid? [True, True] Translation: X:924.05, Y:4.90, Z:3.61 [[ 9.99529050e-01 -3.04496694e-02 -3.80732577e-03 9.24053674e+02] [ 3.04491755e-02 9.99536299e-01 -1.87623828e-04 4.89759173e+00] [ 3.81127339e-03 7.16055359e-05 9.99992734e-01 3.60623018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.459254154 meters 0.05214297888975498 Centerline is valid? [True, True] Translation: X:924.11, Y:4.90, Z:3.60 [[ 9.99459198e-01 -3.24555750e-02 -5.28656062e-03 9.24112143e+02] [ 3.24546470e-02 9.99473175e-01 -2.61265270e-04 4.89879075e+00] [ 5.29225504e-03 8.95505181e-05 9.99985992e-01 3.60494261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.519254154 meters 0.05226648006725899 Centerline is valid? [True, True] Translation: X:924.17, Y:4.90, Z:3.60 [[ 9.99354544e-01 -3.52414297e-02 -6.96684747e-03 9.24171551e+02] [ 3.52398814e-02 9.99378823e-01 -3.44900122e-04 4.89955897e+00] [ 6.97467460e-03 9.91666251e-05 9.99975672e-01 3.60246851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.579254154 meters 0.0516601441456285 Centerline is valid? [True, True] Translation: X:924.23, Y:4.90, Z:3.60 [[ 9.99286584e-01 -3.68094036e-02 -8.44933437e-03 9.24230911e+02] [ 3.68071795e-02 9.99322299e-01 -4.18631649e-04 4.90067982e+00] [ 8.45901783e-03 1.07336824e-04 9.99964216e-01 3.60059336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.639254154 meters 0.050130193727814354 Centerline is valid? [True, True] Translation: X:924.29, Y:4.90, Z:3.60 [[ 9.99074552e-01 -4.16709105e-02 -1.06571270e-02 9.24290264e+02] [ 4.16676378e-02 9.99131387e-01 -5.29038778e-04 4.89594150e+00] [ 1.06699156e-02 8.44918731e-05 9.99943071e-01 3.59987352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.699254154 meters 0.05145559353001273 Centerline is valid? [True, True] Translation: X:924.35, Y:4.89, Z:3.60 [[ 9.98572132e-01 -5.21503246e-02 -1.15776158e-02 9.24349924e+02] [ 5.21471552e-02 9.98639246e-01 -5.75668301e-04 4.88957123e+00] [ 1.15918828e-02 -2.88934068e-05 9.99932811e-01 3.59984586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.759254154 meters 0.05131295176113523 Centerline is valid? [True, True] Translation: X:924.41, Y:4.88, Z:3.60 [[ 9.97764343e-01 -6.59584772e-02 -1.07608529e-02 9.24409617e+02] [ 6.59565391e-02 9.97822353e-01 -5.35282330e-04 4.88215688e+00] [ 1.07727260e-02 -1.75662996e-04 9.99941957e-01 3.60194608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.819254154 meters 0.05149100796224977 Centerline is valid? [True, True] Translation: X:924.47, Y:4.88, Z:3.60 [[ 9.97459212e-01 -7.05106875e-02 -1.01667795e-02 9.24470340e+02] [ 7.05091942e-02 9.97511001e-01 -5.05682631e-04 4.87746646e+00] [ 1.01771304e-02 -2.12453632e-04 9.99948189e-01 3.60114678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.879254154 meters 0.05222197086893699 Centerline is valid? [True, True] Translation: X:924.53, Y:4.87, Z:3.60 [[ 9.96630987e-01 -8.16460668e-02 -7.78436620e-03 9.24531544e+02] [ 8.16455310e-02 9.96661355e-01 -3.87132622e-04 4.87119712e+00] [ 7.78998482e-03 -2.49730344e-04 9.99969626e-01 3.60295082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.939254154 meters 0.05239432504217748 Centerline is valid? [True, True] Translation: X:924.59, Y:4.87, Z:3.60 [[ 9.96328154e-01 -8.52767292e-02 -7.62163533e-03 9.24590562e+02] [ 8.52763216e-02 9.96357268e-01 -3.79028153e-04 4.87162904e+00] [ 7.62619404e-03 -2.72308606e-04 9.99970883e-01 3.60296671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.999254154 meters 0.051818212206967924 Centerline is valid? [True, True] Translation: X:924.65, Y:4.87, Z:3.60 [[ 9.96407353e-01 -8.42987548e-02 -8.13064551e-03 9.24649487e+02] [ 8.42982544e-02 9.96440485e-01 -4.04847158e-04 4.87366091e+00] [ 8.13583247e-03 -2.82006538e-04 9.99966864e-01 3.60317085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.059254154 meters 0.05118214021172341 Centerline is valid? [True, True] Translation: X:924.71, Y:4.88, Z:3.60 [[ 9.97060980e-01 -7.59646386e-02 -9.93865512e-03 9.24708346e+02] [ 7.59634707e-02 9.97110478e-01 -4.95503390e-04 4.87896705e+00] [ 9.94757789e-03 -2.60927641e-04 9.99950488e-01 3.60290856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters 0.051457296773247466 Centerline is valid? [True, True] Translation: X:924.77, Y:4.88, Z:3.60 [[ 9.97614641e-01 -6.82933938e-02 -1.00518522e-02 9.24768228e+02] [ 6.82918081e-02 9.97665263e-01 -5.01304615e-04 4.88088698e+00] [ 1.00626196e-02 -1.86350339e-04 9.99949353e-01 3.60259141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.179254154 meters 0.05062642412408059 Centerline is valid? [True, True] Translation: X:924.83, Y:4.89, Z:3.61 [[ 9.98530975e-01 -5.36672953e-02 -7.46420429e-03 9.24826936e+02] [ 5.36660112e-02 9.98558872e-01 -3.72368689e-04 4.89058366e+00] [ 7.47343144e-03 -2.87524007e-05 9.99972073e-01 3.60543004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters 0.050325592332372764 Centerline is valid? [True, True] Translation: X:924.89, Y:4.90, Z:3.61 [[ 9.98769822e-01 -4.90491304e-02 -7.28185508e-03 9.24885125e+02] [ 4.90477822e-02 9.98796367e-01 -3.63725108e-04 4.89637774e+00] [ 7.29093080e-03 6.11882005e-06 9.99973421e-01 3.60642148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.299254154 meters 0.050562573428562976 Centerline is valid? [True, True] Translation: X:924.94, Y:4.90, Z:3.60 [[ 9.98842039e-01 -4.73167788e-02 -8.70080753e-03 9.24942508e+02] [ 4.73147818e-02 9.98879934e-01 -4.35337472e-04 4.90053351e+00] [ 8.71166081e-03 2.31565581e-05 9.99962052e-01 3.60483661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539999 meters 0.05024931846025526 Centerline is valid? [True, True] Translation: X:925.00, Y:4.90, Z:3.61 [[ 9.98609017e-01 -5.16940844e-02 -1.03804441e-02 9.25001817e+02] [ 5.16914686e-02 9.98662967e-01 -5.20310587e-04 4.89975345e+00] [ 1.03934621e-02 -1.69935558e-05 9.99945986e-01 3.60586692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.419254154 meters 0.051017350731591846 Centerline is valid? [True, True] Translation: X:925.06, Y:4.90, Z:3.61 [[ 9.98161223e-01 -5.94603203e-02 -1.17747065e-02 9.25060063e+02] [ 5.94574851e-02 9.98230664e-01 -5.91009205e-04 4.89657023e+00] [ 1.17890147e-02 -1.10171965e-04 9.99930501e-01 3.60576985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539999 meters 0.0512964233528495 Centerline is valid? [True, True] Translation: X:925.12, Y:4.90, Z:3.61 [[ 9.97787043e-01 -6.52392215e-02 -1.28397892e-02 9.25120250e+02] [ 6.52363253e-02 9.97869634e-01 -6.44703518e-04 4.89672944e+00] [ 1.28544957e-02 -1.94343850e-04 9.99917359e-01 3.60609417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.539254154 meters 0.05164903491448531 Centerline is valid? [True, True] Translation: X:925.18, Y:4.90, Z:3.61 [[ 9.96856804e-01 -7.81543097e-02 -1.29775301e-02 9.25180381e+02] [ 7.81524426e-02 9.96941207e-01 -6.51724922e-04 4.89707593e+00] [ 1.29887697e-02 -3.64549256e-04 9.99915576e-01 3.60943922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539999 meters 0.05219194668056242 Centerline is valid? [True, True] Translation: X:925.24, Y:4.90, Z:3.61 [[ 9.96416865e-01 -8.36919145e-02 -1.22104661e-02 9.25240433e+02] [ 8.36906756e-02 9.96491593e-01 -6.13294059e-04 4.89606829e+00] [ 1.22189546e-02 -4.10805617e-04 9.99925261e-01 3.60949118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.659254154 meters 0.05234188338624687 Centerline is valid? [True, True] Translation: X:925.30, Y:4.90, Z:3.61 [[ 9.96167642e-01 -8.65662655e-02 -1.25024644e-02 9.25300430e+02] [ 8.65651911e-02 9.96245990e-01 -6.28083043e-04 4.89648410e+00] [ 1.25099008e-02 -4.56602218e-04 9.99921644e-01 3.61136458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539999 meters 0.05231396259623403 Centerline is valid? [True, True] Translation: X:925.36, Y:4.90, Z:3.61 [[ 9.96605415e-01 -8.11225697e-02 -1.40277051e-02 9.25359279e+02] [ 8.11206749e-02 9.96704038e-01 -7.04959015e-04 4.90045391e+00] [ 1.40386584e-02 -4.35370935e-04 9.99901358e-01 3.61036711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.779254154 meters 0.05205107257207324 Centerline is valid? [True, True] Translation: X:925.42, Y:4.91, Z:3.61 [[ 9.97072918e-01 -7.49138689e-02 -1.52809579e-02 9.25419225e+02] [ 7.49108873e-02 9.97189936e-01 -7.68220847e-04 4.90865194e+00] [ 1.52955678e-02 -3.78737914e-04 9.99882944e-01 3.61107962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.839254154 meters 0.051650262337976836 Centerline is valid? [True, True] Translation: X:925.48, Y:4.92, Z:3.61 [[ 9.97736849e-01 -6.53962175e-02 -1.56369690e-02 9.25478130e+02] [ 6.53919230e-02 9.97859348e-01 -7.86322425e-04 4.91716320e+00] [ 1.56549182e-02 -2.37988614e-04 9.99877426e-01 3.61071196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.899254154 meters 0.05223036810185374 Centerline is valid? [True, True] Translation: X:925.54, Y:4.93, Z:3.61 [[ 9.98175333e-01 -5.84758413e-02 -1.50526172e-02 9.25537666e+02] [ 5.84710729e-02 9.98288816e-01 -7.57061989e-04 4.92816983e+00] [ 1.50711292e-02 -1.24462075e-04 9.99886416e-01 3.61400885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.959254154 meters 0.052736782348858036 Centerline is valid? [True, True] Translation: X:925.60, Y:4.93, Z:3.61 [[ 9.98346041e-01 -5.52798427e-02 -1.57899120e-02 9.25595964e+02] [ 5.52741749e-02 9.98470897e-01 -7.95474836e-04 4.93394876e+00] [ 1.58097413e-02 -7.86152027e-05 9.99875015e-01 3.61374909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.019254154 meters 0.051401165614406295 Centerline is valid? [True, True] Translation: X:925.65, Y:4.94, Z:3.61 [[ 9.98422901e-01 -5.40558186e-02 -1.51551534e-02 9.25653476e+02] [ 5.40504429e-02 9.98537914e-01 -7.64385041e-04 4.93862645e+00] [ 1.51743147e-02 -5.59632243e-05 9.99884862e-01 3.61290862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.079254154 meters 0.05105911863466682 Centerline is valid? [True, True] Translation: X:925.71, Y:4.95, Z:3.62 [[ 9.98614952e-01 -5.07615168e-02 -1.38364169e-02 9.25711971e+02] [ 5.07567025e-02 9.98710803e-01 -6.99106401e-04 4.94606032e+00] [ 1.38540667e-02 -4.15278954e-06 9.99904028e-01 3.61660728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.139254154 meters 0.05161586064279856 Centerline is valid? [True, True] Translation: X:925.77, Y:4.95, Z:3.62 [[ 9.98865201e-01 -4.57257788e-02 -1.33215246e-02 9.25770888e+02] [ 4.57208479e-02 9.98954027e-01 -6.74621813e-04 4.95395538e+00] [ 1.33384383e-02 6.47848511e-05 9.99911037e-01 3.61766034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.199254154 meters 0.051841076451703244 Centerline is valid? [True, True] Translation: X:925.83, Y:4.96, Z:3.62 [[ 9.99024962e-01 -4.20942410e-02 -1.33116292e-02 9.25828358e+02] [ 4.20889835e-02 9.99113638e-01 -6.74982848e-04 4.96031702e+00] [ 1.33282432e-02 1.14051774e-04 9.99911168e-01 3.61674558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.259254154 meters 0.051605332281165456 Centerline is valid? [True, True] Translation: X:925.89, Y:4.96, Z:3.62 [[ 9.99206257e-01 -3.66355717e-02 -1.56426269e-02 9.25887985e+02] [ 3.66276380e-02 9.99328668e-01 -7.93471500e-04 4.96372103e+00] [ 1.56611948e-02 2.19889210e-04 9.99877332e-01 3.61991428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.319254154 meters 0.05143581564653698 Centerline is valid? [True, True] Translation: X:925.95, Y:4.97, Z:3.62 [[ 9.99341225e-01 -3.10137616e-02 -1.88484180e-02 9.25947365e+02] [ 3.10012419e-02 9.99518889e-01 -9.56129199e-04 4.97360886e+00] [ 1.88690030e-02 3.71174960e-04 9.99821896e-01 3.61706034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.379254154 meters 0.05177122966575057 Centerline is valid? [True, True] Translation: X:926.01, Y:4.98, Z:3.62 [[ 9.99388056e-01 -2.77840053e-02 -2.12500227e-02 9.26006985e+02] [ 2.77673585e-02 9.99613831e-01 -1.07809490e-03 4.97675973e+00] [ 2.12717704e-02 4.87378172e-04 9.99773611e-01 3.61787568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.439254154 meters 0.05268776589840151 Centerline is valid? [True, True] Translation: X:926.06, Y:4.98, Z:3.62 [[ 9.99340208e-01 -2.88050987e-02 -2.21227442e-02 9.26064935e+02] [ 2.87872532e-02 9.99584928e-01 -1.12476916e-03 4.97895704e+00] [ 2.21459607e-02 4.87174009e-04 9.99754629e-01 3.61991879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.499254154 meters 0.05243733396139744 Centerline is valid? [True, True] Translation: X:926.12, Y:4.98, Z:3.62 [[ 9.99254164e-01 -3.28030147e-02 -2.03734654e-02 9.26124484e+02] [ 3.27886972e-02 9.99461769e-01 -1.03648788e-03 4.98317242e+00] [ 2.03964997e-02 3.67695446e-04 9.99791902e-01 3.61809668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.559254154 meters 0.052143215410556165 Centerline is valid? [True, True] Translation: X:926.19, Y:4.98, Z:3.62 [[ 9.99083189e-01 -3.88981650e-02 -1.78805755e-02 9.26185577e+02] [ 3.88881103e-02 9.99243157e-01 -9.09813381e-04 4.97810800e+00] [ 1.79024328e-02 2.13637463e-04 9.99839716e-01 3.62367639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters 0.05274444868863646 Centerline is valid? [True, True] Translation: X:926.24, Y:4.98, Z:3.62 [[ 9.98901291e-01 -4.39252980e-02 -1.63333710e-02 9.26244500e+02] [ 4.39175778e-02 9.99034812e-01 -8.31218299e-04 4.97879838e+00] [ 1.63541178e-02 1.12982938e-04 9.99866256e-01 3.62343148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.679254154 meters 0.05180899525564366 Centerline is valid? [True, True] Translation: X:926.30, Y:4.98, Z:3.62 [[ 9.98816430e-01 -4.56479627e-02 -1.67929283e-02 9.26301915e+02] [ 4.56400360e-02 9.98957585e-01 -8.55165894e-04 4.97973237e+00] [ 1.68144597e-02 8.77238907e-05 9.99858623e-01 3.62469022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters 0.05230890880486179 Centerline is valid? [True, True] Translation: X:926.36, Y:4.98, Z:3.62 [[ 9.98779023e-01 -4.60875408e-02 -1.77876770e-02 9.26360170e+02] [ 4.60786855e-02 9.98937401e-01 -9.07578113e-04 4.98278786e+00] [ 1.78106039e-02 8.68372073e-05 9.99841375e-01 3.62243331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.799254154 meters 0.052098998896804 Centerline is valid? [True, True] Translation: X:926.42, Y:4.98, Z:3.62 [[ 9.98620260e-01 -4.82401473e-02 -2.07476444e-02 9.26418879e+02] [ 4.82285125e-02 9.98835765e-01 -1.06106731e-03 4.98265512e+00] [ 2.07746753e-02 5.89752860e-05 9.99784181e-01 3.62107875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539999 meters 0.052241291888075726 Centerline is valid? [True, True] Translation: X:926.48, Y:4.98, Z:3.62 [[ 9.98517627e-01 -5.01995814e-02 -2.10368926e-02 9.26475522e+02] [ 5.01880244e-02 9.98739206e-01 -1.07730031e-03 4.98328554e+00] [ 2.10644495e-02 1.99032644e-05 9.99778120e-01 3.61850211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.919254154 meters 0.051631387975950634 Centerline is valid? [True, True] Translation: X:926.53, Y:4.98, Z:3.62 [[ 9.98493044e-01 -5.12181843e-02 -1.97063088e-02 9.26534879e+02] [ 5.12082045e-02 9.98687487e-01 -1.01103620e-03 4.98385624e+00] [ 1.97322274e-02 3.87925520e-07 9.99805301e-01 3.62176531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539999 meters 0.05204207338763715 Centerline is valid? [True, True] Translation: X:926.59, Y:4.99, Z:3.62 [[ 9.98494218e-01 -5.14877623e-02 -1.89289904e-02 9.26593479e+02] [ 5.14785631e-02 9.98673626e-01 -9.73250280e-04 4.98516507e+00] [ 1.89539940e-02 -2.65244958e-06 9.99820357e-01 3.62254130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.039254154 meters 0.051427440853697486 Centerline is valid? [True, True] Translation: X:926.65, Y:4.99, Z:3.62 [[ 9.98547076e-01 -5.07337913e-02 -1.81609325e-02 9.26651045e+02] [ 5.07251756e-02 9.98712212e-01 -9.35037381e-04 4.98781624e+00] [ 1.81849830e-02 1.24623536e-05 9.99834639e-01 3.62276396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539999 meters 0.051686706865671554 Centerline is valid? [True, True] Translation: X:926.71, Y:4.99, Z:3.62 [[ 9.98718858e-01 -4.77103929e-02 -1.68629877e-02 9.26709357e+02] [ 4.77025056e-02 9.98861209e-01 -8.69877084e-04 4.99205769e+00] [ 1.68852864e-02 6.43558834e-05 9.99857431e-01 3.62451233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.159254154 meters 0.052253561622981545 Centerline is valid? [True, True] Translation: X:926.77, Y:5.00, Z:3.62 [[ 9.98862682e-01 -4.46217141e-02 -1.68001503e-02 9.26767513e+02] [ 4.46134326e-02 9.99003948e-01 -8.67591001e-04 4.99718346e+00] [ 1.68221299e-02 1.17091901e-04 9.99858491e-01 3.62481024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539999 meters 0.05212632574607549 Centerline is valid? [True, True] Translation: X:926.83, Y:5.00, Z:3.62 [[ 9.99061596e-01 -3.93974335e-02 -1.79935967e-02 9.26826475e+02] [ 3.93870770e-02 9.99223596e-01 -9.29726993e-04 5.00390691e+00] [ 1.80162553e-02 2.20139352e-04 9.99837670e-01 3.62353543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.279254154 meters 0.052540525860598444 Centerline is valid? [True, True] Translation: X:926.88, Y:5.01, Z:3.63 [[ 9.99131027e-01 -3.73253532e-02 -1.85474545e-02 9.26884817e+02] [ 3.73139793e-02 9.99303131e-01 -9.59044033e-04 5.00518588e+00] [ 1.85703260e-02 2.66131317e-04 9.99827521e-01 3.62666830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.339254154 meters 0.052331272749823396 Centerline is valid? [True, True] Translation: X:926.94, Y:5.01, Z:3.63 [[ 9.99074485e-01 -3.91627763e-02 -1.77890368e-02 9.26944090e+02] [ 3.91525756e-02 9.99232819e-01 -9.21468160e-04 5.00646990e+00] [ 1.78114767e-02 2.24128718e-04 9.99841338e-01 3.62696910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.399254154 meters 0.0524633421842707 Centerline is valid? [True, True] Translation: X:927.00, Y:5.01, Z:3.63 [[ 9.98991473e-01 -4.15225339e-02 -1.70855572e-02 9.27003587e+02] [ 4.15134381e-02 9.99137552e-01 -8.86845273e-04 5.00691526e+00] [ 1.71076459e-02 1.76670644e-04 9.99853638e-01 3.62790478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.459254154 meters 0.05159954005624258 Centerline is valid? [True, True] Translation: X:927.06, Y:5.01, Z:3.63 [[ 9.98862850e-01 -4.49660446e-02 -1.58449058e-02 9.27061273e+02] [ 4.49586410e-02 9.98988510e-01 -8.23329601e-04 5.00786466e+00] [ 1.58659007e-02 1.10027920e-04 9.99874123e-01 3.62677672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.519254154 meters 0.051752814466620584 Centerline is valid? [True, True] Translation: X:927.12, Y:5.01, Z:3.63 [[ 9.98813821e-01 -4.59716161e-02 -1.60487198e-02 9.27119551e+02] [ 4.59641238e-02 9.98942742e-01 -8.35589922e-04 5.00739494e+00] [ 1.60701656e-02 9.69334183e-05 9.99870862e-01 3.62788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.579254154 meters 0.051892587024659584 Centerline is valid? [True, True] Translation: X:927.18, Y:5.01, Z:3.63 [[ 9.98945541e-01 -4.26156700e-02 -1.70795311e-02 9.27178094e+02] [ 4.26066586e-02 9.99091526e-01 -8.91311576e-04 5.00914665e+00] [ 1.71019986e-02 1.62669975e-04 9.99853737e-01 3.62779340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.639254154 meters 0.05256798205687004 Centerline is valid? [True, True] Translation: X:927.24, Y:5.01, Z:3.63 [[ 9.99148672e-01 -3.74800433e-02 -1.72388480e-02 9.27237301e+02] [ 3.74700849e-02 9.99297344e-01 -9.00419431e-04 5.01307380e+00] [ 1.72604828e-02 2.53711781e-04 9.99850995e-01 3.62651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.699254154 meters 0.05164570091266358 Centerline is valid? [True, True] Translation: X:927.30, Y:5.02, Z:3.63 [[ 9.99216319e-01 -3.54345053e-02 -1.76392859e-02 9.27296364e+02] [ 3.54237302e-02 9.99371956e-01 -9.23033909e-04 5.01525923e+00] [ 1.76609149e-02 2.97461239e-04 9.99843990e-01 3.62727181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.759254154 meters 0.05226540950621858 Centerline is valid? [True, True] Translation: X:927.35, Y:5.02, Z:3.62 [[ 9.99212104e-01 -3.57014814e-02 -1.73370902e-02 9.27354409e+02] [ 3.56910777e-02 9.99362457e-01 -9.09223662e-04 5.02259923e+00] [ 1.73584977e-02 2.89727854e-04 9.99849288e-01 3.62169432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.819254154 meters 0.05080197596972936 Centerline is valid? [True, True] Translation: X:927.41, Y:5.02, Z:3.63 [[ 9.99106370e-01 -3.92412880e-02 -1.57029596e-02 9.27414638e+02] [ 3.92331801e-02 9.99229743e-01 -8.24171903e-04 5.01512999e+00] [ 1.57232058e-02 2.07358357e-04 9.99876361e-01 3.62812173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.879254154 meters 0.05140848126198415 Centerline is valid? [True, True] Translation: X:927.47, Y:5.01, Z:3.63 [[ 9.98978125e-01 -4.33307274e-02 -1.28511881e-02 9.27474806e+02] [ 4.33256337e-02 9.99060776e-01 -6.74634416e-04 5.01313330e+00] [ 1.28683504e-02 1.17159156e-04 9.99917192e-01 3.63098178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.939254154 meters 0.0515285210916609 Centerline is valid? [True, True] Translation: X:927.53, Y:5.01, Z:3.63 [[ 9.98868647e-01 -4.60134669e-02 -1.20078116e-02 9.27532557e+02] [ 4.60092092e-02 9.98940817e-01 -6.30723243e-04 5.01304695e+00] [ 1.20241149e-02 7.75397569e-05 9.99927705e-01 3.63208964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.999254154 meters 0.05186817462286575 Centerline is valid? [True, True] Translation: X:927.59, Y:5.02, Z:3.63 [[ 9.98844794e-01 -4.63259893e-02 -1.27663904e-02 9.27589971e+02] [ 4.63211955e-02 9.98926372e-01 -6.71098198e-04 5.01642452e+00] [ 1.27837733e-02 7.89684775e-05 9.99918281e-01 3.62960277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.059254154 meters 0.050721204657879694 Centerline is valid? [True, True] Translation: X:927.65, Y:5.02, Z:3.63 [[ 9.98825031e-01 -4.61228967e-02 -1.48740251e-02 9.27648435e+02] [ 4.61163454e-02 9.98935768e-01 -7.83318008e-04 5.01799452e+00] [ 1.48943246e-02 9.64619526e-05 9.99889069e-01 3.63012112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters 0.05183895492224522 Centerline is valid? [True, True] Translation: X:927.71, Y:5.02, Z:3.63 [[ 9.98756688e-01 -4.61344051e-02 -1.88863726e-02 9.27707038e+02] [ 4.61238267e-02 9.98935234e-01 -9.95549727e-04 5.02056918e+00] [ 1.89121921e-02 1.23200173e-04 9.99821141e-01 3.62672035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.179254154 meters 0.051250890497856354 Centerline is valid? [True, True] Translation: X:927.77, Y:5.02, Z:3.63 [[ 9.98716648e-01 -4.73245919e-02 -1.80399338e-02 9.27766200e+02] [ 4.73151066e-02 9.98879559e-01 -9.52489489e-04 5.02092581e+00] [ 1.80647973e-02 9.77057210e-05 9.99836813e-01 3.63077708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters 0.051525258377094686 Centerline is valid? [True, True] Translation: X:927.82, Y:5.02, Z:3.63 [[ 9.98690276e-01 -4.86191291e-02 -1.59346777e-02 9.27824773e+02] [ 4.86118656e-02 9.98817389e-01 -8.43078603e-04 5.02285140e+00] [ 1.59568229e-02 6.73599933e-05 9.99872680e-01 3.63314894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.299254154 meters 0.05161644843931616 Centerline is valid? [True, True] Translation: X:927.88, Y:5.02, Z:3.64 [[ 9.98568345e-01 -5.18734622e-02 -1.30538814e-02 9.27883411e+02] [ 5.18688568e-02 9.98653666e-01 -6.91339398e-04 5.02439815e+00] [ 1.30721686e-02 1.32597348e-05 9.99914555e-01 3.63587496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539999 meters 0.05139438636862009 Centerline is valid? [True, True] Translation: X:927.94, Y:5.02, Z:3.64 [[ 9.98384378e-01 -5.57003419e-02 -1.12297213e-02 9.27941255e+02] [ 5.56971711e-02 9.98447530e-01 -5.95151195e-04 5.02467807e+00] [ 1.12454376e-02 -3.12740524e-05 9.99936768e-01 3.63641553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.419254154 meters 0.0513136058129594 Centerline is valid? [True, True] Translation: X:928.00, Y:5.03, Z:3.64 [[ 9.98317372e-01 -5.68832029e-02 -1.12572560e-02 9.27998998e+02] [ 5.68800864e-02 9.98380839e-01 -5.97073146e-04 5.02755081e+00] [ 1.12729921e-02 -4.42452006e-05 9.99936457e-01 3.63568942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539999 meters 0.05188832263223579 Centerline is valid? [True, True] Translation: X:928.06, Y:5.03, Z:3.64 [[ 9.98386576e-01 -5.55309515e-02 -1.18556988e-02 9.28057102e+02] [ 5.55273857e-02 9.98456966e-01 -6.29972025e-04 5.03259009e+00] [ 1.18723880e-02 -2.93603454e-05 9.99929520e-01 3.63569883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.539254154 meters 0.051601002066724286 Centerline is valid? [True, True] Translation: X:928.12, Y:5.04, Z:3.63 [[ 9.98550421e-01 -5.18153855e-02 -1.45678393e-02 9.28115484e+02] [ 5.18095792e-02 9.98656680e-01 -7.75935449e-04 5.03870123e+00] [ 1.45884754e-02 2.00570460e-05 9.99893582e-01 3.63384102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539999 meters 0.05193532799629679 Centerline is valid? [True, True] Translation: X:928.17, Y:5.04, Z:3.63 [[ 9.98657363e-01 -4.92652997e-02 -1.60125613e-02 9.28172879e+02] [ 4.92579407e-02 9.98785726e-01 -8.53889618e-04 5.04384799e+00] [ 1.60351848e-02 6.39973607e-05 9.99871426e-01 3.63266763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.659254154 meters 0.05141574372021242 Centerline is valid? [True, True] Translation: X:928.23, Y:5.05, Z:3.63 [[ 9.98631622e-01 -5.01586570e-02 -1.47983919e-02 9.28231982e+02] [ 5.01524501e-02 9.98741261e-01 -7.90475594e-04 5.04733270e+00] [ 1.48194137e-02 4.72183162e-05 9.99890185e-01 3.63394490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539999 meters 0.050968634142252604 Centerline is valid? [True, True] Translation: X:928.29, Y:5.05, Z:3.63 [[ 9.98496074e-01 -5.34793130e-02 -1.20645122e-02 9.28289660e+02] [ 5.34754217e-02 9.98568958e-01 -6.45132102e-04 5.04946351e+00] [ 1.20817486e-02 -9.93003617e-07 9.99927013e-01 3.63450077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.779254154 meters 0.05170578604154362 Centerline is valid? [True, True] Translation: X:928.35, Y:5.05, Z:3.64 [[ 9.98310519e-01 -5.71167326e-02 -1.06671101e-02 9.28347564e+02] [ 5.71138937e-02 9.98367506e-01 -5.70826886e-04 5.04997632e+00] [ 1.06822998e-02 -3.93777056e-05 9.99942942e-01 3.63591211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.839254154 meters 0.05136040078702627 Centerline is valid? [True, True] Translation: X:928.41, Y:5.05, Z:3.64 [[ 9.98249443e-01 -5.82790881e-02 -1.00795954e-02 9.28405625e+02] [ 5.82766034e-02 9.98300328e-01 -5.40291539e-04 5.05406048e+00] [ 1.00939511e-02 -4.80588557e-05 9.99949054e-01 3.63647857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.899254154 meters 0.05213509538548824 Centerline is valid? [True, True] Translation: X:928.46, Y:5.06, Z:3.63 [[ 9.98251363e-01 -5.80963471e-02 -1.09101097e-02 9.28464165e+02] [ 5.80934106e-02 9.98310980e-01 -5.86136405e-04 5.05949989e+00] [ 1.09257347e-02 -4.86940189e-05 9.99940311e-01 3.63478854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.959254154 meters 0.05199586156195401 Centerline is valid? [True, True] Translation: X:928.52, Y:5.07, Z:3.64 [[ 9.98284321e-01 -5.73393835e-02 -1.18578946e-02 9.28521696e+02] [ 5.73358428e-02 9.98354743e-01 -6.38613775e-04 5.06512887e+00] [ 1.18750031e-02 -4.23642624e-05 9.99929489e-01 3.63506302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.019254154 meters 0.05221396277895307 Centerline is valid? [True, True] Translation: X:928.58, Y:5.07, Z:3.64 [[ 9.98271862e-01 -5.74046578e-02 -1.25695682e-02 9.28579715e+02] [ 5.74006729e-02 9.98350992e-01 -6.77861744e-04 5.06972444e+00] [ 1.25877533e-02 -4.48113694e-05 9.99920770e-01 3.63675560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.079254154 meters 0.05219220814463828 Centerline is valid? [True, True] Translation: X:928.64, Y:5.07, Z:3.63 [[ 9.98276462e-01 -5.74095307e-02 -1.21758168e-02 9.28638415e+02] [ 5.74057839e-02 9.98350712e-01 -6.57281903e-04 5.07385141e+00] [ 1.21934697e-02 -4.28132566e-05 9.99925656e-01 3.63291521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.139254154 meters 0.05184983951556392 Centerline is valid? [True, True] Translation: X:928.70, Y:5.08, Z:3.64 [[ 9.98298587e-01 -5.71739266e-02 -1.14487422e-02 9.28697162e+02] [ 5.71705857e-02 9.98364233e-01 -6.19142362e-04 5.07982466e+00] [ 1.14654135e-02 -3.64423500e-05 9.99934269e-01 3.63552207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.199254154 meters 0.052873644701299155 Centerline is valid? [True, True] Translation: X:928.75, Y:5.09, Z:3.64 [[ 9.98301439e-01 -5.71588218e-02 -1.12740982e-02 9.28754650e+02] [ 5.71555648e-02 9.98365098e-01 -6.11145431e-04 5.08512392e+00] [ 1.12905985e-02 -3.42700868e-05 9.99936259e-01 3.63617775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.259254154 meters 0.052437947239072316 Centerline is valid? [True, True] Translation: X:928.81, Y:5.09, Z:3.63 [[ 9.98328367e-01 -5.68160022e-02 -1.06025411e-02 9.28812100e+02] [ 5.68130941e-02 9.98384666e-01 -5.75520259e-04 5.09087866e+00] [ 1.06181132e-02 -2.78049625e-05 9.99943626e-01 3.63490064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.319254154 meters 0.05239811396118631 Centerline is valid? [True, True] Translation: X:928.87, Y:5.10, Z:3.64 [[ 9.98409509e-01 -5.54584653e-02 -1.01395347e-02 9.28869760e+02] [ 5.54557314e-02 9.98460995e-01 -5.50793588e-04 5.09937571e+00] [ 1.01544761e-02 -1.23777566e-05 9.99948442e-01 3.63599437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.379254154 meters 0.05334104023195914 Centerline is valid? [True, True] Translation: X:928.93, Y:5.11, Z:3.64 [[ 9.98457342e-01 -5.47612802e-02 -9.17264987e-03 9.28928570e+02] [ 5.47590066e-02 9.98499475e-01 -4.99020448e-04 5.10670549e+00] [ 9.18621309e-03 -4.03456529e-06 9.99957806e-01 3.63746941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.439254154 meters 0.052651366400482534 Centerline is valid? [True, True] Translation: X:928.99, Y:5.11, Z:3.64 [[ 9.98428046e-01 -5.52383503e-02 -9.49532498e-03 9.28986215e+02] [ 5.52359240e-02 9.98473197e-01 -5.17785187e-04 5.11379469e+00] [ 9.50942909e-03 -7.51179626e-06 9.99954784e-01 3.63849667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.499254154 meters 0.053266887527034644 Centerline is valid? [True, True] Translation: X:929.04, Y:5.12, Z:3.64 [[ 9.98339850e-01 -5.67942780e-02 -9.58928787e-03 9.29043419e+02] [ 5.67918679e-02 9.98385902e-01 -5.23670078e-04 5.12115704e+00] [ 9.60355128e-03 -2.17928631e-05 9.99953885e-01 3.63820671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.559254154 meters 0.053241952324433836 Centerline is valid? [True, True] Translation: X:929.10, Y:5.13, Z:3.64 [[ 9.98288942e-01 -5.76890934e-02 -9.54764755e-03 9.29101266e+02] [ 5.76867371e-02 9.98334597e-01 -5.22241589e-04 5.12750195e+00] [ 9.56187451e-03 -2.94246305e-05 9.99954284e-01 3.63814740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters 0.05326291392750874 Centerline is valid? [True, True] Translation: X:929.16, Y:5.14, Z:3.64 [[ 9.98353188e-01 -5.65242521e-02 -9.79389657e-03 9.29159271e+02] [ 5.65217052e-02 9.98401226e-01 -5.36866165e-04 5.13702354e+00] [ 9.80858430e-03 -1.75856869e-05 9.99951895e-01 3.63953926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.679254154 meters 0.05325668958378396 Centerline is valid? [True, True] Translation: X:929.22, Y:5.15, Z:3.64 [[ 9.98535860e-01 -5.29689236e-02 -1.09740644e-02 9.29217888e+02] [ 5.29654975e-02 9.98596161e-01 -6.02806286e-04 5.15010837e+00] [ 1.09905886e-02 2.06769116e-05 9.99939601e-01 3.63773379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters 0.05373772472990311 Centerline is valid? [True, True] Translation: X:929.28, Y:5.16, Z:3.64 [[ 9.98787204e-01 -4.78064137e-02 -1.17757325e-02 9.29276192e+02] [ 4.78020937e-02 9.98856616e-01 -6.48204989e-04 5.15903879e+00] [ 1.17932566e-02 8.45141825e-05 9.99930454e-01 3.64302605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.799254154 meters 0.05367572316287463 Centerline is valid? [True, True] Translation: X:929.33, Y:5.17, Z:3.64 [[ 9.98941247e-01 -4.42461575e-02 -1.25961189e-02 9.29334817e+02] [ 4.42409182e-02 9.99020650e-01 -6.94428864e-04 5.17064123e+00] [ 1.26145087e-02 1.36429772e-04 9.99920425e-01 3.63955111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539999 meters 0.05398816977096514 Centerline is valid? [True, True] Translation: X:929.39, Y:5.18, Z:3.64 [[ 9.99084412e-01 -4.08475375e-02 -1.27206852e-02 9.29392716e+02] [ 4.08419113e-02 9.99165375e-01 -7.01863422e-04 5.17890634e+00] [ 1.27387376e-02 1.81683709e-04 9.99918842e-01 3.64140522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.919254154 meters 0.054335354479449885 Centerline is valid? [True, True] Translation: X:929.45, Y:5.19, Z:3.64 [[ 9.99114319e-01 -4.02529054e-02 -1.22589636e-02 9.29451134e+02] [ 4.02476273e-02 9.99189507e-01 -6.77056092e-04 5.18667959e+00] [ 1.22762813e-02 1.83062237e-04 9.99924627e-01 3.64221548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539999 meters 0.05473484094400351 Centerline is valid? [True, True] Translation: X:929.51, Y:5.19, Z:3.64 [[ 9.99125440e-01 -4.02209625e-02 -1.14293182e-02 9.29508604e+02] [ 4.02163646e-02 9.99190795e-01 -6.31932605e-04 5.19323405e+00] [ 1.14454865e-02 1.71734315e-04 9.99934484e-01 3.64264159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.039254154 meters 0.05424449863807156 Centerline is valid? [True, True] Translation: X:929.57, Y:5.20, Z:3.64 [[ 9.99165606e-01 -3.92706441e-02 -1.12208498e-02 9.29567218e+02] [ 3.92661444e-02 9.99228595e-01 -6.21120862e-04 5.19630573e+00] [ 1.12365858e-02 1.80003094e-04 9.99936851e-01 3.64343437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539999 meters 0.05411802720712803 Centerline is valid? [True, True] Translation: X:929.63, Y:5.20, Z:3.65 [[ 9.99264144e-01 -3.66183371e-02 -1.14134709e-02 9.29626074e+02] [ 3.66135026e-02 9.99329301e-01 -6.32306285e-04 5.19666204e+00] [ 1.14289699e-02 2.13953853e-04 9.99934664e-01 3.64526938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.159254154 meters 0.05487260072737577 Centerline is valid? [True, True] Translation: X:929.69, Y:5.21, Z:3.64 [[ 9.99351625e-01 -3.37694797e-02 -1.24880509e-02 9.29685029e+02] [ 3.37634670e-02 9.99429612e-01 -6.92053371e-04 5.21132391e+00] [ 1.25042981e-02 2.69964767e-04 9.99921782e-01 3.64113783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539999 meters 0.054495149870988996 Centerline is valid? [True, True] Translation: X:929.74, Y:5.21, Z:3.64 [[ 9.99402844e-01 -3.18721217e-02 -1.33462687e-02 9.29744312e+02] [ 3.18650816e-02 9.99491906e-01 -7.39871102e-04 5.21105836e+00] [ 1.33630688e-02 3.14149344e-04 9.99910661e-01 3.64204237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.279254154 meters 0.055749234563897125 Centerline is valid? [True, True] Translation: X:929.80, Y:5.22, Z:3.64 [[ 9.99479542e-01 -2.89028420e-02 -1.43272973e-02 9.29803524e+02] [ 2.88944212e-02 9.99582153e-01 -7.94439509e-04 5.22091947e+00] [ 1.43442722e-02 3.80047074e-04 9.99897043e-01 3.63828837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.339254154 meters 0.05536899374199069 Centerline is valid? [True, True] Translation: X:929.86, Y:5.22, Z:3.64 [[ 9.99499121e-01 -2.82042880e-02 -1.43535493e-02 9.29862795e+02] [ 2.81957474e-02 9.99602103e-01 -7.97075662e-04 5.21684662e+00] [ 1.43703190e-02 3.91967375e-04 9.99896665e-01 3.64106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.399254154 meters 0.0545032765806636 Centerline is valid? [True, True] Translation: X:929.92, Y:5.21, Z:3.64 [[ 9.99457349e-01 -3.04538337e-02 -1.25527613e-02 9.29923396e+02] [ 3.04474735e-02 9.99536125e-01 -6.97523103e-04 5.21465151e+00] [ 1.25681807e-02 3.14944723e-04 9.99920968e-01 3.64292864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.459254154 meters 0.05381790234698314 Centerline is valid? [True, True] Translation: X:929.98, Y:5.21, Z:3.65 [[ 9.99346447e-01 -3.44094135e-02 -1.10756966e-02 9.29982602e+02] [ 3.44047058e-02 9.99407793e-01 -6.15359367e-04 5.21038627e+00] [ 1.10903117e-02 2.33901114e-04 9.99938473e-01 3.64516138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.519254154 meters 0.05408705168845503 Centerline is valid? [True, True] Translation: X:930.04, Y:5.21, Z:3.65 [[ 9.99312488e-01 -3.54838044e-02 -1.07448187e-02 9.30041508e+02] [ 3.54794322e-02 9.99370228e-01 -5.97308137e-04 5.21276087e+00] [ 1.07592467e-02 2.15677412e-04 9.99942094e-01 3.64507323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.579254154 meters 0.053121861645064467 Centerline is valid? [True, True] Translation: X:930.10, Y:5.21, Z:3.65 [[ 9.99239069e-01 -3.72786830e-02 -1.14709384e-02 9.30100984e+02] [ 3.72738103e-02 9.99304886e-01 -6.38359034e-04 5.21033211e+00] [ 1.14867620e-02 2.10307704e-04 9.99934003e-01 3.64533678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.639254154 meters 0.05307424678786826 Centerline is valid? [True, True] Translation: X:930.16, Y:5.21, Z:3.65 [[ 9.99153121e-01 -3.91853462e-02 -1.25518908e-02 9.30158991e+02] [ 3.91796546e-02 9.99231938e-01 -6.99118051e-04 5.20535502e+00] [ 1.25696453e-02 2.06747237e-04 9.99920977e-01 3.64587597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.699254154 meters 0.053132800984429684 Centerline is valid? [True, True] Translation: X:930.22, Y:5.21, Z:3.64 [[ 9.99061219e-01 -4.13352066e-02 -1.29646363e-02 9.30217560e+02] [ 4.13293065e-02 9.99145318e-01 -7.22799076e-04 5.20562694e+00] [ 1.29834327e-02 1.86301100e-04 9.99915694e-01 3.64485283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.759254154 meters 0.05325269333216475 Centerline is valid? [True, True] Translation: X:930.28, Y:5.20, Z:3.65 [[ 9.98958069e-01 -4.40006864e-02 -1.21126791e-02 9.30275396e+02] [ 4.39957239e-02 9.99031491e-01 -6.75982042e-04 5.20377802e+00] [ 1.21306915e-02 1.42371629e-04 9.99926410e-01 3.64574708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.819254154 meters 0.052723292030244735 Centerline is valid? [True, True] Translation: X:930.33, Y:5.20, Z:3.65 [[ 9.98899244e-01 -4.54977636e-02 -1.14129275e-02 9.30334513e+02] [ 4.54934433e-02 9.98964434e-01 -6.38010799e-04 5.20170189e+00] [ 1.14301367e-02 1.18095135e-04 9.99934667e-01 3.64778869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.879254154 meters 0.052700990886033104 Centerline is valid? [True, True] Translation: X:930.39, Y:5.20, Z:3.65 [[ 9.98847546e-01 -4.67258573e-02 -1.09669146e-02 9.30393779e+02] [ 4.67219284e-02 9.98907746e-01 -6.14329493e-04 5.20119750e+00] [ 1.09836410e-02 1.01226107e-04 9.99939673e-01 3.64812034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.939254154 meters 0.05267406499456451 Centerline is valid? [True, True] Translation: X:930.45, Y:5.20, Z:3.65 [[ 9.98887465e-01 -4.59224506e-02 -1.07219950e-02 9.30451935e+02] [ 4.59186411e-02 9.98945002e-01 -6.01334406e-04 5.20116056e+00] [ 1.07382980e-02 1.08325962e-04 9.99942337e-01 3.64938419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.999254154 meters 0.052136087670863154 Centerline is valid? [True, True] Translation: X:930.51, Y:5.21, Z:3.65 [[ 9.98957899e-01 -4.43060259e-02 -1.09587013e-02 9.30509695e+02] [ 4.43019444e-02 9.99017998e-01 -6.15034306e-04 5.20625203e+00] [ 1.09751895e-02 1.28901602e-04 9.99939762e-01 3.64787870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.059254154 meters 0.05274362850670882 Centerline is valid? [True, True] Translation: X:930.57, Y:5.21, Z:3.65 [[ 9.99099132e-01 -4.05949540e-02 -1.23682785e-02 9.30569383e+02] [ 4.05894678e-02 9.99175667e-01 -6.94375557e-04 5.20616005e+00] [ 1.23862711e-02 1.91728174e-04 9.99923269e-01 3.64912139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters 0.05215041345691539 Centerline is valid? [True, True] Translation: X:930.63, Y:5.21, Z:3.65 [[ 9.99298303e-01 -3.53756358e-02 -1.23071464e-02 9.30628164e+02] [ 3.53698059e-02 9.99374054e-01 -6.91110252e-04 5.21174161e+00] [ 1.23238912e-02 2.55323925e-04 9.99924025e-01 3.64867287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.179254154 meters 0.05395576518633441 Centerline is valid? [True, True] Translation: X:930.69, Y:5.22, Z:3.65 [[ 9.99450788e-01 -3.07321557e-02 -1.23958268e-02 9.30687294e+02] [ 3.07258833e-02 9.99527606e-01 -6.96179954e-04 5.21895851e+00] [ 1.24113662e-02 3.14924877e-04 9.99922926e-01 3.64779252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters 0.05296000758351386 Centerline is valid? [True, True] Translation: X:930.75, Y:5.22, Z:3.65 [[ 9.99535058e-01 -2.82192259e-02 -1.15474507e-02 9.30746709e+02] [ 2.82136137e-02 9.99601706e-01 -6.48657661e-04 5.22199479e+00] [ 1.15611561e-02 3.22560759e-04 9.99933116e-01 3.64770643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.299254154 meters 0.05350239233866836 Centerline is valid? [True, True] Translation: X:930.81, Y:5.22, Z:3.65 [[ 9.99554119e-01 -2.73309975e-02 -1.20241515e-02 9.30805111e+02] [ 2.73248438e-02 9.99626378e-01 -6.75797702e-04 5.22262004e+00] [ 1.20381292e-02 3.46938315e-04 9.99927479e-01 3.64822474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539999 meters 0.053250691215394386 Centerline is valid? [True, True] Translation: X:930.87, Y:5.22, Z:3.65 [[ 9.99596975e-01 -2.57480136e-02 -1.19552644e-02 9.30865209e+02] [ 2.57418139e-02 9.99668399e-01 -6.72190755e-04 5.22110771e+00] [ 1.19686076e-02 3.64169652e-04 9.99928307e-01 3.64896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.419254154 meters 0.05217679243446387 Centerline is valid? [True, True] Translation: X:930.93, Y:5.22, Z:3.65 [[ 9.99640414e-01 -2.38386195e-02 -1.22785338e-02 9.30925054e+02] [ 2.38319330e-02 9.99715741e-01 -6.90622375e-04 5.21531417e+00] [ 1.22915070e-02 3.97752844e-04 9.99924377e-01 3.65114610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539999 meters 0.05403462495925699 Centerline is valid? [True, True] Translation: X:930.98, Y:5.23, Z:3.65 [[ 9.99646967e-01 -2.21332406e-02 -1.46989970e-02 9.30983796e+02] [ 2.21234694e-02 9.99754904e-01 -8.27042878e-04 5.22738655e+00] [ 1.47136995e-02 5.01558093e-04 9.99891622e-01 3.64735014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.539254154 meters 0.051533760478960924 Centerline is valid? [True, True] Translation: X:931.04, Y:5.21, Z:3.65 [[ 9.99625318e-01 -2.18611371e-02 -1.64716291e-02 9.31043152e+02] [ 2.18488164e-02 9.99760856e-01 -9.27604079e-04 5.21185340e+00] [ 1.64879685e-02 5.67370923e-04 9.99863903e-01 3.65235566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539999 meters 0.0508687642249943 Centerline is valid? [True, True] Translation: X:931.10, Y:5.21, Z:3.65 [[ 9.99573925e-01 -2.39888246e-02 -1.66284400e-02 9.31103194e+02] [ 2.39765581e-02 9.99712082e-01 -9.36674289e-04 5.21304038e+00] [ 1.66461221e-02 5.37582438e-04 9.99861299e-01 3.65287240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.659254154 meters 0.051490122900258437 Centerline is valid? [True, True] Translation: X:931.16, Y:5.21, Z:3.65 [[ 9.99411021e-01 -2.99552310e-02 -1.67420332e-02 9.31162584e+02] [ 2.99436295e-02 9.99551144e-01 -9.43258610e-04 5.21423859e+00] [ 1.67627740e-02 4.41385812e-04 9.99859397e-01 3.65243301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539999 meters 0.05122802339364517 Centerline is valid? [True, True] Translation: X:931.22, Y:5.21, Z:3.66 [[ 9.99216969e-01 -3.57140663e-02 -1.70280749e-02 9.31223755e+02] [ 3.57028991e-02 9.99361988e-01 -9.59453580e-04 5.20707181e+00] [ 1.70514768e-02 3.50750657e-04 9.99854551e-01 3.65548169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.779254154 meters 0.05130019222352883 Centerline is valid? [True, True] Translation: X:931.28, Y:5.21, Z:3.66 [[ 9.99128046e-01 -3.81440177e-02 -1.69758985e-02 9.31283021e+02] [ 3.81332658e-02 9.99272205e-01 -9.56728332e-04 5.20777611e+00] [ 1.70000370e-02 3.08547659e-04 9.99855441e-01 3.65557110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.839254154 meters 0.051051591808757055 Centerline is valid? [True, True] Translation: X:931.34, Y:5.21, Z:3.66 [[ 9.99050392e-01 -4.00233949e-02 -1.72174975e-02 9.31342532e+02] [ 4.00125886e-02 9.99198703e-01 -9.71798975e-04 5.20561480e+00] [ 1.72425958e-02 2.81959504e-04 9.99851296e-01 3.65716388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.899254154 meters 0.0508232786344126 Centerline is valid? [True, True] Translation: X:931.40, Y:5.21, Z:3.66 [[ 9.99066127e-01 -3.92621636e-02 -1.80376303e-02 9.31399786e+02] [ 3.92501592e-02 9.99228896e-01 -1.01919312e-03 5.20840371e+00] [ 1.80637372e-02 3.10261458e-04 9.99836789e-01 3.65640589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.959254154 meters 0.051382861670096924 Centerline is valid? [True, True] Translation: X:931.46, Y:5.21, Z:3.66 [[ 9.99074881e-01 -3.84545230e-02 -1.92518262e-02 9.31458726e+02] [ 3.84406609e-02 9.99260290e-01 -1.08971899e-03 5.20549679e+00] [ 1.92794901e-02 3.48657950e-04 9.99814073e-01 3.66050340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.019254154 meters 0.05077699956007245 Centerline is valid? [True, True] Translation: X:931.52, Y:5.21, Z:3.66 [[ 9.99072718e-01 -3.84112188e-02 -1.94494724e-02 9.31516023e+02] [ 3.83970393e-02 9.99261954e-01 -1.10209515e-03 5.20796558e+00] [ 1.94774507e-02 3.54271037e-04 9.99810234e-01 3.66011325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.079254154 meters 0.051183025297301614 Centerline is valid? [True, True] Translation: X:931.57, Y:5.21, Z:3.66 [[ 9.98962806e-01 -4.12967921e-02 -1.91803649e-02 9.31573989e+02] [ 4.12835189e-02 9.99146880e-01 -1.08762838e-03 5.21110781e+00] [ 1.92089174e-02 2.94667337e-04 9.99815448e-01 3.65878766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.139254154 meters 0.050985835081785294 Centerline is valid? [True, True] Translation: X:931.63, Y:5.21, Z:3.66 [[ 9.98764457e-01 -4.66940000e-02 -1.70067711e-02 9.31634344e+02] [ 4.66843430e-02 9.98909226e-01 -9.64611966e-04 5.20814412e+00] [ 1.70332622e-02 1.69470211e-04 9.99854909e-01 3.66361805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.199254154 meters 0.051298865014608605 Centerline is valid? [True, True] Translation: X:931.69, Y:5.21, Z:3.66 [[ 9.98561527e-01 -5.13020909e-02 -1.55876012e-02 9.31692770e+02] [ 5.12945205e-02 9.98683177e-01 -8.85350991e-04 5.21096048e+00] [ 1.56124954e-02 8.45189107e-05 9.99878114e-01 3.66303734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.259254154 meters 0.050232198054983954 Centerline is valid? [True, True] Translation: X:931.75, Y:5.21, Z:3.66 [[ 9.98446460e-01 -5.33502602e-02 -1.60753346e-02 9.31750855e+02] [ 5.33424428e-02 9.98575859e-01 -9.14991652e-04 5.21363896e+00] [ 1.61012561e-02 5.60725583e-05 9.99870365e-01 3.66295030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.319254154 meters 0.051224384008320745 Centerline is valid? [True, True] Translation: X:931.81, Y:5.22, Z:3.66 [[ 9.98354717e-01 -5.48191872e-02 -1.68141771e-02 9.31809040e+02] [ 5.48108215e-02 9.98496297e-01 -9.58311005e-04 5.21737607e+00] [ 1.68414274e-02 3.51354541e-05 9.99858172e-01 3.65936493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.379254154 meters 0.051603411274658256 Centerline is valid? [True, True] Translation: X:931.87, Y:5.22, Z:3.66 [[ 9.98387232e-01 -5.45115048e-02 -1.58565752e-02 9.31868025e+02] [ 5.45040020e-02 9.98513142e-01 -9.05256438e-04 5.22240945e+00] [ 1.58823456e-02 3.95496622e-05 9.99873867e-01 3.66346706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.439254154 meters 0.051183159991093394 Centerline is valid? [True, True] Translation: X:931.93, Y:5.23, Z:3.66 [[ 9.98445506e-01 -5.36646721e-02 -1.50556961e-02 9.31925901e+02] [ 5.36577991e-02 9.98559012e-01 -8.60374851e-04 5.22754415e+00] [ 1.50801728e-02 5.11818871e-05 9.99886286e-01 3.66221310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.499254154 meters 0.05206976265030382 Centerline is valid? [True, True] Translation: X:931.98, Y:5.24, Z:3.66 [[ 9.98643719e-01 -4.99181005e-02 -1.47954700e-02 9.31984410e+02] [ 4.99110325e-02 9.98753309e-01 -8.46809229e-04 5.23642781e+00] [ 1.48192958e-02 1.07203531e-04 9.99890182e-01 3.66239109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.559254154 meters 0.05186379492404466 Centerline is valid? [True, True] Translation: X:932.04, Y:5.24, Z:3.66 [[ 9.98824633e-01 -4.55974164e-02 -1.64386106e-02 9.32043691e+02] [ 4.55880950e-02 9.98959879e-01 -9.41521158e-04 5.24174321e+00] [ 1.64644434e-02 1.91009585e-04 9.99864434e-01 3.66393728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters 0.05194699901037423 Centerline is valid? [True, True] Translation: X:932.10, Y:5.25, Z:3.66 [[ 9.98934900e-01 -4.31303069e-02 -1.63964370e-02 9.32102292e+02] [ 4.31206766e-02 9.99069428e-01 -9.40587561e-04 5.24752629e+00] [ 1.64217468e-02 2.32560284e-04 9.99865127e-01 3.66377985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.679254154 meters 0.052574332092450445 Centerline is valid? [True, True] Translation: X:932.16, Y:5.26, Z:3.66 [[ 9.99137834e-01 -3.90969033e-02 -1.39649909e-02 9.32160496e+02] [ 3.90895150e-02 9.99235391e-01 -8.01730813e-04 5.25942753e+00] [ 1.39856583e-02 2.55154867e-04 9.99902163e-01 3.66378943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters 0.05273596853669712 Centerline is valid? [True, True] Translation: X:932.22, Y:5.26, Z:3.67 [[ 9.99183879e-01 -3.83114915e-02 -1.27986946e-02 9.32219328e+02] [ 3.83052083e-02 9.99265815e-01 -7.35787854e-04 5.26323422e+00] [ 1.28174871e-02 2.44930699e-04 9.99917823e-01 3.66598078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.799254154 meters 0.05310874230119292 Centerline is valid? [True, True] Translation: X:932.28, Y:5.27, Z:3.67 [[ 9.99193504e-01 -3.84482272e-02 -1.15790554e-02 9.32278168e+02] [ 3.84430809e-02 9.99260569e-01 -6.66776355e-04 5.26644387e+00] [ 1.15961299e-02 2.21104039e-04 9.99932738e-01 3.66836364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539999 meters 0.051991077796232577 Centerline is valid? [True, True] Translation: X:932.34, Y:5.27, Z:3.67 [[ 9.99142114e-01 -3.99028840e-02 -1.10813585e-02 9.32336508e+02] [ 3.98982518e-02 9.99203544e-01 -6.38862714e-04 5.27025299e+00] [ 1.10980251e-02 1.96187812e-04 9.99938396e-01 3.66825544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.919254154 meters 0.05195661423470782 Centerline is valid? [True, True] Translation: X:932.39, Y:5.28, Z:3.67 [[ 9.99053863e-01 -4.19606832e-02 -1.14315744e-02 9.32394459e+02] [ 4.19558810e-02 9.99119247e-01 -6.59690083e-04 5.27515459e+00] [ 1.14491870e-02 1.79444151e-04 9.99934440e-01 3.66717101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539999 meters 0.05196249738928162 Centerline is valid? [True, True] Translation: X:932.45, Y:5.28, Z:3.67 [[ 9.98837306e-01 -4.65307834e-02 -1.26064635e-02 9.32453192e+02] [ 4.65252934e-02 9.98916847e-01 -7.28571367e-04 5.27575433e+00] [ 1.26267098e-02 1.41204846e-04 9.99920270e-01 3.66598797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.039254154 meters 0.05291110487650402 Centerline is valid? [True, True] Translation: X:932.51, Y:5.28, Z:3.67 [[ 9.98616709e-01 -5.08674046e-02 -1.33107221e-02 9.32512323e+02] [ 5.08616513e-02 9.98705411e-01 -7.70610253e-04 5.27592310e+00] [ 1.33326891e-02 9.25389697e-05 9.99911111e-01 3.66601164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539999 meters 0.05290929484664585 Centerline is valid? [True, True] Translation: X:932.57, Y:5.28, Z:3.67 [[ 9.98438370e-01 -5.43965023e-02 -1.27217191e-02 9.32570744e+02] [ 5.43915166e-02 9.98519413e-01 -7.37829573e-04 5.27760886e+00] [ 1.27430188e-02 4.47237606e-05 9.99918803e-01 3.66639863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.159254154 meters 0.05181765053385491 Centerline is valid? [True, True] Translation: X:932.63, Y:5.28, Z:3.67 [[ 9.98214108e-01 -5.86818028e-02 -1.11821435e-02 9.32629619e+02] [ 5.86782061e-02 9.98276738e-01 -6.49740160e-04 5.27808114e+00] [ 1.12010017e-02 -7.56832856e-06 9.99937267e-01 3.66986761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539999 meters 0.05204152268844491 Centerline is valid? [True, True] Translation: X:932.69, Y:5.28, Z:3.67 [[ 9.97972092e-01 -6.27949695e-02 -1.04160721e-02 9.32687885e+02] [ 6.27920606e-02 9.98026447e-01 -6.06391645e-04 5.27956068e+00] [ 1.04335938e-02 -4.88846925e-05 9.99945567e-01 3.66935619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.279254154 meters 0.05247801220994109 Centerline is valid? [True, True] Translation: X:932.75, Y:5.28, Z:3.67 [[ 9.97546404e-01 -6.91677045e-02 -1.08167267e-02 9.32746495e+02] [ 6.91649350e-02 9.97605039e-01 -6.30351968e-04 5.28182892e+00] [ 1.08344211e-02 -1.19332860e-04 9.99941299e-01 3.67037380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.339254154 meters 0.05247324366182669 Centerline is valid? [True, True] Translation: X:932.81, Y:5.29, Z:3.67 [[ 9.97321370e-01 -7.23576347e-02 -1.06984700e-02 9.32805639e+02] [ 7.23551070e-02 9.97378739e-01 -6.23649835e-04 5.28952088e+00] [ 1.07155524e-02 -1.52109633e-04 9.99942575e-01 3.67252077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.399254154 meters 0.052953255122477345 Centerline is valid? [True, True] Translation: X:932.86, Y:5.29, Z:3.67 [[ 9.97281339e-01 -7.28364488e-02 -1.11706367e-02 9.32864775e+02] [ 7.28337178e-02 9.97343885e-01 -6.51635856e-04 5.29252146e+00] [ 1.11884291e-02 -1.63734725e-04 9.99937394e-01 3.66951738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.459254154 meters 0.05342008510852571 Centerline is valid? [True, True] Translation: X:932.92, Y:5.30, Z:3.67 [[ 9.97262225e-01 -7.32288374e-02 -1.02757680e-02 9.32922639e+02] [ 7.32265401e-02 9.97315153e-01 -6.00130327e-04 5.30164474e+00] [ 1.02921260e-02 -1.53971636e-04 9.99947023e-01 3.67054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.519254154 meters 0.05344368702543543 Centerline is valid? [True, True] Translation: X:932.98, Y:5.31, Z:3.67 [[ 9.97176001e-01 -7.45378188e-02 -9.17256384e-03 9.32979681e+02] [ 7.45360384e-02 9.97218176e-01 -5.36279735e-04 5.30986326e+00] [ 9.18702051e-03 -1.48921289e-04 9.99957787e-01 3.67234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.579254154 meters 0.05351010424821735 Centerline is valid? [True, True] Translation: X:933.04, Y:5.32, Z:3.67 [[ 9.97064722e-01 -7.60351538e-02 -8.97746074e-03 9.33036814e+02] [ 7.60335044e-02 9.97105125e-01 -5.25374461e-04 5.31797220e+00] [ 8.99141904e-03 -1.58755460e-04 9.99959564e-01 3.67279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.639254154 meters 0.05490258216355037 Centerline is valid? [True, True] Translation: X:933.10, Y:5.32, Z:3.67 [[ 9.96992950e-01 -7.69013502e-02 -9.55193527e-03 9.33095225e+02] [ 7.68995153e-02 9.97038691e-01 -5.59776210e-04 5.32275031e+00] [ 9.56669659e-03 -1.76446257e-04 9.99954223e-01 3.67127483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.699254154 meters 0.053688731732934585 Centerline is valid? [True, True] Translation: X:933.15, Y:5.33, Z:3.67 [[ 9.96809373e-01 -7.91419514e-02 -1.03742760e-02 9.33154398e+02] [ 7.91399008e-02 9.96863333e-01 -6.08673472e-04 5.33312508e+00] [ 1.03899069e-02 -2.14287749e-04 9.99946000e-01 3.67062947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.759254154 meters 0.0545309849076259 Centerline is valid? [True, True] Translation: X:933.21, Y:5.34, Z:3.67 [[ 9.96505911e-01 -8.29859980e-02 -9.44957838e-03 9.33214370e+02] [ 8.29844675e-02 9.96550686e-01 -5.54619472e-04 5.34120210e+00] [ 9.46300947e-03 -2.31486647e-04 9.99955198e-01 3.67046866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.819254154 meters 0.055247410563527534 Centerline is valid? [True, True] Translation: X:933.27, Y:5.35, Z:3.67 [[ 9.96147663e-01 -8.73874476e-02 -7.29840573e-03 9.33274481e+02] [ 8.73866526e-02 9.96174377e-01 -4.28372572e-04 5.35033495e+00] [ 7.30791917e-03 -2.11060910e-04 9.99973275e-01 3.67061152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.879254154 meters 0.055065320422614236 Centerline is valid? [True, True] Translation: X:933.33, Y:5.36, Z:3.67 [[ 9.95849571e-01 -9.08584517e-02 -5.32662228e-03 9.33334060e+02] [ 9.08580778e-02 9.95863802e-01 -3.12630722e-04 5.36475030e+00] [ 5.33299545e-03 -1.72633490e-04 9.99985765e-01 3.67141628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.939254154 meters 0.05583837825145197 Centerline is valid? [True, True] Translation: X:933.39, Y:5.36, Z:3.67 [[ 9.95776829e-01 -9.15346293e-02 -7.06526270e-03 9.33391753e+02] [ 9.15339876e-02 9.95801866e-01 -4.14803994e-04 5.36421545e+00] [ 7.07357072e-03 -2.33659463e-04 9.99974955e-01 3.67010471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.999254154 meters 0.055641997942191136 Centerline is valid? [True, True] Translation: X:933.45, Y:5.39, Z:3.67 [[ 9.95960534e-01 -8.94484450e-02 -7.84798371e-03 9.33450271e+02] [ 8.94475867e-02 9.95991424e-01 -4.60993960e-04 5.38694508e+00] [ 7.85775966e-03 -2.42851413e-04 9.99969098e-01 3.66892032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.059254154 meters 0.055514542136066686 Centerline is valid? [True, True] Translation: X:933.51, Y:5.39, Z:3.67 [[ 9.96231575e-01 -8.63432995e-02 -8.21479697e-03 9.33510352e+02] [ 8.63422523e-02 9.96265418e-01 -4.82706132e-04 5.39150291e+00] [ 8.22579657e-03 -2.28396982e-04 9.99966141e-01 3.66740240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters 0.056289128612551545 Centerline is valid? [True, True] Translation: X:933.57, Y:5.41, Z:3.67 [[ 9.96660070e-01 -8.12446578e-02 -8.24680479e-03 9.33569779e+02] [ 8.12434270e-02 9.96694171e-01 -4.84701167e-04 5.40713333e+00] [ 8.25892164e-03 -1.86916384e-04 9.99965877e-01 3.66745338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.179254154 meters 0.05613307322617037 Centerline is valid? [True, True] Translation: X:933.63, Y:5.42, Z:3.67 [[ 9.97145612e-01 -7.51879173e-02 -6.88520735e-03 9.33629027e+02] [ 7.51869150e-02 9.97169376e-01 -4.04673962e-04 5.42270910e+00] [ 6.89614451e-03 -1.14158634e-04 9.99976215e-01 3.66761906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters 0.05627330781110735 Centerline is valid? [True, True] Translation: X:933.69, Y:5.44, Z:3.67 [[ 9.97735946e-01 -6.70775022e-02 -4.85700651e-03 9.33688326e+02] [ 6.70769072e-02 9.97747767e-01 -2.85470416e-04 5.43689486e+00] [ 4.86521605e-03 -4.09688793e-05 9.99988164e-01 3.66740116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.299254154 meters 0.05579062631559831 Centerline is valid? [True, True] Translation: X:933.74, Y:5.45, Z:3.67 [[ 9.98369680e-01 -5.69663881e-02 -3.57962194e-03 9.33744924e+02] [ 5.69659998e-02 9.98376097e-01 -2.10423507e-04 5.45343098e+00] [ 3.58579605e-03 6.16370611e-06 9.99993571e-01 3.66781738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539999 meters 0.056010399576530166 Centerline is valid? [True, True] Translation: X:933.80, Y:5.46, Z:3.67 [[ 9.98592079e-01 -5.29641063e-02 -2.94321463e-03 9.33803727e+02] [ 5.29638264e-02 9.98596417e-01 -1.73040413e-04 5.46262684e+00] [ 2.94824852e-03 1.69128770e-05 9.99995654e-01 3.66807917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.419254154 meters 0.05649227153501146 Centerline is valid? [True, True] Translation: X:933.86, Y:5.47, Z:3.67 [[ 9.99174495e-01 -4.05411120e-02 -2.59743827e-03 9.33863156e+02] [ 4.05408511e-02 9.99177870e-01 -1.53048539e-04 5.47456285e+00] [ 2.60150760e-03 4.76198388e-05 9.99996615e-01 3.66718350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539999 meters 0.05921052443846345 Centerline is valid? [True, True] Translation: X:933.92, Y:5.50, Z:3.67 [[ 9.99497033e-01 -3.15276585e-02 -3.41887982e-03 9.33921788e+02] [ 3.15271536e-02 9.99502875e-01 -2.01488749e-04 5.49517582e+00] [ 3.42353268e-03 9.35998572e-05 9.99994135e-01 3.66670263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.539254154 meters 0.059309992726514375 Centerline is valid? [True, True] Translation: X:933.98, Y:5.50, Z:3.67 [[ 9.99578078e-01 -2.88368178e-02 -3.47897009e-03 9.33981328e+02] [ 2.88362787e-02 9.99584127e-01 -2.05023014e-04 5.50047267e+00] [ 3.48343549e-03 1.04615959e-04 9.99993927e-01 3.66611378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539999 meters 0.057668284582961506 Centerline is valid? [True, True] Translation: X:934.04, Y:5.49, Z:3.66 [[ 9.99582585e-01 -2.86752879e-02 -3.51906834e-03 9.34040231e+02] [ 2.86747353e-02 9.99588774e-01 -2.07368419e-04 5.49469192e+00] [ 3.52356755e-03 1.06373508e-04 9.99993787e-01 3.66472358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.659254154 meters 0.05734798563213043 Centerline is valid? [True, True] Translation: X:934.10, Y:5.50, Z:3.66 [[ 9.99536484e-01 -3.00375604e-02 -4.95599166e-03 9.34099028e+02] [ 3.00364779e-02 9.99548760e-01 -2.92719584e-04 5.49550245e+00] [ 4.96254790e-03 1.43723370e-04 9.99987676e-01 3.66347236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539999 meters 0.057507697911480006 Centerline is valid? [True, True] Translation: X:934.16, Y:5.50, Z:3.66 [[ 9.99504845e-01 -3.08544045e-02 -6.17012434e-03 9.34156255e+02] [ 3.08527404e-02 9.99523874e-01 -3.64729492e-04 5.50103896e+00] [ 6.17844010e-03 1.74183650e-04 9.99980898e-01 3.66273926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.779254154 meters 0.05868279098031002 Centerline is valid? [True, True] Translation: X:934.21, Y:5.50, Z:3.66 [[ 9.99507555e-01 -3.09793923e-02 -4.99252111e-03 9.34214362e+02] [ 3.09783032e-02 9.99520014e-01 -2.95353680e-04 5.50423102e+00] [ 4.99927465e-03 1.40548402e-04 9.99987494e-01 3.66452731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.839254154 meters 0.05828522051069289 Centerline is valid? [True, True] Translation: X:934.27, Y:5.50, Z:3.67 [[ 9.99576945e-01 -2.90001420e-02 -2.21868042e-03 9.34274394e+02] [ 2.89999220e-02 9.99579405e-01 -1.31296846e-04 5.50306888e+00] [ 2.22155488e-03 6.68997414e-05 9.99997530e-01 3.66669896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.899254154 meters 0.05747918284770527 Centerline is valid? [True, True] Translation: X:934.33, Y:5.50, Z:3.67 [[ 9.99635635e-01 -2.69037439e-02 -2.18789086e-03 9.34334472e+02] [ 2.69035248e-02 9.99638026e-01 -1.29507101e-04 5.49882830e+00] [ 2.19058313e-03 7.05979370e-05 9.99997598e-01 3.66613529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.959254154 meters 0.05694375177850568 Centerline is valid? [True, True] Translation: X:934.39, Y:5.50, Z:3.67 [[ 9.99657714e-01 -2.60210374e-02 -2.71320511e-03 9.34393367e+02] [ 2.60206974e-02 9.99661391e-01 -1.60542894e-04 5.49542880e+00] [ 2.71646389e-03 8.98884534e-05 9.99996306e-01 3.66514049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.019254154 meters 0.057110228249380966 Centerline is valid? [True, True] Translation: X:934.45, Y:5.50, Z:3.66 [[ 9.99698866e-01 -2.38358939e-02 -5.83326714e-03 9.34452613e+02] [ 2.38342795e-02 9.99715863e-01 -3.46116533e-04 5.49757066e+00] [ 5.83985969e-03 2.06980586e-04 9.99982926e-01 3.66336844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.079254154 meters 0.05520443540249035 Centerline is valid? [True, True] Translation: X:934.51, Y:5.49, Z:3.66 [[ 9.99717389e-01 -2.27351597e-02 -6.94661762e-03 9.34512942e+02] [ 2.27328430e-02 9.99741491e-01 -4.12298276e-04 5.48769421e+00] [ 6.95419552e-03 2.54265388e-04 9.99975787e-01 3.66320242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.139254154 meters 0.05736575326980093 Centerline is valid? [True, True] Translation: X:934.57, Y:5.49, Z:3.66 [[ 9.99661279e-01 -2.42055245e-02 -9.56133501e-03 9.34570988e+02] [ 2.42012000e-02 9.99706947e-01 -5.67755812e-04 5.49305285e+00] [ 9.57227586e-03 3.36167720e-04 9.99954128e-01 3.66129166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.199254154 meters 0.05427487236997433 Centerline is valid? [True, True] Translation: X:934.63, Y:5.48, Z:3.66 [[ 9.99497055e-01 -3.04029094e-02 -9.01670855e-03 9.34632116e+02] [ 3.03993140e-02 9.99537691e-01 -5.35569117e-04 5.47559564e+00] [ 9.02882290e-03 2.61198001e-04 9.99959205e-01 3.66360607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.259254154 meters 0.054365984764136684 Centerline is valid? [True, True] Translation: X:934.69, Y:5.47, Z:3.67 [[ 9.99136697e-01 -4.07112688e-02 -8.27370784e-03 9.34692115e+02] [ 4.07085941e-02 9.99170941e-01 -4.91503819e-04 5.46825001e+00] [ 8.28685819e-03 1.54268489e-04 9.99965651e-01 3.66529703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.319254154 meters 0.05354677893803843 Centerline is valid? [True, True] Translation: X:934.75, Y:5.46, Z:3.67 [[ 9.98784354e-01 -4.88108574e-02 -6.87858747e-03 9.34752838e+02] [ 4.88092005e-02 9.98808037e-01 -4.08639157e-04 5.46127201e+00] [ 6.89033448e-03 7.24040407e-05 9.99976259e-01 3.66736662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.379254154 meters 0.05326195822743269 Centerline is valid? [True, True] Translation: X:934.81, Y:5.45, Z:3.67 [[ 9.98137087e-01 -6.06102245e-02 -6.98264214e-03 9.34812405e+02] [ 6.06088053e-02 9.98161510e-01 -4.14866566e-04 5.45143541e+00] [ 6.99494978e-03 -9.11589315e-06 9.99975535e-01 3.66815946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.439254154 meters 0.0535595614386765 Centerline is valid? [True, True] Translation: X:934.87, Y:5.45, Z:3.67 [[ 9.97567614e-01 -6.91755830e-02 -8.57874254e-03 9.34872449e+02] [ 6.91737558e-02 9.97604497e-01 -5.09881014e-04 5.44605987e+00] [ 8.59346345e-03 -8.47830547e-05 9.99963072e-01 3.66787563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.499254154 meters 0.05412289340533463 Centerline is valid? [True, True] Translation: X:934.93, Y:5.44, Z:3.67 [[ 9.97154333e-01 -7.47440806e-02 -9.82644912e-03 9.34932634e+02] [ 7.47419528e-02 9.97202737e-01 -5.84106922e-04 5.44291451e+00] [ 9.84262050e-03 -1.52003249e-04 9.99951549e-01 3.66740090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.559254154 meters 0.05413036957200338 Centerline is valid? [True, True] Translation: X:934.99, Y:5.45, Z:3.67 [[ 9.96951761e-01 -7.73978136e-02 -9.83689684e-03 9.34991566e+02] [ 7.73958090e-02 9.97000274e-01 -5.84865823e-04 5.44709810e+00] [ 9.85265618e-03 -1.78251576e-04 9.99951445e-01 3.66906975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters 0.05413999655861174 Centerline is valid? [True, True] Translation: X:935.05, Y:5.44, Z:3.67 [[ 9.96746973e-01 -8.01622678e-02 -8.33562201e-03 9.35050752e+02] [ 8.01609231e-02 9.96781812e-01 -4.95829201e-04 5.44374254e+00] [ 8.34854320e-03 -1.73974900e-04 9.99965135e-01 3.66872705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.679254154 meters 0.05410721928878367 Centerline is valid? [True, True] Translation: X:935.11, Y:5.44, Z:3.67 [[ 9.96691753e-01 -8.09737022e-02 -6.98639428e-03 9.35108347e+02] [ 8.09727758e-02 9.96716227e-01 -4.15820406e-04 5.44104912e+00] [ 6.99712306e-03 -1.51262968e-04 9.99975508e-01 3.66928566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters 0.052873599709657604 Centerline is valid? [True, True] Translation: X:935.17, Y:5.44, Z:3.67 [[ 9.96961094e-01 -7.76502649e-02 -6.24602229e-03 9.35168467e+02] [ 7.76494582e-02 9.96980653e-01 -3.71914051e-04 5.44223217e+00] [ 6.25604261e-03 -1.14216407e-04 9.99980424e-01 3.66972926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.799254154 meters 0.05274758830506194 Centerline is valid? [True, True] Translation: X:935.23, Y:5.45, Z:3.67 [[ 9.97365659e-01 -7.22449760e-02 -6.51191061e-03 9.35226843e+02] [ 7.22439837e-02 9.97386914e-01 -3.87787763e-04 5.45169117e+00] [ 6.52291014e-03 -8.36801662e-05 9.99978722e-01 3.66970780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539999 meters 0.052216552840131 Centerline is valid? [True, True] Translation: X:935.29, Y:5.46, Z:3.67 [[ 9.98015144e-01 -6.24968320e-02 -7.74069330e-03 9.35286668e+02] [ 6.24951360e-02 9.98045162e-01 -4.61038069e-04 5.45921946e+00] [ 7.75437492e-03 -2.36327051e-05 9.99969934e-01 3.66777945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.919254154 meters 0.05185141620904358 Centerline is valid? [True, True] Translation: X:935.34, Y:5.47, Z:3.67 [[ 9.98411118e-01 -5.53949765e-02 -1.03265237e-02 9.35344956e+02] [ 5.53915702e-02 9.98464519e-01 -6.15801335e-04 5.46627865e+00] [ 1.03447798e-02 4.28205386e-05 9.99946490e-01 3.66782787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539999 meters 0.05214579953688244 Centerline is valid? [True, True] Translation: X:935.40, Y:5.47, Z:3.67 [[ 9.98562125e-01 -5.24850072e-02 -1.09090280e-02 9.35404051e+02] [ 5.24810179e-02 9.98621709e-01 -6.51835861e-04 5.47089480e+00] [ 1.09282038e-02 7.83817065e-05 9.99940282e-01 3.66791282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.039254154 meters 0.05254416179049021 Centerline is valid? [True, True] Translation: X:935.46, Y:5.48, Z:3.67 [[ 9.98796554e-01 -4.79835262e-02 -1.01500762e-02 9.35461527e+02] [ 4.79798333e-02 9.98848120e-01 -6.07164502e-04 5.47774275e+00] [ 1.01675184e-02 1.19434848e-04 9.99948302e-01 3.66770884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539999 meters 0.050983081842860586 Centerline is valid? [True, True] Translation: X:935.52, Y:5.48, Z:3.67 [[ 9.98890594e-01 -4.60250063e-02 -9.96391185e-03 9.35520599e+02] [ 4.60213417e-02 9.98940278e-01 -5.96875672e-04 5.47523702e+00] [ 9.98082408e-03 1.37660903e-04 9.99950181e-01 3.67170003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.159254154 meters 0.051713984045400535 Centerline is valid? [True, True] Translation: X:935.58, Y:5.48, Z:3.67 [[ 9.99052337e-01 -4.22505567e-02 -1.04555963e-02 9.35580443e+02] [ 4.22463088e-02 9.99107030e-01 -6.26908648e-04 5.47840320e+00] [ 1.04727470e-02 1.84604201e-04 9.99945142e-01 3.67186844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539999 meters 0.051323148288251526 Centerline is valid? [True, True] Translation: X:935.64, Y:5.48, Z:3.67 [[ 9.99159738e-01 -3.90931826e-02 -1.23102378e-02 9.35640952e+02] [ 3.90870534e-02 9.99235536e-01 -7.38186739e-04 5.48069237e+00] [ 1.23296851e-02 2.56395547e-04 9.99923954e-01 3.67156877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.279254154 meters 0.05123223975749561 Centerline is valid? [True, True] Translation: X:935.70, Y:5.48, Z:3.67 [[ 9.99246661e-01 -3.60037856e-02 -1.44857928e-02 9.35700692e+02] [ 3.59949727e-02 9.99351593e-01 -8.68729583e-04 5.48379423e+00] [ 1.45076777e-02 3.46659420e-04 9.99894698e-01 3.67089927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.339254154 meters 0.051537186094513104 Centerline is valid? [True, True] Translation: X:935.76, Y:5.48, Z:3.67 [[ 9.99266675e-01 -3.49491210e-02 -1.56419878e-02 9.35759970e+02] [ 3.49387108e-02 9.99389016e-01 -9.38386717e-04 5.48280554e+00] [ 1.56652266e-02 3.91187686e-04 9.99877216e-01 3.67214169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.399254154 meters 0.052127589973118844 Centerline is valid? [True, True] Translation: X:935.82, Y:5.48, Z:3.67 [[ 9.99093605e-01 -3.96989134e-02 -1.53611440e-02 9.35820417e+02] [ 3.96894328e-02 9.99211639e-01 -9.21664375e-04 5.47878347e+00] [ 1.53856230e-02 3.11153890e-04 9.99881586e-01 3.67418867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.459254154 meters 0.05155081978711919 Centerline is valid? [True, True] Translation: X:935.88, Y:5.47, Z:3.68 [[ 9.98574432e-01 -5.14708210e-02 -1.41371525e-02 9.35880726e+02] [ 5.14639672e-02 9.98674492e-01 -8.48413316e-04 5.47138756e+00] [ 1.41620821e-02 1.19649891e-04 9.99899706e-01 3.67575203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.519254154 meters 0.05133125102903556 Centerline is valid? [True, True] Translation: X:935.94, Y:5.46, Z:3.68 [[ 9.97659784e-01 -6.71845681e-02 -1.26959995e-02 9.35940121e+02] [ 6.71802987e-02 9.97740560e-01 -7.62944109e-04 5.46189906e+00] [ 1.27185717e-02 -9.17623823e-05 9.99919111e-01 3.67740079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.579254154 meters 0.051782823872331254 Centerline is valid? [True, True] Translation: X:936.00, Y:5.46, Z:3.68 [[ 9.96795566e-01 -7.90972996e-02 -1.19254321e-02 9.35999726e+02] [ 7.90943786e-02 9.96866874e-01 -7.17115493e-04 5.45737795e+00] [ 1.19447901e-02 -2.28417099e-04 9.99928632e-01 3.67914547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.639254154 meters 0.052345687876881736 Centerline is valid? [True, True] Translation: X:936.06, Y:5.46, Z:3.68 [[ 9.96649603e-01 -8.09267640e-02 -1.18501841e-02 9.36058913e+02] [ 8.09239986e-02 9.96720020e-01 -7.13466324e-04 5.45752168e+00] [ 1.18690543e-02 -2.47888356e-04 9.99929530e-01 3.67740842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.699254154 meters 0.052726696217331906 Centerline is valid? [True, True] Translation: X:936.12, Y:5.46, Z:3.68 [[ 9.96908729e-01 -7.73317055e-02 -1.38849965e-02 9.36116377e+02] [ 7.73275477e-02 9.97005391e-01 -8.36872077e-04 5.46272072e+00] [ 1.39081331e-02 -2.39407651e-04 9.99903249e-01 3.67688336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.759254154 meters 0.05224396102128632 Centerline is valid? [True, True] Translation: X:936.18, Y:5.47, Z:3.68 [[ 9.97223445e-01 -7.26561780e-02 -1.63242206e-02 9.36175570e+02] [ 7.26497982e-02 9.97357026e-01 -9.84276373e-04 5.46609769e+00] [ 1.63525898e-02 -2.04407853e-04 9.99866267e-01 3.67551319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.819254154 meters 0.05194098480657298 Centerline is valid? [True, True] Translation: X:936.23, Y:5.48, Z:3.68 [[ 9.97536795e-01 -6.83043164e-02 -1.59644392e-02 9.36233696e+02] [ 6.82976502e-02 9.97664525e-01 -9.63032642e-04 5.47598961e+00] [ 1.59929339e-02 -1.29673190e-04 9.99872096e-01 3.67648730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.879254154 meters 0.052192051600596916 Centerline is valid? [True, True] Translation: X:936.29, Y:5.48, Z:3.68 [[ 9.97772364e-01 -6.51342301e-02 -1.44167331e-02 9.36291794e+02] [ 6.51284562e-02 9.97876509e-01 -8.70128770e-04 5.48482659e+00] [ 1.44427945e-02 -7.07491320e-05 9.99895695e-01 3.67891736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.939254154 meters 0.051636705237617944 Centerline is valid? [True, True] Translation: X:936.35, Y:5.49, Z:3.68 [[ 9.98149443e-01 -5.95968171e-02 -1.20792560e-02 9.36349292e+02] [ 5.95923529e-02 9.98222530e-01 -7.29489937e-04 5.49370617e+00] [ 1.21012608e-02 8.30868768e-06 9.99926777e-01 3.68030603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.999254154 meters 0.05204125205877739 Centerline is valid? [True, True] Translation: X:936.41, Y:5.50, Z:3.68 [[ 9.98446515e-01 -5.44758062e-02 -1.17022770e-02 9.36408114e+02] [ 5.44712535e-02 9.98515088e-01 -7.07664792e-04 5.50304305e+00] [ 1.17234507e-02 6.91277509e-05 9.99931276e-01 3.68069000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.059254154 meters 0.05160492924737791 Centerline is valid? [True, True] Translation: X:936.47, Y:5.51, Z:3.68 [[ 9.98797791e-01 -4.75283385e-02 -1.20012620e-02 9.36467198e+02] [ 4.75230420e-02 9.98869878e-01 -7.26281488e-04 5.51230706e+00] [ 1.20222180e-02 1.55071869e-04 9.99927718e-01 3.68119597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters 0.05226992665623294 Centerline is valid? [True, True] Translation: X:936.53, Y:5.52, Z:3.68 [[ 9.98971832e-01 -4.36126248e-02 -1.23781573e-02 9.36525646e+02] [ 4.36066866e-02 9.99048495e-01 -7.49350275e-04 5.51949599e+00] [ 1.23990605e-02 2.08809392e-04 9.99923107e-01 3.68120371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.179254154 meters 0.05308680794343743 Centerline is valid? [True, True] Translation: X:936.58, Y:5.53, Z:3.68 [[ 9.99134969e-01 -4.00138343e-02 -1.13228168e-02 9.36583954e+02] [ 4.00086316e-02 9.99199099e-01 -6.85714688e-04 5.52965009e+00] [ 1.13411864e-02 2.32111119e-04 9.99935660e-01 3.67966780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters 0.05192848307897819 Centerline is valid? [True, True] Translation: X:936.64, Y:5.53, Z:3.68 [[ 9.99174966e-01 -3.88241609e-02 -1.19193902e-02 9.36642919e+02] [ 3.88182993e-02 9.99246024e-01 -7.22817336e-04 5.52755231e+00] [ 1.19384661e-02 2.59530531e-04 9.99928700e-01 3.68195136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.299254154 meters 0.050959126022470304 Centerline is valid? [True, True] Translation: X:936.70, Y:5.53, Z:3.68 [[ 9.99153841e-01 -3.88266639e-02 -1.35680621e-02 9.36701632e+02] [ 3.88190468e-02 9.99245917e-01 -8.24411012e-04 5.52625621e+00] [ 1.35898398e-02 2.97014191e-04 9.99907610e-01 3.68271768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539999 meters 0.05124399592831509 Centerline is valid? [True, True] Translation: X:936.76, Y:5.53, Z:3.68 [[ 9.99054456e-01 -4.07174155e-02 -1.52409091e-02 9.36759845e+02] [ 4.07079962e-02 9.99170655e-01 -9.27881379e-04 5.53005276e+00] [ 1.52660500e-02 3.06577157e-04 9.99883420e-01 3.68102383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.419254154 meters 0.0514531552393515 Centerline is valid? [True, True] Translation: X:936.82, Y:5.53, Z:3.68 [[ 9.98868777e-01 -4.50760589e-02 -1.51431531e-02 9.36819118e+02] [ 4.50672510e-02 9.98983529e-01 -9.22561665e-04 5.53381542e+00] [ 1.51693460e-02 2.39057760e-04 9.99884910e-01 3.67789822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539999 meters 0.05181840655402707 Centerline is valid? [True, True] Translation: X:936.88, Y:5.53, Z:3.68 [[ 9.98643877e-01 -4.98302289e-02 -1.50782877e-02 9.36878056e+02] [ 4.98220345e-02 9.98757689e-01 -9.18843731e-04 5.53217413e+00] [ 1.51053420e-02 1.66366694e-04 9.99885894e-01 3.67814778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.539254154 meters 0.05129361673584243 Centerline is valid? [True, True] Translation: X:936.94, Y:5.52, Z:3.68 [[ 9.98044877e-01 -6.09596553e-02 -1.37965134e-02 9.36938406e+02] [ 6.09538557e-02 9.98140231e-01 -8.40866048e-04 5.52359592e+00] [ 1.38221140e-02 -1.72863480e-06 9.99904470e-01 3.67999893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539999 meters 0.05134767952229468 Centerline is valid? [True, True] Translation: X:937.00, Y:5.52, Z:3.68 [[ 9.97177334e-01 -7.41982065e-02 -1.14887339e-02 9.36997952e+02] [ 7.41950609e-02 9.97243502e-01 -7.00359550e-04 5.51652217e+00] [ 1.15090306e-02 -1.54024641e-04 9.99933757e-01 3.68291345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.659254154 meters 0.05258171409953415 Centerline is valid? [True, True] Translation: X:937.06, Y:5.52, Z:3.68 [[ 9.96590678e-01 -8.18443528e-02 -1.04173866e-02 9.37058293e+02] [ 8.18421835e-02 9.96645099e-01 -6.35084555e-04 5.52006229e+00] [ 1.04344154e-02 -2.19662319e-04 9.99945536e-01 3.68403379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539999 meters 0.051488882493351776 Centerline is valid? [True, True] Translation: X:937.12, Y:5.52, Z:3.68 [[ 9.96603666e-01 -8.16043167e-02 -1.10394400e-02 9.37115050e+02] [ 8.16018613e-02 9.96664780e-01 -6.73426597e-04 5.52048347e+00] [ 1.10575755e-02 -2.29699434e-04 9.99938837e-01 3.68273306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.779254154 meters 0.05202443623288032 Centerline is valid? [True, True] Translation: X:937.17, Y:5.53, Z:3.68 [[ 9.96794474e-01 -7.90317548e-02 -1.24402017e-02 9.37173498e+02] [ 7.90284294e-02 9.96872073e-01 -7.59434574e-04 5.52658481e+00] [ 1.24613091e-02 -2.26129415e-04 9.99922329e-01 3.68205699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.839254154 meters 0.05175740608652588 Centerline is valid? [True, True] Translation: X:937.23, Y:5.54, Z:3.68 [[ 9.97292647e-01 -7.23662871e-02 -1.30574549e-02 9.37232955e+02] [ 7.23620481e-02 9.97378112e-01 -7.97423675e-04 5.53781121e+00] [ 1.30809263e-02 -1.49599411e-04 9.99914430e-01 3.68193354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.899254154 meters 0.051909818897243803 Centerline is valid? [True, True] Translation: X:937.29, Y:5.55, Z:3.68 [[ 9.97843622e-01 -6.45343468e-02 -1.19759996e-02 9.37291187e+02] [ 6.45302134e-02 9.97915486e-01 -7.31648111e-04 5.54828617e+00] [ 1.19982519e-02 -4.27434084e-05 9.99928017e-01 3.68179124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.959254154 meters 0.052221088925811884 Centerline is valid? [True, True] Translation: X:937.35, Y:5.56, Z:3.68 [[ 9.98179959e-01 -5.92340017e-02 -1.13182015e-02 9.37349384e+02] [ 5.92299583e-02 9.98244125e-01 -6.92413168e-04 5.55500943e+00] [ 1.13393426e-02 2.07763444e-05 9.99935707e-01 3.68402675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.019254154 meters 0.05175703780163306 Centerline is valid? [True, True] Translation: X:937.41, Y:5.57, Z:3.68 [[ 9.98560336e-01 -5.24022420e-02 -1.14568780e-02 9.37406905e+02] [ 5.23976340e-02 9.98626054e-01 -7.02204237e-04 5.56618576e+00] [ 1.14779340e-02 1.00879996e-04 9.99934121e-01 3.68247103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.079254154 meters 0.05130183841923 Centerline is valid? [True, True] Translation: X:937.46, Y:5.57, Z:3.68 [[ 9.98674149e-01 -5.00097230e-02 -1.22053704e-02 9.37464952e+02] [ 5.00043048e-02 9.98748722e-01 -7.48879246e-04 5.57140636e+00] [ 1.22275493e-02 1.37565283e-04 9.99925231e-01 3.68364391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.139254154 meters 0.05167206683010461 Centerline is valid? [True, True] Translation: X:937.52, Y:5.57, Z:3.69 [[ 9.98623830e-01 -5.09123652e-02 -1.25847855e-02 9.37523026e+02] [ 5.09066601e-02 9.98703116e-01 -7.73464052e-04 5.57356833e+00] [ 1.26078433e-02 1.31750238e-04 9.99920509e-01 3.68505108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.199254154 meters 0.050783641777495066 Centerline is valid? [True, True] Translation: X:937.58, Y:5.58, Z:3.69 [[ 9.98318238e-01 -5.66036785e-02 -1.25187357e-02 9.37581464e+02] [ 5.65984704e-02 9.98396725e-01 -7.70205422e-04 5.57611960e+00] [ 1.25422612e-02 6.03688283e-05 9.99921341e-01 3.68548296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.259254154 meters 0.05177706646721033 Centerline is valid? [True, True] Translation: X:937.64, Y:5.58, Z:3.68 [[ 9.97708199e-01 -6.65712550e-02 -1.21085756e-02 9.37638848e+02] [ 6.65671017e-02 9.97781672e-01 -7.46166174e-04 5.57529243e+00] [ 1.21313880e-02 -6.15766709e-05 9.99926410e-01 3.68494078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.319254154 meters 0.051475948981099716 Centerline is valid? [True, True] Translation: X:937.70, Y:5.58, Z:3.69 [[ 9.97214288e-01 -7.35539169e-02 -1.23888957e-02 9.37698626e+02] [ 7.35501000e-02 9.97291231e-01 -7.64039211e-04 5.57765695e+00] [ 1.24115352e-02 -1.49293702e-04 9.99922963e-01 3.68601298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.379254154 meters 0.052056799059333525 Centerline is valid? [True, True] Translation: X:937.76, Y:5.58, Z:3.68 [[ 9.96550847e-01 -8.19765500e-02 -1.28939776e-02 9.37757931e+02] [ 8.19731193e-02 9.96634223e-01 -7.95240036e-04 5.57518965e+00] [ 1.29157704e-02 -2.64462431e-04 9.99916553e-01 3.68424992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.439254154 meters 0.052521281446918026 Centerline is valid? [True, True] Translation: X:937.82, Y:5.58, Z:3.68 [[ 9.96183585e-01 -8.61628150e-02 -1.39367793e-02 9.37818124e+02] [ 8.61592149e-02 9.96281010e-01 -8.59649494e-04 5.57782700e+00] [ 1.39590184e-02 -3.44413249e-04 9.99902509e-01 3.68383551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.499254154 meters 0.05292811330518107 Centerline is valid? [True, True] Translation: X:937.88, Y:5.58, Z:3.68 [[ 9.96161301e-01 -8.61127469e-02 -1.57244216e-02 9.37875463e+02] [ 8.61081493e-02 9.96285323e-01 -9.70458750e-04 5.58450085e+00] [ 1.57495793e-02 -3.87267393e-04 9.99875893e-01 3.68427918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.559254154 meters 0.0517740964066842 Centerline is valid? [True, True] Translation: X:937.93, Y:5.58, Z:3.68 [[ 9.96345890e-01 -8.39301631e-02 -1.58302290e-02 9.37934126e+02] [ 8.39252047e-02 9.96471576e-01 -9.78461099e-04 5.58459089e+00] [ 1.58564956e-02 -3.53669515e-04 9.99874215e-01 3.68248078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters 0.0524519115898031 Centerline is valid? [True, True] Translation: X:937.99, Y:5.59, Z:3.68 [[ 9.96838257e-01 -7.79952104e-02 -1.51735207e-02 9.37993302e+02] [ 7.79899587e-02 9.96953703e-01 -9.38429266e-04 5.58867684e+00] [ 1.52004906e-02 -2.47920059e-04 9.99884435e-01 3.68122778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.679254154 meters 0.051285794374299275 Centerline is valid? [True, True] Translation: X:938.05, Y:5.60, Z:3.69 [[ 9.97514914e-01 -6.92011545e-02 -1.32362101e-02 9.38053133e+02] [ 6.91963814e-02 9.97602722e-01 -8.18786552e-04 5.60232699e+00] [ 1.32611402e-02 -9.91460469e-05 9.99912062e-01 3.68527795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters 0.05094595032864196 Centerline is valid? [True, True] Translation: X:938.11, Y:5.61, Z:3.69 [[ 9.98275853e-01 -5.76340539e-02 -1.11192601e-02 9.38110601e+02] [ 5.76299621e-02 9.98337775e-01 -6.88323853e-04 5.61168045e+00] [ 1.11404482e-02 4.63345457e-05 9.99937942e-01 3.68681419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.799254154 meters 0.05124084017012296 Centerline is valid? [True, True] Translation: X:938.17, Y:5.62, Z:3.69 [[ 9.98729832e-01 -4.94789926e-02 -9.51586301e-03 9.38169786e+02] [ 4.94756226e-02 9.98775158e-01 -5.89368287e-04 5.61934531e+00] [ 9.53336893e-03 1.17816444e-04 9.99954549e-01 3.68788689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539999 meters 0.05226527790118503 Centerline is valid? [True, True] Translation: X:938.23, Y:5.64, Z:3.69 [[ 9.99239621e-01 -3.78679583e-02 -9.28432072e-03 9.38228351e+02] [ 3.78642484e-02 9.99282727e-01 -5.75103349e-04 5.63519628e+00] [ 9.29943931e-03 2.23122227e-04 9.99956734e-01 3.68677161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.919254154 meters 0.05104918300543661 Centerline is valid? [True, True] Translation: X:938.29, Y:5.64, Z:3.69 [[ 9.99500707e-01 -3.00166117e-02 -9.86614179e-03 9.38289028e+02] [ 3.00120395e-02 9.99549350e-01 -6.11186639e-04 5.63570153e+00] [ 9.88004137e-03 3.14778440e-04 9.99951142e-01 3.68788080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539999 meters 0.05313189444961433 Centerline is valid? [True, True] Translation: X:938.35, Y:5.65, Z:3.69 [[ 9.99536688e-01 -2.83536012e-02 -1.10671818e-02 9.38346451e+02] [ 2.83477434e-02 9.99597887e-01 -6.85839339e-04 5.65084234e+00] [ 1.10821775e-02 3.71791953e-04 9.99938522e-01 3.68529313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.039254154 meters 0.05243906510858244 Centerline is valid? [True, True] Translation: X:938.41, Y:5.65, Z:3.69 [[ 9.99373822e-01 -3.34775579e-02 -1.14549919e-02 9.38406813e+02] [ 3.34716167e-02 9.99439416e-01 -7.10033029e-04 5.65044969e+00] [ 1.14723406e-02 3.26171324e-04 9.99934137e-01 3.68617276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539999 meters 0.05229675259942447 Centerline is valid? [True, True] Translation: X:938.47, Y:5.65, Z:3.69 [[ 9.99142899e-01 -3.99032460e-02 -1.10089772e-02 9.38466943e+02] [ 3.98981476e-02 9.99203519e-01 -6.82436389e-04 5.64746575e+00] [ 1.10274402e-02 2.42613673e-04 9.99939166e-01 3.68713583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.159254154 meters 0.05184665780754817 Centerline is valid? [True, True] Translation: X:938.53, Y:5.64, Z:3.69 [[ 9.98575628e-01 -5.23309212e-02 -1.04014553e-02 9.38527306e+02] [ 5.23270428e-02 9.98629794e-01 -6.44851023e-04 5.64066002e+00] [ 1.04209488e-02 9.96551193e-05 9.99945695e-01 3.68782782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539999 meters 0.051509244819769484 Centerline is valid? [True, True] Translation: X:938.59, Y:5.64, Z:3.69 [[ 9.97721921e-01 -6.64944337e-02 -1.13780335e-02 9.38585906e+02] [ 6.64907029e-02 9.97786795e-01 -7.06274571e-04 5.63505505e+00] [ 1.13998149e-02 -5.18678227e-05 9.99935019e-01 3.68589531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.279254154 meters 0.05138349512565408 Centerline is valid? [True, True] Translation: X:938.65, Y:5.64, Z:3.69 [[ 9.97044729e-01 -7.58536711e-02 -1.21667353e-02 9.38645552e+02] [ 7.58500948e-02 9.97118946e-01 -7.55773949e-04 5.63586615e+00] [ 1.21890105e-02 -1.69307595e-04 9.99925697e-01 3.68937549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.339254154 meters 0.05271509962786399 Centerline is valid? [True, True] Translation: X:938.71, Y:5.62, Z:3.69 [[ 9.95906429e-01 -8.96741836e-02 -1.13545475e-02 9.38707082e+02] [ 8.96719652e-02 9.95971105e-01 -7.05358030e-04 5.62192960e+00] [ 1.13720536e-02 -3.15713989e-04 9.99935286e-01 3.68659216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.399254154 meters 0.0531538771930975 Centerline is valid? [True, True] Translation: X:938.77, Y:5.64, Z:3.69 [[ 9.94784710e-01 -1.01337179e-01 -1.15826386e-02 9.38766130e+02] [ 1.01335659e-01 9.94852032e-01 -7.19582699e-04 5.63608085e+00] [ 1.15959320e-02 -4.57904445e-04 9.99932660e-01 3.69088510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.459254154 meters 0.05310327876022997 Centerline is valid? [True, True] Translation: X:938.83, Y:5.64, Z:3.69 [[ 9.94164886e-01 -1.07377147e-01 -1.03115539e-02 9.38826813e+02] [ 1.07376265e-01 9.94218249e-01 -6.40679983e-04 5.63899812e+00] [ 1.03207295e-02 -4.70274607e-04 9.99946629e-01 3.69045154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.519254154 meters 0.053585840570423746 Centerline is valid? [True, True] Translation: X:938.88, Y:5.64, Z:3.69 [[ 9.94012716e-01 -1.08750012e-01 -1.05903484e-02 9.38884842e+02] [ 1.08749157e-01 9.94069005e-01 -6.58277789e-04 5.64239744e+00] [ 1.05991248e-02 -4.97354967e-04 9.99943704e-01 3.69044611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.579254154 meters 0.05362151736546446 Centerline is valid? [True, True] Translation: X:938.94, Y:5.65, Z:3.69 [[ 9.94104347e-01 -1.08018842e-01 -9.40623912e-03 9.38943720e+02] [ 1.08018128e-01 9.94148752e-01 -5.85375213e-04 5.65156498e+00] [ 9.41443244e-03 -4.34120300e-04 9.99955589e-01 3.69012996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.639254154 meters 0.05377264342913689 Centerline is valid? [True, True] Translation: X:939.00, Y:5.67, Z:3.69 [[ 9.94686534e-01 -1.02544148e-01 -9.13222524e-03 9.39001434e+02] [ 1.02543241e-01 9.94728385e-01 -5.68762708e-04 5.67223842e+00] [ 9.14240695e-03 -3.70707368e-04 9.99958139e-01 3.69112564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.699254154 meters 0.05294988885308774 Centerline is valid? [True, True] Translation: X:939.06, Y:5.67, Z:3.69 [[ 9.95527561e-01 -9.41243523e-02 -8.09212506e-03 9.39061137e+02] [ 9.41233613e-02 9.95560414e-01 -5.04048946e-04 5.66819034e+00] [ 8.10364266e-03 -2.59863394e-04 9.99967131e-01 3.68942500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.759254154 meters 0.05273764065160271 Centerline is valid? [True, True] Translation: X:939.12, Y:5.68, Z:3.69 [[ 9.96083740e-01 -8.80935130e-02 -7.53100353e-03 9.39120234e+02] [ 8.80924819e-02 9.96112190e-01 -4.69167953e-04 5.68119307e+00] [ 7.54305507e-03 -1.96094223e-04 9.99971532e-01 3.68984410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.819254154 meters 0.0535351699247653 Centerline is valid? [True, True] Translation: X:939.18, Y:5.70, Z:3.69 [[ 9.97107144e-01 -7.56314935e-02 -7.56437753e-03 9.39179538e+02] [ 7.56300940e-02 9.97135832e-01 -4.71308349e-04 5.70447526e+00] [ 7.57835764e-03 -1.02149662e-04 9.99971279e-01 3.68901248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.879254154 meters 0.053399740219486014 Centerline is valid? [True, True] Translation: X:939.24, Y:5.71, Z:3.69 [[ 9.97519681e-01 -7.00103953e-02 -7.28223352e-03 9.39238569e+02] [ 7.00089481e-02 9.97546260e-01 -4.53774528e-04 5.71185957e+00] [ 7.29613375e-03 -5.71724865e-05 9.99973381e-01 3.68701658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.939254154 meters 0.05336642318624239 Centerline is valid? [True, True] Translation: X:939.30, Y:5.73, Z:3.69 [[ 9.97967991e-01 -6.32459341e-02 -7.73571673e-03 9.39296023e+02] [ 6.32440942e-02 9.97997972e-01 -4.82485744e-04 5.72775625e+00] [ 7.75074487e-03 -7.73306874e-06 9.99969962e-01 3.68586102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.999254154 meters 0.053180441476162556 Centerline is valid? [True, True] Translation: X:939.35, Y:5.74, Z:3.69 [[ 9.98218786e-01 -5.91610452e-02 -7.69579340e-03 9.39354186e+02] [ 5.91590961e-02 9.98248451e-01 -4.80869217e-04 5.73919275e+00] [ 7.71076257e-03 2.47365047e-05 9.99970271e-01 3.68702113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.059254154 meters 0.05307473142700426 Centerline is valid? [True, True] Translation: X:939.41, Y:5.75, Z:3.69 [[ 9.98426143e-01 -5.55647648e-02 -7.60218561e-03 9.39412161e+02] [ 5.55627517e-02 9.98455084e-01 -4.75903218e-04 5.74945315e+00] [ 7.61688432e-03 5.27558635e-05 9.99970990e-01 3.68680397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters 0.05420057773418252 Centerline is valid? [True, True] Translation: X:939.47, Y:5.77, Z:3.68 [[ 9.98688516e-01 -5.05116366e-02 -8.35595052e-03 9.39469851e+02] [ 5.05090221e-02 9.98723467e-01 -5.23749843e-04 5.76623889e+00] [ 8.37173934e-03 1.01012064e-04 9.99964951e-01 3.68465489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.179254154 meters 0.05314058007812837 Centerline is valid? [True, True] Translation: X:939.53, Y:5.77, Z:3.69 [[ 9.98849270e-01 -4.72061627e-02 -8.46843038e-03 9.39529594e+02] [ 4.72033568e-02 9.98885159e-01 -5.31013788e-04 5.76857704e+00] [ 8.48405655e-03 1.30664395e-04 9.99964001e-01 3.68651055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters 0.05288313103094012 Centerline is valid? [True, True] Translation: X:939.59, Y:5.78, Z:3.69 [[ 9.98993539e-01 -4.36415031e-02 -1.03599119e-02 9.39588735e+02] [ 4.36371102e-02 9.99047236e-01 -6.49798253e-04 5.77805574e+00] [ 1.03783995e-02 1.97067641e-04 9.99946124e-01 3.68537935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.299254154 meters 0.05541670811610264 Centerline is valid? [True, True] Translation: X:939.65, Y:5.79, Z:3.68 [[ 9.98947937e-01 -4.44226957e-02 -1.13860962e-02 9.39646303e+02] [ 4.44174360e-02 9.99012803e-01 -7.14529106e-04 5.79093620e+00] [ 1.14065971e-02 2.08036179e-04 9.99934921e-01 3.68167955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539999 meters 0.053489223419968826 Centerline is valid? [True, True] Translation: X:939.71, Y:5.78, Z:3.69 [[ 9.98725071e-01 -4.93441829e-02 -1.06481730e-02 9.39706828e+02] [ 4.93398609e-02 9.98781824e-01 -6.68368380e-04 5.78433754e+00] [ 1.06681818e-02 1.42136881e-04 9.99943083e-01 3.68652171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.419254154 meters 0.053835630080349306 Centerline is valid? [True, True] Translation: X:939.77, Y:5.79, Z:3.69 [[ 9.98498147e-01 -5.39332529e-02 -9.62569265e-03 9.39767156e+02] [ 5.39299321e-02 9.98544539e-01 -6.04414896e-04 5.78515359e+00] [ 9.64428089e-03 8.43942033e-05 9.99953489e-01 3.68760696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539999 meters 0.05394498056704109 Centerline is valid? [True, True] Translation: X:939.83, Y:5.78, Z:3.69 [[ 9.98093246e-01 -6.11202145e-02 -8.61352079e-03 9.39826432e+02] [ 6.11178204e-02 9.98130412e-01 -5.41147610e-04 5.78218576e+00] [ 8.63049211e-03 1.36761573e-05 9.99962756e-01 3.68888499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.539254154 meters 0.054239250352174674 Centerline is valid? [True, True] Translation: X:939.88, Y:5.78, Z:3.69 [[ 9.97697560e-01 -6.72129401e-02 -9.05538065e-03 9.39884247e+02] [ 6.72105418e-02 9.97738653e-01 -5.69242773e-04 5.77918838e+00] [ 9.07316377e-03 -4.06849148e-05 9.99958837e-01 3.68915249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539999 meters 0.053448995348580636 Centerline is valid? [True, True] Translation: X:939.94, Y:5.78, Z:3.69 [[ 9.97445939e-01 -7.07425768e-02 -9.85321928e-03 9.39943043e+02] [ 7.07399008e-02 9.97494602e-01 -6.20272510e-04 5.78059915e+00] [ 9.87241272e-03 -7.83274581e-05 9.99951263e-01 3.69035520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.659254154 meters 0.05452985691266178 Centerline is valid? [True, True] Translation: X:940.00, Y:5.78, Z:3.69 [[ 9.97352177e-01 -7.21024902e-02 -9.47978111e-03 9.40002060e+02] [ 7.21000641e-02 9.97397224e-01 -5.97878864e-04 5.78176562e+00] [ 9.49821592e-03 -8.71970392e-05 9.99954887e-01 3.69047068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539999 meters 0.05466211737077349 Centerline is valid? [True, True] Translation: X:940.06, Y:5.78, Z:3.69 [[ 9.97328477e-01 -7.24185951e-02 -9.56324786e-03 9.40060144e+02] [ 7.24161337e-02 9.97374322e-01 -6.03857711e-04 5.78315442e+00] [ 9.58186838e-03 -9.02889439e-05 9.99954089e-01 3.69072613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.779254154 meters 0.05333101663734735 Centerline is valid? [True, True] Translation: X:940.12, Y:5.79, Z:3.69 [[ 9.97421868e-01 -7.11389799e-02 -9.42675724e-03 9.40118107e+02] [ 7.11365264e-02 9.97466410e-01 -5.95742670e-04 5.78607392e+00] [ 9.44525423e-03 -7.63799986e-05 9.99955390e-01 3.69113187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.839254154 meters 0.053885123745837635 Centerline is valid? [True, True] Translation: X:940.18, Y:5.79, Z:3.69 [[ 9.97658479e-01 -6.78205616e-02 -8.82782728e-03 9.40176495e+02] [ 6.78182737e-02 9.97697534e-01 -5.58610491e-04 5.78989834e+00] [ 8.84538679e-03 -4.13855140e-05 9.99960878e-01 3.69145056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.899254154 meters 0.05277722515113575 Centerline is valid? [True, True] Translation: X:940.24, Y:5.79, Z:3.69 [[ 9.98032391e-01 -6.22126683e-02 -7.80578559e-03 9.40235175e+02] [ 6.22107020e-02 9.98062916e-01 -4.94700627e-04 5.79368622e+00] [ 7.82144178e-03 8.12384808e-06 9.99969412e-01 3.69112938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.959254154 meters 0.05366448034877264 Centerline is valid? [True, True] Translation: X:940.29, Y:5.80, Z:3.69 [[ 9.98562370e-01 -5.30333176e-02 -7.78844487e-03 9.40294075e+02] [ 5.30310766e-02 9.98592740e-01 -4.94117604e-04 5.80044289e+00] [ 7.80368920e-03 8.03776293e-05 9.99969547e-01 3.69116276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.019254154 meters 0.05398120204276863 Centerline is valid? [True, True] Translation: X:940.35, Y:5.81, Z:3.69 [[ 9.98910671e-01 -4.58963626e-02 -8.42587021e-03 9.40352198e+02] [ 4.58934843e-02 9.98946196e-01 -5.34736639e-04 5.81267335e+00] [ 8.44153346e-03 1.47461593e-04 9.99964359e-01 3.68941972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.079254154 meters 0.054566661883666746 Centerline is valid? [True, True] Translation: X:940.41, Y:5.82, Z:3.69 [[ 9.99299071e-01 -3.64165899e-02 -8.67170505e-03 9.40412018e+02] [ 3.64131835e-02 9.99336669e-01 -5.50431854e-04 5.81924710e+00] [ 8.68599768e-03 2.34281654e-04 9.99962249e-01 3.68951940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.139254154 meters 0.05496663294833814 Centerline is valid? [True, True] Translation: X:940.47, Y:5.82, Z:3.69 [[ 9.99422298e-01 -3.29248722e-02 -8.42749844e-03 9.40472017e+02] [ 3.29215305e-02 9.99457796e-01 -5.34986027e-04 5.82369775e+00] [ 8.44054336e-03 2.57230818e-04 9.99964345e-01 3.69054474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.199254154 meters 0.05470093875210725 Centerline is valid? [True, True] Translation: X:940.53, Y:5.82, Z:3.69 [[ 9.99446864e-01 -3.23192372e-02 -7.83790749e-03 9.40530801e+02] [ 3.23163246e-02 9.99477567e-01 -4.97993302e-04 5.82446213e+00] [ 7.84990747e-03 2.44425481e-04 9.99969159e-01 3.69130534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.259254154 meters 0.05433174402338463 Centerline is valid? [True, True] Translation: X:940.59, Y:5.82, Z:3.69 [[ 9.99381463e-01 -3.41429749e-02 -8.42315956e-03 9.40590529e+02] [ 3.41396716e-02 9.99416928e-01 -5.35688259e-04 5.82133351e+00] [ 8.43653825e-03 2.47793015e-04 9.99964381e-01 3.69135979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.319254154 meters 0.052767611345948526 Centerline is valid? [True, True] Translation: X:940.65, Y:5.82, Z:3.69 [[ 9.99323010e-01 -3.54848904e-02 -9.71312694e-03 9.40649768e+02] [ 3.54805542e-02 9.99370176e-01 -6.18430578e-04 5.81521625e+00] [ 9.72895432e-03 2.73384780e-04 9.99952635e-01 3.69121112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.379254154 meters 0.05293262329706742 Centerline is valid? [True, True] Translation: X:940.71, Y:5.82, Z:3.69 [[ 9.99305499e-01 -3.58099632e-02 -1.03037454e-02 9.40707180e+02] [ 3.58050936e-02 9.99358576e-01 -6.56744623e-04 5.81941139e+00] [ 1.03206543e-02 2.87361946e-04 9.99946699e-01 3.68993694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.439254154 meters 0.052179880034308734 Centerline is valid? [True, True] Translation: X:940.77, Y:5.81, Z:3.69 [[ 9.99281949e-01 -3.63156887e-02 -1.08054614e-02 9.40766741e+02] [ 3.63103527e-02 9.99340324e-01 -6.89658224e-04 5.81309954e+00] [ 1.08233787e-02 2.96812900e-04 9.99941381e-01 3.69086440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.499254154 meters 0.05225414683025596 Centerline is valid? [True, True] Translation: X:940.83, Y:5.82, Z:3.69 [[ 9.99228159e-01 -3.75343570e-02 -1.15870317e-02 9.40825101e+02] [ 3.75282876e-02 9.99295291e-01 -7.40871705e-04 5.81578581e+00] [ 1.16066743e-02 3.05458411e-04 9.99932594e-01 3.68990908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.559254154 meters 0.051600180950313504 Centerline is valid? [True, True] Translation: X:940.88, Y:5.81, Z:3.69 [[ 9.99201440e-01 -3.83324504e-02 -1.12741179e-02 9.40884334e+02] [ 3.83267412e-02 9.99265000e-01 -7.22097075e-04 5.81270795e+00] [ 1.12935112e-02 2.89420237e-04 9.99936184e-01 3.69120423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters 0.05197911146749538 Centerline is valid? [True, True] Translation: X:940.94, Y:5.81, Z:3.69 [[ 9.99184935e-01 -3.90570017e-02 -1.01988619e-02 9.40941990e+02] [ 3.90523609e-02 9.99236952e-01 -6.53862446e-04 5.81322896e+00] [ 1.02166176e-02 2.55039871e-04 9.99947776e-01 3.69166393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.679254154 meters 0.05183294704672464 Centerline is valid? [True, True] Translation: X:941.00, Y:5.81, Z:3.69 [[ 9.99146108e-01 -4.01610119e-02 -9.70297251e-03 9.41001668e+02] [ 4.01568590e-02 9.99193194e-01 -6.22531148e-04 5.80967958e+00] [ 9.72014558e-03 2.32358675e-04 9.99952731e-01 3.69255354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539999 meters 0.052083168109461314 Centerline is valid? [True, True] Translation: X:941.06, Y:5.81, Z:3.69 [[ 9.99080485e-01 -4.17205584e-02 -9.87821546e-03 9.41059749e+02] [ 4.17163259e-02 9.99129294e-01 -6.34218664e-04 5.80990539e+00] [ 9.89607439e-03 2.21552636e-04 9.99951008e-01 3.69217565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.799254154 meters 0.05128726584280709 Centerline is valid? [True, True] Translation: X:941.12, Y:5.81, Z:3.69 [[ 9.99024453e-01 -4.30138864e-02 -9.99738700e-03 9.41118882e+02] [ 4.30096080e-02 9.99074452e-01 -6.42655139e-04 5.80967787e+00] [ 1.00157770e-02 2.12044503e-04 9.99949818e-01 3.69220481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539999 meters 0.05053466540068562 Centerline is valid? [True, True] Translation: X:941.18, Y:5.80, Z:3.69 [[ 9.98938015e-01 -4.49146732e-02 -1.02720488e-02 9.41178607e+02] [ 4.49102460e-02 9.98990807e-01 -6.61380832e-04 5.80359777e+00] [ 1.02913881e-02 1.99358216e-04 9.99947022e-01 3.69323366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.919254154 meters 0.049935689894879495 Centerline is valid? [True, True] Translation: X:941.24, Y:5.80, Z:3.69 [[ 9.98869008e-01 -4.65719764e-02 -9.57889733e-03 9.41237056e+02] [ 4.65681933e-02 9.98914922e-01 -6.17726943e-04 5.80401968e+00] [ 9.59727224e-03 1.70956356e-04 9.99953930e-01 3.69346615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539999 meters 0.05007136269179581 Centerline is valid? [True, True] Translation: X:941.29, Y:5.81, Z:3.69 [[ 9.98867270e-01 -4.66614891e-02 -9.32107046e-03 9.41294498e+02] [ 4.66579051e-02 9.98910746e-01 -6.01712746e-04 5.81019063e+00] [ 9.33899426e-03 1.66129547e-04 9.99956377e-01 3.69220415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.039254154 meters 0.04947008300805088 Centerline is valid? [True, True] Translation: X:941.35, Y:5.80, Z:3.69 [[ 9.98851444e-01 -4.68568788e-02 -1.00112646e-02 9.41352767e+02] [ 4.68527447e-02 9.98901598e-01 -6.47209469e-04 5.80373283e+00] [ 1.00305944e-02 1.77410887e-04 9.99949677e-01 3.69346673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539999 meters 0.051110900876766445 Centerline is valid? [True, True] Translation: X:941.41, Y:5.81, Z:3.69 [[ 9.98839315e-01 -4.67561714e-02 -1.15707835e-02 9.41410385e+02] [ 4.67506318e-02 9.98906311e-01 -7.48919934e-04 5.80708619e+00] [ 1.15931453e-02 2.07109236e-04 9.99932776e-01 3.69239831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.159254154 meters 0.050419986847390325 Centerline is valid? [True, True] Translation: X:941.47, Y:5.81, Z:3.69 [[ 9.98853458e-01 -4.65076968e-02 -1.13492075e-02 9.41469107e+02] [ 4.65023400e-02 9.98917910e-01 -7.35581471e-04 5.80762606e+00] [ 1.13711368e-02 2.06973392e-04 9.99935325e-01 3.69345507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539999 meters 0.05018270815325288 Centerline is valid? [True, True] Translation: X:941.53, Y:5.81, Z:3.69 [[ 9.98849016e-01 -4.66268294e-02 -1.12508379e-02 9.41526257e+02] [ 4.66215602e-02 9.98912357e-01 -7.30303365e-04 5.81213385e+00] [ 1.12726527e-02 2.04931184e-04 9.99936441e-01 3.69366652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.279254154 meters 0.05015164428202738 Centerline is valid? [True, True] Translation: X:941.58, Y:5.82, Z:3.69 [[ 9.98859010e-01 -4.65946939e-02 -1.04695985e-02 9.41583874e+02] [ 4.65901219e-02 9.98913859e-01 -6.80293381e-04 5.81753174e+00] [ 1.04899251e-02 1.91737304e-04 9.99944961e-01 3.69341322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.339254154 meters 0.04999017376709254 Centerline is valid? [True, True] Translation: X:941.64, Y:5.82, Z:3.69 [[ 9.98866548e-01 -4.64613046e-02 -1.03424761e-02 9.41642465e+02] [ 4.64568263e-02 9.98920072e-01 -6.72961580e-04 5.82117625e+00] [ 1.03625736e-02 1.91720197e-04 9.99946289e-01 3.69415505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.399254154 meters 0.04872456325459728 Centerline is valid? [True, True] Translation: X:941.70, Y:5.82, Z:3.70 [[ 9.98898924e-01 -4.57585424e-02 -1.03486867e-02 9.41700808e+02] [ 4.57540138e-02 9.98952509e-01 -6.74060884e-04 5.82334465e+00] [ 1.03686906e-02 1.99824737e-04 9.99946224e-01 3.69529912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.459254154 meters 0.05271892757278611 Centerline is valid? [True, True] Translation: X:941.76, Y:5.80, Z:3.70 [[ 9.98891700e-01 -4.58339206e-02 -1.07062185e-02 9.41759536e+02] [ 4.58290732e-02 9.98949052e-01 -6.97788547e-04 5.80441454e+00] [ 1.07269492e-02 2.06359118e-04 9.99942443e-01 3.70389803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.519254154 meters 0.05021953478011518 Centerline is valid? [True, True] Translation: X:941.82, Y:5.83, Z:3.70 [[ 9.98801076e-01 -4.78866531e-02 -1.01626595e-02 9.41816887e+02] [ 4.78823867e-02 9.98852761e-01 -6.62852735e-04 5.83191381e+00] [ 1.01827423e-02 1.75445633e-04 9.99948139e-01 3.69587587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.579254154 meters 0.05223855111296148 Centerline is valid? [True, True] Translation: X:941.88, Y:5.82, Z:3.70 [[ 9.98680259e-01 -5.02829463e-02 -1.04578251e-02 9.41875566e+02] [ 5.02785533e-02 9.98735000e-01 -6.82718287e-04 5.81933074e+00] [ 1.04789250e-02 1.56012958e-04 9.99945082e-01 3.70326780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.639254154 meters 0.05048276813065069 Centerline is valid? [True, True] Translation: X:941.93, Y:5.84, Z:3.70 [[ 9.98413786e-01 -5.53901852e-02 -1.00915938e-02 9.41934542e+02] [ 5.53863530e-02 9.98464780e-01 -6.59038040e-04 5.84028189e+00] [ 1.01126053e-02 9.90560860e-05 9.99948861e-01 3.69542250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.699254154 meters 0.05035056435872296 Centerline is valid? [True, True] Translation: X:941.99, Y:5.84, Z:3.69 [[ 9.97975000e-01 -6.26282154e-02 -1.11177887e-02 9.41992815e+02] [ 6.26240046e-02 9.98036926e-01 -7.26812548e-04 5.84235618e+00] [ 1.11414826e-02 2.91003039e-05 9.99937931e-01 3.69429441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.759254154 meters 0.05080879495918228 Centerline is valid? [True, True] Translation: X:942.05, Y:5.84, Z:3.69 [[ 9.97424968e-01 -7.08039879e-02 -1.14117580e-02 9.42052221e+02] [ 7.08000718e-02 9.97490246e-01 -7.47294114e-04 5.84212585e+00] [ 1.14360287e-02 -6.25834750e-05 9.99934605e-01 3.69425546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.819254154 meters 0.051234669922293204 Centerline is valid? [True, True] Translation: X:942.11, Y:5.84, Z:3.69 [[ 9.97076905e-01 -7.55096619e-02 -1.16591873e-02 9.42111374e+02] [ 7.55058803e-02 9.97145063e-01 -7.64817798e-04 5.84410678e+00] [ 1.16836522e-02 -1.17755036e-04 9.99931737e-01 3.69422434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.879254154 meters 0.051305364925654566 Centerline is valid? [True, True] Translation: X:942.17, Y:5.85, Z:3.70 [[ 9.96747179e-01 -7.97514822e-02 -1.16087348e-02 9.42170283e+02] [ 7.97480125e-02 9.96814764e-01 -7.62220986e-04 5.84927414e+00] [ 1.16325465e-02 -1.66031910e-04 9.99932326e-01 3.69543867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.939254154 meters 0.051277565030408194 Centerline is valid? [True, True] Translation: X:942.23, Y:5.86, Z:3.70 [[ 9.96755373e-01 -7.96926820e-02 -1.13050063e-02 9.42227953e+02] [ 7.96893828e-02 9.96819467e-01 -7.42712231e-04 5.85812296e+00] [ 1.13282391e-02 -1.60586565e-04 9.99935821e-01 3.69842048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.999254154 meters 0.05372036476880251 Centerline is valid? [True, True] Translation: X:942.28, Y:5.87, Z:3.71 [[ 9.96984440e-01 -7.68386717e-02 -1.08556312e-02 9.42284677e+02] [ 7.68354548e-02 9.97043531e-01 -7.13701046e-04 5.87404052e+00] [ 1.08783767e-02 -1.22548519e-04 9.99940821e-01 3.70654776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.059254154 meters 0.05150368939623668 Centerline is valid? [True, True] Translation: X:942.35, Y:5.87, Z:3.71 [[ 9.97603212e-01 -6.82200227e-02 -1.15698229e-02 9.42345161e+02] [ 6.82157856e-02 9.97670300e-01 -7.60924705e-04 5.87302974e+00] [ 1.15947789e-02 -3.01436257e-05 9.99932778e-01 3.70713706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters 0.052317597055162764 Centerline is valid? [True, True] Translation: X:942.40, Y:5.87, Z:3.71 [[ 9.98349587e-01 -5.61153515e-02 -1.22134941e-02 9.42404878e+02] [ 5.61097200e-02 9.98424285e-01 -8.03537177e-04 5.86819304e+00] [ 1.22393399e-02 1.16915277e-04 9.99925090e-01 3.70905027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.179254154 meters 0.052257516149262946 Centerline is valid? [True, True] Translation: X:942.46, Y:5.87, Z:3.71 [[ 9.98877960e-01 -4.57571321e-02 -1.22109030e-02 9.42464141e+02] [ 4.57507270e-02 9.98952564e-01 -8.03514783e-04 5.87088729e+00] [ 1.22348794e-02 2.43955516e-04 9.99925121e-01 3.70756308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539999 meters 0.05272727107886462 Centerline is valid? [True, True] Translation: X:942.52, Y:5.87, Z:3.71 [[ 9.99148246e-01 -3.98543743e-02 -1.06963266e-02 9.42524685e+02] [ 3.98491213e-02 9.99205460e-01 -7.03862284e-04 5.87153286e+00] [ 1.07158799e-02 2.77023550e-04 9.99942545e-01 3.70775540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.299254154 meters 0.05276218855834498 Centerline is valid? [True, True] Translation: X:942.58, Y:5.88, Z:3.71 [[ 9.99239142e-01 -3.76193997e-02 -1.02916485e-02 9.42583669e+02] [ 3.76144170e-02 9.99292098e-01 -6.77359864e-04 5.87523380e+00] [ 1.03098449e-02 2.89730130e-04 9.99946810e-01 3.70810925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539999 meters 0.05332658296033303 Centerline is valid? [True, True] Translation: X:942.64, Y:5.88, Z:3.71 [[ 9.99270899e-01 -3.64090996e-02 -1.14912196e-02 9.42642885e+02] [ 3.64028054e-02 9.99336912e-01 -7.56500351e-04 5.88099075e+00] [ 1.15111434e-02 3.37636155e-04 9.99933688e-01 3.70889821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.419254154 meters 0.054533939603360886 Centerline is valid? [True, True] Translation: X:942.70, Y:5.88, Z:3.71 [[ 9.99241662e-01 -3.69706935e-02 -1.22175579e-02 9.42701664e+02] [ 3.69636097e-02 9.99316288e-01 -8.05181583e-04 5.88000689e+00] [ 1.22389728e-02 3.52965940e-04 9.99925039e-01 3.71096043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539999 meters 0.05174429724102184 Centerline is valid? [True, True] Translation: X:942.76, Y:5.89, Z:3.71 [[ 9.99129697e-01 -3.95568773e-02 -1.32325838e-02 9.42760098e+02] [ 3.95487870e-02 9.99217260e-01 -8.72620270e-04 5.89494540e+00] [ 1.32567442e-02 3.48528190e-04 9.99912065e-01 3.70882055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.539254154 meters 0.05391235545630592 Centerline is valid? [True, True] Translation: X:942.82, Y:5.89, Z:3.72 [[ 9.98924823e-01 -4.36756779e-02 -1.55445623e-02 9.42820465e+02] [ 4.36650092e-02 9.99045703e-01 -1.02523079e-03 5.89192876e+00] [ 1.55745058e-02 3.45375032e-04 9.99878650e-01 3.71535601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539999 meters 0.05287716176195069 Centerline is valid? [True, True] Translation: X:942.88, Y:5.90, Z:3.72 [[ 9.98650883e-01 -4.93365050e-02 -1.61963870e-02 9.42880648e+02] [ 4.93256657e-02 9.98782177e-01 -1.06828169e-03 5.89919450e+00] [ 1.62293679e-02 2.67942885e-04 9.99868259e-01 3.71573120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.659254154 meters 0.052394970532335654 Centerline is valid? [True, True] Translation: X:942.94, Y:5.91, Z:3.72 [[ 9.98198806e-01 -5.79305217e-02 -1.55948400e-02 9.42940066e+02] [ 5.79215190e-02 9.98320610e-01 -1.02871951e-03 5.90760853e+00] [ 1.56282444e-02 1.23589767e-04 9.99877864e-01 3.71631639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539999 meters 0.05261316532584283 Centerline is valid? [True, True] Translation: X:943.00, Y:5.91, Z:3.72 [[ 9.97794996e-01 -6.46788430e-02 -1.48927284e-02 9.42998953e+02] [ 6.46713684e-02 9.97906131e-01 -9.83449611e-04 5.91408495e+00] [ 1.49251533e-02 1.81479795e-05 9.99888614e-01 3.71677848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.779254154 meters 0.05308623684512577 Centerline is valid? [True, True] Translation: X:943.06, Y:5.92, Z:3.71 [[ 9.97224451e-01 -7.32278388e-02 -1.34565565e-02 9.43056072e+02] [ 7.32225043e-02 9.97315233e-01 -8.89342256e-04 5.91930753e+00] [ 1.34855534e-02 -9.84489266e-05 9.99909061e-01 3.71495583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.839254154 meters 0.05248095374624742 Centerline is valid? [True, True] Translation: X:943.11, Y:5.92, Z:3.71 [[ 9.96957380e-01 -7.68951435e-02 -1.27718507e-02 9.43113806e+02] [ 7.68906331e-02 9.97039175e-01 -8.44547474e-04 5.92050078e+00] [ 1.27989771e-02 -1.40057851e-04 9.99918080e-01 3.71296348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.899254154 meters 0.053220448844320006 Centerline is valid? [True, True] Translation: X:943.17, Y:5.93, Z:3.71 [[ 9.96942029e-01 -7.70379091e-02 -1.31053664e-02 9.43172305e+02] [ 7.70331590e-02 9.97028154e-01 -8.67613657e-04 5.92570449e+00] [ 1.31332584e-02 -1.44587250e-04 9.99913745e-01 3.71487541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.959254154 meters 0.05216888310603134 Centerline is valid? [True, True] Translation: X:943.23, Y:5.93, Z:3.72 [[ 9.97231111e-01 -7.30801261e-02 -1.37624720e-02 9.43231432e+02] [ 7.30744923e-02 9.97326068e-01 -9.12459156e-04 5.92722643e+00] [ 1.37923547e-02 -9.57529958e-05 9.99904876e-01 3.71669534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.019254154 meters 0.05223398758728147 Centerline is valid? [True, True] Translation: X:943.29, Y:5.93, Z:3.72 [[ 9.97785819e-01 -6.48488001e-02 -1.47679806e-02 9.43289468e+02] [ 6.48413965e-02 9.97895101e-01 -9.80099621e-04 5.92538531e+00] [ 1.48004537e-02 2.03530202e-05 9.99890467e-01 3.71536487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.079254154 meters 0.05124519172774977 Centerline is valid? [True, True] Translation: X:943.35, Y:5.93, Z:3.72 [[ 9.98357164e-01 -5.51841506e-02 -1.54169874e-02 9.43348362e+02] [ 5.51749233e-02 9.98476179e-01 -1.02354240e-03 5.92655017e+00] [ 1.54499780e-02 1.71229796e-04 9.99880627e-01 3.71558298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.139254154 meters 0.05195811421414111 Centerline is valid? [True, True] Translation: X:943.41, Y:5.93, Z:3.72 [[ 9.98661427e-01 -4.94317961e-02 -1.52266769e-02 9.43408815e+02] [ 4.94221242e-02 9.98777468e-01 -1.01105972e-03 5.92711963e+00] [ 1.52580403e-02 2.57171622e-04 9.99883556e-01 3.71843726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.199254154 meters 0.05153081218317512 Centerline is valid? [True, True] Translation: X:943.47, Y:5.93, Z:3.72 [[ 9.99023972e-01 -4.21409982e-02 -1.32378390e-02 9.43468050e+02] [ 4.21330475e-02 9.99111622e-01 -8.79042994e-04 5.93416211e+00] [ 1.32631226e-02 3.20434523e-04 9.99911990e-01 3.71769996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.259254154 meters 0.05236821644807266 Centerline is valid? [True, True] Translation: X:943.53, Y:5.94, Z:3.72 [[ 9.99177657e-01 -3.84666903e-02 -1.28188917e-02 9.43528655e+02] [ 3.84589328e-02 9.99259819e-01 -8.51214955e-04 5.93634353e+00] [ 1.28421469e-02 3.57514069e-04 9.99917472e-01 3.72011579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.319254154 meters 0.05196812519769729 Centerline is valid? [True, True] Translation: X:943.59, Y:5.94, Z:3.72 [[ 9.99195717e-01 -3.79631641e-02 -1.29118878e-02 9.43587396e+02] [ 3.79552407e-02 9.99279072e-01 -8.58229776e-04 5.94079785e+00] [ 1.29351604e-02 3.67465707e-04 9.99916270e-01 3.72096267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.379254154 meters 0.05174834821944119 Centerline is valid? [True, True] Translation: X:943.65, Y:5.95, Z:3.72 [[ 9.99105130e-01 -3.97058852e-02 -1.45733540e-02 9.43645856e+02] [ 3.96959664e-02 9.99211334e-01 -9.69368083e-04 5.94717928e+00] [ 1.46003501e-02 3.89997256e-04 9.99893333e-01 3.72172764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.439254154 meters 0.0513789259491023 Centerline is valid? [True, True] Translation: X:943.70, Y:5.95, Z:3.72 [[ 9.98936683e-01 -4.25434484e-02 -1.77639593e-02 9.43704394e+02] [ 4.25291498e-02 9.99094527e-01 -1.18209345e-03 5.95267943e+00] [ 1.77981649e-02 4.25350422e-04 9.99841510e-01 3.72253141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.499254154 meters 0.05219399250161829 Centerline is valid? [True, True] Translation: X:943.76, Y:5.96, Z:3.72 [[ 9.98617576e-01 -4.84372424e-02 -2.04149620e-02 9.43764752e+02] [ 4.84195827e-02 9.98826160e-01 -1.35873167e-03 5.95646782e+00] [ 2.04568113e-02 3.68369380e-04 9.99790670e-01 3.72223212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.559254154 meters 0.053209394343739634 Centerline is valid? [True, True] Translation: X:943.82, Y:5.96, Z:3.73 [[ 9.98220096e-01 -5.54863411e-02 -2.18610561e-02 9.43824836e+02] [ 5.54677764e-02 9.98459418e-01 -1.45513358e-03 5.95604166e+00] [ 2.19081174e-02 2.39959411e-04 9.99759960e-01 3.72863295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters 0.053881703694921596 Centerline is valid? [True, True] Translation: X:943.88, Y:5.96, Z:3.73 [[ 9.97432501e-01 -6.83509270e-02 -2.13671749e-02 9.43883900e+02] [ 6.83361348e-02 9.97661340e-01 -1.42253542e-03 5.96287525e+00] [ 2.14144360e-02 -4.12670842e-05 9.99770684e-01 3.72829031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.679254154 meters 0.05367083107461704 Centerline is valid? [True, True] Translation: X:943.94, Y:5.97, Z:3.73 [[ 9.96795958e-01 -7.75439055e-02 -1.96153462e-02 9.43941854e+02] [ 7.75332062e-02 9.96988914e-01 -1.30650920e-03 5.96733425e+00] [ 1.96575945e-02 -2.18517590e-04 9.99806747e-01 3.72612866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539999 meters 0.05378327359250228 Centerline is valid? [True, True] Translation: X:944.00, Y:5.97, Z:3.73 [[ 9.96264400e-01 -8.41244328e-02 -1.95019215e-02 9.44001221e+02] [ 8.41151109e-02 9.96455197e-01 -1.29924378e-03 5.97429797e+00] [ 1.95420892e-02 -3.46015964e-04 9.99808975e-01 3.72874320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.799254154 meters 0.05381027928602252 Centerline is valid? [True, True] Translation: X:944.06, Y:5.98, Z:3.73 [[ 9.96010643e-01 -8.70582323e-02 -1.95873018e-02 9.44060718e+02] [ 8.70493904e-02 9.96203142e-01 -1.30519016e-03 5.98094734e+00] [ 1.96265591e-02 -4.05079391e-04 9.99807298e-01 3.72890144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539999 meters 0.05397206639457091 Centerline is valid? [True, True] Translation: X:944.12, Y:5.99, Z:3.73 [[ 9.95781378e-01 -8.99266808e-02 -1.82384018e-02 9.44119076e+02] [ 8.99194892e-02 9.95948296e-01 -1.21565758e-03 5.98834382e+00] [ 1.82738252e-02 -4.29458589e-04 9.99832927e-01 3.72791170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.919254154 meters 0.05338092815258049 Centerline is valid? [True, True] Translation: X:944.18, Y:5.99, Z:3.73 [[ 9.95735373e-01 -9.06026540e-02 -1.73846758e-02 9.44176608e+02] [ 9.05962134e-02 9.95887033e-01 -1.15929769e-03 5.99172680e+00] [ 1.74182086e-02 -4.20632073e-04 9.99848203e-01 3.72656258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539999 meters 0.05369662620897436 Centerline is valid? [True, True] Translation: X:944.23, Y:6.00, Z:3.73 [[ 9.95867658e-01 -8.92839534e-02 -1.66127574e-02 9.44234807e+02] [ 8.92778679e-02 9.96006141e-01 -1.10906609e-03 5.99981534e+00] [ 1.66454302e-02 -3.78668513e-04 9.99861383e-01 3.72591584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.039254154 meters 0.05382838462818842 Centerline is valid? [True, True] Translation: X:944.29, Y:6.01, Z:3.73 [[ 9.95995843e-01 -8.78822182e-02 -1.64010953e-02 9.44293702e+02] [ 8.78760727e-02 9.96130812e-01 -1.09640297e-03 6.01018947e+00] [ 1.64339907e-02 -3.49251036e-04 9.99864892e-01 3.72681176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539999 meters 0.05394261978167908 Centerline is valid? [True, True] Translation: X:944.35, Y:6.02, Z:3.73 [[ 9.96302864e-01 -8.44680865e-02 -1.56762522e-02 9.44352565e+02] [ 8.44620430e-02 9.96426146e-01 -1.04836900e-03 6.01988096e+00] [ 1.57087813e-02 -2.79555252e-04 9.99876570e-01 3.72524545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.159254154 meters 0.05360312548738382 Centerline is valid? [True, True] Translation: X:944.41, Y:6.03, Z:3.72 [[ 9.96617986e-01 -8.09250782e-02 -1.42731142e-02 9.44412111e+02] [ 8.09197021e-02 9.96720167e-01 -9.54724116e-04 6.02991072e+00] [ 1.43035619e-02 -2.03480928e-04 9.99897678e-01 3.72483012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539999 meters 0.05447569273046475 Centerline is valid? [True, True] Translation: X:944.47, Y:6.04, Z:3.73 [[ 9.96763068e-01 -7.91683103e-02 -1.39916150e-02 9.44469791e+02] [ 7.91629572e-02 9.96861248e-01 -9.36890828e-04 6.04398651e+00] [ 1.40218708e-02 -1.73759441e-04 9.99901674e-01 3.72650477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.279254154 meters 0.05410245533323605 Centerline is valid? [True, True] Translation: X:944.53, Y:6.06, Z:3.73 [[ 9.96833142e-01 -7.83532796e-02 -1.35812487e-02 9.44528109e+02] [ 7.83481432e-02 9.96925644e-01 -9.10669579e-04 6.05570903e+00] [ 1.36108491e-02 -1.56280003e-04 9.99907356e-01 3.72616927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.339254154 meters 0.05382461809920316 Centerline is valid? [True, True] Translation: X:944.59, Y:6.06, Z:3.72 [[ 9.96889499e-01 -7.76500337e-02 -1.34833071e-02 9.44585880e+02] [ 7.76448971e-02 9.96980667e-01 -9.04811272e-04 6.06390473e+00] [ 1.35128551e-02 -1.44913136e-04 9.99908687e-01 3.72492041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.399254154 meters 0.05438547353058984 Centerline is valid? [True, True] Translation: X:944.64, Y:6.07, Z:3.72 [[ 9.97087756e-01 -7.50052407e-02 -1.37920577e-02 9.44644421e+02] [ 7.49995987e-02 9.97183133e-01 -9.26577715e-04 6.07438801e+00] [ 1.38227055e-02 -1.10519499e-04 9.99904456e-01 3.72427919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.459254154 meters 0.054760013733907646 Centerline is valid? [True, True] Translation: X:944.70, Y:6.09, Z:3.72 [[ 9.97347892e-01 -7.13275747e-02 -1.44761795e-02 9.44702739e+02] [ 7.13209520e-02 9.97452943e-01 -9.73890617e-04 6.08770253e+00] [ 1.45087731e-02 -6.11471488e-05 9.99894740e-01 3.72390368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.519254154 meters 0.054545242631042115 Centerline is valid? [True, True] Translation: X:944.76, Y:6.10, Z:3.73 [[ 9.97573840e-01 -6.80576809e-02 -1.46487822e-02 9.44760589e+02] [ 6.80505259e-02 9.97681388e-01 -9.86918863e-04 6.09978598e+00] [ 1.46819847e-02 -1.23328914e-05 9.99892214e-01 3.72566296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.579254154 meters 0.05467610327645025 Centerline is valid? [True, True] Translation: X:944.82, Y:6.11, Z:3.72 [[ 9.97664972e-01 -6.66078879e-02 -1.50994207e-02 9.44818071e+02] [ 6.66001074e-02 9.97779229e-01 -1.01809625e-03 6.10820378e+00] [ 1.51337016e-02 1.00959293e-05 9.99885479e-01 3.72347462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.639254154 meters 0.056070508518006074 Centerline is valid? [True, True] Translation: X:944.88, Y:6.12, Z:3.73 [[ 9.97723508e-01 -6.57173683e-02 -1.51337274e-02 9.44875791e+02] [ 6.57094263e-02 9.97838277e-01 -1.02197700e-03 6.11687690e+00] [ 1.51681741e-02 2.52219334e-05 9.99884956e-01 3.72727601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.699254154 meters 0.05562889047962782 Centerline is valid? [True, True] Translation: X:944.93, Y:6.12, Z:3.73 [[ 9.97733075e-01 -6.56191176e-02 -1.49279203e-02 9.44932896e+02] [ 6.56113626e-02 9.97844743e-01 -1.00917932e-03 6.12435439e+00] [ 1.49619683e-02 2.74503912e-05 9.99888063e-01 3.72652606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.759254154 meters 0.055479458433088234 Centerline is valid? [True, True] Translation: X:944.99, Y:6.13, Z:3.73 [[ 9.97734120e-01 -6.57004505e-02 -1.44939991e-02 9.44990985e+02] [ 6.56931261e-02 9.97839391e-01 -9.81383849e-04 6.12925517e+00] [ 1.45271606e-02 2.70040392e-05 9.99894475e-01 3.72668573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.819254154 meters 0.05594529362644395 Centerline is valid? [True, True] Translation: X:945.05, Y:6.14, Z:3.73 [[ 9.97810494e-01 -6.46087628e-02 -1.41395056e-02 9.45047390e+02] [ 6.46016633e-02 9.97910670e-01 -9.58742819e-04 6.13686185e+00] [ 1.41719067e-02 4.32080645e-05 9.99899573e-01 3.72622360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.879254154 meters 0.055825969824531856 Centerline is valid? [True, True] Translation: X:945.11, Y:6.14, Z:3.73 [[ 9.97970327e-01 -6.23955207e-02 -1.27289101e-02 9.45105678e+02] [ 6.23895770e-02 9.98051499e-01 -8.63890799e-04 6.14242511e+00] [ 1.27580107e-02 6.79860668e-05 9.99918611e-01 3.72841825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.939254154 meters 0.05547425151238635 Centerline is valid? [True, True] Translation: X:945.16, Y:6.15, Z:3.73 [[ 9.98034239e-01 -6.15781333e-02 -1.16529334e-02 9.45163402e+02] [ 6.15730835e-02 9.98102263e-01 -7.91963238e-04 6.14710241e+00] [ 1.16795868e-02 7.28993874e-05 9.99931789e-01 3.72849450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.999254154 meters 0.05535582296910683 Centerline is valid? [True, True] Translation: X:945.22, Y:6.15, Z:3.73 [[ 9.98109006e-01 -6.04756848e-02 -1.10046723e-02 9.45220818e+02] [ 6.04711016e-02 9.98169667e-01 -7.49052249e-04 6.15286767e+00] [ 1.10298295e-02 8.21711425e-05 9.99939166e-01 3.72783159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.059254154 meters 0.05517550857921755 Centerline is valid? [True, True] Translation: X:945.28, Y:6.16, Z:3.73 [[ 9.98107071e-01 -6.03354952e-02 -1.19123112e-02 9.45279444e+02] [ 6.03301003e-02 9.98178150e-01 -8.12047089e-04 6.15800841e+00] [ 1.19396041e-02 9.18390095e-05 9.99928716e-01 3.72563245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters 0.055261273544937865 Centerline is valid? [True, True] Translation: X:945.34, Y:6.16, Z:3.73 [[ 9.98101419e-01 -6.05182270e-02 -1.14499830e-02 9.45337862e+02] [ 6.05132399e-02 9.98167089e-01 -7.81817330e-04 6.15895733e+00] [ 1.14763104e-02 8.74574160e-05 9.99934141e-01 3.72798044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.179254154 meters 0.055383895843234075 Centerline is valid? [True, True] Translation: X:945.40, Y:6.16, Z:3.73 [[ 9.98034569e-01 -6.16633722e-02 -1.11636874e-02 9.45396502e+02] [ 6.16586926e-02 9.98097001e-01 -7.63201961e-04 6.16021372e+00] [ 1.11895045e-02 7.33635708e-05 9.99937393e-01 3.72784714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539999 meters 0.05502491944094864 Centerline is valid? [True, True] Translation: X:945.45, Y:6.16, Z:3.73 [[ 9.98002324e-01 -6.19915131e-02 -1.21824828e-02 9.45454724e+02] [ 6.19859550e-02 9.98076674e-01 -8.33651089e-04 6.16298310e+00] [ 1.22107312e-02 7.68428962e-05 9.99925443e-01 3.72562717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.299254154 meters 0.0547740937517127 Centerline is valid? [True, True] Translation: X:945.51, Y:6.16, Z:3.73 [[ 9.98055063e-01 -6.11874639e-02 -1.19241224e-02 9.45512656e+02] [ 6.11820731e-02 9.98126288e-01 -8.16691446e-04 6.16359819e+00] [ 1.19517513e-02 8.55605026e-05 9.99928572e-01 3.72858151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539999 meters 0.054753428867799325 Centerline is valid? [True, True] Translation: X:945.57, Y:6.17, Z:3.73 [[ 9.98134734e-01 -5.97873707e-02 -1.23500608e-02 9.45571087e+02] [ 5.97814741e-02 9.98211129e-01 -8.46403605e-04 6.16538454e+00] [ 1.23785724e-02 1.06519996e-04 9.99923377e-01 3.72779906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.419254154 meters 0.05447653277302266 Centerline is valid? [True, True] Translation: X:945.63, Y:6.17, Z:3.73 [[ 9.98217088e-01 -5.85099359e-02 -1.17997323e-02 9.45629767e+02] [ 5.85044522e-02 9.98286819e-01 -8.09674497e-04 6.16534346e+00] [ 1.18268912e-02 1.17894043e-04 9.99930053e-01 3.72759627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539999 meters 0.05513677891027542 Centerline is valid? [True, True] Translation: X:945.69, Y:6.17, Z:3.73 [[ 9.98280194e-01 -5.75209010e-02 -1.13137199e-02 9.45687936e+02] [ 5.75157881e-02 9.98344295e-01 -7.77043628e-04 6.16901157e+00] [ 1.13396839e-02 1.24989749e-04 9.99935696e-01 3.72562755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.539254154 meters 0.054308265812552166 Centerline is valid? [True, True] Translation: X:945.75, Y:6.16, Z:3.73 [[ 9.98427588e-01 -5.52392723e-02 -9.53805102e-03 9.45747161e+02] [ 5.52355266e-02 9.98473138e-01 -6.55885839e-04 6.16380186e+00] [ 9.55971838e-03 1.28015245e-04 9.99954297e-01 3.72950001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539999 meters 0.054988015861216676 Centerline is valid? [True, True] Translation: X:945.81, Y:6.17, Z:3.73 [[ 9.98559791e-01 -5.27740890e-02 -9.65608815e-03 9.45805026e+02] [ 5.27701281e-02 9.98606465e-01 -6.64707612e-04 6.17087261e+00] [ 9.67771139e-03 1.54197286e-04 9.99953158e-01 3.72792754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.659254154 meters 0.05397975136629713 Centerline is valid? [True, True] Translation: X:945.87, Y:6.17, Z:3.73 [[ 9.98750461e-01 -4.88565883e-02 -1.05143407e-02 9.45865273e+02] [ 4.88516725e-02 9.98805782e-01 -7.24016773e-04 6.16871415e+00] [ 1.05371573e-02 2.09468959e-04 9.99944461e-01 3.72920806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539999 meters 0.05477939941719166 Centerline is valid? [True, True] Translation: X:945.92, Y:6.17, Z:3.73 [[ 9.98878300e-01 -4.60614823e-02 -1.09764472e-02 9.45923591e+02] [ 4.60559534e-02 9.98938575e-01 -7.56089287e-04 6.17237282e+00] [ 1.09996231e-02 2.49710443e-04 9.99939471e-01 3.72815278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.779254154 meters 0.05487176562470791 Centerline is valid? [True, True] Translation: X:945.98, Y:6.17, Z:3.73 [[ 9.98946523e-01 -4.44139941e-02 -1.15429968e-02 9.45983430e+02] [ 4.44077669e-02 9.99013172e-01 -7.95358913e-04 6.16976435e+00] [ 1.15669310e-02 2.81922307e-04 9.99933061e-01 3.72854758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.839254154 meters 0.05287069312433982 Centerline is valid? [True, True] Translation: X:946.04, Y:6.16, Z:3.73 [[ 9.98971004e-01 -4.38944766e-02 -1.14108534e-02 9.46042903e+02] [ 4.38883467e-02 9.99036132e-01 -7.87176230e-04 6.16127460e+00] [ 1.14344075e-02 2.85562738e-04 9.99934584e-01 3.73121970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.899254154 meters 0.0537077554200655 Centerline is valid? [True, True] Translation: X:946.10, Y:6.17, Z:3.73 [[ 9.98954268e-01 -4.37836201e-02 -1.31668117e-02 9.46100776e+02] [ 4.37754343e-02 9.99040982e-01 -9.09401383e-04 6.16543580e+00] [ 1.31940014e-02 3.32067492e-04 9.99912900e-01 3.72928504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.959254154 meters 0.05272749305989004 Centerline is valid? [True, True] Translation: X:946.16, Y:6.16, Z:3.73 [[ 9.98954646e-01 -4.38340315e-02 -1.29689089e-02 9.46159471e+02] [ 4.38260760e-02 9.99038773e-01 -8.97129696e-04 6.15759419e+00] [ 1.29957676e-02 3.27815493e-04 9.99915498e-01 3.73147608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.019254154 meters 0.05277983049148806 Centerline is valid? [True, True] Translation: X:946.22, Y:6.16, Z:3.73 [[ 9.98919313e-01 -4.47225455e-02 -1.26530774e-02 9.46216886e+02] [ 4.47150334e-02 9.98999399e-01 -8.76121082e-04 6.16149625e+00] [ 1.26795991e-02 3.09391489e-04 9.99919563e-01 3.73005790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.079254154 meters 0.051837676629870974 Centerline is valid? [True, True] Translation: X:946.28, Y:6.15, Z:3.73 [[ 9.98834045e-01 -4.68375639e-02 -1.16958723e-02 9.46277853e+02] [ 4.68312879e-02 9.98902485e-01 -8.10048352e-04 6.15326858e+00] [ 1.17209766e-02 2.61371108e-04 9.99931273e-01 3.73255000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.139254154 meters 0.052212433525385925 Centerline is valid? [True, True] Translation: X:946.34, Y:6.15, Z:3.73 [[ 9.98739644e-01 -4.88475527e-02 -1.15343091e-02 9.46337398e+02] [ 4.88415779e-02 9.98806218e-01 -7.99290761e-04 6.15306650e+00] [ 1.15595830e-02 2.34929514e-04 9.99933158e-01 3.73234666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.199254154 meters 0.05277174925922056 Centerline is valid? [True, True] Translation: X:946.40, Y:6.15, Z:3.73 [[ 9.98526030e-01 -5.31658493e-02 -1.09160748e-02 9.46397725e+02] [ 5.31607530e-02 9.98585681e-01 -7.56700962e-04 6.14811587e+00] [ 1.09408666e-02 1.75278852e-04 9.99940132e-01 3.73125145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.259254154 meters 0.051864202734472425 Centerline is valid? [True, True] Translation: X:946.46, Y:6.15, Z:3.73 [[ 9.98373806e-01 -5.57251214e-02 -1.20189413e-02 9.46456321e+02] [ 5.57191174e-02 9.98446135e-01 -8.34080045e-04 6.14794752e+00] [ 1.20467446e-02 1.63038871e-04 9.99927422e-01 3.73125015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.319254154 meters 0.05154549442372118 Centerline is valid? [True, True] Translation: X:946.51, Y:6.15, Z:3.73 [[ 9.98241541e-01 -5.81689303e-02 -1.14106205e-02 9.46514294e+02] [ 5.81636704e-02 9.98306746e-01 -7.92561876e-04 6.14539357e+00] [ 1.14374019e-02 1.27484616e-04 9.99934583e-01 3.73181723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.379254154 meters 0.050826581471054406 Centerline is valid? [True, True] Translation: X:946.57, Y:6.14, Z:3.73 [[ 9.98256156e-01 -5.79656010e-02 -1.11640401e-02 9.46572269e+02] [ 5.79605417e-02 9.98318573e-01 -7.76467254e-04 6.14433565e+00] [ 1.11902769e-02 1.28039407e-04 9.99937379e-01 3.73199755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.439254154 meters 0.05117240293127918 Centerline is valid? [True, True] Translation: X:946.63, Y:6.14, Z:3.73 [[ 9.98350891e-01 -5.62574901e-02 -1.14277662e-02 9.46631161e+02] [ 5.62520616e-02 9.98416282e-01 -7.96149482e-04 6.14473648e+00] [ 1.14544572e-02 1.52001136e-04 9.99934384e-01 3.73311504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.499254154 meters 0.05081804506631325 Centerline is valid? [True, True] Translation: X:946.69, Y:6.15, Z:3.73 [[ 9.98534863e-01 -5.28085066e-02 -1.18063491e-02 9.46690098e+02] [ 5.28024638e-02 9.98604638e-01 -8.23173675e-04 6.15130121e+00] [ 1.18333456e-02 1.98563290e-04 9.99929964e-01 3.73249941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.559254154 meters 0.05131225618005235 Centerline is valid? [True, True] Translation: X:946.75, Y:6.16, Z:3.73 [[ 9.98403058e-01 -5.51058142e-02 -1.24371769e-02 9.46748411e+02] [ 5.50992734e-02 9.98480504e-01 -8.68213434e-04 6.15815242e+00] [ 1.24661222e-02 1.81547541e-04 9.99922278e-01 3.73231231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters 0.051324140172891254 Centerline is valid? [True, True] Translation: X:946.81, Y:6.16, Z:3.73 [[ 9.98255371e-01 -5.82442737e-02 -9.68606958e-03 9.46807303e+02] [ 5.82404500e-02 9.98302355e-01 -6.76600536e-04 6.16457141e+00] [ 9.70903418e-03 1.11299068e-04 9.99952860e-01 3.73225696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.679254154 meters 0.05144431529698377 Centerline is valid? [True, True] Translation: X:946.86, Y:6.17, Z:3.73 [[ 9.98232369e-01 -5.87758905e-02 -8.80525501e-03 9.46864632e+02] [ 5.87727492e-02 9.98271198e-01 -6.15316316e-04 6.16918039e+00] [ 8.82619824e-03 9.67196192e-05 9.99961044e-01 3.73270861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539999 meters 0.050281500481660676 Centerline is valid? [True, True] Translation: X:946.92, Y:6.16, Z:3.73 [[ 9.98250212e-01 -5.87738364e-02 -6.49229066e-03 9.46924004e+02] [ 5.87721260e-02 9.98271321e-01 -4.54086995e-04 6.16454898e+00] [ 6.50775601e-03 7.17267144e-05 9.99978822e-01 3.73494485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.799254154 meters 0.05030261780914816 Centerline is valid? [True, True] Translation: X:946.98, Y:6.18, Z:3.73 [[ 9.98165008e-01 -6.00238021e-02 -7.98501410e-03 9.46982386e+02] [ 6.00212469e-02 9.98196943e-01 -5.59471955e-04 6.17572679e+00] [ 8.00419830e-03 7.91748248e-05 9.99967963e-01 3.73094787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539999 meters 0.05162566813336977 Centerline is valid? [True, True] Translation: X:947.04, Y:6.18, Z:3.73 [[ 9.98064958e-01 -6.15100130e-02 -9.10262025e-03 9.47039810e+02] [ 6.15067479e-02 9.98106463e-01 -6.38463917e-04 6.18004256e+00] [ 9.12465603e-03 7.73558933e-05 9.99958366e-01 3.72998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.919254154 meters 0.05113432745035075 Centerline is valid? [True, True] Translation: X:947.10, Y:6.18, Z:3.73 [[ 9.98053163e-01 -6.17475427e-02 -8.78210953e-03 9.47097438e+02] [ 6.17445058e-02 9.98091797e-01 -6.16776403e-04 6.18266507e+00] [ 8.80343592e-03 7.33286264e-05 9.99961246e-01 3.72950471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539999 meters 0.05096728199459112 Centerline is valid? [True, True] Translation: X:947.16, Y:6.19, Z:3.73 [[ 9.98209151e-01 -5.92052441e-02 -8.55747642e-03 9.47155935e+02] [ 5.92022582e-02 9.98245827e-01 -6.02040112e-04 6.18744969e+00] [ 8.57810905e-03 9.43400202e-05 9.99963203e-01 3.72966794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.039254154 meters 0.050498915129268775 Centerline is valid? [True, True] Translation: X:947.21, Y:6.19, Z:3.73 [[ 9.98293230e-01 -5.77213130e-02 -8.88132673e-03 9.47214271e+02] [ 5.77180289e-02 9.98332729e-01 -6.25864749e-04 6.19275047e+00] [ 8.90264488e-03 1.12183869e-04 9.99960364e-01 3.72838356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539999 meters 0.05111908294390402 Centerline is valid? [True, True] Translation: X:947.27, Y:6.20, Z:3.73 [[ 9.98294592e-01 -5.77349801e-02 -8.63590948e-03 9.47271490e+02] [ 5.77318680e-02 9.98331939e-01 -6.09431633e-04 6.19694169e+00] [ 8.65668978e-03 1.09825118e-04 9.99962524e-01 3.72841422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.159254154 meters 0.05037861771683194 Centerline is valid? [True, True] Translation: X:947.33, Y:6.20, Z:3.73 [[ 9.98254947e-01 -5.86862738e-02 -6.55608444e-03 9.47330621e+02] [ 5.86844970e-02 9.98276472e-01 -4.63225099e-04 6.19916277e+00] [ 6.57196980e-03 7.76762289e-05 9.99978401e-01 3.72970205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539999 meters 0.050774520519036644 Centerline is valid? [True, True] Translation: X:947.39, Y:6.20, Z:3.73 [[ 9.98183319e-01 -6.00545446e-02 -4.84899464e-03 9.47388660e+02] [ 6.00535870e-02 9.98195096e-01 -3.42976378e-04 6.20314470e+00] [ 4.86083995e-03 5.11537787e-05 9.99988185e-01 3.73052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.279254154 meters 0.05052959504227823 Centerline is valid? [True, True] Translation: X:947.45, Y:6.20, Z:3.73 [[ 9.98091546e-01 -6.15692958e-02 -4.74206007e-03 9.47447416e+02] [ 6.15683959e-02 9.98102810e-01 -3.35659106e-04 6.20428819e+00] [ 4.75372978e-03 4.30574845e-05 9.99988700e-01 3.73029382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.339254154 meters 0.05053528788720875 Centerline is valid? [True, True] Translation: X:947.50, Y:6.21, Z:3.73 [[ 9.98041653e-01 -6.23159000e-02 -5.43936987e-03 9.47504771e+02] [ 6.23147231e-02 9.98056475e-01 -3.85729212e-04 6.20892323e+00] [ 5.45283538e-03 4.60209930e-05 9.99985132e-01 3.72990285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.399254154 meters 0.051134781122497856 Centerline is valid? [True, True] Translation: X:947.56, Y:6.21, Z:3.73 [[ 9.98053326e-01 -6.21703726e-02 -4.93988540e-03 9.47562771e+02] [ 6.21693973e-02 9.98065550e-01 -3.50898837e-04 6.21127639e+00] [ 4.95214495e-03 4.31060533e-05 9.99987737e-01 3.72923725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.459254154 meters 0.05026464320703225 Centerline is valid? [True, True] Translation: X:947.62, Y:6.22, Z:3.73 [[ 9.98130051e-01 -6.08668907e-02 -5.62339826e-03 9.47620802e+02] [ 6.08656026e-02 9.98145890e-01 -4.00071308e-04 6.21615143e+00] [ 5.63732296e-03 5.70516717e-05 9.99984109e-01 3.72888090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.519254154 meters 0.05048747072674634 Centerline is valid? [True, True] Translation: X:947.68, Y:6.22, Z:3.73 [[ 9.98231127e-01 -5.90790378e-02 -6.65463295e-03 9.47679395e+02] [ 5.90771908e-02 9.98253305e-01 -4.73939706e-04 6.22059028e+00] [ 6.67100924e-03 7.99643461e-05 9.99977745e-01 3.72836467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.579254154 meters 0.05102244021628509 Centerline is valid? [True, True] Translation: X:947.74, Y:6.23, Z:3.73 [[ 9.98381049e-01 -5.65218355e-02 -6.36897406e-03 9.47736818e+02] [ 5.65200884e-02 9.98401359e-01 -4.54125766e-04 6.22760241e+00] [ 6.38446038e-03 9.34155821e-05 9.99979615e-01 3.72725028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.639254154 meters 0.04984145568077287 Centerline is valid? [True, True] Translation: X:947.80, Y:6.23, Z:3.73 [[ 9.98419961e-01 -5.59528505e-02 -5.18272487e-03 9.47795118e+02] [ 5.59516845e-02 9.98433409e-01 -3.69812694e-04 6.23206193e+00] [ 5.19529773e-03 7.92461891e-05 9.99986501e-01 3.72711708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.699254154 meters 0.0503676281434179 Centerline is valid? [True, True] Translation: X:947.85, Y:6.23, Z:3.73 [[ 9.98242519e-01 -5.92100058e-02 -2.45944600e-03 9.47853982e+02] [ 5.92097530e-02 9.98245548e-01 -1.75544284e-04 6.23250979e+00] [ 2.46552500e-03 2.96125782e-05 9.99996960e-01 3.72728619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.759254154 meters 0.0505745093587257 Centerline is valid? [True, True] Translation: X:947.91, Y:6.23, Z:3.73 [[ 9.97849607e-01 -6.55065864e-02 -2.24720457e-03 9.47913088e+02] [ 6.55063905e-02 9.97852137e-01 -1.60750838e-04 6.23452851e+00] [ 2.25290812e-03 1.31988998e-05 9.99997462e-01 3.72918431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.819254154 meters 0.05163161298208991 Centerline is valid? [True, True] Translation: X:947.97, Y:6.24, Z:3.73 [[ 9.97654540e-01 -6.84406711e-02 -1.13714783e-03 9.47971755e+02] [ 6.84406231e-02 9.97655188e-01 -8.10988658e-05 6.23835978e+00] [ 1.14003190e-03 3.08154530e-06 9.99999350e-01 3.72870904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.879254154 meters 0.050374252916289386 Centerline is valid? [True, True] Translation: X:948.03, Y:6.24, Z:3.73 [[ 9.97586930e-01 -6.93819381e-02 -2.54245425e-03 9.48030381e+02] [ 6.93816995e-02 9.97590170e-01 -1.82046838e-04 6.24318597e+00] [ 2.54895813e-03 5.20774993e-06 9.99996751e-01 3.72664649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.939254154 meters 0.05060375690335691 Centerline is valid? [True, True] Translation: X:948.09, Y:6.25, Z:3.73 [[ 9.97571507e-01 -6.96078074e-02 -2.41681542e-03 9.48088237e+02] [ 6.96075920e-02 9.97574435e-01 -1.73256688e-04 6.24660279e+00] [ 2.42301329e-03 4.60723336e-06 9.99997064e-01 3.72605099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.999254154 meters 0.05096729897676213 Centerline is valid? [True, True] Translation: X:948.15, Y:6.25, Z:3.73 [[ 9.97477892e-01 -7.09382581e-02 -2.37023401e-03 9.48145198e+02] [ 7.09380539e-02 9.97480708e-01 -1.70218821e-04 6.25160973e+00] [ 2.37633772e-03 1.64972302e-06 9.99997176e-01 3.72675602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.059254154 meters 0.05043748844600175 Centerline is valid? [True, True] Translation: X:948.20, Y:6.26, Z:3.73 [[ 9.97465053e-01 -7.11368606e-02 -1.73672238e-03 9.48203132e+02] [ 7.11367512e-02 9.97466564e-01 -1.24807232e-04 6.25725243e+00] [ 1.74120090e-03 9.46063891e-07 9.99998484e-01 3.72648523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters 0.051801793446031426 Centerline is valid? [True, True] Translation: X:948.26, Y:6.26, Z:3.73 [[ 9.97648053e-01 -6.84890973e-02 -2.75783002e-03 9.48260919e+02] [ 6.84888090e-02 9.97651865e-01 -1.98951826e-04 6.26253481e+00] [ 2.76498029e-03 9.60340865e-06 9.99996177e-01 3.72608018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.179254154 meters 0.05125034120972979 Centerline is valid? [True, True] Translation: X:948.32, Y:6.27, Z:3.73 [[ 9.97895873e-01 -6.48109945e-02 -1.83323655e-03 9.48319303e+02] [ 6.48108611e-02 9.97897557e-01 -1.32145819e-04 6.27120096e+00] [ 1.83794678e-03 1.30541274e-05 9.99998311e-01 3.72654914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539999 meters 0.05253290514771705 Centerline is valid? [True, True] Translation: X:948.38, Y:6.29, Z:3.73 [[ 9.98388664e-01 -5.67213022e-02 -1.66437959e-03 9.48377708e+02] [ 5.67211805e-02 9.98390051e-01 -1.20296400e-04 6.28695122e+00] [ 1.66852339e-03 2.56969875e-05 9.99998608e-01 3.72747938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.299254154 meters 0.05089521709496616 Centerline is valid? [True, True] Translation: X:948.44, Y:6.29, Z:3.73 [[ 9.98699949e-01 -5.09612712e-02 -1.16631856e-03 9.48437340e+02] [ 5.09612075e-02 9.98700630e-01 -8.43226522e-05 6.29163411e+00] [ 1.16910027e-03 2.47760261e-05 9.99999316e-01 3.72684886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539999 meters 0.051328857057695104 Centerline is valid? [True, True] Translation: X:948.49, Y:6.30, Z:3.73 [[ 9.98748202e-01 -4.99918137e-02 -1.68746675e-03 9.48494867e+02] [ 4.99916790e-02 9.98749627e-01 -1.21950217e-04 6.30014087e+00] [ 1.69145330e-03 3.74382643e-05 9.99998569e-01 3.72763521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.419254154 meters 0.051691425422323564 Centerline is valid? [True, True] Translation: X:948.55, Y:6.31, Z:3.73 [[ 9.98711501e-01 -5.07219238e-02 -1.62001317e-03 9.48552467e+02] [ 5.07218005e-02 9.98712814e-01 -1.17135207e-04 6.30719719e+00] [ 1.62386923e-03 3.48142941e-05 9.99998681e-01 3.72806364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539999 meters 0.05239774971815813 Centerline is valid? [True, True] Translation: X:948.61, Y:6.31, Z:3.73 [[ 9.98561640e-01 -5.35574236e-02 -2.50081030e-03 9.48611980e+02] [ 5.35571381e-02 9.98564770e-01 -1.81038136e-04 6.31255909e+00] [ 2.50691700e-03 4.68414948e-05 9.99996857e-01 3.72662958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.539254154 meters 0.051367033264825106 Centerline is valid? [True, True] Translation: X:948.67, Y:6.31, Z:3.73 [[ 9.98290062e-01 -5.83588260e-02 -3.34646896e-03 9.48671990e+02] [ 5.83583417e-02 9.98295670e-01 -2.42285525e-04 6.31176488e+00] [ 3.35490497e-03 4.65768528e-05 9.99994371e-01 3.72638420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539999 meters 0.05155365711381595 Centerline is valid? [True, True] Translation: X:948.73, Y:6.31, Z:3.73 [[ 9.98173758e-01 -6.03212886e-02 -3.23889966e-03 9.48731052e+02] [ 6.03208452e-02 9.98179012e-01 -2.34486195e-04 6.31103947e+00] [ 3.24714617e-03 3.86848012e-05 9.99994727e-01 3.72613285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.659254154 meters 0.051330172596485396 Centerline is valid? [True, True] Translation: X:948.79, Y:6.31, Z:3.73 [[ 9.97886446e-01 -6.49120927e-02 -3.01011919e-03 9.48789307e+02] [ 6.49117295e-02 9.97890986e-01 -2.18309322e-04 6.31405989e+00] [ 3.01794173e-03 2.24558701e-05 9.99995446e-01 3.72646195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539999 meters 0.050492621520922355 Centerline is valid? [True, True] Translation: X:948.85, Y:6.32, Z:3.73 [[ 9.97637218e-01 -6.86759122e-02 -1.89730624e-03 9.48848212e+02] [ 6.86757750e-02 9.97639022e-01 -1.37453367e-04 6.31505060e+00] [ 1.90226648e-03 6.82961782e-06 9.99998191e-01 3.72676739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.779254154 meters 0.05039981430610036 Centerline is valid? [True, True] Translation: X:948.91, Y:6.32, Z:3.73 [[ 9.97366213e-01 -7.24981052e-02 -2.15917327e-03 9.48907655e+02] [ 7.24979358e-02 9.97368550e-01 -1.56728305e-04 6.31548477e+00] [ 2.16485402e-03 -2.20088767e-07 9.99997657e-01 3.72725383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.839254154 meters 0.05059978959655415 Centerline is valid? [True, True] Translation: X:948.97, Y:6.32, Z:3.73 [[ 9.97233018e-01 -7.42462163e-02 -3.71591791e-03 9.48965729e+02] [ 7.42457239e-02 9.97239941e-01 -2.70466559e-04 6.31829900e+00] [ 3.72574287e-03 -6.17283177e-06 9.99993059e-01 3.72605187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.899254154 meters 0.0514042363494405 Centerline is valid? [True, True] Translation: X:949.02, Y:6.32, Z:3.73 [[ 9.97186168e-01 -7.48184926e-02 -4.68404576e-03 9.49023013e+02] [ 7.48177131e-02 9.97197169e-01 -3.41658675e-04 6.32197566e+00] [ 4.69647956e-03 -9.75228725e-06 9.99988971e-01 3.72582926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.959254154 meters 0.05174460095312447 Centerline is valid? [True, True] Translation: X:949.08, Y:6.33, Z:3.73 [[ 9.97157114e-01 -7.52234168e-02 -4.37362045e-03 9.49079957e+02] [ 7.52227395e-02 9.97166705e-01 -3.19374544e-04 6.32500694e+00] [ 4.38525314e-03 -1.05291137e-05 9.99990385e-01 3.72637563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.019254154 meters 0.05127945072667999 Centerline is valid? [True, True] Translation: X:949.14, Y:6.33, Z:3.73 [[ 9.97195985e-01 -7.47002268e-02 -4.47708779e-03 9.49138280e+02] [ 7.46995106e-02 9.97206035e-01 -3.27225916e-04 6.32936469e+00] [ 4.48902282e-03 -8.12789729e-06 9.99989924e-01 3.72648620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.079254154 meters 0.05131810374904424 Centerline is valid? [True, True] Translation: X:949.20, Y:6.33, Z:3.73 [[ 9.97308853e-01 -7.31658603e-02 -4.67005328e-03 9.49195903e+02] [ 7.31650612e-02 9.97319787e-01 -3.41941712e-04 6.33495713e+00] [ 4.68255500e-03 -6.63237659e-07 9.99989037e-01 3.72687316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.139254154 meters 0.05155555657517862 Centerline is valid? [True, True] Translation: X:949.25, Y:6.34, Z:3.73 [[ 9.97405440e-01 -7.18069979e-02 -5.11312748e-03 9.49252550e+02] [ 7.18060191e-02 9.97418546e-01 -3.74993246e-04 6.34029382e+00] [ 5.12685532e-03 6.86697381e-06 9.99986858e-01 3.72648308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.199254154 meters 0.05113232672569256 Centerline is valid? [True, True] Translation: X:949.31, Y:6.34, Z:3.73 [[ 9.97461992e-01 -7.09869036e-02 -5.51671329e-03 9.49310611e+02] [ 7.09857492e-02 9.97477248e-01 -4.05017534e-04 6.34426631e+00] [ 5.53154693e-03 1.23815703e-05 9.99984701e-01 3.72697549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.259254154 meters 0.051193030733235875 Centerline is valid? [True, True] Translation: X:949.37, Y:6.35, Z:3.73 [[ 9.97447680e-01 -7.12158847e-02 -5.14034665e-03 9.49368377e+02] [ 7.12148825e-02 9.97460925e-01 -3.77976261e-04 6.34921101e+00] [ 5.15421284e-03 1.09423625e-05 9.99986717e-01 3.72743117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.319254154 meters 0.051741912601992526 Centerline is valid? [True, True] Translation: X:949.43, Y:6.35, Z:3.73 [[ 9.97299907e-01 -7.32260085e-02 -5.55405579e-03 9.49426285e+02] [ 7.32248657e-02 9.97315372e-01 -4.09106228e-04 6.35424344e+00] [ 5.56910243e-03 1.30661342e-06 9.99984492e-01 3.72675196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.379254154 meters 0.051549339813139305 Centerline is valid? [True, True] Translation: X:949.48, Y:6.36, Z:3.73 [[ 9.97007895e-01 -7.71135255e-02 -5.36296605e-03 9.49483505e+02] [ 7.71125133e-02 9.97022319e-01 -3.95580548e-04 6.35781101e+00] [ 5.37750146e-03 -1.91548617e-05 9.99985541e-01 3.72699009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.439254154 meters 0.05140922421600615 Centerline is valid? [True, True] Translation: X:949.54, Y:6.36, Z:3.73 [[ 9.96723695e-01 -8.06846398e-02 -5.64481504e-03 9.49541963e+02] [ 8.06835734e-02 9.96739679e-01 -4.16753579e-04 6.35932969e+00] [ 5.66003674e-03 -4.00556816e-05 9.99983981e-01 3.72680567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.499254154 meters 0.05215150805751291 Centerline is valid? [True, True] Translation: X:949.60, Y:6.36, Z:3.73 [[ 9.96665196e-01 -8.13854881e-02 -5.90665095e-03 9.49599951e+02] [ 8.13843297e-02 9.96682698e-01 -4.36615603e-04 6.36430491e+00] [ 5.92259098e-03 -4.55492529e-05 9.99982460e-01 3.72630954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.559254154 meters 0.0523611681316951 Centerline is valid? [True, True] Translation: X:949.66, Y:6.38, Z:3.73 [[ 9.96789867e-01 -7.95726226e-02 -8.84073475e-03 9.49657148e+02] [ 7.95699487e-02 9.96829070e-01 -6.54343430e-04 6.37512139e+00] [ 8.86476923e-03 -5.12139097e-05 9.99960706e-01 3.72593360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters 0.05265891630995411 Centerline is valid? [True, True] Translation: X:949.72, Y:6.38, Z:3.72 [[ 9.97003823e-01 -7.65081043e-02 -1.13968129e-02 9.49715399e+02] [ 7.65034433e-02 9.97068959e-01 -8.45014668e-04 6.38112508e+00] [ 1.14280589e-02 -2.94125757e-05 9.99934697e-01 3.72126174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.679254154 meters 0.052262699789801616 Centerline is valid? [True, True] Translation: X:949.77, Y:6.39, Z:3.72 [[ 9.97178878e-01 -7.41952069e-02 -1.13734888e-02 9.49773069e+02] [ 7.41903985e-02 9.97243737e-01 -8.44694534e-04 6.38826387e+00] [ 1.14048128e-02 -1.49212186e-06 9.99934963e-01 3.72376569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539999 meters 0.05235715469542295 Centerline is valid? [True, True] Translation: X:949.83, Y:6.39, Z:3.73 [[ 9.97391797e-01 -7.15576432e-02 -9.43961274e-03 9.49830373e+02] [ 7.15542067e-02 9.97436466e-01 -7.01710489e-04 6.39447334e+00] [ 9.46562671e-03 2.44362846e-05 9.99955200e-01 3.72667373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.799254154 meters 0.05198917090102514 Centerline is valid? [True, True] Translation: X:949.89, Y:6.40, Z:3.73 [[ 9.97584004e-01 -6.89172904e-02 -8.75000048e-03 9.49889224e+02] [ 6.89142304e-02 9.97622376e-01 -6.51096073e-04 6.40149729e+00] [ 8.77406804e-03 4.65234790e-05 9.99961506e-01 3.72697796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539999 meters 0.05193993091958131 Centerline is valid? [True, True] Translation: X:949.95, Y:6.41, Z:3.73 [[ 9.97941492e-01 -6.35631031e-02 -8.51536898e-03 9.49946874e+02] [ 6.35600054e-02 9.97977817e-01 -6.34183592e-04 6.41104045e+00] [ 8.53846002e-03 9.16412211e-05 9.99963542e-01 3.72761110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.919254154 meters 0.051850572199081346 Centerline is valid? [True, True] Translation: X:950.01, Y:6.42, Z:3.73 [[ 9.98258568e-01 -5.83859948e-02 -8.42059903e-03 9.50006309e+02] [ 5.83827798e-02 9.98294074e-01 -6.27324517e-04 6.41785706e+00] [ 8.44286108e-03 1.34614095e-04 9.99964349e-01 3.72880268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539999 meters 0.05155713187536871 Centerline is valid? [True, True] Translation: X:950.07, Y:6.43, Z:3.73 [[ 9.98512547e-01 -5.38722964e-02 -8.39461568e-03 9.50066108e+02] [ 5.38689409e-02 9.98547819e-01 -6.25490194e-04 6.42559751e+00] [ 8.41612177e-03 1.72350751e-04 9.99964569e-01 3.72889402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.039254154 meters 0.05209093703930358 Centerline is valid? [True, True] Translation: X:950.12, Y:6.43, Z:3.73 [[ 9.98614312e-01 -5.15154943e-02 -1.07522269e-02 9.50124959e+02] [ 5.15098509e-02 9.98672165e-01 -8.01310167e-04 6.43440756e+00] [ 1.07792296e-02 2.46354194e-04 9.99941872e-01 3.72761501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539999 meters 0.052309625238294404 Centerline is valid? [True, True] Translation: X:950.18, Y:6.44, Z:3.73 [[ 9.98528184e-01 -5.27867473e-02 -1.24509408e-02 9.50182478e+02] [ 5.27792734e-02 9.98605771e-01 -9.28327165e-04 6.44372413e+00] [ 1.24825847e-02 2.69809229e-04 9.99922053e-01 3.72506280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.159254154 meters 0.05287341522600218 Centerline is valid? [True, True] Translation: X:950.24, Y:6.44, Z:3.73 [[ 9.98190199e-01 -5.89074376e-02 -1.20930143e-02 9.50243168e+02] [ 5.89008329e-02 9.98263431e-01 -9.01900825e-04 6.43987771e+00] [ 1.21251426e-02 1.87979949e-04 9.99926470e-01 3.72766706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539999 meters 0.05251359160030256 Centerline is valid? [True, True] Translation: X:950.30, Y:6.44, Z:3.73 [[ 9.97674718e-01 -6.73047621e-02 -1.07343599e-02 9.50303321e+02] [ 6.73000428e-02 9.97732461e-01 -8.00670687e-04 6.43912085e+00] [ 1.07639083e-02 7.63860187e-05 9.99942065e-01 3.72948214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.279254154 meters 0.052248652543088366 Centerline is valid? [True, True] Translation: X:950.36, Y:6.44, Z:3.73 [[ 9.97077706e-01 -7.58041367e-02 -9.47533353e-03 9.50362457e+02] [ 7.58008371e-02 9.97122727e-01 -7.07388611e-04 6.43859652e+00] [ 9.50169339e-03 -1.29168003e-05 9.99954858e-01 3.73020893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.339254154 meters 0.05229805715719395 Centerline is valid? [True, True] Translation: X:950.42, Y:6.44, Z:3.73 [[ 9.96586986e-01 -8.19100796e-02 -1.02527595e-02 9.50421287e+02] [ 8.19065273e-02 9.96639721e-01 -7.66592349e-04 6.43974423e+00] [ 1.02810990e-02 -7.57919663e-05 9.99947145e-01 3.73000768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.399254154 meters 0.05325896212264585 Centerline is valid? [True, True] Translation: X:950.48, Y:6.44, Z:3.73 [[ 9.96379001e-01 -8.43520033e-02 -1.06595762e-02 9.50480143e+02] [ 8.43482897e-02 9.96436013e-01 -7.98278273e-04 6.44329011e+00] [ 1.06889219e-02 -1.03729310e-04 9.99942866e-01 3.73022693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.459254154 meters 0.05278859313865678 Centerline is valid? [True, True] Translation: X:950.54, Y:6.45, Z:3.73 [[ 9.96475210e-01 -8.32201381e-02 -1.05624333e-02 9.50538182e+02] [ 8.32164203e-02 9.96531184e-01 -7.91758137e-04 6.44876066e+00] [ 1.05916843e-02 -9.00005303e-05 9.99943902e-01 3.72987107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.519254154 meters 0.05284947519613922 Centerline is valid? [True, True] Translation: X:950.60, Y:6.45, Z:3.73 [[ 9.96540144e-01 -8.23752388e-02 -1.10481276e-02 9.50595484e+02] [ 8.23711066e-02 9.96601381e-01 -8.29307894e-04 6.45462208e+00] [ 1.10788937e-02 -8.36078878e-05 9.99938624e-01 3.73054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.579254154 meters 0.05289302541021392 Centerline is valid? [True, True] Translation: X:950.65, Y:6.46, Z:3.73 [[ 9.96846358e-01 -7.85506382e-02 -1.12754605e-02 9.50653574e+02] [ 7.85460736e-02 9.96910124e-01 -8.47781195e-04 6.46159580e+00] [ 1.13072145e-02 -4.05355527e-05 9.99936071e-01 3.73014803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.639254154 meters 0.05254960001737745 Centerline is valid? [True, True] Translation: X:950.71, Y:6.47, Z:3.73 [[ 9.97146751e-01 -7.45279860e-02 -1.19973791e-02 9.50710267e+02] [ 7.45225154e-02 9.97218922e-01 -9.03022088e-04 6.46897442e+00] [ 1.20313139e-02 6.37067006e-06 9.99927621e-01 3.72910061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.699254154 meters 0.052026217097739906 Centerline is valid? [True, True] Translation: X:950.77, Y:6.48, Z:3.73 [[ 9.97380016e-01 -7.14118253e-02 -1.15522335e-02 9.50767283e+02] [ 7.14065371e-02 9.97446916e-01 -8.70108355e-04 6.47557973e+00] [ 1.15848757e-02 4.29236961e-05 9.99932892e-01 3.72974923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.759254154 meters 0.05197123733255163 Centerline is valid? [True, True] Translation: X:950.82, Y:6.48, Z:3.73 [[ 9.97448012e-01 -7.05754461e-02 -1.07967365e-02 9.50824676e+02] [ 7.05707664e-02 9.97506443e-01 -8.14271499e-04 6.48102989e+00] [ 1.08272818e-02 5.02595149e-05 9.99941382e-01 3.73058781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.819254154 meters 0.051579257770416866 Centerline is valid? [True, True] Translation: X:950.88, Y:6.49, Z:3.73 [[ 9.97464828e-01 -7.05175031e-02 -9.54979884e-03 9.50883091e+02] [ 7.05138289e-02 9.97510541e-01 -7.21314854e-04 6.48611460e+00] [ 9.57689033e-03 4.60933153e-05 9.99954139e-01 3.73272186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.879254154 meters 0.05196094746471321 Centerline is valid? [True, True] Translation: X:950.94, Y:6.49, Z:3.73 [[ 9.97413862e-01 -7.12798377e-02 -9.20721467e-03 9.50940471e+02] [ 7.12764490e-02 9.97456357e-01 -6.96078020e-04 6.49219860e+00] [ 9.23341113e-03 3.80202993e-05 9.99957370e-01 3.73222357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.939254154 meters 0.05188213578916728 Centerline is valid? [True, True] Translation: X:951.00, Y:6.50, Z:3.73 [[ 9.97261800e-01 -7.33599465e-02 -9.33919133e-03 9.50998086e+02] [ 7.33565477e-02 9.97305529e-01 -7.06425264e-04 6.49648948e+00] [ 9.36585047e-03 1.94000967e-05 9.99956139e-01 3.73334922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.999254154 meters 0.05167965751418744 Centerline is valid? [True, True] Translation: X:951.06, Y:6.50, Z:3.73 [[ 9.96868868e-01 -7.83903287e-02 -1.03641665e-02 9.51056621e+02] [ 7.83864060e-02 9.96922743e-01 -7.84794005e-04 6.50015907e+00] [ 1.03937936e-02 -3.00730516e-05 9.99945983e-01 3.73197771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.059254154 meters 0.052021351779725056 Centerline is valid? [True, True] Translation: X:951.12, Y:6.50, Z:3.73 [[ 9.96449146e-01 -8.34408510e-02 -1.12571820e-02 9.51115426e+02] [ 8.34365316e-02 9.96512728e-01 -8.53624785e-04 6.50220760e+00] [ 1.12891523e-02 -8.86665356e-05 9.99936272e-01 3.73095367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters 0.05251747705241006 Centerline is valid? [True, True] Translation: X:951.17, Y:6.51, Z:3.73 [[ 9.96171113e-01 -8.64501988e-02 -1.30183380e-02 9.51174961e+02] [ 8.64446709e-02 9.96256163e-01 -9.87794424e-04 6.50614590e+00] [ 1.30549945e-02 -1.41353676e-04 9.99914770e-01 3.72948371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.179254154 meters 0.05255086429396947 Centerline is valid? [True, True] Translation: X:951.23, Y:6.52, Z:3.73 [[ 9.96175786e-01 -8.62412117e-02 -1.40091992e-02 9.51233058e+02] [ 8.62347726e-02 9.96274275e-01 -1.06418610e-03 6.51610982e+00] [ 1.40487815e-02 -1.47963678e-04 9.99901300e-01 3.73353218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539999 meters 0.05249204659854167 Centerline is valid? [True, True] Translation: X:951.29, Y:6.52, Z:3.73 [[ 9.96340556e-01 -8.43431443e-02 -1.38467024e-02 9.51290926e+02] [ 8.43366493e-02 9.96436762e-01 -1.05336094e-03 6.51734056e+00] [ 1.38862070e-02 -1.18278260e-04 9.99903575e-01 3.72934378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.299254154 meters 0.052808652165025734 Centerline is valid? [True, True] Translation: X:951.35, Y:6.52, Z:3.73 [[ 9.96590064e-01 -8.14768974e-02 -1.30292197e-02 9.51349466e+02] [ 8.14708899e-02 9.96675228e-01 -9.92079515e-04 6.52384209e+00] [ 1.30667321e-02 -7.28055404e-05 9.99914624e-01 3.72952313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539999 meters 0.05167175939726071 Centerline is valid? [True, True] Translation: X:951.41, Y:6.53, Z:3.73 [[ 9.97025692e-01 -7.61976377e-02 -1.15624489e-02 9.51407832e+02] [ 7.61925396e-02 9.97092734e-01 -8.81421964e-04 6.53136362e+00] [ 1.15959961e-02 -2.17200191e-06 9.99932764e-01 3.73194590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.419254154 meters 0.05103775814979695 Centerline is valid? [True, True] Translation: X:951.47, Y:6.54, Z:3.74 [[ 9.97521337e-01 -6.96914950e-02 -9.70972432e-03 9.51466224e+02] [ 6.96875819e-02 9.97568590e-01 -7.41174063e-04 6.53682841e+00] [ 9.73776953e-03 6.26897336e-05 9.99952585e-01 3.73696065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539999 meters 0.05234274316560244 Centerline is valid? [True, True] Translation: X:951.53, Y:6.55, Z:3.74 [[ 9.98008741e-01 -6.22147561e-02 -1.03863560e-02 9.51525731e+02] [ 6.22098687e-02 9.98062775e-01 -7.93280370e-04 6.54686296e+00] [ 1.04155890e-02 1.45566902e-04 9.99945746e-01 3.73548390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.539254154 meters 0.05283944372966233 Centerline is valid? [True, True] Translation: X:951.58, Y:6.56, Z:3.73 [[ 9.98246366e-01 -5.81516964e-02 -1.10712976e-02 9.51583948e+02] [ 5.81458915e-02 9.98307738e-01 -8.45756714e-04 6.55633912e+00] [ 1.11017443e-02 2.00523097e-04 9.99938354e-01 3.73387419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539999 meters 0.05283750261425016 Centerline is valid? [True, True] Translation: X:951.64, Y:6.56, Z:3.74 [[ 9.98500141e-01 -5.33441371e-02 -1.23235962e-02 9.51643855e+02] [ 5.33365769e-02 9.98576148e-01 -9.41562530e-04 6.55736444e+00] [ 1.23562761e-02 2.82851883e-04 9.99923618e-01 3.73551586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.659254154 meters 0.05240373402856818 Centerline is valid? [True, True] Translation: X:951.70, Y:6.56, Z:3.73 [[ 9.98625134e-01 -5.02447741e-02 -1.49433464e-02 9.51703037e+02] [ 5.02333079e-02 9.98736858e-01 -1.14190868e-03 6.56269280e+00] [ 1.49818458e-02 3.89684992e-04 9.99887690e-01 3.73401953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539999 meters 0.05138847760436054 Centerline is valid? [True, True] Translation: X:951.76, Y:6.56, Z:3.74 [[ 9.98602896e-01 -5.00205399e-02 -1.70353317e-02 9.51762073e+02] [ 5.00055797e-02 9.98748088e-01 -1.30328530e-03 6.55888403e+00] [ 1.70791960e-02 4.49602841e-04 9.99854039e-01 3.73616451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.779254154 meters 0.05206094805987631 Centerline is valid? [True, True] Translation: X:951.82, Y:6.56, Z:3.73 [[ 9.98466378e-01 -5.27599406e-02 -1.67714025e-02 9.51820625e+02] [ 5.27458143e-02 9.98607145e-01 -1.28382271e-03 6.56325605e+00] [ 1.68157768e-02 3.97232531e-04 9.99858526e-01 3.73390580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.839254154 meters 0.051065094384632866 Centerline is valid? [True, True] Translation: X:951.88, Y:6.56, Z:3.74 [[ 9.98243984e-01 -5.71825950e-02 -1.54628186e-02 9.51881683e+02] [ 5.71711138e-02 9.98363692e-01 -1.18388997e-03 6.55634215e+00] [ 1.55052145e-02 2.97784481e-04 9.99879743e-01 3.73834306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.899254154 meters 0.05112936328564417 Centerline is valid? [True, True] Translation: X:951.94, Y:6.55, Z:3.74 [[ 9.98020453e-01 -6.12274519e-02 -1.43657471e-02 9.51941816e+02] [ 6.12179591e-02 9.98123816e-01 -1.10002471e-03 6.55429880e+00] [ 1.44061460e-02 2.18405445e-04 9.99896202e-01 3.73968157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.959254154 meters 0.05037945219413432 Centerline is valid? [True, True] Translation: X:952.00, Y:6.56, Z:3.74 [[ 9.97894799e-01 -6.32916783e-02 -1.41468882e-02 9.52000841e+02] [ 6.32826635e-02 9.97995054e-01 -1.08442014e-03 6.55530333e+00] [ 1.41871592e-02 1.86884451e-04 9.99899340e-01 3.73982035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.019254154 meters 0.05010259115456117 Centerline is valid? [True, True] Translation: X:952.06, Y:6.56, Z:3.74 [[ 9.97767229e-01 -6.49975521e-02 -1.53582011e-02 9.52058428e+02] [ 6.49871153e-02 9.97885408e-01 -1.17818905e-03 6.55706102e+00] [ 1.54023042e-02 1.77473237e-04 9.99881362e-01 3.73726156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.079254154 meters 0.0502095804538216 Centerline is valid? [True, True] Translation: X:952.12, Y:6.56, Z:3.74 [[ 9.97679543e-01 -6.61124609e-02 -1.62687561e-02 9.52116468e+02] [ 6.61008705e-02 9.97812163e-01 -1.24971534e-03 6.55668500e+00] [ 1.63157845e-02 1.71436487e-04 9.99866874e-01 3.73700349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.139254154 meters 0.05063268986693247 Centerline is valid? [True, True] Translation: X:952.18, Y:6.56, Z:3.74 [[ 9.97522437e-01 -6.84640667e-02 -1.61758962e-02 9.52175566e+02] [ 6.84528882e-02 9.97653574e-01 -1.24438363e-03 6.55894492e+00] [ 1.62231362e-02 1.34013781e-04 9.99868387e-01 3.73676671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.199254154 meters 0.050709629529589996 Centerline is valid? [True, True] Translation: X:952.23, Y:6.56, Z:3.74 [[ 9.97529584e-01 -6.85235152e-02 -1.54679276e-02 9.52233983e+02] [ 6.85132738e-02 9.97649493e-01 -1.19166704e-03 6.56206549e+00] [ 1.55132273e-02 1.28964772e-04 9.99879654e-01 3.74087960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.259254154 meters 0.0508499696699869 Centerline is valid? [True, True] Translation: X:952.29, Y:6.57, Z:3.73 [[ 9.97602091e-01 -6.74820397e-02 -1.53701490e-02 9.52291339e+02] [ 6.74717896e-02 9.97720479e-01 -1.18505797e-03 6.57425529e+00] [ 1.54150825e-02 1.45164848e-04 9.99881170e-01 3.73386394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.319254154 meters 0.04995153966791551 Centerline is valid? [True, True] Translation: X:952.35, Y:6.57, Z:3.74 [[ 9.97645330e-01 -6.71460026e-02 -1.39717334e-02 9.52350442e+02] [ 6.71374816e-02 9.97743151e-01 -1.07854941e-03 6.57426994e+00] [ 1.40126216e-02 1.37982793e-04 9.99901809e-01 3.74103663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.379254154 meters 0.05080758864000122 Centerline is valid? [True, True] Translation: X:952.41, Y:6.58, Z:3.74 [[ 9.97652585e-01 -6.73225416e-02 -1.25297600e-02 9.52407979e+02] [ 6.73156851e-02 9.97731257e-01 -9.68639928e-04 6.58247620e+00] [ 1.25665445e-02 1.22916751e-04 9.99921030e-01 3.74027433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.439254154 meters 0.05108224942716596 Centerline is valid? [True, True] Translation: X:952.47, Y:6.59, Z:3.74 [[ 9.97650557e-01 -6.75631967e-02 -1.13393750e-02 9.52465278e+02] [ 6.75575886e-02 9.97714991e-01 -8.77318110e-04 6.58819569e+00] [ 1.13727388e-02 1.09196069e-04 9.99935322e-01 3.74205347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.499254154 meters 0.050814966159299244 Centerline is valid? [True, True] Translation: X:952.52, Y:6.60, Z:3.74 [[ 9.97559810e-01 -6.87662792e-02 -1.20674653e-02 9.52522561e+02] [ 6.87600025e-02 9.97632792e-01 -9.34749838e-04 6.59640261e+00] [ 1.21031783e-02 1.02709930e-04 9.99926749e-01 3.74060961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.559254154 meters 0.05132419345982076 Centerline is valid? [True, True] Translation: X:952.58, Y:6.60, Z:3.74 [[ 9.97341366e-01 -7.19219575e-02 -1.17230889e-02 9.52580405e+02] [ 7.19162432e-02 9.97410261e-01 -9.08811782e-04 6.60263748e+00] [ 1.17580927e-02 6.33150723e-05 9.99930869e-01 3.73868668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters 0.05070431514061542 Centerline is valid? [True, True] Translation: X:952.64, Y:6.60, Z:3.74 [[ 9.97070405e-01 -7.58647856e-02 -9.75405825e-03 9.52639622e+02] [ 7.58610104e-02 9.97118114e-01 -7.56978323e-04 6.60446001e+00] [ 9.78337617e-03 1.48079685e-05 9.99952141e-01 3.74392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.679254154 meters 0.05101434800455658 Centerline is valid? [True, True] Translation: X:952.70, Y:6.61, Z:3.74 [[ 9.96780564e-01 -7.95326407e-02 -1.01521765e-02 9.52697612e+02] [ 7.95287336e-02 9.96832262e-01 -7.88618805e-04 6.60953478e+00] [ 1.01827380e-02 -2.13098447e-05 9.99948154e-01 3.74201686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539999 meters 0.05095854820371318 Centerline is valid? [True, True] Translation: X:952.76, Y:6.61, Z:3.74 [[ 9.96463465e-01 -8.32718834e-02 -1.12408725e-02 9.52755547e+02] [ 8.32673258e-02 9.96526863e-01 -8.73673912e-04 6.61199039e+00] [ 1.12745839e-02 -6.54132584e-05 9.99936438e-01 3.73903380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.799254154 meters 0.05149652830843112 Centerline is valid? [True, True] Translation: X:952.81, Y:6.62, Z:3.74 [[ 9.96284619e-01 -8.54283013e-02 -1.09069964e-02 9.52813697e+02] [ 8.54241347e-02 9.96344317e-01 -8.48171401e-04 6.61673759e+00] [ 1.09395817e-02 -8.67006112e-05 9.99940157e-01 3.74113563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539999 meters 0.05236103930066393 Centerline is valid? [True, True] Translation: X:952.87, Y:6.62, Z:3.74 [[ 9.96332352e-01 -8.48369291e-02 -1.11597283e-02 9.52871605e+02] [ 8.48325249e-02 9.96394846e-01 -8.68284492e-04 6.62089133e+00] [ 1.11931584e-02 -8.16079991e-05 9.99937351e-01 3.73890392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.919254154 meters 0.051607802768037205 Centerline is valid? [True, True] Translation: X:952.93, Y:6.63, Z:3.74 [[ 9.96575149e-01 -8.19319366e-02 -1.11861858e-02 9.52930029e+02] [ 8.19273179e-02 9.96637926e-01 -8.71290682e-04 6.62792603e+00] [ 1.12199635e-02 -4.81475568e-05 9.99937053e-01 3.73979404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539999 meters 0.05089922279636587 Centerline is valid? [True, True] Translation: X:952.99, Y:6.63, Z:3.74 [[ 9.97077434e-01 -7.56577302e-02 -1.06065626e-02 9.52987490e+02] [ 7.56532152e-02 9.97133846e-01 -8.26827618e-04 6.63357021e+00] [ 1.06387184e-02 2.19905986e-05 9.99943407e-01 3.74133940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.039254154 meters 0.05064774568064585 Centerline is valid? [True, True] Translation: X:953.05, Y:6.64, Z:3.74 [[ 9.97631420e-01 -6.81095850e-02 -9.62472164e-03 9.53045881e+02] [ 6.81055131e-02 9.97677842e-01 -7.50577394e-04 6.64231582e+00] [ 9.65349303e-03 9.33029852e-05 9.99953400e-01 3.74164802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539999 meters 0.05235693224089492 Centerline is valid? [True, True] Translation: X:953.10, Y:6.65, Z:3.74 [[ 9.97994966e-01 -6.27446643e-02 -8.31596675e-03 9.53103137e+02] [ 6.27414363e-02 9.98029604e-01 -6.48740381e-04 6.65418038e+00] [ 8.34028600e-03 1.25683937e-04 9.99965211e-01 3.74046381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.159254154 meters 0.05142886597522807 Centerline is valid? [True, True] Translation: X:953.16, Y:6.66, Z:3.74 [[ 9.98170085e-01 -6.00369644e-02 -7.21419808e-03 9.53163120e+02] [ 6.00344633e-02 9.98196146e-01 -5.62950114e-04 6.65654568e+00] [ 7.23498254e-03 1.28819453e-04 9.99973819e-01 3.74158279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539999 meters 0.050919914013293543 Centerline is valid? [True, True] Translation: X:953.22, Y:6.66, Z:3.74 [[ 9.98255391e-01 -5.84298084e-02 -8.49310235e-03 9.53222206e+02] [ 5.84262788e-02 9.98291506e-01 -6.63319930e-04 6.65805179e+00] [ 8.51734959e-03 1.65942329e-04 9.99963713e-01 3.74066433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.279254154 meters 0.050703087480030065 Centerline is valid? [True, True] Translation: X:953.28, Y:6.66, Z:3.74 [[ 9.98304179e-01 -5.72876275e-02 -1.03389619e-02 9.53280534e+02] [ 5.72823230e-02 9.98357692e-01 -8.08709884e-04 6.66458961e+00] [ 1.03683112e-02 2.15098704e-04 9.99946224e-01 3.73820863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.339254154 meters 0.05146125232347133 Centerline is valid? [True, True] Translation: X:953.34, Y:6.67, Z:3.74 [[ 9.98227610e-01 -5.83273702e-02 -1.18133889e-02 9.53339119e+02] [ 5.83205016e-02 9.98297482e-01 -9.25383965e-04 6.66810829e+00] [ 1.18472516e-02 2.34781056e-04 9.99929791e-01 3.73675705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.399254154 meters 0.051191448027682336 Centerline is valid? [True, True] Translation: X:953.40, Y:6.67, Z:3.74 [[ 9.98007014e-01 -6.17591584e-02 -1.29539789e-02 9.53397926e+02] [ 6.17511799e-02 9.98091058e-01 -1.01536424e-03 6.66962997e+00] [ 1.29919585e-02 2.13417150e-04 9.99915578e-01 3.73679553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.459254154 meters 0.049859261920012075 Centerline is valid? [True, True] Translation: X:953.46, Y:6.67, Z:3.74 [[ 9.97673552e-01 -6.70301250e-02 -1.24276578e-02 9.53458062e+02] [ 6.70231861e-02 9.97750942e-01 -9.74462380e-04 6.67036155e+00] [ 1.24650256e-02 1.39254122e-04 9.99922299e-01 3.73698625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.519254154 meters 0.0513007512938667 Centerline is valid? [True, True] Translation: X:953.52, Y:6.67, Z:3.74 [[ 9.97377084e-01 -7.15934584e-02 -1.06456245e-02 9.53517498e+02] [ 7.15886184e-02 9.97433893e-01 -8.35510416e-04 6.67118738e+00] [ 1.06781238e-02 7.12133926e-05 9.99942985e-01 3.73896261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.579254154 meters 0.05066904231121946 Centerline is valid? [True, True] Translation: X:953.58, Y:6.67, Z:3.74 [[ 9.97146030e-01 -7.47183201e-02 -1.08151755e-02 9.53576572e+02] [ 7.47134998e-02 9.97204679e-01 -8.49608514e-04 6.67412048e+00] [ 1.08484249e-02 3.91441429e-05 9.99941153e-01 3.73960279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.639254154 meters 0.05105455438397594 Centerline is valid? [True, True] Translation: X:953.64, Y:6.68, Z:3.74 [[ 9.97208164e-01 -7.37334007e-02 -1.18010196e-02 9.53635428e+02] [ 7.37275797e-02 9.97277987e-01 -9.28140862e-04 6.68008463e+00] [ 1.18373321e-02 5.54890309e-05 9.99929935e-01 3.73889401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.699254154 meters 0.051731046097715845 Centerline is valid? [True, True] Translation: X:953.69, Y:6.69, Z:3.74 [[ 9.97510908e-01 -6.91061094e-02 -1.40119389e-02 9.53694106e+02] [ 6.90974360e-02 9.97609306e-01 -1.10275778e-03 6.69016954e+00] [ 1.40546480e-02 1.31823862e-04 9.99901220e-01 3.73842227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.759254154 meters 0.05056762571595719 Centerline is valid? [True, True] Translation: X:953.75, Y:6.70, Z:3.74 [[ 9.97733730e-01 -6.56661698e-02 -1.46750704e-02 9.53753730e+02] [ 6.56562799e-02 9.97841630e-01 -1.15521723e-03 6.69519061e+00] [ 1.47192549e-02 1.89088666e-04 9.99891648e-01 3.74324470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.819254154 meters 0.051585284273010956 Centerline is valid? [True, True] Translation: X:953.81, Y:6.70, Z:3.75 [[ 9.97739247e-01 -6.58533973e-02 -1.34061412e-02 9.53812527e+02] [ 6.58451453e-02 9.97829294e-01 -1.05648236e-03 6.69996517e+00] [ 1.34466134e-02 1.71364595e-04 9.99909575e-01 3.74579785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.879254154 meters 0.05152352866771547 Centerline is valid? [True, True] Translation: X:953.87, Y:6.70, Z:3.75 [[ 9.97481903e-01 -7.00364220e-02 -1.11692584e-02 9.53870843e+02] [ 7.00309500e-02 9.97544430e-01 -8.80760157e-04 6.70468284e+00] [ 1.12035168e-02 9.63485382e-05 9.99937234e-01 3.74833711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.939254154 meters 0.051727151407858954 Centerline is valid? [True, True] Translation: X:953.93, Y:6.71, Z:3.75 [[ 9.96852085e-01 -7.86712366e-02 -9.83656481e-03 9.53928654e+02] [ 7.86674098e-02 9.96900615e-01 -7.75948485e-04 6.70707479e+00] [ 9.86712234e-03 -3.11210388e-07 9.99951319e-01 3.74698720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.999254154 meters 0.05271905404919423 Centerline is valid? [True, True] Translation: X:953.99, Y:6.70, Z:3.75 [[ 9.95948444e-01 -8.94729683e-02 -9.01580686e-03 9.53988261e+02] [ 8.94701939e-02 9.95989246e-01 -7.11400499e-04 6.70336220e+00] [ 9.04329780e-03 -9.81277682e-05 9.99959104e-01 3.74714089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.059254154 meters 0.05325952434335044 Centerline is valid? [True, True] Translation: X:954.05, Y:6.71, Z:3.75 [[ 9.95099362e-01 -9.84106183e-02 -9.62343654e-03 9.54048201e+02] [ 9.84078739e-02 9.95145876e-01 -7.59439009e-04 6.70726027e+00] [ 9.65146004e-03 -1.91304656e-04 9.99953405e-01 3.74837710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters 0.05629666291985897 Centerline is valid? [True, True] Translation: X:954.11, Y:6.70, Z:3.74 [[ 9.94649544e-01 -1.02636153e-01 -1.17517843e-02 9.54108970e+02] [ 1.02632355e-01 9.94718925e-01 -9.27412703e-04 6.70264239e+00] [ 1.17849083e-02 -2.83662673e-04 9.99930515e-01 3.74348729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.179254154 meters 0.05469596522550095 Centerline is valid? [True, True] Translation: X:954.17, Y:6.72, Z:3.75 [[ 9.94557166e-01 -1.03429659e-01 -1.25836684e-02 9.54166946e+02] [ 1.03425356e-01 9.94636722e-01 -9.94018395e-04 6.72009674e+00] [ 1.26189897e-02 -3.12862264e-04 9.99920328e-01 3.74590593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539999 meters 0.05382037768312621 Centerline is valid? [True, True] Translation: X:954.23, Y:6.73, Z:3.75 [[ 9.94730752e-01 -1.01768438e-01 -1.24062867e-02 9.54225003e+02] [ 1.01764117e-01 9.94808073e-01 -9.80682420e-04 6.73100598e+00] [ 1.24416766e-02 -2.86999852e-04 9.99922558e-01 3.74700070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.299254154 meters 0.05529318562512294 Centerline is valid? [True, True] Translation: X:954.28, Y:6.73, Z:3.74 [[ 9.94841786e-01 -1.00683639e-01 -1.23541635e-02 9.54284051e+02] [ 1.00679259e-01 9.94918455e-01 -9.77538750e-04 6.72776559e+00] [ 1.23898075e-02 -2.71311639e-04 9.99923207e-01 3.74363345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539999 meters 0.05413963720396456 Centerline is valid? [True, True] Translation: X:954.34, Y:6.76, Z:3.75 [[ 9.95398278e-01 -9.49987355e-02 -1.25502139e-02 9.54341508e+02] [ 9.49937574e-02 9.95477372e-01 -9.93533272e-04 6.76071164e+00] [ 1.25878383e-02 -2.03230663e-04 9.99920749e-01 3.75286172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.419254154 meters 0.05347187272626123 Centerline is valid? [True, True] Translation: X:954.40, Y:6.77, Z:3.75 [[ 9.96128969e-01 -8.69772052e-02 -1.27295945e-02 9.54399875e+02] [ 8.69714263e-02 9.96210297e-01 -1.00790086e-03 6.77093790e+00] [ 1.27690175e-02 -1.03111744e-04 9.99918467e-01 3.75148189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539999 meters 0.053314791557548376 Centerline is valid? [True, True] Translation: X:954.46, Y:6.78, Z:3.75 [[ 9.96811066e-01 -7.88602582e-02 -1.21966632e-02 9.54458003e+02] [ 7.88543337e-02 9.96885680e-01 -9.66634154e-04 6.78354439e+00] [ 1.22349079e-02 1.79186891e-06 9.99925151e-01 3.75024704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.539254154 meters 0.0536750192378152 Centerline is valid? [True, True] Translation: X:954.52, Y:6.80, Z:3.75 [[ 9.97330864e-01 -7.21578682e-02 -1.11530281e-02 9.54515729e+02] [ 7.21524812e-02 9.97393220e-01 -8.85151200e-04 6.79656197e+00] [ 1.11878252e-02 7.80699627e-05 9.99937411e-01 3.75219404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539999 meters 0.05407951336723233 Centerline is valid? [True, True] Translation: X:954.57, Y:6.81, Z:3.75 [[ 9.97627647e-01 -6.80429140e-02 -1.04518306e-02 9.54572056e+02] [ 6.80379493e-02 9.97682388e-01 -8.30258728e-04 6.81190922e+00] [ 1.04841005e-02 1.17167943e-04 9.99945033e-01 3.75039341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.659254154 meters 0.053988763256672935 Centerline is valid? [True, True] Translation: X:954.63, Y:6.82, Z:3.75 [[ 9.97648371e-01 -6.75767557e-02 -1.14503129e-02 9.54630505e+02] [ 6.75707535e-02 9.97714069e-01 -9.10698124e-04 6.81608209e+00] [ 1.14856803e-02 1.34850229e-04 9.99934028e-01 3.75260946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539999 meters 0.05404014126766415 Centerline is valid? [True, True] Translation: X:954.69, Y:6.83, Z:3.75 [[ 9.97583445e-01 -6.82058759e-02 -1.32374131e-02 9.54688161e+02] [ 6.81978965e-02 9.97671257e-01 -1.05378576e-03 6.82644535e+00] [ 1.32784609e-02 1.48475502e-04 9.99911826e-01 3.75052618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.779254154 meters 0.05407450932049708 Centerline is valid? [True, True] Translation: X:954.74, Y:6.84, Z:3.75 [[ 9.97554716e-01 -6.83317222e-02 -1.46753288e-02 9.54744853e+02] [ 6.83219147e-02 9.97662643e-01 -1.16919663e-03 6.83653941e+00] [ 1.47209205e-02 1.63691051e-04 9.99891628e-01 3.74801079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.839254154 meters 0.05429921693603006 Centerline is valid? [True, True] Translation: X:954.80, Y:6.84, Z:3.75 [[ 9.97489593e-01 -6.89771191e-02 -1.60208801e-02 9.54803301e+02] [ 6.89654864e-02 9.97618228e-01 -1.27810090e-03 6.84025316e+00] [ 1.60708817e-02 1.70004557e-04 9.99870841e-01 3.74980920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.899254154 meters 0.054069443271478376 Centerline is valid? [True, True] Translation: X:954.86, Y:6.85, Z:3.75 [[ 9.97338244e-01 -7.12783009e-02 -1.53568002e-02 9.54860682e+02] [ 7.12678681e-02 9.97456459e-01 -1.22624355e-03 6.84714170e+00] [ 1.54051441e-02 1.28533178e-04 9.99881325e-01 3.74695805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.959254154 meters 0.0544475057608373 Centerline is valid? [True, True] Translation: X:954.92, Y:6.85, Z:3.75 [[ 9.97144950e-01 -7.43636754e-02 -1.31145768e-02 9.54919500e+02] [ 7.43563273e-02 9.97231186e-01 -1.04768643e-03 6.84748613e+00] [ 1.31561748e-02 6.95434662e-05 9.99913451e-01 3.75375467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.019254154 meters 0.054463913352801506 Centerline is valid? [True, True] Translation: X:954.98, Y:6.85, Z:3.75 [[ 9.97057436e-01 -7.57378062e-02 -1.18429072e-02 9.54978038e+02] [ 7.57319005e-02 9.97127766e-01 -9.46984680e-04 6.85239521e+00] [ 1.18806141e-02 4.73122475e-05 9.99929422e-01 3.75382938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.079254154 meters 0.05464000887808724 Centerline is valid? [True, True] Translation: X:955.04, Y:6.86, Z:3.75 [[ 9.97136956e-01 -7.46400665e-02 -1.21140756e-02 9.55036010e+02] [ 7.46337904e-02 9.97210538e-01 -9.69966472e-04 6.85994782e+00] [ 1.21526822e-02 6.30700400e-05 9.99926151e-01 3.75126796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.139254154 meters 0.05385097773758186 Centerline is valid? [True, True] Translation: X:955.09, Y:6.87, Z:3.75 [[ 9.97291025e-01 -7.24101157e-02 -1.29378063e-02 9.55094437e+02] [ 7.24027498e-02 9.97374937e-01 -1.03743625e-03 6.86501056e+00] [ 1.29789646e-02 9.78931085e-05 9.99915765e-01 3.75200851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.199254154 meters 0.05440709712580056 Centerline is valid? [True, True] Translation: X:955.15, Y:6.87, Z:3.75 [[ 9.97615270e-01 -6.74272707e-02 -1.47423088e-02 9.55153532e+02] [ 6.74171505e-02 9.97724175e-01 -1.18292963e-03 6.87083244e+00] [ 1.47885196e-02 1.86224210e-04 9.99890626e-01 3.75172640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.259254154 meters 0.05443235883526582 Centerline is valid? [True, True] Translation: X:955.21, Y:6.88, Z:3.75 [[ 9.97902914e-01 -6.30122458e-02 -1.48064676e-02 9.55211321e+02] [ 6.30015445e-02 9.98012722e-01 -1.18854263e-03 6.87720499e+00] [ 1.48519358e-02 2.53219824e-04 9.99889672e-01 3.75119411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.319254154 meters 0.054465403917834665 Centerline is valid? [True, True] Translation: X:955.27, Y:6.88, Z:3.75 [[ 9.98038150e-01 -6.10613779e-02 -1.38332366e-02 9.55270154e+02] [ 6.10518323e-02 9.98133978e-01 -1.11168819e-03 6.88018951e+00] [ 1.38753047e-02 2.64962785e-04 9.99903698e-01 3.75221335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.379254154 meters 0.05364032038929736 Centerline is valid? [True, True] Translation: X:955.33, Y:6.88, Z:3.75 [[ 9.98100692e-01 -6.03253136e-02 -1.24845710e-02 9.55327673e+02] [ 6.03174693e-02 9.98178739e-01 -1.00424537e-03 6.88240905e+00] [ 1.25224147e-02 2.49300271e-04 9.99921560e-01 3.75309479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.439254154 meters 0.05467261709587728 Centerline is valid? [True, True] Translation: X:955.39, Y:6.89, Z:3.75 [[ 9.98263381e-01 -5.76464791e-02 -1.21286791e-02 9.55385359e+02] [ 5.76388720e-02 9.98337021e-01 -9.76115513e-04 6.88913773e+00] [ 1.21647790e-02 2.75336991e-04 9.99925968e-01 3.75149938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.499254154 meters 0.05405555201178637 Centerline is valid? [True, True] Translation: X:955.44, Y:6.89, Z:3.75 [[ 9.98405355e-01 -5.50669336e-02 -1.24249831e-02 9.55444915e+02] [ 5.50587473e-02 9.98482616e-01 -1.00022192e-03 6.89157735e+00] [ 1.24612087e-02 3.14522923e-04 9.99922307e-01 3.75227270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.559254154 meters 0.05464664309276975 Centerline is valid? [True, True] Translation: X:955.51, Y:6.89, Z:3.75 [[ 9.98592376e-01 -5.15783803e-02 -1.23667549e-02 9.55505219e+02] [ 5.15700017e-02 9.98668886e-01 -9.95660561e-04 6.89318122e+00] [ 1.24016479e-02 3.56505475e-04 9.99923033e-01 3.75355689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters 0.053507393074585935 Centerline is valid? [True, True] Translation: X:955.56, Y:6.89, Z:3.75 [[ 9.98589206e-01 -5.16601062e-02 -1.22813340e-02 9.55563601e+02] [ 5.16518357e-02 9.98664662e-01 -9.89866747e-04 6.89159567e+00] [ 1.23160709e-02 3.54116803e-04 9.99924092e-01 3.75428941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.679254154 meters 0.05357882817007113 Centerline is valid? [True, True] Translation: X:955.62, Y:6.89, Z:3.75 [[ 9.98268477e-01 -5.76211911e-02 -1.18256995e-02 9.55622850e+02] [ 5.76139333e-02 9.98338482e-01 -9.53775247e-04 6.89209355e+00] [ 1.18610086e-02 2.70798698e-04 9.99929619e-01 3.75393440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539999 meters 0.05370453714828866 Centerline is valid? [True, True] Translation: X:955.68, Y:6.88, Z:3.76 [[ 9.97182827e-01 -7.41675931e-02 -1.12061171e-02 9.55684745e+02] [ 7.41621178e-02 9.97245789e-01 -9.03935154e-04 6.87882532e+00] [ 1.12422958e-02 7.03192333e-05 9.99936801e-01 3.75521900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.799254154 meters 0.052738155768874306 Centerline is valid? [True, True] Translation: X:955.74, Y:6.87, Z:3.76 [[ 9.96459112e-01 -8.33822405e-02 -1.07999683e-02 9.55744187e+02] [ 8.33776909e-02 9.96517637e-01 -8.71617263e-04 6.87466496e+00] [ 1.08350363e-02 -3.19454567e-05 9.99941299e-01 3.75565071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539999 meters 0.05338592197596063 Centerline is valid? [True, True] Translation: X:955.81, Y:6.87, Z:3.76 [[ 9.95618121e-01 -9.28390915e-02 -1.12009488e-02 9.55805470e+02] [ 9.28347936e-02 9.95681115e-01 -9.04164823e-04 6.86921952e+00] [ 1.12365151e-02 -1.39634890e-04 9.99936859e-01 3.75530605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.919254154 meters 0.0536235446793756 Centerline is valid? [True, True] Translation: X:955.86, Y:6.87, Z:3.76 [[ 9.95244274e-01 -9.67895341e-02 -1.09827795e-02 9.55864909e+02] [ 9.67856407e-02 9.95304855e-01 -8.86701088e-04 6.87085059e+00] [ 1.10170371e-02 -1.80491166e-04 9.99939294e-01 3.75593837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539999 meters 0.05289340875522514 Centerline is valid? [True, True] Translation: X:955.92, Y:6.87, Z:3.76 [[ 9.95197862e-01 -9.72793785e-02 -1.08599477e-02 9.55923247e+02] [ 9.72755910e-02 9.95257097e-01 -8.77695475e-04 6.86986538e+00] [ 1.08938217e-02 -1.82927172e-04 9.99940644e-01 3.75572020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.039254154 meters 0.053119054423632434 Centerline is valid? [True, True] Translation: X:955.98, Y:6.87, Z:3.75 [[ 9.95419041e-01 -9.49831726e-02 -1.09146778e-02 9.55981450e+02] [ 9.49792011e-02 9.95478866e-01 -8.82811996e-04 6.87360934e+00] [ 1.09491833e-02 -1.57899503e-04 9.99940043e-01 3.75486897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539999 meters 0.05293359660879611 Centerline is valid? [True, True] Translation: X:956.04, Y:6.89, Z:3.76 [[ 9.95976038e-01 -8.89347556e-02 -1.10608068e-02 9.56039234e+02] [ 8.89303006e-02 9.96037449e-01 -8.94933363e-04 6.88602268e+00] [ 1.10965684e-02 -9.23086856e-05 9.99938427e-01 3.75741857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.159254154 meters 0.05336499435790782 Centerline is valid? [True, True] Translation: X:956.10, Y:6.89, Z:3.76 [[ 9.96628432e-01 -8.13563435e-02 -1.06261429e-02 9.56098080e+02] [ 8.13517959e-02 9.96685078e-01 -8.60223686e-04 6.89294881e+00] [ 1.06609027e-02 -7.13242560e-06 9.99943171e-01 3.75527459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539999 meters 0.05268300316763455 Centerline is valid? [True, True] Translation: X:956.16, Y:6.90, Z:3.76 [[ 9.97035174e-01 -7.62510363e-02 -1.03267642e-02 9.56157085e+02] [ 7.62464573e-02 9.97088651e-01 -8.36960066e-04 6.89907900e+00] [ 1.03605184e-02 4.70994410e-05 9.99946327e-01 3.75774537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.279254154 meters 0.052079130496314345 Centerline is valid? [True, True] Translation: X:956.22, Y:6.91, Z:3.76 [[ 9.97527005e-01 -6.95571405e-02 -1.00835878e-02 9.56215502e+02] [ 6.95524263e-02 9.97577962e-01 -8.17863589e-04 6.90674301e+00] [ 1.01160533e-02 1.14503016e-04 9.99948825e-01 3.75670186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.339254154 meters 0.053301257352109666 Centerline is valid? [True, True] Translation: X:956.27, Y:6.92, Z:3.76 [[ 9.97854743e-01 -6.47785117e-02 -9.46870182e-03 9.56273466e+02] [ 6.47741376e-02 9.97899655e-01 -7.68216024e-04 6.91731247e+00] [ 9.49857816e-03 1.53241009e-04 9.99954876e-01 3.75589313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.399254154 meters 0.052135090608918314 Centerline is valid? [True, True] Translation: X:956.33, Y:6.92, Z:3.76 [[ 9.98037095e-01 -6.20217735e-02 -8.67506288e-03 9.56333676e+02] [ 6.20179965e-02 9.98074783e-01 -7.03988012e-04 6.91615073e+00] [ 8.70202409e-03 1.64596131e-04 9.99962123e-01 3.75839338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.459254154 meters 0.0519652199755288 Centerline is valid? [True, True] Translation: X:956.39, Y:6.92, Z:3.76 [[ 9.98172249e-01 -5.97763777e-02 -8.88519964e-03 9.56391622e+02] [ 5.97723245e-02 9.98211776e-01 -7.21261989e-04 6.92183459e+00] [ 8.91242534e-03 1.88854666e-04 9.99960266e-01 3.75757377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.519254154 meters 0.05191957779893207 Centerline is valid? [True, True] Translation: X:956.45, Y:6.92, Z:3.76 [[ 9.98304082e-01 -5.71443106e-02 -1.11125378e-02 9.56451556e+02] [ 5.71378052e-02 9.98365893e-01 -9.02281873e-04 6.92422330e+00] [ 1.11459390e-02 2.65805656e-04 9.99937847e-01 3.75639667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.579254154 meters 0.05209242771356119 Centerline is valid? [True, True] Translation: X:956.51, Y:6.93, Z:3.75 [[ 9.98370019e-01 -5.51250771e-02 -1.47827755e-02 9.56510831e+02] [ 5.51133399e-02 9.98479383e-01 -1.20049936e-03 6.92661996e+00] [ 1.48264742e-02 3.83814433e-04 9.99890008e-01 3.75449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.639254154 meters 0.05211933923949806 Centerline is valid? [True, True] Translation: X:956.57, Y:6.93, Z:3.76 [[ 9.98397200e-01 -5.42237861e-02 -1.62114789e-02 9.56570662e+02] [ 5.42095474e-02 9.98528713e-01 -1.31678517e-03 6.92531603e+00] [ 1.62590282e-02 4.35857696e-04 9.99867718e-01 3.75555072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.699254154 meters 0.052226085691885506 Centerline is valid? [True, True] Translation: X:956.63, Y:6.93, Z:3.76 [[ 9.98326217e-01 -5.60027170e-02 -1.44381339e-02 9.56629833e+02] [ 5.59916059e-02 9.98430551e-01 -1.17296427e-03 6.92639198e+00] [ 1.44811631e-02 3.62586685e-04 9.99895077e-01 3.75667793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.759254154 meters 0.05137203139133576 Centerline is valid? [True, True] Translation: X:956.69, Y:6.92, Z:3.76 [[ 9.98044688e-01 -6.15629705e-02 -1.08074383e-02 9.56690184e+02] [ 6.15570690e-02 9.98103179e-01 -8.78177271e-04 6.92080069e+00] [ 1.08410017e-02 2.11185935e-04 9.99941212e-01 3.75991132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.819254154 meters 0.05110960914487124 Centerline is valid? [True, True] Translation: X:956.75, Y:6.92, Z:3.76 [[ 9.97714150e-01 -6.68114147e-02 -1.01346274e-02 9.56749402e+02] [ 6.68064940e-02 9.97765611e-01 -8.23674041e-04 6.92151476e+00] [ 1.01670135e-02 1.44732323e-04 9.99948304e-01 3.75982099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.879254154 meters 0.05123604145476028 Centerline is valid? [True, True] Translation: X:956.81, Y:6.92, Z:3.76 [[ 9.97539991e-01 -6.93372855e-02 -1.03105550e-02 9.56808329e+02] [ 6.93323191e-02 9.97593267e-01 -8.38769109e-04 6.92298736e+00] [ 1.03438982e-02 1.21851041e-04 9.99946493e-01 3.76091693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.939254154 meters 0.050936811312439705 Centerline is valid? [True, True] Translation: X:956.87, Y:6.93, Z:3.76 [[ 9.97613486e-01 -6.80102600e-02 -1.19137709e-02 9.56865461e+02] [ 6.80035243e-02 9.97684609e-01 -9.70040391e-04 6.93148087e+00] [ 1.19521586e-02 1.57546966e-04 9.99928558e-01 3.75974698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.999254154 meters 0.05060941932715275 Centerline is valid? [True, True] Translation: X:956.92, Y:6.94, Z:3.76 [[ 9.97829999e-01 -6.44144111e-02 -1.36410027e-02 9.56924388e+02] [ 6.44052388e-02 9.97923209e-01 -1.11109339e-03 6.93980528e+00] [ 1.36842436e-02 2.30130283e-04 9.99906340e-01 3.75945822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.059254154 meters 0.05125175918316766 Centerline is valid? [True, True] Translation: X:956.98, Y:6.94, Z:3.76 [[ 9.97811245e-01 -6.46885594e-02 -1.37153137e-02 9.56981975e+02] [ 6.46792942e-02 9.97905475e-01 -1.11849903e-03 6.94467859e+00] [ 1.37589408e-02 2.28954098e-04 9.99905315e-01 3.76007365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters 0.05191607146605206 Centerline is valid? [True, True] Translation: X:957.04, Y:6.95, Z:3.76 [[ 9.97597637e-01 -6.81227589e-02 -1.25795334e-02 9.57041896e+02] [ 6.81152310e-02 9.97676933e-01 -1.02640779e-03 6.94897401e+00] [ 1.26202321e-02 1.67084165e-04 9.99920348e-01 3.76079325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.179254154 meters 0.05157888627688751 Centerline is valid? [True, True] Translation: X:957.10, Y:6.95, Z:3.76 [[ 9.97146739e-01 -7.46576772e-02 -1.11629583e-02 9.57101950e+02] [ 7.46521575e-02 9.97209219e-01 -9.10911386e-04 6.95101864e+00] [ 1.11998115e-02 7.49733961e-05 9.99937277e-01 3.76169948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539999 meters 0.051105740222390394 Centerline is valid? [True, True] Translation: X:957.16, Y:6.95, Z:3.76 [[ 9.96601253e-01 -8.17971029e-02 -9.75586319e-03 9.57159940e+02] [ 8.17932264e-02 9.96649002e-01 -7.96355383e-04 6.95197462e+00] [ 9.78831088e-03 -4.31475389e-06 9.99952093e-01 3.76264481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.299254154 meters 0.052081007193453564 Centerline is valid? [True, True] Translation: X:957.22, Y:6.95, Z:3.76 [[ 9.96016948e-01 -8.86545264e-02 -9.51915898e-03 9.57217827e+02] [ 8.86511412e-02 9.96062433e-01 -7.77818345e-04 6.95391616e+00] [ 9.55063377e-03 -6.91640522e-05 9.99954389e-01 3.76200810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539999 meters 0.051984832470271025 Centerline is valid? [True, True] Translation: X:957.28, Y:6.96, Z:3.76 [[ 9.95254447e-01 -9.67226822e-02 -1.06446781e-02 9.57277829e+02] [ 9.67189043e-02 9.95311356e-01 -8.70335694e-04 6.95982269e+00] [ 1.06789502e-02 -1.63336134e-04 9.99942965e-01 3.76314884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.419254154 meters 0.052680606736350985 Centerline is valid? [True, True] Translation: X:957.34, Y:6.96, Z:3.76 [[ 9.94951600e-01 -9.97411735e-02 -1.10911255e-02 9.57337244e+02] [ 9.97372578e-02 9.95013395e-01 -9.06986287e-04 6.96488000e+00] [ 1.11262824e-02 -2.03790990e-04 9.99938080e-01 3.76316664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539999 meters 0.052452193624763686 Centerline is valid? [True, True] Translation: X:957.40, Y:6.97, Z:3.76 [[ 9.94707667e-01 -1.02253777e-01 -1.00410408e-02 9.57396626e+02] [ 1.02250695e-01 9.94758323e-01 -8.21220193e-04 6.97041315e+00] [ 1.00723818e-02 -2.09829374e-04 9.99949250e-01 3.76318091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.539254154 meters 0.05231855381009945 Centerline is valid? [True, True] Translation: X:957.45, Y:6.98, Z:3.76 [[ 9.94660664e-01 -1.02827816e-01 -8.75233392e-03 9.57454524e+02] [ 1.02825491e-01 9.94699153e-01 -7.16485008e-04 6.97850691e+00] [ 8.77961372e-03 -1.87303575e-04 9.99961441e-01 3.76363581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539999 meters 0.051957400758185696 Centerline is valid? [True, True] Translation: X:957.51, Y:6.98, Z:3.76 [[ 9.94943148e-01 -1.00036631e-01 -8.98911593e-03 9.57513635e+02] [ 1.00034058e-01 9.94983741e-01 -7.36484381e-04 6.98381913e+00] [ 9.01769961e-03 -1.66457659e-04 9.99959326e-01 3.76295155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.659254154 meters 0.05264187670430997 Centerline is valid? [True, True] Translation: X:957.57, Y:6.99, Z:3.76 [[ 9.95512419e-01 -9.41431301e-02 -9.59656835e-03 9.57571750e+02] [ 9.41399229e-02 9.95558666e-01 -7.86374090e-04 6.99337771e+00] [ 9.62797850e-03 -1.20575032e-04 9.99953643e-01 3.76288987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539999 meters 0.05198180016441164 Centerline is valid? [True, True] Translation: X:957.63, Y:7.01, Z:3.76 [[ 9.96215673e-01 -8.63414106e-02 -9.97465019e-03 9.57630615e+02] [ 8.63375536e-02 9.96265606e-01 -8.17442408e-04 7.00563124e+00] [ 1.00079800e-02 -4.68379563e-05 9.99949918e-01 3.76322365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.779254154 meters 0.05173227421719111 Centerline is valid? [True, True] Translation: X:957.69, Y:7.02, Z:3.76 [[ 9.96772835e-01 -7.96969379e-02 -9.60798875e-03 9.57688481e+02] [ 7.96930438e-02 9.96819140e-01 -7.88088141e-04 7.01633451e+00] [ 9.64023530e-03 1.98549822e-05 9.99953532e-01 3.76482045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.839254154 meters 0.05163007105718555 Centerline is valid? [True, True] Translation: X:957.75, Y:7.02, Z:3.77 [[ 9.97105623e-01 -7.55166651e-02 -8.80969717e-03 9.57746498e+02] [ 7.55132192e-02 9.97144538e-01 -7.23607998e-04 7.02493087e+00] [ 8.83918588e-03 5.62650095e-05 9.99960932e-01 3.76576326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.899254154 meters 0.05258551801959035 Centerline is valid? [True, True] Translation: X:957.80, Y:7.04, Z:3.77 [[ 9.97353934e-01 -7.22346181e-02 -8.20309233e-03 9.57803421e+02] [ 7.22315143e-02 9.97387665e-01 -6.74395811e-04 7.03609290e+00] [ 8.23037783e-03 8.00895343e-05 9.99966127e-01 3.76518512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.959254154 meters 0.05224402495739126 Centerline is valid? [True, True] Translation: X:957.86, Y:7.05, Z:3.77 [[ 9.97511373e-01 -7.00501095e-02 -8.00273852e-03 9.57860559e+02] [ 7.00470819e-02 9.97543469e-01 -6.58323341e-04 7.04547721e+00] [ 8.02919516e-03 9.61165390e-05 9.99967761e-01 3.76577411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.019254154 meters 0.05278163964406432 Centerline is valid? [True, True] Translation: X:957.92, Y:7.05, Z:3.77 [[ 9.97589871e-01 -6.87372571e-02 -9.46779467e-03 9.57918448e+02] [ 6.87329558e-02 9.97634790e-01 -7.79325768e-04 7.05267296e+00] [ 9.49897006e-03 1.26697980e-04 9.99954876e-01 3.76547872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.079254154 meters 0.052453152140970474 Centerline is valid? [True, True] Translation: X:957.98, Y:7.06, Z:3.77 [[ 9.97639356e-01 -6.76994895e-02 -1.15106488e-02 9.57977256e+02] [ 6.76930506e-02 9.97705744e-01 -9.48530793e-04 7.05617355e+00] [ 1.15484554e-02 1.67100720e-04 9.99933300e-01 3.76596152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.139254154 meters 0.052726217262806255 Centerline is valid? [True, True] Translation: X:958.03, Y:7.06, Z:3.76 [[ 9.97638101e-01 -6.75215761e-02 -1.26117134e-02 9.58034845e+02] [ 6.75138214e-02 9.97717797e-01 -1.04010880e-03 7.06293961e+00] [ 1.26531607e-02 1.86187203e-04 9.99919928e-01 3.76499714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.199254154 meters 0.053246941103129185 Centerline is valid? [True, True] Translation: X:958.09, Y:7.07, Z:3.77 [[ 9.97456857e-01 -6.99367403e-02 -1.37357844e-02 9.58093924e+02] [ 6.99277527e-02 9.97551414e-01 -1.13410308e-03 7.06569753e+00] [ 1.37814666e-02 1.70706364e-04 9.99905016e-01 3.76557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.259254154 meters 0.05297574374149566 Centerline is valid? [True, True] Translation: X:958.15, Y:7.07, Z:3.77 [[ 9.96854456e-01 -7.82675536e-02 -1.24652988e-02 9.58153234e+02] [ 7.82607966e-02 9.96932389e-01 -1.02968010e-03 7.06634882e+00] [ 1.25076507e-02 5.08969744e-05 9.99921775e-01 3.76618573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.319254154 meters 0.05313382921134486 Centerline is valid? [True, True] Translation: X:958.21, Y:7.06, Z:3.77 [[ 9.95860232e-01 -9.03187122e-02 -1.02434406e-02 9.58212380e+02] [ 9.03147790e-02 9.95912910e-01 -8.46852869e-04 7.06401024e+00] [ 1.02780613e-02 -8.17869744e-05 9.99947176e-01 3.77005736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.379254154 meters 0.053148341694160654 Centerline is valid? [True, True] Translation: X:958.27, Y:7.07, Z:3.77 [[ 9.94841732e-01 -1.00969047e-01 -9.75597431e-03 9.58272022e+02] [ 1.00965986e-01 9.94889551e-01 -8.06976453e-04 7.06712195e+00] [ 9.78759654e-03 -1.82207716e-04 9.99952084e-01 3.77163755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.439254154 meters 0.05388600085925348 Centerline is valid? [True, True] Translation: X:958.33, Y:7.07, Z:3.77 [[ 9.93961060e-01 -1.09217470e-01 -1.06281051e-02 9.58331769e+02] [ 1.09214308e-01 9.94017838e-01 -8.79164417e-04 7.07121620e+00] [ 1.06605461e-02 -2.86885941e-04 9.99943134e-01 3.77142370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.499254154 meters 0.055129575943121394 Centerline is valid? [True, True] Translation: X:958.39, Y:7.08, Z:3.77 [[ 9.93170870e-01 -1.16033608e-01 -1.21583250e-02 9.58390639e+02] [ 1.16029978e-01 9.93245203e-01 -1.00589466e-03 7.07903637e+00] [ 1.21929156e-02 -4.11704919e-04 9.99925579e-01 3.77142278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.559254154 meters 0.05497944499780353 Centerline is valid? [True, True] Translation: X:958.45, Y:7.08, Z:3.77 [[ 9.92423987e-01 -1.22184759e-01 -1.28652778e-02 9.58450584e+02] [ 1.22181209e-01 9.92507239e-01 -1.06454794e-03 7.07912371e+00] [ 1.28989529e-02 -5.15412279e-04 9.99916672e-01 3.77042333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters 0.055444860441769064 Centerline is valid? [True, True] Translation: X:958.51, Y:7.09, Z:3.77 [[ 9.91751382e-01 -1.27426691e-01 -1.38432060e-02 9.58509903e+02] [ 1.27423088e-01 9.91847793e-01 -1.14557287e-03 7.08838920e+00] [ 1.38763299e-02 -6.27820586e-04 9.99903522e-01 3.77144445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.679254154 meters 0.056695247416126394 Centerline is valid? [True, True] Translation: X:958.57, Y:7.09, Z:3.77 [[ 9.91491475e-01 -1.29487611e-01 -1.33271809e-02 9.58570284e+02] [ 1.29484457e-01 9.91580838e-01 -1.10289204e-03 7.09073043e+00] [ 1.33577881e-02 -6.32154729e-04 9.99910581e-01 3.77025241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539999 meters 0.05664485446570878 Centerline is valid? [True, True] Translation: X:958.63, Y:7.10, Z:3.77 [[ 9.91791604e-01 -1.27432624e-01 -1.05043080e-02 9.58630031e+02] [ 1.27430550e-01 9.91847115e-01 -8.69322829e-04 7.10141568e+00] [ 1.05294476e-02 -4.76382655e-04 9.99944450e-01 3.77179833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.799254154 meters 0.05494854181746744 Centerline is valid? [True, True] Translation: X:958.69, Y:7.13, Z:3.77 [[ 9.92461291e-01 -1.22098794e-01 -1.06052183e-02 9.58688040e+02] [ 1.22096375e-01 9.92517861e-01 -8.77731534e-04 7.12524268e+00] [ 1.06330385e-02 -4.23744134e-04 9.99943378e-01 3.77387576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539999 meters 0.05552706233167147 Centerline is valid? [True, True] Translation: X:958.75, Y:7.13, Z:3.77 [[ 9.93997708e-01 -1.08820723e-01 -1.12520081e-02 9.58747779e+02] [ 1.08817145e-01 9.94061347e-01 -9.31472376e-04 7.13254418e+00] [ 1.12865498e-02 -2.98529994e-04 9.99936260e-01 3.77054280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.919254154 meters 0.05472952701675944 Centerline is valid? [True, True] Translation: X:958.81, Y:7.15, Z:3.77 [[ 9.95467433e-01 -9.42817866e-02 -1.24713751e-02 9.58806305e+02] [ 9.42762477e-02 9.95545540e-01 -1.03259372e-03 7.15406331e+00] [ 1.25131766e-02 -1.47841031e-04 9.99921696e-01 3.77062220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539999 meters 0.054938374374977436 Centerline is valid? [True, True] Translation: X:958.86, Y:7.17, Z:3.77 [[ 9.96422090e-01 -8.35137333e-02 -1.29797574e-02 9.58863798e+02] [ 8.35068161e-02 9.96506626e-01 -1.07492985e-03 7.16950081e+00] [ 1.30241856e-02 -1.28143662e-05 9.99915182e-01 3.76888342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.039254154 meters 0.05484365212958422 Centerline is valid? [True, True] Translation: X:958.92, Y:7.18, Z:3.77 [[ 9.96864831e-01 -7.81617201e-02 -1.22985737e-02 9.58922017e+02] [ 7.81550945e-02 9.96940692e-01 -1.01916453e-03 7.18050004e+00] [ 1.23406083e-02 5.47730865e-05 9.99923850e-01 3.77094113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539999 meters 0.05515961091813004 Centerline is valid? [True, True] Translation: X:958.98, Y:7.19, Z:3.77 [[ 9.97080234e-01 -7.55769587e-02 -1.09147088e-02 9.58979417e+02] [ 7.55715780e-02 9.97139969e-01 -9.05166814e-04 7.19008246e+00] [ 1.09519021e-02 7.76821722e-05 9.99940023e-01 3.77025548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.159254154 meters 0.05455546235065761 Centerline is valid? [True, True] Translation: X:959.04, Y:7.20, Z:3.77 [[ 9.97232422e-01 -7.36757510e-02 -9.96900392e-03 9.59037764e+02] [ 7.36711579e-02 9.97282245e-01 -8.27680354e-04 7.19524567e+00] [ 1.00028906e-02 9.09616216e-05 9.99949966e-01 3.77302105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539999 meters 0.05449910311015572 Centerline is valid? [True, True] Translation: X:959.10, Y:7.20, Z:3.77 [[ 9.97347974e-01 -7.19725377e-02 -1.08154045e-02 9.59096278e+02] [ 7.19670178e-02 9.97406607e-01 -8.99198589e-04 7.20197031e+00] [ 1.08520735e-02 1.18461483e-04 9.99941107e-01 3.77241053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.279254154 meters 0.0553684723011487 Centerline is valid? [True, True] Translation: X:959.16, Y:7.21, Z:3.77 [[ 9.97542424e-01 -6.87130522e-02 -1.36977997e-02 9.59155165e+02] [ 6.87038799e-02 9.97636446e-01 -1.13962307e-03 7.20674014e+00] [ 1.37437312e-02 1.95730373e-04 9.99905531e-01 3.77154469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.339254154 meters 0.05474963114067521 Centerline is valid? [True, True] Translation: X:959.21, Y:7.21, Z:3.77 [[ 9.97508307e-01 -6.90100488e-02 -1.46557179e-02 9.59213587e+02] [ 6.89995623e-02 9.97615943e-01 -1.22056670e-03 7.21165509e+00] [ 1.47050092e-02 2.06287300e-04 9.99891854e-01 3.77030992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.399254154 meters 0.05511479597180516 Centerline is valid? [True, True] Translation: X:959.27, Y:7.21, Z:3.77 [[ 9.97307399e-01 -7.20195795e-02 -1.38250893e-02 9.59272358e+02] [ 7.20105271e-02 9.97403207e-01 -1.15211266e-03 7.21277391e+00] [ 1.38721631e-02 1.53458509e-04 9.99903765e-01 3.77158584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.459254154 meters 0.054364628769966346 Centerline is valid? [True, True] Translation: X:959.33, Y:7.21, Z:3.77 [[ 9.96930630e-01 -7.72024411e-02 -1.30039013e-02 9.59331098e+02] [ 7.71948674e-02 9.97015435e-01 -1.08410212e-03 7.21164295e+00] [ 1.30487857e-02 7.69401724e-05 9.99914858e-01 3.77302832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.519254154 meters 0.055089234954085284 Centerline is valid? [True, True] Translation: X:959.39, Y:7.21, Z:3.78 [[ 9.96427788e-01 -8.33843481e-02 -1.33683740e-02 9.59389357e+02] [ 8.33768931e-02 9.96517461e-01 -1.11499488e-03 7.20874505e+00] [ 1.34147912e-02 -3.60160668e-06 9.99910018e-01 3.77634344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.579254154 meters 0.0546337002256478 Centerline is valid? [True, True] Translation: X:959.45, Y:7.21, Z:3.77 [[ 9.96026751e-01 -8.80588364e-02 -1.32798140e-02 9.59448694e+02] [ 8.80518798e-02 9.96115273e-01 -1.10876334e-03 7.20610445e+00] [ 1.33258620e-02 -6.49546345e-05 9.99911205e-01 3.77417108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.639254154 meters 0.05407664629414031 Centerline is valid? [True, True] Translation: X:959.51, Y:7.21, Z:3.78 [[ 9.95955959e-01 -8.89068000e-02 -1.29347693e-02 9.59506407e+02] [ 8.89002509e-02 9.96039947e-01 -1.08155131e-03 7.20811182e+00] [ 1.29797042e-02 -7.27267599e-05 9.99915757e-01 3.77643224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.699254154 meters 0.055339220579713716 Centerline is valid? [True, True] Translation: X:959.56, Y:7.21, Z:3.78 [[ 9.96024520e-01 -8.81242031e-02 -1.30107636e-02 9.59564893e+02] [ 8.81174887e-02 9.96109493e-01 -1.08954642e-03 7.20969589e+00] [ 1.30561606e-02 -6.12608648e-05 9.99914763e-01 3.77581555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.759254154 meters 0.054369036188109995 Centerline is valid? [True, True] Translation: X:959.62, Y:7.21, Z:3.78 [[ 9.96000001e-01 -8.83203099e-02 -1.35469866e-02 9.59622332e+02] [ 8.83130365e-02 9.96092124e-01 -1.13535021e-03 7.21296114e+00] [ 1.35943212e-02 -6.55667147e-05 9.99907591e-01 3.77808358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.819254154 meters 0.05392001435996924 Centerline is valid? [True, True] Translation: X:959.68, Y:7.21, Z:3.78 [[ 9.95775555e-01 -9.08565755e-02 -1.32712491e-02 9.59681404e+02] [ 9.08498056e-02 9.95863983e-01 -1.11335088e-03 7.21252540e+00] [ 1.33175142e-02 -9.70428069e-05 9.99911313e-01 3.77752213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.879254154 meters 0.05406339573519373 Centerline is valid? [True, True] Translation: X:959.74, Y:7.21, Z:3.78 [[ 9.95502755e-01 -9.37772421e-02 -1.34199016e-02 9.59740028e+02] [ 9.37705647e-02 9.95593195e-01 -1.12732491e-03 7.21310450e+00] [ 1.34664801e-02 -1.36136696e-04 9.99909314e-01 3.77864352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.939254154 meters 0.054296554409357496 Centerline is valid? [True, True] Translation: X:959.80, Y:7.22, Z:3.78 [[ 9.95355553e-01 -9.54365658e-02 -1.26168314e-02 9.59797308e+02] [ 9.54307848e-02 9.95435503e-01 -1.06082847e-03 7.21795924e+00] [ 1.26604838e-02 -1.48132616e-04 9.99919842e-01 3.78154057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.999254154 meters 0.05419629758929984 Centerline is valid? [True, True] Translation: X:959.85, Y:7.22, Z:3.78 [[ 9.95329529e-01 -9.57259552e-02 -1.24767965e-02 9.59854825e+02] [ 9.57203091e-02 9.95407715e-01 -1.05028380e-03 7.22223418e+00] [ 1.25200389e-02 -1.48904331e-04 9.99921610e-01 3.78192181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.059254154 meters 0.054914278885391736 Centerline is valid? [True, True] Translation: X:959.91, Y:7.23, Z:3.78 [[ 9.95382218e-01 -9.51018855e-02 -1.30334573e-02 9.59912967e+02] [ 9.50956503e-02 9.95467533e-01 -1.09871829e-03 7.22512643e+00] [ 1.30788738e-02 -1.45780450e-04 9.99914457e-01 3.78147069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters 0.054541114130677734 Centerline is valid? [True, True] Translation: X:959.97, Y:7.23, Z:3.78 [[ 9.95702750e-01 -9.15782871e-02 -1.37640971e-02 9.59971783e+02] [ 9.15709740e-02 9.95797874e-01 -1.16192929e-03 7.23075691e+00] [ 1.38126662e-02 -1.03455591e-04 9.99904595e-01 3.78126001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.179254154 meters 0.05391287469671763 Centerline is valid? [True, True] Translation: X:960.03, Y:7.24, Z:3.78 [[ 9.96183153e-01 -8.61508729e-02 -1.40410806e-02 9.60029203e+02] [ 8.61427006e-02 9.96282102e-01 -1.18691659e-03 7.23755588e+00] [ 1.40911312e-02 -2.71502935e-05 9.99900715e-01 3.77962236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539999 meters 0.05437394402828732 Centerline is valid? [True, True] Translation: X:960.09, Y:7.24, Z:3.78 [[ 9.96737364e-01 -7.93660725e-02 -1.46851692e-02 9.60087173e+02] [ 7.93563798e-02 9.96845535e-01 -1.24249233e-03 7.24498424e+00] [ 1.47374571e-02 7.30766655e-05 9.99891395e-01 3.78052222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.299254154 meters 0.05413899170683713 Centerline is valid? [True, True] Translation: X:960.15, Y:7.25, Z:3.78 [[ 9.97264302e-01 -7.26395533e-02 -1.36896978e-02 9.60145500e+02] [ 7.26304899e-02 9.97358245e-01 -1.15872907e-03 7.25274477e+00] [ 1.37377026e-02 1.61269675e-04 9.99905620e-01 3.78031255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539999 meters 0.05360048204434942 Centerline is valid? [True, True] Translation: X:960.21, Y:7.26, Z:3.78 [[ 9.97681002e-01 -6.67591963e-02 -1.32600486e-02 9.60205153e+02] [ 6.67501713e-02 9.97769089e-01 -1.12252873e-03 7.25833791e+00] [ 1.33054057e-02 2.34815068e-04 9.99911452e-01 3.78182240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.419254154 meters 0.05292888429039602 Centerline is valid? [True, True] Translation: X:960.27, Y:7.26, Z:3.78 [[ 9.98003922e-01 -6.18481522e-02 -1.27662718e-02 9.60265236e+02] [ 6.18393838e-02 9.98085529e-01 -1.08082741e-03 7.26307654e+00] [ 1.28086783e-02 2.89211610e-04 9.99917924e-01 3.78251887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539999 meters 0.054661066527662124 Centerline is valid? [True, True] Translation: X:960.32, Y:7.27, Z:3.78 [[ 9.98329069e-01 -5.63162687e-02 -1.29440267e-02 9.60323851e+02] [ 5.63067883e-02 9.98412913e-01 -1.09597873e-03 7.27397345e+00] [ 1.29852048e-02 3.65310854e-04 9.99915622e-01 3.78076266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.539254154 meters 0.05604703054207543 Centerline is valid? [True, True] Translation: X:960.38, Y:7.28, Z:3.78 [[ 9.98498619e-01 -5.30746617e-02 -1.35494898e-02 9.60383251e+02] [ 5.30639739e-02 9.98590456e-01 -1.14735013e-03 7.28294091e+00] [ 1.35912864e-02 4.26637752e-04 9.99907543e-01 3.77945872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539999 meters 0.05298747294048819 Centerline is valid? [True, True] Translation: X:960.44, Y:7.27, Z:3.78 [[ 9.98666233e-01 -4.94430906e-02 -1.48706534e-02 9.60444723e+02] [ 4.94298136e-02 9.98776806e-01 -1.25928552e-03 7.27066046e+00] [ 1.49147266e-02 5.22552304e-04 9.99888633e-01 3.78358649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.659254154 meters 0.05411634333336685 Centerline is valid? [True, True] Translation: X:960.50, Y:7.28, Z:3.78 [[ 9.98668144e-01 -4.93047796e-02 -1.51979358e-02 9.60502459e+02] [ 4.92908856e-02 9.98783636e-01 -1.28766274e-03 7.27910283e+00] [ 1.52429375e-02 5.36828039e-04 9.99883676e-01 3.78165367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539999 meters 0.05392419390089262 Centerline is valid? [True, True] Translation: X:960.56, Y:7.27, Z:3.78 [[ 9.98501365e-01 -5.28030560e-02 -1.43827058e-02 9.60563285e+02] [ 5.27909716e-02 9.98604841e-01 -1.21883345e-03 7.27455463e+00] [ 1.44269978e-02 4.57729852e-04 9.99895821e-01 3.78346959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.779254154 meters 0.05206074671285062 Centerline is valid? [True, True] Translation: X:960.62, Y:7.26, Z:3.79 [[ 9.98140369e-01 -5.95690338e-02 -1.29357995e-02 9.60624687e+02] [ 5.95598248e-02 9.98224136e-01 -1.09632607e-03 7.25915298e+00] [ 1.29781343e-02 3.23833356e-04 9.99915728e-01 3.78828226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.839254154 meters 0.05308356825167222 Centerline is valid? [True, True] Translation: X:960.68, Y:7.27, Z:3.78 [[ 9.97903089e-01 -6.31860921e-02 -1.40336355e-02 9.60683155e+02] [ 6.31756080e-02 9.98001717e-01 -1.18957755e-03 7.26668129e+00] [ 1.40807571e-02 3.00499651e-04 9.99900816e-01 3.78437308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.899254154 meters 0.05193035671370203 Centerline is valid? [True, True] Translation: X:960.74, Y:7.26, Z:3.79 [[ 9.97782270e-01 -6.50152643e-02 -1.42673818e-02 9.60742307e+02] [ 6.50046094e-02 9.97884230e-01 -1.20977405e-03 7.26224933e+00] [ 1.43158491e-02 2.79645514e-04 9.99897484e-01 3.78650853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.959254154 meters 0.05131941204186098 Centerline is valid? [True, True] Translation: X:960.80, Y:7.26, Z:3.79 [[ 9.97638189e-01 -6.71351771e-02 -1.45227951e-02 9.60800186e+02] [ 6.71243540e-02 9.97743857e-01 -1.23196030e-03 7.26158237e+00] [ 1.45727375e-02 2.54217400e-04 9.99893780e-01 3.78660757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.019254154 meters 0.051615852238804494 Centerline is valid? [True, True] Translation: X:960.86, Y:7.26, Z:3.79 [[ 9.97475072e-01 -6.94604455e-02 -1.47894330e-02 9.60859915e+02] [ 6.94494588e-02 9.97584681e-01 -1.25579473e-03 7.26027424e+00] [ 1.48409398e-02 2.25505827e-04 9.99889842e-01 3.78653389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.079254154 meters 0.05103977750213695 Centerline is valid? [True, True] Translation: X:960.92, Y:7.26, Z:3.79 [[ 9.97357335e-01 -7.10343897e-02 -1.52467182e-02 9.60919708e+02] [ 7.10228880e-02 9.97473845e-01 -1.29519890e-03 7.25736316e+00] [ 1.53002063e-02 2.08910161e-04 9.99882923e-01 3.78851810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.139254154 meters 0.051391820852702406 Centerline is valid? [True, True] Translation: X:960.98, Y:7.26, Z:3.79 [[ 9.97459405e-01 -6.97014561e-02 -1.47119934e-02 9.60977527e+02] [ 6.96905950e-02 9.97567871e-01 -1.25026087e-03 7.26496561e+00] [ 1.47633569e-02 2.21796891e-04 9.99890991e-01 3.78803198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.199254154 meters 0.0510922316478054 Centerline is valid? [True, True] Translation: X:961.04, Y:7.27, Z:3.79 [[ 9.97419460e-01 -7.02236920e-02 -1.49350021e-02 9.61035519e+02] [ 7.02125344e-02 9.97531245e-01 -1.27075984e-03 7.26969572e+00] [ 1.49873687e-02 2.18856242e-04 9.99887659e-01 3.78932361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.259254154 meters 0.051656139629009515 Centerline is valid? [True, True] Translation: X:961.09, Y:7.28, Z:3.79 [[ 9.97506534e-01 -6.94056758e-02 -1.27893474e-02 9.61092833e+02] [ 6.93974169e-02 9.97588499e-01 -1.08896581e-03 7.27948750e+00] [ 1.28340863e-02 1.98702842e-04 9.99917620e-01 3.78847932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.319254154 meters 0.051867346057409586 Centerline is valid? [True, True] Translation: X:961.15, Y:7.29, Z:3.79 [[ 9.97793526e-01 -6.54192327e-02 -1.13315438e-02 9.61151737e+02] [ 6.54124895e-02 9.97857843e-01 -9.65086811e-04 7.28990934e+00] [ 1.13704051e-02 2.21732880e-04 9.99935330e-01 3.78939998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.379254154 meters 0.0517477171757733 Centerline is valid? [True, True] Translation: X:961.21, Y:7.30, Z:3.79 [[ 9.97958935e-01 -6.26244441e-02 -1.24957360e-02 9.61210889e+02] [ 6.26160218e-02 9.98037124e-01 -1.06450047e-03 7.29609190e+00] [ 1.25378722e-02 2.79894480e-04 9.99921359e-01 3.78998453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.439254154 meters 0.05171445253237551 Centerline is valid? [True, True] Translation: X:961.27, Y:7.31, Z:3.79 [[ 9.98045240e-01 -6.08305321e-02 -1.43298690e-02 9.61269621e+02] [ 6.08192659e-02 9.98148048e-01 -1.22108987e-03 7.30611474e+00] [ 1.43776104e-02 3.47170815e-04 9.99896577e-01 3.78896581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.499254154 meters 0.051721951490352545 Centerline is valid? [True, True] Translation: X:961.33, Y:7.31, Z:3.79 [[ 9.97869919e-01 -6.37394599e-02 -1.38890358e-02 9.61329641e+02] [ 6.37291556e-02 9.97966529e-01 -1.18368863e-03 7.31073360e+00] [ 1.39362406e-02 2.96030750e-04 9.99902842e-01 3.78942189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.559254154 meters 0.05207484673665552 Centerline is valid? [True, True] Translation: X:961.39, Y:7.32, Z:3.79 [[ 9.97494487e-01 -6.92780110e-02 -1.43284634e-02 9.61388347e+02] [ 6.92676125e-02 9.97597367e-01 -1.22132456e-03 7.31757246e+00] [ 1.43786483e-02 2.25766067e-04 9.99896596e-01 3.78732097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters 0.05120253382289735 Centerline is valid? [True, True] Translation: X:961.45, Y:7.32, Z:3.79 [[ 9.96966168e-01 -7.61898008e-02 -1.59240187e-02 9.61448819e+02] [ 7.61778373e-02 9.97093323e-01 -1.35739096e-03 7.31528486e+00] [ 1.59811521e-02 1.40215556e-04 9.99872283e-01 3.78818700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.679254154 meters 0.05104150837188645 Centerline is valid? [True, True] Translation: X:961.51, Y:7.31, Z:3.79 [[ 9.96472884e-01 -8.22007158e-02 -1.68770206e-02 9.61507701e+02] [ 8.21881263e-02 9.96615794e-01 -1.43937470e-03 7.31439180e+00] [ 1.69382229e-02 4.72071582e-05 9.99856537e-01 3.78865721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539999 meters 0.05229806535627727 Centerline is valid? [True, True] Translation: X:961.57, Y:7.32, Z:3.79 [[ 9.96222357e-01 -8.53744377e-02 -1.58814774e-02 9.61566753e+02] [ 8.53636681e-02 9.96348938e-01 -1.35602555e-03 7.31621211e+00] [ 1.59392631e-02 -4.79819986e-06 9.99872962e-01 3.78957821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.799254154 meters 0.051910169327938405 Centerline is valid? [True, True] Translation: X:961.63, Y:7.32, Z:3.79 [[ 9.96063319e-01 -8.75005623e-02 -1.41956477e-02 9.61626009e+02] [ 8.74921516e-02 9.96164470e-01 -1.21363526e-03 7.31815431e+00] [ 1.42473937e-02 -3.31501980e-05 9.99898500e-01 3.79110548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539999 meters 0.05143789603523471 Centerline is valid? [True, True] Translation: X:961.68, Y:7.32, Z:3.79 [[ 9.96152870e-01 -8.67959634e-02 -1.20797516e-02 9.61683980e+02] [ 8.67898128e-02 9.96226109e-01 -1.03344316e-03 7.32142428e+00] [ 1.21238626e-02 -1.89320097e-05 9.99926503e-01 3.79180136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.919254154 meters 0.05139118059075243 Centerline is valid? [True, True] Translation: X:961.74, Y:7.33, Z:3.79 [[ 9.96224164e-01 -8.60141014e-02 -1.17893578e-02 9.61740317e+02] [ 8.60081785e-02 9.96293920e-01 -1.00942447e-03 7.32622117e+00] [ 1.18324902e-02 -8.36813480e-06 9.99929994e-01 3.79065151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539999 meters 0.050496835232472496 Centerline is valid? [True, True] Translation: X:961.80, Y:7.33, Z:3.79 [[ 9.96652139e-01 -8.11700052e-02 -9.79510220e-03 9.61799168e+02] [ 8.11656742e-02 9.96700270e-01 -8.39535434e-04 7.33475646e+00] [ 9.83092611e-03 4.16987117e-05 9.99951674e-01 3.79184041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.039254154 meters 0.051338847769460016 Centerline is valid? [True, True] Translation: X:961.86, Y:7.34, Z:3.79 [[ 9.96845060e-01 -7.88321271e-02 -9.24241407e-03 9.61857564e+02] [ 7.88281617e-02 9.96887903e-01 -7.93118690e-04 7.34015123e+00] [ 9.27617402e-03 6.20539367e-05 9.99956973e-01 3.79293921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539999 meters 0.05166361605226918 Centerline is valid? [True, True] Translation: X:961.92, Y:7.35, Z:3.79 [[ 9.97108571e-01 -7.53737653e-02 -9.65886213e-03 9.61916378e+02] [ 7.53692613e-02 9.97155347e-01 -8.29981905e-04 7.34527718e+00] [ 9.69394488e-03 9.96007676e-05 9.99953008e-01 3.79433806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.159254154 meters 0.05182253931461242 Centerline is valid? [True, True] Translation: X:961.97, Y:7.36, Z:3.79 [[ 9.97387312e-01 -7.15196177e-02 -1.01731685e-02 9.61974494e+02] [ 7.15144141e-02 9.97439183e-01 -8.74819225e-04 7.35827259e+00] [ 1.02096836e-02 1.45005408e-04 9.99947869e-01 3.79131133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539999 meters 0.05104087436483607 Centerline is valid? [True, True] Translation: X:962.03, Y:7.36, Z:3.79 [[ 9.97446184e-01 -7.08157344e-02 -9.28670502e-03 9.62033421e+02] [ 7.08113615e-02 9.97489405e-01 -7.99258909e-04 7.36288251e+00] [ 9.31998997e-03 1.39613522e-04 9.99956558e-01 3.79209361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.279254154 meters 0.05233905737952081 Centerline is valid? [True, True] Translation: X:962.09, Y:7.37, Z:3.79 [[ 9.97352293e-01 -7.22916003e-02 -7.89476650e-03 9.62091121e+02] [ 7.22884822e-02 9.97383534e-01 -6.79975766e-04 7.36829816e+00] [ 7.92326665e-03 1.07474701e-04 9.99968605e-01 3.79233255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.339254154 meters 0.0518675927908052 Centerline is valid? [True, True] Translation: X:962.15, Y:7.37, Z:3.79 [[ 9.97228972e-01 -7.39319163e-02 -8.27340844e-03 9.62148761e+02] [ 7.39285456e-02 9.97263286e-01 -7.12910696e-04 7.37469308e+00] [ 8.30347334e-03 9.92941471e-05 9.99965521e-01 3.79037206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.399254154 meters 0.05181313654497952 Centerline is valid? [True, True] Translation: X:962.21, Y:7.38, Z:3.79 [[ 9.97282900e-01 -7.31418987e-02 -8.77956040e-03 9.62207675e+02] [ 7.31380664e-02 9.97321538e-01 -7.57209406e-04 7.37623009e+00] [ 8.81142842e-03 1.13031921e-04 9.99961172e-01 3.79104009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.459254154 meters 0.05171069609469 Centerline is valid? [True, True] Translation: X:962.27, Y:7.38, Z:3.79 [[ 9.97448448e-01 -7.08459162e-02 -8.80053256e-03 9.62265935e+02] [ 7.08419677e-02 9.97487262e-01 -7.59975743e-04 7.38206559e+00] [ 8.83226031e-03 1.34589581e-04 9.99960986e-01 3.79072526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.519254154 meters 0.05046329949675774 Centerline is valid? [True, True] Translation: X:962.33, Y:7.38, Z:3.79 [[ 9.97640627e-01 -6.82398532e-02 -7.51675242e-03 9.62325199e+02] [ 6.82368953e-02 9.97668935e-01 -6.49566606e-04 7.38381312e+00] [ 7.54355671e-03 1.35114188e-04 9.99971538e-01 3.79179425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.579254154 meters 0.05143638844595649 Centerline is valid? [True, True] Translation: X:962.38, Y:7.39, Z:3.79 [[ 9.97774079e-01 -6.62381579e-02 -7.70679467e-03 9.62383123e+02] [ 6.62349874e-02 9.97803830e-01 -6.66178506e-04 7.39302664e+00] [ 7.73399567e-03 1.54236198e-04 9.99970080e-01 3.79190090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.639254154 meters 0.05108305939670282 Centerline is valid? [True, True] Translation: X:962.44, Y:7.40, Z:3.79 [[ 9.97703688e-01 -6.72102673e-02 -8.37445914e-03 9.62441717e+02] [ 6.72065530e-02 9.97738821e-01 -7.24473402e-04 7.39725438e+00] [ 8.40421504e-03 1.59991252e-04 9.99964671e-01 3.79118910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.699254154 meters 0.05079056596368309 Centerline is valid? [True, True] Translation: X:962.50, Y:7.40, Z:3.79 [[ 9.97383330e-01 -7.18392720e-02 -8.10016749e-03 9.62501704e+02] [ 7.18359457e-02 9.97416215e-01 -7.01220760e-04 7.39570197e+00] [ 8.12961358e-03 1.17502705e-04 9.99966947e-01 3.79217714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.759254154 meters 0.051429581491637635 Centerline is valid? [True, True] Translation: X:962.56, Y:7.40, Z:3.79 [[ 9.96807904e-01 -7.94492598e-02 -7.86236699e-03 9.62560777e+02] [ 7.94463614e-02 9.96838910e-01 -6.80770773e-04 7.39935671e+00] [ 7.89160007e-03 5.39612378e-05 9.99968859e-01 3.79157355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.819254154 meters 0.051206498199895145 Centerline is valid? [True, True] Translation: X:962.62, Y:7.40, Z:3.79 [[ 9.96097006e-01 -8.80597344e-02 -6.01976441e-03 9.62620043e+02] [ 8.80581909e-02 9.96115196e-01 -5.21492847e-04 7.39881105e+00] [ 6.04230132e-03 -1.06320998e-05 9.99981745e-01 3.79250803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.879254154 meters 0.05146719386306555 Centerline is valid? [True, True] Translation: X:962.68, Y:7.40, Z:3.79 [[ 9.95197139e-01 -9.77343252e-02 -5.53687933e-03 9.62679618e+02] [ 9.77331669e-02 9.95212539e-01 -4.80034675e-04 7.40316237e+00] [ 5.55728760e-03 -6.34076167e-05 9.99984556e-01 3.79332471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.939254154 meters 0.05275134654087999 Centerline is valid? [True, True] Translation: X:962.74, Y:7.40, Z:3.79 [[ 9.93903967e-01 -1.09996749e-01 -7.45780480e-03 9.62739321e+02] [ 1.09994991e-01 9.93931931e-01 -6.46679413e-04 7.40209610e+00] [ 7.48368296e-03 -1.77583937e-04 9.99971981e-01 3.79259778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.999254154 meters 0.0545344771642555 Centerline is valid? [True, True] Translation: X:962.80, Y:7.40, Z:3.79 [[ 9.92351165e-01 -1.23248571e-01 -6.99681965e-03 9.62799503e+02] [ 1.23247352e-01 9.92375797e-01 -6.06780689e-04 7.40309595e+00] [ 7.01825932e-03 -2.60199970e-04 9.99975338e-01 3.79202952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.059254154 meters 0.05391337612184 Centerline is valid? [True, True] Translation: X:962.86, Y:7.41, Z:3.79 [[ 9.91183535e-01 -1.32326719e-01 -6.69620957e-03 9.62859179e+02] [ 1.32325809e-01 9.91206105e-01 -5.80753981e-04 7.41347104e+00] [ 6.71417308e-03 -3.10447563e-04 9.99977411e-01 3.79318587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters 0.053405574375579815 Centerline is valid? [True, True] Translation: X:962.92, Y:7.43, Z:3.79 [[ 9.90999480e-01 -1.33742939e-01 -5.73206498e-03 9.62915824e+02] [ 1.33742295e-01 9.91016020e-01 -4.97231643e-04 7.43250297e+00] [ 5.74706945e-03 -2.73863229e-04 9.99983448e-01 3.79435633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.179254154 meters 0.05466896981117251 Centerline is valid? [True, True] Translation: X:962.97, Y:7.44, Z:3.79 [[ 9.91861571e-01 -1.27162790e-01 -6.34427511e-03 9.62974200e+02] [ 1.27161865e-01 9.91881826e-01 -5.50536166e-04 7.43939443e+00] [ 6.36277890e-03 -2.60694192e-04 9.99979723e-01 3.79367968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539999 meters 0.05414904200621896 Centerline is valid? [True, True] Translation: X:963.03, Y:7.46, Z:3.79 [[ 9.93357552e-01 -1.14878983e-01 -6.60245726e-03 9.63033465e+02] [ 1.14877710e-01 9.93379476e-01 -5.73110996e-04 7.45779186e+00] [ 6.62458394e-03 -1.89171031e-04 9.99978039e-01 3.79197473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.299254154 meters 0.05360759128462954 Centerline is valid? [True, True] Translation: X:963.09, Y:7.48, Z:3.79 [[ 9.94466759e-01 -1.04803608e-01 -7.21592800e-03 9.63090840e+02] [ 1.04801820e-01 9.94492929e-01 -6.26585654e-04 7.47608488e+00] [ 7.24185781e-03 -1.33123781e-04 9.99973769e-01 3.79219200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539999 meters 0.05307413954673667 Centerline is valid? [True, True] Translation: X:963.15, Y:7.50, Z:3.79 [[ 9.96227892e-01 -8.66314704e-02 -4.99752973e-03 9.63148845e+02] [ 8.66303831e-02 9.96240427e-01 -4.34032236e-04 7.49991976e+00] [ 5.01634201e-03 -5.42895534e-07 9.99987418e-01 3.79349204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.419254154 meters 0.05314261096069486 Centerline is valid? [True, True] Translation: X:963.21, Y:7.52, Z:3.79 [[ 9.96871746e-01 -7.89263843e-02 -4.16501692e-03 9.63205136e+02] [ 7.89255615e-02 9.96880447e-01 -3.61802251e-04 7.51613240e+00] [ 4.18057967e-03 3.19441422e-05 9.99991261e-01 3.79422992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539999 meters 0.05350759278214894 Centerline is valid? [True, True] Translation: X:963.26, Y:7.53, Z:3.79 [[ 9.97023333e-01 -7.69748932e-02 -4.39773777e-03 9.63262091e+02] [ 7.69739557e-02 9.97033031e-01 -3.82292817e-04 7.52816582e+00] [ 4.41411676e-03 4.26435863e-05 9.99990257e-01 3.79383528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.539254154 meters 0.05462160061184214 Centerline is valid? [True, True] Translation: X:963.32, Y:7.54, Z:3.79 [[ 9.97048388e-01 -7.66104694e-02 -5.03466701e-03 9.63320019e+02] [ 7.66092345e-02 9.97061098e-01 -4.37959241e-04 7.53820687e+00] [ 5.05342288e-03 5.09645699e-05 9.99987230e-01 3.79253295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539999 meters 0.053923044497076064 Centerline is valid? [True, True] Translation: X:963.38, Y:7.55, Z:3.79 [[ 9.97088401e-01 -7.59400010e-02 -6.91642363e-03 9.63378095e+02] [ 7.59376480e-02 9.97112386e-01 -6.02570244e-04 7.54704812e+00] [ 6.94221086e-03 7.55988582e-05 9.99975900e-01 3.79116405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.659254154 meters 0.05462342486548046 Centerline is valid? [True, True] Translation: X:963.44, Y:7.55, Z:3.79 [[ 9.97182823e-01 -7.44003562e-02 -9.53967509e-03 9.63436254e+02] [ 7.43958012e-02 9.97228446e-01 -8.31947200e-04 7.55315897e+00] [ 9.57513253e-03 1.19891685e-04 9.99954150e-01 3.78993832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539999 meters 0.05480774701500143 Centerline is valid? [True, True] Translation: X:963.49, Y:7.56, Z:3.79 [[ 9.97151983e-01 -7.45843755e-02 -1.11845046e-02 9.63493300e+02] [ 7.45781204e-02 9.97214697e-01 -9.75880858e-04 7.56157200e+00] [ 1.12261378e-02 1.38982201e-04 9.99936975e-01 3.78844570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.779254154 meters 0.05388442004853495 Centerline is valid? [True, True] Translation: X:963.55, Y:7.56, Z:3.79 [[ 9.96960913e-01 -7.72035550e-02 -1.04187098e-02 9.63551889e+02] [ 7.71982612e-02 9.97015346e-01 -9.09923098e-04 7.56339130e+00] [ 1.04578628e-02 1.02851485e-04 9.99945310e-01 3.79024241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.839254154 meters 0.05422408503344794 Centerline is valid? [True, True] Translation: X:963.61, Y:7.57, Z:3.79 [[ 9.96864385e-01 -7.84850198e-02 -1.00747000e-02 9.63610509e+02] [ 7.84801236e-02 9.96915289e-01 -8.81021751e-04 7.56817376e+00] [ 1.01127695e-02 8.75955023e-05 9.99948861e-01 3.79071867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.899254154 meters 0.05399305465983284 Centerline is valid? [True, True] Translation: X:963.67, Y:7.57, Z:3.79 [[ 9.96568600e-01 -8.23141746e-02 -8.68345040e-03 9.63668859e+02] [ 8.23106743e-02 9.96606429e-01 -7.60322086e-04 7.57144904e+00] [ 8.71656778e-03 4.29724587e-05 9.99962009e-01 3.79227456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.959254154 meters 0.05391476840223515 Centerline is valid? [True, True] Translation: X:963.73, Y:7.58, Z:3.79 [[ 9.96477975e-01 -8.34545614e-02 -8.18426722e-03 9.63727225e+02] [ 8.34514827e-02 9.96511583e-01 -7.17550863e-04 7.57543653e+00] [ 8.21559998e-03 3.20343966e-05 9.99966251e-01 3.79347130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.019254154 meters 0.054040531829823935 Centerline is valid? [True, True] Translation: X:963.79, Y:7.58, Z:3.79 [[ 9.96260904e-01 -8.60775483e-02 -7.40718180e-03 9.63785284e+02] [ 8.60750948e-02 9.96288440e-01 -6.49982356e-04 7.57959666e+00] [ 7.43563848e-03 9.97813455e-06 9.99972355e-01 3.79379008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.079254154 meters 0.054195613187421686 Centerline is valid? [True, True] Translation: X:963.84, Y:7.58, Z:3.79 [[ 9.95752419e-01 -9.18507078e-02 -6.36929530e-03 9.63844023e+02] [ 9.18490092e-02 9.95772789e-01 -5.59312135e-04 7.58052929e+00] [ 6.39374416e-03 -2.80770508e-05 9.99979559e-01 3.79427582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.139254154 meters 0.05463439735200805 Centerline is valid? [True, True] Translation: X:963.90, Y:7.58, Z:3.79 [[ 9.94756630e-01 -1.01999769e-01 -7.43596786e-03 9.63904353e+02] [ 1.01997733e-01 9.94784417e-01 -6.53505442e-04 7.57862139e+00] [ 7.46384235e-03 -1.08372992e-04 9.99972139e-01 3.79418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.199254154 meters 0.05452331933755536 Centerline is valid? [True, True] Translation: X:963.96, Y:7.58, Z:3.79 [[ 9.93414886e-01 -1.14329606e-01 -7.45692146e-03 9.63964826e+02] [ 1.14327905e-01 9.93442852e-01 -6.55390394e-04 7.58174686e+00] [ 7.48295585e-03 -2.01459634e-04 9.99971982e-01 3.79495335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.259254154 meters 0.055699260362738444 Centerline is valid? [True, True] Translation: X:964.02, Y:7.58, Z:3.80 [[ 9.92124013e-01 -1.25046835e-01 -7.29600905e-03 9.64024313e+02] [ 1.25045495e-01 9.92150802e-01 -6.41272850e-04 7.58427925e+00] [ 7.31893037e-03 -2.76110871e-04 9.99973178e-01 3.79511330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.319254154 meters 0.05638509332360802 Centerline is valid? [True, True] Translation: X:964.08, Y:7.59, Z:3.80 [[ 9.91524460e-01 -1.29720428e-01 -7.20115730e-03 9.64084663e+02] [ 1.29719246e-01 9.91550562e-01 -6.32949966e-04 7.58506605e+00] [ 7.22241811e-03 -3.06543323e-04 9.99973871e-01 3.79510779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.379254154 meters 0.056794894146446874 Centerline is valid? [True, True] Translation: X:964.14, Y:7.59, Z:3.79 [[ 9.92032569e-01 -1.25717195e-01 -8.15898801e-03 9.64143941e+02] [ 1.25715542e-01 9.92066070e-01 -7.17187412e-04 7.58929278e+00] [ 8.18441796e-03 -3.14238331e-04 9.99966458e-01 3.79435920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.439254154 meters 0.05593413539705559 Centerline is valid? [True, True] Translation: X:964.20, Y:7.61, Z:3.79 [[ 9.93417312e-01 -1.14192343e-01 -9.06378643e-03 9.64202838e+02] [ 1.14189823e-01 9.93458630e-01 -7.96809969e-04 7.61188353e+00] [ 9.09548645e-03 -2.43427348e-04 9.99958606e-01 3.79479978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.499254154 meters 0.05473111614831743 Centerline is valid? [True, True] Translation: X:964.26, Y:7.62, Z:3.79 [[ 9.94845617e-01 -1.00987281e-01 -9.15242237e-03 9.64261039e+02] [ 1.00984151e-01 9.94887709e-01 -8.04704959e-04 7.62395337e+00] [ 9.18689749e-03 -1.23692399e-04 9.99957792e-01 3.79412251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.559254154 meters 0.05510527686636878 Centerline is valid? [True, True] Translation: X:964.32, Y:7.64, Z:3.79 [[ 9.95866915e-01 -9.04188527e-02 -8.57431888e-03 9.64320022e+02] [ 9.04157124e-02 9.95903826e-01 -7.53963371e-04 7.63708661e+00] [ 8.60736948e-03 -2.44059742e-05 9.99962956e-01 3.79452263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters 0.05475826582224904 Centerline is valid? [True, True] Translation: X:964.38, Y:7.65, Z:3.79 [[ 9.96420129e-01 -8.41372296e-02 -8.23727785e-03 9.64377111e+02] [ 8.41341120e-02 9.96454176e-01 -7.24887014e-04 7.64719700e+00] [ 8.26905990e-03 2.92559549e-05 9.99965810e-01 3.79371595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.679254154 meters 0.053735255514496504 Centerline is valid? [True, True] Translation: X:964.44, Y:7.65, Z:3.79 [[ 9.96583360e-01 -8.21658939e-02 -8.38881186e-03 9.64435166e+02] [ 8.21625821e-02 9.96618665e-01 -7.39242987e-04 7.65481785e+00] [ 8.42118704e-03 4.74708164e-05 9.99964540e-01 3.79448430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539999 meters 0.05464838486637908 Centerline is valid? [True, True] Translation: X:964.49, Y:7.66, Z:3.80 [[ 9.96500495e-01 -8.31181177e-02 -8.83984135e-03 9.64493119e+02] [ 8.31144715e-02 9.96539702e-01 -7.79681759e-04 7.65785391e+00] [ 8.87405854e-03 4.22345168e-05 9.99960624e-01 3.79621098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.799254154 meters 0.05484692275339471 Centerline is valid? [True, True] Translation: X:964.55, Y:7.66, Z:3.79 [[ 9.96263189e-01 -8.59445027e-02 -8.55579287e-03 9.64552352e+02] [ 8.59411877e-02 9.96299926e-01 -7.55043616e-04 7.66187202e+00] [ 8.58902765e-03 1.69271604e-05 9.99963113e-01 3.79482247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539999 meters 0.05444545966260987 Centerline is valid? [True, True] Translation: X:964.61, Y:7.66, Z:3.79 [[ 9.96037217e-01 -8.84080151e-02 -9.68946393e-03 9.64611360e+02] [ 8.84038740e-02 9.96084345e-01 -8.55701250e-04 7.66278231e+00] [ 9.72717418e-03 -4.27585623e-06 9.99952690e-01 3.79391489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.919254154 meters 0.05472568312469683 Centerline is valid? [True, True] Translation: X:964.67, Y:7.66, Z:3.79 [[ 9.95908826e-01 -8.96394608e-02 -1.14183043e-02 9.64670030e+02] [ 8.96337773e-02 9.95974280e-01 -1.00956309e-03 7.66430461e+00] [ 1.14628341e-02 -1.80329585e-05 9.99934299e-01 3.79464889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539999 meters 0.05475680963419514 Centerline is valid? [True, True] Translation: X:964.73, Y:7.67, Z:3.79 [[ 9.95956055e-01 -8.89023138e-02 -1.29582425e-02 9.64728268e+02] [ 8.88949197e-02 9.96040350e-01 -1.14662975e-03 7.66581387e+00] [ 1.30088704e-02 -9.92908406e-06 9.99915381e-01 3.79404432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.039254154 meters 0.05395156648855245 Centerline is valid? [True, True] Translation: X:964.79, Y:7.67, Z:3.79 [[ 9.96259051e-01 -8.53857162e-02 -1.33110110e-02 9.64786056e+02] [ 8.53775838e-02 9.96347970e-01 -1.17905574e-03 7.66946368e+00] [ 1.33630734e-02 3.81829882e-05 9.99910709e-01 3.79277060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539999 meters 0.05431971903267045 Centerline is valid? [True, True] Translation: X:964.84, Y:7.67, Z:3.80 [[ 9.96605052e-01 -8.13666885e-02 -1.25631151e-02 9.64844990e+02] [ 8.13591067e-02 9.96684230e-01 -1.11425812e-03 7.66923189e+00] [ 1.26121222e-02 8.83514507e-05 9.99920460e-01 3.79729951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.159254154 meters 0.05373619728834875 Centerline is valid? [True, True] Translation: X:964.90, Y:7.67, Z:3.80 [[ 9.96885239e-01 -7.80586619e-02 -1.12545838e-02 9.64902442e+02] [ 7.80523564e-02 9.96948761e-01 -9.99088303e-04 7.67332085e+00] [ 1.12982308e-02 1.17529599e-04 9.99936166e-01 3.79607622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539999 meters 0.05363687831323544 Centerline is valid? [True, True] Translation: X:964.96, Y:7.67, Z:3.80 [[ 9.96968443e-01 -7.72163760e-02 -9.56841011e-03 9.64960792e+02] [ 7.72117707e-02 9.97014353e-01 -8.50328820e-04 7.67025308e+00] [ 9.60550152e-03 1.08957112e-04 9.99953860e-01 3.79939039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.279254154 meters 0.053366820271807267 Centerline is valid? [True, True] Translation: X:965.02, Y:7.67, Z:3.80 [[ 9.96992364e-01 -7.70396234e-02 -8.43337112e-03 9.65018483e+02] [ 7.70360344e-02 9.97028027e-01 -7.50074167e-04 7.67041052e+00] [ 8.46609280e-03 9.81447493e-05 9.99964157e-01 3.79993426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.339254154 meters 0.052528467585468516 Centerline is valid? [True, True] Translation: X:965.08, Y:7.67, Z:3.80 [[ 9.96978518e-01 -7.72093643e-02 -8.51759014e-03 9.65077106e+02] [ 7.72057032e-02 9.97014897e-01 -7.58302171e-04 7.66625853e+00] [ 8.55071228e-03 9.84044384e-05 9.99963437e-01 3.80072589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.399254154 meters 0.05241180093054618 Centerline is valid? [True, True] Translation: X:965.14, Y:7.66, Z:3.80 [[ 9.96834351e-01 -7.88829475e-02 -9.93767997e-03 9.65136936e+02] [ 7.88780341e-02 9.96883880e-01 -8.86006385e-04 7.66165578e+00] [ 9.97660376e-03 9.93369398e-05 9.99950227e-01 3.80100837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.459254154 meters 0.05202847032556579 Centerline is valid? [True, True] Translation: X:965.20, Y:7.66, Z:3.80 [[ 9.96609842e-01 -8.15264279e-02 -1.10573540e-02 9.65195536e+02] [ 8.15204987e-02 9.96671177e-01 -9.86631522e-04 7.65837555e+00] [ 1.11009825e-02 8.18856746e-05 9.99938379e-01 3.80052395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.519254154 meters 0.05156899033548032 Centerline is valid? [True, True] Translation: X:965.25, Y:7.65, Z:3.80 [[ 9.96391580e-01 -8.39703107e-02 -1.23614507e-02 9.65253547e+02] [ 8.39630820e-02 9.96468255e-01 -1.10350578e-03 7.65421482e+00] [ 1.24104550e-02 6.16183623e-05 9.99922985e-01 3.80162183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.579254154 meters 0.05231665753963546 Centerline is valid? [True, True] Translation: X:965.31, Y:7.65, Z:3.80 [[ 9.96108232e-01 -8.70766801e-02 -1.36397220e-02 9.65311950e+02] [ 8.70681522e-02 9.96201612e-01 -1.21893653e-03 7.65055853e+00] [ 1.36940540e-02 2.66073218e-05 9.99906232e-01 3.80356257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.639254154 meters 0.05167466081650212 Centerline is valid? [True, True] Translation: X:965.37, Y:7.65, Z:3.80 [[ 9.95903055e-01 -8.95292188e-02 -1.27131799e-02 9.65370355e+02] [ 8.95219918e-02 9.95984196e-01 -1.13756230e-03 7.64755830e+00] [ 1.27639713e-02 -5.20741219e-06 9.99918537e-01 3.79989653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.699254154 meters 0.050949484183019735 Centerline is valid? [True, True] Translation: X:965.43, Y:7.65, Z:3.80 [[ 9.95913344e-01 -8.95679141e-02 -1.15844872e-02 9.65428499e+02] [ 8.95619060e-02 9.95980717e-01 -1.03742777e-03 7.64853762e+00] [ 1.16308461e-02 -4.34058704e-06 9.99932359e-01 3.80023456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.759254154 meters 0.051189943163079676 Centerline is valid? [True, True] Translation: X:965.49, Y:7.65, Z:3.80 [[ 9.96025593e-01 -8.84889150e-02 -1.01355418e-02 9.65486378e+02] [ 8.84842554e-02 9.96077162e-01 -9.08116448e-04 7.65085689e+00] [ 1.01761399e-02 7.67135736e-06 9.99948222e-01 3.79910167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.819254154 meters 0.05059385724503682 Centerline is valid? [True, True] Translation: X:965.54, Y:7.65, Z:3.80 [[ 9.96230361e-01 -8.62421763e-02 -9.34634963e-03 9.65544351e+02] [ 8.62381072e-02 9.96274202e-01 -8.38268579e-04 7.65117603e+00] [ 9.38382113e-03 2.90971083e-05 9.99955971e-01 3.80371584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.879254154 meters 0.051338460137880494 Centerline is valid? [True, True] Translation: X:965.60, Y:7.66, Z:3.80 [[ 9.96759939e-01 -7.99356611e-02 -8.93946476e-03 9.65601163e+02] [ 7.99316771e-02 9.96800021e-01 -8.02634922e-04 7.66071913e+00] [ 8.97501782e-03 8.54879258e-05 9.99959720e-01 3.80257980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.939254154 meters 0.05084240679664024 Centerline is valid? [True, True] Translation: X:965.66, Y:7.67, Z:3.80 [[ 9.97020561e-01 -7.64794846e-02 -1.00444230e-02 9.65660483e+02] [ 7.64742752e-02 9.97071147e-01 -9.02257040e-04 7.66686442e+00] [ 1.00840085e-02 1.31428854e-04 9.99949146e-01 3.80212604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.999254154 meters 0.05040565295637064 Centerline is valid? [True, True] Translation: X:965.72, Y:7.67, Z:3.80 [[ 9.96978567e-01 -7.68170483e-02 -1.15273054e-02 9.65719416e+02] [ 7.68101989e-02 9.97045194e-01 -1.03639496e-03 7.67049167e+00] [ 1.15728572e-02 1.47848944e-04 9.99933021e-01 3.80292886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.059254154 meters 0.050969153097125325 Centerline is valid? [True, True] Translation: X:965.78, Y:7.68, Z:3.80 [[ 9.96901406e-01 -7.77254254e-02 -1.20972926e-02 9.65777140e+02] [ 7.77179390e-02 9.96974793e-01 -1.08843992e-03 7.67762577e+00] [ 1.21452952e-02 1.44890635e-04 9.99926233e-01 3.80195791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters 0.05134408883360933 Centerline is valid? [True, True] Translation: X:965.84, Y:7.68, Z:3.80 [[ 9.96817287e-01 -7.88328919e-02 -1.18605446e-02 9.65835922e+02] [ 7.88257617e-02 9.96887836e-01 -1.06817425e-03 7.68320762e+00] [ 1.19078399e-02 1.29858102e-04 9.99929091e-01 3.80259717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.179254154 meters 0.05097759468027699 Centerline is valid? [True, True] Translation: X:965.89, Y:7.69, Z:3.80 [[ 9.96773000e-01 -7.94508635e-02 -1.14519243e-02 9.65894805e+02] [ 7.94442422e-02 9.96838776e-01 -1.03265297e-03 7.68789934e+00] [ 1.14977674e-02 1.19531145e-04 9.99933891e-01 3.80418762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539999 meters 0.052420414965195616 Centerline is valid? [True, True] Translation: X:965.95, Y:7.70, Z:3.80 [[ 9.96781234e-01 -7.94432482e-02 -1.07676309e-02 9.65951491e+02] [ 7.94373851e-02 9.96839384e-01 -9.71788780e-04 7.70254298e+00] [ 1.08108006e-02 1.13308379e-04 9.99941555e-01 3.79924525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.299254154 meters 0.051170173848042316 Centerline is valid? [True, True] Translation: X:966.01, Y:7.70, Z:3.80 [[ 9.96857737e-01 -7.84480808e-02 -1.09795399e-02 9.66010559e+02] [ 7.84419130e-02 9.96918192e-01 -9.91939528e-04 7.70255641e+00] [ 1.10235188e-02 1.27566479e-04 9.99939231e-01 3.80393258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539999 meters 0.05132763493205979 Centerline is valid? [True, True] Translation: X:966.07, Y:7.71, Z:3.80 [[ 9.96952789e-01 -7.71097088e-02 -1.17995837e-02 9.66068284e+02] [ 7.71024804e-02 9.97022602e-01 -1.06695897e-03 7.71039077e+00] [ 1.18467245e-02 1.53930550e-04 9.99929813e-01 3.80307935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.419254154 meters 0.051838636483603436 Centerline is valid? [True, True] Translation: X:966.13, Y:7.72, Z:3.80 [[ 9.96989435e-01 -7.66052817e-02 -1.19874092e-02 9.66126939e+02] [ 7.65977716e-02 9.97061485e-01 -1.08505179e-03 7.71783194e+00] [ 1.20353047e-02 1.63576340e-04 9.99927560e-01 3.80376157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539999 meters 0.05171162475622758 Centerline is valid? [True, True] Translation: X:966.18, Y:7.73, Z:3.80 [[ 9.97057023e-01 -7.58837371e-02 -1.09065114e-02 9.66184555e+02] [ 7.58774699e-02 9.97116660e-01 -9.87869613e-04 7.72589631e+00] [ 1.09500274e-02 1.57403847e-04 9.99940034e-01 3.80354924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.539254154 meters 0.05162450767273939 Centerline is valid? [True, True] Translation: X:966.24, Y:7.73, Z:3.80 [[ 9.97021001e-01 -7.63605486e-02 -1.08715384e-02 9.66242679e+02] [ 7.63543403e-02 9.97080259e-01 -9.85583558e-04 7.73299459e+00] [ 1.09150561e-02 1.52558360e-04 9.99940417e-01 3.80324130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539999 meters 0.051481598041209865 Centerline is valid? [True, True] Translation: X:966.30, Y:7.74, Z:3.80 [[ 9.96982992e-01 -7.67890666e-02 -1.13292604e-02 9.66300406e+02] [ 7.67823368e-02 9.97047348e-01 -1.02843306e-03 7.73551216e+00] [ 1.13747815e-02 1.55443184e-04 9.99935293e-01 3.80473827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.659254154 meters 0.051599038304002566 Centerline is valid? [True, True] Translation: X:966.36, Y:7.74, Z:3.80 [[ 9.96914932e-01 -7.75580802e-02 -1.20566732e-02 9.66356857e+02] [ 7.75505000e-02 9.96987823e-01 -1.09567763e-03 7.74194646e+00] [ 1.21053350e-02 1.57296359e-04 9.99926715e-01 3.80266071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539999 meters 0.051868381447095185 Centerline is valid? [True, True] Translation: X:966.42, Y:7.74, Z:3.80 [[ 9.96704633e-01 -8.01368237e-02 -1.25683782e-02 9.66416260e+02] [ 8.01287753e-02 9.96783864e-01 -1.14344089e-03 7.74181877e+00] [ 1.26195883e-02 1.32584083e-04 9.99920361e-01 3.80490424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.779254154 meters 0.051278965199107636 Centerline is valid? [True, True] Translation: X:966.47, Y:7.75, Z:3.80 [[ 9.96463675e-01 -8.31277722e-02 -1.22441172e-02 9.66473881e+02] [ 8.31203503e-02 9.96538893e-01 -1.11468232e-03 7.74659523e+00] [ 1.22944001e-02 9.30051292e-05 9.99924417e-01 3.80362442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.839254154 meters 0.05225337094169072 Centerline is valid? [True, True] Translation: X:966.53, Y:7.75, Z:3.81 [[ 9.95846030e-01 -9.03543919e-02 -1.12591120e-02 9.66532678e+02] [ 9.03485734e-02 9.95909677e-01 -1.02539135e-03 7.74666491e+00] [ 1.13057072e-02 3.88719308e-06 9.99936088e-01 3.80527136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.899254154 meters 0.0525471353419716 Centerline is valid? [True, True] Translation: X:966.59, Y:7.75, Z:3.81 [[ 9.95554736e-01 -9.35656230e-02 -1.07815200e-02 9.66590886e+02] [ 9.35604651e-02 9.95613114e-01 -9.82902152e-04 7.74959379e+00] [ 1.08261885e-02 -3.01911293e-05 9.99941395e-01 3.80554726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.959254154 meters 0.0516982434764126 Centerline is valid? [True, True] Translation: X:966.65, Y:7.75, Z:3.81 [[ 9.95301005e-01 -9.62855538e-02 -1.02470290e-02 9.66648304e+02] [ 9.62810291e-02 9.95353751e-01 -9.35103855e-04 7.75137276e+00] [ 1.02894557e-02 -5.58846860e-05 9.99947061e-01 3.80539822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.019254154 meters 0.05181321139144023 Centerline is valid? [True, True] Translation: X:966.71, Y:7.76, Z:3.81 [[ 9.95315978e-01 -9.61989957e-02 -9.58425297e-03 9.66707100e+02] [ 9.61950248e-02 9.95362120e-01 -8.75508697e-04 7.75837402e+00] [ 9.62402542e-03 -5.05496582e-05 9.99953687e-01 3.80630839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.079254154 meters 0.05241194252738776 Centerline is valid? [True, True] Translation: X:966.76, Y:7.77, Z:3.80 [[ 9.95593854e-01 -9.32351991e-02 -1.00038242e-02 9.66764373e+02] [ 9.32307164e-02 9.95644112e-01 -9.14530680e-04 7.76635062e+00] [ 1.00455151e-02 -2.21625682e-05 9.99949542e-01 3.80474709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.139254154 meters 0.051916412980868576 Centerline is valid? [True, True] Translation: X:966.82, Y:7.78, Z:3.81 [[ 9.96018613e-01 -8.84413822e-02 -1.11823634e-02 9.66822303e+02] [ 8.84354674e-02 9.96081383e-01 -1.02328802e-03 7.77556226e+00] [ 1.12290450e-02 3.02963840e-05 9.99936952e-01 3.80698541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.199254154 meters 0.05109632700429535 Centerline is valid? [True, True] Translation: X:966.88, Y:7.78, Z:3.81 [[ 9.96389409e-01 -8.41861186e-02 -1.09928542e-02 9.66879049e+02] [ 8.41801347e-02 9.96450045e-01 -1.00674249e-03 7.78445922e+00] [ 1.10385838e-02 7.77276040e-05 9.99939070e-01 3.80683687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.259254154 meters 0.0517190963130003 Centerline is valid? [True, True] Translation: X:966.94, Y:7.79, Z:3.81 [[ 9.96532571e-01 -8.26466926e-02 -9.61033327e-03 9.66937540e+02] [ 8.26420396e-02 9.96578907e-01 -8.80964258e-04 7.78979337e+00] [ 9.65026421e-03 8.36920354e-05 9.99953432e-01 3.80877247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.319254154 meters 0.05198565480956194 Centerline is valid? [True, True] Translation: X:966.99, Y:7.80, Z:3.81 [[ 9.96648049e-01 -8.14261738e-02 -7.90220720e-03 9.66994578e+02] [ 8.14229849e-02 9.96679373e-01 -7.24960488e-04 7.79566155e+00] [ 7.93499767e-03 7.91091584e-05 9.99968514e-01 3.81000753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.379254154 meters 0.05126577024248345 Centerline is valid? [True, True] Translation: X:967.05, Y:7.81, Z:3.81 [[ 9.96669022e-01 -8.11220777e-02 -8.37069993e-03 9.67052253e+02] [ 8.11184848e-02 9.96704169e-01 -7.68415871e-04 7.80637674e+00] [ 8.40544701e-03 8.68378004e-05 9.99964670e-01 3.80831129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.439254154 meters 0.05171402456637002 Centerline is valid? [True, True] Translation: X:967.11, Y:7.81, Z:3.81 [[ 9.96648861e-01 -8.12794883e-02 -9.20289947e-03 9.67111086e+02] [ 8.12751447e-02 9.96691344e-01 -8.45605372e-04 7.81174630e+00] [ 9.24118061e-03 9.48046443e-05 9.99957295e-01 3.80800574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.499254154 meters 0.05116262268609715 Centerline is valid? [True, True] Translation: X:967.17, Y:7.82, Z:3.81 [[ 9.96659627e-01 -8.10834328e-02 -9.75008099e-03 9.67169776e+02] [ 8.10785373e-02 9.96707312e-01 -8.96978242e-04 7.81578803e+00] [ 9.79070709e-03 1.03459696e-04 9.99952065e-01 3.80885393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.559254154 meters 0.05140787467716275 Centerline is valid? [True, True] Translation: X:967.23, Y:7.82, Z:3.81 [[ 9.96695445e-01 -8.03985174e-02 -1.15874001e-02 9.67227019e+02] [ 8.03915450e-02 9.96762791e-01 -1.06701350e-03 7.82471755e+00] [ 1.16356756e-02 1.31958495e-04 9.99932295e-01 3.80670427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters 0.05164406915441121 Centerline is valid? [True, True] Translation: X:967.29, Y:7.83, Z:3.81 [[ 9.96678217e-01 -8.04739058e-02 -1.25092992e-02 9.67285324e+02] [ 8.04657780e-02 9.96756706e-01 -1.15251372e-03 7.82816242e+00] [ 1.25614751e-02 1.42114833e-04 9.99921091e-01 3.80744156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.679254154 meters 0.05196179377522291 Centerline is valid? [True, True] Translation: X:967.34, Y:7.83, Z:3.81 [[ 9.96560562e-01 -8.16420257e-02 -1.41995396e-02 9.67343490e+02] [ 8.16316629e-02 9.96661707e-01 -1.30883718e-03 7.83215842e+00] [ 1.42589935e-02 1.45203484e-04 9.99898325e-01 3.80596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539999 meters 0.052240096561693365 Centerline is valid? [True, True] Translation: X:967.40, Y:7.83, Z:3.81 [[ 9.96301068e-01 -8.47885297e-02 -1.39673557e-02 9.67402750e+02] [ 8.47787939e-02 9.96398964e-01 -1.28873889e-03 7.83372560e+00] [ 1.40263290e-02 9.98363659e-05 9.99901621e-01 3.80726266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.799254154 meters 0.0511559100239892 Centerline is valid? [True, True] Translation: X:967.46, Y:7.84, Z:3.81 [[ 9.96021270e-01 -8.83442653e-02 -1.17012944e-02 9.67460567e+02] [ 8.83376696e-02 9.96090000e-01 -1.08034566e-03 7.83630305e+00] [ 1.17509847e-02 4.23821786e-05 9.99930954e-01 3.80699860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539999 meters 0.050477910788676555 Centerline is valid? [True, True] Translation: X:967.52, Y:7.84, Z:3.81 [[ 9.96019630e-01 -8.87270427e-02 -8.50937744e-03 9.67519819e+02] [ 8.87235669e-02 9.96055978e-01 -7.85838169e-04 7.83959501e+00] [ 8.54554136e-03 2.77279229e-05 9.99963486e-01 3.81132914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.919254154 meters 0.05082099873079221 Centerline is valid? [True, True] Translation: X:967.58, Y:7.85, Z:3.81 [[ 9.96150661e-01 -8.71545268e-02 -9.37808046e-03 9.67578276e+02] [ 8.71502288e-02 9.96194803e-01 -8.66775669e-04 7.84540666e+00] [ 9.41793845e-03 4.61372980e-05 9.99955649e-01 3.81031403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539999 meters 0.050516850034886554 Centerline is valid? [True, True] Translation: X:967.64, Y:7.85, Z:3.81 [[ 9.96325236e-01 -8.50572746e-02 -1.00639633e-02 9.67635837e+02] [ 8.50522090e-02 9.96376061e-01 -9.31044716e-04 7.85178951e+00] [ 1.01066842e-02 7.16610374e-05 9.99948924e-01 3.80932111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.039254154 meters 0.05107561575953879 Centerline is valid? [True, True] Translation: X:967.69, Y:7.86, Z:3.81 [[ 9.96511869e-01 -8.27392663e-02 -1.08770260e-02 9.67692868e+02] [ 8.27332050e-02 9.96571223e-01 -1.00681178e-03 7.86237719e+00] [ 1.09230340e-02 1.03408668e-04 9.99940337e-01 3.80691070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539999 meters 0.05085157660151169 Centerline is valid? [True, True] Translation: X:967.75, Y:7.87, Z:3.81 [[ 9.96688851e-01 -8.06150667e-02 -1.06087005e-02 9.67750712e+02] [ 8.06091761e-02 9.96745301e-01 -9.82384077e-04 7.87007077e+00] [ 1.06533673e-02 1.23972652e-04 9.99943244e-01 3.80654345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.159254154 meters 0.050865267398482836 Centerline is valid? [True, True] Translation: X:967.81, Y:7.87, Z:3.81 [[ 9.96771555e-01 -7.95680620e-02 -1.07419921e-02 9.67809917e+02] [ 7.95619517e-02 9.96829426e-01 -9.95643856e-04 7.87184523e+00] [ 1.07871552e-02 1.37775620e-04 9.99941807e-01 3.80893104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539999 meters 0.05116404294989392 Centerline is valid? [True, True] Translation: X:967.87, Y:7.88, Z:3.81 [[ 9.96671632e-01 -8.08535678e-02 -1.04095204e-02 9.67867243e+02] [ 8.08478929e-02 9.96725983e-01 -9.65516311e-04 7.88011944e+00] [ 1.04535049e-02 1.20714930e-04 9.99945353e-01 3.80751533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.279254154 meters 0.05104306310485783 Centerline is valid? [True, True] Translation: X:967.93, Y:7.88, Z:3.81 [[ 9.96394584e-01 -8.43212384e-02 -9.36810603e-03 9.67925820e+02] [ 8.43167887e-02 9.96438620e-01 -8.69629560e-04 7.88199340e+00] [ 9.40807088e-03 7.66055677e-05 9.99955740e-01 3.80951521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.339254154 meters 0.05125872071272895 Centerline is valid? [True, True] Translation: X:967.98, Y:7.89, Z:3.81 [[ 9.96168967e-01 -8.70075993e-02 -8.77874605e-03 9.67983165e+02] [ 8.70037911e-02 9.96207647e-01 -8.15496740e-04 7.88542734e+00] [ 8.81640836e-03 4.85883583e-05 9.99961134e-01 3.81035439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.399254154 meters 0.05117843947707642 Centerline is valid? [True, True] Translation: X:968.04, Y:7.89, Z:3.81 [[ 9.95602454e-01 -9.33847005e-02 -7.41965473e-03 9.68042698e+02] [ 9.33821547e-02 9.95630101e-01 -6.89579608e-04 7.88669035e+00] [ 7.45162777e-03 -6.31619536e-06 9.99972236e-01 3.81168986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.459254154 meters 0.05140660579711909 Centerline is valid? [True, True] Translation: X:968.10, Y:7.89, Z:3.81 [[ 9.95207964e-01 -9.74595657e-02 -7.92095338e-03 9.68100551e+02] [ 9.74567899e-02 9.95239485e-01 -7.36578090e-04 7.88925164e+00] [ 7.95503214e-03 -3.89023088e-05 9.99968357e-01 3.81021224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.519254154 meters 0.05147241601933788 Centerline is valid? [True, True] Translation: X:968.16, Y:7.89, Z:3.81 [[ 9.95003141e-01 -9.94970515e-02 -8.31177270e-03 9.68158471e+02] [ 9.94940633e-02 9.95037855e-01 -7.73264552e-04 7.89468650e+00] [ 8.34746603e-03 -5.75713808e-05 9.99965158e-01 3.81133071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.579254154 meters 0.05164964563382223 Centerline is valid? [True, True] Translation: X:968.22, Y:7.90, Z:3.81 [[ 9.94993557e-01 -9.95610276e-02 -8.68470258e-03 9.68216378e+02] [ 9.95577631e-02 9.95031456e-01 -8.08485435e-04 7.89828992e+00] [ 8.72204589e-03 -6.01917643e-05 9.99961960e-01 3.80923236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.639254154 meters 0.05122813388667822 Centerline is valid? [True, True] Translation: X:968.28, Y:7.90, Z:3.81 [[ 9.94969570e-01 -9.97027428e-02 -9.74256526e-03 9.68275321e+02] [ 9.96986319e-02 9.95017265e-01 -9.07930582e-04 7.90486288e+00] [ 9.78454382e-03 -6.79571268e-05 9.99952128e-01 3.80963715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.699254154 meters 0.051424954980512826 Centerline is valid? [True, True] Translation: X:968.33, Y:7.91, Z:3.81 [[ 9.94853166e-01 -1.00923607e-01 -9.03352263e-03 9.68333941e+02] [ 1.00920114e-01 9.94894175e-01 -8.42835676e-04 7.91332693e+00] [ 9.07246106e-03 -7.31663906e-05 9.99958842e-01 3.81170570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.759254154 meters 0.05234714360647553 Centerline is valid? [True, True] Translation: X:968.39, Y:7.92, Z:3.81 [[ 9.94780850e-01 -1.01690528e-01 -8.37238439e-03 9.68391637e+02] [ 1.01687549e-01 9.94816079e-01 -7.81752357e-04 7.91750286e+00] [ 8.40847942e-03 -7.36949775e-05 9.99964645e-01 3.81109483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.819254154 meters 0.05194350332792562 Centerline is valid? [True, True] Translation: X:968.45, Y:7.93, Z:3.81 [[ 9.94929185e-01 -1.00304879e-01 -7.40591385e-03 9.68450327e+02] [ 1.00302507e-01 9.94956747e-01 -6.92014505e-04 7.92768610e+00] [ 7.43797638e-03 -5.43262973e-05 9.99972336e-01 3.81290257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.879254154 meters 0.05123291196766375 Centerline is valid? [True, True] Translation: X:968.51, Y:7.94, Z:3.81 [[ 9.95182141e-01 -9.77997571e-02 -6.90756476e-03 9.68507277e+02] [ 9.77976294e-02 9.95206113e-01 -6.45948042e-04 7.93531143e+00] [ 6.93762423e-03 -3.27075030e-05 9.99975934e-01 3.81334493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.939254154 meters 0.051991649298723776 Centerline is valid? [True, True] Translation: X:968.57, Y:7.95, Z:3.81 [[ 9.95694234e-01 -9.24288653e-02 -7.06384056e-03 9.68565029e+02] [ 9.24265014e-02 9.95719290e-01 -6.61063872e-04 7.94786876e+00] [ 7.09470369e-03 5.33141647e-06 9.99974832e-01 3.81313321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.999254154 meters 0.052173617041746057 Centerline is valid? [True, True] Translation: X:968.62, Y:7.96, Z:3.81 [[ 9.95838763e-01 -9.08300575e-02 -7.42012187e-03 9.68623848e+02] [ 9.08273997e-02 9.95866407e-01 -6.95088829e-04 7.95529842e+00] [ 7.45258506e-03 1.82460244e-05 9.99972229e-01 3.81433965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.059254154 meters 0.05174034112277373 Centerline is valid? [True, True] Translation: X:968.68, Y:7.96, Z:3.81 [[ 9.95956327e-01 -8.94276480e-02 -8.58429997e-03 9.68681511e+02] [ 8.94240335e-02 9.95993321e-01 -8.04741088e-04 7.96342335e+00] [ 8.62187154e-03 3.38442503e-05 9.99962830e-01 3.81327082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters 0.05203957630238274 Centerline is valid? [True, True] Translation: X:968.74, Y:7.97, Z:3.81 [[ 9.95940772e-01 -8.94735521e-02 -9.82152733e-03 9.68740335e+02] [ 8.94688133e-02 9.95989198e-01 -9.21693103e-04 7.97005391e+00] [ 9.86460228e-03 3.92313452e-05 9.99951343e-01 3.81326647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.179254154 meters 0.05166125350393789 Centerline is valid? [True, True] Translation: X:968.80, Y:7.98, Z:3.81 [[ 9.95940963e-01 -8.92622930e-02 -1.15689521e-02 9.68797426e+02] [ 8.92556918e-02 9.96008153e-01 -1.08668663e-03 7.97849659e+00] [ 1.16197708e-02 4.96809037e-05 9.99932487e-01 3.80985081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539999 meters 0.05168096599801675 Centerline is valid? [True, True] Translation: X:968.86, Y:7.98, Z:3.81 [[ 9.96021006e-01 -8.83069361e-02 -1.20017057e-02 9.68855871e+02] [ 8.82997483e-02 9.96093309e-01 -1.12851956e-03 7.98378794e+00] [ 1.20544749e-02 6.42815923e-05 9.99927340e-01 3.81222206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.299254154 meters 0.05218483316074905 Centerline is valid? [True, True] Translation: X:968.91, Y:7.99, Z:3.81 [[ 9.96128788e-01 -8.69752478e-02 -1.27571531e-02 9.68914179e+02] [ 8.69669980e-02 9.96210469e-01 -1.20106105e-03 7.99116466e+00] [ 1.28132721e-02 8.69601832e-05 9.99917903e-01 3.81206873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539999 meters 0.051716725686537963 Centerline is valid? [True, True] Translation: X:968.97, Y:8.00, Z:3.81 [[ 9.96193980e-01 -8.62620370e-02 -1.25066277e-02 9.68973141e+02] [ 8.62540339e-02 9.96272479e-01 -1.17891149e-03 7.99773949e+00] [ 1.25617042e-02 9.56774476e-05 9.99921094e-01 3.81317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.419254154 meters 0.05179448329886572 Centerline is valid? [True, True] Translation: X:969.03, Y:8.00, Z:3.81 [[ 9.96267792e-01 -8.55072171e-02 -1.17898961e-02 9.69029492e+02] [ 8.55000388e-02 9.96337546e-01 -1.11248087e-03 8.00454592e+00] [ 1.18418413e-02 1.00292286e-04 9.99929878e-01 3.81325196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539999 meters 0.052214054932714034 Centerline is valid? [True, True] Translation: X:969.09, Y:8.01, Z:3.81 [[ 9.96193906e-01 -8.63049379e-02 -1.22131047e-02 9.69087339e+02] [ 8.62972773e-02 9.96268763e-01 -1.15384536e-03 8.01134832e+00] [ 1.22671173e-02 9.54960311e-05 9.99924751e-01 3.81367321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.539254154 meters 0.052374715529060305 Centerline is valid? [True, True] Translation: X:969.15, Y:8.02, Z:3.81 [[ 9.96102754e-01 -8.73122401e-02 -1.24850247e-02 9.69145046e+02] [ 8.73042930e-02 9.96180990e-01 -1.18118578e-03 8.01599667e+00] [ 1.25404763e-02 8.65861501e-05 9.99921361e-01 3.81478292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539999 meters 0.05227969186833063 Centerline is valid? [True, True] Translation: X:969.20, Y:8.02, Z:3.81 [[ 9.95841729e-01 -9.02700085e-02 -1.22709240e-02 9.69202306e+02] [ 9.02625436e-02 9.95917327e-01 -1.16194820e-03 8.02197856e+00] [ 1.23257149e-02 4.95116912e-05 9.99924034e-01 3.81302410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.659254154 meters 0.05220653825393568 Centerline is valid? [True, True] Translation: X:969.26, Y:8.03, Z:3.81 [[ 9.95625768e-01 -9.23975734e-02 -1.38570859e-02 9.69261365e+02] [ 9.23882398e-02 9.95722194e-01 -1.31357533e-03 8.02669872e+00] [ 1.39191792e-02 2.75976727e-05 9.99903123e-01 3.81485914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539999 meters 0.05264348737422024 Centerline is valid? [True, True] Translation: X:969.32, Y:8.03, Z:3.81 [[ 9.95691355e-01 -9.15697063e-02 -1.46189990e-02 9.69320249e+02] [ 9.15592032e-02 9.95798668e-01 -1.38754450e-03 8.03376693e+00] [ 1.46846368e-02 4.30621684e-05 9.99892174e-01 3.81437949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.779254154 meters 0.05216874710858645 Centerline is valid? [True, True] Translation: X:969.38, Y:8.04, Z:3.81 [[ 9.95785208e-01 -9.05516740e-02 -1.45675505e-02 9.69377549e+02] [ 9.05411224e-02 9.95891757e-01 -1.38356653e-03 8.04011797e+00] [ 1.46329877e-02 5.87727086e-05 9.99892930e-01 3.81446488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.839254154 meters 0.05248951092553419 Centerline is valid? [True, True] Translation: X:969.43, Y:8.05, Z:3.81 [[ 9.96121611e-01 -8.71260001e-02 -1.22798851e-02 9.69433738e+02] [ 8.71182311e-02 9.96197295e-01 -1.16718240e-03 8.04935233e+00] [ 1.23348803e-02 9.28537449e-05 9.99923918e-01 3.81491768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.899254154 meters 0.05228982400335696 Centerline is valid? [True, True] Translation: X:969.49, Y:8.06, Z:3.82 [[ 9.96352596e-01 -8.45987305e-02 -1.11606388e-02 9.69492093e+02] [ 8.45921416e-02 9.96415095e-01 -1.06196307e-03 8.05519373e+00] [ 1.12104697e-02 1.13987323e-04 9.99937154e-01 3.81758130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.959254154 meters 0.05223168726900633 Centerline is valid? [True, True] Translation: X:969.55, Y:8.07, Z:3.81 [[ 9.96370381e-01 -8.42022660e-02 -1.24916620e-02 9.69549143e+02] [ 8.41939698e-02 9.96448674e-01 -1.18947513e-03 8.06514747e+00] [ 1.25474565e-02 1.33435172e-04 9.99921269e-01 3.81460661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.019254154 meters 0.05226914561837333 Centerline is valid? [True, True] Translation: X:969.61, Y:8.07, Z:3.82 [[ 9.96228716e-01 -8.57038844e-02 -1.35347533e-02 9.69607684e+02] [ 8.56942637e-02 9.96320645e-01 -1.29024148e-03 8.06636473e+00] [ 1.35955328e-02 1.25524896e-04 9.99907569e-01 3.81771106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.079254154 meters 0.05217464238582176 Centerline is valid? [True, True] Translation: X:969.67, Y:8.07, Z:3.82 [[ 9.96021044e-01 -8.80019361e-02 -1.40619781e-02 9.69666670e+02] [ 8.79917561e-02 9.96120299e-01 -1.34221085e-03 8.07131826e+00] [ 1.41255390e-02 9.95321101e-05 9.99900225e-01 3.81763659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.139254154 meters 0.05293372250028848 Centerline is valid? [True, True] Translation: X:969.72, Y:8.08, Z:3.82 [[ 9.95668105e-01 -9.17327741e-02 -1.51697975e-02 9.69724968e+02] [ 9.17213325e-02 9.95783659e-01 -1.44973172e-03 8.07517009e+00] [ 1.52388244e-02 5.20575895e-05 9.99883881e-01 3.81682302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.199254154 meters 0.05265297927294122 Centerline is valid? [True, True] Translation: X:969.78, Y:8.08, Z:3.82 [[ 9.95123741e-01 -9.74470066e-02 -1.52585043e-02 9.69783410e+02] [ 9.74360737e-02 9.95240715e-01 -1.46006534e-03 8.07615298e+00] [ 1.53281637e-02 -3.37830675e-05 9.99882516e-01 3.81690322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.259254154 meters 0.05318114939744593 Centerline is valid? [True, True] Translation: X:969.84, Y:8.08, Z:3.82 [[ 9.94515011e-01 -1.03662419e-01 -1.39282231e-02 9.69841728e+02] [ 1.03653906e-01 9.94612532e-01 -1.33362867e-03 8.07666863e+00] [ 1.39914324e-02 -1.17401002e-04 9.99902108e-01 3.81830793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.319254154 meters 0.05289162625585999 Centerline is valid? [True, True] Translation: X:969.90, Y:8.07, Z:3.82 [[ 9.94045294e-01 -1.08172121e-01 -1.31432590e-02 9.69900966e+02] [ 1.08164931e-01 9.94132166e-01 -1.25877058e-03 8.07441315e+00] [ 1.32023004e-02 -1.70364730e-04 9.99912831e-01 3.81580042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.379254154 meters 0.052534031656373784 Centerline is valid? [True, True] Translation: X:969.96, Y:8.08, Z:3.82 [[ 9.93566442e-01 -1.12460448e-01 -1.33556618e-02 9.69959766e+02] [ 1.12453408e-01 9.93656175e-01 -1.27933247e-03 8.08475206e+00] [ 1.34148102e-02 -2.30787880e-04 9.99909991e-01 3.82098165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.439254154 meters 0.0530739313077726 Centerline is valid? [True, True] Translation: X:970.02, Y:8.08, Z:3.82 [[ 9.93182590e-01 -1.15757530e-01 -1.37308821e-02 9.70018501e+02] [ 1.15750399e-01 9.93277461e-01 -1.31557520e-03 8.07987569e+00] [ 1.37908634e-02 -2.82748700e-04 9.99904862e-01 3.81771698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.499254154 meters 0.05300828044433996 Centerline is valid? [True, True] Translation: X:970.08, Y:8.10, Z:3.82 [[ 9.93017046e-01 -1.17242767e-01 -1.30873934e-02 9.70075622e+02] [ 1.17236411e-01 9.93103243e-01 -1.25439219e-03 8.09586439e+00] [ 1.31442013e-02 -2.88686212e-04 9.99913570e-01 3.82288698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.559254154 meters 0.05327093681840538 Centerline is valid? [True, True] Translation: X:970.13, Y:8.09, Z:3.82 [[ 9.93050948e-01 -1.17107982e-01 -1.16420042e-02 9.70133970e+02] [ 1.17102931e-01 9.93119155e-01 -1.11690701e-03 8.09032288e+00] [ 1.16926961e-02 -2.54167263e-04 9.99931606e-01 3.81997804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539999 meters 0.05308331204381937 Centerline is valid? [True, True] Translation: X:970.19, Y:8.10, Z:3.82 [[ 9.93344893e-01 -1.14684977e-01 -1.06432815e-02 9.70192754e+02] [ 1.14680611e-01 9.93401889e-01 -1.02162803e-03 8.09954326e+00] [ 1.06902213e-02 -2.05749036e-04 9.99942837e-01 3.82146893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.679254154 meters 0.05311402653692509 Centerline is valid? [True, True] Translation: X:970.25, Y:8.11, Z:3.82 [[ 9.94068634e-01 -1.08216179e-01 -1.08078386e-02 9.70252096e+02] [ 1.08211293e-01 9.94127376e-01 -1.03755278e-03 8.11245679e+00] [ 1.08566482e-02 -1.38131512e-04 9.99941055e-01 3.82180228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539999 meters 0.05236251745682024 Centerline is valid? [True, True] Translation: X:970.31, Y:8.12, Z:3.82 [[ 9.95018976e-01 -9.89326924e-02 -1.22294927e-02 9.70311559e+02] [ 9.89257334e-02 9.95094127e-01 -1.17414427e-03 8.12271488e+00] [ 1.22856576e-02 -4.15157047e-05 9.99924528e-01 3.82179042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.799254154 meters 0.05230426738732751 Centerline is valid? [True, True] Translation: X:970.37, Y:8.13, Z:3.82 [[ 9.95793384e-01 -9.07777138e-02 -1.24476449e-02 9.70369128e+02] [ 9.07698617e-02 9.95871178e-01 -1.19549214e-03 8.13265011e+00] [ 1.25047748e-02 6.05921548e-05 9.99921810e-01 3.82092830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539999 meters 0.0523429999879615 Centerline is valid? [True, True] Translation: X:970.43, Y:8.14, Z:3.82 [[ 9.96175225e-01 -8.65874518e-02 -1.17275249e-02 9.70426817e+02] [ 8.65801858e-02 9.96244248e-01 -1.12681719e-03 8.14030637e+00] [ 1.17810474e-02 1.07136090e-04 9.99930595e-01 3.82235851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.919254154 meters 0.05191517781006647 Centerline is valid? [True, True] Translation: X:970.49, Y:8.15, Z:3.82 [[ 9.96215030e-01 -8.62992839e-02 -1.03946432e-02 9.70485331e+02] [ 8.62935542e-02 9.96269253e-01 -9.99304503e-04 8.14693500e+00] [ 1.04421026e-02 9.85314625e-05 9.99945475e-01 3.82340099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539999 meters 0.05189248845664952 Centerline is valid? [True, True] Translation: X:970.54, Y:8.15, Z:3.82 [[ 9.96000374e-01 -8.88058098e-02 -9.83786430e-03 9.70544507e+02] [ 8.88007912e-02 9.96048956e-01 -9.46646560e-04 8.15243342e+00] [ 9.88306218e-03 6.92501948e-05 9.99951159e-01 3.82318821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.039254154 meters 0.051882469110956224 Centerline is valid? [True, True] Translation: X:970.60, Y:8.16, Z:3.82 [[ 9.95656516e-01 -9.25748343e-02 -9.89964393e-03 9.70602059e+02] [ 9.25699320e-02 9.95705729e-01 -9.53260359e-04 8.15700754e+00] [ 9.94538010e-03 3.27105219e-05 9.99950543e-01 3.82165895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539999 meters 0.05235049529050644 Centerline is valid? [True, True] Translation: X:970.66, Y:8.16, Z:3.82 [[ 9.95235099e-01 -9.68937299e-02 -1.08950697e-02 9.70659903e+02] [ 9.68880392e-02 9.95294733e-01 -1.05017767e-03 8.16000708e+00] [ 1.09455612e-02 -1.04282627e-05 9.99940095e-01 3.82330028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.159254154 meters 0.053055012817737876 Centerline is valid? [True, True] Translation: X:970.72, Y:8.16, Z:3.82 [[ 9.94679792e-01 -1.02241227e-01 -1.26032765e-02 9.70717353e+02] [ 1.02234027e-01 9.94759632e-01 -1.21585240e-03 8.16299808e+00] [ 1.26615409e-02 -7.90999017e-05 9.99919836e-01 3.82196256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539999 meters 0.053106276667121206 Centerline is valid? [True, True] Translation: X:970.78, Y:8.17, Z:3.83 [[ 9.93971014e-01 -1.08728451e-01 -1.41331683e-02 9.70775087e+02] [ 1.08720045e-01 9.94071472e-01 -1.36400914e-03 8.16944593e+00] [ 1.41976860e-02 -1.80773148e-04 9.99899191e-01 3.82577833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.279254154 meters 0.05342452870033901 Centerline is valid? [True, True] Translation: X:970.83, Y:8.17, Z:3.82 [[ 9.93353056e-01 -1.14260362e-01 -1.39382764e-02 9.70834725e+02] [ 1.14252728e-01 9.93450806e-01 -1.34540454e-03 8.17224073e+00] [ 1.40007184e-02 -2.56024392e-04 9.99901952e-01 3.82467880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.339254154 meters 0.0535016177941203 Centerline is valid? [True, True] Translation: X:970.89, Y:8.17, Z:3.82 [[ 9.93019426e-01 -1.17200471e-01 -1.32841619e-02 9.70893912e+02] [ 1.17193795e-01 9.93108237e-01 -1.28258694e-03 8.17270040e+00] [ 1.33429304e-02 -2.83187604e-04 9.99910939e-01 3.82311018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.399254154 meters 0.053606377336649635 Centerline is valid? [True, True] Translation: X:970.95, Y:8.17, Z:3.82 [[ 9.92580283e-01 -1.21101993e-01 -1.08944799e-02 9.70954131e+02] [ 1.21097733e-01 9.92640031e-01 -1.05231725e-03 8.17109637e+00] [ 1.09417346e-02 -2.74787463e-04 9.99940100e-01 3.82306133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.459254154 meters 0.0537026897377987 Centerline is valid? [True, True] Translation: X:971.01, Y:8.17, Z:3.82 [[ 9.92411991e-01 -1.22530433e-01 -1.02338985e-02 9.71012153e+02] [ 1.22526744e-01 9.92464719e-01 -9.89099217e-04 8.17418011e+00] [ 1.02779780e-02 -2.72332340e-04 9.99947143e-01 3.82386258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.519254154 meters 0.05359572828627243 Centerline is valid? [True, True] Translation: X:971.07, Y:8.19, Z:3.82 [[ 9.92507729e-01 -1.21845532e-01 -9.05943087e-03 9.71070006e+02] [ 1.21842605e-01 9.92549047e-01 -8.76382031e-04 8.18605271e+00] [ 9.09871271e-03 -2.34008719e-04 9.99958578e-01 3.82480510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.579254154 meters 0.05352531240496649 Centerline is valid? [True, True] Translation: X:971.13, Y:8.19, Z:3.82 [[ 9.92961769e-01 -1.18085853e-01 -9.09159343e-03 9.71128308e+02] [ 1.18082743e-01 9.93003369e-01 -8.80022159e-04 8.19246898e+00] [ 9.13190107e-03 -1.99731927e-04 9.99958283e-01 3.82308265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.639254154 meters 0.05290750614297736 Centerline is valid? [True, True] Translation: X:971.19, Y:8.20, Z:3.82 [[ 9.93546988e-01 -1.13091782e-01 -8.63891719e-03 9.71187879e+02] [ 1.13088784e-01 9.93584535e-01 -8.36310182e-04 8.20298139e+00] [ 8.67807433e-03 -1.46051174e-04 9.99962334e-01 3.82338745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.699254154 meters 0.05275104246970572 Centerline is valid? [True, True] Translation: X:971.25, Y:8.22, Z:3.82 [[ 9.94125855e-01 -1.07909376e-01 -8.32769071e-03 9.71247105e+02] [ 1.07906408e-01 9.94160730e-01 -8.06309104e-04 8.21697451e+00] [ 8.36607138e-03 -9.70384608e-05 9.99964999e-01 3.82418055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.759254154 meters 0.05218670326476027 Centerline is valid? [True, True] Translation: X:971.31, Y:8.22, Z:3.82 [[ 9.94706757e-01 -1.02368755e-01 -8.89412274e-03 9.71305865e+02] [ 1.02365142e-01 9.94746518e-01 -8.61797132e-04 8.22315137e+00] [ 8.93561872e-03 -5.32127031e-05 9.99960075e-01 3.82206299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.819254154 meters 0.052467205137223256 Centerline is valid? [True, True] Translation: X:971.36, Y:8.23, Z:3.82 [[ 9.95194952e-01 -9.74749574e-02 -9.25422667e-03 9.71363393e+02] [ 9.74708270e-02 9.95237978e-01 -8.97372949e-04 8.23160039e+00] [ 9.29762922e-03 -8.95609792e-06 9.99956776e-01 3.82128949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.879254154 meters 0.05255068409314233 Centerline is valid? [True, True] Translation: X:971.42, Y:8.24, Z:3.82 [[ 9.95671033e-01 -9.25494169e-02 -8.59066942e-03 9.71421520e+02] [ 9.25456682e-02 9.95708092e-01 -8.33727024e-04 8.23938587e+00] [ 8.63096001e-03 3.50886054e-05 9.99962752e-01 3.82222990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.939254154 meters 0.05246569275009027 Centerline is valid? [True, True] Translation: X:971.48, Y:8.25, Z:3.82 [[ 9.95957958e-01 -8.94098158e-02 -8.58079705e-03 9.71479183e+02] [ 8.94059536e-02 9.95994920e-01 -8.33407969e-04 8.24594791e+00] [ 8.62094512e-03 6.28649566e-05 9.99962837e-01 3.82198381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.999254154 meters 0.05184346116177132 Centerline is valid? [True, True] Translation: X:971.54, Y:8.25, Z:3.82 [[ 9.96306705e-01 -8.55345443e-02 -7.53597354e-03 9.71537508e+02] [ 8.55314505e-02 9.96335202e-01 -7.32454107e-04 8.25110222e+00] [ 7.57100585e-03 8.51861902e-05 9.99971336e-01 3.82308881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.059254154 meters 0.05164312304900386 Centerline is valid? [True, True] Translation: X:971.60, Y:8.26, Z:3.82 [[ 9.96670844e-01 -8.11837837e-02 -7.51141562e-03 9.71596482e+02] [ 8.11805829e-02 9.96699142e-01 -7.30545315e-04 8.25556881e+00] [ 7.54592993e-03 1.18332118e-04 9.99971522e-01 3.82277847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539999 meters 0.053006712360824125 Centerline is valid? [True, True] Translation: X:971.65, Y:8.27, Z:3.82 [[ 9.96978688e-01 -7.70338107e-02 -9.96431679e-03 9.71654442e+02] [ 7.70279695e-02 9.97028461e-01 -9.69231023e-04 8.26854567e+00] [ 1.00093710e-02 1.98771584e-04 9.99949885e-01 3.81841992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.179254154 meters 0.05126657245499372 Centerline is valid? [True, True] Translation: X:971.72, Y:8.26, Z:3.82 [[ 9.97204950e-01 -7.37872249e-02 -1.17359698e-02 9.71715668e+02] [ 7.37788960e-02 9.97273970e-01 -1.14165405e-03 8.25871128e+00] [ 1.17882167e-02 2.72596170e-04 9.99930479e-01 3.82160456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539999 meters 0.05193089978235836 Centerline is valid? [True, True] Translation: X:971.77, Y:8.26, Z:3.82 [[ 9.97257508e-01 -7.30915433e-02 -1.16227630e-02 9.71772917e+02] [ 7.30833231e-02 9.97325197e-01 -1.13098659e-03 8.26362269e+00] [ 1.16743400e-02 2.78454720e-04 9.99931814e-01 3.82061365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.299254154 meters 0.051240392693334046 Centerline is valid? [True, True] Translation: X:971.83, Y:8.26, Z:3.82 [[ 9.97085174e-01 -7.56062310e-02 -1.02397772e-02 9.71832984e+02] [ 7.55999807e-02 9.97137729e-01 -9.96651253e-04 8.26264274e+00] [ 1.02858212e-02 2.19619228e-04 9.99947075e-01 3.82256638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539999 meters 0.05139545097550635 Centerline is valid? [True, True] Translation: X:971.89, Y:8.26, Z:3.82 [[ 9.96601389e-01 -8.19316978e-02 -8.53624461e-03 9.71892381e+02] [ 8.19275852e-02 9.96637938e-01 -8.30945649e-04 8.26433556e+00] [ 8.57562602e-03 1.28767680e-04 9.99963220e-01 3.82387366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.419254154 meters 0.051339784741979415 Centerline is valid? [True, True] Translation: X:971.95, Y:8.27, Z:3.83 [[ 9.96129168e-01 -8.75945289e-02 -7.34029523e-03 9.71952047e+02] [ 8.75916408e-02 9.96156210e-01 -7.14630589e-04 8.26648381e+00] [ 7.37467840e-03 6.89158702e-05 9.99972804e-01 3.82508233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539999 meters 0.051754972979349535 Centerline is valid? [True, True] Translation: X:972.01, Y:8.27, Z:3.82 [[ 9.95686162e-01 -9.24583815e-02 -7.77905024e-03 9.72010744e+02] [ 9.24552823e-02 9.95716549e-01 -7.57850053e-04 8.27160133e+00] [ 7.81579865e-03 3.53665242e-05 9.99969456e-01 3.82456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.539254154 meters 0.05161171757984989 Centerline is valid? [True, True] Translation: X:972.07, Y:8.28, Z:3.83 [[ 9.95277655e-01 -9.67546728e-02 -7.80528485e-03 9.72069604e+02] [ 9.67516781e-02 9.95308260e-01 -7.61245376e-04 8.27535562e+00] [ 7.84231853e-03 2.47610592e-06 9.99969249e-01 3.82558518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539999 meters 0.05194150275376493 Centerline is valid? [True, True] Translation: X:972.13, Y:8.28, Z:3.83 [[ 9.95062482e-01 -9.88728782e-02 -8.64928889e-03 9.72127905e+02] [ 9.88692721e-02 9.95100072e-01 -8.44566249e-04 8.28132883e+00] [ 8.69041269e-03 -1.47527086e-05 9.99962238e-01 3.82539752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.659254154 meters 0.05236985682455222 Centerline is valid? [True, True] Translation: X:972.19, Y:8.29, Z:3.82 [[ 9.94716441e-01 -1.02146725e-01 -1.02590961e-02 9.72186225e+02] [ 1.02141812e-01 9.94769342e-01 -1.00305136e-03 8.29039558e+00] [ 1.03078927e-02 -5.01309878e-05 9.99946871e-01 3.82392978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539999 meters 0.05152532685188564 Centerline is valid? [True, True] Translation: X:972.24, Y:8.30, Z:3.82 [[ 9.94529818e-01 -1.03939595e-01 -1.03441918e-02 9.72244201e+02] [ 1.03934690e-01 9.94583609e-01 -1.01210585e-03 8.29573615e+00] [ 1.03933615e-02 -6.85509212e-05 9.99945985e-01 3.82450372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.779254154 meters 0.052046346261091295 Centerline is valid? [True, True] Translation: X:972.30, Y:8.30, Z:3.82 [[ 9.94331629e-01 -1.05965601e-01 -8.71228454e-03 9.72301862e+02] [ 1.05962193e-01 9.94369793e-01 -8.53126609e-04 8.30049393e+00] [ 8.75363465e-03 -7.48820023e-05 9.99961683e-01 3.82469057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.839254154 meters 0.05178254434507223 Centerline is valid? [True, True] Translation: X:972.36, Y:8.31, Z:3.83 [[ 9.94515750e-01 -1.04370695e-01 -6.72168906e-03 9.72358504e+02] [ 1.04368627e-01 9.94538464e-01 -6.58667778e-04 8.31179615e+00] [ 6.75372393e-03 -4.64779781e-05 9.99977192e-01 3.82514897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.899254154 meters 0.05142479290450098 Centerline is valid? [True, True] Translation: X:972.42, Y:8.32, Z:3.82 [[ 9.94944295e-01 -1.00236868e-01 -6.19846214e-03 9.72416660e+02] [ 1.00235027e-01 9.94963602e-01 -6.07771508e-04 8.32116949e+00] [ 6.22816534e-03 -1.66042267e-05 9.99980605e-01 3.82399971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.959254154 meters 0.05170221761486663 Centerline is valid? [True, True] Translation: X:972.47, Y:8.33, Z:3.82 [[ 9.95416956e-01 -9.54577575e-02 -5.73596107e-03 9.72473897e+02] [ 9.54560981e-02 9.95433482e-01 -5.63011943e-04 8.33321700e+00] [ 5.76351155e-03 1.28991727e-05 9.99983391e-01 3.82306213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.019254154 meters 0.05176117575665857 Centerline is valid? [True, True] Translation: X:972.53, Y:8.35, Z:3.82 [[ 9.96007911e-01 -8.91512020e-02 -4.50600498e-03 9.72531275e+02] [ 8.91501115e-02 9.96018103e-01 -4.42702897e-04 8.34546075e+00] [ 4.52753003e-03 3.92247413e-05 9.99989750e-01 3.82310947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.079254154 meters 0.05185631942630158 Centerline is valid? [True, True] Translation: X:972.59, Y:8.35, Z:3.82 [[ 9.96192561e-01 -8.70271984e-02 -5.16222826e-03 9.72589542e+02] [ 8.70257364e-02 9.96205934e-01 -5.07585625e-04 8.35256403e+00] [ 5.18681618e-03 5.64063080e-05 9.99986547e-01 3.82200632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.139254154 meters 0.05149854274438615 Centerline is valid? [True, True] Translation: X:972.65, Y:8.36, Z:3.82 [[ 9.96370295e-01 -8.48154925e-02 -7.25032161e-03 9.72647078e+02] [ 8.48125445e-02 9.96396670e-01 -7.13657998e-04 8.36140415e+00] [ 7.28472555e-03 9.61494061e-05 9.99973461e-01 3.81934156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.199254154 meters 0.05114335765826173 Centerline is valid? [True, True] Translation: X:972.71, Y:8.37, Z:3.82 [[ 9.96460471e-01 -8.36775417e-02 -8.03736608e-03 9.72705385e+02] [ 8.36738769e-02 9.96492878e-01 -7.91751773e-04 8.36759500e+00] [ 8.07542990e-03 1.16431764e-04 9.99967386e-01 3.81871005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.259254154 meters 0.05082017716150668 Centerline is valid? [True, True] Translation: X:972.76, Y:8.37, Z:3.82 [[ 9.96392563e-01 -8.44474945e-02 -8.39530264e-03 9.72764690e+02] [ 8.44435153e-02 9.96427924e-01 -8.27963632e-04 8.37041982e+00] [ 8.43523343e-03 1.16047939e-04 9.99964416e-01 3.81857319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.319254154 meters 0.051653966308047077 Centerline is valid? [True, True] Translation: X:972.82, Y:8.37, Z:3.82 [[ 9.96285053e-01 -8.56972064e-02 -8.49013335e-03 9.72823890e+02] [ 8.56931740e-02 9.96321222e-01 -8.38274293e-04 8.37400232e+00] [ 8.53073779e-03 1.07613675e-04 9.99963607e-01 3.81873069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.379254154 meters 0.051378044305224954 Centerline is valid? [True, True] Translation: X:972.88, Y:8.38, Z:3.82 [[ 9.96178700e-01 -8.69620936e-02 -8.09888356e-03 9.72882511e+02] [ 8.69584588e-02 9.96211617e-01 -8.00531430e-04 8.37703098e+00] [ 8.13781778e-03 9.32059266e-05 9.99966883e-01 3.81937574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.439254154 meters 0.05117322826716148 Centerline is valid? [True, True] Translation: X:972.94, Y:8.38, Z:3.82 [[ 9.96059597e-01 -8.84204764e-02 -6.86287770e-03 9.72941760e+02] [ 8.84178962e-02 9.96083237e-01 -6.79063489e-04 8.37868070e+00] [ 6.89604055e-03 6.95864968e-05 9.99976220e-01 3.82121562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.499254154 meters 0.050227283359737925 Centerline is valid? [True, True] Translation: X:973.00, Y:8.38, Z:3.82 [[ 9.96036392e-01 -8.87999121e-02 -5.10701676e-03 9.73000889e+02] [ 8.87984858e-02 9.96049483e-01 -5.05789347e-04 8.38202478e+00] [ 5.13175545e-03 5.02892411e-05 9.99986831e-01 3.82221480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.559254154 meters 0.05070347722059692 Centerline is valid? [True, True] Translation: X:973.06, Y:8.39, Z:3.82 [[ 9.96074794e-01 -8.83750575e-02 -4.98541532e-03 9.73059525e+02] [ 8.83736903e-02 9.96087269e-01 -4.94298902e-04 8.38684983e+00] [ 5.00959242e-03 5.17791270e-05 9.99987451e-01 3.82170746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539999 meters 0.05062694608497228 Centerline is valid? [True, True] Translation: X:973.12, Y:8.39, Z:3.82 [[ 9.96208989e-01 -8.68081004e-02 -5.65716652e-03 9.73117105e+02] [ 8.68063115e-02 9.96225049e-01 -5.61473176e-04 8.38981719e+00] [ 5.68455141e-03 6.82668664e-05 9.99983840e-01 3.82095212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.679254154 meters 0.05117494665372956 Centerline is valid? [True, True] Translation: X:973.18, Y:8.40, Z:3.82 [[ 9.96288618e-01 -8.58667596e-02 -5.99071526e-03 9.73175011e+02] [ 8.58647349e-02 9.96306626e-01 -5.94823774e-04 8.39548312e+00] [ 6.01966490e-03 7.82249782e-05 9.99981879e-01 3.82124528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539999 meters 0.05161980271455046 Centerline is valid? [True, True] Translation: X:973.23, Y:8.40, Z:3.82 [[ 9.96494590e-01 -8.35180192e-02 -4.82426917e-03 9.73233617e+02] [ 8.35166777e-02 9.96506264e-01 -4.79223663e-04 8.40423402e+00] [ 4.84743826e-03 7.46368546e-05 9.99988248e-01 3.82243160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.799254154 meters 0.049964268538715724 Centerline is valid? [True, True] Translation: X:973.29, Y:8.41, Z:3.82 [[ 9.96597897e-01 -8.22964514e-02 -4.46379039e-03 9.73292155e+02] [ 8.22952887e-02 9.96607891e-01 -4.43820538e-04 8.40604406e+00] [ 4.48517358e-03 7.49616957e-05 9.99989939e-01 3.82261311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539999 meters 0.05071317561275048 Centerline is valid? [True, True] Translation: X:973.35, Y:8.41, Z:3.82 [[ 9.96426590e-01 -8.42612675e-02 -5.83865345e-03 9.73349829e+02] [ 8.42593105e-02 9.96443692e-01 -5.80798954e-04 8.41311943e+00] [ 5.86682826e-03 8.67626070e-05 9.99982786e-01 3.82145607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.919254154 meters 0.05066051665368268 Centerline is valid? [True, True] Translation: X:973.41, Y:8.42, Z:3.82 [[ 9.96113649e-01 -8.79736608e-02 -4.27006962e-03 9.73408914e+02] [ 8.79726476e-02 9.96122800e-01 -4.24887713e-04 8.41624137e+00] [ 4.29089263e-03 4.75871195e-05 9.99990793e-01 3.82243030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539999 meters 0.05063239744126545 Centerline is valid? [True, True] Translation: X:973.47, Y:8.42, Z:3.82 [[ 9.95824694e-01 -9.12436091e-02 -2.78981050e-03 9.73468054e+02] [ 9.12431896e-02 9.95828601e-01 -2.77548616e-04 8.41953115e+00] [ 2.80349762e-03 2.18385574e-05 9.99996070e-01 3.82309861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.039254154 meters 0.05082290899561251 Centerline is valid? [True, True] Translation: X:973.53, Y:8.43, Z:3.82 [[ 9.95716331e-01 -9.24031829e-02 -3.26194347e-03 9.73525415e+02] [ 9.24026140e-02 9.95721674e-01 -3.24985119e-04 8.42618561e+00] [ 3.27801747e-03 2.21808863e-05 9.99994627e-01 3.82255875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539999 meters 0.050521200123478195 Centerline is valid? [True, True] Translation: X:973.58, Y:8.44, Z:3.82 [[ 9.95998571e-01 -8.92613985e-02 -4.38740707e-03 9.73583974e+02] [ 8.92603373e-02 9.96008233e-01 -4.37473895e-04 8.43600854e+00] [ 4.40894309e-03 4.41019396e-05 9.99990280e-01 3.82166082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.159254154 meters 0.05086963400896706 Centerline is valid? [True, True] Translation: X:973.64, Y:8.45, Z:3.82 [[ 9.96273685e-01 -8.61248853e-02 -4.60958064e-03 9.73642207e+02] [ 8.61236779e-02 9.96284347e-01 -4.60155947e-04 8.44853800e+00] [ 4.63208391e-03 6.14472225e-05 9.99989270e-01 3.82124570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539999 meters 0.05091268535085256 Centerline is valid? [True, True] Translation: X:973.70, Y:8.46, Z:3.82 [[ 9.96358005e-01 -8.50877695e-02 -5.54953829e-03 9.73700602e+02] [ 8.50859995e-02 9.96373457e-01 -5.54683966e-04 8.45801682e+00] [ 5.57660947e-03 8.04757981e-05 9.99984447e-01 3.82141337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.279254154 meters 0.05075999211095437 Centerline is valid? [True, True] Translation: X:973.76, Y:8.46, Z:3.82 [[ 9.96302697e-01 -8.56962042e-02 -6.09077600e-03 9.73759637e+02] [ 8.56940792e-02 9.96321310e-01 -6.09477702e-04 8.46421731e+00] [ 6.12059985e-03 8.52808366e-05 9.99981265e-01 3.82121564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.339254154 meters 0.05160873772656274 Centerline is valid? [True, True] Translation: X:973.82, Y:8.47, Z:3.82 [[ 9.96213465e-01 -8.66659633e-02 -6.90962988e-03 9.73816543e+02] [ 8.66632479e-02 9.96237423e-01 -6.91998928e-04 8.47434096e+00] [ 6.94360462e-03 9.05676821e-05 9.99975889e-01 3.82022078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.399254154 meters 0.051087661701782444 Centerline is valid? [True, True] Translation: X:973.88, Y:8.48, Z:3.82 [[ 9.96035596e-01 -8.88054277e-02 -5.16609218e-03 9.73875578e+02] [ 8.88039372e-02 9.96048991e-01 -5.17640977e-04 8.47894283e+00] [ 5.19165024e-03 5.68195124e-05 9.99986522e-01 3.82263223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.459254154 meters 0.051653485944543054 Centerline is valid? [True, True] Translation: X:973.93, Y:8.49, Z:3.82 [[ 9.95749369e-01 -9.20002527e-02 -4.37576192e-03 9.73933266e+02] [ 9.19992124e-02 9.95758983e-01 -4.38875928e-04 8.48711061e+00] [ 4.39758093e-03 3.44437784e-05 9.99990330e-01 3.82381201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.519254154 meters 0.05138061258973777 Centerline is valid? [True, True] Translation: X:973.99, Y:8.49, Z:3.82 [[ 9.95466096e-01 -9.50248328e-02 -4.18732881e-03 9.73992507e+02] [ 9.50239050e-02 9.95474902e-01 -4.20425388e-04 8.49105309e+00] [ 4.20833159e-03 2.06228852e-05 9.99991145e-01 3.82364280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.579254154 meters 0.05098154890240603 Centerline is valid? [True, True] Translation: X:974.05, Y:8.50, Z:3.82 [[ 9.95349481e-01 -9.62042731e-02 -4.91416196e-03 9.74050300e+02] [ 9.62030067e-02 9.95361611e-01 -4.93983443e-04 8.49638739e+00] [ 4.93889148e-03 1.89290073e-05 9.99987803e-01 3.82352191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.639254154 meters 0.051695798979062894 Centerline is valid? [True, True] Translation: X:974.11, Y:8.50, Z:3.82 [[ 9.95404946e-01 -9.55439228e-02 -6.35232847e-03 9.74108260e+02] [ 9.55417887e-02 9.95425215e-01 -6.39274737e-04 8.50337842e+00] [ 6.38434674e-03 2.94244114e-05 9.99979619e-01 3.82250214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.699254154 meters 0.05105696653338752 Centerline is valid? [True, True] Translation: X:974.17, Y:8.51, Z:3.82 [[ 9.95514273e-01 -9.43922552e-02 -6.43699960e-03 9.74166953e+02] [ 9.43900370e-02 9.95535083e-01 -6.48221045e-04 8.51087009e+00] [ 6.46944597e-03 3.77246719e-05 9.99979072e-01 3.82314112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.759254154 meters 0.05114782427578249 Centerline is valid? [True, True] Translation: X:974.23, Y:8.52, Z:3.82 [[ 9.95671590e-01 -9.27770360e-02 -5.52331652e-03 9.74225534e+02] [ 9.27753750e-02 9.95686909e-01 -5.56747593e-04 8.51809849e+00] [ 5.55114734e-03 4.19099993e-05 9.99984591e-01 3.82453233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.819254154 meters 0.050692431141404065 Centerline is valid? [True, True] Translation: X:974.28, Y:8.53, Z:3.82 [[ 9.95889215e-01 -9.04292130e-02 -5.21810115e-03 9.74283666e+02] [ 9.04276954e-02 9.95902884e-01 -5.26521134e-04 8.52544103e+00] [ 5.24433488e-03 5.24958577e-05 9.99986247e-01 3.82495470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.879254154 meters 0.05166696433056522 Centerline is valid? [True, True] Translation: X:974.34, Y:8.53, Z:3.82 [[ 9.96083700e-01 -8.82691831e-02 -5.08080480e-03 9.74341747e+02] [ 8.82677135e-02 9.96096656e-01 -5.13202864e-04 8.53269849e+00] [ 5.10627267e-03 6.27219852e-05 9.99986961e-01 3.82497111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.939254154 meters 0.05156151029005243 Centerline is valid? [True, True] Translation: X:974.40, Y:8.54, Z:3.83 [[ 9.96157368e-01 -8.74399918e-02 -4.97457870e-03 9.74400043e+02] [ 8.74385700e-02 9.96169786e-01 -5.02996547e-04 8.53762685e+00] [ 4.99950701e-03 6.60936681e-05 9.99987500e-01 3.82553831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.999254154 meters 0.05132701702408193 Centerline is valid? [True, True] Translation: X:974.46, Y:8.54, Z:3.83 [[ 9.95993281e-01 -8.93240990e-02 -4.31158012e-03 9.74458620e+02] [ 8.93230469e-02 9.96002612e-01 -4.36363485e-04 8.54099122e+00] [ 4.33332284e-03 4.94916255e-05 9.99990610e-01 3.82586297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.059254154 meters 0.05095571128018635 Centerline is valid? [True, True] Translation: X:974.52, Y:8.54, Z:3.83 [[ 9.95804718e-01 -9.14379416e-02 -3.47359881e-03 9.74517570e+02] [ 9.14372705e-02 9.95810776e-01 -3.51841241e-04 8.54281962e+00] [ 3.49121876e-03 3.27487742e-05 9.99993905e-01 3.82681374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539999 meters 0.050908521019721466 Centerline is valid? [True, True] Translation: X:974.58, Y:8.54, Z:3.83 [[ 9.95182940e-01 -9.79816325e-02 -3.24266471e-03 9.74577338e+02] [ 9.79810813e-02 9.95188223e-01 -3.28807755e-04 8.54255754e+00] [ 3.25927885e-03 9.50407414e-06 9.99994688e-01 3.82673883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.179254154 meters 0.05063427100589051 Centerline is valid? [True, True] Translation: X:974.63, Y:8.55, Z:3.83 [[ 9.94856396e-01 -1.01245934e-01 -3.16434994e-03 9.74634901e+02] [ 1.01245425e-01 9.94861428e-01 -3.20976928e-04 8.54598669e+00] [ 3.18058731e-03 -1.05000427e-06 9.99994942e-01 3.82609140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539999 meters 0.05102562665590454 Centerline is valid? [True, True] Translation: X:974.69, Y:8.55, Z:3.83 [[ 9.94652507e-01 -1.03214550e-01 -3.62593630e-03 9.74692891e+02] [ 1.03213893e-01 9.94659116e-01 -3.68382190e-04 8.54979801e+00] [ 3.64459300e-03 -7.83473211e-06 9.99993358e-01 3.82583094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.299254154 meters 0.0509287958221214 Centerline is valid? [True, True] Translation: X:974.75, Y:8.55, Z:3.82 [[ 9.94549587e-01 -1.04162722e-01 -4.60940583e-03 9.74751077e+02] [ 1.04161669e-01 9.94560268e-01 -4.68592817e-04 8.55492405e+00] [ 4.63314181e-03 -1.40846105e-05 9.99989267e-01 3.82478337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539999 meters 0.05041730519875248 Centerline is valid? [True, True] Translation: X:974.81, Y:8.56, Z:3.82 [[ 9.94650021e-01 -1.03123326e-01 -6.07585742e-03 9.74807189e+02] [ 1.03121473e-01 9.94668578e-01 -6.18452509e-04 8.56235904e+00] [ 6.10724134e-03 -1.14075638e-05 9.99981351e-01 3.82379470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.419254154 meters 0.05148525933632938 Centerline is valid? [True, True] Translation: X:974.87, Y:8.57, Z:3.82 [[ 9.94746974e-01 -1.02064494e-01 -7.82917591e-03 9.74865341e+02] [ 1.02061378e-01 9.94777784e-01 -7.97600363e-04 8.56941520e+00] [ 7.86969694e-03 -5.64593110e-06 9.99969033e-01 3.82249654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539999 meters 0.051013154545168596 Centerline is valid? [True, True] Translation: X:974.92, Y:8.58, Z:3.82 [[ 9.95144357e-01 -9.79441936e-02 -9.72849500e-03 9.74923315e+02] [ 9.79391732e-02 9.95191908e-01 -9.92279342e-04 8.57837654e+00] [ 9.77890751e-03 3.46604308e-05 9.99952185e-01 3.82346639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.539254154 meters 0.05008946988459621 Centerline is valid? [True, True] Translation: X:974.98, Y:8.59, Z:3.83 [[ 9.95391661e-01 -9.55005953e-02 -8.66469817e-03 9.74982027e+02] [ 9.54965118e-02 9.95429371e-01 -8.84750183e-04 8.58566163e+00] [ 8.70958923e-03 5.32245039e-05 9.99962069e-01 3.82534078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539999 meters 0.051147087150860936 Centerline is valid? [True, True] Translation: X:975.04, Y:8.59, Z:3.83 [[ 9.95619579e-01 -9.33045534e-02 -5.99291660e-03 9.75039599e+02] [ 9.33025577e-02 9.95637614e-01 -6.12343873e-04 8.59356742e+00] [ 6.02390765e-03 5.05071020e-05 9.99981855e-01 3.82795077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.659254154 meters 0.05194532573108399 Centerline is valid? [True, True] Translation: X:975.10, Y:8.60, Z:3.83 [[ 9.95627415e-01 -9.32758723e-02 -5.06584254e-03 9.75096248e+02] [ 9.32744449e-02 9.95640301e-01 -5.17820679e-04 8.60175225e+00] [ 5.09205717e-03 4.30428129e-05 9.99987034e-01 3.82941074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539999 meters 0.051093787211240936 Centerline is valid? [True, True] Translation: X:975.15, Y:8.61, Z:3.83 [[ 9.95655417e-01 -9.29447987e-02 -5.61741521e-03 9.75154710e+02] [ 9.29430358e-02 9.95671262e-01 -5.74628077e-04 8.60896844e+00] [ 5.64650759e-03 5.00319340e-05 9.99984057e-01 3.82996867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.779254154 meters 0.052051009413761985 Centerline is valid? [True, True] Translation: X:975.21, Y:8.62, Z:3.83 [[ 9.95746305e-01 -9.17335162e-02 -8.61728141e-03 9.75212237e+02] [ 9.17293144e-02 9.95783588e-01 -8.82415817e-04 8.61729190e+00] [ 8.66189451e-03 8.82049746e-05 9.99962481e-01 3.82692507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.839254154 meters 0.05158718562974337 Centerline is valid? [True, True] Translation: X:975.27, Y:8.62, Z:3.82 [[ 9.95784044e-01 -9.08622945e-02 -1.25770066e-02 9.75270441e+02] [ 9.08532636e-02 9.95863456e-01 -1.28873091e-03 8.62337823e+00] [ 1.26420783e-02 1.40635578e-04 9.99920076e-01 3.82453132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.899254154 meters 0.05154019041038624 Centerline is valid? [True, True] Translation: X:975.33, Y:8.63, Z:3.83 [[ 9.95754155e-01 -9.10755299e-02 -1.33757322e-02 9.75329450e+02] [ 9.10653173e-02 9.95843977e-01 -1.37186578e-03 8.62810782e+00] [ 1.34450857e-02 1.47975754e-04 9.99909600e-01 3.82521585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.959254154 meters 0.052273706281608934 Centerline is valid? [True, True] Translation: X:975.39, Y:8.63, Z:3.83 [[ 9.95621460e-01 -9.26379737e-02 -1.24946069e-02 9.75387459e+02] [ 9.26291684e-02 9.95699850e-01 -1.28284611e-03 8.63388762e+00] [ 1.25597185e-02 1.19864072e-04 9.99921116e-01 3.82504803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.019254154 meters 0.05178928537027393 Centerline is valid? [True, True] Translation: X:975.45, Y:8.64, Z:3.83 [[ 9.95475510e-01 -9.43282330e-02 -1.14320948e-02 9.75445975e+02] [ 9.43209591e-02 9.95541147e-01 -1.17497405e-03 8.63852072e+00] [ 1.14919540e-02 9.13717525e-05 9.99933961e-01 3.82641430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.079254154 meters 0.05202326260357231 Centerline is valid? [True, True] Translation: X:975.50, Y:8.64, Z:3.83 [[ 9.95249951e-01 -9.67649891e-02 -1.06804732e-02 9.75504297e+02] [ 9.67587684e-02 9.95307256e-01 -1.09885931e-03 8.64180521e+00] [ 1.07366836e-02 6.02102410e-05 9.99942358e-01 3.82710758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.139254154 meters 0.05152141309976203 Centerline is valid? [True, True] Translation: X:975.56, Y:8.64, Z:3.83 [[ 9.95012866e-01 -9.90678262e-02 -1.16173466e-02 9.75562850e+02] [ 9.90606064e-02 9.95080682e-01 -1.19667798e-03 8.64438640e+00] [ 1.16787495e-02 3.98885832e-05 9.99931800e-01 3.82805688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.199254154 meters 0.051509696871490145 Centerline is valid? [True, True] Translation: X:975.62, Y:8.65, Z:3.83 [[ 9.94852085e-01 -1.00512205e-01 -1.29083608e-02 9.75621943e+02] [ 1.00503394e-01 9.94935825e-01 -1.33118647e-03 8.64882635e+00] [ 1.29767910e-02 2.69995778e-05 9.99915798e-01 3.82885550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.259254154 meters 0.05169784940173228 Centerline is valid? [True, True] Translation: X:975.68, Y:8.65, Z:3.83 [[ 9.94785417e-01 -1.01138892e-01 -1.31490670e-02 9.75679216e+02] [ 1.01129790e-01 9.94872316e-01 -1.35698435e-03 8.65381763e+00] [ 1.32188866e-02 2.01458635e-05 9.99912626e-01 3.82678928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.319254154 meters 0.051486601737241226 Centerline is valid? [True, True] Translation: X:975.74, Y:8.66, Z:3.83 [[ 9.94633778e-01 -1.02692029e-01 -1.25695999e-02 9.75738254e+02] [ 1.02683821e-01 9.94713198e-01 -1.29838179e-03 8.65800176e+00] [ 1.26364804e-02 7.19843841e-07 9.99920156e-01 3.82813521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.379254154 meters 0.05103301117547949 Centerline is valid? [True, True] Translation: X:975.80, Y:8.66, Z:3.83 [[ 9.94493732e-01 -1.04161951e-01 -1.15110655e-02 9.75796656e+02] [ 1.04155151e-01 9.94560349e-01 -1.19030249e-03 8.66032261e+00] [ 1.15724336e-02 -1.51884055e-05 9.99933037e-01 3.82804793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.439254154 meters 0.051195229966481445 Centerline is valid? [True, True] Translation: X:975.85, Y:8.66, Z:3.83 [[ 9.94729140e-01 -1.01889729e-01 -1.15074038e-02 9.75854453e+02] [ 1.01882764e-01 9.94795699e-01 -1.19139118e-03 8.66477107e+00] [ 1.15689063e-02 1.27054179e-05 9.99933078e-01 3.83080944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.499254154 meters 0.051179767695342805 Centerline is valid? [True, True] Translation: X:975.91, Y:8.67, Z:3.83 [[ 9.95354407e-01 -9.56610817e-02 -1.08886315e-02 9.75911837e+02] [ 9.56544641e-02 9.95413960e-01 -1.12812054e-03 8.67338174e+00] [ 1.09466130e-02 8.13335398e-05 9.99940081e-01 3.82960222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.559254154 meters 0.05136169212090179 Centerline is valid? [True, True] Translation: X:975.97, Y:8.68, Z:3.83 [[ 9.96030186e-01 -8.83867878e-02 -1.05662330e-02 9.75970090e+02] [ 8.83801440e-02 9.96086217e-01 -1.09498288e-03 8.68395341e+00] [ 1.06216611e-02 1.56790810e-04 9.99943576e-01 3.82926170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539999 meters 0.051273149787224706 Centerline is valid? [True, True] Translation: X:976.03, Y:8.69, Z:3.83 [[ 9.96439032e-01 -8.36940741e-02 -1.02253122e-02 9.76029361e+02] [ 8.36876039e-02 9.96491476e-01 -1.05976125e-03 8.69160001e+00] [ 1.02781322e-02 2.00255602e-04 9.99947159e-01 3.83068166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.679254154 meters 0.05103692869206347 Centerline is valid? [True, True] Translation: X:976.09, Y:8.70, Z:3.83 [[ 9.96488484e-01 -8.29620860e-02 -1.13134360e-02 9.76088205e+02] [ 8.29541086e-02 9.96552678e-01 -1.17339147e-03 8.69542296e+00] [ 1.13717819e-02 2.30775087e-04 9.99935313e-01 3.83110648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539999 meters 0.05094904119915212 Centerline is valid? [True, True] Translation: X:976.15, Y:8.70, Z:3.83 [[ 9.96326680e-01 -8.47756133e-02 -1.20930538e-02 9.76145241e+02] [ 8.47666223e-02 9.96400042e-01 -1.25504189e-03 8.70302932e+00] [ 1.21559163e-02 2.25344393e-04 9.99926089e-01 3.82990912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.799254154 meters 0.0510704188308894 Centerline is valid? [True, True] Translation: X:976.20, Y:8.71, Z:3.83 [[ 9.96195256e-01 -8.64405104e-02 -1.10928210e-02 9.76202575e+02] [ 8.64330438e-02 9.96256996e-01 -1.15165272e-03 8.70912225e+00] [ 1.11508500e-02 1.88484694e-04 9.99937810e-01 3.83020505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539999 meters 0.05071951496930415 Centerline is valid? [True, True] Translation: X:976.26, Y:8.71, Z:3.83 [[ 9.96067385e-01 -8.79175552e-02 -1.09666453e-02 9.76261261e+02] [ 8.79103369e-02 9.96127740e-01 -1.13946529e-03 8.71267948e+00] [ 1.10243586e-02 1.70902730e-04 9.99939215e-01 3.83111421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.919254154 meters 0.05009663152716564 Centerline is valid? [True, True] Translation: X:976.32, Y:8.72, Z:3.83 [[ 9.95790292e-01 -9.09235789e-02 -1.16015962e-02 9.76319923e+02] [ 9.09156964e-02 9.95857862e-01 -1.20612811e-03 8.71592198e+00] [ 1.16632063e-02 1.46283463e-04 9.99931972e-01 3.83080289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539999 meters 0.050395393888852655 Centerline is valid? [True, True] Translation: X:976.38, Y:8.72, Z:3.83 [[ 9.95578886e-01 -9.32437109e-02 -1.13266600e-02 9.76377714e+02] [ 9.32363431e-02 9.95643308e-01 -1.17795305e-03 8.72258156e+00] [ 1.13871499e-02 1.16688831e-04 9.99935157e-01 3.82986167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.039254154 meters 0.05082184580534759 Centerline is valid? [True, True] Translation: X:976.44, Y:8.73, Z:3.83 [[ 9.95307399e-01 -9.61587601e-02 -1.08015875e-02 9.76436653e+02] [ 9.61522216e-02 9.95366006e-01 -1.12422652e-03 8.72550454e+00] [ 1.08596373e-02 8.03543420e-05 9.99941029e-01 3.83152198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539999 meters 0.05077746059042155 Centerline is valid? [True, True] Translation: X:976.50, Y:8.73, Z:3.83 [[ 9.95173390e-01 -9.74847664e-02 -1.12536735e-02 9.76495501e+02] [ 9.74777400e-02 9.95237015e-01 -1.17250040e-03 8.73285207e+00] [ 1.13143734e-02 6.98585354e-05 9.99935988e-01 3.83083020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.159254154 meters 0.05087370360224501 Centerline is valid? [True, True] Translation: X:976.55, Y:8.74, Z:3.83 [[ 9.95175413e-01 -9.74385309e-02 -1.14730610e-02 9.76553185e+02] [ 9.74312092e-02 9.95241542e-01 -1.19671677e-03 8.73903289e+00] [ 1.15350732e-02 7.31089038e-05 9.99933466e-01 3.83089859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539999 meters 0.050687262859284654 Centerline is valid? [True, True] Translation: X:976.61, Y:8.75, Z:3.83 [[ 9.95215346e-01 -9.68675355e-02 -1.27708760e-02 9.76610218e+02] [ 9.68584031e-02 9.95297278e-01 -1.33313279e-03 8.74651524e+00] [ 1.28399555e-02 8.97875535e-05 9.99917560e-01 3.83036088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.279254154 meters 0.05104257517041469 Centerline is valid? [True, True] Translation: X:976.67, Y:8.75, Z:3.83 [[ 9.95104338e-01 -9.80403157e-02 -1.24680804e-02 9.76668501e+02] [ 9.80316881e-02 9.95182441e-01 -1.30273259e-03 8.75244807e+00] [ 1.25357350e-02 7.40878859e-05 9.99921422e-01 3.83296442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.339254154 meters 0.05096432192680454 Centerline is valid? [True, True] Translation: X:976.73, Y:8.76, Z:3.83 [[ 9.94864047e-01 -1.00473947e-01 -1.22683871e-02 9.76727343e+02] [ 1.00465761e-01 9.94939689e-01 -1.28326919e-03 8.75895922e+00] [ 1.23352404e-02 4.41255264e-05 9.99923917e-01 3.83322026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.399254154 meters 0.05149535672254698 Centerline is valid? [True, True] Translation: X:976.78, Y:8.76, Z:3.83 [[ 9.94463133e-01 -1.04185587e-01 -1.37273784e-02 9.76784973e+02] [ 1.04175680e-01 9.94557873e-01 -1.43678114e-03 8.76335543e+00] [ 1.38023642e-02 -1.23311406e-06 9.99904743e-01 3.83389147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.459254154 meters 0.05166812135858968 Centerline is valid? [True, True] Translation: X:976.84, Y:8.77, Z:3.83 [[ 9.94054179e-01 -1.08075807e-01 -1.32630406e-02 9.76842622e+02] [ 1.08066887e-01 9.94142654e-01 -1.38951632e-03 8.76979485e+00] [ 1.33355274e-02 -5.20409991e-05 9.99911077e-01 3.83338544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.519254154 meters 0.05247450135181891 Centerline is valid? [True, True] Translation: X:976.90, Y:8.78, Z:3.84 [[ 9.93798944e-01 -1.10440746e-01 -1.29034911e-02 9.76899863e+02] [ 1.10432491e-01 9.93882707e-01 -1.35270831e-03 8.77714984e+00] [ 1.29739508e-02 -8.06445747e-05 9.99915831e-01 3.83549700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.579254154 meters 0.051752120381389724 Centerline is valid? [True, True] Translation: X:976.96, Y:8.78, Z:3.84 [[ 9.93725961e-01 -1.11144178e-01 -1.24774382e-02 9.76957109e+02] [ 1.11136500e-01 9.93804289e-01 -1.30925628e-03 8.78362253e+00] [ 1.25456478e-02 -8.56568604e-05 9.99921297e-01 3.83735058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.639254154 meters 0.051287717013558075 Centerline is valid? [True, True] Translation: X:977.01, Y:8.79, Z:3.83 [[ 9.93897256e-01 -1.09681019e-01 -1.17609220e-02 9.77014606e+02] [ 1.09674086e-01 9.93966836e-01 -1.23482410e-03 8.78817665e+00] [ 1.18254032e-02 -6.25800868e-05 9.99930075e-01 3.83301609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.699254154 meters 0.051336714264855865 Centerline is valid? [True, True] Translation: X:977.07, Y:8.80, Z:3.83 [[ 9.94376324e-01 -1.05284789e-01 -1.14385518e-02 9.77072575e+02] [ 1.05277929e-01 9.94442112e-01 -1.20187882e-03 8.79926864e+00] [ 1.15015171e-02 -9.10719705e-06 9.99933855e-01 3.83277956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.759254154 meters 0.050795530522393516 Centerline is valid? [True, True] Translation: X:977.13, Y:8.81, Z:3.83 [[ 9.94697759e-01 -1.02188954e-01 -1.15665844e-02 9.77131240e+02] [ 1.02181716e-01 9.94765006e-01 -1.21660619e-03 8.80800544e+00] [ 1.16303571e-02 2.82620122e-05 9.99932365e-01 3.83296427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.819254154 meters 0.051467425878188554 Centerline is valid? [True, True] Translation: X:977.19, Y:8.81, Z:3.83 [[ 9.94796331e-01 -1.01211101e-01 -1.16864860e-02 9.77189700e+02] [ 1.01203628e-01 9.94864971e-01 -1.23056561e-03 8.81434330e+00] [ 1.17510225e-02 4.14473633e-05 9.99930953e-01 3.83190889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.879254154 meters 0.05085183712759847 Centerline is valid? [True, True] Translation: X:977.25, Y:8.82, Z:3.83 [[ 9.94674037e-01 -1.02437389e-01 -1.14079339e-02 9.77248689e+02] [ 1.02430334e-01 9.94739454e-01 -1.20253706e-03 8.81994454e+00] [ 1.14711067e-02 2.76139039e-05 9.99934204e-01 3.83187959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.939254154 meters 0.0509984724276004 Centerline is valid? [True, True] Translation: X:977.31, Y:8.82, Z:3.83 [[ 9.94337044e-01 -1.05672940e-01 -1.12726748e-02 9.77306610e+02] [ 1.05666243e-01 9.94400940e-01 -1.18969103e-03 8.82418433e+00] [ 1.13352766e-02 -8.18733083e-06 9.99935754e-01 3.83228967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.999254154 meters 0.05054481781512322 Centerline is valid? [True, True] Translation: X:977.36, Y:8.83, Z:3.83 [[ 9.94106805e-01 -1.07817322e-01 -1.12731837e-02 9.77364199e+02] [ 1.07810745e-01 9.94170722e-01 -1.19122627e-03 8.82912344e+00] [ 1.13359040e-02 -3.11642038e-05 9.99935746e-01 3.83248429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.059254154 meters 0.051169683922652025 Centerline is valid? [True, True] Translation: X:977.42, Y:8.83, Z:3.83 [[ 9.93935086e-01 -1.09335596e-01 -1.17801378e-02 9.77421601e+02] [ 1.09328512e-01 9.94004892e-01 -1.24565510e-03 8.83404998e+00] [ 1.18457090e-02 -4.98046211e-05 9.99929836e-01 3.83247635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539999 meters 0.0514272985028163 Centerline is valid? [True, True] Translation: X:977.48, Y:8.84, Z:3.83 [[ 9.93966077e-01 -1.09015001e-01 -1.21312407e-02 9.77479390e+02] [ 1.09007450e-01 9.94040104e-01 -1.28398511e-03 8.84079149e+00] [ 1.21989134e-02 -4.61579578e-05 9.99925589e-01 3.83439493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.179254154 meters 0.05101481824365974 Centerline is valid? [True, True] Translation: X:977.54, Y:8.85, Z:3.83 [[ 9.94038266e-01 -1.08344886e-01 -1.22193000e-02 9.77536429e+02] [ 1.08337161e-01 9.94113366e-01 -1.29429494e-03 8.84558189e+00] [ 1.22875997e-02 -3.72255803e-05 9.99924504e-01 3.83169447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539999 meters 0.05112261875720509 Centerline is valid? [True, True] Translation: X:977.59, Y:8.85, Z:3.83 [[ 9.94225761e-01 -1.06591933e-01 -1.23812496e-02 9.77594438e+02] [ 1.06583851e-01 9.94302851e-01 -1.31266954e-03 8.85270610e+00] [ 1.24506318e-02 -1.45513950e-05 9.99922488e-01 3.83280874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.299254154 meters 0.05108967051167495 Centerline is valid? [True, True] Translation: X:977.65, Y:8.86, Z:3.84 [[ 9.94427053e-01 -1.04738823e-01 -1.20256190e-02 9.77651830e+02] [ 1.04731045e-01 9.94499763e-01 -1.27648605e-03 8.85942261e+00] [ 1.20931729e-02 9.91661822e-06 9.99926875e-01 3.83593236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539999 meters 0.05224400393958991 Centerline is valid? [True, True] Translation: X:977.71, Y:8.86, Z:3.84 [[ 9.94491056e-01 -1.04172995e-01 -1.16416274e-02 9.77709013e+02] [ 1.04165656e-01 9.94559192e-01 -1.23667568e-03 8.86491632e+00] [ 1.17071157e-02 1.72051544e-05 9.99931469e-01 3.83898697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.419254154 meters 0.05152767730347244 Centerline is valid? [True, True] Translation: X:977.77, Y:8.87, Z:3.84 [[ 9.94455008e-01 -1.04579868e-01 -1.10584225e-02 9.77766553e+02] [ 1.04573259e-01 9.94516491e-01 -1.17582036e-03 8.87002508e+00] [ 1.11207507e-02 1.28851681e-05 9.99938162e-01 3.83763749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539999 meters 0.051791391595766526 Centerline is valid? [True, True] Translation: X:977.82, Y:8.88, Z:3.84 [[ 9.94570149e-01 -1.03550748e-01 -1.03663169e-02 9.77824242e+02] [ 1.03544871e-01 9.94624171e-01 -1.10354204e-03 8.87653059e+00] [ 1.04248620e-02 2.41710329e-05 9.99945659e-01 3.83904536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.539254154 meters 0.051542946448755095 Centerline is valid? [True, True] Translation: X:977.88, Y:8.89, Z:3.84 [[ 9.94868668e-01 -1.00652030e-01 -1.02714545e-02 9.77880885e+02] [ 1.00646096e-01 9.94921688e-01 -1.09435148e-03 8.88703512e+00] [ 1.03294415e-02 5.49542007e-05 9.99946648e-01 3.83731780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539999 meters 0.05145269362952589 Centerline is valid? [True, True] Translation: X:977.94, Y:8.89, Z:3.84 [[ 9.95191844e-01 -9.73919013e-02 -1.03928468e-02 9.77939745e+02] [ 9.73856379e-02 9.95246105e-01 -1.10824305e-03 8.89344617e+00] [ 1.04513742e-02 9.08004291e-05 9.99945379e-01 3.83960611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.659254154 meters 0.05140289828622801 Centerline is valid? [True, True] Translation: X:978.00, Y:8.90, Z:3.84 [[ 9.95464808e-01 -9.44642348e-02 -1.12393957e-02 9.77997903e+02] [ 9.44567092e-02 9.95528247e-01 -1.19971682e-03 8.90244462e+00] [ 1.13024662e-02 1.32639539e-04 9.99936116e-01 3.83839021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539999 meters 0.05134880354051659 Centerline is valid? [True, True] Translation: X:978.06, Y:8.91, Z:3.84 [[ 9.95530808e-01 -9.36614196e-02 -1.20809480e-02 9.78055720e+02] [ 9.36526568e-02 9.95604096e-01 -1.29028489e-03 8.90939414e+00] [ 1.21486913e-02 1.53105481e-04 9.99926190e-01 3.83803532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.779254154 meters 0.05117283738075465 Centerline is valid? [True, True] Translation: X:978.12, Y:8.91, Z:3.84 [[ 9.95185685e-01 -9.73417048e-02 -1.14037314e-02 9.78115074e+02] [ 9.73341275e-02 9.95251015e-01 -1.21890830e-03 8.91044054e+00] [ 1.14682259e-02 1.03067843e-04 9.99934232e-01 3.84027596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.839254154 meters 0.051725363969762725 Centerline is valid? [True, True] Translation: X:978.17, Y:8.91, Z:3.84 [[ 9.94403015e-01 -1.05092663e-01 -1.08708501e-02 9.78173177e+02] [ 1.05086232e-01 9.94462434e-01 -1.16264338e-03 8.91283230e+00] [ 1.09328373e-02 1.37593991e-05 9.99940235e-01 3.83916466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.899254154 meters 0.051567952250972826 Centerline is valid? [True, True] Translation: X:978.23, Y:8.91, Z:3.84 [[ 9.93421127e-01 -1.14053101e-01 -1.03128767e-02 9.78231857e+02] [ 1.14047787e-01 9.93474652e-01 -1.10386656e-03 8.91325874e+00] [ 1.03714810e-02 -7.95564052e-05 9.99946212e-01 3.84031657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.959254154 meters 0.05251120585066863 Centerline is valid? [True, True] Translation: X:978.29, Y:8.91, Z:3.84 [[ 9.92483663e-01 -1.21940437e-01 -1.03299467e-02 9.78291365e+02] [ 1.21935526e-01 9.92537407e-01 -1.10620453e-03 8.91348703e+00] [ 1.03877496e-02 -1.61697563e-04 9.99946033e-01 3.83998140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.019254154 meters 0.05164061450480358 Centerline is valid? [True, True] Translation: X:978.35, Y:8.92, Z:3.84 [[ 9.92081168e-01 -1.25238219e-01 -9.50497869e-03 9.78349282e+02] [ 1.25234211e-01 9.92126683e-01 -1.01802902e-03 8.92263153e+00] [ 9.55763913e-03 -1.80381084e-04 9.99954308e-01 3.84238653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.079254154 meters 0.05187497039076137 Centerline is valid? [True, True] Translation: X:978.41, Y:8.92, Z:3.84 [[ 9.91939273e-01 -1.26399621e-01 -8.92266338e-03 9.78407678e+02] [ 1.26396130e-01 9.91979387e-01 -9.56302987e-04 8.92098385e+00] [ 8.97197448e-03 -1.79195631e-04 9.99959735e-01 3.84094555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.139254154 meters 0.05198659305810841 Centerline is valid? [True, True] Translation: X:978.47, Y:8.93, Z:3.84 [[ 9.92324198e-01 -1.23332734e-01 -9.04011800e-03 9.78465664e+02] [ 1.23329014e-01 9.92365363e-01 -9.69893562e-04 8.93308391e+00] [ 9.09071960e-03 -1.52459989e-04 9.99958667e-01 3.84165917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.199254154 meters 0.05177653255940184 Centerline is valid? [True, True] Translation: X:978.52, Y:8.94, Z:3.84 [[ 9.93214154e-01 -1.15739293e-01 -1.14043804e-02 9.78523406e+02] [ 1.15732864e-01 9.93279621e-01 -1.22428532e-03 8.94374382e+00] [ 1.14694365e-02 -1.03884097e-04 9.99934218e-01 3.83854652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.259254154 meters 0.051862896909681884 Centerline is valid? [True, True] Translation: X:978.58, Y:8.96, Z:3.84 [[ 9.94224038e-01 -1.06424760e-01 -1.38684371e-02 9.78581175e+02] [ 1.06414328e-01 9.94320758e-01 -1.49009457e-03 8.95836039e+00] [ 1.39482578e-02 5.68742215e-06 9.99902718e-01 3.83896996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.319254154 meters 0.05151033657782816 Centerline is valid? [True, True] Translation: X:978.64, Y:8.97, Z:3.84 [[ 9.95088628e-01 -9.80093303e-02 -1.38850074e-02 9.78638473e+02] [ 9.79980435e-02 9.95185488e-01 -1.49258107e-03 8.97154834e+00] [ 1.39644448e-02 1.24546887e-04 9.99902485e-01 3.83769079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.379254154 meters 0.05162216250997274 Centerline is valid? [True, True] Translation: X:978.70, Y:8.98, Z:3.84 [[ 9.95593253e-01 -9.31038736e-02 -1.12135620e-02 9.78696114e+02] [ 9.30961954e-02 9.95656389e-01 -1.20591056e-03 8.98221602e+00] [ 1.12771296e-02 1.56656455e-04 9.99936399e-01 3.84081118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.439254154 meters 0.051139390711635375 Centerline is valid? [True, True] Translation: X:978.76, Y:8.99, Z:3.84 [[ 9.95775109e-01 -9.14728456e-02 -8.04058965e-03 9.78755048e+02] [ 9.14688398e-02 9.95807563e-01 -8.65304439e-04 8.98857125e+00] [ 8.08603184e-03 1.26185216e-04 9.99967300e-01 3.84325995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.499254154 meters 0.051812231402108014 Centerline is valid? [True, True] Translation: X:978.81, Y:9.00, Z:3.84 [[ 9.95855274e-01 -9.07028965e-02 -6.72746165e-03 9.78812520e+02] [ 9.07000715e-02 9.95877991e-01 -7.24460815e-04 8.99850541e+00] [ 6.76544168e-03 1.11276871e-04 9.99977108e-01 3.84324513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.559254154 meters 0.05132506754659456 Centerline is valid? [True, True] Translation: X:978.87, Y:9.00, Z:3.84 [[ 9.96005356e-01 -8.88288360e-02 -9.09768657e-03 9.78872316e+02] [ 8.88235889e-02 9.96046891e-01 -9.79991285e-04 9.00383533e+00] [ 9.14877391e-03 1.67987397e-04 9.99958135e-01 3.84242958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539999 meters 0.04946907214539128 Centerline is valid? [True, True] Translation: X:978.93, Y:9.01, Z:3.84 [[ 9.96233836e-01 -8.58841216e-02 -1.19190014e-02 9.78932210e+02] [ 8.58749028e-02 9.96305100e-01 -1.28405135e-03 9.00782410e+00] [ 1.19852415e-02 2.55672313e-04 9.99928142e-01 3.84134731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.679254154 meters 0.05120467865167883 Centerline is valid? [True, True] Translation: X:978.99, Y:9.02, Z:3.84 [[ 9.96188254e-01 -8.59926237e-02 -1.46366635e-02 9.78989912e+02] [ 8.59787260e-02 9.96295725e-01 -1.57730376e-03 9.01511775e+00] [ 1.47180818e-02 3.12849794e-04 9.99891634e-01 3.83906953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539999 meters 0.05145121287888544 Centerline is valid? [True, True] Translation: X:979.05, Y:9.02, Z:3.84 [[ 9.95574025e-01 -9.28242569e-02 -1.46975479e-02 9.79050194e+02] [ 9.28109825e-02 9.95682486e-01 -1.58416729e-03 9.01529606e+00] [ 1.47811402e-02 2.13061939e-04 9.99890730e-01 3.83979835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.799254154 meters 0.05081244200758605 Centerline is valid? [True, True] Translation: X:979.11, Y:9.01, Z:3.84 [[ 9.94380814e-01 -1.05272415e-01 -1.11586794e-02 9.79111311e+02] [ 1.05265545e-01 9.94443421e-01 -1.20286252e-03 9.01333659e+00] [ 1.12233036e-02 2.14789467e-05 9.99937016e-01 3.84271864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539999 meters 0.051629059448195874 Centerline is valid? [True, True] Translation: X:979.17, Y:9.01, Z:3.84 [[ 9.92751268e-01 -1.19901653e-01 -8.27730985e-03 9.79170347e+02] [ 1.19898379e-01 9.92785769e-01 -8.92470147e-04 9.01048637e+00] [ 8.32460407e-03 -1.06435164e-04 9.99965344e-01 3.84473332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.919254154 meters 0.05176416164427258 Centerline is valid? [True, True] Translation: X:979.23, Y:9.01, Z:3.85 [[ 9.91140960e-01 -1.32598680e-01 -7.56230205e-03 9.79231007e+02] [ 1.32596315e-01 9.91169790e-01 -8.15508636e-04 9.01283652e+00] [ 7.60366070e-03 -1.94449370e-04 9.99971073e-01 3.84562284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539999 meters 0.05222110110172489 Centerline is valid? [True, True] Translation: X:979.29, Y:9.02, Z:3.85 [[ 9.89797389e-01 -1.42185706e-01 -9.18445119e-03 9.79290722e+02] [ 1.42182629e-01 9.89839946e-01 -9.90432940e-04 9.02363695e+00] [ 9.23196208e-03 -3.25541477e-04 9.99957332e-01 3.84575624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.039254154 meters 0.053798613457757515 Centerline is valid? [True, True] Translation: X:979.35, Y:9.03, Z:3.84 [[ 9.88786894e-01 -1.48939472e-01 -1.08402722e-02 9.79349740e+02] [ 1.48935590e-01 9.88846208e-01 -1.16901625e-03 9.02761046e+00] [ 1.08934748e-02 -4.58594401e-04 9.99940559e-01 3.84495269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539999 meters 0.0536257930816742 Centerline is valid? [True, True] Translation: X:979.41, Y:9.04, Z:3.85 [[ 9.88356197e-01 -1.51691642e-01 -1.19027116e-02 9.79409561e+02] [ 1.51687161e-01 9.88427720e-01 -1.28364474e-03 9.03833312e+00] [ 1.19596883e-02 -5.36790295e-04 9.99928336e-01 3.84579656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.159254154 meters 0.053211083660181104 Centerline is valid? [True, True] Translation: X:979.47, Y:9.05, Z:3.85 [[ 9.88428684e-01 -1.51169543e-01 -1.25102613e-02 9.79467771e+02] [ 1.51164539e-01 9.88507693e-01 -1.35009297e-03 9.05190359e+00] [ 1.25705825e-02 -5.56637259e-04 9.99920832e-01 3.84754123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539999 meters 0.05314533188007377 Centerline is valid? [True, True] Translation: X:979.53, Y:9.06, Z:3.85 [[ 9.89397424e-01 -1.44853888e-01 -1.04923415e-02 9.79526857e+02] [ 1.44850009e-01 9.89452976e-01 -1.13278567e-03 9.06107484e+00] [ 1.05457669e-02 -3.99040538e-04 9.99944312e-01 3.84754428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.279254154 meters 0.054016873064426554 Centerline is valid? [True, True] Translation: X:979.58, Y:9.08, Z:3.85 [[ 9.90981703e-01 -1.33754960e-01 -8.05451257e-03 9.79584949e+02] [ 1.33752306e-01 9.91014412e-01 -8.69702645e-04 9.07693706e+00] [ 8.09846507e-03 -2.15450221e-04 9.99967184e-01 3.84822675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.339254154 meters 0.05256681689335779 Centerline is valid? [True, True] Translation: X:979.64, Y:9.10, Z:3.85 [[ 9.93575906e-01 -1.12958336e-01 -6.87997544e-03 9.79642632e+02] [ 1.12955899e-01 9.93599725e-01 -7.42963351e-04 9.10065261e+00] [ 6.91986560e-03 -3.89433267e-05 9.99976057e-01 3.84783497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.399254154 meters 0.05214262413179923 Centerline is valid? [True, True] Translation: X:979.70, Y:9.13, Z:3.85 [[ 9.95231301e-01 -9.72996397e-02 -6.88756016e-03 9.79697735e+02] [ 9.72968202e-02 9.95255131e-01 -7.44052314e-04 9.12504952e+00] [ 6.92727561e-03 7.03664495e-05 9.99976004e-01 3.84633052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.459254154 meters 0.05283914028372723 Centerline is valid? [True, True] Translation: X:979.76, Y:9.14, Z:3.85 [[ 9.95862304e-01 -9.06101862e-02 -6.93287606e-03 9.79755799e+02] [ 9.06071651e-02 9.95886429e-01 -7.49266468e-04 9.14128156e+00] [ 6.97224836e-03 1.17997985e-04 9.99975687e-01 3.84563180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.519254154 meters 0.053312974175058675 Centerline is valid? [True, True] Translation: X:979.81, Y:9.15, Z:3.84 [[ 9.95880166e-01 -9.03446274e-02 -7.78094083e-03 9.79813514e+02] [ 9.03408104e-02 9.95910553e-01 -8.41371394e-04 9.15142329e+00] [ 7.82513447e-03 1.34968584e-04 9.99969374e-01 3.84472484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.579254154 meters 0.05287982798625543 Centerline is valid? [True, True] Translation: X:979.87, Y:9.15, Z:3.84 [[ 9.95545832e-01 -9.39487436e-02 -7.88222671e-03 9.79873660e+02] [ 9.39449347e-02 9.95577030e-01 -8.52911632e-04 9.15372743e+00] [ 7.92749383e-03 1.08617346e-04 9.99968571e-01 3.84470828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.639254154 meters 0.053042003549598704 Centerline is valid? [True, True] Translation: X:979.93, Y:9.16, Z:3.84 [[ 9.95126957e-01 -9.81646196e-02 -9.27612377e-03 9.79932690e+02] [ 9.81595241e-02 9.95170186e-01 -1.00410559e-03 9.15793670e+00] [ 9.32988946e-03 8.86726428e-05 9.99956472e-01 3.84353495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.699254154 meters 0.05296086997297843 Centerline is valid? [True, True] Translation: X:979.99, Y:9.16, Z:3.84 [[ 9.94834770e-01 -1.00673498e-01 -1.29856629e-02 9.79990595e+02] [ 1.00663715e-01 9.94919514e-01 -1.40639378e-03 9.16185945e+00] [ 1.30612760e-02 9.19443659e-05 9.99914694e-01 3.84151031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.759254154 meters 0.05300934353347723 Centerline is valid? [True, True] Translation: X:980.05, Y:9.16, Z:3.84 [[ 9.94399885e-01 -1.04723679e-01 -1.42063367e-02 9.80049535e+02] [ 1.04712363e-01 9.94501357e-01 -1.54005193e-03 9.16412451e+00] [ 1.42895010e-02 4.38483666e-05 9.99897899e-01 3.84107543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.819254154 meters 0.05342966931481328 Centerline is valid? [True, True] Translation: X:980.11, Y:9.16, Z:3.84 [[ 9.93640480e-01 -1.11960536e-01 -1.19764075e-02 9.80108401e+02] [ 1.11953004e-01 9.93712653e-01 -1.29957868e-03 9.16390339e+00] [ 1.20466092e-02 -4.94808108e-05 9.99927436e-01 3.84370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.879254154 meters 0.05335010349821869 Centerline is valid? [True, True] Translation: X:980.17, Y:9.17, Z:3.85 [[ 9.92576857e-01 -1.21166735e-01 -1.04787934e-02 9.80166570e+02] [ 1.21161475e-01 9.92632159e-01 -1.13766697e-03 9.16627922e+00] [ 1.05394347e-02 -1.40404160e-04 9.99944449e-01 3.84822164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.939254154 meters 0.05425631545802643 Centerline is valid? [True, True] Translation: X:980.23, Y:9.16, Z:3.85 [[ 9.91401994e-01 -1.30460460e-01 -1.01071467e-02 9.80227013e+02] [ 1.30456048e-01 9.91453486e-01 -1.09744513e-03 9.16377361e+00] [ 1.01639390e-02 -2.30529118e-04 9.99948319e-01 3.84809316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.999254154 meters 0.054010429690181015 Centerline is valid? [True, True] Translation: X:980.29, Y:9.17, Z:3.85 [[ 9.90849945e-01 -1.34652283e-01 -9.22760866e-03 9.80286919e+02] [ 1.34648787e-01 9.90892880e-01 -1.00198241e-03 9.16756821e+00] [ 9.27849094e-03 -2.49672097e-04 9.99956923e-01 3.84925532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.059254154 meters 0.05379039128039981 Centerline is valid? [True, True] Translation: X:980.34, Y:9.17, Z:3.85 [[ 9.90617080e-01 -1.36437114e-01 -7.91920854e-03 9.80344855e+02] [ 1.36434592e-01 9.90648708e-01 -8.60404315e-04 9.17399568e+00] [ 7.96254479e-03 -2.28122776e-04 9.99968272e-01 3.85053734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539999 meters 0.053749329255386724 Centerline is valid? [True, True] Translation: X:980.40, Y:9.18, Z:3.85 [[ 9.90885920e-01 -1.34440553e-01 -8.41612355e-03 9.80401958e+02] [ 1.34437627e-01 9.90921635e-01 -9.15071301e-04 9.18169304e+00] [ 8.46274160e-03 -2.24712409e-04 9.99964165e-01 3.85135251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.179254154 meters 0.05347114440738504 Centerline is valid? [True, True] Translation: X:980.46, Y:9.19, Z:3.85 [[ 9.91630351e-01 -1.28834664e-01 -8.41879657e-03 9.80461965e+02] [ 1.28831532e-01 9.91666072e-01 -9.15536367e-04 9.18620207e+00] [ 8.46658775e-03 -1.76732814e-04 9.99964142e-01 3.85067907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539999 meters 0.05382379854153186 Centerline is valid? [True, True] Translation: X:980.52, Y:9.20, Z:3.85 [[ 9.92473245e-01 -1.22183369e-01 -8.25125282e-03 9.80520795e+02] [ 1.22180130e-01 9.92507537e-01 -8.97348076e-04 9.19830927e+00] [ 8.29907162e-03 -1.17545185e-04 9.99965555e-01 3.85165029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.299254154 meters 0.05357439764056818 Centerline is valid? [True, True] Translation: X:980.58, Y:9.21, Z:3.85 [[ 9.93271014e-01 -1.15527518e-01 -8.12932266e-03 9.80579347e+02] [ 1.15524151e-01 9.93304278e-01 -8.84169545e-04 9.20994414e+00] [ 8.17703689e-03 -6.09131163e-05 9.99966566e-01 3.85103920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539999 meters 0.05282152558247287 Centerline is valid? [True, True] Translation: X:980.64, Y:9.22, Z:3.85 [[ 9.93894797e-01 -1.10056050e-01 -7.79734523e-03 9.80637594e+02] [ 1.10052780e-01 9.93925382e-01 -8.48520055e-04 9.22043256e+00] [ 7.84336411e-03 -1.47798532e-05 9.99969240e-01 3.85145807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.419254154 meters 0.05339059733879747 Centerline is valid? [True, True] Translation: X:980.69, Y:9.23, Z:3.85 [[ 9.94557388e-01 -1.03934336e-01 -7.29765270e-03 9.80694689e+02] [ 1.03931303e-01 9.94584161e-01 -7.94644627e-04 9.22915304e+00] [ 7.34072064e-03 3.18651316e-05 9.99973056e-01 3.85092040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539999 meters 0.053214824229357444 Centerline is valid? [True, True] Translation: X:980.75, Y:9.24, Z:3.85 [[ 9.94787479e-01 -1.01788252e-01 -6.08467717e-03 9.80753067e+02] [ 1.01786101e-01 9.94806087e-01 -6.62898850e-04 9.23517439e+00] [ 6.12054920e-03 4.01079109e-05 9.99981268e-01 3.85097846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.539254154 meters 0.05348640348287225 Centerline is valid? [True, True] Translation: X:980.81, Y:9.25, Z:3.85 [[ 9.95067295e-01 -9.90596015e-02 -5.31726691e-03 9.80810079e+02] [ 9.90579174e-02 9.95081501e-01 -5.79792864e-04 9.24541060e+00] [ 5.34854798e-03 5.02155304e-05 9.99985695e-01 3.84985023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539999 meters 0.05216154217232906 Centerline is valid? [True, True] Translation: X:980.87, Y:9.25, Z:3.85 [[ 9.95333350e-01 -9.63872261e-02 -4.58531172e-03 9.80868293e+02] [ 9.63859436e-02 9.95343910e-01 -5.00378849e-04 9.25045440e+00] [ 4.61219223e-03 5.60841592e-05 9.99989362e-01 3.84944062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.659254154 meters 0.05228632606634467 Centerline is valid? [True, True] Translation: X:980.93, Y:9.26, Z:3.85 [[ 9.95515673e-01 -9.44614671e-02 -5.05722417e-03 9.80925996e+02] [ 9.44598810e-02 9.95528516e-01 -5.52092542e-04 9.25718381e+00] [ 5.08676234e-03 7.19119848e-05 9.99987060e-01 3.84902235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539999 meters 0.05313891598132526 Centerline is valid? [True, True] Translation: X:980.98, Y:9.26, Z:3.85 [[ 9.95672971e-01 -9.26846823e-02 -6.69959600e-03 9.80984740e+02] [ 9.26818552e-02 9.95695505e-01 -7.31891732e-04 9.26207806e+00] [ 6.73859277e-03 1.07793829e-04 9.99977290e-01 3.84723055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.779254154 meters 0.052571254835716216 Centerline is valid? [True, True] Translation: X:981.04, Y:9.26, Z:3.85 [[ 9.95809433e-01 -9.10142186e-02 -8.94348109e-03 9.81044111e+02] [ 9.10091031e-02 9.95849580e-01 -9.78151527e-04 9.26050541e+00] [ 8.99538759e-03 1.60114324e-04 9.99959528e-01 3.84596949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.839254154 meters 0.051789469459460294 Centerline is valid? [True, True] Translation: X:981.10, Y:9.27, Z:3.84 [[ 9.95918528e-01 -8.97600690e-02 -9.45595944e-03 9.81101553e+02] [ 8.97542874e-02 9.95963401e-01 -1.03488753e-03 9.26659093e+00] [ 9.51068110e-03 1.81950769e-04 9.99954756e-01 3.84487615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.899254154 meters 0.052390719670992486 Centerline is valid? [True, True] Translation: X:981.16, Y:9.27, Z:3.85 [[ 9.95958475e-01 -8.94416511e-02 -8.17966373e-03 9.81159932e+02] [ 8.94373086e-02 9.95992051e-01 -8.95884918e-04 9.26509720e+00] [ 8.22700948e-03 1.60697068e-04 9.99966145e-01 3.84735637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.959254154 meters 0.0513968422432403 Centerline is valid? [True, True] Translation: X:981.22, Y:9.27, Z:3.85 [[ 9.96262025e-01 -8.61984091e-02 -5.64023168e-03 9.81218461e+02] [ 8.61962901e-02 9.96277982e-01 -6.18161333e-04 9.26756729e+00] [ 5.67252316e-03 1.29683615e-04 9.99983903e-01 3.84987336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.019254154 meters 0.05265640822496013 Centerline is valid? [True, True] Translation: X:981.28, Y:9.28, Z:3.85 [[ 9.96526426e-01 -8.31186119e-02 -5.13595144e-03 9.81276699e+02] [ 8.31168133e-02 9.96539652e-01 -5.63032483e-04 9.27644579e+00] [ 5.16497774e-03 1.34192831e-04 9.99986652e-01 3.85026969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.079254154 meters 0.052134239274441614 Centerline is valid? [True, True] Translation: X:981.34, Y:9.27, Z:3.85 [[ 9.96939842e-01 -7.78186551e-02 -7.43029003e-03 9.81338204e+02] [ 7.78147432e-02 9.96967503e-01 -8.14575988e-04 9.27321464e+00] [ 7.47114691e-03 2.33897147e-04 9.99972063e-01 3.84966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.139254154 meters 0.050328982197897214 Centerline is valid? [True, True] Translation: X:981.40, Y:9.27, Z:3.85 [[ 9.96998923e-01 -7.69052280e-02 -8.87319125e-03 9.81398430e+02] [ 7.68996081e-02 9.97038366e-01 -9.73324094e-04 9.26504314e+00] [ 8.92176582e-03 2.88058144e-04 9.99960159e-01 3.85083205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.199254154 meters 0.0510097506710804 Centerline is valid? [True, True] Translation: X:981.46, Y:9.27, Z:3.85 [[ 9.96758341e-01 -7.97842188e-02 -1.03580143e-02 9.81456727e+02] [ 7.97767092e-02 9.96812111e-01 -1.13682444e-03 9.27452762e+00] [ 1.04156948e-02 3.06810950e-04 9.99945708e-01 3.85015580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.259254154 meters 0.05091835128585152 Centerline is valid? [True, True] Translation: X:981.52, Y:9.28, Z:3.85 [[ 9.96573537e-01 -8.21114076e-02 -9.94498136e-03 9.81516176e+02] [ 8.21045997e-02 9.96623120e-01 -1.09160038e-03 9.28184958e+00] [ 1.00010312e-02 2.71331339e-04 9.99949952e-01 3.84985685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.319254154 meters 0.05100021856349001 Centerline is valid? [True, True] Translation: X:981.58, Y:9.29, Z:3.85 [[ 9.96228832e-01 -8.63233051e-02 -8.74082745e-03 9.81576738e+02] [ 8.63182076e-02 9.96267156e-01 -9.59475130e-04 9.28666520e+00] [ 8.79102437e-03 2.01364229e-04 9.99961338e-01 3.85103455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.379254154 meters 0.05171289615890796 Centerline is valid? [True, True] Translation: X:981.63, Y:9.30, Z:3.85 [[ 9.96113993e-01 -8.78386307e-02 -6.42557071e-03 9.81633274e+02] [ 8.78359068e-02 9.96134708e-01 -7.05443361e-04 9.29988168e+00] [ 6.46269918e-03 1.38306173e-04 9.99979107e-01 3.85215636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.439254154 meters 0.0509756351259897 Centerline is valid? [True, True] Translation: X:981.69, Y:9.30, Z:3.85 [[ 9.96381837e-01 -8.47083261e-02 -6.90903403e-03 9.81693377e+02] [ 8.47051003e-02 9.96405776e-01 -7.58713603e-04 9.30276392e+00] [ 6.94847077e-03 1.70738033e-04 9.99975844e-01 3.85141542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.499254154 meters 0.05197268106769094 Centerline is valid? [True, True] Translation: X:981.75, Y:9.32, Z:3.85 [[ 9.96616302e-01 -8.13928926e-02 -1.14518431e-02 9.81751809e+02] [ 8.13838094e-02 9.96682042e-01 -1.25772689e-03 9.31592897e+00] [ 1.15162164e-02 3.21476506e-04 9.99933634e-01 3.84800511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.559254154 meters 0.051171793401130844 Centerline is valid? [True, True] Translation: X:981.81, Y:9.32, Z:3.85 [[ 9.96708121e-01 -8.00407588e-02 -1.28995871e-02 9.81811302e+02] [ 8.00291181e-02 9.96791519e-01 -1.41692382e-03 9.32181699e+00] [ 1.29716107e-02 3.79916904e-04 9.99915793e-01 3.84725201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539999 meters 0.05142335616410216 Centerline is valid? [True, True] Translation: X:981.87, Y:9.33, Z:3.85 [[ 9.96771619e-01 -7.93623720e-02 -1.21636376e-02 9.81869670e+02] [ 7.93519595e-02 9.96845765e-01 -1.33704410e-03 9.32816568e+00] [ 1.22313816e-02 3.67519128e-04 9.99925126e-01 3.84780862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.679254154 meters 0.0513730300287955 Centerline is valid? [True, True] Translation: X:981.93, Y:9.33, Z:3.85 [[ 9.96683820e-01 -8.06866657e-02 -1.05368281e-02 9.81928925e+02] [ 8.06789212e-02 9.96739469e-01 -1.15869693e-03 9.33406057e+00] [ 1.05959638e-02 3.04754558e-04 9.99943815e-01 3.84892162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539999 meters 0.05077906722708912 Centerline is valid? [True, True] Translation: X:981.99, Y:9.34, Z:3.85 [[ 9.96386564e-01 -8.43741433e-02 -9.73751393e-03 9.81989264e+02] [ 8.43677042e-02 9.96434114e-01 -1.07088457e-03 9.33831298e+00] [ 9.79314603e-03 2.45483303e-04 9.99952016e-01 3.84954912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.799254154 meters 0.050878839889406405 Centerline is valid? [True, True] Translation: X:982.05, Y:9.34, Z:3.85 [[ 9.96102532e-01 -8.77163100e-02 -9.25175318e-03 9.82049428e+02] [ 8.77106408e-02 9.96145475e-01 -1.01752532e-03 9.34076141e+00] [ 9.30534564e-03 2.02082347e-04 9.99956684e-01 3.85042011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539999 meters 0.05124848422517844 Centerline is valid? [True, True] Translation: X:982.11, Y:9.35, Z:3.85 [[ 9.96075217e-01 -8.80203680e-02 -9.30473042e-03 9.82105850e+02] [ 8.80146435e-02 9.96118655e-01 -1.02371689e-03 9.35451439e+00] [ 9.35872348e-03 2.00746487e-04 9.99956186e-01 3.84860986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.919254154 meters 0.05139400058535007 Centerline is valid? [True, True] Translation: X:982.16, Y:9.36, Z:3.85 [[ 9.96046835e-01 -8.83177860e-02 -9.52211839e-03 9.82163406e+02] [ 8.83117960e-02 9.96092329e-01 -1.04852588e-03 9.35842508e+00] [ 9.57751257e-03 2.03465507e-04 9.99954114e-01 3.84843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539999 meters 0.05111848086509203 Centerline is valid? [True, True] Translation: X:982.22, Y:9.36, Z:3.85 [[ 9.95905756e-01 -8.95568356e-02 -1.23003217e-02 9.82221264e+02] [ 8.95469144e-02 9.95981682e-01 -1.35608337e-03 9.36052884e+00] [ 1.23723416e-02 2.49075385e-04 9.99923429e-01 3.84719120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.039254154 meters 0.051265065723680836 Centerline is valid? [True, True] Translation: X:982.28, Y:9.36, Z:3.85 [[ 9.95702899e-01 -9.15828761e-02 -1.37227845e-02 9.82280857e+02] [ 9.15706980e-02 9.95797426e-01 -1.51448218e-03 9.36221483e+00] [ 1.38038141e-02 2.51369345e-04 9.99904691e-01 3.84830568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539999 meters 0.05098149843233627 Centerline is valid? [True, True] Translation: X:982.34, Y:9.37, Z:3.85 [[ 9.95498998e-01 -9.38851621e-02 -1.29352843e-02 9.82338383e+02] [ 9.38745262e-02 9.95583012e-01 -1.42831715e-03 9.36866378e+00] [ 1.30122470e-02 2.07594613e-04 9.99915316e-01 3.84784277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.159254154 meters 0.05076849366639534 Centerline is valid? [True, True] Translation: X:982.40, Y:9.37, Z:3.85 [[ 9.95109685e-01 -9.82389509e-02 -1.02870691e-02 9.82398706e+02] [ 9.82324550e-02 9.95162848e-01 -1.13607533e-03 9.37119104e+00] [ 1.03489158e-02 1.19995514e-04 9.99946441e-01 3.85044153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539999 meters 0.0508252391935552 Centerline is valid? [True, True] Translation: X:982.46, Y:9.38, Z:3.85 [[ 9.94701633e-01 -1.02498572e-01 -7.91865467e-03 9.82456583e+02] [ 1.02494856e-01 9.94733150e-01 -8.74695106e-04 9.37549242e+00] [ 7.96660330e-03 5.84392806e-05 9.99968264e-01 3.85160619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.279254154 meters 0.051285149431022706 Centerline is valid? [True, True] Translation: X:982.52, Y:9.38, Z:3.85 [[ 9.94333273e-01 -1.05988407e-01 -8.23406798e-03 9.82515349e+02] [ 1.05984504e-01 9.94367365e-01 -9.10158538e-04 9.37942039e+00] [ 8.28415473e-03 3.23173117e-05 9.99965685e-01 3.85135749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.339254154 meters 0.05149314601019183 Centerline is valid? [True, True] Translation: X:982.57, Y:9.39, Z:3.85 [[ 9.94142799e-01 -1.07558832e-01 -1.05448190e-02 9.82573982e+02] [ 1.07552506e-01 9.94198721e-01 -1.16684574e-03 9.38595691e+00] [ 1.06091501e-02 2.58895824e-05 9.99943721e-01 3.84972904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.399254154 meters 0.05097857544063638 Centerline is valid? [True, True] Translation: X:982.63, Y:9.39, Z:3.85 [[ 9.94044586e-01 -1.08251691e-01 -1.25272484e-02 9.82632891e+02] [ 1.08242798e-01 9.94123519e-01 -1.38772820e-03 9.39257035e+00] [ 1.26038562e-02 2.34792872e-05 9.99920568e-01 3.85073939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.459254154 meters 0.05141600128406734 Centerline is valid? [True, True] Translation: X:982.69, Y:9.40, Z:3.85 [[ 9.93899954e-01 -1.09497690e-01 -1.31581699e-02 9.82690131e+02] [ 1.09487977e-01 9.93987050e-01 -1.45848352e-03 9.40104807e+00] [ 1.32387510e-02 8.92530972e-06 9.99912364e-01 3.85039707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.519254154 meters 0.051899416741081866 Centerline is valid? [True, True] Translation: X:982.75, Y:9.41, Z:3.85 [[ 9.93524477e-01 -1.12910860e-01 -1.26590280e-02 9.82746640e+02] [ 1.12902138e-01 9.93605121e-01 -1.40381163e-03 9.40749103e+00] [ 1.27365806e-02 -3.45101122e-05 9.99918886e-01 3.85262668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.579254154 meters 0.052504934673733746 Centerline is valid? [True, True] Translation: X:982.81, Y:9.41, Z:3.85 [[ 9.93085328e-01 -1.16890021e-01 -1.08744747e-02 9.82805401e+02] [ 1.16883814e-01 9.93144862e-01 -1.20684222e-03 9.41226671e+00] [ 1.09409965e-02 -7.25527793e-05 9.99940143e-01 3.85422816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.639254154 meters 0.051622598314007416 Centerline is valid? [True, True] Translation: X:982.86, Y:9.42, Z:3.86 [[ 9.92967683e-01 -1.18012510e-01 -9.39298990e-03 9.82861716e+02] [ 1.18007922e-01 9.93012106e-01 -1.04309743e-03 9.41922426e+00] [ 9.45045123e-03 -7.26851776e-05 9.99955341e-01 3.85544546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.699254154 meters 0.05185920617926208 Centerline is valid? [True, True] Translation: X:982.92, Y:9.43, Z:3.86 [[ 9.93071159e-01 -1.17162662e-01 -9.08753019e-03 9.82919820e+02] [ 1.17158324e-01 9.93112736e-01 -1.01000138e-03 9.43071502e+00] [ 9.14327642e-03 -6.16765691e-05 9.99958197e-01 3.85703277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.759254154 meters 0.05168288004295579 Centerline is valid? [True, True] Translation: X:982.98, Y:9.44, Z:3.85 [[ 9.93450945e-01 -1.13725983e-01 -1.10281509e-02 9.82976781e+02] [ 1.13719374e-01 9.93512154e-01 -1.22654341e-03 9.44111565e+00] [ 1.10960918e-02 -3.56037130e-05 9.99938436e-01 3.85478053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.819254154 meters 0.051759590378117275 Centerline is valid? [True, True] Translation: X:983.03, Y:9.45, Z:3.86 [[ 9.93990046e-01 -1.08769536e-01 -1.23684052e-02 9.83034252e+02] [ 1.08760830e-01 9.94066994e-01 -1.37632998e-03 9.45332511e+00] [ 1.24447262e-02 2.28602879e-05 9.99922561e-01 3.85617836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.879254154 meters 0.05246063960010401 Centerline is valid? [True, True] Translation: X:983.09, Y:9.47, Z:3.85 [[ 9.94498916e-01 -1.03837044e-01 -1.37758946e-02 9.83091058e+02] [ 1.03825758e-01 9.94594319e-01 -1.53383069e-03 9.46584735e+00] [ 1.38606950e-02 9.51002562e-05 9.99903931e-01 3.85491431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.939254154 meters 0.05290514144988103 Centerline is valid? [True, True] Translation: X:983.15, Y:9.47, Z:3.86 [[ 9.94745952e-01 -1.01515188e-01 -1.32346988e-02 9.83148900e+02] [ 1.01504549e-01 9.94833982e-01 -1.47484514e-03 9.47488756e+00] [ 1.33160472e-02 1.23714110e-04 9.99911330e-01 3.85595136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.999254154 meters 0.0516773207165311 Centerline is valid? [True, True] Translation: X:983.21, Y:9.48, Z:3.86 [[ 9.94646477e-01 -1.02612498e-01 -1.22090450e-02 9.83206681e+02] [ 1.02603518e-01 9.94721401e-01 -1.36128441e-03 9.48175125e+00] [ 1.22842831e-02 1.01305781e-04 9.99924540e-01 3.85693044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.059254154 meters 0.05186276615098607 Centerline is valid? [True, True] Translation: X:983.27, Y:9.49, Z:3.86 [[ 9.94361252e-01 -1.05353798e-01 -1.20945359e-02 9.83265420e+02] [ 1.05345175e-01 9.94434801e-01 -1.34961662e-03 9.48611884e+00] [ 1.21694146e-02 6.79054766e-05 9.99925948e-01 3.85921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539999 meters 0.0529548078910977 Centerline is valid? [True, True] Translation: X:983.32, Y:9.49, Z:3.86 [[ 9.93995212e-01 -1.08698375e-01 -1.25770057e-02 9.83324330e+02] [ 1.08689300e-01 9.94074777e-01 -1.40493143e-03 9.49180134e+00] [ 1.26551979e-02 2.95091702e-05 9.99919919e-01 3.85946842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.179254154 meters 0.05204576057424707 Centerline is valid? [True, True] Translation: X:983.38, Y:9.50, Z:3.86 [[ 9.93697247e-01 -1.11346278e-01 -1.29532624e-02 9.83382420e+02] [ 1.11336855e-01 9.93781669e-01 -1.44857910e-03 9.49774723e+00] [ 1.30340086e-02 -2.72642998e-06 9.99915054e-01 3.86033858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539999 meters 0.05275351720776297 Centerline is valid? [True, True] Translation: X:983.44, Y:9.50, Z:3.86 [[ 9.93317439e-01 -1.14624160e-01 -1.34820994e-02 9.83440649e+02] [ 1.14614231e-01 9.93408929e-01 -1.50938393e-03 9.50351417e+00] [ 1.35662498e-02 -4.59430731e-05 9.99907973e-01 3.86083422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.299254154 meters 0.05286135785904244 Centerline is valid? [True, True] Translation: X:983.50, Y:9.51, Z:3.86 [[ 9.92990126e-01 -1.17262588e-01 -1.48356274e-02 9.83498344e+02] [ 1.17250845e-01 9.93100940e-01 -1.66189800e-03 9.50926999e+00] [ 1.49281540e-02 -8.92415336e-05 9.99888565e-01 3.86219552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539999 meters 0.05274756661776384 Centerline is valid? [True, True] Translation: X:983.56, Y:9.51, Z:3.86 [[ 9.92666901e-01 -1.19952347e-01 -1.49619026e-02 9.83557282e+02] [ 1.19940688e-01 9.92779642e-01 -1.67743568e-03 9.51384035e+00] [ 1.50550846e-02 -1.29406002e-04 9.99886657e-01 3.86163433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.419254154 meters 0.05256785431756492 Centerline is valid? [True, True] Translation: X:983.62, Y:9.52, Z:3.86 [[ 9.92386938e-01 -1.22316648e-01 -1.43806514e-02 9.83615059e+02] [ 1.22306112e-01 9.92491115e-01 -1.61313299e-03 9.51848421e+00] [ 1.44699817e-02 -1.57989451e-04 9.99895292e-01 3.86217505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539999 meters 0.05368918617805244 Centerline is valid? [True, True] Translation: X:983.67, Y:9.52, Z:3.86 [[ 9.92073272e-01 -1.24856278e-01 -1.41962240e-02 9.83673579e+02] [ 1.24846259e-01 9.92174820e-01 -1.59328392e-03 9.52176879e+00] [ 1.42840674e-02 -1.91691051e-04 9.99897959e-01 3.86212157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.539254154 meters 0.053679838636096544 Centerline is valid? [True, True] Translation: X:983.73, Y:9.53, Z:3.86 [[ 9.91779642e-01 -1.27145271e-01 -1.43951728e-02 9.83731785e+02] [ 1.27135188e-01 9.91884080e-01 -1.61713228e-03 9.52901750e+00] [ 1.44839534e-02 -2.26294121e-04 9.99895076e-01 3.86418661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539999 meters 0.0532076764131919 Centerline is valid? [True, True] Translation: X:983.79, Y:9.53, Z:3.86 [[ 9.91709805e-01 -1.27837203e-01 -1.30119874e-02 9.83789791e+02] [ 1.27829014e-01 9.91795142e-01 -1.46256283e-03 9.53435717e+00] [ 1.30921958e-02 -2.12871611e-04 9.99914271e-01 3.86374209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.659254154 meters 0.053165916846302314 Centerline is valid? [True, True] Translation: X:983.85, Y:9.55, Z:3.87 [[ 9.91728438e-01 -1.27746992e-01 -1.24664075e-02 9.83846789e+02] [ 1.27739461e-01 9.91806768e-01 -1.40175252e-03 9.54618334e+00] [ 1.25433370e-02 -2.02294344e-04 9.99921309e-01 3.86742907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539999 meters 0.05388208708462067 Centerline is valid? [True, True] Translation: X:983.91, Y:9.55, Z:3.87 [[ 9.91824761e-01 -1.27019528e-01 -1.22344655e-02 9.83905607e+02] [ 1.27012217e-01 9.91900198e-01 -1.37594970e-03 9.55439220e+00] [ 1.23101413e-02 -1.89225604e-04 9.99924209e-01 3.86697465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.779254154 meters 0.053848682111055444 Centerline is valid? [True, True] Translation: X:983.96, Y:9.56, Z:3.87 [[ 9.91842813e-01 -1.26853852e-01 -1.24873606e-02 9.83963279e+02] [ 1.26846209e-01 9.91921400e-01 -1.40543400e-03 9.56331285e+00] [ 1.25647650e-02 -1.90004741e-04 9.99921042e-01 3.86763933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.839254154 meters 0.05366155126572119 Centerline is valid? [True, True] Translation: X:984.02, Y:9.57, Z:3.87 [[ 9.91762936e-01 -1.27347751e-01 -1.37414909e-02 9.84021809e+02] [ 1.27338523e-01 9.91858107e-01 -1.54799310e-03 9.57072797e+00] [ 1.38267426e-02 -2.14578972e-04 9.99904383e-01 3.86629139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.899254154 meters 0.05443432705279477 Centerline is valid? [True, True] Translation: X:984.08, Y:9.58, Z:3.87 [[ 9.91483335e-01 -1.29441205e-01 -1.43446881e-02 9.84080625e+02] [ 1.29431360e-01 9.91587066e-01 -1.61647968e-03 9.58232698e+00] [ 1.44332462e-02 -2.53939823e-04 9.99895803e-01 3.86867937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.959254154 meters 0.054761244566798255 Centerline is valid? [True, True] Translation: X:984.14, Y:9.59, Z:3.87 [[ 9.91277602e-01 -1.31038129e-01 -1.40614425e-02 9.84138025e+02] [ 1.31028823e-01 9.91377292e-01 -1.58499508e-03 9.59049013e+00] [ 1.41478895e-02 -2.71284140e-04 9.99899877e-01 3.86776424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.019254154 meters 0.0545912360060765 Centerline is valid? [True, True] Translation: X:984.20, Y:9.59, Z:3.87 [[ 9.91204618e-01 -1.31662010e-01 -1.33611850e-02 9.84195481e+02] [ 1.31653647e-01 9.91294631e-01 -1.50739646e-03 9.59440533e+00] [ 1.34433378e-02 -2.64910403e-04 9.99909599e-01 3.86566624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.079254154 meters 0.05421975323098403 Centerline is valid? [True, True] Translation: X:984.25, Y:9.61, Z:3.87 [[ 9.91336048e-01 -1.30627241e-01 -1.37609490e-02 9.84253751e+02] [ 1.30618262e-01 9.91431519e-01 -1.55316886e-03 9.60662495e+00] [ 1.38459247e-02 -2.57718959e-04 9.99904107e-01 3.86645053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.139254154 meters 0.054325779333429323 Centerline is valid? [True, True] Translation: X:984.31, Y:9.62, Z:3.87 [[ 9.91718941e-01 -1.27649557e-01 -1.41114140e-02 9.84312156e+02] [ 1.27639803e-01 9.91819309e-01 -1.59337539e-03 9.61866398e+00] [ 1.41993665e-02 -2.20997544e-04 9.99899159e-01 3.86590277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.199254154 meters 0.05572801073205859 Centerline is valid? [True, True] Translation: X:984.37, Y:9.64, Z:3.87 [[ 9.92213703e-01 -1.23763644e-01 -1.39473258e-02 9.84369136e+02] [ 1.23753724e-01 9.92311712e-01 -1.57541831e-03 9.63619862e+00] [ 1.40350742e-02 -1.62881866e-04 9.99901490e-01 3.86788421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.259254154 meters 0.054922625732102735 Centerline is valid? [True, True] Translation: X:984.43, Y:9.65, Z:3.87 [[ 9.92711376e-01 -1.19721942e-01 -1.38123202e-02 9.84425535e+02] [ 1.19711811e-01 9.92807457e-01 -1.56089572e-03 9.65032237e+00] [ 1.38998479e-02 -1.03978928e-04 9.99903387e-01 3.87188976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.319254154 meters 0.054206068564597615 Centerline is valid? [True, True] Translation: X:984.48, Y:9.66, Z:3.87 [[ 9.93178260e-01 -1.15897354e-01 -1.28354203e-02 9.84482637e+02] [ 1.15888270e-01 9.93261195e-01 -1.45173918e-03 9.65865631e+00] [ 1.29171776e-02 -4.56388628e-05 9.99916569e-01 3.86772495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.379254154 meters 0.054198693479396126 Centerline is valid? [True, True] Translation: X:984.54, Y:9.67, Z:3.87 [[ 9.93921945e-01 -1.09401665e-01 -1.22655471e-02 9.84540470e+02] [ 1.09392857e-01 9.93997623e-01 -1.38871109e-03 9.67222403e+00] [ 1.23438519e-02 3.85071911e-05 9.99923811e-01 3.87047129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.439254154 meters 0.05391455362547691 Centerline is valid? [True, True] Translation: X:984.60, Y:9.69, Z:3.87 [[ 9.94796283e-01 -1.01065235e-01 -1.28908689e-02 9.84597532e+02] [ 1.01054795e-01 9.94879790e-01 -1.46030408e-03 9.68583085e+00] [ 1.29724509e-02 1.50020954e-04 9.99915843e-01 3.86884946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.499254154 meters 0.054094235378097835 Centerline is valid? [True, True] Translation: X:984.66, Y:9.69, Z:3.87 [[ 9.95455960e-01 -9.42096716e-02 -1.38552839e-02 9.84657077e+02] [ 9.41969444e-02 9.95552345e-01 -1.56977817e-03 9.69476596e+00] [ 1.39415486e-02 2.57519629e-04 9.99902779e-01 3.87016904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.559254154 meters 0.05444598254891417 Centerline is valid? [True, True] Translation: X:984.72, Y:9.71, Z:3.87 [[ 9.95788552e-01 -9.05151756e-02 -1.45657837e-02 9.84715976e+02] [ 9.05007125e-02 9.95895023e-01 -1.65039966e-03 9.70526213e+00] [ 1.46553777e-02 3.25235285e-04 9.99892551e-01 3.86908053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539999 meters 0.054810813773350474 Centerline is valid? [True, True] Translation: X:984.77, Y:9.71, Z:3.87 [[ 9.95913221e-01 -8.90120407e-02 -1.52876633e-02 9.84774701e+02] [ 8.89959281e-02 9.96030483e-01 -1.73241210e-03 9.71143702e+00] [ 1.53811842e-02 3.64792338e-04 9.99881636e-01 3.86942847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.679254154 meters 0.05439439264939809 Centerline is valid? [True, True] Translation: X:984.83, Y:9.72, Z:3.87 [[ 9.95920242e-01 -8.86941935e-02 -1.66196097e-02 9.84832325e+02] [ 8.86750966e-02 9.96058823e-01 -1.88393312e-03 9.71630511e+00] [ 1.67212028e-02 4.02501629e-04 9.99860110e-01 3.86915942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539999 meters 0.05429727737812458 Centerline is valid? [True, True] Translation: X:984.89, Y:9.72, Z:3.87 [[ 9.95826263e-01 -8.98376882e-02 -1.61010360e-02 9.84891198e+02] [ 8.98198903e-02 9.95956350e-01 -1.82660950e-03 9.71853482e+00] [ 1.62000274e-02 3.72792419e-04 9.99868701e-01 3.87081672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.799254154 meters 0.0542668018414109 Centerline is valid? [True, True] Translation: X:984.95, Y:9.72, Z:3.87 [[ 9.95625504e-01 -9.22192823e-02 -1.50153248e-02 9.84950801e+02] [ 9.22040659e-02 9.95738674e-01 -1.70401382e-03 9.71941961e+00] [ 1.51084825e-02 3.12085623e-04 9.99885812e-01 3.87254319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539999 meters 0.05382553680237313 Centerline is valid? [True, True] Translation: X:985.01, Y:9.72, Z:3.87 [[ 9.95392949e-01 -9.48196778e-02 -1.42163662e-02 9.85011213e+02] [ 9.48062957e-02 9.95494431e-01 -1.61383514e-03 9.71981021e+00] [ 1.43053367e-02 2.58599101e-04 9.99897640e-01 3.87337050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.919254154 meters 0.05366043363758739 Centerline is valid? [True, True] Translation: X:985.07, Y:9.72, Z:3.87 [[ 9.95157528e-01 -9.71661476e-02 -1.48402736e-02 9.85069051e+02] [ 9.71518165e-02 9.95268147e-01 -1.68528807e-03 9.72193528e+00] [ 1.49338046e-02 2.35367573e-04 9.99888457e-01 3.87049531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539999 meters 0.053796246689452286 Centerline is valid? [True, True] Translation: X:985.13, Y:9.72, Z:3.87 [[ 9.94963034e-01 -9.90896479e-02 -1.51592306e-02 9.85128429e+02] [ 9.90748950e-02 9.95078488e-01 -1.72297124e-03 9.72100221e+00] [ 1.52553528e-02 2.12393520e-04 9.99883608e-01 3.87281828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.039254154 meters 0.05234317895554668 Centerline is valid? [True, True] Translation: X:985.19, Y:9.72, Z:3.87 [[ 9.94678152e-01 -1.02099293e-01 -1.38241592e-02 9.85187767e+02] [ 1.02087305e-01 9.94774201e-01 -1.57196857e-03 9.72034432e+00] [ 1.39124138e-02 1.52331647e-04 9.99903206e-01 3.87353339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539999 meters 0.05330089188361086 Centerline is valid? [True, True] Translation: X:985.25, Y:9.72, Z:3.87 [[ 9.94449173e-01 -1.04356550e-01 -1.34369718e-02 9.85246749e+02] [ 1.04345413e-01 9.94539942e-01 -1.52919396e-03 9.71896702e+00] [ 1.35231866e-02 1.18619294e-04 9.99908550e-01 3.87448152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.159254154 meters 0.05277918957293062 Centerline is valid? [True, True] Translation: X:985.31, Y:9.72, Z:3.87 [[ 9.94349214e-01 -1.05076113e-01 -1.51212055e-02 9.85305342e+02] [ 1.05062076e-01 9.94464175e-01 -1.72185902e-03 9.71954433e+00] [ 1.52184234e-02 1.23463910e-04 9.99884185e-01 3.87358209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539999 meters 0.05292813846645676 Centerline is valid? [True, True] Translation: X:985.36, Y:9.72, Z:3.87 [[ 9.94440940e-01 -1.04108021e-01 -1.57713913e-02 9.85363986e+02] [ 1.04092619e-01 9.94565985e-01 -1.79655274e-03 9.72042595e+00] [ 1.58727249e-02 1.44880166e-04 9.99874010e-01 3.87405362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.279254154 meters 0.05204332912025036 Centerline is valid? [True, True] Translation: X:985.42, Y:9.72, Z:3.87 [[ 9.94466929e-01 -1.03748003e-01 -1.64887776e-02 9.85422949e+02] [ 1.03731092e-01 9.94603603e-01 -1.87987232e-03 9.72136890e+00] [ 1.65948306e-02 1.59071953e-04 9.99862284e-01 3.87392147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.339254154 meters 0.05288876978291178 Centerline is valid? [True, True] Translation: X:985.48, Y:9.72, Z:3.87 [[ 9.94224960e-01 -1.06087148e-01 -1.61940306e-02 9.85481173e+02] [ 1.06071128e-01 9.94356829e-01 -1.84743579e-03 9.72264938e+00] [ 1.62986341e-02 1.19047684e-04 9.99867161e-01 3.87069595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.399254154 meters 0.05232497833705682 Centerline is valid? [True, True] Translation: X:985.54, Y:9.72, Z:3.88 [[ 9.93760021e-01 -1.10560518e-01 -1.47442602e-02 9.85540751e+02] [ 1.10547721e-01 9.93869393e-01 -1.68260821e-03 9.71886973e+00] [ 1.48398989e-02 4.21644114e-05 9.99889882e-01 3.87624035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.459254154 meters 0.051134976591911026 Centerline is valid? [True, True] Translation: X:985.60, Y:9.72, Z:3.88 [[ 9.93412279e-01 -1.13807845e-01 -1.34096451e-02 9.85599641e+02] [ 1.13797540e-01 9.93502780e-01 -1.53153696e-03 9.72027508e+00] [ 1.34968206e-02 -4.53700204e-06 9.99908914e-01 3.87778198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.519254154 meters 0.051407540641173775 Centerline is valid? [True, True] Translation: X:985.66, Y:9.72, Z:3.88 [[ 9.93171461e-01 -1.16100580e-01 -1.14501096e-02 9.85658045e+02] [ 1.16093209e-01 9.93237461e-01 -1.30859901e-03 9.72099570e+00] [ 1.15246069e-02 -2.96167698e-05 9.99933589e-01 3.87769993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.579254154 meters 0.05146836432219443 Centerline is valid? [True, True] Translation: X:985.72, Y:9.73, Z:3.88 [[ 9.93804647e-01 -1.10497365e-01 -1.19438503e-02 9.85716113e+02] [ 1.10488925e-01 9.93876416e-01 -1.36622094e-03 9.73022090e+00] [ 1.20216749e-02 3.80935367e-05 9.99927736e-01 3.87798620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.639254154 meters 0.051227158503941106 Centerline is valid? [True, True] Translation: X:985.77, Y:9.74, Z:3.88 [[ 9.94139728e-01 -1.07293367e-01 -1.32035529e-02 9.85774137e+02] [ 1.07282749e-01 9.94227402e-01 -1.51189010e-03 9.73795590e+00] [ 1.32895499e-02 8.65165614e-05 9.99911686e-01 3.87718827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.699254154 meters 0.05109426396982755 Centerline is valid? [True, True] Translation: X:985.83, Y:9.74, Z:3.88 [[ 9.94306960e-01 -1.05629903e-01 -1.39997546e-02 9.85832546e+02] [ 1.05617778e-01 9.94405506e-01 -1.60471927e-03 9.74396513e+00] [ 1.40909394e-02 1.16960569e-04 9.99900711e-01 3.87787143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.759254154 meters 0.0510669939836033 Centerline is valid? [True, True] Translation: X:985.89, Y:9.75, Z:3.88 [[ 9.94184145e-01 -1.06715899e-01 -1.44776421e-02 9.85888623e+02] [ 1.06703026e-01 9.94289548e-01 -1.66092080e-03 9.75212295e+00] [ 1.45722149e-02 1.06452905e-04 9.99893814e-01 3.87637573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.819254154 meters 0.05175354558434753 Centerline is valid? [True, True] Translation: X:985.95, Y:9.76, Z:3.88 [[ 9.93725257e-01 -1.11050006e-01 -1.33420053e-02 9.85947253e+02] [ 1.11039452e-01 9.93814819e-01 -1.53150441e-03 9.75738839e+00] [ 1.34295562e-02 4.04056508e-05 9.99909819e-01 3.87762879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.879254154 meters 0.05096689272210508 Centerline is valid? [True, True] Translation: X:986.01, Y:9.76, Z:3.88 [[ 9.93188494e-01 -1.15839334e-01 -1.25644247e-02 9.86005148e+02] [ 1.15830343e-01 9.93267964e-01 -1.44345216e-03 9.76171266e+00] [ 1.26470490e-02 -2.17215408e-05 9.99920023e-01 3.87864815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.939254154 meters 0.05124542481094528 Centerline is valid? [True, True] Translation: X:986.06, Y:9.77, Z:3.88 [[ 9.92884565e-01 -1.18477143e-01 -1.19752913e-02 9.86062881e+02] [ 1.18469149e-01 9.92956778e-01 -1.37728633e-03 9.76896608e+00] [ 1.20541237e-02 -5.12162370e-05 9.99927345e-01 3.87913989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.999254154 meters 0.05166645753808692 Centerline is valid? [True, True] Translation: X:986.12, Y:9.78, Z:3.88 [[ 9.92878964e-01 -1.18511082e-01 -1.21031473e-02 9.86120857e+02] [ 1.18502898e-01 9.92952729e-01 -1.39363742e-03 9.77687313e+00] [ 1.21830146e-02 -5.05447408e-05 9.99925783e-01 3.87949086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.059254154 meters 0.05167450910267495 Centerline is valid? [True, True] Translation: X:986.18, Y:9.78, Z:3.88 [[ 9.93094921e-01 -1.16620955e-01 -1.27291720e-02 9.86177203e+02] [ 1.16611733e-01 9.93176496e-01 -1.46680053e-03 9.78447877e+00] [ 1.28133741e-02 -2.76986511e-05 9.99917905e-01 3.87825339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539999 meters 0.05176416481443044 Centerline is valid? [True, True] Translation: X:986.23, Y:9.79, Z:3.88 [[ 9.93326153e-01 -1.14645200e-01 -1.26345486e-02 9.86233946e+02] [ 1.14635948e-01 9.93406502e-01 -1.45647118e-03 9.79329505e+00] [ 1.27182201e-02 -1.62254777e-06 9.99919120e-01 3.87769749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.179254154 meters 0.05101112779529396 Centerline is valid? [True, True] Translation: X:986.29, Y:9.80, Z:3.88 [[ 9.93719753e-01 -1.11251287e-01 -1.20084497e-02 9.86291656e+02] [ 1.11242667e-01 9.93792307e-01 -1.38551923e-03 9.80295379e+00] [ 1.20880457e-02 4.09658582e-05 9.99926936e-01 3.88022505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539999 meters 0.051588080599596124 Centerline is valid? [True, True] Translation: X:986.35, Y:9.81, Z:3.88 [[ 9.93973531e-01 -1.08848416e-01 -1.29862000e-02 9.86349029e+02] [ 1.08838117e-01 9.94058357e-01 -1.49926672e-03 9.81238423e+00] [ 1.30722335e-02 7.68378798e-05 9.99914552e-01 3.87831180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.299254154 meters 0.051790593033893384 Centerline is valid? [True, True] Translation: X:986.41, Y:9.82, Z:3.88 [[ 9.93882376e-01 -1.09480346e-01 -1.45560024e-02 9.86407253e+02] [ 1.09467466e-01 9.93988958e-01 -1.68111782e-03 9.81715871e+00] [ 1.46525550e-02 7.74246807e-05 9.99892643e-01 3.87968158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539999 meters 0.05175778883787706 Centerline is valid? [True, True] Translation: X:986.47, Y:9.82, Z:3.88 [[ 9.93734833e-01 -1.10840880e-01 -1.43311246e-02 9.86466346e+02] [ 1.10828517e-01 9.93838164e-01 -1.65650289e-03 9.82236156e+00] [ 1.44264268e-02 5.78273376e-05 9.99895932e-01 3.88004579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.419254154 meters 0.05163912127018652 Centerline is valid? [True, True] Translation: X:986.53, Y:9.83, Z:3.88 [[ 9.93646783e-01 -1.11816941e-01 -1.27688106e-02 9.86525155e+02] [ 1.11807188e-01 9.93728821e-01 -1.47734378e-03 9.82701958e+00] [ 1.28539271e-02 4.03130925e-05 9.99917384e-01 3.88174913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539999 meters 0.051261061989854355 Centerline is valid? [True, True] Translation: X:986.58, Y:9.83, Z:3.88 [[ 9.93706209e-01 -1.11444451e-01 -1.13183024e-02 9.86583800e+02] [ 1.11436750e-01 9.93770664e-01 -1.31078006e-03 9.83178511e+00] [ 1.13938760e-02 4.12554583e-05 9.99935087e-01 3.88340197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.539254154 meters 0.05177556627193752 Centerline is valid? [True, True] Translation: X:986.64, Y:9.84, Z:3.88 [[ 9.94012517e-01 -1.08668250e-01 -1.14160868e-02 9.86642498e+02] [ 1.08660217e-01 9.94078068e-01 -1.32343591e-03 9.83868490e+00] [ 1.14922970e-02 7.50373918e-05 9.99933959e-01 3.88329287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539999 meters 0.05088736581145243 Centerline is valid? [True, True] Translation: X:986.70, Y:9.85, Z:3.88 [[ 9.94491344e-01 -1.04169124e-01 -1.16516631e-02 9.86701123e+02] [ 1.04160440e-01 9.94559589e-01 -1.35140295e-03 9.84636101e+00] [ 1.17290477e-02 1.30316191e-04 9.99931204e-01 3.88326621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.659254154 meters 0.05120414850413737 Centerline is valid? [True, True] Translation: X:986.76, Y:9.85, Z:3.89 [[ 9.94808488e-01 -1.00954681e-01 -1.28150247e-02 9.86760257e+02] [ 1.00943905e-01 9.94891008e-01 -1.48658946e-03 9.85238375e+00] [ 1.28996310e-02 1.85273187e-04 9.99916779e-01 3.88503169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539999 meters 0.051218936863047876 Centerline is valid? [True, True] Translation: X:986.82, Y:9.86, Z:3.88 [[ 9.94992977e-01 -9.90619441e-02 -1.32554688e-02 9.86817232e+02] [ 9.90502399e-02 9.95081245e-01 -1.53820642e-03 9.86016046e+00] [ 1.33426461e-02 2.17547217e-04 9.99910959e-01 3.88425292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.779254154 meters 0.05127621303094541 Centerline is valid? [True, True] Translation: X:986.88, Y:9.86, Z:3.88 [[ 9.94798796e-01 -1.00948882e-01 -1.35896467e-02 9.86875659e+02] [ 1.00936738e-01 9.94891594e-01 -1.57827137e-03 9.86496618e+00] [ 1.36795500e-02 1.98367851e-04 9.99906411e-01 3.88483010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.839254154 meters 0.05154767415991805 Centerline is valid? [True, True] Translation: X:986.93, Y:9.87, Z:3.89 [[ 9.94534909e-01 -1.03524252e-01 -1.35293612e-02 9.86934484e+02] [ 1.03512434e-01 9.94626916e-01 -1.57278215e-03 9.87008238e+00] [ 1.36194879e-02 1.63729658e-04 9.99907237e-01 3.88510618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.899254154 meters 0.05138034175969871 Centerline is valid? [True, True] Translation: X:986.99, Y:9.87, Z:3.89 [[ 9.94107620e-01 -1.07670595e-01 -1.25332562e-02 9.86993816e+02] [ 1.07660771e-01 9.94186619e-01 -1.45783882e-03 9.87276282e+00] [ 1.26173620e-02 9.99086544e-05 9.99920393e-01 3.88620442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.959254154 meters 0.05145591115086639 Centerline is valid? [True, True] Translation: X:987.05, Y:9.88, Z:3.89 [[ 9.93967836e-01 -1.09028496e-01 -1.18629254e-02 9.87051616e+02] [ 1.09019786e-01 9.94038621e-01 -1.38037772e-03 9.87864794e+00] [ 1.19427065e-02 7.87574644e-05 9.99928680e-01 3.88625542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.019254154 meters 0.05150462646060279 Centerline is valid? [True, True] Translation: X:987.11, Y:9.89, Z:3.89 [[ 9.93995675e-01 -1.08818315e-01 -1.14530985e-02 9.87109117e+02] [ 1.08810169e-01 9.94061652e-01 -1.33383260e-03 9.88550241e+00] [ 1.15302314e-02 7.96102483e-05 9.99933521e-01 3.88667551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.079254154 meters 0.05156932025253267 Centerline is valid? [True, True] Translation: X:987.17, Y:9.89, Z:3.89 [[ 9.94404522e-01 -1.04951876e-01 -1.20312146e-02 9.87167648e+02] [ 1.04942595e-01 9.94477293e-01 -1.40190568e-03 9.89355437e+00] [ 1.21119024e-02 1.31474477e-04 9.99926640e-01 3.88704214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.139254154 meters 0.05109805888080784 Centerline is valid? [True, True] Translation: X:987.23, Y:9.90, Z:3.89 [[ 9.94628331e-01 -1.02712700e-01 -1.28290518e-02 9.87225027e+02] [ 1.02701955e-01 9.94711050e-01 -1.49534457e-03 9.90411904e+00] [ 1.29147905e-02 1.69743376e-04 9.99916586e-01 3.88576706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.199254154 meters 0.0510195462520203 Centerline is valid? [True, True] Translation: X:987.28, Y:9.91, Z:3.89 [[ 9.94958046e-01 -9.94298710e-02 -1.31220126e-02 9.87283697e+02] [ 9.94183374e-02 9.95044548e-01 -1.52997899e-03 9.91111107e+00] [ 1.32091128e-02 2.17696226e-04 9.99912732e-01 3.88684246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.259254154 meters 0.05187086471891661 Centerline is valid? [True, True] Translation: X:987.34, Y:9.92, Z:3.89 [[ 9.95032965e-01 -9.87058283e-02 -1.29057484e-02 9.87341096e+02] [ 9.86946043e-02 9.95116631e-01 -1.50526202e-03 9.91884323e+00] [ 1.29913030e-02 2.24057596e-04 9.99915584e-01 3.88686719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.319254154 meters 0.05186387723045447 Centerline is valid? [True, True] Translation: X:987.40, Y:9.93, Z:3.89 [[ 9.94965334e-01 -9.94528137e-02 -1.23742911e-02 9.87398393e+02] [ 9.94425468e-02 9.95042258e-01 -1.44376597e-03 9.93006027e+00] [ 1.24565292e-02 2.05966064e-04 9.99922393e-01 3.88611331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.379254154 meters 0.05102122767229557 Centerline is valid? [True, True] Translation: X:987.46, Y:9.93, Z:3.89 [[ 9.94665345e-01 -1.02610883e-01 -1.05763127e-02 9.87458593e+02] [ 1.02603559e-01 9.94721562e-01 -1.23417541e-03 9.93402021e+00] [ 1.06471261e-02 1.42424179e-04 9.99943308e-01 3.88839935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.439254154 meters 0.052111101880786825 Centerline is valid? [True, True] Translation: X:987.52, Y:9.94, Z:3.89 [[ 9.94110524e-01 -1.08008296e-01 -8.85859533e-03 9.87516708e+02] [ 1.08003371e-01 9.94149990e-01 -1.03383745e-03 9.94057188e+00] [ 8.91843548e-03 7.09905282e-05 9.99960227e-01 3.88941651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.499254154 meters 0.05169752907611989 Centerline is valid? [True, True] Translation: X:987.57, Y:9.95, Z:3.89 [[ 9.93472476e-01 -1.13732548e-01 -8.79473955e-03 9.87573992e+02] [ 1.13727915e-01 9.93511403e-01 -1.02673352e-03 9.94592760e+00] [ 8.85444705e-03 1.98241014e-05 9.99960798e-01 3.88866468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.559254154 meters 0.052127990415341136 Centerline is valid? [True, True] Translation: X:987.63, Y:9.95, Z:3.89 [[ 9.92834768e-01 -1.19046996e-01 -1.03409696e-02 9.87631433e+02] [ 1.19040869e-01 9.92888620e-01 -1.20822230e-03 9.95149082e+00] [ 1.04112662e-02 -3.14329012e-05 9.99945801e-01 3.88583636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539999 meters 0.05153049158921266 Centerline is valid? [True, True] Translation: X:987.69, Y:9.96, Z:3.89 [[ 9.92639244e-01 -1.20649503e-01 -1.05370507e-02 9.87689938e+02] [ 1.20643219e-01 9.92695167e-01 -1.23230278e-03 9.95936340e+00] [ 1.06087560e-02 -4.79916177e-05 9.99943724e-01 3.88779777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.679254154 meters 0.052637914885900965 Centerline is valid? [True, True] Translation: X:987.75, Y:9.97, Z:3.89 [[ 9.92154186e-01 -1.24476474e-01 -1.16480986e-02 9.87747777e+02] [ 1.24469047e-01 9.92222555e-01 -1.36322350e-03 9.96629792e+00] [ 1.17271954e-02 -9.72998251e-05 9.99931229e-01 3.88766313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539999 meters 0.05255247651525171 Centerline is valid? [True, True] Translation: X:987.81, Y:9.97, Z:3.89 [[ 9.91900462e-01 -1.26469732e-01 -1.17847397e-02 9.87805201e+02] [ 1.26462263e-01 9.91970459e-01 -1.37981343e-03 9.97310785e+00] [ 1.18646183e-02 -1.21687277e-04 9.99929606e-01 3.88715693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.799254154 meters 0.052827346306347105 Centerline is valid? [True, True] Translation: X:987.86, Y:9.98, Z:3.89 [[ 9.92009071e-01 -1.25663588e-01 -1.12545812e-02 9.87862830e+02] [ 1.25656719e-01 9.92072906e-01 -1.31820717e-03 9.98123050e+00] [ 1.13310157e-02 -1.06540289e-04 9.99935796e-01 3.88568421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539999 meters 0.05233077507685746 Centerline is valid? [True, True] Translation: X:987.92, Y:9.99, Z:3.89 [[ 9.92166759e-01 -1.24377339e-01 -1.16361847e-02 9.87921298e+02] [ 1.24369895e-01 9.92234987e-01 -1.36395370e-03 9.99132888e+00] [ 1.17154745e-02 -9.39215584e-05 9.99931367e-01 3.88682460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.919254154 meters 0.05229611058059493 Centerline is valid? [True, True] Translation: X:987.98, Y:10.00, Z:3.89 [[ 9.92573000e-01 -1.21121363e-01 -1.13338241e-02 9.87977800e+02] [ 1.21114081e-01 9.92637705e-01 -1.32924732e-03 1.00039594e+01] [ 1.14113814e-02 -5.33106871e-05 9.99934887e-01 3.89054177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539999 meters 0.052794817196516505 Centerline is valid? [True, True] Translation: X:988.04, Y:10.01, Z:3.89 [[ 9.92912219e-01 -1.18337303e-01 -1.10276328e-02 9.88035818e+02] [ 1.18330227e-01 9.92973455e-01 -1.29425728e-03 1.00144699e+01] [ 1.11033056e-02 -1.98184265e-05 9.99938356e-01 3.88879968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.039254154 meters 0.05264092834116418 Centerline is valid? [True, True] Translation: X:988.09, Y:10.02, Z:3.89 [[ 9.93030136e-01 -1.17435876e-01 -9.99818005e-03 9.88093239e+02] [ 1.17430008e-01 9.93080468e-01 -1.17407059e-03 1.00242013e+01] [ 1.00668753e-02 -8.19888368e-06 9.99949328e-01 3.88924613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539999 meters 0.052805687436955476 Centerline is valid? [True, True] Translation: X:988.15, Y:10.03, Z:3.89 [[ 9.92847926e-01 -1.19054190e-01 -8.89354837e-03 9.88150605e+02] [ 1.19049604e-01 9.92887758e-01 -1.04515108e-03 1.00319614e+01] [ 8.95472491e-03 -2.10973323e-05 9.99959905e-01 3.89097142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.159254154 meters 0.05303084230133018 Centerline is valid? [True, True] Translation: X:988.21, Y:10.04, Z:3.89 [[ 9.92400724e-01 -1.22770736e-01 -8.25527379e-03 9.88209286e+02] [ 1.22766905e-01 9.92435058e-01 -9.71114674e-04 1.00403928e+01] [ 8.31204759e-03 -4.97395096e-05 9.99965453e-01 3.89129479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539999 meters 0.053822488311772596 Centerline is valid? [True, True] Translation: X:988.27, Y:10.05, Z:3.89 [[ 9.92040664e-01 -1.25588711e-01 -9.09924342e-03 9.88267781e+02] [ 1.25584166e-01 9.92082390e-01 -1.07146839e-03 1.00498012e+01] [ 9.16176349e-03 -7.97806782e-05 9.99958027e-01 3.89062673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.279254154 meters 0.05275770427632639 Centerline is valid? [True, True] Translation: X:988.33, Y:10.06, Z:3.89 [[ 9.92066685e-01 -1.25223535e-01 -1.10796878e-02 9.88325487e+02] [ 1.25216763e-01 9.92128549e-01 -1.30551286e-03 1.00566927e+01] [ 1.11559556e-02 -9.22068325e-05 9.99937766e-01 3.88718006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.339254154 meters 0.053331756372774194 Centerline is valid? [True, True] Translation: X:988.38, Y:10.07, Z:3.89 [[ 9.92465886e-01 -1.21936148e-01 -1.19599958e-02 9.88383434e+02] [ 1.21928005e-01 9.92537945e-01 -1.41037082e-03 1.00712536e+01] [ 1.20427248e-02 -5.85134998e-05 9.99927482e-01 3.88893995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.399254154 meters 0.052697289019642095 Centerline is valid? [True, True] Translation: X:988.44, Y:10.08, Z:3.89 [[ 9.93061947e-01 -1.17023306e-01 -1.15549169e-02 9.88441384e+02] [ 1.17015357e-01 9.93129169e-01 -1.36394938e-03 1.00843640e+01] [ 1.16351389e-02 2.38350102e-06 9.99932309e-01 3.88915488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.459254154 meters 0.05344263601986435 Centerline is valid? [True, True] Translation: X:988.50, Y:10.10, Z:3.89 [[ 9.93655046e-01 -1.11837738e-01 -1.19151546e-02 9.88499271e+02] [ 1.11828896e-01 9.93726479e-01 -1.40787969e-03 1.00969931e+01] [ 1.19978587e-02 6.64881689e-05 9.99928021e-01 3.88968432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.519254154 meters 0.052901650725720506 Centerline is valid? [True, True] Translation: X:988.56, Y:10.11, Z:3.89 [[ 9.94005786e-01 -1.08681002e-01 -1.18716615e-02 9.88557439e+02] [ 1.08671983e-01 9.94076671e-01 -1.40411364e-03 1.01070822e+01] [ 1.19539422e-02 1.05580087e-04 9.99928543e-01 3.89020139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.579254154 meters 0.053125294588022835 Centerline is valid? [True, True] Translation: X:988.62, Y:10.12, Z:3.89 [[ 9.94507088e-01 -1.04218564e-01 -9.70276442e-03 9.88615705e+02] [ 1.04212317e-01 9.94554410e-01 -1.14863483e-03 1.01181115e+01] [ 9.76963621e-03 1.31177920e-04 9.99952267e-01 3.89182545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.639254154 meters 0.05299228305288565 Centerline is valid? [True, True] Translation: X:988.67, Y:10.13, Z:3.89 [[ 9.94534598e-01 -1.04002959e-01 -9.18251345e-03 9.88671948e+02] [ 1.03997348e-01 9.94576980e-01 -1.08778418e-03 1.01281765e+01] [ 9.24584927e-03 1.26881955e-04 9.99957248e-01 3.89185025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.699254154 meters 0.0532039675256186 Centerline is valid? [True, True] Translation: X:988.73, Y:10.13, Z:3.89 [[ 9.94323596e-01 -1.06004545e-01 -9.14454372e-03 9.88730383e+02] [ 1.05999057e-01 9.94365639e-01 -1.08410424e-03 1.01345117e+01] [ 9.20794004e-03 1.08637414e-04 9.99957600e-01 3.89142920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.759254154 meters 0.05332975177205422 Centerline is valid? [True, True] Translation: X:988.79, Y:10.14, Z:3.89 [[ 9.93907864e-01 -1.09773880e-01 -9.84138478e-03 9.88788033e+02] [ 1.09767701e-01 9.93956583e-01 -1.16743310e-03 1.01410615e+01] [ 9.91006285e-03 8.00547519e-05 9.99950891e-01 3.89028922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.819254154 meters 0.053133597362936366 Centerline is valid? [True, True] Translation: X:988.85, Y:10.14, Z:3.89 [[ 9.93376436e-01 -1.14440659e-01 -1.03243552e-02 9.88846957e+02] [ 1.14434102e-01 9.93430085e-01 -1.22564087e-03 1.01440409e+01] [ 1.03967882e-02 3.60644537e-05 9.99945951e-01 3.89123476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.879254154 meters 0.053002923610306424 Centerline is valid? [True, True] Translation: X:988.90, Y:10.15, Z:3.89 [[ 9.92848545e-01 -1.18835347e-01 -1.13986025e-02 9.88903596e+02] [ 1.18827629e-01 9.92913974e-01 -1.35435910e-03 1.01480212e+01] [ 1.14787774e-02 -9.79544852e-06 9.99934117e-01 3.88827871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.939254154 meters 0.053820381515003436 Centerline is valid? [True, True] Translation: X:988.96, Y:10.15, Z:3.89 [[ 9.92540562e-01 -1.21299553e-01 -1.22331990e-02 9.88962795e+02] [ 1.21290835e-01 9.92615946e-01 -1.45476986e-03 1.01524234e+01] [ 1.23193314e-02 -3.98568300e-05 9.99924113e-01 3.88911470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.999254154 meters 0.05303548129377238 Centerline is valid? [True, True] Translation: X:989.02, Y:10.16, Z:3.89 [[ 9.92468851e-01 -1.21880071e-01 -1.22811815e-02 9.89020880e+02] [ 1.21871312e-01 9.92544833e-01 -1.46195628e-03 1.01578431e+01] [ 1.23678065e-02 -4.57776181e-05 9.99923515e-01 3.89029444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.059254154 meters 0.05305803402526506 Centerline is valid? [True, True] Translation: X:989.08, Y:10.16, Z:3.89 [[ 9.92424095e-01 -1.22327710e-01 -1.14169696e-02 9.89079764e+02] [ 1.22320154e-01 9.92489763e-01 -1.36043549e-03 1.01636098e+01] [ 1.14976444e-02 -4.63965188e-05 9.99933899e-01 3.89316515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539999 meters 0.05343314712102929 Centerline is valid? [True, True] Translation: X:989.14, Y:10.17, Z:3.90 [[ 9.92422244e-01 -1.22429370e-01 -1.04469922e-02 9.89137898e+02] [ 1.22423036e-01 9.92477228e-01 -1.24607272e-03 1.01692771e+01] [ 1.05209578e-02 -4.23222225e-05 9.99944652e-01 3.89538358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.179254154 meters 0.05243246103626855 Centerline is valid? [True, True] Translation: X:989.20, Y:10.17, Z:3.89 [[ 9.92708566e-01 -1.20088988e-01 -1.04085469e-02 9.89195563e+02] [ 1.20082564e-01 9.92763131e-01 -1.24224071e-03 1.01749518e+01] [ 1.04824010e-02 -1.67019947e-05 9.99945058e-01 3.89377474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539999 meters 0.053375556130845186 Centerline is valid? [True, True] Translation: X:989.25, Y:10.18, Z:3.90 [[ 9.93076439e-01 -1.16974019e-01 -1.07826494e-02 9.89253545e+02] [ 1.16966929e-01 9.93134975e-01 -1.28800814e-03 1.01821144e+01] [ 1.08592897e-02 1.78771515e-05 9.99941036e-01 3.89571836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.299254154 meters 0.053254800991322085 Centerline is valid? [True, True] Translation: X:989.31, Y:10.19, Z:3.89 [[ 9.93384695e-01 -1.14253106e-01 -1.15358397e-02 9.89310808e+02] [ 1.14244797e-01 9.93451672e-01 -1.37888025e-03 1.01891110e+01] [ 1.16178406e-02 5.18488669e-05 9.99932509e-01 3.89407764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539999 meters 0.05326017823365623 Centerline is valid? [True, True] Translation: X:989.37, Y:10.20, Z:3.89 [[ 9.93682151e-01 -1.11533176e-01 -1.24953717e-02 9.89368081e+02] [ 1.11523205e-01 9.93760707e-01 -1.49409110e-03 1.01962594e+01] [ 1.25840502e-02 9.11277455e-05 9.99920814e-01 3.89324563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.419254154 meters 0.05265938193580319 Centerline is valid? [True, True] Translation: X:989.43, Y:10.20, Z:3.90 [[ 9.93965364e-01 -1.09013152e-01 -1.22060595e-02 9.89426856e+02] [ 1.09003434e-01 9.94040300e-01 -1.46062919e-03 1.02002480e+01] [ 1.22925428e-02 1.21312428e-04 9.99924436e-01 3.89650840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539999 meters 0.05288966965408339 Centerline is valid? [True, True] Translation: X:989.48, Y:10.21, Z:3.89 [[ 9.94013929e-01 -1.08598811e-01 -1.19418548e-02 9.89484197e+02] [ 1.08589470e-01 9.94085652e-01 -1.42980336e-03 1.02104779e+01] [ 1.20265015e-02 1.24484774e-04 9.99927671e-01 3.89405370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.539254154 meters 0.05210063684913909 Centerline is valid? [True, True] Translation: X:989.54, Y:10.21, Z:3.90 [[ 9.94090606e-01 -1.07971269e-01 -1.12281819e-02 9.89542231e+02] [ 1.07962958e-01 9.94154007e-01 -1.34543314e-03 1.02143912e+01] [ 1.13078101e-02 1.25254715e-04 9.99936057e-01 3.89618783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539999 meters 0.05295745510509745 Centerline is valid? [True, True] Translation: X:989.60, Y:10.22, Z:3.89 [[ 9.94136797e-01 -1.07481777e-01 -1.18193391e-02 9.89599856e+02] [ 1.07472524e-01 9.94207045e-01 -1.41710014e-03 1.02211370e+01] [ 1.19031826e-02 1.38537194e-04 9.99929145e-01 3.89442310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.659254154 meters 0.05296660012470442 Centerline is valid? [True, True] Translation: X:989.66, Y:10.22, Z:3.90 [[ 9.94240203e-01 -1.06361550e-01 -1.31772620e-02 9.89658232e+02] [ 1.06349943e-01 9.94327507e-01 -1.58045391e-03 1.02240388e+01] [ 1.32706136e-02 1.69949757e-04 9.99911927e-01 3.89515475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539999 meters 0.0525611521373663 Centerline is valid? [True, True] Translation: X:989.72, Y:10.23, Z:3.90 [[ 9.94373222e-01 -1.05123688e-01 -1.30731199e-02 9.89716806e+02] [ 1.05112142e-01 9.94459137e-01 -1.56915006e-03 1.02281847e+01] [ 1.31656384e-02 1.86177179e-04 9.99913312e-01 3.89530240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.779254154 meters 0.05239764502746453 Centerline is valid? [True, True] Translation: X:989.78, Y:10.23, Z:3.90 [[ 9.94561364e-01 -1.03505916e-01 -1.15852496e-02 9.89775797e+02] [ 1.03496724e-01 9.94628821e-01 -1.39183485e-03 1.02312812e+01] [ 1.16670863e-02 1.85229789e-04 9.99931920e-01 3.89662348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.839254154 meters 0.05198472442281109 Centerline is valid? [True, True] Translation: X:989.83, Y:10.24, Z:3.90 [[ 9.94631871e-01 -1.02854375e-01 -1.13322287e-02 9.89833654e+02] [ 1.02845529e-01 9.94696407e-01 -1.36217831e-03 1.02360663e+01] [ 1.14122331e-02 1.89396909e-04 9.99934860e-01 3.89613198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.899254154 meters 0.051580370533201386 Centerline is valid? [True, True] Translation: X:989.89, Y:10.24, Z:3.90 [[ 9.94550771e-01 -1.03623597e-01 -1.14417595e-02 9.89893005e+02] [ 1.03614618e-01 9.94616568e-01 -1.37636418e-03 1.02387952e+01] [ 1.15227873e-02 1.83330514e-04 9.99933594e-01 3.89695018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.959254154 meters 0.05180788671194459 Centerline is valid? [True, True] Translation: X:989.95, Y:10.24, Z:3.90 [[ 9.94336779e-01 -1.05643126e-01 -1.15715240e-02 9.89951213e+02] [ 1.05634064e-01 9.94404095e-01 -1.39329435e-03 1.02428587e+01] [ 1.16539628e-02 1.63056720e-04 9.99932077e-01 3.89551763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.019254154 meters 0.05155863338731309 Centerline is valid? [True, True] Translation: X:990.01, Y:10.24, Z:3.90 [[ 9.94331463e-01 -1.05751404e-01 -1.10264648e-02 9.90009164e+02] [ 1.05743167e-01 9.94392587e-01 -1.32901791e-03 1.02434074e+01] [ 1.11051804e-02 1.55511004e-04 9.99938323e-01 3.89775270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.079254154 meters 0.05205347964258173 Centerline is valid? [True, True] Translation: X:990.07, Y:10.25, Z:3.89 [[ 9.94388045e-01 -1.05108983e-01 -1.20215158e-02 9.90065828e+02] [ 1.05099132e-01 9.94460693e-01 -1.45000011e-03 1.02537341e+01] [ 1.21073330e-02 1.78411889e-04 9.99926688e-01 3.89366530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.139254154 meters 0.05116638285365697 Centerline is valid? [True, True] Translation: X:990.12, Y:10.25, Z:3.90 [[ 9.94367490e-01 -1.05302519e-01 -1.20280294e-02 9.90124549e+02] [ 1.05292657e-01 9.94440218e-01 -1.45205226e-03 1.02530020e+01] [ 1.21140610e-02 1.77410384e-04 9.99926606e-01 3.89556232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.199254154 meters 0.05094105198707538 Centerline is valid? [True, True] Translation: X:990.18, Y:10.26, Z:3.90 [[ 9.94242464e-01 -1.06493620e-01 -1.18756466e-02 9.90183357e+02] [ 1.06484075e-01 9.94313372e-01 -1.43503273e-03 1.02564652e+01] [ 1.19609361e-02 1.62203235e-04 9.99928452e-01 3.89605082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.259254154 meters 0.05047572809635133 Centerline is valid? [True, True] Translation: X:990.24, Y:10.26, Z:3.90 [[ 9.94092674e-01 -1.08132704e-01 -9.33134386e-03 9.90241947e+02] [ 1.08126878e-01 9.94136462e-01 -1.12810063e-03 1.02602587e+01] [ 9.39861375e-03 1.12467493e-04 9.99955826e-01 3.89708366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.319254154 meters 0.050913861293733695 Centerline is valid? [True, True] Translation: X:990.30, Y:10.27, Z:3.90 [[ 9.93860629e-01 -1.10268463e-01 -9.05071796e-03 9.90299346e+02] [ 1.10263068e-01 9.93901835e-01 -1.09450414e-03 1.02671066e+01] [ 9.11621448e-03 8.98246422e-05 9.99958442e-01 3.89642863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.379254154 meters 0.05083624030251738 Centerline is valid? [True, True] Translation: X:990.36, Y:10.27, Z:3.90 [[ 9.93783590e-01 -1.10886591e-01 -9.91671806e-03 9.90356748e+02] [ 1.10880135e-01 9.93833062e-01 -1.20013257e-03 1.02732365e+01] [ 9.98864088e-03 9.31050115e-05 9.99950108e-01 3.89586562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.439254154 meters 0.050646741457429346 Centerline is valid? [True, True] Translation: X:990.41, Y:10.28, Z:3.90 [[ 9.93894273e-01 -1.09782072e-01 -1.10485339e-02 9.90414862e+02] [ 1.09773976e-01 9.93955674e-01 -1.33845156e-03 1.02805224e+01] [ 1.11286909e-02 1.17437850e-04 9.99938067e-01 3.89659502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.499254154 meters 0.05060319112723935 Centerline is valid? [True, True] Translation: X:990.47, Y:10.29, Z:3.90 [[ 9.93983907e-01 -1.08994105e-01 -1.07832419e-02 9.90471272e+02] [ 1.08986337e-01 9.94042388e-01 -1.30716706e-03 1.02923621e+01] [ 1.08614730e-02 1.24076992e-04 9.99941005e-01 3.89563820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.559254154 meters 0.051412107626567664 Centerline is valid? [True, True] Translation: X:990.53, Y:10.30, Z:3.90 [[ 9.93908713e-01 -1.09804303e-01 -9.40669078e-03 9.90529639e+02] [ 1.09798420e-01 9.93953221e-01 -1.14108648e-03 1.03013253e+01] [ 9.47510680e-03 1.01296005e-04 9.99955105e-01 3.89686261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539999 meters 0.05088878989286561 Centerline is valid? [True, True] Translation: X:990.59, Y:10.31, Z:3.90 [[ 9.93822037e-01 -1.10611151e-01 -9.10666445e-03 9.90588604e+02] [ 1.10605663e-01 9.93863756e-01 -1.10568842e-03 1.03066554e+01] [ 9.17308520e-03 9.16088632e-05 9.99957922e-01 3.89873626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.679254154 meters 0.051331208799962474 Centerline is valid? [True, True] Translation: X:990.64, Y:10.32, Z:3.90 [[ 9.93817367e-01 -1.10671183e-01 -8.88432206e-03 9.90644361e+02] [ 1.10665955e-01 9.93857073e-01 -1.07941639e-03 1.03182628e+01] [ 8.94920660e-03 8.95507673e-05 9.99959951e-01 3.89672366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539999 meters 0.05154132408504573 Centerline is valid? [True, True] Translation: X:990.70, Y:10.33, Z:3.90 [[ 9.93802776e-01 -1.10805694e-01 -8.83971872e-03 9.90701949e+02] [ 1.10800516e-01 9.93842085e-01 -1.07481692e-03 1.03279519e+01] [ 8.90438032e-03 8.87106382e-05 9.99960351e-01 3.89663268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.799254154 meters 0.05108501007642732 Centerline is valid? [True, True] Translation: X:990.76, Y:10.33, Z:3.90 [[ 9.93720975e-01 -1.11573709e-01 -8.36252291e-03 9.90760889e+02] [ 1.11569094e-01 9.93756158e-01 -1.01774227e-03 1.03314718e+01] [ 8.42386192e-03 7.83527292e-05 9.99964516e-01 3.89815598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539999 meters 0.05080018530194754 Centerline is valid? [True, True] Translation: X:990.82, Y:10.34, Z:3.90 [[ 9.93715961e-01 -1.11637996e-01 -8.09615373e-03 9.90819019e+02] [ 1.11633665e-01 9.93748938e-01 -9.86300655e-04 1.03376143e+01] [ 8.15565280e-03 7.62993905e-05 9.99966739e-01 3.89821185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.919254154 meters 0.051502933837201434 Centerline is valid? [True, True] Translation: X:990.88, Y:10.35, Z:3.90 [[ 9.93601880e-01 -1.12650059e-01 -8.07883410e-03 9.90875921e+02] [ 1.12645775e-01 9.93634721e-01 -9.84875155e-04 1.03471276e+01] [ 8.13835632e-03 6.85272781e-05 9.99966881e-01 3.89752836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539999 meters 0.05101614057863342 Centerline is valid? [True, True] Translation: X:990.93, Y:10.35, Z:3.90 [[ 9.93501477e-01 -1.13602022e-01 -7.02820754e-03 9.90933169e+02] [ 1.13598801e-01 9.93526335e-01 -8.57110308e-04 1.03547571e+01] [ 7.08007874e-03 5.31444045e-05 9.99974934e-01 3.89721475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.039254154 meters 0.05036898351390693 Centerline is valid? [True, True] Translation: X:990.99, Y:10.36, Z:3.90 [[ 9.93456154e-01 -1.13981379e-01 -7.28805078e-03 9.90990971e+02] [ 1.13977921e-01 9.93482885e-01 -8.89453870e-04 1.03596459e+01] [ 7.34193489e-03 5.29565454e-05 9.99973046e-01 3.89733081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539999 meters 0.05101898455530802 Centerline is valid? [True, True] Translation: X:991.05, Y:10.37, Z:3.90 [[ 9.93470016e-01 -1.13733143e-01 -9.06093221e-03 9.91049863e+02] [ 1.13727776e-01 9.93511332e-01 -1.10702781e-03 1.03651241e+01] [ 9.12804458e-03 6.93192685e-05 9.99958336e-01 3.89659792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.159254154 meters 0.050892379627494495 Centerline is valid? [True, True] Translation: X:991.11, Y:10.37, Z:3.90 [[ 9.93724603e-01 -1.11393195e-01 -1.01474018e-02 9.91107012e+02] [ 1.11386334e-01 9.93776406e-01 -1.24052870e-03 1.03724670e+01] [ 1.02224349e-02 1.02462007e-04 9.99947744e-01 3.89589367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539999 meters 0.05127674971644601 Centerline is valid? [True, True] Translation: X:991.17, Y:10.38, Z:3.90 [[ 9.93892149e-01 -1.09917269e-01 -9.82798762e-03 9.91165359e+02] [ 1.09910753e-01 9.93940733e-01 -1.20229964e-03 1.03799792e+01] [ 9.90059071e-03 1.14754653e-04 9.99950981e-01 3.89618767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.279254154 meters 0.05140074964713731 Centerline is valid? [True, True] Translation: X:991.22, Y:10.38, Z:3.90 [[ 9.93952711e-01 -1.09399468e-01 -9.47438394e-03 9.91223974e+02] [ 1.09393379e-01 9.93997859e-01 -1.16010591e-03 1.03847493e+01] [ 9.54443232e-03 1.16655544e-04 9.99954444e-01 3.89681573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.339254154 meters 0.05106816906309236 Centerline is valid? [True, True] Translation: X:991.28, Y:10.39, Z:3.90 [[ 9.93685355e-01 -1.11893625e-01 -8.32060492e-03 9.91281381e+02] [ 1.11889011e-01 9.93720187e-01 -1.01940493e-03 1.03926932e+01] [ 8.38241799e-03 8.19834936e-05 9.99964864e-01 3.89648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.399254154 meters 0.05072233560936811 Centerline is valid? [True, True] Translation: X:991.34, Y:10.40, Z:3.90 [[ 9.93564516e-01 -1.12992740e-01 -7.88632854e-03 9.91340278e+02] [ 1.12988625e-01 9.93595811e-01 -9.66773140e-04 1.03986505e+01] [ 7.94506135e-03 6.94860661e-05 9.99968435e-01 3.89740366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.459254154 meters 0.0506539577306915 Centerline is valid? [True, True] Translation: X:991.40, Y:10.40, Z:3.90 [[ 9.93127889e-01 -1.16854024e-01 -6.49096769e-03 9.91399625e+02] [ 1.16851317e-01 9.93149101e-01 -7.96102333e-04 1.04009633e+01] [ 6.53952648e-03 3.21533087e-05 9.99978617e-01 3.89931551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.519254154 meters 0.050637385667517465 Centerline is valid? [True, True] Translation: X:991.46, Y:10.41, Z:3.90 [[ 9.92989492e-01 -1.17959539e-01 -7.57727098e-03 9.91455876e+02] [ 1.17955880e-01 9.93018402e-01 -9.29614962e-04 1.04076368e+01] [ 7.63402647e-03 2.93142256e-05 9.99970860e-01 3.89913879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.579254154 meters 0.05111379856045789 Centerline is valid? [True, True] Translation: X:991.51, Y:10.42, Z:3.90 [[ 9.93033508e-01 -1.17484866e-01 -9.04201917e-03 9.91513945e+02] [ 1.17479627e-01 9.93074672e-01 -1.11014626e-03 1.04156320e+01] [ 9.10982561e-03 4.01593959e-05 9.99958504e-01 3.89748282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.639254154 meters 0.050756082949866985 Centerline is valid? [True, True] Translation: X:991.57, Y:10.42, Z:3.90 [[ 9.93256319e-01 -1.15520982e-01 -9.83805168e-03 9.91572515e+02] [ 1.15514673e-01 9.93305038e-01 -1.20903528e-03 1.04227843e+01] [ 9.91185524e-03 6.44426099e-05 9.99950874e-01 3.89797842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.699254154 meters 0.051508083883447006 Centerline is valid? [True, True] Translation: X:991.63, Y:10.43, Z:3.90 [[ 9.93671408e-01 -1.11860073e-01 -1.02204043e-02 9.91630168e+02] [ 1.11853063e-01 9.93723962e-01 -1.25675466e-03 1.04317473e+01] [ 1.02968413e-02 1.05617654e-04 9.99946981e-01 3.89791601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.759254154 meters 0.05130953042968445 Centerline is valid? [True, True] Translation: X:991.69, Y:10.44, Z:3.90 [[ 9.94062281e-01 -1.08359561e-01 -9.91899342e-03 9.91687410e+02] [ 1.08352780e-01 9.94111758e-01 -1.22004525e-03 1.04439008e+01] [ 9.99279155e-03 1.38050444e-04 9.99950061e-01 3.89710907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.819254154 meters 0.05075599831758348 Centerline is valid? [True, True] Translation: X:991.75, Y:10.45, Z:3.90 [[ 9.94341082e-01 -1.05875273e-01 -8.73148980e-03 9.91745942e+02] [ 1.05869917e-01 9.94379407e-01 -1.07460599e-03 1.04520220e+01] [ 8.79618786e-03 1.44122783e-04 9.99961302e-01 3.89898816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.879254154 meters 0.050612844184542254 Centerline is valid? [True, True] Translation: X:991.80, Y:10.46, Z:3.90 [[ 9.94565225e-01 -1.03892716e-01 -6.80558812e-03 9.91804925e+02] [ 1.03889412e-01 9.94588502e-01 -8.38195254e-04 1.04575749e+01] [ 6.85584208e-03 1.26611306e-04 9.99976490e-01 3.90148297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.939254154 meters 0.05111814374768361 Centerline is valid? [True, True] Translation: X:991.86, Y:10.47, Z:3.90 [[ 9.94747300e-01 -1.02149096e-01 -6.58570205e-03 9.91861233e+02] [ 1.02145960e-01 9.94769091e-01 -8.11617996e-04 1.04686485e+01] [ 6.63415889e-03 1.34651951e-04 9.99977985e-01 3.90068184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.999254154 meters 0.05109501119559449 Centerline is valid? [True, True] Translation: X:991.92, Y:10.47, Z:3.90 [[ 9.94881610e-01 -1.00718310e-01 -8.14889370e-03 9.91919503e+02] [ 1.00713458e-01 9.94914966e-01 -1.00465619e-03 1.04737579e+01] [ 8.20864358e-03 1.78810706e-04 9.99966293e-01 3.90046945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.059254154 meters 0.0509242929006946 Centerline is valid? [True, True] Translation: X:991.98, Y:10.48, Z:3.90 [[ 9.94955636e-01 -9.98942044e-02 -9.18858865e-03 9.91978096e+02] [ 9.98879930e-02 9.94998042e-01 -1.13359646e-03 1.04819145e+01] [ 9.25586743e-03 2.10048510e-04 9.99957141e-01 3.89988111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539999 meters 0.050058240042250034 Centerline is valid? [True, True] Translation: X:992.04, Y:10.49, Z:3.90 [[ 9.94904818e-01 -1.00272497e-01 -1.04799314e-02 9.92035504e+02] [ 1.00264425e-01 9.94959984e-01 -1.29420126e-03 1.04892711e+01] [ 1.05568851e-02 2.36842781e-04 9.99944246e-01 3.89958883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.179254154 meters 0.05172262819133583 Centerline is valid? [True, True] Translation: X:992.09, Y:10.50, Z:3.90 [[ 9.94702985e-01 -1.02213100e-01 -1.08836808e-02 9.92094612e+02] [ 1.02204496e-01 9.94762500e-01 -1.34529205e-03 1.04952988e+01] [ 1.09641840e-02 2.25804909e-04 9.99939866e-01 3.89973670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539999 meters 0.050420370933337594 Centerline is valid? [True, True] Translation: X:992.15, Y:10.50, Z:3.90 [[ 9.94619590e-01 -1.03078659e-01 -1.03277201e-02 9.92153358e+02] [ 1.03070946e-01 9.94673186e-01 -1.27770460e-03 1.05004344e+01] [ 1.04044103e-02 2.06342147e-04 9.99945851e-01 3.90109763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.299254154 meters 0.05159767477343885 Centerline is valid? [True, True] Translation: X:992.21, Y:10.51, Z:3.90 [[ 9.94647408e-01 -1.02929605e-01 -9.05703027e-03 9.92210767e+02] [ 1.02923662e-01 9.94688626e-01 -1.12110649e-03 1.05086323e+01] [ 9.12432004e-03 1.82922940e-04 9.99958356e-01 3.90138941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539999 meters 0.05156935242645943 Centerline is valid? [True, True] Translation: X:992.27, Y:10.52, Z:3.90 [[ 9.94582238e-01 -1.03581681e-01 -8.77542744e-03 9.92267322e+02] [ 1.03576123e-01 9.94620936e-01 -1.08669613e-03 1.05227352e+01] [ 8.84078566e-03 1.71883916e-04 9.99960905e-01 3.90055113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.419254154 meters 0.052040710211492765 Centerline is valid? [True, True] Translation: X:992.33, Y:10.53, Z:3.90 [[ 9.94441153e-01 -1.04964389e-01 -8.32289815e-03 9.92325892e+02] [ 1.04959432e-01 9.94475970e-01 -1.03134388e-03 1.05313118e+01] [ 8.38517659e-03 1.52044130e-04 9.99964832e-01 3.90066272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539999 meters 0.05029511261092379 Centerline is valid? [True, True] Translation: X:992.39, Y:10.53, Z:3.90 [[ 9.94335458e-01 -1.05831585e-01 -9.83227603e-03 9.92385032e+02] [ 1.05824698e-01 9.94384054e-01 -1.21952408e-03 1.05319767e+01] [ 9.90612266e-03 1.72118393e-04 9.99950918e-01 3.90168962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.539254154 meters 0.052039332974879955 Centerline is valid? [True, True] Translation: X:992.44, Y:10.55, Z:3.90 [[ 9.94233346e-01 -1.06688198e-01 -1.08481283e-02 9.92441579e+02] [ 1.06679857e-01 9.94292510e-01 -1.34627707e-03 1.05466416e+01] [ 1.09298446e-02 1.81236781e-04 9.99940251e-01 3.89817629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539999 meters 0.05188690624551661 Centerline is valid? [True, True] Translation: X:992.50, Y:10.55, Z:3.90 [[ 9.93947377e-01 -1.09277582e-01 -1.12703923e-02 9.92501529e+02] [ 1.09268739e-01 9.94011260e-01 -1.39923597e-03 1.05455649e+01] [ 1.13558019e-02 1.59265367e-04 9.99935508e-01 3.90127048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.659254154 meters 0.05112636743380178 Centerline is valid? [True, True] Translation: X:992.56, Y:10.55, Z:3.90 [[ 9.93381817e-01 -1.14244619e-01 -1.18630551e-02 9.92560272e+02] [ 1.14235163e-01 9.93452644e-01 -1.47388359e-03 1.05499777e+01] [ 1.19537667e-02 1.08951128e-04 9.99928545e-01 3.90195786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539999 meters 0.0512018354043605 Centerline is valid? [True, True] Translation: X:992.62, Y:10.56, Z:3.90 [[ 9.92599738e-01 -1.20936045e-01 -1.09650783e-02 9.92618127e+02] [ 1.20928368e-01 9.92660301e-01 -1.36293458e-03 1.05550966e+01] [ 1.10494259e-02 2.68594723e-05 9.99938953e-01 3.90172617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.779254154 meters 0.05170073127681271 Centerline is valid? [True, True] Translation: X:992.68, Y:10.56, Z:3.90 [[ 9.91521309e-01 -1.29571898e-01 -9.82942307e-03 9.92676300e+02] [ 1.29566145e-01 9.91570028e-01 -1.22256633e-03 1.05573030e+01] [ 9.90497154e-03 -6.13598831e-05 9.99950943e-01 3.90153202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.839254154 meters 0.052154486554658576 Centerline is valid? [True, True] Translation: X:992.74, Y:10.56, Z:3.90 [[ 9.90505869e-01 -1.37126064e-01 -9.72447316e-03 9.92736196e+02] [ 1.37120792e-01 9.90553595e-01 -1.21000151e-03 1.05582430e+01] [ 9.79853460e-03 -1.34913860e-04 9.99951984e-01 3.90126155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.899254154 meters 0.0522193956446014 Centerline is valid? [True, True] Translation: X:992.80, Y:10.57, Z:3.90 [[ 9.89972060e-01 -1.40939110e-01 -9.56494449e-03 9.92795410e+02] [ 1.40934187e-01 9.90018252e-01 -1.19022788e-03 1.05650236e+01] [ 9.63721928e-03 -1.69735331e-04 9.99953546e-01 3.90167383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.959254154 meters 0.05262397149794366 Centerline is valid? [True, True] Translation: X:992.85, Y:10.58, Z:3.90 [[ 9.90082462e-01 -1.40118623e-01 -1.01730409e-02 9.92852991e+02] [ 1.40113003e-01 9.90134709e-01 -1.26664290e-03 1.05772195e+01] [ 1.02501612e-02 -1.71294395e-04 9.99947451e-01 3.90106447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.019254154 meters 0.05237986839036556 Centerline is valid? [True, True] Translation: X:992.91, Y:10.59, Z:3.90 [[ 9.90648537e-01 -1.35946643e-01 -1.15752822e-02 9.92910953e+02] [ 1.35939071e-01 9.90716150e-01 -1.44215851e-03 1.05930313e+01] [ 1.16638756e-02 -1.44860885e-04 9.99931964e-01 3.90188852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.079254154 meters 0.05222886793512126 Centerline is valid? [True, True] Translation: X:992.97, Y:10.60, Z:3.90 [[ 9.91134325e-01 -1.32356503e-01 -1.15976796e-02 9.92968752e+02] [ 1.32348643e-01 9.91202172e-01 -1.44599871e-03 1.06020202e+01] [ 1.16870325e-02 -1.01758201e-04 9.99931699e-01 3.90031457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.139254154 meters 0.05174746107258555 Centerline is valid? [True, True] Translation: X:993.03, Y:10.62, Z:3.90 [[ 9.91912237e-01 -1.26419507e-01 -1.13235018e-02 9.93025375e+02] [ 1.26411618e-01 9.91976868e-01 -1.41253507e-03 1.06159623e+01] [ 1.14112238e-02 -3.03113605e-05 9.99934889e-01 3.90082864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.199254154 meters 0.05149954580990551 Centerline is valid? [True, True] Translation: X:993.08, Y:10.63, Z:3.90 [[ 9.92679355e-01 -1.20337008e-01 -1.03297457e-02 9.93081844e+02] [ 1.20330104e-01 9.92733098e-01 -1.28954267e-03 1.06301874e+01] [ 1.04098601e-02 3.71230083e-05 9.99945815e-01 3.90276976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.259254154 meters 0.05179508096294963 Centerline is valid? [True, True] Translation: X:993.14, Y:10.64, Z:3.90 [[ 9.93370098e-01 -1.14572494e-01 -9.43357390e-03 9.93139442e+02] [ 1.14566466e-01 9.93414886e-01 -1.17874130e-03 1.06427018e+01] [ 9.50650407e-03 9.01551374e-05 9.99954808e-01 3.90471335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.319254154 meters 0.05247214821811461 Centerline is valid? [True, True] Translation: X:993.20, Y:10.65, Z:3.91 [[ 9.93657370e-01 -1.12067270e-01 -9.27140961e-03 9.93196679e+02] [ 1.12061329e-01 9.93700616e-01 -1.15949592e-03 1.06546114e+01] [ 9.34294698e-03 1.13175186e-04 9.99956347e-01 3.90507304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.379254154 meters 0.05323647285264463 Centerline is valid? [True, True] Translation: X:993.25, Y:10.67, Z:3.90 [[ 9.93880224e-01 -1.10073936e-01 -9.26444279e-03 9.93252929e+02] [ 1.10067910e-01 9.93923393e-01 -1.15937026e-03 1.06718517e+01] [ 9.33576286e-03 1.32557311e-04 9.99956412e-01 3.90299084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.439254154 meters 0.05263518977787753 Centerline is valid? [True, True] Translation: X:993.31, Y:10.68, Z:3.90 [[ 9.93862342e-01 -1.10193540e-01 -9.74825396e-03 9.93310869e+02] [ 1.10186864e-01 9.93910139e-01 -1.22087393e-03 1.06790455e+01] [ 9.82342087e-03 1.39251084e-04 9.99951739e-01 3.90445554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.499254154 meters 0.05209407822296939 Centerline is valid? [True, True] Translation: X:993.37, Y:10.69, Z:3.90 [[ 9.93726944e-01 -1.11344958e-01 -1.04432095e-02 9.93368881e+02] [ 1.11337348e-01 9.93781808e-01 -1.30909269e-03 1.06876119e+01] [ 1.05240325e-02 1.38161426e-04 9.99944611e-01 3.90451478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.559254154 meters 0.0520516992738711 Centerline is valid? [True, True] Translation: X:993.43, Y:10.70, Z:3.90 [[ 9.93732280e-01 -1.11220791e-01 -1.12290633e-02 9.93425495e+02] [ 1.11211977e-01 9.93795710e-01 -1.40832059e-03 1.06980182e+01] [ 1.13160294e-02 1.50687312e-04 9.99935960e-01 3.90321120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539999 meters 0.052258236751258354 Centerline is valid? [True, True] Translation: X:993.48, Y:10.70, Z:3.90 [[ 9.93769107e-01 -1.10700335e-01 -1.29768072e-02 9.93484244e+02] [ 1.10688502e-01 9.93853814e-01 -1.62874222e-03 1.07034690e+01] [ 1.30773517e-02 1.82210350e-04 9.99914471e-01 3.90464641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.679254154 meters 0.05298430540818965 Centerline is valid? [True, True] Translation: X:993.54, Y:10.71, Z:3.90 [[ 9.93555244e-01 -1.12548787e-01 -1.34442428e-02 9.93541198e+02] [ 1.12536244e-01 9.93646186e-01 -1.68826999e-03 1.07139096e+01] [ 1.35488333e-02 1.64424915e-04 9.99908197e-01 3.90248978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539999 meters 0.05300628197630446 Centerline is valid? [True, True] Translation: X:993.60, Y:10.72, Z:3.90 [[ 9.93378046e-01 -1.14248978e-01 -1.21337676e-02 9.93599654e+02] [ 1.14238875e-01 9.93452140e-01 -1.52474544e-03 1.07199182e+01] [ 1.22285180e-02 1.28500683e-04 9.99925221e-01 3.90429482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.799254154 meters 0.05240025668366666 Centerline is valid? [True, True] Translation: X:993.66, Y:10.72, Z:3.91 [[ 9.93136285e-01 -1.16561735e-01 -9.67893243e-03 9.93658701e+02] [ 1.16555411e-01 9.93183445e-01 -1.21680328e-03 1.07224423e+01] [ 9.75478816e-03 8.03195414e-05 9.99952418e-01 3.90865389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539999 meters 0.052577842543606985 Centerline is valid? [True, True] Translation: X:993.72, Y:10.73, Z:3.91 [[ 9.92933599e-01 -1.18324089e-01 -9.07072875e-03 9.93715568e+02] [ 1.18318604e-01 9.92975028e-01 -1.14079093e-03 1.07322323e+01] [ 9.14199018e-03 5.94936856e-05 9.99958209e-01 3.90825706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.919254154 meters 0.05259041300643441 Centerline is valid? [True, True] Translation: X:993.77, Y:10.74, Z:3.91 [[ 9.93038644e-01 -1.17426873e-01 -9.22941365e-03 9.93772527e+02] [ 1.17421152e-01 9.93081530e-01 -1.16120983e-03 1.07409720e+01] [ 9.30191746e-03 6.93978544e-05 9.99956734e-01 3.90749643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539999 meters 0.05281723031040867 Centerline is valid? [True, True] Translation: X:993.83, Y:10.75, Z:3.91 [[ 9.93357372e-01 -1.14637342e-01 -9.97055728e-03 9.93830636e+02] [ 1.14630517e-01 9.93407403e-01 -1.25522902e-03 1.07534626e+01] [ 1.00487215e-02 1.03960870e-04 9.99949505e-01 3.90597377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.039254154 meters 0.05375705607252964 Centerline is valid? [True, True] Translation: X:993.89, Y:10.77, Z:3.90 [[ 9.93844909e-01 -1.10232546e-01 -1.10038018e-02 9.93888737e+02] [ 1.10223956e-01 9.93905810e-01 -1.38590194e-03 1.07656307e+01] [ 1.10895140e-02 1.64489022e-04 9.99938496e-01 3.90483210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539999 meters 0.0532677084993433 Centerline is valid? [True, True] Translation: X:993.95, Y:10.77, Z:3.91 [[ 9.94250502e-01 -1.06357241e-01 -1.24127578e-02 9.93948745e+02] [ 1.06346007e-01 9.94327955e-01 -1.56345862e-03 1.07734731e+01] [ 1.25086373e-02 2.34422284e-04 9.99921736e-01 3.90513119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.159254154 meters 0.05221472900546968 Centerline is valid? [True, True] Translation: X:994.01, Y:10.78, Z:3.91 [[ 9.94428422e-01 -1.04711841e-01 -1.21468019e-02 9.94007678e+02] [ 1.04700950e-01 9.94502573e-01 -1.53088925e-03 1.07789482e+01] [ 1.22403279e-02 2.50578092e-04 9.99925053e-01 3.90686233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539999 meters 0.05326586277845035 Centerline is valid? [True, True] Translation: X:994.07, Y:10.79, Z:3.91 [[ 9.94342569e-01 -1.05680825e-01 -1.06966501e-02 9.94065094e+02] [ 1.05672423e-01 9.94400080e-01 -1.34927366e-03 1.07897102e+01] [ 1.07793421e-02 2.11299305e-04 9.99941879e-01 3.90650063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.279254154 meters 0.052966919255055644 Centerline is valid? [True, True] Translation: X:994.12, Y:10.79, Z:3.91 [[ 9.94131064e-01 -1.07785469e-01 -9.25850250e-03 9.94124107e+02] [ 1.07779260e-01 9.94174163e-01 -1.16840995e-03 1.07931781e+01] [ 9.33050159e-03 1.63678080e-04 9.99956457e-01 3.90857253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.339254154 meters 0.05278651413184134 Centerline is valid? [True, True] Translation: X:994.18, Y:10.80, Z:3.91 [[ 9.93815931e-01 -1.10604817e-01 -9.82187531e-03 9.94181978e+02] [ 1.10597964e-01 9.93864454e-01 -1.23981496e-03 1.07998755e+01] [ 9.89874225e-03 1.45868450e-04 9.99950996e-01 3.90821315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.399254154 meters 0.052183167259991246 Centerline is valid? [True, True] Translation: X:994.24, Y:10.80, Z:3.91 [[ 9.93494511e-01 -1.13392647e-01 -1.05244753e-02 9.94241847e+02] [ 1.13384926e-01 9.93550246e-01 -1.32929132e-03 1.07998714e+01] [ 1.06073269e-02 1.27326767e-04 9.99943733e-01 3.91093041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.459254154 meters 0.05280907297462613 Centerline is valid? [True, True] Translation: X:994.30, Y:10.81, Z:3.91 [[ 9.93193875e-01 -1.15883295e-01 -1.17042209e-02 9.94300305e+02] [ 1.15873904e-01 9.93262830e-01 -1.47955531e-03 1.08084252e+01] [ 1.17968233e-02 1.13271496e-04 9.99930409e-01 3.90917784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.519254154 meters 0.052855364282574244 Centerline is valid? [True, True] Translation: X:994.36, Y:10.81, Z:3.91 [[ 9.92900205e-01 -1.18262324e-01 -1.27752155e-02 9.94358855e+02] [ 1.18251313e-01 9.92982384e-01 -1.61645213e-03 1.08122462e+01] [ 1.28767293e-02 9.42896353e-05 9.99917087e-01 3.91052232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.579254154 meters 0.05346234112993758 Centerline is valid? [True, True] Translation: X:994.42, Y:10.82, Z:3.91 [[ 9.92648076e-01 -1.20261205e-01 -1.36762585e-02 9.94415760e+02] [ 1.20248757e-01 9.92742281e-01 -1.73186895e-03 1.08183858e+01] [ 1.37852767e-02 7.45832998e-05 9.99904976e-01 3.90967670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.639254154 meters 0.05326274455617709 Centerline is valid? [True, True] Translation: X:994.47, Y:10.83, Z:3.91 [[ 9.92469791e-01 -1.21611874e-01 -1.46377968e-02 9.94474413e+02] [ 1.21597746e-01 9.92577729e-01 -1.85467044e-03 1.08254472e+01] [ 1.47547011e-02 6.07812833e-05 9.99891142e-01 3.90712117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.699254154 meters 0.05269764684292894 Centerline is valid? [True, True] Translation: X:994.53, Y:10.83, Z:3.91 [[ 9.92459546e-01 -1.21694100e-01 -1.46491148e-02 9.94531938e+02] [ 1.21679936e-01 9.92567651e-01 -1.85770447e-03 1.08307916e+01] [ 1.47663092e-02 6.11931809e-05 9.99890970e-01 3.91040206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.759254154 meters 0.052904209740903735 Centerline is valid? [True, True] Translation: X:994.59, Y:10.84, Z:3.91 [[ 9.92608974e-01 -1.20458795e-01 -1.47344192e-02 9.94589591e+02] [ 1.20444315e-01 9.92718325e-01 -1.86943003e-03 1.08384700e+01] [ 1.48523172e-02 8.09359928e-05 9.99889695e-01 3.90982838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.819254154 meters 0.05272719101136531 Centerline is valid? [True, True] Translation: X:994.65, Y:10.85, Z:3.91 [[ 9.92698866e-01 -1.19778476e-01 -1.42154049e-02 9.94647196e+02] [ 1.19764909e-01 9.92800639e-01 -1.80500637e-03 1.08450812e+01] [ 1.43292640e-02 8.93211083e-05 9.99897327e-01 3.91192787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.879254154 meters 0.05205726445063791 Centerline is valid? [True, True] Translation: X:994.70, Y:10.85, Z:3.91 [[ 9.92921798e-01 -1.18099121e-01 -1.26055919e-02 9.94704658e+02] [ 1.18088307e-01 9.93001806e-01 -1.60139292e-03 1.08523473e+01] [ 1.27064986e-02 1.01484936e-04 9.99919264e-01 3.91297848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.939254154 meters 0.05273930204978388 Centerline is valid? [True, True] Translation: X:994.76, Y:10.86, Z:3.91 [[ 9.93103614e-01 -1.16507162e-01 -1.30879247e-02 9.94762154e+02] [ 1.16495360e-01 9.93189843e-01 -1.66319179e-03 1.08610434e+01] [ 1.31925676e-02 1.27039283e-04 9.99912966e-01 3.91201025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.999254154 meters 0.0528179722865102 Centerline is valid? [True, True] Translation: X:994.82, Y:10.87, Z:3.91 [[ 9.93250661e-01 -1.15217907e-01 -1.33400762e-02 9.94819893e+02] [ 1.15205513e-01 9.93340230e-01 -1.69639783e-03 1.08712029e+01] [ 1.34466898e-02 1.48097941e-04 9.99909578e-01 3.90994447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.059254154 meters 0.052152426183178786 Centerline is valid? [True, True] Translation: X:994.88, Y:10.87, Z:3.91 [[ 9.93550582e-01 -1.12508215e-01 -1.41118143e-02 9.94879684e+02] [ 1.12494063e-01 9.93650775e-01 -1.79513907e-03 1.08735429e+01] [ 1.42241831e-02 1.96066131e-04 9.99898812e-01 3.91355746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539999 meters 0.052271679252038225 Centerline is valid? [True, True] Translation: X:994.94, Y:10.88, Z:3.91 [[ 9.93808406e-01 -1.10122891e-01 -1.47581059e-02 9.94937106e+02] [ 1.10107145e-01 9.93917950e-01 -1.87775585e-03 1.08822026e+01] [ 1.48751303e-02 2.41156638e-04 9.99889330e-01 3.91218263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.179254154 meters 0.051533638093870716 Centerline is valid? [True, True] Translation: X:995.00, Y:10.88, Z:3.92 [[ 9.94381747e-01 -1.04667767e-01 -1.57987357e-02 9.94997873e+02] [ 1.04649030e-01 9.94507184e-01 -2.01036254e-03 1.08836674e+01] [ 1.59223763e-02 3.45745454e-04 9.99873171e-01 3.91556046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539999 meters 0.05178590406258814 Centerline is valid? [True, True] Translation: X:995.06, Y:10.89, Z:3.92 [[ 9.94450877e-01 -1.04031240e-01 -1.56510490e-02 9.95056772e+02] [ 1.04012751e-01 9.94573967e-01 -1.99293542e-03 1.08900752e+01] [ 1.57734534e-02 3.53967710e-04 9.99875529e-01 3.91660610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.299254154 meters 0.05233001543557104 Centerline is valid? [True, True] Translation: X:995.11, Y:10.90, Z:3.91 [[ 9.94562849e-01 -1.03146024e-01 -1.43400734e-02 9.95113034e+02] [ 1.03130394e-01 9.94666167e-01 -1.82715368e-03 1.09022122e+01] [ 1.44520495e-02 3.38321747e-04 9.99895506e-01 3.91443857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539999 meters 0.05151631095006972 Centerline is valid? [True, True] Translation: X:995.17, Y:10.90, Z:3.92 [[ 9.94519875e-01 -1.03594752e-01 -1.40835011e-02 9.95171779e+02] [ 1.03579703e-01 9.94619535e-01 -1.79581295e-03 1.09037136e+01] [ 1.41937622e-02 3.27206806e-04 9.99899210e-01 3.91677944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.419254154 meters 0.053373813825787216 Centerline is valid? [True, True] Translation: X:995.23, Y:10.91, Z:3.92 [[ 9.94504717e-01 -1.03717349e-01 -1.42505735e-02 9.95229359e+02] [ 1.03701929e-01 9.94606757e-01 -1.81878223e-03 1.09142245e+01] [ 1.43623559e-02 3.30975553e-04 9.99896801e-01 3.91518326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539999 meters 0.0526097339488071 Centerline is valid? [True, True] Translation: X:995.29, Y:10.91, Z:3.92 [[ 9.94467855e-01 -1.03848731e-01 -1.57837451e-02 9.95288491e+02] [ 1.03829803e-01 9.94593036e-01 -2.01622852e-03 1.09145368e+01] [ 1.59077858e-02 3.66251310e-04 9.99873396e-01 3.91654205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.539254154 meters 0.05223491361304646 Centerline is valid? [True, True] Translation: X:995.35, Y:10.92, Z:3.92 [[ 9.94447163e-01 -1.03878839e-01 -1.68530829e-02 9.95347335e+02] [ 1.03857232e-01 9.94589882e-01 -2.15462864e-03 1.09178221e+01] [ 1.69857261e-02 3.92349800e-04 9.99855655e-01 3.91779576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539999 meters 0.051431739692879855 Centerline is valid? [True, True] Translation: X:995.41, Y:10.92, Z:3.92 [[ 9.94286845e-01 -1.05229048e-01 -1.79029906e-02 9.95407095e+02] [ 1.05204848e-01 9.94447933e-01 -2.29083340e-03 1.09173914e+01] [ 1.80446542e-02 3.94264105e-04 9.99837104e-01 3.92066109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.659254154 meters 0.051854720986884796 Centerline is valid? [True, True] Translation: X:995.47, Y:10.92, Z:3.92 [[ 9.93704778e-01 -1.10619146e-01 -1.77261928e-02 9.95467984e+02] [ 1.10596271e-01 9.93862827e-01 -2.26860655e-03 1.09165507e+01] [ 1.78683554e-02 2.93874341e-04 9.99840305e-01 3.92337564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539999 meters 0.05158737242440479 Centerline is valid? [True, True] Translation: X:995.53, Y:10.92, Z:3.93 [[ 9.93320362e-01 -1.14142518e-01 -1.69158046e-02 9.95527870e+02] [ 1.14122194e-01 9.93464361e-01 -2.16510067e-03 1.09193262e+01] [ 1.70523791e-02 2.20169842e-04 9.99854573e-01 3.92607199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.779254154 meters 0.05144255274717578 Centerline is valid? [True, True] Translation: X:995.59, Y:10.92, Z:3.93 [[ 9.92794608e-01 -1.18947520e-01 -1.45035796e-02 9.95587635e+02] [ 1.18933089e-01 9.92900536e-01 -1.85658398e-03 1.09186264e+01] [ 1.46214481e-02 1.18251028e-04 9.99893094e-01 3.93228382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.839254154 meters 0.05110126217422359 Centerline is valid? [True, True] Translation: X:995.65, Y:10.93, Z:3.93 [[ 9.92789084e-01 -1.19034559e-01 -1.41636132e-02 9.95645567e+02] [ 1.19020795e-01 9.92890105e-01 -1.81378093e-03 1.09303758e+01] [ 1.42788140e-02 1.14937402e-04 9.99898046e-01 3.92702528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.899254154 meters 0.050865804602730824 Centerline is valid? [True, True] Translation: X:995.70, Y:10.94, Z:3.92 [[ 9.93093550e-01 -1.16233379e-01 -1.59687795e-02 9.95702611e+02] [ 1.16215509e-01 9.93221914e-01 -2.04563026e-03 1.09431810e+01] [ 1.60983122e-02 1.75682378e-04 9.99870398e-01 3.92453135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.959254154 meters 0.05148678538036136 Centerline is valid? [True, True] Translation: X:995.76, Y:10.95, Z:3.93 [[ 9.93483714e-01 -1.12567330e-01 -1.78523730e-02 9.95761647e+02] [ 1.12544398e-01 9.93644065e-01 -2.28729069e-03 1.09519858e+01] [ 1.79963786e-02 2.63201488e-04 9.99838017e-01 3.92637050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.019254154 meters 0.052249554021284034 Centerline is valid? [True, True] Translation: X:995.82, Y:10.96, Z:3.93 [[ 9.93644989e-01 -1.11045349e-01 -1.84001679e-02 9.95818616e+02] [ 1.11020714e-01 9.93815295e-01 -2.35812472e-03 1.09636720e+01] [ 1.85482270e-02 3.00339029e-04 9.99827922e-01 3.92602178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.079254154 meters 0.05171068041317621 Centerline is valid? [True, True] Translation: X:995.88, Y:10.97, Z:3.93 [[ 9.93426946e-01 -1.13173519e-01 -1.71655820e-02 9.95876093e+02] [ 1.13152387e-01 9.93575209e-01 -2.20046642e-03 1.09735455e+01] [ 1.73043312e-02 2.43676057e-04 9.99850239e-01 3.92591191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.139254154 meters 0.05201215775792676 Centerline is valid? [True, True] Translation: X:995.94, Y:10.98, Z:3.93 [[ 9.93082959e-01 -1.16285844e-01 -1.62431036e-02 9.95935174e+02] [ 1.16267326e-01 9.93215772e-01 -2.08297023e-03 1.09797800e+01] [ 1.63751266e-02 1.80020018e-04 9.99865902e-01 3.92835035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.199254154 meters 0.0520070206759393 Centerline is valid? [True, True] Translation: X:995.99, Y:10.98, Z:3.93 [[ 9.92862808e-01 -1.18132645e-01 -1.63744734e-02 9.95993336e+02] [ 1.18114051e-01 9.92997812e-01 -2.10141425e-03 1.09848763e+01] [ 1.65080619e-02 1.52360660e-04 9.99863721e-01 3.93130154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.259254154 meters 0.05184561551037853 Centerline is valid? [True, True] Translation: X:996.05, Y:11.00, Z:3.92 [[ 9.92532980e-01 -1.20862432e-01 -1.64486171e-02 9.96050982e+02] [ 1.20844017e-01 9.92669260e-01 -2.11256980e-03 1.09969048e+01] [ 1.65833669e-02 1.09078225e-04 9.99862481e-01 3.92137031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.319254154 meters 0.05223096828672172 Centerline is valid? [True, True] Translation: X:996.11, Y:11.00, Z:3.93 [[ 9.92172419e-01 -1.23761906e-01 -1.66397594e-02 9.96109825e+02] [ 1.23743450e-01 9.92311940e-01 -2.13815495e-03 1.09990589e+01] [ 1.67764540e-02 6.23571370e-05 9.99859263e-01 3.93071448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.379254154 meters 0.05281174955808458 Centerline is valid? [True, True] Translation: X:996.17, Y:11.01, Z:3.93 [[ 9.91891774e-01 -1.26043379e-01 -1.62411634e-02 9.96168576e+02] [ 1.26026081e-01 9.92024731e-01 -2.08824348e-03 1.10057935e+01] [ 1.63748450e-02 2.45013493e-05 9.99865923e-01 3.93193155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.439254154 meters 0.05122645412252718 Centerline is valid? [True, True] Translation: X:996.23, Y:11.01, Z:3.93 [[ 9.91758214e-01 -1.27152547e-01 -1.57440367e-02 9.96227399e+02] [ 1.27136406e-01 9.91883173e-01 -2.02596684e-03 1.10125401e+01] [ 1.58738520e-02 7.62900534e-06 9.99874002e-01 3.93049620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.499254154 meters 0.05258112390989339 Centerline is valid? [True, True] Translation: X:996.29, Y:11.02, Z:3.93 [[ 9.91693565e-01 -1.27620532e-01 -1.60272649e-02 9.96285085e+02] [ 1.27603851e-01 9.91823069e-01 -2.06336316e-03 1.10195533e+01] [ 1.61595385e-02 1.08325100e-06 9.99869426e-01 3.93283564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.559254154 meters 0.05220288478629416 Centerline is valid? [True, True] Translation: X:996.34, Y:11.03, Z:3.93 [[ 9.91818252e-01 -1.26783109e-01 -1.49197382e-02 9.96343280e+02] [ 1.26768546e-01 9.91930463e-01 -1.92160517e-03 1.10271205e+01] [ 1.50429699e-02 1.45295552e-05 9.99886848e-01 3.92990626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539999 meters 0.051851714430930125 Centerline is valid? [True, True] Translation: X:996.40, Y:11.04, Z:3.93 [[ 9.92237684e-01 -1.23453095e-01 -1.49569810e-02 9.96401784e+02] [ 1.23438057e-01 9.92350406e-01 -1.92795242e-03 1.10359191e+01] [ 1.50805779e-02 6.67263586e-05 9.99886279e-01 3.93278132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.679254154 meters 0.05175541094531616 Centerline is valid? [True, True] Translation: X:996.46, Y:11.05, Z:3.93 [[ 9.92794237e-01 -1.18934276e-01 -1.46369949e-02 9.96458585e+02] [ 1.18919371e-01 9.92902120e-01 -1.88760812e-03 1.10457829e+01] [ 1.47576046e-02 1.33384235e-04 9.99891092e-01 3.93122835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539999 meters 0.05191923429539682 Centerline is valid? [True, True] Translation: X:996.52, Y:11.05, Z:3.93 [[ 9.93243567e-01 -1.15200829e-01 -1.39994768e-02 9.96516967e+02] [ 1.15186804e-01 9.93342205e-01 -1.80672502e-03 1.10536641e+01] [ 1.41144074e-02 1.81963011e-04 9.99900370e-01 3.93206757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.799254154 meters 0.05254223991949008 Centerline is valid? [True, True] Translation: X:996.57, Y:11.06, Z:3.93 [[ 9.93519819e-01 -1.12905747e-01 -1.30637506e-02 9.96574095e+02] [ 1.12893326e-01 9.93605682e-01 -1.68676640e-03 1.10645596e+01] [ 1.31706625e-02 2.01025586e-04 9.99913243e-01 3.93077266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539999 meters 0.051792736421046044 Centerline is valid? [True, True] Translation: X:996.63, Y:11.07, Z:3.93 [[ 9.93699591e-01 -1.11444105e-01 -1.18884514e-02 9.96632780e+02] [ 1.11433700e-01 9.93770683e-01 -1.53607128e-03 1.10688349e+01] [ 1.19855805e-02 2.01619272e-04 9.99928150e-01 3.93248314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.919254154 meters 0.05105017547649741 Centerline is valid? [True, True] Translation: X:996.69, Y:11.08, Z:3.93 [[ 9.93837750e-01 -1.10290750e-01 -1.10669673e-02 9.96690296e+02] [ 1.10281653e-01 9.93899346e-01 -1.43077854e-03 1.10778534e+01] [ 1.11572532e-02 2.01478277e-04 9.99937736e-01 3.93192460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539999 meters 0.052322186565723044 Centerline is valid? [True, True] Translation: X:996.75, Y:11.09, Z:3.93 [[ 9.93837308e-01 -1.10361276e-01 -1.03824377e-02 9.96747350e+02] [ 1.10353268e-01 9.93891520e-01 -1.34276046e-03 1.10901199e+01] [ 1.04672056e-02 1.88749506e-04 9.99945199e-01 3.93020207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.039254154 meters 0.051151615304609675 Centerline is valid? [True, True] Translation: X:996.81, Y:11.09, Z:3.93 [[ 9.93723027e-01 -1.11352953e-01 -1.07268693e-02 9.96806263e+02] [ 1.11344453e-01 9.93780904e-01 -1.38824636e-03 1.10902783e+01] [ 1.08147432e-02 1.85154977e-04 9.99941502e-01 3.93197238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539999 meters 0.05143897246757922 Centerline is valid? [True, True] Translation: X:996.86, Y:11.10, Z:3.93 [[ 9.93656798e-01 -1.11908894e-01 -1.10709992e-02 9.96864270e+02] [ 1.11899859e-01 9.93718453e-01 -1.43419889e-03 1.10958362e+01] [ 1.11619558e-02 1.86258225e-04 9.99937686e-01 3.93211997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.159254154 meters 0.05198043187435222 Centerline is valid? [True, True] Translation: X:996.92, Y:11.10, Z:3.93 [[ 9.93530959e-01 -1.12906660e-01 -1.21786310e-02 9.96921498e+02] [ 1.12895790e-01 9.93605580e-01 -1.57860113e-03 1.11035349e+01] [ 1.22789903e-02 1.93472933e-04 9.99924592e-01 3.93099265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539999 meters 0.05140561340209265 Centerline is valid? [True, True] Translation: X:996.98, Y:11.11, Z:3.93 [[ 9.93333731e-01 -1.14610729e-01 -1.23482881e-02 9.96980681e+02] [ 1.14599672e-01 9.93410464e-01 -1.60166552e-03 1.11090653e+01] [ 1.24504867e-02 1.75878625e-04 9.99922474e-01 3.93060217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.279254154 meters 0.051519803380361884 Centerline is valid? [True, True] Translation: X:997.04, Y:11.12, Z:3.93 [[ 9.92997918e-01 -1.17542438e-01 -1.17860288e-02 9.97038140e+02] [ 1.17532564e-01 9.93067851e-01 -1.52939878e-03 1.11206528e+01] [ 1.18840955e-02 1.33447626e-04 9.99929373e-01 3.92746034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.339254154 meters 0.052077767528152345 Centerline is valid? [True, True] Translation: X:997.10, Y:11.12, Z:3.93 [[ 9.92322403e-01 -1.23298037e-01 -9.68720454e-03 9.97098666e+02] [ 1.23291637e-01 9.92369685e-01 -1.25738609e-03 1.11206114e+01] [ 9.76832135e-03 5.33810812e-05 9.99952287e-01 3.93190228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.399254154 meters 0.05190295608249683 Centerline is valid? [True, True] Translation: X:997.16, Y:11.13, Z:3.93 [[ 9.91594835e-01 -1.29057395e-01 -9.15814199e-03 9.97156245e+02] [ 1.29051917e-01 9.91637126e-01 -1.18907898e-03 1.11250878e+01] [ 9.23501303e-03 -2.79120392e-06 9.99957356e-01 3.93180206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.459254154 meters 0.05159550042366574 Centerline is valid? [True, True] Translation: X:997.21, Y:11.13, Z:3.93 [[ 9.91105345e-01 -1.32725019e-01 -9.70903150e-03 9.97213851e+02] [ 1.32719035e-01 9.91152898e-01 -1.26100999e-03 1.11304977e+01] [ 9.79050229e-03 -3.87795502e-05 9.99952071e-01 3.93112940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.519254154 meters 0.05141596912386666 Centerline is valid? [True, True] Translation: X:997.27, Y:11.14, Z:3.93 [[ 9.90953373e-01 -1.33779343e-01 -1.07004562e-02 9.97271007e+02] [ 1.33772130e-01 9.91011143e-01 -1.39021770e-03 1.11384186e+01] [ 1.07902537e-02 -5.37818974e-05 9.99941782e-01 3.93034111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.579254154 meters 0.05203757400513534 Centerline is valid? [True, True] Translation: X:997.33, Y:11.15, Z:3.93 [[ 9.91127158e-01 -1.32486666e-01 -1.06883408e-02 9.97329354e+02] [ 1.32479385e-01 9.91184787e-01 -1.38952634e-03 1.11498448e+01] [ 1.07782145e-02 -3.87875131e-05 9.99941913e-01 3.93151237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.639254154 meters 0.052076316168399944 Centerline is valid? [True, True] Translation: X:997.39, Y:11.16, Z:3.93 [[ 9.91390901e-01 -1.30432902e-01 -1.14603340e-02 9.97386586e+02] [ 1.30424377e-01 9.91457139e-01 -1.49136279e-03 1.11611109e+01] [ 1.15569527e-02 -1.61834168e-05 9.99933216e-01 3.93187692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.699254154 meters 0.05112324559173236 Centerline is valid? [True, True] Translation: X:997.44, Y:11.17, Z:3.93 [[ 9.91516897e-01 -1.29413301e-01 -1.21013039e-02 9.97443484e+02] [ 1.29403701e-01 9.91590741e-01 -1.57629541e-03 1.11701265e+01] [ 1.22035345e-02 -3.02997861e-06 9.99925534e-01 3.92872023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.759254154 meters 0.05171479070783201 Centerline is valid? [True, True] Translation: X:997.50, Y:11.18, Z:3.93 [[ 9.91667698e-01 -1.28484704e-01 -9.31975915e-03 9.97501712e+02] [ 1.28478960e-01 9.91711491e-01 -1.21495923e-03 1.11810626e+01] [ 9.39861592e-03 7.44285440e-06 9.99955832e-01 3.93273631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.819254154 meters 0.051781304549825574 Centerline is valid? [True, True] Translation: X:997.56, Y:11.19, Z:3.93 [[ 9.91718189e-01 -1.28167705e-01 -8.25061117e-03 9.97558746e+02] [ 1.28163187e-01 9.91752509e-01 -1.07616236e-03 1.11911057e+01] [ 8.32049359e-03 9.82516830e-06 9.99965384e-01 3.93273866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.879254154 meters 0.05103589284295412 Centerline is valid? [True, True] Translation: X:997.62, Y:11.20, Z:3.93 [[ 9.91726956e-01 -1.28128213e-01 -7.79781167e-03 9.97615298e+02] [ 1.28124174e-01 9.91757612e-01 -1.01746905e-03 1.12018525e+01] [ 7.86390557e-03 9.96330332e-06 9.99969079e-01 3.93218083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.939254154 meters 0.05185732290610731 Centerline is valid? [True, True] Translation: X:997.67, Y:11.21, Z:3.93 [[ 9.91832095e-01 -1.27272276e-01 -8.41806128e-03 9.97672690e+02] [ 1.27267531e-01 9.91867818e-01 -1.09912233e-03 1.12133501e+01] [ 8.48949187e-03 1.87989313e-05 9.99963963e-01 3.93104882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.999254154 meters 0.05190797855051699 Centerline is valid? [True, True] Translation: X:997.73, Y:11.22, Z:3.93 [[ 9.91935533e-01 -1.26451950e-01 -8.59089219e-03 9.97729915e+02] [ 1.26446969e-01 9.91972733e-01 -1.12273360e-03 1.12233895e+01] [ 8.66390266e-03 2.73870808e-05 9.99962467e-01 3.93138760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.059254154 meters 0.05188194384890422 Centerline is valid? [True, True] Translation: X:997.79, Y:11.24, Z:3.93 [[ 9.92132557e-01 -1.24813504e-01 -9.72513000e-03 9.97787546e+02] [ 1.24807029e-01 9.92180219e-01 -1.27223787e-03 1.12350547e+01] [ 9.80787408e-03 4.84640276e-05 9.99951900e-01 3.93124875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539999 meters 0.05211103947826967 Centerline is valid? [True, True] Translation: X:997.84, Y:11.25, Z:3.93 [[ 9.92326021e-01 -1.23106708e-01 -1.15675158e-02 9.97843733e+02] [ 1.23097421e-01 9.92393436e-01 -1.51413511e-03 1.12494650e+01] [ 1.16659269e-02 7.85843050e-05 9.99931948e-01 3.92833018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.179254154 meters 0.052509106035336595 Centerline is valid? [True, True] Translation: X:997.90, Y:11.26, Z:3.93 [[ 9.92429442e-01 -1.22183005e-01 -1.24545965e-02 9.97901418e+02] [ 1.22172152e-01 9.92507584e-01 -1.63137457e-03 1.12626432e+01] [ 1.25606078e-02 9.74192927e-05 9.99921108e-01 3.92780900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539999 meters 0.052380767226852795 Centerline is valid? [True, True] Translation: X:997.96, Y:11.27, Z:3.93 [[ 9.92236268e-01 -1.23934680e-01 -1.03626368e-02 9.97960370e+02] [ 1.23927251e-01 9.92290376e-01 -1.35842917e-03 1.12697811e+01] [ 1.04511013e-02 6.36695935e-05 9.99945384e-01 3.93171206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.299254154 meters 0.052556311817535485 Centerline is valid? [True, True] Translation: X:998.02, Y:11.28, Z:3.93 [[ 9.91867040e-01 -1.27005513e-01 -8.32911037e-03 9.98017750e+02] [ 1.27000818e-01 9.91902011e-01 -1.09238915e-03 1.12788797e+01] [ 8.40040077e-03 2.57009629e-05 9.99964716e-01 3.93238778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539999 meters 0.052900574418004935 Centerline is valid? [True, True] Translation: X:998.08, Y:11.29, Z:3.93 [[ 9.91663346e-01 -1.28654520e-01 -7.19874423e-03 9.98075695e+02] [ 1.28651052e-01 9.91689475e-01 -9.44669048e-04 1.12878386e+01] [ 7.26045483e-03 1.06676529e-05 9.99973642e-01 3.93406170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.419254154 meters 0.052681477684557595 Centerline is valid? [True, True] Translation: X:998.13, Y:11.30, Z:3.93 [[ 9.91593095e-01 -1.29098809e-01 -8.75392205e-03 9.98132883e+02] [ 1.29093692e-01 9.91631735e-01 -1.14951509e-03 1.12981404e+01] [ 8.82906794e-03 9.77511626e-06 9.99961023e-01 3.93206160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539999 meters 0.05246954951392396 Centerline is valid? [True, True] Translation: X:998.19, Y:11.31, Z:3.93 [[ 9.91541025e-01 -1.29455000e-01 -9.37015388e-03 9.98190323e+02] [ 1.29449144e-01 9.91585298e-01 -1.23134866e-03 1.13073159e+01] [ 9.45071107e-03 7.97430890e-06 9.99955341e-01 3.93236455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.539254154 meters 0.053271688826027994 Centerline is valid? [True, True] Translation: X:998.25, Y:11.32, Z:3.93 [[ 9.91523427e-01 -1.29582744e-01 -9.46603483e-03 9.98246872e+02] [ 1.29576766e-01 9.91568612e-01 -1.24480820e-03 1.13170410e+01] [ 9.54752868e-03 7.67832012e-06 9.99954421e-01 3.93167849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539999 meters 0.05264853647842964 Centerline is valid? [True, True] Translation: X:998.30, Y:11.33, Z:3.93 [[ 9.91744347e-01 -1.27961788e-01 -8.30243499e-03 9.98303671e+02] [ 1.27957127e-01 9.91779099e-01 -1.09235220e-03 1.13277525e+01] [ 8.37396083e-03 2.09783972e-05 9.99964938e-01 3.93238363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.659254154 meters 0.053298398774098164 Centerline is valid? [True, True] Translation: X:998.36, Y:11.34, Z:3.93 [[ 9.92270110e-01 -1.23768718e-01 -9.01851536e-03 9.98361174e+02] [ 1.23763037e-01 9.92311091e-01 -1.18750262e-03 1.13398505e+01] [ 9.09614849e-03 6.21645133e-05 9.99958627e-01 3.93169211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539999 meters 0.053216035341198134 Centerline is valid? [True, True] Translation: X:998.42, Y:11.35, Z:3.93 [[ 9.92794313e-01 -1.19440290e-01 -9.66790871e-03 9.98418661e+02] [ 1.19433550e-01 9.92841380e-01 -1.27363403e-03 1.13547955e+01] [ 9.75082304e-03 1.09783964e-04 9.99952454e-01 3.92993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.779254154 meters 0.05329982668827528 Centerline is valid? [True, True] Translation: X:998.48, Y:11.37, Z:3.93 [[ 9.93658819e-01 -1.12033223e-01 -9.52412242e-03 9.98478196e+02] [ 1.12026340e-01 9.93704445e-01 -1.25482280e-03 1.13661854e+01] [ 9.60474463e-03 1.79913166e-04 9.99953857e-01 3.93116312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.839254154 meters 0.054395154146457105 Centerline is valid? [True, True] Translation: X:998.54, Y:11.38, Z:3.93 [[ 9.94276105e-01 -1.06440798e-01 -9.24035258e-03 9.98535817e+02] [ 1.06434077e-01 9.94319016e-01 -1.21752703e-03 1.13823180e+01] [ 9.31745283e-03 2.27069633e-04 9.99956566e-01 3.93086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.899254154 meters 0.053300811705865245 Centerline is valid? [True, True] Translation: X:998.59, Y:11.39, Z:3.93 [[ 9.94595846e-01 -1.03579068e-01 -7.10487404e-03 9.98594506e+02] [ 1.03575020e-01 9.94621204e-01 -9.36265241e-04 1.13896293e+01] [ 7.16363585e-03 1.95318048e-04 9.99974322e-01 3.93255769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.959254154 meters 0.052317861291647075 Centerline is valid? [True, True] Translation: X:998.65, Y:11.39, Z:3.93 [[ 9.94692366e-01 -1.02719665e-01 -5.98067087e-03 9.98653708e+02] [ 1.02716780e-01 9.94710330e-01 -7.88438796e-04 1.13922536e+01] [ 6.03002327e-03 1.69938797e-04 9.99981805e-01 3.93297140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.019254154 meters 0.05256865936235824 Centerline is valid? [True, True] Translation: X:998.71, Y:11.40, Z:3.93 [[ 9.94658033e-01 -1.03031040e-01 -6.32479959e-03 9.98710736e+02] [ 1.03027814e-01 9.94678125e-01 -8.34603484e-04 1.14005185e+01] [ 6.37712987e-03 1.78514783e-04 9.99979650e-01 3.93293889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.079254154 meters 0.05457546107039158 Centerline is valid? [True, True] Translation: X:998.77, Y:11.42, Z:3.93 [[ 9.94621441e-01 -1.03308993e-01 -7.44585004e-03 9.98766768e+02] [ 1.03304524e-01 9.94649289e-01 -9.83282496e-04 1.14182876e+01] [ 7.50759137e-03 2.08803859e-04 9.99971796e-01 3.93086940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.139254154 meters 0.05354629341869641 Centerline is valid? [True, True] Translation: X:998.83, Y:11.42, Z:3.93 [[ 9.94699007e-01 -1.02398646e-01 -9.40232785e-03 9.98826536e+02] [ 1.02391472e-01 9.94743406e-01 -1.24243723e-03 1.14164495e+01] [ 9.48012751e-03 2.73132886e-04 9.99955025e-01 3.93074709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.199254154 meters 0.05302148544837146 Centerline is valid? [True, True] Translation: X:998.89, Y:11.42, Z:3.93 [[ 9.94779698e-01 -1.01453488e-01 -1.09792053e-02 9.98885495e+02] [ 1.01443641e-01 9.94840229e-01 -1.45146948e-03 1.14225515e+01] [ 1.10698117e-02 3.30121803e-04 9.99938673e-01 3.93089253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.259254154 meters 0.054188631449475964 Centerline is valid? [True, True] Translation: X:998.94, Y:11.43, Z:3.93 [[ 9.94726180e-01 -1.02029958e-01 -1.04744847e-02 9.98942681e+02] [ 1.02021023e-01 9.94781278e-01 -1.38522975e-03 1.14331000e+01] [ 1.05611562e-02 3.09306649e-04 9.99944182e-01 3.93017309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.319254154 meters 0.05339793594092929 Centerline is valid? [True, True] Translation: X:999.00, Y:11.43, Z:3.93 [[ 9.94483827e-01 -1.04514280e-01 -8.87033846e-03 9.99003044e+02] [ 1.04507969e-01 9.94523357e-01 -1.17332238e-03 1.14329165e+01] [ 8.94438773e-03 2.39829074e-04 9.99959969e-01 3.93263123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.379254154 meters 0.053087454030031025 Centerline is valid? [True, True] Translation: X:999.06, Y:11.44, Z:3.93 [[ 9.94179313e-01 -1.07454176e-01 -7.81623511e-03 9.99061502e+02] [ 1.07449366e-01 9.94210020e-01 -1.03398052e-03 1.14412337e+01] [ 7.88208479e-03 1.88112535e-04 9.99968918e-01 3.93347106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.439254154 meters 0.05316267614338987 Centerline is valid? [True, True] Translation: X:999.12, Y:11.45, Z:3.93 [[ 9.94138345e-01 -1.07808341e-01 -8.14331540e-03 9.99119384e+02] [ 1.07803127e-01 9.94171677e-01 -1.07782994e-03 1.14462545e+01] [ 8.21205259e-03 1.93637203e-04 9.99966262e-01 3.93315322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.499254154 meters 0.05309475486909793 Centerline is valid? [True, True] Translation: X:999.18, Y:11.45, Z:3.93 [[ 9.94480680e-01 -1.04477298e-01 -9.62664958e-03 9.99179795e+02] [ 1.04469850e-01 9.94527237e-01 -1.27472454e-03 1.14514897e+01] [ 9.70714499e-03 2.61994295e-04 9.99952850e-01 3.93190231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.559254154 meters 0.05294758345727446 Centerline is valid? [True, True] Translation: X:999.24, Y:11.46, Z:3.93 [[ 9.95036311e-01 -9.90095892e-02 -9.99206638e-03 9.99239108e+02] [ 9.90012889e-02 9.95086425e-01 -1.32314180e-03 1.14595570e+01] [ 1.00739733e-02 3.27346684e-04 9.99949203e-01 3.93201810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539999 meters 0.052768278336052805 Centerline is valid? [True, True] Translation: X:999.30, Y:11.47, Z:3.93 [[ 9.95541810e-01 -9.38267553e-02 -9.64600773e-03 9.99299061e+02] [ 9.38187767e-02 9.95588472e-01 -1.27733195e-03 1.14666656e+01] [ 9.72330201e-03 3.66660720e-04 9.99952660e-01 3.93248346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.679254154 meters 0.05208526094009219 Centerline is valid? [True, True] Translation: X:999.36, Y:11.47, Z:3.93 [[ 9.95796777e-01 -9.11400626e-02 -9.07014747e-03 9.99359144e+02] [ 9.11328966e-02 9.95838015e-01 -1.20111422e-03 1.14685096e+01] [ 9.14186728e-03 3.69476863e-04 9.99958144e-01 3.93356598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539999 meters 0.0503583892820553 Centerline is valid? [True, True] Translation: X:999.42, Y:11.47, Z:3.93 [[ 9.95801857e-01 -9.10805785e-02 -9.10984524e-03 9.99418626e+02] [ 9.10733415e-02 9.95843456e-01 -1.20698621e-03 1.14691897e+01] [ 9.18191278e-03 3.72255062e-04 9.99957776e-01 3.93338258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.799254154 meters 0.05136107024210141 Centerline is valid? [True, True] Translation: X:999.48, Y:11.47, Z:3.93 [[ 9.95768830e-01 -9.13678057e-02 -9.81634979e-03 9.99476819e+02] [ 9.13594044e-02 9.95817134e-01 -1.30182473e-03 1.14737028e+01] [ 9.89423419e-03 3.99500619e-04 9.99950971e-01 3.93359112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539999 meters 0.05333924438511394 Centerline is valid? [True, True] Translation: X:999.53, Y:11.49, Z:3.93 [[ 9.95788985e-01 -9.11601118e-02 -9.70215730e-03 9.99532719e+02] [ 9.11518867e-02 9.95836169e-01 -1.28752250e-03 1.14915812e+01] [ 9.77912986e-03 3.97730776e-04 9.99952104e-01 3.93227429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.919254154 meters 0.05141325659113284 Centerline is valid? [True, True] Translation: X:999.59, Y:11.49, Z:3.93 [[ 9.96002547e-01 -8.89111668e-02 -8.58662208e-03 9.99593731e+02] [ 8.89046388e-02 9.96039490e-01 -1.13973942e-03 1.14879726e+01] [ 8.65395024e-03 3.71792835e-04 9.99962485e-01 3.93407121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539999 meters 0.05239889137549517 Centerline is valid? [True, True] Translation: X:999.65, Y:11.50, Z:3.93 [[ 9.96069617e-01 -8.80900330e-02 -9.24472632e-03 9.99651023e+02] [ 8.80824288e-02 9.96112433e-01 -1.22730565e-03 1.14991149e+01] [ 9.31690023e-03 4.08183924e-04 9.99956513e-01 3.93231605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.039254154 meters 0.051775477329292115 Centerline is valid? [True, True] Translation: X:999.71, Y:11.50, Z:3.93 [[ 9.96036687e-01 -8.85134072e-02 -8.73474047e-03 9.99709591e+02] [ 8.85066295e-02 9.96074912e-01 -1.16023217e-03 1.15034330e+01] [ 8.80315194e-03 3.82551367e-04 9.99961178e-01 3.93218715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539999 meters 0.050127018094752854 Centerline is valid? [True, True] Translation: X:999.77, Y:11.50, Z:3.93 [[ 9.95994857e-01 -8.89958810e-02 -8.60110155e-03 9.99770148e+02] [ 8.89893189e-02 9.96031924e-01 -1.14342334e-03 1.14957955e+01] [ 8.66873170e-03 3.73437593e-04 9.99962356e-01 3.93306298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.159254154 meters 0.05130551369925081 Centerline is valid? [True, True] Translation: X:999.83, Y:11.51, Z:3.93 [[ 9.96057378e-01 -8.80828408e-02 -1.05410336e-02 9.99826842e+02] [ 8.80729254e-02 9.96113043e-01 -1.40208934e-03 1.15108050e+01] [ 1.06235611e-02 4.68181760e-04 9.99943459e-01 3.93107749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539999 meters 0.04939639172182439 Centerline is valid? [True, True] Translation: X:999.89, Y:11.51, Z:3.93 [[ 9.96100805e-01 -8.74557106e-02 -1.16054014e-02 9.99886580e+02] [ 8.74436452e-02 9.96168271e-01 -1.54399620e-03 1.15106504e+01] [ 1.16959639e-02 5.23157263e-04 9.99931463e-01 3.93219783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.279254154 meters 0.04937528518472234 Centerline is valid? [True, True] Translation: X:999.95, Y:11.52, Z:3.93 [[ 9.96011421e-01 -8.85099297e-02 -1.12801871e-02 9.99945600e+02] [ 8.84985890e-02 9.96075170e-01 -1.50157423e-03 1.15169508e+01] [ 1.13688185e-02 4.97304440e-04 9.99935249e-01 3.93274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.339254154 meters 0.05226501431468719 Centerline is valid? [True, True] Translation: X:1000.00, Y:11.54, Z:3.93 [[ 9.95817197e-01 -9.09097451e-02 -9.13939931e-03 1.00000273e+03] [ 9.09023979e-02 9.95859063e-01 -1.21698318e-03 1.15409434e+01] [ 9.21218926e-03 3.81099472e-04 9.99957494e-01 3.93129361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.399254154 meters 0.05101437514319088 Centerline is valid? [True, True] Translation: X:1000.06, Y:11.54, Z:3.93 [[ 9.95653701e-01 -9.27515439e-02 -8.41772350e-03 1.00006369e+03] [ 9.27453760e-02 9.95689228e-01 -1.12099616e-03 1.15354602e+01] [ 8.48541074e-03 3.35419047e-04 9.99963942e-01 3.93362378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.459254154 meters 0.05033164776052319 Centerline is valid? [True, True] Translation: X:1000.12, Y:11.55, Z:3.93 [[ 9.95569018e-01 -9.36164194e-02 -8.84853170e-03 1.00012091e+03] [ 9.36096328e-02 9.95608280e-01 -1.17896411e-03 1.15478399e+01] [ 8.92004182e-03 3.45432334e-04 9.99960156e-01 3.93270590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.519254154 meters 0.049946280130675966 Centerline is valid? [True, True] Translation: X:1000.18, Y:11.55, Z:3.93 [[ 9.95592283e-01 -9.33972409e-02 -8.54180379e-03 1.00018034e+03] [ 9.33909006e-02 9.95628868e-01 -1.13902191e-03 1.15480380e+01] [ 8.61084794e-03 3.36274671e-04 9.99962869e-01 3.93413073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.579254154 meters 0.050615698825783206 Centerline is valid? [True, True] Translation: X:1000.24, Y:11.56, Z:3.93 [[ 9.95634322e-01 -9.28922645e-02 -9.12825484e-03 1.00023798e+03] [ 9.28849952e-02 9.95676099e-01 -1.21802395e-03 1.15586113e+01] [ 9.20193018e-03 3.64828543e-04 9.99957595e-01 3.93407890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.639254154 meters 0.05135811803361569 Centerline is valid? [True, True] Translation: X:1000.29, Y:11.57, Z:3.93 [[ 9.95675105e-01 -9.23053380e-02 -1.05265978e-02 1.00029487e+03] [ 9.22956307e-02 9.95730657e-01 -1.40529796e-03 1.15724124e+01] [ 1.06113727e-02 4.27661209e-04 9.99943606e-01 3.93390555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.699254154 meters 0.05199744683082232 Centerline is valid? [True, True] Translation: X:1000.35, Y:11.59, Z:3.93 [[ 9.95785556e-01 -9.10046180e-02 -1.13704219e-02 1.00035232e+03] [ 9.09932025e-02 9.95850356e-01 -1.51837068e-03 1.15873967e+01] [ 1.14614175e-02 4.77340491e-04 9.99934202e-01 3.93323232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.759254154 meters 0.05295253121061561 Centerline is valid? [True, True] Translation: X:1000.41, Y:11.60, Z:3.93 [[ 9.95792316e-01 -9.08528231e-02 -1.19761203e-02 1.00041051e+03] [ 9.08401368e-02 9.95864202e-01 -1.60018074e-03 1.15962373e+01] [ 1.20719704e-02 5.05535284e-04 9.99927003e-01 3.93432939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.819254154 meters 0.05077264347992324 Centerline is valid? [True, True] Translation: X:1000.47, Y:11.60, Z:3.94 [[ 9.95736685e-01 -9.13920994e-02 -1.24874963e-02 1.00046950e+03] [ 9.13783317e-02 9.95814848e-01 -1.66986098e-03 1.15957696e+01] [ 1.25878463e-02 5.21655261e-04 9.99920634e-01 3.93720567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.879254154 meters 0.052474171174664935 Centerline is valid? [True, True] Translation: X:1000.53, Y:11.61, Z:3.94 [[ 9.95612642e-01 -9.25954167e-02 -1.34742901e-02 1.00052638e+03] [ 9.25794777e-02 9.95703665e-01 -1.80323783e-03 1.16099828e+01] [ 1.35833716e-02 5.47883635e-04 9.99907592e-01 3.93630068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.939254154 meters 0.053959950976424295 Centerline is valid? [True, True] Translation: X:1000.58, Y:11.62, Z:3.93 [[ 9.95600407e-01 -9.27291839e-02 -1.34583757e-02 1.00058253e+03] [ 9.27132846e-02 9.95691217e-01 -1.80186261e-03 1.16248079e+01] [ 1.35674717e-02 5.46164933e-04 9.99907808e-01 3.93484902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.999254154 meters 0.05171734132789385 Centerline is valid? [True, True] Translation: X:1000.64, Y:11.62, Z:3.94 [[ 9.95588558e-01 -9.27968119e-02 -1.38627380e-02 1.00064182e+03] [ 9.27799324e-02 9.95684907e-01 -1.85720752e-03 1.16247639e+01] [ 1.39752620e-02 5.62830664e-04 9.99902183e-01 3.93845349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.059254154 meters 0.052202525559787494 Centerline is valid? [True, True] Translation: X:1000.70, Y:11.63, Z:3.94 [[ 9.95599599e-01 -9.26496642e-02 -1.40527305e-02 1.00070000e+03] [ 9.26322830e-02 9.95698604e-01 -1.88415550e-03 1.16342599e+01] [ 1.41668505e-02 5.74127945e-04 9.99899480e-01 3.93942888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539999 meters 0.05315288644208566 Centerline is valid? [True, True] Translation: X:1000.76, Y:11.64, Z:3.94 [[ 9.95687519e-01 -9.16732648e-02 -1.42259209e-02 1.00075930e+03] [ 9.16553448e-02 9.95788962e-01 -1.90795307e-03 1.16428546e+01] [ 1.43409233e-02 5.95843381e-04 9.99896986e-01 3.94097983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.179254154 meters 0.05466349467947571 Centerline is valid? [True, True] Translation: X:1000.81, Y:11.66, Z:3.94 [[ 9.95606924e-01 -9.24635902e-02 -1.47423394e-02 1.00081493e+03] [ 9.24444248e-02 9.95715882e-01 -1.97768759e-03 1.16620178e+01] [ 1.48620455e-02 6.06152378e-04 9.99889370e-01 3.93877531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539999 meters 0.0529169806577517 Centerline is valid? [True, True] Translation: X:1000.88, Y:11.66, Z:3.94 [[ 9.95248370e-01 -9.62400592e-02 -1.47828463e-02 1.00087510e+03] [ 9.62212015e-02 9.95357999e-01 -1.98329632e-03 1.16626821e+01] [ 1.49050969e-02 5.51449196e-04 9.99888761e-01 3.94162205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.299254154 meters 0.05345350630470659 Centerline is valid? [True, True] Translation: X:1000.93, Y:11.67, Z:3.94 [[ 9.94756474e-01 -1.01248636e-01 -1.44315917e-02 1.00093286e+03] [ 1.01231187e-01 9.94861044e-01 -1.93639511e-03 1.16733243e+01] [ 1.45534858e-02 4.65314408e-04 9.99893984e-01 3.94114227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539999 meters 0.05216570833665553 Centerline is valid? [True, True] Translation: X:1000.99, Y:11.67, Z:3.94 [[ 9.94341755e-01 -1.05272354e-01 -1.42198840e-02 1.00099394e+03] [ 1.05255824e-01 9.94443347e-01 -1.90802570e-03 1.16730693e+01] [ 1.43417314e-02 4.00504019e-04 9.99897072e-01 3.94446043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.419254154 meters 0.05292911501856937 Centerline is valid? [True, True] Translation: X:1001.05, Y:11.68, Z:3.94 [[ 9.93845471e-01 -1.09829380e-01 -1.44459731e-02 1.00105223e+03] [ 1.09812800e-01 9.93950397e-01 -1.93843379e-03 1.16837978e+01] [ 1.45714776e-02 3.40150899e-04 9.99893772e-01 3.94232530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539999 meters 0.05122570269121539 Centerline is valid? [True, True] Translation: X:1001.11, Y:11.69, Z:3.94 [[ 9.93216083e-01 -1.15178250e-01 -1.59932382e-02 1.00111163e+03] [ 1.15158618e-01 9.93344798e-01 -2.14619069e-03 1.16889647e+01] [ 1.61339944e-02 2.89871918e-04 9.99869797e-01 3.94282240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.539254154 meters 0.05254804480406048 Centerline is valid? [True, True] Translation: X:1001.17, Y:11.70, Z:3.94 [[ 9.92501611e-01 -1.21046669e-01 -1.69780927e-02 1.00117023e+03] [ 1.21025397e-01 9.92646796e-01 -2.27860539e-03 1.16963770e+01] [ 1.71290669e-02 2.06739118e-04 9.99853265e-01 3.94228139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539999 meters 0.05234752594310598 Centerline is valid? [True, True] Translation: X:1001.23, Y:11.70, Z:3.94 [[ 9.91806801e-01 -1.26731312e-01 -1.60761744e-02 1.00122980e+03] [ 1.26712982e-01 9.91937077e-01 -2.15783003e-03 1.17009266e+01] [ 1.62200181e-02 1.03090512e-04 9.99868442e-01 3.94410714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.659254154 meters 0.05226776875819263 Centerline is valid? [True, True] Translation: X:1001.29, Y:11.71, Z:3.94 [[ 9.91387355e-01 -1.30182260e-01 -1.42720949e-02 1.00128719e+03] [ 1.30168163e-01 9.91490079e-01 -1.91617873e-03 1.17080129e+01] [ 1.44000930e-02 4.19029772e-05 9.99896312e-01 3.94243240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539999 meters 0.052287974697578996 Centerline is valid? [True, True] Translation: X:1001.35, Y:11.72, Z:3.95 [[ 9.91518924e-01 -1.29369056e-01 -1.24044645e-02 1.00134553e+03] [ 1.29358329e-01 9.91596513e-01 -1.66659534e-03 1.17166901e+01] [ 1.25158296e-02 4.78400179e-05 9.99921673e-01 3.94561798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.779254154 meters 0.052648418630318806 Centerline is valid? [True, True] Translation: X:1001.40, Y:11.73, Z:3.94 [[ 9.92362374e-01 -1.22750245e-01 -1.22186471e-02 1.00140296e+03] [ 1.22739327e-01 9.92437585e-01 -1.64230424e-03 1.17319924e+01] [ 1.23278379e-02 1.30052411e-04 9.99924001e-01 3.94327830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.839254154 meters 0.05314673972258117 Centerline is valid? [True, True] Translation: X:1001.46, Y:11.74, Z:3.94 [[ 9.93011983e-01 -1.17143780e-01 -1.43016415e-02 1.00146165e+03] [ 1.17128237e-01 9.93114938e-01 -1.92247843e-03 1.17446041e+01] [ 1.44283802e-02 2.33918069e-04 9.99895878e-01 3.94157527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.899254154 meters 0.052701169573186823 Centerline is valid? [True, True] Translation: X:1001.52, Y:11.75, Z:3.94 [[ 9.93228753e-01 -1.15136671e-01 -1.54981170e-02 1.00152012e+03] [ 1.15118170e-01 9.93349619e-01 -2.08362510e-03 1.17538978e+01] [ 1.56349502e-02 2.85401495e-04 9.99877726e-01 3.94188263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.959254154 meters 0.0527254433906395 Centerline is valid? [True, True] Translation: X:1001.58, Y:11.76, Z:3.95 [[ 9.93198167e-01 -1.15613153e-01 -1.38203114e-02 1.00157941e+03] [ 1.15598471e-01 9.93294285e-01 -1.85921555e-03 1.17580924e+01] [ 1.39425861e-02 2.48962610e-04 9.99902766e-01 3.94626207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.019254154 meters 0.053108753936023254 Centerline is valid? [True, True] Translation: X:1001.64, Y:11.77, Z:3.95 [[ 9.92801271e-01 -1.19107278e-01 -1.26131597e-02 1.00163801e+03] [ 1.19095324e-01 9.92881374e-01 -1.69735171e-03 1.17672354e+01] [ 1.27255383e-02 1.82964588e-04 9.99919010e-01 3.94598677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.079254154 meters 0.05343011411194294 Centerline is valid? [True, True] Translation: X:1001.70, Y:11.77, Z:3.95 [[ 9.92405278e-01 -1.22472634e-01 -1.14986044e-02 1.00169690e+03] [ 1.22462914e-01 9.92471882e-01 -1.54825981e-03 1.17692744e+01] [ 1.16016610e-02 1.28348602e-04 9.99932690e-01 3.94851207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.139254154 meters 0.05286925777397562 Centerline is valid? [True, True] Translation: X:1001.75, Y:11.78, Z:3.95 [[ 9.92048123e-01 -1.25354705e-01 -1.12570138e-02 1.00175450e+03] [ 1.25345567e-01 9.92111984e-01 -1.51646176e-03 1.17771433e+01] [ 1.13583139e-02 9.33862724e-05 9.99935488e-01 3.94653742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.199254154 meters 0.052872093794095264 Centerline is valid? [True, True] Translation: X:1001.81, Y:11.78, Z:3.95 [[ 9.92103817e-01 -1.24811603e-01 -1.23320990e-02 1.00181279e+03] [ 1.24800580e-01 9.92180453e-01 -1.66242468e-03 1.17820267e+01] [ 1.24431575e-02 1.10244751e-04 9.99922575e-01 3.94778520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.259254154 meters 0.05267834769183182 Centerline is valid? [True, True] Translation: X:1001.87, Y:11.79, Z:3.95 [[ 9.92237284e-01 -1.23698895e-01 -1.27966832e-02 1.00187157e+03] [ 1.23686913e-01 9.92319790e-01 -1.72656666e-03 1.17885163e+01] [ 1.29119764e-02 1.30381560e-04 9.99916628e-01 3.94897410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.319254154 meters 0.05232267230283193 Centerline is valid? [True, True] Translation: X:1001.93, Y:11.80, Z:3.95 [[ 9.92232555e-01 -1.23764059e-01 -1.25305815e-02 1.00192838e+03] [ 1.23752566e-01 9.92311665e-01 -1.69147855e-03 1.17967541e+01] [ 1.26435864e-02 1.27648468e-04 9.99920058e-01 3.94905516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.379254154 meters 0.0525502185979767 Centerline is valid? [True, True] Translation: X:1001.99, Y:11.80, Z:3.95 [[ 9.91987203e-01 -1.25921923e-01 -1.02498169e-02 1.00198614e+03] [ 1.25914344e-01 9.92040152e-01 -1.38399824e-03 1.18027861e+01] [ 1.03425057e-02 8.23095700e-05 9.99946511e-01 3.95054029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.439254154 meters 0.05194668350155849 Centerline is valid? [True, True] Translation: X:1002.04, Y:11.81, Z:3.95 [[ 9.91899117e-01 -1.26633902e-01 -9.99988279e-03 1.00204369e+03] [ 1.26626720e-01 9.91949520e-01 -1.35064842e-03 1.18104942e+01] [ 1.00904168e-02 7.34546105e-05 9.99949088e-01 3.95012423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.499254154 meters 0.05181191041415634 Centerline is valid? [True, True] Translation: X:1002.10, Y:11.82, Z:3.95 [[ 9.92064945e-01 -1.25292773e-01 -1.04339276e-02 1.00210186e+03] [ 1.25284871e-01 9.92119808e-01 -1.41014744e-03 1.18200435e+01] [ 1.05283875e-02 9.17445748e-05 9.99944571e-01 3.94938199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.559254154 meters 0.05217110864213898 Centerline is valid? [True, True] Translation: X:1002.16, Y:11.83, Z:3.95 [[ 9.92421700e-01 -1.22181923e-01 -1.30670455e-02 1.00216018e+03] [ 1.22169249e-01 9.92507709e-01 -1.76676684e-03 1.18292189e+01] [ 1.31850104e-02 1.56986615e-04 9.99913062e-01 3.94845777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539999 meters 0.052365626463549614 Centerline is valid? [True, True] Translation: X:1002.22, Y:11.83, Z:3.95 [[ 9.92612232e-01 -1.20381053e-01 -1.51446303e-02 1.00221918e+03] [ 1.20363813e-01 9.92727736e-01 -2.04806473e-03 1.18344978e+01] [ 1.52810428e-02 2.10068651e-04 9.99883216e-01 3.95020190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.679254154 meters 0.0519999248451791 Centerline is valid? [True, True] Translation: X:1002.28, Y:11.84, Z:3.95 [[ 9.92349040e-01 -1.22505994e-01 -1.53513630e-02 1.00227688e+03] [ 1.22488525e-01 9.92467757e-01 -2.07660060e-03 1.18415410e+01] [ 1.54901289e-02 1.80346791e-04 9.99880004e-01 3.94990464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539999 meters 0.0523166659234606 Centerline is valid? [True, True] Translation: X:1002.34, Y:11.85, Z:3.95 [[ 9.91777960e-01 -1.27193614e-01 -1.40806150e-02 1.00233633e+03] [ 1.27179385e-01 9.91877903e-01 -1.90502272e-03 1.18452596e+01] [ 1.42085576e-02 9.85955812e-05 9.99899048e-01 3.95079911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.799254154 meters 0.05216923799761889 Centerline is valid? [True, True] Translation: X:1002.40, Y:11.85, Z:3.95 [[ 9.91169727e-01 -1.31869629e-01 -1.38914479e-02 1.00239504e+03] [ 1.31856222e-01 9.91267068e-01 -1.88064831e-03 1.18485491e+01] [ 1.40181352e-02 3.23678405e-05 9.99901741e-01 3.95089861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539999 meters 0.051616112683416676 Centerline is valid? [True, True] Translation: X:1002.45, Y:11.85, Z:3.95 [[ 9.90916718e-01 -1.33667125e-01 -1.47362642e-02 1.00245397e+03] [ 1.33652212e-01 9.91026286e-01 -1.99666336e-03 1.18538794e+01] [ 1.48709135e-02 8.99279627e-06 9.99889422e-01 3.95072014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.919254154 meters 0.05210465437835541 Centerline is valid? [True, True] Translation: X:1002.51, Y:11.86, Z:3.95 [[ 9.90938856e-01 -1.33444524e-01 -1.52559334e-02 1.00251228e+03] [ 1.33428486e-01 9.91056284e-01 -2.06887874e-03 1.18596376e+01] [ 1.53955692e-02 1.45562333e-05 9.99881481e-01 3.95317887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539999 meters 0.05118649178964005 Centerline is valid? [True, True] Translation: X:1002.57, Y:11.87, Z:3.95 [[ 9.91330572e-01 -1.30601374e-01 -1.43867555e-02 1.00256972e+03] [ 1.30586785e-01 9.91434959e-01 -1.95287841e-03 1.18676058e+01] [ 1.45185810e-02 5.72279150e-05 9.99894598e-01 3.95415452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.039254154 meters 0.05145200394950641 Centerline is valid? [True, True] Translation: X:1002.63, Y:11.88, Z:3.95 [[ 9.91777873e-01 -1.27287900e-01 -1.32076243e-02 1.00262650e+03] [ 1.27275296e-01 9.91865808e-01 -1.79389428e-03 1.18796022e+01] [ 1.33285320e-02 9.81403532e-05 9.99911166e-01 3.95261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539999 meters 0.05101822790373015 Centerline is valid? [True, True] Translation: X:1002.68, Y:11.89, Z:3.95 [[ 9.92146849e-01 -1.24586029e-01 -1.10883312e-02 1.00268457e+03] [ 1.24576966e-01 9.92208803e-01 -1.50704057e-03 1.18888306e+01] [ 1.11896960e-02 1.13854899e-04 9.99937387e-01 3.95496772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.159254154 meters 0.051997341058125215 Centerline is valid? [True, True] Translation: X:1002.74, Y:11.90, Z:3.95 [[ 9.92550348e-01 -1.21355920e-01 -1.07957322e-02 1.00274217e+03] [ 1.21347131e-01 9.92609046e-01 -1.46785019e-03 1.18993239e+01] [ 1.08940738e-02 1.46884075e-04 9.99940647e-01 3.95476392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539999 meters 0.0520246789647053 Centerline is valid? [True, True] Translation: X:1002.80, Y:11.91, Z:3.95 [[ 9.92905447e-01 -1.18376744e-01 -1.12124956e-02 1.00280049e+03] [ 1.18367071e-01 9.92968737e-01 -1.52477865e-03 1.19100634e+01] [ 1.13141560e-02 1.86770767e-04 9.99935975e-01 3.95458394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.279254154 meters 0.05259366933332642 Centerline is valid? [True, True] Translation: X:1002.86, Y:11.92, Z:3.95 [[ 9.93225596e-01 -1.15559616e-01 -1.22020941e-02 1.00285898e+03] [ 1.15547943e-01 9.93300518e-01 -1.65964213e-03 1.19197262e+01] [ 1.23121340e-02 2.38472163e-04 9.99924174e-01 3.95441943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.339254154 meters 0.05202712855461269 Centerline is valid? [True, True] Translation: X:1002.92, Y:11.93, Z:3.95 [[ 9.93346941e-01 -1.14314897e-01 -1.39269286e-02 1.00291817e+03] [ 1.14299566e-01 9.93444523e-01 -1.89449974e-03 1.19264226e+01] [ 1.40522005e-02 2.90053629e-04 9.99901221e-01 3.95436984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.399254154 meters 0.05177594675063742 Centerline is valid? [True, True] Translation: X:1002.98, Y:11.93, Z:3.96 [[ 9.93226824e-01 -1.15299350e-01 -1.43713316e-02 1.00297712e+03] [ 1.15283109e-01 9.93330750e-01 -1.95623056e-03 1.19279558e+01] [ 1.45010377e-02 2.86208876e-04 9.99894813e-01 3.95640324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.459254154 meters 0.05152785748042192 Centerline is valid? [True, True] Translation: X:1003.04, Y:11.93, Z:3.96 [[ 9.92733225e-01 -1.19437296e-01 -1.46790957e-02 1.00303726e+03] [ 1.19420795e-01 9.92841719e-01 -1.99867655e-03 1.19325252e+01] [ 1.48127351e-02 2.31163336e-04 9.99890259e-01 3.95777886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.519254154 meters 0.05212884836391036 Centerline is valid? [True, True] Translation: X:1003.10, Y:11.94, Z:3.96 [[ 9.91964297e-01 -1.25781220e-01 -1.36351928e-02 1.00309715e+03] [ 1.25767579e-01 9.92057997e-01 -1.85673404e-03 1.19355222e+01] [ 1.37604443e-02 1.26948692e-04 9.99905313e-01 3.95880518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.579254154 meters 0.05129388048801515 Centerline is valid? [True, True] Translation: X:1003.16, Y:11.94, Z:3.96 [[ 9.91249405e-01 -1.31426706e-01 -1.23141101e-02 1.00315565e+03] [ 1.31416011e-01 9.91325889e-01 -1.67718227e-03 1.19395597e+01] [ 1.24277227e-02 4.42347039e-05 9.99922772e-01 3.95984645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.639254154 meters 0.0518848673820154 Centerline is valid? [True, True] Translation: X:1003.21, Y:11.95, Z:3.96 [[ 9.90959580e-01 -1.33730739e-01 -1.07331483e-02 1.00321408e+03] [ 1.33722739e-01 9.91017704e-01 -1.46278682e-03 1.19454715e+01] [ 1.08323595e-02 1.42966232e-05 9.99941328e-01 3.96024462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.699254154 meters 0.05106447744849824 Centerline is valid? [True, True] Translation: X:1003.27, Y:11.95, Z:3.96 [[ 9.91211379e-01 -1.31893049e-01 -1.02091367e-02 1.00327069e+03] [ 1.31885706e-01 9.91263952e-01 -1.39219224e-03 1.19547762e+01] [ 1.03035697e-02 3.35175896e-05 9.99946916e-01 3.95849783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.759254154 meters 0.05219337457958777 Centerline is valid? [True, True] Translation: X:1003.33, Y:11.97, Z:3.96 [[ 9.91801534e-01 -1.27406179e-01 -9.86832019e-03 1.00332874e+03] [ 1.27399086e-01 9.91850624e-01 -1.34660664e-03 1.19660363e+01] [ 9.95946554e-03 7.83515610e-05 9.99950400e-01 3.95740090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.819254154 meters 0.05149087651899088 Centerline is valid? [True, True] Translation: X:1003.39, Y:11.98, Z:3.96 [[ 9.92548598e-01 -1.21357802e-01 -1.09345886e-02 1.00338668e+03] [ 1.21348720e-01 9.92608815e-01 -1.49270040e-03 1.19794149e+01] [ 1.10349198e-02 1.54679359e-04 9.99939101e-01 3.95509359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.879254154 meters 0.05111122864510032 Centerline is valid? [True, True] Translation: X:1003.45, Y:11.98, Z:3.96 [[ 9.93195821e-01 -1.15864867e-01 -1.17214802e-02 1.00344697e+03] [ 1.15854047e-01 9.93264959e-01 -1.60025099e-03 1.19844672e+01] [ 1.18279485e-02 2.31381672e-04 9.99930021e-01 3.95619373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.939254154 meters 0.05152320987061441 Centerline is valid? [True, True] Translation: X:1003.51, Y:11.99, Z:3.96 [[ 9.93523664e-01 -1.12958294e-01 -1.22944617e-02 1.00350563e+03] [ 1.12946165e-01 9.93599691e-01 -1.67871905e-03 1.19921701e+01] [ 1.24053986e-02 2.79234799e-04 9.99923011e-01 3.95524194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.999254154 meters 0.051120352012662275 Centerline is valid? [True, True] Translation: X:1003.56, Y:12.00, Z:3.96 [[ 9.93568703e-01 -1.12699378e-01 -1.09582334e-02 1.00356298e+03] [ 1.12689722e-01 9.93629099e-01 -1.49664315e-03 1.20028655e+01] [ 1.10570904e-02 2.52137508e-04 9.99938837e-01 3.95566117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.059254154 meters 0.05176700206696473 Centerline is valid? [True, True] Translation: X:1003.62, Y:12.01, Z:3.96 [[ 9.93532220e-01 -1.13071037e-01 -1.04244383e-02 1.00362008e+03] [ 1.13062314e-01 9.93586878e-01 -1.42414760e-03 1.20143677e+01] [ 1.05186150e-02 2.36325402e-04 9.99944650e-01 3.95517474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539999 meters 0.049291002424168964 Centerline is valid? [True, True] Translation: X:1003.68, Y:12.01, Z:3.96 [[ 9.93558047e-01 -1.12991264e-01 -8.68225286e-03 1.00368016e+03] [ 1.12985205e-01 9.93595962e-01 -1.18681864e-03 1.20126911e+01] [ 8.76075152e-03 1.98207091e-04 9.99961604e-01 3.95676580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.179254154 meters 0.05111500168806361 Centerline is valid? [True, True] Translation: X:1003.74, Y:12.03, Z:3.95 [[ 9.93612688e-01 -1.12394789e-01 -1.00616484e-02 1.00373644e+03] [ 1.12386613e-01 9.93663603e-01 -1.37615422e-03 1.20266793e+01] [ 1.01525663e-02 2.36569709e-04 9.99948433e-01 3.95472102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539999 meters 0.05072936097768725 Centerline is valid? [True, True] Translation: X:1003.80, Y:12.03, Z:3.96 [[ 9.93959528e-01 -1.09155693e-01 -1.13794519e-02 1.00379665e+03] [ 1.09145020e-01 9.94024618e-01 -1.55663692e-03 1.20302099e+01] [ 1.14813711e-02 3.05223590e-04 9.99934040e-01 3.95515984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.299254154 meters 0.05089149088199075 Centerline is valid? [True, True] Translation: X:1003.85, Y:12.04, Z:3.96 [[ 9.94149354e-01 -1.07345779e-01 -1.19977239e-02 1.00385435e+03] [ 1.07333780e-01 9.94221688e-01 -1.64144435e-03 1.20405354e+01] [ 1.21045994e-02 3.44079787e-04 9.99926677e-01 3.95536040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539999 meters 0.05086021150701013 Centerline is valid? [True, True] Translation: X:1003.91, Y:12.05, Z:3.96 [[ 9.94391153e-01 -1.05137651e-01 -1.15025918e-02 1.00391301e+03] [ 1.05126471e-01 9.94457615e-01 -1.57397866e-03 1.20499207e+01] [ 1.16043244e-02 3.55923569e-04 9.99932604e-01 3.95670425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.419254154 meters 0.05142754032464875 Centerline is valid? [True, True] Translation: X:1003.97, Y:12.06, Z:3.96 [[ 9.94660216e-01 -1.02774611e-01 -9.40391459e-03 1.00397012e+03] [ 1.02767031e-01 9.94704620e-01 -1.28701015e-03 1.20645667e+01] [ 9.48638926e-03 3.13725412e-04 9.99954954e-01 3.95671048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539999 meters 0.052743197669942565 Centerline is valid? [True, True] Translation: X:1004.03, Y:12.09, Z:3.96 [[ 9.94927995e-01 -1.00292239e-01 -7.72985959e-03 1.00402685e+03] [ 1.00287042e-01 9.94957984e-01 -1.05803671e-03 1.20852152e+01] [ 7.79699839e-03 2.77465590e-04 9.99969564e-01 3.95684651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.539254154 meters 0.04995637966172851 Centerline is valid? [True, True] Translation: X:1004.09, Y:12.09, Z:3.96 [[ 9.95298899e-01 -9.66566614e-02 -6.13115539e-03 1.00408704e+03] [ 9.66533224e-02 9.95317754e-01 -8.39268138e-04 1.20872408e+01] [ 6.18356867e-03 2.42726115e-04 9.99980852e-01 3.95809277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539999 meters 0.05039037349546872 Centerline is valid? [True, True] Translation: X:1004.15, Y:12.10, Z:3.96 [[ 9.95643725e-01 -9.29651016e-02 -7.14587784e-03 1.00414644e+03] [ 9.29604708e-02 9.95669320e-01 -9.78187505e-04 1.21012952e+01] [ 7.20586863e-03 3.09642082e-04 9.99973989e-01 3.95637068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.659254154 meters 0.0511057239618078 Centerline is valid? [True, True] Translation: X:1004.21, Y:12.12, Z:3.96 [[ 9.95887569e-01 -9.02643014e-02 -7.76565171e-03 1.00420539e+03] [ 9.02587505e-02 9.95917782e-01 -1.06304125e-03 1.21156468e+01] [ 7.82990530e-03 3.57751546e-04 9.99969282e-01 3.95540099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539999 meters 0.05089828932058731 Centerline is valid? [True, True] Translation: X:1004.26, Y:12.12, Z:3.96 [[ 9.95913064e-01 -8.99620876e-02 -7.99949699e-03 1.00426297e+03] [ 8.99561861e-02 9.95945122e-01 -1.09522955e-03 1.21234222e+01] [ 8.06558914e-03 3.71149175e-04 9.99967404e-01 3.95568723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.779254154 meters 0.05156680354851668 Centerline is valid? [True, True] Translation: X:1004.32, Y:12.14, Z:3.95 [[ 9.95916839e-01 -9.00408415e-02 -6.50360522e-03 1.00431973e+03] [ 9.00369396e-02 9.95938028e-01 -8.90876531e-04 1.21369928e+01] [ 6.55740304e-03 3.01674228e-04 9.99978454e-01 3.95494915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.839254154 meters 0.05229296508843552 Centerline is valid? [True, True] Translation: X:1004.38, Y:12.15, Z:3.96 [[ 9.95811956e-01 -9.12704732e-02 -5.31498872e-03 1.00437872e+03] [ 9.12678825e-02 9.95826111e-01 -7.28457710e-04 1.21494517e+01] [ 5.35929123e-03 2.40319131e-04 9.99985610e-01 3.95529260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.899254154 meters 0.05252053122119305 Centerline is valid? [True, True] Translation: X:1004.44, Y:12.16, Z:3.96 [[ 9.95581133e-01 -9.38204197e-02 -3.99197373e-03 1.00443657e+03] [ 9.38189787e-02 9.95589122e-01 -5.47129876e-04 1.21621912e+01] [ 4.02569758e-03 1.70189284e-04 9.99991882e-01 3.95563462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.959254154 meters 0.052555000790348465 Centerline is valid? [True, True] Translation: X:1004.50, Y:12.17, Z:3.95 [[ 9.95427774e-01 -9.54798030e-02 -2.67467257e-03 1.00449547e+03] [ 9.54791620e-02 9.95431361e-01 -3.66603875e-04 1.21737826e+01] [ 2.69745622e-03 1.09552183e-04 9.99996356e-01 3.95498042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.019254154 meters 0.052027977203840024 Centerline is valid? [True, True] Translation: X:1004.55, Y:12.18, Z:3.95 [[ 9.95364926e-01 -9.61369534e-02 -2.52004560e-03 1.00455319e+03] [ 9.61363866e-02 9.95368111e-01 -3.45357353e-04 1.21832733e+01] [ 2.54157463e-03 1.01488517e-04 9.99996765e-01 3.95341675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.079254154 meters 0.05169014653518004 Centerline is valid? [True, True] Translation: X:1004.61, Y:12.19, Z:3.95 [[ 9.95370430e-01 -9.60605568e-02 -3.17422269e-03 1.00461079e+03] [ 9.60596565e-02 9.95375483e-01 -4.35213712e-04 1.21933958e+01] [ 3.20135031e-03 1.28284119e-04 9.99994867e-01 3.95198158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.139254154 meters 0.05238235521355245 Centerline is valid? [True, True] Translation: X:1004.67, Y:12.21, Z:3.95 [[ 9.95472405e-01 -9.49262996e-02 -4.86712209e-03 1.00466918e+03] [ 9.49241661e-02 9.95484282e-01 -6.68016771e-04 1.22069473e+01] [ 4.90855591e-03 2.02984756e-04 9.99987932e-01 3.94997483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.199254154 meters 0.052305603386694176 Centerline is valid? [True, True] Translation: X:1004.73, Y:12.21, Z:3.95 [[ 9.95398169e-01 -9.57005469e-02 -4.88778283e-03 1.00472778e+03] [ 9.56984038e-02 9.95410149e-01 -6.71027445e-04 1.22123769e+01] [ 4.92956633e-03 2.00186475e-04 9.99987830e-01 3.94914389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.259254154 meters 0.0551368569591535 Centerline is valid? [True, True] Translation: X:1004.78, Y:12.24, Z:3.95 [[ 9.95339439e-01 -9.63205458e-02 -4.66418807e-03 1.00478263e+03] [ 9.63185989e-02 9.95350349e-01 -6.40790805e-04 1.22367883e+01] [ 4.70422254e-03 1.88556301e-04 9.99988917e-01 3.94910965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.319254154 meters 0.05195903808838723 Centerline is valid? [True, True] Translation: X:1004.84, Y:12.23, Z:3.95 [[ 9.95266437e-01 -9.71435853e-02 -2.80069809e-03 1.00484253e+03] [ 9.71428867e-02 9.95270371e-01 -3.84744798e-04 1.22333506e+01] [ 2.82482731e-03 1.10855687e-04 9.99996004e-01 3.94944549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.379254154 meters 0.053564403221759996 Centerline is valid? [True, True] Translation: X:1004.90, Y:12.25, Z:3.95 [[ 9.95165257e-01 -9.81524130e-02 -3.49514152e-03 1.00489873e+03] [ 9.81513292e-02 9.95171385e-01 -4.80682743e-04 1.22513394e+01] [ 3.52544500e-03 1.35305980e-04 9.99993776e-01 3.94903219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.439254154 meters 0.05286583218962376 Centerline is valid? [True, True] Translation: X:1004.96, Y:12.25, Z:3.95 [[ 9.94973267e-01 -1.00071368e-01 -3.73089472e-03 1.00495901e+03] [ 1.00070146e-01 9.94980252e-01 -5.13272456e-04 1.22539121e+01] [ 3.76353044e-03 1.37341194e-04 9.99992908e-01 3.94818777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.499254154 meters 0.05213792741141442 Centerline is valid? [True, True] Translation: X:1005.02, Y:12.26, Z:3.95 [[ 9.94731986e-01 -1.02457226e-01 -3.28527070e-03 1.00501930e+03] [ 1.02456292e-01 9.94737405e-01 -4.51981967e-04 1.22587206e+01] [ 3.31429047e-03 1.13004266e-04 9.99994501e-01 3.94877604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.559254154 meters 0.05240511753828083 Centerline is valid? [True, True] Translation: X:1005.08, Y:12.27, Z:3.95 [[ 9.94127286e-01 -1.08192445e-01 -2.30953925e-03 1.00507759e+03] [ 1.08191998e-01 9.94129967e-01 -3.17775551e-04 1.22673209e+01] [ 2.33036309e-03 6.60356788e-05 9.99997282e-01 3.95061869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539999 meters 0.05381660640775401 Centerline is valid? [True, True] Translation: X:1005.14, Y:12.28, Z:3.95 [[ 9.93828354e-01 -1.10900662e-01 -2.49909689e-03 1.00513581e+03] [ 1.10900148e-01 9.93831494e-01 -3.43890871e-04 1.22798048e+01] [ 2.52181892e-03 6.46182847e-05 9.99996818e-01 3.95153997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.679254154 meters 0.05429890229661106 Centerline is valid? [True, True] Translation: X:1005.19, Y:12.29, Z:3.95 [[ 9.93546879e-01 -1.13349725e-01 -4.05458130e-03 1.00519402e+03] [ 1.13348391e-01 9.93555147e-01 -5.58042618e-04 1.22897200e+01] [ 4.09170410e-03 9.48612348e-05 9.99991624e-01 3.95137057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539999 meters 0.053280058707811724 Centerline is valid? [True, True] Translation: X:1005.25, Y:12.29, Z:3.95 [[ 9.93497985e-01 -1.13745100e-01 -4.87911713e-03 1.00525268e+03] [ 1.13743172e-01 9.93509960e-01 -6.71698902e-04 1.22926108e+01] [ 4.92385392e-03 1.12365249e-04 9.99987871e-01 3.95051198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.799254154 meters 0.05229704995905677 Centerline is valid? [True, True] Translation: X:1005.31, Y:12.29, Z:3.95 [[ 9.93482595e-01 -1.13853286e-01 -5.45547420e-03 1.00531128e+03] [ 1.13850874e-01 9.93497566e-01 -7.51696016e-04 1.22930384e+01] [ 5.50558340e-03 1.25686402e-04 9.99984836e-01 3.95016232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539999 meters 0.05314726581328725 Centerline is valid? [True, True] Translation: X:1005.37, Y:12.30, Z:3.95 [[ 9.93445580e-01 -1.14110049e-01 -6.69146216e-03 1.00536761e+03] [ 1.14106420e-01 9.93468104e-01 -9.22884084e-04 1.22995181e+01] [ 6.75306457e-03 1.53296320e-04 9.99977186e-01 3.95062889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.919254154 meters 0.05307088211914238 Centerline is valid? [True, True] Translation: X:1005.42, Y:12.31, Z:3.95 [[ 9.93374388e-01 -1.14718514e-01 -6.85471608e-03 1.00542424e+03] [ 1.14714717e-01 9.93398026e-01 -9.45875519e-04 1.23103989e+01] [ 6.91797086e-03 1.53271698e-04 9.99976059e-01 3.95038575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539999 meters 0.05354112372808464 Centerline is valid? [True, True] Translation: X:1005.48, Y:12.31, Z:3.95 [[ 9.93200689e-01 -1.16213739e-01 -6.83795975e-03 1.00548357e+03] [ 1.16209993e-01 9.93224218e-01 -9.44051335e-04 1.23106031e+01] [ 6.90133896e-03 1.42993185e-04 9.99976175e-01 3.95154840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.039254154 meters 0.05231924885660441 Centerline is valid? [True, True] Translation: X:1005.54, Y:12.31, Z:3.95 [[ 9.92728685e-01 -1.20169930e-01 -6.99613729e-03 1.00554207e+03] [ 1.20166103e-01 9.92753330e-01 -9.66391318e-04 1.23145162e+01] [ 7.06156977e-03 1.18665828e-04 9.99975060e-01 3.95215438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539999 meters 0.05274277936726474 Centerline is valid? [True, True] Translation: X:1005.60, Y:12.32, Z:3.95 [[ 9.92214988e-01 -1.24284140e-01 -7.92903994e-03 1.00560080e+03] [ 1.24279354e-01 9.92246664e-01 -1.09542279e-03 1.23167917e+01] [ 8.00370711e-03 1.01478949e-04 9.99967965e-01 3.95269714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.159254154 meters 0.05211032702154891 Centerline is valid? [True, True] Translation: X:1005.66, Y:12.32, Z:3.95 [[ 9.91814166e-01 -1.27454923e-01 -7.73974075e-03 1.00566067e+03] [ 1.27450455e-01 9.91844361e-01 -1.06978001e-03 1.23173504e+01] [ 7.81296695e-03 7.45894886e-05 9.99969475e-01 3.95488180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539999 meters 0.052498808040920955 Centerline is valid? [True, True] Translation: X:1005.72, Y:12.32, Z:3.96 [[ 9.91561117e-01 -1.29453620e-01 -6.95058163e-03 1.00571966e+03] [ 1.29450061e-01 9.91585477e-01 -9.61442784e-04 1.23218696e+01] [ 7.01655805e-03 5.35760652e-05 9.99975382e-01 3.95548106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.279254154 meters 0.05209868633556044 Centerline is valid? [True, True] Translation: X:1005.78, Y:12.33, Z:3.96 [[ 9.91287948e-01 -1.31593479e-01 -5.60012324e-03 1.00577730e+03] [ 1.31591200e-01 9.91303765e-01 -7.75079735e-04 1.23263562e+01] [ 5.65341870e-03 3.14002611e-05 9.99984019e-01 3.95555888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.339254154 meters 0.05239890266300904 Centerline is valid? [True, True] Translation: X:1005.83, Y:12.33, Z:3.96 [[ 9.91226238e-01 -1.32083192e-01 -4.95741866e-03 1.00583496e+03] [ 1.32081411e-01 9.91238634e-01 -6.86403702e-04 1.23305918e+01] [ 5.00464729e-03 2.55985069e-05 9.99987476e-01 3.95613317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.399254154 meters 0.05201107809872423 Centerline is valid? [True, True] Translation: X:1005.89, Y:12.34, Z:3.96 [[ 9.91493618e-01 -1.30041557e-01 -5.44049894e-03 1.00589213e+03] [ 1.30039378e-01 9.91508543e-01 -7.53936785e-04 1.23355638e+01] [ 5.49234429e-03 4.00444128e-05 9.99984916e-01 3.95664340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.459254154 meters 0.051094625329280705 Centerline is valid? [True, True] Translation: X:1005.95, Y:12.34, Z:3.96 [[ 9.91942483e-01 -1.26570330e-01 -5.48286711e-03 1.00595044e+03] [ 1.26568061e-01 9.91957634e-01 -7.60247952e-04 1.23417175e+01] [ 5.53499672e-03 6.01663831e-05 9.99984680e-01 3.95622030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.519254154 meters 0.051983303246954875 Centerline is valid? [True, True] Translation: X:1006.01, Y:12.35, Z:3.96 [[ 9.92388448e-01 -1.22974796e-01 -6.50913367e-03 1.00600869e+03] [ 1.22971517e-01 9.92409790e-01 -9.03114676e-04 1.23512333e+01] [ 6.57078832e-03 9.58025322e-05 9.99978408e-01 3.95570650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.579254154 meters 0.05183319320213286 Centerline is valid? [True, True] Translation: X:1006.07, Y:12.36, Z:3.96 [[ 9.92869089e-01 -1.18973870e-01 -7.49605672e-03 1.00606784e+03] [ 1.18969406e-01 9.92897376e-01 -1.04021689e-03 1.23587976e+01] [ 7.56657367e-03 1.40997780e-04 9.99971363e-01 3.95548266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.639254154 meters 0.052332098066714766 Centerline is valid? [True, True] Translation: X:1006.13, Y:12.37, Z:3.96 [[ 9.92961915e-01 -1.18182222e-01 -7.71998407e-03 1.00612643e+03] [ 1.18177460e-01 9.92991913e-01 -1.07179564e-03 1.23660159e+01] [ 7.79254894e-03 1.51924138e-04 9.99969626e-01 3.95582239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.699254154 meters 0.052524890548232304 Centerline is valid? [True, True] Translation: X:1006.18, Y:12.38, Z:3.96 [[ 9.93220383e-01 -1.16071117e-01 -6.38489961e-03 1.00618433e+03] [ 1.16067813e-01 9.93240895e-01 -8.86873172e-04 1.23782105e+01] [ 6.44468376e-03 1.39779181e-04 9.99979223e-01 3.95722144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.759254154 meters 0.05236666721209993 Centerline is valid? [True, True] Translation: X:1006.24, Y:12.38, Z:3.96 [[ 9.93479451e-01 -1.13878335e-01 -5.50499836e-03 1.00624360e+03] [ 1.13875845e-01 9.93494694e-01 -7.64760147e-04 1.23846201e+01] [ 5.55627627e-03 1.32887152e-04 9.99984555e-01 3.95894794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.819254154 meters 0.05192621743805753 Centerline is valid? [True, True] Translation: X:1006.30, Y:12.39, Z:3.96 [[ 9.93766107e-01 -1.11288783e-01 -6.61291797e-03 1.00630302e+03] [ 1.11285131e-01 9.93788094e-01 -9.18806886e-04 1.23886942e+01] [ 6.67409204e-03 1.77159698e-04 9.99977712e-01 3.95812744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.879254154 meters 0.050802612973855125 Centerline is valid? [True, True] Translation: X:1006.36, Y:12.39, Z:3.96 [[ 9.93987212e-01 -1.09198750e-01 -8.06568551e-03 1.00636279e+03] [ 1.09193247e-01 9.94019909e-01 -1.12083283e-03 1.23920892e+01] [ 8.13984552e-03 2.33375114e-04 9.99966844e-01 3.95785900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.939254154 meters 0.05137202854388349 Centerline is valid? [True, True] Translation: X:1006.42, Y:12.40, Z:3.96 [[ 9.94151124e-01 -1.07613068e-01 -9.10880210e-03 1.00642070e+03] [ 1.07605981e-01 9.94192813e-01 -1.26602439e-03 1.23996578e+01] [ 9.19214636e-03 2.78457984e-04 9.99957713e-01 3.95787365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.999254154 meters 0.05127099435555248 Centerline is valid? [True, True] Translation: X:1006.48, Y:12.41, Z:3.96 [[ 9.94168397e-01 -1.07500678e-01 -8.53242291e-03 1.00647946e+03] [ 1.07494450e-01 9.94204977e-01 -1.18654413e-03 1.24061238e+01] [ 8.61053162e-03 2.62436562e-04 9.99962894e-01 3.95839860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.059254154 meters 0.05259037382886256 Centerline is valid? [True, True] Translation: X:1006.54, Y:12.42, Z:3.96 [[ 9.94138404e-01 -1.07844609e-01 -7.64029991e-03 1.00653597e+03] [ 1.07839621e-01 9.94167735e-01 -1.06309080e-03 1.24203104e+01] [ 7.71038827e-03 2.32932342e-04 9.99970247e-01 3.95810320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539999 meters 0.0513090071464136 Centerline is valid? [True, True] Translation: X:1006.60, Y:12.42, Z:3.96 [[ 9.94154317e-01 -1.07677093e-01 -7.92708446e-03 1.00659516e+03] [ 1.07671712e-01 9.94185890e-01 -1.10365578e-03 1.24245963e+01] [ 7.99983396e-03 2.43681401e-04 9.99967971e-01 3.95902858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.179254154 meters 0.05525801326370783 Centerline is valid? [True, True] Translation: X:1006.65, Y:12.44, Z:3.96 [[ 9.94088947e-01 -1.08242373e-01 -8.41159061e-03 1.00665168e+03] [ 1.08236327e-01 9.94124501e-01 -1.17202112e-03 1.24425654e+01] [ 8.48903067e-03 2.54653572e-04 9.99963935e-01 3.95699022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539999 meters 0.051791677167590096 Centerline is valid? [True, True] Translation: X:1006.71, Y:12.44, Z:3.96 [[ 9.94161291e-01 -1.07481857e-01 -9.53825826e-03 1.00671107e+03] [ 1.07474038e-01 9.94207002e-01 -1.33006216e-03 1.24414081e+01] [ 9.62596070e-03 2.97181182e-04 9.99953625e-01 3.95842165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.299254154 meters 0.0506697872932917 Centerline is valid? [True, True] Translation: X:1006.77, Y:12.45, Z:3.96 [[ 9.94300603e-01 -1.06144195e-01 -9.98598912e-03 1.00677073e+03] [ 1.06135552e-01 9.94350695e-01 -1.39302083e-03 1.24450701e+01] [ 1.00774363e-02 3.25212983e-04 9.99949168e-01 3.95961017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539999 meters 0.05213874449645738 Centerline is valid? [True, True] Translation: X:1006.83, Y:12.46, Z:3.96 [[ 9.94350258e-01 -1.05613145e-01 -1.06502212e-02 1.00682700e+03] [ 1.05603279e-01 9.94407230e-01 -1.48613910e-03 1.24581821e+01] [ 1.07476128e-02 3.53044516e-04 9.99942180e-01 3.95911617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.419254154 meters 0.05244371689047611 Centerline is valid? [True, True] Translation: X:1006.88, Y:12.47, Z:3.96 [[ 9.94215724e-01 -1.06833181e-01 -1.10347932e-02 1.00688376e+03] [ 1.06822658e-01 9.94276897e-01 -1.54030986e-03 1.24688862e+01] [ 1.11361961e-02 3.52634346e-04 9.99937928e-01 3.95873384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539999 meters 0.05180180004844915 Centerline is valid? [True, True] Translation: X:1006.94, Y:12.48, Z:3.96 [[ 9.93980081e-01 -1.09184336e-01 -9.07633875e-03 1.00694308e+03] [ 1.09177313e-01 9.94021483e-01 -1.26709772e-03 1.24755174e+01] [ 9.16042292e-03 2.68539609e-04 9.99958006e-01 3.96023625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.539254154 meters 0.052242016678856674 Centerline is valid? [True, True] Translation: X:1007.00, Y:12.49, Z:3.96 [[ 9.93934653e-01 -1.09676674e-01 -8.05805365e-03 1.00699980e+03] [ 1.09671154e-01 9.93967289e-01 -1.12512794e-03 1.24864073e+01] [ 8.13284204e-03 2.34567612e-04 9.99966900e-01 3.96149730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539999 meters 0.05031928021238515 Centerline is valid? [True, True] Translation: X:1007.06, Y:12.49, Z:3.96 [[ 9.93970640e-01 -1.09264650e-01 -9.14348424e-03 1.00705859e+03] [ 1.09257521e-01 9.94012658e-01 -1.27706843e-03 1.24875046e+01] [ 9.22827750e-03 2.70374105e-04 9.99957382e-01 3.96276612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.659254154 meters 0.05185062523397231 Centerline is valid? [True, True] Translation: X:1007.11, Y:12.50, Z:3.96 [[ 9.93932051e-01 -1.09475760e-01 -1.06834175e-02 1.00711461e+03] [ 1.09466034e-01 9.93989416e-01 -1.49261130e-03 1.25035458e+01] [ 1.07826086e-02 3.14082870e-04 9.99941817e-01 3.96044656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539999 meters 0.05085507836665729 Centerline is valid? [True, True] Translation: X:1007.17, Y:12.51, Z:3.96 [[ 9.94017764e-01 -1.08589689e-01 -1.17031847e-02 1.00717368e+03] [ 1.08577945e-01 9.94086592e-01 -1.63614556e-03 1.25071238e+01] [ 1.18116475e-02 3.55650009e-04 9.99930177e-01 3.96269164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.779254154 meters 0.05198419151601318 Centerline is valid? [True, True] Translation: X:1007.23, Y:12.52, Z:3.96 [[ 9.94107244e-01 -1.07852111e-01 -1.08954186e-02 1.00723130e+03] [ 1.07841875e-01 9.94166891e-01 -1.52441433e-03 1.25177067e+01] [ 1.09962758e-02 3.40448953e-04 9.99939481e-01 3.96353426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.839254154 meters 0.05085439670773135 Centerline is valid? [True, True] Translation: X:1007.29, Y:12.53, Z:3.97 [[ 9.94193376e-01 -1.07215946e-01 -9.17998559e-03 1.00728912e+03] [ 1.07208647e-01 9.94235714e-01 -1.28498809e-03 1.25252788e+01] [ 9.26484074e-03 2.93352817e-04 9.99957037e-01 3.96546768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.899254154 meters 0.05312093051242458 Centerline is valid? [True, True] Translation: X:1007.35, Y:12.55, Z:3.96 [[ 9.94402605e-01 -1.05306878e-01 -8.59774912e-03 1.00734541e+03] [ 1.05300401e-01 9.94439730e-01 -1.20380343e-03 1.25472149e+01] [ 8.67671210e-03 2.91718837e-04 9.99962314e-01 3.96473753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.959254154 meters 0.05099934950841651 Centerline is valid? [True, True] Translation: X:1007.41, Y:12.55, Z:3.97 [[ 9.94657763e-01 -1.02767378e-01 -9.73655419e-03 1.00740692e+03] [ 1.02758949e-01 9.94705353e-01 -1.36340735e-03 1.25453836e+01] [ 9.82511637e-03 3.55605631e-04 9.99951669e-01 3.96672151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.019254154 meters 0.05315061559672941 Centerline is valid? [True, True] Translation: X:1007.46, Y:12.57, Z:3.96 [[ 9.94887397e-01 -1.00472766e-01 -1.02122713e-02 1.00746302e+03] [ 1.00463371e-01 9.94939730e-01 -1.43012502e-03 1.25692784e+01] [ 1.03042831e-02 3.96854161e-04 9.99946831e-01 3.96453630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.079254154 meters 0.05168769165400788 Centerline is valid? [True, True] Translation: X:1007.52, Y:12.57, Z:3.97 [[ 9.95217882e-01 -9.70497082e-02 -1.10779991e-02 1.00752348e+03] [ 9.70384396e-02 9.95279425e-01 -1.55149681e-03 1.25704352e+01] [ 1.11762768e-02 4.69085630e-04 9.99937433e-01 3.96625001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.139254154 meters 0.051850453841520275 Centerline is valid? [True, True] Translation: X:1007.58, Y:12.58, Z:3.97 [[ 9.95339815e-01 -9.57173917e-02 -1.16975797e-02 1.00758165e+03] [ 9.57047327e-02 9.95408418e-01 -1.63849880e-03 1.25829659e+01] [ 1.18007021e-02 5.11349358e-04 9.99930239e-01 3.96659151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.199254154 meters 0.053066284355414585 Centerline is valid? [True, True] Translation: X:1007.64, Y:12.60, Z:3.96 [[ 9.95265073e-01 -9.65610468e-02 -1.11084923e-02 1.00763746e+03] [ 9.65496796e-02 9.95326950e-01 -1.55630967e-03 1.26040062e+01] [ 1.12068607e-02 4.76419278e-04 9.99937088e-01 3.96457129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.259254154 meters 0.05246714720602516 Centerline is valid? [True, True] Translation: X:1007.70, Y:12.61, Z:3.97 [[ 9.94771776e-01 -1.01577228e-01 -1.05442341e-02 1.00769790e+03] [ 1.01567265e-01 9.94827577e-01 -1.47744192e-03 1.26089970e+01] [ 1.06397693e-02 3.98768508e-04 9.99943317e-01 3.96605423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.319254154 meters 0.05263781507804077 Centerline is valid? [True, True] Translation: X:1007.76, Y:12.62, Z:3.97 [[ 9.94332964e-01 -1.05783362e-01 -1.05753210e-02 1.00775767e+03] [ 1.05773577e-01 9.94389136e-01 -1.48189971e-03 1.26170673e+01] [ 1.06727447e-02 3.54912199e-04 9.99942982e-01 3.96636651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.379254154 meters 0.053987250457163696 Centerline is valid? [True, True] Translation: X:1007.81, Y:12.63, Z:3.96 [[ 9.93560408e-01 -1.12821634e-01 -1.04400849e-02 1.00781461e+03] [ 1.12812484e-01 9.93615219e-01 -1.46306302e-03 1.26349501e+01] [ 1.05384924e-02 2.75869573e-04 9.99944430e-01 3.96232508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.439254154 meters 0.052935160507498774 Centerline is valid? [True, True] Translation: X:1007.88, Y:12.64, Z:3.96 [[ 9.92784607e-01 -1.19377313e-01 -1.13040116e-02 1.00787500e+03] [ 1.19367009e-01 9.92848935e-01 -1.58430242e-03 1.26369487e+01] [ 1.14123056e-02 2.23545000e-04 9.99934853e-01 3.96287039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.499254154 meters 0.0527754001621309 Centerline is valid? [True, True] Translation: X:1007.93, Y:12.64, Z:3.96 [[ 9.92394613e-01 -1.22554691e-01 -1.15446982e-02 1.00793356e+03] [ 1.22544148e-01 9.92461743e-01 -1.61890359e-03 1.26436472e+01] [ 1.16560755e-02 1.91855992e-04 9.99932047e-01 3.96322169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.559254154 meters 0.05311358187555395 Centerline is valid? [True, True] Translation: X:1007.99, Y:12.65, Z:3.96 [[ 9.92150672e-01 -1.24504440e-01 -1.16485103e-02 1.00799175e+03] [ 1.24493826e-01 9.92219036e-01 -1.63475741e-03 1.26526501e+01] [ 1.17614082e-02 1.71758046e-04 9.99930817e-01 3.96285533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539999 meters 0.053452038646853356 Centerline is valid? [True, True] Translation: X:1008.05, Y:12.66, Z:3.96 [[ 9.92102026e-01 -1.24903743e-01 -1.15162670e-02 1.00804906e+03] [ 1.24893379e-01 9.92168850e-01 -1.61763758e-03 1.26621644e+01] [ 1.16281304e-02 1.66556021e-04 9.99932377e-01 3.96338442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.679254154 meters 0.052796653730814526 Centerline is valid? [True, True] Translation: X:1008.11, Y:12.67, Z:3.96 [[ 9.92230137e-01 -1.23852853e-01 -1.18248193e-02 1.00810674e+03] [ 1.23841834e-01 9.92300578e-01 -1.66241591e-03 1.26720038e+01] [ 1.19396700e-02 1.85091857e-04 9.99928702e-01 3.96379111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539999 meters 0.052841137222565705 Centerline is valid? [True, True] Translation: X:1008.16, Y:12.69, Z:3.96 [[ 9.92513992e-01 -1.21590484e-01 -1.14773240e-02 1.00816317e+03] [ 1.21579943e-01 9.92580330e-01 -1.61430644e-03 1.26858265e+01] [ 1.15884504e-02 2.06809320e-04 9.99932830e-01 3.96293998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.799254154 meters 0.0540397056596195 Centerline is valid? [True, True] Translation: X:1008.22, Y:12.70, Z:3.96 [[ 9.93126916e-01 -1.16452505e-01 -1.17364034e-02 1.00822182e+03] [ 1.16441122e-01 9.93196224e-01 -1.65095908e-03 1.26986104e+01] [ 1.18488099e-02 2.73011923e-04 9.99929763e-01 3.96336103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539999 meters 0.0543020858289772 Centerline is valid? [True, True] Translation: X:1008.28, Y:12.71, Z:3.96 [[ 9.93825558e-01 -1.10286677e-01 -1.21494342e-02 1.00828037e+03] [ 1.10274017e-01 9.93899754e-01 -1.70913093e-03 1.27121967e+01] [ 1.22638140e-02 3.58811080e-04 9.99924732e-01 3.96358015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.919254154 meters 0.05348132204765558 Centerline is valid? [True, True] Translation: X:1008.34, Y:12.71, Z:3.97 [[ 9.94334972e-01 -1.05708544e-01 -1.11205754e-02 1.00834051e+03] [ 1.05697651e-01 9.94397083e-01 -1.56443527e-03 1.27149045e+01] [ 1.12236420e-02 3.80153995e-04 9.99936941e-01 3.96747735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539999 meters 0.05475785363036682 Centerline is valid? [True, True] Translation: X:1008.40, Y:12.74, Z:3.97 [[ 9.94498909e-01 -1.04194568e-01 -1.07429948e-02 1.00839705e+03] [ 1.04184311e-01 9.94556858e-01 -1.51149724e-03 1.27359099e+01] [ 1.08420090e-02 3.83930848e-04 9.99941150e-01 3.96595713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.039254154 meters 0.053411424370315694 Centerline is valid? [True, True] Translation: X:1008.46, Y:12.74, Z:3.97 [[ 9.94539520e-01 -1.03808292e-01 -1.07230039e-02 1.00845652e+03] [ 1.03798041e-01 9.94597249e-01 -1.50956440e-03 1.27361303e+01] [ 1.08217755e-02 3.88294653e-04 9.99941367e-01 3.96810946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539999 meters 0.056067281514333205 Centerline is valid? [True, True] Translation: X:1008.51, Y:12.76, Z:3.96 [[ 9.94465264e-01 -1.04434496e-01 -1.15011217e-02 1.00851140e+03] [ 1.04422737e-01 9.94531683e-01 -1.61989523e-03 1.27594775e+01] [ 1.16074028e-02 4.09950941e-04 9.99932548e-01 3.96436972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.159254154 meters 0.0540463819418099 Centerline is valid? [True, True] Translation: X:1008.57, Y:12.76, Z:3.97 [[ 9.94268298e-01 -1.06220850e-01 -1.21525108e-02 1.00857187e+03] [ 1.06207841e-01 9.94342477e-01 -1.71265773e-03 1.27554350e+01] [ 1.22656776e-02 4.12149346e-04 9.99924689e-01 3.96636850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539999 meters 0.05361495076199961 Centerline is valid? [True, True] Translation: X:1008.63, Y:12.76, Z:3.97 [[ 9.93960105e-01 -1.09114570e-01 -1.17183352e-02 1.00863191e+03] [ 1.09102670e-01 9.94029114e-01 -1.65192006e-03 1.27609730e+01] [ 1.18286149e-02 3.63440971e-04 9.99929973e-01 3.96635933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.279254154 meters 0.05375173027411314 Centerline is valid? [True, True] Translation: X:1008.69, Y:12.77, Z:3.97 [[ 9.93592179e-01 -1.12370262e-01 -1.21452156e-02 1.00868985e+03] [ 1.12357720e-01 9.93666348e-01 -1.71232833e-03 1.27699939e+01] [ 1.22607068e-02 3.36747303e-04 9.99924778e-01 3.96585249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.339254154 meters 0.05522977945049391 Centerline is valid? [True, True] Translation: X:1008.75, Y:12.78, Z:3.96 [[ 9.93360172e-01 -1.14442768e-01 -1.17653177e-02 1.00874819e+03] [ 1.14431140e-01 9.93429797e-01 -1.65898085e-03 1.27809887e+01] [ 1.18778756e-02 3.01646784e-04 9.99929410e-01 3.96469281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.399254154 meters 0.05290741156606825 Centerline is valid? [True, True] Translation: X:1008.81, Y:12.78, Z:3.97 [[ 9.93310199e-01 -1.15038134e-01 -1.00537080e-02 1.00880749e+03] [ 1.15029667e-01 9.93361044e-01 -1.41837284e-03 1.27812633e+01] [ 1.01501288e-02 2.52409534e-04 9.99948454e-01 3.96759431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.459254154 meters 0.05372702619742024 Centerline is valid? [True, True] Translation: X:1008.87, Y:12.79, Z:3.97 [[ 9.93677411e-01 -1.11802480e-01 -1.02668826e-02 1.00886681e+03] [ 1.11793472e-01 9.93730406e-01 -1.44894418e-03 1.27894963e+01] [ 1.03645090e-02 2.92012655e-04 9.99946244e-01 3.96796910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.519254154 meters 0.053551533924098726 Centerline is valid? [True, True] Translation: X:1008.93, Y:12.80, Z:3.97 [[ 9.93864640e-01 -1.09890731e-01 -1.25341630e-02 1.00892695e+03] [ 1.09877153e-01 9.93943601e-01 -1.76895899e-03 1.27973329e+01] [ 1.26526433e-02 3.80887645e-04 9.99919880e-01 3.96635973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.579254154 meters 0.052204411121330195 Centerline is valid? [True, True] Translation: X:1008.99, Y:12.80, Z:3.97 [[ 9.93742760e-01 -1.10847886e-01 -1.37139996e-02 1.00898628e+03] [ 1.10831706e-01 9.93837302e-01 -1.93660930e-03 1.27959799e+01] [ 1.38441534e-02 4.04545497e-04 9.99904083e-01 3.96865028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.639254154 meters 0.05329364509839508 Centerline is valid? [True, True] Translation: X:1009.04, Y:12.81, Z:3.97 [[ 9.93458613e-01 -1.13479911e-01 -1.27394786e-02 1.00904447e+03] [ 1.13466159e-01 9.93540232e-01 -1.79948713e-03 1.28086835e+01] [ 1.28613901e-02 3.42216283e-04 9.99917230e-01 3.96755706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.699254154 meters 0.05304499865209948 Centerline is valid? [True, True] Translation: X:1009.10, Y:12.81, Z:3.97 [[ 9.92807148e-01 -1.19269390e-01 -1.04297086e-02 1.00910372e+03] [ 1.19260490e-01 9.92861906e-01 -1.47338026e-03 1.28106306e+01] [ 1.05309895e-02 2.18930303e-04 9.99944524e-01 3.96961936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.759254154 meters 0.05247086306233096 Centerline is valid? [True, True] Translation: X:1009.16, Y:12.81, Z:3.97 [[ 9.92380423e-01 -1.22894920e-01 -8.82804592e-03 1.00916366e+03] [ 1.22888686e-01 9.92419677e-01 -1.24722034e-03 1.28139827e+01] [ 8.91440352e-03 1.52850090e-04 9.99960254e-01 3.97099377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.819254154 meters 0.0519914887753371 Centerline is valid? [True, True] Translation: X:1009.22, Y:12.81, Z:3.97 [[ 9.92480530e-01 -1.22139438e-01 -8.02219496e-03 1.00922281e+03] [ 1.22134261e-01 9.92512940e-01 -1.13388028e-03 1.28147434e+01] [ 8.10062381e-03 1.45569246e-04 9.99967179e-01 3.97307374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.879254154 meters 0.052631357576728675 Centerline is valid? [True, True] Translation: X:1009.28, Y:12.83, Z:3.97 [[ 9.92804569e-01 -1.19470651e-01 -8.11483869e-03 1.00927967e+03] [ 1.19465260e-01 9.92837718e-01 -1.14760004e-03 1.28271344e+01] [ 8.19382246e-03 1.69901248e-04 9.99966416e-01 3.97218037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.939254154 meters 0.052831898775239854 Centerline is valid? [True, True] Translation: X:1009.34, Y:12.84, Z:3.97 [[ 9.93436434e-01 -1.13931258e-01 -1.01843210e-02 1.00933912e+03] [ 1.13922473e-01 9.93488598e-01 -1.44046630e-03 1.28372957e+01] [ 1.02821209e-02 2.70788675e-04 9.99947101e-01 3.97025258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.999254154 meters 0.05194633367521152 Centerline is valid? [True, True] Translation: X:1009.40, Y:12.84, Z:3.97 [[ 9.93964935e-01 -1.09085958e-01 -1.15741472e-02 1.00940028e+03] [ 1.09074284e-01 9.94032253e-01 -1.63706493e-03 1.28375345e+01] [ 1.16836564e-02 3.64743322e-04 9.99931677e-01 3.97057185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.059254154 meters 0.05141308562267565 Centerline is valid? [True, True] Translation: X:1009.46, Y:12.84, Z:3.97 [[ 9.94245231e-01 -1.06460460e-01 -1.19411904e-02 1.00945992e+03] [ 1.06447843e-01 9.94316853e-01 -1.68907088e-03 1.28441753e+01] [ 1.20531462e-02 4.08236703e-04 9.99927275e-01 3.97038898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539999 meters 0.05383861585072333 Centerline is valid? [True, True] Translation: X:1009.52, Y:12.86, Z:3.97 [[ 9.94309263e-01 -1.06019738e-01 -1.04357002e-02 1.00951552e+03] [ 1.06010075e-01 9.94363960e-01 -1.47641678e-03 1.28621578e+01] [ 1.05334134e-02 3.61725529e-04 9.99944457e-01 3.96836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.179254154 meters 0.05229856183105826 Centerline is valid? [True, True] Translation: X:1009.58, Y:12.86, Z:3.97 [[ 9.94176703e-01 -1.07304464e-01 -9.92142480e-03 1.00957646e+03] [ 1.07295786e-01 9.94226152e-01 -1.40440721e-03 1.28556900e+01] [ 1.00148392e-02 3.31701860e-04 9.99949795e-01 3.97113968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539999 meters 0.05617336854690005 Centerline is valid? [True, True] Translation: X:1009.63, Y:12.88, Z:3.97 [[ 9.94147923e-01 -1.07446605e-01 -1.11863670e-02 1.00963203e+03] [ 1.07435574e-01 9.94210786e-01 -1.58418165e-03 1.28753053e+01] [ 1.12918216e-02 3.73097141e-04 9.99936176e-01 3.96672993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.299254154 meters 0.05126967559699048 Centerline is valid? [True, True] Translation: X:1009.69, Y:12.86, Z:3.97 [[ 9.94105778e-01 -1.07658112e-01 -1.27840715e-02 1.00969293e+03] [ 1.07643707e-01 9.94187885e-01 -1.81159149e-03 1.28628422e+01] [ 1.29048015e-02 4.24788731e-04 9.99916639e-01 3.96954619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539999 meters 0.05183701695547771 Centerline is valid? [True, True] Translation: X:1009.75, Y:12.87, Z:3.97 [[ 9.93959488e-01 -1.08690526e-01 -1.51955647e-02 1.00975048e+03] [ 1.08670276e-01 9.94075515e-01 -2.15448804e-03 1.28711510e+01] [ 1.53397112e-02 4.90167618e-04 9.99882220e-01 3.96687751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.419254154 meters 0.051567268216600445 Centerline is valid? [True, True] Translation: X:1009.81, Y:12.87, Z:3.97 [[ 9.93753370e-01 -1.10736980e-01 -1.38405310e-02 1.00981115e+03] [ 1.10720375e-01 9.93849660e-01 -1.96265200e-03 1.28733954e+01] [ 1.39727451e-02 4.17963259e-04 9.99902289e-01 3.96984117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539999 meters 0.05116031226396152 Centerline is valid? [True, True] Translation: X:1009.87, Y:12.88, Z:3.97 [[ 9.93678722e-01 -1.11583976e-01 -1.23131422e-02 1.00986978e+03] [ 1.11570895e-01 9.93754942e-01 -1.74635410e-03 1.28811545e+01] [ 1.24311110e-02 3.61526618e-04 9.99922665e-01 3.97112346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.539254154 meters 0.05093157227421099 Centerline is valid? [True, True] Translation: X:1009.93, Y:12.89, Z:3.97 [[ 9.93303530e-01 -1.15212019e-01 -8.61903977e-03 1.00992909e+03] [ 1.15205746e-01 9.93340899e-01 -1.22253336e-03 1.28891891e+01] [ 8.70249525e-03 2.21383796e-04 9.99962108e-01 3.97322548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539999 meters 0.051466229428845725 Centerline is valid? [True, True] Translation: X:1009.99, Y:12.90, Z:3.97 [[ 9.92600417e-01 -1.21088006e-01 -9.06133358e-03 1.00998777e+03] [ 1.21081316e-01 9.92641760e-01 -1.28531458e-03 1.28960188e+01] [ 9.15029429e-03 1.78645594e-04 9.99958119e-01 3.97237725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.659254154 meters 0.05163397854308723 Centerline is valid? [True, True] Translation: X:1010.05, Y:12.90, Z:3.97 [[ 9.92328795e-01 -1.23264307e-01 -9.45905645e-03 1.01004511e+03] [ 1.23257114e-01 9.92373863e-01 -1.34196771e-03 1.29049058e+01] [ 9.55233710e-03 1.65777202e-04 9.99954362e-01 3.97078596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539999 meters 0.05104931327525745 Centerline is valid? [True, True] Translation: X:1010.10, Y:12.91, Z:3.97 [[ 9.92499785e-01 -1.21619363e-01 -1.23655500e-02 1.01010361e+03] [ 1.21606936e-01 9.92576785e-01 -1.75471744e-03 1.29126625e+01] [ 1.24871655e-02 2.37820034e-04 9.99922004e-01 3.97033380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.779254154 meters 0.05119488331947342 Centerline is valid? [True, True] Translation: X:1010.16, Y:12.92, Z:3.97 [[ 9.92617848e-01 -1.20440122e-01 -1.42823349e-02 1.01016244e+03] [ 1.20423416e-01 9.92720551e-01 -2.02707799e-03 1.29206945e+01] [ 1.44225089e-02 2.92186233e-04 9.99895947e-01 3.97091293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.839254154 meters 0.05134462715328348 Centerline is valid? [True, True] Translation: X:1010.22, Y:12.93, Z:3.97 [[ 9.92485922e-01 -1.21403633e-01 -1.52594976e-02 1.01021959e+03] [ 1.21384669e-01 9.92603178e-01 -2.16632476e-03 1.29309626e+01] [ 1.54096255e-02 2.97777762e-04 9.99881220e-01 3.97012712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.899254154 meters 0.05090766268234798 Centerline is valid? [True, True] Translation: X:1010.28, Y:12.94, Z:3.97 [[ 9.91741602e-01 -1.27559519e-01 -1.33103388e-02 1.01027928e+03] [ 1.27545642e-01 9.91830902e-01 -1.88972200e-03 1.29369602e+01] [ 1.34426573e-02 1.76440217e-04 9.99909628e-01 3.97155580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.959254154 meters 0.05152260702985503 Centerline is valid? [True, True] Translation: X:1010.34, Y:12.94, Z:3.97 [[ 9.90579530e-01 -1.36449364e-01 -1.15657502e-02 1.01033987e+03] [ 1.36439492e-01 9.90647046e-01 -1.64202633e-03 1.29397955e+01] [ 1.16816297e-02 4.85325847e-05 9.99931766e-01 3.97298089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.019254154 meters 0.05035142916736762 Centerline is valid? [True, True] Translation: X:1010.40, Y:12.94, Z:3.97 [[ 9.89509222e-01 -1.44060273e-01 -1.08691182e-02 1.01039917e+03] [ 1.44052005e-01 9.89568914e-01 -1.54389621e-03 1.29438518e+01] [ 1.09781556e-02 -3.80187249e-05 9.99939737e-01 3.97496112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.079254154 meters 0.05220552822604577 Centerline is valid? [True, True] Translation: X:1010.46, Y:12.95, Z:3.98 [[ 9.89062224e-01 -1.47060819e-01 -1.13592861e-02 1.01045614e+03] [ 1.47051978e-01 9.89127449e-01 -1.61429271e-03 1.29513743e+01] [ 1.14731809e-02 -7.37695561e-05 9.99934178e-01 3.97519242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.139254154 meters 0.051980987846267784 Centerline is valid? [True, True] Translation: X:1010.51, Y:12.96, Z:3.97 [[ 9.88672720e-01 -1.49579663e-01 -1.23360415e-02 1.01051437e+03] [ 1.49569417e-01 9.88749671e-01 -1.75422031e-03 1.29581972e+01] [ 1.24596526e-02 -1.10744772e-04 9.99922369e-01 3.97443915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.199254154 meters 0.05129803424233209 Centerline is valid? [True, True] Translation: X:1010.57, Y:12.97, Z:3.98 [[ 9.88645835e-01 -1.49723791e-01 -1.27357802e-02 1.01057113e+03] [ 1.49712861e-01 9.88727856e-01 -1.81272515e-03 1.29678394e+01] [ 1.28636287e-02 -1.14566917e-04 9.99917254e-01 3.97555182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.259254154 meters 0.05130820607313309 Centerline is valid? [True, True] Translation: X:1010.63, Y:12.98, Z:3.98 [[ 9.89148913e-01 -1.46486505e-01 -1.12308842e-02 1.01062888e+03] [ 1.46477782e-01 9.89212667e-01 -1.59980480e-03 1.29770151e+01] [ 1.13440828e-02 -6.26298346e-05 9.99935652e-01 3.97577456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.319254154 meters 0.051788446804633084 Centerline is valid? [True, True] Translation: X:1010.69, Y:12.99, Z:3.98 [[ 9.89664019e-01 -1.43043119e-01 -1.01880268e-02 1.01068563e+03] [ 1.43035751e-01 9.89716457e-01 -1.45190583e-03 1.29872272e+01] [ 1.02909429e-02 -2.03531012e-05 9.99947047e-01 3.97676692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.379254154 meters 0.05101331956300892 Centerline is valid? [True, True] Translation: X:1010.74, Y:13.00, Z:3.98 [[ 9.90692769e-01 -1.35813033e-01 -9.09167275e-03 1.01074187e+03] [ 1.35806858e-01 9.90734484e-01 -1.29602200e-03 1.30014930e+01] [ 9.18345039e-03 4.92481165e-05 9.99957830e-01 3.97694601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.439254154 meters 0.05119578479227093 Centerline is valid? [True, True] Translation: X:1010.80, Y:13.02, Z:3.98 [[ 9.91829845e-01 -1.27250395e-01 -8.99423968e-03 1.01080066e+03] [ 1.27243998e-01 9.91870617e-01 -1.28233177e-03 1.30155152e+01] [ 9.08429929e-03 1.27391906e-04 9.99958729e-01 3.97801844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.499254154 meters 0.05217598430663312 Centerline is valid? [True, True] Translation: X:1010.86, Y:13.03, Z:3.98 [[ 9.92594418e-01 -1.21071331e-01 -9.90224290e-03 1.01085865e+03] [ 1.21063267e-01 9.92643789e-01 -1.41190781e-03 1.30299723e+01] [ 1.00003415e-02 2.02653929e-04 9.99949975e-01 3.97636500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.559254154 meters 0.05127466420247588 Centerline is valid? [True, True] Translation: X:1010.92, Y:13.04, Z:3.98 [[ 9.92976634e-01 -1.17768662e-01 -1.13113537e-02 1.01091769e+03] [ 1.17757925e-01 9.93041021e-01 -1.61294760e-03 1.30416753e+01] [ 1.14225929e-02 2.69617741e-04 9.99934724e-01 3.97609865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539999 meters 0.05319662114469338 Centerline is valid? [True, True] Translation: X:1010.97, Y:13.05, Z:3.98 [[ 9.93070575e-01 -1.16824807e-01 -1.27592275e-02 1.01097427e+03] [ 1.16811062e-01 9.93152488e-01 -1.81979124e-03 1.30540168e+01] [ 1.28844553e-02 3.16762212e-04 9.99916942e-01 3.97540104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.679254154 meters 0.05243558100933272 Centerline is valid? [True, True] Translation: X:1011.03, Y:13.06, Z:3.98 [[ 9.92839315e-01 -1.18716885e-01 -1.32814245e-02 1.01103324e+03] [ 1.18702155e-01 9.92928098e-01 -1.89473326e-03 1.30584454e+01] [ 1.34124364e-02 3.04631967e-04 9.99910003e-01 3.97718694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539999 meters 0.05254228906222189 Centerline is valid? [True, True] Translation: X:1011.09, Y:13.07, Z:3.98 [[ 9.92204842e-01 -1.23994482e-01 -1.24467246e-02 1.01109201e+03] [ 1.23981957e-01 9.92282883e-01 -1.77588546e-03 1.30655823e+01] [ 1.25708718e-02 2.18872867e-04 9.99920959e-01 3.97765482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.799254154 meters 0.05206676445378569 Centerline is valid? [True, True] Translation: X:1011.15, Y:13.07, Z:3.98 [[ 9.91271708e-01 -1.31377412e-01 -1.09716028e-02 1.01115066e+03] [ 1.31368130e-01 9.91332418e-01 -1.56555466e-03 1.30713095e+01] [ 1.10821841e-02 1.10571092e-04 9.99938585e-01 3.97816877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539999 meters 0.05224998800380611 Centerline is valid? [True, True] Translation: X:1011.21, Y:13.08, Z:3.98 [[ 9.90719657e-01 -1.35550705e-01 -1.00283281e-02 1.01120955e+03] [ 1.35543158e-01 9.90770409e-01 -1.43163225e-03 1.30759841e+01] [ 1.01298295e-02 5.90749567e-05 9.99948690e-01 3.97947441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.919254154 meters 0.0520112991898799 Centerline is valid? [True, True] Translation: X:1011.27, Y:13.08, Z:3.98 [[ 9.90286141e-01 -1.38709468e-01 -9.64581357e-03 1.01126745e+03] [ 1.38702629e-01 9.90333117e-01 -1.37763646e-03 1.30812284e+01] [ 9.74365984e-03 2.63545918e-05 9.99952529e-01 3.97997281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539999 meters 0.052337117283630455 Centerline is valid? [True, True] Translation: X:1011.33, Y:13.09, Z:3.98 [[ 9.90195557e-01 -1.39297178e-01 -1.04429484e-02 1.01132607e+03] [ 1.39289185e-01 9.90250623e-01 -1.49242080e-03 1.30879178e+01] [ 1.05490261e-02 2.31986816e-05 9.99944357e-01 3.98240784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.039254154 meters 0.051959358191665396 Centerline is valid? [True, True] Translation: X:1011.38, Y:13.10, Z:3.98 [[ 9.90242914e-01 -1.38862881e-01 -1.16649856e-02 1.01138279e+03] [ 1.38852868e-01 9.90311617e-01 -1.66790061e-03 1.30976972e+01] [ 1.17835803e-02 3.19100439e-05 9.99930571e-01 3.98108771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539999 meters 0.052566823255497386 Centerline is valid? [True, True] Translation: X:1011.44, Y:13.11, Z:3.98 [[ 9.90130733e-01 -1.39637601e-01 -1.19362094e-02 1.01143936e+03] [ 1.39627165e-01 9.90202676e-01 -1.70730156e-03 1.31061794e+01] [ 1.20576700e-02 2.38326634e-05 9.99927303e-01 3.98014606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.159254154 meters 0.05211457977389611 Centerline is valid? [True, True] Translation: X:1011.50, Y:13.11, Z:3.98 [[ 9.89441431e-01 -1.44504749e-01 -1.11369499e-02 1.01149692e+03] [ 1.44495960e-01 9.89504106e-01 -1.59411378e-03 1.31111025e+01] [ 1.12504147e-02 -3.19620482e-05 9.99936712e-01 3.98377516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539999 meters 0.053764679913618045 Centerline is valid? [True, True] Translation: X:1011.55, Y:13.12, Z:3.99 [[ 9.88249268e-01 -1.52528300e-01 -9.92483499e-03 1.01155485e+03] [ 1.52521718e-01 9.88299097e-01 -1.42125056e-03 1.31170396e+01] [ 1.00254864e-02 -1.09203054e-04 9.99949738e-01 3.98740660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.279254154 meters 0.053832616000683946 Centerline is valid? [True, True] Translation: X:1011.61, Y:13.13, Z:3.99 [[ 9.86889898e-01 -1.61138486e-01 -9.09494200e-03 1.01161379e+03] [ 1.61133321e-01 9.86931789e-01 -1.30257621e-03 1.31274697e+01] [ 9.18598254e-03 -1.79998910e-04 9.99957792e-01 3.98924886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.339254154 meters 0.05409398281337405 Centerline is valid? [True, True] Translation: X:1011.67, Y:13.14, Z:3.99 [[ 9.86455343e-01 -1.63765683e-01 -9.30899385e-03 1.01167199e+03] [ 1.63760389e-01 9.86499243e-01 -1.33335970e-03 1.31374677e+01] [ 9.40167395e-03 -2.09144652e-04 9.99955781e-01 3.98991560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.399254154 meters 0.05404411699092942 Centerline is valid? [True, True] Translation: X:1011.73, Y:13.14, Z:3.99 [[ 9.85649697e-01 -1.68424470e-01 -1.13080678e-02 1.01173045e+03] [ 1.68416962e-01 9.85714514e-01 -1.61986321e-03 1.31445229e+01] [ 1.14193512e-02 -3.07852742e-04 9.99934750e-01 3.98882355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.459254154 meters 0.053920901333213825 Centerline is valid? [True, True] Translation: X:1011.79, Y:13.16, Z:3.99 [[ 9.85643235e-01 -1.68348505e-01 -1.28916645e-02 1.01178835e+03] [ 1.68338727e-01 9.85727477e-01 -1.84768847e-03 1.31569661e+01] [ 1.30187235e-02 -3.49004751e-04 9.99915192e-01 3.98875863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.519254154 meters 0.05392178132177393 Centerline is valid? [True, True] Translation: X:1011.85, Y:13.16, Z:3.99 [[ 9.85981509e-01 -1.66351345e-01 -1.29497091e-02 1.01184724e+03] [ 1.66341299e-01 9.86066491e-01 -1.85655166e-03 1.31638370e+01] [ 1.30781140e-02 -3.23545823e-04 9.99914425e-01 3.98746230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.579254154 meters 0.05416030083300378 Centerline is valid? [True, True] Translation: X:1011.90, Y:13.18, Z:3.99 [[ 9.86838368e-01 -1.61216479e-01 -1.26206865e-02 1.01190498e+03] [ 1.61206517e-01 9.86919037e-01 -1.80943146e-03 1.31814922e+01] [ 1.27473059e-02 -2.48920521e-04 9.99918719e-01 3.98928461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.639254154 meters 0.05444964213576966 Centerline is valid? [True, True] Translation: X:1011.96, Y:13.19, Z:3.99 [[ 9.87723931e-01 -1.55743830e-01 -1.20538631e-02 1.01196431e+03] [ 1.55734335e-01 9.87797464e-01 -1.72816183e-03 1.31896388e+01] [ 1.21759260e-02 -1.70253559e-04 9.99925856e-01 3.98729356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.699254154 meters 0.05426063831968033 Centerline is valid? [True, True] Translation: X:1012.02, Y:13.21, Z:3.99 [[ 9.89259462e-01 -1.45798537e-01 -1.04164973e-02 1.01202144e+03] [ 1.45790893e-01 9.89314300e-01 -1.49352358e-03 1.32085916e+01] [ 1.05229433e-02 -4.11481054e-05 9.99944631e-01 3.98824654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.759254154 meters 0.05435668457176656 Centerline is valid? [True, True] Translation: X:1012.08, Y:13.23, Z:3.99 [[ 9.90825367e-01 -1.34789401e-01 -9.84423467e-03 1.01207648e+03] [ 1.34782027e-01 9.90874267e-01 -1.41183246e-03 1.32287502e+01] [ 9.94469886e-03 7.20535121e-05 9.99950548e-01 3.98850720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.819254154 meters 0.05466264386491569 Centerline is valid? [True, True] Translation: X:1012.13, Y:13.25, Z:3.99 [[ 9.92142069e-01 -1.24462093e-01 -1.27789641e-02 1.01213452e+03] [ 1.24448804e-01 9.92224337e-01 -1.83299765e-03 1.32491527e+01] [ 1.29077379e-02 2.28267273e-04 9.99916666e-01 3.98604247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.879254154 meters 0.054053723420681106 Centerline is valid? [True, True] Translation: X:1012.19, Y:13.26, Z:3.99 [[ 9.92720829e-01 -1.19465530e-01 -1.52755384e-02 1.01219388e+03] [ 1.19445948e-01 9.92838287e-01 -2.19116067e-03 1.32581278e+01] [ 1.54279075e-02 3.50609668e-04 9.99880921e-01 3.98759173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.939254154 meters 0.05434563540879126 Centerline is valid? [True, True] Translation: X:1012.25, Y:13.27, Z:3.99 [[ 9.92968657e-01 -1.17246308e-01 -1.63263388e-02 1.01225202e+03] [ 1.17223634e-01 9.93102781e-01 -2.34220432e-03 1.32696894e+01] [ 1.64883473e-02 4.11902709e-04 9.99863973e-01 3.98800439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.999254154 meters 0.05496037122223385 Centerline is valid? [True, True] Translation: X:1012.31, Y:13.28, Z:3.99 [[ 9.92546476e-01 -1.20965615e-01 -1.47923315e-02 1.01231028e+03] [ 1.20947412e-01 9.92656647e-01 -2.12236090e-03 1.32802887e+01] [ 1.49404389e-02 3.17447616e-04 9.99888335e-01 3.98767182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.059254154 meters 0.054016933425113337 Centerline is valid? [True, True] Translation: X:1012.37, Y:13.28, Z:3.99 [[ 9.91796111e-01 -1.27050402e-01 -1.40950144e-02 1.01237062e+03] [ 1.27034488e-01 9.91896239e-01 -2.02232826e-03 1.32821901e+01] [ 1.42377293e-02 2.15184380e-04 9.99898615e-01 3.98925254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539999 meters 0.05378372578796437 Centerline is valid? [True, True] Translation: X:1012.43, Y:13.29, Z:3.99 [[ 9.91308395e-01 -1.30810017e-01 -1.40144400e-02 1.01242841e+03] [ 1.30794655e-01 9.91407441e-01 -2.01115049e-03 1.32878427e+01] [ 1.41570988e-02 1.60656523e-04 9.99899770e-01 3.98929157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.179254154 meters 0.05452038415624635 Centerline is valid? [True, True] Translation: X:1012.49, Y:13.29, Z:3.99 [[ 9.90927144e-01 -1.33684170e-01 -1.38542073e-02 1.01248784e+03] [ 1.33669421e-01 9.91023980e-01 -1.98933581e-03 1.32913398e+01] [ 1.39957944e-02 1.19402981e-04 9.99902047e-01 3.99071436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539999 meters 0.05442995943513155 Centerline is valid? [True, True] Translation: X:1012.55, Y:13.30, Z:3.99 [[ 9.90840579e-01 -1.34352936e-01 -1.35733791e-02 1.01254526e+03] [ 1.34338828e-01 9.90933538e-01 -1.94997904e-03 1.32973077e+01] [ 1.37123020e-02 1.08686520e-04 9.99905976e-01 3.99064935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.299254154 meters 0.05361074138334222 Centerline is valid? [True, True] Translation: X:1012.60, Y:13.30, Z:3.99 [[ 9.90975620e-01 -1.33220919e-01 -1.48157797e-02 1.01260436e+03] [ 1.33203961e-01 9.91086357e-01 -2.12996687e-03 1.33019045e+01] [ 1.49674733e-02 1.37224687e-04 9.99887972e-01 3.99230568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539999 meters 0.0537425120959913 Centerline is valid? [True, True] Translation: X:1012.66, Y:13.31, Z:3.99 [[ 9.91053540e-01 -1.32605316e-01 -1.51231833e-02 1.01266317e+03] [ 1.32587550e-01 9.91168910e-01 -2.17581093e-03 1.33097399e+01] [ 1.52781532e-02 1.51199301e-04 9.99883271e-01 3.99182366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.419254154 meters 0.053178227246070055 Centerline is valid? [True, True] Translation: X:1012.72, Y:13.31, Z:3.99 [[ 9.91068220e-01 -1.32562648e-01 -1.45233227e-02 1.01272152e+03] [ 1.32546233e-01 9.91174618e-01 -2.09133114e-03 1.33143417e+01] [ 1.46723812e-02 1.47640125e-04 9.99892344e-01 3.99440285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539999 meters 0.05318576595917914 Centerline is valid? [True, True] Translation: X:1012.78, Y:13.32, Z:4.00 [[ 9.91114657e-01 -1.32536665e-01 -1.12146958e-02 1.01277926e+03] [ 1.32526868e-01 9.91178097e-01 -1.61560049e-03 1.33206414e+01] [ 1.13298871e-02 1.14996826e-04 9.99935808e-01 3.99616007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.539254154 meters 0.05350608594464831 Centerline is valid? [True, True] Translation: X:1012.84, Y:13.33, Z:4.00 [[ 9.91294238e-01 -1.31268039e-01 -1.02194055e-02 1.01283615e+03] [ 1.31259832e-01 9.91346906e-01 -1.47261482e-03 1.33287974e+01] [ 1.03242833e-02 1.18397141e-04 9.99946696e-01 3.99666851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539999 meters 0.05359459765017108 Centerline is valid? [True, True] Translation: X:1012.90, Y:13.34, Z:4.00 [[ 9.91804475e-01 -1.27308410e-01 -1.07912698e-02 1.01289508e+03] [ 1.27299021e-01 9.91863166e-01 -1.55528736e-03 1.33371191e+01] [ 1.09014641e-02 1.68822890e-04 9.99940563e-01 3.99592622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.659254154 meters 0.05380214394999881 Centerline is valid? [True, True] Translation: X:1012.95, Y:13.35, Z:3.99 [[ 9.92312553e-01 -1.23085453e-01 -1.28751419e-02 1.01295328e+03] [ 1.23071731e-01 9.92396043e-01 -1.85576201e-03 1.33482164e+01] [ 1.30056572e-02 2.56929930e-04 9.99915390e-01 3.99340496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539999 meters 0.05250711123169531 Centerline is valid? [True, True] Translation: X:1013.01, Y:13.35, Z:4.00 [[ 9.92537517e-01 -1.21240184e-01 -1.30420455e-02 1.01301237e+03] [ 1.21225941e-01 9.92623159e-01 -1.88006116e-03 1.33524406e+01] [ 1.31737754e-02 2.84996996e-04 9.99913181e-01 3.99509488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.779254154 meters 0.05412550048252571 Centerline is valid? [True, True] Translation: X:1013.07, Y:13.36, Z:3.99 [[ 9.92644957e-01 -1.20384614e-01 -1.27880837e-02 1.01306969e+03] [ 1.20370844e-01 9.92727284e-01 -1.84388371e-03 1.33623019e+01] [ 1.29170549e-02 2.91009434e-04 9.99916529e-01 3.99267756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.839254154 meters 0.053606448240962945 Centerline is valid? [True, True] Translation: X:1013.13, Y:13.37, Z:3.99 [[ 9.92392922e-01 -1.22424422e-01 -1.29826403e-02 1.01312841e+03] [ 1.22410398e-01 9.92477803e-01 -1.87236268e-03 1.33651704e+01] [ 1.31142052e-02 2.68909308e-04 9.99913969e-01 3.99219051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.899254154 meters 0.052810702164913625 Centerline is valid? [True, True] Translation: X:1013.19, Y:13.36, Z:4.00 [[ 9.92055986e-01 -1.25249690e-01 -1.17233362e-02 1.01318963e+03] [ 1.25238450e-01 9.92125230e-01 -1.69091496e-03 1.33603894e+01] [ 1.18428042e-02 2.09269859e-04 9.99929850e-01 3.99646555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.959254154 meters 0.05319867456205755 Centerline is valid? [True, True] Translation: X:1013.25, Y:13.37, Z:3.99 [[ 9.91927050e-01 -1.26307954e-01 -1.12706899e-02 1.01324652e+03] [ 1.26297630e-01 9.91991061e-01 -1.62595654e-03 1.33719670e+01] [ 1.13857949e-02 1.89368851e-04 9.99935162e-01 3.99427664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.019254154 meters 0.05252184844970724 Centerline is valid? [True, True] Translation: X:1013.31, Y:13.38, Z:3.99 [[ 9.92109684e-01 -1.24854016e-01 -1.13952015e-02 1.01330523e+03] [ 1.24843356e-01 9.92175101e-01 -1.64487577e-03 1.33755929e+01] [ 1.15114045e-02 2.09281993e-04 9.99933720e-01 3.99462292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.079254154 meters 0.052129145142620716 Centerline is valid? [True, True] Translation: X:1013.37, Y:13.38, Z:3.99 [[ 9.92541504e-01 -1.21348359e-01 -1.16592383e-02 1.01336587e+03] [ 1.21336953e-01 9.92609949e-01 -1.68341375e-03 1.33788343e+01] [ 1.17773554e-02 2.56161577e-04 9.99930612e-01 3.99489435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.139254154 meters 0.051580300836177886 Centerline is valid? [True, True] Translation: X:1013.43, Y:13.38, Z:4.00 [[ 9.92951868e-01 -1.17953289e-01 -1.15590001e-02 1.01342655e+03] [ 1.17941848e-01 9.93019101e-01 -1.66894091e-03 1.33832778e+01] [ 1.16751650e-02 2.93888164e-04 9.99931800e-01 3.99657249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.199254154 meters 0.051857493454442447 Centerline is valid? [True, True] Translation: X:1013.49, Y:13.39, Z:4.00 [[ 9.93494603e-01 -1.13453517e-01 -9.83734744e-03 1.01348636e+03] [ 1.13445009e-01 9.93543262e-01 -1.42039777e-03 1.33875994e+01] [ 9.93497938e-03 2.95159557e-04 9.99950603e-01 3.99789357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.259254154 meters 0.051116924417313796 Centerline is valid? [True, True] Translation: X:1013.55, Y:13.39, Z:4.00 [[ 9.93460703e-01 -1.13763118e-01 -9.68426188e-03 1.01354517e+03] [ 1.13754881e-01 9.93507861e-01 -1.39897817e-03 1.33942786e+01] [ 9.78054242e-03 2.88197780e-04 9.99952128e-01 3.99843520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.319254154 meters 0.05197998760739058 Centerline is valid? [True, True] Translation: X:1013.60, Y:13.41, Z:4.00 [[ 9.93169577e-01 -1.16280182e-01 -9.64934520e-03 1.01360221e+03] [ 1.16272118e-01 9.93216417e-01 -1.39451890e-03 1.34094596e+01] [ 9.74604297e-03 2.63043951e-04 9.99952472e-01 3.99635978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.379254154 meters 0.05245484466536339 Centerline is valid? [True, True] Translation: X:1013.66, Y:13.42, Z:4.00 [[ 9.92796978e-01 -1.19408727e-01 -9.78348268e-03 1.01366232e+03] [ 1.19400586e-01 9.92845154e-01 -1.41409749e-03 1.34159038e+01] [ 9.88233895e-03 2.35758144e-04 9.99951141e-01 3.99650425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.439254154 meters 0.05153123925216525 Centerline is valid? [True, True] Translation: X:1013.72, Y:13.42, Z:4.00 [[ 9.92696325e-01 -1.20236118e-01 -9.86313314e-03 1.01372141e+03] [ 1.20227878e-01 9.92745296e-01 -1.42632183e-03 1.34206728e+01] [ 9.96307443e-03 2.30080874e-04 9.99950341e-01 3.99755553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.499254154 meters 0.051874518728352796 Centerline is valid? [True, True] Translation: X:1013.78, Y:13.43, Z:4.00 [[ 9.92761948e-01 -1.19792123e-01 -8.57686476e-03 1.01377956e+03] [ 1.19785868e-01 9.92798975e-01 -1.24119043e-03 1.34289490e+01] [ 8.66378738e-03 2.04819447e-04 9.99962448e-01 3.99814762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.559254154 meters 0.052030000173999294 Centerline is valid? [True, True] Translation: X:1013.84, Y:13.44, Z:4.00 [[ 9.92862747e-01 -1.19062729e-01 -6.90159722e-03 1.01383737e+03] [ 1.19058657e-01 9.92886719e-01 -9.99423373e-04 1.34392786e+01] [ 6.97149830e-03 1.70595342e-04 9.99975684e-01 3.99828725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539999 meters 0.051002351655669693 Centerline is valid? [True, True] Translation: X:1013.90, Y:13.45, Z:4.00 [[ 9.93007498e-01 -1.17855172e-01 -6.80199501e-03 1.01389539e+03] [ 1.17851183e-01 9.93030779e-01 -9.85733147e-04 1.34478839e+01] [ 6.87076415e-03 1.77217249e-04 9.99976380e-01 3.99909457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.679254154 meters 0.05184644883195787 Centerline is valid? [True, True] Translation: X:1013.95, Y:13.46, Z:4.00 [[ 9.93143045e-01 -1.16712778e-01 -6.70972108e-03 1.01395350e+03] [ 1.16708865e-01 9.93165693e-01 -9.73085898e-04 1.34582172e+01] [ 6.77743635e-03 1.83329558e-04 9.99977016e-01 3.99896744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539999 meters 0.052140862068596694 Centerline is valid? [True, True] Translation: X:1014.01, Y:13.47, Z:4.00 [[ 9.93584825e-01 -1.12853358e-01 -7.30178385e-03 1.01401226e+03] [ 1.12848617e-01 9.93611628e-01 -1.05942874e-03 1.34712175e+01] [ 7.37469743e-03 2.28636107e-04 9.99972780e-01 3.99780876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.799254154 meters 0.053307158888347916 Centerline is valid? [True, True] Translation: X:1014.07, Y:13.49, Z:4.00 [[ 9.93880962e-01 -1.10037077e-01 -9.61643883e-03 1.01406914e+03] [ 1.10028721e-01 9.93927429e-01 -1.39533073e-03 1.34886795e+01] [ 9.71158043e-03 3.28708185e-04 9.99952787e-01 3.99524549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539999 meters 0.0526491970387246 Centerline is valid? [True, True] Translation: X:1014.13, Y:13.50, Z:4.00 [[ 9.94003170e-01 -1.08910724e-01 -9.80569641e-03 1.01412860e+03] [ 1.08901980e-01 9.94051475e-01 -1.42290717e-03 1.34958074e+01] [ 9.90233682e-03 3.46514486e-04 9.99950911e-01 3.99575900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.919254154 meters 0.05092358759876065 Centerline is valid? [True, True] Translation: X:1014.19, Y:13.50, Z:4.00 [[ 9.93969430e-01 -1.09364830e-01 -8.00670014e-03 1.01418846e+03] [ 1.09359011e-01 9.94001638e-01 -1.16232873e-03 1.34951749e+01] [ 8.08579093e-03 2.79714418e-04 9.99967270e-01 3.99734465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539999 meters 0.05147509861675749 Centerline is valid? [True, True] Translation: X:1014.25, Y:13.51, Z:4.00 [[ 9.93558431e-01 -1.13145109e-01 -6.31093119e-03 1.01424686e+03] [ 1.13141568e-01 9.93578455e-01 -9.16486386e-04 1.35089651e+01] [ 6.37410121e-03 1.96554126e-04 9.99979666e-01 3.99752984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.039254154 meters 0.052140146633946886 Centerline is valid? [True, True] Translation: X:1014.31, Y:13.52, Z:4.00 [[ 9.92876645e-01 -1.18950704e-01 -6.83353933e-03 1.01430643e+03] [ 1.18946689e-01 9.92900146e-01 -9.92449929e-04 1.35159807e+01] [ 6.90307482e-03 1.72553481e-04 9.99976159e-01 3.99597520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539999 meters 0.05184520155809953 Centerline is valid? [True, True] Translation: X:1014.37, Y:13.52, Z:4.00 [[ 9.92084613e-01 -1.25200458e-01 -9.64194167e-03 1.01436679e+03] [ 1.25192758e-01 9.92131449e-01 -1.40039196e-03 1.35181332e+01] [ 9.74140327e-03 1.82206040e-04 9.99952535e-01 3.99517999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.159254154 meters 0.05209723330694081 Centerline is valid? [True, True] Translation: X:1014.42, Y:13.53, Z:3.99 [[ 9.91590620e-01 -1.28827081e-01 -1.23135958e-02 1.01442421e+03] [ 1.28814799e-01 9.91667055e-01 -1.78874988e-03 1.35267597e+01] [ 1.24414267e-02 1.87534232e-04 9.99922585e-01 3.99405078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539999 meters 0.052232052809901085 Centerline is valid? [True, True] Translation: X:1014.48, Y:13.53, Z:3.99 [[ 9.90997903e-01 -1.33239891e-01 -1.30494426e-02 1.01448265e+03] [ 1.33226473e-01 9.91083807e-01 -1.89611225e-03 1.35326467e+01] [ 1.31857290e-02 1.40512052e-04 9.99913055e-01 3.99459022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.279254154 meters 0.05225225246460055 Centerline is valid? [True, True] Translation: X:1014.54, Y:13.54, Z:4.00 [[ 9.90610844e-01 -1.36263423e-01 -1.10650841e-02 1.01454180e+03] [ 1.36253959e-01 9.90672636e-01 -1.60830979e-03 1.35380376e+01] [ 1.11810298e-02 8.55476122e-05 9.99937487e-01 3.99688432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.339254154 meters 0.05215705647032369 Centerline is valid? [True, True] Translation: X:1014.60, Y:13.55, Z:4.00 [[ 9.90425367e-01 -1.37741814e-01 -9.20784882e-03 1.01459879e+03] [ 1.37735320e-01 9.90468167e-01 -1.33877459e-03 1.35470169e+01] [ 9.30448639e-03 5.77103109e-05 9.99956711e-01 3.99721803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.399254154 meters 0.052129707600734834 Centerline is valid? [True, True] Translation: X:1014.66, Y:13.55, Z:4.00 [[ 9.90404249e-01 -1.37926104e-01 -8.70704854e-03 1.01465684e+03] [ 1.37920297e-01 9.90442521e-01 -1.26676748e-03 1.35541307e+01] [ 8.79855141e-03 5.37331770e-05 9.99961291e-01 3.99901544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.459254154 meters 0.05241871000607543 Centerline is valid? [True, True] Translation: X:1014.71, Y:13.57, Z:4.00 [[ 9.90487203e-01 -1.37176210e-01 -1.08530269e-02 1.01471380e+03] [ 1.37167133e-01 9.90546658e-01 -1.57993338e-03 1.35659393e+01] [ 1.09671588e-02 7.62252112e-05 9.99939856e-01 3.99640712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.519254154 meters 0.05251765809071243 Centerline is valid? [True, True] Translation: X:1014.77, Y:13.57, Z:4.00 [[ 9.90514493e-01 -1.36906157e-01 -1.17363870e-02 1.01477251e+03] [ 1.36895510e-01 9.90584018e-01 -1.70961326e-03 1.35736537e+01] [ 1.18599340e-02 8.67380296e-05 9.99929665e-01 3.99842781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.579254154 meters 0.052375990686366544 Centerline is valid? [True, True] Translation: X:1014.83, Y:13.58, Z:4.00 [[ 9.90427028e-01 -1.37528826e-01 -1.18374162e-02 1.01482970e+03] [ 1.37518021e-01 9.90497761e-01 -1.72584915e-03 1.35826665e+01] [ 1.19622882e-02 8.14696073e-05 9.99928446e-01 3.99905314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.639254154 meters 0.05281997038567564 Centerline is valid? [True, True] Translation: X:1014.89, Y:13.59, Z:4.00 [[ 9.89980940e-01 -1.40777947e-01 -1.09227963e-02 1.01488850e+03] [ 1.40768931e-01 9.90041195e-01 -1.59375367e-03 1.35904785e+01] [ 1.10383837e-02 4.01954000e-05 9.99939074e-01 4.00052782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.699254154 meters 0.05320239798210838 Centerline is valid? [True, True] Translation: X:1014.95, Y:13.60, Z:4.00 [[ 9.89132705e-01 -1.46702851e-01 -9.73474841e-03 1.01494704e+03] [ 1.46695966e-01 9.89180607e-01 -1.42147975e-03 1.35957778e+01] [ 9.83795947e-03 -2.20162091e-05 9.99951606e-01 4.00258513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.759254154 meters 0.0525936784556496 Centerline is valid? [True, True] Translation: X:1015.00, Y:13.60, Z:4.00 [[ 9.88329076e-01 -1.52076586e-01 -8.85158306e-03 1.01500479e+03] [ 1.52071100e-01 9.88368710e-01 -1.29352809e-03 1.36018282e+01] [ 8.94534307e-03 -6.76385454e-05 9.99959987e-01 4.00292840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.819254154 meters 0.052611394964454154 Centerline is valid? [True, True] Translation: X:1015.06, Y:13.61, Z:4.00 [[ 9.87873571e-01 -1.54975949e-01 -9.39483437e-03 1.01506294e+03] [ 1.54969893e-01 9.87918238e-01 -1.37363894e-03 1.36066429e+01] [ 9.49420922e-03 -9.89348734e-05 9.99954924e-01 4.00176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.879254154 meters 0.052589385054209334 Centerline is valid? [True, True] Translation: X:1015.12, Y:13.62, Z:4.00 [[ 9.87626773e-01 -1.56500126e-01 -1.00532950e-02 1.01512092e+03] [ 1.56493261e-01 9.87677931e-01 -1.47081998e-03 1.36179150e+01] [ 1.01596011e-02 -1.20651723e-04 9.99948383e-01 4.00327207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.939254154 meters 0.05357743828367017 Centerline is valid? [True, True] Translation: X:1015.18, Y:13.63, Z:4.00 [[ 9.87333801e-01 -1.58349033e-01 -9.87668108e-03 1.01517914e+03] [ 1.58342488e-01 9.87383191e-01 -1.44616462e-03 1.36290034e+01] [ 9.98106765e-03 -1.36051047e-04 9.99950179e-01 4.00291921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.999254154 meters 0.05366004579515881 Centerline is valid? [True, True] Translation: X:1015.24, Y:13.64, Z:4.00 [[ 9.87127329e-01 -1.59676810e-01 -9.10783590e-03 1.01523655e+03] [ 1.59671295e-01 9.87169336e-01 -1.33425264e-03 1.36376428e+01] [ 9.20402552e-03 -1.37182703e-04 9.99957633e-01 4.00402556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.059254154 meters 0.05372309382864194 Centerline is valid? [True, True] Translation: X:1015.29, Y:13.64, Z:4.00 [[ 9.87155930e-01 -1.59583068e-01 -7.51097124e-03 1.01529491e+03] [ 1.59579311e-01 9.87184497e-01 -1.10083120e-03 1.36447528e+01] [ 7.59038839e-03 -1.11903566e-04 9.99971186e-01 4.00481867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539999 meters 0.052967802615487565 Centerline is valid? [True, True] Translation: X:1015.35, Y:13.66, Z:4.01 [[ 9.87496084e-01 -1.57464766e-01 -7.50540267e-03 1.01535146e+03] [ 1.57460948e-01 9.87524602e-01 -1.10055994e-03 1.36579966e+01] [ 7.58506919e-03 -9.50091917e-05 9.99971228e-01 4.00514986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.179254154 meters 0.05326075377413093 Centerline is valid? [True, True] Translation: X:1015.41, Y:13.67, Z:4.01 [[ 9.88065108e-01 -1.53808748e-01 -8.37928759e-03 1.01540862e+03] [ 1.53803855e-01 9.88100634e-01 -1.22901290e-03 1.36733611e+01] [ 8.46861232e-03 -7.44219759e-05 9.99964138e-01 4.00548648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539999 meters 0.053424637259840736 Centerline is valid? [True, True] Translation: X:1015.47, Y:13.69, Z:4.00 [[ 9.89317699e-01 -1.45494122e-01 -9.05270398e-03 1.01546590e+03] [ 1.45488061e-01 9.89359116e-01 -1.32799906e-03 1.36917324e+01] [ 9.14959127e-03 -3.24737485e-06 9.99958142e-01 4.00492052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.299254154 meters 0.05381321195265359 Centerline is valid? [True, True] Translation: X:1015.52, Y:13.71, Z:4.00 [[ 9.90003789e-01 -1.40727646e-01 -9.39292820e-03 1.01552219e+03] [ 1.40720904e-01 9.90048346e-01 -1.37820164e-03 1.37070845e+01] [ 9.49340410e-03 4.26435012e-05 9.99954936e-01 4.00326400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539999 meters 0.05326942456415096 Centerline is valid? [True, True] Translation: X:1015.58, Y:13.72, Z:4.00 [[ 9.90694975e-01 -1.35736058e-01 -9.95938672e-03 1.01557994e+03] [ 1.35728223e-01 9.90745029e-01 -1.46158140e-03 1.37229632e+01] [ 1.00656022e-02 9.62114892e-05 9.99949336e-01 4.00409366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.419254154 meters 0.053290152952378225 Centerline is valid? [True, True] Translation: X:1015.64, Y:13.73, Z:4.01 [[ 9.90876305e-01 -1.34453029e-01 -9.30217734e-03 1.01563751e+03] [ 1.34446134e-01 9.90919963e-01 -1.36552419e-03 1.37333181e+01] [ 9.40131209e-03 1.02423787e-04 9.99955801e-01 4.00562279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539999 meters 0.05368404902190747 Centerline is valid? [True, True] Translation: X:1015.70, Y:13.74, Z:4.01 [[ 9.91164564e-01 -1.32294887e-01 -9.53254362e-03 1.01569504e+03] [ 1.32287538e-01 9.91210395e-01 -1.40021840e-03 1.37446722e+01] [ 9.63399806e-03 1.26810135e-04 9.99953584e-01 4.00598049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.539254154 meters 0.053079413492826986 Centerline is valid? [True, True] Translation: X:1015.75, Y:13.75, Z:4.01 [[ 9.91461992e-01 -1.29900954e-01 -1.13516953e-02 1.01575373e+03] [ 1.29890367e-01 9.91526959e-01 -1.66813620e-03 1.37536364e+01] [ 1.14722044e-02 1.79417770e-04 9.99934176e-01 4.00589588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539999 meters 0.05376972606575865 Centerline is valid? [True, True] Translation: X:1015.81, Y:13.76, Z:4.01 [[ 9.91504784e-01 -1.29484152e-01 -1.23336202e-02 1.01581164e+03] [ 1.29471608e-01 9.91581471e-01 -1.81353371e-03 1.37619848e+01] [ 1.24646131e-02 2.01273713e-04 9.99922293e-01 4.00649805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.659254154 meters 0.054521135422031346 Centerline is valid? [True, True] Translation: X:1015.87, Y:13.77, Z:4.01 [[ 9.91366078e-01 -1.30488277e-01 -1.28882975e-02 1.01586870e+03] [ 1.30474652e-01 9.91449833e-01 -1.89595181e-03 1.37746206e+01] [ 1.30254999e-02 1.97986182e-04 9.99915145e-01 4.00533618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539999 meters 0.05369309132241488 Centerline is valid? [True, True] Translation: X:1015.93, Y:13.78, Z:4.01 [[ 9.91240724e-01 -1.31536570e-01 -1.18304128e-02 1.01592745e+03] [ 1.31525154e-01 9.91311304e-01 -1.74129382e-03 1.37824483e+01] [ 1.19566658e-02 1.70044477e-04 9.99928502e-01 4.00629829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.779254154 meters 0.05399440948923397 Centerline is valid? [True, True] Translation: X:1015.99, Y:13.79, Z:4.01 [[ 9.91143479e-01 -1.32279108e-01 -1.16979548e-02 1.01598652e+03] [ 1.32267982e-01 9.91212496e-01 -1.72310336e-03 1.37860659e+01] [ 1.18230896e-02 1.60577787e-04 9.99930092e-01 4.00840260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.839254154 meters 0.05398109291946241 Centerline is valid? [True, True] Translation: X:1016.04, Y:13.80, Z:4.01 [[ 9.91170506e-01 -1.32054744e-01 -1.19403651e-02 1.01604353e+03] [ 1.32043124e-01 9.91242411e-01 -1.75977358e-03 1.37967589e+01] [ 1.20681827e-02 1.67592553e-04 9.99927163e-01 4.00691432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.899254154 meters 0.053327976724249444 Centerline is valid? [True, True] Translation: X:1016.10, Y:13.81, Z:4.01 [[ 9.91359438e-01 -1.30665598e-01 -1.15310908e-02 1.01610168e+03] [ 1.30654656e-01 9.91426482e-01 -1.70045692e-03 1.38051343e+01] [ 1.16544200e-02 1.79173309e-04 9.99932069e-01 4.00779302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.959254154 meters 0.05301805870540746 Centerline is valid? [True, True] Translation: X:1016.16, Y:13.81, Z:4.01 [[ 9.91830105e-01 -1.26990830e-01 -1.20984156e-02 1.01616179e+03] [ 1.26978505e-01 9.91903863e-01 -1.78466869e-03 1.38081042e+01] [ 1.22271017e-02 2.33849418e-04 9.99925219e-01 4.01146490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.019254154 meters 0.05308238483250404 Centerline is valid? [True, True] Translation: X:1016.22, Y:13.82, Z:4.01 [[ 9.92212480e-01 -1.23870789e-01 -1.30545751e-02 1.01622053e+03] [ 1.23856164e-01 9.92298313e-01 -1.92600930e-03 1.38152461e+01] [ 1.31926091e-02 2.94120868e-04 9.99912930e-01 4.01171493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.079254154 meters 0.05395781178622862 Centerline is valid? [True, True] Translation: X:1016.28, Y:13.83, Z:4.01 [[ 9.92328297e-01 -1.22973316e-01 -1.27324461e-02 1.01627748e+03] [ 1.22959324e-01 9.92409933e-01 -1.87893742e-03 1.38277459e+01] [ 1.28668651e-02 2.98949805e-04 9.99917174e-01 4.01050639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.139254154 meters 0.0543750527596213 Centerline is valid? [True, True] Translation: X:1016.34, Y:13.84, Z:4.01 [[ 9.92273033e-01 -1.23613293e-01 -1.06762208e-02 1.01633560e+03] [ 1.23603484e-01 9.92330436e-01 -1.57630239e-03 1.38362454e+01] [ 1.07891908e-02 2.44504269e-04 9.99941765e-01 4.01145819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.199254154 meters 0.053550795061413366 Centerline is valid? [True, True] Translation: X:1016.39, Y:13.84, Z:4.01 [[ 9.92243316e-01 -1.23851716e-01 -1.06749228e-02 1.01639321e+03] [ 1.23841910e-01 9.92300707e-01 -1.57732766e-03 1.38413690e+01] [ 1.07880882e-02 2.43089995e-04 9.99941777e-01 4.01271183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.259254154 meters 0.05380752058801695 Centerline is valid? [True, True] Translation: X:1016.45, Y:13.85, Z:4.01 [[ 9.92273038e-01 -1.23455828e-01 -1.23643129e-02 1.01645196e+03] [ 1.23442624e-01 9.92350027e-01 -1.82841372e-03 1.38456354e+01] [ 1.24954546e-02 2.88002409e-04 9.99921887e-01 4.01183319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.319254154 meters 0.053244494029865405 Centerline is valid? [True, True] Translation: X:1016.51, Y:13.85, Z:4.01 [[ 9.92409188e-01 -1.22216047e-01 -1.36836423e-02 1.01651218e+03] [ 1.22199747e-01 9.92503463e-01 -2.02413722e-03 1.38459217e+01] [ 1.38284444e-02 3.36634746e-04 9.99904326e-01 4.01442358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.379254154 meters 0.05435718671726649 Centerline is valid? [True, True] Translation: X:1016.57, Y:13.86, Z:4.01 [[ 9.92375498e-01 -1.22476782e-01 -1.37952439e-02 1.01656758e+03] [ 1.22460228e-01 9.92471322e-01 -2.04159488e-03 1.38618449e+01] [ 1.39414319e-02 3.36660027e-04 9.99902757e-01 4.01091587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.439254154 meters 0.05327707493934671 Centerline is valid? [True, True] Translation: X:1016.63, Y:13.86, Z:4.01 [[ 9.92166877e-01 -1.24264188e-01 -1.27788664e-02 1.01662806e+03] [ 1.24250125e-01 9.92249126e-01 -1.89170777e-03 1.38626413e+01] [ 1.29148906e-02 2.89114050e-04 9.99916557e-01 4.01354571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.499254154 meters 0.05225849952854321 Centerline is valid? [True, True] Translation: X:1016.69, Y:13.86, Z:4.02 [[ 9.91881315e-01 -1.26617020e-01 -1.18146812e-02 1.01668770e+03] [ 1.26605154e-01 9.91951648e-01 -1.74992529e-03 1.38630362e+01] [ 1.19411628e-02 2.39918669e-04 9.99928673e-01 4.01587254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.559254154 meters 0.05307798353020609 Centerline is valid? [True, True] Translation: X:1016.74, Y:13.88, Z:4.01 [[ 9.91868527e-01 -1.26753337e-01 -1.14200466e-02 1.01674452e+03] [ 1.26742251e-01 9.91934241e-01 -1.69220387e-03 1.38766638e+01] [ 1.15424277e-02 2.31041354e-04 9.99933357e-01 4.01350044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539999 meters 0.052679243186822995 Centerline is valid? [True, True] Translation: X:1016.80, Y:13.89, Z:4.01 [[ 9.92027968e-01 -1.25542536e-01 -1.09353396e-02 1.01680262e+03] [ 1.25532288e-01 9.92088210e-01 -1.62128314e-03 1.38850778e+01] [ 1.10523615e-02 2.35620023e-04 9.99938893e-01 4.01381806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.679254154 meters 0.053254477252076465 Centerline is valid? [True, True] Translation: X:1016.86, Y:13.89, Z:4.01 [[ 9.92388576e-01 -1.22590415e-01 -1.16835133e-02 1.01686239e+03] [ 1.22578506e-01 9.92457308e-01 -1.73270853e-03 1.38921638e+01] [ 1.18078016e-02 2.87372540e-04 9.99930244e-01 4.01338045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539999 meters 0.05229455442611228 Centerline is valid? [True, True] Translation: X:1016.92, Y:13.90, Z:4.01 [[ 9.92615380e-01 -1.20585610e-01 -1.31839971e-02 1.01692194e+03] [ 1.20570266e-01 9.92702870e-01 -1.95541374e-03 1.38977142e+01] [ 1.33235865e-02 3.51375719e-04 9.99911175e-01 4.01323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.799254154 meters 0.05349710022163697 Centerline is valid? [True, True] Translation: X:1016.98, Y:13.91, Z:4.01 [[ 9.92712987e-01 -1.19829818e-01 -1.27177415e-02 1.01697757e+03] [ 1.19815470e-01 9.92794386e-01 -1.88691261e-03 1.39134889e+01] [ 1.28522108e-02 3.49380472e-04 9.99917346e-01 4.01110411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539999 meters 0.05318376593720539 Centerline is valid? [True, True] Translation: X:1017.04, Y:13.92, Z:4.01 [[ 9.92670296e-01 -1.20299451e-01 -1.15639463e-02 1.01703604e+03] [ 1.20287608e-01 9.92737601e-01 -1.71676802e-03 1.39180668e+01] [ 1.16864906e-02 3.13185171e-04 9.99931662e-01 4.01322948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.919254154 meters 0.051483748467609614 Centerline is valid? [True, True] Translation: X:1017.10, Y:13.92, Z:4.02 [[ 9.92385231e-01 -1.22677318e-01 -1.10375758e-02 1.01709592e+03] [ 1.22666670e-01 9.92446574e-01 -1.63912502e-03 1.39195072e+01] [ 1.11552877e-02 2.72700788e-04 9.99937741e-01 4.01534783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539999 meters 0.051671352556201276 Centerline is valid? [True, True] Translation: X:1017.16, Y:13.93, Z:4.01 [[ 9.91863850e-01 -1.26777031e-01 -1.15622983e-02 1.01715582e+03] [ 1.26765623e-01 9.91931211e-01 -1.71717142e-03 1.39260273e+01] [ 1.16867024e-02 2.37498314e-04 9.99931680e-01 4.01485758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.039254154 meters 0.051955756352202905 Centerline is valid? [True, True] Translation: X:1017.22, Y:13.93, Z:4.01 [[ 9.91173629e-01 -1.31992617e-01 -1.23607101e-02 1.01721598e+03] [ 1.31979982e-01 9.91250681e-01 -1.83602431e-03 1.39320884e+01] [ 1.24949040e-02 1.88452582e-04 9.99921918e-01 4.01413468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539999 meters 0.051487980742458715 Centerline is valid? [True, True] Translation: X:1017.28, Y:13.94, Z:4.02 [[ 9.90896784e-01 -1.34034308e-01 -1.25844011e-02 1.01727501e+03] [ 1.34021361e-01 9.90976678e-01 -1.87035722e-03 1.39368870e+01] [ 1.27215400e-02 1.66752392e-04 9.99919064e-01 4.01588776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.159254154 meters 0.05195348003959901 Centerline is valid? [True, True] Translation: X:1017.33, Y:13.94, Z:4.01 [[ 9.90056626e-01 -1.40096409e-01 -1.26835968e-02 1.01733306e+03] [ 1.40083747e-01 9.90137863e-01 -1.88569175e-03 1.39440230e+01] [ 1.28226881e-02 9.01758565e-05 9.99917782e-01 4.01471244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539999 meters 0.051914390717147714 Centerline is valid? [True, True] Translation: X:1017.39, Y:13.95, Z:4.02 [[ 9.89207819e-01 -1.46023809e-01 -1.20390400e-02 1.01739181e+03] [ 1.46012828e-01 9.89281076e-01 -1.79081371e-03 1.39487865e+01] [ 1.21714959e-02 1.36326351e-05 9.99925924e-01 4.01732093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.279254154 meters 0.05252067888428837 Centerline is valid? [True, True] Translation: X:1017.45, Y:13.96, Z:4.02 [[ 9.88555879e-01 -1.50386140e-01 -1.18862719e-02 1.01744993e+03] [ 1.50375733e-01 9.88627335e-01 -1.76959380e-03 1.39550832e+01] [ 1.20172157e-02 -3.80644903e-05 9.99927790e-01 4.01811008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.339254154 meters 0.0521389816640446 Centerline is valid? [True, True] Translation: X:1017.51, Y:13.96, Z:4.02 [[ 9.87682678e-01 -1.56054953e-01 -1.13920910e-02 1.01750764e+03] [ 1.56045761e-01 9.87748369e-01 -1.69684582e-03 1.39611905e+01] [ 1.15173205e-02 -1.01742280e-04 9.99933668e-01 4.01943922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.399254154 meters 0.05287196240357585 Centerline is valid? [True, True] Translation: X:1017.57, Y:13.97, Z:4.02 [[ 9.86846020e-01 -1.61267269e-01 -1.13049099e-02 1.01756679e+03] [ 1.61258555e-01 9.86910757e-01 -1.68413009e-03 1.39685876e+01] [ 1.14285322e-02 -1.61036355e-04 9.99934679e-01 4.02054537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.459254154 meters 0.05295408765769536 Centerline is valid? [True, True] Translation: X:1017.62, Y:13.98, Z:4.02 [[ 9.86429733e-01 -1.63700380e-01 -1.25923678e-02 1.01762466e+03] [ 1.63689763e-01 9.86510082e-01 -1.87625426e-03 1.39751346e+01] [ 1.27296413e-02 -2.10448705e-04 9.99918953e-01 4.02006431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.519254154 meters 0.0531967526700696 Centerline is valid? [True, True] Translation: X:1017.68, Y:13.99, Z:4.02 [[ 9.86339845e-01 -1.64194833e-01 -1.31821027e-02 1.01768215e+03] [ 1.64183228e-01 9.86427902e-01 -1.96522999e-03 1.39895086e+01] [ 1.33258745e-02 -2.25895519e-04 9.99911181e-01 4.02263752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.579254154 meters 0.053911995836131446 Centerline is valid? [True, True] Translation: X:1017.74, Y:13.99, Z:4.02 [[ 9.86498764e-01 -1.63164852e-01 -1.40506361e-02 1.01774125e+03] [ 1.63151541e-01 9.86598794e-01 -2.09621641e-03 1.39889946e+01] [ 1.42043695e-02 -2.24468036e-04 9.99899088e-01 4.01615115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.639254154 meters 0.053170404852045224 Centerline is valid? [True, True] Translation: X:1017.80, Y:14.01, Z:4.02 [[ 9.87295018e-01 -1.58336147e-01 -1.33495895e-02 1.01779938e+03] [ 1.58323679e-01 9.87385256e-01 -1.99236194e-03 1.40062506e+01] [ 1.34966507e-02 -1.46507097e-04 9.99908905e-01 4.01867480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.699254154 meters 0.05283286699929525 Centerline is valid? [True, True] Translation: X:1017.86, Y:14.02, Z:4.02 [[ 9.88329298e-01 -1.51826610e-01 -1.24047856e-02 1.01785704e+03] [ 1.51815328e-01 9.88407142e-01 -1.85162878e-03 1.40226944e+01] [ 1.25421051e-02 -5.32176105e-05 9.99921343e-01 4.02027476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.759254154 meters 0.052911103829878715 Centerline is valid? [True, True] Translation: X:1017.91, Y:14.05, Z:4.02 [[ 9.90680938e-01 -1.35726846e-01 -1.13799513e-02 1.01791295e+03] [ 1.35716284e-01 9.90746286e-01 -1.69889850e-03 1.40473777e+01] [ 1.15052307e-02 1.38621654e-04 9.99933803e-01 4.01996985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.819254154 meters 0.053052868285449806 Centerline is valid? [True, True] Translation: X:1017.97, Y:14.06, Z:4.02 [[ 9.91594120e-01 -1.28885762e-01 -1.13825163e-02 1.01797024e+03] [ 1.28874742e-01 9.91659424e-01 -1.69943299e-03 1.40637837e+01] [ 1.15066123e-02 2.18228903e-04 9.99933773e-01 4.01912338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.879254154 meters 0.05301750153559059 Centerline is valid? [True, True] Translation: X:1018.03, Y:14.08, Z:4.02 [[ 9.92468945e-01 -1.21983984e-01 -1.11937975e-02 1.01802902e+03] [ 1.21972887e-01 9.92532026e-01 -1.67129864e-03 1.40784969e+01] [ 1.13140741e-02 2.93372209e-04 9.99935951e-01 4.01917932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.939254154 meters 0.05260947081088994 Centerline is valid? [True, True] Translation: X:1018.09, Y:14.08, Z:4.02 [[ 9.92901303e-01 -1.18505629e-01 -1.01694746e-02 1.01808958e+03] [ 1.18496288e-01 9.92953334e-01 -1.51836783e-03 1.40833343e+01] [ 1.02777489e-02 3.02544406e-04 9.99947137e-01 4.02133200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.999254154 meters 0.05273588539104829 Centerline is valid? [True, True] Translation: X:1018.15, Y:14.09, Z:4.02 [[ 9.92893576e-01 -1.18623782e-01 -9.52603201e-03 1.01814664e+03] [ 1.18615583e-01 9.92939232e-01 -1.42303357e-03 1.40935157e+01] [ 9.62757653e-03 2.82985043e-04 9.99953614e-01 4.02144779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.059254154 meters 0.05319571341311991 Centerline is valid? [True, True] Translation: X:1018.20, Y:14.11, Z:4.02 [[ 9.92438437e-01 -1.22336305e-01 -9.98887635e-03 1.01820366e+03] [ 1.22327472e-01 9.92488671e-01 -1.49280806e-03 1.41111848e+01] [ 1.00964712e-02 2.59606103e-04 9.99948996e-01 4.01886350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539999 meters 0.053007190055853304 Centerline is valid? [True, True] Translation: X:1018.26, Y:14.12, Z:4.02 [[ 9.91560886e-01 -1.29287407e-01 -9.57998010e-03 1.01826315e+03] [ 1.29279605e-01 9.91607147e-01 -1.43182777e-03 1.41170522e+01] [ 9.68469403e-03 1.81248370e-04 9.99953086e-01 4.01809029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.179254154 meters 0.05260860031743106 Centerline is valid? [True, True] Translation: X:1018.32, Y:14.12, Z:4.02 [[ 9.90686427e-01 -1.35900877e-01 -8.44717027e-03 1.01832315e+03] [ 1.35895051e-01 9.90722434e-01 -1.26258584e-03 1.41197132e+01] [ 8.54038761e-03 1.02898018e-04 9.99963525e-01 4.02001727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539999 meters 0.05281790551605043 Centerline is valid? [True, True] Translation: X:1018.38, Y:14.13, Z:4.02 [[ 9.90125856e-01 -1.39940668e-01 -8.20962790e-03 1.01838087e+03] [ 1.39935302e-01 9.90159889e-01 -1.22724221e-03 1.41285341e+01] [ 8.30058534e-03 6.63074841e-05 9.99965547e-01 4.01926678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.299254154 meters 0.05302686636984423 Centerline is valid? [True, True] Translation: X:1018.44, Y:14.13, Z:4.02 [[ 9.89997520e-01 -1.40858981e-01 -7.97858879e-03 1.01843954e+03] [ 1.40853938e-01 9.90029668e-01 -1.19329982e-03 1.41348847e+01] [ 8.06712661e-03 5.75482100e-05 9.99967459e-01 4.02024491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539999 meters 0.05317236237891293 Centerline is valid? [True, True] Translation: X:1018.50, Y:14.14, Z:4.02 [[ 9.90148791e-01 -1.39737996e-01 -8.86931807e-03 1.01849634e+03] [ 1.39731712e-01 9.90188511e-01 -1.32732993e-03 1.41449696e+01] [ 8.96777527e-03 7.49291232e-05 9.99959786e-01 4.01906576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.419254154 meters 0.05291864938693087 Centerline is valid? [True, True] Translation: X:1018.55, Y:14.16, Z:4.02 [[ 9.90469762e-01 -1.37446538e-01 -8.83743436e-03 1.01855452e+03] [ 1.37440201e-01 9.90509182e-01 -1.32336306e-03 1.41551604e+01] [ 8.93545155e-03 9.61323335e-05 9.99960073e-01 4.01960951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539999 meters 0.052780850303197804 Centerline is valid? [True, True] Translation: X:1018.61, Y:14.17, Z:4.02 [[ 9.90710795e-01 -1.35693999e-01 -8.90280839e-03 1.01861156e+03] [ 1.35687491e-01 9.90750789e-01 -1.33380412e-03 1.41672200e+01] [ 9.00145365e-03 1.13414407e-04 9.99959480e-01 4.01922160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.539254154 meters 0.053217874032694006 Centerline is valid? [True, True] Translation: X:1018.67, Y:14.17, Z:4.02 [[ 9.91056008e-01 -1.33109275e-01 -9.48205958e-03 1.01867044e+03] [ 1.33101771e-01 9.91101357e-01 -1.42089154e-03 1.41746227e+01] [ 9.58681596e-03 1.46104175e-04 9.99954035e-01 4.02119013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539999 meters 0.05298972636739902 Centerline is valid? [True, True] Translation: X:1018.73, Y:14.18, Z:4.02 [[ 9.91212164e-01 -1.31989946e-01 -8.78062145e-03 1.01872738e+03] [ 1.31983464e-01 9.91251044e-01 -1.31616507e-03 1.41849990e+01] [ 8.87752074e-03 1.45701984e-04 9.99960583e-01 4.02164970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.659254154 meters 0.053077103290711844 Centerline is valid? [True, True] Translation: X:1018.78, Y:14.19, Z:4.02 [[ 9.91077026e-01 -1.33082426e-01 -7.44286540e-03 1.01878413e+03] [ 1.33077795e-01 9.91104966e-01 -1.11623260e-03 1.41944777e+01] [ 7.52521181e-03 1.15792372e-04 9.99971678e-01 4.02324289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539999 meters 0.05354491021418751 Centerline is valid? [True, True] Translation: X:1018.84, Y:14.20, Z:4.02 [[ 9.90823665e-01 -1.34997391e-01 -6.64595265e-03 1.01884127e+03] [ 1.34993738e-01 9.90845950e-01 -9.97205298e-04 1.42022044e+01] [ 6.71973538e-03 9.08926162e-05 9.99977418e-01 4.02376130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.779254154 meters 0.053035140656858284 Centerline is valid? [True, True] Translation: X:1018.90, Y:14.21, Z:4.02 [[ 9.90634779e-01 -1.36386240e-01 -6.44428067e-03 1.01889992e+03] [ 1.36382832e-01 9.90655736e-01 -9.67379642e-04 1.42062556e+01] [ 6.51600088e-03 7.94306706e-05 9.99978767e-01 4.02469410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.839254154 meters 0.05303185032985146 Centerline is valid? [True, True] Translation: X:1018.96, Y:14.21, Z:4.02 [[ 9.90429144e-01 -1.37804523e-01 -7.74750417e-03 1.01895729e+03] [ 1.37799636e-01 9.90459442e-01 -1.16370001e-03 1.42147392e+01] [ 7.83395178e-03 8.49591554e-05 9.99969310e-01 4.02364463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.899254154 meters 0.05320924970659366 Centerline is valid? [True, True] Translation: X:1019.01, Y:14.22, Z:4.02 [[ 9.90357093e-01 -1.38263238e-01 -8.72389458e-03 1.01901490e+03] [ 1.38257052e-01 9.90395511e-01 -1.31115190e-03 1.42215333e+01] [ 8.82139014e-03 9.23686357e-05 9.99961086e-01 4.02290267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.959254154 meters 0.05258803734399932 Centerline is valid? [True, True] Translation: X:1019.07, Y:14.23, Z:4.02 [[ 9.90350243e-01 -1.38270898e-01 -9.35713659e-03 1.01907328e+03] [ 1.38263770e-01 9.90394441e-01 -1.40749956e-03 1.42274514e+01] [ 9.46187230e-03 1.00164547e-04 9.99955230e-01 4.02296884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.019254154 meters 0.05315271761521139 Centerline is valid? [True, True] Translation: X:1019.13, Y:14.24, Z:4.02 [[ 9.90466853e-01 -1.37373594e-01 -1.01935749e-02 1.01913047e+03] [ 1.37365079e-01 9.90519299e-01 -1.53407644e-03 1.42369922e+01] [ 1.03076743e-02 1.19210637e-04 9.99946867e-01 4.02166930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.079254154 meters 0.052673593245514135 Centerline is valid? [True, True] Translation: X:1019.19, Y:14.24, Z:4.02 [[ 9.90725651e-01 -1.35533411e-01 -9.66330955e-03 1.01918877e+03] [ 1.35525668e-01 9.90772768e-01 -1.45466896e-03 1.42413184e+01] [ 9.77130019e-03 1.31551366e-04 9.99952251e-01 4.02307095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.139254154 meters 0.0517081523327988 Centerline is valid? [True, True] Translation: X:1019.25, Y:14.25, Z:4.02 [[ 9.90979703e-01 -1.33653328e-01 -9.79880629e-03 1.01924557e+03] [ 1.33645271e-01 9.91028135e-01 -1.47547452e-03 1.42530933e+01] [ 9.90809481e-03 1.52601183e-04 9.99950902e-01 4.02179361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.199254154 meters 0.053243168074706186 Centerline is valid? [True, True] Translation: X:1019.30, Y:14.26, Z:4.02 [[ 9.91479850e-01 -1.29915817e-01 -9.46502876e-03 1.01930459e+03] [ 1.29908126e-01 9.91525011e-01 -1.42550535e-03 1.42574949e+01] [ 9.57000843e-03 1.83775681e-04 9.99954190e-01 4.02270870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.259254154 meters 0.052077948171283125 Centerline is valid? [True, True] Translation: X:1019.36, Y:14.26, Z:4.02 [[ 9.91940244e-01 -1.26373232e-01 -9.18465333e-03 1.01936464e+03] [ 1.26365837e-01 9.91982743e-01 -1.38339568e-03 1.42632049e+01] [ 9.28584178e-03 2.11619449e-04 9.99956863e-01 4.02183644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.319254154 meters 0.05273293290848158 Centerline is valid? [True, True] Translation: X:1019.42, Y:14.27, Z:4.02 [[ 9.92110606e-01 -1.25073963e-01 -8.54688455e-03 1.01942089e+03] [ 1.25067508e-01 9.92147398e-01 -1.28768464e-03 1.42742387e+01] [ 8.64082509e-03 2.08588035e-04 9.99962646e-01 4.02039103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.379254154 meters 0.05136029008996398 Centerline is valid? [True, True] Translation: X:1019.48, Y:14.28, Z:4.02 [[ 9.92129472e-01 -1.24934157e-01 -8.40038587e-03 1.01948057e+03] [ 1.24927910e-01 9.92165013e-01 -1.26639322e-03 1.42756149e+01] [ 8.49278472e-03 2.06983381e-04 9.99963914e-01 4.02080253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.439254154 meters 0.05097853004690443 Centerline is valid? [True, True] Translation: X:1019.54, Y:14.28, Z:4.02 [[ 9.92179223e-01 -1.24578113e-01 -7.78994427e-03 1.01953966e+03] [ 1.24572723e-01 9.92209784e-01 -1.17520869e-03 1.42791823e+01] [ 7.87566421e-03 1.95603075e-04 9.99968967e-01 4.02086548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.499254154 meters 0.05209878839845004 Centerline is valid? [True, True] Translation: X:1019.60, Y:14.29, Z:4.02 [[ 9.92070720e-01 -1.25448672e-01 -7.63653433e-03 1.01959674e+03] [ 1.25443512e-01 9.92100094e-01 -1.15289849e-03 1.42901849e+01] [ 7.72083601e-03 1.85803148e-04 9.99970177e-01 4.01959862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.559254154 meters 0.05054943336454703 Centerline is valid? [True, True] Translation: X:1019.66, Y:14.29, Z:4.02 [[ 9.91547516e-01 -1.29496841e-01 -8.00571090e-03 1.01965784e+03] [ 1.29491298e-01 9.91579821e-01 -1.20911016e-03 1.42898347e+01] [ 8.09487733e-03 1.62220274e-04 9.99967223e-01 4.01984635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539999 meters 0.051281824068149566 Centerline is valid? [True, True] Translation: X:1019.71, Y:14.30, Z:4.02 [[ 9.91263635e-01 -1.31662343e-01 -7.83795187e-03 1.01971424e+03] [ 1.31657096e-01 9.91294612e-01 -1.18392943e-03 1.43027224e+01] [ 7.92559838e-03 1.41664215e-04 9.99968582e-01 4.01851380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.679254154 meters 0.05131222254890706 Centerline is valid? [True, True] Translation: X:1019.77, Y:14.31, Z:4.02 [[ 9.91259598e-01 -1.31698105e-01 -7.74718978e-03 1.01977206e+03] [ 1.31692975e-01 9.91289861e-01 -1.17083378e-03 1.43094739e+01] [ 7.83390728e-03 1.40349750e-04 9.99969305e-01 4.01849218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539999 meters 0.051309264012130235 Centerline is valid? [True, True] Translation: X:1019.83, Y:14.32, Z:4.02 [[ 9.91288320e-01 -1.31421997e-01 -8.70201574e-03 1.01982996e+03] [ 1.31415505e-01 9.91326502e-01 -1.31623216e-03 1.43211461e+01] [ 8.79952068e-03 1.61185773e-04 9.99961270e-01 4.01720335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.799254154 meters 0.05140117777377561 Centerline is valid? [True, True] Translation: X:1019.89, Y:14.33, Z:4.02 [[ 9.91206483e-01 -1.32020858e-01 -8.95551667e-03 1.01988891e+03] [ 1.32013997e-01 9.91246925e-01 -1.35560518e-03 1.43279686e+01] [ 9.05609652e-03 1.61431100e-04 9.99958980e-01 4.01841323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539999 meters 0.050973395709507596 Centerline is valid? [True, True] Translation: X:1019.95, Y:14.34, Z:4.02 [[ 9.90652004e-01 -1.36167128e-01 -8.19273592e-03 1.01994820e+03] [ 1.36161524e-01 9.90685874e-01 -1.24055247e-03 1.43376955e+01] [ 8.28535021e-03 1.13420378e-04 9.99965669e-01 4.01848076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.919254154 meters 0.051486444686078534 Centerline is valid? [True, True] Translation: X:1020.01, Y:14.34, Z:4.02 [[ 9.89724908e-01 -1.42822262e-01 -6.81235336e-03 1.02000752e+03] [ 1.42818544e-01 9.89748352e-01 -1.03155759e-03 1.43449843e+01] [ 6.88984489e-03 4.80278496e-05 9.99976264e-01 4.01845605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539999 meters 0.0514489053888662 Centerline is valid? [True, True] Translation: X:1020.07, Y:14.35, Z:4.02 [[ 9.88766364e-01 -1.49350323e-01 -5.96312158e-03 1.02006549e+03] [ 1.49347593e-01 9.88784345e-01 -9.03114569e-04 1.43511104e+01] [ 6.03112171e-03 2.39145675e-06 9.99981813e-01 4.01813319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.039254154 meters 0.05165806722834468 Centerline is valid? [True, True] Translation: X:1020.12, Y:14.36, Z:4.02 [[ 9.88217414e-01 -1.52974113e-01 -5.02618154e-03 1.02012299e+03] [ 1.52972219e-01 9.88230196e-01 -7.61560307e-04 1.43580928e+01] [ 5.08352338e-03 -1.62789839e-05 9.99987079e-01 4.01894810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539999 meters 0.05109031302971294 Centerline is valid? [True, True] Translation: X:1020.18, Y:14.37, Z:4.02 [[ 9.87705417e-01 -1.56266051e-01 -4.35093902e-03 1.02018139e+03] [ 1.56264661e-01 9.87715000e-01 -6.59742757e-04 1.43656686e+01] [ 4.40058313e-03 -2.82665158e-05 9.99990317e-01 4.01881497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.159254154 meters 0.05104021231311129 Centerline is valid? [True, True] Translation: X:1020.24, Y:14.37, Z:4.02 [[ 9.87710238e-01 -1.56245055e-01 -3.99609958e-03 1.02023817e+03] [ 1.56243881e-01 9.87718321e-01 -6.06326880e-04 1.43739186e+01] [ 4.04175634e-03 -2.54908385e-05 9.99991832e-01 4.01847940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539999 meters 0.05139535327638217 Centerline is valid? [True, True] Translation: X:1020.30, Y:14.39, Z:4.02 [[ 9.87985798e-01 -1.54509205e-01 -3.31181592e-03 1.02029603e+03] [ 1.54508388e-01 9.87991349e-01 -5.02616871e-04 1.43850294e+01] [ 3.34970441e-03 -1.51250079e-05 9.99994390e-01 4.01823501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.279254154 meters 0.05197506100528008 Centerline is valid? [True, True] Translation: X:1020.35, Y:14.40, Z:4.02 [[ 9.89251104e-01 -1.46182027e-01 -3.61489876e-03 1.02035114e+03] [ 1.46180997e-01 9.89257709e-01 -5.49096372e-04 1.44009672e+01] [ 3.65633449e-03 1.47646894e-05 9.99993315e-01 4.01785566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.339254154 meters 0.05123757107693073 Centerline is valid? [True, True] Translation: X:1020.41, Y:14.41, Z:4.02 [[ 9.90044702e-01 -1.40722611e-01 -2.93843046e-03 1.02040872e+03] [ 1.40721905e-01 9.90049062e-01 -4.46524641e-04 1.44119456e+01] [ 2.97202643e-03 2.85778226e-05 9.99995583e-01 4.01760017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.399254154 meters 0.050738513848899575 Centerline is valid? [True, True] Translation: X:1020.47, Y:14.43, Z:4.02 [[ 9.90969254e-01 -1.34055484e-01 -3.01089121e-03 1.02046605e+03] [ 1.34054711e-01 9.90973827e-01 -4.57987237e-04 1.44269486e+01] [ 3.04511008e-03 5.02271208e-05 9.99995362e-01 4.01843604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.459254154 meters 0.05183825313673846 Centerline is valid? [True, True] Translation: X:1020.52, Y:14.44, Z:4.02 [[ 9.91477164e-01 -1.30246734e-01 -2.97002983e-03 1.02052379e+03] [ 1.30245965e-01 9.91481611e-01 -4.51820748e-04 1.44407441e+01] [ 3.00357814e-03 6.11355520e-05 9.99995487e-01 4.01889457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.519254154 meters 0.052029447204389984 Centerline is valid? [True, True] Translation: X:1020.58, Y:14.45, Z:4.02 [[ 9.91743359e-01 -1.28160072e-01 -4.48388159e-03 1.02058221e+03] [ 1.28158296e-01 9.91753490e-01 -6.82219134e-04 1.44535651e+01] [ 4.53433847e-03 1.01939671e-04 9.99989715e-01 4.01792726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.579254154 meters 0.05153521513751288 Centerline is valid? [True, True] Translation: X:1020.64, Y:14.46, Z:4.02 [[ 9.91700077e-01 -1.28445561e-01 -5.71797297e-03 1.02064010e+03] [ 1.28442677e-01 9.91716553e-01 -8.70299603e-04 1.44564381e+01] [ 5.78239457e-03 1.28644428e-04 9.99983274e-01 4.01713985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.639254154 meters 0.05120594057802087 Centerline is valid? [True, True] Translation: X:1020.70, Y:14.47, Z:4.02 [[ 9.91261497e-01 -1.31707250e-01 -7.33786806e-03 1.02069826e+03] [ 1.31702585e-01 9.91288646e-01 -1.11756813e-03 1.44680154e+01] [ 7.42113712e-03 1.41386066e-04 9.99972453e-01 4.01565945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.699254154 meters 0.051631202163851204 Centerline is valid? [True, True] Translation: X:1020.76, Y:14.47, Z:4.02 [[ 9.90382430e-01 -1.38147478e-01 -7.61032489e-03 1.02075798e+03] [ 1.38142648e-01 9.90411664e-01 -1.15915872e-03 1.44720355e+01] [ 7.69748939e-03 9.66999921e-05 9.99970369e-01 4.01579123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.759254154 meters 0.051231997421213794 Centerline is valid? [True, True] Translation: X:1020.82, Y:14.48, Z:4.02 [[ 9.89196783e-01 -1.46408219e-01 -7.37279520e-03 1.02081703e+03] [ 1.46403915e-01 9.89224258e-01 -1.12303722e-03 1.44771893e+01] [ 7.45776974e-03 3.14987222e-05 9.99972190e-01 4.01593947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.819254154 meters 0.051519309677765135 Centerline is valid? [True, True] Translation: X:1020.88, Y:14.48, Z:4.02 [[ 9.88391068e-01 -1.51788535e-01 -6.58304822e-03 1.02087655e+03] [ 1.51785222e-01 9.88412991e-01 -1.00293583e-03 1.44805560e+01] [ 6.65900454e-03 -7.91662301e-06 9.99977829e-01 4.01866045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.879254154 meters 0.05120440442030935 Centerline is valid? [True, True] Translation: X:1020.93, Y:14.49, Z:4.02 [[ 9.87639223e-01 -1.56622550e-01 -6.17587510e-03 1.02093498e+03] [ 1.56619726e-01 9.87658532e-01 -9.41388295e-04 1.44862559e+01] [ 6.24709837e-03 -3.75118597e-05 9.99980486e-01 4.01963456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.939254154 meters 0.05211801913419699 Centerline is valid? [True, True] Translation: X:1020.99, Y:14.49, Z:4.02 [[ 9.86912875e-01 -1.61142172e-01 -6.01481735e-03 1.02099282e+03] [ 1.61139573e-01 9.86931201e-01 -9.17356563e-04 1.44902136e+01] [ 6.08403574e-03 -6.38740990e-05 9.99981490e-01 4.01957198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.999254154 meters 0.05208000252937439 Centerline is valid? [True, True] Translation: X:1021.05, Y:14.50, Z:4.02 [[ 9.86725125e-01 -1.62303233e-01 -5.58471416e-03 1.02105115e+03] [ 1.62301010e-01 9.86740927e-01 -8.52096898e-04 1.44985031e+01] [ 5.64896410e-03 -6.56193294e-05 9.99984042e-01 4.02075025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.059254154 meters 0.051193872455788554 Centerline is valid? [True, True] Translation: X:1021.11, Y:14.51, Z:4.02 [[ 9.86785817e-01 -1.61888779e-01 -6.76568370e-03 1.02110743e+03] [ 1.61885500e-01 9.86809008e-01 -1.03307691e-03 1.45063841e+01] [ 6.84368118e-03 -7.58404485e-05 9.99976579e-01 4.02044390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539999 meters 0.05180408224845748 Centerline is valid? [True, True] Translation: X:1021.17, Y:14.52, Z:4.02 [[ 9.87232318e-01 -1.59093931e-01 -7.84038486e-03 1.02116565e+03] [ 1.59089434e-01 9.87263449e-01 -1.19798858e-03 1.45179015e+01] [ 7.93111810e-03 -6.46293409e-05 9.99968546e-01 4.01965586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.179254154 meters 0.05210849328821759 Centerline is valid? [True, True] Translation: X:1021.22, Y:14.53, Z:4.02 [[ 9.87904201e-01 -1.54842057e-01 -8.32025289e-03 1.02122337e+03] [ 1.54836833e-01 9.87939237e-01 -1.27227256e-03 1.45318243e+01] [ 8.41690559e-03 -3.13981978e-05 9.99964577e-01 4.02012807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539999 meters 0.05081812148061552 Centerline is valid? [True, True] Translation: X:1021.28, Y:14.54, Z:4.02 [[ 9.88601946e-01 -1.50343373e-01 -7.94118558e-03 1.02128036e+03] [ 1.50338464e-01 9.88633840e-01 -1.21492387e-03 1.45439588e+01] [ 8.03358054e-03 7.21046275e-06 9.99967730e-01 4.01936519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.299254154 meters 0.05112477977344703 Centerline is valid? [True, True] Translation: X:1021.34, Y:14.55, Z:4.02 [[ 9.89105810e-01 -1.47035597e-01 -7.08737590e-03 1.02133875e+03] [ 1.47031598e-01 9.89131201e-01 -1.08482002e-03 1.45546314e+01] [ 7.16985179e-03 3.09335816e-05 9.99974296e-01 4.02065030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539999 meters 0.051272531359368254 Centerline is valid? [True, True] Translation: X:1021.40, Y:14.57, Z:4.02 [[ 9.89954004e-01 -1.41242884e-01 -6.44349599e-03 1.02139628e+03] [ 1.41239453e-01 9.89974971e-01 -9.86744957e-04 1.45678709e+01] [ 6.51827046e-03 6.67562729e-05 9.99978754e-01 4.02061687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.419254154 meters 0.051362417261624625 Centerline is valid? [True, True] Translation: X:1021.45, Y:14.58, Z:4.02 [[ 9.90871473e-01 -1.34662658e-01 -6.30018069e-03 1.02145399e+03] [ 1.34659244e-01 9.90891496e-01 -9.64912646e-04 1.45848426e+01] [ 6.37273317e-03 1.07726845e-04 9.99979688e-01 4.02023848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539999 meters 0.050933160422590926 Centerline is valid? [True, True] Translation: X:1021.51, Y:14.59, Z:4.02 [[ 9.91559015e-01 -1.29464899e-01 -7.03989157e-03 1.02151358e+03] [ 1.29460505e-01 9.91583993e-01 -1.07826200e-03 1.45938750e+01] [ 7.12024087e-03 1.57772484e-04 9.99974638e-01 4.02088694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.539254154 meters 0.050923366003455324 Centerline is valid? [True, True] Translation: X:1021.57, Y:14.61, Z:4.02 [[ 9.91782075e-01 -1.27712305e-01 -7.60811645e-03 1.02157134e+03] [ 1.27707121e-01 9.91811239e-01 -1.16541001e-03 1.46061065e+01] [ 7.69465260e-03 1.84222112e-04 9.99970379e-01 4.02053186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539999 meters 0.05146136201597665 Centerline is valid? [True, True] Translation: X:1021.63, Y:14.62, Z:4.02 [[ 9.91820478e-01 -1.27295010e-01 -9.38719025e-03 1.02162940e+03] [ 1.27287092e-01 9.91864873e-01 -1.43862477e-03 1.46162318e+01] [ 9.49395403e-03 2.31989366e-04 9.99954904e-01 4.01936059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.659254154 meters 0.05149734284324439 Centerline is valid? [True, True] Translation: X:1021.69, Y:14.62, Z:4.02 [[ 9.91546575e-01 -1.29287780e-01 -1.09571353e-02 1.02168758e+03] [ 1.29277105e-01 9.91607083e-01 -1.67992378e-03 1.46235628e+01] [ 1.10823665e-02 2.49215941e-04 9.99938558e-01 4.01854799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539999 meters 0.0505524245267672 Centerline is valid? [True, True] Translation: X:1021.75, Y:14.62, Z:4.02 [[ 9.90993202e-01 -1.33437410e-01 -1.12663868e-02 1.02174756e+03] [ 1.33426390e-01 9.91057220e-01 -1.72757561e-03 1.46249333e+01] [ 1.13961572e-02 2.08782364e-04 9.99935040e-01 4.02057374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.779254154 meters 0.05121608395497089 Centerline is valid? [True, True] Translation: X:1021.81, Y:14.63, Z:4.02 [[ 9.90263776e-01 -1.38833487e-01 -1.01447798e-02 1.02180775e+03] [ 1.38824832e-01 9.90315730e-01 -1.55583105e-03 1.46299019e+01] [ 1.02625365e-02 1.32335775e-04 9.99947330e-01 4.02206414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.839254154 meters 0.05049807636432954 Centerline is valid? [True, True] Translation: X:1021.87, Y:14.64, Z:4.02 [[ 9.89797698e-01 -1.42124682e-01 -1.00544228e-02 1.02186627e+03] [ 1.42116347e-01 9.89848759e-01 -1.54229434e-03 1.46350605e+01] [ 1.01715561e-02 9.76615339e-05 9.99948264e-01 4.02355588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.899254154 meters 0.05059724895275227 Centerline is valid? [True, True] Translation: X:1021.92, Y:14.64, Z:4.02 [[ 9.89344722e-01 -1.45243893e-01 -1.00614539e-02 1.02192411e+03] [ 1.45235699e-01 9.89395880e-01 -1.54422175e-03 1.46423309e+01] [ 1.01790498e-02 6.64853542e-05 9.99948190e-01 4.02206661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.959254154 meters 0.050922076501794145 Centerline is valid? [True, True] Translation: X:1021.98, Y:14.65, Z:4.02 [[ 9.89135624e-01 -1.46614729e-01 -1.07163189e-02 1.02198107e+03] [ 1.46605506e-01 9.89193671e-01 -1.64548263e-03 1.46496924e+01] [ 1.08417668e-02 5.65341370e-05 9.99941225e-01 4.02161266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.019254154 meters 0.051024989719317994 Centerline is valid? [True, True] Translation: X:1022.04, Y:14.66, Z:4.02 [[ 9.89039150e-01 -1.47251950e-01 -1.08822315e-02 1.02203917e+03] [ 1.47242466e-01 9.89099015e-01 -1.67200197e-03 1.46563022e+01] [ 1.10098100e-02 5.13487985e-05 9.99939389e-01 4.02281164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.079254154 meters 0.05050596673963357 Centerline is valid? [True, True] Translation: X:1022.10, Y:14.66, Z:4.03 [[ 9.89085012e-01 -1.46956669e-01 -1.07040783e-02 1.02209671e+03] [ 1.46947461e-01 9.89142929e-01 -1.64603247e-03 1.46632349e+01] [ 1.08297588e-02 5.51289248e-05 9.99941355e-01 4.02561031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.139254154 meters 0.05083452127763669 Centerline is valid? [True, True] Translation: X:1022.15, Y:14.67, Z:4.02 [[ 9.89383250e-01 -1.44994798e-01 -9.86373988e-03 1.02215323e+03] [ 1.44986874e-01 9.89432415e-01 -1.51754090e-03 1.46742885e+01] [ 9.97953951e-03 7.13167368e-05 9.99950201e-01 4.02403650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.199254154 meters 0.050714471186703004 Centerline is valid? [True, True] Translation: X:1022.21, Y:14.68, Z:4.02 [[ 9.89687480e-01 -1.42840022e-01 -1.07433464e-02 1.02221086e+03] [ 1.42830488e-01 9.89745784e-01 -1.65346020e-03 1.46828662e+01] [ 1.08693621e-02 1.01931456e-04 9.99940922e-01 4.02488948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.259254154 meters 0.05111715033945943 Centerline is valid? [True, True] Translation: X:1022.27, Y:14.69, Z:4.03 [[ 9.89868072e-01 -1.41564377e-01 -1.09876107e-02 1.02226926e+03] [ 1.41554315e-01 9.89929044e-01 -1.69208834e-03 1.46920533e+01] [ 1.11164944e-02 1.19600524e-04 9.99938203e-01 4.02526044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.319254154 meters 0.05050368739417861 Centerline is valid? [True, True] Translation: X:1022.33, Y:14.70, Z:4.03 [[ 9.90231505e-01 -1.39108537e-01 -9.50689699e-03 1.02232607e+03] [ 1.39100885e-01 9.90277132e-01 -1.46465924e-03 1.47018290e+01] [ 9.61820929e-03 1.27933933e-04 9.99953736e-01 4.02585562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.379254154 meters 0.0499479210922583 Centerline is valid? [True, True] Translation: X:1022.38, Y:14.71, Z:4.03 [[ 9.90499671e-01 -1.37247690e-01 -8.57161895e-03 1.02238426e+03] [ 1.37241394e-01 9.90536751e-01 -1.32124087e-03 1.47104528e+01] [ 8.67184084e-03 1.32307719e-04 9.99962390e-01 4.02725387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.439254154 meters 0.051037661548542806 Centerline is valid? [True, True] Translation: X:1022.44, Y:14.72, Z:4.03 [[ 9.90518778e-01 -1.37085670e-01 -8.94813216e-03 1.02244048e+03] [ 1.37078796e-01 9.90559185e-01 -1.37994548e-03 1.47228290e+01] [ 9.05282525e-03 1.40262728e-04 9.99959012e-01 4.02548711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.499254154 meters 0.05064428970756412 Centerline is valid? [True, True] Translation: X:1022.50, Y:14.73, Z:4.03 [[ 9.90373218e-01 -1.38110824e-01 -9.28925386e-03 1.02249954e+03] [ 1.38103454e-01 9.90416772e-01 -1.43332389e-03 1.47286242e+01] [ 9.39819036e-03 1.36647552e-04 9.99955827e-01 4.02603634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.559254154 meters 0.05156278820198401 Centerline is valid? [True, True] Translation: X:1022.56, Y:14.74, Z:4.02 [[ 9.90046284e-01 -1.40468016e-01 -8.78019398e-03 1.02255663e+03] [ 1.40461518e-01 9.90085211e-01 -1.35548121e-03 1.47395958e+01] [ 8.88354196e-03 1.08709767e-04 9.99960535e-01 4.02464621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539999 meters 0.051263107275009386 Centerline is valid? [True, True] Translation: X:1022.61, Y:14.75, Z:4.02 [[ 9.89778669e-01 -1.42301662e-01 -9.40336604e-03 1.02261346e+03] [ 1.42294287e-01 9.89823331e-01 -1.45214473e-03 1.47497279e+01] [ 9.51431371e-03 9.92566133e-05 9.99954733e-01 4.02353275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.679254154 meters 0.05153820701458394 Centerline is valid? [True, True] Translation: X:1022.67, Y:14.76, Z:4.02 [[ 9.89571974e-01 -1.43623289e-01 -1.09389094e-02 1.02267079e+03] [ 1.43613377e-01 9.89632427e-01 -1.69033988e-03 1.47569703e+01] [ 1.10682716e-02 1.01739252e-04 9.99938740e-01 4.02341736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539999 meters 0.05065953662146912 Centerline is valid? [True, True] Translation: X:1022.73, Y:14.76, Z:4.02 [[ 9.89423164e-01 -1.44481778e-01 -1.29157889e-02 1.02272877e+03] [ 1.44468012e-01 9.89507455e-01 -1.99745218e-03 1.47641996e+01] [ 1.30688648e-02 1.10407117e-04 9.99914593e-01 4.02463883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.799254154 meters 0.05155402094717182 Centerline is valid? [True, True] Translation: X:1022.78, Y:14.77, Z:4.02 [[ 9.89360808e-01 -1.44874962e-01 -1.32829774e-02 1.02278499e+03] [ 1.44860424e-01 9.89449965e-01 -2.05524967e-03 1.47741125e+01] [ 1.34405958e-02 1.09205731e-04 9.99909665e-01 4.02384359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539999 meters 0.05134385675411463 Centerline is valid? [True, True] Translation: X:1022.84, Y:14.78, Z:4.03 [[ 9.89193618e-01 -1.46067386e-01 -1.26611768e-02 1.02284312e+03] [ 1.46054259e-01 9.89274639e-01 -1.96026785e-03 1.47832133e+01] [ 1.28117123e-02 8.98656395e-05 9.99917923e-01 4.02526943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.919254154 meters 0.05125807223173348 Centerline is valid? [True, True] Translation: X:1022.90, Y:14.79, Z:4.03 [[ 9.89007423e-01 -1.47380283e-01 -1.19737136e-02 1.02290049e+03] [ 1.47368628e-01 9.89079899e-01 -1.85474840e-03 1.47921737e+01] [ 1.21163128e-02 6.98101970e-05 9.99926592e-01 4.02570359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539999 meters 0.05116576978940945 Centerline is valid? [True, True] Translation: X:1022.96, Y:14.80, Z:4.03 [[ 9.88608792e-01 -1.50075675e-01 -1.13995108e-02 1.02295820e+03] [ 1.50065284e-01 9.88674512e-01 -1.76633298e-03 1.47990511e+01] [ 1.15354894e-02 3.55414864e-05 9.99933463e-01 4.02663378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.039254154 meters 0.05164651766332082 Centerline is valid? [True, True] Translation: X:1023.01, Y:14.81, Z:4.03 [[ 9.88379859e-01 -1.51564963e-01 -1.15462472e-02 1.02301475e+03] [ 1.51554395e-01 9.88447298e-01 -1.78989528e-03 1.48068509e+01] [ 1.16841423e-02 1.92119335e-05 9.99931738e-01 4.02717844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters 0.05168965377535268 Centerline is valid? [True, True] Translation: X:1023.07, Y:14.82, Z:4.03 [[ 9.88535647e-01 -1.50554144e-01 -1.14334760e-02 1.02307140e+03] [ 1.50543707e-01 9.88601765e-01 -1.77304557e-03 1.48182555e+01] [ 1.15700939e-02 3.14808915e-05 9.99933064e-01 4.02701463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters 0.05165870404054345 Centerline is valid? [True, True] Translation: X:1023.13, Y:14.83, Z:4.03 [[ 9.88818581e-01 -1.48657140e-01 -1.17842397e-02 1.02312932e+03] [ 1.48645905e-01 9.88888796e-01 -1.82850913e-03 1.48280103e+01] [ 1.19251236e-02 5.63848234e-05 9.99928892e-01 4.03010398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.219254154 meters 0.051585323147658395 Centerline is valid? [True, True] Translation: X:1023.19, Y:14.84, Z:4.03 [[ 9.89277832e-01 -1.45449444e-01 -1.31845003e-02 1.02318722e+03] [ 1.45435074e-01 9.89365680e-01 -2.04728430e-03 1.48397135e+01] [ 1.33420685e-02 1.07844188e-04 9.99910985e-01 4.03044997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.279254154 meters 0.05093859583483807 Centerline is valid? [True, True] Translation: X:1023.24, Y:14.85, Z:4.03 [[ 9.89339919e-01 -1.45000958e-01 -1.34628228e-02 1.02324441e+03] [ 1.44985923e-01 9.89431508e-01 -2.09132589e-03 1.48503504e+01] [ 1.36237853e-02 1.17112394e-04 9.99907185e-01 4.02943983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters 0.05169029038081543 Centerline is valid? [True, True] Translation: X:1023.30, Y:14.86, Z:4.03 [[ 9.89232173e-01 -1.45776972e-01 -1.29916231e-02 1.02330120e+03] [ 1.45763031e-01 9.89317474e-01 -2.01865403e-03 1.48619246e+01] [ 1.31471130e-02 1.03219153e-04 9.99913568e-01 4.02709908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters 0.051457461407811475 Centerline is valid? [True, True] Translation: X:1023.36, Y:14.87, Z:4.03 [[ 9.88783888e-01 -1.48920878e-01 -1.13575943e-02 1.02336040e+03] [ 1.48910428e-01 9.88849114e-01 -1.76501629e-03 1.48671309e+01] [ 1.14937948e-02 5.39554445e-05 9.99933943e-01 4.03074212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.459254154 meters 0.05163818123796552 Centerline is valid? [True, True] Translation: X:1023.42, Y:14.87, Z:4.03 [[ 9.88454585e-01 -1.51204462e-01 -9.73364628e-03 1.02341769e+03] [ 1.51196895e-01 9.88502509e-01 -1.51293992e-03 1.48745049e+01] [ 9.85049704e-03 2.37753093e-05 9.99951482e-01 4.03139983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.519254154 meters 0.05121393471944268 Centerline is valid? [True, True] Translation: X:1023.48, Y:14.88, Z:4.03 [[ 9.87783602e-01 -1.55573575e-01 -8.96759909e-03 1.02347605e+03] [ 1.55567325e-01 9.87824308e-01 -1.39460076e-03 1.48821390e+01] [ 9.07537539e-03 -1.75016434e-05 9.99958818e-01 4.03108257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters 0.05177625042935941 Centerline is valid? [True, True] Translation: X:1023.53, Y:14.89, Z:4.03 [[ 9.87346646e-01 -1.58308063e-01 -9.22815286e-03 1.02353327e+03] [ 1.58301558e-01 9.87389769e-01 -1.43580221e-03 1.48896023e+01] [ 9.33908278e-03 -4.31964710e-05 9.99956389e-01 4.02972497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters 0.05193372301051139 Centerline is valid? [True, True] Translation: X:1023.59, Y:14.90, Z:4.03 [[ 9.87200086e-01 -1.59213256e-01 -9.33433541e-03 1.02359011e+03] [ 1.59206637e-01 9.87244213e-01 -1.45270197e-03 1.48985474e+01] [ 9.44655802e-03 -5.19806414e-05 9.99955379e-01 4.02906156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.699254154 meters 0.051686448523143885 Centerline is valid? [True, True] Translation: X:1023.65, Y:14.91, Z:4.03 [[ 9.87218486e-01 -1.59071501e-01 -9.79383990e-03 1.02364770e+03] [ 1.59064198e-01 9.87267064e-01 -1.52513172e-03 1.49080875e+01] [ 9.91174055e-03 -5.22110627e-05 9.99950876e-01 4.02938414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.759254154 meters 0.05232958008528706 Centerline is valid? [True, True] Translation: X:1023.70, Y:14.92, Z:4.03 [[ 9.87536345e-01 -1.57032034e-01 -1.06258045e-02 1.02370394e+03] [ 1.57023305e-01 9.87593509e-01 -1.65607949e-03 1.49208688e+01] [ 1.07540331e-02 -3.30602626e-05 9.99942173e-01 4.03017554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters 0.05107573117338265 Centerline is valid? [True, True] Translation: X:1023.76, Y:14.93, Z:4.03 [[ 9.88064030e-01 -1.53693049e-01 -1.03884004e-02 1.02376140e+03] [ 1.53684511e-01 9.88118640e-01 -1.61998471e-03 1.49333528e+01] [ 1.05139525e-02 4.11238297e-06 9.99944727e-01 4.03119655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters 0.05139686451337588 Centerline is valid? [True, True] Translation: X:1023.82, Y:14.95, Z:4.03 [[ 9.88577386e-01 -1.50347143e-01 -1.05113133e-02 1.02381756e+03] [ 1.50338205e-01 9.88633266e-01 -1.63982980e-03 1.49461228e+01] [ 1.06383777e-02 4.08466807e-05 9.99943410e-01 4.02986295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.939254154 meters 0.05124099995854227 Centerline is valid? [True, True] Translation: X:1023.87, Y:14.96, Z:4.03 [[ 9.89054378e-01 -1.47241524e-01 -9.55882933e-03 1.02387361e+03] [ 1.47233984e-01 9.89100566e-01 -1.49168671e-03 1.49593273e+01] [ 9.67428173e-03 6.79747522e-05 9.99953201e-01 4.02996279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.999254154 meters 0.051650277840325366 Centerline is valid? [True, True] Translation: X:1023.93, Y:14.97, Z:4.03 [[ 9.89460451e-01 -1.44543341e-01 -8.67400030e-03 1.02393084e+03] [ 1.44537022e-01 9.89498467e-01 -1.35426549e-03 1.49720304e+01] [ 8.77866005e-03 8.62779679e-05 9.99961463e-01 4.03050737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.059254154 meters 0.05192370245243922 Centerline is valid? [True, True] Translation: X:1023.99, Y:14.99, Z:4.03 [[ 9.90134441e-01 -1.39890732e-01 -8.02328306e-03 1.02398868e+03] [ 1.39885169e-01 9.90166940e-01 -1.25315638e-03 1.49850062e+01] [ 8.11969460e-03 1.18454985e-04 9.99967028e-01 4.03131070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters 0.052082937077062026 Centerline is valid? [True, True] Translation: X:1024.05, Y:15.00, Z:4.03 [[ 9.90718632e-01 -1.35710938e-01 -7.68985737e-03 1.02404754e+03] [ 1.35705701e-01 9.90748465e-01 -1.20119770e-03 1.49978200e+01] [ 7.78173005e-03 1.46491458e-04 9.99969711e-01 4.03190356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters 0.05221832892466291 Centerline is valid? [True, True] Translation: X:1024.11, Y:15.01, Z:4.03 [[ 9.91204752e-01 -1.32118756e-01 -7.60086263e-03 1.02410668e+03] [ 1.32113534e-01 9.91233880e-01 -1.18736073e-03 1.50085321e+01] [ 7.69110518e-03 1.72740775e-04 9.99970408e-01 4.03206928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.239254154 meters 0.052875472501856355 Centerline is valid? [True, True] Translation: X:1024.16, Y:15.02, Z:4.03 [[ 9.91439147e-01 -1.30223595e-01 -9.49915065e-03 1.02416420e+03] [ 1.30215350e-01 9.91484624e-01 -1.48407181e-03 1.50217520e+01] [ 9.61152298e-03 2.34431662e-04 9.99953781e-01 4.03084560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.299254154 meters 0.051957836889129985 Centerline is valid? [True, True] Translation: X:1024.22, Y:15.02, Z:4.03 [[ 9.91394208e-01 -1.30487170e-01 -1.05177819e-02 1.02422280e+03] [ 1.30477065e-01 9.91449965e-01 -1.64418133e-03 1.50236900e+01] [ 1.06423991e-02 2.57702528e-04 9.99943335e-01 4.03183670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters 0.05261674867334621 Centerline is valid? [True, True] Translation: X:1024.28, Y:15.04, Z:4.03 [[ 9.91240961e-01 -1.31628733e-01 -1.07346994e-02 1.02427895e+03] [ 1.31618264e-01 9.91299054e-01 -1.67901992e-03 1.50397845e+01] [ 1.08623046e-02 2.51430822e-04 9.99940972e-01 4.02931469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters 0.052300933570086736 Centerline is valid? [True, True] Translation: X:1024.34, Y:15.04, Z:4.03 [[ 9.91017855e-01 -1.33344453e-01 -1.01424017e-02 1.02433882e+03] [ 1.33335188e-01 9.91069729e-01 -1.58728158e-03 1.50398016e+01] [ 1.02634825e-02 2.20685351e-04 9.99947305e-01 4.03144229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.479254154 meters 0.05157198786298295 Centerline is valid? [True, True] Translation: X:1024.40, Y:15.05, Z:4.03 [[ 9.90621435e-01 -1.36307919e-01 -9.45115069e-03 1.02439747e+03] [ 1.36300004e-01 9.90666503e-01 -1.47959153e-03 1.50485966e+01] [ 9.56461844e-03 1.77523207e-04 9.99954242e-01 4.03145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.539254154 meters 0.05156154943932579 Centerline is valid? [True, True] Translation: X:1024.46, Y:15.06, Z:4.03 [[ 9.89979528e-01 -1.40927939e-01 -8.93585761e-03 1.02445680e+03] [ 1.40921050e-01 9.90019848e-01 -1.39902615e-03 1.50558685e+01] [ 9.04383826e-03 1.25756804e-04 9.99959096e-01 4.03234058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters 0.051913384047400146 Centerline is valid? [True, True] Translation: X:1024.51, Y:15.06, Z:4.03 [[ 9.89318123e-01 -1.45417461e-01 -1.01692536e-02 1.02451384e+03] [ 1.45408774e-01 9.89370382e-01 -1.59243307e-03 1.50647835e+01] [ 1.02927259e-02 9.67241979e-05 9.99947024e-01 4.03082011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters 0.05176419925845573 Centerline is valid? [True, True] Translation: X:1024.57, Y:15.07, Z:4.03 [[ 9.88973474e-01 -1.47754522e-01 -1.00034533e-02 1.02457261e+03] [ 1.47746227e-01 9.89024062e-01 -1.56730527e-03 1.50705997e+01] [ 1.01252325e-02 7.20508521e-05 9.99948736e-01 4.03166008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.719254154 meters 0.05177772812493199 Centerline is valid? [True, True] Translation: X:1024.63, Y:15.08, Z:4.03 [[ 9.88771075e-01 -1.49078511e-01 -1.03614281e-02 1.02462965e+03] [ 1.49069677e-01 9.88825361e-01 -1.62411049e-03 1.50811039e+01] [ 1.04877629e-02 6.12987388e-05 9.99945000e-01 4.03015832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.779254154 meters 0.05162190939975668 Centerline is valid? [True, True] Translation: X:1024.69, Y:15.09, Z:4.03 [[ 9.88446052e-01 -1.51292965e-01 -9.21088646e-03 1.02468803e+03] [ 1.51286073e-01 9.88488967e-01 -1.44450415e-03 1.50878149e+01] [ 9.32340295e-03 3.43355812e-05 9.99956536e-01 4.03222877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters 0.05125204862382935 Centerline is valid? [True, True] Translation: X:1024.74, Y:15.10, Z:4.03 [[ 9.88478206e-01 -1.51032858e-01 -9.99560452e-03 1.02474496e+03] [ 1.51024720e-01 9.88528742e-01 -1.56829716e-03 1.50980024e+01] [ 1.01178068e-02 4.06441856e-05 9.99948813e-01 4.03074075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters 0.05168592719644985 Centerline is valid? [True, True] Translation: X:1024.80, Y:15.11, Z:4.03 [[ 9.88670176e-01 -1.49692197e-01 -1.11143521e-02 1.02480303e+03] [ 1.49682040e-01 9.88732645e-01 -1.74480643e-03 1.51063815e+01] [ 1.12503066e-02 6.14191868e-05 9.99936711e-01 4.03237915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.959254154 meters 0.0520216673777121 Centerline is valid? [True, True] Translation: X:1024.86, Y:15.12, Z:4.03 [[ 9.89181471e-01 -1.46120859e-01 -1.29889483e-02 1.02486022e+03] [ 1.46106670e-01 9.89266739e-01 -2.03982534e-03 1.51192326e+01] [ 1.31475956e-02 1.19985444e-04 9.99913559e-01 4.02940432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.019254154 meters 0.05219787874578413 Centerline is valid? [True, True] Translation: X:1024.92, Y:15.13, Z:4.03 [[ 9.89643047e-01 -1.43039302e-01 -1.20994734e-02 1.02491844e+03] [ 1.43026747e-01 9.89716998e-01 -1.90118966e-03 1.51275431e+01] [ 1.22469993e-02 1.50950815e-04 9.99924991e-01 4.03265119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters 0.05155678070511316 Centerline is valid? [True, True] Translation: X:1024.98, Y:15.14, Z:4.04 [[ 9.89916182e-01 -1.41255053e-01 -1.06283439e-02 1.02497690e+03] [ 1.41245250e-01 9.89973225e-01 -1.67121810e-03 1.51364945e+01] [ 1.07578439e-02 1.53162745e-04 9.99942121e-01 4.03524626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters 0.05243453396765963 Centerline is valid? [True, True] Translation: X:1025.03, Y:15.15, Z:4.03 [[ 9.90036310e-01 -1.40528489e-01 -8.93582004e-03 1.02503238e+03] [ 1.40521524e-01 9.90076626e-01 -1.40575627e-03 1.51503217e+01] [ 9.04469536e-03 1.36074702e-04 9.99959087e-01 4.03404413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.199254154 meters 0.05232334434394703 Centerline is valid? [True, True] Translation: X:1025.09, Y:15.16, Z:4.03 [[ 9.90032482e-01 -1.40565919e-01 -8.76962413e-03 1.02508981e+03] [ 1.40559205e-01 9.90071313e-01 -1.38042986e-03 1.51611224e+01] [ 8.87659467e-03 1.34019010e-04 9.99960593e-01 4.03367184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.259254154 meters 0.05279360325529927 Centerline is valid? [True, True] Translation: X:1025.15, Y:15.17, Z:4.03 [[ 9.89924082e-01 -1.41311233e-01 -9.02484342e-03 1.02514794e+03] [ 1.41304144e-01 9.89965210e-01 -1.42164886e-03 1.51698370e+01] [ 9.13517597e-03 1.32076672e-04 9.99958265e-01 4.03350392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters 0.051218865111947946 Centerline is valid? [True, True] Translation: X:1025.21, Y:15.17, Z:4.03 [[ 9.89722875e-01 -1.42631869e-01 -1.02362038e-02 1.02520667e+03] [ 1.42622807e-01 9.89775798e-01 -1.61366645e-03 1.51741582e+01] [ 1.03617070e-02 1.37166483e-04 9.99946307e-01 4.03449319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters 0.05095167630711688 Centerline is valid? [True, True] Translation: X:1025.27, Y:15.18, Z:4.03 [[ 9.89481384e-01 -1.44274730e-01 -1.05542766e-02 1.02526520e+03] [ 1.44265176e-01 9.89537663e-01 -1.66502343e-03 1.51824840e+01] [ 1.06840750e-02 1.24895123e-04 9.99942916e-01 4.03313127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.439254154 meters 0.05163392819874883 Centerline is valid? [True, True] Translation: X:1025.32, Y:15.19, Z:4.03 [[ 9.89022238e-01 -1.47309344e-01 -1.16176184e-02 1.02532396e+03] [ 1.47297962e-01 9.89090464e-01 -1.83409211e-03 1.51890865e+01] [ 1.17610545e-02 1.02706376e-04 9.99930831e-01 4.03179342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.499254154 meters 0.051617777625861644 Centerline is valid? [True, True] Translation: X:1025.38, Y:15.19, Z:4.03 [[ 9.88395727e-01 -1.51436392e-01 -1.18704186e-02 1.02538229e+03] [ 1.51424790e-01 9.88467003e-01 -1.87535430e-03 1.51946896e+01] [ 1.20175139e-02 5.61165381e-05 9.99927785e-01 4.03148125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.559254154 meters 0.05230338128137541 Centerline is valid? [True, True] Translation: X:1025.44, Y:15.20, Z:4.03 [[ 9.87768464e-01 -1.55536261e-01 -1.10422963e-02 1.02544081e+03] [ 1.55526467e-01 9.87830184e-01 -1.74538611e-03 1.52008727e+01] [ 1.11793844e-02 6.66801818e-06 9.99937509e-01 4.03133438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters 0.0517574151702935 Centerline is valid? [True, True] Translation: X:1025.50, Y:15.21, Z:4.03 [[ 9.87548865e-01 -1.56929543e-01 -1.09707695e-02 1.02549876e+03] [ 1.56919949e-01 9.87609801e-01 -1.73529384e-03 1.52079746e+01] [ 1.11071583e-02 -7.84512419e-06 9.99938314e-01 4.03337813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters 0.05150498973505226 Centerline is valid? [True, True] Translation: X:1025.56, Y:15.22, Z:4.03 [[ 9.87691125e-01 -1.56028893e-01 -1.10102954e-02 1.02555549e+03] [ 1.56019162e-01 9.87752492e-01 -1.74250969e-03 1.52164125e+01] [ 1.11473286e-02 3.24429453e-06 9.99937867e-01 4.03225069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.739254154 meters 0.051879829567498974 Centerline is valid? [True, True] Translation: X:1025.61, Y:15.23, Z:4.03 [[ 9.88398626e-01 -1.51517486e-01 -1.05170547e-02 1.02561254e+03] [ 1.51508348e-01 9.88454576e-01 -1.66493611e-03 1.52287139e+01] [ 1.06478978e-02 5.21989800e-05 9.99943308e-01 4.03231661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.799254154 meters 0.05155590180813644 Centerline is valid? [True, True] Translation: X:1025.67, Y:15.24, Z:4.03 [[ 9.89212810e-01 -1.46110104e-01 -1.04811754e-02 1.02567141e+03] [ 1.46100721e-01 9.89268328e-01 -1.65951695e-03 1.52391720e+01] [ 1.06111670e-02 1.10308142e-04 9.99943694e-01 4.03427908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters 0.051544570425662205 Centerline is valid? [True, True] Translation: X:1025.73, Y:15.25, Z:4.04 [[ 9.89629094e-01 -1.43211172e-01 -1.11721051e-02 1.02573031e+03] [ 1.43200324e-01 9.89692143e-01 -1.76916181e-03 1.52464616e+01] [ 1.13103084e-02 1.50964940e-04 9.99936025e-01 4.03583381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters 0.05130363440895198 Centerline is valid? [True, True] Translation: X:1025.79, Y:15.26, Z:4.04 [[ 9.90148075e-01 -1.39468649e-01 -1.24613511e-02 1.02578833e+03] [ 1.39454852e-01 9.90226464e-01 -1.97364141e-03 1.52559774e+01] [ 1.26148208e-02 2.16401368e-04 9.99920407e-01 4.03536347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.979254154 meters 0.05083503220813967 Centerline is valid? [True, True] Translation: X:1025.85, Y:15.26, Z:4.04 [[ 9.90389948e-01 -1.37687217e-01 -1.30376871e-02 1.02584692e+03] [ 1.37671944e-01 9.90475728e-01 -2.06607735e-03 1.52624885e+01] [ 1.31979850e-02 2.51298519e-04 9.99912871e-01 4.03641460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.039254154 meters 0.051449411530565065 Centerline is valid? [True, True] Translation: X:1025.91, Y:15.27, Z:4.04 [[ 9.90444537e-01 -1.37157925e-01 -1.43987466e-02 1.02590608e+03] [ 1.37139215e-01 9.90549151e-01 -2.28350760e-03 1.52661503e+01] [ 1.45758674e-02 2.87054826e-04 9.99893725e-01 4.03905546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters 0.05219223056152904 Centerline is valid? [True, True] Translation: X:1025.96, Y:15.27, Z:4.04 [[ 9.90270009e-01 -1.38544540e-01 -1.30660061e-02 1.02596394e+03] [ 1.38529236e-01 9.90356174e-01 -2.07356664e-03 1.52733224e+01] [ 1.32272811e-02 2.43367015e-04 9.99912486e-01 4.03988227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters 0.05143893522449391 Centerline is valid? [True, True] Translation: X:1026.02, Y:15.28, Z:4.04 [[ 9.90033812e-01 -1.40372987e-01 -1.13347348e-02 1.02602231e+03] [ 1.40361582e-01 9.90098676e-01 -1.79943340e-03 1.52802439e+01] [ 1.14750977e-02 1.90538600e-04 9.99934141e-01 4.04072551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.219254154 meters 0.05175287093051903 Centerline is valid? [True, True] Translation: X:1026.08, Y:15.29, Z:4.04 [[ 9.89481148e-01 -1.44279156e-01 -1.05158965e-02 1.02608011e+03] [ 1.44269557e-01 9.89537017e-01 -1.66968486e-03 1.52908833e+01] [ 1.06467696e-02 1.34997956e-04 9.99943312e-01 4.03944525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.279254154 meters 0.05164876831305772 Centerline is valid? [True, True] Translation: X:1026.14, Y:15.29, Z:4.04 [[ 9.88873222e-01 -1.48347637e-01 -1.10783219e-02 1.02613985e+03] [ 1.48337234e-01 9.88935271e-01 -1.75948095e-03 1.52938333e+01] [ 1.12167581e-02 9.65759674e-05 9.99937085e-01 4.04091839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters 0.05088890392721156 Centerline is valid? [True, True] Translation: X:1026.20, Y:15.30, Z:4.04 [[ 9.88496747e-01 -1.50742491e-01 -1.22833989e-02 1.02619671e+03] [ 1.50729877e-01 9.88573060e-01 -1.95164870e-03 1.53017613e+01] [ 1.24372336e-02 7.77231879e-05 9.99922652e-01 4.03993455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters 0.052434695815639164 Centerline is valid? [True, True] Translation: X:1026.25, Y:15.31, Z:4.04 [[ 9.88105840e-01 -1.53171225e-01 -1.36170942e-02 1.02625439e+03] [ 1.53155932e-01 9.88199662e-01 -2.16510821e-03 1.53105061e+01] [ 1.37880402e-02 5.38173227e-05 9.99904939e-01 4.03954216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.459254154 meters 0.051760188260956186 Centerline is valid? [True, True] Translation: X:1026.31, Y:15.32, Z:4.04 [[ 9.88102065e-01 -1.53265381e-01 -1.28074861e-02 1.02631265e+03] [ 1.53251840e-01 9.88185064e-01 -2.03790531e-03 1.53209429e+01] [ 1.29685068e-02 5.08876323e-05 9.99915904e-01 4.04030057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.519254154 meters 0.05169472394493283 Centerline is valid? [True, True] Translation: X:1026.37, Y:15.33, Z:4.04 [[ 9.88489178e-01 -1.50790927e-01 -1.22980233e-02 1.02636924e+03] [ 1.50778241e-01 9.88565673e-01 -1.95762456e-03 1.53327182e+01] [ 1.24525957e-02 8.08163775e-05 9.99922460e-01 4.04153856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters 0.051497086392304645 Centerline is valid? [True, True] Translation: X:1026.43, Y:15.34, Z:4.04 [[ 9.88704313e-01 -1.49398080e-01 -1.19998251e-02 1.02642596e+03] [ 1.49385893e-01 9.88777126e-01 -1.91064179e-03 1.53436387e+01] [ 1.21505988e-02 9.64551810e-05 9.99926174e-01 4.04147786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters 0.05124416058081036 Centerline is valid? [True, True] Translation: X:1026.48, Y:15.36, Z:4.04 [[ 9.89388918e-01 -1.44766653e-01 -1.23363533e-02 1.02648395e+03] [ 1.44753408e-01 9.89465811e-01 -1.96459233e-03 1.53569034e+01] [ 1.24908072e-02 1.58016702e-04 9.99921974e-01 4.04295175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.699254154 meters 0.051918018124614634 Centerline is valid? [True, True] Translation: X:1026.54, Y:15.37, Z:4.04 [[ 9.89823664e-01 -1.41723722e-01 -1.27867757e-02 1.02654026e+03] [ 1.41709234e-01 9.89906230e-01 -2.03670871e-03 1.53724435e+01] [ 1.29463588e-02 2.03978295e-04 9.99916172e-01 4.04148002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.759254154 meters 0.05097633124840686 Centerline is valid? [True, True] Translation: X:1026.60, Y:15.38, Z:4.05 [[ 9.90234233e-01 -1.38811837e-01 -1.29398152e-02 1.02659899e+03] [ 1.38796746e-01 9.90318744e-01 -2.06143661e-03 1.53802461e+01] [ 1.31006933e-02 2.45300850e-04 9.99914152e-01 4.04552141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters 0.05207759348506405 Centerline is valid? [True, True] Translation: X:1026.65, Y:15.40, Z:4.04 [[ 9.90295849e-01 -1.38405926e-01 -1.25671087e-02 1.02665453e+03] [ 1.38391652e-01 9.90375555e-01 -2.00258061e-03 1.53962594e+01] [ 1.27233262e-02 2.43964330e-04 9.99919025e-01 4.04384804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters 0.05201451610979217 Centerline is valid? [True, True] Translation: X:1026.71, Y:15.40, Z:4.05 [[ 9.90081178e-01 -1.39981397e-01 -1.20195308e-02 1.02671269e+03] [ 1.39968443e-01 9.90154110e-01 -1.91637995e-03 1.54044593e+01] [ 1.21694454e-02 2.15016707e-04 9.99925926e-01 4.04561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.939254154 meters 0.05108768961286626 Centerline is valid? [True, True] Translation: X:1026.77, Y:15.41, Z:4.05 [[ 9.89527272e-01 -1.43866828e-01 -1.17521700e-02 1.02677186e+03] [ 1.43854712e-01 9.89597044e-01 -1.87422662e-03 1.54131310e+01] [ 1.18995518e-02 1.63993316e-04 9.99929184e-01 4.04678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.999254154 meters 0.05195616866024701 Centerline is valid? [True, True] Translation: X:1026.83, Y:15.42, Z:4.05 [[ 9.88759866e-01 -1.49051254e-01 -1.17325143e-02 1.02683115e+03] [ 1.49039541e-01 9.88829466e-01 -1.87131999e-03 1.54219574e+01] [ 1.18803784e-02 1.01677555e-04 9.99929421e-01 4.04774716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.059254154 meters 0.05234950712601297 Centerline is valid? [True, True] Translation: X:1026.89, Y:15.43, Z:4.05 [[ 9.87836465e-01 -1.55014973e-01 -1.22260650e-02 1.02689000e+03] [ 1.55002697e-01 9.87912120e-01 -1.95107045e-03 1.54301857e+01] [ 1.23807229e-02 3.22654874e-05 9.99923355e-01 4.04814320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters 0.051460399214709136 Centerline is valid? [True, True] Translation: X:1026.95, Y:15.44, Z:4.05 [[ 9.87184872e-01 -1.58955247e-01 -1.41158602e-02 1.02694664e+03] [ 1.58939269e-01 9.87285789e-01 -2.25380445e-03 1.54396949e+01] [ 1.42946422e-02 -1.86428312e-05 9.99897826e-01 4.04501870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters 0.052065371401071626 Centerline is valid? [True, True] Translation: X:1027.00, Y:15.45, Z:4.04 [[ 9.86862439e-01 -1.60861874e-01 -1.50327608e-02 1.02700477e+03] [ 1.60843951e-01 9.86976927e-01 -2.40174879e-03 1.54494299e+01] [ 1.52233379e-02 -4.77329785e-05 9.99884117e-01 4.04417174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.239254154 meters 0.053701552981672535 Centerline is valid? [True, True] Translation: X:1027.06, Y:15.46, Z:4.05 [[ 9.86396602e-01 -1.63622118e-01 -1.57970020e-02 1.02706293e+03] [ 1.63602649e-01 9.86523083e-01 -2.52575494e-03 1.54597308e+01] [ 1.59973765e-02 -9.30352741e-05 9.99872029e-01 4.04627495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.299254154 meters 0.05330221395931584 Centerline is valid? [True, True] Translation: X:1027.12, Y:15.47, Z:4.05 [[ 9.86024757e-01 -1.65919647e-01 -1.50282603e-02 1.02712002e+03] [ 1.65902276e-01 9.86139268e-01 -2.40400284e-03 1.54676100e+01] [ 1.52188289e-02 -1.22816271e-04 9.99884179e-01 4.04638527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters 0.05238606017937082 Centerline is valid? [True, True] Translation: X:1027.18, Y:15.48, Z:4.05 [[ 9.85295743e-01 -1.70354358e-01 -1.31031468e-02 1.02717774e+03] [ 1.70341534e-01 9.85382852e-01 -2.09685953e-03 1.54759287e+01] [ 1.32688253e-02 -1.65983350e-04 9.99911951e-01 4.04787908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters 0.05356621373763719 Centerline is valid? [True, True] Translation: X:1027.24, Y:15.49, Z:4.05 [[ 9.84712066e-01 -1.73759900e-01 -1.22329324e-02 1.02723538e+03] [ 1.73748980e-01 9.84788027e-01 -1.95804710e-03 1.54866200e+01] [ 1.23870755e-02 -1.97346922e-04 9.99923258e-01 4.04988547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.479254154 meters 0.0537220357428831 Centerline is valid? [True, True] Translation: X:1027.29, Y:15.49, Z:4.05 [[ 9.84616984e-01 -1.74341493e-01 -1.15947707e-02 1.02729343e+03] [ 1.74331710e-01 9.84685232e-01 -1.85691747e-03 1.54903401e+01] [ 1.17409372e-02 -1.92983727e-04 9.99931054e-01 4.04680390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.539254154 meters 0.05372965398392427 Centerline is valid? [True, True] Translation: X:1027.35, Y:15.51, Z:4.05 [[ 9.84766054e-01 -1.73471327e-01 -1.19798666e-02 1.02735033e+03] [ 1.73460802e-01 9.84838902e-01 -1.92002934e-03 1.55072942e+01] [ 1.21313087e-02 -1.87257548e-04 9.99926395e-01 4.04821496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters 0.0527282841258615 Centerline is valid? [True, True] Translation: X:1027.41, Y:15.52, Z:4.05 [[ 9.85047646e-01 -1.71836894e-01 -1.23780509e-02 1.02740757e+03] [ 1.71825510e-01 9.85125399e-01 -1.98534168e-03 1.55231834e+01] [ 1.25350873e-02 -1.71208760e-04 9.99921418e-01 4.04761692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters 0.05372547694470075 Centerline is valid? [True, True] Translation: X:1027.46, Y:15.54, Z:4.05 [[ 9.85347994e-01 -1.70159415e-01 -1.16234737e-02 1.02746406e+03] [ 1.70149243e-01 9.85416538e-01 -1.86569009e-03 1.55432094e+01] [ 1.17714279e-02 -1.39371263e-04 9.99930705e-01 4.05171465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.719254154 meters 0.05346663371284609 Centerline is valid? [True, True] Translation: X:1027.52, Y:15.56, Z:4.05 [[ 9.85861613e-01 -1.67285997e-01 -9.60603050e-03 1.02752141e+03] [ 1.67278908e-01 9.85908407e-01 -1.54243874e-03 1.55581667e+01] [ 9.72869464e-03 -8.62551472e-05 9.99952671e-01 4.05165895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.779254154 meters 0.054189215054430785 Centerline is valid? [True, True] Translation: X:1027.58, Y:15.57, Z:4.05 [[ 9.86274090e-01 -1.64889983e-01 -8.64364549e-03 1.02757874e+03] [ 1.64884146e-01 9.86311964e-01 -1.38854987e-03 1.55700675e+01] [ 8.75428892e-03 -5.57093471e-05 9.99961679e-01 4.04914061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters 0.052908815889325576 Centerline is valid? [True, True] Translation: X:1027.63, Y:15.59, Z:4.05 [[ 9.87048120e-01 -1.60237084e-01 -7.75155964e-03 1.02763465e+03] [ 1.60232242e-01 9.87078557e-01 -1.24579803e-03 1.55869628e+01] [ 7.85102135e-03 -1.23871792e-05 9.99969180e-01 4.04780372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters 0.053404755192808386 Centerline is valid? [True, True] Translation: X:1027.69, Y:15.61, Z:4.05 [[ 9.87846627e-01 -1.55241681e-01 -7.68517364e-03 1.02769027e+03] [ 1.55236767e-01 9.87876521e-01 -1.23544935e-03 1.56051408e+01] [ 7.78379583e-03 2.74129582e-05 9.99969705e-01 4.04699756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.959254154 meters 0.0536487480681584 Centerline is valid? [True, True] Translation: X:1027.75, Y:15.62, Z:4.05 [[ 9.88313574e-01 -1.52187975e-01 -8.66601039e-03 1.02774828e+03] [ 1.52181603e-01 9.88351565e-01 -1.39384819e-03 1.56173299e+01] [ 8.77719187e-03 5.87517317e-05 9.99961478e-01 4.04753623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.019254154 meters 0.053918125911641024 Centerline is valid? [True, True] Translation: X:1027.81, Y:15.63, Z:4.04 [[ 9.88807157e-01 -1.48904823e-01 -9.36799417e-03 1.02780511e+03] [ 1.48897220e-01 9.88851528e-01 -1.50783317e-03 1.56339463e+01] [ 9.48807898e-03 9.60879493e-05 9.99954983e-01 4.04449003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters 0.05330338645624486 Centerline is valid? [True, True] Translation: X:1027.86, Y:15.65, Z:4.04 [[ 9.89165353e-01 -1.46584130e-01 -8.06213383e-03 1.02786278e+03] [ 1.46578414e-01 9.89198202e-01 -1.29850879e-03 1.56462991e+01] [ 8.16538907e-03 1.02705112e-04 9.99966657e-01 4.04447378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters 0.05386589606948835 Centerline is valid? [True, True] Translation: X:1027.92, Y:15.66, Z:4.04 [[ 9.89312616e-01 -1.45640097e-01 -7.03627864e-03 1.02791922e+03] [ 1.45635716e-01 9.89337633e-01 -1.13388277e-03 1.56590722e+01] [ 7.12639405e-03 9.70310531e-05 9.99974602e-01 4.04362117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.199254154 meters 0.05355676959220558 Centerline is valid? [True, True] Translation: X:1027.98, Y:15.67, Z:4.04 [[ 9.89443051e-01 -1.44756558e-01 -6.92730867e-03 1.02797722e+03] [ 1.44752285e-01 9.89467295e-01 -1.11691857e-03 1.56690500e+01] [ 7.01602666e-03 1.02383559e-04 9.99975382e-01 4.04372256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.259254154 meters 0.05420336370960532 Centerline is valid? [True, True] Translation: X:1028.03, Y:15.68, Z:4.04 [[ 9.89795235e-01 -1.42304727e-01 -7.39984524e-03 1.02803436e+03] [ 1.42299778e-01 9.89822887e-01 -1.19368248e-03 1.56821648e+01] [ 7.49440284e-03 1.28504894e-04 9.99971908e-01 4.04309121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters 0.05408173007450775 Centerline is valid? [True, True] Translation: X:1028.09, Y:15.69, Z:4.04 [[ 9.90088010e-01 -1.40248364e-01 -7.49188091e-03 1.02809155e+03] [ 1.40243232e-01 9.90116344e-01 -1.20871371e-03 1.56944676e+01] [ 7.58735385e-03 1.46047366e-04 9.99971205e-01 4.04289605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters 0.05426096966282106 Centerline is valid? [True, True] Translation: X:1028.15, Y:15.70, Z:4.04 [[ 9.90290133e-01 -1.38810045e-01 -7.56460517e-03 1.02815017e+03] [ 1.38804766e-01 9.90319012e-01 -1.22095370e-03 1.57025879e+01] [ 7.66085296e-03 1.59095149e-04 9.99970643e-01 4.04311474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.439254154 meters 0.05373952174790392 Centerline is valid? [True, True] Translation: X:1028.21, Y:15.71, Z:4.04 [[ 9.90336488e-01 -1.38448983e-01 -8.09441757e-03 1.02820920e+03] [ 1.38442919e-01 9.90369552e-01 -1.30742211e-03 1.57076807e+01] [ 8.19747596e-03 1.74173021e-04 9.99966385e-01 4.04230796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.499254154 meters 0.053136689298793775 Centerline is valid? [True, True] Translation: X:1028.27, Y:15.71, Z:4.04 [[ 9.90246291e-01 -1.39076364e-01 -8.36954232e-03 1.02826791e+03] [ 1.39069895e-01 9.90281644e-01 -1.35284284e-03 1.57138795e+01] [ 8.47635259e-03 1.75696231e-04 9.99964060e-01 4.04298393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.559254154 meters 0.05319584413832842 Centerline is valid? [True, True] Translation: X:1028.33, Y:15.72, Z:4.04 [[ 9.89782723e-01 -1.42378356e-01 -7.65281633e-03 1.02832785e+03] [ 1.42373043e-01 9.89812298e-01 -1.23740243e-03 1.57191452e+01] [ 7.75103104e-03 1.35204802e-04 9.99969951e-01 4.04325254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters 0.053491426553955106 Centerline is valid? [True, True] Translation: X:1028.39, Y:15.73, Z:4.04 [[ 9.89094080e-01 -1.47122327e-01 -6.92254835e-03 1.02838653e+03] [ 1.47118095e-01 9.89118301e-01 -1.11937350e-03 1.57250339e+01] [ 7.01190410e-03 8.87335714e-05 9.99975412e-01 4.04409647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters 0.05330634100288457 Centerline is valid? [True, True] Translation: X:1028.45, Y:15.73, Z:4.04 [[ 9.88597225e-01 -1.50457083e-01 -6.18006580e-03 1.02844534e+03] [ 1.50453774e-01 9.88616540e-01 -9.99443070e-04 1.57287173e+01] [ 6.26008855e-03 5.82324207e-05 9.99980404e-01 4.04494370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.739254154 meters 0.052657324759698525 Centerline is valid? [True, True] Translation: X:1028.51, Y:15.73, Z:4.05 [[ 9.87930129e-01 -1.54789611e-01 -5.85128125e-03 1.02850548e+03] [ 1.54786720e-01 9.87947456e-01 -9.46417998e-04 1.57281066e+01] [ 5.92725410e-03 2.92942205e-05 9.99982433e-01 4.04536861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.799254154 meters 0.05273054122075613 Centerline is valid? [True, True] Translation: X:1028.56, Y:15.73, Z:4.04 [[ 9.87296021e-01 -1.58742572e-01 -6.88209803e-03 1.02856494e+03] [ 1.58738666e-01 9.87320007e-01 -1.11355465e-03 1.57307637e+01] [ 6.97160160e-03 6.95301276e-06 9.99975698e-01 4.04432886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters 0.05195208665435604 Centerline is valid? [True, True] Translation: X:1028.62, Y:15.73, Z:4.05 [[ 9.86785663e-01 -1.61886801e-01 -6.83508794e-03 1.02862355e+03] [ 1.61883018e-01 9.86809335e-01 -1.10678583e-03 1.57338009e+01] [ 6.92410260e-03 -1.43242744e-05 9.99976028e-01 4.04587858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters 0.0526669750825536 Centerline is valid? [True, True] Translation: X:1028.68, Y:15.74, Z:4.05 [[ 9.86547338e-01 -1.63331515e-01 -6.86780257e-03 1.02868146e+03] [ 1.63327726e-01 9.86571242e-01 -1.11274890e-03 1.57381806e+01] [ 6.95732347e-03 -2.39231077e-05 9.99975797e-01 4.04581739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.979254154 meters 0.05315307493225103 Centerline is valid? [True, True] Translation: X:1028.74, Y:15.74, Z:4.05 [[ 9.86571727e-01 -1.63201058e-01 -6.45306475e-03 1.02873906e+03] [ 1.63197707e-01 9.86592831e-01 -1.04603643e-03 1.57448054e+01] [ 6.53726168e-03 -2.11354007e-05 9.99978632e-01 4.04550594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.039254154 meters 0.05222196356965842 Centerline is valid? [True, True] Translation: X:1028.80, Y:15.75, Z:4.05 [[ 9.86646800e-01 -1.62778278e-01 -5.59686802e-03 1.02879732e+03] [ 1.62775746e-01 9.86662674e-01 -9.07915810e-04 1.57496793e+01] [ 5.67000974e-03 -1.52421421e-05 9.99983925e-01 4.04609397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters 0.05197136311606261 Centerline is valid? [True, True] Translation: X:1028.85, Y:15.75, Z:4.04 [[ 9.86796602e-01 -1.61840976e-01 -6.32179605e-03 1.02885495e+03] [ 1.61837722e-01 9.86816851e-01 -1.02634678e-03 1.57536205e+01] [ 6.40455984e-03 -1.03095547e-05 9.99979491e-01 4.04470142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters 0.051971255250653596 Centerline is valid? [True, True] Translation: X:1028.91, Y:15.76, Z:4.05 [[ 9.87081177e-01 -1.60064568e-01 -7.07698661e-03 1.02891236e+03] [ 1.60060438e-01 9.87106546e-01 -1.14979560e-03 1.57610003e+01] [ 7.16978134e-03 2.19601575e-06 9.99974297e-01 4.04598233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.219254154 meters 0.051457672995855755 Centerline is valid? [True, True] Translation: X:1028.97, Y:15.77, Z:4.05 [[ 9.87738831e-01 -1.55944511e-01 -7.30151376e-03 1.02897049e+03] [ 1.55939997e-01 9.87765817e-01 -1.18696894e-03 1.57672828e+01] [ 7.39728699e-03 3.38172796e-05 9.99972639e-01 4.04583870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.279254154 meters 0.05135737230772867 Centerline is valid? [True, True] Translation: X:1029.03, Y:15.78, Z:4.05 [[ 9.88496300e-01 -1.51090480e-01 -6.83602656e-03 1.02902695e+03] [ 1.51086405e-01 9.88519935e-01 -1.11166944e-03 1.57768152e+01] [ 6.92551120e-03 6.60504489e-05 9.99976016e-01 4.04527408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters 0.05081052540254487 Centerline is valid? [True, True] Translation: X:1029.09, Y:15.78, Z:4.05 [[ 9.89227704e-01 -1.46276046e-01 -5.64518070e-03 1.02908652e+03] [ 1.46273187e-01 9.89243808e-01 -9.18295485e-04 1.57806480e+01] [ 5.71878469e-03 8.26647629e-05 9.99983644e-01 4.04631629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters 0.050925685397230885 Centerline is valid? [True, True] Translation: X:1029.14, Y:15.79, Z:4.05 [[ 9.89636987e-01 -1.43453249e-01 -6.30865736e-03 1.02914402e+03] [ 1.43449620e-01 9.89657089e-01 -1.02638818e-03 1.57914049e+01] [ 6.39064619e-03 1.10777209e-04 9.99979573e-01 4.04623729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.459254154 meters 0.051162131569475314 Centerline is valid? [True, True] Translation: X:1029.20, Y:15.80, Z:4.05 [[ 9.90123754e-01 -1.39999181e-01 -7.42843909e-03 1.02920310e+03] [ 1.39994050e-01 9.90151607e-01 -1.20880379e-03 1.57957051e+01] [ 7.52451244e-03 1.56928076e-04 9.99971678e-01 4.04723366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.519254154 meters 0.051471693685968815 Centerline is valid? [True, True] Translation: X:1029.26, Y:15.81, Z:4.05 [[ 9.90457619e-01 -1.37570342e-01 -8.25260781e-03 1.02926093e+03] [ 1.37563923e-01 9.90491980e-01 -1.34321228e-03 1.58071505e+01] [ 8.35892803e-03 1.95133732e-04 9.99965044e-01 4.04656523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters 0.05054750979462904 Centerline is valid? [True, True] Translation: X:1029.32, Y:15.81, Z:4.05 [[ 9.90551401e-01 -1.36866508e-01 -8.68798271e-03 1.02932091e+03] [ 1.36859361e-01 9.90589478e-01 -1.41475991e-03 1.58065901e+01] [ 8.79985750e-03 2.12360651e-04 9.99961258e-01 4.04662323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters 0.05158165324434156 Centerline is valid? [True, True] Translation: X:1029.38, Y:15.82, Z:4.04 [[ 9.90468772e-01 -1.37321456e-01 -1.06971266e-02 1.02937721e+03] [ 1.37310638e-01 9.90526502e-01 -1.74275509e-03 1.58234948e+01] [ 1.08351050e-02 2.57315213e-04 9.99941265e-01 4.04402892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.699254154 meters 0.05041203534187769 Centerline is valid? [True, True] Translation: X:1029.44, Y:15.83, Z:4.05 [[ 9.90257115e-01 -1.38765226e-01 -1.16214880e-02 1.02943648e+03] [ 1.38752545e-01 9.90325271e-01 -1.89431879e-03 1.58287467e+01] [ 1.17719188e-02 2.63351629e-04 9.99930674e-01 4.04520292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.759254154 meters 0.05056461773155202 Centerline is valid? [True, True] Translation: X:1029.50, Y:15.84, Z:4.05 [[ 9.89722535e-01 -1.42567696e-01 -1.11245479e-02 1.02949586e+03] [ 1.42556313e-01 9.89785031e-01 -1.81370083e-03 1.58360136e+01] [ 1.12694861e-02 2.09186053e-04 9.99936475e-01 4.04702871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters 0.05039530316115759 Centerline is valid? [True, True] Translation: X:1029.56, Y:15.84, Z:4.05 [[ 9.89090209e-01 -1.46995606e-01 -9.63593514e-03 1.02955581e+03] [ 1.46987274e-01 9.89137136e-01 -1.57105075e-03 1.58438825e+01] [ 9.76219884e-03 1.37551073e-04 9.99952339e-01 4.04731245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters 0.050584794632184085 Centerline is valid? [True, True] Translation: X:1029.61, Y:15.85, Z:4.05 [[ 9.88063223e-01 -1.53802478e-01 -8.71001400e-03 1.02961482e+03] [ 1.53795934e-01 9.88101611e-01 -1.42019593e-03 1.58497070e+01] [ 8.82480852e-03 6.36786287e-05 9.99961059e-01 4.04810556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.939254154 meters 0.05092845275997671 Centerline is valid? [True, True] Translation: X:1029.67, Y:15.86, Z:4.05 [[ 9.87294444e-01 -1.58685593e-01 -8.28029519e-03 1.02967293e+03] [ 1.58679846e-01 9.87329166e-01 -1.35064187e-03 1.58579742e+01] [ 8.38970435e-03 1.95652534e-05 9.99964806e-01 4.04740236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.999254154 meters 0.05123155186205097 Centerline is valid? [True, True] Translation: X:1029.73, Y:15.87, Z:4.05 [[ 9.86610400e-01 -1.62929975e-01 -7.33086028e-03 1.02973168e+03] [ 1.62925582e-01 9.86637635e-01 -1.19650573e-03 1.58655781e+01] [ 7.42784930e-03 -1.38996795e-05 9.99972413e-01 4.05008947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.059254154 meters 0.05102430434819021 Centerline is valid? [True, True] Translation: X:1029.79, Y:15.88, Z:4.05 [[ 9.86631940e-01 -1.62783631e-01 -7.67498407e-03 1.02978885e+03] [ 1.62778804e-01 9.86661791e-01 -1.25363061e-03 1.58766409e+01] [ 7.77668407e-03 -1.24527213e-05 9.99969761e-01 4.05020284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters 0.051410918126306396 Centerline is valid? [True, True] Translation: X:1029.85, Y:15.89, Z:4.05 [[ 9.86877398e-01 -1.61173473e-01 -9.80369765e-03 1.02984672e+03] [ 1.61165504e-01 9.86926092e-01 -1.60270707e-03 1.58882140e+01] [ 9.93383887e-03 1.65751553e-06 9.99950658e-01 4.04917774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters 0.051562355505082626 Centerline is valid? [True, True] Translation: X:1029.90, Y:15.90, Z:4.05 [[ 9.87082510e-01 -1.59906331e-01 -9.90369112e-03 1.02990410e+03] [ 1.59898122e-01 9.87132192e-01 -1.62034487e-03 1.58988497e+01] [ 1.00353557e-02 1.58324713e-05 9.99949644e-01 4.05014263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.239254154 meters 0.05176288341151798 Centerline is valid? [True, True] Translation: X:1029.96, Y:15.91, Z:4.05 [[ 9.87328530e-01 -1.58455776e-01 -8.61052880e-03 1.02996041e+03] [ 1.58449510e-01 9.87366075e-01 -1.40943558e-03 1.59116627e+01] [ 8.72507723e-03 2.72418839e-05 9.99961935e-01 4.05082839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.299254154 meters 0.05140771567908549 Centerline is valid? [True, True] Translation: X:1030.02, Y:15.92, Z:4.05 [[ 9.87287199e-01 -1.58717335e-01 -8.53191566e-03 1.03001712e+03] [ 1.58711186e-01 9.87324064e-01 -1.39732608e-03 1.59229980e+01] [ 8.64554551e-03 2.54517024e-05 9.99962626e-01 4.05159023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters 0.05161473279198263 Centerline is valid? [True, True] Translation: X:1030.07, Y:15.93, Z:4.05 [[ 9.87156975e-01 -1.59544796e-01 -8.15875824e-03 1.03007386e+03] [ 1.59539196e-01 9.87190690e-01 -1.33685889e-03 1.59335903e+01] [ 8.26753905e-03 1.80478477e-05 9.99965823e-01 4.05113742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters 0.051617345016803116 Centerline is valid? [True, True] Translation: X:1030.13, Y:15.94, Z:4.05 [[ 9.87110952e-01 -1.59821568e-01 -8.30875528e-03 1.03013152e+03] [ 1.59815764e-01 9.87145919e-01 -1.36214904e-03 1.59432565e+01] [ 8.41965466e-03 1.67221656e-05 9.99964554e-01 4.05211046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.479254154 meters 0.05185916205674523 Centerline is valid? [True, True] Translation: X:1030.19, Y:15.95, Z:4.05 [[ 9.87120052e-01 -1.59767719e-01 -8.26310621e-03 1.03018776e+03] [ 1.59761970e-01 9.87154636e-01 -1.35539009e-03 1.59542507e+01] [ 8.37351119e-03 1.78026047e-05 9.99964941e-01 4.05232058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.539254154 meters 0.05178488083780758 Centerline is valid? [True, True] Translation: X:1030.24, Y:15.97, Z:4.05 [[ 9.87244462e-01 -1.58982118e-01 -8.54741371e-03 1.03024491e+03] [ 1.58975932e-01 9.87281462e-01 -1.40275272e-03 1.59666229e+01] [ 8.66171571e-03 2.60267994e-05 9.99962486e-01 4.05302917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters 0.05191468865756402 Centerline is valid? [True, True] Translation: X:1030.30, Y:15.98, Z:4.05 [[ 9.87598225e-01 -1.56588910e-01 -1.13868450e-02 1.03030245e+03] [ 1.56577755e-01 9.87663864e-01 -1.87013065e-03 1.59793236e+01] [ 1.15392171e-02 6.40110731e-05 9.99933419e-01 4.05241229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters 0.05285211107876308 Centerline is valid? [True, True] Translation: X:1030.36, Y:15.99, Z:4.05 [[ 9.88163230e-01 -1.52806270e-01 -1.35526546e-02 1.03036074e+03] [ 1.52790103e-01 9.88256155e-01 -2.22649634e-03 1.59923347e+01] [ 1.37337169e-02 1.29430324e-04 9.99905680e-01 4.05236242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.719254154 meters 0.05236526386194243 Centerline is valid? [True, True] Translation: X:1030.42, Y:16.00, Z:4.05 [[ 9.88545658e-01 -1.50260918e-01 -1.41116623e-02 1.03041682e+03] [ 1.50243122e-01 9.88646361e-01 -2.31888100e-03 1.60046546e+01] [ 1.42998807e-02 1.72139540e-04 9.99897737e-01 4.05224651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.779254154 meters 0.05197188163446957 Centerline is valid? [True, True] Translation: X:1030.48, Y:16.01, Z:4.06 [[ 9.88925335e-01 -1.47861478e-01 -1.27931979e-02 1.03047547e+03] [ 1.47846636e-01 9.89008063e-01 -2.10343440e-03 1.60125248e+01] [ 1.29635928e-02 1.88708296e-04 9.99915951e-01 4.05696695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters 0.0520878796056978 Centerline is valid? [True, True] Translation: X:1030.53, Y:16.03, Z:4.06 [[ 9.89228988e-01 -1.45897459e-01 -1.18296368e-02 1.03053151e+03] [ 1.45884616e-01 9.89299698e-01 -1.94600468e-03 1.60258339e+01] [ 1.19869733e-02 1.99282209e-04 9.99928134e-01 4.05687415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters 0.05243246789448941 Centerline is valid? [True, True] Translation: X:1030.59, Y:16.04, Z:4.05 [[ 9.89427739e-01 -1.44485506e-01 -1.25175243e-02 1.03058786e+03] [ 1.44471005e-01 9.89506890e-01 -2.05980225e-03 1.60402193e+01] [ 1.26837881e-02 2.29606173e-04 9.99919531e-01 4.05489977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.959254154 meters 0.052196007971563464 Centerline is valid? [True, True] Translation: X:1030.65, Y:16.05, Z:4.06 [[ 9.89668735e-01 -1.42682293e-01 -1.40555182e-02 1.03064718e+03] [ 1.42663823e-01 9.89768500e-01 -2.31321695e-03 1.60475715e+01] [ 1.42417643e-02 2.84104529e-04 9.99898541e-01 4.05622657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.019254154 meters 0.05318990929766411 Centerline is valid? [True, True] Translation: X:1030.70, Y:16.06, Z:4.05 [[ 9.89646475e-01 -1.42794090e-01 -1.44811288e-02 1.03070386e+03] [ 1.42774489e-01 9.89752375e-01 -2.38373978e-03 1.60602805e+01] [ 1.46731156e-02 2.91523899e-04 9.99892302e-01 4.05422847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters 0.05196189797970341 Centerline is valid? [True, True] Translation: X:1030.76, Y:16.06, Z:4.06 [[ 9.89147781e-01 -1.46204180e-01 -1.45260303e-02 1.03076366e+03] [ 1.46184821e-01 9.89254406e-01 -2.39144667e-03 1.60632870e+01] [ 1.47195790e-02 2.42009023e-04 9.99891632e-01 4.05664853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters 0.05218841808252034 Centerline is valid? [True, True] Translation: X:1030.82, Y:16.07, Z:4.06 [[ 9.88220622e-01 -1.52440862e-01 -1.34827721e-02 1.03082357e+03] [ 1.52424762e-01 9.88312584e-01 -2.21982092e-03 1.60664660e+01] [ 1.36635848e-02 1.38564490e-04 9.99906639e-01 4.05791428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.199254154 meters 0.05156882945489357 Centerline is valid? [True, True] Translation: X:1030.88, Y:16.07, Z:4.06 [[ 9.87154429e-01 -1.59242892e-01 -1.29551364e-02 1.03088335e+03] [ 1.59228606e-01 9.87239434e-01 -2.13344168e-03 1.60685445e+01] [ 1.31295569e-02 4.32080921e-05 9.99913803e-01 4.05987999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.259254154 meters 0.05219207370272353 Centerline is valid? [True, True] Translation: X:1030.94, Y:16.07, Z:4.06 [[ 9.86552635e-01 -1.62905883e-01 -1.32503787e-02 1.03094135e+03] [ 1.62891260e-01 9.86641613e-01 -2.18263695e-03 1.60744517e+01] [ 1.34289394e-02 -5.08465729e-06 9.99909828e-01 4.06137484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters 0.05237268493675756 Centerline is valid? [True, True] Translation: X:1031.00, Y:16.08, Z:4.06 [[ 9.86019100e-01 -1.65929928e-01 -1.52837707e-02 1.03099986e+03] [ 1.65910815e-01 9.86137544e-01 -2.51894265e-03 1.60803951e+01] [ 1.54898681e-02 -5.20172873e-05 9.99880023e-01 4.05946086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters 0.052301278296174605 Centerline is valid? [True, True] Translation: X:1031.06, Y:16.09, Z:4.06 [[ 9.85969509e-01 -1.66150199e-01 -1.60697828e-02 1.03105742e+03] [ 1.66129068e-01 9.86100455e-01 -2.65036939e-03 1.60905814e+01] [ 1.62867796e-02 -5.64746421e-05 9.99867360e-01 4.06257000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.439254154 meters 0.05240360233033603 Centerline is valid? [True, True] Translation: X:1031.11, Y:16.10, Z:4.06 [[ 9.86455552e-01 -1.63297547e-01 -1.54710966e-02 1.03111437e+03] [ 1.63277596e-01 9.86576865e-01 -2.55257023e-03 1.61008710e+01] [ 1.56802545e-02 -8.08639982e-06 9.99877057e-01 4.06014207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.499254154 meters 0.05218021258931067 Centerline is valid? [True, True] Translation: X:1031.17, Y:16.11, Z:4.06 [[ 9.86875910e-01 -1.60658481e-01 -1.62723757e-02 1.03117173e+03] [ 1.60636039e-01 9.87010056e-01 -2.68546635e-03 1.61115733e+01] [ 1.64924414e-02 3.62920749e-05 9.99863990e-01 4.06317134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.559254154 meters 0.05221811224401563 Centerline is valid? [True, True] Translation: X:1031.23, Y:16.13, Z:4.06 [[ 9.87649728e-01 -1.55886644e-01 -1.57279488e-02 1.03122858e+03] [ 1.55865063e-01 9.87774945e-01 -2.59626841e-03 1.61250675e+01] [ 1.59403973e-02 1.12766057e-04 9.99872937e-01 4.05973443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters 0.05192931227640931 Centerline is valid? [True, True] Translation: X:1031.29, Y:16.13, Z:4.06 [[ 9.87984789e-01 -1.53776454e-01 -1.54550431e-02 1.03128662e+03] [ 1.53755334e-01 9.88105653e-01 -2.55269588e-03 1.61337478e+01] [ 1.56637599e-02 1.45729387e-04 9.99877305e-01 4.06367358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters 0.05211475639138139 Centerline is valid? [True, True] Translation: X:1031.34, Y:16.14, Z:4.07 [[ 9.88423801e-01 -1.51121735e-01 -1.34391528e-02 1.03134463e+03] [ 1.51105500e-01 9.88515146e-01 -2.22121043e-03 1.61435634e+01] [ 1.36204792e-02 1.64767360e-04 9.99907223e-01 4.06582656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.739254154 meters 0.05268529338744814 Centerline is valid? [True, True] Translation: X:1031.40, Y:16.16, Z:4.06 [[ 9.88848698e-01 -1.48484425e-01 -1.14292422e-02 1.03140075e+03] [ 1.48472499e-01 9.88914732e-01 -1.88969813e-03 1.61581998e+01] [ 1.15831367e-02 1.71697385e-04 9.99932898e-01 4.06431361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.799254154 meters 0.051936722058710895 Centerline is valid? [True, True] Translation: X:1031.46, Y:16.17, Z:4.06 [[ 9.89127022e-01 -1.46590161e-01 -1.17923720e-02 1.03145891e+03] [ 1.46577319e-01 9.89197293e-01 -1.95075680e-03 1.61680334e+01] [ 1.19509442e-02 2.01051986e-04 9.99928565e-01 4.06448187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters 0.05260328273274233 Centerline is valid? [True, True] Translation: X:1031.52, Y:16.18, Z:4.06 [[ 9.89267323e-01 -1.45540854e-01 -1.29624165e-02 1.03151637e+03] [ 1.45525227e-01 9.89352214e-01 -2.14574716e-03 1.61803721e+01] [ 1.31366894e-02 2.36358931e-04 9.99913682e-01 4.06179383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters 0.05207789164251582 Centerline is valid? [True, True] Translation: X:1031.57, Y:16.18, Z:4.06 [[ 9.89181887e-01 -1.46067220e-01 -1.35485297e-02 1.03157439e+03] [ 1.46050175e-01 9.89274638e-01 -2.24441670e-03 1.61836265e+01] [ 1.37310526e-02 2.41371200e-04 9.99905695e-01 4.06455060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.979254154 meters 0.05121322844859663 Centerline is valid? [True, True] Translation: X:1031.63, Y:16.19, Z:4.07 [[ 9.89127029e-01 -1.46433795e-01 -1.35964649e-02 1.03163341e+03] [ 1.46416648e-01 9.89220444e-01 -2.25345082e-03 1.61903520e+01] [ 1.37798824e-02 2.38200289e-04 9.99905025e-01 4.06529439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.039254154 meters 0.05208183064101912 Centerline is valid? [True, True] Translation: X:1031.69, Y:16.20, Z:4.06 [[ 9.89004274e-01 -1.47145670e-01 -1.47884102e-02 1.03168896e+03] [ 1.47125452e-01 9.89114801e-01 -2.45187183e-03 1.62023401e+01] [ 1.49882177e-02 2.49160178e-04 9.99887639e-01 4.06147588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters 0.05185988723776868 Centerline is valid? [True, True] Translation: X:1031.75, Y:16.21, Z:4.06 [[ 9.88829495e-01 -1.48226088e-01 -1.56606979e-02 1.03174829e+03] [ 1.48203525e-01 9.88953470e-01 -2.59804543e-03 1.62062819e+01] [ 1.58727996e-02 2.48053319e-04 9.99873988e-01 4.06401393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters 0.05167746929408845 Centerline is valid? [True, True] Translation: X:1031.81, Y:16.21, Z:4.07 [[ 9.88668524e-01 -1.49323780e-01 -1.53934422e-02 1.03180710e+03] [ 1.49302087e-01 9.88788328e-01 -2.55544702e-03 1.62136064e+01] [ 1.56024450e-02 2.28216989e-04 9.99878248e-01 4.06577494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.219254154 meters 0.05141616343623251 Centerline is valid? [True, True] Translation: X:1031.87, Y:16.22, Z:4.07 [[ 9.88404483e-01 -1.51272255e-01 -1.31636995e-02 1.03186598e+03] [ 1.51256546e-01 9.88492122e-01 -2.18666544e-03 1.62206727e+01] [ 1.33429951e-02 1.70214208e-04 9.99910964e-01 4.06745552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.279254154 meters 0.05090533682777362 Centerline is valid? [True, True] Translation: X:1031.92, Y:16.23, Z:4.07 [[ 9.88033807e-01 -1.53710970e-01 -1.27331494e-02 1.03192291e+03] [ 1.53696464e-01 9.88115843e-01 -2.11591271e-03 1.62291504e+01] [ 1.29070657e-02 1.33553252e-04 9.99916691e-01 4.06733432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters 0.05127719427028586 Centerline is valid? [True, True] Translation: X:1031.98, Y:16.24, Z:4.07 [[ 9.87886441e-01 -1.54653585e-01 -1.27533649e-02 1.03198116e+03] [ 1.54639096e-01 9.87968751e-01 -2.12043487e-03 1.62384490e+01] [ 1.29278589e-02 1.22580031e-04 9.99916424e-01 4.06766319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters 0.0512576369302686 Centerline is valid? [True, True] Translation: X:1032.04, Y:16.25, Z:4.07 [[ 9.87586303e-01 -1.56469671e-01 -1.38034904e-02 1.03203842e+03] [ 1.56452863e-01 9.87682758e-01 -2.29591000e-03 1.62480620e+01] [ 1.39927097e-02 1.07813676e-04 9.99902091e-01 4.06712175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.459254154 meters 0.051533241480160766 Centerline is valid? [True, True] Translation: X:1032.10, Y:16.26, Z:4.07 [[ 9.87466209e-01 -1.57206919e-01 -1.40168390e-02 1.03209613e+03] [ 1.57189641e-01 9.87565681e-01 -2.33287298e-03 1.62568879e+01] [ 1.42092929e-02 1.00331351e-04 9.99899038e-01 4.06872078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.519254154 meters 0.05133935209973005 Centerline is valid? [True, True] Translation: X:1032.15, Y:16.27, Z:4.07 [[ 9.87276711e-01 -1.58367020e-01 -1.43032632e-02 1.03215307e+03] [ 1.58349137e-01 9.87380311e-01 -2.38147956e-03 1.62677411e+01] [ 1.44999083e-02 8.62699228e-05 9.99894867e-01 4.06615017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters 0.051383284660788446 Centerline is valid? [True, True] Translation: X:1032.21, Y:16.28, Z:4.07 [[ 9.86962755e-01 -1.60290751e-01 -1.45394671e-02 1.03221101e+03] [ 1.60272461e-01 9.87069841e-01 -2.42214260e-03 1.62759312e+01] [ 1.47397166e-02 6.02883641e-05 9.99891363e-01 4.06880289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters 0.0515291752480496 Centerline is valid? [True, True] Translation: X:1032.27, Y:16.29, Z:4.07 [[ 9.86800260e-01 -1.61237231e-01 -1.50931378e-02 1.03226771e+03] [ 1.61217603e-01 9.86915677e-01 -2.51624661e-03 1.62858896e+01] [ 1.53013669e-02 4.97533201e-05 9.99882926e-01 4.06802102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.699254154 meters 0.052292099993765634 Centerline is valid? [True, True] Translation: X:1032.33, Y:16.30, Z:4.07 [[ 9.86524292e-01 -1.62817148e-01 -1.61368634e-02 1.03232613e+03] [ 1.62794892e-01 9.86656260e-01 -2.69217704e-03 1.62952508e+01] [ 1.63598699e-02 2.88991234e-05 9.99866168e-01 4.06928173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.759254154 meters 0.05233064794939101 Centerline is valid? [True, True] Translation: X:1032.38, Y:16.30, Z:4.07 [[ 9.86033332e-01 -1.65848071e-01 -1.52540489e-02 1.03238420e+03] [ 1.65828519e-01 9.86151316e-01 -2.54661568e-03 1.63043574e+01] [ 1.54651517e-02 -1.85083876e-05 9.99880407e-01 4.07095473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters 0.05246702006267392 Centerline is valid? [True, True] Translation: X:1032.44, Y:16.31, Z:4.07 [[ 9.85268703e-01 -1.70449280e-01 -1.38789799e-02 1.03244099e+03] [ 1.70433537e-01 9.85366448e-01 -2.31802620e-03 1.63121876e+01] [ 1.40709870e-02 -8.15649547e-05 9.99900995e-01 4.07185503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters 0.05232482566070481 Centerline is valid? [True, True] Translation: X:1032.50, Y:16.32, Z:4.08 [[ 9.84658261e-01 -1.73984043e-01 -1.33289516e-02 1.03249827e+03] [ 1.73969830e-01 9.84748464e-01 -2.22743204e-03 1.63240801e+01] [ 1.35132022e-02 -1.25576076e-04 9.99908685e-01 4.07618066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.939254154 meters 0.052506969874363776 Centerline is valid? [True, True] Translation: X:1032.56, Y:16.33, Z:4.07 [[ 9.83805071e-01 -1.78698833e-01 -1.39394677e-02 1.03255604e+03] [ 1.78683750e-01 9.83903800e-01 -2.33013225e-03 1.63309368e+01] [ 1.41314872e-02 -1.98360451e-04 9.99900126e-01 4.07458342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.999254154 meters 0.053175564907590886 Centerline is valid? [True, True] Translation: X:1032.61, Y:16.35, Z:4.08 [[ 9.83291872e-01 -1.81483999e-01 -1.41651810e-02 1.03261349e+03] [ 1.81468709e-01 9.83393868e-01 -2.36810502e-03 1.63481835e+01] [ 1.43597253e-02 -2.41998692e-04 9.99896865e-01 4.07828248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.059254154 meters 0.05261247200619358 Centerline is valid? [True, True] Translation: X:1032.67, Y:16.36, Z:4.08 [[ 9.83387783e-01 -1.80894817e-01 -1.50177383e-02 1.03267158e+03] [ 1.80877541e-01 9.83502417e-01 -2.51209263e-03 1.63554914e+01] [ 1.52244065e-02 -2.46010374e-04 9.99884072e-01 4.07579642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters 0.05275422926252334 Centerline is valid? [True, True] Translation: X:1032.73, Y:16.37, Z:4.08 [[ 9.84097572e-01 -1.76914693e-01 -1.59110222e-02 1.03272841e+03] [ 1.76894764e-01 9.84226170e-01 -2.66243559e-03 1.63693444e+01] [ 1.61310684e-02 -1.94480121e-04 9.99869867e-01 4.07689889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters 0.0538028009900207 Centerline is valid? [True, True] Translation: X:1032.79, Y:16.38, Z:4.08 [[ 9.84771422e-01 -1.73084977e-01 -1.63351786e-02 1.03278553e+03] [ 1.73063437e-01 9.84906885e-01 -2.73389854e-03 1.63833890e+01] [ 1.65618266e-02 -1.34757000e-04 9.99862834e-01 4.07761649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.239254154 meters 0.05311560400705494 Centerline is valid? [True, True] Translation: X:1032.84, Y:16.40, Z:4.07 [[ 9.85950597e-01 -1.66223372e-01 -1.64684549e-02 1.03284244e+03] [ 1.66200507e-01 9.86088125e-01 -2.75702735e-03 1.63988425e+01] [ 1.66976302e-02 -1.87727923e-05 9.99860585e-01 4.07362166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.299254154 meters 0.05314587610464452 Centerline is valid? [True, True] Translation: X:1032.90, Y:16.41, Z:4.08 [[ 9.87002404e-01 -1.60042272e-01 -1.45850925e-02 1.03289948e+03] [ 1.60023640e-01 9.87110159e-01 -2.44319937e-03 1.64134879e+01] [ 1.47881081e-02 7.74840619e-05 9.99890647e-01 4.07827130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters 0.05258543267987316 Centerline is valid? [True, True] Translation: X:1032.96, Y:16.43, Z:4.08 [[ 9.87906621e-01 -1.54521433e-01 -1.27920077e-02 1.03295574e+03] [ 1.54506628e-01 9.87989427e-01 -2.14361355e-03 1.64283882e+01] [ 1.29696026e-02 1.41240046e-04 9.99915881e-01 4.07887497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters 0.05425841723309507 Centerline is valid? [True, True] Translation: X:1033.01, Y:16.45, Z:4.08 [[ 9.88908917e-01 -1.48014158e-01 -1.22867322e-02 1.03301209e+03] [ 1.47999993e-01 9.88985218e-01 -2.05923599e-03 1.64503273e+01] [ 1.24561926e-02 2.17960554e-04 9.99922395e-01 4.07565583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.479254154 meters 0.05378387776095968 Centerline is valid? [True, True] Translation: X:1033.07, Y:16.46, Z:4.08 [[ 9.89525459e-01 -1.43837343e-01 -1.22549591e-02 1.03307164e+03] [ 1.43822931e-01 9.89601307e-01 -2.05397423e-03 1.64620753e+01] [ 1.24229618e-02 2.69915657e-04 9.99922796e-01 4.07605289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.539254154 meters 0.05355629938820402 Centerline is valid? [True, True] Translation: X:1033.13, Y:16.47, Z:4.08 [[ 9.90108109e-01 -1.39721105e-01 -1.28040879e-02 1.03313152e+03] [ 1.39705026e-01 9.90190840e-01 -2.14607817e-03 1.64696944e+01] [ 1.29783430e-02 3.36053957e-04 9.99915721e-01 4.07719552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters 0.052971610605161056 Centerline is valid? [True, True] Translation: X:1033.19, Y:16.48, Z:4.08 [[ 9.90255508e-01 -1.38580566e-01 -1.37642518e-02 1.03319087e+03] [ 1.38561873e-01 9.90351091e-01 -2.30720066e-03 1.64765446e+01] [ 1.39511749e-02 3.77517656e-04 9.99902606e-01 4.07769513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters 0.0524952715159656 Centerline is valid? [True, True] Translation: X:1033.25, Y:16.48, Z:4.08 [[ 9.89950608e-01 -1.40664353e-01 -1.45373330e-02 1.03324925e+03] [ 1.40643720e-01 9.90057273e-01 -2.43720164e-03 1.64824683e+01] [ 1.47356196e-02 3.68124668e-04 9.99891357e-01 4.07900828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.719254154 meters 0.05378352057360084 Centerline is valid? [True, True] Translation: X:1033.31, Y:16.50, Z:4.08 [[ 9.89344741e-01 -1.44916160e-01 -1.40103571e-02 1.03330661e+03] [ 1.44897417e-01 9.89443894e-01 -2.34912559e-03 1.64976460e+01] [ 1.42028886e-02 2.94030492e-04 9.99899091e-01 4.07547516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.779254154 meters 0.0527053134869049 Centerline is valid? [True, True] Translation: X:1033.37, Y:16.50, Z:4.08 [[ 9.88734809e-01 -1.49074211e-01 -1.34297514e-02 1.03336771e+03] [ 1.49057372e-01 9.88825985e-01 -2.25183001e-03 1.64973027e+01] [ 1.36153769e-02 2.24659278e-04 9.99907281e-01 4.07908099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters 0.05306340435774956 Centerline is valid? [True, True] Translation: X:1033.43, Y:16.50, Z:4.08 [[ 9.87605715e-01 -1.56406022e-01 -1.31189940e-02 1.03342799e+03] [ 1.56390598e-01 9.87692838e-01 -2.19980165e-03 1.65028486e+01] [ 1.33015986e-02 1.20849358e-04 9.99911522e-01 4.07857041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters 0.05307546641312176 Centerline is valid? [True, True] Translation: X:1033.49, Y:16.51, Z:4.08 [[ 9.86207139e-01 -1.64940654e-01 -1.37862299e-02 1.03348691e+03] [ 1.64924438e-01 9.86303493e-01 -2.31283072e-03 1.65069838e+01] [ 1.39788866e-02 7.24393995e-06 9.99902291e-01 4.07864971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.959254154 meters 0.05383382421336523 Centerline is valid? [True, True] Translation: X:1033.55, Y:16.51, Z:4.08 [[ 9.84715138e-01 -1.73617227e-01 -1.38980602e-02 1.03354559e+03] [ 1.73601597e-01 9.84813203e-01 -2.33246472e-03 1.65090803e+01] [ 1.40919492e-02 -1.15912125e-04 9.99900697e-01 4.07571412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.019254154 meters 0.05434655929429089 Centerline is valid? [True, True] Translation: X:1033.61, Y:16.51, Z:4.08 [[ 9.82917290e-01 -1.83629342e-01 -1.24042806e-02 1.03360564e+03] [ 1.83617686e-01 9.82995530e-01 -2.08191645e-03 1.65137991e+01] [ 1.25756533e-02 -2.31293618e-04 9.99920897e-01 4.07757756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters 0.054812157366383445 Centerline is valid? [True, True] Translation: X:1033.66, Y:16.53, Z:4.08 [[ 9.81378654e-01 -1.91681940e-01 -1.24085197e-02 1.03366259e+03] [ 1.91670916e-01 9.81457040e-01 -2.08271505e-03 1.65291801e+01] [ 1.25776479e-02 -3.34420250e-04 9.99920842e-01 4.08140970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters 0.05554211821901244 Centerline is valid? [True, True] Translation: X:1033.72, Y:16.52, Z:4.08 [[ 9.78713928e-01 -2.04939176e-01 -1.09078941e-02 1.03372380e+03] [ 2.04931477e-01 9.78774610e-01 -1.83097047e-03 1.65249304e+01] [ 1.10516074e-02 -4.43374545e-04 9.99938831e-01 4.07945549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.199254154 meters 0.05488031214940621 Centerline is valid? [True, True] Translation: X:1033.78, Y:16.53, Z:4.08 [[ 9.77091661e-01 -2.12572833e-01 -1.02311583e-02 1.03378171e+03] [ 2.12566474e-01 9.77145099e-01 -1.71755692e-03 1.65348293e+01] [ 1.03624321e-02 -4.96590704e-04 9.99946185e-01 4.08103373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.259254154 meters 0.05455263813325696 Centerline is valid? [True, True] Translation: X:1033.84, Y:16.55, Z:4.08 [[ 9.75974424e-01 -2.17664356e-01 -9.80570811e-03 1.03383986e+03] [ 2.17658769e-01 9.76023540e-01 -1.64629910e-03 1.65536245e+01] [ 9.92894257e-03 -5.27552537e-04 9.99950568e-01 4.08264949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters 0.05570382831422822 Centerline is valid? [True, True] Translation: X:1033.90, Y:16.57, Z:4.08 [[ 9.75866977e-01 -2.18140855e-01 -9.91012744e-03 1.03389515e+03] [ 2.18135170e-01 9.75917147e-01 -1.66411716e-03 1.65730222e+01] [ 1.00344752e-02 -5.37790352e-04 9.99949509e-01 4.08330080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters 0.05509444622300486 Centerline is valid? [True, True] Translation: X:1033.95, Y:16.58, Z:4.08 [[ 9.77429623e-01 -2.11024766e-01 -9.99404983e-03 1.03395451e+03] [ 2.11018611e-01 9.77480603e-01 -1.67845078e-03 1.65794843e+01] [ 1.01231845e-02 -4.68363004e-04 9.99948650e-01 4.08074180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.439254154 meters 0.055364190002812966 Centerline is valid? [True, True] Translation: X:1034.01, Y:16.60, Z:4.08 [[ 9.79927607e-01 -1.99084911e-01 -1.03481409e-02 1.03401252e+03] [ 1.99077644e-01 9.79982179e-01 -1.73809301e-03 1.65957322e+01] [ 1.04870218e-02 -3.56878180e-04 9.99944946e-01 4.07908690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.499254154 meters 0.05495276485719863 Centerline is valid? [True, True] Translation: X:1034.07, Y:16.61, Z:4.08 [[ 9.82833925e-01 -1.84244226e-01 -9.56774337e-03 1.03406937e+03] [ 1.84237307e-01 9.82880477e-01 -1.60718412e-03 1.66146617e+01] [ 9.70006256e-03 -1.83140198e-04 9.99952936e-01 4.07774127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.559254154 meters 0.0536607781886072 Centerline is valid? [True, True] Translation: X:1034.13, Y:16.63, Z:4.08 [[ 9.84695746e-01 -1.74070995e-01 -8.57774914e-03 1.03412590e+03] [ 1.74065045e-01 9.84733103e-01 -1.44104267e-03 1.66335062e+01] [ 8.69763725e-03 -7.40977068e-05 9.99962172e-01 4.07832051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters 0.05342638690961055 Centerline is valid? [True, True] Translation: X:1034.18, Y:16.66, Z:4.08 [[ 9.87039754e-01 -1.60353630e-01 -6.26396810e-03 1.03418198e+03] [ 1.60350178e-01 9.87059630e-01 -1.05267004e-03 1.66561783e+01] [ 6.35170949e-03 3.45987720e-05 9.99979827e-01 4.08069494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters 0.054454759756170784 Centerline is valid? [True, True] Translation: X:1034.24, Y:16.68, Z:4.08 [[ 9.88612291e-01 -1.50390846e-01 -5.32269799e-03 1.03423771e+03] [ 1.50388207e-01 9.88626616e-01 -8.94890791e-04 1.66812084e+01] [ 5.39674429e-03 8.42290286e-05 9.99985434e-01 4.07954939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.739254154 meters 0.05492548316057388 Centerline is valid? [True, True] Translation: X:1034.29, Y:16.70, Z:4.08 [[ 9.89486629e-01 -1.44478766e-01 -6.48817383e-03 1.03429391e+03] [ 1.44474717e-01 9.89507891e-01 -1.09089646e-03 1.67028803e+01] [ 6.57771058e-03 1.42050384e-04 9.99978357e-01 4.07847939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.799254154 meters 0.054321287280753 Centerline is valid? [True, True] Translation: X:1034.35, Y:16.71, Z:4.08 [[ 9.89665623e-01 -1.43222482e-01 -7.01969368e-03 1.03435224e+03] [ 1.43217709e-01 9.89690504e-01 -1.18061856e-03 1.67100037e+01] [ 7.11641529e-03 1.63073154e-04 9.99974665e-01 4.07787573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters 0.05468654480567499 Centerline is valid? [True, True] Translation: X:1034.41, Y:16.72, Z:4.08 [[ 9.89510692e-01 -1.44197659e-01 -8.69627474e-03 1.03440999e+03] [ 1.44190362e-01 9.89548886e-01 -1.46362973e-03 1.67222888e+01] [ 8.81644096e-03 1.94358265e-04 9.99961116e-01 4.07588026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters 0.054110760058562454 Centerline is valid? [True, True] Translation: X:1034.47, Y:16.73, Z:4.08 [[ 9.89035107e-01 -1.47332665e-01 -1.01312437e-02 1.03446927e+03] [ 1.47322913e-01 9.89086977e-01 -1.70632502e-03 1.67281529e+01] [ 1.02720786e-02 1.95051008e-04 9.99947222e-01 4.07598393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.979254154 meters 0.05456204267505327 Centerline is valid? [True, True] Translation: X:1034.53, Y:16.74, Z:4.07 [[ 9.88192179e-01 -1.52809984e-01 -1.11949038e-02 1.03452753e+03] [ 1.52798421e-01 9.88255577e-01 -1.88605666e-03 1.67376192e+01] [ 1.13516344e-02 1.53222819e-04 9.99935556e-01 4.07334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.039254154 meters 0.0547194446212163 Centerline is valid? [True, True] Translation: X:1034.59, Y:16.74, Z:4.08 [[ 9.87015453e-01 -1.60305120e-01 -1.01372846e-02 1.03458782e+03] [ 1.60296032e-01 9.87067508e-01 -1.70798706e-03 1.67387720e+01] [ 1.02799833e-02 6.08431286e-05 9.99947158e-01 4.07650964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters 0.05445174532755698 Centerline is valid? [True, True] Translation: X:1034.65, Y:16.74, Z:4.08 [[ 9.86204743e-01 -1.65269296e-01 -9.28787414e-03 1.03464590e+03] [ 1.65261885e-01 9.86248478e-01 -1.56513668e-03 1.67444561e+01] [ 9.41882077e-03 8.61362839e-06 9.99955642e-01 4.07796984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters 0.05428726802300157 Centerline is valid? [True, True] Translation: X:1034.70, Y:16.75, Z:4.08 [[ 9.85327247e-01 -1.70543001e-01 -6.73059527e-03 1.03470347e+03] [ 1.70539230e-01 9.85350234e-01 -1.13448982e-03 1.67487461e+01] [ 6.82547293e-03 -2.99868016e-05 9.99976706e-01 4.07958668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.219254154 meters 0.053815746112322024 Centerline is valid? [True, True] Translation: X:1034.76, Y:16.76, Z:4.08 [[ 9.84812463e-01 -1.73531733e-01 -5.58122368e-03 1.03476209e+03] [ 1.73529186e-01 9.84828277e-01 -9.41142135e-04 1.67565896e+01] [ 5.65986493e-03 -4.16566996e-05 9.99983982e-01 4.08049450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.279254154 meters 0.05404310760954443 Centerline is valid? [True, True] Translation: X:1034.82, Y:16.76, Z:4.08 [[ 9.84445944e-01 -1.75598593e-01 -5.59621870e-03 1.03481961e+03] [ 1.75596062e-01 9.84461849e-01 -9.44307629e-04 1.67624028e+01] [ 5.67508289e-03 -5.30541515e-05 9.99983895e-01 4.08034995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters 0.05452826894223804 Centerline is valid? [True, True] Translation: X:1034.88, Y:16.77, Z:4.08 [[ 9.84148094e-01 -1.77284100e-01 -4.78292011e-03 1.03487774e+03] [ 1.77282269e-01 9.84159715e-01 -8.07532955e-04 1.67726224e+01] [ 4.85032005e-03 -5.31949124e-05 9.99988236e-01 4.08098933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters 0.05511148098646482 Centerline is valid? [True, True] Translation: X:1034.94, Y:16.78, Z:4.08 [[ 9.84040443e-01 -1.77857580e-01 -5.57565937e-03 1.03493613e+03] [ 1.77855097e-01 9.84056237e-01 -9.42048148e-04 1.67782588e+01] [ 5.65431278e-03 -6.46459626e-05 9.99984012e-01 4.07972258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.459254154 meters 0.054493553115472756 Centerline is valid? [True, True] Translation: X:1034.99, Y:16.79, Z:4.08 [[ 9.84275442e-01 -1.76546763e-01 -5.75274644e-03 1.03499425e+03] [ 1.76544093e-01 9.84292252e-01 -9.72596246e-04 1.67882740e+01] [ 5.83409246e-03 -5.83108036e-05 9.99982980e-01 4.07887647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.519254154 meters 0.053685236698174245 Centerline is valid? [True, True] Translation: X:1035.05, Y:16.80, Z:4.08 [[ 9.84703820e-01 -1.74158679e-01 -5.20966315e-03 1.03505138e+03] [ 1.74156454e-01 9.84717601e-01 -8.81220400e-04 1.67987608e+01] [ 5.28351918e-03 -3.95553686e-05 9.99986041e-01 4.07895771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters 0.05422658864432051 Centerline is valid? [True, True] Translation: X:1035.11, Y:16.81, Z:4.08 [[ 9.85131451e-01 -1.71718337e-01 -5.36997377e-03 1.03510793e+03] [ 1.71715935e-01 9.85146087e-01 -9.08566715e-04 1.68088207e+01] [ 5.44622621e-03 -2.70524225e-05 9.99985169e-01 4.07933271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters 0.0542301363904227 Centerline is valid? [True, True] Translation: X:1035.17, Y:16.82, Z:4.08 [[ 9.85703018e-01 -1.68413491e-01 -5.14361000e-03 1.03516556e+03] [ 1.68411241e-01 9.85716438e-01 -8.70554180e-04 1.68222642e+01] [ 5.21675399e-03 -8.13386208e-06 9.99986393e-01 4.07936499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.699254154 meters 0.05368724689558501 Centerline is valid? [True, True] Translation: X:1035.22, Y:16.83, Z:4.08 [[ 9.86208198e-01 -1.65435232e-01 -4.95724489e-03 1.03522233e+03] [ 1.65433102e-01 9.86220657e-01 -8.39535179e-04 1.68345053e+01] [ 5.02782601e-03 7.86407731e-06 9.99987360e-01 4.07831844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.759254154 meters 0.05349618417285117 Centerline is valid? [True, True] Translation: X:1035.28, Y:16.85, Z:4.08 [[ 9.87099204e-01 -1.60042310e-01 -4.64973143e-03 1.03527984e+03] [ 1.60040374e-01 9.87110155e-01 -7.87957858e-04 1.68470061e+01] [ 4.71590370e-03 3.36478176e-05 9.99988879e-01 4.07816531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters 0.0530327953909122 Centerline is valid? [True, True] Translation: X:1035.34, Y:16.86, Z:4.08 [[ 9.88089736e-01 -1.53833621e-01 -3.72689292e-03 1.03533790e+03] [ 1.53832332e-01 9.88096764e-01 -6.31894734e-04 1.68576047e+01] [ 3.77973749e-03 5.10520713e-05 9.99992855e-01 4.07777876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters 0.05346598865932914 Centerline is valid? [True, True] Translation: X:1035.40, Y:16.87, Z:4.08 [[ 9.88927212e-01 -1.48315495e-01 -5.04813302e-03 1.03539567e+03] [ 1.48313057e-01 9.88940091e-01 -8.56066504e-04 1.68712361e+01] [ 5.11926905e-03 9.78834208e-05 9.99986892e-01 4.07716878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.939254154 meters 0.05379539203282606 Centerline is valid? [True, True] Translation: X:1035.45, Y:16.88, Z:4.08 [[ 9.89455020e-01 -1.44707373e-01 -6.20807624e-03 1.03545352e+03] [ 1.44703614e-01 9.89474485e-01 -1.05288839e-03 1.68830251e+01] [ 6.29509375e-03 1.43454633e-04 9.99980175e-01 4.07605698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.999254154 meters 0.05306483852741666 Centerline is valid? [True, True] Translation: X:1035.51, Y:16.89, Z:4.08 [[ 9.89673439e-01 -1.43236940e-01 -5.44636477e-03 1.03551255e+03] [ 1.43234023e-01 9.89688416e-01 -9.23926018e-04 1.68871344e+01] [ 5.52254446e-03 1.34280303e-04 9.99984742e-01 4.07632529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.059254154 meters 0.054507247733822026 Centerline is valid? [True, True] Translation: X:1035.57, Y:16.90, Z:4.08 [[ 9.89815369e-01 -1.42201737e-01 -6.64840214e-03 1.03556825e+03] [ 1.42197363e-01 9.89837682e-01 -1.12847317e-03 1.69028033e+01] [ 6.74130981e-03 1.71594840e-04 9.99977262e-01 4.07517147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters 0.05269371186242098 Centerline is valid? [True, True] Translation: X:1035.63, Y:16.90, Z:4.08 [[ 9.89711129e-01 -1.42936126e-01 -6.41441511e-03 1.03562913e+03] [ 1.42932066e-01 9.89731902e-01 -1.08919025e-03 1.68984065e+01] [ 6.50423590e-03 1.61158108e-04 9.99978834e-01 4.07618102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters 0.05299758428008079 Centerline is valid? [True, True] Translation: X:1035.69, Y:16.90, Z:4.08 [[ 9.89361578e-01 -1.45278295e-01 -7.60827720e-03 1.03568790e+03] [ 1.45272649e-01 9.89390816e-01 -1.29254008e-03 1.69045439e+01] [ 7.71533761e-03 1.73514906e-04 9.99970221e-01 4.07566726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.239254154 meters 0.05399350419133817 Centerline is valid? [True, True] Translation: X:1035.74, Y:16.92, Z:4.07 [[ 9.88985643e-01 -1.47729859e-01 -9.12616055e-03 1.03574391e+03] [ 1.47721836e-01 9.89027732e-01 -1.55078142e-03 1.69219275e+01] [ 9.25512259e-03 1.85567373e-04 9.99957153e-01 4.07289791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.299254154 meters 0.05301249568832001 Centerline is valid? [True, True] Translation: X:1035.81, Y:16.91, Z:4.08 [[ 9.88359840e-01 -1.51977484e-01 -6.90439562e-03 1.03580580e+03] [ 1.51972994e-01 9.88383950e-01 -1.17339119e-03 1.69148158e+01] [ 7.00252285e-03 1.10451056e-04 9.99975476e-01 4.07669884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters 0.053749179696817695 Centerline is valid? [True, True] Translation: X:1035.86, Y:16.92, Z:4.08 [[ 9.87422779e-01 -1.58010715e-01 -5.37304517e-03 1.03586438e+03] [ 1.58008085e-01 9.87437396e-01 -9.13190168e-04 1.69209709e+01] [ 5.44983956e-03 5.27201962e-05 9.99985148e-01 4.07712843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters 0.05215674639297908 Centerline is valid? [True, True] Translation: X:1035.92, Y:16.92, Z:4.08 [[ 9.86410863e-01 -1.64225728e-01 -4.84969512e-03 1.03592427e+03] [ 1.64223660e-01 9.86422785e-01 -8.24356744e-04 1.69186561e+01] [ 4.91923035e-03 1.67197635e-05 9.99987900e-01 4.07811886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.479254154 meters 0.0519709024268034 Centerline is valid? [True, True] Translation: X:1035.98, Y:16.92, Z:4.08 [[ 9.85864499e-01 -1.67474835e-01 -4.83417669e-03 1.03598203e+03] [ 1.67472818e-01 9.85876351e-01 -8.22005890e-04 1.69242792e+01] [ 4.90356578e-03 7.93234452e-07 9.99987977e-01 4.07757139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.539254154 meters 0.05242052019671047 Centerline is valid? [True, True] Translation: X:1036.04, Y:16.93, Z:4.08 [[ 9.85456616e-01 -1.69863943e-01 -4.63665129e-03 1.03604015e+03] [ 1.69862112e-01 9.85467524e-01 -7.88755303e-04 1.69284737e+01] [ 4.70325035e-03 -1.03072476e-05 9.99988940e-01 4.07791383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters 0.052025609451084864 Centerline is valid? [True, True] Translation: X:1036.10, Y:16.93, Z:4.08 [[ 9.85522218e-01 -1.69494901e-01 -4.17578288e-03 1.03609778e+03] [ 1.69493410e-01 9.85531064e-01 -7.10831062e-04 1.69342317e+01] [ 4.23584599e-03 -7.22787688e-06 9.99991029e-01 4.07810728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters 0.05173587872142431 Centerline is valid? [True, True] Translation: X:1036.15, Y:16.94, Z:4.08 [[ 9.85910140e-01 -1.67198414e-01 -5.08790758e-03 1.03615427e+03] [ 1.67196168e-01 9.85923268e-01 -8.66774839e-04 1.69423617e+01] [ 5.16120985e-03 3.88345371e-06 9.99986681e-01 4.07686961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.719254154 meters 0.052127622498626985 Centerline is valid? [True, True] Translation: X:1036.21, Y:16.95, Z:4.08 [[ 9.86410126e-01 -1.64189483e-01 -6.07261124e-03 1.03621153e+03] [ 1.64186223e-01 9.86428818e-01 -1.03489379e-03 1.69516581e+01] [ 6.16011741e-03 2.37906156e-05 9.99981026e-01 4.07584254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.779254154 meters 0.05192307404617275 Centerline is valid? [True, True] Translation: X:1036.27, Y:16.96, Z:4.08 [[ 9.86605546e-01 -1.63005813e-01 -6.21302804e-03 1.03627015e+03] [ 1.63002375e-01 9.86625108e-01 -1.05925400e-03 1.69599364e+01] [ 6.30259402e-03 3.23275487e-05 9.99980138e-01 4.07641698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters 0.05196786119922818 Centerline is valid? [True, True] Translation: X:1036.33, Y:16.97, Z:4.08 [[ 9.86750394e-01 -1.62147177e-01 -5.65271401e-03 1.03632719e+03] [ 1.62144314e-01 9.86766584e-01 -9.64206195e-04 1.69693452e+01] [ 5.73425261e-03 3.48754093e-05 9.99983558e-01 4.07696931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters 0.05181671779508098 Centerline is valid? [True, True] Translation: X:1036.38, Y:16.98, Z:4.08 [[ 9.86809195e-01 -1.61849070e-01 -3.53432008e-03 1.03638411e+03] [ 1.61847949e-01 9.86815524e-01 -6.02916891e-04 1.69782058e+01] [ 3.58530346e-03 2.29414764e-05 9.99993572e-01 4.07790142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.959254154 meters 0.05128295720135336 Centerline is valid? [True, True] Translation: X:1036.44, Y:16.99, Z:4.08 [[ 9.86891150e-01 -1.61348644e-01 -3.53169274e-03 1.03644045e+03] [ 1.61347520e-01 9.86897469e-01 -6.02946611e-04 1.69888407e+01] [ 3.58270325e-03 2.52128089e-05 9.99993582e-01 4.07792730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.019254154 meters 0.050968205729216697 Centerline is valid? [True, True] Translation: X:1036.50, Y:17.00, Z:4.08 [[ 9.86885240e-01 -1.61361302e-01 -4.47814140e-03 1.03649790e+03] [ 1.61359492e-01 9.86895399e-01 -7.64836990e-04 1.69984601e+01] [ 4.54287224e-03 3.22157144e-05 9.99989681e-01 4.07683135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters 0.050953660559120664 Centerline is valid? [True, True] Translation: X:1036.56, Y:17.01, Z:4.08 [[ 9.87003214e-01 -1.60623040e-01 -4.98947113e-03 1.03655531e+03] [ 1.60620781e-01 9.87015824e-01 -8.52831342e-04 1.70092579e+01] [ 5.06167132e-03 4.03345244e-05 9.99987189e-01 4.07670159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters 0.051195902503216366 Centerline is valid? [True, True] Translation: X:1036.61, Y:17.02, Z:4.08 [[ 9.87365287e-01 -1.58342178e-01 -6.12741550e-03 1.03661099e+03] [ 1.58338723e-01 9.87384297e-01 -1.04802294e-03 1.70238124e+01] [ 6.21606009e-03 6.45743275e-05 9.99980678e-01 4.07565047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.199254154 meters 0.050802735907670246 Centerline is valid? [True, True] Translation: X:1036.67, Y:17.04, Z:4.08 [[ 9.87789768e-01 -1.55604534e-01 -7.65535037e-03 1.03666876e+03] [ 1.55599053e-01 9.87819426e-01 -1.31008915e-03 1.70353468e+01] [ 7.76595962e-03 1.02927392e-04 9.99969839e-01 4.07550537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.259254154 meters 0.051917761523634094 Centerline is valid? [True, True] Translation: X:1036.72, Y:17.05, Z:4.07 [[ 9.87987167e-01 -1.54292805e-01 -8.66537116e-03 1.03672422e+03] [ 1.54285726e-01 9.88025158e-01 -1.48363082e-03 1.70518510e+01] [ 8.79051828e-03 1.28865134e-04 9.99961354e-01 4.07406605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters 0.051573767400729435 Centerline is valid? [True, True] Translation: X:1036.78, Y:17.06, Z:4.07 [[ 9.88050465e-01 -1.53873920e-01 -8.89350935e-03 1.03678229e+03] [ 1.53866440e-01 9.88090481e-01 -1.52342217e-03 1.70631790e+01] [ 9.02200687e-03 1.36805367e-04 9.99959291e-01 4.07449907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters 0.05031680427908961 Centerline is valid? [True, True] Translation: X:1036.84, Y:17.07, Z:4.08 [[ 9.87888753e-01 -1.54931090e-01 -8.49526861e-03 1.03684144e+03] [ 1.54924295e-01 9.87925272e-01 -1.45613538e-03 1.70672696e+01] [ 8.61829119e-03 1.22376262e-04 9.99962854e-01 4.07757801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.439254154 meters 0.050327267898520045 Centerline is valid? [True, True] Translation: X:1036.90, Y:17.08, Z:4.08 [[ 9.87386675e-01 -1.58138745e-01 -7.72606745e-03 1.03690015e+03] [ 1.58133218e-01 9.87416898e-01 -1.32492323e-03 1.70764137e+01] [ 7.83837125e-03 8.64636293e-05 9.99969276e-01 4.07791785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.499254154 meters 0.051259458954215936 Centerline is valid? [True, True] Translation: X:1036.96, Y:17.08, Z:4.08 [[ 9.86635658e-01 -1.62793047e-01 -6.96429553e-03 1.03695888e+03] [ 1.62788669e-01 9.86660236e-01 -1.19483674e-03 1.70840513e+01] [ 7.06590459e-03 4.51601407e-05 9.99975035e-01 4.07889024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.559254154 meters 0.05244313023109904 Centerline is valid? [True, True] Translation: X:1037.02, Y:17.09, Z:4.08 [[ 9.86070036e-01 -1.66177274e-01 -7.14126836e-03 1.03701652e+03] [ 1.66172753e-01 9.86095895e-01 -1.22603067e-03 1.70931951e+01] [ 7.24571385e-03 2.22678891e-05 9.99973749e-01 4.07978534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters 0.05171460101833781 Centerline is valid? [True, True] Translation: X:1037.07, Y:17.10, Z:4.08 [[ 9.86001102e-01 -1.66567510e-01 -7.55593137e-03 1.03707252e+03] [ 1.66562454e-01 9.86030052e-01 -1.29792626e-03 1.71027545e+01] [ 7.66656775e-03 2.12222495e-05 9.99970611e-01 4.07956631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters 0.05115743299919574 Centerline is valid? [True, True] Translation: X:1037.13, Y:17.11, Z:4.08 [[ 9.86203273e-01 -1.65313018e-01 -8.64352876e-03 1.03713016e+03] [ 1.65306347e-01 9.86241149e-01 -1.48557177e-03 1.71128132e+01] [ 8.77018809e-03 3.62455750e-05 9.99961540e-01 4.08045162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.739254154 meters 0.051392396483742636 Centerline is valid? [True, True] Translation: X:1037.19, Y:17.13, Z:4.08 [[ 9.86666450e-01 -1.62547052e-01 -8.23244764e-03 1.03718682e+03] [ 1.62540898e-01 9.86700792e-01 -1.41562680e-03 1.71269656e+01] [ 8.35306856e-03 5.86420309e-05 9.99965111e-01 4.08021637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.799254154 meters 0.050860478005050426 Centerline is valid? [True, True] Translation: X:1037.24, Y:17.14, Z:4.08 [[ 9.87244902e-01 -1.59000067e-01 -8.15364876e-03 1.03724483e+03] [ 1.58993903e-01 9.87278568e-01 -1.40279659e-03 1.71385792e+01] [ 8.27296742e-03 8.85233480e-05 9.99965774e-01 4.08112104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters 0.052112547845767306 Centerline is valid? [True, True] Translation: X:1037.30, Y:17.16, Z:4.08 [[ 9.87641373e-01 -1.56492548e-01 -8.63719556e-03 1.03730072e+03] [ 1.56485529e-01 9.87679133e-01 -1.48673639e-03 1.71564139e+01] [ 8.76344099e-03 1.16766260e-04 9.99961593e-01 4.07885807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters 0.05175341853172203 Centerline is valid? [True, True] Translation: X:1037.36, Y:17.16, Z:4.08 [[ 9.88146453e-01 -1.53235248e-01 -9.24908976e-03 1.03735966e+03] [ 1.53227053e-01 9.88189726e-01 -1.59249033e-03 1.71640981e+01] [ 9.38388112e-03 1.56402907e-04 9.99955958e-01 4.08071251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.979254154 meters 0.051431123393881915 Centerline is valid? [True, True] Translation: X:1037.42, Y:17.17, Z:4.08 [[ 9.88389593e-01 -1.51587283e-01 -1.03590048e-02 1.03741813e+03] [ 1.51576903e-01 9.88443857e-01 -1.78445630e-03 1.71728998e+01] [ 1.05097955e-02 1.93552179e-04 9.99944752e-01 4.08174702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.039254154 meters 0.052375112113007244 Centerline is valid? [True, True] Translation: X:1037.47, Y:17.19, Z:4.08 [[ 9.88462011e-01 -1.51138678e-01 -9.99762904e-03 1.03747499e+03] [ 1.51128980e-01 9.88512551e-01 -1.72286350e-03 1.71859728e+01] [ 1.01431731e-02 1.92053639e-04 9.99948538e-01 4.08044361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters 0.051819250881887595 Centerline is valid? [True, True] Translation: X:1037.53, Y:17.20, Z:4.08 [[ 9.88582840e-01 -1.50369711e-01 -9.63939777e-03 1.03753293e+03] [ 1.50360652e-01 9.88629816e-01 -1.66189267e-03 1.71956005e+01] [ 9.77969436e-03 1.93532440e-04 9.99952159e-01 4.08087522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters 0.05087280782488343 Centerline is valid? [True, True] Translation: X:1037.59, Y:17.20, Z:4.08 [[ 9.88659962e-01 -1.49920605e-01 -8.67704661e-03 1.03759100e+03] [ 1.49913239e-01 9.88698023e-01 -1.49686810e-03 1.72025393e+01] [ 8.80339019e-03 1.79089393e-04 9.99961233e-01 4.08175389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.219254154 meters 0.051892328855752304 Centerline is valid? [True, True] Translation: X:1037.65, Y:17.21, Z:4.08 [[ 9.88723508e-01 -1.49524269e-01 -8.26540590e-03 1.03764908e+03] [ 1.49517564e-01 9.88758040e-01 -1.42672701e-03 1.72123638e+01] [ 8.38581686e-03 1.74815178e-04 9.99964823e-01 4.08216843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.279254154 meters 0.05105518326938775 Centerline is valid? [True, True] Translation: X:1037.71, Y:17.22, Z:4.08 [[ 9.88888616e-01 -1.48415470e-01 -8.49431864e-03 1.03770739e+03] [ 1.48408340e-01 9.88925079e-01 -1.46717729e-03 1.72198172e+01] [ 8.61799654e-03 1.90247191e-04 9.99962846e-01 4.08316785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters 0.051047593734843494 Centerline is valid? [True, True] Translation: X:1037.77, Y:17.23, Z:4.08 [[ 9.89193863e-01 -1.46303783e-01 -9.52384436e-03 1.03776521e+03] [ 1.46294716e-01 9.89239682e-01 -1.64561391e-03 1.72319613e+01] [ 9.66212430e-03 2.34543072e-04 9.99953293e-01 4.08195697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters 0.053370593145087304 Centerline is valid? [True, True] Translation: X:1037.82, Y:17.25, Z:4.08 [[ 9.89593487e-01 -1.43501993e-01 -1.05787044e-02 1.03782114e+03] [ 1.43490644e-01 9.89649985e-01 -1.82808734e-03 1.72538507e+01] [ 1.07315489e-02 2.91118209e-04 9.99942373e-01 4.07895722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.459254154 meters 0.052366676134415806 Centerline is valid? [True, True] Translation: X:1037.88, Y:17.26, Z:4.08 [[ 9.89913595e-01 -1.41260076e-01 -1.08011744e-02 1.03787989e+03] [ 1.41248109e-01 9.89972468e-01 -1.86674914e-03 1.72631384e+01] [ 1.09565624e-02 3.22274904e-04 9.99939923e-01 4.07989656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.519254154 meters 0.054245878643026484 Centerline is valid? [True, True] Translation: X:1037.94, Y:17.28, Z:4.08 [[ 9.89974604e-01 -1.40883927e-01 -1.00996612e-02 1.03793712e+03] [ 1.40873437e-01 9.90026073e-01 -1.74624502e-03 1.72792130e+01] [ 1.02449458e-02 3.05964237e-04 9.99947472e-01 4.07956762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters 0.0531850609395457 Centerline is valid? [True, True] Translation: X:1038.00, Y:17.28, Z:4.08 [[ 9.89820068e-01 -1.42034431e-01 -9.08037676e-03 1.03799634e+03] [ 1.42025991e-01 9.89861682e-01 -1.57088801e-03 1.72839182e+01] [ 9.21143720e-03 2.65246969e-04 9.99957539e-01 4.08271005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters 0.05066845033682343 Centerline is valid? [True, True] Translation: X:1038.06, Y:17.29, Z:4.09 [[ 9.89371637e-01 -1.45151416e-01 -8.65048098e-03 1.03805719e+03] [ 1.45143872e-01 9.89409428e-01 -1.49702461e-03 1.72854217e+01] [ 8.77616268e-03 2.25549386e-04 9.99961463e-01 4.08559898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.699254154 meters 0.051850057189266406 Centerline is valid? [True, True] Translation: X:1038.11, Y:17.30, Z:4.08 [[ 9.89017509e-01 -1.47494090e-01 -9.47948514e-03 1.03811445e+03] [ 1.47485135e-01 9.89062912e-01 -1.64070755e-03 1.73016839e+01] [ 9.61780183e-03 2.24605350e-04 9.99953723e-01 4.08351359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.759254154 meters 0.05138540884441894 Centerline is valid? [True, True] Translation: X:1038.17, Y:17.31, Z:4.08 [[ 9.88395116e-01 -1.51459751e-01 -1.16206302e-02 1.03817489e+03] [ 1.51446566e-01 9.88463399e-01 -2.01143273e-03 1.73062137e+01] [ 1.17912187e-02 2.28185746e-04 9.99930455e-01 4.08331374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters 0.051285976242571744 Centerline is valid? [True, True] Translation: X:1038.24, Y:17.31, Z:4.09 [[ 9.87721763e-01 -1.55673915e-01 -1.30901516e-02 1.03823544e+03] [ 1.55657554e-01 9.87808479e-01 -2.26582853e-03 1.73099483e+01] [ 1.32832932e-02 2.00427163e-04 9.99911753e-01 4.08532719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters 0.05129240775653268 Centerline is valid? [True, True] Translation: X:1038.29, Y:17.32, Z:4.08 [[ 9.87078395e-01 -1.59706522e-01 -1.30410881e-02 1.03829363e+03] [ 1.59690633e-01 9.87164528e-01 -2.25748866e-03 1.73217422e+01] [ 1.32342352e-02 1.45778674e-04 9.99912413e-01 4.08171516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.939254154 meters 0.051823473876958535 Centerline is valid? [True, True] Translation: X:1038.35, Y:17.33, Z:4.08 [[ 9.86935210e-01 -1.60639385e-01 -1.24047857e-02 1.03835115e+03] [ 1.60625069e-01 9.87013157e-01 -2.14832353e-03 1.73324340e+01] [ 1.25887921e-02 1.27736571e-04 9.99920750e-01 4.08078784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.999254154 meters 0.05141546871050654 Centerline is valid? [True, True] Translation: X:1038.41, Y:17.34, Z:4.08 [[ 9.87110777e-01 -1.59628122e-01 -1.14532095e-02 1.03840923e+03] [ 1.59615836e-01 9.87177211e-01 -1.98472844e-03 1.73409428e+01] [ 1.16231659e-02 1.31033226e-04 9.99932440e-01 4.08372607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.059254154 meters 0.051863467642806464 Centerline is valid? [True, True] Translation: X:1038.47, Y:17.35, Z:4.08 [[ 9.87433466e-01 -1.57648711e-01 -1.10468783e-02 1.03846677e+03] [ 1.57637150e-01 9.87495246e-01 -1.91499652e-03 1.73505701e+01] [ 1.12106366e-02 1.49533227e-04 9.99937148e-01 4.08496488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters 0.05185875687551213 Centerline is valid? [True, True] Translation: X:1038.53, Y:17.36, Z:4.09 [[ 9.87733779e-01 -1.55774980e-01 -1.07767486e-02 1.03852556e+03] [ 1.55763856e-01 9.87792553e-01 -1.86911471e-03 1.73570825e+01] [ 1.09363533e-02 1.67559815e-04 9.99940182e-01 4.08796616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters 0.05187130058636652 Centerline is valid? [True, True] Translation: X:1038.58, Y:17.37, Z:4.09 [[ 9.87971392e-01 -1.54302716e-01 -1.01587947e-02 1.03858178e+03] [ 1.54292745e-01 9.88023604e-01 -1.76274575e-03 1.73720833e+01] [ 1.03091254e-02 1.74114047e-04 9.99946844e-01 4.08690526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.239254154 meters 0.05150850284662381 Centerline is valid? [True, True] Translation: X:1038.64, Y:17.38, Z:4.09 [[ 9.88255316e-01 -1.52485347e-01 -9.98247203e-03 1.03863946e+03] [ 1.52475618e-01 9.88305713e-01 -1.73305661e-03 1.73823160e+01] [ 1.01299999e-02 1.90618815e-04 9.99948672e-01 4.08813749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.299254154 meters 0.05173576034057739 Centerline is valid? [True, True] Translation: X:1038.70, Y:17.40, Z:4.09 [[ 9.88379658e-01 -1.51666687e-01 -1.01423352e-02 1.03869537e+03] [ 1.51656591e-01 9.88431674e-01 -1.76167650e-03 1.73952687e+01] [ 1.02921930e-02 2.03053222e-04 9.99947013e-01 4.08731487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters 0.05239390568050857 Centerline is valid? [True, True] Translation: X:1038.75, Y:17.41, Z:4.09 [[ 9.88274279e-01 -1.52348575e-01 -1.01912554e-02 1.03875256e+03] [ 1.52338408e-01 9.88326805e-01 -1.77111383e-03 1.74091861e+01] [ 1.03421175e-02 1.97826632e-04 9.99946499e-01 4.08532901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters 0.051221050441339434 Centerline is valid? [True, True] Translation: X:1038.81, Y:17.41, Z:4.09 [[ 9.87862930e-01 -1.54922526e-01 -1.12179565e-02 1.03881227e+03] [ 1.54910364e-01 9.87926604e-01 -1.95040935e-03 1.74073480e+01] [ 1.13846801e-02 1.88959372e-04 9.99935175e-01 4.08866878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.479254154 meters 0.05152656639584818 Centerline is valid? [True, True] Translation: X:1038.87, Y:17.42, Z:4.09 [[ 9.87396202e-01 -1.57793667e-01 -1.22433488e-02 1.03887069e+03] [ 1.57779385e-01 9.87472091e-01 -2.12985018e-03 1.74167485e+01] [ 1.24260421e-02 1.71257936e-04 9.99922779e-01 4.08797458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.539254154 meters 0.05137087853761254 Centerline is valid? [True, True] Translation: X:1038.93, Y:17.43, Z:4.09 [[ 9.87071927e-01 -1.59776177e-01 -1.26721506e-02 1.03892705e+03] [ 1.59761030e-01 9.87153256e-01 -2.20526134e-03 1.74280002e+01] [ 1.28617029e-02 1.52235732e-04 9.99917273e-01 4.08641699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters 0.05231318363774607 Centerline is valid? [True, True] Translation: X:1038.98, Y:17.44, Z:4.08 [[ 9.86901876e-01 -1.60859982e-01 -1.21964659e-02 1.03898359e+03] [ 1.60846028e-01 9.86977228e-01 -2.12296419e-03 1.74425496e+01] [ 1.23791341e-02 1.33404245e-04 9.99923367e-01 4.08257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters 0.05244496043784445 Centerline is valid? [True, True] Translation: X:1039.04, Y:17.45, Z:4.08 [[ 9.86824492e-01 -1.61356894e-01 -1.18901202e-02 1.03904177e+03] [ 1.61343656e-01 9.86896113e-01 -2.07065030e-03 1.74509527e+01] [ 1.20684271e-02 1.24972960e-04 9.99927166e-01 4.08410437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.719254154 meters 0.05147203536789354 Centerline is valid? [True, True] Translation: X:1039.10, Y:17.46, Z:4.09 [[ 9.86909799e-01 -1.60836872e-01 -1.18553949e-02 1.03909976e+03] [ 1.60823658e-01 9.86980994e-01 -2.06588309e-03 1.74582550e+01] [ 1.20333196e-02 1.32212297e-04 9.99927588e-01 4.08698482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.779254154 meters 0.05182378374001142 Centerline is valid? [True, True] Translation: X:1039.16, Y:17.47, Z:4.09 [[ 9.87290421e-01 -1.58474209e-01 -1.19812668e-02 1.03915702e+03] [ 1.58460523e-01 9.87363104e-01 -2.08911686e-03 1.74712209e+01] [ 1.21609320e-02 1.64007258e-04 9.99926040e-01 4.08699302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters 0.05255524721860082 Centerline is valid? [True, True] Translation: X:1039.21, Y:17.48, Z:4.09 [[ 9.87612706e-01 -1.56426272e-01 -1.23273728e-02 1.03921439e+03] [ 1.56411607e-01 9.87689619e-01 -2.15080333e-03 1.74835180e+01] [ 1.25120603e-02 1.96016499e-04 9.99921702e-01 4.08710533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters 0.05141034342641107 Centerline is valid? [True, True] Translation: X:1039.27, Y:17.49, Z:4.09 [[ 9.88080406e-01 -1.53464925e-01 -1.20676870e-02 1.03927307e+03] [ 1.53450644e-01 9.88154069e-01 -2.10610050e-03 1.74908469e+01] [ 1.22479465e-02 2.29202302e-04 9.99924965e-01 4.09047794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.959254154 meters 0.0519819570930984 Centerline is valid? [True, True] Translation: X:1039.33, Y:17.51, Z:4.09 [[ 9.88189734e-01 -1.52764889e-01 -1.19974168e-02 1.03932964e+03] [ 1.52750717e-01 9.88262532e-01 -2.09425495e-03 1.75054620e+01] [ 1.21765261e-02 2.36907226e-04 9.99925835e-01 4.08910644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.019254154 meters 0.051416321539413994 Centerline is valid? [True, True] Translation: X:1039.39, Y:17.51, Z:4.09 [[ 9.88324440e-01 -1.51952585e-01 -1.11898813e-02 1.03938840e+03] [ 1.51940194e-01 9.88387757e-01 -1.95424342e-03 1.75135391e+01] [ 1.13568940e-02 2.31233799e-04 9.99935482e-01 4.09163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters 0.05121124569672599 Centerline is valid? [True, True] Translation: X:1039.45, Y:17.52, Z:4.10 [[ 9.88265304e-01 -1.52344874e-01 -1.10782574e-02 1.03944774e+03] [ 1.52332739e-01 9.88327369e-01 -1.93602766e-03 1.75171476e+01] [ 1.12438889e-02 2.25727671e-04 9.99936760e-01 4.09516002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters 0.05258966698613893 Centerline is valid? [True, True] Translation: X:1039.50, Y:17.54, Z:4.09 [[ 9.88242116e-01 -1.52491845e-01 -1.11246176e-02 1.03950177e+03] [ 1.52479607e-01 9.88304703e-01 -1.94502213e-03 1.75404140e+01] [ 1.12911119e-02 2.25875465e-04 9.99936228e-01 4.09050506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.199254154 meters 0.05191519654515851 Centerline is valid? [True, True] Translation: X:1039.56, Y:17.54, Z:4.09 [[ 9.88234457e-01 -1.52373490e-01 -1.32278962e-02 1.03956098e+03] [ 1.52356159e-01 9.88322946e-01 -2.31405883e-03 1.75444580e+01] [ 1.34260345e-02 2.71481218e-04 9.99909830e-01 4.09257027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.259254154 meters 0.05233109710085737 Centerline is valid? [True, True] Translation: X:1039.62, Y:17.56, Z:4.09 [[ 9.88176327e-01 -1.52706944e-01 -1.37162922e-02 1.03961614e+03] [ 1.52688329e-01 9.88271477e-01 -2.40047624e-03 1.75579740e+01] [ 1.39219897e-02 2.77776059e-04 9.99903046e-01 4.09032871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters 0.0505588751891392 Centerline is valid? [True, True] Translation: X:1039.68, Y:17.56, Z:4.10 [[ 9.87922223e-01 -1.54458961e-01 -1.23333284e-02 1.03967625e+03] [ 1.54444038e-01 9.87999179e-01 -2.15912625e-03 1.75593065e+01] [ 1.25188147e-02 2.28239763e-04 9.99921610e-01 4.09561874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters 0.05227621130873547 Centerline is valid? [True, True] Translation: X:1039.73, Y:17.57, Z:4.09 [[ 9.87435899e-01 -1.57635812e-01 -1.10134653e-02 1.03973383e+03] [ 1.57624106e-01 9.87497303e-01 -1.92838525e-03 1.75727632e+01] [ 1.11797498e-02 1.68169198e-04 9.99937490e-01 4.09457074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.439254154 meters 0.05241571223068844 Centerline is valid? [True, True] Translation: X:1039.79, Y:17.58, Z:4.09 [[ 9.86808522e-01 -1.61490879e-01 -1.13858026e-02 1.03979060e+03] [ 1.61478619e-01 9.86874196e-01 -1.99405391e-03 1.75827773e+01] [ 1.15583763e-02 1.29185721e-04 9.99933191e-01 4.09358605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.499254154 meters 0.05184108848246197 Centerline is valid? [True, True] Translation: X:1039.85, Y:17.59, Z:4.09 [[ 9.86394956e-01 -1.63977997e-01 -1.16707759e-02 1.03984936e+03] [ 1.63965278e-01 9.86463991e-01 -2.04495186e-03 1.75908309e+01] [ 1.18481273e-02 1.03528188e-04 9.99929803e-01 4.09333785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.559254154 meters 0.05180713667301252 Centerline is valid? [True, True] Translation: X:1039.91, Y:17.60, Z:4.09 [[ 9.85627602e-01 -1.68471816e-01 -1.24690169e-02 1.03990763e+03] [ 1.68457641e-01 9.85706470e-01 -2.18612004e-03 1.75969946e+01] [ 1.26590902e-02 5.41990836e-05 9.99919869e-01 4.09478563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters 0.052514474965736635 Centerline is valid? [True, True] Translation: X:1039.97, Y:17.60, Z:4.10 [[ 9.84723022e-01 -1.73670394e-01 -1.26160485e-02 1.03996621e+03] [ 1.73656290e-01 9.84803835e-01 -2.21328446e-03 1.76049556e+01] [ 1.28087149e-02 -1.13840121e-05 9.99917965e-01 4.09714565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters 0.05278527837928681 Centerline is valid? [True, True] Translation: X:1040.02, Y:17.61, Z:4.10 [[ 9.84162606e-01 -1.76841355e-01 -1.22922580e-02 1.04002450e+03] [ 1.76828195e-01 9.84239368e-01 -2.15792717e-03 1.76139238e+01] [ 1.24801350e-02 -4.98665665e-05 9.99922119e-01 4.09820206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.739254154 meters 0.05199188683667981 Centerline is valid? [True, True] Translation: X:1040.08, Y:17.62, Z:4.10 [[ 9.83657112e-01 -1.79705988e-01 -1.11554317e-02 1.04008218e+03] [ 1.79695324e-01 9.83720363e-01 -1.95925436e-03 1.76219047e+01] [ 1.13259151e-02 -7.73444374e-05 9.99935857e-01 4.09758958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.799254154 meters 0.05237921299075786 Centerline is valid? [True, True] Translation: X:1040.14, Y:17.63, Z:4.10 [[ 9.83706053e-01 -1.79481646e-01 -1.04278634e-02 1.04013976e+03] [ 1.79472304e-01 9.83761320e-01 -1.83245332e-03 1.76336660e+01] [ 1.05874204e-02 -6.89172474e-05 9.99943949e-01 4.09792170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters 0.05204021380388603 Centerline is valid? [True, True] Translation: X:1040.20, Y:17.65, Z:4.10 [[ 9.84269578e-01 -1.76348867e-01 -1.06993293e-02 1.04019724e+03] [ 1.76338834e-01 9.84327728e-01 -1.88139312e-03 1.76466946e+01] [ 1.08634281e-02 -3.49092411e-05 9.99940991e-01 4.09824146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters 0.05231632192515591 Centerline is valid? [True, True] Translation: X:1040.25, Y:17.66, Z:4.10 [[ 9.84862836e-01 -1.72920812e-01 -1.19828206e-02 1.04025380e+03] [ 1.72907964e-01 9.84935730e-01 -2.10791014e-03 1.76600044e+01] [ 1.21668097e-02 4.07724281e-06 9.99925982e-01 4.09744838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.979254154 meters 0.052397347834510756 Centerline is valid? [True, True] Translation: X:1040.31, Y:17.68, Z:4.10 [[ 9.86103069e-01 -1.65586757e-01 -1.34819885e-02 1.04031124e+03] [ 1.65569802e-01 9.86195221e-01 -2.37195896e-03 1.76777453e+01] [ 1.36886376e-02 1.06785842e-04 9.99906300e-01 4.09675085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.039254154 meters 0.052897299491212364 Centerline is valid? [True, True] Translation: X:1040.37, Y:17.69, Z:4.10 [[ 9.87447003e-01 -1.57400821e-01 -1.31680758e-02 1.04036926e+03] [ 1.57383916e-01 9.87534777e-01 -2.31686688e-03 1.76930718e+01] [ 1.33686095e-02 2.15339936e-04 9.99910613e-01 4.09888547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters 0.0529391880474402 Centerline is valid? [True, True] Translation: X:1040.43, Y:17.71, Z:4.10 [[ 9.88308986e-01 -1.51979811e-01 -1.21443721e-02 1.04042553e+03] [ 1.51965021e-01 9.88383562e-01 -2.13684338e-03 1.77130230e+01] [ 1.23280548e-02 2.66341753e-04 9.99923971e-01 4.09910304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters 0.05311301113709062 Centerline is valid? [True, True] Translation: X:1040.48, Y:17.72, Z:4.10 [[ 9.88524480e-01 -1.50665801e-01 -1.09164546e-02 1.04048358e+03] [ 1.50653762e-01 9.88584721e-01 -1.92157983e-03 1.77235513e+01] [ 1.10813566e-02 2.54923745e-04 9.99938567e-01 4.10076188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.219254154 meters 0.053563081930942925 Centerline is valid? [True, True] Translation: X:1040.54, Y:17.74, Z:4.10 [[ 9.88552186e-01 -1.50495963e-01 -1.07489990e-02 1.04053888e+03] [ 1.50484274e-01 9.88610591e-01 -1.89278389e-03 1.77408069e+01] [ 1.09114306e-02 2.53560347e-04 9.99940436e-01 4.10074953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.279254154 meters 0.053830695039410806 Centerline is valid? [True, True] Translation: X:1040.60, Y:17.75, Z:4.10 [[ 9.88557174e-01 -1.50375314e-01 -1.19154528e-02 1.04059679e+03] [ 1.50360928e-01 9.88628942e-01 -2.09920563e-03 1.77520869e+01] [ 1.20956302e-02 2.83566250e-04 9.99926805e-01 4.10027477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters 0.053565517763882686 Centerline is valid? [True, True] Translation: X:1040.65, Y:17.77, Z:4.10 [[ 9.88459980e-01 -1.50789692e-01 -1.44684895e-02 1.04065429e+03] [ 1.50768502e-01 9.88565806e-01 -2.55060262e-03 1.77656117e+01] [ 1.46876586e-02 3.39776120e-04 9.99892073e-01 4.09843059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters 0.053505919395090557 Centerline is valid? [True, True] Translation: X:1040.71, Y:17.77, Z:4.10 [[ 9.88005760e-01 -1.53645632e-01 -1.54155430e-02 1.04071444e+03] [ 1.53621917e-01 9.88125963e-01 -2.71799065e-03 1.77718971e+01] [ 1.56501057e-02 3.17225152e-04 9.99877479e-01 4.10110965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.459254154 meters 0.05320894867562393 Centerline is valid? [True, True] Translation: X:1040.77, Y:17.78, Z:4.10 [[ 9.87460637e-01 -1.57182237e-01 -1.46708910e-02 1.04077357e+03] [ 1.57161144e-01 9.87569584e-01 -2.58692106e-03 1.77801971e+01] [ 1.48951437e-02 2.48788711e-04 9.99889030e-01 4.10229253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.519254154 meters 0.053776640878182555 Centerline is valid? [True, True] Translation: X:1040.83, Y:17.79, Z:4.10 [[ 9.86294028e-01 -1.64456158e-01 -1.33514812e-02 1.04083178e+03] [ 1.64439352e-01 9.86384386e-01 -2.35448199e-03 1.77904797e+01] [ 1.35569016e-02 1.26702622e-04 9.99908093e-01 4.10237076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters 0.05321006053253637 Centerline is valid? [True, True] Translation: X:1040.89, Y:17.80, Z:4.10 [[ 9.85196609e-01 -1.70972649e-01 -1.24897962e-02 1.04088997e+03] [ 1.70958461e-01 9.85275775e-01 -2.20285279e-03 1.77977860e+01] [ 1.26825212e-02 3.50067551e-05 9.99919573e-01 4.10361109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters 0.05401259613340002 Centerline is valid? [True, True] Translation: X:1040.95, Y:17.81, Z:4.11 [[ 9.84566735e-01 -1.74568376e-01 -1.24187690e-02 1.04094749e+03] [ 1.74554620e-01 9.84645054e-01 -2.19155517e-03 1.78080323e+01] [ 1.26106557e-02 -1.00211778e-05 9.99920482e-01 4.10564899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.699254154 meters 0.05371108625901106 Centerline is valid? [True, True] Translation: X:1041.00, Y:17.82, Z:4.11 [[ 9.84511913e-01 -1.74894289e-01 -1.21770452e-02 1.04100359e+03] [ 1.74881076e-01 9.84587217e-01 -2.14989388e-03 1.78200965e+01] [ 1.23653672e-02 -1.29386264e-05 9.99923546e-01 4.10516882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.759254154 meters 0.05389552401114532 Centerline is valid? [True, True] Translation: X:1041.06, Y:17.83, Z:4.11 [[ 9.84854584e-01 -1.72935154e-01 -1.24451242e-02 1.04106023e+03] [ 1.72921187e-01 9.84933212e-01 -2.19783307e-03 1.78344685e+01] [ 1.26376987e-02 1.25203304e-05 9.99920141e-01 4.10517931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.819254154 meters 0.05356078269617034 Centerline is valid? [True, True] Translation: X:1041.12, Y:17.85, Z:4.10 [[ 9.85127869e-01 -1.71358363e-01 -1.26250874e-02 1.04111604e+03] [ 1.71343854e-01 9.85208765e-01 -2.23012899e-03 1.78484436e+01] [ 1.28204980e-02 3.37310906e-05 9.99917813e-01 4.10395323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters 0.05404443245278435 Centerline is valid? [True, True] Translation: X:1041.17, Y:17.86, Z:4.10 [[ 9.85376387e-01 -1.69886957e-01 -1.31071803e-02 1.04117297e+03] [ 1.69871173e-01 9.85463555e-01 -2.31641159e-03 1.78622981e+01] [ 1.33101766e-02 5.60051901e-05 9.99911414e-01 4.10355505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.939254154 meters 0.05413101884333032 Centerline is valid? [True, True] Translation: X:1041.23, Y:17.88, Z:4.10 [[ 9.85782494e-01 -1.67467029e-01 -1.36992253e-02 1.04122864e+03] [ 1.67449542e-01 9.85877673e-01 -2.42186276e-03 1.78782709e+01] [ 1.39113426e-02 9.35009075e-05 9.99903228e-01 4.10254320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.999254154 meters 0.05450454823838534 Centerline is valid? [True, True] Translation: X:1041.29, Y:17.89, Z:4.11 [[ 9.86206721e-01 -1.64912354e-01 -1.41498606e-02 1.04128643e+03] [ 1.64893415e-01 9.86308216e-01 -2.50290329e-03 1.78909592e+01] [ 1.43688834e-02 1.35161214e-04 9.99896753e-01 4.10510596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.059254154 meters 0.05419741360886953 Centerline is valid? [True, True] Translation: X:1041.34, Y:17.91, Z:4.11 [[ 9.86664792e-01 -1.62132674e-01 -1.43382081e-02 1.04134391e+03] [ 1.62112909e-01 9.86768952e-01 -2.53791750e-03 1.79053075e+01] [ 1.45599779e-02 1.79665227e-04 9.99893982e-01 4.10514318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters 0.05456555057239286 Centerline is valid? [True, True] Translation: X:1041.40, Y:17.92, Z:4.10 [[ 9.86907094e-01 -1.60672651e-01 -1.40956254e-02 1.04140006e+03] [ 1.60653384e-01 9.87007730e-01 -2.49606715e-03 1.79211773e+01] [ 1.43135409e-02 1.98876455e-04 9.99897536e-01 4.10295388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters 0.05465198650117336 Centerline is valid? [True, True] Translation: X:1041.46, Y:17.93, Z:4.11 [[ 9.87200832e-01 -1.58910948e-01 -1.34843815e-02 1.04145774e+03] [ 1.58893135e-01 9.87292897e-01 -2.38911774e-03 1.79342148e+01] [ 1.36926910e-02 2.15963373e-04 9.99906227e-01 4.10505024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.239254154 meters 0.054987722047259054 Centerline is valid? [True, True] Translation: X:1041.52, Y:17.94, Z:4.11 [[ 9.87565342e-01 -1.56693237e-01 -1.27249324e-02 1.04151600e+03] [ 1.56677171e-01 9.87647293e-01 -2.25598228e-03 1.79445475e+01] [ 1.29212422e-02 2.34223501e-04 9.99916490e-01 4.10723707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.299254154 meters 0.055560850976192615 Centerline is valid? [True, True] Translation: X:1041.57, Y:17.96, Z:4.11 [[ 9.88060403e-01 -1.53497399e-01 -1.32358442e-02 1.04157263e+03] [ 1.53479721e-01 9.88149010e-01 -2.34725437e-03 1.79617678e+01] [ 1.34392838e-02 2.87795423e-04 9.99909647e-01 4.10574878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters 0.05564472360157939 Centerline is valid? [True, True] Translation: X:1041.63, Y:17.97, Z:4.11 [[ 9.88558090e-01 -1.50178048e-01 -1.41228808e-02 1.04163184e+03] [ 1.50157581e-01 9.88658904e-01 -2.50466342e-03 1.79745785e+01] [ 1.43388573e-02 3.55347665e-04 9.99897130e-01 4.10529397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters 0.0551313049511619 Centerline is valid? [True, True] Translation: X:1041.69, Y:17.98, Z:4.11 [[ 9.88693321e-01 -1.49222523e-01 -1.47700791e-02 1.04168968e+03] [ 1.49200013e-01 9.88803564e-01 -2.62061967e-03 1.79847197e+01] [ 1.49957624e-02 3.87293166e-04 9.99887482e-01 4.10544989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.479254154 meters 0.055339900467929776 Centerline is valid? [True, True] Translation: X:1041.75, Y:17.99, Z:4.11 [[ 9.88528706e-01 -1.50271254e-01 -1.51508026e-02 1.04174790e+03] [ 1.50247666e-01 9.88644731e-01 -2.68981217e-03 1.79922870e+01] [ 1.53829626e-02 3.82583825e-04 9.99881602e-01 4.10616419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.539254154 meters 0.055230842426050385 Centerline is valid? [True, True] Translation: X:1041.81, Y:18.00, Z:4.11 [[ 9.87920709e-01 -1.54192548e-01 -1.54055799e-02 1.04180852e+03] [ 1.54168628e-01 9.88040764e-01 -2.73555939e-03 1.79963388e+01] [ 1.56431438e-02 3.27458667e-04 9.99877585e-01 4.10723137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters 0.05473729276577798 Centerline is valid? [True, True] Translation: X:1041.87, Y:18.00, Z:4.11 [[ 9.86928771e-01 -1.60430168e-01 -1.52892747e-02 1.04186997e+03] [ 1.60407353e-01 9.87047167e-01 -2.71506874e-03 1.79956139e+01] [ 1.55268142e-02 2.27067375e-04 9.99879426e-01 4.11091316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters 0.05429725237048529 Centerline is valid? [True, True] Translation: X:1041.93, Y:18.00, Z:4.11 [[ 9.85614678e-01 -1.68359258e-01 -1.47941729e-02 1.04192935e+03] [ 1.68338785e-01 9.85725697e-01 -2.62737630e-03 1.80000483e+01] [ 1.50253395e-02 9.91475571e-05 9.99887108e-01 4.11133295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.719254154 meters 0.055209685308301476 Centerline is valid? [True, True] Translation: X:1041.99, Y:18.01, Z:4.12 [[ 9.84688704e-01 -1.73732915e-01 -1.43189155e-02 1.04198860e+03] [ 1.73714294e-01 9.84792808e-01 -2.54363886e-03 1.80056305e+01] [ 1.45430788e-02 1.72921622e-05 9.99894244e-01 4.11567136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.779254154 meters 0.054521045606508445 Centerline is valid? [True, True] Translation: X:1042.05, Y:18.01, Z:4.11 [[ 9.83209304e-01 -1.81885260e-01 -1.47382950e-02 1.04204666e+03] [ 1.81866425e-01 9.83319755e-01 -2.61958942e-03 1.80095137e+01] [ 1.49689213e-02 -1.04796317e-04 9.99887954e-01 4.11450191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters 0.05480507830949557 Centerline is valid? [True, True] Translation: X:1042.11, Y:18.02, Z:4.12 [[ 9.81503871e-01 -1.90830628e-01 -1.52912451e-02 1.04210651e+03] [ 1.90811428e-01 9.81622947e-01 -2.71840591e-03 1.80156343e+01] [ 1.55289922e-02 -2.49618393e-04 9.99879387e-01 4.11519156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters 0.05550804350294871 Centerline is valid? [True, True] Translation: X:1042.17, Y:18.01, Z:4.11 [[ 9.79631228e-01 -2.00222430e-01 -1.52851717e-02 1.04216753e+03] [ 2.00204385e-01 9.79750387e-01 -2.71738343e-03 1.80119550e+01] [ 1.55197340e-02 -3.98124742e-04 9.99879482e-01 4.11119972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.959254154 meters 0.05529610008173426 Centerline is valid? [True, True] Translation: X:1042.23, Y:18.03, Z:4.12 [[ 9.78357945e-01 -2.06370265e-01 -1.50679938e-02 1.04222587e+03] [ 2.06353456e-01 9.78473850e-01 -2.67886069e-03 1.80282678e+01] [ 1.52964751e-02 -4.88447949e-04 9.99882883e-01 4.11587452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.019254154 meters 0.05586949762517773 Centerline is valid? [True, True] Translation: X:1042.29, Y:18.03, Z:4.12 [[ 9.77025474e-01 -2.12665690e-01 -1.39473006e-02 1.04228555e+03] [ 2.12651926e-01 9.77124869e-01 -2.47973556e-03 1.80340061e+01] [ 1.41556089e-02 -5.43155514e-04 9.99899657e-01 4.11602708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters 0.05570950377949975 Centerline is valid? [True, True] Translation: X:1042.34, Y:18.04, Z:4.12 [[ 9.76692120e-01 -2.14302947e-01 -1.21140432e-02 1.04234344e+03] [ 2.14292686e-01 9.76767119e-01 -2.15403035e-03 1.80428485e+01] [ 1.22942141e-02 -4.92126379e-04 9.99924302e-01 4.11647275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters 0.05531054209576202 Centerline is valid? [True, True] Translation: X:1042.40, Y:18.05, Z:4.12 [[ 9.77621636e-01 -2.10094882e-01 -1.07739411e-02 1.04240204e+03] [ 2.10086509e-01 9.77680923e-01 -1.91592419e-03 1.80530437e+01] [ 1.09360026e-02 -3.90410734e-04 9.99940124e-01 4.11646457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.199254154 meters 0.05454251202624264 Centerline is valid? [True, True] Translation: X:1042.46, Y:18.07, Z:4.12 [[ 9.78713869e-01 -2.04981785e-01 -1.00811675e-02 1.04245976e+03] [ 2.04974182e-01 9.78765738e-01 -1.79286295e-03 1.80705778e+01] [ 1.02346056e-02 -3.11679209e-04 9.99947576e-01 4.11693231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.259254154 meters 0.05463763818996642 Centerline is valid? [True, True] Translation: X:1042.52, Y:18.08, Z:4.11 [[ 9.80991863e-01 -1.93797196e-01 -9.87984446e-03 1.04251846e+03] [ 1.93789323e-01 9.81041595e-01 -1.75723092e-03 1.80795278e+01] [ 1.00330848e-02 -1.90779136e-04 9.99949649e-01 4.11386830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.319254154 meters 0.054629334262503555 Centerline is valid? [True, True] Translation: X:1042.58, Y:18.10, Z:4.11 [[ 9.83748952e-01 -1.79288692e-01 -9.67289620e-03 1.04257547e+03] [ 1.79280441e-01 9.83796505e-01 -1.72057773e-03 1.81008768e+01] [ 9.82464160e-03 -4.15445607e-05 9.99951736e-01 4.11218383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters 0.054164196233968086 Centerline is valid? [True, True] Translation: X:1042.63, Y:18.12, Z:4.11 [[ 9.86143328e-01 -1.65588275e-01 -1.00925177e-02 1.04263107e+03] [ 1.65578571e-01 9.86194967e-01 -1.79542731e-03 1.81247631e+01] [ 1.02504919e-02 9.94439933e-05 9.99947457e-01 4.10932348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.439254154 meters 0.05397579883793203 Centerline is valid? [True, True] Translation: X:1042.69, Y:18.14, Z:4.11 [[ 9.87880977e-01 -1.54939796e-01 -9.21060403e-03 1.04268939e+03] [ 1.54931249e-01 9.87923895e-01 -1.63865066e-03 1.81401782e+01] [ 9.35326801e-03 1.91781425e-04 9.99956239e-01 4.11112708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.499254154 meters 0.05330030386548458 Centerline is valid? [True, True] Translation: X:1042.75, Y:18.15, Z:4.11 [[ 9.88672092e-01 -1.49833235e-01 -8.80317246e-03 1.04274889e+03] [ 1.49825225e-01 9.88711257e-01 -1.56621569e-03 1.81501127e+01] [ 8.93846686e-03 2.29536457e-04 9.99960025e-01 4.11282129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.559254154 meters 0.05387622011119569 Centerline is valid? [True, True] Translation: X:1042.81, Y:18.17, Z:4.11 [[ 9.89484729e-01 -1.44383336e-01 -8.56879986e-03 1.04280649e+03] [ 1.44375542e-01 9.89521793e-01 -1.52458182e-03 1.81657410e+01] [ 8.69913841e-03 2.71425301e-04 9.99962125e-01 4.11232312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters 0.05391065865413887 Centerline is valid? [True, True] Translation: X:1042.86, Y:18.18, Z:4.11 [[ 9.89597920e-01 -1.43514836e-01 -9.97238136e-03 1.04286384e+03] [ 1.43504233e-01 9.89648112e-01 -1.77449402e-03 1.81796805e+01] [ 1.01238146e-02 3.24956651e-04 9.99948700e-01 4.11153160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters 0.05432248115829027 Centerline is valid? [True, True] Translation: X:1042.92, Y:18.19, Z:4.11 [[ 9.89462030e-01 -1.44314842e-01 -1.17523586e-02 1.04292251e+03] [ 1.44300160e-01 9.89531751e-01 -2.09221579e-03 1.81863541e+01] [ 1.19312698e-02 3.74300842e-04 9.99928750e-01 4.11104076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.739254154 meters 0.053906383093207715 Centerline is valid? [True, True] Translation: X:1042.98, Y:18.20, Z:4.11 [[ 9.89288777e-01 -1.45417058e-01 -1.27120080e-02 1.04298094e+03] [ 1.45399953e-01 9.89370368e-01 -2.26451953e-03 1.81960980e+01] [ 1.29061838e-02 3.91938404e-04 9.99916635e-01 4.11122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.799254154 meters 0.05465726841010121 Centerline is valid? [True, True] Translation: X:1043.04, Y:18.21, Z:4.11 [[ 9.88367516e-01 -1.51497243e-01 -1.33506379e-02 1.04303898e+03] [ 1.51478921e-01 9.88457625e-01 -2.37893641e-03 1.82065970e+01] [ 1.35569422e-02 3.28923244e-04 9.99908046e-01 4.10922816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters 0.05367405072119385 Centerline is valid? [True, True] Translation: X:1043.10, Y:18.20, Z:4.11 [[ 9.86701962e-01 -1.62141006e-01 -1.13812718e-02 1.04310131e+03] [ 1.62128395e-01 9.86767587e-01 -2.02827370e-03 1.82008547e+01] [ 1.15595365e-02 1.56074307e-04 9.99933174e-01 4.11406416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters 0.05347319382863023 Centerline is valid? [True, True] Translation: X:1043.16, Y:18.20, Z:4.11 [[ 9.84846512e-01 -1.73151911e-01 -9.78590425e-03 1.04316098e+03] [ 1.73143128e-01 9.84895129e-01 -1.74409522e-03 1.82029666e+01] [ 9.94008284e-03 2.33040222e-05 9.99950596e-01 4.11495478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.979254154 meters 0.05345361238645708 Centerline is valid? [True, True] Translation: X:1043.22, Y:18.21, Z:4.12 [[ 9.83866744e-01 -1.78704153e-01 -8.42951087e-03 1.04322037e+03] [ 1.78697837e-01 9.83902854e-01 -1.50267338e-03 1.82077451e+01] [ 8.56235377e-03 -2.79049934e-05 9.99963342e-01 4.11588223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.039254154 meters 0.053428339333196136 Centerline is valid? [True, True] Translation: X:1043.28, Y:18.21, Z:4.12 [[ 9.83153651e-01 -1.82592103e-01 -8.30796029e-03 1.04327955e+03] [ 1.82586100e-01 9.83188751e-01 -1.48177380e-03 1.82127851e+01] [ 8.43885330e-03 -6.01067483e-05 9.99964390e-01 4.11652207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters 0.053431482101552207 Centerline is valid? [True, True] Translation: X:1043.34, Y:18.22, Z:4.12 [[ 9.83464459e-01 -1.80850719e-01 -9.52235657e-03 1.04333660e+03] [ 1.80842739e-01 9.83510557e-01 -1.69968649e-03 1.82220477e+01] [ 9.67272774e-03 -5.04677836e-05 9.99953217e-01 4.11684981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters 0.05362068689563839 Centerline is valid? [True, True] Translation: X:1043.39, Y:18.23, Z:4.11 [[ 9.84470202e-01 -1.75227771e-01 -1.06606976e-02 1.04339405e+03] [ 1.75217423e-01 9.84527922e-01 -1.90429527e-03 1.82313326e+01] [ 1.08294399e-02 6.78198782e-06 9.99941360e-01 4.11418507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.219254154 meters 0.05324259801360896 Centerline is valid? [True, True] Translation: X:1043.45, Y:18.24, Z:4.12 [[ 9.85808822e-01 -1.67569765e-01 -1.00668370e-02 1.04345212e+03] [ 1.67560126e-01 9.85860216e-01 -1.79940092e-03 1.82409846e+01] [ 1.02260193e-02 8.70648179e-05 9.99947709e-01 4.11579834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.279254154 meters 0.05219745298221199 Centerline is valid? [True, True] Translation: X:1043.51, Y:18.25, Z:4.12 [[ 9.87144488e-01 -1.59593843e-01 -8.69279609e-03 1.04351088e+03] [ 1.59586342e-01 9.87182751e-01 -1.55425533e-03 1.82503402e+01] [ 8.82942793e-03 1.47023048e-04 9.99961009e-01 4.11634662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters 0.05228484918215128 Centerline is valid? [True, True] Translation: X:1043.57, Y:18.26, Z:4.12 [[ 9.88067291e-01 -1.53777331e-01 -8.69258165e-03 1.04356909e+03] [ 1.53769604e-01 9.88105507e-01 -1.55433305e-03 1.82617280e+01] [ 8.82820899e-03 1.99130810e-04 9.99961011e-01 4.11658328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters 0.05156798396450916 Centerline is valid? [True, True] Translation: X:1043.63, Y:18.27, Z:4.12 [[ 9.89433125e-01 -1.44797698e-01 -7.46441019e-03 1.04362966e+03] [ 1.44791744e-01 9.89461252e-01 -1.33479718e-03 1.82671214e+01] [ 7.57902021e-03 2.39907574e-04 9.99971250e-01 4.11743704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.459254154 meters 0.05220033452940492 Centerline is valid? [True, True] Translation: X:1043.69, Y:18.28, Z:4.12 [[ 9.90370983e-01 -1.38260941e-01 -7.01628754e-03 1.04368747e+03] [ 1.38255516e-01 9.90395799e-01 -1.25473408e-03 1.82786977e+01] [ 7.12238241e-03 2.72611772e-04 9.99974598e-01 4.11719494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.519254154 meters 0.051451330508374526 Centerline is valid? [True, True] Translation: X:1043.74, Y:18.29, Z:4.12 [[ 9.90542563e-01 -1.37035366e-01 -6.83665088e-03 1.04374484e+03] [ 1.37030186e-01 9.90566118e-01 -1.22275815e-03 1.82874966e+01] [ 6.93971583e-03 2.74366454e-04 9.99975882e-01 4.11713489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters 0.05145645153702448 Centerline is valid? [True, True] Translation: X:1043.81, Y:18.29, Z:4.12 [[ 9.90030700e-01 -1.40701250e-01 -6.50937872e-03 1.04380516e+03] [ 1.40696632e-01 9.90052070e-01 -1.16436672e-03 1.82889759e+01] [ 6.60845173e-03 2.36911137e-04 9.99978136e-01 4.11696713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters 0.05173994923198753 Centerline is valid? [True, True] Translation: X:1043.86, Y:18.30, Z:4.12 [[ 9.88918578e-01 -1.48243371e-01 -7.99681816e-03 1.04386395e+03] [ 1.48236646e-01 9.88950884e-01 -1.43050351e-03 1.82960790e+01] [ 8.12052305e-03 2.29229995e-04 9.99967002e-01 4.11586037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.699254154 meters 0.05156231334923598 Centerline is valid? [True, True] Translation: X:1043.92, Y:18.30, Z:4.12 [[ 9.88272803e-01 -1.52466074e-01 -8.42391518e-03 1.04392419e+03] [ 1.52458764e-01 9.88308684e-01 -1.50695446e-03 1.83032520e+01] [ 8.55518795e-03 2.04982414e-04 9.99963383e-01 4.11611063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.759254154 meters 0.05140765228958223 Centerline is valid? [True, True] Translation: X:1043.98, Y:18.31, Z:4.12 [[ 9.87800152e-01 -1.55459342e-01 -9.12425918e-03 1.04398324e+03] [ 1.55450894e-01 9.87842272e-01 -1.63230429e-03 1.83125639e+01] [ 9.26708587e-03 1.94016183e-04 9.99957041e-01 4.11541206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.819254154 meters 0.0512066517842424 Centerline is valid? [True, True] Translation: X:1044.04, Y:18.32, Z:4.12 [[ 9.87525374e-01 -1.57133623e-01 -1.01321364e-02 1.04404215e+03] [ 1.57123285e-01 9.87577331e-01 -1.81336245e-03 1.83191926e+01] [ 1.02912084e-02 1.98746884e-04 9.99947024e-01 4.11591604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters 0.0517505966565301 Centerline is valid? [True, True] Translation: X:1044.10, Y:18.33, Z:4.12 [[ 9.87235875e-01 -1.58956768e-01 -9.90319994e-03 1.04410050e+03] [ 1.58946972e-01 9.87285528e-01 -1.77352971e-03 1.83281629e+01] [ 1.00592005e-02 1.76808512e-04 9.99949389e-01 4.11657285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.939254154 meters 0.051302949935883226 Centerline is valid? [True, True] Translation: X:1044.16, Y:18.34, Z:4.12 [[ 9.86673376e-01 -1.62412333e-01 -9.89355082e-03 1.04415928e+03] [ 1.62402725e-01 9.86722967e-01 -1.77235602e-03 1.83382798e+01] [ 1.00500463e-02 1.41996892e-04 9.99949487e-01 4.11772805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.999254154 meters 0.051539608652098265 Centerline is valid? [True, True] Translation: X:1044.22, Y:18.35, Z:4.12 [[ 9.85794427e-01 -1.67732066e-01 -8.67763694e-03 1.04421716e+03] [ 1.67724878e-01 9.85832617e-01 -1.55467157e-03 1.83475972e+01] [ 8.81546581e-03 7.71309690e-05 9.99961140e-01 4.11793334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.059254154 meters 0.051935497687075234 Centerline is valid? [True, True] Translation: X:1044.27, Y:18.36, Z:4.12 [[ 9.85132073e-01 -1.71597278e-01 -8.31705481e-03 1.04427431e+03] [ 1.71590811e-01 9.85167180e-01 -1.49031701e-03 1.83577123e+01] [ 8.44942377e-03 4.10289085e-05 9.99964302e-01 4.11820325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters 0.051527120778992574 Centerline is valid? [True, True] Translation: X:1044.33, Y:18.37, Z:4.12 [[ 9.84313022e-01 -1.76292926e-01 -6.97702181e-03 1.04433257e+03] [ 1.76288489e-01 9.84337749e-01 -1.25069905e-03 1.83678145e+01] [ 7.08823534e-03 1.11072625e-06 9.99974878e-01 4.11946781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters 0.051983863692150106 Centerline is valid? [True, True] Translation: X:1044.39, Y:18.38, Z:4.12 [[ 9.83409652e-01 -1.81296024e-01 -6.09977674e-03 1.04438993e+03] [ 1.81292726e-01 9.83428569e-01 -1.09398361e-03 1.83772665e+01] [ 6.19702959e-03 -3.00111054e-05 9.99980798e-01 4.12050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.239254154 meters 0.05218054260439422 Centerline is valid? [True, True] Translation: X:1044.45, Y:18.39, Z:4.12 [[ 9.82311605e-01 -1.87152033e-01 -6.16659379e-03 1.04444903e+03] [ 1.87148776e-01 9.82330958e-01 -1.10623251e-03 1.83867518e+01] [ 6.26466965e-03 -6.74054452e-05 9.99980374e-01 4.12160661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.299254154 meters 0.05315633722874833 Centerline is valid? [True, True] Translation: X:1044.51, Y:18.40, Z:4.12 [[ 9.81185416e-01 -1.92955531e-01 -6.58355265e-03 1.04450845e+03] [ 1.92951949e-01 9.81207496e-01 -1.18107125e-03 1.83979070e+01] [ 6.68772544e-03 -1.11459433e-04 9.99977631e-01 4.12121987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters 0.05269751028949441 Centerline is valid? [True, True] Translation: X:1044.57, Y:18.41, Z:4.12 [[ 9.80598552e-01 -1.95920725e-01 -6.44593785e-03 1.04456687e+03] [ 1.95917355e-01 9.80619729e-01 -1.15643461e-03 1.84075249e+01] [ 6.54758334e-03 -1.28872990e-04 9.99978556e-01 4.12073598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters 0.05343328719765916 Centerline is valid? [True, True] Translation: X:1044.62, Y:18.42, Z:4.12 [[ 9.80161672e-01 -1.98072753e-01 -7.09094126e-03 1.04462401e+03] [ 1.98068729e-01 9.80187309e-01 -1.27230133e-03 1.84210929e+01] [ 7.20245885e-03 -1.57432725e-04 9.99974050e-01 4.12024133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.479254154 meters 0.053456318634805794 Centerline is valid? [True, True] Translation: X:1044.68, Y:18.44, Z:4.12 [[ 9.80307963e-01 -1.97336880e-01 -7.37921153e-03 1.04468023e+03] [ 1.97332498e-01 9.80335724e-01 -1.32451402e-03 1.84431785e+01] [ 7.49548014e-03 -1.57726601e-04 9.99971896e-01 4.12160925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.539254154 meters 0.05356933839487 Centerline is valid? [True, True] Translation: X:1044.74, Y:18.46, Z:4.12 [[ 9.80887951e-01 -1.94408468e-01 -8.01091842e-03 1.04473826e+03] [ 1.94403202e-01 9.80920652e-01 -1.43840267e-03 1.84565402e+01] [ 8.13771298e-03 -1.46436345e-04 9.99966878e-01 4.12048181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters 0.05402321854813374 Centerline is valid? [True, True] Translation: X:1044.79, Y:18.48, Z:4.12 [[ 9.82056076e-01 -1.88396971e-01 -8.51142785e-03 1.04479489e+03] [ 1.88390799e-01 9.82092954e-01 -1.52838482e-03 1.84785067e+01] [ 8.64695639e-03 -1.02515094e-04 9.99962609e-01 4.12058292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters 0.053563981384880006 Centerline is valid? [True, True] Translation: X:1044.85, Y:18.49, Z:4.12 [[ 9.82527066e-01 -1.85936931e-01 -8.24755842e-03 1.04485234e+03] [ 1.85931044e-01 9.82561678e-01 -1.48157494e-03 1.84935197e+01] [ 8.37921434e-03 -7.77896695e-05 9.99964891e-01 4.12126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.719254154 meters 0.053603846951266354 Centerline is valid? [True, True] Translation: X:1044.91, Y:18.51, Z:4.12 [[ 9.84213867e-01 -1.76845574e-01 -6.97909913e-03 1.04490767e+03] [ 1.76841126e-01 9.84238611e-01 -1.25419310e-03 1.85148359e+01] [ 7.09089733e-03 2.02490516e-07 9.99974859e-01 4.12186862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.779254154 meters 0.05363764189708835 Centerline is valid? [True, True] Translation: X:1044.96, Y:18.54, Z:4.12 [[ 9.86059142e-01 -1.66275389e-01 -6.31381518e-03 1.04496456e+03] [ 1.66271531e-01 9.86079353e-01 -1.13476988e-03 1.85369862e+01] [ 6.41460709e-03 6.91424999e-05 9.99979424e-01 4.12292669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters 0.05397599202510208 Centerline is valid? [True, True] Translation: X:1045.02, Y:18.56, Z:4.12 [[ 9.87791213e-01 -1.55674570e-01 -5.82641933e-03 1.04502213e+03] [ 1.55671100e-01 9.87808388e-01 -1.04722023e-03 1.85553209e+01] [ 5.91841145e-03 1.27429840e-04 9.99982478e-01 4.12375287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters 0.0546475417366579 Centerline is valid? [True, True] Translation: X:1045.08, Y:18.58, Z:4.12 [[ 9.88800827e-01 -1.49100266e-01 -6.48352003e-03 1.04507830e+03] [ 1.49095827e-01 9.88822065e-01 -1.16536814e-03 1.85766118e+01] [ 6.58480436e-03 1.85651192e-04 9.99978303e-01 4.12270007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.959254154 meters 0.05436084839418639 Centerline is valid? [True, True] Translation: X:1045.14, Y:18.59, Z:4.12 [[ 9.88932171e-01 -1.48190404e-01 -7.26400257e-03 1.04513586e+03] [ 1.48184807e-01 9.88958825e-01 -1.30585487e-03 1.85861428e+01] [ 7.37731461e-03 2.14987074e-04 9.99972764e-01 4.12268825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.019254154 meters 0.053807394967920974 Centerline is valid? [True, True] Translation: X:1045.20, Y:18.60, Z:4.12 [[ 9.88573477e-01 -1.50502363e-01 -8.45686787e-03 1.04519541e+03] [ 1.50494858e-01 9.88609622e-01 -1.52056852e-03 1.85957454e+01] [ 8.58939010e-03 2.30478582e-04 9.99963084e-01 4.12198907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters 0.05447564117998042 Centerline is valid? [True, True] Translation: X:1045.25, Y:18.61, Z:4.12 [[ 9.87805573e-01 -1.55366044e-01 -1.00767840e-02 1.04525352e+03] [ 1.55355640e-01 9.87856944e-01 -1.81192030e-03 1.86053102e+01] [ 1.02359319e-02 2.24339749e-04 9.99947586e-01 4.12108396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters 0.05409020344616582 Centerline is valid? [True, True] Translation: X:1045.31, Y:18.61, Z:4.12 [[ 9.86868913e-01 -1.61270669e-01 -9.02889444e-03 1.04531316e+03] [ 1.61262562e-01 9.86910204e-01 -1.62363442e-03 1.86109810e+01] [ 9.17255266e-03 1.46291691e-04 9.99957921e-01 4.12228093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.199254154 meters 0.05399268014248656 Centerline is valid? [True, True] Translation: X:1045.37, Y:18.61, Z:4.12 [[ 9.85669246e-01 -1.68495809e-01 -8.08089855e-03 1.04537255e+03] [ 1.68489556e-01 9.85702368e-01 -1.45328627e-03 1.86148430e+01] [ 8.21023348e-03 7.09125750e-05 9.99966293e-01 4.12343476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.259254154 meters 0.05352590831993199 Centerline is valid? [True, True] Translation: X:1045.43, Y:18.62, Z:4.12 [[ 9.84238542e-01 -1.76649229e-01 -8.33925730e-03 1.04543165e+03] [ 1.76642861e-01 9.84273869e-01 -1.49995511e-03 1.86162488e+01] [ 8.47307897e-03 3.24336213e-06 9.99964103e-01 4.12298306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.319254154 meters 0.05464946299558781 Centerline is valid? [True, True] Translation: X:1045.49, Y:18.62, Z:4.12 [[ 9.82594348e-01 -1.85565107e-01 -8.59871919e-03 1.04549183e+03] [ 1.85558676e-01 9.82631968e-01 -1.54682381e-03 1.86186725e+01] [ 8.73641289e-03 -7.56666138e-05 9.99961834e-01 4.12371080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters 0.05382475242384482 Centerline is valid? [True, True] Translation: X:1045.55, Y:18.62, Z:4.12 [[ 9.81405652e-01 -1.91743379e-01 -8.79901473e-03 1.04555156e+03] [ 1.91736891e-01 9.81445087e-01 -1.58296116e-03 1.86229512e+01] [ 8.93927210e-03 -1.33568697e-04 9.99960035e-01 4.12355958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.439254154 meters 0.05524136041203425 Centerline is valid? [True, True] Translation: X:1045.61, Y:18.63, Z:4.12 [[ 9.79757222e-01 -1.99968394e-01 -9.40354000e-03 1.04561028e+03] [ 1.99961362e-01 9.79802323e-01 -1.69180812e-03 1.86283957e+01] [ 9.55191849e-03 -2.22783437e-04 9.99954355e-01 4.12390266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.499254154 meters 0.05528335299249049 Centerline is valid? [True, True] Translation: X:1045.67, Y:18.64, Z:4.12 [[ 9.78676332e-01 -2.05169127e-01 -9.91297072e-03 1.04566856e+03] [ 2.05161576e-01 9.78726492e-01 -1.78359776e-03 1.86372055e+01] [ 1.00680263e-02 -2.88195792e-04 9.99949275e-01 4.12421389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.559254154 meters 0.05540390162936139 Centerline is valid? [True, True] Translation: X:1045.73, Y:18.65, Z:4.13 [[ 9.78727440e-01 -2.04925634e-01 -9.90369041e-03 1.04572522e+03] [ 2.04918078e-01 9.78777505e-01 -1.78260517e-03 1.86527404e+01] [ 1.00588109e-02 -2.84760616e-04 9.99949368e-01 4.12555891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters 0.05470271837974893 Centerline is valid? [True, True] Translation: X:1045.78, Y:18.67, Z:4.13 [[ 9.79980263e-01 -1.98839986e-01 -1.00669590e-02 1.04578359e+03] [ 1.98831853e-01 9.80031943e-01 -1.81249786e-03 1.86671593e+01] [ 1.02263384e-02 -2.25419975e-04 9.99947684e-01 4.12520727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters 0.054514513548871005 Centerline is valid? [True, True] Translation: X:1045.84, Y:18.69, Z:4.13 [[ 9.81301463e-01 -1.92207413e-01 -1.01857790e-02 1.04584096e+03] [ 1.92198728e-01 9.81354312e-01 -1.83395005e-03 1.86862854e+01] [ 1.03483570e-02 -1.58035907e-04 9.99946442e-01 4.12582160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.739254154 meters 0.05390765839001814 Centerline is valid? [True, True] Translation: X:1045.90, Y:18.70, Z:4.12 [[ 9.83491702e-01 -1.80685452e-01 -9.84069899e-03 1.04589843e+03] [ 1.80676768e-01 9.83540933e-01 -1.77186228e-03 1.87030218e+01] [ 9.99888000e-03 -3.53738352e-05 9.99950009e-01 4.12354557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.799254154 meters 0.05393914534559972 Centerline is valid? [True, True] Translation: X:1045.96, Y:18.72, Z:4.13 [[ 9.85281287e-01 -1.70717224e-01 -8.74158130e-03 1.04595526e+03] [ 1.70709973e-01 9.85320063e-01 -1.57459321e-03 1.87204742e+01] [ 8.88206561e-03 5.91421181e-05 9.99960552e-01 4.12620224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters 0.054817017279406015 Centerline is valid? [True, True] Translation: X:1046.01, Y:18.74, Z:4.12 [[ 9.86722515e-01 -1.62245900e-01 -7.41254938e-03 1.04601127e+03] [ 1.62240443e-01 9.86750351e-01 -1.33562570e-03 1.87425743e+01] [ 7.53103550e-03 1.15276650e-04 9.99971635e-01 4.12499365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters 0.054969259906573864 Centerline is valid? [True, True] Translation: X:1046.07, Y:18.76, Z:4.13 [[ 9.87577892e-01 -1.56978137e-01 -6.91170299e-03 1.04606932e+03] [ 1.56973264e-01 9.87602067e-01 -1.24542241e-03 1.87584647e+01] [ 7.02151626e-03 1.44999058e-04 9.99975338e-01 4.12580004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.979254154 meters 0.054053087935301884 Centerline is valid? [True, True] Translation: X:1046.13, Y:18.76, Z:4.13 [[ 9.87811795e-01 -1.55508718e-01 -6.70042902e-03 1.04612833e+03] [ 1.55504102e-01 9.87834508e-01 -1.20770753e-03 1.87644675e+01] [ 6.80672406e-03 1.51043547e-04 9.99976823e-01 4.12648245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.039254154 meters 0.05474632134049023 Centerline is valid? [True, True] Translation: X:1046.19, Y:18.78, Z:4.12 [[ 9.88108919e-01 -1.53527729e-01 -8.36658899e-03 1.04618553e+03] [ 1.53520455e-01 9.88144318e-01 -1.50869104e-03 1.87793722e+01] [ 8.49902328e-03 2.06308523e-04 9.99963861e-01 4.12394556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters 0.05488434386427112 Centerline is valid? [True, True] Translation: X:1046.24, Y:18.79, Z:4.12 [[ 9.88147423e-01 -1.53163786e-01 -1.02725810e-02 1.04624330e+03] [ 1.53152792e-01 9.88200783e-01 -1.85320006e-03 1.87888146e+01] [ 1.04352158e-02 2.57960394e-04 9.99945518e-01 4.12276190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters 0.05394039306575078 Centerline is valid? [True, True] Translation: X:1046.30, Y:18.79, Z:4.12 [[ 9.88136831e-01 -1.53157567e-01 -1.13297159e-02 1.04630249e+03] [ 1.53144178e-01 9.88201740e-01 -2.04520549e-03 1.87928766e+01] [ 1.15092836e-02 2.85862850e-04 9.99933725e-01 4.12251030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.219254154 meters 0.053189418994044106 Centerline is valid? [True, True] Translation: X:1046.36, Y:18.80, Z:4.12 [[ 9.87853429e-01 -1.54963083e-01 -1.14911503e-02 1.04636135e+03] [ 1.54949423e-01 9.87920225e-01 -2.07502674e-03 1.87966395e+01] [ 1.16738924e-02 2.69275165e-04 9.99931822e-01 4.12342492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.279254154 meters 0.05280284400567635 Centerline is valid? [True, True] Translation: X:1046.42, Y:18.80, Z:4.13 [[ 9.86932899e-01 -1.60804664e-01 -1.02622167e-02 1.04642292e+03] [ 1.60794084e-01 9.86986235e-01 -1.85328359e-03 1.87959701e+01] [ 1.04266833e-02 1.78962807e-04 9.99945625e-01 4.12612230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters 0.05244568121794301 Centerline is valid? [True, True] Translation: X:1046.48, Y:18.80, Z:4.13 [[ 9.85574414e-01 -1.69076755e-01 -7.49165866e-03 1.04648381e+03] [ 1.69071355e-01 9.85602885e-01 -1.35296047e-03 1.87990559e+01] [ 7.61255455e-03 6.68183425e-05 9.99971022e-01 4.12794823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters 0.05293491816081012 Centerline is valid? [True, True] Translation: X:1046.54, Y:18.81, Z:4.13 [[ 9.84701751e-01 -1.74097831e-01 -7.23930628e-03 1.04654130e+03] [ 1.74092923e-01 9.84728361e-01 -1.30752041e-03 1.88053457e+01] [ 7.35638668e-03 2.72056389e-05 9.99972941e-01 4.12775083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.459254154 meters 0.053465040150560666 Centerline is valid? [True, True] Translation: X:1046.60, Y:18.81, Z:4.13 [[ 9.83877504e-01 -1.78679885e-01 -7.65213498e-03 1.04660074e+03] [ 1.78674535e-01 9.83907261e-01 -1.38264778e-03 1.88101051e+01] [ 7.77604252e-03 -6.88561347e-06 9.99969766e-01 4.12729722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.519254154 meters 0.052946069680854496 Centerline is valid? [True, True] Translation: X:1046.66, Y:18.82, Z:4.13 [[ 9.83677815e-01 -1.79753962e-01 -8.15289581e-03 1.04665852e+03] [ 1.79747921e-01 9.83711601e-01 -1.47372873e-03 1.88183842e+01] [ 8.28500676e-03 -1.57918121e-05 9.99965679e-01 4.12691030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters 0.052682382881575784 Centerline is valid? [True, True] Translation: X:1046.72, Y:18.83, Z:4.13 [[ 9.83672212e-01 -1.79779969e-01 -8.25480503e-03 1.04671567e+03] [ 1.79773771e-01 9.83706848e-01 -1.49286759e-03 1.88286729e+01] [ 8.38869593e-03 -1.55050654e-05 9.99964814e-01 4.12726078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters 0.05299332112558748 Centerline is valid? [True, True] Translation: X:1046.77, Y:18.84, Z:4.13 [[ 9.83874755e-01 -1.78651581e-01 -8.60693339e-03 1.04677290e+03] [ 1.78644790e-01 9.83912401e-01 -1.55766425e-03 1.88385723e+01] [ 8.74674767e-03 -5.03728193e-06 9.99961746e-01 4.12652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.699254154 meters 0.0527624468110873 Centerline is valid? [True, True] Translation: X:1046.83, Y:18.85, Z:4.13 [[ 9.84166460e-01 -1.77040430e-01 -8.54780518e-03 1.04682976e+03] [ 1.77033663e-01 9.84203580e-01 -1.54804227e-03 1.88486806e+01] [ 8.68684653e-03 1.02820248e-05 9.99962269e-01 4.12659724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.759254154 meters 0.052299718227296996 Centerline is valid? [True, True] Translation: X:1046.89, Y:18.86, Z:4.13 [[ 9.84795228e-01 -1.73522321e-01 -8.26823227e-03 1.04688629e+03] [ 1.73515859e-01 9.84829936e-01 -1.49806016e-03 1.88604178e+01] [ 8.40274953e-03 4.06130759e-05 9.99964695e-01 4.12681001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.819254154 meters 0.0525435491601339 Centerline is valid? [True, True] Translation: X:1046.94, Y:18.87, Z:4.13 [[ 9.85686235e-01 -1.68455623e-01 -6.73426085e-03 1.04694373e+03] [ 1.68451216e-01 9.85709236e-01 -1.22043007e-03 1.88743506e+01] [ 6.84361142e-03 6.85666913e-05 9.99976580e-01 4.12727053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters 0.05239632615944734 Centerline is valid? [True, True] Translation: X:1047.00, Y:18.88, Z:4.13 [[ 9.86715347e-01 -1.62370149e-01 -5.36267534e-03 1.04700324e+03] [ 1.62367263e-01 9.86729916e-01 -9.72062830e-04 1.88841597e+01] [ 5.44934618e-03 8.84263925e-05 9.99985148e-01 4.12847260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.939254154 meters 0.053339687032835405 Centerline is valid? [True, True] Translation: X:1047.06, Y:18.90, Z:4.13 [[ 9.87378745e-01 -1.58287314e-01 -5.32361974e-03 1.04706064e+03] [ 1.58284410e-01 9.87393090e-01 -9.65026943e-04 1.89009504e+01] [ 5.40925687e-03 1.10201079e-04 9.99985364e-01 4.12833404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.999254154 meters 0.05368871791494472 Centerline is valid? [True, True] Translation: X:1047.12, Y:18.92, Z:4.13 [[ 9.88377172e-01 -1.51917802e-01 -5.61667429e-03 1.04711918e+03] [ 1.51914467e-01 9.88393119e-01 -1.01818917e-03 1.89169242e+01] [ 5.70616328e-03 1.53100846e-04 9.99983708e-01 4.12756629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.059254154 meters 0.05306362371872587 Centerline is valid? [True, True] Translation: X:1047.18, Y:18.92, Z:4.13 [[ 9.88549199e-01 -1.50805958e-01 -5.29577002e-03 1.04717786e+03] [ 1.50802976e-01 9.88563372e-01 -9.60179185e-04 1.89233060e+01] [ 5.38000501e-03 1.50566483e-04 9.99985516e-01 4.12744441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters 0.052774248192500886 Centerline is valid? [True, True] Translation: X:1047.24, Y:18.93, Z:4.13 [[ 9.88436595e-01 -1.51522857e-01 -5.82417190e-03 1.04723609e+03] [ 1.51519259e-01 9.88453741e-01 -1.05664671e-03 1.89299692e+01] [ 5.91703063e-03 1.61954071e-04 9.99982481e-01 4.12714943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters 0.05265760034866536 Centerline is valid? [True, True] Translation: X:1047.30, Y:18.94, Z:4.13 [[ 9.87917421e-01 -1.54819296e-01 -7.08196187e-03 1.04729627e+03] [ 1.54814057e-01 9.87942790e-01 -1.28536616e-03 1.89358558e+01] [ 7.19557265e-03 1.73448375e-04 9.99974096e-01 4.12584250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.239254154 meters 0.05126469717910081 Centerline is valid? [True, True] Translation: X:1047.36, Y:18.94, Z:4.13 [[ 9.87378916e-01 -1.58225818e-01 -6.88956660e-03 1.04735745e+03] [ 1.58220943e-01 9.87402942e-01 -1.25049962e-03 1.89362626e+01] [ 7.00063965e-03 1.44643234e-04 9.99975485e-01 4.12658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.299254154 meters 0.05187108393621362 Centerline is valid? [True, True] Translation: X:1047.42, Y:18.94, Z:4.13 [[ 9.86306712e-01 -1.64774953e-01 -6.94868832e-03 1.04741621e+03] [ 1.64770156e-01 9.86331184e-01 -1.26128113e-03 1.89435582e+01] [ 7.06153552e-03 9.90735909e-05 9.99975062e-01 4.12579904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters 0.05042142397746457 Centerline is valid? [True, True] Translation: X:1047.48, Y:18.94, Z:4.13 [[ 9.84753317e-01 -1.73836180e-01 -6.47204581e-03 1.04747745e+03] [ 1.73832213e-01 9.84774584e-01 -1.17478645e-03 1.89432059e+01] [ 6.57772661e-03 3.18248046e-05 9.99978366e-01 4.12651026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters 0.05156221297877498 Centerline is valid? [True, True] Translation: X:1047.54, Y:18.94, Z:4.13 [[ 9.82664011e-01 -1.85286495e-01 -6.35274028e-03 1.04753578e+03] [ 1.85282910e-01 9.82684544e-01 -1.15342758e-03 1.89442495e+01] [ 6.45645424e-03 -4.36224323e-05 9.99979156e-01 4.12527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.479254154 meters 0.05176501858320327 Centerline is valid? [True, True] Translation: X:1047.59, Y:18.95, Z:4.13 [[ 9.81319092e-01 -1.92307508e-01 -5.53729129e-03 1.04759462e+03] [ 1.92304894e-01 9.81334712e-01 -1.00580456e-03 1.89533807e+01] [ 5.62735992e-03 -7.78329905e-05 9.99984163e-01 4.12564142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.539254154 meters 0.05225199199091562 Centerline is valid? [True, True] Translation: X:1047.65, Y:18.96, Z:4.12 [[ 9.80578387e-01 -1.96002450e-01 -7.00482218e-03 1.04765256e+03] [ 1.95998359e-01 9.80603398e-01 -1.27255072e-03 1.89596526e+01] [ 7.11837549e-03 -1.25097917e-04 9.99974656e-01 4.12347730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters 0.052742267187583 Centerline is valid? [True, True] Translation: X:1047.71, Y:18.97, Z:4.12 [[ 9.79809221e-01 -1.99763396e-01 -8.27503651e-03 1.04771039e+03] [ 1.99757819e-01 9.79844147e-01 -1.50348528e-03 1.89747019e+01] [ 8.40858742e-03 -1.79874500e-04 9.99964631e-01 4.12300172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters 0.05302614542026296 Centerline is valid? [True, True] Translation: X:1047.76, Y:19.00, Z:4.12 [[ 9.79704217e-01 -2.00246366e-01 -9.00226768e-03 1.04776499e+03] [ 2.00239782e-01 9.79745555e-01 -1.63596412e-03 1.89970440e+01] [ 9.14752762e-03 -1.99851174e-04 9.99958140e-01 4.12424749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.719254154 meters 0.05254330004198374 Centerline is valid? [True, True] Translation: X:1047.82, Y:19.01, Z:4.13 [[ 9.80028292e-01 -1.98734820e-01 -7.00129777e-03 1.04782161e+03] [ 1.98730796e-01 9.80053290e-01 -1.27282756e-03 1.90127781e+01] [ 7.11460006e-03 -1.43966454e-04 9.99974681e-01 4.12510277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.779254154 meters 0.052700757717744275 Centerline is valid? [True, True] Translation: X:1047.88, Y:19.03, Z:4.13 [[ 9.80944802e-01 -1.94197084e-01 -5.89809574e-03 1.04787933e+03] [ 1.94194144e-01 9.80962529e-01 -1.07260217e-03 1.90313223e+01] [ 5.99410713e-03 -9.32121352e-05 9.99982031e-01 4.12538141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters 0.05240558661237168 Centerline is valid? [True, True] Translation: X:1047.94, Y:19.04, Z:4.12 [[ 9.81872455e-01 -1.89480694e-01 -4.85261946e-03 1.04793814e+03] [ 1.89478646e-01 9.81884445e-01 -8.82500599e-04 1.90436036e+01] [ 4.93192839e-03 -5.29647356e-05 9.99987837e-01 4.12491912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters 0.05218683230596223 Centerline is valid? [True, True] Translation: X:1047.99, Y:19.06, Z:4.12 [[ 9.83740192e-01 -1.79521366e-01 -5.22629519e-03 1.04799442e+03] [ 1.79518850e-01 9.83754075e-01 -9.50480219e-04 1.90643340e+01] [ 5.31202069e-03 -3.19290946e-06 9.99985891e-01 4.12423421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.959254154 meters 0.05240393353794896 Centerline is valid? [True, True] Translation: X:1048.05, Y:19.09, Z:4.12 [[ 9.85894569e-01 -1.67260557e-01 -5.98368989e-03 1.04804962e+03] [ 1.67257032e-01 9.85912725e-01 -1.08833260e-03 1.90893863e+01] [ 6.08143112e-03 7.21669879e-05 9.99981505e-01 4.12299714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.019254154 meters 0.05448129163728549 Centerline is valid? [True, True] Translation: X:1048.11, Y:19.11, Z:4.12 [[ 9.87616099e-01 -1.56761601e-01 -6.34363042e-03 1.04810639e+03] [ 1.56757421e-01 9.87636461e-01 -1.15389036e-03 1.91135937e+01] [ 6.44608639e-03 1.45189555e-04 9.99979213e-01 4.12194460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters 0.0550875070331079 Centerline is valid? [True, True] Translation: X:1048.16, Y:19.13, Z:4.12 [[ 9.88575935e-01 -1.50591775e-01 -6.30385822e-03 1.04816476e+03] [ 1.50587522e-01 9.88596016e-01 -1.14669849e-03 1.91305510e+01] [ 6.40465249e-03 1.84316147e-04 9.99979473e-01 4.12173113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters 0.05408533443905192 Centerline is valid? [True, True] Translation: X:1048.22, Y:19.14, Z:4.12 [[ 9.88847572e-01 -1.48788136e-01 -6.52453428e-03 1.04822367e+03] [ 1.48783540e-01 9.88869076e-01 -1.18688804e-03 1.91394779e+01] [ 6.62850504e-03 2.02908048e-04 9.99978011e-01 4.12170142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.199254154 meters 0.05440723028707153 Centerline is valid? [True, True] Translation: X:1048.28, Y:19.15, Z:4.12 [[ 9.88847372e-01 -1.48778298e-01 -6.77451163e-03 1.04828192e+03] [ 1.48773340e-01 9.88870555e-01 -1.23273255e-03 1.91503693e+01] [ 6.88251892e-03 2.11117619e-04 9.99976293e-01 4.12122200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.259254154 meters 0.05228674907189939 Centerline is valid? [True, True] Translation: X:1048.34, Y:19.15, Z:4.12 [[ 9.88668541e-01 -1.49898931e-01 -8.05148296e-03 1.04834167e+03] [ 1.49891958e-01 9.88701295e-01 -1.46606382e-03 1.91500046e+01] [ 8.18027303e-03 2.42598631e-04 9.99966512e-01 4.12111482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.319254154 meters 0.05167797597665667 Centerline is valid? [True, True] Translation: X:1048.40, Y:19.16, Z:4.12 [[ 9.88365262e-01 -1.51781220e-01 -9.82696501e-03 1.04839992e+03] [ 1.51770914e-01 9.88414075e-01 -1.79051469e-03 1.91588617e+01] [ 9.98487704e-03 2.78235064e-04 9.99950111e-01 4.12029205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters 0.052173150755679736 Centerline is valid? [True, True] Translation: X:1048.46, Y:19.17, Z:4.12 [[ 9.87590051e-01 -1.56718526e-01 -1.02564869e-02 1.04845966e+03] [ 1.56707560e-01 9.87643279e-01 -1.86923908e-03 1.91656317e+01] [ 1.04226948e-02 2.38772876e-04 9.99945654e-01 4.11998578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.439254154 meters 0.05264062211854646 Centerline is valid? [True, True] Translation: X:1048.52, Y:19.17, Z:4.12 [[ 9.87185257e-01 -1.59275643e-01 -9.82534914e-03 1.04851879e+03] [ 1.59265700e-01 9.87234130e-01 -1.79132784e-03 1.91721355e+01] [ 9.98523491e-03 2.03531332e-04 9.99950126e-01 4.12093938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.499254154 meters 0.051951431002964926 Centerline is valid? [True, True] Translation: X:1048.58, Y:19.18, Z:4.12 [[ 9.85533310e-01 -1.69276622e-01 -8.33791219e-03 1.04857925e+03] [ 1.69269816e-01 9.85568576e-01 -1.52051501e-03 1.91754375e+01] [ 8.47497189e-03 8.71613292e-05 9.99964083e-01 4.12263124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.559254154 meters 0.05235226178427517 Centerline is valid? [True, True] Translation: X:1048.64, Y:19.18, Z:4.12 [[ 9.83463873e-01 -1.80963367e-01 -7.14635453e-03 1.04863966e+03] [ 1.80958674e-01 9.83489837e-01 -1.30323369e-03 1.91789246e+01] [ 7.26420461e-03 -1.15115872e-05 9.99973615e-01 4.12458979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters 0.052346561710833274 Centerline is valid? [True, True] Translation: X:1048.70, Y:19.19, Z:4.12 [[ 9.82157542e-01 -1.87952722e-01 -6.35115572e-03 1.04869741e+03] [ 1.87949161e-01 9.82178075e-01 -1.15832623e-03 1.91853067e+01] [ 6.45567647e-03 -5.60355431e-05 9.99979160e-01 4.12458692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters 0.05265407826082891 Centerline is valid? [True, True] Translation: X:1048.76, Y:19.19, Z:4.12 [[ 9.80761456e-01 -1.95132931e-01 -5.48693535e-03 1.04875667e+03] [ 1.95130385e-01 9.80776800e-01 -1.00086911e-03 1.91890934e+01] [ 5.57676142e-03 -8.90539609e-05 9.99984446e-01 4.12480520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.739254154 meters 0.05258666151492225 Centerline is valid? [True, True] Translation: X:1048.81, Y:19.20, Z:4.12 [[ 9.80036493e-01 -1.98706538e-01 -6.64716846e-03 1.04881473e+03] [ 1.98702881e-01 9.80059026e-01 -1.21265648e-03 1.91965973e+01] [ 6.75558022e-03 -1.32363923e-04 9.99977172e-01 4.12397490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.799254154 meters 0.0529091499062727 Centerline is valid? [True, True] Translation: X:1048.87, Y:19.21, Z:4.12 [[ 9.80202435e-01 -1.97812023e-01 -8.57842985e-03 1.04887318e+03] [ 1.97805893e-01 9.80239959e-01 -1.56569806e-03 1.92066665e+01] [ 8.71863363e-03 -1.62162926e-04 9.99961979e-01 4.12220292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters 0.05259876751564175 Centerline is valid? [True, True] Translation: X:1048.93, Y:19.22, Z:4.12 [[ 9.80780781e-01 -1.94899327e-01 -9.12751738e-03 1.04892969e+03] [ 1.94892255e-01 9.80823242e-01 -1.66654884e-03 1.92218099e+01] [ 9.27729044e-03 -1.44363378e-04 9.99956955e-01 4.12321864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters 0.05263684773832067 Centerline is valid? [True, True] Translation: X:1048.99, Y:19.23, Z:4.12 [[ 9.81040971e-01 -1.93616209e-01 -8.44849860e-03 1.04898861e+03] [ 1.93610100e-01 9.81077341e-01 -1.54294041e-03 1.92291405e+01] [ 8.58736881e-03 -1.22026897e-04 9.99963120e-01 4.12307450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.979254154 meters 0.052416815192359904 Centerline is valid? [True, True] Translation: X:1049.05, Y:19.24, Z:4.13 [[ 9.81079452e-01 -1.93468928e-01 -7.27200826e-03 1.04904576e+03] [ 1.93464394e-01 9.81106397e-01 -1.32863270e-03 1.92446287e+01] [ 7.39166297e-03 -1.03380431e-04 9.99972676e-01 4.12549692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.039254154 meters 0.05235297936602798 Centerline is valid? [True, True] Translation: X:1049.10, Y:19.26, Z:4.13 [[ 9.81162986e-01 -1.93098542e-01 -5.66986277e-03 1.04910255e+03] [ 1.93095776e-01 9.81179365e-01 -1.03643491e-03 1.92603407e+01] [ 5.76328643e-03 -7.79149788e-05 9.99983389e-01 4.12674247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters 0.05207362139395015 Centerline is valid? [True, True] Translation: X:1049.16, Y:19.27, Z:4.13 [[ 9.81411029e-01 -1.91855865e-01 -4.87019826e-03 1.04915965e+03] [ 1.91853807e-01 9.81423111e-01 -8.90727062e-04 1.92679376e+01] [ 4.95061634e-03 -6.01967124e-05 9.99987744e-01 4.12629287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters 0.05243142651558221 Centerline is valid? [True, True] Translation: X:1049.22, Y:19.29, Z:4.13 [[ 9.81837392e-01 -1.89638996e-01 -5.69088342e-03 1.04921516e+03] [ 1.89636145e-01 9.81853883e-01 -1.04141793e-03 1.92862973e+01] [ 5.78510943e-03 -5.66941229e-05 9.99983264e-01 4.12568022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.219254154 meters 0.052885301986416756 Centerline is valid? [True, True] Translation: X:1049.27, Y:19.30, Z:4.12 [[ 9.82566523e-01 -1.85773503e-01 -7.15772471e-03 1.04927283e+03] [ 1.85768888e-01 9.82592593e-01 -1.31009843e-03 1.93010558e+01] [ 7.27650886e-03 -4.24237054e-05 9.99973525e-01 4.12403951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.279254154 meters 0.05302245925896934 Centerline is valid? [True, True] Translation: X:1049.33, Y:19.31, Z:4.12 [[ 9.83087786e-01 -1.82937936e-01 -8.49220814e-03 1.04932875e+03] [ 1.82931332e-01 9.83124464e-01 -1.55462429e-03 1.93149110e+01] [ 8.63329733e-03 -2.51587994e-05 9.99962732e-01 4.12335760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters 0.05199293086570373 Centerline is valid? [True, True] Translation: X:1049.39, Y:19.33, Z:4.12 [[ 9.83786094e-01 -1.79027921e-01 -1.06735985e-02 1.04938595e+03] [ 1.79017248e-01 9.83843993e-01 -1.95490327e-03 1.93288384e+01] [ 1.08511381e-02 1.24484185e-05 9.99941125e-01 4.12223159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters 0.05304721356399169 Centerline is valid? [True, True] Translation: X:1049.44, Y:19.34, Z:4.12 [[ 9.84296217e-01 -1.76176041e-01 -1.10887329e-02 1.04944309e+03] [ 1.76164325e-01 9.84358675e-01 -2.03224447e-03 1.93409973e+01] [ 1.12733232e-02 4.68913964e-05 9.99936453e-01 4.12200123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.459254154 meters 0.05176378530279165 Centerline is valid? [True, True] Translation: X:1049.50, Y:19.35, Z:4.12 [[ 9.84902068e-01 -1.72771334e-01 -1.08620016e-02 1.04949995e+03] [ 1.72759877e-01 9.84961958e-01 -1.99145073e-03 1.93522404e+01] [ 1.10427239e-02 8.48658838e-05 9.99939024e-01 4.12240264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.519254154 meters 0.052097805598893404 Centerline is valid? [True, True] Translation: X:1049.56, Y:19.37, Z:4.12 [[ 9.85934080e-01 -1.66853690e-01 -9.68690593e-03 1.04955664e+03] [ 1.66844290e-01 9.85981657e-01 -1.77625033e-03 1.93679311e+01] [ 9.84748548e-03 1.35060799e-04 9.99951503e-01 4.12179405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters 0.05271083038438786 Centerline is valid? [True, True] Translation: X:1049.62, Y:19.38, Z:4.12 [[ 9.86733758e-01 -1.62087989e-01 -9.16375870e-03 1.04961568e+03] [ 1.62079370e-01 9.86776294e-01 -1.68042352e-03 1.93791230e+01] [ 9.31495632e-03 1.72874373e-04 9.99956600e-01 4.12365174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters 0.05621197595388241 Centerline is valid? [True, True] Translation: X:1049.67, Y:19.40, Z:4.12 [[ 9.87758207e-01 -1.55730362e-01 -9.04319798e-03 1.04967250e+03] [ 1.55721702e-01 9.87799576e-01 -1.65837189e-03 1.94042425e+01] [ 9.19112598e-03 2.29848263e-04 9.99957734e-01 4.12201405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.699254154 meters 0.051971576320987714 Centerline is valid? [True, True] Translation: X:1049.73, Y:19.40, Z:4.13 [[ 9.88404838e-01 -1.51582944e-01 -8.85934629e-03 1.04973462e+03] [ 1.51574465e-01 9.88444506e-01 -1.62470827e-03 1.93985178e+01] [ 9.00325023e-03 2.63018840e-04 9.99959435e-01 4.12594678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.759254154 meters 0.05196882862498666 Centerline is valid? [True, True] Translation: X:1049.79, Y:19.40, Z:4.13 [[ 9.88591042e-01 -1.50237777e-01 -1.07870952e-02 1.04979465e+03] [ 1.50225125e-01 9.88649836e-01 -1.97837878e-03 1.94036152e+01] [ 1.09618871e-02 3.35314815e-04 9.99939860e-01 4.12562088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.819254154 meters 0.05126226708780673 Centerline is valid? [True, True] Translation: X:1049.85, Y:19.41, Z:4.13 [[ 9.88077828e-01 -1.53454773e-01 -1.24031598e-02 1.04985455e+03] [ 1.53438296e-01 9.88155612e-01 -2.27498097e-03 1.94069696e+01] [ 1.26053587e-02 3.44738542e-04 9.99920490e-01 4.12532841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters 0.05106711704425596 Centerline is valid? [True, True] Translation: X:1049.92, Y:19.41, Z:4.13 [[ 9.87184529e-01 -1.59104904e-01 -1.23424421e-02 1.04991508e+03] [ 1.59089028e-01 9.87261645e-01 -2.26391539e-03 1.94113610e+01] [ 1.25454197e-02 2.71355134e-04 9.99921266e-01 4.12619666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.939254154 meters 0.05184509824251495 Centerline is valid? [True, True] Translation: X:1049.98, Y:19.41, Z:4.13 [[ 9.84927647e-01 -1.72647275e-01 -1.05095005e-02 1.04997588e+03] [ 1.72636533e-01 9.84983711e-01 -1.92775138e-03 1.94112389e+01] [ 1.06845078e-02 8.43718994e-05 9.99942915e-01 4.12827351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.999254154 meters 0.051172267504014234 Centerline is valid? [True, True] Translation: X:1050.03, Y:19.41, Z:4.13 [[ 9.81890563e-01 -1.89248872e-01 -8.70560906e-03 1.05003445e+03] [ 1.89242145e-01 9.81929151e-01 -1.59754511e-03 1.94084801e+01] [ 8.85062493e-03 -7.88536693e-05 9.99960829e-01 4.12947464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.059254154 meters 0.051138990382232186 Centerline is valid? [True, True] Translation: X:1050.09, Y:19.41, Z:4.13 [[ 9.80059800e-01 -1.98600099e-01 -6.38662828e-03 1.05009400e+03] [ 1.98596674e-01 9.80080602e-01 -1.17242670e-03 1.94137609e+01] [ 6.49225454e-03 -1.19314858e-04 9.99978918e-01 4.13057018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters 0.0518202586046936 Centerline is valid? [True, True] Translation: X:1050.15, Y:19.42, Z:4.13 [[ 9.79333641e-01 -2.02118160e-01 -7.33960163e-03 1.05015232e+03] [ 2.02113735e-01 9.79361130e-01 -1.34750408e-03 1.94247421e+01] [ 7.46047559e-03 -1.63778217e-04 9.99972157e-01 4.12998981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters 0.05250460369854406 Centerline is valid? [True, True] Translation: X:1050.21, Y:19.43, Z:4.13 [[ 9.78855674e-01 -2.04345659e-01 -9.18809266e-03 1.05020956e+03] [ 2.04338819e-01 9.78898769e-01 -1.68714351e-03 1.94344224e+01] [ 9.33897305e-03 -2.26014012e-04 9.99956365e-01 4.12980996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.239254154 meters 0.0521428588079562 Centerline is valid? [True, True] Translation: X:1050.27, Y:19.45, Z:4.13 [[ 9.78319087e-01 -2.06859989e-01 -1.00353670e-02 1.05026740e+03] [ 2.06851959e-01 9.78370518e-01 -1.84297721e-03 1.94488374e+01] [ 1.01995454e-02 -2.72815534e-04 9.99947946e-01 4.12736719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.299254154 meters 0.05231984619310151 Centerline is valid? [True, True] Translation: X:1050.32, Y:19.47, Z:4.13 [[ 9.78495826e-01 -2.06086615e-01 -8.61545068e-03 1.05032460e+03] [ 2.06080663e-01 9.78533727e-01 -1.58256545e-03 1.94662172e+01] [ 8.75665462e-03 -2.26944103e-04 9.99961634e-01 4.12828897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters 0.05252699269165547 Centerline is valid? [True, True] Translation: X:1050.38, Y:19.48, Z:4.13 [[ 9.78747636e-01 -2.04896720e-01 -8.39045172e-03 1.05037978e+03] [ 2.04891028e-01 9.78783577e-01 -1.54166224e-03 1.94838930e+01] [ 8.52831788e-03 -2.10230006e-04 9.99963611e-01 4.12960349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters 0.05280273872904877 Centerline is valid? [True, True] Translation: X:1050.44, Y:19.50, Z:4.13 [[ 9.79852897e-01 -1.99635644e-01 -5.82319928e-03 1.05043651e+03] [ 1.99632808e-01 9.79870194e-01 -1.07010333e-03 1.95005631e+01] [ 5.91961017e-03 -1.13957777e-04 9.99982472e-01 4.13116954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.479254154 meters 0.05199925459541835 Centerline is valid? [True, True] Translation: X:1050.49, Y:19.52, Z:4.13 [[ 9.81338881e-01 -1.92228929e-01 -4.69469181e-03 1.05049366e+03] [ 1.92227001e-01 9.81350109e-01 -8.62784601e-04 1.95226779e+01] [ 4.77298848e-03 -5.57624514e-05 9.99988608e-01 4.13007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.539254154 meters 0.052576926879978024 Centerline is valid? [True, True] Translation: X:1050.55, Y:19.54, Z:4.13 [[ 9.82780050e-01 -1.84706583e-01 -5.18191743e-03 1.05055079e+03] [ 1.84704129e-01 9.82793711e-01 -9.52374104e-04 1.95430058e+01] [ 5.26866563e-03 -2.11472777e-05 9.99986120e-01 4.12791342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters 0.05224662399143474 Centerline is valid? [True, True] Translation: X:1050.61, Y:19.56, Z:4.13 [[ 9.83897698e-01 -1.78638473e-01 -5.79795019e-03 1.05060606e+03] [ 1.78635294e-01 9.83914781e-01 -1.06587730e-03 1.95647155e+01] [ 5.89509559e-03 1.29956912e-05 9.99982624e-01 4.12750883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters 0.05229493560140661 Centerline is valid? [True, True] Translation: X:1050.66, Y:19.58, Z:4.13 [[ 9.84616223e-01 -1.74639243e-01 -5.65929674e-03 1.05066101e+03] [ 1.74636145e-01 9.84632487e-01 -1.04095002e-03 1.95845779e+01] [ 5.75411814e-03 3.66185162e-05 9.99983444e-01 4.12728712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.719254154 meters 0.05269416170123027 Centerline is valid? [True, True] Translation: X:1050.72, Y:19.60, Z:4.13 [[ 9.84774835e-01 -1.73736257e-01 -5.85120878e-03 1.05071769e+03] [ 1.73732926e-01 9.84792217e-01 -1.07661501e-03 1.95998056e+01] [ 5.94927193e-03 4.36757443e-05 9.99982302e-01 4.12662852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.779254154 meters 0.05192470368277597 Centerline is valid? [True, True] Translation: X:1050.77, Y:19.61, Z:4.13 [[ 9.84925961e-01 -1.72840000e-01 -6.86924380e-03 1.05077481e+03] [ 1.72835382e-01 9.84949913e-01 -1.26474044e-03 1.96146556e+01] [ 6.98445882e-03 5.84273164e-05 9.99975607e-01 4.12547851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters 0.05283370412886763 Centerline is valid? [True, True] Translation: X:1050.83, Y:19.63, Z:4.12 [[ 9.85178083e-01 -1.71297978e-01 -9.00816828e-03 1.05083223e+03] [ 1.71289962e-01 9.85219262e-01 -1.65969013e-03 1.96270224e+01] [ 9.15932247e-03 9.20815357e-05 9.99958048e-01 4.12462095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters 0.05309301109056021 Centerline is valid? [True, True] Translation: X:1050.89, Y:19.64, Z:4.12 [[ 9.85391888e-01 -1.69942602e-01 -1.10607213e-02 1.05088965e+03] [ 1.69930416e-01 9.85453954e-01 -2.03925951e-03 1.96400221e+01] [ 1.12463886e-02 1.29916806e-04 9.99936749e-01 4.12388032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.959254154 meters 0.05280978591449444 Centerline is valid? [True, True] Translation: X:1050.95, Y:19.65, Z:4.12 [[ 9.85208422e-01 -1.71017481e-01 -1.08344729e-02 1.05094757e+03] [ 1.71005839e-01 9.85267988e-01 -1.99885659e-03 1.96503964e+01] [ 1.10166987e-02 1.16532221e-04 9.99939308e-01 4.12468219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.019254154 meters 0.053053917523585306 Centerline is valid? [True, True] Translation: X:1051.01, Y:19.66, Z:4.13 [[ 9.84181596e-01 -1.76866199e-01 -1.02436995e-02 1.05100644e+03] [ 1.76856100e-01 9.84234903e-01 -1.89069912e-03 1.96584020e+01] [ 1.04166074e-02 4.91305296e-05 9.99945744e-01 4.12545747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters 0.052956720228176726 Centerline is valid? [True, True] Translation: X:1051.06, Y:19.66, Z:4.13 [[ 9.82928282e-01 -1.83728767e-01 -9.78427341e-03 1.05106425e+03] [ 1.83719883e-01 9.82976978e-01 -1.80684798e-03 1.96646885e+01] [ 9.94968546e-03 -2.15635930e-05 9.99950500e-01 4.12581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters 0.05315118446385695 Centerline is valid? [True, True] Translation: X:1051.12, Y:19.67, Z:4.13 [[ 9.80719314e-01 -1.95236526e-01 -8.50443936e-03 1.05112436e+03] [ 1.95230242e-01 9.80756180e-01 -1.57095535e-03 1.96685116e+01] [ 8.64748933e-03 -1.19657503e-04 9.99962603e-01 4.12879242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.199254154 meters 0.0537453894760821 Centerline is valid? [True, True] Translation: X:1051.18, Y:19.68, Z:4.13 [[ 9.79086055e-01 -2.03283099e-01 -8.15345395e-03 1.05118249e+03] [ 2.03277601e-01 9.79119987e-01 -1.50621023e-03 1.96784963e+01] [ 8.28939681e-03 -1.82705122e-04 9.99965626e-01 4.12939944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.259254154 meters 0.05381294832865146 Centerline is valid? [True, True] Translation: X:1051.24, Y:19.68, Z:4.13 [[ 9.78660468e-01 -2.05273878e-01 -9.29109035e-03 1.05124263e+03] [ 2.05266827e-01 9.78704543e-01 -1.71647405e-03 1.96820073e+01] [ 9.44557963e-03 -2.27307340e-04 9.99955364e-01 4.12806150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.319254154 meters 0.05365384374003737 Centerline is valid? [True, True] Translation: X:1051.30, Y:19.70, Z:4.13 [[ 9.79205337e-01 -2.02634055e-01 -9.81571855e-03 1.05129996e+03] [ 2.02626051e-01 9.79254510e-01 -1.81353480e-03 1.97000570e+01] [ 9.97957056e-03 -2.13097337e-04 9.99950180e-01 4.12898576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters 0.05330788362360931 Centerline is valid? [True, True] Translation: X:1051.36, Y:19.71, Z:4.13 [[ 9.80303870e-01 -1.97250003e-01 -9.83656961e-03 1.05135893e+03] [ 1.97241693e-01 9.80353207e-01 -1.81749879e-03 1.97139735e+01] [ 1.00018142e-02 -1.58480549e-04 9.99949968e-01 4.12994730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.439254154 meters 0.05294275821437975 Centerline is valid? [True, True] Translation: X:1051.42, Y:19.72, Z:4.13 [[ 9.81238731e-01 -1.92565364e-01 -9.44109177e-03 1.05141866e+03] [ 1.92557489e-01 9.81284143e-01 -1.74468421e-03 1.97224357e+01] [ 9.60035940e-03 -1.06001207e-04 9.99953910e-01 4.12871782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.499254154 meters 0.052643505041278495 Centerline is valid? [True, True] Translation: X:1051.48, Y:19.74, Z:4.13 [[ 9.82817634e-01 -1.84344858e-01 -9.29906409e-03 1.05147713e+03] [ 1.84336849e-01 9.82861624e-01 -1.71859604e-03 1.97377101e+01] [ 9.45650758e-03 -2.50936777e-05 9.99955286e-01 4.12815358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.559254154 meters 0.05281143495495707 Centerline is valid? [True, True] Translation: X:1051.53, Y:19.76, Z:4.13 [[ 9.84775255e-01 -1.73570075e-01 -9.54596174e-03 1.05153226e+03] [ 1.73561125e-01 9.84821518e-01 -1.76447022e-03 1.97559662e+01] [ 9.70732776e-03 8.07987559e-05 9.99952879e-01 4.12723474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters 0.05319515147619612 Centerline is valid? [True, True] Translation: X:1051.59, Y:19.77, Z:4.13 [[ 9.86780153e-01 -1.61803763e-01 -9.19087681e-03 1.05159071e+03] [ 1.61794953e-01 9.86822936e-01 -1.69905951e-03 1.97669876e+01] [ 9.34468226e-03 1.89560716e-04 9.99956320e-01 4.12955836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters 0.05228250714707462 Centerline is valid? [True, True] Translation: X:1051.65, Y:19.78, Z:4.13 [[ 9.87980417e-01 -1.54335365e-01 -8.67703743e-03 1.05164957e+03] [ 1.54327224e-01 9.88018489e-01 -1.60407667e-03 1.97806504e+01] [ 8.82063917e-03 2.45693238e-04 9.99961067e-01 4.12980984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.739254154 meters 0.05311545168604284 Centerline is valid? [True, True] Translation: X:1051.71, Y:19.79, Z:4.13 [[ 9.88140087e-01 -1.53329481e-01 -8.32098582e-03 1.05170673e+03] [ 1.53321958e-01 9.88175091e-01 -1.53841304e-03 1.97910797e+01] [ 8.45847500e-03 2.44377760e-04 9.99964197e-01 4.13019223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.799254154 meters 0.052651255803802234 Centerline is valid? [True, True] Translation: X:1051.77, Y:19.80, Z:4.13 [[ 9.87908573e-01 -1.54843624e-01 -7.75264604e-03 1.05176561e+03] [ 1.54837137e-01 9.87938969e-01 -1.43369104e-03 1.97994144e+01] [ 7.88113905e-03 2.15958150e-04 9.99968920e-01 4.13018410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters 0.05249581312630614 Centerline is valid? [True, True] Translation: X:1051.82, Y:19.81, Z:4.13 [[ 9.87585820e-01 -1.56834204e-01 -8.79094725e-03 1.05182455e+03] [ 1.56825938e-01 9.87624919e-01 -1.62619395e-03 1.98059671e+01] [ 8.93720141e-03 2.27357539e-04 9.99960037e-01 4.12873476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters 0.053364332828831865 Centerline is valid? [True, True] Translation: X:1051.88, Y:19.81, Z:4.13 [[ 9.87554444e-01 -1.56868249e-01 -1.13389670e-02 1.05188327e+03] [ 1.56854487e-01 9.87619495e-01 -2.09859412e-03 1.98125863e+01] [ 1.15277876e-02 2.93908108e-04 9.99933510e-01 4.12575838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.979254154 meters 0.05164081704682562 Centerline is valid? [True, True] Translation: X:1051.94, Y:19.81, Z:4.13 [[ 9.87572674e-01 -1.56605988e-01 -1.32203903e-02 1.05194365e+03] [ 1.56587235e-01 9.87661098e-01 -2.44827849e-03 1.98104338e+01] [ 1.34406803e-02 3.47708558e-04 9.99909609e-01 4.12651075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.039254154 meters 0.051510268747121696 Centerline is valid? [True, True] Translation: X:1052.00, Y:19.82, Z:4.13 [[ 9.87533728e-01 -1.56813720e-01 -1.36599421e-02 1.05200153e+03] [ 1.56793696e-01 9.87628133e-01 -2.53139662e-03 1.98153374e+01] [ 1.38879009e-02 3.58046730e-04 9.99903494e-01 4.12715776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters 0.05250641094809359 Centerline is valid? [True, True] Translation: X:1052.06, Y:19.83, Z:4.13 [[ 9.87489916e-01 -1.57226678e-01 -1.19765463e-02 1.05205878e+03] [ 1.57211304e-01 9.87562492e-01 -2.22037156e-03 1.98253126e+01] [ 1.21766895e-02 3.09746067e-04 9.99925813e-01 4.12512152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters 0.04988850734311174 Centerline is valid? [True, True] Translation: X:1052.12, Y:19.82, Z:4.13 [[ 9.87433378e-01 -1.57644502e-01 -1.11146431e-02 1.05211937e+03] [ 1.57631276e-01 9.87495889e-01 -2.06156907e-03 1.98213598e+01] [ 1.13006594e-02 2.83646730e-04 9.99936105e-01 4.12902483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.219254154 meters 0.050245248300415296 Centerline is valid? [True, True] Translation: X:1052.18, Y:19.83, Z:4.13 [[ 9.87213047e-01 -1.59019883e-01 -1.10939897e-02 1.05217739e+03] [ 1.59006786e-01 9.87275344e-01 -2.05844794e-03 1.98260848e+01] [ 1.12801566e-02 2.68107022e-04 9.99936341e-01 4.12809273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.279254154 meters 0.04946402887935605 Centerline is valid? [True, True] Translation: X:1052.24, Y:19.83, Z:4.13 [[ 9.87268212e-01 -1.58718317e-01 -1.04868188e-02 1.05223620e+03] [ 1.58706587e-01 9.87323873e-01 -1.94671649e-03 1.98305428e+01] [ 1.06628661e-02 2.57604077e-04 9.99943117e-01 4.12997978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters 0.05029167048897041 Centerline is valid? [True, True] Translation: X:1052.29, Y:19.84, Z:4.13 [[ 9.87454971e-01 -1.57519168e-01 -1.09723597e-02 1.05229215e+03] [ 1.57506243e-01 9.87515889e-01 -2.03768057e-03 1.98435493e+01] [ 1.11563533e-02 2.83902650e-04 9.99937726e-01 4.13001431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters 0.05022954736380702 Centerline is valid? [True, True] Translation: X:1052.35, Y:19.86, Z:4.13 [[ 9.87423377e-01 -1.57605862e-01 -1.24686116e-02 1.05234912e+03] [ 1.57589172e-01 9.87502045e-01 -2.31612720e-03 1.98565295e+01] [ 1.26778146e-02 3.22079975e-04 9.99919581e-01 4.12970422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.459254154 meters 0.05044269013817156 Centerline is valid? [True, True] Translation: X:1052.41, Y:19.87, Z:4.13 [[ 9.87223889e-01 -1.58888218e-01 -1.19802662e-02 1.05240590e+03] [ 1.58872896e-01 9.87296535e-01 -2.22606329e-03 1.98688367e+01] [ 1.21817706e-02 2.94283272e-04 9.99925756e-01 4.12969642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.519254154 meters 0.052528211095183394 Centerline is valid? [True, True] Translation: X:1052.46, Y:19.89, Z:4.13 [[ 9.87093054e-01 -1.59717390e-01 -1.17327873e-02 1.05246074e+03] [ 1.59702746e-01 9.87162741e-01 -2.18063100e-03 1.98911149e+01] [ 1.19304551e-02 2.78727367e-04 9.99928791e-01 4.12552023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters 0.04906586076315326 Centerline is valid? [True, True] Translation: X:1052.52, Y:19.89, Z:4.13 [[ 9.86688679e-01 -1.62227177e-01 -1.13046132e-02 1.05252270e+03] [ 1.62213745e-01 9.86753407e-01 -2.10126595e-03 1.98874155e+01] [ 1.14957480e-02 2.39531678e-04 9.99933893e-01 4.12955882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters 0.05069797167881356 Centerline is valid? [True, True] Translation: X:1052.58, Y:19.90, Z:4.13 [[ 9.86183451e-01 -1.65282187e-01 -1.11355510e-02 1.05258063e+03] [ 1.65269346e-01 9.86246297e-01 -2.06999442e-03 1.98990238e+01] [ 1.13245291e-02 2.01029004e-04 9.99935855e-01 4.12888902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.699254154 meters 0.050659716381239825 Centerline is valid? [True, True] Translation: X:1052.64, Y:19.91, Z:4.13 [[ 9.86074182e-01 -1.65978523e-01 -1.04325744e-02 1.05263719e+03] [ 1.65967288e-01 9.86129351e-01 -1.93964669e-03 1.99090238e+01] [ 1.06098075e-02 1.81169444e-04 9.99943698e-01 4.12979027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.759254154 meters 0.04981447228324093 Centerline is valid? [True, True] Translation: X:1052.69, Y:19.92, Z:4.13 [[ 9.86350028e-01 -1.64336029e-01 -1.03581863e-02 1.05269445e+03] [ 1.64324859e-01 9.86404395e-01 -1.92623791e-03 1.99199539e+01] [ 1.05339108e-02 1.97837310e-04 9.99944497e-01 4.12990352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.819254154 meters 0.050792631109657975 Centerline is valid? [True, True] Translation: X:1052.75, Y:19.93, Z:4.13 [[ 9.86572141e-01 -1.62966794e-01 -1.08275344e-02 1.05275287e+03] [ 1.62954495e-01 9.86631529e-01 -2.01450311e-03 1.99291166e+01] [ 1.10110840e-02 2.23057237e-04 9.99939351e-01 4.13052411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters 0.04977204990706908 Centerline is valid? [True, True] Translation: X:1052.81, Y:19.94, Z:4.13 [[ 9.86641592e-01 -1.62523722e-01 -1.11539190e-02 1.05280952e+03] [ 1.62510633e-01 9.86704609e-01 -2.07600192e-03 1.99428070e+01] [ 1.13430228e-02 2.35639400e-04 9.99935638e-01 4.12954251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.939254154 meters 0.05051273269341067 Centerline is valid? [True, True] Translation: X:1052.87, Y:19.95, Z:4.13 [[ 9.86621889e-01 -1.62577065e-01 -1.20808234e-02 1.05286711e+03] [ 1.62561701e-01 9.86695816e-01 -2.24961995e-03 1.99544549e+01] [ 1.22858345e-02 2.55645077e-04 9.99924494e-01 4.12946119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.999254154 meters 0.05011122646845017 Centerline is valid? [True, True] Translation: X:1052.93, Y:19.96, Z:4.13 [[ 9.86480852e-01 -1.63447695e-01 -1.18482412e-02 1.05292541e+03] [ 1.63432963e-01 9.86551972e-01 -2.20768033e-03 1.99613719e+01] [ 1.20497460e-02 2.41441213e-04 9.99927370e-01 4.13103803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.059254154 meters 0.050303291639961806 Centerline is valid? [True, True] Translation: X:1052.98, Y:19.97, Z:4.13 [[ 9.86233996e-01 -1.64864486e-01 -1.27360021e-02 1.05298242e+03] [ 1.64847571e-01 9.86316198e-01 -2.37395870e-03 1.99725305e+01] [ 1.29531067e-02 2.41779762e-04 9.99916076e-01 4.13060763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters 0.05037186252542767 Centerline is valid? [True, True] Translation: X:1053.04, Y:19.99, Z:4.13 [[ 9.85697513e-01 -1.67974352e-01 -1.36025380e-02 1.05303878e+03] [ 1.67955342e-01 9.85791342e-01 -2.53621321e-03 1.99857566e+01] [ 1.38352830e-02 2.15320128e-04 9.99904265e-01 4.12774560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters 0.050490016057689505 Centerline is valid? [True, True] Translation: X:1053.10, Y:19.99, Z:4.13 [[ 9.84916238e-01 -1.72527032e-01 -1.32070927e-02 1.05309862e+03] [ 1.72509516e-01 9.85004772e-01 -2.46284982e-03 1.99909413e+01] [ 1.34339575e-02 1.47351625e-04 9.99909749e-01 4.13050358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.239254154 meters 0.0508881016036713 Centerline is valid? [True, True] Translation: X:1053.16, Y:20.00, Z:4.13 [[ 9.84000557e-01 -1.77758137e-01 -1.20394355e-02 1.05315697e+03] [ 1.77743969e-01 9.84074204e-01 -2.24535042e-03 2.00017321e+01] [ 1.22468272e-02 6.94890131e-05 9.99925002e-01 4.12954508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.299254154 meters 0.05049816788632035 Centerline is valid? [True, True] Translation: X:1053.22, Y:20.01, Z:4.13 [[ 9.83418837e-01 -1.80920806e-01 -1.24520596e-02 1.05321576e+03] [ 1.80905890e-01 9.83497667e-01 -2.32340830e-03 2.00097952e+01] [ 1.26669244e-02 3.22325663e-05 9.99919771e-01 4.13235584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters 0.050996726066012917 Centerline is valid? [True, True] Translation: X:1053.27, Y:20.02, Z:4.13 [[ 9.83338665e-01 -1.81312677e-01 -1.30683695e-02 1.05327319e+03] [ 1.81296261e-01 9.83425499e-01 -2.43996204e-03 2.00213368e+01] [ 1.32941638e-02 3.00624891e-05 9.99911628e-01 4.13226080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters 0.05040894049667486 Centerline is valid? [True, True] Translation: X:1053.33, Y:20.04, Z:4.13 [[ 9.83580518e-01 -1.80021999e-01 -1.27060555e-02 1.05332806e+03] [ 1.80006361e-01 9.83662583e-01 -2.37327208e-03 2.00360502e+01] [ 1.29257125e-02 4.71333788e-05 9.99916458e-01 4.13044354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.479254154 meters 0.05138923066816085 Centerline is valid? [True, True] Translation: X:1053.39, Y:20.05, Z:4.13 [[ 9.83954005e-01 -1.77989923e-01 -1.24138224e-02 1.05338546e+03] [ 1.77974818e-01 9.84032307e-01 -2.31991662e-03 2.00495776e+01] [ 1.26285240e-02 7.33434704e-05 9.99920254e-01 4.13322987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.539254154 meters 0.05143574110852666 Centerline is valid? [True, True] Translation: X:1053.44, Y:20.07, Z:4.13 [[ 9.84509890e-01 -1.74881220e-01 -1.25234320e-02 1.05344169e+03] [ 1.74865586e-01 9.84589532e-01 -2.34122386e-03 2.00653280e+01] [ 1.27398762e-02 1.15040767e-04 9.99918838e-01 4.13192093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters 0.050959762476639324 Centerline is valid? [True, True] Translation: X:1053.50, Y:20.08, Z:4.13 [[ 9.85259332e-01 -1.70607784e-01 -1.25312847e-02 1.05349978e+03] [ 1.70591779e-01 9.85339005e-01 -2.34307208e-03 2.00778409e+01] [ 1.27473099e-02 1.70799490e-04 9.99918735e-01 4.13368215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters 0.05070535670346437 Centerline is valid? [True, True] Translation: X:1053.56, Y:20.09, Z:4.13 [[ 9.85927018e-01 -1.66758548e-01 -1.18110903e-02 1.05355835e+03] [ 1.66744052e-01 9.85997740e-01 -2.20863735e-03 2.00903771e+01] [ 1.20140175e-02 2.08126191e-04 9.99927807e-01 4.13449821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.719254154 meters 0.05113097664253928 Centerline is valid? [True, True] Translation: X:1053.61, Y:20.11, Z:4.13 [[ 9.86226463e-01 -1.65021155e-01 -1.11974508e-02 1.05361400e+03] [ 1.65008010e-01 9.86290003e-01 -2.09425409e-03 2.01069248e+01] [ 1.13895301e-02 2.17739725e-04 9.99935113e-01 4.13308669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.779254154 meters 0.05140693338498503 Centerline is valid? [True, True] Translation: X:1053.67, Y:20.12, Z:4.13 [[ 9.86478729e-01 -1.63571197e-01 -1.02069479e-02 1.05367185e+03] [ 1.63560188e-01 9.86531509e-01 -1.90983277e-03 2.01185377e+01] [ 1.03818694e-02 2.14559080e-04 9.99946084e-01 4.13411971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters 0.05258486710614548 Centerline is valid? [True, True] Translation: X:1053.74, Y:20.10, Z:4.14 [[ 9.86670876e-01 -1.62428329e-01 -9.88032974e-03 1.05373530e+03] [ 1.62417946e-01 9.86720320e-01 -1.84977125e-03 2.00974916e+01] [ 1.00495774e-02 2.20372563e-04 9.99949477e-01 4.14354029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters 0.050713368052260926 Centerline is valid? [True, True] Translation: X:1053.79, Y:20.14, Z:4.13 [[ 9.86920340e-01 -1.60832967e-01 -1.10000055e-02 1.05378764e+03] [ 1.60819991e-01 9.86981604e-01 -2.05991308e-03 2.01425982e+01] [ 1.11881050e-02 2.63949323e-04 9.99937376e-01 4.13361843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.959254154 meters 0.05079426786045976 Centerline is valid? [True, True] Translation: X:1053.85, Y:20.15, Z:4.13 [[ 9.87169324e-01 -1.59175190e-01 -1.26484708e-02 1.05384697e+03] [ 1.59157895e-01 9.87250299e-01 -2.36886427e-03 2.01469470e+01] [ 1.28642710e-02 3.25366152e-04 9.99917199e-01 4.13488053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.019254154 meters 0.055205323369112526 Centerline is valid? [True, True] Translation: X:1053.91, Y:20.13, Z:4.15 [[ 9.87678518e-01 -1.55764999e-01 -1.51132721e-02 1.05391066e+03] [ 1.55739903e-01 9.87794042e-01 -2.83071388e-03 2.01257792e+01] [ 1.53697263e-02 4.42095759e-04 9.99881781e-01 4.14701741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters 0.051357375957757946 Centerline is valid? [True, True] Translation: X:1053.96, Y:20.17, Z:4.13 [[ 9.88017453e-01 -1.53459687e-01 -1.64814421e-02 1.05396346e+03] [ 1.53429518e-01 9.88154772e-01 -3.08711709e-03 2.01692360e+01] [ 1.67599637e-02 5.21385833e-04 9.99859406e-01 4.13412518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters 0.055999322789523805 Centerline is valid? [True, True] Translation: X:1054.03, Y:20.14, Z:4.15 [[ 9.87866734e-01 -1.54491476e-01 -1.58650390e-02 1.05402724e+03] [ 1.54463646e-01 9.87994002e-01 -2.97217365e-03 2.01413267e+01] [ 1.61337389e-02 4.85539704e-04 9.99869725e-01 4.15039685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.199254154 meters 0.051591370240930495 Centerline is valid? [True, True] Translation: X:1054.08, Y:20.19, Z:4.13 [[ 9.87707405e-01 -1.55567809e-01 -1.52557872e-02 1.05407732e+03] [ 1.55542185e-01 9.87825113e-01 -2.85932577e-03 2.01921842e+01] [ 1.55148688e-02 4.51258767e-04 9.99879535e-01 4.13440532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.259254154 meters 0.05494444539767918 Centerline is valid? [True, True] Translation: X:1054.14, Y:20.16, Z:4.15 [[ 9.87102299e-01 -1.59571129e-01 -1.28882210e-02 1.05414459e+03] [ 1.59553175e-01 9.87186379e-01 -2.41608880e-03 2.01611982e+01] [ 1.31086142e-02 3.28570228e-04 9.99914024e-01 4.15002960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.319254154 meters 0.05202608477893679 Centerline is valid? [True, True] Translation: X:1054.20, Y:20.18, Z:4.15 [[ 9.86510133e-01 -1.63312297e-01 -1.12628178e-02 1.05420197e+03] [ 1.63298828e-01 9.86574394e-01 -2.11154100e-03 2.01770308e+01] [ 1.14564482e-02 2.43851660e-04 9.99934343e-01 4.14802982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters 0.049717695542880185 Centerline is valid? [True, True] Translation: X:1054.26, Y:20.21, Z:4.14 [[ 9.86275727e-01 -1.64732112e-01 -1.11139878e-02 1.05425630e+03] [ 1.64719082e-01 9.86338320e-01 -2.08410288e-03 2.02089231e+01] [ 1.13054708e-02 2.24814208e-04 9.99936066e-01 4.14026335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.439254154 meters 0.05058108248757166 Centerline is valid? [True, True] Translation: X:1054.31, Y:20.22, Z:4.14 [[ 9.86397486e-01 -1.63934236e-01 -1.20650849e-02 1.05431464e+03] [ 1.63918805e-01 9.86471237e-01 -2.26366025e-03 2.02186635e+01] [ 1.22729506e-02 2.55174476e-04 9.99924652e-01 4.13957846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.499254154 meters 0.050845960309690894 Centerline is valid? [True, True] Translation: X:1054.38, Y:20.21, Z:4.15 [[ 9.86802490e-01 -1.61311238e-01 -1.41255381e-02 1.05437596e+03] [ 1.61289809e-01 9.86903526e-01 -2.65087011e-03 2.02135823e+01] [ 1.43681585e-02 3.37579883e-04 9.99896716e-01 4.14627308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.559254154 meters 0.054164799619155116 Centerline is valid? [True, True] Translation: X:1054.44, Y:20.21, Z:4.15 [[ 9.87041346e-01 -1.59788931e-01 -1.47268203e-02 1.05443702e+03] [ 1.59765466e-01 9.87151132e-01 -2.76390412e-03 2.02111944e+01] [ 1.49792386e-02 3.75250326e-04 9.99887734e-01 4.15159254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters 0.04979876745009185 Centerline is valid? [True, True] Translation: X:1054.49, Y:20.25, Z:4.14 [[ 9.86912228e-01 -1.60667531e-01 -1.37912887e-02 1.05448988e+03] [ 1.60647023e-01 9.87008525e-01 -2.58942455e-03 2.02502044e+01] [ 1.40281560e-02 3.40005267e-04 9.99901543e-01 4.13904447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters 0.05041466340162347 Centerline is valid? [True, True] Translation: X:1054.55, Y:20.26, Z:4.14 [[ 9.86782544e-01 -1.61563266e-01 -1.25507663e-02 1.05454852e+03] [ 1.61546336e-01 9.86862311e-01 -2.35789219e-03 2.02580099e+01] [ 1.27668270e-02 2.99196541e-04 9.99918456e-01 4.14090958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.739254154 meters 0.050906593408722806 Centerline is valid? [True, True] Translation: X:1054.61, Y:20.25, Z:4.15 [[ 9.86791399e-01 -1.61657314e-01 -1.04712770e-02 1.05460927e+03] [ 1.61645527e-01 9.86846924e-01 -1.96800307e-03 2.02496071e+01] [ 1.06516896e-02 2.49373410e-04 9.99943238e-01 4.14791944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.799254154 meters 0.052060658198220706 Centerline is valid? [True, True] Translation: X:1054.67, Y:20.26, Z:4.15 [[ 9.86909666e-01 -1.60921024e-01 -1.06646569e-02 1.05466743e+03] [ 1.60908749e-01 9.86967251e-01 -2.00483320e-03 2.02564449e+01] [ 1.08482869e-02 2.62552664e-04 9.99941121e-01 4.14938291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters 0.050689303451699114 Centerline is valid? [True, True] Translation: X:1054.72, Y:20.27, Z:4.15 [[ 9.87206479e-01 -1.59038253e-01 -1.14106281e-02 1.05472358e+03] [ 1.59024070e-01 9.87272375e-01 -2.14547118e-03 2.02732031e+01] [ 1.16066099e-02 3.03458517e-04 9.99932595e-01 4.14845389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters 0.0519077469238724 Centerline is valid? [True, True] Translation: X:1054.78, Y:20.32, Z:4.14 [[ 9.87674905e-01 -1.56070348e-01 -1.18460602e-02 1.05477631e+03] [ 1.56054847e-01 9.87745880e-01 -2.22747885e-03 2.03172724e+01] [ 1.20485405e-02 3.51389847e-04 9.99927352e-01 4.13922050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.979254154 meters 0.05270334990620461 Centerline is valid? [True, True] Translation: X:1054.83, Y:20.33, Z:4.14 [[ 9.87920868e-01 -1.54497994e-01 -1.19469223e-02 1.05483419e+03] [ 1.54482111e-01 9.87993031e-01 -2.24662838e-03 2.03308898e+01] [ 1.21505755e-02 3.73905286e-04 9.99926109e-01 4.13964020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.039254154 meters 0.053128178257057096 Centerline is valid? [True, True] Translation: X:1054.89, Y:20.35, Z:4.14 [[ 9.88188132e-01 -1.52738727e-01 -1.24538291e-02 1.05489132e+03] [ 1.52721324e-01 9.88266518e-01 -2.34224119e-03 2.03460577e+01] [ 1.26654533e-02 4.12609668e-04 9.99919705e-01 4.13965338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters 0.050383958332274055 Centerline is valid? [True, True] Translation: X:1054.95, Y:20.34, Z:4.14 [[ 9.88065754e-01 -1.53537765e-01 -1.23378006e-02 1.05495151e+03] [ 1.53520736e-01 9.88142700e-01 -2.32137923e-03 2.03446652e+01] [ 1.25479270e-02 3.99567095e-04 9.99921192e-01 4.14359268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters 0.05060304572716946 Centerline is valid? [True, True] Translation: X:1055.01, Y:20.36, Z:4.14 [[ 9.87623141e-01 -1.56347791e-01 -1.24859927e-02 1.05501096e+03] [ 1.56330568e-01 9.87701996e-01 -2.34973476e-03 2.03553287e+01] [ 1.26998157e-02 3.68710101e-04 9.99919286e-01 4.14401378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.219254154 meters 0.05012605466928957 Centerline is valid? [True, True] Translation: X:1055.07, Y:20.36, Z:4.15 [[ 9.87004028e-01 -1.60230965e-01 -1.22101464e-02 1.05507078e+03] [ 1.60214789e-01 9.87079501e-01 -2.29795103e-03 2.03633725e+01] [ 1.24205881e-02 3.11840891e-04 9.99922813e-01 4.14519496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.279254154 meters 0.05228264218758939 Centerline is valid? [True, True] Translation: X:1055.13, Y:20.38, Z:4.14 [[ 9.86572653e-01 -1.62839151e-01 -1.25623021e-02 1.05512680e+03] [ 1.62822237e-01 9.86652588e-01 -2.36448463e-03 2.03829670e+01] [ 1.27796585e-02 2.87313744e-04 9.99918296e-01 4.14240613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters 0.050704968592529015 Centerline is valid? [True, True] Translation: X:1055.19, Y:20.39, Z:4.15 [[ 9.85924152e-01 -1.66665451e-01 -1.32737795e-02 1.05518687e+03] [ 1.66646910e-01 9.86013471e-01 -2.49865334e-03 2.03851935e+01] [ 1.35045646e-02 2.51448328e-04 9.99908778e-01 4.14600838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters 0.05079834096629585 Centerline is valid? [True, True] Translation: X:1055.24, Y:20.40, Z:4.15 [[ 9.85273356e-01 -1.70451416e-01 -1.35177143e-02 1.05524450e+03] [ 1.70432541e-01 9.85366061e-01 -2.54471628e-03 2.03988475e+01] [ 1.37536473e-02 2.03382768e-04 9.99905393e-01 4.14601198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.459254154 meters 0.050677344472390196 Centerline is valid? [True, True] Translation: X:1055.30, Y:20.41, Z:4.15 [[ 9.84654440e-01 -1.74066534e-01 -1.25090173e-02 1.05530335e+03] [ 1.74050660e-01 9.84733884e-01 -2.35500656e-03 2.04079313e+01] [ 1.27279810e-02 1.41664944e-04 9.99918986e-01 4.14802523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.519254154 meters 0.05081796794286478 Centerline is valid? [True, True] Translation: X:1055.36, Y:20.42, Z:4.15 [[ 9.84263349e-01 -1.76288106e-01 -1.21722634e-02 1.05536117e+03] [ 1.76273232e-01 9.84338606e-01 -2.29267132e-03 2.04183873e+01] [ 1.23857995e-02 1.10948136e-04 9.99923287e-01 4.14759284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters 0.05115888150818862 Centerline is valid? [True, True] Translation: X:1055.42, Y:20.43, Z:4.15 [[ 9.83854645e-01 -1.78493826e-01 -1.30381140e-02 1.05541886e+03] [ 1.78476933e-01 9.83941028e-01 -2.45736095e-03 2.04295117e+01] [ 1.32673591e-02 9.06833824e-05 9.99911981e-01 4.14842006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters 0.050775455587430976 Centerline is valid? [True, True] Translation: X:1055.48, Y:20.44, Z:4.15 [[ 9.83841126e-01 -1.78593569e-01 -1.26876473e-02 1.05547504e+03] [ 1.78577563e-01 9.83922929e-01 -2.39258730e-03 2.04418665e+01] [ 1.29109678e-02 8.81966517e-05 9.99916646e-01 4.14878968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.699254154 meters 0.051566834394192095 Centerline is valid? [True, True] Translation: X:1055.53, Y:20.46, Z:4.15 [[ 9.83855474e-01 -1.78641324e-01 -1.07556242e-02 1.05553143e+03] [ 1.78629812e-01 9.83914260e-01 -2.02937811e-03 2.04579498e+01] [ 1.09451428e-02 7.53396289e-05 9.99940097e-01 4.14786617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.759254154 meters 0.051566966215051864 Centerline is valid? [True, True] Translation: X:1055.59, Y:20.47, Z:4.15 [[ 9.83705532e-01 -1.79550350e-01 -9.22486693e-03 1.05558869e+03] [ 1.79541913e-01 9.83748783e-01 -1.74153731e-03 2.04708248e+01] [ 9.38764525e-03 5.69096308e-05 9.99955933e-01 4.14964508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.819254154 meters 0.05112394873975866 Centerline is valid? [True, True] Translation: X:1055.65, Y:20.48, Z:4.15 [[ 9.83521781e-01 -1.80566688e-01 -8.97645240e-03 1.05564573e+03] [ 1.80558733e-01 9.83562743e-01 -1.69562073e-03 2.04836693e+01] [ 9.13507676e-03 4.69030472e-05 9.99958273e-01 4.15029551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters 0.05202121248683191 Centerline is valid? [True, True] Translation: X:1055.70, Y:20.50, Z:4.15 [[ 9.83347565e-01 -1.81447055e-01 -1.02240789e-02 1.05570311e+03] [ 1.81436770e-01 9.83400714e-01 -1.93250158e-03 2.04985271e+01] [ 1.04050132e-02 4.52968739e-05 9.99945865e-01 4.14972221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.939254154 meters 0.05252732835784675 Centerline is valid? [True, True] Translation: X:1055.76, Y:20.51, Z:4.15 [[ 9.83348979e-01 -1.81329716e-01 -1.20133213e-02 1.05576041e+03] [ 1.81315488e-01 9.83422356e-01 -2.27215434e-03 2.05142736e+01] [ 1.22261778e-02 5.61194314e-05 9.99925256e-01 4.14857729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.999254154 meters 0.05249321043268268 Centerline is valid? [True, True] Translation: X:1055.82, Y:20.53, Z:4.15 [[ 9.83335872e-01 -1.81410838e-01 -1.18604928e-02 1.05581657e+03] [ 1.81396958e-01 9.83407395e-01 -2.24473598e-03 2.05287400e+01] [ 1.20709157e-02 5.58720988e-05 9.99927142e-01 4.15037084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.059254154 meters 0.05178011107909914 Centerline is valid? [True, True] Translation: X:1055.87, Y:20.54, Z:4.15 [[ 9.83273232e-01 -1.81739626e-01 -1.20191123e-02 1.05587201e+03] [ 1.81725385e-01 9.83346686e-01 -2.27576577e-03 2.05416752e+01] [ 1.22325511e-02 5.35217512e-05 9.99925178e-01 4.14873301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters 0.05221358436633653 Centerline is valid? [True, True] Translation: X:1055.93, Y:20.55, Z:4.15 [[ 9.82904495e-01 -1.83752109e-01 -1.15722019e-02 1.05592995e+03] [ 1.83739034e-01 9.82972615e-01 -2.19221229e-03 2.05543456e+01] [ 1.17779812e-02 2.84701208e-05 9.99930637e-01 4.15063884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters 0.05353059018798889 Centerline is valid? [True, True] Translation: X:1055.99, Y:20.57, Z:4.15 [[ 9.82466634e-01 -1.86136244e-01 -1.06118550e-02 1.05598692e+03] [ 1.86125376e-01 9.82523943e-01 -2.01147275e-03 2.05680384e+01] [ 1.08008096e-02 1.06937333e-06 9.99941670e-01 4.15155623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.239254154 meters 0.052452998759206955 Centerline is valid? [True, True] Translation: X:1056.04, Y:20.58, Z:4.15 [[ 9.82307716e-01 -1.86959061e-01 -1.08564025e-02 1.05604254e+03] [ 1.86947720e-01 9.82367706e-01 -2.05928005e-03 2.05838279e+01] [ 1.10499803e-02 -6.73300954e-06 9.99938947e-01 4.15179849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.299254154 meters 0.053112068634313274 Centerline is valid? [True, True] Translation: X:1056.10, Y:20.60, Z:4.15 [[ 9.82576050e-01 -1.85464615e-01 -1.21319235e-02 1.05609821e+03] [ 1.85450324e-01 9.82650943e-01 -2.30237655e-03 2.05990986e+01] [ 1.23484555e-02 1.23909177e-05 9.99923755e-01 4.14973646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters 0.053548684198553444 Centerline is valid? [True, True] Translation: X:1056.15, Y:20.62, Z:4.15 [[ 9.83366945e-01 -1.81181892e-01 -1.27504273e-02 1.05615444e+03] [ 1.81165729e-01 9.83449601e-01 -2.42103695e-03 2.06186150e+01] [ 1.29780506e-02 7.08272567e-05 9.99915779e-01 4.15001151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters 0.05364102657890883 Centerline is valid? [True, True] Translation: X:1056.21, Y:20.64, Z:4.15 [[ 9.84119029e-01 -1.76941863e-01 -1.41884892e-02 1.05621175e+03] [ 1.76921394e-01 9.84221295e-01 -2.69511327e-03 2.06373096e+01] [ 1.44414916e-02 1.42064973e-04 9.99895706e-01 4.15018510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.479254154 meters 0.05369352138390373 Centerline is valid? [True, True] Translation: X:1056.27, Y:20.65, Z:4.15 [[ 9.84553305e-01 -1.74584295e-01 -1.32330152e-02 1.05626884e+03] [ 1.74566259e-01 9.84642217e-01 -2.51492590e-03 2.06525429e+01] [ 1.34688520e-02 1.66040651e-04 9.99909277e-01 4.15080096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.539254154 meters 0.0538057537905149 Centerline is valid? [True, True] Translation: X:1056.32, Y:20.67, Z:4.15 [[ 9.84618674e-01 -1.74256186e-01 -1.26826096e-02 1.05632451e+03] [ 1.74239580e-01 9.84700337e-01 -2.41128947e-03 2.06673897e+01] [ 1.29087521e-02 1.64388069e-04 9.99916665e-01 4.15056749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters 0.05368609857659098 Centerline is valid? [True, True] Translation: X:1056.38, Y:20.68, Z:4.15 [[ 9.84728292e-01 -1.73751115e-01 -1.09882537e-02 1.05638246e+03] [ 1.73738607e-01 9.84789586e-01 -2.09015232e-03 2.06768261e+01] [ 1.11842841e-02 1.49148234e-04 9.99937443e-01 4.15347535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters 0.0534528060882065 Centerline is valid? [True, True] Translation: X:1056.44, Y:20.69, Z:4.15 [[ 9.84988224e-01 -1.72285327e-01 -1.07686797e-02 1.05643832e+03] [ 1.72273217e-01 9.85047075e-01 -2.04917446e-03 2.06901656e+01] [ 1.09606992e-02 1.63257615e-04 9.99939916e-01 4.15292757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.719254154 meters 0.05356144762679434 Centerline is valid? [True, True] Translation: X:1056.50, Y:20.70, Z:4.15 [[ 9.85641163e-01 -1.68404706e-01 -1.23025268e-02 1.05649549e+03] [ 1.68388595e-01 9.85717911e-01 -2.34133640e-03 2.07048735e+01] [ 1.25211131e-02 2.36112327e-04 9.99921580e-01 4.15154996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.779254154 meters 0.053875361985557584 Centerline is valid? [True, True] Translation: X:1056.55, Y:20.72, Z:4.15 [[ 9.86400851e-01 -1.63857385e-01 -1.28109147e-02 1.05655410e+03] [ 1.63839530e-01 9.86483991e-01 -2.43819113e-03 2.07161774e+01] [ 1.30372779e-02 3.06099565e-04 9.99914964e-01 4.15190266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters 0.054569159628319826 Centerline is valid? [True, True] Translation: X:1056.61, Y:20.73, Z:4.15 [[ 9.86984587e-01 -1.60304615e-01 -1.28006046e-02 1.05661104e+03] [ 1.60286489e-01 9.87067529e-01 -2.43632479e-03 2.07333565e+01] [ 1.30256152e-02 3.52851055e-04 9.99915101e-01 4.15074339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters 0.05348052247919971 Centerline is valid? [True, True] Translation: X:1056.67, Y:20.74, Z:4.15 [[ 9.87594448e-01 -1.56563916e-01 -1.20393800e-02 1.05667154e+03] [ 1.56547602e-01 9.87667757e-01 -2.29153647e-03 2.07375457e+01] [ 1.22496793e-02 3.78372626e-04 9.99924898e-01 4.15416763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.959254154 meters 0.05351747285731826 Centerline is valid? [True, True] Translation: X:1056.73, Y:20.75, Z:4.15 [[ 9.87909214e-01 -1.54554507e-01 -1.21773980e-02 1.05672998e+03] [ 1.54537662e-01 9.87984179e-01 -2.31804681e-03 2.07472446e+01] [ 1.23893411e-02 4.08153192e-04 9.99923166e-01 4.15453446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.019254154 meters 0.0531585865231252 Centerline is valid? [True, True] Translation: X:1056.79, Y:20.76, Z:4.15 [[ 9.88143519e-01 -1.53007300e-01 -1.26945610e-02 1.05678786e+03] [ 1.52988862e-01 9.88224958e-01 -2.41681066e-03 2.07564392e+01] [ 1.29148717e-02 4.46029363e-04 9.99916500e-01 4.15436561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters 0.05311326850818118 Centerline is valid? [True, True] Translation: X:1056.85, Y:20.76, Z:4.16 [[ 9.88128275e-01 -1.53232152e-01 -1.10643541e-02 1.05684728e+03] [ 1.53218149e-01 9.88190143e-01 -2.10736034e-03 2.07604790e+01] [ 1.12566010e-02 3.87082474e-04 9.99936568e-01 4.15617789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters 0.05364054484458422 Centerline is valid? [True, True] Translation: X:1056.91, Y:20.77, Z:4.16 [[ 9.87843660e-01 -1.55100248e-01 -1.04315579e-02 1.05690505e+03] [ 1.55087900e-01 9.87898676e-01 -1.98736301e-03 2.07726322e+01] [ 1.06135627e-02 3.45395541e-04 9.99943615e-01 4.15562771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.199254154 meters 0.05295459612442928 Centerline is valid? [True, True] Translation: X:1056.97, Y:20.78, Z:4.16 [[ 9.86840538e-01 -1.61314975e-01 -1.11009805e-02 1.05696531e+03] [ 1.61301382e-01 9.86902929e-01 -2.11506469e-03 2.07762713e+01] [ 1.12967818e-02 2.96628086e-04 9.99936145e-01 4.15556471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.259254154 meters 0.052945680740797856 Centerline is valid? [True, True] Translation: X:1057.03, Y:20.78, Z:4.15 [[ 9.85004901e-01 -1.72133318e-01 -1.16389488e-02 1.05702618e+03] [ 1.72119126e-01 9.85073646e-01 -2.21777419e-03 2.07782825e+01] [ 1.18469746e-02 1.81232744e-04 9.99929806e-01 4.15430037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.319254154 meters 0.05202229191427899 Centerline is valid? [True, True] Translation: X:1057.09, Y:20.78, Z:4.16 [[ 9.83475620e-01 -1.80672641e-01 -1.15369656e-02 1.05708679e+03] [ 1.80659281e-01 9.83543284e-01 -2.19848273e-03 2.07794680e+01] [ 1.17443107e-02 7.78942472e-05 9.99931030e-01 4.15594866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters 0.05214689676881196 Centerline is valid? [True, True] Translation: X:1057.15, Y:20.78, Z:4.16 [[ 9.81259601e-01 -1.92324636e-01 -1.18671915e-02 1.05714657e+03] [ 1.92311339e-01 9.81331356e-01 -2.26235292e-03 2.07803618e+01] [ 1.20807533e-02 -6.22399645e-05 9.99927023e-01 4.15607722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.439254154 meters 0.053109118031876186 Centerline is valid? [True, True] Translation: X:1057.21, Y:20.78, Z:4.15 [[ 9.79574530e-01 -2.00704687e-01 -1.23032279e-02 1.05720690e+03] [ 2.00691049e-01 9.79651775e-01 -2.34593552e-03 2.07824973e+01] [ 1.25237193e-02 -1.71129022e-04 9.99921560e-01 4.15473244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.499254154 meters 0.05258023152145241 Centerline is valid? [True, True] Translation: X:1057.27, Y:20.79, Z:4.16 [[ 9.78903712e-01 -2.03935068e-01 -1.25702627e-02 1.05726565e+03] [ 2.03921096e-01 9.78984393e-01 -2.39700994e-03 2.07922892e+01] [ 1.27949254e-02 -2.16899807e-04 9.99918118e-01 4.15630490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.559254154 meters 0.053082771888815945 Centerline is valid? [True, True] Translation: X:1057.32, Y:20.80, Z:4.16 [[ 9.78663426e-01 -2.05047270e-01 -1.31725551e-02 1.05732351e+03] [ 2.05032021e-01 9.78752041e-01 -2.51235532e-03 2.08003621e+01] [ 1.34078168e-02 -2.42045338e-04 9.99910082e-01 4.15790191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters 0.05257086017327666 Centerline is valid? [True, True] Translation: X:1057.38, Y:20.81, Z:4.16 [[ 9.79075094e-01 -2.03042046e-01 -1.36340887e-02 1.05738070e+03] [ 2.03025496e-01 9.79169995e-01 -2.60176780e-03 2.08119815e+01] [ 1.38783588e-02 -2.20741559e-04 9.99903667e-01 4.15913739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters 0.052566898938175 Centerline is valid? [True, True] Translation: X:1057.44, Y:20.82, Z:4.16 [[ 9.80021230e-01 -1.98440555e-01 -1.34065511e-02 1.05743988e+03] [ 1.98424112e-01 9.80112913e-01 -2.55903294e-03 2.08208329e+01] [ 1.36477498e-02 -1.52276387e-04 9.99906854e-01 4.15700725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.739254154 meters 0.052233355000941735 Centerline is valid? [True, True] Translation: X:1057.50, Y:20.83, Z:4.16 [[ 9.81477037e-01 -1.91175283e-01 -1.24433818e-02 1.05749803e+03] [ 1.91160532e-01 9.81555912e-01 -2.37533988e-03 2.08343829e+01] [ 1.26679813e-02 -4.73419288e-05 9.99919757e-01 4.15759877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.799254154 meters 0.052049700128484325 Centerline is valid? [True, True] Translation: X:1057.55, Y:20.85, Z:4.16 [[ 9.83195805e-01 -1.82200949e-01 -1.13500109e-02 1.05755437e+03] [ 1.82188065e-01 9.83261313e-01 -2.16770945e-03 2.08491321e+01] [ 1.15549854e-02 6.34463192e-05 9.99933237e-01 4.15918424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters 0.05140920784223873 Centerline is valid? [True, True] Translation: X:1057.61, Y:20.87, Z:4.16 [[ 9.84867434e-01 -1.72963362e-01 -1.09459328e-02 1.05761140e+03] [ 1.72950801e-01 9.84928245e-01 -2.09111411e-03 2.08668386e+01] [ 1.11426445e-02 1.66362352e-04 9.99937905e-01 4.15706713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters 0.05196753450097787 Centerline is valid? [True, True] Translation: X:1057.67, Y:20.88, Z:4.16 [[ 9.85727744e-01 -1.68017448e-01 -1.05333477e-02 1.05767106e+03] [ 1.68005532e-01 9.85783998e-01 -2.01237552e-03 2.08758839e+01] [ 1.07217198e-02 2.13993687e-04 9.99942498e-01 4.15863736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.979254154 meters 0.05239644888273719 Centerline is valid? [True, True] Translation: X:1057.73, Y:20.89, Z:4.16 [[ 9.86280073e-01 -1.64736130e-01 -1.06595454e-02 1.05772809e+03] [ 1.64723734e-01 9.86337642e-01 -2.03666180e-03 2.08923845e+01] [ 1.08494226e-02 2.52838840e-04 9.99941111e-01 4.15726979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.039254154 meters 0.05371246867429274 Centerline is valid? [True, True] Translation: X:1057.79, Y:20.90, Z:4.16 [[ 9.86696419e-01 -1.62224716e-01 -1.06451289e-02 1.05778699e+03] [ 1.62212205e-01 9.86753801e-01 -2.03409379e-03 2.09019420e+01] [ 1.08341017e-02 2.80263220e-04 9.99941270e-01 4.15718159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters 0.05225440161374612 Centerline is valid? [True, True] Translation: X:1057.85, Y:20.91, Z:4.16 [[ 9.86843860e-01 -1.61311702e-01 -1.08503947e-02 1.05784529e+03] [ 1.61298640e-01 9.86903464e-01 -2.07412651e-03 2.09091289e+01] [ 1.10428730e-02 2.96685107e-04 9.99938982e-01 4.15718381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters 0.051329676342701566 Centerline is valid? [True, True] Translation: X:1057.90, Y:20.91, Z:4.16 [[ 9.86906876e-01 -1.60788107e-01 -1.27280512e-02 1.05790469e+03] [ 1.60770070e-01 9.86988884e-01 -2.43453853e-03 2.09110858e+01] [ 1.29538899e-02 3.56373129e-04 9.99916031e-01 4.15760395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.219254154 meters 0.05098015293310677 Centerline is valid? [True, True] Translation: X:1057.96, Y:20.92, Z:4.16 [[ 9.86799213e-01 -1.61325000e-01 -1.41970908e-02 1.05796262e+03] [ 1.61302588e-01 9.86901257e-01 -2.71736070e-03 2.09151276e+01] [ 1.44495049e-02 3.91461920e-04 9.99895524e-01 4.15755320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.279254154 meters 0.050846779453192326 Centerline is valid? [True, True] Translation: X:1058.02, Y:20.92, Z:4.16 [[ 9.86387908e-01 -1.63840810e-01 -1.39672631e-02 1.05802317e+03] [ 1.63819362e-01 9.86486729e-01 -2.67386840e-03 2.09192211e+01] [ 1.42166085e-02 3.49363324e-04 9.99898878e-01 4.15860136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters 0.05047816857661062 Centerline is valid? [True, True] Translation: X:1058.08, Y:20.92, Z:4.16 [[ 9.85916187e-01 -1.66800526e-01 -1.21184479e-02 1.05808267e+03] [ 1.66784603e-01 9.85990626e-01 -2.32007296e-03 2.09244019e+01] [ 1.23356654e-02 2.66226975e-04 9.99923877e-01 4.15924578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters 0.0511416469698314 Centerline is valid? [True, True] Translation: X:1058.14, Y:20.93, Z:4.16 [[ 9.85313738e-01 -1.70344275e-01 -1.18180376e-02 1.05814105e+03] [ 1.70329382e-01 9.85384585e-01 -2.26281818e-03 2.09309593e+01] [ 1.20307702e-02 2.16626791e-04 9.99927604e-01 4.15850595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.459254154 meters 0.049962646840152336 Centerline is valid? [True, True] Translation: X:1058.20, Y:20.93, Z:4.16 [[ 9.84906500e-01 -1.72665925e-01 -1.20691346e-02 1.05820082e+03] [ 1.72650560e-01 9.84980427e-01 -2.31144573e-03 2.09345002e+01] [ 1.22869693e-02 1.92815068e-04 9.99924494e-01 4.16045919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.519254154 meters 0.04978333801106967 Centerline is valid? [True, True] Translation: X:1058.26, Y:20.94, Z:4.16 [[ 9.84804035e-01 -1.73257560e-01 -1.19511771e-02 1.05825873e+03] [ 1.73242524e-01 9.84876532e-01 -2.28999952e-03 2.09439686e+01] [ 1.21671936e-02 1.84748686e-04 9.99925960e-01 4.16096058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters 0.050465795156387314 Centerline is valid? [True, True] Translation: X:1058.31, Y:20.96, Z:4.16 [[ 9.84898464e-01 -1.72769047e-01 -1.12192425e-02 1.05831466e+03] [ 1.72755755e-01 9.84962346e-01 -2.15062923e-03 2.09609750e+01] [ 1.14220935e-02 1.79962721e-04 9.99934750e-01 4.15969948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters 0.050162185827396885 Centerline is valid? [True, True] Translation: X:1058.37, Y:20.97, Z:4.16 [[ 9.84757944e-01 -1.73633128e-01 -1.01650492e-02 1.05837271e+03] [ 1.73622253e-01 9.84810394e-01 -1.94948530e-03 2.09700804e+01] [ 1.03491413e-02 1.54892397e-04 9.99946434e-01 4.16251965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.699254154 meters 0.05108913406838404 Centerline is valid? [True, True] Translation: X:1058.43, Y:20.98, Z:4.16 [[ 9.84408900e-01 -1.75588094e-01 -1.03893680e-02 1.05843040e+03] [ 1.75576830e-01 9.84463713e-01 -1.99371790e-03 2.09802230e+01] [ 1.05780289e-02 1.38501345e-04 9.99944041e-01 4.16315476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.759254154 meters 0.0506733312140883 Centerline is valid? [True, True] Translation: X:1058.49, Y:20.99, Z:4.16 [[ 9.83782744e-01 -1.78970593e-01 -1.18760098e-02 1.05848810e+03] [ 1.78956103e-01 9.83854416e-01 -2.28045641e-03 2.09916598e+01] [ 1.20923993e-02 1.18189228e-04 9.99926877e-01 4.16215611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.819254154 meters 0.05052775321640067 Centerline is valid? [True, True] Translation: X:1058.55, Y:21.00, Z:4.16 [[ 9.83161242e-01 -1.82291404e-01 -1.27990870e-02 1.05854638e+03] [ 1.82274835e-01 9.83244546e-01 -2.45916648e-03 2.10025662e+01] [ 1.30329174e-02 8.48056924e-05 9.99915064e-01 4.16252265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters 0.051123870753980144 Centerline is valid? [True, True] Translation: X:1058.60, Y:21.01, Z:4.16 [[ 9.82075207e-01 -1.88065422e-01 -1.26366425e-02 1.05860406e+03] [ 1.88049730e-01 9.82156503e-01 -2.42939171e-03 2.10115760e+01] [ 1.28680452e-02 9.52815463e-06 9.99917203e-01 4.16136085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.939254154 meters 0.05093148517263076 Centerline is valid? [True, True] Translation: X:1058.66, Y:21.02, Z:4.16 [[ 9.80866135e-01 -1.94299126e-01 -1.22259922e-02 1.05866274e+03] [ 1.94284905e-01 9.80942325e-01 -2.35180956e-03 2.10202169e+01] [ 1.24499477e-02 -6.85153661e-05 9.99922494e-01 4.16393311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.999254154 meters 0.052083405624349675 Centerline is valid? [True, True] Translation: X:1058.72, Y:21.03, Z:4.16 [[ 9.79651727e-01 -2.00360191e-01 -1.17595859e-02 1.05872030e+03] [ 2.00347462e-01 9.79722295e-01 -2.26270782e-03 2.10290435e+01] [ 1.19744850e-02 -1.39337567e-04 9.99928294e-01 4.16372227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.059254154 meters 0.052031007915847624 Centerline is valid? [True, True] Translation: X:1058.78, Y:21.04, Z:4.17 [[ 9.78548454e-01 -2.05767986e-01 -1.01221884e-02 1.05877737e+03] [ 2.05758841e-01 9.78600789e-01 -1.94794873e-03 2.10394700e+01] [ 1.03064071e-02 -1.76567540e-04 9.99946872e-01 4.16672370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters 0.052416033195463556 Centerline is valid? [True, True] Translation: X:1058.84, Y:21.04, Z:4.17 [[ 9.78051801e-01 -2.08151591e-01 -9.35894427e-03 1.05883622e+03] [ 2.08143876e-01 9.78096560e-01 -1.80177652e-03 2.10448269e+01] [ 9.52899385e-03 -1.85776166e-04 9.99954581e-01 4.16598294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters 0.051565916542101846 Centerline is valid? [True, True] Translation: X:1058.89, Y:21.06, Z:4.17 [[ 9.78033468e-01 -2.08197555e-01 -1.02134406e-02 1.05889191e+03] [ 2.08188355e-01 9.78086774e-01 -1.96762097e-03 2.10616653e+01] [ 1.03992851e-02 -2.01920237e-04 9.99945906e-01 4.16620351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.239254154 meters 0.051729694184235085 Centerline is valid? [True, True] Translation: X:1058.95, Y:21.09, Z:4.17 [[ 9.78882825e-01 -2.04041309e-01 -1.24723484e-02 1.05894761e+03] [ 2.04027242e-01 9.78962260e-01 -2.40360914e-03 2.10852537e+01] [ 1.27003939e-02 -1.91847128e-04 9.99919328e-01 4.16824226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.299254154 meters 0.05226615172510091 Centerline is valid? [True, True] Translation: X:1059.01, Y:21.10, Z:4.16 [[ 9.79948969e-01 -1.98773696e-01 -1.37489993e-02 1.05900565e+03] [ 1.98756066e-01 9.80045407e-01 -2.65081589e-03 2.10954205e+01] [ 1.40015561e-02 -1.35032727e-04 9.99901964e-01 4.16371331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters 0.05161819965851425 Centerline is valid? [True, True] Translation: X:1059.06, Y:21.11, Z:4.17 [[ 9.81234937e-01 -1.92415763e-01 -1.24166510e-02 1.05906138e+03] [ 1.92400865e-01 9.81313494e-01 -2.39469372e-03 2.11114913e+01] [ 1.26454040e-02 -3.92172529e-05 9.99920043e-01 4.16561000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters 0.05154689757009011 Centerline is valid? [True, True] Translation: X:1059.12, Y:21.13, Z:4.17 [[ 9.82109615e-01 -1.88003037e-01 -1.07499653e-02 1.05911894e+03] [ 1.87991596e-01 9.82168447e-01 -2.07414989e-03 2.11265436e+01] [ 1.09482232e-02 1.61394258e-05 9.99940066e-01 4.16762565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.479254154 meters 0.05143886393308604 Centerline is valid? [True, True] Translation: X:1059.17, Y:21.14, Z:4.17 [[ 9.83250757e-01 -1.81985301e-01 -9.96488496e-03 1.05917396e+03] [ 1.81975154e-01 9.83301248e-01 -1.92336754e-03 2.11436910e+01] [ 1.01485084e-02 7.77911165e-05 9.99948500e-01 4.16784858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.539254154 meters 0.051508967082789556 Centerline is valid? [True, True] Translation: X:1059.23, Y:21.16, Z:4.17 [[ 9.84172926e-01 -1.76886023e-01 -1.07231986e-02 1.05922979e+03] [ 1.76873965e-01 9.84231332e-01 -2.07019832e-03 2.11609198e+01] [ 1.09202972e-02 1.40778490e-04 9.99940362e-01 4.16705745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters 0.051333688075962544 Centerline is valid? [True, True] Translation: X:1059.29, Y:21.17, Z:4.17 [[ 9.84854031e-01 -1.72977676e-01 -1.18853649e-02 1.05928821e+03] [ 1.72962574e-01 9.84925724e-01 -2.29485810e-03 2.11737870e+01] [ 1.21031608e-02 2.04376944e-04 9.99926733e-01 4.16774656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters 0.05145787985584374 Centerline is valid? [True, True] Translation: X:1059.35, Y:21.18, Z:4.17 [[ 9.85135544e-01 -1.71370453e-01 -1.18375357e-02 1.05934588e+03] [ 1.71355351e-01 9.85206637e-01 -2.28602739e-03 2.11832022e+01] [ 1.20541763e-02 2.23621748e-04 9.99927321e-01 4.16934825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.719254154 meters 0.05170539662318907 Centerline is valid? [True, True] Translation: X:1059.40, Y:21.20, Z:4.17 [[ 9.85082410e-01 -1.71677487e-01 -1.18104463e-02 1.05940221e+03] [ 1.71662467e-01 9.85153182e-01 -2.28146573e-03 2.11979027e+01] [ 1.20267750e-02 2.20021416e-04 9.99927651e-01 4.16926951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.779254154 meters 0.052550988250976025 Centerline is valid? [True, True] Translation: X:1059.46, Y:21.21, Z:4.17 [[ 9.84578351e-01 -1.74538627e-01 -1.19053767e-02 1.05945779e+03] [ 1.74523568e-01 9.84650310e-01 -2.30031162e-03 2.12143693e+01] [ 1.21241260e-02 1.87068208e-04 9.99926483e-01 4.16640543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters 0.051789602268719225 Centerline is valid? [True, True] Translation: X:1059.52, Y:21.22, Z:4.17 [[ 9.84092957e-01 -1.77267558e-01 -1.17159663e-02 1.05951685e+03] [ 1.77253164e-01 9.84162685e-01 -2.26408881e-03 2.12199848e+01] [ 1.19317664e-02 1.51381761e-04 9.99928802e-01 4.16874810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters 0.051810698078591254 Centerline is valid? [True, True] Translation: X:1059.58, Y:21.23, Z:4.17 [[ 9.83922603e-01 -1.78194851e-01 -1.19543164e-02 1.05957503e+03] [ 1.78179920e-01 9.83995211e-01 -2.31123355e-03 2.12281125e+01] [ 1.21748400e-02 1.44055794e-04 9.99925873e-01 4.17040777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.959254154 meters 0.0521231621455561 Centerline is valid? [True, True] Translation: X:1059.63, Y:21.24, Z:4.17 [[ 9.83160057e-01 -1.82317244e-01 -1.25189972e-02 1.05963336e+03] [ 1.82301193e-01 9.83239754e-01 -2.42118682e-03 2.12362390e+01] [ 1.27505998e-02 9.81860545e-05 9.99918703e-01 4.17067967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.019254154 meters 0.052217018738898065 Centerline is valid? [True, True] Translation: X:1059.69, Y:21.24, Z:4.17 [[ 9.82057601e-01 -1.88170752e-01 -1.24353038e-02 1.05969135e+03] [ 1.88155369e-01 9.82136328e-01 -2.40616184e-03 2.12441239e+01] [ 1.26659329e-02 2.32203505e-05 9.99919784e-01 4.16904703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters 0.052140359750842954 Centerline is valid? [True, True] Translation: X:1059.75, Y:21.25, Z:4.17 [[ 9.81142587e-01 -1.92907289e-01 -1.20830902e-02 1.05974915e+03] [ 1.92893106e-01 9.81216987e-01 -2.33948525e-03 2.12518438e+01] [ 1.23074371e-02 -3.53761876e-05 9.99924260e-01 4.17087503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters 0.05211646687141 Centerline is valid? [True, True] Translation: X:1059.81, Y:21.26, Z:4.17 [[ 9.79567767e-01 -2.00771045e-01 -1.17464184e-02 1.05980754e+03] [ 2.00758197e-01 9.79638184e-01 -2.27503029e-03 2.12574801e+01] [ 1.19640002e-02 -1.29643439e-04 9.99928420e-01 4.17135201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.199254154 meters 0.052669473940430395 Centerline is valid? [True, True] Translation: X:1059.87, Y:21.26, Z:4.17 [[ 9.77477003e-01 -2.10770418e-01 -1.07023148e-02 1.05986693e+03] [ 2.10760348e-01 9.77535564e-01 -2.07299391e-03 2.12643466e+01] [ 1.08988191e-02 -2.29319713e-04 9.99940580e-01 4.17298853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.259254154 meters 0.05316683647113383 Centerline is valid? [True, True] Translation: X:1059.93, Y:21.27, Z:4.17 [[ 9.75356897e-01 -2.20370302e-01 -1.07635173e-02 1.05992540e+03] [ 2.20360698e-01 9.75416227e-01 -2.08499908e-03 2.12734707e+01] [ 1.09583813e-02 -3.38237950e-04 9.99939898e-01 4.17463275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.319254154 meters 0.05423868074554222 Centerline is valid? [True, True] Translation: X:1059.98, Y:21.29, Z:4.18 [[ 9.74169597e-01 -2.25574745e-01 -1.04704519e-02 1.05998404e+03] [ 2.25565955e-01 9.74225788e-01 -2.02831763e-03 2.12868149e+01] [ 1.06581215e-02 -3.85852118e-04 9.99943126e-01 4.17561721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters 0.05477644138754335 Centerline is valid? [True, True] Translation: X:1060.04, Y:21.30, Z:4.18 [[ 9.73153649e-01 -2.29894411e-01 -1.09788954e-02 1.06004226e+03] [ 2.29885021e-01 9.73215471e-01 -2.12692060e-03 2.12968542e+01] [ 1.11737980e-02 -4.54063045e-04 9.99937468e-01 4.17515746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.439254154 meters 0.054560447443491415 Centerline is valid? [True, True] Translation: X:1060.10, Y:21.33, Z:4.18 [[ 9.73129045e-01 -2.29985833e-01 -1.12417951e-02 1.06009609e+03] [ 2.29975983e-01 9.73193866e-01 -2.17879699e-03 2.13263957e+01] [ 1.14415384e-02 -4.65092234e-04 9.99934435e-01 4.17715021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.499254154 meters 0.05522508458928075 Centerline is valid? [True, True] Translation: X:1060.15, Y:21.34, Z:4.18 [[ 9.73679749e-01 -2.27616827e-01 -1.17612385e-02 1.06015498e+03] [ 2.27605866e-01 9.73750672e-01 -2.28003348e-03 2.13364612e+01] [ 1.19714879e-02 -4.56904443e-04 9.99928235e-01 4.17588081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.559254154 meters 0.05522689205724262 Centerline is valid? [True, True] Translation: X:1060.21, Y:21.36, Z:4.18 [[ 9.74238574e-01 -2.25213449e-01 -1.17517152e-02 1.06021139e+03] [ 2.25202329e-01 9.74309355e-01 -2.27836285e-03 2.13550211e+01] [ 1.19629240e-02 -4.26844651e-04 9.99928351e-01 4.17709941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters 0.056189152344776325 Centerline is valid? [True, True] Translation: X:1060.27, Y:21.37, Z:4.18 [[ 9.75212472e-01 -2.21014155e-01 -1.06478964e-02 1.06026986e+03] [ 2.21004775e-01 9.75270541e-01 -2.06440744e-03 2.13692040e+01] [ 1.08408430e-02 -3.40000075e-04 9.99941179e-01 4.17637330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters 0.05650163102610237 Centerline is valid? [True, True] Translation: X:1060.33, Y:21.40, Z:4.18 [[ 9.76296413e-01 -2.16213130e-01 -9.85880057e-03 1.06032573e+03] [ 2.16204842e-01 9.76346154e-01 -1.91155770e-03 2.13957400e+01] [ 1.00389059e-02 -2.65273491e-04 9.99949574e-01 4.17712183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.739254154 meters 0.05523173254024956 Centerline is valid? [True, True] Translation: X:1060.38, Y:21.42, Z:4.18 [[ 9.77233142e-01 -2.11936653e-01 -9.91165201e-03 1.06038045e+03] [ 2.11928055e-01 9.77283380e-01 -1.92200906e-03 2.14234334e+01] [ 1.00938369e-02 -2.22306175e-04 9.99949031e-01 4.17773776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.799254154 meters 0.05588570727047359 Centerline is valid? [True, True] Translation: X:1060.44, Y:21.44, Z:4.17 [[ 9.77906687e-01 -2.08758115e-01 -1.08885650e-02 1.06043757e+03] [ 2.08747539e-01 9.77967283e-01 -2.11158245e-03 2.14385015e+01] [ 1.10894703e-02 -2.08030550e-04 9.99938488e-01 4.17495776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters 0.05622417436292578 Centerline is valid? [True, True] Translation: X:1060.49, Y:21.46, Z:4.18 [[ 9.78379916e-01 -2.06478533e-01 -1.18048499e-02 1.06049242e+03] [ 2.06465932e-01 9.78451111e-01 -2.28964544e-03 2.14579139e+01] [ 1.20232311e-02 -1.97156212e-04 9.99927699e-01 4.17553529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters 0.05607406697956748 Centerline is valid? [True, True] Translation: X:1060.55, Y:21.48, Z:4.18 [[ 9.79104217e-01 -2.02999266e-01 -1.20925904e-02 1.06054809e+03] [ 2.02985770e-01 9.79178877e-01 -2.34609268e-03 2.14815742e+01] [ 1.23170642e-02 -1.57554541e-04 9.99924130e-01 4.17695416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.979254154 meters 0.05652460552559141 Centerline is valid? [True, True] Translation: X:1060.60, Y:21.50, Z:4.17 [[ 9.79817499e-01 -1.99438368e-01 -1.34909312e-02 1.06060389e+03] [ 1.99421214e-01 9.79910364e-01 -2.61874380e-03 2.14993350e+01] [ 1.37421813e-02 -1.24486874e-04 9.99905564e-01 4.17413457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.039254154 meters 0.056360433018130277 Centerline is valid? [True, True] Translation: X:1060.66, Y:21.52, Z:4.18 [[ 9.80223411e-01 -1.97410057e-01 -1.38323520e-02 1.06066003e+03] [ 1.97391799e-01 9.80320998e-01 -2.68662106e-03 2.15182355e+01] [ 1.40905111e-02 -9.69039781e-05 9.99900719e-01 4.17751453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters 0.05646417117300116 Centerline is valid? [True, True] Translation: X:1060.72, Y:21.53, Z:4.18 [[ 9.80768988e-01 -1.94686109e-01 -1.37663465e-02 1.06071708e+03] [ 1.94667740e-01 9.80865595e-01 -2.67487249e-03 2.15339064e+01] [ 1.40236961e-02 -5.64315770e-05 9.99901662e-01 4.17608293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters 0.05669982580370405 Centerline is valid? [True, True] Translation: X:1060.77, Y:21.55, Z:4.18 [[ 9.81497296e-01 -1.91081409e-01 -1.22862907e-02 1.06077224e+03] [ 1.91066486e-01 9.81574192e-01 -2.38803375e-03 2.15513073e+01] [ 1.25162147e-02 -3.64972496e-06 9.99921669e-01 4.17662884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.219254154 meters 0.05681413160826847 Centerline is valid? [True, True] Translation: X:1060.83, Y:21.57, Z:4.18 [[ 9.82517518e-01 -1.85827032e-01 -1.12977952e-02 1.06082919e+03] [ 1.85814054e-01 9.82582470e-01 -2.19697689e-03 2.15691118e+01] [ 1.15092732e-02 5.92791488e-05 9.99933764e-01 4.17867890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.279254154 meters 0.05686219927881532 Centerline is valid? [True, True] Translation: X:1060.89, Y:21.58, Z:4.18 [[ 9.83130578e-01 -1.82611723e-01 -1.03549920e-02 1.06088665e+03] [ 1.82600629e-01 9.83185105e-01 -2.01485293e-03 2.15838795e+01] [ 1.05488096e-02 9.00354743e-05 9.99944356e-01 4.17869323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters 0.056255000385488335 Centerline is valid? [True, True] Translation: X:1060.94, Y:21.60, Z:4.18 [[ 9.83558556e-01 -1.80288453e-01 -1.04230517e-02 1.06094292e+03] [ 1.80277075e-01 9.83613776e-01 -2.02887133e-03 2.15979179e+01] [ 1.06180393e-02 1.16476491e-04 9.99943620e-01 4.17838876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters 0.05678119679212659 Centerline is valid? [True, True] Translation: X:1061.00, Y:21.61, Z:4.18 [[ 9.83355463e-01 -1.81375180e-01 -1.07274221e-02 1.06100077e+03] [ 1.81363186e-01 9.83413968e-01 -2.08859117e-03 2.16055752e+01] [ 1.09283153e-02 1.08268078e-04 9.99940278e-01 4.17971683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.459254154 meters 0.055768867969867436 Centerline is valid? [True, True] Translation: X:1061.06, Y:21.61, Z:4.18 [[ 9.82749908e-01 -1.84622243e-01 -1.08280041e-02 1.06105917e+03] [ 1.84610210e-01 9.82809555e-01 -2.10908108e-03 2.16135415e+01] [ 1.10312492e-02 7.37391219e-05 9.99939151e-01 4.18000141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.519254154 meters 0.05624703801334041 Centerline is valid? [True, True] Translation: X:1061.12, Y:21.62, Z:4.18 [[ 9.81884363e-01 -1.89164926e-01 -1.09420246e-02 1.06111717e+03] [ 1.89152908e-01 9.81945330e-01 -2.13245255e-03 2.16205836e+01] [ 1.11478552e-02 2.41060490e-05 9.99937860e-01 4.17950484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters 0.05629416990744078 Centerline is valid? [True, True] Translation: X:1061.18, Y:21.63, Z:4.18 [[ 9.80680064e-01 -1.95296643e-01 -1.12175546e-02 1.06117587e+03] [ 1.95284399e-01 9.80744217e-01 -2.18733067e-03 2.16261790e+01] [ 1.14287302e-02 -4.55418309e-05 9.99934689e-01 4.17992449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters 0.05608968533355088 Centerline is valid? [True, True] Translation: X:1061.23, Y:21.63, Z:4.18 [[ 9.79796916e-01 -1.99661623e-01 -1.15429869e-02 1.06123430e+03] [ 1.99648947e-01 9.79864902e-01 -2.25197134e-03 2.16349248e+01] [ 1.17602000e-02 -9.80706050e-05 9.99930842e-01 4.18197801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.699254154 meters 0.05664135875538707 Centerline is valid? [True, True] Translation: X:1061.29, Y:21.64, Z:4.18 [[ 9.78936190e-01 -2.03891945e-01 -1.05834842e-02 1.06129288e+03] [ 2.03881524e-01 9.78993389e-01 -2.06583479e-03 2.16420990e+01] [ 1.07823682e-02 -1.35456452e-04 9.99941859e-01 4.18237305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.759254154 meters 0.056248627010856866 Centerline is valid? [True, True] Translation: X:1061.35, Y:21.65, Z:4.18 [[ 9.78902914e-01 -2.04080829e-01 -1.00050641e-02 1.06135009e+03] [ 2.04071518e-01 9.78954033e-01 -1.95365748e-03 2.16484844e+01] [ 1.01932019e-02 -1.29307620e-04 9.99948040e-01 4.18191150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.819254154 meters 0.05624849960870321 Centerline is valid? [True, True] Translation: X:1061.41, Y:21.66, Z:4.18 [[ 9.79026486e-01 -2.03499298e-01 -9.75580503e-03 1.06140787e+03] [ 2.03490408e-01 9.79075085e-01 -1.90581921e-03 2.16595603e+01] [ 9.93949851e-03 -1.19365262e-04 9.99950595e-01 4.18240715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters 0.055692659019729814 Centerline is valid? [True, True] Translation: X:1061.47, Y:21.67, Z:4.18 [[ 9.79714845e-01 -2.00179613e-01 -9.32444174e-03 1.06146521e+03] [ 2.00171333e-01 9.79759213e-01 -1.82249197e-03 2.16711096e+01] [ 9.50053344e-03 -8.09634907e-05 9.99954866e-01 4.18326174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.939254154 meters 0.056034872078364585 Centerline is valid? [True, True] Translation: X:1061.52, Y:21.68, Z:4.18 [[ 9.81036673e-01 -1.93621277e-01 -8.82308412e-03 1.06152201e+03] [ 1.93613593e-01 9.81076348e-01 -1.72502296e-03 2.16838567e+01] [ 8.99012029e-03 -1.59582311e-05 9.99959588e-01 4.18344342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.999254154 meters 0.055881794404766594 Centerline is valid? [True, True] Translation: X:1061.58, Y:21.70, Z:4.18 [[ 9.82256422e-01 -1.87326587e-01 -9.00398436e-03 1.06157916e+03] [ 1.87318314e-01 9.82297688e-01 -1.76103743e-03 2.16960293e+01] [ 9.17448215e-03 4.31791565e-05 9.99957913e-01 4.18282666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.059254154 meters 0.05549916441938284 Centerline is valid? [True, True] Translation: X:1061.64, Y:21.71, Z:4.18 [[ 9.83948172e-01 -1.78166981e-01 -1.01252664e-02 1.06163853e+03] [ 1.78156029e-01 9.84000257e-01 -1.98078496e-03 2.17078941e+01] [ 1.03161752e-02 1.45112482e-04 9.99946776e-01 4.18323185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters 0.0546022164946316 Centerline is valid? [True, True] Translation: X:1061.70, Y:21.72, Z:4.18 [[ 9.85162091e-01 -1.71325516e-01 -1.01598548e-02 1.06169732e+03] [ 1.71314124e-01 9.85214454e-01 -1.98760159e-03 2.17196785e+01] [ 1.03501627e-02 2.17583108e-04 9.99946412e-01 4.18337727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters 0.05623915975688277 Centerline is valid? [True, True] Translation: X:1061.75, Y:21.74, Z:4.18 [[ 9.85689921e-01 -1.68271911e-01 -9.99721429e-03 1.06175485e+03] [ 1.68260724e-01 9.85740586e-01 -1.95580640e-03 2.17390311e+01] [ 1.01837672e-02 2.45680144e-04 9.99948114e-01 4.18110864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.239254154 meters 0.055644375284956596 Centerline is valid? [True, True] Translation: X:1061.81, Y:21.74, Z:4.18 [[ 9.85779483e-01 -1.67728128e-01 -1.02997904e-02 1.06181445e+03] [ 1.67716216e-01 9.85833256e-01 -2.01571132e-03 2.17430815e+01] [ 1.04919674e-02 2.59604993e-04 9.99944924e-01 4.18214009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.299254154 meters 0.05558712981664278 Centerline is valid? [True, True] Translation: X:1061.87, Y:21.75, Z:4.18 [[ 9.85848030e-01 -1.67226379e-01 -1.17898283e-02 1.06187394e+03] [ 1.67210718e-01 9.85918478e-01 -2.30872996e-03 2.17450276e+01] [ 1.20098902e-02 3.04671216e-04 9.99927832e-01 4.18237427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters 0.05464308198769495 Centerline is valid? [True, True] Translation: X:1061.93, Y:21.75, Z:4.18 [[ 9.85843225e-01 -1.67112231e-01 -1.36615492e-02 1.06193319e+03] [ 1.67091169e-01 9.85937815e-01 -2.67693979e-03 2.17493803e+01] [ 1.39167873e-02 3.56318742e-04 9.99903093e-01 4.18285755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters 0.05580966605342821 Centerline is valid? [True, True] Translation: X:1061.99, Y:21.76, Z:4.18 [[ 9.85763069e-01 -1.67434476e-01 -1.53905482e-02 1.06199106e+03] [ 1.67407769e-01 9.85883126e-01 -3.01673016e-03 2.17563597e+01] [ 1.56783864e-02 3.97283854e-04 9.99877008e-01 4.18167420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.479254154 meters 0.05440280202412143 Centerline is valid? [True, True] Translation: X:1062.05, Y:21.75, Z:4.19 [[ 9.85262758e-01 -1.70398125e-01 -1.48921705e-02 1.06205275e+03] [ 1.70373452e-01 9.85375240e-01 -2.91942650e-03 2.17538792e+01] [ 1.51718409e-02 3.39171717e-04 9.99884843e-01 4.18523935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.539254154 meters 0.054414693454702 Centerline is valid? [True, True] Translation: X:1062.11, Y:21.76, Z:4.18 [[ 9.84603921e-01 -1.74344998e-01 -1.26071562e-02 1.06211167e+03] [ 1.74327638e-01 9.84684602e-01 -2.47160793e-03 2.17627253e+01] [ 1.28449851e-02 2.35779100e-04 9.99917472e-01 4.18346705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters 0.053871210326350276 Centerline is valid? [True, True] Translation: X:1062.17, Y:21.76, Z:4.19 [[ 9.84341218e-01 -1.75923111e-01 -1.11097376e-02 1.06217127e+03] [ 1.75909727e-01 9.84403892e-01 -2.17829532e-03 2.17634594e+01] [ 1.13196814e-02 1.89874958e-04 9.99935912e-01 4.18602589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters 0.05312535668679319 Centerline is valid? [True, True] Translation: X:1062.23, Y:21.77, Z:4.19 [[ 9.84476558e-01 -1.75141801e-01 -1.14567570e-02 1.06223059e+03] [ 1.75127503e-01 9.84543197e-01 -2.24736270e-03 2.17662675e+01] [ 1.16732793e-02 2.06082645e-04 9.99931844e-01 4.18806316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.719254154 meters 0.053290252758562064 Centerline is valid? [True, True] Translation: X:1062.29, Y:21.77, Z:4.19 [[ 9.85054644e-01 -1.71760695e-01 -1.28690333e-02 1.06229040e+03] [ 1.71742358e-01 9.85138664e-01 -2.52499435e-03 2.17727305e+01] [ 1.31114770e-02 2.77099285e-04 9.99914002e-01 4.18776140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.779254154 meters 0.05220806565977731 Centerline is valid? [True, True] Translation: X:1062.35, Y:21.78, Z:4.19 [[ 9.85568071e-01 -1.68702053e-01 -1.39712156e-02 1.06235076e+03] [ 1.68680132e-01 9.85667032e-01 -2.74137394e-03 2.17786766e+01] [ 1.42334420e-02 3.45144138e-04 9.99898640e-01 4.18703032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters 0.05202525535156313 Centerline is valid? [True, True] Translation: X:1062.41, Y:21.79, Z:4.19 [[ 9.85671900e-01 -1.68044022e-01 -1.45640530e-02 1.06240858e+03] [ 1.68020122e-01 9.85779422e-01 -2.85817386e-03 2.17856619e+01] [ 1.48372428e-02 3.70167705e-04 9.99889854e-01 4.18617974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters 0.052077811526794505 Centerline is valid? [True, True] Translation: X:1062.47, Y:21.79, Z:4.19 [[ 9.85395141e-01 -1.69728843e-01 -1.37308143e-02 1.06246753e+03] [ 1.69707756e-01 9.85490748e-01 -2.69512151e-03 2.17892223e+01] [ 1.39890303e-02 3.25533959e-04 9.99902096e-01 4.18724299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.959254154 meters 0.05221212445851602 Centerline is valid? [True, True] Translation: X:1062.53, Y:21.80, Z:4.19 [[ 9.85090448e-01 -1.71607030e-01 -1.21588412e-02 1.06252601e+03] [ 1.71590635e-01 9.85165447e-01 -2.38681445e-03 2.17970303e+01] [ 1.23880644e-02 2.64884824e-04 9.99923230e-01 4.18782271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.019254154 meters 0.05195164609434144 Centerline is valid? [True, True] Translation: X:1062.58, Y:21.80, Z:4.19 [[ 9.84447240e-01 -1.75389357e-01 -1.01096416e-02 1.06258495e+03] [ 1.75378221e-01 9.84499132e-01 -1.98470052e-03 2.18024480e+01] [ 1.03010287e-02 1.80821997e-04 9.99946927e-01 4.18907625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters 0.05162096949160529 Centerline is valid? [True, True] Translation: X:1062.65, Y:21.81, Z:4.19 [[ 9.83459966e-01 -1.80869490e-01 -9.62928775e-03 1.06264532e+03] [ 1.80859648e-01 9.83507099e-01 -1.89045646e-03 2.18057064e+01] [ 9.81239875e-03 1.17638649e-04 9.99951850e-01 4.18967324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters 0.051840712295623724 Centerline is valid? [True, True] Translation: X:1062.70, Y:21.81, Z:4.19 [[ 9.82401102e-01 -1.86492178e-01 -1.04279377e-02 1.06270447e+03] [ 1.86480950e-01 9.82456443e-01 -2.04745558e-03 2.18097357e+01] [ 1.06268291e-02 6.68108860e-05 9.99943531e-01 4.18837911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.199254154 meters 0.05129323575834272 Centerline is valid? [True, True] Translation: X:1062.76, Y:21.82, Z:4.19 [[ 9.81804230e-01 -1.89542751e-01 -1.15758129e-02 1.06276245e+03] [ 1.89529122e-01 9.81872468e-01 -2.27326854e-03 2.18163800e+01] [ 1.17968536e-02 3.79510082e-05 9.99930414e-01 4.18839528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.259254154 meters 0.05152675704432733 Centerline is valid? [True, True] Translation: X:1062.82, Y:21.83, Z:4.19 [[ 9.81323641e-01 -1.91983981e-01 -1.20856716e-02 1.06281927e+03] [ 1.91969296e-01 9.81398059e-01 -2.37456662e-03 2.18262983e+01] [ 1.23167334e-02 1.01404855e-05 9.99924146e-01 4.18805797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.319254154 meters 0.05153796210614571 Centerline is valid? [True, True] Translation: X:1062.88, Y:21.84, Z:4.19 [[ 9.81291256e-01 -1.92169608e-01 -1.17606246e-02 1.06287629e+03] [ 1.92155706e-01 9.81361728e-01 -2.31149106e-03 2.18382361e+01] [ 1.19856253e-02 8.37483596e-06 9.99928170e-01 4.18672640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters 0.05103910467664391 Centerline is valid? [True, True] Translation: X:1062.93, Y:21.85, Z:4.19 [[ 9.81271918e-01 -1.92350819e-01 -1.03240119e-02 1.06293467e+03] [ 1.92340108e-01 9.81326226e-01 -2.02993809e-03 2.18490007e+01] [ 1.05216838e-02 6.19969252e-06 9.99944646e-01 4.18933427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.439254154 meters 0.05132653065564037 Centerline is valid? [True, True] Translation: X:1062.99, Y:21.86, Z:4.19 [[ 9.81607488e-01 -1.90602065e-01 -1.08440247e-02 1.06299195e+03] [ 1.90590127e-01 9.81667384e-01 -2.13337850e-03 2.18631912e+01] [ 1.10518517e-02 2.73762571e-05 9.99938926e-01 4.18846962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.499254154 meters 0.05210773093490062 Centerline is valid? [True, True] Translation: X:1063.05, Y:21.88, Z:4.19 [[ 9.81983792e-01 -1.88590284e-01 -1.18969672e-02 1.06304910e+03] [ 1.88575751e-01 9.82055855e-01 -2.34188437e-03 2.18777467e+01] [ 1.21251429e-02 5.62129688e-05 9.99926486e-01 4.18694666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.559254154 meters 0.05182179477880854 Centerline is valid? [True, True] Translation: X:1063.11, Y:21.89, Z:4.19 [[ 9.82487647e-01 -1.85864354e-01 -1.31326231e-02 1.06310621e+03] [ 1.85846381e-01 9.82575408e-01 -2.58665733e-03 2.18908466e+01] [ 1.33845599e-02 1.00708396e-04 9.99910418e-01 4.18840606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters 0.052458190248870086 Centerline is valid? [True, True] Translation: X:1063.16, Y:21.90, Z:4.19 [[ 9.82584780e-01 -1.85403456e-01 -1.23575390e-02 1.06316293e+03] [ 1.85387486e-01 9.82662479e-01 -2.43554374e-03 2.19023985e+01] [ 1.25948481e-02 1.02195123e-04 9.99920677e-01 4.18999387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters 0.05238013949731387 Centerline is valid? [True, True] Translation: X:1063.22, Y:21.91, Z:4.19 [[ 9.82544893e-01 -1.85642042e-01 -1.19400664e-02 1.06322004e+03] [ 1.85627140e-01 9.82617435e-01 -2.35409580e-03 2.19141018e+01] [ 1.21695366e-02 9.66044242e-05 9.99925944e-01 4.19002707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.739254154 meters 0.052108940921646946 Centerline is valid? [True, True] Translation: X:1063.28, Y:21.92, Z:4.19 [[ 9.82054106e-01 -1.88373623e-01 -9.22559259e-03 1.06327710e+03] [ 1.88364845e-01 9.82097437e-01 -1.81921056e-03 2.19245145e+01] [ 9.40312212e-03 4.87858798e-05 9.99955788e-01 4.19097835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.799254154 meters 0.05094162554933924 Centerline is valid? [True, True] Translation: X:1063.33, Y:21.93, Z:4.19 [[ 9.81359669e-01 -1.91987074e-01 -8.61185373e-03 1.06333454e+03] [ 1.91979561e-01 9.81397454e-01 -1.69849582e-03 2.19334790e+01] [ 8.77774057e-03 1.35353973e-05 9.99961475e-01 4.19057804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters 0.05172139566425002 Centerline is valid? [True, True] Translation: X:1063.39, Y:21.94, Z:4.19 [[ 9.81067207e-01 -1.93464607e-01 -8.86461578e-03 1.06339164e+03] [ 1.93456700e-01 9.81107255e-01 -1.74914787e-03 2.19430287e+01] [ 9.03553706e-03 1.11229972e-06 9.99959179e-01 4.19071373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters 0.051508332563864806 Centerline is valid? [True, True] Translation: X:1063.45, Y:21.95, Z:4.19 [[ 9.81060319e-01 -1.93411408e-01 -1.06149491e-02 1.06344978e+03] [ 1.93400052e-01 9.81117744e-01 -2.09588211e-03 2.19547376e+01] [ 1.08198824e-02 3.25506310e-06 9.99941463e-01 4.18954454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.979254154 meters 0.052644330557624276 Centerline is valid? [True, True] Translation: X:1063.51, Y:21.97, Z:4.19 [[ 9.81079234e-01 -1.93075402e-01 -1.43327024e-02 1.06350765e+03] [ 1.93054635e-01 9.81183922e-01 -2.83171398e-03 2.19669805e+01] [ 1.46097514e-02 1.11411575e-05 9.99893272e-01 4.18583039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.039254154 meters 0.051889018556584045 Centerline is valid? [True, True] Translation: X:1063.57, Y:21.98, Z:4.19 [[ 9.80740838e-01 -1.94744144e-01 -1.49039176e-02 1.06356580e+03] [ 1.94721856e-01 9.80854076e-01 -2.94629937e-03 2.19769816e+01] [ 1.51923428e-02 -1.25623812e-05 9.99884590e-01 4.18707456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters 0.05197674857906609 Centerline is valid? [True, True] Translation: X:1063.62, Y:21.99, Z:4.19 [[ 9.80541218e-01 -1.95867386e-01 -1.32244562e-02 1.06362289e+03] [ 1.95849929e-01 9.80630392e-01 -2.61507230e-03 2.19868366e+01] [ 1.34805110e-02 -2.58226305e-05 9.99909133e-01 4.18747465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters 0.05196705085663106 Centerline is valid? [True, True] Translation: X:1063.68, Y:22.00, Z:4.19 [[ 9.80548197e-01 -1.96037277e-01 -9.72727279e-03 1.06368081e+03] [ 1.96027833e-01 9.80596444e-01 -1.92430607e-03 2.19989228e+01] [ 9.91576482e-03 -1.99413522e-05 9.99950837e-01 4.19096182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.219254154 meters 0.05197195316258356 Centerline is valid? [True, True] Translation: X:1063.74, Y:22.01, Z:4.19 [[ 9.80947643e-01 -1.94109187e-01 -7.95899286e-03 1.06373804e+03] [ 1.94102795e-01 9.80979930e-01 -1.57532484e-03 2.20116880e+01] [ 8.11339728e-03 4.48429319e-07 9.99967086e-01 4.19223114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.279254154 meters 0.05118125202422719 Centerline is valid? [True, True] Translation: X:1063.79, Y:22.03, Z:4.19 [[ 9.81784062e-01 -1.89797523e-01 -8.77247285e-03 1.06379381e+03] [ 1.89789578e-01 9.81823252e-01 -1.73712319e-03 2.20260544e+01] [ 8.94271951e-03 4.05559398e-05 9.99960012e-01 4.19208659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters 0.05036930262260301 Centerline is valid? [True, True] Translation: X:1063.85, Y:22.04, Z:4.19 [[ 9.82565446e-01 -1.85664147e-01 -9.69373639e-03 1.06385083e+03] [ 1.85654234e-01 9.82613259e-01 -1.92049869e-03 2.20391996e+01] [ 9.88176166e-03 8.73324465e-05 9.99951170e-01 4.19295099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters 0.05169430321708043 Centerline is valid? [True, True] Translation: X:1063.91, Y:22.06, Z:4.19 [[ 9.83752466e-01 -1.79148208e-01 -1.17049226e-02 1.06390724e+03] [ 1.79133287e-01 9.83822080e-01 -2.31958773e-03 2.20606347e+01] [ 1.19311113e-02 1.85158885e-04 9.99928805e-01 4.18954741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.459254154 meters 0.05176349525812992 Centerline is valid? [True, True] Translation: X:1063.97, Y:22.07, Z:4.19 [[ 9.84119369e-01 -1.77082984e-01 -1.22753692e-02 1.06396613e+03] [ 1.77066409e-01 9.84195899e-01 -2.43281876e-03 2.20691180e+01] [ 1.25121789e-02 2.20628513e-04 9.99921695e-01 4.19188273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.519254154 meters 0.05131293691459323 Centerline is valid? [True, True] Translation: X:1064.03, Y:22.08, Z:4.19 [[ 9.83507074e-01 -1.80531604e-01 -1.10533204e-02 1.06402516e+03] [ 1.80518382e-01 9.83569171e-01 -2.19068252e-03 2.20793062e+01] [ 1.12671926e-02 1.59224246e-04 9.99936510e-01 4.19287826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters 0.05151344145087381 Centerline is valid? [True, True] Translation: X:1064.08, Y:22.09, Z:4.19 [[ 9.82389994e-01 -1.86654314e-01 -8.37054660e-03 1.06408289e+03] [ 1.86646953e-01 9.82425652e-01 -1.65908992e-03 2.20897910e+01] [ 8.53311600e-03 6.75363187e-05 9.99963590e-01 4.19320397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters 0.05098721537640369 Centerline is valid? [True, True] Translation: X:1064.14, Y:22.10, Z:4.19 [[ 9.81584693e-01 -1.90918185e-01 -6.46044809e-03 1.06414142e+03] [ 1.90913890e-01 9.81605953e-01 -1.28086566e-03 2.20972207e+01] [ 6.58615485e-03 2.38888462e-05 9.99978311e-01 4.19495014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.699254154 meters 0.051485754687274135 Centerline is valid? [True, True] Translation: X:1064.20, Y:22.10, Z:4.19 [[ 9.80446107e-01 -1.96686670e-01 -6.30752684e-03 1.06419907e+03] [ 1.96682691e-01 9.80466396e-01 -1.25107353e-03 2.21041146e+01] [ 6.43038760e-03 -1.39711860e-05 9.99979325e-01 4.19360577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.759254154 meters 0.0515390181910891 Centerline is valid? [True, True] Translation: X:1064.26, Y:22.12, Z:4.19 [[ 9.79850904e-01 -1.99546909e-01 -8.55791276e-03 1.06425733e+03] [ 1.99539688e-01 9.79888274e-01 -1.69816226e-03 2.21151423e+01] [ 8.72466139e-03 -4.36974189e-05 9.99961938e-01 4.19250415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.819254154 meters 0.05161107650384737 Centerline is valid? [True, True] Translation: X:1064.31, Y:22.13, Z:4.19 [[ 9.80193220e-01 -1.97774986e-01 -1.03105439e-02 1.06431371e+03] [ 1.97764392e-01 9.80247445e-01 -2.04729741e-03 2.21282414e+01] [ 1.05117886e-02 -3.23114139e-05 9.99944749e-01 4.19061258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters 0.052401373196819194 Centerline is valid? [True, True] Translation: X:1064.37, Y:22.14, Z:4.19 [[ 9.80703214e-01 -1.95159769e-01 -1.15702898e-02 1.06437025e+03] [ 1.95146235e-01 9.80771464e-01 -2.29833673e-03 2.21422179e+01] [ 1.17963529e-02 -3.91228174e-06 9.99930421e-01 4.18869569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.939254154 meters 0.05158788811273196 Centerline is valid? [True, True] Translation: X:1064.43, Y:22.16, Z:4.19 [[ 9.81285882e-01 -1.92276409e-01 -1.03827133e-02 1.06442689e+03] [ 1.92265338e-01 9.81340808e-01 -2.06348855e-03 2.21552772e+01] [ 1.05857404e-02 2.86362947e-05 9.99943969e-01 4.19162012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.999254154 meters 0.05149025964721117 Centerline is valid? [True, True] Translation: X:1064.48, Y:22.17, Z:4.19 [[ 9.81956123e-01 -1.88906077e-01 -8.75597374e-03 1.06448290e+03] [ 1.88898064e-01 9.81995158e-01 -1.74084761e-03 2.21714636e+01] [ 8.92718051e-03 5.54494895e-05 9.99960150e-01 4.19070422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.059254154 meters 0.05175243041515056 Centerline is valid? [True, True] Translation: X:1064.54, Y:22.19, Z:4.19 [[ 9.82613492e-01 -1.85475764e-01 -8.33463645e-03 1.06454003e+03] [ 1.85468375e-01 9.82648836e-01 -1.65768876e-03 2.21863680e+01] [ 8.49748189e-03 8.30558611e-05 9.99963892e-01 4.19112070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters 0.0512118355568986 Centerline is valid? [True, True] Translation: X:1064.60, Y:22.20, Z:4.19 [[ 9.83019028e-01 -1.83314572e-01 -8.32817662e-03 1.06459712e+03] [ 1.83307112e-01 9.83054300e-01 -1.65697510e-03 2.21980618e+01] [ 8.49079752e-03 1.02224055e-04 9.99963947e-01 4.19083111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters 0.05198265010944967 Centerline is valid? [True, True] Translation: X:1064.65, Y:22.21, Z:4.19 [[ 9.83580499e-01 -1.80276885e-01 -8.34549116e-03 1.06465372e+03] [ 1.80269282e-01 9.83615895e-01 -1.66072169e-03 2.22119606e+01] [ 8.50814749e-03 1.29017774e-04 9.99963797e-01 4.19065004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.239254154 meters 0.05183818340313899 Centerline is valid? [True, True] Translation: X:1064.71, Y:22.22, Z:4.19 [[ 9.83558271e-01 -1.80424172e-01 -7.76182199e-03 1.06471110e+03] [ 1.80417595e-01 9.83588890e-01 -1.54517827e-03 2.22218251e+01] [ 7.91322938e-03 1.19403608e-04 9.99968683e-01 4.19149144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.299254154 meters 0.05114989310851498 Centerline is valid? [True, True] Translation: X:1064.77, Y:22.23, Z:4.19 [[ 9.83270926e-01 -1.81999221e-01 -7.38715139e-03 1.06476976e+03] [ 1.81993301e-01 9.83298669e-01 -1.47144697e-03 2.22296503e+01] [ 7.53157833e-03 1.02418959e-04 9.99971632e-01 4.19218966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters 0.05154981172698555 Centerline is valid? [True, True] Translation: X:1064.83, Y:22.24, Z:4.19 [[ 9.83162496e-01 -1.82567150e-01 -7.79375895e-03 1.06482733e+03] [ 1.82560571e-01 9.83193381e-01 -1.55340934e-03 2.22384778e+01] [ 7.94637373e-03 1.04420718e-04 9.99968422e-01 4.19205835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters 0.05207274528625095 Centerline is valid? [True, True] Translation: X:1064.88, Y:22.25, Z:4.19 [[ 9.83295134e-01 -1.81818664e-01 -8.52368998e-03 1.06488399e+03] [ 1.81810760e-01 9.83332069e-01 -1.69963503e-03 2.22504535e+01] [ 8.69064308e-03 1.21544301e-04 9.99962228e-01 4.19164781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.479254154 meters 0.05124542834770742 Centerline is valid? [True, True] Translation: X:1064.94, Y:22.26, Z:4.19 [[ 9.83542899e-01 -1.80375373e-01 -1.03966394e-02 1.06494151e+03] [ 1.80363524e-01 9.83597833e-01 -2.07402722e-03 2.22642091e+01] [ 1.06002154e-02 1.64720235e-04 9.99943803e-01 4.19015408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.539254154 meters 0.051836591472795526 Centerline is valid? [True, True] Translation: X:1065.00, Y:22.28, Z:4.19 [[ 9.83675211e-01 -1.79618264e-01 -1.09708031e-02 1.06499853e+03] [ 1.79605009e-01 9.83736370e-01 -2.18981983e-03 2.22776796e+01] [ 1.11857096e-02 1.83660293e-04 9.99937421e-01 4.18919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters 0.051368911741183076 Centerline is valid? [True, True] Translation: X:1065.06, Y:22.29, Z:4.19 [[ 9.83817196e-01 -1.78828056e-01 -1.11468083e-02 1.06505588e+03] [ 1.78814307e-01 9.83880322e-01 -2.22620214e-03 2.22895148e+01] [ 1.13652328e-02 1.96967137e-04 9.99935394e-01 4.18962691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters 0.05221831348650742 Centerline is valid? [True, True] Translation: X:1065.11, Y:22.30, Z:4.19 [[ 9.84021506e-01 -1.77748682e-01 -1.03480914e-02 1.06511221e+03] [ 1.77736766e-01 9.84075896e-01 -2.06734112e-03 2.23030879e+01] [ 1.05507744e-02 1.95071828e-04 9.99944320e-01 4.19052009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.719254154 meters 0.0523708745763962 Centerline is valid? [True, True] Translation: X:1065.17, Y:22.31, Z:4.19 [[ 9.84126099e-01 -1.77215762e-01 -9.50764313e-03 1.06517043e+03] [ 1.77205672e-01 9.84172007e-01 -1.90019567e-03 2.23143555e+01] [ 9.69390084e-03 1.85223870e-04 9.99952996e-01 4.19133705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.779254154 meters 0.05190939853350436 Centerline is valid? [True, True] Translation: X:1065.23, Y:22.33, Z:4.19 [[ 9.83980341e-01 -1.78001957e-01 -9.89907217e-03 1.06522736e+03] [ 1.77991051e-01 9.84030116e-01 -1.97910337e-03 2.23262048e+01] [ 1.00932694e-02 1.85452557e-04 9.99949044e-01 4.19095622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters 0.05196949408200324 Centerline is valid? [True, True] Translation: X:1065.28, Y:22.34, Z:4.19 [[ 9.83623333e-01 -1.79902479e-01 -1.09652130e-02 1.06528488e+03] [ 1.79889205e-01 9.83684433e-01 -2.19319361e-03 2.23368596e+01] [ 1.11808703e-02 1.84752956e-04 9.99937475e-01 4.18993109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters 0.05278277385891603 Centerline is valid? [True, True] Translation: X:1065.34, Y:22.35, Z:4.19 [[ 9.83653672e-01 -1.79749986e-01 -1.07422401e-02 1.06534116e+03] [ 1.79737223e-01 9.83712310e-01 -2.14986645e-03 2.23498144e+01] [ 1.09537123e-02 1.83943612e-04 9.99939989e-01 4.19012281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.959254154 meters 0.05219099688147972 Centerline is valid? [True, True] Translation: X:1065.40, Y:22.36, Z:4.19 [[ 9.83695201e-01 -1.79532923e-01 -1.05679519e-02 1.06539820e+03] [ 1.79520546e-01 9.83751948e-01 -2.11619113e-03 2.23624720e+01] [ 1.07761693e-02 1.84522560e-04 9.99941918e-01 4.18987738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.019254154 meters 0.05155643799330104 Centerline is valid? [True, True] Translation: X:1065.46, Y:22.37, Z:4.19 [[ 9.83289483e-01 -1.81796701e-01 -9.57869050e-03 1.06545642e+03] [ 1.81786634e-01 9.83336127e-01 -1.91865520e-03 2.23714822e+01] [ 9.76787760e-03 1.45315578e-04 9.99952283e-01 4.19113848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters 0.05143649133207742 Centerline is valid? [True, True] Translation: X:1065.51, Y:22.38, Z:4.19 [[ 9.82943390e-01 -1.83681338e-01 -9.13560308e-03 1.06551435e+03] [ 1.83672256e-01 9.82985835e-01 -1.83059308e-03 2.23810884e+01] [ 9.31641421e-03 1.21412543e-04 9.99956594e-01 4.19220960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters 0.05179677849625846 Centerline is valid? [True, True] Translation: X:1065.57, Y:22.39, Z:4.19 [[ 9.82771361e-01 -1.84568144e-01 -9.74950451e-03 1.06557245e+03] [ 1.84557833e-01 9.82819712e-01 -1.95469918e-03 2.23920350e+01] [ 9.94278041e-03 1.21674946e-04 9.99950562e-01 4.19163639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.199254154 meters 0.051963700261583964 Centerline is valid? [True, True] Translation: X:1065.63, Y:22.40, Z:4.19 [[ 9.82645709e-01 -1.85208121e-01 -1.02646331e-02 1.06562887e+03] [ 1.85196714e-01 9.82699312e-01 -2.05922435e-03 2.24040271e+01] [ 1.04684330e-02 1.22511649e-04 9.99945197e-01 4.19112508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.259254154 meters 0.05144250760325374 Centerline is valid? [True, True] Translation: X:1065.69, Y:22.41, Z:4.19 [[ 9.82278321e-01 -1.87224740e-01 -8.72904190e-03 1.06568640e+03] [ 1.87216562e-01 9.82317102e-01 -1.75210912e-03 2.24145319e+01] [ 8.90272532e-03 8.68375962e-05 9.99960366e-01 4.19311502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.319254154 meters 0.05107921466009778 Centerline is valid? [True, True] Translation: X:1065.74, Y:22.42, Z:4.20 [[ 9.81714028e-01 -1.90234323e-01 -6.96203931e-03 1.06574440e+03] [ 1.90229193e-01 9.81738713e-01 -1.39786854e-03 2.24234349e+01] [ 7.10082609e-03 4.79240342e-05 9.99974788e-01 4.19517555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters 0.05086796410749883 Centerline is valid? [True, True] Translation: X:1065.80, Y:22.43, Z:4.20 [[ 9.81154595e-01 -1.93138275e-01 -5.76780310e-03 1.06580226e+03] [ 1.93134802e-01 9.81171548e-01 -1.15839556e-03 2.24326303e+01] [ 5.88293482e-03 2.26016095e-05 9.99982695e-01 4.19652839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.439254154 meters 0.050907612936757114 Centerline is valid? [True, True] Translation: X:1065.86, Y:22.44, Z:4.20 [[ 9.80760593e-01 -1.95154815e-01 -4.82265992e-03 1.06585986e+03] [ 1.95152409e-01 9.80772450e-01 -9.69037984e-04 2.24441155e+01] [ 4.91904442e-03 9.24056447e-06 9.99987901e-01 4.19658929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.499254154 meters 0.05087695909906786 Centerline is valid? [True, True] Translation: X:1065.92, Y:22.46, Z:4.19 [[ 9.80678619e-01 -1.95533552e-01 -6.00640102e-03 1.06591672e+03] [ 1.95529822e-01 9.80697012e-01 -1.20769603e-03 2.24566282e+01] [ 6.12660463e-03 9.93114749e-06 9.99981232e-01 4.19442176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.559254154 meters 0.0515607339140996 Centerline is valid? [True, True] Translation: X:1065.97, Y:22.47, Z:4.19 [[ 9.80994618e-01 -1.93859430e-01 -8.25110984e-03 1.06597368e+03] [ 1.93852323e-01 9.81029317e-01 -1.66019677e-03 2.24723555e+01] [ 8.41642544e-03 2.91472809e-05 9.99964581e-01 4.19091814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters 0.05158700657588249 Centerline is valid? [True, True] Translation: X:1066.03, Y:22.49, Z:4.19 [[ 9.81284316e-01 -1.92380759e-01 -8.41042304e-03 1.06603086e+03] [ 1.92373313e-01 9.81320356e-01 -1.69319390e-03 2.24872590e+01] [ 8.57905726e-03 4.35636755e-05 9.99963198e-01 4.18966502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters 0.05161250554360217 Centerline is valid? [True, True] Translation: X:1066.09, Y:22.50, Z:4.19 [[ 9.81755694e-01 -1.89979451e-01 -7.97279511e-03 1.06608786e+03] [ 1.89972674e-01 9.81788065e-01 -1.60595079e-03 2.25006736e+01] [ 8.13269273e-03 6.20381327e-05 9.99966927e-01 4.19130987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.739254154 meters 0.051296494454448775 Centerline is valid? [True, True] Translation: X:1066.15, Y:22.51, Z:4.19 [[ 9.82156333e-01 -1.87945298e-01 -6.74559216e-03 1.06614536e+03] [ 1.87940393e-01 9.82179495e-01 -1.35941578e-03 2.25133379e+01] [ 6.88087811e-03 6.73895775e-05 9.99976324e-01 4.19313522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.799254154 meters 0.05156489207181149 Centerline is valid? [True, True] Translation: X:1066.20, Y:22.53, Z:4.19 [[ 9.82428806e-01 -1.86557618e-01 -5.46772595e-03 1.06620175e+03] [ 1.86554371e-01 9.82444019e-01 -1.10237768e-03 2.25330138e+01] [ 5.57739161e-03 6.29794162e-05 9.99984444e-01 4.19323849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters 0.05187299691768113 Centerline is valid? [True, True] Translation: X:1066.26, Y:22.54, Z:4.19 [[ 9.82889886e-01 -1.84126513e-01 -4.98990171e-03 1.06625983e+03] [ 1.84123775e-01 9.82902550e-01 -1.00646842e-03 2.25399601e+01] [ 5.08990464e-03 7.04880923e-05 9.99987044e-01 4.19341113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters 0.05099962022244416 Centerline is valid? [True, True] Translation: X:1066.32, Y:22.55, Z:4.19 [[ 9.83172433e-01 -1.82602225e-01 -5.32859036e-03 1.06631745e+03] [ 1.82599079e-01 9.83186870e-01 -1.07520546e-03 2.25510339e+01] [ 5.43533498e-03 8.41166788e-05 9.99985225e-01 4.19343317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.979254154 meters 0.051956911968961794 Centerline is valid? [True, True] Translation: X:1066.37, Y:22.56, Z:4.19 [[ 9.83287302e-01 -1.81905044e-01 -7.52570234e-03 1.06637394e+03] [ 1.81898742e-01 9.83316093e-01 -1.51932351e-03 2.25639496e+01] [ 7.67651683e-03 1.25015732e-04 9.99970527e-01 4.19191372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.039254154 meters 0.050911030975963965 Centerline is valid? [True, True] Translation: X:1066.43, Y:22.57, Z:4.19 [[ 9.82782342e-01 -1.84560620e-01 -8.73192215e-03 1.06643257e+03] [ 1.84552234e-01 9.82821125e-01 -1.76355526e-03 2.25706088e+01] [ 8.90740040e-03 1.21695226e-04 9.99960321e-01 4.19144766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters 0.0515023011415965 Centerline is valid? [True, True] Translation: X:1066.49, Y:22.58, Z:4.19 [[ 9.82080573e-01 -1.88273234e-01 -8.42249785e-03 1.06649056e+03] [ 1.88265563e-01 9.82116685e-01 -1.70162232e-03 2.25789806e+01] [ 8.59224560e-03 8.54639219e-05 9.99963082e-01 4.19201452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters 0.051074940320226504 Centerline is valid? [True, True] Translation: X:1066.55, Y:22.59, Z:4.19 [[ 9.81720713e-01 -1.90157519e-01 -8.03491952e-03 1.06654736e+03] [ 1.90150599e-01 9.81753591e-01 -1.62361859e-03 2.25916022e+01] [ 8.19705438e-03 6.60952350e-05 9.99966401e-01 4.19120432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.219254154 meters 0.05112763151000086 Centerline is valid? [True, True] Translation: X:1066.61, Y:22.60, Z:4.19 [[ 9.81611645e-01 -1.90652350e-01 -9.50046657e-03 1.06660553e+03] [ 1.90642690e-01 9.81657616e-01 -1.92063373e-03 2.26012562e+01] [ 9.69237870e-03 7.41219331e-05 9.99953025e-01 4.19130872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.279254154 meters 0.05138756660475097 Centerline is valid? [True, True] Translation: X:1066.66, Y:22.61, Z:4.19 [[ 9.81710959e-01 -1.90073710e-01 -1.07507510e-02 1.06666217e+03] [ 1.90061297e-01 9.81769818e-01 -2.17421642e-03 2.26130219e+01] [ 1.09680243e-02 9.11504073e-05 9.99939845e-01 4.19185443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters 0.051356457211305745 Centerline is valid? [True, True] Translation: X:1066.72, Y:22.63, Z:4.19 [[ 9.81770032e-01 -1.89771766e-01 -1.06902619e-02 1.06671830e+03] [ 1.89759462e-01 9.81828227e-01 -2.16306959e-03 2.26259807e+01] [ 1.09064904e-02 9.50585671e-05 9.99940518e-01 4.19225727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters 0.051517298794463116 Centerline is valid? [True, True] Translation: X:1066.78, Y:22.64, Z:4.19 [[ 9.81698923e-01 -1.90180221e-01 -9.93520727e-03 1.06677564e+03] [ 1.90169602e-01 9.81749192e-01 -2.01150034e-03 2.26387494e+01] [ 1.01364293e-02 8.53132979e-05 9.99948621e-01 4.19391524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.459254154 meters 0.05149321117883824 Centerline is valid? [True, True] Translation: X:1066.83, Y:22.65, Z:4.20 [[ 9.81424407e-01 -1.91610194e-01 -9.57432259e-03 1.06683382e+03] [ 1.91600390e-01 9.81471105e-01 -1.93950953e-03 2.26505870e+01] [ 9.76855076e-03 6.90380503e-05 9.99952284e-01 4.19509778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.519254154 meters 0.0513177605675705 Centerline is valid? [True, True] Translation: X:1066.89, Y:22.66, Z:4.19 [[ 9.81185930e-01 -1.92845430e-01 -9.20928843e-03 1.06689028e+03] [ 1.92836408e-01 9.81229146e-01 -1.86619964e-03 2.26634766e+01] [ 9.39631029e-03 5.52027356e-05 9.99955852e-01 4.19401619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters 0.051177283647791595 Centerline is valid? [True, True] Translation: X:1066.95, Y:22.67, Z:4.20 [[ 9.80856252e-01 -1.94540162e-01 -8.66820771e-03 1.06694833e+03] [ 1.94532228e-01 9.80894553e-01 -1.75728291e-03 2.26736502e+01] [ 8.84445982e-03 3.73961685e-05 9.99960886e-01 4.19595617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters 0.05154696019750601 Centerline is valid? [True, True] Translation: X:1067.01, Y:22.69, Z:4.20 [[ 9.80535880e-01 -1.96180498e-01 -7.91200419e-03 1.06700519e+03] [ 1.96173936e-01 9.80567801e-01 -1.60466069e-03 2.26852494e+01] [ 8.07305968e-03 2.12983782e-05 9.99967412e-01 4.19650775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.699254154 meters 0.05141555397367537 Centerline is valid? [True, True] Translation: X:1067.06, Y:22.70, Z:4.20 [[ 9.80288741e-01 -1.97451594e-01 -6.84494258e-03 1.06706165e+03] [ 1.97446712e-01 9.80312638e-01 -1.38858009e-03 2.26962490e+01] [ 6.98436107e-03 9.69802536e-06 9.99975609e-01 4.19704835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.759254154 meters 0.051159965431460355 Centerline is valid? [True, True] Translation: X:1067.12, Y:22.71, Z:4.20 [[ 9.79953296e-01 -1.99116764e-01 -6.63712181e-03 1.06711857e+03] [ 1.99112209e-01 9.79975772e-01 -1.34693544e-03 2.27070498e+01] [ 6.77241600e-03 -1.59815558e-06 9.99977067e-01 4.19685657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.819254154 meters 0.05165940733617309 Centerline is valid? [True, True] Translation: X:1067.18, Y:22.72, Z:4.20 [[ 9.79858956e-01 -1.99579024e-01 -6.68130420e-03 1.06717562e+03] [ 1.99574412e-01 9.79881734e-01 -1.35678088e-03 2.27187256e+01] [ 6.81767295e-03 -3.96345581e-06 9.99976759e-01 4.19728203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters 0.05120037655824129 Centerline is valid? [True, True] Translation: X:1067.23, Y:22.73, Z:4.20 [[ 9.80102251e-01 -1.98369680e-01 -7.00335113e-03 1.06723108e+03] [ 1.98364577e-01 9.80127272e-01 -1.42290422e-03 2.27302922e+01] [ 7.14643649e-03 5.37484527e-06 9.99974464e-01 4.19761748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.939254154 meters 0.05155067976195165 Centerline is valid? [True, True] Translation: X:1067.29, Y:22.74, Z:4.20 [[ 9.80699705e-01 -1.95309415e-01 -9.07314830e-03 1.06728929e+03] [ 1.95300711e-01 9.80741674e-01 -1.84424901e-03 2.27412901e+01] [ 9.25861384e-03 3.66621466e-05 9.99957137e-01 4.19933906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.999254154 meters 0.05237697529610178 Centerline is valid? [True, True] Translation: X:1067.35, Y:22.76, Z:4.20 [[ 9.81241272e-01 -1.92472251e-01 -1.09543877e-02 1.06734562e+03] [ 1.92459372e-01 9.81302413e-01 -2.22792640e-03 2.27561990e+01] [ 1.11783811e-02 7.78587559e-05 9.99937517e-01 4.19521631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.059254154 meters 0.051212810495256215 Centerline is valid? [True, True] Translation: X:1067.40, Y:22.77, Z:4.20 [[ 9.81766361e-01 -1.89763654e-01 -1.11610206e-02 1.06740287e+03] [ 1.89750099e-01 9.81829793e-01 -2.27088105e-03 2.27678760e+01] [ 1.13891532e-02 1.11669865e-04 9.99935135e-01 4.19611513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters 0.05154103485473239 Centerline is valid? [True, True] Translation: X:1067.46, Y:22.78, Z:4.20 [[ 9.81900704e-01 -1.89052784e-01 -1.14040738e-02 1.06746082e+03] [ 1.89038571e-01 9.81966919e-01 -2.32147772e-03 2.27793636e+01] [ 1.16373050e-02 1.23650798e-04 9.99932277e-01 4.19644331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters 0.051507193328774854 Centerline is valid? [True, True] Translation: X:1067.52, Y:22.79, Z:4.20 [[ 9.81434928e-01 -1.91516032e-01 -1.03485536e-02 1.06751890e+03] [ 1.91504453e-01 9.81489481e-01 -2.10779794e-03 2.27872815e+01] [ 1.05606736e-02 8.68724365e-05 9.99944231e-01 4.19810323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.239254154 meters 0.050810917901526885 Centerline is valid? [True, True] Translation: X:1067.58, Y:22.80, Z:4.20 [[ 9.80881710e-01 -1.94393564e-01 -9.06720641e-03 1.06757619e+03] [ 1.94384792e-01 9.80923616e-01 -1.84743592e-03 2.27962166e+01] [ 9.25336655e-03 4.95890730e-05 9.99957185e-01 4.19969811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.299254154 meters 0.05063139407986158 Centerline is valid? [True, True] Translation: X:1067.63, Y:22.80, Z:4.20 [[ 9.80008813e-01 -1.98838099e-01 -6.79241952e-03 1.06763319e+03] [ 1.98833281e-01 9.80032352e-01 -1.38419320e-03 2.28043737e+01] [ 6.93202122e-03 5.96247503e-06 9.99975973e-01 4.20059169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters 0.051422902263498105 Centerline is valid? [True, True] Translation: X:1067.69, Y:22.81, Z:4.20 [[ 9.78904803e-01 -2.04210698e-01 -6.58618641e-03 1.06769128e+03] [ 2.04206287e-01 9.78926958e-01 -1.34262733e-03 2.28117309e+01] [ 6.72157429e-03 -3.06363303e-05 9.99977409e-01 4.20044540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters 0.052056142069774186 Centerline is valid? [True, True] Translation: X:1067.75, Y:22.82, Z:4.20 [[ 9.78021171e-01 -2.08381226e-01 -7.20090983e-03 1.06774906e+03] [ 2.08376061e-01 9.78047678e-01 -1.46855144e-03 2.28197798e+01] [ 7.34885169e-03 -6.42228230e-05 9.99972995e-01 4.19956960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.479254154 meters 0.05242259182555393 Centerline is valid? [True, True] Translation: X:1067.81, Y:22.83, Z:4.20 [[ 9.76615383e-01 -2.14863000e-01 -7.50231846e-03 1.06780804e+03] [ 2.14857583e-01 9.76644192e-01 -1.53020723e-03 2.28285800e+01] [ 7.65588067e-03 -1.17506086e-04 9.99970686e-01 4.20000010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.539254154 meters 0.05209386595648182 Centerline is valid? [True, True] Translation: X:1067.87, Y:22.84, Z:4.20 [[ 9.75622050e-01 -2.19308962e-01 -8.07431757e-03 1.06786516e+03] [ 2.19302839e-01 9.75655448e-01 -1.64697959e-03 2.28412861e+01] [ 8.23894931e-03 -1.63891156e-04 9.99966046e-01 4.20073384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters 0.051866989213804615 Centerline is valid? [True, True] Translation: X:1067.92, Y:22.86, Z:4.20 [[ 9.75374046e-01 -2.20377598e-01 -8.89860020e-03 1.06792230e+03] [ 2.20370200e-01 9.75414619e-01 -1.81569573e-03 2.28576988e+01] [ 9.07996338e-03 -1.90003819e-04 9.99958758e-01 4.20104764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters 0.052616881367902935 Centerline is valid? [True, True] Translation: X:1067.98, Y:22.87, Z:4.20 [[ 9.75655373e-01 -2.19075851e-01 -1.01175642e-02 1.06797935e+03] [ 2.19066206e-01 9.75707810e-01 -2.06552385e-03 2.28719616e+01] [ 1.03242928e-02 -2.01176960e-04 9.99946683e-01 4.19972057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.719254154 meters 0.05254085890083539 Centerline is valid? [True, True] Translation: X:1068.04, Y:22.88, Z:4.20 [[ 9.75887995e-01 -2.18007164e-01 -1.07470098e-02 1.06803597e+03] [ 2.17996203e-01 9.75947148e-01 -2.19526429e-03 2.28826562e+01] [ 1.09670969e-02 -2.00475263e-04 9.99939839e-01 4.19895164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.779254154 meters 0.052854162761730876 Centerline is valid? [True, True] Translation: X:1068.09, Y:22.90, Z:4.20 [[ 9.76786124e-01 -2.13951566e-01 -1.06580803e-02 1.06809284e+03] [ 2.13940539e-01 9.76844258e-01 -2.17760350e-03 2.29047721e+01] [ 1.08771862e-02 -1.53142556e-04 9.99940830e-01 4.20254792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters 0.05231369775788824 Centerline is valid? [True, True] Translation: X:1068.15, Y:22.92, Z:4.20 [[ 9.78593429e-01 -2.05566326e-01 -9.86845777e-03 1.06814944e+03] [ 2.05556444e-01 9.78643185e-01 -2.01635589e-03 2.29227255e+01] [ 1.00721938e-02 -5.53324641e-05 9.99949273e-01 4.20216874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters 0.05167822894623309 Centerline is valid? [True, True] Translation: X:1068.20, Y:22.94, Z:4.20 [[ 9.80668078e-01 -1.95432002e-01 -9.82107733e-03 1.06820405e+03] [ 1.95421703e-01 9.80717253e-01 -2.00696160e-03 2.29444082e+01] [ 1.00239245e-02 4.89115177e-05 9.99949758e-01 4.20206076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.959254154 meters 0.05265194237641175 Centerline is valid? [True, True] Translation: X:1068.26, Y:22.96, Z:4.20 [[ 9.82059383e-01 -1.88321159e-01 -9.72158685e-03 1.06825947e+03] [ 1.88310715e-01 9.82107492e-01 -1.98698237e-03 2.29644832e+01] [ 9.92183411e-03 1.20655701e-04 9.99950770e-01 4.20209094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.019254154 meters 0.052484483265543516 Centerline is valid? [True, True] Translation: X:1068.32, Y:22.98, Z:4.20 [[ 9.82562090e-01 -1.85687178e-01 -9.59230289e-03 1.06831660e+03] [ 1.85676876e-01 9.82608900e-01 -1.96133100e-03 2.29788075e+01] [ 9.78967621e-03 1.46060648e-04 9.99952069e-01 4.20318642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters 0.052971691243048166 Centerline is valid? [True, True] Translation: X:1068.37, Y:23.00, Z:4.20 [[ 9.82804507e-01 -1.84345294e-01 -1.05883559e-02 1.06837203e+03] [ 1.84332655e-01 9.82861527e-01 -2.16588120e-03 2.29984344e+01] [ 1.08061576e-02 1.76858054e-04 9.99941596e-01 4.20101713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters 0.05298536040469182 Centerline is valid? [True, True] Translation: X:1068.43, Y:23.01, Z:4.20 [[ 9.82797309e-01 -1.84254040e-01 -1.26450952e-02 1.06843067e+03] [ 1.84235989e-01 9.82878631e-01 -2.58785568e-03 2.30075295e+01] [ 1.29054167e-02 2.13655973e-04 9.99916699e-01 4.20178977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.199254154 meters 0.05270641610443589 Centerline is valid? [True, True] Translation: X:1068.49, Y:23.02, Z:4.20 [[ 9.82746692e-01 -1.84385570e-01 -1.45224498e-02 1.06848878e+03] [ 1.84361750e-01 9.82853957e-01 -2.97381821e-03 2.30177622e+01] [ 1.48217764e-02 2.45125755e-04 9.99890121e-01 4.20261408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.259254154 meters 0.052655626166165696 Centerline is valid? [True, True] Translation: X:1068.55, Y:23.03, Z:4.20 [[ 9.82619708e-01 -1.84893662e-01 -1.65179483e-02 1.06854646e+03] [ 1.84862883e-01 9.82758495e-01 -3.38446331e-03 2.30279493e+01] [ 1.68589199e-02 2.72084802e-04 9.99857841e-01 4.20308391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.319254154 meters 0.05295885941332409 Centerline is valid? [True, True] Translation: X:1068.60, Y:23.04, Z:4.20 [[ 9.82366264e-01 -1.86283270e-01 -1.59707787e-02 1.06860432e+03] [ 1.86254650e-01 9.82496048e-01 -3.27421252e-03 2.30374609e+01] [ 1.63011580e-02 2.41844114e-04 9.99867098e-01 4.20475848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters 0.051983395497413015 Centerline is valid? [True, True] Translation: X:1068.66, Y:23.05, Z:4.21 [[ 9.81997977e-01 -1.88369135e-01 -1.40371936e-02 1.06866281e+03] [ 1.88347217e-01 9.82098282e-01 -2.87933022e-03 2.30471214e+01] [ 1.43282806e-02 1.83630103e-04 9.99897328e-01 4.20674017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.439254154 meters 0.053011601593401125 Centerline is valid? [True, True] Translation: X:1068.72, Y:23.06, Z:4.20 [[ 9.81880592e-01 -1.89007185e-01 -1.36670063e-02 1.06871846e+03] [ 1.88986458e-01 9.81975690e-01 -2.80423133e-03 2.30623971e+01] [ 1.39506878e-02 1.70541206e-04 9.99902670e-01 4.20401639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.499254154 meters 0.052971656784874296 Centerline is valid? [True, True] Translation: X:1068.78, Y:23.07, Z:4.21 [[ 9.81253425e-01 -1.92228205e-01 -1.37852297e-02 1.06877759e+03] [ 1.92207418e-01 9.81350244e-01 -2.82972406e-03 2.30692197e+01] [ 1.40720913e-02 1.27053019e-04 9.99900975e-01 4.20654252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.559254154 meters 0.05235924729574271 Centerline is valid? [True, True] Translation: X:1068.84, Y:23.08, Z:4.21 [[ 9.80184306e-01 -1.97591770e-01 -1.40078184e-02 1.06883549e+03] [ 1.97570831e-01 9.80284392e-01 -2.87700700e-03 2.30767139e+01] [ 1.43001187e-02 5.24607752e-05 9.99897747e-01 4.20636835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters 0.05300832424210396 Centerline is valid? [True, True] Translation: X:1068.89, Y:23.08, Z:4.21 [[ 9.78528763e-01 -2.05671174e-01 -1.34472178e-02 1.06889341e+03] [ 2.05652622e-01 9.78621155e-01 -2.76309213e-03 2.30819797e+01] [ 1.37280202e-02 -6.16904688e-05 9.99905764e-01 4.20809692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters 0.053612480042416116 Centerline is valid? [True, True] Translation: X:1068.95, Y:23.09, Z:4.21 [[ 9.76896702e-01 -2.13331750e-01 -1.27435441e-02 1.06895288e+03] [ 2.13315734e-01 9.76979805e-01 -2.61895760e-03 2.30862754e+01] [ 1.30088920e-02 -1.59947410e-04 9.99915368e-01 4.20862735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.739254154 meters 0.05341796532068699 Centerline is valid? [True, True] Translation: X:1069.01, Y:23.10, Z:4.21 [[ 9.76214813e-01 -2.16441767e-01 -1.25539433e-02 1.06901052e+03] [ 2.16426477e-01 9.76295510e-01 -2.58027595e-03 2.30985089e+01] [ 1.28148379e-02 -1.98102107e-04 9.99917867e-01 4.21130865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.799254154 meters 0.05337390054124426 Centerline is valid? [True, True] Translation: X:1069.07, Y:23.11, Z:4.21 [[ 9.76290113e-01 -2.16086951e-01 -1.28079835e-02 1.06906837e+03] [ 2.16070992e-01 9.76374104e-01 -2.63353857e-03 2.31090972e+01] [ 1.30744568e-02 -1.96336029e-04 9.99914506e-01 4.21017859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters 0.05269080333362525 Centerline is valid? [True, True] Translation: X:1069.13, Y:23.12, Z:4.21 [[ 9.77616135e-01 -2.09921558e-01 -1.41291099e-02 1.06912752e+03] [ 2.09901485e-01 9.77718223e-01 -2.90563660e-03 2.31201506e+01] [ 1.44242440e-02 -1.25123934e-04 9.99895957e-01 4.20759906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters 0.05292047160332178 Centerline is valid? [True, True] Translation: X:1069.18, Y:23.14, Z:4.21 [[ 9.79582223e-01 -2.00543354e-01 -1.41785850e-02 1.06918389e+03] [ 2.00522151e-01 9.79684828e-01 -2.91616468e-03 2.31352716e+01] [ 1.44753620e-02 1.35027267e-05 9.99895226e-01 4.20652768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.979254154 meters 0.052673133747101766 Centerline is valid? [True, True] Translation: X:1069.24, Y:23.15, Z:4.21 [[ 9.81459889e-01 -1.91179709e-01 -1.36676433e-02 1.06923990e+03] [ 1.91159092e-01 9.81555040e-01 -2.81144563e-03 2.31538609e+01] [ 1.39530355e-02 1.46626830e-04 9.99902641e-01 4.20544710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.039254154 meters 0.05224424666057564 Centerline is valid? [True, True] Translation: X:1069.30, Y:23.16, Z:4.21 [[ 9.82471294e-01 -1.85951802e-01 -1.31180763e-02 1.06929893e+03] [ 1.85932340e-01 9.82558844e-01 -2.69864514e-03 2.31632256e+01] [ 1.33910999e-02 2.12266753e-04 9.99910313e-01 4.20989688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters 0.05239407343075507 Centerline is valid? [True, True] Translation: X:1069.36, Y:23.18, Z:4.21 [[ 9.83550225e-01 -1.80304504e-01 -1.09197742e-02 1.06935588e+03] [ 1.80290669e-01 9.83610811e-01 -2.24658300e-03 2.31788261e+01] [ 1.11458770e-02 2.40893822e-04 9.99937854e-01 4.20977171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters 0.05166066177952154 Centerline is valid? [True, True] Translation: X:1069.41, Y:23.19, Z:4.21 [[ 9.84072832e-01 -1.77497248e-01 -9.76673314e-03 1.06941273e+03] [ 1.77486039e-01 9.84121267e-01 -2.00960632e-03 2.31924911e+01] [ 9.96834938e-03 2.44140202e-04 9.99950285e-01 4.21019674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.219254154 meters 0.05244998284834805 Centerline is valid? [True, True] Translation: X:1069.47, Y:23.20, Z:4.21 [[ 9.84086501e-01 -1.77335162e-01 -1.12249335e-02 1.06946968e+03] [ 1.77320340e-01 9.84150477e-01 -2.31007061e-03 2.32038436e+01] [ 1.14566804e-02 2.82900271e-04 9.99934330e-01 4.20870196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.279254154 meters 0.050652555548423746 Centerline is valid? [True, True] Translation: X:1069.53, Y:23.20, Z:4.21 [[ 9.83732762e-01 -1.79163165e-01 -1.30542437e-02 1.06953075e+03] [ 1.79143275e-01 9.83819327e-01 -2.68686995e-03 2.32016002e+01] [ 1.33244054e-02 3.04582022e-04 9.99911180e-01 4.21178692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters 0.051391169237593605 Centerline is valid? [True, True] Translation: X:1069.59, Y:23.22, Z:4.21 [[ 9.83372310e-01 -1.81057871e-01 -1.40337951e-02 1.06958669e+03] [ 1.81035071e-01 9.83472398e-01 -2.88899140e-03 2.32153620e+01] [ 1.43249247e-02 3.00345063e-04 9.99897348e-01 4.20912551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters 0.0512833671990061 Centerline is valid? [True, True] Translation: X:1069.65, Y:23.22, Z:4.21 [[ 9.82505679e-01 -1.85611767e-01 -1.51941542e-02 1.06964668e+03] [ 1.85585579e-01 9.82623126e-01 -3.12813703e-03 2.32198369e+01] [ 1.55107464e-02 2.53596493e-04 9.99879669e-01 4.21019198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.459254154 meters 0.0520848783486585 Centerline is valid? [True, True] Translation: X:1069.71, Y:23.23, Z:4.21 [[ 9.81510071e-01 -1.90814302e-01 -1.50957630e-02 1.06970540e+03] [ 1.90789063e-01 9.81626137e-01 -3.10810204e-03 2.32280192e+01] [ 1.54114658e-02 1.70526971e-04 9.99881222e-01 4.20958618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.519254154 meters 0.051968521389715736 Centerline is valid? [True, True] Translation: X:1069.76, Y:23.24, Z:4.21 [[ 9.81190125e-01 -1.92535977e-01 -1.39941408e-02 1.06976141e+03] [ 1.92514456e-01 9.81289906e-01 -2.88176543e-03 2.32422137e+01] [ 1.42871527e-02 1.33485372e-04 9.99897924e-01 4.20720079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters 0.05190816037772898 Centerline is valid? [True, True] Translation: X:1069.82, Y:23.26, Z:4.21 [[ 9.81329312e-01 -1.91819373e-01 -1.40751371e-02 1.06981867e+03] [ 1.91797510e-01 9.81430235e-01 -2.89972083e-03 2.32575857e+01] [ 1.43699877e-02 1.46004804e-04 9.99896736e-01 4.20633930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters 0.051150305744664636 Centerline is valid? [True, True] Translation: X:1069.88, Y:23.27, Z:4.21 [[ 9.81772791e-01 -1.89442865e-01 -1.52836147e-02 1.06987723e+03] [ 1.89416788e-01 9.81891726e-01 -3.14933602e-03 2.32681348e+01] [ 1.56034741e-02 1.96959210e-04 9.99878239e-01 4.21053852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.699254154 meters 0.05110772173260675 Centerline is valid? [True, True] Translation: X:1069.94, Y:23.28, Z:4.21 [[ 9.82570255e-01 -1.85311057e-01 -1.46801070e-02 1.06993505e+03] [ 1.85286533e-01 9.82679881e-01 -3.02521928e-03 2.32838508e+01] [ 1.49864524e-02 2.52464337e-04 9.99887665e-01 4.21060685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.759254154 meters 0.052053834461742256 Centerline is valid? [True, True] Translation: X:1069.99, Y:23.30, Z:4.21 [[ 9.83038980e-01 -1.82785100e-01 -1.49656926e-02 1.06999120e+03] [ 1.82759314e-01 9.83152846e-01 -3.08450294e-03 2.33001530e+01] [ 1.52773644e-02 2.97066907e-04 9.99883250e-01 4.20987248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.819254154 meters 0.05228632128306222 Centerline is valid? [True, True] Translation: X:1070.05, Y:23.31, Z:4.21 [[ 9.82913117e-01 -1.83466702e-01 -1.48920615e-02 1.07004864e+03] [ 1.83441226e-01 9.83025883e-01 -3.07070143e-03 2.33121755e+01] [ 1.52026534e-02 2.86414687e-04 9.99884392e-01 4.20992619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters 0.050951234953339815 Centerline is valid? [True, True] Translation: X:1070.11, Y:23.32, Z:4.21 [[ 9.82381966e-01 -1.86369069e-01 -1.38651615e-02 1.07010805e+03] [ 1.86347267e-01 9.82479781e-01 -2.85953266e-03 2.33196687e+01] [ 1.41551692e-02 2.25418364e-04 9.99899785e-01 4.21224904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.939254154 meters 0.05127829634256762 Centerline is valid? [True, True] Translation: X:1070.17, Y:23.33, Z:4.21 [[ 9.81265605e-01 -1.92304356e-01 -1.16981680e-02 1.07016620e+03] [ 1.92289256e-01 9.81335325e-01 -2.41273577e-03 2.33321917e+01] [ 1.19438051e-02 1.18102613e-04 9.99928663e-01 4.21048257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.999254154 meters 0.05167197907084488 Centerline is valid? [True, True] Translation: X:1070.23, Y:23.34, Z:4.21 [[ 9.79747268e-01 -1.99957902e-01 -1.05890878e-02 1.07022520e+03] [ 1.99945968e-01 9.79804489e-01 -2.18475010e-03 2.33377393e+01] [ 1.08120938e-02 2.32575249e-05 9.99941547e-01 4.21273415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.059254154 meters 0.05162643822070934 Centerline is valid? [True, True] Translation: X:1070.28, Y:23.34, Z:4.21 [[ 9.77967100e-01 -2.08446219e-01 -1.14247717e-02 1.07028282e+03] [ 2.08432895e-01 9.78033828e-01 -2.35800252e-03 2.33426410e+01] [ 1.16653299e-02 -7.52493402e-05 9.99931955e-01 4.21115221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters 0.05210939588223048 Centerline is valid? [True, True] Translation: X:1070.34, Y:23.35, Z:4.21 [[ 9.76235704e-01 -2.16418302e-01 -1.12680697e-02 1.07034261e+03] [ 2.16405868e-01 9.76300717e-01 -2.32588653e-03 2.33490355e+01] [ 1.15043889e-02 -1.67862932e-04 9.99933808e-01 4.21147940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters 0.05238878154369141 Centerline is valid? [True, True] Translation: X:1070.40, Y:23.36, Z:4.21 [[ 9.75377256e-01 -2.20259369e-01 -1.11812134e-02 1.07040049e+03] [ 2.20247376e-01 9.75441318e-01 -2.30816249e-03 2.33607977e+01] [ 1.14150119e-02 -2.11303711e-04 9.99934824e-01 4.21221845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.239254154 meters 0.05295619953639045 Centerline is valid? [True, True] Translation: X:1070.46, Y:23.38, Z:4.21 [[ 9.74567831e-01 -2.23796253e-01 -1.15230302e-02 1.07045719e+03] [ 2.23783760e-01 9.74635916e-01 -2.37897461e-03 2.33777509e+01] [ 1.17631647e-02 -2.60194902e-04 9.99930778e-01 4.21357332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.299254154 meters 0.05353059965168136 Centerline is valid? [True, True] Translation: X:1070.52, Y:23.38, Z:4.21 [[ 9.74358352e-01 -2.24701281e-01 -1.16247790e-02 1.07051629e+03] [ 2.24688620e-01 9.74427658e-01 -2.40090966e-03 2.33824933e+01] [ 1.18669937e-02 -2.72609172e-04 9.99929548e-01 4.21174110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters 0.05171175381986293 Centerline is valid? [True, True] Translation: X:1070.57, Y:23.41, Z:4.22 [[ 9.74359623e-01 -2.24689387e-01 -1.17475651e-02 1.07057057e+03] [ 2.24676437e-01 9.74430400e-01 -2.42777468e-03 2.34052418e+01] [ 1.19926798e-02 -2.73875465e-04 9.99928048e-01 4.21549495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters 0.053055316172628576 Centerline is valid? [True, True] Translation: X:1070.63, Y:23.42, Z:4.21 [[ 9.74777642e-01 -2.22860176e-01 -1.19117609e-02 1.07062846e+03] [ 2.22846708e-01 9.74850387e-01 -2.46313279e-03 2.34152668e+01] [ 1.21611189e-02 -2.53489923e-04 9.99926019e-01 4.21313228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.479254154 meters 0.052587856745199085 Centerline is valid? [True, True] Translation: X:1070.68, Y:23.44, Z:4.21 [[ 9.75747458e-01 -2.18585047e-01 -1.17250318e-02 1.07068390e+03] [ 2.18571682e-01 9.75817882e-01 -2.42514176e-03 2.34365183e+01] [ 1.19715954e-02 -1.96434021e-04 9.99928319e-01 4.21498069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.539254154 meters 0.052137268133668854 Centerline is valid? [True, True] Translation: X:1070.74, Y:23.45, Z:4.21 [[ 9.76942886e-01 -2.13213107e-01 -1.10801091e-02 1.07074201e+03] [ 2.13200824e-01 9.77005709e-01 -2.29190479e-03 2.34493472e+01] [ 1.13139940e-02 -1.23228323e-04 9.99935987e-01 4.21262534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters 0.05269905857174087 Centerline is valid? [True, True] Translation: X:1070.80, Y:23.47, Z:4.21 [[ 9.78361368e-01 -2.06626388e-01 -1.07037208e-02 1.07079854e+03] [ 2.06614528e-01 9.78419917e-01 -2.21431798e-03 2.34675338e+01] [ 1.09302702e-02 -4.51410630e-05 9.99940262e-01 4.21342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters 0.05168362988356593 Centerline is valid? [True, True] Translation: X:1070.85, Y:23.49, Z:4.21 [[ 9.79656138e-01 -2.00463109e-01 -9.40181642e-03 1.07085370e+03] [ 2.00453671e-01 9.79701251e-01 -1.94534225e-03 2.34851700e+01] [ 9.60094066e-03 2.11378534e-05 9.99953910e-01 4.21380197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.719254154 meters 0.05170983394254344 Centerline is valid? [True, True] Translation: X:1070.91, Y:23.50, Z:4.21 [[ 9.80200989e-01 -1.97799757e-01 -9.01543097e-03 1.07091059e+03] [ 1.97790959e-01 9.80242447e-01 -1.86614182e-03 2.35004399e+01] [ 9.20643051e-03 4.60233247e-05 9.99957619e-01 4.21435593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.779254154 meters 0.05225986396865226 Centerline is valid? [True, True] Translation: X:1070.97, Y:23.52, Z:4.21 [[ 9.80729172e-01 -1.95171935e-01 -8.84348439e-03 1.07096575e+03] [ 1.95163356e-01 9.80769041e-01 -1.83128226e-03 2.35179031e+01] [ 9.03083060e-03 7.00678483e-05 9.99959219e-01 4.21427885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters 0.05250391153789632 Centerline is valid? [True, True] Translation: X:1071.02, Y:23.53, Z:4.21 [[ 9.80869548e-01 -1.94455396e-01 -9.05698536e-03 1.07102294e+03] [ 1.94446360e-01 9.80911358e-01 -1.87630823e-03 2.35315209e+01] [ 9.24895807e-03 7.93157661e-05 9.99957224e-01 4.21417897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters 0.05299079613361864 Centerline is valid? [True, True] Translation: X:1071.08, Y:23.55, Z:4.21 [[ 9.81082147e-01 -1.93303267e-01 -1.05673197e-02 1.07107984e+03] [ 1.93290886e-01 9.81139050e-01 -2.19044155e-03 2.35461328e+01] [ 1.07914295e-02 1.06436520e-04 9.99941765e-01 4.21229160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.959254154 meters 0.05205169344183118 Centerline is valid? [True, True] Translation: X:1071.14, Y:23.56, Z:4.21 [[ 9.81011106e-01 -1.93566252e-01 -1.22195096e-02 1.07113774e+03] [ 1.93549698e-01 9.81087199e-01 -2.53440407e-03 2.35554267e+01] [ 1.24789795e-02 1.21196147e-04 9.99922127e-01 4.21341900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.019254154 meters 0.05235098994036632 Centerline is valid? [True, True] Translation: X:1071.19, Y:23.57, Z:4.21 [[ 9.80763784e-01 -1.94842662e-01 -1.17786410e-02 1.07119410e+03] [ 1.94827363e-01 9.80834505e-01 -2.44374092e-03 2.35669875e+01] [ 1.20290425e-02 1.01931021e-04 9.99927643e-01 4.21331868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters 0.05170691124283328 Centerline is valid? [True, True] Translation: X:1071.25, Y:23.58, Z:4.22 [[ 9.80145913e-01 -1.97990900e-01 -1.06580275e-02 1.07125214e+03] [ 1.97978549e-01 9.80203856e-01 -2.21220062e-03 2.35751603e+01] [ 1.08850353e-02 5.82185626e-05 9.99940755e-01 4.21524744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters 0.05257020535036763 Centerline is valid? [True, True] Translation: X:1071.31, Y:23.58, Z:4.21 [[ 9.78964348e-01 -2.03719837e-01 -1.12708666e-02 1.07130991e+03] [ 2.03706389e-01 9.79029227e-01 -2.34076959e-03 2.35823505e+01] [ 1.15113690e-02 -4.41755029e-06 9.99933742e-01 4.21472458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.199254154 meters 0.05281413921483021 Centerline is valid? [True, True] Translation: X:1071.37, Y:23.59, Z:4.22 [[ 9.77972062e-01 -2.08452776e-01 -1.08667650e-02 1.07136878e+03] [ 2.08440552e-01 9.78032431e-01 -2.25814107e-03 2.35905509e+01] [ 1.10987644e-02 -5.66756138e-05 9.99938405e-01 4.21623527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.259254154 meters 0.053191226526425384 Centerline is valid? [True, True] Translation: X:1071.43, Y:23.60, Z:4.22 [[ 9.77668620e-01 -2.09852576e-01 -1.12234490e-02 1.07142536e+03] [ 2.09839620e-01 9.77733037e-01 -2.33306684e-03 2.36035746e+01] [ 1.14631370e-02 -7.41580382e-05 9.99934293e-01 4.21939661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.319254154 meters 0.05282796201695522 Centerline is valid? [True, True] Translation: X:1071.48, Y:23.61, Z:4.22 [[ 9.77868586e-01 -2.08937535e-01 -1.08689839e-02 1.07148337e+03] [ 2.08925317e-01 9.77928987e-01 -2.26033290e-03 2.36147946e+01] [ 1.11013628e-02 -6.04973777e-05 9.99938376e-01 4.21666954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters 0.05232118461201122 Centerline is valid? [True, True] Translation: X:1071.54, Y:23.63, Z:4.22 [[ 9.78599395e-01 -2.05488484e-01 -1.08492754e-02 1.07153994e+03] [ 2.05476084e-01 9.78659533e-01 -2.25751378e-03 2.36293592e+01] [ 1.10816399e-02 -2.00650152e-05 9.99938597e-01 4.21853918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.439254154 meters 0.05239568673985096 Centerline is valid? [True, True] Translation: X:1071.60, Y:23.64, Z:4.22 [[ 9.79126566e-01 -2.02970063e-01 -1.06921110e-02 1.07159677e+03] [ 2.02957856e-01 9.79184943e-01 -2.22610524e-03 2.36433297e+01] [ 1.09213868e-02 9.59085986e-06 9.99940360e-01 4.21692819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.499254154 meters 0.05309638674101536 Centerline is valid? [True, True] Translation: X:1071.65, Y:23.66, Z:4.22 [[ 9.79870328e-01 -1.99339569e-01 -1.08571361e-02 1.07165358e+03] [ 1.99326745e-01 9.79930474e-01 -2.26174434e-03 2.36590856e+01] [ 1.10900936e-02 5.20985806e-05 9.99938502e-01 4.21701610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.559254154 meters 0.052811097705405534 Centerline is valid? [True, True] Translation: X:1071.71, Y:23.67, Z:4.22 [[ 9.80282317e-01 -1.97307517e-01 -1.07852786e-02 1.07170999e+03] [ 1.97294731e-01 9.80341643e-01 -2.24749505e-03 2.36731582e+01] [ 1.10167054e-02 7.53010130e-05 9.99939311e-01 4.21633842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters 0.053320518291384095 Centerline is valid? [True, True] Translation: X:1071.77, Y:23.69, Z:4.22 [[ 9.80498703e-01 -1.96265957e-01 -1.00978785e-02 1.07176775e+03] [ 1.96254684e-01 9.80550696e-01 -2.10509042e-03 2.36862715e+01] [ 1.03146393e-02 8.22824740e-05 9.99946799e-01 4.21707322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters 0.05269150694681786 Centerline is valid? [True, True] Translation: X:1071.83, Y:23.70, Z:4.22 [[ 9.80562502e-01 -1.95945655e-01 -1.01232043e-02 1.07182510e+03] [ 1.95934298e-01 9.80614752e-01 -2.11144045e-03 2.36982324e+01] [ 1.03406910e-02 8.69164062e-05 9.99946530e-01 4.21757674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.739254154 meters 0.052606146376797815 Centerline is valid? [True, True] Translation: X:1071.88, Y:23.71, Z:4.22 [[ 9.80521383e-01 -1.96129690e-01 -1.05338303e-02 1.07188154e+03] [ 1.96117392e-01 9.80577961e-01 -2.19807633e-03 2.37093382e+01] [ 1.07603498e-02 8.93935184e-05 9.99942102e-01 4.21771830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.799254154 meters 0.05267258792245302 Centerline is valid? [True, True] Translation: X:1071.94, Y:23.72, Z:4.22 [[ 9.80408734e-01 -1.96704875e-01 -1.02911036e-02 1.07193864e+03] [ 1.96693157e-01 9.80462741e-01 -2.14864684e-03 2.37176558e+01] [ 1.05126930e-02 8.23624695e-05 9.99944737e-01 4.22020286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters 0.05247912764779374 Centerline is valid? [True, True] Translation: X:1071.99, Y:23.73, Z:4.22 [[ 9.80184234e-01 -1.97780524e-01 -1.10332538e-02 1.07199479e+03] [ 1.97767112e-01 9.80246325e-01 -2.30460749e-03 2.37286330e+01] [ 1.12711129e-02 7.69251896e-05 9.99936476e-01 4.21933944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters 0.05293961954194221 Centerline is valid? [True, True] Translation: X:1072.05, Y:23.74, Z:4.22 [[ 9.80155280e-01 -1.97866298e-01 -1.20230921e-02 1.07205254e+03] [ 1.97850362e-01 9.80229015e-01 -2.51259446e-03 2.37400155e+01] [ 1.22825415e-02 8.39596006e-05 9.99924563e-01 4.21906902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.979254154 meters 0.052858708904968646 Centerline is valid? [True, True] Translation: X:1072.11, Y:23.75, Z:4.22 [[ 9.80168348e-01 -1.97751517e-01 -1.28198360e-02 1.07211080e+03] [ 1.97733368e-01 9.80252176e-01 -2.68066119e-03 2.37505666e+01] [ 1.30967769e-02 9.25898992e-05 9.99914229e-01 4.21892529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.039254154 meters 0.05287407104683507 Centerline is valid? [True, True] Translation: X:1072.17, Y:23.76, Z:4.22 [[ 9.79941031e-01 -1.98916582e-01 -1.21560458e-02 1.07216815e+03] [ 1.98900337e-01 9.80016422e-01 -2.54328133e-03 2.37612725e+01] [ 1.24190254e-02 7.44241162e-05 9.99922878e-01 4.21742176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters 0.05211775235986169 Centerline is valid? [True, True] Translation: X:1072.23, Y:23.77, Z:4.22 [[ 9.79551873e-01 -2.00953342e-01 -9.79193809e-03 1.07222717e+03] [ 2.00942891e-01 9.79600813e-01 -2.04974454e-03 2.37681621e+01] [ 1.00040935e-02 4.02107561e-05 9.99949957e-01 4.22187778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters 0.05252653247352333 Centerline is valid? [True, True] Translation: X:1072.28, Y:23.78, Z:4.22 [[ 9.78999968e-01 -2.03663729e-01 -8.95251412e-03 1.07228476e+03] [ 2.03655102e-01 9.79040901e-01 -1.87466877e-03 2.37774372e+01] [ 9.14667952e-03 1.20754959e-05 9.99958168e-01 4.22180453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.219254154 meters 0.05243289568051199 Centerline is valid? [True, True] Translation: X:1072.34, Y:23.79, Z:4.22 [[ 9.78696921e-01 -2.05115218e-01 -8.94903066e-03 1.07234162e+03] [ 2.05106650e-01 9.78737834e-01 -1.87477216e-03 2.37878650e+01] [ 9.14329919e-03 -6.71964238e-07 9.99958199e-01 4.22181355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.279254154 meters 0.052314499747040846 Centerline is valid? [True, True] Translation: X:1072.40, Y:23.80, Z:4.22 [[ 9.77650000e-01 -2.09975075e-01 -1.05330620e-02 1.07240026e+03] [ 2.09963473e-01 9.77706738e-01 -2.20798110e-03 2.37952356e+01] [ 1.07618667e-02 -5.29255571e-05 9.99942088e-01 4.22058601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters 0.052962160301067714 Centerline is valid? [True, True] Translation: X:1072.46, Y:23.80, Z:4.22 [[ 9.76429375e-01 -2.15507554e-01 -1.19234778e-02 1.07245947e+03] [ 2.15493091e-01 9.76502165e-01 -2.50001676e-03 2.38041665e+01] [ 1.21820743e-02 -1.28337277e-04 9.99925788e-01 4.22160822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters 0.05279694553451407 Centerline is valid? [True, True] Translation: X:1072.52, Y:23.82, Z:4.22 [[ 9.75512218e-01 -2.19616191e-01 -1.20266760e-02 1.07251607e+03] [ 2.19601785e-01 9.75586334e-01 -2.52196967e-03 2.38171557e+01] [ 1.22869261e-02 -1.80867277e-04 9.99924496e-01 4.22471835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.459254154 meters 0.052809794344459524 Centerline is valid? [True, True] Translation: X:1072.57, Y:23.82, Z:4.22 [[ 9.75174107e-01 -2.21153071e-01 -1.12596927e-02 1.07257356e+03] [ 2.21140536e-01 9.75239091e-01 -2.36202653e-03 2.38239014e+01] [ 1.15032619e-02 -1.86587373e-04 9.99933818e-01 4.22402600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.519254154 meters 0.05288913196785926 Centerline is valid? [True, True] Translation: X:1072.63, Y:23.84, Z:4.23 [[ 9.75410318e-01 -2.20186122e-01 -9.63235316e-03 1.07263144e+03] [ 2.20176892e-01 9.75457867e-01 -2.02156300e-03 2.38351162e+01] [ 9.84107478e-03 -1.48968179e-04 9.99951564e-01 4.22550964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters 0.05289427432676592 Centerline is valid? [True, True] Translation: X:1072.69, Y:23.85, Z:4.23 [[ 9.76094745e-01 -2.17121888e-01 -9.85572513e-03 1.07268866e+03] [ 2.17112062e-01 9.76144493e-01 -2.06913911e-03 2.38509336e+01] [ 1.00698672e-02 -1.20120988e-04 9.99949290e-01 4.22649415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters 0.05289318855545711 Centerline is valid? [True, True] Translation: X:1072.75, Y:23.86, Z:4.22 [[ 9.76714884e-01 -2.14277780e-01 -1.06333646e-02 1.07274688e+03] [ 2.14266163e-01 9.76772759e-01 -2.23331686e-03 2.38618675e+01] [ 1.08649311e-02 -9.70564227e-05 9.99940970e-01 4.22373542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.699254154 meters 0.05198342489301979 Centerline is valid? [True, True] Translation: X:1072.80, Y:23.88, Z:4.22 [[ 9.77676968e-01 -2.09774439e-01 -1.19344808e-02 1.07280331e+03] [ 2.09759452e-01 9.77749806e-01 -2.50798996e-03 2.38801768e+01] [ 1.21950484e-02 -5.13661276e-05 9.99925636e-01 4.22426452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.759254154 meters 0.05264168366436959 Centerline is valid? [True, True] Translation: X:1072.86, Y:23.89, Z:4.23 [[ 9.77892918e-01 -2.08812504e-01 -1.10806067e-02 1.07285916e+03] [ 2.08799516e-01 9.77955693e-01 -2.32927246e-03 2.38948148e+01] [ 1.13227236e-02 -3.58462713e-05 9.99935895e-01 4.22654257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.819254154 meters 0.05233586470599989 Centerline is valid? [True, True] Translation: X:1072.92, Y:23.91, Z:4.23 [[ 9.77845094e-01 -2.09071417e-01 -1.03978548e-02 1.07291632e+03] [ 2.09059984e-01 9.77900374e-01 -2.18666557e-03 2.39070806e+01] [ 1.06252353e-02 -3.55551606e-05 9.99943550e-01 4.22796929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters 0.051396115230986805 Centerline is valid? [True, True] Translation: X:1072.97, Y:23.92, Z:4.23 [[ 9.77887653e-01 -2.08902516e-01 -9.77127792e-03 1.07297409e+03] [ 2.08892401e-01 9.77936469e-01 -2.05593249e-03 2.39184090e+01] [ 9.98517850e-03 -3.06747047e-05 9.99950146e-01 4.22585912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.939254154 meters 0.05327929847995301 Centerline is valid? [True, True] Translation: X:1073.03, Y:23.93, Z:4.23 [[ 9.78439771e-01 -2.06252340e-01 -1.07510993e-02 1.07303012e+03] [ 2.06239920e-01 9.78498836e-01 -2.26342819e-03 2.39343178e+01] [ 1.09867755e-02 -2.67768321e-06 9.99939644e-01 4.22609875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.999254154 meters 0.05222139483012465 Centerline is valid? [True, True] Translation: X:1073.09, Y:23.95, Z:4.23 [[ 9.79712319e-01 -1.99983562e-01 -1.30516973e-02 1.07308659e+03] [ 1.99964679e-01 9.79799249e-01 -2.74946800e-03 2.39505254e+01] [ 1.33378916e-02 8.38092071e-05 9.99911043e-01 4.22598138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.059254154 meters 0.05203149463502384 Centerline is valid? [True, True] Translation: X:1073.15, Y:23.97, Z:4.23 [[ 9.81210512e-01 -1.92399212e-01 -1.44386748e-02 1.07314531e+03] [ 1.92375271e-01 9.81316718e-01 -3.04215258e-03 2.39653129e+01] [ 1.47542207e-02 2.07348103e-04 9.99891129e-01 4.22749800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters 0.05313882746104487 Centerline is valid? [True, True] Translation: X:1073.20, Y:23.99, Z:4.23 [[ 9.82285560e-01 -1.86883538e-01 -1.37702944e-02 1.07320145e+03] [ 1.86861218e-01 9.82382037e-01 -2.90149750e-03 2.39864589e+01] [ 1.40699320e-02 2.76965104e-04 9.99900975e-01 4.22504368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters 0.05263388935751514 Centerline is valid? [True, True] Translation: X:1073.26, Y:24.00, Z:4.23 [[ 9.82593572e-01 -1.85368412e-01 -1.21829596e-02 1.07325901e+03] [ 1.85350813e-01 9.82669060e-01 -2.56800673e-03 2.39968840e+01] [ 1.24478448e-02 2.65185450e-04 9.99922487e-01 4.22820930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.239254154 meters 0.051241247309731 Centerline is valid? [True, True] Translation: X:1073.32, Y:24.00, Z:4.23 [[ 9.82416694e-01 -1.86399152e-01 -1.06205584e-02 1.07331835e+03] [ 1.86385826e-01 9.82474075e-01 -2.23983614e-03 2.40015089e+01] [ 1.08519269e-02 2.20930863e-04 9.99941092e-01 4.23191745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.299254154 meters 0.05170119445940565 Centerline is valid? [True, True] Translation: X:1073.37, Y:24.02, Z:4.23 [[ 9.82243562e-01 -1.87302424e-01 -1.07418469e-02 1.07337330e+03] [ 1.87288836e-01 9.82302273e-01 -2.26616081e-03 2.40196626e+01] [ 1.09761980e-02 2.14093857e-04 9.99939737e-01 4.22892142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters 0.052539190510364084 Centerline is valid? [True, True] Translation: X:1073.43, Y:24.03, Z:4.23 [[ 9.82001210e-01 -1.88502528e-01 -1.18499208e-02 1.07343119e+03] [ 1.88486067e-01 9.82072679e-01 -2.50097470e-03 2.40291478e+01] [ 1.21089235e-02 2.22415213e-04 9.99926660e-01 4.22862422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters 0.051546606648326304 Centerline is valid? [True, True] Translation: X:1073.49, Y:24.03, Z:4.23 [[ 9.81681164e-01 -1.90136647e-01 -1.22535123e-02 1.07349057e+03] [ 1.90119155e-01 9.81757613e-01 -2.58757807e-03 2.40323765e+01] [ 1.25219724e-02 2.10549247e-04 9.99921575e-01 4.23205937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.479254154 meters 0.051763276439165444 Centerline is valid? [True, True] Translation: X:1073.55, Y:24.04, Z:4.23 [[ 9.81063821e-01 -1.93274749e-01 -1.25956936e-02 1.07354901e+03] [ 1.93256507e-01 9.81144658e-01 -2.66128128e-03 2.40410387e+01] [ 1.28725559e-02 1.76687037e-04 9.99917130e-01 4.23227544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.539254154 meters 0.051693591683960566 Centerline is valid? [True, True] Translation: X:1073.61, Y:24.05, Z:4.23 [[ 9.80241797e-01 -1.97279535e-01 -1.43806765e-02 1.07360640e+03] [ 1.97256172e-01 9.80347267e-01 -3.03936678e-03 2.40487036e+01] [ 1.46976618e-02 1.42637151e-04 9.99891973e-01 4.23017587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters 0.05165489840785677 Centerline is valid? [True, True] Translation: X:1073.66, Y:24.06, Z:4.23 [[ 9.79825026e-01 -1.99334851e-01 -1.44407935e-02 1.07366386e+03] [ 1.99311504e-01 9.79931428e-01 -3.05289050e-03 2.40581541e+01] [ 1.47595348e-02 1.13082249e-04 9.99891066e-01 4.22980441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters 0.05159690420627487 Centerline is valid? [True, True] Translation: X:1073.72, Y:24.07, Z:4.23 [[ 9.79416425e-01 -2.01412120e-01 -1.32899993e-02 1.07372224e+03] [ 2.01392519e-01 9.79506586e-01 -2.81092138e-03 2.40662236e+01] [ 1.35837955e-02 7.65561433e-05 9.99907733e-01 4.23152538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.719254154 meters 0.05151453787481638 Centerline is valid? [True, True] Translation: X:1073.78, Y:24.08, Z:4.23 [[ 9.79434331e-01 -2.01459464e-01 -1.10669036e-02 1.07377873e+03] [ 2.01445867e-01 9.79496851e-01 -2.34139404e-03 2.40766120e+01] [ 1.13116932e-02 6.38597001e-05 9.99936019e-01 4.23172500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.779254154 meters 0.05170421574808747 Centerline is valid? [True, True] Translation: X:1073.84, Y:24.09, Z:4.23 [[ 9.79757836e-01 -1.99926916e-01 -1.01887726e-02 1.07383667e+03] [ 1.99915300e-01 9.79810810e-01 -2.15648035e-03 2.40873765e+01] [ 1.04142080e-02 7.59369901e-05 9.99945768e-01 4.23322794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters 0.05092812240493897 Centerline is valid? [True, True] Translation: X:1073.89, Y:24.10, Z:4.23 [[ 9.80204997e-01 -1.97675807e-01 -1.10651859e-02 1.07389321e+03] [ 1.97661955e-01 9.80267445e-01 -2.34274560e-03 2.41002662e+01] [ 1.13099456e-02 1.09204675e-04 9.99936035e-01 4.23183648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters 0.051154638460171736 Centerline is valid? [True, True] Translation: X:1073.95, Y:24.11, Z:4.23 [[ 9.80489808e-01 -1.96225641e-01 -1.16290659e-02 1.07395092e+03] [ 1.96210226e-01 9.80558759e-01 -2.46315699e-03 2.41118069e+01] [ 1.18863170e-02 1.33358665e-04 9.99929346e-01 4.23154316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.959254154 meters 0.05084419017829329 Centerline is valid? [True, True] Translation: X:1074.01, Y:24.12, Z:4.23 [[ 9.80451192e-01 -1.96415354e-01 -1.16819805e-02 1.07400838e+03] [ 1.96399795e-01 9.80520775e-01 -2.47578347e-03 2.41219156e+01] [ 1.19407064e-02 1.33046284e-04 9.99928698e-01 4.23221900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.019254154 meters 0.05062872574183375 Centerline is valid? [True, True] Translation: X:1074.07, Y:24.13, Z:4.23 [[ 9.80117049e-01 -1.98085690e-01 -1.15165118e-02 1.07406682e+03] [ 1.98070668e-01 9.80184700e-01 -2.44205902e-03 2.41296306e+01] [ 1.17720456e-02 1.12420488e-04 9.99930701e-01 4.23304615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters 0.05153863910741757 Centerline is valid? [True, True] Translation: X:1074.12, Y:24.14, Z:4.23 [[ 9.79791804e-01 -1.99675856e-01 -1.17291836e-02 1.07412368e+03] [ 1.99660379e-01 9.79862002e-01 -2.48791295e-03 2.41390292e+01] [ 1.19897575e-02 9.57834871e-05 9.99928116e-01 4.23232703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters 0.05063632374095427 Centerline is valid? [True, True] Translation: X:1074.18, Y:24.15, Z:4.23 [[ 9.79766296e-01 -1.99797828e-01 -1.17827116e-02 1.07418089e+03] [ 1.99782205e-01 9.79837139e-01 -2.50042264e-03 2.41505664e+01] [ 1.20447175e-02 9.58537170e-05 9.99927455e-01 4.23261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.199254154 meters 0.05146005149229045 Centerline is valid? [True, True] Translation: X:1074.24, Y:24.16, Z:4.23 [[ 9.80118411e-01 -1.98071333e-01 -1.16467903e-02 1.07423828e+03] [ 1.98055930e-01 9.80187601e-01 -2.47291770e-03 2.41637163e+01] [ 1.19058535e-02 1.17036292e-04 9.99929116e-01 4.23292665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.259254154 meters 0.0509666071764473 Centerline is valid? [True, True] Translation: X:1074.30, Y:24.18, Z:4.23 [[ 9.80857843e-01 -1.94372023e-01 -1.17221129e-02 1.07429585e+03] [ 1.94356148e-01 9.80927872e-01 -2.48952350e-03 2.41785206e+01] [ 1.19824410e-02 1.63603939e-04 9.99928195e-01 4.23359808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.319254154 meters 0.051295768183837784 Centerline is valid? [True, True] Translation: X:1074.35, Y:24.19, Z:4.23 [[ 9.81454256e-01 -1.91305559e-01 -1.22362565e-02 1.07435331e+03] [ 1.91288018e-01 9.81530508e-01 -2.59909093e-03 2.41934039e+01] [ 1.25074796e-02 2.10239605e-04 9.99921756e-01 4.23380758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters 0.051576383749072516 Centerline is valid? [True, True] Translation: X:1074.41, Y:24.21, Z:4.23 [[ 9.81686298e-01 -1.90049910e-01 -1.31546338e-02 1.07441100e+03] [ 1.90029509e-01 9.81774400e-01 -2.79533318e-03 2.42059256e+01] [ 1.34461355e-02 2.44371689e-04 9.99909567e-01 4.23361223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.439254154 meters 0.051399945266306146 Centerline is valid? [True, True] Translation: X:1074.47, Y:24.22, Z:4.23 [[ 9.81423297e-01 -1.91394254e-01 -1.32872750e-02 1.07446931e+03] [ 1.91373541e-01 9.81513213e-01 -2.82502951e-03 2.42162673e+01] [ 1.35823303e-02 2.29716913e-04 9.99907729e-01 4.23479596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.499254154 meters 0.05113477935741137 Centerline is valid? [True, True] Translation: X:1074.53, Y:24.23, Z:4.24 [[ 9.80869747e-01 -1.94321683e-01 -1.15595356e-02 1.07452793e+03] [ 1.94306205e-01 9.80937845e-01 -2.45820445e-03 2.42263521e+01] [ 1.18168684e-02 1.65088879e-04 9.99930165e-01 4.23695719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.559254154 meters 0.05087033008557999 Centerline is valid? [True, True] Translation: X:1074.58, Y:24.24, Z:4.24 [[ 9.80227242e-01 -1.97607675e-01 -1.02840349e-02 1.07458431e+03] [ 1.97595601e-01 9.80281181e-01 -2.18728741e-03 2.42405330e+01] [ 1.05134707e-02 1.11958639e-04 9.99944726e-01 4.23618152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters 0.051465417218111646 Centerline is valid? [True, True] Translation: X:1074.64, Y:24.25, Z:4.23 [[ 9.79691368e-01 -2.00194447e-01 -1.12697441e-02 1.07464175e+03] [ 2.00180108e-01 9.79756181e-01 -2.39786934e-03 2.42525842e+01] [ 1.15216416e-02 9.31932940e-05 9.99933619e-01 4.23449458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters 0.05129119268309862 Centerline is valid? [True, True] Translation: X:1074.70, Y:24.26, Z:4.23 [[ 9.79319258e-01 -2.01884402e-01 -1.32845417e-02 1.07469933e+03] [ 2.01864611e-01 9.79409353e-01 -2.82810737e-03 2.42635438e+01] [ 1.35819552e-02 8.79411605e-05 9.99907757e-01 4.23419239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.739254154 meters 0.051648435974944576 Centerline is valid? [True, True] Translation: X:1074.76, Y:24.27, Z:4.24 [[ 9.78987709e-01 -2.03396857e-01 -1.45871443e-02 1.07475770e+03] [ 2.03373136e-01 9.79096376e-01 -3.10719817e-03 2.42741043e+01] [ 1.49142145e-02 7.52755211e-05 9.99888774e-01 4.23605678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.799254154 meters 0.05134025240839019 Centerline is valid? [True, True] Translation: X:1074.81, Y:24.29, Z:4.23 [[ 9.78696374e-01 -2.04828247e-01 -1.40995226e-02 1.07481422e+03] [ 2.04806221e-01 9.78797929e-01 -3.00421970e-03 2.42860856e+01] [ 1.44159325e-02 5.25489932e-05 9.99896084e-01 4.23394216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters 0.051250130174944536 Centerline is valid? [True, True] Translation: X:1074.87, Y:24.30, Z:4.24 [[ 9.78548536e-01 -2.05643183e-01 -1.23953377e-02 1.07487217e+03] [ 2.05626211e-01 9.78627038e-01 -2.64224354e-03 2.42968803e+01] [ 1.26737720e-02 3.67572165e-05 9.99919684e-01 4.23693868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters 0.0508626169102661 Centerline is valid? [True, True] Translation: X:1074.93, Y:24.31, Z:4.24 [[ 9.78520212e-01 -2.05854344e-01 -1.10536854e-02 1.07492916e+03] [ 2.05840853e-01 9.78582642e-01 -2.35694787e-03 2.43082501e+01] [ 1.13021326e-02 3.10210953e-05 9.99936128e-01 4.23844898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.979254154 meters 0.05093273591707872 Centerline is valid? [True, True] Translation: X:1074.99, Y:24.32, Z:4.24 [[ 9.78528749e-01 -2.05896649e-01 -9.38392679e-03 1.07498611e+03] [ 2.05886920e-01 9.78573742e-01 -2.00166637e-03 2.43207497e+01] [ 9.59500076e-03 2.66603025e-05 9.99953967e-01 4.23824025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.039254154 meters 0.05130100034215212 Centerline is valid? [True, True] Translation: X:1075.04, Y:24.33, Z:4.24 [[ 9.78773838e-01 -2.04724275e-01 -9.47346538e-03 1.07504376e+03] [ 2.04714294e-01 9.78819682e-01 -2.02183675e-03 2.43317049e+01] [ 9.68673343e-03 3.95671355e-05 9.99953082e-01 4.24071695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters 0.05162048106753632 Centerline is valid? [True, True] Translation: X:1075.10, Y:24.35, Z:4.24 [[ 9.79215721e-01 -2.02489146e-01 -1.16067750e-02 1.07509989e+03] [ 2.02473991e-01 9.79284504e-01 -2.47851908e-03 2.43477394e+01] [ 1.18682081e-02 7.69347985e-05 9.99929567e-01 4.23502473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters 0.05176698333627064 Centerline is valid? [True, True] Translation: X:1075.16, Y:24.36, Z:4.24 [[ 9.79429055e-01 -2.01366934e-01 -1.30416630e-02 1.07515757e+03] [ 2.01347680e-01 9.79515874e-01 -2.78649638e-03 2.43580301e+01] [ 1.33356241e-02 1.03266934e-04 9.99911071e-01 4.23752712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.219254154 meters 0.051242922453136 Centerline is valid? [True, True] Translation: X:1075.21, Y:24.37, Z:4.24 [[ 9.79203415e-01 -2.02484259e-01 -1.26805442e-02 1.07521446e+03] [ 2.02466140e-01 9.79285514e-01 -2.71015740e-03 2.43701785e+01] [ 1.29666374e-02 8.64145534e-05 9.99915926e-01 4.23707524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.279254154 meters 0.051178132467618494 Centerline is valid? [True, True] Translation: X:1075.27, Y:24.38, Z:4.24 [[ 9.78396447e-01 -2.06459091e-01 -1.07254911e-02 1.07527188e+03] [ 2.06446362e-01 9.78455233e-01 -2.29273385e-03 2.43793463e+01] [ 1.09677687e-02 2.89640235e-05 9.99939852e-01 4.23811388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters 0.05134991224326526 Centerline is valid? [True, True] Translation: X:1075.33, Y:24.39, Z:4.24 [[ 9.77566605e-01 -2.10453027e-01 -8.54730074e-03 1.07532916e+03] [ 2.10445093e-01 9.77603971e-01 -1.82742957e-03 2.43884406e+01] [ 8.74046323e-03 -1.23033796e-05 9.99961801e-01 4.23949784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters 0.05128226545215172 Centerline is valid? [True, True] Translation: X:1075.39, Y:24.40, Z:4.24 [[ 9.76937734e-01 -2.13393650e-01 -7.47081580e-03 1.07538679e+03] [ 2.13387671e-01 9.76966299e-01 -1.59781821e-03 2.43996603e+01] [ 7.63969952e-03 -3.32110852e-05 9.99970816e-01 4.23981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.459254154 meters 0.05098264695595252 Centerline is valid? [True, True] Translation: X:1075.44, Y:24.41, Z:4.24 [[ 9.76632177e-01 -2.14760520e-01 -8.21645187e-03 1.07544344e+03] [ 2.14753331e-01 9.76666738e-01 -1.75794351e-03 2.44116827e+01] [ 8.40227210e-03 -4.76462097e-05 9.99964699e-01 4.23912599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.519254154 meters 0.05165411460545936 Centerline is valid? [True, True] Translation: X:1075.50, Y:24.43, Z:4.24 [[ 9.76535524e-01 -2.15179355e-01 -8.73017675e-03 1.07550100e+03] [ 2.15171248e-01 9.76574545e-01 -1.86855793e-03 2.44253103e+01] [ 8.92774348e-03 -5.37698314e-05 9.99960145e-01 4.23835667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters 0.051694693059215036 Centerline is valid? [True, True] Translation: X:1075.56, Y:24.44, Z:4.24 [[ 9.76558230e-01 -2.15097161e-01 -8.19967071e-03 1.07555658e+03] [ 2.15089999e-01 9.76592653e-01 -1.75595591e-03 2.44408244e+01] [ 8.38543929e-03 -4.88739680e-05 9.99964840e-01 4.23994668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters 0.05234059418640445 Centerline is valid? [True, True] Translation: X:1075.61, Y:24.46, Z:4.24 [[ 9.76815251e-01 -2.13942429e-01 -7.78477710e-03 1.07561248e+03] [ 2.13935931e-01 9.76846270e-01 -1.66773119e-03 2.44556776e+01] [ 7.96132893e-03 -3.63782772e-05 9.99968307e-01 4.24032004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.699254154 meters 0.05146077727620257 Centerline is valid? [True, True] Translation: X:1075.67, Y:24.47, Z:4.24 [[ 9.77123609e-01 -2.12520994e-01 -8.01744653e-03 1.07566851e+03] [ 2.12514052e-01 9.77156501e-01 -1.71791297e-03 2.44714092e+01] [ 8.19939257e-03 -2.52067209e-05 9.99966384e-01 4.24122194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.759254154 meters 0.052296617204305694 Centerline is valid? [True, True] Translation: X:1075.73, Y:24.49, Z:4.24 [[ 9.77502592e-01 -2.10766643e-01 -8.13054685e-03 1.07572530e+03] [ 2.10759437e-01 9.77536405e-01 -1.74279639e-03 2.44857876e+01] [ 8.31522888e-03 -1.00014907e-05 9.99965428e-01 4.23994163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.819254154 meters 0.05177390717231475 Centerline is valid? [True, True] Translation: X:1075.78, Y:24.50, Z:4.24 [[ 9.77987862e-01 -2.08507163e-01 -8.03146926e-03 1.07578125e+03] [ 2.08500047e-01 9.78020840e-01 -1.72255499e-03 2.45002801e+01] [ 8.21410937e-03 1.00761534e-05 9.99966264e-01 4.24074680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters 0.0521549953123315 Centerline is valid? [True, True] Translation: X:1075.84, Y:24.52, Z:4.24 [[ 9.78657524e-01 -2.05326449e-01 -8.39648301e-03 1.07583672e+03] [ 2.05318549e-01 9.78693541e-01 -1.80157132e-03 2.45167456e+01] [ 8.58749394e-03 3.91676224e-05 9.99963126e-01 4.23895141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.939254154 meters 0.052145333168432055 Centerline is valid? [True, True] Translation: X:1075.89, Y:24.53, Z:4.24 [[ 9.79660273e-01 -2.00482905e-01 -8.50612048e-03 1.07589347e+03] [ 2.00474608e-01 9.79697197e-01 -1.82577726e-03 2.45341138e+01] [ 8.69945952e-03 8.33802787e-05 9.99962155e-01 4.23936095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.999254154 meters 0.052282592200376975 Centerline is valid? [True, True] Translation: X:1075.95, Y:24.55, Z:4.24 [[ 9.80480486e-01 -1.96460784e-01 -7.82156889e-03 1.07595134e+03] [ 1.96453637e-01 9.80511677e-01 -1.67930428e-03 2.45477511e+01] [ 7.99905707e-03 1.09949423e-04 9.99968001e-01 4.24115101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.059254154 meters 0.052410884750892395 Centerline is valid? [True, True] Translation: X:1076.01, Y:24.57, Z:4.24 [[ 9.80639379e-01 -1.95659836e-01 -7.97729862e-03 1.07600683e+03] [ 1.95652373e-01 9.80671818e-01 -1.71296958e-03 2.45651069e+01] [ 8.15827128e-03 1.19028016e-04 9.99966714e-01 4.23997310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters 0.052155831980093194 Centerline is valid? [True, True] Translation: X:1076.06, Y:24.58, Z:4.24 [[ 9.80914310e-01 -1.94288083e-01 -7.69791290e-03 1.07606443e+03] [ 1.94281088e-01 9.80944507e-01 -1.65355139e-03 2.45758400e+01] [ 7.87249070e-03 1.26433326e-04 9.99969003e-01 4.24065931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters 0.05205364690421668 Centerline is valid? [True, True] Translation: X:1076.12, Y:24.59, Z:4.24 [[ 9.80956241e-01 -1.94000727e-01 -9.41125479e-03 1.07612161e+03] [ 1.93990250e-01 9.81001373e-01 -2.02232939e-03 2.45875766e+01] [ 9.62478724e-03 1.58124969e-04 9.99953668e-01 4.23989467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.239254154 meters 0.0521523044453171 Centerline is valid? [True, True] Translation: X:1076.18, Y:24.60, Z:4.24 [[ 9.80394353e-01 -1.96725393e-01 -1.12264413e-02 1.07617987e+03] [ 1.96710652e-01 9.80458615e-01 -2.41338671e-03 2.45983324e+01] [ 1.14818355e-02 1.57710117e-04 9.99934069e-01 4.23812709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.299254154 meters 0.05216452217350848 Centerline is valid? [True, True] Translation: X:1076.24, Y:24.60, Z:4.24 [[ 9.78999097e-01 -2.03536354e-01 -1.15637696e-02 1.07624036e+03] [ 2.03521182e-01 9.79067386e-01 -2.48640968e-03 2.46033181e+01] [ 1.18277844e-02 8.07207763e-05 9.99930046e-01 4.24032247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters 0.05272314255807756 Centerline is valid? [True, True] Translation: X:1076.30, Y:24.61, Z:4.24 [[ 9.77082910e-01 -2.12604508e-01 -1.04072323e-02 1.07629866e+03] [ 2.12592724e-01 9.77138333e-01 -2.23853620e-03 2.46097813e+01] [ 1.06452285e-02 -2.52664005e-05 9.99943338e-01 4.24162709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters 0.05294486485473763 Centerline is valid? [True, True] Translation: X:1076.36, Y:24.62, Z:4.24 [[ 9.74909310e-01 -2.22380332e-01 -9.94111917e-03 1.07635738e+03] [ 2.22370081e-01 9.74959985e-01 -2.13884886e-03 2.46166863e+01] [ 1.01678313e-02 -1.25423810e-04 9.99948298e-01 4.24224337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.479254154 meters 0.05303991951376494 Centerline is valid? [True, True] Translation: X:1076.42, Y:24.63, Z:4.24 [[ 9.72956548e-01 -2.30755643e-01 -1.03629070e-02 1.07641666e+03] [ 2.30744977e-01 9.73011708e-01 -2.22969800e-03 2.46261252e+01] [ 1.05977453e-02 -2.21789476e-04 9.99943818e-01 4.24114385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.539254154 meters 0.053157998197241214 Centerline is valid? [True, True] Translation: X:1076.47, Y:24.64, Z:4.24 [[ 9.71617667e-01 -2.36264363e-01 -1.17583982e-02 1.07647400e+03] [ 2.36251032e-01 9.71688761e-01 -2.53010124e-03 2.46401721e+01] [ 1.20232761e-02 -3.19642636e-04 9.99927667e-01 4.24206228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters 0.05325847797674464 Centerline is valid? [True, True] Translation: X:1076.53, Y:24.65, Z:4.24 [[ 9.71139061e-01 -2.38188710e-01 -1.24524204e-02 1.07653199e+03] [ 2.38173914e-01 9.71218825e-01 -2.67964356e-03 2.46533681e+01] [ 1.27322860e-02 -3.63535182e-04 9.99918875e-01 4.24246558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters 0.053316362371660424 Centerline is valid? [True, True] Translation: X:1076.59, Y:24.66, Z:4.24 [[ 9.71561412e-01 -2.36483360e-01 -1.20018067e-02 1.07659052e+03] [ 2.36469483e-01 9.71635483e-01 -2.58286107e-03 2.46631277e+01] [ 1.22721850e-02 -3.28652883e-04 9.99924640e-01 4.24159071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.719254154 meters 0.05243577901867267 Centerline is valid? [True, True] Translation: X:1076.65, Y:24.68, Z:4.24 [[ 9.72729315e-01 -2.31707016e-01 -1.04660794e-02 1.07664692e+03] [ 2.31696185e-01 9.72785590e-01 -2.25249273e-03 2.46848933e+01] [ 1.07031696e-02 -2.33884976e-04 9.99942692e-01 4.24396143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.779254154 meters 0.05301711706124945 Centerline is valid? [True, True] Translation: X:1076.71, Y:24.70, Z:4.24 [[ 9.74573401e-01 -2.23891956e-01 -8.89262149e-03 1.07670516e+03] [ 2.23883810e-01 9.74613963e-01 -1.91401323e-03 2.46979539e+01] [ 9.09540524e-03 -1.25567603e-04 9.99958628e-01 4.24239947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters 0.05210299258383848 Centerline is valid? [True, True] Translation: X:1076.76, Y:24.72, Z:4.24 [[ 9.76473739e-01 -2.15443519e-01 -9.11742362e-03 1.07676095e+03] [ 2.15434585e-01 9.76516302e-01 -1.96257893e-03 2.47185687e+01] [ 9.32613771e-03 -4.78015848e-05 9.99956509e-01 4.24216457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters 0.05228625263771562 Centerline is valid? [True, True] Translation: X:1076.82, Y:24.74, Z:4.24 [[ 9.78062623e-01 -2.08112870e-01 -9.08505972e-03 1.07681678e+03] [ 2.08103676e-01 9.78104817e-01 -1.95630199e-03 2.47390755e+01] [ 9.29327229e-03 2.27515324e-05 9.99956816e-01 4.24379485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.959254154 meters 0.05222475319553067 Centerline is valid? [True, True] Translation: X:1076.87, Y:24.76, Z:4.24 [[ 9.79605614e-01 -2.00669023e-01 -1.02364418e-02 1.07687209e+03] [ 2.00656937e-01 9.79659090e-01 -2.20491271e-03 2.47610281e+01] [ 1.04706810e-02 1.05931805e-04 9.99945175e-01 4.24108620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.019254154 meters 0.05293559498878358 Centerline is valid? [True, True] Translation: X:1076.93, Y:24.78, Z:4.24 [[ 9.80834765e-01 -1.94585704e-01 -9.97840357e-03 1.07692935e+03] [ 1.94573903e-01 9.80885506e-01 -2.14950164e-03 2.47799897e+01] [ 1.02059337e-02 1.66769006e-04 9.99947904e-01 4.24238357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters 0.05329373115569037 Centerline is valid? [True, True] Translation: X:1076.99, Y:24.79, Z:4.24 [[ 9.81479335e-01 -1.91286290e-01 -1.03861121e-02 1.07698695e+03] [ 1.91273318e-01 9.81534264e-01 -2.23753167e-03 2.47948469e+01] [ 1.06223341e-02 2.09504965e-04 9.99943559e-01 4.24317590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters 0.05240665493253897 Centerline is valid? [True, True] Translation: X:1077.05, Y:24.80, Z:4.24 [[ 9.81644071e-01 -1.90349399e-01 -1.19173659e-02 1.07704535e+03] [ 1.90332238e-01 9.81716376e-01 -2.56844999e-03 2.48020355e+01] [ 1.21883762e-02 2.53044780e-04 9.99925687e-01 4.24466330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.199254154 meters 0.05301924768283007 Centerline is valid? [True, True] Translation: X:1077.10, Y:24.82, Z:4.24 [[ 9.81614484e-01 -1.90332081e-01 -1.43772070e-02 1.07710086e+03] [ 1.90307088e-01 9.81719718e-01 -3.09956547e-03 2.48179176e+01] [ 1.47043344e-02 3.06493957e-04 9.99891838e-01 4.24200832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.259254154 meters 0.05255381644204433 Centerline is valid? [True, True] Translation: X:1077.16, Y:24.82, Z:4.24 [[ 9.81262434e-01 -1.92013556e-01 -1.59634043e-02 1.07716002e+03] [ 1.91982940e-01 9.81392223e-01 -3.44309765e-03 2.48233239e+01] [ 1.63274822e-02 3.13881094e-04 9.99866648e-01 4.24473518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.319254154 meters 0.05195645799198197 Centerline is valid? [True, True] Translation: X:1077.22, Y:24.83, Z:4.25 [[ 9.80485464e-01 -1.95989280e-01 -1.53771412e-02 1.07721801e+03] [ 1.95961350e-01 9.80606009e-01 -3.31726352e-03 2.48324855e+01] [ 1.57290651e-02 2.39203320e-04 9.99876262e-01 4.24517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters 0.05176650427041411 Centerline is valid? [True, True] Translation: X:1077.28, Y:24.83, Z:4.25 [[ 9.78938996e-01 -2.03640215e-01 -1.44604965e-02 1.07727897e+03] [ 2.03616347e-01 9.79045786e-01 -3.11966866e-03 2.48346606e+01] [ 1.47927782e-02 1.09571824e-04 9.99890575e-01 4.25005542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.439254154 meters 0.05242460903652024 Centerline is valid? [True, True] Translation: X:1077.34, Y:24.84, Z:4.25 [[ 9.76772979e-01 -2.13837132e-01 -1.37196310e-02 1.07733795e+03] [ 2.13816642e-01 9.76869326e-01 -2.96046413e-03 2.48375768e+01] [ 1.40353438e-02 -4.17840604e-05 9.99901499e-01 4.24823822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.499254154 meters 0.05263265472820906 Centerline is valid? [True, True] Translation: X:1077.40, Y:24.84, Z:4.25 [[ 9.75104087e-01 -2.21313559e-01 -1.38682451e-02 1.07739774e+03] [ 2.21293373e-01 9.75202690e-01 -2.99285269e-03 2.48433581e+01] [ 1.41867088e-02 -1.50607849e-04 9.99899352e-01 4.25027222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.559254154 meters 0.053792817289857076 Centerline is valid? [True, True] Translation: X:1077.46, Y:24.85, Z:4.25 [[ 9.72065504e-01 -2.34165678e-01 -1.59715610e-02 1.07745668e+03] [ 2.34140629e-01 9.72196628e-01 -3.44702533e-03 2.48495890e+01] [ 1.63346728e-02 -3.88856920e-04 9.99866505e-01 4.25372250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters 0.05401156974193169 Centerline is valid? [True, True] Translation: X:1077.52, Y:24.86, Z:4.26 [[ 9.70964175e-01 -2.38632171e-01 -1.68302714e-02 1.07751580e+03] [ 2.38605024e-01 9.71109905e-01 -3.63245371e-03 2.48617362e+01] [ 1.72108636e-02 -4.88804894e-04 9.99851763e-01 4.25516093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters 0.05302089458741118 Centerline is valid? [True, True] Translation: X:1077.57, Y:24.87, Z:4.26 [[ 9.70023601e-01 -2.42353127e-01 -1.78654761e-02 1.07757465e+03] [ 2.42323162e-01 9.70187928e-01 -3.85614839e-03 2.48693361e+01] [ 1.82674189e-02 -5.88663721e-04 9.99832963e-01 4.25579566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.739254154 meters 0.053596571605614665 Centerline is valid? [True, True] Translation: X:1077.63, Y:24.89, Z:4.26 [[ 9.70178332e-01 -2.41743799e-01 -1.77183212e-02 1.07763164e+03] [ 2.41714195e-01 9.70339945e-01 -3.82597912e-03 2.48856263e+01] [ 1.81177015e-02 -5.70887695e-04 9.99835698e-01 4.25877213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.799254154 meters 0.05341200738680231 Centerline is valid? [True, True] Translation: X:1077.69, Y:24.90, Z:4.26 [[ 9.71777862e-01 -2.35280298e-01 -1.70577827e-02 1.07768992e+03] [ 2.35251855e-01 9.71927463e-01 -3.68385368e-03 2.49014694e+01] [ 1.74456656e-02 -4.32987559e-04 9.99847719e-01 4.26129031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters 0.053285833619183195 Centerline is valid? [True, True] Translation: X:1077.75, Y:24.91, Z:4.26 [[ 9.73465015e-01 -2.28231636e-01 -1.66188453e-02 1.07774815e+03] [ 2.28203608e-01 9.73606816e-01 -3.58915784e-03 2.49138251e+01] [ 1.69993804e-02 -2.98560868e-04 9.99855455e-01 4.26004055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters 0.05375390078945478 Centerline is valid? [True, True] Translation: X:1077.81, Y:24.92, Z:4.26 [[ 9.74054149e-01 -2.25706189e-01 -1.65900759e-02 1.07780556e+03] [ 2.25677884e-01 9.74195387e-01 -3.58342101e-03 2.49242604e+01] [ 1.69707757e-02 -2.53567112e-04 9.99855954e-01 4.25777658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.979254154 meters 0.05297304442086719 Centerline is valid? [True, True] Translation: X:1077.86, Y:24.94, Z:4.26 [[ 9.75731608e-01 -2.18350946e-01 -1.64527852e-02 1.07786178e+03] [ 2.18322054e-01 9.75870303e-01 -3.55411223e-03 2.49426062e+01] [ 1.68318283e-02 -1.24146237e-04 9.99858327e-01 4.25608118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.039254154 meters 0.05262609802928762 Centerline is valid? [True, True] Translation: X:1077.92, Y:24.96, Z:4.26 [[ 9.77006323e-01 -2.12611070e-01 -1.59743045e-02 1.07791816e+03] [ 2.12583062e-01 9.77136906e-01 -3.45100584e-03 2.49628742e+01] [ 1.63428045e-02 -2.42120384e-05 9.99866447e-01 4.25953371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters 0.05260273277086 Centerline is valid? [True, True] Translation: X:1077.97, Y:24.98, Z:4.26 [[ 9.77858545e-01 -2.08618767e-01 -1.64583055e-02 1.07797475e+03] [ 2.08588445e-01 9.77997039e-01 -3.55705167e-03 2.49805183e+01] [ 1.68382418e-02 4.52810207e-05 9.99858226e-01 4.26009281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters 0.05244627907257505 Centerline is valid? [True, True] Translation: X:1078.03, Y:24.99, Z:4.26 [[ 9.78469193e-01 -2.05614682e-01 -1.79064355e-02 1.07803138e+03] [ 2.05578266e-01 9.78633022e-01 -3.87110802e-03 2.49943493e+01] [ 1.83197857e-02 1.06585991e-04 9.99832173e-01 4.26449022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.219254154 meters 0.052338734757240345 Centerline is valid? [True, True] Translation: X:1078.09, Y:25.01, Z:4.26 [[ 9.79260846e-01 -2.01720869e-01 -1.88914411e-02 1.07808803e+03] [ 2.01679600e-01 9.79443033e-01 -4.08461191e-03 2.50116849e+01] [ 1.93270418e-02 1.89882235e-04 9.99813197e-01 4.26058499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.279254154 meters 0.05296906320024878 Centerline is valid? [True, True] Translation: X:1078.15, Y:25.02, Z:4.26 [[ 9.79814469e-01 -1.98794937e-01 -2.10755472e-02 1.07814603e+03] [ 1.98742883e-01 9.80041069e-01 -4.55739661e-03 2.50223966e+01] [ 2.15608891e-02 2.76788123e-04 9.99767499e-01 4.26364677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters 0.053014934970020515 Centerline is valid? [True, True] Translation: X:1078.20, Y:25.03, Z:4.27 [[ 9.79673441e-01 -1.99423643e-01 -2.16831706e-02 1.07820449e+03] [ 1.99368648e-01 9.79913331e-01 -4.69103430e-03 2.50324018e+01] [ 2.21831311e-02 2.72737303e-04 9.99753887e-01 4.26563138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters 0.0525319938098768 Centerline is valid? [True, True] Translation: X:1078.26, Y:25.04, Z:4.27 [[ 9.78876216e-01 -2.03487791e-01 -1.98512796e-02 1.07826329e+03] [ 2.03442518e-01 9.79077469e-01 -4.29541161e-03 2.50400400e+01] [ 2.03100044e-02 1.66081943e-04 9.99793717e-01 4.26685900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.459254154 meters 0.05257607876470347 Centerline is valid? [True, True] Translation: X:1078.32, Y:25.05, Z:4.26 [[ 9.78291287e-01 -2.06445953e-01 -1.80617263e-02 1.07832091e+03] [ 2.06408969e-01 9.78458001e-01 -3.90872882e-03 2.50494100e+01] [ 1.84795818e-02 9.57730476e-05 9.99829233e-01 4.26325391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.519254154 meters 0.05196928876905194 Centerline is valid? [True, True] Translation: X:1078.38, Y:25.06, Z:4.26 [[ 9.77921713e-01 -2.08214805e-01 -1.77684750e-02 1.07837968e+03] [ 2.08179276e-01 9.78083121e-01 -3.84682585e-03 2.50574712e+01] [ 1.81800116e-02 6.28662575e-05 9.99834728e-01 4.26432268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters 0.05192509706334773 Centerline is valid? [True, True] Translation: X:1078.44, Y:25.07, Z:4.26 [[ 9.77826631e-01 -2.08642185e-01 -1.79866003e-02 1.07843699e+03] [ 2.08605810e-01 9.77992043e-01 -3.89625329e-03 2.50667300e+01] [ 1.84036748e-02 5.77509018e-05 9.99830636e-01 4.26419159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters 0.051571656550498786 Centerline is valid? [True, True] Translation: X:1078.49, Y:25.08, Z:4.26 [[ 9.78187235e-01 -2.06885472e-01 -1.86583730e-02 1.07849489e+03] [ 2.06845968e-01 9.78365163e-01 -4.04393712e-03 2.50776936e+01] [ 1.90913339e-02 9.63184580e-05 9.99817739e-01 4.26442096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.699254154 meters 0.052130009135922105 Centerline is valid? [True, True] Translation: X:1078.55, Y:25.09, Z:4.27 [[ 9.78743648e-01 -2.04126174e-01 -1.98337415e-02 1.07855322e+03] [ 2.04080951e-01 9.78944574e-01 -4.29953840e-03 2.50879423e+01] [ 2.02937819e-02 1.60457061e-04 9.99794047e-01 4.26776237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.759254154 meters 0.0515248778945671 Centerline is valid? [True, True] Translation: X:1078.61, Y:25.10, Z:4.27 [[ 9.79280758e-01 -2.01588842e-01 -1.92648791e-02 1.07861063e+03] [ 2.01545648e-01 9.79470212e-01 -4.17810604e-03 2.51005594e+01] [ 1.97116347e-02 2.08786323e-04 9.99805685e-01 4.26865258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.819254154 meters 0.05156396446161026 Centerline is valid? [True, True] Translation: X:1078.67, Y:25.11, Z:4.27 [[ 9.79240403e-01 -2.01869121e-01 -1.83600321e-02 1.07866819e+03] [ 2.01829899e-01 9.79412487e-01 -3.98400249e-03 2.51126996e+01] [ 1.87862917e-02 1.95692785e-04 9.99823503e-01 4.27158060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters 0.05216195779750993 Centerline is valid? [True, True] Translation: X:1078.73, Y:25.13, Z:4.27 [[ 9.78483917e-01 -2.05695417e-01 -1.60816791e-02 1.07872505e+03] [ 2.05665832e-01 9.78616055e-01 -3.49021791e-03 2.51276346e+01] [ 1.64557112e-02 1.07670179e-04 9.99864590e-01 4.26834252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.939254154 meters 0.051838278855600266 Centerline is valid? [True, True] Translation: X:1078.78, Y:25.14, Z:4.27 [[ 9.77670824e-01 -2.09709935e-01 -1.34722999e-02 1.07878295e+03] [ 2.09689548e-01 9.77763643e-01 -2.92427126e-03 2.51375253e+01] [ 1.37859738e-02 3.39742148e-05 9.99904968e-01 4.27349527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.999254154 meters 0.051846585195962566 Centerline is valid? [True, True] Translation: X:1078.84, Y:25.15, Z:4.27 [[ 9.77480770e-01 -2.10611890e-01 -1.31899911e-02 1.07884079e+03] [ 2.10592421e-01 9.77569758e-01 -2.86371060e-03 2.51507501e+01] [ 1.34972680e-02 2.15098742e-05 9.99908907e-01 4.27323399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.059254154 meters 0.05137513615507026 Centerline is valid? [True, True] Translation: X:1078.90, Y:25.16, Z:4.27 [[ 9.77448640e-01 -2.10670770e-01 -1.45596640e-02 1.07889726e+03] [ 2.10647043e-01 9.77557071e-01 -3.16179286e-03 2.51647407e+01] [ 1.48989998e-02 2.35399700e-05 9.99889003e-01 4.27081986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters 0.05198197935022415 Centerline is valid? [True, True] Translation: X:1078.95, Y:25.18, Z:4.27 [[ 9.76756625e-01 -2.13879853e-01 -1.42093237e-02 1.07895413e+03] [ 2.13857572e-01 9.76859974e-01 -3.08723264e-03 2.51768900e+01] [ 1.45408164e-02 -2.32965392e-05 9.99894276e-01 4.27245689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters 0.052349752713642714 Centerline is valid? [True, True] Translation: X:1079.01, Y:25.19, Z:4.27 [[ 9.75969516e-01 -2.17500052e-01 -1.33128026e-02 1.07901120e+03] [ 2.17480818e-01 9.76060307e-01 -2.89331165e-03 2.51871356e+01] [ 1.36233937e-02 -7.14952422e-05 9.99907195e-01 4.27205141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.239254154 meters 0.051767771634672305 Centerline is valid? [True, True] Translation: X:1079.07, Y:25.20, Z:4.27 [[ 9.75468425e-01 -2.19793982e-01 -1.23271231e-02 1.07906842e+03] [ 2.19777668e-01 9.75546307e-01 -2.67958751e-03 2.51986547e+01] [ 1.26146366e-02 -9.53733656e-05 9.99920428e-01 4.27350285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.299254154 meters 0.052561695809271405 Centerline is valid? [True, True] Translation: X:1079.13, Y:25.21, Z:4.27 [[ 9.74407294e-01 -2.24340126e-01 -1.42103466e-02 1.07912525e+03] [ 2.24318921e-01 9.74510891e-01 -3.08953745e-03 2.52117230e+01] [ 1.45412448e-02 -1.77181790e-04 9.99894255e-01 4.27358523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters 0.05289240377762999 Centerline is valid? [True, True] Translation: X:1079.18, Y:25.22, Z:4.27 [[ 9.74432039e-01 -2.24195834e-01 -1.47793924e-02 1.07918323e+03] [ 2.24172860e-01 9.74544096e-01 -3.21454619e-03 2.52200419e+01] [ 1.51238575e-02 -1.80781868e-04 9.99885612e-01 4.26766575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters 0.0529295760412169 Centerline is valid? [True, True] Translation: X:1079.24, Y:25.24, Z:4.28 [[ 9.74314195e-01 -2.24735776e-01 -1.43415555e-02 1.07923748e+03] [ 2.24714175e-01 9.74419724e-01 -3.12113466e-03 2.52418519e+01] [ 1.46761252e-02 -1.81785019e-04 9.99892283e-01 4.27642630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.479254154 meters 0.05232510368473934 Centerline is valid? [True, True] Translation: X:1079.29, Y:25.25, Z:4.27 [[ 9.73826889e-01 -2.26917799e-01 -1.30192905e-02 1.07929437e+03] [ 2.26900182e-01 9.73913895e-01 -2.83420187e-03 2.52516776e+01] [ 1.33227987e-02 -1.94057381e-04 9.99911229e-01 4.27487276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.539254154 meters 0.0527104113023066 Centerline is valid? [True, True] Translation: X:1079.35, Y:25.26, Z:4.27 [[ 9.73613823e-01 -2.27888854e-01 -1.19496133e-02 1.07935266e+03] [ 2.27874078e-01 9.73687134e-01 -2.60199761e-03 2.52607807e+01] [ 1.22281510e-02 -1.89666267e-04 9.99925215e-01 4.27216112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters 0.052595144847350686 Centerline is valid? [True, True] Translation: X:1079.41, Y:25.28, Z:4.27 [[ 9.73895683e-01 -2.26682476e-01 -1.19270543e-02 1.07940762e+03] [ 2.26667656e-01 9.73968698e-01 -2.59781800e-03 2.52790911e+01] [ 1.22054574e-02 -1.73473721e-04 9.99925496e-01 4.27360034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters 0.05253310553369893 Centerline is valid? [True, True] Translation: X:1079.47, Y:25.29, Z:4.27 [[ 9.74823787e-01 -2.22595443e-01 -1.30327651e-02 1.07946515e+03] [ 2.22577372e-01 9.74910894e-01 -2.83941386e-03 2.52945388e+01] [ 1.33378253e-02 -1.32870433e-04 9.99911038e-01 4.27037854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.719254154 meters 0.053138486789198094 Centerline is valid? [True, True] Translation: X:1079.52, Y:25.32, Z:4.27 [[ 9.76515298e-01 -2.14864225e-01 -1.58504802e-02 1.07952060e+03] [ 2.14836449e-01 9.76643929e-01 -3.45486688e-03 2.53156889e+01] [ 1.62226025e-02 -3.15305273e-05 9.99868404e-01 4.26800073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.779254154 meters 0.0526440624861568 Centerline is valid? [True, True] Translation: X:1079.58, Y:25.33, Z:4.27 [[ 9.77697596e-01 -2.09408615e-01 -1.59826084e-02 1.07957731e+03] [ 2.09379614e-01 9.77828220e-01 -3.48551885e-03 2.53323984e+01] [ 1.63581432e-02 6.13510148e-05 9.99866195e-01 4.26818573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters 0.05270647223156726 Centerline is valid? [True, True] Translation: X:1079.63, Y:25.34, Z:4.27 [[ 9.78199315e-01 -2.07135378e-01 -1.48672591e-02 1.07963264e+03] [ 2.07110005e-01 9.78312285e-01 -3.24334297e-03 2.53441663e+01] [ 1.52166333e-02 9.34777694e-05 9.99884216e-01 4.27217072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters 0.052480087333119436 Centerline is valid? [True, True] Translation: X:1079.69, Y:25.36, Z:4.27 [[ 9.78497505e-01 -2.05835542e-01 -1.32046121e-02 1.07968917e+03] [ 2.05815393e-01 9.78586593e-01 -2.88181700e-03 2.53598954e+01] [ 1.35150367e-02 1.02138318e-04 9.99908662e-01 4.26911986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.959254154 meters 0.052686279353474134 Centerline is valid? [True, True] Translation: X:1079.75, Y:25.37, Z:4.27 [[ 9.78921637e-01 -2.03907228e-01 -1.15875107e-02 1.07974524e+03] [ 2.03891569e-01 9.78990209e-01 -2.52956662e-03 2.53738980e+01] [ 1.18598564e-02 1.13651762e-04 9.99929663e-01 4.26788292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.019254154 meters 0.05298029354692598 Centerline is valid? [True, True] Translation: X:1079.80, Y:25.39, Z:4.27 [[ 9.80057001e-01 -1.98303538e-01 -1.28055075e-02 1.07980336e+03] [ 1.98283931e-01 9.80140636e-01 -2.79570083e-03 2.53899626e+01] [ 1.31055956e-02 2.00819811e-04 9.99914098e-01 4.26557945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters 0.05267131910280928 Centerline is valid? [True, True] Translation: X:1079.86, Y:25.40, Z:4.26 [[ 9.80857726e-01 -1.94252645e-01 -1.35658360e-02 1.07986214e+03] [ 1.94230253e-01 9.80951496e-01 -2.96174998e-03 2.54042968e+01] [ 1.38827549e-02 2.70159590e-04 9.99903593e-01 4.26466390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters 0.052895092984429425 Centerline is valid? [True, True] Translation: X:1079.92, Y:25.42, Z:4.26 [[ 9.81889626e-01 -1.88817250e-01 -1.55180014e-02 1.07991967e+03] [ 1.88787267e-01 9.82012163e-01 -3.38814391e-03 2.54201750e+01] [ 1.58786061e-02 3.97182288e-04 9.99873848e-01 4.26215675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.199254154 meters 0.05365560609826608 Centerline is valid? [True, True] Translation: X:1079.98, Y:25.43, Z:4.26 [[ 9.82261767e-01 -1.86803791e-01 -1.63145629e-02 1.07997646e+03] [ 1.86770367e-01 9.82397139e-01 -3.56241638e-03 2.54349763e+01] [ 1.66928528e-02 4.52148509e-04 9.99860562e-01 4.26046908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.259254154 meters 0.05269178988395595 Centerline is valid? [True, True] Translation: X:1080.04, Y:25.44, Z:4.26 [[ 9.82052737e-01 -1.88154390e-01 -1.30517476e-02 1.08003701e+03] [ 1.88133116e-01 9.82139403e-01 -2.85010077e-03 2.54390525e+01] [ 1.33548946e-02 3.43483312e-04 9.99910760e-01 4.26460189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.319254154 meters 0.05139511812107734 Centerline is valid? [True, True] Translation: X:1080.10, Y:25.44, Z:4.27 [[ 9.81442629e-01 -1.91496673e-01 -9.96944273e-03 1.08009771e+03] [ 1.91484433e-01 9.81493236e-01 -2.17709090e-03 2.54441757e+01] [ 1.02018463e-02 2.27696733e-04 9.99947934e-01 4.26597854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters 0.05195653869800813 Centerline is valid? [True, True] Translation: X:1080.16, Y:25.46, Z:4.27 [[ 9.80952169e-01 -1.94028279e-01 -9.26650938e-03 1.08015536e+03] [ 1.94017815e-01 9.80995918e-01 -2.02375108e-03 2.54560272e+01] [ 9.48307282e-03 1.87335112e-04 9.99955017e-01 4.26527012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.439254154 meters 0.051281252659094334 Centerline is valid? [True, True] Translation: X:1080.21, Y:25.46, Z:4.26 [[ 9.80955355e-01 -1.94050090e-01 -8.43524159e-03 1.08021259e+03] [ 1.94041414e-01 9.80991607e-01 -1.84290575e-03 2.54647167e+01] [ 8.63251723e-03 1.71022059e-04 9.99962724e-01 4.26387080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.499254154 meters 0.05143820971968036 Centerline is valid? [True, True] Translation: X:1080.27, Y:25.48, Z:4.26 [[ 9.80979817e-01 -1.93937746e-01 -8.17006266e-03 1.08026907e+03] [ 1.93929597e-01 9.81013824e-01 -1.78564593e-03 2.54777169e+01] [ 8.36124856e-03 1.67265658e-04 9.99965030e-01 4.26378787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.559254154 meters 0.05064730486299345 Centerline is valid? [True, True] Translation: X:1080.33, Y:25.49, Z:4.26 [[ 9.81040920e-01 -1.93680942e-01 -6.81220928e-03 1.08032709e+03] [ 1.93675268e-01 9.81064561e-01 -1.48940198e-03 2.54857468e+01] [ 6.97168588e-03 1.41807835e-04 9.99975687e-01 4.26457125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters 0.05159970447657632 Centerline is valid? [True, True] Translation: X:1080.38, Y:25.50, Z:4.26 [[ 9.81030901e-01 -1.93763352e-01 -5.84250634e-03 1.08038433e+03] [ 1.93759175e-01 9.81048291e-01 -1.27809639e-03 2.54968058e+01] [ 5.97942910e-03 1.21812839e-04 9.99982116e-01 4.26413025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters 0.051321657788717175 Centerline is valid? [True, True] Translation: X:1080.44, Y:25.51, Z:4.26 [[ 9.80735483e-01 -1.95295168e-01 -4.20829913e-03 1.08044172e+03] [ 1.95293013e-01 9.80744508e-01 -9.21013353e-04 2.55087500e+01] [ 4.30713572e-03 8.14190573e-05 9.99990721e-01 4.26326509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.739254154 meters 0.051380703430314895 Centerline is valid? [True, True] Translation: X:1080.50, Y:25.52, Z:4.26 [[ 9.80302634e-01 -1.97478443e-01 -3.00173756e-03 1.08049859e+03] [ 1.97477356e-01 9.80307228e-01 -6.57242963e-04 2.55220019e+01] [ 3.07241634e-03 5.15218122e-05 9.99995279e-01 4.26320093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.799254154 meters 0.050786442385551016 Centerline is valid? [True, True] Translation: X:1080.56, Y:25.53, Z:4.26 [[ 9.79999371e-01 -1.98993648e-01 -1.66162268e-03 1.08055664e+03] [ 1.98993318e-01 9.80000779e-01 -3.63629477e-04 2.55330329e+01] [ 1.70075148e-03 2.57048490e-05 9.99998553e-01 4.26271902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters 0.05275998644251505 Centerline is valid? [True, True] Translation: X:1080.61, Y:25.55, Z:4.26 [[ 9.79852624e-01 -1.99700886e-01 -2.89672171e-03 1.08061165e+03] [ 1.99699882e-01 9.79856905e-01 -6.34677263e-04 2.55538559e+01] [ 2.96511838e-03 4.34151993e-05 9.99995603e-01 4.26202302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters 0.05120375828092686 Centerline is valid? [True, True] Translation: X:1080.67, Y:25.56, Z:4.26 [[ 9.79258197e-01 -2.02603169e-01 -2.31094396e-03 1.08067088e+03] [ 2.02602538e-01 9.79260923e-01 -5.06293541e-04 2.55614346e+01] [ 2.36559379e-03 2.75889885e-05 9.99997202e-01 4.25996159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.979254154 meters 0.05117651478037982 Centerline is valid? [True, True] Translation: X:1080.73, Y:25.57, Z:4.26 [[ 9.78063455e-01 -2.08292223e-01 -2.49576365e-03 1.08072812e+03] [ 2.08291505e-01 9.78066639e-01 -5.47195724e-04 2.55729738e+01] [ 2.55499978e-03 1.53457739e-05 9.99996736e-01 4.25995915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.039254154 meters 0.05172626181931604 Centerline is valid? [True, True] Translation: X:1080.79, Y:25.58, Z:4.26 [[ 9.76804518e-01 -2.14130909e-01 -9.41998583e-04 1.08078606e+03] [ 2.14130809e-01 9.76804972e-01 -2.06257157e-04 2.55816507e+01] [ 9.64314931e-04 -2.37995789e-07 9.99999535e-01 4.26058400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters 0.051665391333291545 Centerline is valid? [True, True] Translation: X:1080.84, Y:25.59, Z:4.26 [[ 9.75670692e-01 -2.19240581e-01 -5.19018629e-04 1.08084402e+03] [ 2.19240552e-01 9.75670830e-01 -1.13477166e-04 2.55915994e+01] [ 5.31270135e-04 -3.07358593e-06 9.99999859e-01 4.26037564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters 0.0518789426624315 Centerline is valid? [True, True] Translation: X:1080.90, Y:25.60, Z:4.26 [[ 9.75418928e-01 -2.20358601e-01 -4.18618216e-05 1.08090187e+03] [ 2.20358601e-01 9.75418929e-01 -8.72554004e-06 2.56038166e+01] [ 4.27555600e-05 -7.13555516e-07 9.99999999e-01 4.26029668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.219254154 meters 0.05247510019395007 Centerline is valid? [True, True] Translation: X:1080.96, Y:25.62, Z:4.26 [[ 9.75855841e-01 -2.18413183e-01 -1.02919813e-03 1.08095880e+03] [ 2.18413066e-01 9.75856384e-01 -2.25727649e-04 2.56167019e+01] [ 1.05365145e-03 -4.51267299e-06 9.99999445e-01 4.26002131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.279254154 meters 0.051133669887719446 Centerline is valid? [True, True] Translation: X:1081.02, Y:25.63, Z:4.26 [[ 9.76587780e-01 -2.15111910e-01 -1.78152925e-03 1.08101511e+03] [ 2.15111554e-01 9.76589405e-01 -3.91288731e-04 2.56327851e+01] [ 1.82399345e-03 -1.09973077e-06 9.99998336e-01 4.25796672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters 0.05136653235309291 Centerline is valid? [True, True] Translation: X:1081.07, Y:25.65, Z:4.26 [[ 9.77200157e-01 -2.12302329e-01 -2.75226646e-03 1.08107109e+03] [ 2.12301467e-01 9.77204032e-01 -6.05061688e-04 2.56487390e+01] [ 2.81798189e-03 6.95616854e-06 9.99996029e-01 4.25618437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters 0.050966936522943984 Centerline is valid? [True, True] Translation: X:1081.13, Y:25.66, Z:4.26 [[ 9.77695448e-01 -2.10018281e-01 -1.98303379e-03 1.08112662e+03] [ 2.10017828e-01 9.77697459e-01 -4.36242860e-04 2.56631552e+01] [ 2.03042608e-03 1.00402070e-05 9.99997939e-01 4.25788476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.459254154 meters 0.05171282894656714 Centerline is valid? [True, True] Translation: X:1081.18, Y:25.68, Z:4.26 [[ 9.77939708e-01 -2.08885020e-01 -9.87858257e-04 1.08118230e+03] [ 2.08884907e-01 9.77940207e-01 -2.17299526e-04 2.56791407e+01] [ 1.01145692e-03 6.15715539e-06 9.99999488e-01 4.25980635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.519254154 meters 0.05154825074959111 Centerline is valid? [True, True] Translation: X:1081.24, Y:25.69, Z:4.26 [[ 9.78245168e-01 -2.07451475e-01 5.26345200e-04 1.08123916e+03] [ 2.07451442e-01 9.78245310e-01 1.16351153e-04 2.56933129e+01] [-5.39031942e-04 -4.62888190e-06 9.99999855e-01 4.25945371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters 0.050815793713783225 Centerline is valid? [True, True] Translation: X:1081.30, Y:25.71, Z:4.26 [[ 9.78499834e-01 -2.06243918e-01 -1.23346166e-03 1.08129584e+03] [ 2.06243740e-01 9.78500611e-01 -2.71342937e-04 2.57081690e+01] [ 1.26290582e-03 1.11152727e-05 9.99999202e-01 4.25837027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters 0.05114927924977611 Centerline is valid? [True, True] Translation: X:1081.35, Y:25.72, Z:4.26 [[ 9.78915988e-01 -2.04219630e-01 -4.22273519e-03 1.08135249e+03] [ 2.04217515e-01 9.78925094e-01 -9.30566142e-04 2.57238564e+01] [ 4.32378132e-03 4.85895851e-05 9.99990651e-01 4.25668951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.699254154 meters 0.051898650311099505 Centerline is valid? [True, True] Translation: X:1081.41, Y:25.74, Z:4.26 [[ 9.79036906e-01 -2.03612099e-01 -5.37129106e-03 1.08140876e+03] [ 2.03608665e-01 9.79051637e-01 -1.18443664e-03 2.57394431e+01] [ 5.49993693e-03 6.59657820e-05 9.99984873e-01 4.25643082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.759254154 meters 0.05154330241893433 Centerline is valid? [True, True] Translation: X:1081.47, Y:25.75, Z:4.26 [[ 9.78881749e-01 -2.04360715e-01 -5.21731747e-03 1.08146630e+03] [ 2.04357482e-01 9.78895651e-01 -1.15108644e-03 2.57505551e+01] [ 5.34244622e-03 6.05796460e-05 9.99985727e-01 4.25692813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.819254154 meters 0.05215975667552189 Centerline is valid? [True, True] Translation: X:1081.52, Y:25.76, Z:4.26 [[ 9.78042660e-01 -2.08377489e-01 -3.37297066e-03 1.08152443e+03] [ 2.08376161e-01 9.78048476e-01 -7.44460935e-04 2.57622442e+01] [ 3.45405772e-03 2.52678769e-05 9.99994034e-01 4.25851463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters 0.051731597815864436 Centerline is valid? [True, True] Translation: X:1081.58, Y:25.77, Z:4.26 [[ 9.76554510e-01 -2.15270135e-01 -2.41906216e-04 1.08158111e+03] [ 2.15270128e-01 9.76554540e-01 -5.32421865e-05 2.57729386e+01] [ 2.47696065e-04 -8.12847176e-08 9.99999969e-01 4.26169440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.939254154 meters 0.05126081067268107 Centerline is valid? [True, True] Translation: X:1081.64, Y:25.78, Z:4.26 [[ 9.75809660e-01 -2.18621128e-01 5.56753334e-04 1.08163862e+03] [ 2.18621093e-01 9.75809819e-01 1.23429575e-04 2.57839603e+01] [-5.70269684e-04 1.27425040e-06 9.99999837e-01 4.26264252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.999254154 meters 0.051694153099989516 Centerline is valid? [True, True] Translation: X:1081.69, Y:25.80, Z:4.26 [[ 9.75765304e-01 -2.18819442e-01 -3.51227772e-04 1.08169480e+03] [ 2.18819428e-01 9.75765367e-01 -7.71173785e-05 2.57975129e+01] [ 3.59590677e-04 -1.60699791e-06 9.99999935e-01 4.26113305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.059254154 meters 0.051864254291166055 Centerline is valid? [True, True] Translation: X:1081.75, Y:25.82, Z:4.26 [[ 9.76781218e-01 -2.14204021e-01 -3.88449214e-03 1.08175107e+03] [ 2.14202301e-01 9.76788942e-01 -8.58575429e-04 2.58151511e+01] [ 3.97823928e-03 6.57319989e-06 9.99992087e-01 4.25764837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters 0.05212039070116305 Centerline is valid? [True, True] Translation: X:1081.81, Y:25.83, Z:4.26 [[ 9.77128138e-01 -2.12580517e-01 -5.48875238e-03 1.08180807e+03] [ 2.12577051e-01 9.77143553e-01 -1.21401727e-03 2.58288841e+01] [ 5.62137542e-03 1.94676410e-05 9.99984200e-01 4.25764135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters 0.052681588445969416 Centerline is valid? [True, True] Translation: X:1081.86, Y:25.84, Z:4.26 [[ 9.77266039e-01 -2.11931865e-01 -5.99780144e-03 1.08186454e+03] [ 2.11927710e-01 9.77284444e-01 -1.32720632e-03 2.58415555e+01] [ 6.14283535e-03 2.59333324e-05 9.99981132e-01 4.25740145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.239254154 meters 0.05179633008694875 Centerline is valid? [True, True] Translation: X:1081.92, Y:25.85, Z:4.26 [[ 9.76775213e-01 -2.14217970e-01 -4.56560642e-03 1.08192152e+03] [ 2.14215587e-01 9.76785883e-01 -1.01044102e-03 2.58518334e+01] [ 4.67607452e-03 8.94968718e-06 9.99989067e-01 4.25846340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.299254154 meters 0.051977736856873506 Centerline is valid? [True, True] Translation: X:1081.98, Y:25.86, Z:4.26 [[ 9.75922432e-01 -2.18115792e-01 -9.53367778e-04 1.08198015e+03] [ 2.18115691e-01 9.75922897e-01 -2.10679367e-04 2.58607740e+01] [ 9.76365940e-04 -2.33775161e-06 9.99999523e-01 4.26074451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters 0.05165042159432967 Centerline is valid? [True, True] Translation: X:1082.04, Y:25.87, Z:4.26 [[ 9.75799554e-01 -2.18663985e-01 -1.13693576e-03 1.08203655e+03] [ 2.18663841e-01 9.75800216e-01 -2.51635675e-04 2.58716133e+01] [ 1.16444582e-03 -3.06076031e-06 9.99999322e-01 4.26267136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters 0.0521562276454064 Centerline is valid? [True, True] Translation: X:1082.09, Y:25.89, Z:4.26 [[ 9.76413190e-01 -2.15880174e-01 -3.61017452e-03 1.08209339e+03] [ 2.15878693e-01 9.76419864e-01 -7.99738230e-04 2.58865190e+01] [ 3.69769375e-03 1.51519994e-06 9.99993163e-01 4.26012062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.479254154 meters 0.051226887731247936 Centerline is valid? [True, True] Translation: X:1082.15, Y:25.90, Z:4.26 [[ 9.77165576e-01 -2.12404920e-01 -5.62021692e-03 1.08215082e+03] [ 2.12401267e-01 9.77181738e-01 -1.24595766e-03 2.59014921e+01] [ 5.75662088e-03 2.37657448e-05 9.99983430e-01 4.25937487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.539254154 meters 0.05168123705950923 Centerline is valid? [True, True] Translation: X:1082.21, Y:25.92, Z:4.26 [[ 9.77660488e-01 -2.10085573e-01 -6.63489633e-03 1.08220754e+03] [ 2.10080422e-01 9.77683001e-01 -1.47179407e-03 2.59157036e+01] [ 6.79602805e-03 4.50530813e-05 9.99976906e-01 4.25862444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters 0.05144734634785685 Centerline is valid? [True, True] Translation: X:1082.27, Y:25.93, Z:4.26 [[ 9.78055776e-01 -2.08195884e-01 -7.83410268e-03 1.08226526e+03] [ 2.08188634e-01 9.78087148e-01 -1.73883265e-03 2.59288105e+01] [ 8.02445295e-03 6.97041821e-05 9.99967801e-01 4.25883248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters 0.05130275879318991 Centerline is valid? [True, True] Translation: X:1082.32, Y:25.94, Z:4.26 [[ 9.77945788e-01 -2.08723772e-01 -7.51151497e-03 1.08232193e+03] [ 2.08717118e-01 9.77974633e-01 -1.66783012e-03 2.59393068e+01] [ 7.69418689e-03 6.32656880e-05 9.99970397e-01 4.25933499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.719254154 meters 0.05130892126134339 Centerline is valid? [True, True] Translation: X:1082.38, Y:25.95, Z:4.26 [[ 9.77682299e-01 -2.09996639e-01 -6.22371014e-03 1.08238030e+03] [ 2.09992094e-01 9.77702107e-01 -1.38231055e-03 2.59485165e+01] [ 6.37521508e-03 4.45306354e-05 9.99979677e-01 4.26121660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.779254154 meters 0.05113774588621733 Centerline is valid? [True, True] Translation: X:1082.44, Y:25.96, Z:4.26 [[ 9.77539114e-01 -2.10688704e-01 -5.24880712e-03 1.08243791e+03] [ 2.10685479e-01 9.77553205e-01 -1.16633721e-03 2.59599040e+01] [ 5.37672230e-03 3.42927979e-05 9.99985545e-01 4.26187520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters 0.05118375092460009 Centerline is valid? [True, True] Translation: X:1082.49, Y:25.97, Z:4.26 [[ 9.77507227e-01 -2.10841467e-01 -5.04951628e-03 1.08249405e+03] [ 2.10838481e-01 9.77520268e-01 -1.12256956e-03 2.59717008e+01] [ 5.17268872e-03 3.26875122e-05 9.99986621e-01 4.26122069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters 0.051394303230229796 Centerline is valid? [True, True] Translation: X:1082.55, Y:25.98, Z:4.26 [[ 9.77507263e-01 -2.10815569e-01 -6.02879159e-03 1.08255123e+03] [ 2.10811309e-01 9.77525854e-01 -1.34082621e-03 2.59828101e+01] [ 6.17596668e-03 3.97299157e-05 9.99980928e-01 4.25970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.959254154 meters 0.050769449769883596 Centerline is valid? [True, True] Translation: X:1082.61, Y:25.99, Z:4.26 [[ 9.77668093e-01 -2.10031550e-01 -7.20056968e-03 1.08260996e+03] [ 2.10025444e-01 9.77694607e-01 -1.60242394e-03 2.59909129e+01] [ 7.37651772e-03 5.43359111e-05 9.99972792e-01 4.26076038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.019254154 meters 0.05061708133761311 Centerline is valid? [True, True] Translation: X:1082.67, Y:26.00, Z:4.26 [[ 9.78262996e-01 -2.07205458e-01 -8.21031355e-03 1.08266660e+03] [ 2.07197414e-01 9.78297445e-01 -1.82785155e-03 2.60040123e+01] [ 8.41086959e-03 8.69637965e-05 9.99964624e-01 4.25924500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters 0.05022639654465548 Centerline is valid? [True, True] Translation: X:1082.72, Y:26.01, Z:4.26 [[ 9.78674562e-01 -2.05225198e-01 -8.87242084e-03 1.08272441e+03] [ 2.05215715e-01 9.78714772e-01 -1.97603064e-03 2.60142469e+01] [ 9.08910062e-03 1.13130728e-04 9.99958687e-01 4.25949310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters 0.04977145771674496 Centerline is valid? [True, True] Translation: X:1082.78, Y:26.03, Z:4.26 [[ 9.78853934e-01 -2.04392761e-01 -8.28099603e-03 1.08278242e+03] [ 2.04384463e-01 9.78888955e-01 -1.84526136e-03 2.60253573e+01] [ 8.48333361e-03 1.13734412e-04 9.99964009e-01 4.26040895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.199254154 meters 0.04949888668386992 Centerline is valid? [True, True] Translation: X:1082.84, Y:26.04, Z:4.26 [[ 9.78918342e-01 -2.04125539e-01 -7.18633041e-03 1.08283776e+03] [ 2.04119279e-01 9.78944714e-01 -1.60192473e-03 2.60389451e+01] [ 7.36201392e-03 1.01284920e-04 9.99972895e-01 4.26136851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.259254154 meters 0.05107970967063445 Centerline is valid? [True, True] Translation: X:1082.90, Y:26.05, Z:4.26 [[ 9.78361039e-01 -2.06774347e-01 -7.35164958e-03 1.08289608e+03] [ 2.06767866e-01 9.78388656e-01 -1.63920954e-03 2.60504932e+01] [ 7.53171703e-03 8.36538577e-05 9.99971633e-01 4.26145424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.319254154 meters 0.05066846160476735 Centerline is valid? [True, True] Translation: X:1082.95, Y:26.06, Z:4.26 [[ 9.77388857e-01 -2.11339938e-01 -6.81568803e-03 1.08295301e+03] [ 2.11334477e-01 9.77412619e-01 -1.52001061e-03 2.60628039e+01] [ 6.98297844e-03 4.52515682e-05 9.99975618e-01 4.26106445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters 0.050988143459533605 Centerline is valid? [True, True] Translation: X:1083.01, Y:26.07, Z:4.26 [[ 9.76555141e-01 -2.15161296e-01 -6.75821518e-03 1.08301114e+03] [ 2.15156014e-01 9.76578526e-01 -1.50764965e-03 2.60743434e+01] [ 6.92431566e-03 1.82323758e-05 9.99976026e-01 4.26143771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.439254154 meters 0.05102342914134016 Centerline is valid? [True, True] Translation: X:1083.07, Y:26.09, Z:4.26 [[ 9.76033954e-01 -2.17499381e-01 -7.19301467e-03 1.08306790e+03] [ 2.17493455e-01 9.76060459e-01 -1.60554905e-03 2.60875826e+01] [ 7.37002312e-03 2.63677265e-06 9.99972841e-01 4.26156785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.499254154 meters 0.05104078829616736 Centerline is valid? [True, True] Translation: X:1083.12, Y:26.10, Z:4.26 [[ 9.75758485e-01 -2.18735556e-01 -7.08069951e-03 1.08312318e+03] [ 2.18729840e-01 9.75784175e-01 -1.58126189e-03 2.61013861e+01] [ 7.25511272e-03 -5.83056907e-06 9.99973681e-01 4.26183009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.559254154 meters 0.05147519068909894 Centerline is valid? [True, True] Translation: X:1083.18, Y:26.12, Z:4.26 [[ 9.75537238e-01 -2.19669542e-01 -8.50817403e-03 1.08318045e+03] [ 2.19661317e-01 9.75574340e-01 -1.90099145e-03 2.61162743e+01] [ 8.71794618e-03 -1.44287651e-05 9.99961998e-01 4.26085338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters 0.051363905601058975 Centerline is valid? [True, True] Translation: X:1083.24, Y:26.13, Z:4.26 [[ 9.75204558e-01 -2.21091787e-01 -9.72072667e-03 1.08323654e+03] [ 2.21081114e-01 9.75253003e-01 -2.17265601e-03 2.61296931e+01] [ 9.96052428e-03 -3.02850376e-05 9.99950392e-01 4.25999977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters 0.05145878913020304 Centerline is valid? [True, True] Translation: X:1083.29, Y:26.14, Z:4.26 [[ 9.74498884e-01 -2.24164525e-01 -1.01089848e-02 1.08329355e+03] [ 2.24153137e-01 9.74551313e-01 -2.26036758e-03 2.61437592e+01] [ 1.03584187e-02 -6.32349775e-05 9.99946348e-01 4.26213880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.739254154 meters 0.05188980134687722 Centerline is valid? [True, True] Translation: X:1083.35, Y:26.15, Z:4.26 [[ 9.72901643e-01 -2.31031108e-01 -9.32848126e-03 1.08335148e+03] [ 2.31021720e-01 9.72946356e-01 -2.08648997e-03 2.61541680e+01] [ 9.55815594e-03 -1.25132265e-04 9.99954312e-01 4.26246854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.799254154 meters 0.052252561113168845 Centerline is valid? [True, True] Translation: X:1083.41, Y:26.16, Z:4.26 [[ 9.71634045e-01 -2.36339235e-01 -8.42905893e-03 1.08340965e+03] [ 2.36331767e-01 9.71670593e-01 -1.88556320e-03 2.61631443e+01] [ 8.63590125e-03 -1.59976988e-04 9.99962697e-01 4.26288472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters 0.05280466965302351 Centerline is valid? [True, True] Translation: X:1083.47, Y:26.18, Z:4.27 [[ 9.69882386e-01 -2.43489855e-01 -6.39128809e-03 1.08346556e+03] [ 2.43485716e-01 9.69903429e-01 -1.42983126e-03 2.61814832e+01] [ 6.54708165e-03 -1.69419203e-04 9.99978553e-01 4.26528688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters 0.052930191353056946 Centerline is valid? [True, True] Translation: X:1083.52, Y:26.19, Z:4.26 [[ 9.69964618e-01 -2.43145110e-01 -7.00684332e-03 1.08352280e+03] [ 2.43140123e-01 9.69989908e-01 -1.56793087e-03 2.61937289e+01] [ 7.17780203e-03 -1.82807273e-04 9.99974223e-01 4.26462957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.979254154 meters 0.05284144527375487 Centerline is valid? [True, True] Translation: X:1083.58, Y:26.22, Z:4.27 [[ 9.70850910e-01 -2.39537999e-01 -8.37004513e-03 1.08357926e+03] [ 2.39530744e-01 9.70886972e-01 -1.87358377e-03 2.62174686e+01] [ 8.57516228e-03 -1.85912622e-04 9.99963215e-01 4.26572209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.039254154 meters 0.05233580834744421 Centerline is valid? [True, True] Translation: X:1083.64, Y:26.24, Z:4.26 [[ 9.74194588e-01 -2.25496870e-01 -9.80137408e-03 1.08363628e+03] [ 2.25486205e-01 9.74243890e-01 -2.19434002e-03 2.62378047e+01] [ 1.00437456e-02 -7.23604698e-05 9.99949558e-01 4.26327963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters 0.05289714406683089 Centerline is valid? [True, True] Translation: X:1083.69, Y:26.26, Z:4.26 [[ 9.76628372e-01 -2.14647441e-01 -1.11129844e-02 1.08369064e+03] [ 2.14633019e-01 9.76691596e-01 -2.48862266e-03 2.62609016e+01] [ 1.13881349e-02 4.52461148e-05 9.99935152e-01 4.26044935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters 0.05258183355209575 Centerline is valid? [True, True] Translation: X:1083.75, Y:26.28, Z:4.26 [[ 9.77985981e-01 -2.08317896e-01 -1.21274872e-02 1.08374775e+03] [ 2.08300228e-01 9.78061162e-01 -2.71622082e-03 2.62785173e+01] [ 1.24272616e-02 1.30267527e-04 9.99922770e-01 4.26238768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.219254154 meters 0.05256332300793289 Centerline is valid? [True, True] Translation: X:1083.80, Y:26.29, Z:4.26 [[ 9.78287209e-01 -2.06940402e-01 -1.13932692e-02 1.08380482e+03] [ 2.06924704e-01 9.78353541e-01 -2.55272308e-03 2.62929537e+01] [ 1.16749068e-02 1.39747473e-04 9.99931836e-01 4.26408369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.279254154 meters 0.053270093324817906 Centerline is valid? [True, True] Translation: X:1083.86, Y:26.31, Z:4.27 [[ 9.77846557e-01 -2.09161775e-01 -8.21359155e-03 1.08386044e+03] [ 2.09153690e-01 9.77881049e-01 -1.84088125e-03 2.63081715e+01] [ 8.41695750e-03 8.21964066e-05 9.99964573e-01 4.26612708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters 0.05283142368962525 Centerline is valid? [True, True] Translation: X:1083.92, Y:26.32, Z:4.27 [[ 9.76502786e-01 -2.15345233e-01 -8.29087919e-03 1.08391840e+03] [ 2.15337215e-01 9.76537982e-01 -1.85857354e-03 2.63179766e+01] [ 8.49659338e-03 2.95674094e-05 9.99963903e-01 4.26661740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters 0.05229399137057107 Centerline is valid? [True, True] Translation: X:1083.98, Y:26.33, Z:4.26 [[ 9.74689205e-01 -2.23355095e-01 -9.66718245e-03 1.08397646e+03] [ 2.23344579e-01 9.74737144e-01 -2.16789802e-03 2.63251351e+01] [ 9.90717288e-03 -4.60859915e-05 9.99950922e-01 4.26404101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.459254154 meters 0.05251569477615502 Centerline is valid? [True, True] Translation: X:1084.04, Y:26.33, Z:4.26 [[ 9.72674232e-01 -2.31899928e-01 -1.12810094e-02 1.08403624e+03] [ 2.31886175e-01 9.72739636e-01 -2.53030883e-03 2.63346720e+01] [ 1.15602634e-02 -1.54743915e-04 9.99933166e-01 4.26460383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.519254154 meters 0.05390738482580065 Centerline is valid? [True, True] Translation: X:1084.09, Y:26.35, Z:4.27 [[ 9.70410893e-01 -2.41098502e-01 -1.31989446e-02 1.08409409e+03] [ 2.41080520e-01 9.70500601e-01 -2.96068906e-03 2.63496325e+01] [ 1.35234014e-02 -3.08923529e-04 9.99908507e-01 4.26668168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters 0.054448701727707015 Centerline is valid? [True, True] Translation: X:1084.15, Y:26.36, Z:4.27 [[ 9.68219918e-01 -2.49689545e-01 -1.43290205e-02 1.08415262e+03] [ 2.49669288e-01 9.68325831e-01 -3.21435162e-03 2.63620309e+01] [ 1.46777506e-02 -4.65317081e-04 9.99892168e-01 4.26707291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters 0.055475779134542116 Centerline is valid? [True, True] Translation: X:1084.21, Y:26.37, Z:4.27 [[ 9.66867627e-01 -2.54913400e-01 -1.36437311e-02 1.08421154e+03] [ 2.54895552e-01 9.66963748e-01 -3.06071652e-03 2.63726664e+01] [ 1.39732111e-02 -5.18418661e-04 9.99902235e-01 4.26766216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.699254154 meters 0.054883321027572436 Centerline is valid? [True, True] Translation: X:1084.27, Y:26.39, Z:4.27 [[ 9.67513477e-01 -2.52535171e-01 -1.19857834e-02 1.08426982e+03] [ 2.52521212e-01 9.67587622e-01 -2.68893736e-03 2.63860115e+01] [ 1.22763469e-02 -4.25081423e-04 9.99924552e-01 4.26884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.759254154 meters 0.05453351520708802 Centerline is valid? [True, True] Translation: X:1084.33, Y:26.40, Z:4.27 [[ 9.69075992e-01 -2.46550925e-01 -1.02158299e-02 1.08432810e+03] [ 2.46540450e-01 9.69129792e-01 -2.29201183e-03 2.63957965e+01] [ 1.04655627e-02 -2.97481656e-04 9.99945190e-01 4.26785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.819254154 meters 0.05326967678470188 Centerline is valid? [True, True] Translation: X:1084.38, Y:26.42, Z:4.27 [[ 9.73607507e-01 -2.28026517e-01 -9.60887534e-03 1.08438335e+03] [ 2.28016342e-01 9.73654918e-01 -2.15605607e-03 2.64212111e+01] [ 9.84736669e-03 -9.18282337e-05 9.99951509e-01 4.26614437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters 0.05282866339829452 Centerline is valid? [True, True] Translation: X:1084.44, Y:26.45, Z:4.27 [[ 9.76860554e-01 -2.13662702e-01 -9.57639402e-03 1.08443717e+03] [ 2.13651900e-01 9.76907491e-01 -2.14911342e-03 2.64455887e+01] [ 9.81443644e-03 5.33693461e-05 9.99951836e-01 4.26856121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.939254154 meters 0.05319000215457003 Centerline is valid? [True, True] Translation: X:1084.49, Y:26.47, Z:4.27 [[ 9.79055952e-01 -2.03380577e-01 -9.26198522e-03 1.08449309e+03] [ 2.03370010e-01 9.79099749e-01 -2.07871042e-03 2.64686676e+01] [ 9.49117672e-03 1.51563780e-04 9.99954946e-01 4.26676621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.999254154 meters 0.05349168055034135 Centerline is valid? [True, True] Translation: X:1084.55, Y:26.49, Z:4.27 [[ 9.80053753e-01 -1.98523692e-01 -9.10964339e-03 1.08455142e+03] [ 1.98513260e-01 9.80096070e-01 -2.04452086e-03 2.64851018e+01] [ 9.33421151e-03 1.95355334e-04 9.99956416e-01 4.26663593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.059254154 meters 0.053487141341775665 Centerline is valid? [True, True] Translation: X:1084.61, Y:26.50, Z:4.27 [[ 9.80243312e-01 -1.97561568e-01 -9.61643840e-03 1.08460806e+03] [ 1.97549894e-01 9.80290457e-01 -2.15849078e-03 2.64986079e+01] [ 9.85333762e-03 2.16119767e-04 9.99951431e-01 4.26548954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters 0.053634031191378086 Centerline is valid? [True, True] Translation: X:1084.67, Y:26.51, Z:4.26 [[ 9.80053050e-01 -1.98487562e-01 -9.93515524e-03 1.08466604e+03] [ 1.98475141e-01 9.80103383e-01 -2.23085520e-03 2.65085633e+01] [ 1.01802763e-02 2.14475110e-04 9.99948157e-01 4.26434446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters 0.05294366140087055 Centerline is valid? [True, True] Translation: X:1084.72, Y:26.52, Z:4.26 [[ 9.79894460e-01 -1.99261470e-01 -1.00853765e-02 1.08472450e+03] [ 1.99248700e-01 9.79946336e-01 -2.26570324e-03 2.65150022e+01] [ 1.03345951e-02 2.10651904e-04 9.99946574e-01 4.26478520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.239254154 meters 0.053011202862845996 Centerline is valid? [True, True] Translation: X:1084.78, Y:26.53, Z:4.26 [[ 9.79992460e-01 -1.98726983e-01 -1.10618098e-02 1.08478194e+03] [ 1.98711578e-01 9.80054860e-01 -2.48580923e-03 2.65254472e+01] [ 1.13351779e-02 2.37964616e-04 9.99935726e-01 4.26339569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.299254154 meters 0.053386443383998436 Centerline is valid? [True, True] Translation: X:1084.84, Y:26.53, Z:4.26 [[ 9.80296493e-01 -1.97231082e-01 -1.08943647e-02 1.08484067e+03] [ 1.97216037e-01 9.80356995e-01 -2.44910231e-03 2.65337713e+01] [ 1.11634057e-02 2.52302984e-04 9.99937655e-01 4.26365741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters 0.05241624472309423 Centerline is valid? [True, True] Translation: X:1084.90, Y:26.54, Z:4.26 [[ 9.80653732e-01 -1.95432991e-01 -1.11446741e-02 1.08489908e+03] [ 1.95417124e-01 9.80717017e-01 -2.50597579e-03 2.65437078e+01] [ 1.14195219e-02 2.79634351e-04 9.99934756e-01 4.26320224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters 0.05165669991978757 Centerline is valid? [True, True] Translation: X:1084.96, Y:26.55, Z:4.27 [[ 9.81245655e-01 -1.92408464e-01 -1.16596211e-02 1.08496045e+03] [ 1.92390882e-01 9.81314870e-01 -2.62186040e-03 2.65465130e+01] [ 1.19462277e-02 3.29484347e-04 9.99928587e-01 4.26547352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.479254154 meters 0.053407962660223615 Centerline is valid? [True, True] Translation: X:1085.02, Y:26.57, Z:4.26 [[ 9.81779674e-01 -1.89596035e-01 -1.27285109e-02 1.08501657e+03] [ 1.89574843e-01 9.81862101e-01 -2.86236156e-03 2.65652998e+01] [ 1.30403349e-02 3.97202945e-04 9.99914892e-01 4.26242380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.539254154 meters 0.053569693809390806 Centerline is valid? [True, True] Translation: X:1085.07, Y:26.58, Z:4.26 [[ 9.82043410e-01 -1.88185030e-01 -1.33092385e-02 1.08507484e+03] [ 1.88161727e-01 9.82133497e-01 -2.99323756e-03 2.65766679e+01] [ 1.36347315e-02 4.35199911e-04 9.99906948e-01 4.26219474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters 0.05388256474213082 Centerline is valid? [True, True] Translation: X:1085.13, Y:26.59, Z:4.26 [[ 9.82112302e-01 -1.87900110e-01 -1.22054934e-02 1.08513245e+03] [ 1.87880476e-01 9.82188060e-01 -2.74611439e-03 2.65856592e+01] [ 1.25040851e-02 4.03818814e-04 9.99921739e-01 4.26292712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters 0.0528369095672436 Centerline is valid? [True, True] Translation: X:1085.19, Y:26.59, Z:4.26 [[ 9.81514894e-01 -1.91083081e-01 -1.07596126e-02 1.08519239e+03] [ 1.91068010e-01 9.81573814e-01 -2.42127475e-03 2.65919896e+01] [ 1.10240186e-02 3.20699467e-04 9.99939182e-01 4.26462441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.719254154 meters 0.05195518080049791 Centerline is valid? [True, True] Translation: X:1085.25, Y:26.60, Z:4.26 [[ 9.80167133e-01 -1.97913868e-01 -1.01238824e-02 1.08525235e+03] [ 1.97900887e-01 9.80219388e-01 -2.27833837e-03 2.65973161e+01] [ 1.03745405e-02 2.29627093e-04 9.99946157e-01 4.26450693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.779254154 meters 0.05096700516764174 Centerline is valid? [True, True] Translation: X:1085.31, Y:26.60, Z:4.27 [[ 9.79491839e-01 -2.01181500e-01 -1.10336119e-02 1.08531299e+03] [ 2.01166286e-01 9.79553959e-01 -2.48324773e-03 2.65992532e+01] [ 1.13076018e-02 2.12730149e-04 9.99936044e-01 4.26578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters 0.051227341682947035 Centerline is valid? [True, True] Translation: X:1085.37, Y:26.61, Z:4.27 [[ 9.79738935e-01 -1.99959125e-01 -1.13122584e-02 1.08537018e+03] [ 1.99943041e-01 9.79804212e-01 -2.54685542e-03 2.66134027e+01] [ 1.15930654e-02 2.33446068e-04 9.99932771e-01 4.26532054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters 0.050558640478003763 Centerline is valid? [True, True] Translation: X:1085.43, Y:26.63, Z:4.27 [[ 9.80664067e-01 -1.95338294e-01 -1.18717685e-02 1.08542809e+03] [ 1.95320235e-01 9.80735876e-01 -2.67333989e-03 2.66307811e+01] [ 1.21652749e-02 3.02851757e-04 9.99925954e-01 4.26554657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.959254154 meters 0.05067560329922182 Centerline is valid? [True, True] Translation: X:1085.49, Y:26.65, Z:4.27 [[ 9.81154427e-01 -1.92910091e-01 -1.10312010e-02 1.08548597e+03] [ 1.92894344e-01 9.81216388e-01 -2.48420485e-03 2.66453490e+01] [ 1.13032234e-02 3.09532299e-04 9.99936069e-01 4.26631047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.019254154 meters 0.04996620565581505 Centerline is valid? [True, True] Translation: X:1085.54, Y:26.66, Z:4.27 [[ 9.81732641e-01 -1.89959536e-01 -1.07887324e-02 1.08554283e+03] [ 1.89944294e-01 9.81791863e-01 -2.42972060e-03 2.66638925e+01] [ 1.10538383e-02 3.36077861e-04 9.99938848e-01 4.26677397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters 0.05190492373913518 Centerline is valid? [True, True] Translation: X:1085.60, Y:26.69, Z:4.26 [[ 9.82105592e-01 -1.87980070e-01 -1.14934190e-02 1.08559742e+03] [ 1.87962633e-01 9.82172769e-01 -2.58870185e-03 2.66862537e+01] [ 1.17751475e-02 3.82045269e-04 9.99930598e-01 4.26447819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters 0.05190104702466204 Centerline is valid? [True, True] Translation: X:1085.66, Y:26.70, Z:4.27 [[ 9.82417470e-01 -1.86270005e-01 -1.26253528e-02 1.08565604e+03] [ 1.86248820e-01 9.82498493e-01 -2.84388209e-03 2.66994194e+01] [ 1.29341200e-02 4.42422391e-04 9.99916253e-01 4.26519968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.199254154 meters 0.053055326230876186 Centerline is valid? [True, True] Translation: X:1085.71, Y:26.72, Z:4.26 [[ 9.82337867e-01 -1.86550969e-01 -1.45276101e-02 1.08571059e+03] [ 1.86522939e-01 9.82445154e-01 -3.27303891e-03 2.67188770e+01] [ 1.48831687e-02 5.05497539e-04 9.99889112e-01 4.26236699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.259254154 meters 0.05245145371760766 Centerline is valid? [True, True] Translation: X:1085.77, Y:26.73, Z:4.26 [[ 9.82036760e-01 -1.88107305e-01 -1.48136591e-02 1.08576874e+03] [ 1.88078331e-01 9.82148359e-01 -3.33788283e-03 2.67315084e+01] [ 1.51770911e-02 4.91795356e-04 9.99884700e-01 4.26263836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.319254154 meters 0.05195323142835217 Centerline is valid? [True, True] Translation: X:1085.83, Y:26.74, Z:4.27 [[ 9.81630324e-01 -1.90301688e-01 -1.36811822e-02 1.08582787e+03] [ 1.90277185e-01 9.81725567e-01 -3.08291776e-03 2.67401319e+01] [ 1.40178508e-02 4.23068711e-04 9.99901656e-01 4.26600351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters 0.05118628301543418 Centerline is valid? [True, True] Translation: X:1085.89, Y:26.75, Z:4.27 [[ 9.81158540e-01 -1.92887666e-01 -1.10574760e-02 1.08588566e+03] [ 1.92871823e-01 9.81220796e-01 -2.49184621e-03 2.67546276e+01] [ 1.13304718e-02 3.12220629e-04 9.99935759e-01 4.26765816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.439254154 meters 0.05260852678062359 Centerline is valid? [True, True] Translation: X:1085.94, Y:26.77, Z:4.27 [[ 9.80918293e-01 -1.94167795e-01 -9.90804088e-03 1.08594293e+03] [ 1.94155133e-01 9.80968295e-01 -2.23347633e-03 2.67695415e+01] [ 1.01531431e-02 2.67160791e-04 9.99948420e-01 4.26813352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.499254154 meters 0.05162460815291028 Centerline is valid? [True, True] Translation: X:1086.00, Y:26.78, Z:4.27 [[ 9.80944067e-01 -1.93989830e-01 -1.08019981e-02 1.08600105e+03] [ 1.93974756e-01 9.81003496e-01 -2.43618886e-03 2.67788161e+01] [ 1.10693938e-02 2.94450064e-04 9.99938689e-01 4.26881807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.559254154 meters 0.052093585737944176 Centerline is valid? [True, True] Translation: X:1086.06, Y:26.80, Z:4.27 [[ 9.81137000e-01 -1.92947498e-01 -1.18932789e-02 1.08605656e+03] [ 1.92929139e-01 9.81209024e-01 -2.68304704e-03 2.67969575e+01] [ 1.21874798e-02 3.37876665e-04 9.99925673e-01 4.26757645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters 0.05240029611394652 Centerline is valid? [True, True] Translation: X:1086.12, Y:26.81, Z:4.27 [[ 9.81531701e-01 -1.90854201e-01 -1.30458076e-02 1.08611507e+03] [ 1.90831923e-01 9.81618314e-01 -2.94326055e-03 2.68104024e+01] [ 1.33677373e-02 3.99346996e-04 9.99910568e-01 4.26847831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters 0.052373393789981224 Centerline is valid? [True, True] Translation: X:1086.17, Y:26.83, Z:4.27 [[ 9.81201690e-01 -1.92510729e-01 -1.35226877e-02 1.08617245e+03] [ 1.92486942e-01 9.81294791e-01 -3.05138727e-03 2.68253590e+01] [ 1.38571678e-02 3.91085536e-04 9.99903908e-01 4.26863590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.739254154 meters 0.05286229404167512 Centerline is valid? [True, True] Translation: X:1086.23, Y:26.84, Z:4.27 [[ 9.79802598e-01 -1.99579089e-01 -1.24522058e-02 1.08623181e+03] [ 1.99559486e-01 9.79881684e-01 -2.81000109e-03 2.68354051e+01] [ 1.27625059e-02 2.68290568e-04 9.99918520e-01 4.27087012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.799254154 meters 0.05154578996604267 Centerline is valid? [True, True] Translation: X:1086.29, Y:26.84, Z:4.27 [[ 9.77464026e-01 -2.10768671e-01 -1.18593839e-02 1.08629122e+03] [ 2.10751711e-01 9.77535960e-01 -2.67626096e-03 2.68433804e+01] [ 1.21570462e-02 1.16563358e-04 9.99926094e-01 4.27274073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters 0.05256708323418181 Centerline is valid? [True, True] Translation: X:1086.35, Y:26.85, Z:4.27 [[ 9.74978321e-01 -2.21977679e-01 -1.19659761e-02 1.08634974e+03] [ 2.21961249e-01 9.75051747e-01 -2.70082528e-03 2.68543305e+01] [ 1.22669689e-02 -2.27369131e-05 9.99924758e-01 4.27214964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters 0.05333143113100352 Centerline is valid? [True, True] Translation: X:1086.41, Y:26.87, Z:4.27 [[ 9.72514385e-01 -2.32500077e-01 -1.26287191e-02 1.08640779e+03] [ 2.32482657e-01 9.72596364e-01 -2.85076663e-03 2.68650331e+01] [ 1.29454498e-02 -1.63546609e-04 9.99916191e-01 4.27291588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.979254154 meters 0.053543732698787594 Centerline is valid? [True, True] Translation: X:1086.47, Y:26.87, Z:4.27 [[ 9.71137985e-01 -2.38192352e-01 -1.24666279e-02 1.08646697e+03] [ 2.38175843e-01 9.71217971e-01 -2.81426465e-03 2.68735397e+01] [ 1.27781493e-02 -2.36210303e-04 9.99918328e-01 4.27291630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.039254154 meters 0.05419971922491888 Centerline is valid? [True, True] Translation: X:1086.52, Y:26.90, Z:4.28 [[ 9.69534859e-01 -2.44678083e-01 -1.16100237e-02 1.08652239e+03] [ 2.44664227e-01 9.69604325e-01 -2.62106060e-03 2.68969429e+01] [ 1.18984453e-02 -2.99347860e-04 9.99929166e-01 4.27902989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters 0.055559745561446744 Centerline is valid? [True, True] Translation: X:1086.58, Y:26.90, Z:4.28 [[ 9.68330178e-01 -2.49454920e-01 -1.04359979e-02 1.08658210e+03] [ 2.49444000e-01 9.68386359e-01 -2.35617708e-03 2.69032605e+01] [ 1.06938379e-02 -3.21639680e-04 9.99942768e-01 4.27762438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters 0.05653889676766571 Centerline is valid? [True, True] Translation: X:1086.63, Y:26.94, Z:4.28 [[ 9.68521500e-01 -2.48699941e-01 -1.06978174e-02 1.08663322e+03] [ 2.48688412e-01 9.68580527e-01 -2.41603737e-03 2.69425448e+01] [ 1.09625659e-02 -3.20439077e-04 9.99939858e-01 4.28289095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.219254154 meters 0.05420238324507174 Centerline is valid? [True, True] Translation: X:1086.69, Y:26.95, Z:4.28 [[ 9.69325576e-01 -2.45498562e-01 -1.17637027e-02 1.08669330e+03] [ 2.45484379e-01 9.69396905e-01 -2.65724957e-03 2.69456413e+01] [ 1.20560479e-02 -3.12065275e-04 9.99927274e-01 4.27955990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.279254154 meters 0.054303473146839455 Centerline is valid? [True, True] Translation: X:1086.75, Y:26.97, Z:4.28 [[ 9.71029076e-01 -2.38660123e-01 -1.19949580e-02 1.08674912e+03] [ 2.38644853e-01 9.71103132e-01 -2.70965404e-03 2.69698020e+01] [ 1.22950276e-02 -2.31382127e-04 9.99924386e-01 4.28176279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters 0.05489788620280686 Centerline is valid? [True, True] Translation: X:1086.81, Y:26.99, Z:4.28 [[ 9.72937587e-01 -2.30759980e-01 -1.19282569e-02 1.08680646e+03] [ 2.30744283e-01 9.73010696e-01 -2.69466321e-03 2.69888518e+01] [ 1.22281420e-02 -1.30637972e-04 9.99925225e-01 4.28233688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters 0.05507717967730163 Centerline is valid? [True, True] Translation: X:1086.86, Y:27.01, Z:4.28 [[ 9.74617581e-01 -2.23548231e-01 -1.21144018e-02 1.08686218e+03] [ 2.23531481e-01 9.74692868e-01 -2.73684556e-03 2.70080679e+01] [ 1.24196380e-02 -4.05723747e-05 9.99922872e-01 4.28141688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.459254154 meters 0.05413721905488212 Centerline is valid? [True, True] Translation: X:1086.92, Y:27.03, Z:4.28 [[ 9.75472316e-01 -2.19830447e-01 -1.13285662e-02 1.08691859e+03] [ 2.19815543e-01 9.75538095e-01 -2.55979106e-03 2.70253880e+01] [ 1.16141679e-02 6.81037301e-06 9.99932553e-01 4.28193043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.519254154 meters 0.05405234390144183 Centerline is valid? [True, True] Translation: X:1086.97, Y:27.04, Z:4.28 [[ 9.76364678e-01 -2.15880000e-01 -1.03846777e-02 1.08697400e+03] [ 2.15867243e-01 9.76419901e-01 -2.34739973e-03 2.70430709e+01] [ 1.06465627e-02 5.02064285e-05 9.99943322e-01 4.28271737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters 0.0547161576685833 Centerline is valid? [True, True] Translation: X:1087.03, Y:27.06, Z:4.28 [[ 9.77155967e-01 -2.12282610e-01 -1.01148564e-02 1.08702801e+03] [ 2.12270308e-01 9.77208312e-01 -2.28705020e-03 2.70642477e+01] [ 1.03698228e-02 8.77210637e-05 9.99946228e-01 4.28068490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters 0.05455631233476349 Centerline is valid? [True, True] Translation: X:1087.08, Y:27.08, Z:4.28 [[ 9.77737902e-01 -2.09559446e-01 -1.06504917e-02 1.08708386e+03] [ 2.09545635e-01 9.77795901e-01 -2.40908859e-03 2.70818216e+01] [ 1.09188544e-02 1.23693181e-04 9.99940380e-01 4.28052313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.699254154 meters 0.05523214325723903 Centerline is valid? [True, True] Translation: X:1087.14, Y:27.09, Z:4.28 [[ 9.77917216e-01 -2.08687676e-01 -1.12859906e-02 1.08714034e+03] [ 2.08672101e-01 9.77982328e-01 -2.55359432e-03 2.70948577e+01] [ 1.15704030e-02 1.42132480e-04 9.99933051e-01 4.28178240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.759254154 meters 0.05445127865157462 Centerline is valid? [True, True] Translation: X:1087.20, Y:27.11, Z:4.28 [[ 9.77995685e-01 -2.08281508e-01 -1.19688263e-02 1.08719713e+03] [ 2.08263952e-01 9.78068908e-01 -2.70871854e-03 2.71083611e+01] [ 1.22705128e-02 1.56439986e-04 9.99924702e-01 4.28190603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.819254154 meters 0.055066879521911374 Centerline is valid? [True, True] Translation: X:1087.25, Y:27.12, Z:4.28 [[ 9.77810912e-01 -2.09108357e-01 -1.26299648e-02 1.08725388e+03] [ 2.09088860e-01 9.77892464e-01 -2.85966696e-03 2.71191863e+01] [ 1.29487277e-02 1.55428614e-04 9.99916150e-01 4.28289377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters 0.05503234397428326 Centerline is valid? [True, True] Translation: X:1087.31, Y:27.13, Z:4.28 [[ 9.77415708e-01 -2.10957225e-01 -1.24732942e-02 1.08731192e+03] [ 2.10938342e-01 9.77495285e-01 -2.82561030e-03 2.71304756e+01] [ 1.27886692e-02 1.30699907e-04 9.99918213e-01 4.28366382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.939254154 meters 0.05446540975464785 Centerline is valid? [True, True] Translation: X:1087.37, Y:27.14, Z:4.28 [[ 9.76959853e-01 -2.13089390e-01 -1.19313536e-02 1.08736974e+03] [ 2.13072255e-01 9.77032703e-01 -2.70413631e-03 2.71409224e+01] [ 1.22335454e-02 9.95922006e-05 9.99925162e-01 4.28427415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.999254154 meters 0.05482373074861443 Centerline is valid? [True, True] Translation: X:1087.43, Y:27.15, Z:4.29 [[ 9.76507754e-01 -2.15199308e-01 -1.10392484e-02 1.08742760e+03] [ 2.15184765e-01 9.76570148e-01 -2.50275686e-03 2.71501697e+01] [ 1.13191920e-02 6.84834072e-05 9.99935934e-01 4.28523304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.059254154 meters 0.05458149842332264 Centerline is valid? [True, True] Translation: X:1087.49, Y:27.16, Z:4.29 [[ 9.76355685e-01 -2.15882190e-01 -1.11560318e-02 1.08748526e+03] [ 2.15867369e-01 9.76419416e-01 -2.53043857e-03 2.71591430e+01] [ 1.14392426e-02 6.23848588e-05 9.99934568e-01 4.28749700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters 0.0549983292900451 Centerline is valid? [True, True] Translation: X:1087.54, Y:27.17, Z:4.29 [[ 9.76578409e-01 -2.14917301e-01 -1.02550110e-02 1.08754062e+03] [ 2.14904710e-01 9.76632249e-01 -2.32740052e-03 2.71717031e+01] [ 1.05155731e-02 6.90389310e-05 9.99944707e-01 4.28557276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters 0.05367025188017701 Centerline is valid? [True, True] Translation: X:1087.60, Y:27.18, Z:4.29 [[ 9.76667208e-01 -2.14547990e-01 -9.50394544e-03 1.08759760e+03] [ 2.14537147e-01 9.76713446e-01 -2.15817426e-03 2.71807069e+01] [ 9.74566325e-03 6.88686978e-05 9.99952507e-01 4.28843438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.239254154 meters 0.05442469009264634 Centerline is valid? [True, True] Translation: X:1087.65, Y:27.19, Z:4.29 [[ 9.76783650e-01 -2.14036333e-01 -9.06360850e-03 1.08765402e+03] [ 2.14026442e-01 9.76825697e-01 -2.05888550e-03 2.71939165e+01] [ 9.29424199e-03 7.12338182e-05 9.99956805e-01 4.28742512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.299254154 meters 0.053492014332803574 Centerline is valid? [True, True] Translation: X:1087.71, Y:27.21, Z:4.29 [[ 9.77253949e-01 -2.11874309e-01 -9.16498931e-03 1.08771118e+03] [ 2.11864096e-01 9.77296919e-01 -2.08241479e-03 2.72066014e+01] [ 9.39812601e-03 9.33159034e-05 9.99955832e-01 4.28735133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters 0.05450610183686928 Centerline is valid? [True, True] Translation: X:1087.77, Y:27.22, Z:4.29 [[ 9.77667257e-01 -2.09944568e-01 -9.48754022e-03 1.08776945e+03] [ 2.09933523e-01 9.77713284e-01 -2.15658941e-03 2.72166519e+01] [ 9.72885833e-03 1.16674102e-04 9.99952667e-01 4.28799556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters 0.0544411266081559 Centerline is valid? [True, True] Translation: X:1087.83, Y:27.23, Z:4.29 [[ 9.78171193e-01 -2.07589029e-01 -9.37610583e-03 1.08782734e+03] [ 2.07578125e-01 9.78216119e-01 -2.13228809e-03 2.72280437e+01] [ 9.61449747e-03 1.39468319e-04 9.99953770e-01 4.28819451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.479254154 meters 0.05385181655209349 Centerline is valid? [True, True] Translation: X:1087.89, Y:27.24, Z:4.29 [[ 9.78502267e-01 -2.06025283e-01 -9.32185596e-03 1.08788572e+03] [ 2.06014423e-01 9.78546657e-01 -2.12096643e-03 2.72380085e+01] [ 9.55884369e-03 1.54933676e-04 9.99954301e-01 4.28884989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.539254154 meters 0.05437921576656337 Centerline is valid? [True, True] Translation: X:1087.94, Y:27.25, Z:4.29 [[ 9.78731361e-01 -2.04983980e-01 -8.15423336e-03 1.08794416e+03] [ 2.04975628e-01 9.78765318e-01 -1.85611473e-03 2.72461028e+01] [ 8.36155459e-03 1.45218598e-04 9.99965031e-01 4.28988971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters 0.054204347400495484 Centerline is valid? [True, True] Translation: X:1088.00, Y:27.26, Z:4.29 [[ 9.79052489e-01 -2.03443500e-01 -8.18331475e-03 1.08800077e+03] [ 2.03435029e-01 9.79086675e-01 -1.86333944e-03 2.72563197e+01] [ 8.39125873e-03 1.59534243e-04 9.99964780e-01 4.28900846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters 0.05364428992710099 Centerline is valid? [True, True] Translation: X:1088.06, Y:27.27, Z:4.29 [[ 9.79872809e-01 -1.99356666e-01 -1.03052158e-02 1.08806085e+03] [ 1.99343004e-01 9.79926967e-01 -2.34672667e-03 2.72654607e+01] [ 1.05661945e-02 2.45220973e-04 9.99944146e-01 4.28706343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.719254154 meters 0.05214424013770958 Centerline is valid? [True, True] Translation: X:1088.12, Y:27.27, Z:4.29 [[ 9.80267530e-01 -1.97358151e-01 -1.11951270e-02 1.08812072e+03] [ 1.97341895e-01 9.80331411e-01 -2.54956151e-03 2.72685443e+01] [ 1.14781114e-02 2.89984777e-04 9.99934082e-01 4.28912068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.779254154 meters 0.05253061388819717 Centerline is valid? [True, True] Translation: X:1088.18, Y:27.28, Z:4.29 [[ 9.80741317e-01 -1.94961412e-01 -1.16840777e-02 1.08817785e+03] [ 1.94943530e-01 9.80810857e-01 -2.66132247e-03 2.72787144e+01] [ 1.19787254e-02 3.32333547e-04 9.99928197e-01 4.28880043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters 0.05301663582177561 Centerline is valid? [True, True] Translation: X:1088.24, Y:27.29, Z:4.29 [[ 9.81056916e-01 -1.93319689e-01 -1.24428728e-02 1.08823534e+03] [ 1.93299271e-01 9.81135748e-01 -2.83463666e-03 2.72889928e+01] [ 1.27561384e-02 3.75741652e-04 9.99918567e-01 4.28775266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters 0.05207273312261531 Centerline is valid? [True, True] Translation: X:1088.29, Y:27.29, Z:4.29 [[ 9.81036537e-01 -1.93393872e-01 -1.28888620e-02 1.08829463e+03] [ 1.93371955e-01 9.81121123e-01 -2.93738784e-03 2.72931659e+01] [ 1.32136075e-02 3.89340358e-04 9.99912621e-01 4.28860643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.959254154 meters 0.05254508966963439 Centerline is valid? [True, True] Translation: X:1088.35, Y:27.30, Z:4.29 [[ 9.80874307e-01 -1.94286892e-01 -1.17557597e-02 1.08835170e+03] [ 1.94268715e-01 9.80944690e-01 -2.67985195e-03 2.73041496e+01] [ 1.20524102e-02 3.44821590e-04 9.99927308e-01 4.28830098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.019254154 meters 0.05225014835525004 Centerline is valid? [True, True] Translation: X:1088.41, Y:27.31, Z:4.29 [[ 9.80835388e-01 -1.94551774e-01 -1.05616323e-02 1.08841054e+03] [ 1.94537109e-01 9.80892202e-01 -2.40849598e-03 2.73088256e+01] [ 1.08284000e-02 3.07708670e-04 9.99941324e-01 4.29092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters 0.051974665118071466 Centerline is valid? [True, True] Translation: X:1088.47, Y:27.32, Z:4.29 [[ 9.79940913e-01 -1.99001473e-01 -1.06874416e-02 1.08847066e+03] [ 1.98986714e-01 9.79999156e-01 -2.43775112e-03 2.73167272e+01] [ 1.09587998e-02 2.62193173e-04 9.99939916e-01 4.28994201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters 0.05136093578326422 Centerline is valid? [True, True] Translation: X:1088.53, Y:27.32, Z:4.29 [[ 9.78652450e-01 -2.05221063e-01 -1.11219398e-02 1.08853058e+03] [ 2.05205479e-01 9.78715625e-01 -2.53702112e-03 2.73221484e+01] [ 1.14058664e-02 2.00578955e-04 9.99934931e-01 4.29073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.199254154 meters 0.05141565389046812 Centerline is valid? [True, True] Translation: X:1088.59, Y:27.33, Z:4.29 [[ 9.76390216e-01 -2.15785209e-01 -9.94430424e-03 1.08858968e+03] [ 2.15773296e-01 9.76440853e-01 -2.26850100e-03 2.73267084e+01] [ 1.01995339e-02 6.92268817e-05 9.99947981e-01 4.29037960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.259254154 meters 0.050769307904468645 Centerline is valid? [True, True] Translation: X:1088.65, Y:27.33, Z:4.29 [[ 9.75214735e-01 -2.21111323e-01 -8.12426251e-03 1.08864864e+03] [ 2.21103553e-01 9.75248575e-01 -1.85378753e-03 2.73335607e+01] [ 8.33306885e-03 1.15376132e-05 9.99965279e-01 4.29354174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.319254154 meters 0.05084986877255246 Centerline is valid? [True, True] Translation: X:1088.70, Y:27.35, Z:4.29 [[ 9.75335443e-01 -2.20575659e-01 -8.19467939e-03 1.08870453e+03] [ 2.20567726e-01 9.75369868e-01 -1.87080381e-03 2.73486108e+01] [ 8.40549713e-03 1.71794662e-05 9.99964673e-01 4.29385230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters 0.05072353944225894 Centerline is valid? [True, True] Translation: X:1088.76, Y:27.36, Z:4.29 [[ 9.75398032e-01 -2.20278230e-01 -8.72809911e-03 1.08876128e+03] [ 2.20269211e-01 9.75437082e-01 -1.99340267e-03 2.73626212e+01] [ 8.95281474e-03 2.18295366e-05 9.99959922e-01 4.29266214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.439254154 meters 0.050951134920895785 Centerline is valid? [True, True] Translation: X:1088.82, Y:27.38, Z:4.29 [[ 9.75658493e-01 -2.19060379e-01 -1.01516365e-02 1.08881869e+03] [ 2.19048102e-01 9.75711304e-01 -2.31949922e-03 2.73771151e+01] [ 1.04131768e-02 3.93424081e-05 9.99945781e-01 4.29094978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.499254154 meters 0.05134909659578135 Centerline is valid? [True, True] Translation: X:1088.87, Y:27.40, Z:4.29 [[ 9.75997621e-01 -2.17510472e-01 -1.08553566e-02 1.08887444e+03] [ 2.17496324e-01 9.76057986e-01 -2.48152051e-03 2.73955186e+01] [ 1.11352142e-02 6.09579468e-05 9.99938000e-01 4.28773868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.559254154 meters 0.05139566032884531 Centerline is valid? [True, True] Translation: X:1088.93, Y:27.41, Z:4.29 [[ 9.76094980e-01 -2.17099076e-01 -1.03238548e-02 1.08893056e+03] [ 2.17086244e-01 9.76149572e-01 -2.36124404e-03 2.74095382e+01] [ 1.05902504e-02 6.36315824e-05 9.99943920e-01 4.28970799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters 0.0512753992961247 Centerline is valid? [True, True] Translation: X:1088.99, Y:27.42, Z:4.29 [[ 9.75964709e-01 -2.17738730e-01 -9.09576221e-03 1.08898830e+03] [ 2.17728788e-01 9.76007092e-01 -2.08132510e-03 2.74230900e+01] [ 9.33071350e-03 5.08905566e-05 9.99956467e-01 4.29272023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters 0.051097282022133705 Centerline is valid? [True, True] Translation: X:1089.05, Y:27.44, Z:4.29 [[ 9.75642285e-01 -2.19255026e-01 -7.02606895e-03 1.08904595e+03] [ 2.19249130e-01 9.75667583e-01 -1.60821599e-03 2.74374452e+01] [ 7.20771715e-03 2.85840198e-05 9.99974024e-01 4.29392566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.739254154 meters 0.05122250618274737 Centerline is valid? [True, True] Translation: X:1089.10, Y:27.45, Z:4.29 [[ 9.75308465e-01 -2.20750321e-01 -6.53407182e-03 1.08910324e+03] [ 2.20745252e-01 9.75330352e-01 -1.49609186e-03 2.74518706e+01] [ 6.70314132e-03 1.67857286e-05 9.99977534e-01 4.29392541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.799254154 meters 0.05121466760687754 Centerline is valid? [True, True] Translation: X:1089.16, Y:27.47, Z:4.29 [[ 9.75268763e-01 -2.20827380e-01 -9.27941351e-03 1.08915961e+03] [ 2.20817152e-01 9.75312908e-01 -2.12549243e-03 2.74660074e+01] [ 9.51969869e-03 2.38727029e-05 9.99954686e-01 4.29242801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters 0.05129296136247282 Centerline is valid? [True, True] Translation: X:1089.22, Y:27.48, Z:4.29 [[ 9.75730009e-01 -2.18736237e-01 -1.02668743e-02 1.08921599e+03] [ 2.18723591e-01 9.75784021e-01 -2.35256765e-03 2.74821318e+01] [ 1.05328437e-02 4.98632391e-05 9.99944527e-01 4.29115404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters 0.05200704157625903 Centerline is valid? [True, True] Translation: X:1089.27, Y:27.50, Z:4.29 [[ 9.76207116e-01 -2.16641207e-01 -9.28732817e-03 1.08927347e+03] [ 2.16630754e-01 9.76251291e-01 -2.12914363e-03 2.74965010e+01] [ 9.52802636e-03 6.65642576e-05 9.99954605e-01 4.29306202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.979254154 meters 0.052586214284371616 Centerline is valid? [True, True] Translation: X:1089.33, Y:27.51, Z:4.29 [[ 9.76443495e-01 -2.15604957e-01 -8.52076204e-03 1.08932948e+03] [ 2.15596113e-01 9.76480669e-01 -1.95411445e-03 2.75099367e+01] [ 8.74167618e-03 7.10391611e-05 9.99961788e-01 4.29250263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.039254154 meters 0.05184403833356896 Centerline is valid? [True, True] Translation: X:1089.39, Y:27.52, Z:4.29 [[ 9.76884559e-01 -2.13577301e-01 -9.01639392e-03 1.08938572e+03] [ 2.13567308e-01 9.76926163e-01 -2.06824468e-03 2.75245767e+01] [ 9.25008123e-03 9.48293112e-05 9.99957213e-01 4.29183281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters 0.05187849179390808 Centerline is valid? [True, True] Translation: X:1089.44, Y:27.54, Z:4.29 [[ 9.77714663e-01 -2.09721418e-01 -9.53757713e-03 1.08944356e+03] [ 2.09710049e-01 9.77761171e-01 -2.18805255e-03 2.75390036e+01] [ 9.78435407e-03 1.39165285e-04 9.99952122e-01 4.29106921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters 0.051737716808161416 Centerline is valid? [True, True] Translation: X:1089.50, Y:27.55, Z:4.29 [[ 9.78696550e-01 -2.05036788e-01 -1.06291864e-02 1.08950210e+03] [ 2.05022390e-01 9.78754245e-01 -2.43863186e-03 2.75519746e+01] [ 1.09033705e-02 2.07459384e-04 9.99940535e-01 4.29138179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.219254154 meters 0.05226859350606521 Centerline is valid? [True, True] Translation: X:1089.56, Y:27.57, Z:4.29 [[ 9.79385418e-01 -2.01736551e-01 -1.03231042e-02 1.08955883e+03] [ 2.01722785e-01 9.79439793e-01 -2.36860557e-03 2.75679133e+01] [ 1.05886934e-02 2.37372428e-04 9.99943910e-01 4.29043078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.279254154 meters 0.05146891001032478 Centerline is valid? [True, True] Translation: X:1089.62, Y:27.58, Z:4.29 [[ 9.79355554e-01 -2.01867050e-01 -1.06015616e-02 1.08961704e+03] [ 2.01852528e-01 9.79412903e-01 -2.43346969e-03 2.75751720e+01] [ 1.08745436e-02 2.43280048e-04 9.99940841e-01 4.29154985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters 0.05074827225904179 Centerline is valid? [True, True] Translation: X:1089.67, Y:27.59, Z:4.29 [[ 9.79059958e-01 -2.03300255e-01 -1.05168981e-02 1.08967314e+03] [ 2.03286039e-01 9.79116416e-01 -2.41480255e-03 2.75901114e+01] [ 1.07881976e-02 2.26297926e-04 9.99941780e-01 4.29117114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters 0.05149586293659347 Centerline is valid? [True, True] Translation: X:1089.73, Y:27.60, Z:4.29 [[ 9.78747092e-01 -2.04843962e-01 -9.64790562e-03 1.08973041e+03] [ 2.04832070e-01 9.78794623e-01 -2.21559409e-03 2.76028121e+01] [ 9.89716922e-03 1.92305796e-04 9.99951003e-01 4.29105402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.459254154 meters 0.051610334750550935 Centerline is valid? [True, True] Translation: X:1089.79, Y:27.61, Z:4.29 [[ 9.78436891e-01 -2.06289301e-01 -1.02944127e-02 1.08978856e+03] [ 2.06275834e-01 9.78491026e-01 -2.36485662e-03 2.76109764e+01] [ 1.05608351e-02 1.90374389e-04 9.99944215e-01 4.29093561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.519254154 meters 0.05163930066073662 Centerline is valid? [True, True] Translation: X:1089.84, Y:27.62, Z:4.29 [[ 9.78121027e-01 -2.07735842e-01 -1.11837293e-02 1.08984492e+03] [ 2.07720033e-01 9.78184943e-01 -2.56987756e-03 2.76229161e+01] [ 1.14736113e-02 1.90566646e-04 9.99934158e-01 4.29053414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters 0.05208948423821272 Centerline is valid? [True, True] Translation: X:1089.90, Y:27.64, Z:4.29 [[ 9.78163194e-01 -2.07560956e-01 -1.07338758e-02 1.08990027e+03] [ 2.07546372e-01 9.78222068e-01 -2.46751398e-03 2.76398168e+01] [ 1.10122738e-02 1.85854370e-04 9.99939346e-01 4.29068257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters 0.05081324456823977 Centerline is valid? [True, True] Translation: X:1089.96, Y:27.65, Z:4.29 [[ 9.77918666e-01 -2.08789189e-01 -9.06407703e-03 1.08995826e+03] [ 2.08778836e-01 9.77960660e-01 -2.08435876e-03 2.76488845e+01] [ 9.29950234e-03 1.45945881e-04 9.99956748e-01 4.29362809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.699254154 meters 0.051630555899103134 Centerline is valid? [True, True] Translation: X:1090.02, Y:27.66, Z:4.29 [[ 9.76934858e-01 -2.13330725e-01 -9.39599597e-03 1.09001548e+03] [ 2.13319807e-01 9.76980036e-01 -2.16099992e-03 2.76628747e+01] [ 9.64070816e-03 1.06804111e-04 9.99953522e-01 4.29204913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.759254154 meters 0.05236489953962057 Centerline is valid? [True, True] Translation: X:1090.08, Y:27.67, Z:4.29 [[ 9.74914177e-01 -2.22359648e-01 -9.92643312e-03 1.09007513e+03] [ 2.22347926e-01 9.74964710e-01 -2.28330727e-03 2.76707777e+01] [ 1.01856374e-02 1.89068159e-05 9.99948125e-01 4.29261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.819254154 meters 0.05186352645766822 Centerline is valid? [True, True] Translation: X:1090.13, Y:27.68, Z:4.29 [[ 9.73481243e-01 -2.28550492e-01 -9.94696626e-03 1.09013289e+03] [ 2.28539034e-01 9.73532059e-01 -2.28893562e-03 2.76828104e+01] [ 1.02068279e-02 -4.50341693e-05 9.99947908e-01 4.29445586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters 0.05193540148439075 Centerline is valid? [True, True] Translation: X:1090.19, Y:27.69, Z:4.29 [[ 9.72279903e-01 -2.33608095e-01 -9.95226997e-03 1.09018959e+03] [ 2.33596877e-01 9.72330833e-01 -2.29137778e-03 2.76944016e+01] [ 1.02121834e-02 -9.69586257e-05 9.99947850e-01 4.29473555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.939254154 meters 0.05232135841249389 Centerline is valid? [True, True] Translation: X:1090.25, Y:27.70, Z:4.29 [[ 9.71685417e-01 -2.36072814e-01 -9.85278153e-03 1.09024657e+03] [ 2.36061936e-01 9.71735361e-01 -2.26939517e-03 2.77024494e+01] [ 1.01100387e-02 -1.20728498e-04 9.99948885e-01 4.29247358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.999254154 meters 0.0528243829422239 Centerline is valid? [True, True] Translation: X:1090.30, Y:27.72, Z:4.29 [[ 9.71562358e-01 -2.36547436e-01 -1.05780863e-02 1.09030333e+03] [ 2.36534915e-01 9.71619932e-01 -2.43753128e-03 2.77196796e+01] [ 1.08544713e-02 -1.33873110e-04 9.99941080e-01 4.29343441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.059254154 meters 0.052487745883492185 Centerline is valid? [True, True] Translation: X:1090.36, Y:27.74, Z:4.30 [[ 9.72032617e-01 -2.34569404e-01 -1.13923857e-02 1.09035923e+03] [ 2.34554730e-01 9.72099368e-01 -2.62648089e-03 2.77401159e+01] [ 1.16906229e-02 -1.19112841e-04 9.99931655e-01 4.29654934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters 0.05311407803843152 Centerline is valid? [True, True] Translation: X:1090.42, Y:27.76, Z:4.29 [[ 9.73370838e-01 -2.28887393e-01 -1.26401308e-02 1.09041639e+03] [ 2.28868836e-01 9.73452905e-01 -2.91511257e-03 2.77556804e+01] [ 1.29718046e-02 -5.54464551e-05 9.99915861e-01 4.29398986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters 0.052562383618516444 Centerline is valid? [True, True] Translation: X:1090.47, Y:27.78, Z:4.30 [[ 9.75884704e-01 -2.17962061e-01 -1.18989679e-02 1.09047163e+03] [ 2.17944788e-01 9.75957239e-01 -2.74527582e-03 2.77771487e+01] [ 1.22112498e-02 8.57546401e-05 9.99925436e-01 4.29606220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.239254154 meters 0.052723796817012385 Centerline is valid? [True, True] Translation: X:1090.53, Y:27.80, Z:4.30 [[ 9.77654672e-01 -2.09996678e-01 -9.63006729e-03 1.09052611e+03] [ 2.09984973e-01 9.77702088e-01 -2.22230585e-03 2.78009593e+01] [ 9.88201374e-03 1.50478276e-04 9.99951160e-01 4.29568624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.299254154 meters 0.05320835766377987 Centerline is valid? [True, True] Translation: X:1090.58, Y:27.82, Z:4.30 [[ 9.78143468e-01 -2.07736297e-01 -8.99928633e-03 1.09058258e+03] [ 2.07725976e-01 9.78184852e-01 -2.07714395e-03 2.78163395e+01] [ 9.23446375e-03 1.62359252e-04 9.99957348e-01 4.29677682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters 0.05288956412284773 Centerline is valid? [True, True] Translation: X:1090.64, Y:27.83, Z:4.30 [[ 9.79439822e-01 -2.01559378e-01 -8.45290130e-03 1.09063987e+03] [ 2.01550040e-01 9.79476275e-01 -1.95132230e-03 2.78330737e+01] [ 8.67272359e-03 2.07520176e-04 9.99962370e-01 4.29903231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters 0.05281342352314239 Centerline is valid? [True, True] Translation: X:1090.70, Y:27.85, Z:4.30 [[ 9.80988752e-01 -1.93862597e-01 -8.85227081e-03 1.09069764e+03] [ 1.93852040e-01 9.81028649e-01 -2.04364779e-03 2.78514847e+01] [ 9.08051815e-03 2.88764736e-04 9.99958730e-01 4.29914588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.479254154 meters 0.05408947752889529 Centerline is valid? [True, True] Translation: X:1090.75, Y:27.88, Z:4.30 [[ 9.81580322e-01 -1.90761808e-01 -1.04883301e-02 1.09075273e+03] [ 1.90746809e-01 9.81636283e-01 -2.42148515e-03 2.78757702e+01] [ 1.07576523e-02 3.76266662e-04 9.99942064e-01 4.29702124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.539254154 meters 0.05333736846318835 Centerline is valid? [True, True] Translation: X:1090.81, Y:27.88, Z:4.30 [[ 9.81243504e-01 -1.92464016e-01 -1.08989970e-02 1.09081216e+03] [ 1.92447923e-01 9.81303961e-01 -2.51645470e-03 2.78839483e+01] [ 1.11795559e-02 3.71765484e-04 9.99937438e-01 4.29851188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters 0.05366841293612753 Centerline is valid? [True, True] Translation: X:1090.87, Y:27.90, Z:4.30 [[ 9.80095756e-01 -1.98228174e-01 -1.08581503e-02 1.09086938e+03] [ 1.98212552e-01 9.80155854e-01 -2.50723554e-03 2.78977794e+01] [ 1.11396843e-02 3.05109235e-04 9.99937905e-01 4.29870268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters 0.05344913233344832 Centerline is valid? [True, True] Translation: X:1090.93, Y:27.91, Z:4.30 [[ 9.79048242e-01 -2.03296230e-01 -1.16267817e-02 1.09092650e+03] [ 2.03278673e-01 9.79117241e-01 -2.68493886e-03 2.79115985e+01] [ 1.19298204e-02 2.65207918e-04 9.99928802e-01 4.29745253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.719254154 meters 0.052940943490801994 Centerline is valid? [True, True] Translation: X:1090.98, Y:27.92, Z:4.30 [[ 9.78253843e-01 -2.06925360e-01 -1.41885435e-02 1.09098493e+03] [ 2.06899576e-01 9.78356695e-01 -3.27767634e-03 2.79212111e+01] [ 1.45596909e-02 2.70795835e-04 9.99893965e-01 4.29726113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.779254154 meters 0.053902502879013846 Centerline is valid? [True, True] Translation: X:1091.04, Y:27.93, Z:4.30 [[ 9.77373470e-01 -2.10831869e-01 -1.70594076e-02 1.09104241e+03] [ 2.10795154e-01 9.77522305e-01 -3.94290666e-03 2.79322003e+01] [ 1.75072419e-02 2.57651909e-04 9.99846703e-01 4.29807914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters 0.05394969182621026 Centerline is valid? [True, True] Translation: X:1091.10, Y:27.95, Z:4.30 [[ 9.76385288e-01 -2.15405456e-01 -1.65002539e-02 1.09109990e+03] [ 2.15371748e-01 9.76524685e-01 -3.81439045e-03 2.79459033e+01] [ 1.69345458e-02 1.70626190e-04 9.99856586e-01 4.29909858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters 0.05423938302756844 Centerline is valid? [True, True] Translation: X:1091.16, Y:27.96, Z:4.30 [[ 9.75564319e-01 -2.19187122e-01 -1.52074008e-02 1.09115787e+03] [ 2.19158929e-01 9.75682836e-01 -3.51683926e-03 2.79584979e+01] [ 1.56084458e-02 9.80652382e-05 9.99878176e-01 4.30191735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.959254154 meters 0.054136868793358744 Centerline is valid? [True, True] Translation: X:1091.22, Y:27.97, Z:4.30 [[ 9.75263048e-01 -2.20613041e-01 -1.38518533e-02 1.09121514e+03] [ 2.20589780e-01 9.75361411e-01 -3.20432901e-03 2.79740187e+01] [ 1.42174800e-02 6.94864091e-05 9.99898924e-01 4.30335620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.019254154 meters 0.05418907707293756 Centerline is valid? [True, True] Translation: X:1091.27, Y:27.99, Z:4.30 [[ 9.75850931e-01 -2.18082564e-01 -1.24481143e-02 1.09126961e+03] [ 2.18063563e-01 9.75930318e-01 -2.88035769e-03 2.79930539e+01] [ 1.27766480e-02 9.63195759e-05 9.99918371e-01 4.30380639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters 0.05464202946766195 Centerline is valid? [True, True] Translation: X:1091.33, Y:28.01, Z:4.31 [[ 9.76777194e-01 -2.13899361e-01 -1.23845030e-02 1.09132720e+03] [ 2.13880212e-01 9.76855691e-01 -2.86602800e-03 2.80104137e+01] [ 1.27109138e-02 1.50670647e-04 9.99919202e-01 4.30716916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters 0.05462772577099158 Centerline is valid? [True, True] Translation: X:1091.38, Y:28.03, Z:4.31 [[ 9.77645897e-01 -2.09988555e-01 -1.06445422e-02 1.09138273e+03] [ 2.09974174e-01 9.77703829e-01 -2.46359299e-03 2.80320622e+01] [ 1.09245360e-02 1.73442628e-04 9.99940310e-01 4.30715278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.199254154 meters 0.05459875583305833 Centerline is valid? [True, True] Translation: X:1091.44, Y:28.05, Z:4.31 [[ 9.78092210e-01 -2.08007709e-01 -8.27178127e-03 1.09144002e+03] [ 2.07998949e-01 9.78127175e-01 -1.91503880e-03 2.80465028e+01] [ 8.48919687e-03 1.52562716e-04 9.99963954e-01 4.31015244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.259254154 meters 0.05496059149757659 Centerline is valid? [True, True] Translation: X:1091.50, Y:28.07, Z:4.31 [[ 9.77957379e-01 -2.08697083e-01 -6.70020962e-03 1.09149504e+03] [ 2.08691348e-01 9.77980324e-01 -1.55168753e-03 2.80650293e+01] [ 6.87650583e-03 1.19208497e-04 9.99976349e-01 4.31048126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.319254154 meters 0.05475418582321394 Centerline is valid? [True, True] Translation: X:1091.55, Y:28.08, Z:4.31 [[ 9.77334834e-01 -2.11568467e-01 -7.44352806e-03 1.09155243e+03] [ 2.11561470e-01 9.77363173e-01 -1.72413096e-03 2.80782449e+01] [ 7.63980194e-03 1.10289510e-04 9.99970810e-01 4.31003142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters 0.05471889753586542 Centerline is valid? [True, True] Translation: X:1091.61, Y:28.10, Z:4.31 [[ 9.76397146e-01 -2.15723275e-01 -1.05868751e-02 1.09160820e+03] [ 2.15709360e-01 9.76454534e-01 -2.45267978e-03 2.80951648e+01] [ 1.08667023e-02 1.11101483e-04 9.99940949e-01 4.30512794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.439254154 meters 0.055070379478453245 Centerline is valid? [True, True] Translation: X:1091.67, Y:28.11, Z:4.30 [[ 9.75487136e-01 -2.19612722e-01 -1.39678304e-02 1.09166559e+03] [ 2.19588877e-01 9.75587128e-01 -3.23738562e-03 2.81059406e+01] [ 1.43378067e-02 9.08478220e-05 9.99897204e-01 4.30353964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.499254154 meters 0.05533085956213535 Centerline is valid? [True, True] Translation: X:1091.72, Y:28.12, Z:4.31 [[ 9.74628806e-01 -2.23353260e-01 -1.45606578e-02 1.09172306e+03] [ 2.23327739e-01 9.74737565e-01 -3.37654915e-03 2.81169053e+01] [ 1.49469834e-02 3.90832710e-05 9.99888287e-01 4.31011515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.559254154 meters 0.055109255444145425 Centerline is valid? [True, True] Translation: X:1091.78, Y:28.13, Z:4.30 [[ 9.74057702e-01 -2.25852088e-01 -1.42277331e-02 1.09177941e+03] [ 2.25827963e-01 9.74161606e-01 -3.30101267e-03 2.81309293e+01] [ 1.46056519e-02 2.35681891e-06 9.99893332e-01 4.30484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters 0.05474605195892859 Centerline is valid? [True, True] Translation: X:1091.84, Y:28.14, Z:4.30 [[ 9.73473954e-01 -2.28310915e-01 -1.49193510e-02 1.09183627e+03] [ 2.28284650e-01 9.73588273e-01 -3.46323551e-03 2.81437164e+01] [ 1.53159996e-02 -3.44892465e-05 9.99882703e-01 4.30341838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters 0.05534882708395518 Centerline is valid? [True, True] Translation: X:1091.89, Y:28.16, Z:4.31 [[ 9.73383894e-01 -2.28674868e-01 -1.52184079e-02 1.09189279e+03] [ 2.28647555e-01 9.73502852e-01 -3.53448430e-03 2.81598356e+01] [ 1.56234112e-02 -3.92416650e-05 9.99877946e-01 4.30799305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.739254154 meters 0.05536041809448442 Centerline is valid? [True, True] Translation: X:1091.95, Y:28.18, Z:4.31 [[ 9.73964798e-01 -2.26268167e-01 -1.39745690e-02 1.09194822e+03] [ 2.26244865e-01 9.74065047e-01 -3.24723315e-03 2.81784803e+01] [ 1.43468847e-02 1.01630427e-06 9.99897078e-01 4.30776263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.799254154 meters 0.05494015869611972 Centerline is valid? [True, True] Translation: X:1092.00, Y:28.20, Z:4.31 [[ 9.74587689e-01 -2.23635370e-01 -1.28863217e-02 1.09200336e+03] [ 2.23615315e-01 9.74672878e-01 -2.99515918e-03 2.81955720e+01] [ 1.32297718e-02 3.74663694e-05 9.99912482e-01 4.31091460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters 0.05556526866289109 Centerline is valid? [True, True] Translation: X:1092.06, Y:28.21, Z:4.31 [[ 9.74979034e-01 -2.21952451e-01 -1.23690192e-02 1.09205959e+03] [ 2.21933823e-01 9.75057489e-01 -2.87614188e-03 2.82112422e+01] [ 1.26988716e-02 5.90743127e-05 9.99919364e-01 4.31232651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters 0.05530701088071964 Centerline is valid? [True, True] Translation: X:1092.11, Y:28.23, Z:4.31 [[ 9.76088683e-01 -2.17090970e-01 -1.10631362e-02 1.09211327e+03] [ 2.17075747e-01 9.76151371e-01 -2.57322326e-03 2.82338793e+01] [ 1.13579191e-02 1.10155540e-04 9.99935491e-01 4.30996524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.979254154 meters 0.055764251121428986 Centerline is valid? [True, True] Translation: X:1092.17, Y:28.25, Z:4.31 [[ 9.76849601e-01 -2.13627791e-01 -1.13147448e-02 1.09217096e+03] [ 2.13611632e-01 9.76915116e-01 -2.63203496e-03 2.82501543e+01] [ 1.16158211e-02 1.54141185e-04 9.99932522e-01 4.31059795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.039254154 meters 0.05645289506472571 Centerline is valid? [True, True] Translation: X:1092.23, Y:28.27, Z:4.31 [[ 9.78115070e-01 -2.07686702e-01 -1.25356951e-02 1.09222736e+03] [ 2.07666377e-01 9.78195365e-01 -2.91619163e-03 2.82717901e+01] [ 1.28680131e-02 2.49128596e-04 9.99917173e-01 4.30828865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters 0.055710108180196394 Centerline is valid? [True, True] Translation: X:1092.29, Y:28.28, Z:4.31 [[ 9.78910694e-01 -2.03816354e-01 -1.38833541e-02 1.09228728e+03] [ 2.03791032e-01 9.79009082e-01 -3.22982003e-03 2.82807602e+01] [ 1.42502199e-02 3.32402304e-04 9.99898405e-01 4.31082371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters 0.055997561305714545 Centerline is valid? [True, True] Translation: X:1092.34, Y:28.29, Z:4.31 [[ 9.79022786e-01 -2.03271240e-01 -1.39709593e-02 1.09234457e+03] [ 2.03245524e-01 9.79122406e-01 -3.25146256e-03 2.82936413e+01] [ 1.43402081e-02 3.43720993e-04 9.99897115e-01 4.31160701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.219254154 meters 0.05601555741503685 Centerline is valid? [True, True] Translation: X:1092.40, Y:28.31, Z:4.31 [[ 9.78994091e-01 -2.03520532e-01 -1.22459637e-02 1.09240035e+03] [ 2.03500784e-01 9.79070633e-01 -2.85077337e-03 2.83105421e+01] [ 1.25698543e-02 2.98827071e-04 9.99920952e-01 4.31119859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.279254154 meters 0.05588133979263045 Centerline is valid? [True, True] Translation: X:1092.46, Y:28.32, Z:4.31 [[ 9.79002246e-01 -2.03509542e-01 -1.17672393e-02 1.09245543e+03] [ 2.03491297e-01 9.79072920e-01 -2.74019887e-03 2.83234552e+01] [ 1.20786420e-02 2.88130058e-04 9.99927009e-01 4.31146172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters 0.056938183707781136 Centerline is valid? [True, True] Translation: X:1092.51, Y:28.34, Z:4.31 [[ 9.78948742e-01 -2.03743244e-01 -1.21676417e-02 1.09251053e+03] [ 2.03723745e-01 9.79024312e-01 -2.83425421e-03 2.83383368e+01] [ 1.24898771e-02 2.95752076e-04 9.99921955e-01 4.31033822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters 0.05611033863265445 Centerline is valid? [True, True] Translation: X:1092.57, Y:28.35, Z:4.31 [[ 9.78979784e-01 -2.03586583e-01 -1.22917021e-02 1.09256866e+03] [ 2.03566657e-01 9.79056899e-01 -2.86424138e-03 2.83486740e+01] [ 1.26173969e-02 3.01853701e-04 9.99920352e-01 4.31118549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.459254154 meters 0.0553425540849421 Centerline is valid? [True, True] Translation: X:1092.63, Y:28.36, Z:4.31 [[ 9.78933566e-01 -2.03794476e-01 -1.25253815e-02 1.09262680e+03] [ 2.03773783e-01 9.79013645e-01 -2.92021590e-03 2.83563253e+01] [ 1.28576432e-02 3.06353003e-04 9.99917290e-01 4.31239175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.519254154 meters 0.054672401592470554 Centerline is valid? [True, True] Translation: X:1092.69, Y:28.36, Z:4.31 [[ 9.78443083e-01 -2.06146242e-01 -1.23636279e-02 1.09268724e+03] [ 2.06126262e-01 9.78521156e-01 -2.88299146e-03 2.83611863e+01] [ 1.26923893e-02 2.72374656e-04 9.99919411e-01 4.31382321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters 0.05553976509921886 Centerline is valid? [True, True] Translation: X:1092.74, Y:28.38, Z:4.31 [[ 9.77748155e-01 -2.09350112e-01 -1.34564181e-02 1.09274305e+03] [ 2.09326740e-01 9.77840717e-01 -3.13822174e-03 2.83768983e+01] [ 1.38152206e-02 2.51602383e-04 9.99904534e-01 4.31016978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters 0.05501895160842173 Centerline is valid? [True, True] Translation: X:1092.80, Y:28.38, Z:4.31 [[ 9.76346419e-01 -2.15767080e-01 -1.38649515e-02 1.09280340e+03] [ 2.15742907e-01 9.76444847e-01 -3.23395825e-03 2.83814894e+01] [ 1.42361422e-02 1.66198606e-04 9.99898647e-01 4.31127678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.699254154 meters 0.05516826865898615 Centerline is valid? [True, True] Translation: X:1092.86, Y:28.39, Z:4.31 [[ 9.74821062e-01 -2.22555445e-01 -1.38913949e-02 1.09286220e+03] [ 2.22531864e-01 9.74920032e-01 -3.24040308e-03 2.83869382e+01] [ 1.42641685e-02 6.75351751e-05 9.99898259e-01 4.31109597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.759254154 meters 0.05501622681419512 Centerline is valid? [True, True] Translation: X:1092.92, Y:28.40, Z:4.31 [[ 9.74257248e-01 -2.24980498e-01 -1.43732431e-02 1.09291963e+03] [ 2.24955495e-01 9.74363266e-01 -3.35427263e-03 2.83954595e+01] [ 1.47594060e-02 3.45844217e-05 9.99891073e-01 4.31187739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.819254154 meters 0.05481066516780717 Centerline is valid? [True, True] Translation: X:1092.98, Y:28.41, Z:4.31 [[ 9.74101544e-01 -2.25645750e-01 -1.44975023e-02 1.09297659e+03] [ 2.25620357e-01 9.74209420e-01 -3.38521429e-03 2.84061378e+01] [ 1.48874625e-02 2.66108205e-05 9.99889175e-01 4.31228352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters 0.054807020696138735 Centerline is valid? [True, True] Translation: X:1093.03, Y:28.42, Z:4.31 [[ 9.74196423e-01 -2.25221384e-01 -1.47192781e-02 1.09303374e+03] [ 2.25195129e-01 9.74307614e-01 -3.43905382e-03 2.84179265e+01] [ 1.51156532e-02 3.56042109e-05 9.99885751e-01 4.31449232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.939254154 meters 0.055231120298993366 Centerline is valid? [True, True] Translation: X:1093.09, Y:28.43, Z:4.32 [[ 9.74623887e-01 -2.23376459e-01 -1.45340018e-02 1.09309041e+03] [ 2.23350636e-01 9.74732247e-01 -3.39700073e-03 2.84299837e+01] [ 1.49255703e-02 6.46194981e-05 9.99888605e-01 4.31518594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.999254154 meters 0.05456364023974845 Centerline is valid? [True, True] Translation: X:1093.15, Y:28.44, Z:4.32 [[ 9.75586723e-01 -2.19197947e-01 -1.35205374e-02 1.09314784e+03] [ 2.19175180e-01 9.75680401e-01 -3.16154449e-03 2.84439384e+01] [ 1.38847274e-02 1.20994618e-04 9.99903595e-01 4.31729369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.059254154 meters 0.05497877627926401 Centerline is valid? [True, True] Translation: X:1093.20, Y:28.46, Z:4.32 [[ 9.76919872e-01 -2.13251882e-01 -1.22963034e-02 1.09320296e+03] [ 2.13232570e-01 9.76997236e-01 -2.87604741e-03 2.84628765e+01] [ 1.26267770e-02 1.87695486e-04 9.99920261e-01 4.31584130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters 0.055669803129920634 Centerline is valid? [True, True] Translation: X:1093.26, Y:28.48, Z:4.32 [[ 9.78300018e-01 -2.06832179e-01 -1.22280557e-02 1.09326072e+03] [ 2.06812576e-01 9.78376398e-01 -2.86031458e-03 2.84804332e+01] [ 1.25552462e-02 2.69330102e-04 9.99921143e-01 4.31628187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters 0.05482571887062887 Centerline is valid? [True, True] Translation: X:1093.32, Y:28.49, Z:4.32 [[ 9.79742967e-01 -1.99830463e-01 -1.30960186e-02 1.09331973e+03] [ 1.99807350e-01 9.79830413e-01 -3.06347700e-03 2.84918988e+01] [ 1.34440534e-02 3.84739264e-04 9.99909551e-01 4.31800276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.239254154 meters 0.054774210753392304 Centerline is valid? [True, True] Translation: X:1093.38, Y:28.51, Z:4.32 [[ 9.80952865e-01 -1.93726550e-01 -1.41951191e-02 1.09337771e+03] [ 1.93698753e-01 9.81055435e-01 -3.32071380e-03 2.85065758e+01] [ 1.45695092e-02 5.07886833e-04 9.99893730e-01 4.31759861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.299254154 meters 0.0549655376770204 Centerline is valid? [True, True] Translation: X:1093.44, Y:28.51, Z:4.32 [[ 9.81433049e-01 -1.91223274e-01 -1.49274598e-02 1.09343848e+03] [ 1.91192245e-01 9.81546398e-01 -3.49206676e-03 2.85125945e+01] [ 1.53197588e-02 5.73215176e-04 9.99882481e-01 4.31949529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters 0.05454661516861068 Centerline is valid? [True, True] Translation: X:1093.50, Y:28.52, Z:4.32 [[ 9.81256503e-01 -1.92134913e-01 -1.48273334e-02 1.09349560e+03] [ 1.92104383e-01 9.81368364e-01 -3.46992444e-03 2.85249455e+01] [ 1.52177695e-02 5.56490186e-04 9.99884048e-01 4.31938048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters 0.05339777094297383 Centerline is valid? [True, True] Translation: X:1093.55, Y:28.53, Z:4.32 [[ 9.81042920e-01 -1.93225157e-01 -1.47928167e-02 1.09355431e+03] [ 1.93194881e-01 9.81154294e-01 -3.46265956e-03 2.85321610e+01] [ 1.51831085e-02 5.39121198e-04 9.99884585e-01 4.32067099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.479254154 meters 0.05392335398150026 Centerline is valid? [True, True] Translation: X:1093.61, Y:28.55, Z:4.32 [[ 9.81406613e-01 -1.91332414e-01 -1.52632905e-02 1.09361214e+03] [ 1.91299949e-01 9.81525121e-01 -3.57302723e-03 2.85459408e+01] [ 1.56649390e-02 5.86725865e-04 9.99877125e-01 4.31993423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.539254154 meters 0.05410003678565519 Centerline is valid? [True, True] Translation: X:1093.67, Y:28.56, Z:4.32 [[ 9.82378935e-01 -1.86302228e-01 -1.49368212e-02 1.09366934e+03] [ 1.86270554e-01 9.82492267e-01 -3.49672651e-03 2.85598023e+01] [ 1.53267593e-02 6.52820512e-04 9.99882325e-01 4.31996015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters 0.05420570237651934 Centerline is valid? [True, True] Translation: X:1093.73, Y:28.57, Z:4.32 [[ 9.83014786e-01 -1.83058873e-01 -1.30911771e-02 1.09372780e+03] [ 1.83034253e-01 9.83101759e-01 -3.06481913e-03 2.85718734e+01] [ 1.34310016e-02 6.16628691e-04 9.99909610e-01 4.32166044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters 0.053696100960424396 Centerline is valid? [True, True] Translation: X:1093.79, Y:28.58, Z:4.32 [[ 9.83334427e-01 -1.81444565e-01 -1.14575062e-02 1.09378618e+03] [ 1.81425595e-01 9.83401016e-01 -2.68258446e-03 2.85820365e+01] [ 1.17540636e-02 5.59192777e-04 9.99930762e-01 4.32321231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.719254154 meters 0.05492546918712765 Centerline is valid? [True, True] Translation: X:1093.84, Y:28.60, Z:4.32 [[ 9.83861217e-01 -1.78567253e-01 -1.14385829e-02 1.09384297e+03] [ 1.78548150e-01 9.83927530e-01 -2.67833689e-03 2.85997106e+01] [ 1.17329999e-02 5.92773982e-04 9.99930990e-01 4.32261157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.779254154 meters 0.052761158172815244 Centerline is valid? [True, True] Translation: X:1093.90, Y:28.60, Z:4.32 [[ 9.84392459e-01 -1.75582368e-01 -1.19297388e-02 1.09390399e+03] [ 1.75561369e-01 9.84464526e-01 -2.79341975e-03 2.86020676e+01] [ 1.22348799e-02 6.55420064e-04 9.99924936e-01 4.32359402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters 0.05560299956015273 Centerline is valid? [True, True] Translation: X:1093.96, Y:28.63, Z:4.32 [[ 9.84636019e-01 -1.74176472e-01 -1.24284673e-02 1.09395825e+03] [ 1.74153567e-01 9.84714205e-01 -2.91035706e-03 2.86301828e+01] [ 1.27454040e-02 7.01180475e-04 9.99918528e-01 4.32108322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters 0.05589051478168036 Centerline is valid? [True, True] Translation: X:1094.02, Y:28.64, Z:4.32 [[ 9.84669362e-01 -1.73980917e-01 -1.25254867e-02 1.09401566e+03] [ 1.73957625e-01 9.84748768e-01 -2.93405161e-03 2.86426696e+01] [ 1.28449266e-02 7.10166815e-04 9.99917248e-01 4.32134084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.959254154 meters 0.055775513152182515 Centerline is valid? [True, True] Translation: X:1094.07, Y:28.65, Z:4.32 [[ 9.84473850e-01 -1.75095027e-01 -1.23681095e-02 1.09407471e+03] [ 1.75072398e-01 9.84551298e-01 -2.89764851e-03 2.86546210e+01] [ 1.26844021e-02 6.87344593e-04 9.99919313e-01 4.32150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.019254154 meters 0.06401247786008464 Centerline is valid? [True, True] Translation: X:1094.13, Y:28.69, Z:4.32 [[ 9.84348205e-01 -1.75814136e-01 -1.21655987e-02 1.09412717e+03] [ 1.75792294e-01 9.84423153e-01 -2.85048150e-03 2.86886568e+01] [ 1.24772520e-02 6.67247847e-04 9.99921933e-01 4.31900292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters 0.05456001654496273 Centerline is valid? [True, True] Translation: X:1094.19, Y:28.68, Z:4.32 [[ 9.84428714e-01 -1.75399207e-01 -1.16286851e-02 1.09419037e+03] [ 1.75379210e-01 9.84497183e-01 -2.72561383e-03 2.86755048e+01] [ 1.19264782e-02 6.43742911e-04 9.99928670e-01 4.32385212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters 0.05457092485975501 Centerline is valid? [True, True] Translation: X:1094.25, Y:28.69, Z:4.32 [[ 9.84735984e-01 -1.73637808e-01 -1.20396307e-02 1.09424913e+03] [ 1.73616236e-01 9.84809340e-01 -2.82241182e-03 2.86895802e+01] [ 1.23468181e-02 6.89055130e-04 9.99923538e-01 4.32339718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.199254154 meters 0.05539187739780412 Centerline is valid? [True, True] Translation: X:1094.31, Y:28.71, Z:4.32 [[ 9.85075676e-01 -1.71630893e-01 -1.29903497e-02 1.09430678e+03] [ 1.71605604e-01 9.85161024e-01 -3.04529499e-03 2.87079164e+01] [ 1.33202530e-02 7.70629207e-04 9.99910985e-01 4.32323138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.259254154 meters 0.055699971397344096 Centerline is valid? [True, True] Translation: X:1094.37, Y:28.72, Z:4.32 [[ 9.84862170e-01 -1.72869621e-01 -1.27514941e-02 1.09436512e+03] [ 1.72845357e-01 9.84944438e-01 -2.98936024e-03 2.87233769e+01] [ 1.30762827e-02 7.40071275e-04 9.99914228e-01 4.32349499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.319254154 meters 0.055890625181684646 Centerline is valid? [True, True] Translation: X:1094.42, Y:28.74, Z:4.32 [[ 9.84440362e-01 -1.75250244e-01 -1.28267357e-02 1.09442386e+03] [ 1.75225892e-01 9.84523663e-01 -3.00718897e-03 2.87371964e+01] [ 1.31552354e-02 7.12822004e-04 9.99913212e-01 4.32353794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters 0.05273528710163555 Centerline is valid? [True, True] Translation: X:1094.49, Y:28.74, Z:4.33 [[ 9.83336720e-01 -1.81263515e-01 -1.38720134e-02 1.09448627e+03] [ 1.81235622e-01 9.83434324e-01 -3.25260960e-03 2.87358713e+01] [ 1.42317935e-02 6.84307487e-04 9.99898489e-01 4.32645333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.439254154 meters 0.053309043087214555 Centerline is valid? [True, True] Translation: X:1094.54, Y:28.75, Z:4.33 [[ 9.81501327e-01 -1.90873274e-01 -1.49177073e-02 1.09454465e+03] [ 1.90842116e-01 9.81614511e-01 -3.49827513e-03 2.87501483e+01] [ 1.53111652e-02 5.86634860e-04 9.99882605e-01 4.32541411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.499254154 meters 0.053376981004507454 Centerline is valid? [True, True] Translation: X:1094.60, Y:28.76, Z:4.33 [[ 9.78829573e-01 -2.04082283e-01 -1.55913251e-02 1.09460370e+03] [ 2.04049913e-01 9.78953658e-01 -3.65642695e-03 2.87605343e+01] [ 1.60093967e-02 3.97610309e-04 9.99871762e-01 4.32521471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.559254154 meters 0.05384098818298447 Centerline is valid? [True, True] Translation: X:1094.66, Y:28.77, Z:4.33 [[ 9.75838208e-01 -2.17918430e-01 -1.58540029e-02 1.09466320e+03] [ 2.17886774e-01 9.75966971e-01 -3.71832163e-03 2.87678139e+01] [ 1.62832740e-02 1.74102770e-04 9.99867404e-01 4.32677040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters 0.05482771420253132 Centerline is valid? [True, True] Translation: X:1094.72, Y:28.78, Z:4.33 [[ 9.72864822e-01 -2.30822575e-01 -1.59680109e-02 1.09472164e+03] [ 2.30792172e-01 9.72995857e-01 -3.74653499e-03 2.87768545e+01] [ 1.64015933e-02 -4.04198225e-05 9.99865484e-01 4.32847539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters 0.054543285110348415 Centerline is valid? [True, True] Translation: X:1094.78, Y:28.79, Z:4.33 [[ 9.70582969e-01 -2.40292591e-01 -1.51053546e-02 1.09477961e+03] [ 2.40266517e-01 9.70700487e-01 -3.54484426e-03 2.87882879e+01] [ 1.55145749e-02 -1.88745477e-04 9.99879624e-01 4.32996763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.739254154 meters 0.05529234571217841 Centerline is valid? [True, True] Translation: X:1094.84, Y:28.80, Z:4.33 [[ 9.69326651e-01 -2.45401675e-01 -1.35595590e-02 1.09483741e+03] [ 2.45381159e-01 9.69421456e-01 -3.18242944e-03 2.88019455e+01] [ 1.39259010e-02 -2.42446639e-04 9.99903001e-01 4.33155069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.799254154 meters 0.05576977279844802 Centerline is valid? [True, True] Translation: X:1094.89, Y:28.82, Z:4.33 [[ 9.69333629e-01 -2.45413116e-01 -1.28342794e-02 1.09489395e+03] [ 2.45394730e-01 9.69418563e-01 -3.01268932e-03 2.88158452e+01] [ 1.31811421e-02 -2.29163452e-04 9.99913099e-01 4.33072753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters 0.055053685801100684 Centerline is valid? [True, True] Translation: X:1094.95, Y:28.84, Z:4.33 [[ 9.70686561e-01 -2.39983607e-01 -1.32464756e-02 1.09494859e+03] [ 2.39963510e-01 9.70776927e-01 -3.10984888e-03 2.88396941e+01] [ 1.36056856e-02 -1.59982259e-04 9.99907426e-01 4.33285111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters 0.055073781504510234 Centerline is valid? [True, True] Translation: X:1095.01, Y:28.86, Z:4.33 [[ 9.72757049e-01 -2.31403096e-01 -1.40118131e-02 1.09500516e+03] [ 2.31379716e-01 9.72857958e-01 -3.28962516e-03 2.88623294e+01] [ 1.43927333e-02 -4.20432663e-05 9.99896418e-01 4.33191609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.979254154 meters 0.0550879970343915 Centerline is valid? [True, True] Translation: X:1095.06, Y:28.89, Z:4.33 [[ 9.74517441e-01 -2.23959951e-01 -1.25577419e-02 1.09505950e+03] [ 2.23940548e-01 9.74598346e-01 -2.94862702e-03 2.88858882e+01] [ 1.28991289e-02 6.13008441e-05 9.99916801e-01 4.33049310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.039254154 meters 0.05570251972510875 Centerline is valid? [True, True] Translation: X:1095.11, Y:28.91, Z:4.33 [[ 9.75633309e-01 -2.19131852e-01 -1.09944915e-02 1.09511404e+03] [ 2.19116667e-01 9.75695249e-01 -2.58200276e-03 2.89073978e+01] [ 1.12930722e-02 1.10011563e-04 9.99936225e-01 4.33185967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters 0.05559333298670321 Centerline is valid? [True, True] Translation: X:1095.17, Y:28.93, Z:4.33 [[ 9.76118926e-01 -2.16976696e-01 -1.06280752e-02 1.09517004e+03] [ 2.16962368e-01 9.76176775e-01 -2.49686357e-03 2.89277683e+01] [ 1.09166414e-02 1.31343424e-04 9.99940403e-01 4.33206233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters 0.05562940961522944 Centerline is valid? [True, True] Translation: X:1095.23, Y:28.94, Z:4.33 [[ 9.76200217e-01 -2.16638888e-01 -1.00363649e-02 1.09522601e+03] [ 2.16626081e-01 9.76251799e-01 -2.35906678e-03 2.89422603e+01] [ 1.03090849e-02 1.28783099e-04 9.99946852e-01 4.33359978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.219254154 meters 0.05631807404651344 Centerline is valid? [True, True] Translation: X:1095.28, Y:28.96, Z:4.33 [[ 9.75752539e-01 -2.18566209e-01 -1.16531512e-02 1.09528198e+03] [ 2.18549070e-01 9.75822113e-01 -2.73999286e-03 2.89589135e+01] [ 1.19702725e-02 1.26769625e-04 9.99928346e-01 4.33065772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.279254154 meters 0.055364897765796534 Centerline is valid? [True, True] Translation: X:1095.34, Y:28.97, Z:4.33 [[ 9.75010988e-01 -2.21724829e-01 -1.38446293e-02 1.09534065e+03] [ 2.21700936e-01 9.75109270e-01 -3.25665091e-03 2.89684806e+01] [ 1.42221068e-02 1.05903142e-04 9.99898855e-01 4.33250655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters 0.055729676420355756 Centerline is valid? [True, True] Translation: X:1095.40, Y:28.98, Z:4.33 [[ 9.74497136e-01 -2.23857527e-01 -1.55929480e-02 1.09539698e+03] [ 2.23827475e-01 9.74621876e-01 -3.66892097e-03 2.89826209e+01] [ 1.60185438e-02 8.52227993e-05 9.99871691e-01 4.33025446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters 0.05592470903748679 Centerline is valid? [True, True] Translation: X:1095.45, Y:29.00, Z:4.33 [[ 9.74165676e-01 -2.25261653e-01 -1.60755332e-02 1.09545370e+03] [ 2.25229873e-01 9.74298303e-01 -3.78426840e-03 2.89953675e+01] [ 1.65148153e-02 6.58140774e-05 9.99863619e-01 4.33070450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.459254154 meters 0.05639462802390482 Centerline is valid? [True, True] Translation: X:1095.51, Y:29.01, Z:4.33 [[ 9.73979316e-01 -2.26085178e-01 -1.58045736e-02 1.09551145e+03] [ 2.26054538e-01 9.74107535e-01 -3.72243333e-03 2.90079513e+01] [ 1.62369412e-02 5.28774824e-05 9.99868171e-01 4.33469989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.519254154 meters 0.056284820134157004 Centerline is valid? [True, True] Translation: X:1095.57, Y:29.02, Z:4.34 [[ 9.74017687e-01 -2.25887654e-01 -1.62577198e-02 1.09556858e+03] [ 2.25855170e-01 9.74153358e-01 -3.83116906e-03 2.90216601e+01] [ 1.67029261e-02 5.97363554e-05 9.99860495e-01 4.33615139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters 0.057358355609115674 Centerline is valid? [True, True] Translation: X:1095.63, Y:29.04, Z:4.34 [[ 9.74396661e-01 -2.24214858e-01 -1.66986335e-02 1.09562595e+03] [ 2.24180307e-01 9.74539732e-01 -3.93714476e-03 2.90357951e+01] [ 1.71562482e-02 9.28359132e-05 9.99852816e-01 4.33854903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters 0.05649707914001209 Centerline is valid? [True, True] Translation: X:1095.68, Y:29.05, Z:4.34 [[ 9.74957073e-01 -2.21821625e-01 -1.59333895e-02 1.09568175e+03] [ 2.21789817e-01 9.75087252e-01 -3.75863092e-03 2.90517867e+01] [ 1.63701906e-02 1.30640247e-04 9.99865991e-01 4.33723752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.699254154 meters 0.05670624431091824 Centerline is valid? [True, True] Translation: X:1095.74, Y:29.06, Z:4.34 [[ 9.75377526e-01 -2.20049954e-01 -1.47207119e-02 1.09573861e+03] [ 2.20022573e-01 9.75488593e-01 -3.47455408e-03 2.90639286e+01] [ 1.51244620e-02 1.50113063e-04 9.99885607e-01 4.34065745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.759254154 meters 0.05628125105836266 Centerline is valid? [True, True] Translation: X:1095.79, Y:29.08, Z:4.34 [[ 9.75803930e-01 -2.18208410e-01 -1.38484752e-02 1.09579443e+03] [ 2.18183977e-01 9.75902178e-01 -3.26964080e-03 2.90788161e+01] [ 1.42282203e-02 1.69012933e-04 9.99898759e-01 4.33979513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.819254154 meters 0.05636130967923996 Centerline is valid? [True, True] Translation: X:1095.85, Y:29.10, Z:4.34 [[ 9.76533846e-01 -2.14953332e-01 -1.32933239e-02 1.09585080e+03] [ 2.14930511e-01 9.76624299e-01 -3.13906099e-03 2.90954847e+01] [ 1.36573348e-02 2.08258386e-04 9.99906713e-01 4.33859462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters 0.05616040507167329 Centerline is valid? [True, True] Translation: X:1095.91, Y:29.10, Z:4.34 [[ 9.77725830e-01 -2.09429696e-01 -1.38348525e-02 1.09591037e+03] [ 2.09404422e-01 9.77823662e-01 -3.26716256e-03 2.91047088e+01] [ 1.42122870e-02 2.97309950e-04 9.99898956e-01 4.34159964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.939254154 meters 0.05607214031974533 Centerline is valid? [True, True] Translation: X:1095.97, Y:29.12, Z:4.34 [[ 9.78190712e-01 -2.07182117e-01 -1.47817950e-02 1.09596865e+03] [ 2.07153004e-01 9.78302329e-01 -3.49101264e-03 2.91175584e+01] [ 1.51843398e-02 3.52782915e-04 9.99884649e-01 4.34199496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.999254154 meters 0.055604174864811375 Centerline is valid? [True, True] Translation: X:1096.03, Y:29.13, Z:4.34 [[ 9.78337945e-01 -2.06461594e-01 -1.51154007e-02 1.09602603e+03] [ 2.06431044e-01 9.78454634e-01 -3.57122788e-03 2.91307833e+01] [ 1.55270552e-02 3.73579805e-04 9.99879378e-01 4.34201388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.059254154 meters 0.05734196301464548 Centerline is valid? [True, True] Translation: X:1096.08, Y:29.15, Z:4.34 [[ 9.78562357e-01 -2.05392318e-01 -1.51561385e-02 1.09608115e+03] [ 2.05361456e-01 9.78679642e-01 -3.58204391e-03 2.91497267e+01] [ 1.55687285e-02 3.92766672e-04 9.99878723e-01 4.33914267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters 0.05612990442360209 Centerline is valid? [True, True] Translation: X:1096.14, Y:29.16, Z:4.34 [[ 9.78439058e-01 -2.06031823e-01 -1.44186665e-02 1.09614004e+03] [ 2.06003939e-01 9.78545224e-01 -3.40919023e-03 2.91563278e+01] [ 1.48117189e-02 3.65382790e-04 9.99890234e-01 4.34221261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters 0.05608199464353946 Centerline is valid? [True, True] Translation: X:1096.20, Y:29.17, Z:4.34 [[ 9.78209343e-01 -2.07098823e-01 -1.47159048e-02 1.09619817e+03] [ 2.07069873e-01 9.78319963e-01 -3.48116177e-03 2.91672581e+01] [ 1.51178079e-02 3.58084435e-04 9.99885655e-01 4.34204736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.239254154 meters 0.05617266101299924 Centerline is valid? [True, True] Translation: X:1096.26, Y:29.18, Z:4.34 [[ 9.77786788e-01 -2.09023127e-01 -1.55669650e-02 1.09625638e+03] [ 2.08990961e-01 9.77910636e-01 -3.68333614e-03 2.91766719e+01] [ 1.59930031e-02 3.48162424e-04 9.99872043e-01 4.34229409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.299254154 meters 0.057152714968322006 Centerline is valid? [True, True] Translation: X:1096.31, Y:29.19, Z:4.34 [[ 9.77388186e-01 -2.10903337e-01 -1.52353446e-02 1.09631277e+03] [ 2.10872748e-01 9.77506872e-01 -3.60536546e-03 2.91913838e+01] [ 1.56530377e-02 3.11122617e-04 9.99877435e-01 4.33985191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters 0.05724954673179201 Centerline is valid? [True, True] Translation: X:1096.37, Y:29.20, Z:4.34 [[ 9.77220549e-01 -2.11721793e-01 -1.46246702e-02 1.09637116e+03] [ 2.11693678e-01 9.77329934e-01 -3.46217802e-03 2.92011539e+01] [ 1.50261465e-02 2.87361288e-04 9.99887060e-01 4.34104676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters 0.05572729231233456 Centerline is valid? [True, True] Translation: X:1096.43, Y:29.21, Z:4.34 [[ 9.76990669e-01 -2.12674835e-01 -1.60825269e-02 1.09642827e+03] [ 2.12640931e-01 9.77122983e-01 -3.80934533e-03 2.92132079e+01] [ 1.65247585e-02 3.01891354e-04 9.99863411e-01 4.33914242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.479254154 meters 0.05574727599653132 Centerline is valid? [True, True] Translation: X:1096.49, Y:29.22, Z:4.35 [[ 9.76359977e-01 -2.15527780e-01 -1.64003400e-02 1.09648827e+03] [ 2.15492909e-01 9.76497675e-01 -3.88555099e-03 2.92153634e+01] [ 1.68523381e-02 2.59539508e-04 9.99857956e-01 4.34534614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.539254154 meters 0.05570869207040911 Centerline is valid? [True, True] Translation: X:1096.54, Y:29.23, Z:4.34 [[ 9.75752177e-01 -2.18285035e-01 -1.61038176e-02 1.09654431e+03] [ 2.18251780e-01 9.75885034e-01 -3.81583611e-03 2.92313300e+01] [ 1.65484145e-02 2.08623532e-04 9.99863044e-01 4.34058862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters 0.05563078040917494 Centerline is valid? [True, True] Translation: X:1096.60, Y:29.24, Z:4.34 [[ 9.75382137e-01 -2.19959449e-01 -1.57330254e-02 1.09660288e+03] [ 2.19927902e-01 9.75509000e-01 -3.72944284e-03 2.92388469e+01] [ 1.61680340e-02 1.77500673e-04 9.99869273e-01 4.34484047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters 0.05515821616682756 Centerline is valid? [True, True] Translation: X:1096.66, Y:29.25, Z:4.35 [[ 9.75271482e-01 -2.20394868e-01 -1.64814748e-02 1.09666072e+03] [ 2.20360277e-01 9.75410719e-01 -3.90877332e-03 2.92497801e+01] [ 1.69376808e-02 1.80252789e-04 9.99856531e-01 4.34681657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.719254154 meters 0.055698968284588556 Centerline is valid? [True, True] Translation: X:1096.72, Y:29.27, Z:4.34 [[ 9.75490489e-01 -2.19382348e-01 -1.70202976e-02 1.09671630e+03] [ 2.19345287e-01 9.75638941e-01 -4.03755706e-03 2.92677162e+01] [ 1.74914339e-02 2.05276451e-04 9.99846992e-01 4.34138580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.779254154 meters 0.05521265188499303 Centerline is valid? [True, True] Translation: X:1096.77, Y:29.28, Z:4.34 [[ 9.75681246e-01 -2.18564963e-01 -1.65970678e-02 1.09677345e+03] [ 2.18529577e-01 9.75822376e-01 -3.93873494e-03 2.92812357e+01] [ 1.70566596e-02 2.15999607e-04 9.99854501e-01 4.34220998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters 0.05542603964974727 Centerline is valid? [True, True] Translation: X:1096.83, Y:29.29, Z:4.35 [[ 9.76114515e-01 -2.16710528e-01 -1.53948503e-02 1.09683131e+03] [ 2.16679826e-01 9.76235880e-01 -3.65511868e-03 2.92915713e+01] [ 1.58211079e-02 2.32060918e-04 9.99874811e-01 4.34794952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters 0.05497120539457603 Centerline is valid? [True, True] Translation: X:1096.89, Y:29.30, Z:4.35 [[ 9.76193043e-01 -2.16382828e-01 -1.50204675e-02 1.09688880e+03] [ 2.16353533e-01 9.76308567e-01 -3.56815892e-03 2.93002841e+01] [ 1.54366994e-02 2.33480723e-04 9.99880820e-01 4.35198851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.959254154 meters 0.05509664501190116 Centerline is valid? [True, True] Translation: X:1096.94, Y:29.32, Z:4.35 [[ 9.75982206e-01 -2.17392672e-01 -1.41124226e-02 1.09694485e+03] [ 2.17366904e-01 9.76084210e-01 -3.35336626e-03 2.93152629e+01] [ 1.45039101e-02 2.05252202e-04 9.99894792e-01 4.35042090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.019254154 meters 0.05540855947510498 Centerline is valid? [True, True] Translation: X:1097.00, Y:29.33, Z:4.35 [[ 9.75743986e-01 -2.18424213e-01 -1.46470954e-02 1.09700058e+03] [ 2.18396562e-01 9.75853895e-01 -3.48101102e-03 2.93291330e+01] [ 1.50537622e-02 1.97700289e-04 9.99886666e-01 4.34962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters 0.05546594736086401 Centerline is valid? [True, True] Translation: X:1097.06, Y:29.34, Z:4.35 [[ 9.75381715e-01 -2.19904042e-01 -1.65142949e-02 1.09705864e+03] [ 2.19869077e-01 9.75521488e-01 -3.92635385e-03 2.93413033e+01] [ 1.69734706e-02 1.98710975e-04 9.99855920e-01 4.34787886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters 0.05444066894755023 Centerline is valid? [True, True] Translation: X:1097.12, Y:29.35, Z:4.35 [[ 9.75784628e-01 -2.18054592e-01 -1.72207844e-02 1.09711617e+03] [ 2.18016265e-01 9.75936543e-01 -4.09533820e-03 2.93519728e+01] [ 1.76994001e-02 2.41756961e-04 9.99843324e-01 4.35159816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.199254154 meters 0.05543393294878198 Centerline is valid? [True, True] Translation: X:1097.17, Y:29.37, Z:4.35 [[ 9.76559391e-01 -2.14523496e-01 -1.76472316e-02 1.09717387e+03] [ 2.14482661e-01 9.76718778e-01 -4.19727775e-03 2.93653685e+01] [ 1.81367972e-02 3.13865813e-04 9.99835465e-01 4.35324066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.259254154 meters 0.054414317364832716 Centerline is valid? [True, True] Translation: X:1097.23, Y:29.38, Z:4.36 [[ 9.77361479e-01 -2.10828305e-01 -1.77754182e-02 1.09723270e+03] [ 2.10786258e-01 9.77523031e-01 -4.22807667e-03 2.93770034e+01] [ 1.82672790e-02 3.85545379e-04 9.99833065e-01 4.35612881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.319254154 meters 0.05975229097377971 Centerline is valid? [True, True] Translation: X:1097.28, Y:29.42, Z:4.34 [[ 9.78197584e-01 -2.06976073e-01 -1.70408783e-02 1.09728441e+03] [ 2.06936839e-01 9.78345906e-01 -4.05364041e-03 2.94156292e+01] [ 1.75108801e-02 4.38875770e-04 9.99846576e-01 4.34390310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters 0.06128104264140197 Centerline is valid? [True, True] Translation: X:1097.34, Y:29.43, Z:4.35 [[ 9.78930592e-01 -2.03580058e-01 -1.58131612e-02 1.09734184e+03] [ 2.03545829e-01 9.79058193e-01 -3.76176792e-03 2.94335511e+01] [ 1.62478260e-02 4.63806704e-04 9.99867888e-01 4.34656320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.439254154 meters 0.056020183413418585 Centerline is valid? [True, True] Translation: X:1097.41, Y:29.43, Z:4.36 [[ 9.79541528e-01 -2.00686655e-01 -1.49419456e-02 1.09740533e+03] [ 2.00655756e-01 9.79655364e-01 -3.55456806e-03 2.94281936e+01] [ 1.53513116e-02 4.83659626e-04 9.99882045e-01 4.35717331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.499254154 meters 0.05523972339201835 Centerline is valid? [True, True] Translation: X:1097.46, Y:29.44, Z:4.36 [[ 9.79807237e-01 -1.99391230e-01 -1.48632420e-02 1.09746437e+03] [ 1.99360504e-01 9.79919836e-01 -3.53602777e-03 2.94381518e+01] [ 1.52698386e-02 5.01482167e-04 9.99883283e-01 4.35895761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.559254154 meters 0.06462889298205944 Centerline is valid? [True, True] Translation: X:1097.51, Y:29.48, Z:4.35 [[ 9.79971302e-01 -1.98560914e-01 -1.51595159e-02 1.09751348e+03] [ 1.98528842e-01 9.80088408e-01 -3.60711403e-03 2.94801019e+01] [ 1.55738977e-02 5.25267102e-04 9.99878582e-01 4.34973824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters 0.055487583017557685 Centerline is valid? [True, True] Translation: X:1097.58, Y:29.47, Z:4.36 [[ 9.80223911e-01 -1.97322584e-01 -1.49960797e-02 1.09757811e+03] [ 1.97291050e-01 9.80338466e-01 -3.56858028e-03 2.94667646e+01] [ 1.54053952e-02 5.39415421e-04 9.99881184e-01 4.35981621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters 0.0567123276142606 Centerline is valid? [True, True] Translation: X:1097.63, Y:29.48, Z:4.36 [[ 9.80319047e-01 -1.96875543e-01 -1.46487692e-02 1.09763382e+03] [ 1.96845396e-01 9.80428343e-01 -3.48640898e-03 2.94821184e+01] [ 1.50484572e-02 5.34250357e-04 9.99886623e-01 4.35935401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.739254154 meters 0.05748330654039298 Centerline is valid? [True, True] Translation: X:1097.69, Y:29.50, Z:4.36 [[ 9.80241300e-01 -1.97412824e-01 -1.24567508e-02 1.09769105e+03] [ 1.97391055e-01 9.80320344e-01 -2.96570293e-03 2.94974110e+01] [ 1.27970740e-02 4.48253312e-04 9.99918014e-01 4.36084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.799254154 meters 0.05675541572203433 Centerline is valid? [True, True] Translation: X:1097.75, Y:29.51, Z:4.36 [[ 9.80233125e-01 -1.97573633e-01 -1.03769030e-02 1.09774857e+03] [ 1.97558525e-01 9.80287978e-01 -2.47156009e-03 2.95095682e+01] [ 1.06606684e-02 3.72659416e-04 9.99943104e-01 4.36266313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters 0.05495754314249177 Centerline is valid? [True, True] Translation: X:1097.81, Y:29.52, Z:4.36 [[ 9.80519952e-01 -1.96121233e-01 -1.08206006e-02 1.09780823e+03] [ 1.96104709e-01 9.80579572e-01 -2.57790780e-03 2.95155566e+01] [ 1.11160424e-02 4.05719289e-04 9.99938133e-01 4.36405417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters 0.057404291346536566 Centerline is valid? [True, True] Translation: X:1097.86, Y:29.54, Z:4.36 [[ 9.80676225e-01 -1.95308885e-01 -1.13393616e-02 1.09786331e+03] [ 1.95290680e-01 9.80741684e-01 -2.70186249e-03 2.95378573e+01] [ 1.16486824e-02 4.35180666e-04 9.99932057e-01 4.36146874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.979254154 meters 0.054440113061803665 Centerline is valid? [True, True] Translation: X:1097.93, Y:29.53, Z:4.36 [[ 9.81156799e-01 -1.92760421e-01 -1.32195187e-02 1.09792672e+03] [ 1.92735444e-01 9.81245701e-01 -3.15006256e-03 2.95324813e+01] [ 1.35788033e-02 5.42835478e-04 9.99907656e-01 4.36443423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.039254154 meters 0.05559699020956019 Centerline is valid? [True, True] Translation: X:1097.98, Y:29.55, Z:4.36 [[ 9.81457435e-01 -1.90960426e-01 -1.65957720e-02 1.09798211e+03] [ 1.90920801e-01 9.81597477e-01 -3.95481985e-03 2.95534579e+01] [ 1.70455820e-02 7.13009259e-04 9.99854459e-01 4.36136235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters 0.0542195129017087 Centerline is valid? [True, True] Translation: X:1098.04, Y:29.56, Z:4.36 [[ 9.81300312e-01 -1.91744022e-01 -1.68501810e-02 1.09804200e+03] [ 1.91703260e-01 9.81444713e-01 -4.01700633e-03 2.95573917e+01] [ 1.73077580e-02 7.11654934e-04 9.99849956e-01 4.36406668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters 0.054988975033569254 Centerline is valid? [True, True] Translation: X:1098.10, Y:29.57, Z:4.37 [[ 9.80377896e-01 -1.96565004e-01 -1.48788283e-02 1.09809912e+03] [ 1.96533768e-01 9.80490639e-01 -3.54759951e-03 2.95708960e+01] [ 1.52858857e-02 5.53795956e-04 9.99883011e-01 4.36506536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.219254154 meters 0.05465739928949032 Centerline is valid? [True, True] Translation: X:1098.16, Y:29.59, Z:4.37 [[ 9.79431957e-01 -2.01377597e-01 -1.26532717e-02 1.09815663e+03] [ 2.01355406e-01 9.79513603e-01 -3.01713058e-03 2.95861677e+01] [ 1.30016343e-02 4.07269445e-04 9.99915392e-01 4.36558867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.279254154 meters 0.05534728141372619 Centerline is valid? [True, True] Translation: X:1098.21, Y:29.60, Z:4.37 [[ 9.78718679e-01 -2.04892493e-01 -1.13496538e-02 1.09821419e+03] [ 2.04874873e-01 9.78784431e-01 -2.70646246e-03 2.95994070e+01] [ 1.16633983e-02 3.23606471e-04 9.99931928e-01 4.36555896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters 0.05630497576408426 Centerline is valid? [True, True] Translation: X:1098.27, Y:29.62, Z:4.36 [[ 9.78527039e-01 -2.05762216e-01 -1.21137830e-02 1.09827058e+03] [ 2.05742197e-01 9.78601961e-01 -2.88964796e-03 2.96152277e+01] [ 1.24491522e-02 3.35282329e-04 9.99922450e-01 4.36376273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters 0.054770545930716195 Centerline is valid? [True, True] Translation: X:1098.33, Y:29.62, Z:4.36 [[ 9.78072540e-01 -2.07800301e-01 -1.38975017e-02 1.09832993e+03] [ 2.07774144e-01 9.78171206e-01 -3.31614974e-03 2.96220072e+01] [ 1.42832329e-02 3.55893475e-04 9.99897926e-01 4.36401833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.459254154 meters 0.05606453911642782 Centerline is valid? [True, True] Translation: X:1098.39, Y:29.64, Z:4.36 [[ 9.77278508e-01 -2.11513694e-01 -1.37359110e-02 1.09838685e+03] [ 2.11488502e-01 9.77374989e-01 -3.27802432e-03 2.96363424e+01] [ 1.41184829e-02 2.98555482e-04 9.99900285e-01 4.36247847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.519254154 meters 0.05369188472936966 Centerline is valid? [True, True] Translation: X:1098.45, Y:29.63, Z:4.37 [[ 9.76105210e-01 -2.16943233e-01 -1.24198522e-02 1.09844962e+03] [ 2.16923074e-01 9.76184201e-01 -2.96411513e-03 2.96303790e+01] [ 1.27671082e-02 1.99135710e-04 9.99918477e-01 4.37184963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.579254154 meters 0.05428594693497612 Centerline is valid? [True, True] Translation: X:1098.51, Y:29.64, Z:4.37 [[ 9.75329986e-01 -2.20480123e-01 -1.09514462e-02 1.09850778e+03] [ 2.20464670e-01 9.75391459e-01 -2.61379967e-03 2.96428122e+01] [ 1.12582380e-02 1.34910218e-04 9.99936615e-01 4.37192544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters 0.053514675311554606 Centerline is valid? [True, True] Translation: X:1098.56, Y:29.66, Z:4.37 [[ 9.75610835e-01 -2.19234530e-01 -1.09416613e-02 1.09856408e+03] [ 2.19219017e-01 9.75672178e-01 -2.61232770e-03 2.96598124e+01] [ 1.12481869e-02 1.49994984e-04 9.99936726e-01 4.36991404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.699254154 meters 0.05430384491450505 Centerline is valid? [True, True] Translation: X:1098.62, Y:29.68, Z:4.37 [[ 9.76304574e-01 -2.16011871e-01 -1.29711796e-02 1.09861930e+03] [ 2.15989773e-01 9.76390712e-01 -3.09771392e-03 2.96792558e+01] [ 1.33340823e-02 2.22670122e-04 9.99911072e-01 4.36525253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.759254154 meters 0.05383153175571523 Centerline is valid? [True, True] Translation: X:1098.68, Y:29.69, Z:4.37 [[ 9.76701399e-01 -2.14170009e-01 -1.36229224e-02 1.09867700e+03] [ 2.14145450e-01 9.76796365e-01 -3.25381423e-03 2.96921558e+01] [ 1.40036905e-02 2.60718059e-04 9.99901909e-01 4.36529433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.819254154 meters 0.05479206736228665 Centerline is valid? [True, True] Translation: X:1098.73, Y:29.71, Z:4.36 [[ 9.76587711e-01 -2.14733112e-01 -1.28892501e-02 1.09873274e+03] [ 2.14711170e-01 9.76672736e-01 -3.07905004e-03 2.97061878e+01] [ 1.32497532e-02 2.39496465e-04 9.99912189e-01 4.36496545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters 0.053543220382715306 Centerline is valid? [True, True] Translation: X:1098.79, Y:29.71, Z:4.37 [[ 9.76481830e-01 -2.15315516e-01 -1.10663612e-02 1.09879227e+03] [ 2.15299367e-01 9.76544515e-01 -2.64453885e-03 2.97112547e+01] [ 1.13762046e-02 1.99763561e-04 9.99935269e-01 4.36992833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.939254154 meters 0.054023411684562844 Centerline is valid? [True, True] Translation: X:1098.85, Y:29.73, Z:4.37 [[ 9.76851654e-01 -2.13706551e-01 -9.50557438e-03 1.09884750e+03] [ 2.13694553e-01 9.76897883e-01 -2.27233137e-03 2.97265681e+01] [ 9.77158759e-03 1.88441192e-04 9.99952239e-01 4.36965052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.999254154 meters 0.05311330172620023 Centerline is valid? [True, True] Translation: X:1098.91, Y:29.74, Z:4.37 [[ 9.77661529e-01 -2.09939441e-01 -1.01668569e-02 1.09890606e+03] [ 2.09925508e-01 9.77714361e-01 -2.43077057e-03 2.97384221e+01] [ 1.04505966e-02 2.42188280e-04 9.99945362e-01 4.37060280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.059254154 meters 0.053964262827347724 Centerline is valid? [True, True] Translation: X:1098.96, Y:29.75, Z:4.37 [[ 9.78316612e-01 -2.06821161e-01 -1.10279000e-02 1.09896352e+03] [ 2.06804569e-01 9.78378719e-01 -2.63673609e-03 2.97542960e+01] [ 1.13347955e-02 2.98942599e-04 9.99935714e-01 4.36998264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters 0.0532548002623105 Centerline is valid? [True, True] Translation: X:1099.02, Y:29.76, Z:4.37 [[ 9.78546355e-01 -2.05743228e-01 -1.08053346e-02 1.09902162e+03] [ 2.05727228e-01 9.78605963e-01 -2.58396275e-03 2.97625464e+01] [ 1.11057977e-02 3.05575787e-04 9.99938282e-01 4.37151414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters 0.05284748993950111 Centerline is valid? [True, True] Translation: X:1099.08, Y:29.77, Z:4.37 [[ 9.78385394e-01 -2.06563822e-01 -9.66476256e-03 1.09907976e+03] [ 2.06551053e-01 9.78433093e-01 -2.31205265e-03 2.97723441e+01] [ 9.93390995e-03 2.65811660e-04 9.99950622e-01 4.37338608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.239254154 meters 0.052579425524986456 Centerline is valid? [True, True] Translation: X:1099.14, Y:29.78, Z:4.37 [[ 9.78695872e-01 -2.05115773e-01 -9.05037251e-03 1.09913843e+03] [ 2.05104509e-01 9.78737682e-01 -2.16555225e-03 2.97836046e+01] [ 9.30212953e-03 2.63144840e-04 9.99956700e-01 4.37482254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.299254154 meters 0.05239961762814289 Centerline is valid? [True, True] Translation: X:1099.20, Y:29.79, Z:4.38 [[ 9.79178906e-01 -2.02822302e-01 -8.47250428e-03 1.09919768e+03] [ 2.02812345e-01 9.79215524e-01 -2.02741205e-03 2.97934416e+01] [ 8.70761209e-03 2.66870650e-04 9.99962052e-01 4.37502366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters 0.05282175227918348 Centerline is valid? [True, True] Translation: X:1099.25, Y:29.81, Z:4.37 [[ 9.79045797e-01 -2.03433726e-01 -9.16767096e-03 1.09925350e+03] [ 2.03422090e-01 9.79088678e-01 -2.19413984e-03 2.98078161e+01] [ 9.42232488e-03 2.83256598e-04 9.99955569e-01 4.37392057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters 0.05336452476359523 Centerline is valid? [True, True] Translation: X:1099.31, Y:29.82, Z:4.37 [[ 9.78647477e-01 -2.05381619e-01 -8.21627454e-03 1.09931172e+03] [ 2.05372339e-01 9.78681937e-01 -1.96670782e-03 2.98201225e+01] [ 8.44504512e-03 2.37318127e-04 9.99964312e-01 4.37404614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.479254154 meters 0.05285834135769334 Centerline is valid? [True, True] Translation: X:1099.37, Y:29.83, Z:4.37 [[ 9.78556114e-01 -2.05858662e-01 -7.08121895e-03 1.09936877e+03] [ 2.05851779e-01 9.78581714e-01 -1.69541892e-03 2.98333651e+01] [ 7.27856805e-03 2.01381033e-04 9.99973491e-01 4.37464575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.539254154 meters 0.05243681196801248 Centerline is valid? [True, True] Translation: X:1099.43, Y:29.85, Z:4.37 [[ 9.78440465e-01 -2.06409414e-01 -7.02924254e-03 1.09942667e+03] [ 2.06402640e-01 9.78465695e-01 -1.68374867e-03 2.98452524e+01] [ 7.22541426e-03 1.96593621e-04 9.99973877e-01 4.37346538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters 0.052405076970277346 Centerline is valid? [True, True] Translation: X:1099.48, Y:29.86, Z:4.37 [[ 9.77942692e-01 -2.08768108e-01 -6.63084901e-03 1.09948460e+03] [ 2.08762131e-01 9.77965157e-01 -1.58876993e-03 2.98593702e+01] [ 6.81642379e-03 1.69455770e-04 9.99976754e-01 4.37306774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters 0.052813934812283844 Centerline is valid? [True, True] Translation: X:1099.54, Y:29.87, Z:4.37 [[ 9.77591116e-01 -2.10420071e-01 -6.24538241e-03 1.09954187e+03] [ 2.10414802e-01 9.77611053e-01 -1.49654686e-03 2.98719205e+01] [ 6.42045837e-03 1.48890014e-04 9.99979378e-01 4.37356881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.719254154 meters 0.05170824422576328 Centerline is valid? [True, True] Translation: X:1099.60, Y:29.88, Z:4.37 [[ 9.77285032e-01 -2.11851644e-01 -5.73125057e-03 1.09960044e+03] [ 2.11847229e-01 9.77301829e-01 -1.37366535e-03 2.98821523e+01] [ 5.89217492e-03 1.28313030e-04 9.99982633e-01 4.37414772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.779254154 meters 0.052074259857838236 Centerline is valid? [True, True] Translation: X:1099.66, Y:29.89, Z:4.37 [[ 9.77118315e-01 -2.12620687e-01 -5.67827060e-03 1.09965803e+03] [ 2.12616363e-01 9.77134806e-01 -1.36158911e-03 2.98944296e+01] [ 5.83793785e-03 1.23140413e-04 9.99982951e-01 4.37404223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters 0.05166568896707452 Centerline is valid? [True, True] Translation: X:1099.72, Y:29.91, Z:4.37 [[ 9.77053047e-01 -2.12934873e-01 -5.10711699e-03 1.09971541e+03] [ 2.12931377e-01 9.77066389e-01 -1.22517167e-03 2.99088516e+01] [ 5.25087413e-03 1.09592264e-04 9.99986208e-01 4.37354781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters 0.052966179469236326 Centerline is valid? [True, True] Translation: X:1099.77, Y:29.93, Z:4.37 [[ 9.77157173e-01 -2.12412279e-01 -6.69942645e-03 1.09977103e+03] [ 2.12406246e-01 9.77180128e-01 -1.60782300e-03 2.99268536e+01] [ 6.88806774e-03 1.48095759e-04 9.99976266e-01 4.37203676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.959254154 meters 0.05260597592890132 Centerline is valid? [True, True] Translation: X:1099.83, Y:29.94, Z:4.37 [[ 9.77145066e-01 -2.12437934e-01 -7.59243784e-03 1.09982835e+03] [ 2.12430180e-01 9.77174547e-01 -1.82273861e-03 2.99396846e+01] [ 7.80635584e-03 1.68217099e-04 9.99969516e-01 4.37128359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.019254154 meters 0.05263211999527753 Centerline is valid? [True, True] Translation: X:1099.89, Y:29.95, Z:4.37 [[ 9.76994148e-01 -2.13169647e-01 -6.41376582e-03 1.09988655e+03] [ 2.13164126e-01 9.77015191e-01 -1.54042970e-03 2.99479450e+01] [ 6.59471949e-03 1.37806013e-04 9.99978245e-01 4.37297222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.079254154 meters 0.05314034025926722 Centerline is valid? [True, True] Translation: X:1099.94, Y:29.96, Z:4.37 [[ 9.76784626e-01 -2.14156225e-01 -5.37640372e-03 1.09994338e+03] [ 2.14152358e-01 9.76799416e-01 -1.29174628e-03 2.99582017e+01] [ 5.52830352e-03 1.10388376e-04 9.99984713e-01 4.37428877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters 0.05322018444238708 Centerline is valid? [True, True] Translation: X:1100.00, Y:29.98, Z:4.37 [[ 9.76503901e-01 -2.15477751e-01 -3.07723528e-03 1.09999870e+03] [ 2.15476491e-01 9.76508748e-01 -7.39391539e-04 2.99785872e+01] [ 3.16426960e-03 5.89468634e-05 9.99994992e-01 4.37478682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.199254154 meters 0.05329138802965039 Centerline is valid? [True, True] Translation: X:1100.05, Y:30.00, Z:4.37 [[ 9.76473881e-01 -2.15588163e-01 -4.52805638e-03 1.10005368e+03] [ 2.15585432e-01 9.76484376e-01 -1.08868122e-03 2.99953845e+01] [ 4.65628310e-03 8.68857808e-05 9.99989156e-01 4.37312962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.259254154 meters 0.052606072702332356 Centerline is valid? [True, True] Translation: X:1100.11, Y:30.01, Z:4.37 [[ 9.76750550e-01 -2.14273567e-01 -6.72317187e-03 1.10011073e+03] [ 2.14267510e-01 9.76773679e-01 -1.61706763e-03 3.00074502e+01] [ 6.91351217e-03 1.38914405e-04 9.99976092e-01 4.37187621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.319254154 meters 0.05301925601580399 Centerline is valid? [True, True] Translation: X:1100.17, Y:30.02, Z:4.37 [[ 9.77111090e-01 -2.12613662e-01 -7.02481425e-03 1.10016864e+03] [ 2.12607003e-01 9.77136329e-01 -1.69016030e-03 3.00193993e+01] [ 7.22355238e-03 1.57949667e-04 9.99973897e-01 4.37156492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters 0.05397636976577704 Centerline is valid? [True, True] Translation: X:1100.22, Y:30.05, Z:4.37 [[ 9.77226859e-01 -2.12098622e-01 -6.46839405e-03 1.10022174e+03] [ 2.12092961e-01 9.77248255e-01 -1.55681565e-03 3.00459559e+01] [ 6.65142525e-03 1.49461220e-04 9.99977868e-01 4.37015292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.439254154 meters 0.05308348045838664 Centerline is valid? [True, True] Translation: X:1100.28, Y:30.06, Z:4.37 [[ 9.77121300e-01 -2.12612217e-01 -5.47818959e-03 1.10027943e+03] [ 2.12608163e-01 9.77136648e-01 -1.31881076e-03 3.00564862e+01] [ 5.63333509e-03 1.23930256e-04 9.99984125e-01 4.37122208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.499254154 meters 0.05519868521974588 Centerline is valid? [True, True] Translation: X:1100.33, Y:30.08, Z:4.37 [[ 9.77312644e-01 -2.11688319e-01 -6.93188317e-03 1.10033320e+03] [ 2.11681799e-01 9.77337213e-01 -1.66948885e-03 3.00820160e+01] [ 7.12819867e-03 1.64259057e-04 9.99974581e-01 4.36980787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.559254154 meters 0.052191886611995704 Centerline is valid? [True, True] Translation: X:1100.39, Y:30.08, Z:4.37 [[ 9.77599178e-01 -2.10301631e-01 -8.54821734e-03 1.10039327e+03] [ 2.10291660e-01 9.77636526e-01 -2.05921063e-03 3.00848043e+01] [ 8.79010486e-03 2.15463807e-04 9.99961343e-01 4.37081193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters 0.05278684350694388 Centerline is valid? [True, True] Translation: X:1100.45, Y:30.10, Z:4.37 [[ 9.77563124e-01 -2.10382059e-01 -1.04751044e-02 1.10044867e+03] [ 2.10367085e-01 9.77619210e-01 -2.52382646e-03 3.01031035e+01] [ 1.07716311e-02 2.63582511e-04 9.99941950e-01 4.36971774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters 0.053444199655003854 Centerline is valid? [True, True] Translation: X:1100.51, Y:30.12, Z:4.37 [[ 9.76912168e-01 -2.13426591e-01 -9.57637270e-03 1.10050617e+03] [ 2.13414220e-01 9.76959081e-01 -2.30753255e-03 3.01186278e+01] [ 9.84821308e-03 2.10522513e-04 9.99951483e-01 4.37080083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.739254154 meters 0.05329305940575556 Centerline is valid? [True, True] Translation: X:1100.56, Y:30.13, Z:4.37 [[ 9.75440070e-01 -2.20144990e-01 -7.26997823e-03 1.10056497e+03] [ 2.20138046e-01 9.75467156e-01 -1.75183796e-03 3.01304295e+01] [ 7.47728334e-03 1.08414145e-04 9.99972039e-01 4.37370585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.799254154 meters 0.05395540046737085 Centerline is valid? [True, True] Translation: X:1100.62, Y:30.15, Z:4.37 [[ 9.74932489e-01 -2.22365134e-01 -7.77111040e-03 1.10062029e+03] [ 2.22357269e-01 9.74963455e-01 -1.87277326e-03 3.01484596e+01] [ 7.99298812e-03 9.78646045e-05 9.99968051e-01 4.37276591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters 0.05318706690871334 Centerline is valid? [True, True] Translation: X:1100.68, Y:30.16, Z:4.38 [[ 9.74457283e-01 -2.24407213e-01 -8.62593633e-03 1.10067940e+03] [ 2.24397596e-01 9.74495456e-01 -2.07946212e-03 3.01567190e+01] [ 8.87258206e-03 9.07076329e-05 9.99960634e-01 4.37626167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters 0.05436425375656079 Centerline is valid? [True, True] Translation: X:1100.74, Y:30.17, Z:4.38 [[ 9.74617900e-01 -2.23697961e-01 -8.89781101e-03 1.10073605e+03] [ 2.23687690e-01 9.74658511e-01 -2.14595455e-03 3.01712497e+01] [ 9.15237288e-03 1.01154928e-04 9.99958111e-01 4.37800022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.979254154 meters 0.0547747692298865 Centerline is valid? [True, True] Translation: X:1100.79, Y:30.18, Z:4.38 [[ 9.74771636e-01 -2.23023774e-01 -8.98070634e-03 1.10079216e+03] [ 2.23013276e-01 9.74813000e-01 -2.16664776e-03 3.01842632e+01] [ 9.23772325e-03 1.09170037e-04 9.99957325e-01 4.38072955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.039254154 meters 0.05415315647668211 Centerline is valid? [True, True] Translation: X:1100.85, Y:30.21, Z:4.38 [[ 9.74792789e-01 -2.22949624e-01 -8.51373224e-03 1.10084650e+03] [ 2.22940180e-01 9.74829962e-01 -2.05474944e-03 3.02056781e+01] [ 8.75754689e-03 1.04901945e-04 9.99961646e-01 4.37809852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters 0.05340319904852033 Centerline is valid? [True, True] Translation: X:1100.90, Y:30.22, Z:4.38 [[ 9.74888822e-01 -2.22540626e-01 -8.21302592e-03 1.10090340e+03] [ 2.22531815e-01 9.74923412e-01 -1.98308195e-03 3.02217414e+01] [ 8.44838755e-03 1.05624864e-04 9.99964306e-01 4.37932151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters 0.05439445581531558 Centerline is valid? [True, True] Translation: X:1100.96, Y:30.24, Z:4.38 [[ 9.75187830e-01 -2.21245676e-01 -7.68426057e-03 1.10096009e+03] [ 2.21237917e-01 9.75218098e-01 -1.85620836e-03 3.02381013e+01] [ 7.90450805e-03 1.10102002e-04 9.99968753e-01 4.37965390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.219254154 meters 0.055106699178390825 Centerline is valid? [True, True] Translation: X:1101.02, Y:30.25, Z:4.38 [[ 9.75383864e-01 -2.20370412e-01 -7.94979805e-03 1.10101561e+03] [ 2.20362073e-01 9.75416253e-01 -1.92094047e-03 3.02529585e+01] [ 8.17768067e-03 1.21820361e-04 9.99966555e-01 4.38029082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.279254154 meters 0.05527171307800953 Centerline is valid? [True, True] Translation: X:1101.07, Y:30.27, Z:4.38 [[ 9.74980024e-01 -2.22137737e-01 -8.29325845e-03 1.10107189e+03] [ 2.22128721e-01 9.75015289e-01 -2.00453288e-03 3.02701542e+01] [ 8.53133618e-03 1.12208624e-04 9.99963601e-01 4.38105639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters 0.05446649334580072 Centerline is valid? [True, True] Translation: X:1101.13, Y:30.29, Z:4.38 [[ 9.74011282e-01 -2.26378555e-01 -7.40085143e-03 1.10112744e+03] [ 2.26371494e-01 9.74039396e-01 -1.78925129e-03 3.02900814e+01] [ 7.61376898e-03 6.74091504e-05 9.99971013e-01 4.38047835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters 0.0553552693147217 Centerline is valid? [True, True] Translation: X:1101.18, Y:30.31, Z:4.38 [[ 9.73026508e-01 -2.30576500e-01 -7.34111887e-03 1.10118362e+03] [ 2.30569670e-01 9.73054200e-01 -1.77498977e-03 3.03085597e+01] [ 7.55257748e-03 3.44727366e-05 9.99971478e-01 4.37988471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.459254154 meters 0.05525450724101439 Centerline is valid? [True, True] Translation: X:1101.24, Y:30.33, Z:4.38 [[ 9.72413639e-01 -2.33101337e-01 -8.68801115e-03 1.10123953e+03] [ 2.33091867e-01 9.72452449e-01 -2.10133196e-03 3.03255743e+01] [ 8.93850102e-03 1.82591216e-05 9.99960051e-01 4.38012899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.519254154 meters 0.055497668404867403 Centerline is valid? [True, True] Translation: X:1101.30, Y:30.34, Z:4.38 [[ 9.72376096e-01 -2.33212787e-01 -9.82462315e-03 1.10129651e+03] [ 2.33200671e-01 9.72425727e-01 -2.37734234e-03 3.03416924e+01] [ 1.01081430e-02 2.05621543e-05 9.99948911e-01 4.37989793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.579254154 meters 0.055393253014552044 Centerline is valid? [True, True] Translation: X:1101.35, Y:30.36, Z:4.38 [[ 9.72556605e-01 -2.32489940e-01 -9.05970635e-03 1.10135253e+03] [ 2.32479596e-01 9.72598801e-01 -2.19323087e-03 3.03574692e+01] [ 9.32136364e-03 2.68443000e-05 9.99956555e-01 4.37708449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters 0.0557311317213657 Centerline is valid? [True, True] Translation: X:1101.41, Y:30.37, Z:4.38 [[ 9.73146430e-01 -2.30069403e-01 -7.35499643e-03 1.10140892e+03] [ 2.30062513e-01 9.73174223e-01 -1.78104535e-03 3.03696003e+01] [ 7.56745698e-03 4.11089649e-05 9.99971366e-01 4.37891283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.699254154 meters 0.05585269486726371 Centerline is valid? [True, True] Translation: X:1101.47, Y:30.38, Z:4.38 [[ 9.73314103e-01 -2.29353198e-01 -7.53439460e-03 1.10146518e+03] [ 2.29345944e-01 9.73343263e-01 -1.82476709e-03 3.03839178e+01] [ 7.75206839e-03 4.80887019e-05 9.99969951e-01 4.37887195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.759254154 meters 0.055534294435078506 Centerline is valid? [True, True] Translation: X:1101.52, Y:30.40, Z:4.38 [[ 9.73868541e-01 -2.26991267e-01 -7.41825263e-03 1.10152311e+03] [ 2.26984162e-01 9.73896791e-01 -1.79714913e-03 3.03963701e+01] [ 7.63254959e-03 6.63611394e-05 9.99970869e-01 4.37950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.819254154 meters 0.055805282132385156 Centerline is valid? [True, True] Translation: X:1101.58, Y:30.41, Z:4.38 [[ 9.74451204e-01 -2.24483479e-01 -7.21232551e-03 1.10158056e+03] [ 2.24476690e-01 9.74477891e-01 -1.74801070e-03 3.04091336e+01] [ 7.42065128e-03 8.43521812e-05 9.99972463e-01 4.37985739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters 0.056776156434004806 Centerline is valid? [True, True] Translation: X:1101.64, Y:30.42, Z:4.38 [[ 9.75244734e-01 -2.21023163e-01 -6.81695618e-03 1.10163840e+03] [ 2.21017009e-01 9.75268553e-01 -1.65264179e-03 3.04223729e+01] [ 7.01363510e-03 1.05066932e-04 9.99975399e-01 4.37959292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.939254154 meters 0.05694782085849688 Centerline is valid? [True, True] Translation: X:1101.69, Y:30.45, Z:4.38 [[ 9.76081689e-01 -2.17313550e-01 -6.27361362e-03 1.10169234e+03] [ 2.17308261e-01 9.76101842e-01 -1.52103660e-03 3.04483852e+01] [ 6.45422767e-03 1.21347912e-04 9.99979164e-01 4.37726750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.999254154 meters 0.056559809530037475 Centerline is valid? [True, True] Translation: X:1101.75, Y:30.46, Z:4.38 [[ 9.76686368e-01 -2.14601655e-01 -5.46515275e-03 1.10175008e+03] [ 2.14597598e-01 9.76701651e-01 -1.32510128e-03 3.04605398e+01] [ 5.62219264e-03 1.21399706e-04 9.99984188e-01 4.37750682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.059254154 meters 0.05655007011325709 Centerline is valid? [True, True] Translation: X:1101.81, Y:30.47, Z:4.38 [[ 9.76889235e-01 -2.13691744e-01 -4.82291882e-03 1.10180776e+03] [ 2.13688573e-01 9.76901134e-01 -1.16953247e-03 3.04720666e+01] [ 4.96143429e-03 1.11901040e-04 9.99987686e-01 4.37732442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters 0.05683835540890909 Centerline is valid? [True, True] Translation: X:1101.86, Y:30.49, Z:4.38 [[ 9.76791504e-01 -2.14113474e-01 -5.81188818e-03 1.10186403e+03] [ 2.14108874e-01 9.76808785e-01 -1.40988874e-03 3.04870512e+01] [ 5.97897960e-03 1.32790510e-04 9.99982117e-01 4.37718709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters 0.056932354010864814 Centerline is valid? [True, True] Translation: X:1101.92, Y:30.50, Z:4.38 [[ 9.76201603e-01 -2.16707087e-01 -8.27459049e-03 1.10192136e+03] [ 2.16697852e-01 9.76236657e-01 -2.00759431e-03 3.05003452e+01] [ 8.51301848e-03 1.66730798e-04 9.99963750e-01 4.37641206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.239254154 meters 0.05702100560477999 Centerline is valid? [True, True] Translation: X:1101.98, Y:30.50, Z:4.38 [[ 9.74955416e-01 -2.22239671e-01 -8.45373982e-03 1.10198266e+03] [ 2.22230237e-01 9.74992059e-01 -2.05125555e-03 3.05034778e+01] [ 8.69819955e-03 1.21206100e-04 9.99962163e-01 4.37830208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.299254154 meters 0.0570889072800992 Centerline is valid? [True, True] Translation: X:1102.04, Y:30.52, Z:4.38 [[ 9.73886316e-01 -2.26865862e-01 -8.79339246e-03 1.10204050e+03] [ 2.26855842e-01 9.73926010e-01 -2.13386055e-03 3.05166416e+01] [ 9.04821375e-03 8.33051404e-05 9.99959061e-01 4.37815950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters 0.05664050371372043 Centerline is valid? [True, True] Translation: X:1102.10, Y:30.52, Z:4.38 [[ 9.72436702e-01 -2.33008464e-01 -8.59746137e-03 1.10209837e+03] [ 2.32999122e-01 9.72474707e-01 -2.08663195e-03 3.05229630e+01] [ 8.84701663e-03 2.59165415e-05 9.99960864e-01 4.38076375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters 0.05802340116660737 Centerline is valid? [True, True] Translation: X:1102.16, Y:30.54, Z:4.38 [[ 9.72794765e-01 -2.31516783e-01 -8.38599159e-03 1.10215584e+03] [ 2.31507834e-01 9.72830909e-01 -2.03596373e-03 3.05353705e+01] [ 8.62951159e-03 3.91521071e-05 9.99962764e-01 4.38080336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.479254154 meters 0.057455595617655605 Centerline is valid? [True, True] Translation: X:1102.21, Y:30.55, Z:4.38 [[ 9.73880145e-01 -2.26905514e-01 -8.44698577e-03 1.10221337e+03] [ 2.26896252e-01 9.73916773e-01 -2.05167429e-03 3.05483272e+01] [ 8.69219733e-03 8.14954357e-05 9.99962219e-01 4.38206080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.539254154 meters 0.05829765585553425 Centerline is valid? [True, True] Translation: X:1102.27, Y:30.56, Z:4.38 [[ 9.74932882e-01 -2.22379936e-01 -7.28283496e-03 1.10226974e+03] [ 2.22372922e-01 9.74960078e-01 -1.76941360e-03 3.05628635e+01] [ 7.49395542e-03 1.05554207e-04 9.99971914e-01 4.38285205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters 0.058026694488849596 Centerline is valid? [True, True] Translation: X:1102.33, Y:30.57, Z:4.39 [[ 9.75476527e-01 -2.20057811e-01 -4.48396758e-03 1.10232800e+03] [ 2.20055126e-01 9.75486829e-01 -1.08956751e-03 3.05722003e+01] [ 4.61381915e-03 7.61274778e-05 9.99989353e-01 4.38547069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters 0.05708585795805607 Centerline is valid? [True, True] Translation: X:1102.39, Y:30.59, Z:4.39 [[ 9.76059732e-01 -2.17497251e-01 -1.53182224e-03 1.10238598e+03] [ 2.17496934e-01 9.76060933e-01 -3.72342210e-04 3.05866846e+01] [ 1.57613525e-03 3.02615959e-05 9.99998757e-01 4.38709738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.719254154 meters 0.05688774910210357 Centerline is valid? [True, True] Translation: X:1102.44, Y:30.60, Z:4.39 [[ 9.76982158e-01 -2.13320770e-01 -3.36014287e-04 1.10244474e+03] [ 2.13320754e-01 9.76982215e-01 -8.16525649e-05 3.05994019e+01] [ 3.45698169e-04 8.09427796e-06 9.99999940e-01 4.38616589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.779254154 meters 0.05779522871509743 Centerline is valid? [True, True] Translation: X:1102.50, Y:30.62, Z:4.38 [[ 9.78117101e-01 -2.08044143e-01 -2.13799070e-03 1.10250074e+03] [ 2.08043503e-01 9.78119436e-01 -5.19732497e-04 3.06199927e+01] [ 2.19933756e-03 6.35641684e-05 9.99997579e-01 4.38494832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters 0.05774094096065697 Centerline is valid? [True, True] Translation: X:1102.56, Y:30.63, Z:4.38 [[ 9.78804659e-01 -2.04766861e-01 -3.45998997e-03 1.10255994e+03] [ 2.04765166e-01 9.78810768e-01 -8.41152910e-04 3.06297201e+01] [ 3.55891568e-03 1.14838969e-04 9.99993660e-01 4.38409729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters 0.057799163026707984 Centerline is valid? [True, True] Translation: X:1102.62, Y:30.64, Z:4.38 [[ 9.78720775e-01 -2.05166025e-01 -3.54214192e-03 1.10261654e+03] [ 2.05164251e-01 9.78727178e-01 -8.61145542e-04 3.06413061e+01] [ 3.64346838e-03 1.16100137e-04 9.99993356e-01 4.38362528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.959254154 meters 0.05768524847347025 Centerline is valid? [True, True] Translation: X:1102.67, Y:30.65, Z:4.38 [[ 9.77996219e-01 -2.08611573e-01 -2.14635565e-03 1.10267473e+03] [ 2.08610930e-01 9.77998572e-01 -5.21879685e-04 3.06509166e+01] [ 2.20800290e-03 6.26431116e-05 9.99997560e-01 4.38481077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.019254154 meters 0.057743255602091564 Centerline is valid? [True, True] Translation: X:1102.73, Y:30.66, Z:4.39 [[ 9.76896306e-01 -2.13711212e-01 1.06042198e-03 1.10273490e+03] [ 2.13711058e-01 9.76896882e-01 2.57941353e-04 3.06591911e+01] [-1.09104789e-03 -2.53580515e-05 9.99999404e-01 4.38597421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.079254154 meters 0.05764005265486949 Centerline is valid? [True, True] Translation: X:1102.80, Y:30.67, Z:4.39 [[ 9.75687296e-01 -2.19154790e-01 2.34050816e-03 1.10279566e+03] [ 2.19154055e-01 9.75690103e-01 5.69185226e-04 3.06652867e+01] [-2.40835031e-03 -4.24149414e-05 9.99997099e-01 4.38506435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters 0.05704798351490764 Centerline is valid? [True, True] Translation: X:1102.85, Y:30.67, Z:4.38 [[ 9.74517747e-01 -2.24300902e-01 2.06532604e-03 1.10285492e+03] [ 2.24300341e-01 9.74519936e-01 5.02317871e-04 3.06737446e+01] [-2.12537175e-03 -2.62643446e-05 9.99997741e-01 4.38362962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.199254154 meters 0.05730187727993058 Centerline is valid? [True, True] Translation: X:1102.91, Y:30.68, Z:4.38 [[ 9.73655419e-01 -2.28020573e-01 1.32078803e-03 1.10291235e+03] [ 2.28020346e-01 9.73656314e-01 3.21440948e-04 3.06816600e+01] [-1.35928876e-03 -1.18061773e-05 9.99999076e-01 4.38005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.259254154 meters 0.058141407952491016 Centerline is valid? [True, True] Translation: X:1102.97, Y:30.70, Z:4.38 [[ 9.72901075e-01 -2.31220362e-01 8.02248519e-04 1.10296898e+03] [ 2.31220279e-01 9.72901405e-01 1.95658237e-04 3.06969064e+01] [-8.25748881e-04 -4.85998238e-06 9.99999659e-01 4.37960739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.319254154 meters 0.05794419618074016 Centerline is valid? [True, True] Translation: X:1103.03, Y:30.71, Z:4.38 [[ 9.72463921e-01 -2.33047481e-01 1.67127129e-03 1.10302541e+03] [ 2.33047125e-01 9.72465357e-01 4.07474754e-04 3.07114063e+01] [-1.72021440e-03 -6.76952733e-06 9.99998520e-01 4.37855798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters 0.057794374556000734 Centerline is valid? [True, True] Translation: X:1103.08, Y:30.73, Z:4.38 [[ 9.72503956e-01 -2.32875012e-01 2.29898682e-03 1.10308082e+03] [ 2.32874339e-01 9.72506673e-01 5.60051205e-04 3.07294119e+01] [-2.36620196e-03 -9.27697732e-06 9.99997200e-01 4.37870891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters 0.058824978087091785 Centerline is valid? [True, True] Translation: X:1103.14, Y:30.75, Z:4.37 [[ 9.73050588e-01 -2.30590917e-01 6.17905354e-04 1.10313589e+03] [ 2.30590868e-01 9.73050784e-01 1.51084204e-04 3.07468090e+01] [-6.36091936e-04 -4.52924129e-06 9.99999798e-01 4.37471466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.499254154 meters 0.058467392410372306 Centerline is valid? [True, True] Translation: X:1103.19, Y:30.76, Z:4.37 [[ 9.73954651e-01 -2.26736776e-01 -1.66520681e-03 1.10319227e+03] [ 2.26736414e-01 9.73956074e-01 -4.05520273e-04 3.07634287e+01] [ 1.71378465e-03 1.73953353e-05 9.99998531e-01 4.37159588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.559254154 meters 0.06002543299270582 Centerline is valid? [True, True] Translation: X:1103.25, Y:30.78, Z:4.37 [[ 9.74799778e-01 -2.23048198e-01 -3.85937880e-03 1.10324881e+03] [ 2.23046221e-01 9.74807416e-01 -9.40852896e-04 3.07832592e+01] [ 3.97200662e-03 5.63233379e-05 9.99992110e-01 4.36890661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters 0.0603000449050908 Centerline is valid? [True, True] Translation: X:1103.30, Y:30.80, Z:4.37 [[ 9.74825068e-01 -2.22936867e-01 -3.90378371e-03 1.10330497e+03] [ 2.22934843e-01 9.74832883e-01 -9.51721793e-04 3.07978068e+01] [ 4.01771061e-03 5.74728510e-05 9.99991927e-01 4.36850279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters 0.06082035990421772 Centerline is valid? [True, True] Translation: X:1103.36, Y:30.81, Z:4.37 [[ 9.74481293e-01 -2.24429129e-01 -4.21617144e-03 1.10336099e+03] [ 2.24426779e-01 9.74490412e-01 -1.02847370e-03 3.08119526e+01] [ 4.33943810e-03 5.60066040e-05 9.99990583e-01 4.36752906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.739254154 meters 0.0610693726742538 Centerline is valid? [True, True] Translation: X:1103.42, Y:30.82, Z:4.37 [[ 9.73761300e-01 -2.27547947e-01 -3.29576077e-03 1.10341856e+03] [ 2.27546529e-01 9.73766877e-01 -8.04064365e-04 3.08231731e+01] [ 3.39226587e-03 3.30278391e-05 9.99994246e-01 4.36755595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.799254154 meters 0.06088598243270462 Centerline is valid? [True, True] Translation: X:1103.48, Y:30.84, Z:4.37 [[ 9.73012832e-01 -2.30738219e-01 2.42968517e-03 1.10347605e+03] [ 2.30737457e-01 9.73015865e-01 5.93560407e-04 3.08365307e+01] [-2.50107929e-03 -1.69225158e-05 9.99996872e-01 4.36866221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters 0.0606259776896078 Centerline is valid? [True, True] Translation: X:1103.53, Y:30.85, Z:4.37 [[ 9.72674652e-01 -2.32090227e-01 6.17640577e-03 1.10353231e+03] [ 2.32085324e-01 9.72694261e-01 1.50898272e-03 3.08503771e+01] [-6.35797459e-03 -3.42961079e-05 9.99979787e-01 4.37073957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters 0.061186874880567024 Centerline is valid? [True, True] Translation: X:1103.59, Y:30.87, Z:4.37 [[ 9.72619657e-01 -2.32286381e-01 7.35119633e-03 1.10358813e+03] [ 2.32279435e-01 9.72647437e-01 1.79679407e-03 3.08658175e+01] [-7.56749306e-03 -4.00655064e-05 9.99971365e-01 4.36912221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.979254154 meters 0.06167972921358848 Centerline is valid? [True, True] Translation: X:1103.64, Y:30.88, Z:4.37 [[ 9.71904864e-01 -2.35285731e-01 6.44665233e-03 1.10364414e+03] [ 2.35280450e-01 9.71926244e-01 1.57652398e-03 3.08793030e+01] [-6.63660419e-03 -1.54600582e-05 9.99977977e-01 4.36559127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.039254154 meters 0.06242988518991414 Centerline is valid? [True, True] Translation: X:1103.70, Y:30.89, Z:4.37 [[ 9.70025891e-01 -2.42901477e-01 6.97455633e-03 1.10370224e+03] [ 2.42895487e-01 9.70050963e-01 1.70632177e-03 3.08887566e+01] [-7.18014316e-03 3.89119571e-05 9.99974222e-01 4.36503985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters 0.06102675149547066 Centerline is valid? [True, True] Translation: X:1103.76, Y:30.90, Z:4.37 [[ 9.67621520e-01 -2.52157244e-01 1.11945335e-02 1.10376111e+03] [ 2.52142437e-01 9.67686258e-01 2.73809915e-03 3.08998053e+01] [-1.15232277e-02 1.73173289e-04 9.99933590e-01 4.36511487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters 0.06093860267021644 Centerline is valid? [True, True] Translation: X:1103.82, Y:30.91, Z:4.36 [[ 9.65877222e-01 -2.58712200e-01 1.22143265e-02 1.10381916e+03] [ 2.58695090e-01 9.65954410e-01 2.98787546e-03 3.09123813e+01] [-1.25714823e-02 2.73865434e-04 9.99920938e-01 4.36461997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.219254154 meters 0.06090638573365615 Centerline is valid? [True, True] Translation: X:1103.88, Y:30.93, Z:4.36 [[ 9.65138673e-01 -2.61356709e-01 1.41425646e-02 1.10387694e+03] [ 2.61334053e-01 9.65242220e-01 3.45965292e-03 3.09292856e+01] [-1.45552040e-02 3.56888907e-04 9.99894004e-01 4.36254465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.279254154 meters 0.06222641694236115 Centerline is valid? [True, True] Translation: X:1103.93, Y:30.95, Z:4.36 [[ 9.65004261e-01 -2.61823804e-01 1.46653082e-02 1.10393362e+03] [ 2.61799469e-01 9.65115617e-01 3.58934089e-03 3.09461927e+01] [-1.50934929e-02 3.75640655e-04 9.99886016e-01 4.36033248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters 0.06154652657101249 Centerline is valid? [True, True] Translation: X:1103.99, Y:30.97, Z:4.35 [[ 9.64398895e-01 -2.63969982e-01 1.59568122e-02 1.10399010e+03] [ 2.63941470e-01 9.64530793e-01 3.90518220e-03 3.09677786e+01] [-1.64216876e-02 4.45511054e-04 9.99865056e-01 4.35450886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters 0.06368938208730843 Centerline is valid? [True, True] Translation: X:1104.05, Y:30.97, Z:4.36 [[ 9.62356521e-01 -2.71428010e-01 1.40271646e-02 1.10404959e+03] [ 2.71406762e-01 9.62458613e-01 3.43326557e-03 3.09739515e+01] [-1.44324499e-02 5.03041813e-04 9.99895720e-01 4.35827719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.459254154 meters 0.06625878135337318 Centerline is valid? [True, True] Translation: X:1104.11, Y:30.98, Z:4.36 [[ 9.59063012e-01 -2.82684760e-01 1.69548161e-02 1.10410986e+03] [ 2.82655462e-01 9.59212524e-01 4.15005380e-03 3.09808327e+01] [-1.74364289e-02 8.12208270e-04 9.99847644e-01 4.36170297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.519254154 meters 0.07639155445538516 Centerline is valid? [True, True] Translation: X:1104.17, Y:30.97, Z:4.37 [[ 9.57492104e-01 -2.87938948e-01 1.73214716e-02 1.10417248e+03] [ 2.87909222e-01 9.57648319e-01 4.24002579e-03 3.09738247e+01] [-1.78087467e-02 9.27220194e-04 9.99840982e-01 4.37225683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.579254154 meters 0.06668476380063323 Centerline is valid? [True, True] Translation: X:1104.22, Y:31.02, Z:4.36 [[ 9.58994018e-01 -2.82822830e-01 1.84856646e-02 1.10422260e+03] [ 2.82788002e-01 9.59171757e-01 4.52610689e-03 3.10224909e+01] [-1.90110138e-02 8.87014737e-04 9.99818881e-01 4.36321946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters 0.06503944144343116 Centerline is valid? [True, True] Translation: X:1104.28, Y:31.06, Z:4.36 [[ 9.63031980e-01 -2.68853006e-01 1.69548751e-02 1.10427626e+03] [ 2.68821531e-01 9.63181057e-01 4.15167668e-03 3.10552643e+01] [-1.74468053e-02 5.59638079e-04 9.99847636e-01 4.36181098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.699254154 meters 0.0634980168902919 Centerline is valid? [True, True] Translation: X:1104.33, Y:31.09, Z:4.36 [[ 9.66680487e-01 -2.55456199e-01 1.64610353e-02 1.10433017e+03] [ 2.55424581e-01 9.66820581e-01 4.03089721e-03 3.10880271e+01] [-1.69445854e-02 3.07963357e-04 9.99856383e-01 4.36152344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.759254154 meters 0.062300641736331805 Centerline is valid? [True, True] Translation: X:1104.38, Y:31.12, Z:4.36 [[ 9.69171453e-01 -2.45580090e-01 1.99277291e-02 1.10438362e+03] [ 2.45531604e-01 9.69376291e-01 4.88244975e-03 3.11158771e+01] [-2.05165006e-02 1.60956371e-04 9.99789501e-01 4.35990556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.819254154 meters 0.06303000160385001 Centerline is valid? [True, True] Translation: X:1104.44, Y:31.14, Z:4.36 [[ 9.71746164e-01 -2.35203499e-01 1.97156502e-02 1.10443842e+03] [ 2.35153848e-01 9.71946146e-01 4.83296176e-03 3.11395623e+01] [-2.02992797e-02 -6.02010480e-05 9.99793947e-01 4.35944894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters 0.0650870938190745 Centerline is valid? [True, True] Translation: X:1104.49, Y:31.16, Z:4.36 [[ 9.73875448e-01 -2.26436193e-01 1.71249033e-02 1.10449311e+03] [ 2.26397338e-01 9.74025978e-01 4.20005339e-03 3.11608230e+01] [-1.76311447e-02 -2.13296367e-04 9.99844537e-01 4.35961287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters 0.0653969853953771 Centerline is valid? [True, True] Translation: X:1104.55, Y:31.17, Z:4.35 [[ 9.74339807e-01 -2.24559324e-01 1.53313385e-02 1.10455002e+03] [ 2.24527943e-01 9.74460395e-01 3.76056835e-03 3.11705558e+01] [-1.57842529e-02 -2.21757536e-04 9.99875396e-01 4.35444413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.999254154 meters 0.06697228632888486 Centerline is valid? [True, True] Translation: X:1104.61, Y:31.17, Z:4.36 [[ 9.73338691e-01 -2.28843478e-01 1.55710092e-02 1.10460973e+03] [ 2.28811622e-01 9.73463219e-01 3.82147479e-03 3.11749749e+01] [-1.60323243e-02 -1.56761401e-04 9.99871462e-01 4.35500535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.059254154 meters 0.06824156158699327 Centerline is valid? [True, True] Translation: X:1104.67, Y:31.17, Z:4.36 [[ 9.71154976e-01 -2.37830514e-01 1.71656435e-02 1.10466939e+03] [ 2.37793191e-01 9.71306670e-01 4.21328756e-03 3.11730867e+01] [-1.76751523e-02 -9.88203315e-06 9.99843782e-01 4.35722489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters 0.07041557159469145 Centerline is valid? [True, True] Translation: X:1104.73, Y:31.17, Z:4.35 [[ 9.68769863e-01 -2.47281527e-01 1.83520861e-02 1.10473091e+03] [ 2.47240550e-01 9.68943660e-01 4.50489975e-03 3.11705327e+01] [-1.88961160e-02 1.73168760e-04 9.99821437e-01 4.35481605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters 0.0732314985878976 Centerline is valid? [True, True] Translation: X:1104.79, Y:31.17, Z:4.35 [[ 9.66703707e-01 -2.55330290e-01 1.70407352e-02 1.10479265e+03] [ 2.55296203e-01 9.66853841e-01 4.18328004e-03 3.11670411e+01] [-1.75440184e-02 3.06442661e-04 9.99846045e-01 4.35377692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.239254154 meters 0.07660211647444311 Centerline is valid? [True, True] Translation: X:1104.85, Y:31.17, Z:4.35 [[ 9.64515496e-01 -2.63305049e-01 1.95014978e-02 1.10485410e+03] [ 2.63262031e-01 9.64712488e-01 4.78735547e-03 3.11665535e+01] [-2.00738733e-02 5.16525376e-04 9.99798366e-01 4.35185339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.299254154 meters 0.07786639190592226 Centerline is valid? [True, True] Translation: X:1104.91, Y:31.17, Z:4.35 [[ 9.63470286e-01 -2.66819143e-01 2.30771022e-02 1.10491413e+03] [ 2.66759903e-01 9.63746366e-01 5.66530999e-03 3.11738868e+01] [-2.37520865e-02 6.97687707e-04 9.99717636e-01 4.34809544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters 0.07973657895116644 Centerline is valid? [True, True] Translation: X:1104.97, Y:31.19, Z:4.35 [[ 9.65622755e-01 -2.58561787e-01 2.68048045e-02 1.10497167e+03] [ 2.58478661e-01 9.65994551e-01 6.58092180e-03 3.11889093e+01] [-2.75948700e-02 5.73782133e-04 9.99619024e-01 4.34593692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters 0.08340593207994469 Centerline is valid? [True, True] Translation: X:1105.03, Y:31.20, Z:4.35 [[ 9.68591192e-01 -2.46735757e-01 3.08637227e-02 1.10502959e+03] [ 2.46619508e-01 9.69082758e-01 7.57796440e-03 3.12022136e+01] [-3.17792563e-02 2.71646541e-04 9.99494875e-01 4.35418316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.479254154 meters 0.08659598930721574 Centerline is valid? [True, True] Translation: X:1105.09, Y:31.21, Z:4.36 [[ 9.69319908e-01 -2.43984478e-01 2.98410764e-02 1.10508798e+03] [ 2.43874487e-01 9.69779121e-01 7.32739291e-03 3.12128129e+01] [-3.07270230e-02 1.74889366e-04 9.99527798e-01 4.35978018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.539254154 meters 0.08609088508822856 Centerline is valid? [True, True] Translation: X:1105.15, Y:31.23, Z:4.36 [[ 9.69014425e-01 -2.44939390e-01 3.18706839e-02 1.10514577e+03] [ 2.44814431e-01 9.69538368e-01 7.82604774e-03 3.12262809e+01] [-3.28167582e-02 2.18850185e-04 9.99461361e-01 4.35517255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters 0.0861949521393169 Centerline is valid? [True, True] Translation: X:1105.20, Y:31.24, Z:4.35 [[ 9.67834855e-01 -2.48945161e-01 3.63593136e-02 1.10520406e+03] [ 2.48785329e-01 9.68517498e-01 8.92843611e-03 3.12416718e+01] [-3.74373224e-02 4.04412115e-04 9.99298896e-01 4.35046973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters 0.08794581506465507 Centerline is valid? [True, True] Translation: X:1105.26, Y:31.25, Z:4.36 [[ 9.67071173e-01 -2.51600735e-01 3.83460010e-02 1.10526218e+03] [ 2.51425005e-01 9.67830969e-01 9.41710708e-03 3.12526341e+01] [-3.94817984e-02 5.34130718e-04 9.99220147e-01 4.35837153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.719254154 meters 0.08757359986270262 Centerline is valid? [True, True] Translation: X:1105.32, Y:31.27, Z:4.36 [[ 9.67278089e-01 -2.50541526e-01 4.00255292e-02 1.10531978e+03] [ 2.50349124e-01 9.68105718e-01 9.83026566e-03 3.12690500e+01] [-4.12118334e-02 5.11755588e-04 9.99150300e-01 4.36125843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.779254154 meters 0.08885744546790762 Centerline is valid? [True, True] Translation: X:1105.37, Y:31.29, Z:4.37 [[ 9.68117699e-01 -2.47189012e-01 4.05673803e-02 1.10537455e+03] [ 2.46988301e-01 9.68967210e-01 9.96618795e-03 3.12900193e+01] [-4.17719935e-02 3.71225384e-04 9.99127100e-01 4.36924392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters 0.08630753353187055 Centerline is valid? [True, True] Translation: X:1105.43, Y:31.32, Z:4.36 [[ 9.69563363e-01 -2.41081129e-01 4.27407835e-02 1.10542862e+03] [ 2.40852357e-01 9.70504960e-01 1.05007381e-02 3.13185787e+01] [-4.40116721e-02 1.13087462e-04 9.99031010e-01 4.36001729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters 0.08561844193064778 Centerline is valid? [True, True] Translation: X:1105.48, Y:31.35, Z:4.36 [[ 9.71349531e-01 -2.34050273e-01 4.12378234e-02 1.10548226e+03] [ 2.33830938e-01 9.72224475e-01 1.01322684e-02 3.13496428e+01] [-4.24638814e-02 -1.99295229e-04 9.99097983e-01 4.35705375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.959254154 meters 0.0861519524703392 Centerline is valid? [True, True] Translation: X:1105.54, Y:31.38, Z:4.36 [[ 9.73102888e-01 -2.27443288e-01 3.66103946e-02 1.10553624e+03] [ 2.27265720e-01 9.73791232e-01 8.99610343e-03 3.13773188e+01] [-3.76969845e-02 -4.33846552e-04 9.99289122e-01 4.35671571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.019254154 meters 0.08639784053985683 Centerline is valid? [True, True] Translation: X:1105.59, Y:31.40, Z:4.35 [[ 9.74262546e-01 -2.22624858e-01 3.53647434e-02 1.10559019e+03] [ 2.22455912e-01 9.74904001e-01 8.69232968e-03 3.14023934e+01] [-3.64123585e-02 -6.01515016e-04 9.99336669e-01 4.35149884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12986.12 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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36901it [03:59, 152.19it/s] 36917it [03:59, 152.86it/s] 36933it [03:59, 153.61it/s] 36949it [03:59, 153.20it/s] 36965it [03:59, 153.02it/s] 36981it [03:59, 153.31it/s] 36997it [03:59, 153.24it/s] 37002it [03:59, 154.23it/s] Writing Lidar 2D slices PTD file in binary format... Completed! Making a constant density centerline ... Completed! Writing the SLAM model ...